version: 66.04
glider: 144
mission: 15
dive: 308
start: 9 21 109 15 45 32
data:
$ID,144
$MISSION,15
$DIVE,308
$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,-67235
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,153906,5010.289,-14427.964,52,1.4,52,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-66.1
$GPS2,154438,5010.277,-14427.945,12,1.4,12,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.022,-0.166
$KALMAN_X,-38110.7,-146.0,-18.2,88654.0,334.3
$KALMAN_Y,21718.4,-15.6,-244.1,-41272.6,48.2
$MHEAD_RNG_PITCHd_Wd,168.8,30208,-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,17,-0.68,-117.3,0.0,0.0,0,56,0.00,0.00,-37.05,0.000,2,0.000,0.000,98,2306,2498
$GC,59,-0.68,-117.3,3.1,-3.8,4,96,7.30,2.33,-24.05,0.000,4,0.246,0.063,1848,901,3411
$GC,343,-0.62,-117.3,38.7,-13.0,29,350,0.10,2.22,0.00,0.000,6,0.149,0.038,1865,2304,3414
$GC,670,-0.62,-117.3,66.2,-8.2,60,671,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2303,3415
$GC,982,-0.62,-117.3,92.1,-8.2,83,983,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2304,3416
$GC,1291,-0.62,-117.3,116.9,-8.3,98,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2303,3416
$GC,1601,-0.66,-117.3,140.8,-7.0,113,1605,0.00,2.22,0.00,0.000,4,0.000,0.041,1865,893,3415
$GC,1646,-0.72,-117.3,143.8,-6.8,115,1650,0.00,2.25,0.00,0.000,6,0.000,0.041,1863,2309,3416
$GC,1982,-0.77,-117.3,163.6,-6.0,128,1986,0.10,2.25,0.00,0.000,4,0.064,0.041,1793,890,3415
$GC,2072,-0.70,-117.3,172.6,-10.6,130,2077,0.22,2.25,0.00,0.000,6,0.123,0.038,1848,2313,3416
$GC,2385,-0.73,-117.3,195.3,-7.3,140,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2313,3415
$GC,2692,-0.77,-117.3,218.7,-7.6,150,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2313,3415
$GC,2998,-0.80,-117.3,240.0,-6.8,160,3003,0.10,2.28,0.00,0.000,4,0.069,0.048,1785,891,3414
$GC,3027,-0.75,-117.3,242.6,-9.4,161,3032,0.20,2.25,0.00,0.000,6,0.131,0.042,1838,2306,3414
$GC,3362,-0.77,-117.3,266.4,-6.9,172,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2306,3414
$GC,3668,-0.77,-117.3,287.7,-7.1,182,3671,0.00,2.25,0.00,0.000,4,0.000,0.049,1838,899,3413
$GC,3702,-0.79,-117.3,290.3,-7.8,183,3707,0.00,2.25,0.00,0.000,6,0.000,0.046,1837,2310,3413
$GC,4036,-0.79,-117.3,313.3,-6.8,191,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2311,3413
$GC,4339,-0.81,-117.3,332.9,-6.4,196,4343,0.00,2.28,0.00,0.000,4,0.000,0.045,1836,895,3413
$GC,4373,-0.83,-117.3,335.4,-7.0,196,4377,0.00,2.25,0.00,0.000,6,0.000,0.045,1836,2302,3412
$GC,4699,-0.86,-117.3,356.7,-6.6,202,4701,0.08,0.00,0.00,0.000,6,0.085,0.000,1780,2303,3412
$GC,5002,-0.77,-117.3,385.7,-9.7,207,5007,0.17,2.25,0.00,0.000,4,0.127,0.043,1837,894,3411
$GC,5041,-0.81,-117.3,388.9,-7.5,207,5045,0.00,2.25,0.00,0.000,6,0.000,0.047,1837,2308,3411
$GC,5361,-0.84,-117.3,410.4,-6.7,213,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2308,3411
$GC,5665,-0.87,-117.3,431.2,-6.9,218,5669,0.10,2.28,0.00,0.000,4,0.068,0.048,1774,893,3411
$GC,5743,-0.78,-117.3,439.2,-10.6,219,5747,0.22,2.25,0.00,0.000,6,0.127,0.040,1834,2312,3411
$GC,6097,-0.81,-117.3,464.1,-6.9,225,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2313,3410
$GC,6400,-0.85,-117.3,486.1,-7.2,230,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2313,3411
$GC,6704,-0.88,-117.3,505.7,-6.4,235,6709,0.10,2.30,0.00,0.000,4,0.071,0.048,1774,887,3410
$GC,6731,-0.82,-117.3,508.1,-8.7,235,6736,0.20,2.28,0.00,0.000,6,0.130,0.040,1826,2305,3409
$GC,7062,-0.82,-117.3,529.4,-6.3,241,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2306,3409
$GC,7366,-0.84,-117.3,548.4,-6.3,246,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2306,3409
$GC,7669,-0.86,-117.3,567.5,-6.3,251,7673,0.00,2.28,0.00,0.000,4,0.000,0.052,1825,890,3408
$GC,7697,-0.86,-117.3,569.6,-7.4,251,7700,0.00,2.28,0.00,0.000,6,0.000,0.041,1823,2310,3409
$GC,8034,-0.86,-117.3,591.4,-6.5,257,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2310,3409
$GC,8338,-0.95,-117.3,612.0,-6.8,262,8342,0.10,2.25,0.00,0.000,4,0.072,0.049,1755,894,3408
$GC,8388,-0.87,-117.3,616.4,-9.0,262,8392,0.22,2.28,0.00,0.000,6,0.128,0.041,1811,2315,3408
$GC,8698,-0.97,-117.3,638.5,-7.1,267,8702,0.10,2.28,0.00,0.000,4,0.070,0.044,1744,894,3408
$GC,8828,-0.88,-117.3,650.8,-9.9,269,8832,0.25,2.28,0.00,0.000,6,0.130,0.049,1815,2307,3408
$GC,9199,-0.97,-117.3,677.8,-7.1,275,9203,0.10,2.25,0.00,0.000,4,0.069,0.043,1748,895,3408
$GC,9237,-0.88,-117.3,681.3,-9.3,275,9242,0.22,2.25,0.00,0.000,6,0.130,0.043,1807,2304,3408
$GC,9558,-0.96,-117.3,704.2,-7.1,281,9562,0.00,2.25,0.00,0.000,4,0.000,0.051,1807,891,3408
$GC,9641,-0.99,-117.3,710.3,-7.7,282,9646,0.10,2.25,0.00,0.000,6,0.071,0.041,1752,2305,3408
$GC,9984,-0.99,-117.3,736.4,-7.6,288,9989,0.12,2.28,0.00,0.000,4,0.131,0.050,1788,885,3407
$GC,10011,-0.99,-117.3,738.5,-7.3,288,10015,0.00,2.28,0.00,0.000,6,0.000,0.048,1781,2308,3407
$GC,10349,-1.04,-117.3,760.9,-6.6,294,10353,0.00,2.28,0.00,0.000,4,0.000,0.046,1781,886,3407
$GC,10413,-1.00,-117.3,765.4,-7.5,295,10417,0.00,2.28,0.00,0.000,6,0.000,0.048,1781,2309,3407
$GC,10779,-1.04,-117.3,790.5,-6.8,301,10783,0.00,2.28,0.00,0.000,4,0.000,0.049,1781,889,3407
$GC,10842,-1.01,-117.3,795.0,-7.4,302,10846,0.00,2.28,0.00,0.000,6,0.000,0.044,1771,2313,3407
$GC,11208,-0.94,-117.3,823.3,-8.0,308,11212,0.10,2.28,0.00,0.000,4,0.147,0.055,1791,3708,3407
$GC,11297,-0.92,-117.3,830.4,-8.0,309,11301,0.00,2.22,0.00,0.000,6,0.000,0.032,1791,2292,3406
$GC,11634,-0.89,-117.3,856.2,-7.7,315,11638,0.00,2.25,0.00,0.000,4,0.000,0.051,1791,893,3406
$GC,11678,-0.86,-117.3,860.0,-8.8,315,11683,0.12,2.28,0.00,0.000,6,0.133,0.040,1816,2311,3406
$GC,11993,-0.89,-117.3,881.1,-6.6,321,11994,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2311,3406
$GC,12296,-0.92,-117.3,900.7,-6.4,326,12300,0.00,2.28,0.00,0.000,4,0.000,0.054,1808,3708,3406
$GC,12323,-0.94,-117.3,902.5,-6.6,326,12328,0.00,2.20,0.00,0.000,6,0.000,0.033,1808,2306,3406
$GC,12655,-0.94,-117.3,923.0,-6.1,332,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3406
$GC,12959,-0.94,-117.3,939.8,-5.5,337,12960,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3405
$GC,13262,-0.94,-117.3,956.3,-5.4,342,13263,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3406
$GC,13565,-0.94,-117.3,973.0,-5.6,347,13566,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3405
$STATE,13865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13866,begin apogee
$GC,13871,-0.22,0.0,990.6,5.8,352,13970,0.45,0.00,96.18,1.306,6,0.116,0.000,1952,2306,2931
$STATE,13971,end apogee,CONTROL_FINISHED_OK
$STATE,13971,begin climb
$GC,13973,0.68,117.3,992.1,0.0,353,14079,0.60,0.00,102.45,1.277,6,0.072,0.000,2155,2306,2452
$GC,14352,0.54,117.3,972.7,6.9,360,14357,0.15,2.40,0.00,0.000,4,0.160,0.058,2119,3716,2442
$GC,14387,0.42,117.3,970.3,6.7,360,14391,0.15,2.33,0.00,0.000,6,0.164,0.040,2092,2297,2441
$GC,14713,0.47,157.4,956.5,4.1,366,14749,0.00,0.00,33.70,1.236,6,0.000,0.000,2092,2298,2289
$GC,15016,0.51,189.7,943.2,4.4,371,15050,0.00,2.40,28.45,1.220,4,0.000,0.057,2100,896,2156
$GC,15069,0.58,210.3,940.6,4.8,371,15094,0.10,2.33,19.77,1.178,6,0.079,0.044,2144,2301,2072
$GC,15451,0.50,210.3,911.7,7.8,378,15456,0.15,2.33,0.00,0.000,4,0.148,0.051,2104,3713,2065
$GC,15495,0.50,210.3,908.5,6.2,378,15499,0.00,2.25,0.00,0.000,6,0.000,0.034,2113,2302,2065
$GC,15811,0.51,218.6,891.8,5.2,384,15820,0.00,0.00,7.45,1.012,6,0.000,0.000,2113,2301,2039
$GC,16114,0.52,227.6,876.0,5.2,389,16125,0.00,0.00,9.12,1.057,6,0.000,0.000,2113,2301,2003
$GC,16418,0.54,239.4,860.6,5.1,394,16432,0.00,0.00,12.05,1.101,6,0.000,0.000,2113,2301,1953
$GC,16721,0.58,247.6,845.0,5.2,399,16735,0.00,2.33,8.32,1.023,4,0.000,0.051,2113,3706,1921
$GC,16753,0.58,250.5,843.1,5.4,399,16762,0.00,2.25,4.32,0.769,6,0.000,0.035,2123,2294,1909
$GC,17089,0.58,250.5,823.5,5.9,405,17093,0.00,2.33,0.00,0.000,4,0.000,0.052,2122,3719,1906
$GC,17116,0.58,250.5,821.5,7.4,405,17120,0.00,2.25,0.00,0.000,6,0.000,0.040,2133,2300,1906
$GC,17455,0.55,250.5,799.3,6.6,411,17459,0.00,2.30,0.00,0.000,4,0.000,0.051,2133,3717,1905
$GC,17488,0.51,250.5,796.8,8.1,411,17492,0.12,2.22,0.00,0.000,6,0.151,0.034,2111,2304,1905
$GC,17814,0.56,254.2,778.8,5.4,417,17823,0.00,2.28,4.38,0.772,4,0.000,0.049,2120,896,1894
$GC,17847,0.61,254.2,776.6,5.7,417,17851,0.00,2.25,0.00,0.000,6,0.000,0.044,2120,2305,1893
$GC,18179,0.63,254.2,754.2,6.9,423,18183,0.00,2.28,0.00,0.000,4,0.000,0.054,2119,3720,1892
$GC,18217,0.63,254.2,750.8,7.9,423,18222,0.00,2.22,0.00,0.000,6,0.000,0.034,2129,2301,1892
$GC,18538,0.63,254.2,725.4,8.1,429,18539,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2301,1892
$GC,18841,0.63,254.2,701.8,7.7,434,18845,0.00,2.28,0.00,0.000,4,0.000,0.053,2129,3710,1891
$GC,18868,0.61,254.2,699.5,8.0,434,18872,0.00,2.20,0.00,0.000,6,0.000,0.034,2139,2304,1891
$GC,19200,0.58,254.2,672.9,8.0,440,19201,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2305,1891
$GC,19503,0.55,254.2,649.0,7.8,445,19504,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2304,1891
$GC,19806,0.53,254.2,623.3,8.5,450,19808,0.10,0.00,0.00,0.000,6,0.154,0.000,2114,2304,1891
$GC,20110,0.58,254.2,602.6,6.6,455,20114,0.00,2.28,0.00,0.000,4,0.000,0.052,2114,3710,1891
$GC,20137,0.61,254.2,600.5,7.7,455,20141,0.00,2.22,0.00,0.000,6,0.000,0.034,2121,2293,1891
$GC,20470,0.63,254.2,577.5,6.9,461,20471,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2292,1891
$GC,20773,0.66,254.2,558.2,6.3,466,20777,0.08,2.30,0.00,0.000,4,0.079,0.048,2180,3722,1891
$GC,20806,0.55,254.2,555.0,9.8,466,20811,0.28,2.22,0.00,0.000,6,0.150,0.038,2113,2303,1891
$GC,21133,0.59,254.2,535.6,5.7,472,21136,0.00,2.25,0.00,0.000,4,0.000,0.048,2122,895,1891
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$STATE,29240,end climb,SURFACE_DEPTH_REACHED
$STATE,29240,begin surface coast
$FINISH,1.0,1.012269
$STATE,29264,end surface coast,CONTROL_FINISHED_OK
$STATE,29264,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1679
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$TCM_TEMP,18.80
$XPDR_PINGS,76
$24V_AH,22.6,45.752
$10V_AH,10.6,38.437
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$DEVICE_SECS,20.125,234.650,403.500,0.000,0.000,29.980,25.436,145.646,19.000,0.000,0.000,14.094,1761.356,24345.574,569.423,2377.892,609.321,33.378,1747.600,0.000,2368.148,0.000,0.528,0.000
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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,44336,772
$CAP_FILE_SIZE,193177,0
$CFSIZE,260165632,234688512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210909,235554,5007.071,-14428.478,41,1.4,41,18.6