version: 66.04
glider: 144
mission: 15
dive: 153
start: 8 1 109 17 18 1
data:
$ID,144
$MISSION,15
$DIVE,153
$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,-63921.223
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,171136,5015.211,-14509.909,36,0.9,41,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-67.5
$GPS2,171707,5015.206,-14509.977,10,1.0,15,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.024,-0.166
$KALMAN_X,-75327.1,246.6,24.9,64185.6,-1205.4
$KALMAN_Y,63753.0,-146.3,10.1,-34896.2,256.3
$MHEAD_RNG_PITCHd_Wd,153.3,39323,-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,-117.3,0.0,0.0,0,51,0.00,0.00,-32.05,0.000,2,0.000,0.000,100,2314,2502
$GC,54,-0.68,-117.3,3.2,-5.8,3,89,7.05,2.35,-22.00,0.000,4,0.242,0.064,1843,891,3412
$GC,314,-0.55,-117.3,37.1,-11.2,26,319,0.17,2.25,0.00,0.000,6,0.136,0.042,1886,2311,3414
$GC,640,-0.61,-117.3,63.2,-7.8,56,644,0.00,2.25,0.00,0.000,4,0.000,0.043,1886,884,3415
$GC,691,-0.69,-117.3,67.3,-7.5,60,696,0.10,2.22,0.00,0.000,6,0.064,0.038,1816,2306,3415
$GC,1011,-0.47,-117.3,107.4,-13.0,80,1013,0.28,0.00,0.00,0.000,6,0.134,0.000,1898,2307,3416
$GC,1320,-0.59,-117.3,127.7,-5.1,95,1325,0.10,2.22,0.00,0.000,4,0.064,0.042,1830,890,3416
$GC,1347,-0.55,-117.3,129.7,-7.4,96,1352,0.20,2.22,0.00,0.000,6,0.130,0.045,1880,2303,3416
$GC,1664,-0.67,-117.3,146.4,-5.8,111,1668,0.10,2.22,0.00,0.000,4,0.070,0.052,1808,3710,3416
$GC,1703,-0.51,-117.3,149.8,-10.6,113,1708,0.28,2.15,0.00,0.000,6,0.121,0.031,1892,2297,3416
$GC,2033,-0.70,-117.3,168.2,-5.3,124,2037,0.15,2.20,0.00,0.000,4,0.054,0.042,1800,888,3416
$GC,2077,-0.53,-117.3,172.4,-10.6,125,2082,0.30,2.22,0.00,0.000,6,0.127,0.044,1886,2307,3415
$GC,2395,-0.71,-117.3,191.3,-5.8,136,2399,0.15,2.20,0.00,0.000,4,0.054,0.042,1797,899,3415
$GC,2457,-0.55,-117.3,197.5,-10.9,138,2462,0.30,2.20,0.00,0.000,6,0.126,0.042,1885,2304,3415
$GC,2793,-0.74,-117.3,216.5,-5.5,149,2795,0.15,0.00,0.00,0.000,6,0.054,0.000,1796,2304,3414
$GC,3098,-0.56,-117.3,247.3,-10.2,159,3100,0.28,0.00,0.00,0.000,6,0.126,0.000,1880,2304,3414
$GC,3405,-0.74,-117.3,263.5,-5.0,169,3410,0.15,2.22,0.00,0.000,4,0.054,0.045,1793,890,3414
$GC,3426,-0.74,-117.3,265.2,-7.3,169,3433,0.15,2.25,0.00,0.000,6,0.124,0.044,1844,2304,3414
$GC,3739,-0.74,-117.3,287.0,-6.9,180,3742,0.00,2.20,0.00,0.000,4,0.000,0.051,1843,900,3413
$GC,3766,-0.74,-117.3,289.1,-7.6,180,3773,0.00,2.22,0.00,0.000,6,0.000,0.041,1837,2303,3413
$GC,4108,-0.74,-117.3,313.7,-7.1,189,4112,0.00,2.22,0.00,0.000,4,0.000,0.047,1837,891,3412
$GC,4163,-0.74,-117.3,317.9,-7.8,189,4170,0.00,2.25,0.00,0.000,6,0.000,0.046,1837,2298,3412
$GC,4473,-0.74,-117.3,340.2,-7.2,195,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2298,3412
$GC,4776,-0.74,-117.3,361.6,-6.9,200,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2299,3411
$GC,5079,-0.74,-117.3,382.0,-6.7,205,5082,0.00,2.22,0.00,0.000,4,0.000,0.048,1836,891,3410
$GC,5128,-0.74,-117.3,385.6,-7.2,205,5132,0.00,2.25,0.00,0.000,6,0.000,0.044,1836,2315,3410
$GC,5449,-0.74,-117.3,405.8,-6.2,211,5453,0.00,2.22,0.00,0.000,4,0.000,0.047,1835,897,3411
$GC,5482,-0.74,-117.3,408.2,-7.2,211,5486,0.00,2.22,0.00,0.000,6,0.000,0.047,1835,2313,3410
$GC,5820,-0.74,-117.3,430.7,-6.8,217,5824,0.00,2.22,0.00,0.000,4,0.000,0.050,1835,900,3410
$GC,5847,-0.74,-117.3,432.7,-7.1,217,5851,0.00,2.22,0.00,0.000,6,0.000,0.043,1835,2315,3410
$GC,6191,-0.74,-117.3,456.4,-7.0,223,6194,0.00,2.22,0.00,0.000,4,0.000,0.048,1834,901,3409
$GC,6218,-0.74,-117.3,458.6,-7.3,223,6222,0.00,2.20,0.00,0.000,6,0.000,0.045,1828,2304,3410
$GC,6562,-0.74,-117.3,483.0,-7.0,229,6565,0.00,2.22,0.00,0.000,4,0.000,0.048,1827,893,3409
$GC,6630,-0.74,-117.3,488.1,-7.6,230,6634,0.00,2.22,0.00,0.000,6,0.000,0.044,1823,2307,3409
$GC,6995,-0.74,-117.3,515.0,-7.3,236,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2307,3408
$GC,7299,-0.74,-117.3,536.3,-7.0,241,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2307,3408
$GC,7601,-0.74,-117.3,558.2,-7.2,246,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2307,3408
$GC,7905,-0.74,-117.3,580.0,-7.2,251,7908,0.00,2.22,0.00,0.000,4,0.000,0.049,1822,900,3407
$GC,7954,-0.74,-117.3,583.8,-7.6,251,7958,0.00,2.22,0.00,0.000,6,0.000,0.043,1820,2311,3407
$GC,8275,-0.74,-117.3,607.1,-7.2,257,8279,0.00,2.22,0.00,0.000,4,0.000,0.048,1819,901,3408
$GC,8302,-0.74,-117.3,609.3,-7.7,257,8307,0.12,2.20,0.00,0.000,6,0.129,0.046,1846,2304,3408
$GC,8646,-0.85,-117.3,627.3,-5.2,263,8648,0.12,0.00,0.00,0.000,6,0.064,0.000,1780,2304,3407
$GC,8949,-0.69,-117.3,652.5,-8.5,268,8951,0.25,0.00,0.00,0.000,6,0.128,0.000,1855,2304,3407
$GC,9253,-0.84,-117.3,666.5,-4.5,273,9255,0.12,0.00,0.00,0.000,6,0.062,0.000,1782,2304,3407
$GC,9555,-0.69,-117.3,691.5,-8.6,278,9557,0.22,0.00,0.00,0.000,6,0.126,0.000,1850,2304,3407
$GC,9859,-0.83,-117.3,707.7,-5.3,283,9864,0.12,2.22,0.00,0.000,4,0.068,0.048,1790,899,3406
$GC,9880,-0.83,-117.3,709.4,-6.7,283,9885,0.15,2.22,0.00,0.000,6,0.136,0.045,1823,2309,3406
$GC,10217,-0.83,-117.3,732.4,-6.9,289,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2308,3406
$GC,10521,-0.83,-117.3,752.8,-6.7,294,10522,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2309,3406
$GC,10823,-0.83,-117.3,772.2,-6.4,299,10827,0.00,2.25,0.00,0.000,4,0.000,0.054,1823,893,3406
$GC,10879,-0.87,-117.3,776.0,-6.9,299,10883,0.00,2.22,0.00,0.000,6,0.000,0.044,1819,2303,3406
$GC,11189,-0.87,-117.3,795.9,-6.4,304,11190,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2304,3406
$GC,11492,-0.87,-117.3,814.4,-6.1,309,11495,0.00,2.22,0.00,0.000,4,0.000,0.050,1818,901,3405
$GC,11535,-0.87,-117.3,817.4,-6.4,309,11539,0.00,2.22,0.00,0.000,6,0.000,0.047,1809,2305,3406
$GC,11862,-0.87,-117.3,837.7,-6.2,315,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3405
$GC,12165,-0.87,-117.3,856.5,-6.1,320,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3405
$GC,12469,-0.87,-117.3,875.4,-6.3,325,12470,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3405
$GC,12771,-0.87,-117.3,893.9,-6.1,330,12773,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3405
$GC,13074,-0.87,-117.3,912.6,-6.2,335,13078,0.00,2.25,0.00,0.000,4,0.000,0.056,1809,897,3405
$GC,13113,-0.87,-117.3,915.4,-7.1,335,13117,0.00,2.25,0.00,0.000,6,0.000,0.045,1800,2315,3404
$GC,13440,-0.80,-117.3,938.5,-7.2,341,13444,0.10,2.25,0.00,0.000,4,0.153,0.052,1826,903,3404
$GC,13478,-0.86,-117.3,941.2,-6.5,341,13482,0.00,2.22,0.00,0.000,6,0.000,0.046,1821,2309,3404
$GC,13798,-0.86,-117.3,960.1,-5.9,347,13802,0.00,2.25,0.00,0.000,4,0.000,0.051,1821,897,3405
$GC,13825,-0.86,-117.3,961.9,-6.9,347,13829,0.00,2.22,0.00,0.000,6,0.000,0.044,1812,2302,3404
$GC,14163,-0.86,-117.3,982.9,-6.3,353,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2303,3404
$STATE,14282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14282,begin apogee
$GC,14288,-0.22,0.0,990.3,6.2,355,14383,0.45,0.00,92.90,1.335,6,0.127,0.000,1954,2303,2931
$STATE,14384,end apogee,CONTROL_FINISHED_OK
$STATE,14384,begin climb
$GC,14387,0.68,117.3,991.5,0.0,356,14493,0.55,2.55,98.25,1.306,4,0.079,0.061,2147,3709,2451
$GC,14527,0.25,117.3,986.7,8.5,358,14532,0.40,2.35,0.00,0.000,6,0.179,0.036,2057,2309,2447
$GC,14877,0.42,148.6,971.0,4.4,364,14905,0.12,0.00,26.17,1.253,6,0.077,0.000,2106,2309,2325
$GC,15179,0.50,148.6,952.5,6.2,369,15183,0.00,2.35,0.00,0.000,4,0.000,0.055,2114,882,2319
$GC,15258,0.42,148.6,947.4,6.4,370,15263,0.10,2.33,0.00,0.000,6,0.148,0.045,2091,2310,2318
$GC,15606,0.42,148.6,927.9,5.6,376,15610,0.00,2.30,0.00,0.000,4,0.000,0.057,2090,3719,2317
$GC,15651,0.32,148.6,924.9,6.6,376,15656,0.12,2.25,0.00,0.000,6,0.166,0.038,2069,2299,2316
$GC,15966,0.43,172.7,909.9,4.7,382,15990,0.10,0.00,20.52,1.221,6,0.076,0.000,2111,2298,2225
$GC,16335,0.35,172.7,885.3,6.8,388,16337,0.15,0.00,0.00,0.000,6,0.149,0.000,2071,2299,2221
$GC,16638,0.47,190.0,870.2,4.9,393,16656,0.12,0.00,15.35,1.173,6,0.072,0.000,2124,2299,2156
$GC,16941,0.36,190.0,847.6,7.6,398,16946,0.17,2.33,0.00,0.000,4,0.147,0.053,2070,3717,2152
$GC,16968,0.36,190.0,845.6,7.5,398,16972,0.00,2.28,0.00,0.000,6,0.000,0.036,2079,2306,2152
$GC,17307,0.44,193.0,827.5,5.4,404,17308,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2306,2151
$GC,17609,0.53,193.0,810.1,5.8,409,17611,0.12,0.00,0.00,0.000,6,0.067,0.000,2138,2305,2151
$GC,17913,0.36,193.0,784.7,8.6,414,17918,0.20,2.28,0.00,0.000,4,0.149,0.053,2077,3710,2151
$GC,17939,0.36,193.0,782.5,6.0,414,17943,0.00,2.22,0.00,0.000,6,0.000,0.037,2085,2295,2150
$GC,18278,0.47,218.0,766.4,4.7,420,18304,0.00,0.00,24.42,1.152,6,0.000,0.000,2085,2295,2042
$GC,18582,0.62,264.0,754.4,3.9,425,18625,0.15,0.00,40.47,1.153,6,0.061,0.000,2154,2295,1854
$GC,18884,0.45,264.0,730.6,8.2,430,18889,0.20,2.33,0.00,0.000,4,0.145,0.051,2096,3710,1847
$GC,18929,0.54,275.4,727.7,5.1,430,18946,0.00,2.25,10.12,1.012,6,0.000,0.040,2104,2299,1808
$GC,19249,0.67,299.1,712.7,4.7,436,19278,0.12,2.33,21.52,1.091,4,0.063,0.058,2175,884,1710
$GC,19301,0.54,299.1,708.5,9.1,436,19306,0.22,2.33,0.00,0.000,6,0.134,0.042,2113,2308,1708
$GC,19611,0.64,299.1,690.1,5.8,441,19615,0.10,2.28,0.00,0.000,4,0.066,0.054,2168,3710,1704
$GC,19655,0.44,299.1,685.6,11.7,441,19660,0.30,2.25,0.00,0.000,6,0.147,0.036,2094,2293,1704
$GC,19970,0.88,299.1,662.5,7.6,447,19974,0.28,2.30,0.00,0.000,4,0.057,0.051,2212,3710,1703
$GC,20014,0.69,299.1,657.6,11.4,447,20019,0.28,2.22,0.00,0.000,6,0.166,0.036,2148,2296,1702
$GC,20329,0.61,299.1,627.2,9.5,453,20333,0.00,2.28,0.00,0.000,4,0.000,0.052,2157,884,1702
$GC,20350,0.55,299.1,625.1,8.8,453,20355,0.15,2.25,0.00,0.000,6,0.129,0.042,2116,2305,1702
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$STATE,27116,end climb,SURFACE_DEPTH_REACHED
$STATE,27116,begin surface coast
$FINISH,1.3,1.024449
$STATE,27140,end surface coast,CONTROL_FINISHED_OK
$STATE,27141,begin surface
$SM_CCo,27215,0.00,0.000,0,0,1647,314.97
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$TT8_MAMPS,0.028379
$HUMID,1664
$INTERNAL_PRESSURE,7.43193
$TCM_TEMP,16.20
$XPDR_PINGS,74
$24V_AH,23.2,24.647
$10V_AH,10.7,19.523
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$DEVICE_SECS,27.325,206.275,362.875,0.000,0.000,30.697,24.958,147.495,18.500,0.000,0.000,17.268,1616.903,22707.199,518.804,2133.334,558.575,33.378,1580.258,0.000,2123.686,0.000,0.528,0.000
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$SENSOR_SECS,500.370,564.692,725.561,1210.401,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41162,705
$CAP_FILE_SIZE,178409,0
$CFSIZE,260165632,246829056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,020809,005254,5012.122,-14509.124,40,1.6,40,18.5