version: 66.04
glider: 144
mission: 15
dive: 293
start: 9 16 109 11 54 45
data:
$ID,144
$MISSION,15
$DIVE,293
$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,-66866.148
$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,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
$GPS1,114802,4953.789,-14512.297,41,1.5,49,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-62.4
$GPS2,115352,4953.797,-14512.260,12,3.2,31,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.135,0.100
$KALMAN_X,-32010.6,-158.6,120.9,30058.9,-682.6
$KALMAN_Y,15100.9,-183.5,113.3,-65369.5,604.8
$MHEAD_RNG_PITCHd_Wd,35.1,35901,-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,-117.3,0.0,0.0,0,61,0.00,0.00,-42.25,0.000,2,0.000,0.000,99,2296,2878
$GC,64,-0.68,-117.3,4.3,-7.8,4,88,7.15,2.28,-10.52,0.000,4,0.239,0.061,1846,890,3412
$GC,340,-0.63,-117.3,45.3,-11.1,28,347,0.10,2.25,0.00,0.000,6,0.150,0.036,1863,2309,3415
$GC,667,-0.63,-117.3,73.3,-8.7,59,668,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2309,3416
$GC,976,-0.63,-117.3,98.8,-7.9,78,980,0.00,2.25,0.00,0.000,4,0.000,0.041,1864,892,3417
$GC,1031,-0.63,-117.3,103.5,-8.6,80,1035,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2304,3417
$GC,1353,-0.63,-117.3,130.4,-8.3,96,1357,0.00,2.22,0.00,0.000,4,0.000,0.041,1863,891,3417
$GC,1397,-0.67,-117.3,134.2,-8.3,98,1401,0.00,2.25,0.00,0.000,6,0.000,0.039,1863,2309,3417
$GC,1718,-0.71,-117.3,154.4,-5.6,113,1722,0.00,2.25,0.00,0.000,4,0.000,0.049,1853,3710,3417
$GC,1740,-0.75,-117.3,155.8,-5.8,113,1746,0.00,2.20,0.00,0.000,6,0.000,0.036,1853,2291,3417
$GC,2053,-0.79,-117.3,174.5,-6.1,124,2057,0.10,2.22,0.00,0.000,4,0.067,0.048,1781,889,3416
$GC,2136,-0.69,-117.3,182.8,-10.4,126,2141,0.28,2.25,0.00,0.000,6,0.132,0.044,1853,2309,3416
$GC,2449,-0.73,-117.3,201.3,-5.6,136,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2310,3415
$GC,2755,-0.78,-117.3,218.8,-6.0,146,2759,0.10,2.28,0.00,0.000,4,0.069,0.044,1788,888,3415
$GC,2816,-0.71,-117.3,224.7,-9.9,147,2823,0.22,2.25,0.00,0.000,6,0.130,0.041,1846,2305,3415
$GC,3129,-0.74,-117.3,246.8,-6.9,158,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2305,3415
$GC,3435,-0.78,-117.3,266.7,-6.4,168,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2305,3414
$GC,3741,-0.82,-117.3,285.2,-6.0,178,3743,0.10,0.00,0.00,0.000,6,0.070,0.000,1780,2305,3413
$GC,4046,-0.73,-117.3,314.9,-9.8,186,4048,0.20,0.00,0.00,0.000,6,0.126,0.000,1839,2305,3412
$GC,4349,-0.76,-117.3,336.1,-6.9,191,4353,0.00,2.25,0.00,0.000,4,0.000,0.045,1839,895,3412
$GC,4393,-0.80,-117.3,339.3,-7.4,191,4397,0.00,2.25,0.00,0.000,6,0.000,0.044,1837,2311,3412
$GC,4708,-0.82,-117.3,361.6,-7.1,197,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2311,3412
$GC,5011,-0.85,-117.3,382.1,-6.7,202,5015,0.00,2.25,0.00,0.000,4,0.000,0.044,1836,896,3411
$GC,5055,-0.88,-117.3,385.2,-6.9,202,5060,0.10,2.25,0.00,0.000,6,0.071,0.039,1772,2311,3411
$GC,5370,-0.78,-117.3,416.2,-10.2,208,5372,0.20,0.00,0.00,0.000,6,0.127,0.000,1831,2311,3411
$GC,5673,-0.81,-117.3,436.6,-6.6,213,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2311,3411
$GC,5976,-0.83,-117.3,455.6,-6.2,218,5980,0.00,2.28,0.00,0.000,4,0.000,0.049,1831,896,3410
$GC,6032,-0.86,-117.3,459.4,-7.2,218,6038,0.00,2.25,0.00,0.000,6,0.000,0.042,1825,2306,3410
$GC,6341,-0.86,-117.3,480.3,-6.9,224,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2307,3410
$GC,6645,-0.86,-117.3,501.2,-6.9,229,6649,0.00,2.28,0.00,0.000,4,0.000,0.051,1825,888,3409
$GC,6689,-0.86,-117.3,504.6,-8.0,229,6693,0.00,2.25,0.00,0.000,6,0.000,0.046,1823,2301,3409
$GC,7010,-0.86,-117.3,526.7,-6.9,235,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2301,3409
$GC,7313,-0.86,-117.3,546.7,-6.6,240,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2301,3409
$GC,7616,-0.86,-117.3,565.0,-5.9,245,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2301,3409
$GC,7919,-0.86,-117.3,582.8,-5.9,250,7923,0.00,2.28,0.00,0.000,4,0.000,0.050,1822,888,3409
$GC,7958,-0.86,-117.3,585.2,-5.9,250,7962,0.00,2.28,0.00,0.000,6,0.000,0.046,1821,2308,3409
$GC,8284,-0.86,-117.3,605.2,-6.1,256,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2309,3408
$GC,8588,-0.86,-117.3,624.2,-6.3,261,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2309,3408
$GC,8891,-0.86,-117.3,644.3,-6.7,266,8895,0.00,2.28,0.00,0.000,4,0.000,0.046,1821,888,3408
$GC,8930,-0.86,-117.3,647.1,-7.5,266,8934,0.00,2.28,0.00,0.000,6,0.000,0.043,1812,2312,3407
$GC,9251,-0.86,-117.3,670.5,-7.4,272,9255,0.00,2.28,0.00,0.000,4,0.000,0.048,1812,891,3407
$GC,9284,-0.86,-117.3,673.2,-7.7,272,9288,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2295,3407
$GC,9618,-0.86,-117.3,697.3,-7.2,278,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2294,3407
$GC,9919,-0.86,-117.3,717.7,-6.7,283,9923,0.00,2.28,0.00,0.000,4,0.000,0.048,1809,888,3408
$GC,9947,-0.86,-117.3,719.7,-7.2,283,9951,0.00,2.28,0.00,0.000,6,0.000,0.043,1808,2302,3407
$GC,10279,-0.86,-117.3,741.4,-6.5,289,10280,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2302,3407
$GC,10582,-0.86,-117.3,760.7,-6.4,294,10583,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3407
$GC,10885,-0.86,-117.3,779.1,-6.1,299,10886,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2302,3407
$GC,11188,-0.86,-117.3,797.4,-6.0,304,11189,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2302,3406
$GC,11491,-0.86,-117.3,814.3,-5.6,309,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3406
$GC,11794,-0.86,-117.3,832.3,-6.0,314,11795,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3406
$GC,12097,-0.86,-117.3,851.9,-6.6,319,12099,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3406
$GC,12400,-0.86,-117.3,871.7,-6.5,324,12404,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,896,3405
$GC,12449,-0.86,-117.3,875.2,-7.0,324,12453,0.00,2.28,0.00,0.000,6,0.000,0.044,1805,2308,3405
$GC,12765,-0.86,-117.3,895.8,-6.5,330,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2308,3405
$GC,13068,-0.86,-117.3,915.6,-6.6,335,13072,0.00,2.30,0.00,0.000,4,0.000,0.048,1805,899,3405
$GC,13100,-0.86,-117.3,918.1,-7.2,335,13104,0.00,2.28,0.00,0.000,6,0.000,0.043,1795,2309,3405
$GC,13432,-0.86,-117.3,942.2,-7.3,341,13434,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2309,3405
$GC,13735,-0.86,-117.3,964.3,-7.3,346,13737,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2308,3405
$GC,14039,-0.86,-117.3,985.3,-7.0,351,14043,0.00,2.30,0.00,0.000,4,0.000,0.050,1795,898,3404
$GC,14101,-0.86,-117.3,990.0,-7.3,352,14105,0.00,2.28,0.00,0.000,1,0.000,0.043,1792,2304,3405
$STATE,14106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14106,begin apogee
$GC,14111,-0.22,0.0,990.4,7.2,352,14210,0.47,0.00,95.10,1.312,6,0.126,0.000,1946,2303,2931
$STATE,14211,end apogee,CONTROL_FINISHED_OK
$STATE,14211,begin climb
$GC,14213,0.68,117.3,992.0,0.0,353,14318,0.62,0.00,102.12,1.283,6,0.078,0.000,2155,2303,2451
$GC,14592,0.54,117.3,970.8,7.3,360,14594,0.15,0.00,0.00,0.000,6,0.157,0.000,2119,2304,2442
$GC,14895,0.48,117.3,951.8,6.2,365,14896,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2303,2440
$GC,15198,0.41,117.3,932.6,6.3,370,15202,0.12,2.33,0.00,0.000,4,0.157,0.055,2084,3714,2439
$GC,15242,0.38,117.3,929.8,6.0,370,15246,0.00,2.25,0.00,0.000,6,0.000,0.035,2093,2308,2438
$GC,15557,0.38,118.3,912.6,5.5,376,15558,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2308,2437
$GC,15860,0.39,119.7,896.0,5.5,381,15864,0.00,2.33,0.00,0.000,4,0.000,0.051,2093,3719,2437
$GC,15898,0.33,119.7,893.7,5.8,381,15903,0.12,2.28,0.00,0.000,6,0.160,0.036,2072,2297,2437
$GC,16219,0.41,168.1,880.8,3.9,387,16263,0.00,0.00,41.95,1.221,6,0.000,0.000,2072,2298,2245
$GC,16522,0.56,183.5,866.3,5.0,392,16542,0.17,2.35,14.18,1.124,4,0.067,0.058,2142,3710,2181
$GC,16699,0.46,183.5,852.5,7.8,394,16704,0.20,2.28,0.00,0.000,6,0.150,0.039,2100,2296,2179
$GC,17025,0.49,209.4,837.1,4.6,400,17051,0.00,0.00,23.65,1.160,6,0.000,0.000,2100,2296,2077
$GC,17329,0.55,231.5,822.8,4.8,405,17351,0.00,0.00,20.20,1.135,6,0.000,0.000,2101,2295,1987
$GC,17633,0.61,244.2,807.3,5.1,410,17647,0.12,0.00,12.30,1.068,6,0.062,0.000,2159,2296,1935
$GC,17935,0.52,244.2,781.2,8.9,415,17939,0.17,2.33,0.00,0.000,4,0.139,0.050,2112,3710,1930
$GC,17956,0.48,244.2,779.3,8.6,415,17960,0.00,2.25,0.00,0.000,6,0.000,0.041,2119,2303,1930
$GC,18300,0.48,244.2,756.3,6.7,421,18301,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2303,1929
$GC,18602,0.48,244.2,736.1,6.6,426,18606,0.00,2.30,0.00,0.000,4,0.000,0.055,2120,3712,1928
$GC,18623,0.48,244.2,734.5,7.3,426,18628,0.08,2.28,0.00,0.000,6,0.131,0.034,2088,2296,1928
$GC,18967,0.68,244.2,712.8,6.7,432,18971,0.17,2.25,0.00,0.000,4,0.068,0.048,2161,895,1927
$GC,19022,0.68,244.2,708.4,8.3,432,19028,0.00,2.25,0.00,0.000,6,0.000,0.044,2160,2308,1927
$GC,19332,0.59,244.2,680.4,9.3,438,19337,0.12,2.28,0.00,0.000,4,0.142,0.049,2128,3719,1927
$GC,19381,0.59,244.2,675.9,8.0,438,19385,0.00,2.22,0.00,0.000,6,0.000,0.033,2136,2302,1927
$GC,19698,0.57,244.2,652.1,7.5,444,19699,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2301,1927
$GC,20000,0.54,244.2,630.6,7.1,449,20004,0.00,2.30,0.00,0.000,4,0.000,0.054,2136,3717,1926
$GC,20038,0.50,244.2,627.6,7.8,449,20043,0.15,2.25,0.00,0.000,6,0.138,0.040,2105,2292,1926
$GC,20360,0.58,263.8,611.8,4.8,455,20384,0.00,2.33,17.25,1.006,4,0.000,0.054,2114,893,1854
$GC,20401,0.72,309.7,609.5,4.0,455,20448,0.15,2.28,41.10,1.034,6,0.058,0.038,2190,2311,1668
$GC,20789,0.61,309.7,568.6,11.0,462,20793,0.20,2.28,0.00,0.000,4,0.139,0.051,2129,3707,1660
$GC,20821,0.61,309.7,565.2,8.6,462,20825,0.00,2.25,0.00,0.000,6,0.000,0.034,2137,2292,1660
$GC,21159,0.61,309.7,542.2,6.9,468,21163,0.00,2.28,0.00,0.000,4,0.000,0.051,2147,896,1658
$GC,21192,0.65,309.7,539.8,8.4,468,21196,0.00,2.28,0.00,0.000,6,0.000,0.041,2147,2313,1657
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$STATE,28424,end climb,SURFACE_DEPTH_REACHED
$STATE,28424,begin surface coast
$FINISH,0.7,1.024542
$STATE,28446,end surface coast,CONTROL_FINISHED_OK
$STATE,28447,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1701
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$TCM_TEMP,16.70
$XPDR_PINGS,67
$24V_AH,22.7,43.616
$10V_AH,10.6,36.540
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$DEVICE_SECS,18.700,198.825,386.125,0.000,0.000,28.401,24.151,150.968,16.750,0.000,0.000,33.523,1616.092,24008.119,537.250,2111.668,587.115,33.368,1576.293,0.000,2093.129,0.000,0.529,0.000
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$SENSOR_SECS,518.150,591.430,757.695,1259.526,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44294,734
$CAP_FILE_SIZE,170764,0
$CFSIZE,260165632,235868160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160909,195124,4956.427,-14508.701,39,1.5,39,18.4