version: 66.04
glider: 144
mission: 15
dive: 136
start: 7 27 109 4 33 31
data:
$ID,144
$MISSION,15
$DIVE,136
$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,-63562.961
$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,33
$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
$GPS1,042337,5002.274,-14428.616,28,1.2,28,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-63.2
$GPS2,043237,5002.309,-14428.572,10,1.3,10,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.032,-0.165
$KALMAN_X,-65101.9,-168.0,38.5,103660.2,602.5
$KALMAN_Y,67712.3,108.7,-65.9,-62917.9,250.1
$MHEAD_RNG_PITCHd_Wd,172.5,15441,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,49,0.00,0.00,-31.50,0.000,2,0.000,0.000,100,2289,2536
$GC,52,-0.68,-117.3,3.1,-5.1,3,84,6.93,0.00,-22.58,0.000,6,0.240,0.000,1842,2289,3412
$GC,399,-0.51,-117.3,49.7,-12.9,36,401,0.17,0.00,0.00,0.000,6,0.132,0.000,1895,2289,3415
$GC,719,-0.60,-117.3,73.2,-6.5,66,723,0.10,2.22,0.00,0.000,4,0.066,0.044,1828,887,3416
$GC,841,-0.46,-117.3,85.9,-10.9,74,848,0.22,2.25,0.00,0.000,6,0.121,0.040,1896,2297,3416
$GC,1157,-0.56,-117.3,106.0,-6.3,90,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,2296,3417
$GC,1466,-0.70,-117.3,124.8,-6.0,105,1471,0.15,2.20,0.00,0.000,4,0.051,0.042,1808,892,3417
$GC,1527,-0.54,-117.3,131.1,-11.1,107,1534,0.28,2.22,0.00,0.000,6,0.123,0.039,1882,2314,3416
$GC,1842,-0.68,-117.3,154.2,-6.9,122,1847,0.12,2.22,0.00,0.000,4,0.059,0.049,1807,891,3416
$GC,1877,-0.54,-117.3,157.4,-10.5,123,1881,0.28,2.20,0.00,0.000,6,0.120,0.041,1882,2308,3416
$GC,2217,-0.68,-117.3,176.1,-4.9,134,2222,0.12,2.22,0.00,0.000,4,0.058,0.046,1806,891,3415
$GC,2244,-0.59,-117.3,178.1,-8.0,134,2251,0.25,2.20,0.00,0.000,6,0.120,0.039,1872,2304,3415
$GC,2558,-0.71,-117.3,194.7,-5.4,145,2562,0.10,2.20,0.00,0.000,4,0.069,0.043,1807,894,3415
$GC,2585,-0.64,-117.3,197.1,-8.7,145,2592,0.22,2.20,0.00,0.000,6,0.123,0.045,1866,2303,3415
$GC,2898,-0.74,-117.3,217.3,-6.3,156,2902,0.10,2.20,0.00,0.000,4,0.071,0.043,1803,894,3414
$GC,2938,-0.60,-117.3,220.8,-9.5,157,2942,0.25,2.20,0.00,0.000,6,0.123,0.041,1871,2301,3415
$GC,3267,-0.73,-117.3,240.7,-5.8,168,3269,0.12,0.00,0.00,0.000,6,0.060,0.000,1794,2301,3414
$GC,3573,-0.55,-117.3,270.2,-9.7,178,3578,0.25,2.22,0.00,0.000,4,0.126,0.049,1875,887,3413
$GC,3645,-0.73,-117.3,274.9,-6.0,180,3650,0.12,2.22,0.00,0.000,6,0.059,0.043,1801,2307,3413
$GC,4004,-0.59,-117.3,307.4,-9.3,191,4009,0.20,2.22,0.00,0.000,4,0.127,0.051,1867,892,3413
$GC,4043,-0.73,-117.3,310.5,-6.8,191,4047,0.08,2.22,0.00,0.000,6,0.082,0.043,1806,2315,3413
$GC,4363,-0.62,-117.3,339.0,-9.0,197,4365,0.20,0.00,0.00,0.000,6,0.126,0.000,1866,2314,3412
$GC,4666,-0.75,-117.3,357.6,-6.0,202,4668,0.12,0.00,0.00,0.000,6,0.059,0.000,1790,2315,3412
$GC,4970,-0.59,-117.3,389.2,-10.6,207,4974,0.22,2.25,0.00,0.000,4,0.124,0.053,1866,891,3411
$GC,5036,-0.75,-117.3,394.4,-7.4,208,5040,0.10,2.22,0.00,0.000,6,0.069,0.044,1799,2313,3411
$GC,5401,-0.62,-117.3,429.2,-9.6,214,5403,0.22,0.00,0.00,0.000,6,0.125,0.000,1868,2313,3411
$GC,5705,-0.77,-117.3,445.8,-5.3,219,5710,0.12,2.25,0.00,0.000,4,0.059,0.048,1793,884,3410
$GC,5749,-0.62,-117.3,449.7,-9.6,219,5754,0.28,2.22,0.00,0.000,6,0.125,0.048,1867,2306,3410
$GC,6064,-0.77,-117.3,465.2,-4.8,225,6066,0.12,0.00,0.00,0.000,6,0.061,0.000,1793,2306,3409
$GC,6367,-0.63,-117.3,490.0,-8.3,230,6372,0.20,2.22,0.00,0.000,4,0.126,0.051,1860,894,3409
$GC,6411,-0.78,-117.3,492.9,-5.5,230,6416,0.08,2.22,0.00,0.000,6,0.082,0.042,1794,2316,3409
$GC,6726,-0.66,-117.3,518.1,-8.2,236,6731,0.20,2.25,0.00,0.000,4,0.198,0.047,1858,888,3409
$GC,6776,-0.80,-117.3,521.4,-5.9,236,6780,0.10,2.22,0.00,0.000,6,0.070,0.047,1784,2312,3409
$GC,7086,-0.64,-117.3,548.5,-9.0,241,7088,0.25,0.00,0.00,0.000,6,0.127,0.000,1860,2312,3408
$GC,7389,-0.79,-117.3,563.7,-4.8,246,7391,0.12,0.00,0.00,0.000,6,0.060,0.000,1783,2312,3408
$GC,7692,-0.62,-117.3,590.5,-9.1,251,7696,0.22,2.22,0.00,0.000,4,0.124,0.051,1858,894,3408
$GC,7754,-0.77,-117.3,594.5,-5.6,252,7758,0.00,2.20,0.00,0.000,6,0.000,0.041,1851,2304,3408
$GC,8120,-0.89,-117.3,615.0,-5.5,258,8125,0.15,2.22,0.00,0.000,4,0.055,0.058,1759,3710,3407
$GC,8159,-0.64,-117.3,618.4,-9.6,258,8164,0.32,2.17,0.00,0.000,6,0.130,0.039,1858,2292,3407
$GC,8480,-0.80,-117.3,636.0,-5.3,264,8484,0.12,2.20,0.00,0.000,4,0.064,0.049,1785,889,3407
$GC,8512,-0.66,-117.3,638.7,-9.1,264,8517,0.25,2.22,0.00,0.000,6,0.130,0.044,1857,2305,3407
$GC,8838,-0.81,-117.3,657.6,-5.7,270,8840,0.12,0.00,0.00,0.000,6,0.064,0.000,1786,2305,3407
$GC,9141,-0.68,-117.3,684.8,-9.2,275,9146,0.20,2.22,0.00,0.000,4,0.126,0.048,1852,894,3406
$GC,9168,-0.74,-117.3,687.0,-7.6,275,9172,0.00,2.22,0.00,0.000,6,0.000,0.043,1850,2312,3407
$GC,9501,-0.86,-117.3,706.9,-6.0,281,9503,0.12,0.00,0.00,0.000,6,0.064,0.000,1784,2312,3407
$GC,9804,-0.72,-117.3,733.7,-9.0,286,9808,0.17,2.25,0.00,0.000,4,0.128,0.054,1842,888,3407
$GC,9842,-0.82,-117.3,736.6,-7.1,286,9846,0.00,2.22,0.00,0.000,6,0.000,0.043,1837,2309,3407
$GC,10163,-0.90,-117.3,756.4,-6.2,292,10168,0.12,2.25,0.00,0.000,4,0.069,0.052,1777,888,3406
$GC,10196,-0.74,-117.3,759.3,-9.1,292,10200,0.25,2.22,0.00,0.000,6,0.131,0.044,1842,2306,3406
$GC,10522,-0.85,-117.3,777.9,-5.6,298,10523,0.10,0.00,0.00,0.000,6,0.080,0.000,1797,2307,3406
$GC,10825,-0.77,-117.3,800.8,-7.6,303,10827,0.12,0.00,0.00,0.000,6,0.129,0.000,1832,2307,3405
$GC,11128,-0.84,-117.3,818.8,-5.8,308,11132,0.00,2.22,0.00,0.000,4,0.000,0.051,1832,900,3405
$GC,11161,-0.90,-117.3,820.8,-6.0,308,11166,0.00,2.20,0.00,0.000,6,0.000,0.051,1826,2308,3406
$GC,11500,-0.94,-117.3,838.7,-5.3,314,11505,0.10,2.25,0.00,0.000,4,0.084,0.054,1778,893,3405
$GC,11544,-0.77,-117.3,842.2,-8.3,314,11549,0.22,2.22,0.00,0.000,6,0.137,0.046,1834,2304,3405
$GC,11860,-0.85,-117.3,857.2,-4.6,320,11861,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2304,3405
$GC,12163,-0.93,-117.3,871.0,-4.6,325,12165,0.12,0.00,0.00,0.000,6,0.078,0.000,1781,2304,3404
$GC,12465,-0.79,-117.3,892.9,-7.4,330,12470,0.17,2.22,0.00,0.000,4,0.131,0.054,1839,900,3404
$GC,12509,-0.90,-117.3,895.6,-6.2,330,12514,0.12,2.22,0.00,0.000,6,0.074,0.050,1783,2312,3405
$GC,12824,-0.77,-117.3,919.7,-7.8,336,12826,0.17,0.00,0.00,0.000,6,0.133,0.000,1833,2312,3404
$GC,13127,-0.85,-117.3,938.0,-6.0,341,13131,0.00,2.25,0.00,0.000,4,0.000,0.052,1833,897,3404
$GC,13160,-0.93,-117.3,940.1,-6.5,341,13164,0.10,2.22,0.00,0.000,6,0.084,0.044,1780,2309,3404
$GC,13486,-0.80,-117.3,966.8,-8.3,347,13488,0.17,0.00,0.00,0.000,6,0.137,0.000,1830,2309,3405
$GC,13789,-0.88,-117.3,984.7,-5.9,352,13792,0.00,2.25,0.00,0.000,4,0.000,0.052,1830,894,3404
$GC,13822,-0.95,-117.3,986.9,-6.2,352,13827,0.10,2.22,0.00,0.000,6,0.085,0.048,1780,2308,3404
$STATE,13908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13909,begin apogee
$GC,13914,-0.22,0.0,993.8,8.1,354,14010,0.55,0.00,92.60,1.336,6,0.131,0.000,1953,2307,2931
$STATE,14010,end apogee,CONTROL_FINISHED_OK
$STATE,14010,begin climb
$GC,14013,0.68,117.3,995.3,0.0,355,14118,0.60,2.47,98.15,1.307,4,0.077,0.061,2156,3710,2450
$GC,14142,0.28,117.3,992.0,7.2,357,14147,0.43,2.35,0.00,0.000,6,0.180,0.043,2061,2306,2447
$GC,14453,0.39,157.3,978.7,4.2,362,14488,0.08,0.00,33.50,1.268,6,0.091,0.000,2092,2306,2289
$GC,14754,0.39,157.3,961.5,5.8,367,14755,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2306,2282
$GC,15057,0.39,157.3,943.7,5.9,372,15061,0.00,2.30,0.00,0.000,4,0.000,0.055,2092,3710,2280
$GC,15102,0.28,157.3,940.5,7.1,372,15107,0.17,2.22,0.00,0.000,6,0.156,0.036,2056,2301,2279
$GC,15417,0.55,165.8,924.5,5.2,378,15432,0.20,2.33,7.05,1.039,4,0.066,0.058,2147,895,2255
$GC,15540,0.37,165.8,915.4,7.4,379,15545,0.25,2.25,0.00,0.000,6,0.148,0.050,2077,2309,2253
$GC,15855,0.45,178.8,899.1,5.1,385,15874,0.00,2.35,12.48,1.160,4,0.000,0.056,2077,3720,2201
$GC,15922,0.45,178.8,895.2,5.7,386,15926,0.00,2.22,0.00,0.000,6,0.000,0.043,2085,2301,2199
$GC,16293,0.49,178.8,874.8,5.5,392,16295,0.08,0.00,0.00,0.000,6,0.087,0.000,2127,2301,2198
$GC,16597,0.34,178.8,852.6,7.4,397,16602,0.17,2.28,0.00,0.000,4,0.153,0.059,2072,3711,2198
$GC,16623,0.34,178.8,850.7,6.3,397,16628,0.00,2.22,0.00,0.000,6,0.000,0.037,2079,2305,2197
$GC,16962,0.45,204.8,834.7,4.6,403,16987,0.00,0.00,23.00,1.191,6,0.000,0.000,2079,2305,2096
$GC,17266,0.57,222.0,820.0,4.9,408,17284,0.15,0.00,15.82,1.140,6,0.062,0.000,2147,2305,2026
$GC,17568,0.38,222.0,794.3,8.7,413,17573,0.20,2.30,0.00,0.000,4,0.147,0.056,2085,3713,2021
$GC,17612,0.44,222.0,791.1,6.3,413,17616,0.00,2.22,0.00,0.000,6,0.000,0.037,2093,2301,2020
$GC,17928,0.52,230.5,774.6,5.2,419,17942,0.00,2.33,7.95,1.002,4,0.000,0.058,2103,891,1990
$GC,17971,0.63,230.5,772.1,6.1,419,17976,0.12,2.28,0.00,0.000,6,0.066,0.041,2162,2315,1989
$GC,18291,0.39,230.5,740.7,10.1,425,18296,0.25,2.25,0.00,0.000,4,0.148,0.053,2085,3710,1989
$GC,18370,0.45,230.5,734.9,6.3,426,18374,0.00,2.22,0.00,0.000,6,0.000,0.038,2094,2292,1988
$GC,18719,0.54,230.5,714.9,5.7,432,18723,0.08,2.22,0.00,0.000,4,0.083,0.051,2155,895,1987
$GC,18751,0.45,230.5,712.2,8.5,432,18756,0.20,2.22,0.00,0.000,6,0.137,0.048,2098,2306,1987
$GC,19078,0.53,230.5,691.8,6.1,438,19081,0.00,2.25,0.00,0.000,4,0.000,0.058,2098,3717,1987
$GC,19110,0.53,230.5,689.3,6.5,438,19114,0.00,2.20,0.00,0.000,6,0.000,0.037,2105,2302,1987
$GC,19449,0.58,230.5,666.6,6.7,444,19451,0.08,0.00,0.00,0.000,6,0.084,0.000,2160,2302,1986
$GC,19752,0.37,230.5,635.7,10.5,449,19757,0.25,2.25,0.00,0.000,4,0.143,0.052,2082,3709,1986
$GC,19791,0.45,230.5,632.4,5.9,449,19795,0.00,2.17,0.00,0.000,6,0.000,0.035,2090,2300,1986
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$GC,20843,0.80,230.5,565.8,6.7,467,20846,0.32,0.00,0.00,0.000,6,0.071,0.000,2178,2302,1985
$GC,21145,0.80,230.5,541.2,8.2,472,21149,0.00,2.25,0.00,0.000,4,0.000,0.057,2178,3714,1985
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$GC,21579,0.58,239.6,513.1,5.2,479,21593,0.10,2.28,8.50,0.889,4,0.064,0.058,2169,897,1954
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$STATE,28570,end climb,SURFACE_DEPTH_REACHED
$STATE,28570,begin surface coast
$FINISH,1.2,1.023780
$STATE,28605,end surface coast,CONTROL_FINISHED_OK
$STATE,28605,begin surface
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$HUMID,1632
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$TCM_TEMP,18.60
$XPDR_PINGS,83
$24V_AH,23.3,22.336
$10V_AH,10.7,17.496
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$DEVICE_SECS,33.450,245.575,363.575,0.000,0.000,53.740,66.027,236.696,20.750,0.000,0.000,12.004,1778.351,23829.730,535.169,2326.045,744.073,33.382,1709.745,0.000,2313.693,0.000,0.529,0.000
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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,44325,741
$CAP_FILE_SIZE,213767,0
$CFSIZE,260165632,248123392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270709,123237,4959.278,-14429.432,25,1.5,25,18.5