version: 66.04
glider: 144
mission: 15
dive: 23
start: 6 19 109 12 10 7
data:
$ID,144
$MISSION,15
$DIVE,23
$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,528
$T_MISSION,570
$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,150
$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,-61334.145
$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,0.039999999
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,120006,5007.913,-14509.898,63,1.0,64,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-54.0
$GPS2,120913,5007.878,-14509.960,11,2.0,28,18.5
$SPEED_LIMITS,0.062,0.194
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.013,-0.194
$KALMAN_X,-15480.4,-15.0,65.2,4578.4,-948.6
$KALMAN_Y,5892.5,-119.6,63.8,9313.4,351.2
$MHEAD_RNG_PITCHd_Wd,157.6,25791,-12.4,-6.250
$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,-0.72,-146.6,0.0,0.0,0,59,0.00,0.00,-41.78,0.000,2,0.000,0.000,99,2309,2629
$GC,62,-0.72,-146.6,3.3,-4.9,4,96,7.03,2.30,-21.10,0.000,4,0.256,0.077,1833,3712,3530
$GC,176,-0.53,-146.6,19.9,-15.6,14,181,0.20,2.22,0.00,0.000,6,0.139,0.044,1890,2302,3531
$GC,509,-0.62,-146.6,45.2,-7.7,45,513,0.10,2.25,0.00,0.000,4,0.074,0.054,1835,893,3532
$GC,716,-0.55,-146.6,69.4,-11.6,63,723,0.20,2.25,0.00,0.000,6,0.137,0.050,1886,2306,3532
$GC,1036,-0.64,-146.6,93.7,-7.3,85,1038,0.10,0.00,0.00,0.000,6,0.073,0.000,1834,2306,3533
$GC,1345,-0.55,-146.6,125.0,-9.6,100,1350,0.17,2.28,0.00,0.000,4,0.133,0.055,1891,882,3533
$GC,1401,-0.76,-146.6,128.8,-5.5,102,1408,0.17,2.25,0.00,0.000,6,0.055,0.051,1805,2304,3533
$GC,1726,-0.63,-146.6,162.2,-11.0,117,1731,0.20,2.28,0.00,0.000,4,0.140,0.067,1861,3719,3533
$GC,1775,-0.78,-146.6,166.7,-7.4,118,1780,0.12,2.20,0.00,0.000,6,0.069,0.045,1799,2300,3533
$GC,2093,-0.64,-146.6,200.5,-10.6,129,2098,0.17,2.25,0.00,0.000,4,0.140,0.060,1856,886,3533
$GC,2171,-0.76,-146.6,207.1,-8.0,131,2175,0.00,2.25,0.00,0.000,6,0.000,0.056,1850,2303,3533
$GC,2489,-0.84,-146.6,231.3,-7.5,142,2493,0.12,2.28,0.00,0.000,4,0.068,0.067,1781,3721,3532
$GC,2533,-0.66,-146.6,236.0,-11.6,143,2537,0.25,2.22,0.00,0.000,6,0.137,0.044,1855,2292,3532
$GC,2851,-0.77,-146.6,256.4,-6.0,154,2856,0.10,2.22,0.00,0.000,4,0.077,0.057,1804,890,3532
$GC,2895,-0.69,-146.6,260.2,-9.1,155,2900,0.20,2.25,0.00,0.000,6,0.137,0.054,1853,2309,3532
$GC,3213,-0.80,-146.6,279.4,-6.1,166,3215,0.10,0.00,0.00,0.000,6,0.078,0.000,1802,2309,3531
$GC,3519,-0.70,-146.6,308.0,-9.5,175,3523,0.17,2.28,0.00,0.000,4,0.137,0.057,1859,883,3531
$GC,3558,-0.85,-146.6,311.1,-6.6,175,3563,0.12,2.25,0.00,0.000,6,0.071,0.052,1789,2304,3531
$GC,3879,-0.71,-146.6,344.3,-10.6,181,3881,0.20,0.00,0.00,0.000,6,0.143,0.000,1846,2304,3531
$GC,4182,-0.81,-146.6,365.7,-6.9,186,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2304,3530
$GC,4485,-0.91,-146.6,385.8,-6.6,191,4487,0.15,0.00,0.00,0.000,6,0.065,0.000,1776,2304,3530
$GC,4788,-0.73,-146.6,418.1,-10.8,196,4790,0.22,0.00,0.00,0.000,6,0.143,0.000,1842,2304,3529
$GC,5091,-0.82,-146.6,438.7,-6.5,201,5095,0.00,2.25,0.00,0.000,4,0.000,0.059,1843,889,3529
$GC,5124,-0.93,-146.6,441.0,-7.3,201,5128,0.15,2.25,0.00,0.000,6,0.065,0.056,1765,2314,3529
$GC,5450,-0.72,-146.6,475.3,-10.8,207,5455,0.22,2.25,0.00,0.000,4,0.146,0.063,1837,893,3528
$GC,5489,-0.81,-146.6,478.6,-6.6,207,5493,0.00,2.25,0.00,0.000,6,0.000,0.060,1836,2310,3528
$GC,5810,-0.89,-146.6,496.5,-5.5,213,5812,0.10,0.00,0.00,0.000,6,0.081,0.000,1788,2311,3528
$GC,6113,-0.78,-146.6,520.7,-8.2,218,6114,0.15,0.00,0.00,0.000,6,0.143,0.000,1829,2311,3528
$GC,6416,-0.84,-146.6,538.6,-5.8,223,6420,0.00,2.28,0.00,0.000,4,0.000,0.064,1830,884,3528
$GC,6460,-0.92,-146.6,541.6,-7.0,223,6464,0.10,2.25,0.00,0.000,6,0.083,0.055,1777,2305,3528
$GC,6775,-0.77,-146.6,571.1,-9.6,229,6779,0.17,2.25,0.00,0.000,4,0.148,0.066,1823,3710,3527
$GC,6807,-0.82,-146.6,573.8,-7.8,229,6811,0.00,2.17,0.00,0.000,6,0.000,0.047,1824,2304,3527
$GC,7139,-0.86,-146.6,595.7,-6.6,235,7143,0.00,2.22,0.00,0.000,4,0.000,0.061,1823,896,3527
$GC,7166,-0.86,-146.6,597.8,-7.3,235,7171,0.00,2.25,0.00,0.000,6,0.000,0.054,1820,2313,3527
$GC,7510,-0.86,-146.6,619.3,-6.2,241,7514,0.00,2.28,0.00,0.000,4,0.000,0.061,1820,886,3527
$GC,7532,-0.86,-146.6,620.8,-5.9,241,7536,0.00,2.25,0.00,0.000,6,0.000,0.060,1811,2306,3527
$GC,7875,-0.86,-146.6,642.4,-6.3,247,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2306,3527
$GC,8179,-0.86,-146.6,661.4,-6.3,252,8183,0.00,2.25,0.00,0.000,4,0.000,0.061,1811,896,3527
$GC,8206,-0.86,-146.6,663.5,-7.1,252,8210,0.00,2.25,0.00,0.000,6,0.000,0.061,1806,2309,3527
$GC,8544,-0.86,-146.6,686.9,-7.1,258,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2310,3526
$GC,8847,-0.86,-146.6,709.8,-7.6,263,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2310,3526
$GC,9150,-0.86,-146.6,733.5,-7.8,268,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2310,3526
$GC,9453,-0.86,-146.6,756.8,-7.6,273,9457,0.00,2.28,0.00,0.000,4,0.000,0.064,1806,889,3526
$GC,9485,-0.86,-146.6,759.3,-7.8,273,9490,0.00,2.28,0.00,0.000,6,0.000,0.061,1799,2303,3526
$GC,9818,-0.81,-146.6,782.8,-7.0,279,9820,0.10,0.00,0.00,0.000,6,0.168,0.000,1823,2303,3525
$GC,10121,-0.88,-146.6,798.7,-5.2,284,10125,0.00,2.25,0.00,0.000,4,0.000,0.067,1825,897,3525
$GC,10172,-0.97,-146.6,801.5,-5.5,284,10177,0.12,2.25,0.00,0.000,6,0.086,0.057,1772,2311,3525
$GC,10487,-0.82,-146.6,826.5,-8.2,290,10491,0.17,2.25,0.00,0.000,4,0.160,0.071,1817,3710,3525
$GC,10514,-0.82,-146.6,828.5,-6.2,290,10518,0.00,2.20,0.00,0.000,6,0.000,0.048,1817,2299,3525
$GC,10846,-0.87,-146.6,849.7,-6.6,296,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2299,3525
$GC,11149,-0.92,-146.6,871.7,-7.3,301,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2299,3525
$GC,11452,-0.97,-146.6,894.3,-7.5,306,11456,0.10,2.28,0.00,0.000,4,0.104,0.067,1780,882,3524
$GC,11484,-0.87,-146.6,897.5,-9.8,306,11489,0.15,2.25,0.00,0.000,6,0.175,0.057,1808,2302,3525
$GC,11810,-0.87,-146.6,923.0,-7.7,312,11811,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2302,3525
$GC,12113,-0.87,-146.6,944.4,-7.0,317,12114,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3525
$GC,12417,-0.87,-146.6,963.3,-6.2,322,12421,0.00,2.28,0.00,0.000,4,0.000,0.067,1814,888,3525
$GC,12457,-0.92,-146.6,965.8,-5.7,322,12461,0.00,2.25,0.00,0.000,6,0.000,0.061,1806,2302,3525
$GC,12778,-0.92,-146.6,984.4,-5.8,328,12779,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2302,3524
$STATE,12896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12896,begin apogee
$GC,12902,-0.22,0.0,991.4,5.9,330,13021,0.47,0.00,116.65,1.333,6,0.156,0.000,1951,2302,2931
$STATE,13022,end apogee,CONTROL_FINISHED_OK
$STATE,13022,begin climb
$GC,13025,0.72,146.6,993.8,0.0,332,13154,0.62,2.53,122.30,1.304,4,0.114,0.074,2149,3707,2331
$GC,13172,0.45,146.6,986.8,8.0,334,13178,0.28,2.38,0.00,0.000,6,0.199,0.051,2097,2309,2328
$GC,13510,0.40,146.6,963.7,6.8,340,13514,0.00,2.40,0.00,0.000,4,0.000,0.067,2105,882,2321
$GC,13543,0.40,146.6,961.3,7.1,340,13547,0.00,2.38,0.00,0.000,6,0.000,0.058,2105,2311,2320
$GC,13876,0.32,146.6,938.9,6.6,346,13880,0.15,2.33,0.00,0.000,4,0.170,0.067,2068,3713,2319
$GC,13908,0.32,146.6,936.8,6.4,346,13912,0.00,2.28,0.00,0.000,6,0.000,0.052,2076,2300,2319
$GC,14241,0.41,181.4,919.8,5.2,352,14271,0.00,0.00,28.17,1.242,6,0.000,0.000,2075,2300,2191
$GC,14544,0.52,200.6,902.8,5.7,357,14569,0.12,2.45,16.98,1.190,4,0.094,0.074,2121,3712,2112
$GC,14586,0.38,200.6,899.4,8.7,357,14591,0.20,2.30,0.00,0.000,6,0.176,0.056,2081,2305,2111
$GC,14907,0.48,200.6,879.0,6.3,363,14911,0.10,2.35,0.00,0.000,4,0.098,0.067,2122,886,2108
$GC,14934,0.48,200.6,877.0,7.0,363,14938,0.00,2.33,0.00,0.000,6,0.000,0.056,2122,2306,2108
$GC,15266,0.40,200.6,849.7,8.3,369,15268,0.15,0.00,0.00,0.000,6,0.166,0.000,2084,2306,2108
$GC,15569,0.52,221.1,832.2,5.6,374,15593,0.10,2.40,18.17,1.165,4,0.097,0.074,2120,3713,2028
$GC,15616,0.42,221.1,828.5,8.1,374,15621,0.15,2.30,0.00,0.000,6,0.171,0.050,2093,2301,2027
$GC,15931,0.51,229.6,809.5,6.0,380,15945,0.00,2.38,8.15,1.030,4,0.000,0.065,2102,892,1994
$GC,15969,0.62,229.6,807.1,6.7,380,15973,0.12,2.33,0.00,0.000,6,0.094,0.060,2147,2313,1992
$GC,16295,0.46,229.6,776.3,9.7,386,16300,0.17,2.30,0.00,0.000,4,0.167,0.072,2096,3711,1991
$GC,16338,0.46,229.6,772.5,8.2,386,16343,0.00,2.28,0.00,0.000,6,0.000,0.054,2104,2296,1990
$GC,16659,0.46,229.6,750.2,6.9,392,16663,0.00,2.30,0.00,0.000,4,0.000,0.066,2115,883,1990
$GC,16681,0.51,229.6,748.7,7.6,392,16685,0.00,2.30,0.00,0.000,6,0.000,0.061,2115,2306,1989
$GC,17025,0.51,229.6,724.4,7.1,398,17029,0.00,2.30,0.00,0.000,4,0.000,0.067,2115,3717,1989
$GC,17087,0.44,229.6,719.4,8.0,399,17092,0.12,2.25,0.00,0.000,6,0.173,0.054,2094,2301,1989
$GC,17453,0.60,270.4,700.3,5.0,405,17493,0.12,2.38,34.78,1.122,4,0.082,0.067,2153,889,1828
$GC,17512,0.53,270.4,696.2,7.0,406,17516,0.15,2.35,0.00,0.000,6,0.150,0.054,2116,2308,1824
$GC,17877,0.53,274.3,673.4,6.1,412,17881,0.00,2.33,0.00,0.000,4,0.000,0.071,2115,3719,1821
$GC,17944,0.53,274.3,668.3,8.9,413,17948,0.00,2.28,0.00,0.000,6,0.000,0.054,2123,2302,1820
$GC,18310,0.53,274.3,642.4,7.2,419,18314,0.00,2.33,0.00,0.000,4,0.000,0.065,2123,3716,1819
$GC,18342,0.49,274.3,639.5,7.9,419,18347,0.12,2.28,0.00,0.000,6,0.168,0.053,2102,2293,1819
$GC,18669,0.63,284.7,619.7,5.9,425,18688,0.12,2.38,11.95,1.000,4,0.081,0.064,2164,883,1769
$GC,18705,0.56,284.7,616.6,7.2,425,18710,0.17,2.33,0.00,0.000,6,0.152,0.060,2117,2311,1768
$GC,19031,0.63,284.7,593.4,7.1,431,19035,0.00,2.30,0.00,0.000,4,0.000,0.066,2118,3721,1766
$GC,19094,0.63,284.7,588.2,8.2,432,19098,0.00,2.28,0.00,0.000,6,0.000,0.048,2126,2294,1765
$GC,19459,0.63,284.7,560.4,7.6,438,19460,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2294,1765
$GC,19762,0.63,284.7,538.7,7.1,443,19766,0.00,2.33,0.00,0.000,4,0.000,0.069,2126,3717,1765
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$STATE,25954,end climb,SURFACE_DEPTH_REACHED
$STATE,25954,begin surface coast
$FINISH,1.1,1.025198
$STATE,25967,end surface coast,CONTROL_FINISHED_OK
$STATE,25967,begin surface
$SM_CCo,26043,0.00,0.000,0,0,1410,372.86
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$IRIDIUM_FIX,4953.05,-14454.70,130998,121238
$TT8_MAMPS,0.028379
$HUMID,1581
$INTERNAL_PRESSURE,7.36356
$TCM_TEMP,15.80
$XPDR_PINGS,68
$24V_AH,23.3,6.709
$10V_AH,10.7,3.423
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$DEVICE_SECS,25.025,223.600,430.500,0.000,0.000,56.631,85.829,187.638,17.000,0.000,0.000,30.043,1586.310,21612.518,567.574,2122.128,695.726,33.347,1655.470,0.000,2103.041,0.000,0.527,0.000
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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,41195,675
$CAP_FILE_SIZE,183931,0
$CFSIZE,260165632,257241088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,190609,192530,5004.146,-14509.314,36,2.0,43,18.4