version: 66.04
glider: 144
mission: 15
dive: 134
start: 7 26 109 12 16 55
data:
$ID,144
$MISSION,15
$DIVE,134
$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,-63535.484
$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,0.039999999
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,121007,5008.438,-14426.930,39,1.9,39,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-59.1
$GPS2,121601,5008.497,-14426.867,13,2.0,30,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.030,-0.165
$KALMAN_X,-65333.9,73.7,-53.6,105776.2,325.4
$KALMAN_Y,67245.4,27.6,53.0,-51023.9,129.8
$MHEAD_RNG_PITCHd_Wd,171.8,27059,-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,16,-0.68,-117.3,0.0,0.0,0,50,0.00,0.00,-32.10,0.000,2,0.000,0.000,101,2310,2600
$GC,52,-0.68,-117.3,3.2,-6.1,3,87,6.85,2.30,-19.73,0.000,4,0.235,0.067,1841,890,3412
$GC,111,-0.36,-117.3,12.7,-19.3,8,116,0.30,2.28,0.00,0.000,6,0.134,0.041,1924,2310,3413
$GC,438,-0.52,-117.3,37.9,-5.6,38,439,0.12,0.00,0.00,0.000,6,0.055,0.000,1839,2310,3414
$GC,756,-0.38,-117.3,73.1,-10.6,68,761,0.22,2.25,0.00,0.000,4,0.123,0.044,1913,893,3416
$GC,822,-0.58,-117.3,78.2,-6.6,73,829,0.12,2.20,0.00,0.000,6,0.061,0.038,1823,2307,3416
$GC,1139,-0.41,-117.3,113.2,-11.3,90,1141,0.30,0.00,0.00,0.000,6,0.125,0.000,1916,2307,3417
$GC,1448,-0.64,-117.3,131.2,-5.5,105,1450,0.17,0.00,0.00,0.000,6,0.051,0.000,1827,2307,3418
$GC,1757,-0.78,-117.3,155.2,-7.4,119,1760,0.00,2.22,0.00,0.000,4,0.000,0.055,1820,3709,3417
$GC,1807,-0.65,-117.3,159.2,-8.5,120,1812,0.15,2.15,0.00,0.000,6,0.124,0.032,1864,2300,3417
$GC,2130,-0.73,-117.3,180.0,-6.2,131,2135,0.10,2.20,0.00,0.000,4,0.068,0.045,1802,898,3417
$GC,2208,-0.58,-117.3,187.6,-10.1,133,2213,0.28,2.20,0.00,0.000,6,0.125,0.041,1878,2302,3416
$GC,2526,-0.73,-117.3,206.8,-6.1,144,2528,0.12,0.00,0.00,0.000,6,0.058,0.000,1799,2302,3416
$GC,2832,-0.56,-117.3,238.9,-10.5,154,2837,0.22,2.22,0.00,0.000,4,0.125,0.051,1873,893,3416
$GC,2904,-0.73,-117.3,244.2,-6.9,156,2909,0.08,2.22,0.00,0.000,6,0.080,0.044,1806,2315,3415
$GC,3228,-0.60,-117.3,273.6,-9.3,167,3230,0.22,0.00,0.00,0.000,6,0.123,0.000,1875,2315,3416
$GC,3534,-0.76,-117.3,290.8,-5.3,177,3539,0.15,2.25,0.00,0.000,4,0.052,0.053,1791,890,3414
$GC,3572,-0.57,-117.3,294.3,-9.5,178,3577,0.32,2.22,0.00,0.000,6,0.127,0.041,1882,2311,3414
$GC,3895,-0.75,-117.3,309.6,-4.6,186,3896,0.15,0.00,0.00,0.000,6,0.053,0.000,1793,2312,3414
$GC,4197,-0.59,-117.3,338.8,-10.0,191,4202,0.22,2.25,0.00,0.000,4,0.123,0.053,1866,888,3414
$GC,4236,-0.74,-117.3,341.9,-6.7,191,4240,0.10,2.22,0.00,0.000,6,0.069,0.044,1799,2308,3413
$GC,4556,-0.60,-117.3,372.0,-9.5,197,4558,0.22,0.00,0.00,0.000,6,0.123,0.000,1867,2308,3413
$GC,4859,-0.75,-117.3,389.7,-5.7,202,4864,0.12,2.22,0.00,0.000,4,0.060,0.047,1794,897,3413
$GC,4892,-0.61,-117.3,392.6,-9.5,202,4897,0.28,2.20,0.00,0.000,6,0.123,0.041,1869,2302,3413
$GC,5218,-0.76,-117.3,411.4,-5.6,208,5223,0.12,2.22,0.00,0.000,4,0.059,0.050,1796,893,3412
$GC,5245,-0.69,-117.3,413.7,-8.7,208,5250,0.22,2.22,0.00,0.000,6,0.126,0.046,1855,2314,3412
$GC,5577,-0.80,-117.3,434.7,-6.2,214,5579,0.10,0.00,0.00,0.000,6,0.070,0.000,1794,2314,3411
$GC,5880,-0.67,-117.3,462.6,-9.4,219,5882,0.20,0.00,0.00,0.000,6,0.124,0.000,1855,2314,3411
$GC,6183,-0.78,-117.3,480.3,-5.7,224,6188,0.10,2.25,0.00,0.000,4,0.070,0.050,1795,890,3411
$GC,6211,-0.71,-117.3,482.6,-8.8,224,6215,0.20,2.22,0.00,0.000,6,0.127,0.042,1845,2313,3411
$GC,6542,-0.79,-117.3,502.2,-5.7,230,6546,0.00,2.22,0.00,0.000,4,0.000,0.050,1844,900,3410
$GC,6570,-0.86,-117.3,504.0,-6.6,230,6574,0.10,2.20,0.00,0.000,6,0.070,0.044,1776,2304,3410
$GC,6907,-0.68,-117.3,534.3,-9.2,236,6912,0.22,2.22,0.00,0.000,4,0.132,0.050,1850,896,3410
$GC,6974,-0.79,-117.3,538.6,-5.7,237,6978,0.08,2.20,0.00,0.000,6,0.085,0.047,1792,2303,3410
$GC,7333,-0.67,-117.3,565.6,-7.6,243,7335,0.20,0.00,0.00,0.000,6,0.126,0.000,1853,2303,3410
$GC,7637,-0.80,-117.3,580.6,-4.8,248,7639,0.10,0.00,0.00,0.000,6,0.071,0.000,1790,2302,3409
$GC,7940,-0.67,-117.3,605.8,-8.5,253,7944,0.20,2.22,0.00,0.000,4,0.125,0.051,1856,896,3409
$GC,7967,-0.74,-117.3,607.7,-6.5,253,7971,0.00,2.22,0.00,0.000,6,0.000,0.042,1850,2312,3409
$GC,8299,-0.86,-117.3,627.2,-5.9,259,8301,0.12,0.00,0.00,0.000,6,0.061,0.000,1777,2313,3409
$GC,8602,-0.69,-117.3,656.8,-10.0,264,8606,0.20,2.25,0.00,0.000,4,0.132,0.048,1843,894,3409
$GC,8664,-0.79,-117.3,661.7,-6.7,265,8668,0.00,2.22,0.00,0.000,6,0.000,0.043,1837,2314,3408
$GC,9030,-0.86,-117.3,686.1,-6.6,271,9031,0.10,0.00,0.00,0.000,6,0.073,0.000,1778,2314,3408
$GC,9333,-0.71,-117.3,714.6,-9.5,276,9335,0.22,0.00,0.00,0.000,6,0.128,0.000,1845,2314,3408
$GC,9636,-0.83,-117.3,732.5,-5.7,281,9640,0.10,2.25,0.00,0.000,4,0.077,0.048,1796,893,3408
$GC,9680,-0.73,-117.3,736.0,-8.7,281,9685,0.20,2.22,0.00,0.000,6,0.126,0.043,1845,2310,3408
$GC,9995,-0.86,-117.3,752.3,-5.0,287,9997,0.12,0.00,0.00,0.000,6,0.068,0.000,1790,2310,3408
$GC,10298,-0.75,-117.3,774.8,-7.6,292,10300,0.17,0.00,0.00,0.000,6,0.127,0.000,1841,2310,3407
$GC,10602,-0.86,-117.3,789.9,-4.9,297,10606,0.10,2.25,0.00,0.000,4,0.081,0.053,1797,897,3407
$GC,10623,-0.86,-117.3,791.5,-6.6,297,10627,0.10,2.22,0.00,0.000,6,0.146,0.048,1813,2311,3407
$GC,10966,-0.86,-117.3,812.5,-6.1,303,10970,0.00,2.25,0.00,0.000,4,0.000,0.051,1813,894,3407
$GC,11004,-0.86,-117.3,815.3,-6.6,303,11008,0.00,2.22,0.00,0.000,6,0.000,0.045,1805,2306,3407
$GC,11331,-0.81,-117.3,837.4,-6.8,309,11335,0.00,2.22,0.00,0.000,4,0.000,0.054,1805,900,3407
$GC,11387,-0.77,-117.3,841.7,-7.4,309,11392,0.15,2.20,0.00,0.000,6,0.132,0.048,1839,2302,3407
$GC,11697,-0.87,-117.3,858.9,-5.5,314,11702,0.12,2.22,0.00,0.000,4,0.077,0.054,1789,898,3407
$GC,11718,-0.87,-117.3,860.5,-7.5,314,11723,0.12,2.22,0.00,0.000,6,0.146,0.049,1813,2315,3407
$GC,12062,-0.87,-117.3,883.6,-6.7,320,12066,0.00,2.25,0.00,0.000,4,0.000,0.052,1813,897,3407
$GC,12094,-0.87,-117.3,886.2,-7.8,320,12098,0.00,2.25,0.00,0.000,6,0.000,0.048,1806,2305,3407
$GC,12427,-0.87,-117.3,909.5,-7.0,326,12431,0.00,2.25,0.00,0.000,4,0.000,0.056,1806,893,3406
$GC,12482,-0.83,-117.3,913.7,-7.6,326,12489,0.10,2.25,0.00,0.000,6,0.145,0.048,1823,2314,3406
$GC,12792,-0.88,-117.3,932.7,-6.0,332,12796,0.00,2.25,0.00,0.000,4,0.000,0.052,1827,903,3406
$GC,12832,-0.94,-117.3,935.2,-7.1,332,12837,0.10,2.22,0.00,0.000,6,0.084,0.047,1780,2311,3406
$GC,13153,-0.80,-117.3,960.2,-7.9,338,13157,0.17,2.25,0.00,0.000,4,0.143,0.057,1827,3722,3406
$GC,13179,-0.80,-117.3,962.1,-6.1,338,13184,0.00,2.20,0.00,0.000,6,0.000,0.037,1827,2314,3406
$GC,13519,-0.86,-117.3,979.1,-5.0,344,13523,0.00,2.25,0.00,0.000,4,0.000,0.059,1827,895,3406
$GC,13563,-0.91,-117.3,981.8,-5.6,344,13567,0.00,2.22,0.00,0.000,6,0.000,0.044,1822,2306,3406
$STATE,13756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13756,begin apogee
$GC,13762,-0.22,0.0,991.7,5.2,348,13858,0.43,0.00,93.12,1.335,6,0.124,0.000,1957,2307,2931
$STATE,13858,end apogee,CONTROL_FINISHED_OK
$STATE,13859,begin climb
$GC,13861,0.68,117.3,992.5,0.0,349,13968,0.55,2.53,98.07,1.309,4,0.077,0.057,2148,3715,2450
$GC,13996,0.26,117.3,986.8,8.5,351,14001,0.40,2.35,0.00,0.000,6,0.181,0.041,2059,2309,2447
$GC,14351,0.39,138.7,969.4,4.8,357,14377,0.10,2.42,17.60,1.219,4,0.084,0.058,2107,893,2364
$GC,14393,0.40,150.5,966.8,5.1,357,14409,0.00,2.35,11.62,1.144,6,0.000,0.044,2108,2310,2317
$GC,14714,0.30,150.5,946.6,6.3,362,14718,0.17,2.30,0.00,0.000,4,0.150,0.061,2055,3710,2312
$GC,14769,0.42,183.5,943.5,4.4,362,14805,0.10,2.25,28.55,1.246,6,0.074,0.041,2106,2297,2183
$GC,15143,0.42,183.5,921.4,5.9,369,15147,0.00,2.30,0.00,0.000,4,0.000,0.053,2117,890,2177
$GC,15175,0.42,183.5,919.3,6.3,369,15180,0.10,2.30,0.00,0.000,6,0.140,0.046,2092,2312,2176
$GC,15508,0.44,197.6,902.4,5.0,375,15527,0.00,2.35,12.45,1.154,4,0.000,0.059,2092,3713,2124
$GC,15550,0.45,203.8,900.0,5.3,375,15563,0.00,2.25,7.12,1.012,6,0.000,0.041,2099,2299,2099
$GC,15874,0.45,203.8,882.0,5.6,381,15876,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2299,2096
$GC,16178,0.45,203.8,864.2,5.9,386,16182,0.00,2.30,0.00,0.000,4,0.000,0.060,2099,3714,2094
$GC,16216,0.39,203.8,861.4,7.3,386,16221,0.10,2.22,0.00,0.000,6,0.170,0.038,2086,2302,2094
$GC,16537,0.48,209.7,844.2,5.3,392,16545,0.00,0.00,5.78,0.940,6,0.000,0.000,2086,2302,2076
$GC,16841,0.56,211.4,827.7,5.4,397,16843,0.12,0.00,0.00,0.000,6,0.068,0.000,2141,2301,2074
$GC,17143,0.38,211.4,801.5,8.8,402,17148,0.20,2.28,0.00,0.000,4,0.153,0.054,2083,3712,2075
$GC,17181,0.38,211.4,798.5,7.2,402,17185,0.00,2.22,0.00,0.000,6,0.000,0.040,2091,2296,2074
$GC,17508,0.46,221.5,781.5,5.2,408,17522,0.00,0.00,11.70,1.090,6,0.000,0.000,2091,2296,2028
$GC,17811,0.55,236.5,766.4,5.0,413,17831,0.10,2.35,14.38,1.102,4,0.071,0.058,2144,3717,1965
$GC,17865,0.34,236.5,762.0,9.3,413,17870,0.30,2.25,0.00,0.000,6,0.152,0.043,2070,2303,1964
$GC,18175,0.85,241.0,745.8,5.3,418,18185,0.30,2.33,4.62,0.796,4,0.067,0.054,2186,3721,1947
$GC,18239,0.47,241.0,740.2,11.0,419,18244,0.35,2.25,0.00,0.000,6,0.160,0.037,2100,2302,1947
$GC,18605,0.57,258.9,720.8,4.9,425,18625,0.10,0.00,17.35,1.094,6,0.067,0.000,2152,2301,1875
$GC,18908,0.41,258.9,694.7,8.9,430,18913,0.20,2.30,0.00,0.000,4,0.139,0.051,2093,3714,1870
$GC,18948,0.49,258.9,691.8,6.5,430,18952,0.00,2.22,0.00,0.000,6,0.000,0.036,2100,2301,1869
$GC,19269,0.59,258.9,673.8,5.6,436,19274,0.10,2.28,0.00,0.000,4,0.074,0.050,2169,887,1868
$GC,19290,0.59,258.9,672.2,7.0,436,19295,0.17,2.28,0.00,0.000,6,0.139,0.048,2121,2314,1868
$GC,19633,0.59,258.9,647.9,7.0,442,19637,0.00,2.25,0.00,0.000,4,0.000,0.053,2122,3712,1867
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$STATE,28708,end climb,SURFACE_DEPTH_REACHED
$STATE,28708,begin surface coast
$FINISH,1.3,1.024582
$STATE,28719,end surface coast,CONTROL_FINISHED_OK
$STATE,28720,begin surface
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$HUMID,1666
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$TCM_TEMP,16.20
$XPDR_PINGS,78
$24V_AH,23.3,22.055
$10V_AH,10.7,17.245
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$DEVICE_SECS,27.775,224.250,387.450,0.000,0.000,24.593,26.332,163.146,19.500,0.000,0.000,32.116,1728.088,24007.273,529.971,2281.436,592.402,33.407,1674.500,0.000,2258.597,0.000,0.527,0.000
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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,44314,743
$CAP_FILE_SIZE,196865,0
$CFSIZE,260165632,248299520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260709,201806,5005.271,-14427.752,38,1.5,38,18.6