version: 66.04
glider: 144
mission: 15
dive: 311
start: 9 22 109 17 7 50
data:
$ID,144
$MISSION,15
$DIVE,311
$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,-67280.57
$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,32
$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
$GPS1,170107,4959.588,-14429.694,31,1.2,31,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-58.7
$GPS2,170656,4959.616,-14429.767,14,1.3,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.001,-0.165
$KALMAN_X,-39072.6,-158.5,-84.2,87543.4,1.3
$KALMAN_Y,19877.1,64.0,-193.5,-59313.7,-610.6
$MHEAD_RNG_PITCHd_Wd,162.0,10380,-12.6,-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,-0.69,-113.0,0.0,0.0,0,61,0.00,0.00,-41.95,0.000,2,0.000,0.000,100,2305,2618
$GC,64,-0.69,-117.0,3.5,-5.4,4,98,7.22,2.35,-18.73,0.000,4,0.244,0.061,1846,893,3412
$GC,313,-0.64,-117.0,35.2,-11.7,26,317,0.10,2.25,0.00,0.000,6,0.146,0.041,1863,2302,3414
$GC,639,-0.64,-117.0,62.3,-7.9,56,643,0.00,2.25,0.00,0.000,4,0.000,0.040,1863,888,3415
$GC,758,-0.66,-117.0,72.2,-8.4,66,762,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2303,3416
$GC,1087,-0.66,-117.0,99.9,-8.6,86,1091,0.00,2.28,0.00,0.000,4,0.000,0.053,1853,3718,3416
$GC,1131,-0.66,-117.0,103.9,-8.6,88,1135,0.00,2.20,0.00,0.000,6,0.000,0.029,1853,2296,3416
$GC,1452,-0.66,-117.0,132.9,-9.3,104,1456,0.00,2.22,0.00,0.000,4,0.000,0.044,1852,892,3416
$GC,1498,-0.69,-117.0,137.2,-9.1,106,1502,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2313,3416
$GC,1820,-0.71,-117.0,163.0,-7.6,119,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2313,3416
$GC,2126,-0.75,-117.0,183.5,-6.3,129,2130,0.00,2.25,0.00,0.000,4,0.000,0.045,1850,899,3415
$GC,2200,-0.79,-117.0,188.3,-6.4,131,2204,0.00,2.22,0.00,0.000,6,0.000,0.042,1850,2300,3415
$GC,2524,-0.83,-117.0,208.3,-6.1,142,2526,0.12,0.00,0.00,0.000,6,0.060,0.000,1771,2301,3414
$GC,2829,-0.73,-117.0,240.4,-10.7,152,2831,0.25,0.00,0.00,0.000,6,0.123,0.000,1846,2301,3414
$GC,3136,-0.77,-117.0,258.5,-5.6,162,3140,0.00,2.22,0.00,0.000,4,0.000,0.043,1847,898,3413
$GC,3177,-0.82,-117.0,260.9,-5.9,163,3181,0.00,2.25,0.00,0.000,6,0.000,0.044,1842,2308,3413
$GC,3506,-0.86,-117.0,281.6,-6.3,174,3511,0.10,2.25,0.00,0.000,4,0.067,0.041,1770,889,3413
$GC,3556,-0.76,-117.0,286.8,-10.9,175,3561,0.25,2.28,0.00,0.000,6,0.127,0.039,1834,2313,3413
$GC,3873,-0.79,-117.0,308.9,-6.6,184,3877,0.00,2.28,0.00,0.000,4,0.000,0.044,1835,892,3412
$GC,3911,-0.81,-117.0,311.6,-7.0,184,3915,0.00,2.25,0.00,0.000,6,0.000,0.042,1835,2305,3412
$GC,4233,-0.84,-117.0,333.6,-6.9,190,4237,0.00,2.25,0.00,0.000,4,0.000,0.048,1834,895,3412
$GC,4266,-0.86,-117.0,336.2,-7.1,190,4270,0.00,2.22,0.00,0.000,6,0.000,0.038,1826,2305,3412
$GC,4600,-0.86,-117.0,360.1,-7.2,196,4603,0.00,2.25,0.00,0.000,4,0.000,0.047,1826,895,3411
$GC,4661,-0.86,-117.0,365.1,-7.5,196,4667,0.00,2.28,0.00,0.000,6,0.000,0.046,1822,2302,3410
$GC,4971,-0.86,-117.0,386.8,-7.0,202,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2302,3411
$GC,5274,-0.86,-117.0,407.6,-6.8,207,5278,0.00,2.25,0.00,0.000,4,0.000,0.048,1823,898,3410
$GC,5306,-0.86,-117.0,410.1,-7.2,207,5310,0.00,2.25,0.00,0.000,6,0.000,0.046,1821,2305,3410
$GC,5638,-0.86,-117.0,432.6,-6.7,213,5642,0.00,2.28,0.00,0.000,4,0.000,0.048,1821,889,3409
$GC,5677,-0.86,-117.0,435.2,-7.2,213,5681,0.00,2.28,0.00,0.000,6,0.000,0.042,1812,2310,3409
$GC,6004,-0.86,-117.0,458.7,-7.2,219,6008,0.00,2.28,0.00,0.000,4,0.000,0.048,1812,892,3409
$GC,6066,-0.86,-117.0,463.3,-7.7,220,6070,0.00,2.28,0.00,0.000,6,0.000,0.045,1809,2315,3409
$GC,6431,-0.86,-117.0,489.4,-7.1,226,6435,0.00,2.28,0.00,0.000,4,0.000,0.045,1809,895,3408
$GC,6476,-0.86,-117.0,492.8,-7.4,226,6480,0.00,2.25,0.00,0.000,6,0.000,0.041,1807,2305,3408
$GC,6790,-0.86,-117.0,515.6,-7.3,232,6794,0.00,2.25,0.00,0.000,4,0.000,0.051,1807,899,3408
$GC,6846,-0.86,-117.0,520.0,-7.9,232,6850,0.00,2.25,0.00,0.000,6,0.000,0.040,1798,2309,3408
$GC,7161,-0.83,-117.0,544.3,-7.8,238,7165,0.00,2.25,0.00,0.000,4,0.000,0.048,1797,899,3408
$GC,7240,-0.81,-117.0,551.3,-8.5,239,7245,0.12,2.25,0.00,0.000,6,0.133,0.047,1829,2309,3407
$GC,7589,-0.85,-117.0,574.7,-6.7,245,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2309,3407
$GC,7892,-0.89,-117.0,595.2,-6.7,250,7897,0.10,2.28,0.00,0.000,4,0.069,0.049,1768,889,3407
$GC,7937,-0.81,-117.0,599.6,-11.4,250,7942,0.22,2.28,0.00,0.000,6,0.127,0.044,1825,2313,3407
$GC,8252,-0.85,-117.0,620.9,-6.5,256,8256,0.00,2.28,0.00,0.000,4,0.000,0.045,1825,893,3407
$GC,8296,-0.89,-117.0,624.1,-7.4,256,8300,0.00,2.25,0.00,0.000,6,0.000,0.039,1823,2302,3407
$GC,8612,-0.92,-117.0,643.8,-6.3,262,8617,0.08,2.25,0.00,0.000,4,0.083,0.045,1768,894,3407
$GC,8639,-0.86,-117.0,646.1,-8.8,262,8644,0.20,2.25,0.00,0.000,6,0.125,0.041,1817,2305,3407
$GC,8971,-0.88,-117.0,668.1,-6.5,268,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2305,3407
$GC,9274,-0.91,-117.0,688.1,-6.6,273,9278,0.00,2.25,0.00,0.000,4,0.000,0.051,1817,899,3406
$GC,9337,-0.94,-117.0,692.7,-7.1,274,9342,0.00,2.25,0.00,0.000,6,0.000,0.046,1810,2307,3406
$GC,9703,-0.94,-117.0,718.0,-6.9,280,9707,0.00,2.25,0.00,0.000,4,0.000,0.046,1810,899,3406
$GC,9741,-0.94,-117.0,720.9,-8.0,280,9745,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2306,3406
$GC,10062,-0.94,-117.0,742.8,-6.8,286,10066,0.00,2.28,0.00,0.000,4,0.000,0.048,1808,891,3406
$GC,10088,-0.94,-117.0,744.8,-7.3,286,10092,0.00,2.28,0.00,0.000,6,0.000,0.045,1806,2309,3405
$GC,10426,-0.94,-117.0,767.3,-6.7,292,10430,0.00,2.28,0.00,0.000,4,0.000,0.049,1806,893,3406
$GC,10470,-0.94,-117.0,770.6,-7.7,292,10474,0.00,2.25,0.00,0.000,6,0.000,0.041,1796,2303,3406
$GC,10786,-0.94,-117.0,793.4,-7.3,298,10790,0.00,2.25,0.00,0.000,4,0.000,0.051,1796,901,3406
$GC,10830,-0.94,-117.0,797.1,-8.3,298,10834,0.00,2.25,0.00,0.000,6,0.000,0.044,1794,2308,3406
$GC,11145,-0.94,-117.0,820.4,-7.4,304,11149,0.00,2.28,0.00,0.000,4,0.000,0.051,1795,892,3406
$GC,11183,-0.92,-117.0,823.5,-7.6,304,11187,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2309,3405
$GC,11504,-0.92,-117.0,846.5,-7.1,310,11508,0.00,2.28,0.00,0.000,4,0.000,0.048,1794,895,3405
$GC,11537,-0.89,-117.0,849.0,-7.6,310,11541,0.00,2.28,0.00,0.000,6,0.000,0.044,1793,2311,3405
$GC,11863,-0.89,-117.0,872.5,-7.2,316,11867,0.00,2.30,0.00,0.000,4,0.000,0.048,1793,895,3405
$GC,11907,-0.89,-117.0,875.9,-8.0,316,11912,0.10,2.28,0.00,0.000,6,0.136,0.045,1809,2307,3405
$GC,12229,-0.92,-117.0,895.0,-5.9,322,12233,0.00,2.28,0.00,0.000,4,0.000,0.049,1810,900,3405
$GC,12269,-0.92,-117.0,897.6,-6.4,322,12273,0.00,2.25,0.00,0.000,6,0.000,0.048,1809,2302,3404
$GC,12590,-0.92,-117.0,917.2,-6.1,328,12594,0.00,2.28,0.00,0.000,4,0.000,0.049,1809,901,3404
$GC,12630,-0.92,-117.0,920.0,-7.2,328,12635,0.00,2.28,0.00,0.000,6,0.000,0.045,1808,2309,3404
$GC,12951,-0.92,-117.0,939.9,-6.2,334,12953,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3404
$GC,13255,-0.92,-117.0,958.5,-6.1,339,13259,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,902,3404
$GC,13317,-0.92,-117.0,962.6,-7.2,340,13321,0.00,2.28,0.00,0.000,6,0.000,0.045,1806,2309,3404
$GC,13682,-0.92,-117.0,983.4,-5.7,346,13686,0.00,2.30,0.00,0.000,4,0.000,0.048,1806,893,3404
$GC,13731,-0.92,-117.0,986.6,-5.9,346,13736,0.00,2.28,0.00,0.000,6,0.000,0.044,1798,2308,3404
$STATE,13796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13796,begin apogee
$GC,13802,-0.22,0.0,990.6,6.2,347,13901,0.50,0.00,95.88,1.304,6,0.118,0.000,1957,2308,2930
$STATE,13901,end apogee,CONTROL_FINISHED_OK
$STATE,13902,begin climb
$GC,13904,0.69,117.0,991.6,0.0,348,14014,0.60,2.55,101.43,1.274,4,0.071,0.058,2162,3700,2452
$GC,14046,0.48,117.0,987.7,8.1,351,14051,0.28,2.35,0.00,0.000,6,0.170,0.034,2107,2316,2448
$GC,14412,0.44,117.0,967.1,5.5,357,14413,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2316,2442
$GC,14715,0.40,117.0,950.3,5.6,362,14719,0.00,2.33,0.00,0.000,4,0.000,0.053,2116,891,2441
$GC,14748,0.38,117.0,948.4,5.9,362,14753,0.15,2.28,0.00,0.000,6,0.141,0.042,2076,2305,2440
$GC,15074,0.43,142.4,933.2,4.6,368,15109,0.00,2.35,22.62,1.111,4,0.000,0.052,2076,3709,2349
$GC,15172,0.43,142.4,928.0,5.8,369,15176,0.00,2.25,0.00,0.000,6,0.000,0.040,2084,2295,2347
$GC,15504,0.50,171.7,912.9,4.5,375,15536,0.08,2.38,26.05,1.205,4,0.084,0.052,2126,3710,2229
$GC,15565,0.41,171.7,908.9,8.0,376,15570,0.17,2.28,0.00,0.000,6,0.156,0.035,2091,2301,2228
$GC,15932,0.47,193.9,891.3,4.7,382,15957,0.00,2.35,19.88,1.170,4,0.000,0.051,2099,889,2139
$GC,15979,0.56,221.5,888.8,4.5,382,16011,0.08,2.33,25.77,1.177,6,0.091,0.043,2139,2313,2028
$GC,16357,0.52,221.5,861.6,7.5,389,16362,0.12,2.30,0.00,0.000,4,0.145,0.051,2107,3719,2020
$GC,16406,0.52,221.5,857.7,7.6,389,16410,0.00,2.25,0.00,0.000,6,0.000,0.036,2115,2301,2019
$GC,16722,0.52,221.5,839.2,5.9,395,16723,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2301,2018
$GC,17025,0.52,221.5,821.0,6.0,400,17026,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2301,2017
$GC,17328,0.52,221.5,802.8,6.0,405,17329,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2301,2017
$GC,17631,0.52,221.5,784.5,6.0,410,17633,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2301,2016
$GC,17934,0.52,221.5,766.6,5.9,415,17938,0.00,2.30,0.00,0.000,4,0.000,0.051,2115,3717,2017
$GC,17966,0.52,221.5,764.4,6.3,415,17970,0.00,2.25,0.00,0.000,6,0.000,0.039,2125,2289,2016
$GC,18299,0.52,221.5,743.8,6.2,421,18300,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2289,2016
$GC,18602,0.52,221.5,724.9,6.3,426,18606,0.00,2.33,0.00,0.000,4,0.000,0.056,2126,3715,2015
$GC,18635,0.48,221.5,722.4,6.9,426,18640,0.12,2.22,0.00,0.000,6,0.146,0.033,2103,2298,2015
$GC,18962,0.56,239.2,706.1,4.9,432,18981,0.00,2.28,14.75,1.041,4,0.000,0.049,2112,898,1955
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$STATE,28892,end climb,SURFACE_DEPTH_REACHED
$STATE,28893,begin surface coast
$FINISH,1.0,1.024534
$STATE,28917,end surface coast,CONTROL_FINISHED_OK
$STATE,28917,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1713
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$TCM_TEMP,15.00
$XPDR_PINGS,91
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$10V_AH,10.6,38.823
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$DEVICE_SECS,19.000,280.450,364.175,0.000,0.000,24.035,25.618,169.894,22.750,0.000,0.000,15.895,1784.697,23820.787,521.874,2548.240,656.816,33.375,1818.462,0.000,2530.279,0.000,0.528,0.000
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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,44283,754
$CAP_FILE_SIZE,201305,0
$CFSIZE,260165632,234455040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,230909,011224,4956.641,-14430.236,27,1.5,44,18.5