version: 66.04
glider: 144
mission: 15
dive: 725
start: 2 9 110 21 31 59
data:
$ID,144
$MISSION,15
$DIVE,725
$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,-76438.914
$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,37
$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
$GPS1,212404,4934.836,-13907.688,63,1.9,74,19.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-61.9
$GPS2,213102,4934.892,-13907.627,12,1.5,12,19.3
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.156,-0.063
$KALMAN_X,-67695.8,-120.8,37.5,496703.1,674.7
$KALMAN_Y,46063.7,-72.4,-74.8,-131269.0,1945.9
$MHEAD_RNG_PITCHd_Wd,92.7,33225,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.10,0.000,2,0.000,0.000,98,2298,2623
$GC,63,-0.68,-117.3,3.6,-6.5,2,96,7.25,2.38,-19.80,0.000,4,0.234,0.061,1840,3711,3411
$GC,284,-0.66,-117.3,26.6,-9.2,12,288,0.00,2.22,0.00,0.000,6,0.000,0.030,1840,2292,3412
$GC,613,-0.61,-117.3,61.5,-10.3,28,617,0.10,2.28,0.00,0.000,4,0.130,0.041,1868,892,3412
$GC,678,-0.65,-117.3,67.3,-8.5,31,682,0.00,2.22,0.00,0.000,6,0.000,0.036,1863,2300,3412
$GC,1001,-0.67,-117.3,100.0,-10.3,55,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2300,3412
$GC,1320,-0.71,-117.3,125.8,-6.4,85,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2300,3412
$GC,1647,-0.77,-117.3,147.0,-5.6,116,1649,0.10,0.00,0.00,0.000,6,0.065,0.000,1777,2300,3412
$GC,1966,-0.67,-117.3,179.0,-10.2,129,1968,0.25,0.00,0.00,0.000,6,0.117,0.000,1852,2300,3412
$GC,2271,-0.72,-117.3,199.1,-6.3,139,2275,0.00,2.28,0.00,0.000,4,0.000,0.041,1853,897,3412
$GC,2300,-0.78,-117.3,201.1,-7.1,139,2307,0.00,2.25,0.00,0.000,6,0.000,0.036,1850,2303,3413
$GC,2616,-0.83,-117.3,220.9,-6.1,150,2618,0.10,0.00,0.00,0.000,6,0.064,0.000,1766,2303,3413
$GC,2921,-0.72,-117.3,253.9,-11.1,160,2926,0.22,2.30,0.00,0.000,4,0.118,0.041,1841,893,3412
$GC,2991,-0.76,-117.3,259.4,-7.2,162,2995,0.00,2.28,0.00,0.000,6,0.000,0.041,1836,2302,3412
$GC,3328,-0.79,-117.3,282.1,-6.7,173,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2302,3412
$GC,3663,-0.82,-117.3,304.1,-6.6,183,3667,0.00,2.28,0.00,0.000,4,0.000,0.042,1836,898,3412
$GC,3714,-0.86,-117.3,307.9,-7.2,183,3719,0.10,2.28,0.00,0.000,6,0.065,0.038,1765,2307,3412
$GC,4026,-0.75,-117.3,341.9,-11.3,188,4031,0.20,2.33,0.00,0.000,4,0.120,0.043,1833,891,3411
$GC,4060,-0.77,-117.3,345.7,-9.1,188,4064,0.00,2.28,0.00,0.000,6,0.000,0.044,1825,2303,3412
$GC,4388,-0.77,-117.3,373.2,-8.5,194,4392,0.00,2.30,0.00,0.000,4,0.000,0.048,1825,892,3411
$GC,4422,-0.79,-117.3,376.2,-8.7,194,4426,0.00,2.28,0.00,0.000,6,0.000,0.044,1822,2302,3411
$GC,4750,-0.79,-117.3,403.0,-8.2,200,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2302,3411
$GC,5052,-0.79,-117.3,425.3,-7.3,205,5056,0.00,2.30,0.00,0.000,4,0.000,0.048,1822,894,3411
$GC,5097,-0.79,-117.3,428.7,-7.1,205,5101,0.00,2.28,0.00,0.000,6,0.000,0.044,1813,2304,3411
$GC,5413,-0.79,-117.3,451.9,-7.4,211,5417,0.00,2.33,0.00,0.000,4,0.000,0.043,1813,891,3411
$GC,5453,-0.79,-117.3,455.2,-8.1,211,5458,0.10,2.30,0.00,0.000,6,0.124,0.038,1832,2310,3411
$GC,5781,-0.83,-117.3,476.6,-6.6,217,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2311,3410
$GC,6084,-0.87,-117.3,496.4,-6.6,222,6086,0.10,0.00,0.00,0.000,6,0.064,0.000,1764,2311,3410
$GC,6388,-0.78,-117.3,527.4,-10.5,227,6393,0.20,2.35,0.00,0.000,4,0.118,0.044,1831,897,3410
$GC,6452,-0.83,-117.3,532.5,-6.9,228,6456,0.00,2.30,0.00,0.000,6,0.000,0.038,1824,2310,3410
$GC,6819,-0.85,-117.3,556.9,-6.5,234,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2310,3409
$GC,7123,-0.88,-117.3,575.3,-6.0,239,7127,0.00,2.30,0.00,0.000,4,0.000,0.044,1824,900,3409
$GC,7163,-0.92,-117.3,578.0,-6.7,239,7167,0.00,2.28,0.00,0.000,6,0.000,0.039,1821,2303,3409
$GC,7485,-0.94,-117.3,597.3,-6.0,245,7487,0.10,0.00,0.00,0.000,6,0.064,0.000,1752,2303,3409
$GC,7788,-0.84,-117.3,626.1,-9.7,250,7793,0.20,2.30,0.00,0.000,4,0.123,0.044,1816,898,3409
$GC,7846,-0.86,-117.3,630.5,-7.1,250,7852,0.00,2.28,0.00,0.000,6,0.000,0.040,1809,2308,3408
$GC,8157,-0.86,-117.3,650.8,-6.5,256,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3409
$GC,8461,-0.86,-117.3,671.7,-6.9,261,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2308,3408
$GC,8763,-0.86,-117.3,692.5,-6.9,266,8767,0.00,2.30,0.00,0.000,4,0.000,0.044,1809,889,3408
$GC,8798,-0.86,-117.3,695.1,-7.0,266,8802,0.00,2.30,0.00,0.000,6,0.000,0.042,1806,2313,3408
$GC,9131,-0.86,-117.3,716.7,-6.4,272,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2313,3407
$GC,9434,-0.86,-117.3,734.9,-6.0,277,9438,0.00,2.35,0.00,0.000,4,0.000,0.049,1806,892,3408
$GC,9468,-0.86,-117.3,737.2,-6.6,277,9472,0.00,2.30,0.00,0.000,6,0.000,0.041,1796,2305,3408
$GC,9796,-0.86,-117.3,758.5,-6.5,283,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2305,3408
$GC,10098,-0.86,-117.3,779.2,-6.9,288,10102,0.00,2.33,0.00,0.000,4,0.000,0.048,1796,893,3408
$GC,10149,-0.86,-117.3,783.1,-7.6,288,10153,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2305,3407
$GC,10459,-0.86,-117.3,806.2,-7.4,293,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2305,3407
$GC,10763,-0.86,-117.3,828.8,-7.4,298,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2305,3407
$GC,11065,-0.86,-117.3,850.7,-7.2,303,11070,0.00,2.33,0.00,0.000,4,0.000,0.051,1794,889,3407
$GC,11100,-0.86,-117.3,853.4,-7.6,303,11105,0.12,2.30,0.00,0.000,6,0.119,0.041,1820,2304,3406
$GC,11428,-0.91,-117.3,872.1,-5.6,309,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2305,3406
$GC,11730,-0.96,-117.3,889.5,-5.7,314,11732,0.10,0.00,0.00,0.000,6,0.071,0.000,1767,2305,3406
$GC,12033,-0.89,-117.3,914.9,-8.4,319,12035,0.15,0.00,0.00,0.000,6,0.119,0.000,1812,2305,3406
$GC,12337,-0.92,-117.3,933.5,-6.0,324,12341,0.00,2.30,0.00,0.000,4,0.000,0.047,1812,895,3406
$GC,12367,-0.95,-117.3,935.4,-6.5,324,12371,0.00,2.30,0.00,0.000,6,0.000,0.044,1810,2305,3406
$GC,12705,-0.98,-117.3,957.0,-6.3,330,12707,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3406
$GC,13008,-1.00,-117.3,975.6,-6.0,335,13010,0.10,0.00,0.00,0.000,6,0.078,0.000,1759,2306,3406
$STATE,13186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13186,begin apogee
$GC,13195,-0.22,0.0,990.5,7.7,338,13296,0.62,0.00,98.15,1.280,6,0.116,0.000,1956,2306,2931
$STATE,13297,end apogee,CONTROL_FINISHED_OK
$STATE,13297,begin climb
$GC,13302,0.68,117.3,992.2,0.0,339,13414,0.57,2.58,103.97,1.255,4,0.068,0.057,2154,3697,2451
$GC,13449,0.49,117.3,989.7,6.2,342,13454,0.25,2.35,0.00,0.000,6,0.158,0.040,2103,2312,2447
$GC,13801,0.50,147.1,973.7,4.5,348,13828,0.00,0.00,25.40,1.202,6,0.000,0.000,2103,2312,2331
$GC,14102,0.52,162.3,958.6,5.0,353,14118,0.00,0.00,14.20,1.135,6,0.000,0.000,2103,2312,2269
$GC,14405,0.54,176.8,943.3,5.0,358,14421,0.00,0.00,13.98,1.129,6,0.000,0.000,2103,2313,2210
$GC,14710,0.57,182.9,927.3,5.3,363,14718,0.00,0.00,6.55,0.955,6,0.000,0.000,2103,2312,2185
$GC,15013,0.59,182.9,910.4,5.7,368,15017,0.10,2.30,0.00,0.000,4,0.071,0.053,2166,894,2183
$GC,15041,0.54,182.9,908.1,7.6,368,15046,0.17,2.25,0.00,0.000,6,0.140,0.040,2120,2305,2182
$GC,15375,0.54,182.9,885.8,6.7,374,15379,0.00,2.28,0.00,0.000,4,0.000,0.057,2120,3708,2182
$GC,15439,0.50,182.9,880.7,8.6,375,15443,0.00,2.20,0.00,0.000,6,0.000,0.034,2128,2302,2181
$GC,15812,0.47,182.9,854.5,7.0,381,15817,0.12,2.33,0.00,0.000,4,0.142,0.051,2095,3711,2181
$GC,15847,0.47,182.9,852.0,5.8,381,15851,0.00,2.25,0.00,0.000,6,0.000,0.039,2103,2301,2181
$GC,16181,0.50,185.2,833.5,5.4,387,16185,0.00,2.30,0.00,0.000,4,0.000,0.047,2113,884,2181
$GC,16210,0.55,200.7,831.9,5.0,387,16239,0.00,2.28,18.73,1.006,6,0.000,0.044,2113,2303,2111
$GC,16552,0.57,200.7,812.3,5.8,393,16556,0.00,2.30,0.00,0.000,4,0.000,0.049,2114,3718,2109
$GC,16603,0.57,200.7,808.8,6.5,393,16607,0.00,2.25,0.00,0.000,6,0.000,0.033,2123,2290,2108
$GC,16913,0.57,200.7,788.7,6.5,398,16914,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2290,2108
$GC,17216,0.57,200.7,768.8,6.6,403,17220,0.00,2.33,0.00,0.000,4,0.000,0.048,2123,3711,2108
$GC,17258,0.54,200.7,765.8,7.1,403,17262,0.00,2.25,0.00,0.000,6,0.000,0.038,2133,2302,2107
$GC,17580,0.52,200.7,742.8,7.1,409,17581,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2302,2107
$GC,17883,0.49,200.7,722.0,6.9,414,17887,0.12,2.33,0.00,0.000,4,0.145,0.047,2100,3714,2107
$GC,17911,0.49,200.7,720.0,6.3,414,17915,0.00,2.25,0.00,0.000,6,0.000,0.032,2107,2294,2107
$GC,18253,0.54,210.8,702.2,5.2,420,18264,0.00,0.00,9.80,0.954,6,0.000,0.000,2108,2294,2071
$GC,18553,0.60,229.9,687.4,4.9,425,18574,0.08,0.00,18.42,1.017,6,0.077,0.000,2170,2295,1993
$GC,18856,0.50,229.9,663.7,8.0,430,18861,0.17,2.33,0.00,0.000,4,0.136,0.047,2115,3708,1990
$GC,18902,0.52,239.9,660.6,5.2,430,18919,0.00,2.22,9.80,0.921,6,0.000,0.036,2123,2297,1952
$GC,19224,0.58,267.9,645.8,4.6,436,19263,0.00,2.38,28.25,0.951,4,0.000,0.047,2133,888,1837
$GC,19284,0.69,306.5,643.0,4.2,436,19325,0.00,2.28,35.67,1.009,6,0.000,0.040,2133,2305,1681
$GC,19653,0.88,306.5,621.2,6.3,443,19658,0.17,2.30,0.00,0.000,4,0.061,0.043,2208,882,1673
$GC,19762,0.81,306.5,611.8,9.0,444,19766,0.12,2.25,0.00,0.000,6,0.138,0.038,2175,2311,1672
$GC,20095,0.76,306.5,581.3,9.1,450,20098,0.00,2.25,0.00,0.000,4,0.000,0.052,2175,3707,1671
$GC,20174,0.69,306.5,572.7,10.8,451,20179,0.15,2.17,0.00,0.000,6,0.143,0.033,2144,2299,1671
$GC,20536,0.72,306.5,545.7,7.4,457,20540,0.00,2.28,0.00,0.000,4,0.000,0.047,2152,892,1671
$GC,20577,0.77,306.5,542.2,7.9,457,20581,0.00,2.25,0.00,0.000,6,0.000,0.041,2152,2310,1669
$GC,20904,0.77,306.5,513.4,9.0,463,20905,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2310,1669
$GC,21208,0.77,306.5,486.6,8.8,468,21209,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2310,1669
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$STATE,27757,end climb,SURFACE_DEPTH_REACHED
$STATE,27758,begin surface coast
$FINISH,1.5,1.012780
$STATE,27785,end surface coast,CONTROL_FINISHED_OK
$STATE,27785,begin surface
$SM_CCo,27865,0.00,0.000,0,0,1638,316.93
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$IRIDIUM_FIX,4916.46,-13916.00,060599,131337
$TT8_MAMPS,0.029146
$HUMID,1755
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,15.70
$XPDR_PINGS,58
$24V_AH,21.8,104.323
$10V_AH,10.3,89.092
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$DEVICE_SECS,19.025,209.400,390.175,0.000,0.000,24.970,25.771,184.525,14.500,0.000,0.000,14.113,1611.567,23161.729,539.923,2034.952,921.454,33.383,1625.190,0.000,2022.802,0.000,0.528,0.000
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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,41112,713
$CAP_FILE_SIZE,174523,0
$CFSIZE,260165632,202248192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,100210,051736,4933.854,-13901.945,28,1.7,28,19.3