version: 66.04
glider: 144
mission: 15
dive: 56
start: 6 30 109 12 1 7
data:
$ID,144
$MISSION,15
$DIVE,56
$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,-62066.668
$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,30
$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
$GPS1,115406,5010.019,-14454.371,44,1.2,44,18.5
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-59.6
$GPS2,120013,5010.043,-14454.453,14,1.6,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.100,0.135
$KALMAN_X,-28734.8,73.7,45.1,36235.0,-1486.0
$KALMAN_Y,11220.2,32.2,101.1,7812.5,121.4
$MHEAD_RNG_PITCHd_Wd,304.8,28977,-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,-117.3,0.0,0.0,0,54,0.00,0.00,-36.70,0.000,2,0.000,0.000,101,2307,2624
$GC,57,-0.68,-117.3,3.3,-4.0,4,91,6.97,2.28,-19.83,0.000,4,0.250,0.074,1839,3716,3411
$GC,222,-0.51,-117.3,23.2,-13.6,18,229,0.17,2.20,0.00,0.000,6,0.123,0.039,1892,2301,3412
$GC,548,-0.59,-117.3,51.9,-8.1,49,552,0.00,2.22,0.00,0.000,4,0.000,0.052,1892,886,3413
$GC,594,-0.70,-117.3,56.0,-8.4,53,599,0.15,2.22,0.00,0.000,6,0.059,0.045,1814,2300,3413
$GC,927,-0.47,-117.3,99.0,-13.1,77,932,0.25,2.25,0.00,0.000,4,0.137,0.052,1894,887,3414
$GC,990,-0.59,-117.3,105.0,-8.0,80,994,0.00,2.22,0.00,0.000,6,0.000,0.047,1890,2303,3414
$GC,1317,-0.68,-117.3,129.6,-7.4,96,1321,0.12,2.22,0.00,0.000,4,0.064,0.049,1825,891,3414
$GC,1372,-0.55,-117.3,135.5,-10.9,98,1379,0.17,2.25,0.00,0.000,6,0.127,0.050,1879,2300,3415
$GC,1686,-0.66,-117.3,157.6,-5.7,112,1688,0.10,0.00,0.00,0.000,6,0.072,0.000,1827,2301,3414
$GC,1993,-0.58,-117.3,183.3,-8.5,122,1997,0.17,2.22,0.00,0.000,4,0.126,0.052,1885,893,3414
$GC,2070,-0.74,-117.3,188.4,-5.8,124,2075,0.12,2.22,0.00,0.000,6,0.065,0.049,1808,2312,3415
$GC,2388,-0.61,-117.3,219.8,-10.3,135,2390,0.20,0.00,0.00,0.000,6,0.130,0.000,1868,2312,3414
$GC,2694,-0.72,-117.3,239.3,-5.8,145,2699,0.10,2.25,0.00,0.000,4,0.075,0.057,1816,889,3414
$GC,2738,-0.61,-117.3,243.1,-9.4,146,2743,0.20,2.22,0.00,0.000,6,0.133,0.049,1867,2304,3414
$GC,3056,-0.72,-117.3,261.4,-5.8,157,3058,0.10,0.00,0.00,0.000,6,0.074,0.000,1815,2304,3414
$GC,3362,-0.63,-117.3,287.9,-8.8,167,3367,0.17,2.22,0.00,0.000,4,0.130,0.053,1873,893,3413
$GC,3434,-0.78,-117.3,293.1,-6.6,169,3439,0.12,2.22,0.00,0.000,6,0.068,0.050,1800,2314,3413
$GC,3755,-0.63,-117.3,322.9,-9.4,176,3760,0.17,2.22,0.00,0.000,4,0.137,0.053,1858,890,3413
$GC,3794,-0.73,-117.3,325.9,-6.6,176,3798,0.00,2.22,0.00,0.000,6,0.000,0.048,1850,2313,3413
$GC,4115,-0.79,-117.3,345.7,-6.2,182,4119,0.08,2.22,0.00,0.000,4,0.091,0.053,1803,896,3412
$GC,4159,-0.66,-117.3,349.6,-9.2,182,4163,0.22,2.20,0.00,0.000,6,0.137,0.052,1861,2303,3412
$GC,4473,-0.77,-117.3,368.4,-5.9,188,4478,0.10,2.22,0.00,0.000,4,0.077,0.051,1812,887,3411
$GC,4517,-0.66,-117.3,372.1,-8.8,188,4522,0.17,2.22,0.00,0.000,6,0.138,0.049,1857,2308,3412
$GC,4833,-0.76,-117.3,389.9,-5.5,194,4837,0.10,2.22,0.00,0.000,4,0.077,0.054,1807,887,3411
$GC,4933,-0.67,-117.3,398.2,-8.3,195,4937,0.20,2.22,0.00,0.000,6,0.131,0.049,1858,2307,3412
$GC,5259,-0.78,-117.3,415.5,-5.2,201,5264,0.10,2.22,0.00,0.000,4,0.077,0.054,1808,888,3411
$GC,5297,-0.67,-117.3,418.6,-8.4,201,5302,0.20,2.22,0.00,0.000,6,0.133,0.054,1859,2306,3411
$GC,5618,-0.79,-117.3,436.9,-5.7,207,5620,0.12,0.00,0.00,0.000,6,0.068,0.000,1798,2306,3411
$GC,5921,-0.66,-117.3,465.2,-9.6,212,5926,0.20,2.22,0.00,0.000,4,0.129,0.057,1863,895,3410
$GC,5984,-0.80,-117.3,469.9,-6.8,213,5988,0.12,2.22,0.00,0.000,6,0.068,0.050,1798,2313,3410
$GC,6349,-0.68,-117.3,503.5,-9.3,219,6351,0.17,0.00,0.00,0.000,6,0.133,0.000,1850,2313,3410
$GC,6652,-0.77,-117.3,523.4,-6.4,224,6656,0.00,2.22,0.00,0.000,4,0.000,0.055,1849,897,3410
$GC,6686,-0.86,-117.3,525.7,-7.0,224,6690,0.12,2.20,0.00,0.000,6,0.073,0.054,1790,2308,3410
$GC,7023,-0.72,-117.3,557.5,-9.5,230,7025,0.20,0.00,0.00,0.000,6,0.134,0.000,1850,2308,3410
$GC,7326,-0.82,-117.3,576.6,-6.2,235,7328,0.12,0.00,0.00,0.000,6,0.072,0.000,1790,2308,3409
$GC,7629,-0.68,-117.3,604.4,-9.2,240,7634,0.17,2.25,0.00,0.000,4,0.133,0.057,1848,886,3409
$GC,7701,-0.78,-117.3,609.8,-7.5,241,7705,0.00,2.22,0.00,0.000,6,0.000,0.056,1848,2303,3409
$GC,8062,-0.88,-117.3,630.8,-5.8,247,8063,0.15,0.00,0.00,0.000,6,0.069,0.000,1781,2303,3409
$GC,8365,-0.71,-117.3,657.5,-9.0,252,8367,0.22,0.00,0.00,0.000,6,0.134,0.000,1848,2303,3409
$GC,8668,-0.81,-117.3,674.5,-5.4,257,8673,0.10,2.22,0.00,0.000,4,0.084,0.056,1807,895,3409
$GC,8712,-0.73,-117.3,677.9,-8.2,257,8716,0.15,2.20,0.00,0.000,6,0.138,0.055,1839,2302,3409
$GC,9027,-0.80,-117.3,696.1,-5.7,263,9030,0.00,2.22,0.00,0.000,4,0.000,0.059,1838,888,3409
$GC,9056,-0.87,-117.3,697.9,-6.4,263,9060,0.10,2.22,0.00,0.000,6,0.088,0.050,1794,2309,3408
$GC,9393,-0.76,-117.3,723.9,-7.7,269,9395,0.15,0.00,0.00,0.000,6,0.144,0.000,1836,2309,3408
$GC,9696,-0.83,-117.3,740.6,-5.4,274,9700,0.00,2.25,0.00,0.000,4,0.000,0.061,1839,887,3408
$GC,9760,-0.91,-117.3,744.3,-5.7,275,9764,0.12,2.22,0.00,0.000,6,0.082,0.055,1785,2306,3408
$GC,10125,-0.76,-117.3,772.8,-7.9,281,10127,0.17,0.00,0.00,0.000,6,0.145,0.000,1835,2306,3407
$GC,10429,-0.83,-117.3,789.6,-5.4,286,10433,0.00,2.22,0.00,0.000,4,0.000,0.063,1839,897,3408
$GC,10457,-0.90,-117.3,791.2,-5.4,286,10461,0.12,2.20,0.00,0.000,6,0.084,0.056,1785,2303,3407
$GC,10794,-0.76,-117.3,816.6,-7.6,292,10799,0.17,2.25,0.00,0.000,4,0.144,0.065,1826,3719,3407
$GC,10821,-0.76,-117.3,818.4,-6.2,292,10825,0.00,2.17,0.00,0.000,6,0.000,0.042,1826,2306,3407
$GC,11158,-0.76,-117.3,837.4,-5.6,298,11161,0.00,2.22,0.00,0.000,4,0.000,0.061,1826,894,3408
$GC,11190,-0.76,-117.3,839.6,-7.4,298,11195,0.00,2.22,0.00,0.000,6,0.000,0.054,1822,2310,3407
$GC,11528,-0.76,-117.3,861.7,-6.6,304,11532,0.00,2.25,0.00,0.000,4,0.000,0.065,1821,893,3407
$GC,11572,-0.76,-117.3,865.0,-8.3,304,11576,0.00,2.22,0.00,0.000,6,0.000,0.055,1814,2308,3407
$GC,11899,-0.76,-117.3,888.6,-7.2,310,11903,0.00,2.25,0.00,0.000,4,0.000,0.058,1814,892,3407
$GC,11948,-0.76,-117.3,892.5,-8.2,310,11952,0.12,2.22,0.00,0.000,6,0.153,0.052,1840,2304,3407
$GC,12264,-0.86,-117.3,911.1,-5.8,316,12268,0.10,2.25,0.00,0.000,4,0.096,0.061,1805,888,3407
$GC,12296,-0.80,-117.3,913.5,-7.2,316,12301,0.12,2.22,0.00,0.000,6,0.156,0.055,1827,2304,3407
$GC,12622,-0.85,-117.3,932.1,-5.5,322,12626,0.00,2.25,0.00,0.000,4,0.000,0.064,1828,889,3407
$GC,12656,-0.89,-117.3,934.1,-5.7,322,12660,0.00,2.22,0.00,0.000,6,0.000,0.058,1822,2303,3407
$GC,12982,-0.89,-117.3,951.5,-5.3,328,12983,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3407
$GC,13285,-0.89,-117.3,966.6,-5.0,333,13289,0.00,2.25,0.00,0.000,4,0.000,0.065,1822,890,3407
$GC,13324,-0.89,-117.3,969.0,-6.5,333,13328,0.00,2.25,0.00,0.000,6,0.000,0.058,1813,2314,3407
$GC,13650,-0.89,-117.3,987.2,-5.6,339,13654,0.00,2.28,0.00,0.000,4,0.000,0.061,1816,889,3407
$GC,13683,-0.89,-117.3,989.2,-6.9,339,13687,0.00,2.25,0.00,0.000,6,0.000,0.058,1808,2313,3407
$STATE,13697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13697,begin apogee
$GC,13703,-0.22,0.0,990.3,6.0,339,13798,0.45,0.00,92.80,1.349,6,0.142,0.000,1952,2313,2931
$STATE,13799,end apogee,CONTROL_FINISHED_OK
$STATE,13799,begin climb
$GC,13801,0.68,117.3,991.6,0.0,341,13903,0.62,0.00,98.72,1.322,6,0.097,0.000,2152,2313,2452
$GC,14198,0.36,117.3,965.4,8.2,348,14203,0.25,2.35,0.00,0.000,4,0.176,0.062,2084,3719,2441
$GC,14232,0.25,117.3,962.8,6.9,348,14237,0.15,2.30,0.00,0.000,6,0.175,0.051,2056,2301,2440
$GC,14560,0.44,158.8,949.6,4.1,354,14599,0.15,2.42,33.72,1.278,4,0.080,0.067,2120,894,2283
$GC,14644,0.35,158.8,944.8,5.5,355,14649,0.17,2.35,0.00,0.000,6,0.155,0.051,2075,2309,2279
$GC,14993,0.46,203.1,930.5,4.0,361,15038,0.10,2.42,37.80,1.272,4,0.082,0.068,2113,3701,2102
$GC,15083,0.34,203.1,924.6,7.8,362,15088,0.20,2.28,0.00,0.000,6,0.171,0.048,2070,2306,2099
$GC,15426,0.60,233.0,909.1,4.5,368,15458,0.20,2.38,25.77,1.240,4,0.082,0.061,2149,890,1980
$GC,15514,0.48,233.0,902.7,8.1,369,15519,0.17,2.35,0.00,0.000,6,0.154,0.058,2104,2309,1976
$GC,15851,0.48,233.0,881.2,6.4,375,15855,0.00,2.30,0.00,0.000,4,0.000,0.061,2103,3713,1973
$GC,15907,0.48,233.0,876.8,8.1,375,15913,0.00,2.28,0.00,0.000,6,0.000,0.048,2112,2306,1974
$GC,16217,0.48,233.0,853.1,7.9,381,16218,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2306,1972
$GC,16519,0.48,233.0,829.0,7.9,386,16523,0.00,2.30,0.00,0.000,4,0.000,0.063,2112,3715,1972
$GC,16569,0.41,233.0,824.4,9.1,386,16574,0.12,2.22,0.00,0.000,6,0.169,0.051,2090,2307,1971
$GC,16881,0.51,233.0,804.7,6.3,391,16885,0.00,2.30,0.00,0.000,4,0.000,0.067,2099,887,1971
$GC,16902,0.63,233.0,803.0,6.3,391,16907,0.12,2.25,0.00,0.000,6,0.083,0.049,2149,2306,1970
$GC,17240,0.45,233.0,770.4,9.9,397,17244,0.20,2.28,0.00,0.000,4,0.161,0.060,2091,3720,1970
$GC,17295,0.49,233.0,765.8,7.5,397,17302,0.00,2.25,0.00,0.000,6,0.000,0.045,2100,2305,1970
$GC,17605,0.55,233.0,745.6,6.6,403,17606,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2305,1970
$GC,17908,0.60,233.0,725.0,6.8,408,17912,0.10,2.28,0.00,0.000,4,0.080,0.060,2146,3714,1970
$GC,17957,0.39,233.0,719.9,10.7,408,17962,0.28,2.22,0.00,0.000,6,0.163,0.048,2080,2296,1969
$GC,18267,0.70,233.0,700.1,6.3,413,18272,0.20,2.25,0.00,0.000,4,0.076,0.062,2159,883,1968
$GC,18334,0.60,233.0,695.0,8.1,414,18338,0.12,2.25,0.00,0.000,6,0.150,0.050,2127,2309,1969
$GC,18694,0.54,233.0,670.0,6.8,420,18698,0.00,2.25,0.00,0.000,4,0.000,0.059,2128,3719,1969
$GC,18772,0.43,233.0,663.5,7.7,421,18777,0.15,2.20,0.00,0.000,6,0.158,0.045,2095,2302,1968
$GC,19127,0.55,247.3,645.5,5.0,427,19142,0.10,0.00,11.85,1.032,6,0.076,0.000,2146,2301,1921
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$GC,27730,0.83,277.6,34.3,5.3,696,27742,0.00,2.22,5.15,0.559,4,0.000,0.054,2187,892,1798
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$STATE,28256,end climb,SURFACE_DEPTH_REACHED
$STATE,28256,begin surface coast
$FINISH,1.1,1.002806
$STATE,28279,end surface coast,CONTROL_FINISHED_OK
$STATE,28279,begin surface
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$IRIDIUM_FIX,4949.70,-14446.46,240998,040445
$TT8_MAMPS,0.029146
$HUMID,1607
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$TCM_TEMP,16.20
$XPDR_PINGS,81
$24V_AH,23.5,11.387
$10V_AH,10.7,7.524
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$DEVICE_SECS,26.450,259.775,331.750,14.650,0.000,28.976,28.469,185.775,20.250,0.000,0.000,15.958,1782.373,23284.318,537.215,2431.721,633.622,33.367,1754.856,0.000,2422.425,0.000,0.528,0.000
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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,44268,746
$CAP_FILE_SIZE,207306,0
$CFSIZE,260165632,254599168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300609,195407,5012.384,-14459.064,31,1.5,31,18.5