version: 66.04
glider: 144
mission: 15
dive: 873
start: 3 31 110 21 32 18
data:
$ID,144
$MISSION,15
$DIVE,873
$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,-79376.836
$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,35
$R_STBD_OVSHOOT,36
$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
$GPS1,212136,4825.065,-12802.126,38,1.4,44,19.2
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-63.6
$GPS2,213125,4824.991,-12802.210,12,1.5,29,19.2
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P4
$TGT_LATLONG,4839.000,-12640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.166,-0.023
$KALMAN_X,-79954.3,705.1,283.4,1294238.8,-6056.3
$KALMAN_Y,134405.4,-161.3,-71.8,-348978.2,792.1
$MHEAD_RNG_PITCHd_Wd,78.5,103879,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.68,-117.3,0.0,0.0,0,63,0.00,0.00,-39.80,0.000,2,0.000,0.000,98,2306,2566
$GC,68,-0.68,-117.3,3.7,-5.2,2,103,7.00,2.40,-20.58,0.000,4,0.226,0.058,1846,889,3412
$GC,326,-0.65,-117.3,33.3,-10.7,13,331,0.08,2.30,0.00,0.000,6,0.142,0.035,1857,2301,3413
$GC,644,-0.62,-117.3,66.5,-10.6,28,648,0.00,2.28,0.00,0.000,4,0.000,0.038,1857,894,3413
$GC,701,-0.62,-117.3,72.8,-10.3,30,705,0.00,2.30,0.00,0.000,6,0.000,0.035,1850,2312,3413
$GC,1028,-0.62,-117.3,106.0,-8.6,57,1032,0.00,2.30,0.00,0.000,4,0.000,0.038,1850,891,3413
$GC,1175,-0.62,-117.3,118.2,-7.6,69,1181,0.00,2.30,0.00,0.000,6,0.000,0.036,1849,2313,3413
$GC,1507,-0.65,-117.3,141.2,-6.5,100,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2313,3413
$GC,1847,-0.68,-117.3,165.7,-7.5,119,1851,0.00,2.30,0.00,0.000,4,0.000,0.039,1849,891,3413
$GC,1905,-0.72,-117.3,170.3,-7.7,120,1909,0.00,2.30,0.00,0.000,6,0.000,0.036,1849,2313,3413
$GC,2222,-0.75,-117.3,192.6,-6.8,130,2226,0.00,2.33,0.00,0.000,4,0.000,0.039,1849,888,3413
$GC,2253,-0.80,-117.3,194.8,-7.1,131,2258,0.10,2.30,0.00,0.000,6,0.064,0.037,1778,2304,3413
$GC,2590,-0.71,-117.3,230.9,-10.9,142,2595,0.20,2.33,0.00,0.000,4,0.120,0.038,1844,885,3413
$GC,2656,-0.76,-117.3,236.1,-6.7,144,2660,0.00,2.33,0.00,0.000,6,0.000,0.043,1837,2311,3413
$GC,2993,-0.78,-117.3,260.8,-7.5,155,2997,0.00,2.30,0.00,0.000,4,0.000,0.039,1837,893,3413
$GC,3033,-0.81,-117.3,264.2,-7.7,156,3037,0.00,2.33,0.00,0.000,6,0.000,0.040,1836,2312,3413
$GC,3360,-0.84,-117.3,288.5,-7.4,167,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2312,3413
$GC,3663,-0.86,-117.3,310.0,-7.1,175,3668,0.10,2.30,0.00,0.000,4,0.064,0.039,1765,895,3413
$GC,3767,-0.77,-117.3,320.9,-11.6,176,3772,0.28,2.35,0.00,0.000,6,0.112,0.043,1835,2309,3413
$GC,4095,-0.80,-117.3,343.1,-6.5,182,4099,0.00,2.30,0.00,0.000,4,0.000,0.041,1835,895,3412
$GC,4147,-0.83,-117.3,346.7,-6.4,182,4151,0.00,2.30,0.00,0.000,6,0.000,0.037,1835,2308,3412
$GC,4470,-0.86,-117.3,367.2,-6.3,188,4474,0.10,2.33,0.00,0.000,4,0.064,0.039,1766,894,3412
$GC,4505,-0.77,-117.3,370.4,-10.8,188,4511,0.28,2.33,0.00,0.000,6,0.109,0.036,1836,2307,3412
$GC,4839,-0.81,-117.3,392.6,-6.5,194,4843,0.00,2.33,0.00,0.000,4,0.000,0.048,1836,891,3412
$GC,4869,-0.85,-117.3,395.0,-7.7,194,4873,0.00,2.33,0.00,0.000,6,0.000,0.038,1836,2305,3412
$GC,5209,-0.89,-117.3,419.4,-7.3,200,5214,0.10,2.33,0.00,0.000,4,0.063,0.040,1761,897,3411
$GC,5256,-0.79,-117.3,424.4,-11.8,200,5260,0.25,2.30,0.00,0.000,6,0.113,0.038,1826,2303,3411
$GC,5586,-0.82,-117.3,450.5,-7.8,206,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2303,3410
$GC,5888,-0.84,-117.3,472.6,-7.2,211,5892,0.00,2.33,0.00,0.000,4,0.000,0.043,1826,896,3410
$GC,5940,-0.87,-117.3,476.5,-6.7,211,5944,0.00,2.30,0.00,0.000,6,0.000,0.041,1822,2304,3410
$GC,6262,-0.87,-117.3,498.9,-6.9,217,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3410
$GC,6565,-0.87,-117.3,519.7,-6.9,222,6569,0.00,2.33,0.00,0.000,4,0.000,0.049,1821,897,3410
$GC,6613,-0.90,-117.3,523.1,-8.0,222,6617,0.00,2.38,0.00,0.000,6,0.000,0.044,1813,2311,3410
$GC,6929,-0.90,-117.3,546.4,-7.4,228,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2312,3409
$GC,7232,-0.90,-117.3,569.0,-7.4,233,7236,0.00,2.38,0.00,0.000,4,0.000,0.042,1813,894,3409
$GC,7301,-0.90,-117.3,574.2,-7.3,234,7305,0.00,2.33,0.00,0.000,6,0.000,0.044,1808,2309,3409
$GC,7669,-0.90,-117.3,599.6,-6.9,240,7673,0.00,2.38,0.00,0.000,4,0.000,0.045,1808,892,3408
$GC,7710,-0.90,-117.3,602.6,-7.7,240,7714,0.00,2.33,0.00,0.000,6,0.000,0.043,1799,2306,3408
$GC,8033,-0.88,-117.3,626.1,-7.3,246,8037,0.00,2.33,0.00,0.000,4,0.000,0.046,1799,897,3408
$GC,8063,-0.88,-117.3,628.5,-8.3,246,8067,0.00,2.35,0.00,0.000,6,0.000,0.042,1794,2303,3408
$GC,8402,-0.85,-117.3,654.7,-7.8,252,8406,0.00,2.35,0.00,0.000,4,0.000,0.044,1794,895,3407
$GC,8472,-0.85,-117.3,660.5,-8.3,253,8477,0.12,2.35,0.00,0.000,6,0.117,0.040,1820,2306,3407
$GC,8840,-0.88,-117.3,684.4,-6.4,259,8845,0.00,2.35,0.00,0.000,4,0.000,0.048,1820,898,3407
$GC,8876,-0.92,-117.3,686.9,-6.5,259,8880,0.00,2.35,0.00,0.000,6,0.000,0.041,1820,2306,3407
$GC,9205,-0.95,-117.3,707.5,-6.2,265,9207,0.10,0.00,0.00,0.000,6,0.064,0.000,1754,2306,3406
$GC,9509,-0.86,-117.3,736.2,-9.6,270,9511,0.20,0.00,0.00,0.000,6,0.120,0.000,1815,2306,3407
$GC,9811,-0.88,-117.3,755.2,-6.1,275,9815,0.00,2.40,0.00,0.000,4,0.000,0.043,1815,888,3406
$GC,9863,-0.91,-117.3,758.8,-7.2,275,9867,0.00,2.35,0.00,0.000,6,0.000,0.038,1809,2301,3406
$GC,10186,-0.91,-117.3,782.1,-7.3,281,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2301,3405
$GC,10490,-0.91,-117.3,804.3,-7.3,286,10493,0.00,2.40,0.00,0.000,4,0.000,0.045,1809,889,3405
$GC,10530,-0.91,-117.3,807.7,-8.0,286,10534,0.00,2.40,0.00,0.000,6,0.000,0.044,1808,2303,3406
$GC,10858,-0.91,-117.3,831.6,-7.2,292,10859,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3405
$GC,11161,-0.91,-117.3,852.3,-6.9,297,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3405
$GC,11465,-0.91,-117.3,872.0,-6.4,302,11467,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3404
$GC,11767,-0.91,-117.3,890.9,-6.3,307,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3404
$GC,12070,-0.91,-117.3,909.8,-6.3,312,12075,0.00,2.40,0.00,0.000,4,0.000,0.050,1808,898,3404
$GC,12105,-0.91,-117.3,912.3,-6.8,312,12110,0.00,2.40,0.00,0.000,6,0.000,0.045,1809,2306,3404
$GC,12435,-0.91,-117.3,933.1,-6.3,318,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3404
$GC,12737,-0.93,-117.3,952.6,-6.5,323,12738,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3404
$GC,13040,-0.95,-117.3,971.7,-6.3,328,13041,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3403
$STATE,13338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13338,begin apogee
$GC,13348,-0.22,0.0,990.3,6.1,333,13448,0.45,0.00,97.25,1.263,6,0.105,0.000,1952,2306,2931
$STATE,13449,end apogee,CONTROL_FINISHED_OK
$STATE,13449,begin climb
$GC,13455,0.68,117.3,991.8,0.0,334,13566,0.57,2.65,104.20,1.238,4,0.067,0.054,2153,3709,2451
$GC,13653,0.50,117.3,985.5,7.9,337,13658,0.22,2.47,0.00,0.000,6,0.150,0.037,2111,2310,2445
$GC,14017,0.48,131.8,967.0,5.0,343,14031,0.00,0.00,12.25,1.103,6,0.000,0.000,2110,2310,2393
$GC,14318,0.45,131.8,950.5,5.5,348,14319,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2310,2389
$GC,14622,0.43,133.1,933.9,5.5,353,14623,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2309,2389
$GC,14926,0.41,139.7,917.9,5.3,358,14940,0.00,2.40,7.62,0.991,4,0.000,0.051,2111,3716,2360
$GC,14988,0.35,139.7,914.2,5.7,358,14995,0.17,2.28,0.00,0.000,6,0.149,0.034,2074,2297,2359
$GC,15300,0.48,168.7,900.3,4.5,364,15331,0.10,2.33,25.80,1.163,4,0.078,0.049,2134,891,2243
$GC,15428,0.46,168.7,893.4,5.5,365,15436,0.08,2.35,0.00,0.000,6,0.125,0.044,2096,2311,2240
$GC,15741,0.53,203.9,879.6,4.3,371,15777,0.00,2.33,31.05,1.156,4,0.000,0.050,2096,3718,2098
$GC,15825,0.56,203.9,875.1,5.9,372,15829,0.00,2.28,0.00,0.000,6,0.000,0.037,2104,2297,2096
$GC,16176,0.61,211.5,856.7,5.2,378,16186,0.10,0.00,7.45,0.953,6,0.070,0.000,2159,2298,2068
$GC,16479,0.52,211.5,831.6,8.4,383,16484,0.17,2.38,0.00,0.000,4,0.129,0.053,2110,3710,2065
$GC,16537,0.52,211.5,827.5,7.6,383,16543,0.00,2.28,0.00,0.000,6,0.000,0.034,2118,2294,2064
$GC,16849,0.53,211.7,809.9,5.5,389,16850,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2294,2064
$GC,17151,0.53,211.7,792.4,5.8,394,17156,0.00,2.38,0.00,0.000,4,0.000,0.049,2118,3709,2064
$GC,17186,0.53,211.7,790.1,6.8,394,17190,0.00,2.28,0.00,0.000,6,0.000,0.033,2128,2302,2063
$GC,17516,0.53,211.7,767.9,6.8,400,17517,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2301,2063
$GC,17817,0.53,211.7,747.2,6.9,405,17822,0.00,2.38,0.00,0.000,4,0.000,0.048,2129,3710,2063
$GC,17841,0.53,211.7,745.2,8.1,405,17846,0.10,2.30,0.00,0.000,6,0.138,0.032,2114,2291,2063
$GC,18181,0.56,211.7,723.9,6.2,411,18185,0.00,2.35,0.00,0.000,4,0.000,0.051,2114,3711,2063
$GC,18211,0.56,211.7,721.8,7.0,411,18215,0.00,2.28,0.00,0.000,6,0.000,0.033,2122,2303,2063
$GC,18550,0.56,211.7,699.2,6.7,417,18554,0.00,2.35,0.00,0.000,4,0.000,0.051,2123,3714,2063
$GC,18573,0.56,211.7,697.3,7.3,417,18577,0.00,2.25,0.00,0.000,6,0.000,0.031,2133,2300,2063
$GC,18919,0.56,211.7,672.7,7.2,423,18920,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2300,2063
$GC,19221,0.56,211.7,651.1,7.1,428,19222,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2300,2062
$GC,19524,0.56,211.7,630.5,6.8,433,19528,0.00,2.38,0.00,0.000,4,0.000,0.054,2132,3717,2062
$GC,19560,0.52,211.7,627.8,7.5,433,19565,0.12,2.25,0.00,0.000,6,0.133,0.031,2110,2297,2062
$GC,19889,0.56,211.7,608.9,5.6,439,19893,0.00,2.33,0.00,0.000,4,0.000,0.044,2119,892,2062
$GC,19924,0.62,211.7,606.7,6.0,439,19928,0.00,2.30,0.00,0.000,6,0.000,0.036,2119,2304,2062
$GC,20252,0.65,211.7,587.2,5.9,445,20257,0.08,2.35,0.00,0.000,4,0.076,0.050,2184,3710,2061
$GC,20327,0.49,211.7,579.6,10.5,446,20332,0.32,2.22,0.00,0.000,6,0.140,0.031,2106,2305,2062
$GC,20684,0.55,219.4,559.9,5.2,452,20698,0.00,2.38,7.53,0.808,4,0.000,0.045,2116,891,2036
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$STATE,28504,end climb,SURFACE_DEPTH_REACHED
$STATE,28504,begin surface coast
$FINISH,1.8,1.006431
$STATE,28547,end surface coast,CONTROL_FINISHED_OK
$STATE,28547,begin surface
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$HUMID,1771
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$TCM_TEMP,16.70
$XPDR_PINGS,73
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$10V_AH,8.9,105.917
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$DEVICE_SECS,19.075,227.625,402.900,0.000,0.000,33.055,25.774,321.333,18.250,0.000,0.000,30.735,1659.146,23570.863,547.337,2229.115,1193.712,33.389,1722.391,0.000,2189.021,0.000,0.529,0.000
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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,44408,719
$CAP_FILE_SIZE,185520,0
$CFSIZE,260165632,190746624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010410,053054,4823.848,-12758.220,23,1.4,40,19.2