version: 66.04
glider: 144
mission: 15
dive: 742
start: 2 15 110 16 8 23
data:
$ID,144
$MISSION,15
$DIVE,742
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,600
$T_MISSION,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-76789.312
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,160007,4925.070,-13739.616,34,1.3,34,19.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-48.9
$GPS2,160726,4925.118,-13739.599,13,1.9,13,19.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.167,-0.015
$KALMAN_X,-61779.9,-261.2,36.5,594963.9,-107.8
$KALMAN_Y,54917.7,178.8,-94.6,-158453.0,107.8
$MHEAD_RNG_PITCHd_Wd,75.6,217492,-12.3,-5.500
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-39.97,0.000,2,0.000,0.000,99,2302,2583
$GC,63,-0.68,-117.3,3.4,-5.9,2,99,7.05,2.35,-21.42,0.000,4,0.226,0.064,1836,3701,3412
$GC,168,-0.60,-117.3,17.0,-16.8,6,175,0.12,2.22,0.00,0.000,6,0.129,0.031,1870,2295,3413
$GC,485,-0.60,-117.3,52.8,-13.3,22,489,0.00,2.25,0.00,0.000,4,0.000,0.043,1870,896,3413
$GC,555,-0.64,-117.3,63.4,-12.7,25,559,0.00,2.22,0.00,0.000,6,0.000,0.035,1863,2315,3413
$GC,884,-0.64,-117.3,92.8,-9.3,47,885,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2316,3413
$GC,1202,-0.67,-117.3,119.9,-7.8,77,1206,0.00,2.28,0.00,0.000,4,0.000,0.041,1863,894,3413
$GC,1249,-0.72,-117.3,123.7,-8.1,80,1255,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2304,3413
$GC,1579,-0.77,-117.3,145.8,-6.1,111,1585,0.10,0.00,0.00,0.000,6,0.064,0.000,1781,2305,3413
$GC,1907,-0.68,-117.3,180.9,-11.0,125,1911,0.20,2.28,0.00,0.000,4,0.114,0.041,1850,890,3413
$GC,1952,-0.74,-117.3,184.7,-6.7,126,1957,0.00,2.25,0.00,0.000,6,0.000,0.040,1850,2304,3413
$GC,2273,-0.78,-117.3,204.0,-6.4,137,2277,0.00,2.25,0.00,0.000,4,0.000,0.041,1850,888,3413
$GC,2314,-0.83,-117.3,207.0,-7.2,138,2319,0.12,2.28,0.00,0.000,6,0.056,0.040,1765,2309,3413
$GC,2640,-0.72,-117.3,244.8,-11.8,149,2644,0.22,2.30,0.00,0.000,4,0.118,0.041,1839,893,3413
$GC,2680,-0.77,-117.3,248.7,-8.1,150,2684,0.00,2.28,0.00,0.000,6,0.000,0.038,1836,2313,3413
$GC,3007,-0.79,-117.3,272.9,-7.6,161,3011,0.00,2.28,0.00,0.000,4,0.000,0.044,1837,896,3413
$GC,3072,-0.83,-117.3,278.1,-8.0,163,3076,0.00,2.25,0.00,0.000,6,0.000,0.045,1836,2307,3413
$GC,3440,-0.86,-117.3,305.4,-7.3,174,3445,0.08,2.30,0.00,0.000,4,0.081,0.041,1774,888,3413
$GC,3470,-0.80,-117.3,308.3,-10.5,174,3474,0.22,2.30,0.00,0.000,6,0.115,0.041,1831,2313,3413
$GC,3808,-0.82,-117.3,334.1,-7.4,180,3812,0.00,2.30,0.00,0.000,4,0.000,0.043,1831,900,3413
$GC,3849,-0.85,-117.3,337.3,-7.9,180,3854,0.00,2.28,0.00,0.000,6,0.000,0.038,1824,2311,3413
$GC,4173,-0.85,-117.3,360.9,-7.3,186,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2312,3413
$GC,4475,-0.85,-117.3,383.1,-7.3,191,4479,0.00,2.30,0.00,0.000,4,0.000,0.042,1824,900,3412
$GC,4509,-0.85,-117.3,385.9,-7.9,191,4513,0.00,2.25,0.00,0.000,6,0.000,0.045,1819,2300,3412
$GC,4841,-0.85,-117.3,411.1,-7.6,197,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2300,3412
$GC,5145,-0.85,-117.3,431.9,-6.8,202,5149,0.00,2.28,0.00,0.000,4,0.000,0.050,1819,901,3412
$GC,5197,-0.85,-117.3,435.5,-6.7,202,5201,0.00,2.28,0.00,0.000,6,0.000,0.038,1810,2313,3412
$GC,5519,-0.85,-117.3,457.8,-7.0,208,5523,0.00,2.28,0.00,0.000,4,0.000,0.043,1809,900,3411
$GC,5564,-0.85,-117.3,461.4,-8.2,208,5568,0.00,2.28,0.00,0.000,6,0.000,0.043,1801,2313,3411
$GC,5893,-0.83,-117.3,487.4,-8.0,214,5897,0.00,2.33,0.00,0.000,4,0.000,0.047,1801,890,3411
$GC,5933,-0.83,-117.3,491.2,-9.2,214,5938,0.10,2.28,0.00,0.000,6,0.130,0.039,1820,2303,3411
$GC,6255,-0.85,-117.3,516.5,-7.9,220,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3411
$GC,6559,-0.87,-117.3,540.4,-7.9,225,6563,0.00,2.30,0.00,0.000,4,0.000,0.048,1821,894,3410
$GC,6616,-0.89,-117.3,545.2,-8.3,225,6622,0.00,2.28,0.00,0.000,6,0.000,0.038,1821,2303,3410
$GC,6927,-0.91,-117.3,567.1,-7.0,231,6931,0.00,2.30,0.00,0.000,4,0.000,0.048,1821,891,3410
$GC,6962,-0.94,-117.3,569.8,-7.7,231,6966,0.00,2.28,0.00,0.000,6,0.000,0.044,1812,2303,3410
$GC,7291,-0.94,-117.3,593.1,-7.2,237,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2304,3410
$GC,7593,-0.94,-117.3,614.2,-6.9,242,7597,0.00,2.30,0.00,0.000,4,0.000,0.044,1812,892,3410
$GC,7628,-0.94,-117.3,616.9,-7.1,242,7633,0.00,2.30,0.00,0.000,6,0.000,0.043,1808,2311,3409
$GC,7956,-0.94,-117.3,641.0,-7.3,248,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2312,3409
$GC,8260,-0.94,-117.3,663.3,-7.4,253,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2311,3409
$GC,8562,-0.94,-117.3,685.3,-7.2,258,8566,0.00,2.30,0.00,0.000,4,0.000,0.045,1808,901,3409
$GC,8607,-0.94,-117.3,688.7,-7.9,258,8611,0.00,2.28,0.00,0.000,6,0.000,0.044,1806,2302,3409
$GC,8935,-0.94,-117.3,712.0,-7.1,264,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2302,3409
$GC,9239,-0.94,-117.3,732.1,-6.5,269,9243,0.00,2.30,0.00,0.000,4,0.000,0.050,1807,900,3408
$GC,9284,-0.94,-117.3,735.6,-7.6,269,9288,0.00,2.28,0.00,0.000,6,0.000,0.038,1798,2311,3408
$GC,9612,-0.94,-117.3,758.7,-7.0,275,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2311,3408
$GC,9915,-0.94,-117.3,781.4,-7.5,280,9919,0.00,2.33,0.00,0.000,4,0.000,0.047,1797,901,3408
$GC,9949,-0.94,-117.3,784.2,-7.8,280,9953,0.00,2.30,0.00,0.000,6,0.000,0.044,1795,2301,3408
$GC,10277,-0.94,-117.3,809.1,-7.6,286,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2302,3407
$GC,10579,-0.94,-117.3,831.6,-7.4,291,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2302,3408
$GC,10883,-0.94,-117.3,853.9,-7.3,296,10887,0.00,2.33,0.00,0.000,4,0.000,0.049,1795,901,3407
$GC,10923,-0.94,-117.3,857.2,-8.2,296,10927,0.00,2.33,0.00,0.000,6,0.000,0.044,1794,2310,3408
$GC,11245,-0.94,-117.3,880.4,-7.2,302,11246,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2310,3407
$GC,11547,-0.94,-117.3,901.4,-6.9,307,11548,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2311,3407
$GC,11850,-0.94,-117.3,922.2,-6.9,312,11855,0.00,2.35,0.00,0.000,4,0.000,0.053,1794,899,3407
$GC,11919,-0.94,-117.3,927.4,-6.8,313,11923,0.00,2.30,0.00,0.000,6,0.000,0.048,1791,2306,3407
$GC,12286,-0.94,-117.3,951.8,-6.6,319,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2307,3407
$GC,12588,-0.94,-117.3,971.1,-6.3,324,12590,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2307,3407
$GC,12892,-0.94,-117.3,989.7,-6.2,329,12896,0.00,2.25,0.00,0.000,3,0.000,0.048,1792,948,3407
$STATE,12896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12896,begin apogee
$GC,12909,-0.22,0.0,990.0,6.1,329,13010,0.50,0.00,97.72,1.275,6,0.109,0.000,1948,2306,2931
$STATE,13010,end apogee,CONTROL_FINISHED_OK
$STATE,13011,begin climb
$GC,13015,0.68,117.3,991.7,0.0,330,13125,0.60,2.55,103.78,1.248,4,0.072,0.055,2152,3707,2451
$GC,13172,0.49,117.3,986.8,7.4,333,13177,0.22,2.38,0.00,0.000,6,0.160,0.036,2108,2306,2447
$GC,13517,0.47,125.6,968.4,5.2,339,13526,0.00,0.00,6.75,0.972,6,0.000,0.000,2108,2306,2419
$GC,13820,0.47,146.3,953.5,4.8,344,13844,0.00,2.33,19.27,1.168,4,0.000,0.053,2108,3713,2334
$GC,13880,0.41,146.3,950.1,6.5,344,13887,0.12,2.28,0.00,0.000,6,0.153,0.039,2086,2291,2331
$GC,14192,0.50,188.7,937.3,4.1,350,14237,0.08,2.42,37.72,1.206,4,0.086,0.051,2130,3714,2160
$GC,14267,0.43,188.7,932.4,7.7,351,14271,0.20,2.28,0.00,0.000,6,0.149,0.040,2087,2303,2158
$GC,14623,0.53,198.2,914.4,5.2,357,14638,0.10,2.33,9.02,1.036,4,0.079,0.048,2134,882,2121
$GC,14684,0.53,198.2,910.4,6.1,357,14690,0.00,2.28,0.00,0.000,6,0.000,0.039,2134,2306,2120
$GC,14995,0.60,198.2,890.2,6.5,363,14999,0.00,2.30,0.00,0.000,4,0.000,0.048,2136,887,2119
$GC,15069,0.60,198.2,885.5,5.8,364,15074,0.00,2.28,0.00,0.000,6,0.000,0.038,2136,2309,2118
$GC,15425,0.57,198.2,862.8,6.4,370,15429,0.00,2.28,0.00,0.000,4,0.000,0.050,2136,3717,2118
$GC,15491,0.50,198.2,857.9,8.2,371,15496,0.15,2.22,0.00,0.000,6,0.148,0.034,2107,2303,2117
$GC,15858,0.57,227.8,840.5,4.5,377,15892,0.00,2.38,26.52,1.138,4,0.000,0.050,2116,896,2001
$GC,15905,0.68,273.9,838.2,3.9,377,15961,0.12,2.28,44.95,1.102,6,0.064,0.042,2175,2307,1814
$GC,16288,0.60,273.9,805.2,9.0,384,16292,0.17,2.30,0.00,0.000,4,0.135,0.051,2126,3716,1806
$GC,16346,0.60,273.9,800.6,7.4,384,16350,0.00,2.25,0.00,0.000,6,0.000,0.033,2134,2302,1805
$GC,16657,0.60,273.9,781.4,6.1,389,16658,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2302,1803
$GC,16960,0.60,273.9,762.0,6.4,394,16964,0.00,2.33,0.00,0.000,4,0.000,0.053,2134,3715,1802
$GC,16989,0.60,273.9,759.8,7.1,394,16993,0.00,2.25,0.00,0.000,6,0.000,0.032,2144,2293,1802
$GC,17322,0.60,273.9,734.8,7.6,400,17323,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2293,1801
$GC,17625,0.60,273.9,711.2,7.8,405,17629,0.00,2.30,0.00,0.000,4,0.000,0.049,2144,3706,1801
$GC,17672,0.57,273.9,706.9,9.5,405,17677,0.12,2.22,0.00,0.000,6,0.131,0.032,2120,2291,1801
$GC,17989,0.63,273.9,686.5,6.3,411,17990,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2292,1800
$GC,18292,0.69,273.9,669.5,5.6,416,18294,0.10,0.00,0.00,0.000,6,0.068,0.000,2186,2291,1800
$GC,18596,0.59,273.9,640.0,10.1,421,18601,0.20,2.33,0.00,0.000,4,0.134,0.051,2125,3708,1800
$GC,18636,0.59,273.9,636.3,7.8,421,18640,0.00,2.22,0.00,0.000,6,0.000,0.032,2133,2304,1800
$GC,18964,0.62,273.9,615.7,6.3,427,18965,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2304,1799
$GC,19267,0.64,273.9,598.2,5.7,432,19271,0.00,2.33,0.00,0.000,4,0.000,0.055,2132,3713,1799
$GC,19297,0.64,274.3,596.3,5.5,432,19301,0.00,2.22,0.00,0.000,6,0.000,0.031,2142,2304,1800
$GC,19630,0.64,274.3,576.2,6.0,438,19632,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2304,1799
$GC,19933,0.64,274.3,557.7,6.2,443,19938,0.00,2.33,0.00,0.000,4,0.000,0.048,2141,3714,1799
$GC,19970,0.64,274.3,555.1,6.9,443,19974,0.00,2.25,0.00,0.000,6,0.000,0.031,2151,2297,1799
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$STATE,27104,end climb,SURFACE_DEPTH_REACHED
$STATE,27104,begin surface coast
$FINISH,1.6,1.025389
$STATE,27126,end surface coast,CONTROL_FINISHED_OK
$STATE,27126,begin surface
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$HUMID,1757
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$TCM_TEMP,15.90
$XPDR_PINGS,78
$24V_AH,21.8,106.842
$10V_AH,10.3,91.028
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$DEVICE_SECS,17.725,237.025,402.325,0.000,0.000,24.848,29.372,202.151,19.500,0.000,0.000,15.186,1588.234,22466.885,515.106,2107.822,953.016,33.387,1673.023,0.000,2079.655,0.000,0.527,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41208,694
$CAP_FILE_SIZE,175694,0
$CFSIZE,260165632,200937472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,150210,234307,4924.700,-13733.692,34,1.3,35,19.4