version: 66.04
glider: 144
mission: 15
dive: 751
start: 2 18 110 16 44 4
data:
$ID,144
$MISSION,15
$DIVE,751
$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,-76995.32
$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,36
$R_STBD_OVSHOOT,33
$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
$GPS1,163537,4922.203,-13653.846,38,1.8,38,19.4
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-45.4
$GPS2,164308,4922.210,-13653.894,12,1.8,12,19.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.168,0.000
$KALMAN_X,-61382.1,-393.7,-27.4,648765.4,572.7
$KALMAN_Y,56384.9,2.2,40.6,-165260.0,-411.8
$MHEAD_RNG_PITCHd_Wd,70.5,162043,-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,-39.90,0.000,2,0.000,0.000,100,2291,2652
$GC,64,-0.68,-117.3,3.7,-5.3,2,96,7.70,2.35,-19.12,0.000,4,0.257,0.059,1836,3707,3411
$GC,176,-0.63,-117.3,15.6,-12.4,7,181,0.10,2.22,0.00,0.000,6,0.125,0.030,1863,2300,3412
$GC,499,-0.63,-117.3,49.4,-9.2,23,503,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,898,3412
$GC,579,-0.63,-117.3,56.6,-9.4,26,585,0.00,2.22,0.00,0.000,6,0.000,0.037,1862,2311,3413
$GC,898,-0.63,-117.3,86.3,-9.1,45,902,0.00,2.28,0.00,0.000,4,0.000,0.040,1862,896,3413
$GC,939,-0.63,-117.3,90.2,-9.5,48,943,0.00,2.25,0.00,0.000,6,0.000,0.038,1862,2308,3413
$GC,1271,-0.66,-117.3,116.9,-7.9,78,1275,0.00,2.25,0.00,0.000,4,0.000,0.040,1862,897,3413
$GC,1328,-0.72,-117.3,122.1,-7.8,82,1335,0.00,2.22,0.00,0.000,6,0.000,0.036,1855,2306,3413
$GC,1660,-0.76,-117.3,145.7,-6.6,113,1664,0.00,2.25,0.00,0.000,4,0.000,0.040,1855,895,3413
$GC,1706,-0.82,-117.3,149.3,-7.0,116,1713,0.10,2.22,0.00,0.000,6,0.064,0.035,1777,2309,3413
$GC,2031,-0.72,-117.3,183.9,-11.1,128,2036,0.20,2.30,0.00,0.000,4,0.130,0.040,1842,893,3413
$GC,2123,-0.75,-117.3,191.1,-7.1,130,2129,0.00,2.28,0.00,0.000,6,0.000,0.042,1837,2309,3414
$GC,2437,-0.75,-117.3,211.5,-6.6,141,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2310,3413
$GC,2743,-0.75,-117.3,230.8,-6.1,151,2747,0.00,2.28,0.00,0.000,4,0.000,0.041,1837,896,3413
$GC,2785,-0.78,-117.3,233.4,-6.8,152,2789,0.00,2.28,0.00,0.000,6,0.000,0.044,1837,2310,3413
$GC,3122,-0.81,-117.3,255.6,-6.9,163,3126,0.00,2.30,0.00,0.000,4,0.000,0.052,1828,3716,3413
$GC,3145,-0.83,-117.3,257.4,-7.6,163,3152,0.00,2.25,0.00,0.000,6,0.000,0.035,1828,2298,3413
$GC,3461,-0.83,-117.3,282.1,-8.0,174,3464,0.00,2.28,0.00,0.000,4,0.000,0.043,1828,902,3413
$GC,3530,-0.83,-117.3,288.0,-8.2,176,3534,0.00,2.25,0.00,0.000,6,0.000,0.043,1822,2301,3413
$GC,3865,-0.83,-117.3,315.7,-8.2,184,3869,0.00,2.28,0.00,0.000,4,0.000,0.043,1822,902,3412
$GC,3905,-0.83,-117.3,319.0,-8.2,184,3909,0.00,2.28,0.00,0.000,6,0.000,0.042,1813,2311,3412
$GC,4233,-0.83,-117.3,342.8,-7.1,190,4237,0.00,2.28,0.00,0.000,4,0.000,0.042,1813,901,3412
$GC,4273,-0.83,-117.3,345.7,-7.2,190,4277,0.00,2.28,0.00,0.000,6,0.000,0.040,1807,2311,3412
$GC,4601,-0.81,-117.3,370.3,-7.6,196,4605,0.00,2.25,0.00,0.000,4,0.000,0.042,1807,899,3412
$GC,4641,-0.81,-117.3,373.7,-8.3,196,4646,0.10,2.28,0.00,0.000,6,0.127,0.041,1824,2305,3412
$GC,4968,-0.81,-117.3,396.8,-7.0,202,4972,0.00,2.30,0.00,0.000,4,0.000,0.044,1825,895,3411
$GC,5020,-0.84,-117.3,400.8,-7.4,202,5024,0.00,2.28,0.00,0.000,6,0.000,0.044,1821,2311,3411
$GC,5343,-0.84,-117.3,423.7,-7.0,208,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2311,3411
$GC,5645,-0.84,-117.3,445.1,-7.1,213,5649,0.00,2.30,0.00,0.000,4,0.000,0.044,1821,901,3411
$GC,5714,-0.84,-117.3,450.7,-7.8,214,5718,0.00,2.22,0.00,0.000,6,0.000,0.038,1813,2298,3411
$GC,6081,-0.84,-117.3,479.8,-7.9,220,6085,0.00,2.30,0.00,0.000,4,0.000,0.047,1813,893,3410
$GC,6122,-0.84,-117.3,483.2,-8.0,220,6126,0.00,2.30,0.00,0.000,6,0.000,0.045,1809,2312,3410
$GC,6444,-0.84,-117.3,510.1,-8.3,226,6448,0.00,2.28,0.00,0.000,4,0.000,0.044,1808,901,3410
$GC,6483,-0.84,-117.3,513.7,-9.4,226,6487,0.00,2.28,0.00,0.000,6,0.000,0.039,1802,2305,3410
$GC,6811,-0.82,-117.3,540.6,-8.2,232,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2305,3410
$GC,7115,-0.82,-117.3,564.9,-8.0,237,7119,0.00,2.33,0.00,0.000,4,0.000,0.045,1802,901,3410
$GC,7154,-0.82,-117.3,568.2,-8.3,237,7159,0.12,2.30,0.00,0.000,6,0.124,0.044,1829,2312,3409
$GC,7476,-0.86,-117.3,588.6,-6.2,243,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2312,3409
$GC,7779,-0.91,-117.3,605.8,-5.6,248,7784,0.10,2.33,0.00,0.000,4,0.065,0.048,1763,900,3409
$GC,7848,-0.83,-117.3,611.6,-9.1,249,7853,0.22,2.28,0.00,0.000,6,0.126,0.040,1820,2305,3409
$GC,8209,-0.86,-117.3,632.6,-5.6,255,8213,0.00,2.30,0.00,0.000,4,0.000,0.044,1820,899,3409
$GC,8251,-0.89,-117.3,635.1,-6.2,255,8255,0.00,2.28,0.00,0.000,6,0.000,0.044,1820,2308,3409
$GC,8573,-0.92,-117.3,654.1,-5.9,261,8577,0.00,2.28,0.00,0.000,4,0.000,0.048,1820,899,3408
$GC,8619,-0.95,-117.3,657.1,-7.1,261,8623,0.00,2.28,0.00,0.000,6,0.000,0.041,1811,2316,3408
$GC,8946,-0.95,-117.3,677.5,-6.3,267,8950,0.00,2.30,0.00,0.000,4,0.000,0.044,1812,901,3408
$GC,8976,-0.95,-117.3,679.5,-6.6,267,8980,0.00,2.28,0.00,0.000,6,0.000,0.039,1808,2309,3408
$GC,9314,-0.95,-117.3,702.6,-6.8,273,9318,0.00,2.33,0.00,0.000,4,0.000,0.046,1808,900,3408
$GC,9371,-0.95,-117.3,706.9,-7.8,273,9377,0.00,2.30,0.00,0.000,6,0.000,0.044,1807,2308,3408
$GC,9682,-0.95,-117.3,727.6,-6.6,279,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2307,3408
$GC,9986,-0.95,-117.3,746.7,-6.3,284,9990,0.00,2.33,0.00,0.000,4,0.000,0.048,1807,898,3407
$GC,10020,-0.95,-117.3,749.0,-6.5,284,10024,0.00,2.28,0.00,0.000,6,0.000,0.040,1798,2307,3407
$GC,10348,-0.95,-117.3,771.6,-6.9,290,10352,0.00,2.33,0.00,0.000,4,0.000,0.051,1793,3717,3407
$GC,10382,-0.95,-117.3,774.2,-7.7,290,10386,0.00,2.25,0.00,0.000,6,0.000,0.031,1793,2297,3407
$GC,10711,-0.93,-117.3,799.2,-7.7,296,10712,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2297,3407
$GC,11013,-0.91,-117.3,823.7,-8.2,301,11017,0.00,2.28,0.00,0.000,4,0.000,0.047,1793,899,3407
$GC,11047,-0.89,-117.3,826.9,-8.5,301,11052,0.10,2.30,0.00,0.000,6,0.131,0.039,1809,2314,3407
$GC,11376,-0.91,-117.3,852.3,-7.8,307,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2314,3407
$GC,11678,-0.93,-117.3,874.5,-7.3,312,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2314,3406
$GC,11981,-0.96,-117.3,895.2,-6.8,317,11985,0.00,2.33,0.00,0.000,4,0.000,0.051,1810,901,3407
$GC,12027,-0.98,-117.3,898.5,-7.4,317,12031,0.10,2.30,0.00,0.000,6,0.075,0.047,1765,2307,3406
$GC,12355,-0.92,-117.3,926.1,-8.5,323,12360,0.12,2.35,0.00,0.000,4,0.137,0.054,1791,3708,3406
$GC,12428,-0.92,-117.3,931.9,-8.0,324,12432,0.00,2.28,0.00,0.000,6,0.000,0.038,1791,2297,3406
$GC,12784,-0.92,-117.3,955.5,-6.6,330,12788,0.00,2.30,0.00,0.000,4,0.000,0.052,1791,895,3406
$GC,12825,-0.92,-117.3,958.3,-6.9,330,12829,0.00,2.30,0.00,0.000,6,0.000,0.047,1781,2303,3406
$GC,13147,-0.89,-117.3,980.0,-6.7,336,13149,0.10,0.00,0.00,0.000,6,0.146,0.000,1808,2303,3406
$STATE,13385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13385,begin apogee
$GC,13394,-0.22,0.0,992.6,5.2,340,13495,0.45,0.00,97.82,1.280,6,0.107,0.000,1956,2303,2931
$STATE,13495,end apogee,CONTROL_FINISHED_OK
$STATE,13496,begin climb
$GC,13501,0.68,117.3,993.5,0.0,341,13612,0.55,2.55,103.75,1.253,4,0.067,0.051,2154,3697,2450
$GC,13653,0.49,117.3,989.3,8.0,343,13658,0.25,2.33,0.00,0.000,6,0.158,0.034,2103,2307,2447
$GC,13993,0.48,130.7,972.0,5.0,349,14006,0.00,0.00,11.20,1.103,6,0.000,0.000,2103,2307,2398
$GC,14294,0.51,154.1,957.5,4.7,354,14318,0.00,0.00,21.73,1.184,6,0.000,0.000,2103,2307,2302
$GC,14598,0.54,181.7,943.5,4.6,359,14627,0.00,2.35,24.80,1.187,4,0.000,0.051,2103,3709,2190
$GC,14659,0.56,191.9,940.4,5.2,360,14675,0.00,2.28,10.80,1.071,6,0.000,0.041,2111,2291,2148
$GC,15027,0.57,206.0,921.8,5.0,366,15046,0.00,2.40,13.18,1.109,4,0.000,0.050,2111,3712,2090
$GC,15076,0.57,206.0,918.9,6.4,366,15080,0.00,2.25,0.00,0.000,6,0.000,0.040,2121,2304,2089
$GC,15393,0.58,211.3,901.9,5.3,372,15404,0.00,2.30,6.05,0.917,4,0.000,0.049,2121,3710,2069
$GC,15445,0.54,211.3,898.7,6.0,372,15449,0.00,2.25,0.00,0.000,6,0.000,0.035,2131,2297,2068
$GC,15755,0.54,211.3,880.4,5.9,377,15757,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2296,2066
$GC,16058,0.54,211.3,861.8,6.1,382,16062,0.00,2.33,0.00,0.000,4,0.000,0.054,2131,3713,2065
$GC,16105,0.49,211.3,858.4,8.9,382,16110,0.15,2.25,0.00,0.000,6,0.144,0.040,2102,2300,2065
$GC,16422,0.55,225.4,842.3,5.0,388,16437,0.00,0.00,13.57,1.081,6,0.000,0.000,2102,2300,2012
$GC,16725,0.61,226.8,826.0,5.5,393,16727,0.12,0.00,0.00,0.000,6,0.062,0.000,2167,2299,2009
$GC,17029,0.52,226.8,798.2,9.4,398,17034,0.20,2.35,0.00,0.000,4,0.137,0.050,2105,3711,2008
$GC,17069,0.54,226.8,794.9,6.4,398,17073,0.00,2.25,0.00,0.000,6,0.000,0.032,2114,2301,2008
$GC,17391,0.58,226.8,776.0,5.8,404,17392,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2301,2007
$GC,17695,0.62,227.7,759.4,5.5,409,17699,0.00,2.33,0.00,0.000,4,0.000,0.048,2114,3714,2006
$GC,17725,0.62,227.7,757.6,5.8,409,17729,0.00,2.25,0.00,0.000,6,0.000,0.032,2123,2300,2007
$GC,18058,0.62,227.7,738.9,5.5,415,18059,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2299,2007
$GC,18361,0.62,227.7,721.7,5.7,420,18365,0.00,2.33,0.00,0.000,4,0.000,0.048,2123,3718,2007
$GC,18398,0.62,227.7,719.3,7.5,420,18402,0.00,2.25,0.00,0.000,6,0.000,0.032,2132,2299,2006
$GC,18725,0.62,227.7,698.5,6.3,426,18726,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2299,2006
$GC,19029,0.62,227.7,679.0,6.5,431,19030,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2299,2006
$GC,19331,0.62,227.7,659.2,6.4,436,19332,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2299,2006
$GC,19635,0.62,227.7,639.5,6.5,441,19636,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2298,2006
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$STATE,29656,end climb,SURFACE_DEPTH_REACHED
$STATE,29656,begin surface coast
$FINISH,1.7,1.016110
$STATE,29678,end surface coast,CONTROL_FINISHED_OK
$STATE,29678,begin surface
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$HUMID,1769
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$TCM_TEMP,16.10
$XPDR_PINGS,72
$24V_AH,21.8,108.154
$10V_AH,10.3,92.047
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$DEVICE_SECS,18.075,241.975,379.800,0.000,0.000,24.942,25.767,222.559,18.000,0.000,0.000,17.474,1710.069,24750.723,552.760,2169.538,1013.128,33.385,1715.555,0.000,2143.760,0.000,0.528,0.000
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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,44264,771
$CAP_FILE_SIZE,185925,0
$CFSIZE,260165632,200228864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190210,010145,4922.365,-13648.652,39,2.2,58,19.4