version: 66.04
glider: 144
mission: 15
dive: 222
start: 8 23 109 16 57 50
data:
$ID,144
$MISSION,15
$DIVE,222
$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,-65286.691
$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,32
$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
$GPS1,165137,5011.897,-14426.346,28,1.0,29,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-57.8
$GPS2,165656,5011.939,-14426.327,14,1.8,14,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.039,-0.163
$KALMAN_X,-6408.3,-4.1,-21.8,58715.5,747.0
$KALMAN_Y,7994.0,-147.8,22.9,-24610.2,553.7
$MHEAD_RNG_PITCHd_Wd,174.9,33464,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-32.30,0.000,2,0.000,0.000,99,2303,2576
$GC,54,-0.68,-117.3,3.2,-5.3,3,87,6.95,2.30,-20.42,0.000,4,0.234,0.062,1832,3712,3411
$GC,93,0.03,-117.3,9.0,-13.7,6,100,0.55,2.20,0.00,0.000,6,0.122,0.035,2003,2286,3412
$GC,420,-0.64,-117.3,34.4,-9.8,37,425,0.40,2.17,0.00,0.000,4,0.078,0.039,1860,897,3414
$GC,460,-0.89,-117.3,38.2,-8.3,40,465,0.17,2.20,0.00,0.000,6,0.044,0.035,1765,2306,3414
$GC,786,-0.49,-117.3,87.9,-15.5,68,788,0.43,0.00,0.00,0.000,6,0.140,0.000,1892,2307,3415
$GC,1093,-0.60,-117.3,109.0,-6.5,83,1097,0.10,2.22,0.00,0.000,4,0.065,0.041,1821,891,3416
$GC,1184,-0.46,-117.3,118.8,-12.1,87,1189,0.30,2.22,0.00,0.000,6,0.120,0.042,1903,2302,3416
$GC,1511,-0.66,-117.3,141.4,-6.3,103,1515,0.15,2.28,0.00,0.000,4,0.051,0.051,1806,3719,3416
$GC,1538,-0.61,-117.3,143.9,-9.7,104,1543,0.20,2.17,0.00,0.000,6,0.118,0.030,1867,2298,3416
$GC,1872,-0.69,-117.3,166.2,-6.3,116,1875,0.00,2.20,0.00,0.000,4,0.000,0.047,1866,899,3416
$GC,1933,-0.82,-117.3,170.9,-8.0,117,1940,0.15,2.20,0.00,0.000,6,0.051,0.042,1777,2302,3416
$GC,2246,-0.57,-117.3,207.3,-11.8,128,2248,0.32,0.00,0.00,0.000,6,0.130,0.000,1875,2302,3415
$GC,2553,-0.73,-117.3,224.1,-5.3,138,2557,0.12,2.22,0.00,0.000,4,0.058,0.045,1790,892,3415
$GC,2581,-0.64,-117.3,226.5,-9.5,139,2586,0.28,2.22,0.00,0.000,6,0.124,0.039,1864,2309,3415
$GC,2917,-0.76,-117.3,248.1,-6.3,150,2918,0.12,0.00,0.00,0.000,6,0.061,0.000,1786,2309,3415
$GC,3222,-0.57,-117.3,281.0,-11.1,160,3227,0.28,2.25,0.00,0.000,4,0.122,0.044,1876,891,3414
$GC,3295,-0.76,-117.3,286.3,-7.0,162,3300,0.15,2.22,0.00,0.000,6,0.052,0.043,1788,2304,3414
$GC,3617,-0.58,-117.3,319.6,-10.7,170,3619,0.28,0.00,0.00,0.000,6,0.125,0.000,1872,2305,3414
$GC,3920,-0.76,-117.3,336.3,-5.3,175,3925,0.12,2.22,0.00,0.000,4,0.058,0.048,1791,895,3413
$GC,3959,-0.60,-117.3,339.4,-9.1,175,3964,0.30,2.22,0.00,0.000,6,0.121,0.040,1873,2308,3413
$GC,4280,-0.78,-117.3,355.1,-4.6,181,4282,0.15,0.00,0.00,0.000,6,0.052,0.000,1783,2309,3412
$GC,4582,-0.60,-117.3,383.5,-9.7,186,4587,0.25,2.25,0.00,0.000,4,0.123,0.050,1865,894,3412
$GC,4638,-0.77,-117.3,387.5,-5.9,186,4645,0.08,2.25,0.00,0.000,6,0.053,0.042,1797,2303,3411
$GC,4948,-0.65,-117.3,415.8,-9.4,192,4950,0.20,0.00,0.00,0.000,6,0.123,0.000,1857,2303,3411
$GC,5251,-0.79,-117.3,436.1,-6.6,197,5256,0.10,2.22,0.00,0.000,4,0.067,0.048,1789,900,3411
$GC,5290,-0.64,-117.3,439.6,-10.1,197,5295,0.28,2.22,0.00,0.000,6,0.120,0.041,1865,2310,3411
$GC,5611,-0.81,-117.3,459.7,-6.1,203,5613,0.15,0.00,0.00,0.000,6,0.056,0.000,1781,2311,3410
$GC,5913,-0.64,-117.3,489.8,-10.1,208,5918,0.22,2.25,0.00,0.000,4,0.123,0.045,1857,900,3410
$GC,5976,-0.80,-117.3,494.2,-6.7,209,5981,0.10,2.22,0.00,0.000,6,0.069,0.047,1782,2313,3410
$GC,6342,-0.64,-117.3,528.0,-9.3,215,6346,0.22,2.25,0.00,0.000,4,0.122,0.044,1857,898,3409
$GC,6374,-0.77,-117.3,530.3,-6.0,215,6378,0.00,2.22,0.00,0.000,6,0.000,0.044,1850,2310,3409
$GC,6702,-0.90,-117.3,547.8,-5.3,221,6706,0.15,2.25,0.00,0.000,4,0.055,0.045,1765,892,3409
$GC,6740,-0.66,-117.3,551.4,-9.9,221,6745,0.32,2.22,0.00,0.000,6,0.127,0.040,1853,2302,3409
$GC,7061,-0.81,-117.3,569.2,-5.4,227,7063,0.12,0.00,0.00,0.000,6,0.063,0.000,1781,2302,3408
$GC,7364,-0.66,-117.3,597.2,-9.5,232,7369,0.22,2.25,0.00,0.000,4,0.123,0.045,1856,892,3408
$GC,7413,-0.82,-117.3,600.9,-6.5,232,7418,0.10,2.22,0.00,0.000,6,0.068,0.044,1784,2303,3408
$GC,7724,-0.69,-117.3,628.1,-8.9,237,7726,0.22,0.00,0.00,0.000,6,0.122,0.000,1853,2304,3409
$GC,8027,-0.85,-117.3,644.1,-5.1,242,8029,0.12,0.00,0.00,0.000,6,0.062,0.000,1778,2303,3408
$GC,8329,-0.69,-117.3,670.6,-9.0,247,8334,0.20,2.25,0.00,0.000,4,0.126,0.045,1845,900,3408
$GC,8373,-0.83,-117.3,673.6,-6.2,247,8377,0.00,2.22,0.00,0.000,6,0.000,0.041,1838,2307,3408
$GC,8689,-0.92,-117.3,690.8,-5.3,253,8691,0.12,0.00,0.00,0.000,6,0.061,0.000,1763,2308,3407
$GC,8992,-0.72,-117.3,716.4,-8.6,258,8997,0.25,2.25,0.00,0.000,4,0.131,0.051,1844,901,3407
$GC,9055,-0.84,-117.3,719.9,-4.8,259,9059,0.00,2.22,0.00,0.000,6,0.000,0.042,1837,2311,3407
$GC,9421,-0.94,-117.3,737.7,-4.9,265,9423,0.15,0.00,0.00,0.000,6,0.058,0.000,1756,2311,3407
$GC,9724,-0.72,-117.3,765.2,-9.3,270,9729,0.28,2.25,0.00,0.000,4,0.133,0.048,1845,902,3406
$GC,9791,-0.85,-117.3,769.3,-5.3,271,9795,0.08,2.22,0.00,0.000,6,0.086,0.044,1793,2310,3406
$GC,10151,-0.78,-117.3,795.0,-7.3,277,10156,0.15,2.28,0.00,0.000,4,0.126,0.054,1829,3718,3406
$GC,10178,-0.84,-117.3,797.0,-7.2,277,10182,0.00,2.17,0.00,0.000,6,0.000,0.039,1829,2298,3406
$GC,10516,-0.93,-117.3,817.6,-6.3,283,10521,0.12,2.25,0.00,0.000,4,0.070,0.052,1770,888,3406
$GC,10549,-0.77,-117.3,820.6,-9.3,283,10554,0.25,2.25,0.00,0.000,6,0.128,0.041,1834,2306,3405
$GC,10881,-0.88,-117.3,842.7,-6.6,289,10886,0.10,2.28,0.00,0.000,4,0.081,0.050,1788,890,3405
$GC,10909,-0.82,-117.3,845.2,-9.2,289,10914,0.15,2.22,0.00,0.000,6,0.134,0.046,1822,2304,3406
$GC,11246,-0.88,-117.3,868.3,-6.7,295,11250,0.00,2.25,0.00,0.000,4,0.000,0.053,1822,898,3405
$GC,11285,-0.94,-117.3,871.1,-7.4,295,11289,0.00,2.25,0.00,0.000,6,0.000,0.046,1816,2311,3405
$GC,11611,-0.94,-117.3,891.7,-6.2,301,11615,0.00,2.28,0.00,0.000,4,0.000,0.049,1817,894,3405
$GC,11652,-0.94,-117.3,894.3,-6.6,301,11656,0.00,2.25,0.00,0.000,6,0.000,0.042,1807,2307,3405
$GC,11973,-0.94,-117.3,912.9,-5.7,307,11974,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3405
$GC,12276,-0.94,-117.3,929.0,-5.3,312,12280,0.00,2.28,0.00,0.000,4,0.000,0.050,1807,896,3405
$GC,12331,-0.94,-117.3,932.3,-6.1,312,12338,0.00,2.28,0.00,0.000,6,0.000,0.041,1797,2301,3405
$GC,12641,-0.88,-117.3,950.7,-6.0,318,12642,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2301,3404
$GC,12944,-0.84,-117.3,970.3,-6.5,323,12948,0.00,2.28,0.00,0.000,4,0.000,0.056,1797,890,3405
$GC,12994,-0.79,-117.3,974.0,-8.0,323,12998,0.15,2.28,0.00,0.000,6,0.137,0.044,1832,2311,3405
$STATE,13301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13301,begin apogee
$GC,13307,-0.22,0.0,990.9,5.5,328,13404,0.38,0.00,94.40,1.328,6,0.117,0.000,1954,2311,2931
$STATE,13405,end apogee,CONTROL_FINISHED_OK
$STATE,13405,begin climb
$GC,13408,0.68,117.3,992.5,0.0,329,13511,0.60,0.00,100.57,1.300,6,0.074,0.000,2158,2311,2453
$GC,13787,0.38,117.3,973.3,7.1,336,13792,0.25,2.35,0.00,0.000,4,0.159,0.057,2084,3709,2443
$GC,13815,0.27,140.9,971.7,4.7,336,13841,0.15,2.30,19.92,1.215,6,0.163,0.038,2056,2299,2356
$GC,14146,0.57,182.0,958.7,4.1,341,14187,0.17,2.38,35.70,1.254,4,0.069,0.057,2134,887,2189
$GC,14275,0.48,182.0,951.2,6.2,343,14280,0.12,2.33,0.00,0.000,6,0.140,0.041,2103,2302,2184
$GC,14640,0.48,182.4,931.1,5.5,349,14644,0.00,2.30,0.00,0.000,4,0.000,0.055,2103,3710,2181
$GC,14696,0.40,182.4,927.4,7.0,349,14703,0.10,2.25,0.00,0.000,6,0.164,0.035,2088,2292,2181
$GC,15007,0.48,189.7,911.0,5.3,355,15016,0.00,0.00,7.05,1.020,6,0.000,0.000,2088,2292,2157
$GC,15310,0.54,189.7,894.0,5.6,360,15314,0.10,2.33,0.00,0.000,4,0.077,0.058,2134,3713,2155
$GC,15342,0.35,189.7,891.2,9.3,360,15347,0.25,2.22,0.00,0.000,6,0.160,0.035,2077,2303,2154
$GC,15674,0.47,189.7,871.8,5.8,366,15679,0.10,2.28,0.00,0.000,4,0.073,0.052,2130,895,2154
$GC,15701,0.47,189.7,869.8,7.0,366,15706,0.12,2.25,0.00,0.000,6,0.139,0.046,2098,2305,2153
$GC,16033,0.47,189.7,848.1,6.4,372,16037,0.00,2.28,0.00,0.000,4,0.000,0.052,2098,3713,2153
$GC,16077,0.47,189.7,844.8,6.8,372,16081,0.00,2.22,0.00,0.000,6,0.000,0.035,2105,2299,2152
$GC,16392,0.47,189.7,824.7,6.3,378,16393,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2299,2152
$GC,16696,0.47,189.7,807.0,5.7,383,16700,0.00,2.30,0.00,0.000,4,0.000,0.051,2105,3720,2152
$GC,16729,0.40,189.7,804.7,7.1,383,16734,0.12,2.20,0.00,0.000,6,0.155,0.038,2084,2302,2152
$GC,17062,0.53,208.3,788.3,4.9,389,17082,0.12,0.00,17.08,1.132,6,0.064,0.000,2145,2302,2081
$GC,17365,0.36,208.3,762.5,8.8,394,17370,0.22,2.30,0.00,0.000,4,0.145,0.054,2078,3710,2077
$GC,17398,0.42,208.3,759.8,6.6,394,17402,0.00,2.22,0.00,0.000,6,0.000,0.041,2086,2300,2076
$GC,17732,0.53,208.3,739.6,6.2,400,17734,0.10,0.00,0.00,0.000,6,0.074,0.000,2145,2300,2076
$GC,18034,0.36,208.3,710.9,9.7,405,18038,0.20,2.30,0.00,0.000,4,0.140,0.050,2082,3722,2076
$GC,18061,0.36,208.3,708.5,8.5,405,18065,0.00,2.22,0.00,0.000,6,0.000,0.035,2090,2301,2076
$GC,18393,0.46,208.3,687.0,6.4,411,18395,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2300,2076
$GC,18696,0.56,208.3,668.1,6.2,416,18700,0.12,2.28,0.00,0.000,4,0.061,0.055,2162,3710,2075
$GC,18734,0.27,208.3,664.4,11.3,416,18739,0.40,2.20,0.00,0.000,6,0.153,0.034,2059,2300,2075
$GC,19055,0.76,208.3,644.6,6.3,422,19057,0.32,0.00,0.00,0.000,6,0.071,0.000,2175,2299,2075
$GC,19358,0.52,208.3,616.8,9.7,427,19362,0.20,2.30,0.00,0.000,4,0.146,0.054,2115,3720,2075
$GC,19402,0.46,208.3,612.8,6.6,427,19406,0.10,2.20,0.00,0.000,6,0.150,0.034,2098,2303,2075
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$STATE,27906,end climb,SURFACE_DEPTH_REACHED
$STATE,27906,begin surface coast
$FINISH,0.5,1.003857
$STATE,27918,end surface coast,CONTROL_FINISHED_OK
$STATE,27918,begin surface
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$IRIDIUM_FIX,4956.40,-14428.52,171198,090922
$TT8_MAMPS,0.029146
$HUMID,1692
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$TCM_TEMP,16.40
$XPDR_PINGS,82
$24V_AH,23.0,33.769
$10V_AH,10.7,27.685
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$DEVICE_SECS,32.750,224.575,423.675,0.000,0.000,28.526,24.445,141.161,20.500,0.000,0.000,15.903,1685.712,23190.539,578.647,2253.050,597.442,33.369,1716.705,0.000,2250.631,0.000,0.528,0.000
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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,41307,703
$CAP_FILE_SIZE,199575,0
$CFSIZE,260165632,241508352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240809,004548,5009.398,-14427.316,46,1.2,46,18.6