version: 66.04
glider: 144
mission: 15
dive: 307
start: 9 21 109 7 29 34
data:
$ID,144
$MISSION,15
$DIVE,307
$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,-67220.273
$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,31
$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
$GPS1,072237,5013.772,-14427.276,37,1.5,37,18.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-63.8
$GPS2,072838,5013.797,-14427.317,15,1.6,15,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.012,-0.167
$KALMAN_X,-38006.0,91.5,-49.1,89073.5,-13.1
$KALMAN_Y,22407.7,-186.1,-210.7,-35302.2,482.0
$MHEAD_RNG_PITCHd_Wd,165.5,36765,-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,12,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.97,0.000,2,0.000,0.000,99,2314,2623
$GC,62,-0.68,-117.3,3.4,-4.8,4,96,7.20,0.00,-19.65,0.000,6,0.241,0.000,1849,2314,3411
$GC,414,-0.65,-117.3,47.6,-9.3,37,418,0.00,2.30,0.00,0.000,4,0.000,0.042,1849,889,3413
$GC,614,-0.65,-117.3,65.1,-9.4,54,618,0.00,2.25,0.00,0.000,6,0.000,0.039,1848,2307,3413
$GC,945,-0.62,-117.3,95.1,-9.0,77,949,0.00,2.28,0.00,0.000,4,0.000,0.048,1848,882,3414
$GC,1005,-0.62,-117.3,101.1,-9.7,79,1013,0.05,2.28,0.00,0.000,6,0.134,0.038,1868,2302,3414
$GC,1323,-0.65,-117.3,125.8,-7.7,95,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2302,3414
$GC,1631,-0.68,-117.3,148.3,-7.0,110,1635,0.00,2.28,0.00,0.000,4,0.000,0.046,1868,886,3414
$GC,1664,-0.72,-117.3,150.8,-7.2,111,1670,0.00,2.28,0.00,0.000,6,0.000,0.040,1864,2298,3414
$GC,1977,-0.77,-117.3,172.7,-6.8,122,1982,0.10,2.28,0.00,0.000,4,0.065,0.054,1780,3715,3414
$GC,2043,-0.67,-117.3,180.0,-11.6,124,2048,0.25,2.22,0.00,0.000,6,0.120,0.034,1856,2290,3414
$GC,2374,-0.72,-117.3,203.0,-6.7,135,2377,0.00,2.20,0.00,0.000,4,0.000,0.045,1856,901,3413
$GC,2418,-0.79,-117.3,206.2,-6.8,136,2422,0.00,2.22,0.00,0.000,6,0.000,0.042,1850,2308,3413
$GC,2742,-0.82,-117.3,225.4,-5.8,147,2746,0.10,2.22,0.00,0.000,4,0.066,0.049,1763,3708,3413
$GC,2792,-0.70,-117.3,230.2,-10.6,148,2796,0.28,2.20,0.00,0.000,6,0.124,0.035,1846,2291,3413
$GC,3110,-0.73,-117.3,251.6,-6.6,159,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2291,3412
$GC,3416,-0.77,-117.3,271.5,-6.3,169,3420,0.00,2.22,0.00,0.000,4,0.000,0.044,1846,889,3412
$GC,3451,-0.81,-117.3,273.7,-6.8,170,3455,0.00,2.25,0.00,0.000,6,0.000,0.043,1839,2309,3412
$GC,3792,-0.83,-117.3,296.0,-6.7,181,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2310,3411
$GC,4095,-0.86,-117.3,316.6,-6.8,187,4097,0.10,0.00,0.00,0.000,6,0.065,0.000,1769,2310,3410
$GC,4398,-0.75,-117.3,349.1,-11.1,192,4403,0.20,2.28,0.00,0.000,4,0.129,0.048,1834,896,3411
$GC,4477,-0.77,-117.3,355.9,-8.2,193,4481,0.00,2.25,0.00,0.000,6,0.000,0.041,1827,2309,3410
$GC,4825,-0.77,-117.3,381.9,-7.5,199,4829,0.00,2.25,0.00,0.000,4,0.000,0.049,1826,897,3409
$GC,4869,-0.77,-117.3,385.4,-7.6,199,4873,0.00,2.25,0.00,0.000,6,0.000,0.043,1822,2311,3410
$GC,5196,-0.77,-117.3,410.1,-7.6,205,5200,0.00,2.25,0.00,0.000,4,0.000,0.044,1821,902,3409
$GC,5234,-0.77,-117.3,413.3,-8.0,205,5238,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2312,3409
$GC,5567,-0.77,-117.3,438.7,-7.7,211,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2313,3409
$GC,5870,-0.77,-117.3,460.9,-7.3,216,5874,0.00,2.28,0.00,0.000,4,0.000,0.048,1813,899,3408
$GC,5915,-0.77,-117.3,464.7,-8.1,216,5920,0.10,2.25,0.00,0.000,6,0.141,0.041,1833,2306,3408
$GC,6232,-0.80,-117.3,484.6,-6.3,222,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2306,3408
$GC,6533,-0.83,-117.3,502.3,-5.8,227,6537,0.00,2.25,0.00,0.000,4,0.000,0.044,1833,898,3408
$GC,6561,-0.87,-117.3,504.2,-6.8,227,6565,0.00,2.25,0.00,0.000,6,0.000,0.040,1827,2305,3408
$GC,6893,-0.87,-117.3,525.6,-6.6,233,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2306,3408
$GC,7196,-0.89,-117.3,545.6,-6.6,238,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2306,3408
$GC,7499,-0.92,-117.3,564.7,-6.2,243,7504,0.10,2.28,0.00,0.000,4,0.069,0.044,1761,893,3407
$GC,7526,-0.84,-117.3,567.1,-9.0,243,7531,0.22,2.25,0.00,0.000,6,0.134,0.047,1819,2303,3407
$GC,7858,-0.84,-117.3,588.1,-6.2,249,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2303,3407
$GC,8161,-0.84,-117.3,606.4,-6.0,254,8165,0.00,2.25,0.00,0.000,4,0.000,0.047,1819,898,3406
$GC,8188,-0.84,-117.3,608.3,-6.9,254,8192,0.00,2.25,0.00,0.000,6,0.000,0.040,1811,2311,3406
$GC,8527,-0.84,-117.3,630.5,-6.7,260,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2311,3406
$GC,8829,-0.84,-117.3,651.1,-6.8,265,8833,0.00,2.28,0.00,0.000,4,0.000,0.051,1811,894,3406
$GC,8891,-0.84,-117.3,655.6,-7.3,266,8896,0.00,2.25,0.00,0.000,6,0.000,0.044,1808,2304,3406
$GC,9257,-0.84,-117.3,680.1,-6.6,272,9261,0.00,2.25,0.00,0.000,4,0.000,0.045,1808,898,3406
$GC,9295,-0.84,-117.3,682.9,-7.4,272,9299,0.00,2.25,0.00,0.000,6,0.000,0.046,1798,2308,3405
$GC,9616,-0.82,-117.3,704.9,-6.9,278,9618,0.10,0.00,0.00,0.000,6,0.143,0.000,1825,2308,3405
$GC,9920,-0.86,-117.3,721.3,-5.3,283,9921,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2308,3405
$GC,10224,-0.90,-117.3,737.1,-5.2,288,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2308,3406
$GC,10526,-0.94,-117.3,752.2,-5.0,293,10528,0.12,0.00,0.00,0.000,6,0.063,0.000,1758,2308,3405
$GC,10829,-0.84,-117.3,778.2,-8.8,298,10833,0.17,2.30,0.00,0.000,4,0.132,0.057,1806,3713,3405
$GC,10856,-0.81,-117.3,780.4,-7.9,298,10860,0.00,2.22,0.00,0.000,6,0.000,0.035,1806,2298,3404
$GC,11188,-0.81,-117.3,803.2,-6.9,304,11192,0.00,2.25,0.00,0.000,4,0.000,0.048,1806,896,3405
$GC,11220,-0.81,-117.3,805.9,-8.5,304,11224,0.10,2.28,0.00,0.000,6,0.137,0.041,1824,2313,3405
$GC,11553,-0.86,-117.3,827.4,-6.4,310,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2314,3405
$GC,11856,-0.90,-117.3,845.5,-5.9,315,11858,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2313,3405
$GC,12159,-1.00,-117.3,863.9,-6.1,320,12164,0.15,2.30,0.00,0.000,4,0.068,0.051,1755,3717,3405
$GC,12344,-0.91,-117.3,880.1,-8.3,322,12349,0.17,2.25,0.00,0.000,6,0.130,0.035,1805,2294,3404
$GC,12654,-0.91,-117.3,899.3,-6.0,327,12658,0.00,2.33,0.00,0.000,4,0.000,0.054,1796,3716,3404
$GC,12686,-0.91,-117.3,901.4,-7.1,327,12691,0.00,2.25,0.00,0.000,6,0.000,0.035,1796,2305,3404
$GC,13020,-0.91,-117.3,921.8,-6.1,333,13024,0.00,2.30,0.00,0.000,4,0.000,0.054,1793,3708,3404
$GC,13076,-0.91,-117.3,925.6,-6.6,333,13082,0.00,2.22,0.00,0.000,6,0.000,0.035,1793,2291,3403
$GC,13386,-0.91,-117.3,945.0,-6.3,339,13390,0.00,2.33,0.00,0.000,4,0.000,0.054,1783,3715,3403
$GC,13458,-0.88,-117.3,950.2,-6.7,340,13462,0.10,2.22,0.00,0.000,6,0.133,0.035,1809,2300,3403
$GC,13812,-0.88,-117.3,970.8,-5.8,346,13814,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2300,3403
$GC,14115,-0.88,-117.3,988.9,-6.0,351,14119,0.00,2.33,0.00,0.000,4,0.000,0.058,1805,3710,3403
$STATE,14135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14136,begin apogee
$GC,14144,-0.22,0.0,990.4,6.4,351,14242,0.43,0.00,95.38,1.308,6,0.117,0.000,1948,2305,2931
$STATE,14243,end apogee,CONTROL_FINISHED_OK
$STATE,14243,begin climb
$GC,14246,0.68,117.3,993.6,0.0,353,14355,0.57,2.53,101.70,1.277,4,0.077,0.049,2159,899,2451
$GC,14377,0.57,126.2,990.1,5.2,355,14392,0.15,2.45,9.00,1.057,6,0.151,0.047,2125,2298,2416
$GC,14737,0.50,126.2,968.6,6.0,361,14741,0.00,2.38,0.00,0.000,4,0.000,0.056,2125,3722,2408
$GC,14792,0.37,126.2,964.6,6.9,361,14799,0.20,2.30,0.00,0.000,6,0.166,0.035,2084,2300,2406
$GC,15102,0.40,153.4,950.0,4.6,367,15131,0.00,2.38,23.23,1.210,4,0.000,0.053,2092,899,2304
$GC,15156,0.46,170.2,947.3,4.9,367,15177,0.00,2.33,15.57,1.158,6,0.000,0.039,2093,2310,2237
$GC,15539,0.50,182.1,927.7,5.1,374,15555,0.00,2.30,11.40,1.114,4,0.000,0.052,2092,3712,2187
$GC,15578,0.50,185.8,925.4,5.4,374,15587,0.00,2.28,4.78,0.838,6,0.000,0.038,2101,2292,2174
$GC,15897,0.50,185.8,907.5,5.7,380,15901,0.00,2.30,0.00,0.000,4,0.000,0.055,2112,889,2170
$GC,15924,0.50,185.8,905.8,6.5,380,15928,0.00,2.30,0.00,0.000,6,0.000,0.045,2112,2309,2169
$GC,16262,0.50,185.8,884.4,6.4,386,16264,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2309,2169
$GC,16566,0.50,185.8,864.6,6.5,391,16570,0.00,2.28,0.00,0.000,4,0.000,0.051,2112,3710,2168
$GC,16598,0.46,185.8,861.9,8.6,391,16603,0.10,2.25,0.00,0.000,6,0.163,0.038,2099,2296,2167
$GC,16924,0.48,185.8,843.5,5.6,397,16928,0.00,2.28,0.00,0.000,4,0.000,0.051,2107,892,2167
$GC,16947,0.51,185.8,842.1,6.3,397,16951,0.00,2.28,0.00,0.000,6,0.000,0.045,2107,2314,2167
$GC,17284,0.51,185.8,822.8,5.7,403,17288,0.00,2.25,0.00,0.000,4,0.000,0.051,2107,3710,2167
$GC,17317,0.48,185.8,820.5,7.3,403,17321,0.00,2.22,0.00,0.000,6,0.000,0.038,2118,2298,2166
$GC,17644,0.45,185.8,800.1,6.3,409,17646,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2298,2166
$GC,17947,0.45,185.8,781.4,6.2,414,17951,0.00,2.30,0.00,0.000,4,0.000,0.050,2117,3710,2166
$GC,17985,0.39,185.8,778.4,7.8,414,17990,0.17,2.22,0.00,0.000,6,0.148,0.040,2080,2304,2166
$GC,18307,0.52,189.6,761.7,5.4,420,18312,0.12,2.28,0.00,0.000,4,0.068,0.045,2138,886,2165
$GC,18397,0.48,189.6,755.8,6.8,421,18402,0.12,2.28,0.00,0.000,6,0.135,0.046,2105,2305,2165
$GC,18734,0.48,189.6,737.1,5.5,427,18738,0.00,2.25,0.00,0.000,4,0.000,0.051,2105,3709,2165
$GC,18790,0.46,189.6,733.4,6.7,427,18796,0.00,2.20,0.00,0.000,6,0.000,0.033,2114,2296,2165
$GC,19099,0.46,189.6,714.8,6.0,433,19101,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2296,2165
$GC,19402,0.46,189.6,696.6,5.9,438,19403,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2295,2165
$GC,19705,0.46,189.6,678.8,5.8,443,19709,0.00,2.30,0.00,0.000,4,0.000,0.052,2113,3709,2165
$GC,19738,0.42,189.6,676.5,7.0,443,19743,0.12,2.22,0.00,0.000,6,0.148,0.033,2091,2292,2165
$GC,20065,0.49,208.2,660.6,4.9,449,20089,0.00,2.28,19.38,1.042,4,0.000,0.048,2099,900,2081
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$STATE,29179,end climb,SURFACE_DEPTH_REACHED
$STATE,29180,begin surface coast
$FINISH,1.1,1.024764
$STATE,29203,end surface coast,CONTROL_FINISHED_OK
$STATE,29203,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1716
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$TCM_TEMP,18.40
$XPDR_PINGS,84
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$10V_AH,10.6,38.309
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$DEVICE_SECS,19.125,253.400,405.300,0.000,0.000,29.296,25.706,174.132,21.000,0.000,0.000,17.270,1726.496,24303.021,525.641,2424.390,653.469,33.372,1779.699,0.000,2410.134,0.000,0.527,0.000
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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,44381,744
$CAP_FILE_SIZE,194665,0
$CFSIZE,260165632,234766336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210909,153906,5010.289,-14427.964,52,1.4,52,18.6