version: 66.04
glider: 144
mission: 15
dive: 159
start: 8 3 109 17 19 56
data:
$ID,144
$MISSION,15
$DIVE,159
$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,-64026.621
$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,36
$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
$GPS1,171337,4956.499,-14510.722,41,1.0,41,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-67.6
$GPS2,171902,4956.507,-14510.729,10,1.2,10,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.028,-0.158
$KALMAN_X,-76003.2,396.5,-13.8,63854.1,-445.6
$KALMAN_Y,65342.7,-296.8,-111.2,-70836.8,1050.3
$MHEAD_RNG_PITCHd_Wd,171.6,4844,-13.3,-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,-0.71,-104.1,0.0,0.0,0,51,0.00,0.00,-32.10,0.000,2,0.000,0.000,100,2303,2587
$GC,53,-0.71,-104.1,3.3,-6.6,3,88,7.12,2.30,-18.05,0.000,4,0.248,0.069,1829,3702,3358
$GC,111,-0.37,-104.1,12.4,-16.7,8,116,0.30,2.20,0.00,0.000,6,0.140,0.037,1917,2297,3359
$GC,438,-0.53,-104.1,37.2,-5.9,38,443,0.12,2.22,0.00,0.000,4,0.059,0.041,1840,889,3361
$GC,505,-0.42,-104.1,43.9,-10.6,43,512,0.20,2.25,0.00,0.000,6,0.126,0.040,1903,2291,3362
$GC,830,-0.57,-104.1,64.4,-6.4,74,834,0.10,2.20,0.00,0.000,4,0.067,0.041,1839,893,3363
$GC,874,-0.47,-104.1,68.9,-10.6,77,881,0.22,2.22,0.00,0.000,6,0.131,0.040,1901,2311,3363
$GC,1194,-0.61,-104.1,93.4,-7.4,100,1199,0.12,2.22,0.00,0.000,4,0.059,0.041,1829,893,3363
$GC,1244,-0.48,-104.1,98.7,-11.2,102,1249,0.25,2.22,0.00,0.000,6,0.127,0.040,1897,2308,3364
$GC,1561,-0.65,-117.3,116.6,-4.8,117,1566,0.12,2.25,-0.30,0.000,4,0.060,0.056,1820,887,3419
$GC,1633,-0.57,-117.3,122.9,-9.0,120,1638,0.22,2.25,0.00,0.000,6,0.123,0.044,1878,2314,3419
$GC,1949,-0.72,-117.3,140.9,-5.7,135,1954,0.12,2.22,0.00,0.000,4,0.058,0.042,1804,893,3419
$GC,1989,-0.59,-117.3,144.5,-10.2,136,1996,0.25,2.22,0.00,0.000,6,0.124,0.039,1871,2312,3419
$GC,2323,-0.73,-117.3,166.7,-6.5,149,2328,0.12,2.22,0.00,0.000,4,0.058,0.051,1786,3719,3418
$GC,2356,-0.60,-117.3,170.0,-10.9,150,2361,0.28,2.17,0.00,0.000,6,0.124,0.035,1870,2300,3418
$GC,2685,-0.75,-117.3,191.7,-6.2,161,2690,0.12,2.20,0.00,0.000,4,0.061,0.043,1796,895,3418
$GC,2706,-0.75,-117.3,193.6,-8.5,161,2713,0.17,2.20,0.00,0.000,6,0.133,0.039,1836,2307,3417
$GC,3019,-0.75,-117.3,218.1,-8.0,172,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2307,3417
$GC,3325,-0.75,-117.3,243.2,-8.4,182,3329,0.00,2.25,0.00,0.000,4,0.000,0.047,1837,891,3417
$GC,3353,-0.75,-117.3,245.7,-9.1,183,3357,0.00,2.22,0.00,0.000,6,0.000,0.044,1836,2303,3417
$GC,3688,-0.75,-117.3,274.1,-8.5,194,3691,0.00,2.22,0.00,0.000,4,0.000,0.051,1836,895,3416
$GC,3715,-0.75,-117.3,276.7,-9.4,194,3721,0.00,2.22,0.00,0.000,6,0.000,0.045,1835,2306,3416
$GC,4058,-0.75,-117.3,305.1,-8.2,205,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2306,3416
$GC,4361,-0.75,-117.3,328.4,-7.7,210,4364,0.00,2.22,0.00,0.000,4,0.000,0.049,1835,900,3415
$GC,4417,-0.81,-117.3,332.9,-7.7,210,4421,0.00,2.22,0.00,0.000,6,0.000,0.044,1828,2314,3414
$GC,4726,-0.81,-117.3,355.9,-7.4,215,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2314,3413
$GC,5029,-0.81,-117.3,379.2,-7.7,220,5033,0.00,2.25,0.00,0.000,4,0.000,0.048,1828,890,3413
$GC,5102,-0.81,-117.3,385.5,-8.5,221,5106,0.00,2.22,0.00,0.000,6,0.000,0.042,1823,2305,3413
$GC,5462,-0.81,-117.3,414.7,-8.1,227,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2306,3413
$GC,5765,-0.81,-117.3,439.0,-8.0,232,5768,0.00,2.22,0.00,0.000,4,0.000,0.053,1822,898,3412
$GC,5803,-0.81,-117.3,442.4,-8.8,232,5807,0.00,2.22,0.00,0.000,6,0.000,0.044,1819,2309,3412
$GC,6136,-0.81,-117.3,471.1,-8.8,238,6139,0.00,2.22,0.00,0.000,4,0.000,0.047,1819,900,3412
$GC,6174,-0.81,-117.3,474.8,-9.1,238,6178,0.00,2.20,0.00,0.000,6,0.000,0.044,1811,2306,3412
$GC,6506,-0.81,-117.3,505.0,-9.1,244,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2306,3410
$GC,6809,-0.81,-117.3,531.7,-8.8,249,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2306,3411
$GC,7113,-0.81,-117.3,556.8,-8.2,254,7117,0.00,2.25,0.00,0.000,4,0.000,0.049,1811,894,3411
$GC,7157,-0.81,-117.3,560.5,-8.4,254,7160,0.00,2.22,0.00,0.000,6,0.000,0.047,1808,2302,3411
$GC,7477,-0.81,-117.3,585.2,-7.6,260,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3410
$GC,7780,-0.81,-117.3,607.1,-7.1,265,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3410
$GC,8084,-0.81,-117.3,628.8,-7.1,270,8087,0.00,2.22,0.00,0.000,4,0.000,0.047,1807,897,3410
$GC,8128,-0.81,-117.3,632.2,-7.5,270,8132,0.00,2.22,0.00,0.000,6,0.000,0.044,1805,2305,3410
$GC,8448,-0.81,-117.3,656.6,-7.7,276,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3410
$GC,8751,-0.81,-117.3,680.3,-7.8,281,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3410
$GC,9054,-0.81,-117.3,704.4,-8.0,286,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3410
$GC,9358,-0.81,-117.3,728.5,-7.9,291,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3409
$GC,9660,-0.81,-117.3,752.7,-8.0,296,9664,0.00,2.22,0.00,0.000,4,0.000,0.052,1805,901,3409
$GC,9688,-0.81,-117.3,755.2,-8.6,296,9692,0.12,2.22,0.00,0.000,6,0.133,0.043,1830,2314,3409
$GC,10025,-0.91,-117.3,776.9,-6.3,302,10030,0.12,2.25,0.00,0.000,4,0.072,0.048,1776,900,3409
$GC,10046,-0.91,-117.3,778.8,-8.2,302,10051,0.12,2.20,0.00,0.000,6,0.149,0.048,1800,2301,3409
$GC,10389,-0.91,-117.3,805.4,-7.8,308,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2301,3408
$GC,10692,-0.91,-117.3,828.0,-7.4,313,10696,0.00,2.25,0.00,0.000,4,0.000,0.049,1800,893,3408
$GC,10719,-0.91,-117.3,830.2,-7.8,313,10723,0.00,2.25,0.00,0.000,6,0.000,0.050,1794,2314,3408
$GC,11057,-0.86,-117.3,855.0,-7.3,319,11058,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2314,3408
$GC,11360,-0.80,-117.3,877.2,-7.3,324,11365,0.12,2.28,0.00,0.000,4,0.145,0.054,1827,900,3408
$GC,11387,-0.86,-117.3,879.2,-6.3,324,11391,0.00,2.22,0.00,0.000,6,0.000,0.047,1821,2304,3408
$GC,11719,-0.93,-117.3,898.4,-5.8,330,11724,0.10,2.25,0.00,0.000,4,0.084,0.049,1777,896,3408
$GC,11763,-0.81,-117.3,901.7,-8.3,330,11768,0.20,2.22,0.00,0.000,6,0.140,0.049,1825,2302,3407
$GC,12078,-0.90,-117.3,918.7,-5.3,336,12082,0.00,2.25,0.00,0.000,4,0.000,0.050,1827,899,3407
$GC,12112,-1.00,-117.3,920.7,-5.8,336,12116,0.12,2.22,0.00,0.000,6,0.077,0.044,1769,2303,3407
$GC,12438,-0.86,-117.3,948.1,-8.6,342,12440,0.15,0.00,0.00,0.000,6,0.150,0.000,1810,2304,3407
$GC,12740,-0.86,-117.3,970.0,-7.1,347,12742,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3407
$STATE,13042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13042,begin apogee
$GC,13048,-0.22,0.0,992.1,7.2,352,13144,0.45,0.00,93.32,1.332,6,0.128,0.000,1954,2304,2931
$STATE,13144,end apogee,CONTROL_FINISHED_OK
$STATE,13144,begin climb
$GC,13147,0.72,117.3,993.7,0.0,353,13253,0.60,2.55,98.45,1.304,4,0.079,0.060,2161,3706,2450
$GC,13304,0.29,117.3,988.8,8.8,355,13310,0.43,2.35,0.00,0.000,6,0.185,0.038,2067,2310,2446
$GC,13637,0.41,155.7,975.0,4.1,361,13676,0.08,2.47,31.98,1.261,4,0.091,0.058,2109,894,2295
$GC,13687,0.44,175.3,972.1,4.8,361,13712,0.00,2.38,18.27,1.200,6,0.000,0.048,2109,2309,2215
$GC,14069,0.44,175.3,947.1,6.6,368,14073,0.00,2.30,0.00,0.000,4,0.000,0.053,2109,3710,2209
$GC,14096,0.36,175.3,945.0,7.5,368,14101,0.15,2.28,0.00,0.000,6,0.166,0.037,2081,2294,2208
$GC,14428,0.48,185.8,927.6,5.1,374,14442,0.08,2.30,9.25,1.105,4,0.089,0.054,2126,894,2173
$GC,14459,0.48,185.8,925.6,6.6,374,14464,0.10,2.30,0.00,0.000,6,0.147,0.048,2102,2314,2171
$GC,14791,0.48,185.8,906.1,5.9,380,14795,0.00,2.28,0.00,0.000,4,0.000,0.058,2102,3718,2170
$GC,14836,0.43,185.8,903.0,7.9,380,14840,0.00,2.25,0.00,0.000,6,0.000,0.036,2110,2294,2169
$GC,15151,0.43,185.8,882.6,6.5,386,15152,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2294,2169
$GC,15454,0.43,185.8,863.0,6.5,391,15458,0.00,2.30,0.00,0.000,4,0.000,0.055,2110,3715,2169
$GC,15492,0.35,185.8,860.0,7.9,391,15497,0.17,2.22,0.00,0.000,6,0.162,0.038,2073,2301,2168
$GC,15814,0.52,204.8,844.7,4.8,397,15838,0.12,2.35,16.90,1.167,4,0.068,0.059,2139,891,2095
$GC,15855,0.45,204.8,841.6,7.2,397,15860,0.15,2.28,0.00,0.000,6,0.143,0.048,2099,2306,2094
$GC,16176,0.52,204.8,822.4,6.0,403,16180,0.00,2.28,0.00,0.000,4,0.000,0.054,2099,3710,2091
$GC,16209,0.52,204.8,819.9,6.9,403,16213,0.00,2.22,0.00,0.000,6,0.000,0.036,2107,2302,2091
$GC,16542,0.52,204.8,798.3,6.5,409,16543,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2302,2091
$GC,16844,0.52,204.8,778.9,6.4,414,16848,0.00,2.30,0.00,0.000,4,0.000,0.054,2107,3721,2091
$GC,16876,0.52,204.8,776.4,8.0,414,16880,0.00,2.22,0.00,0.000,6,0.000,0.035,2117,2302,2090
$GC,17209,0.52,204.8,753.2,6.9,420,17213,0.00,2.25,0.00,0.000,4,0.000,0.051,2128,894,2090
$GC,17241,0.52,204.8,750.7,7.5,420,17245,0.00,2.25,0.00,0.000,6,0.000,0.044,2128,2310,2090
$GC,17574,0.45,204.8,725.3,7.7,426,17578,0.12,2.25,0.00,0.000,4,0.157,0.053,2096,3713,2090
$GC,17607,0.45,204.8,722.8,7.5,426,17611,0.00,2.22,0.00,0.000,6,0.000,0.039,2103,2294,2089
$GC,17934,0.50,204.8,703.2,6.0,432,17938,0.00,2.25,0.00,0.000,4,0.000,0.052,2114,887,2089
$GC,17967,0.57,205.0,701.2,5.5,432,17971,0.00,2.22,0.00,0.000,6,0.000,0.041,2114,2307,2089
$GC,18300,0.57,205.0,681.9,5.7,438,18301,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2307,2089
$GC,18602,0.58,208.0,665.6,5.4,443,18603,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2307,2089
$GC,18904,0.58,208.0,647.9,5.9,448,18908,0.00,2.22,0.00,0.000,4,0.000,0.054,2114,3710,2089
$GC,18931,0.58,208.0,645.8,6.4,448,18935,0.00,2.20,0.00,0.000,6,0.000,0.038,2124,2289,2089
$GC,19275,0.58,208.0,623.3,6.6,454,19278,0.00,2.22,0.00,0.000,4,0.000,0.050,2135,891,2089
$GC,19308,0.58,208.0,620.9,7.1,454,19312,0.00,2.22,0.00,0.000,6,0.000,0.041,2135,2303,2089
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$GC,24434,0.66,228.9,276.1,8.3,542,24439,0.15,2.22,0.00,0.000,6,0.144,0.040,2144,2312,1996
$GC,24769,0.61,228.9,253.0,6.6,553,24772,0.00,2.22,0.00,0.000,4,0.000,0.050,2145,3716,1996
$GC,24824,0.52,228.9,248.6,9.3,554,24829,0.15,2.20,0.00,0.000,6,0.144,0.034,2111,2296,1996
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$STATE,28672,end climb,SURFACE_DEPTH_REACHED
$STATE,28673,begin surface coast
$FINISH,0.9,1.011082
$STATE,28706,end surface coast,CONTROL_FINISHED_OK
$STATE,28706,begin surface
$SM_CCo,28721,17.25,0.628,0,0,1708,300.00
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$TT8_MAMPS,0.029146
$HUMID,1664
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$TCM_TEMP,17.10
$XPDR_PINGS,79
$24V_AH,23.1,25.471
$10V_AH,10.7,20.272
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$DEVICE_SECS,23.325,264.625,334.600,17.250,0.000,27.359,27.571,147.075,19.750,0.000,0.000,11.994,1773.756,23775.881,514.991,2398.503,592.881,33.372,1739.596,0.000,2383.615,0.000,0.528,0.000
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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,47523,775
$CAP_FILE_SIZE,198111,0
$CFSIZE,260165632,246329344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040809,012007,4953.530,-14511.666,32,1.9,32,18.4