version: 66.04
glider: 144
mission: 15
dive: 270
start: 9 8 109 17 26 31
data:
$ID,144
$MISSION,15
$DIVE,270
$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,-66202.461
$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,35
$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
$GPS1,171937,5000.508,-14427.244,38,1.8,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-60.9
$GPS2,172537,5000.479,-14427.152,15,1.9,15,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.048,-0.161
$KALMAN_X,-23000.0,-127.1,185.4,74251.5,116.9
$KALMAN_Y,16648.4,190.4,-377.8,-54423.3,-257.0
$MHEAD_RNG_PITCHd_Wd,177.9,12399,-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,-117.3,0.0,0.0,0,61,0.00,0.00,-42.12,0.000,2,0.000,0.000,98,2306,2734
$GC,64,-0.68,-117.3,3.6,-6.3,4,91,7.35,2.30,-14.73,0.000,4,0.249,0.067,1839,3707,3411
$GC,171,-0.47,-117.3,20.9,-12.9,13,176,0.20,2.20,0.00,0.000,6,0.130,0.030,1896,2293,3413
$GC,503,-0.59,-117.3,48.3,-6.2,44,507,0.10,2.30,0.00,0.000,4,0.065,0.046,1813,3718,3414
$GC,554,-0.41,-117.3,53.2,-10.3,48,559,0.32,2.20,0.00,0.000,6,0.120,0.029,1913,2291,3414
$GC,880,-0.83,-117.3,74.6,-6.9,78,884,0.25,2.30,0.00,0.000,4,0.056,0.045,1807,3719,3416
$GC,1043,-0.68,-117.3,92.0,-11.1,87,1048,0.17,2.17,0.00,0.000,6,0.123,0.029,1858,2303,3415
$GC,1359,-0.68,-117.3,120.4,-8.9,102,1362,0.00,2.22,0.00,0.000,4,0.000,0.049,1858,894,3416
$GC,1450,-0.68,-117.3,128.9,-9.6,106,1454,0.00,2.22,0.00,0.000,6,0.000,0.043,1850,2304,3417
$GC,1776,-0.68,-117.3,155.7,-7.6,121,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2304,3416
$GC,2082,-0.68,-117.3,175.9,-6.3,131,2086,0.00,2.20,0.00,0.000,4,0.000,0.044,1850,901,3415
$GC,2126,-0.75,-117.3,179.0,-7.3,132,2130,0.00,2.22,0.00,0.000,6,0.000,0.042,1850,2308,3416
$GC,2451,-1.02,-117.3,198.9,-5.8,143,2455,0.20,2.22,0.00,0.000,4,0.079,0.041,1781,896,3415
$GC,2467,-1.41,-117.3,199.8,-4.3,143,2472,0.28,2.22,0.00,0.000,6,0.048,0.040,1660,2306,3415
$GC,2786,-0.77,-117.3,258.7,-19.8,154,2789,0.60,0.00,0.00,0.000,6,0.169,0.000,1829,2307,3414
$GC,3091,-0.77,-117.3,284.8,-7.8,164,3095,0.00,2.25,0.00,0.000,4,0.000,0.044,1829,895,3414
$GC,3119,-0.77,-117.3,287.1,-8.4,165,3123,0.00,2.22,0.00,0.000,6,0.000,0.042,1823,2301,3414
$GC,3483,-0.77,-117.3,316.6,-8.2,174,3487,0.00,2.28,0.00,0.000,4,0.000,0.054,1812,3710,3413
$GC,3505,-0.73,-117.3,318.3,-7.8,174,3510,0.12,2.17,0.00,0.000,6,0.118,0.031,1848,2305,3413
$GC,3842,-0.81,-117.3,339.6,-6.1,180,3847,0.10,2.25,0.00,0.000,4,0.070,0.045,1786,892,3413
$GC,3886,-0.65,-117.3,343.4,-9.9,180,3891,0.28,2.25,0.00,0.000,6,0.137,0.041,1862,2309,3412
$GC,4202,-0.80,-117.3,361.1,-5.5,186,4206,0.12,2.25,0.00,0.000,4,0.060,0.044,1787,893,3412
$GC,4230,-0.71,-117.3,363.5,-9.2,186,4235,0.22,2.25,0.00,0.000,6,0.139,0.042,1846,2314,3412
$GC,4563,-0.80,-117.3,385.3,-6.4,192,4567,0.00,2.25,0.00,0.000,4,0.000,0.045,1845,895,3411
$GC,4607,-0.91,-117.3,388.4,-7.3,192,4612,0.12,2.22,0.00,0.000,6,0.060,0.043,1766,2305,3411
$GC,4922,-0.68,-117.3,420.6,-10.4,198,4924,0.30,0.00,0.00,0.000,6,0.135,0.000,1855,2305,3411
$GC,5226,-0.81,-117.3,436.1,-4.9,203,5227,0.12,0.00,0.00,0.000,6,0.058,0.000,1775,2305,3411
$GC,5529,-0.63,-117.3,463.6,-9.4,208,5533,0.25,2.28,0.00,0.000,4,0.130,0.047,1856,892,3410
$GC,5578,-0.81,-117.3,467.0,-5.8,208,5583,0.10,2.25,0.00,0.000,6,0.070,0.042,1791,2304,3410
$GC,5888,-0.69,-117.3,492.6,-8.5,213,5893,0.17,2.28,0.00,0.000,4,0.130,0.051,1838,3712,3409
$GC,5921,-0.79,-117.3,495.0,-6.3,213,5925,0.00,2.17,0.00,0.000,6,0.000,0.032,1838,2298,3409
$GC,6255,-0.89,-117.3,514.9,-6.1,219,6257,0.12,0.00,0.00,0.000,6,0.061,0.000,1760,2297,3409
$GC,6557,-0.66,-117.3,545.6,-10.3,224,6562,0.28,2.30,0.00,0.000,4,0.136,0.053,1841,3719,3409
$GC,6590,-0.76,-117.3,548.1,-6.1,224,6594,0.00,2.20,0.00,0.000,6,0.000,0.036,1841,2301,3409
$GC,6917,-0.88,-117.3,564.8,-5.0,230,6921,0.12,2.22,0.00,0.000,4,0.064,0.049,1767,898,3409
$GC,6950,-0.70,-117.3,567.5,-9.1,230,6955,0.32,2.22,0.00,0.000,6,0.137,0.045,1851,2303,3409
$GC,7277,-0.86,-117.3,582.9,-4.6,236,7279,0.12,0.00,0.00,0.000,6,0.063,0.000,1779,2304,3408
$GC,7579,-0.71,-117.3,607.9,-8.5,241,7584,0.20,2.28,0.00,0.000,4,0.132,0.051,1836,3708,3408
$GC,7623,-0.85,-117.3,611.0,-6.6,241,7627,0.00,2.20,0.00,0.000,6,0.000,0.033,1835,2295,3408
$GC,7939,-0.95,-117.3,628.8,-5.7,247,7943,0.15,2.22,0.00,0.000,4,0.056,0.048,1752,895,3408
$GC,7971,-0.72,-117.3,631.8,-10.2,247,7976,0.35,2.22,0.00,0.000,6,0.140,0.040,1844,2303,3407
$GC,8300,-0.85,-117.3,649.2,-5.0,253,8301,0.10,0.00,0.00,0.000,6,0.070,0.000,1780,2304,3407
$GC,8601,-0.71,-117.3,673.0,-8.1,258,8603,0.22,0.00,0.00,0.000,6,0.128,0.000,1847,2304,3407
$GC,8904,-0.86,-117.3,687.1,-4.5,263,8909,0.12,2.28,0.00,0.000,4,0.060,0.051,1768,890,3407
$GC,8942,-0.68,-117.3,690.1,-8.9,263,8948,0.32,2.28,0.00,0.000,6,0.133,0.047,1854,2309,3407
$GC,9264,-0.86,-117.3,704.1,-4.2,269,9266,0.15,0.00,0.00,0.000,6,0.055,0.000,1769,2310,3407
$GC,9566,-0.69,-117.3,728.8,-8.4,274,9568,0.28,0.00,0.00,0.000,6,0.130,0.000,1852,2310,3406
$GC,9870,-0.87,-117.3,742.4,-4.3,279,9875,0.15,2.28,0.00,0.000,4,0.058,0.051,1771,893,3406
$GC,9910,-0.70,-117.3,745.4,-8.4,279,9915,0.28,2.28,0.00,0.000,6,0.138,0.043,1847,2314,3406
$GC,10232,-0.86,-117.3,762.7,-5.3,285,10237,0.12,2.28,0.00,0.000,4,0.064,0.044,1780,899,3406
$GC,10253,-0.86,-117.3,764.5,-7.7,285,10257,0.15,2.25,0.00,0.000,6,0.137,0.044,1810,2311,3406
$GC,10596,-0.86,-117.3,789.7,-7.4,291,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2311,3406
$GC,10899,-0.86,-117.3,813.1,-7.7,296,10900,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2310,3406
$GC,11202,-0.86,-117.3,836.9,-7.8,301,11203,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2311,3406
$GC,11505,-0.86,-117.3,859.7,-7.5,306,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2311,3406
$GC,11808,-0.86,-117.3,880.5,-6.8,311,11810,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2311,3405
$GC,12112,-0.86,-117.3,900.0,-6.4,316,12113,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2311,3406
$GC,12414,-0.86,-117.3,919.0,-6.3,321,12415,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2311,3405
$GC,12718,-0.86,-117.3,937.1,-6.0,326,12719,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2311,3405
$GC,13020,-0.86,-117.3,954.7,-5.8,331,13022,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2311,3405
$GC,13324,-0.86,-117.3,973.4,-6.2,336,13325,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2311,3405
$STATE,13625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13625,begin apogee
$GC,13631,-0.22,0.0,992.5,6.3,341,13729,0.45,0.00,95.22,1.310,6,0.126,0.000,1954,2311,2931
$STATE,13730,end apogee,CONTROL_FINISHED_OK
$STATE,13730,begin climb
$GC,13732,0.68,117.3,994.0,0.0,342,13840,0.55,2.53,100.95,1.282,4,0.079,0.058,2146,3708,2451
$GC,13879,0.30,117.3,990.7,7.5,344,13884,0.38,2.35,0.00,0.000,6,0.173,0.035,2064,2315,2446
$GC,14223,0.45,181.6,978.7,3.3,350,14286,0.12,2.45,54.95,1.259,4,0.074,0.057,2122,893,2189
$GC,14320,0.47,203.9,973.7,4.7,351,14346,0.00,2.38,20.90,1.194,6,0.000,0.040,2122,2305,2099
$GC,14650,0.40,203.9,952.2,6.6,356,14655,0.15,2.35,0.00,0.000,4,0.146,0.054,2083,3720,2091
$GC,14694,0.48,203.9,949.4,5.8,356,14699,0.00,2.28,0.00,0.000,6,0.000,0.039,2091,2298,2090
$GC,15011,0.58,219.1,933.5,5.0,362,15027,0.12,0.00,13.52,1.148,6,0.072,0.000,2146,2299,2037
$GC,15313,0.43,219.1,909.4,8.1,367,15318,0.20,2.35,0.00,0.000,4,0.146,0.050,2086,3719,2033
$GC,15340,0.43,219.1,907.2,7.5,367,15344,0.00,2.30,0.00,0.000,6,0.000,0.036,2094,2303,2033
$GC,15679,0.53,229.2,889.6,5.2,373,15691,0.00,0.00,9.75,1.079,6,0.000,0.000,2094,2303,1996
$GC,15982,0.65,241.2,874.1,5.1,378,15996,0.15,0.00,12.07,1.108,6,0.064,0.000,2160,2303,1947
$GC,16285,0.47,241.2,846.8,9.3,383,16290,0.20,2.33,0.00,0.000,4,0.145,0.051,2099,3714,1944
$GC,16312,0.47,241.2,844.3,7.8,383,16316,0.00,2.22,0.00,0.000,6,0.000,0.035,2108,2303,1943
$GC,16650,0.52,241.2,824.5,5.9,389,16651,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2303,1942
$GC,16952,0.59,241.2,807.5,5.6,394,16956,0.00,2.30,0.00,0.000,4,0.000,0.051,2108,3711,1942
$GC,16985,0.59,241.2,805.4,6.9,394,16989,0.00,2.22,0.00,0.000,6,0.000,0.035,2118,2302,1942
$GC,17318,0.59,241.2,785.2,6.2,400,17319,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2302,1941
$GC,17620,0.59,241.2,767.1,6.0,405,17624,0.00,2.30,0.00,0.000,4,0.000,0.054,2118,3716,1941
$GC,17647,0.59,241.2,765.2,6.7,405,17651,0.00,2.22,0.00,0.000,6,0.000,0.035,2128,2302,1941
$GC,17985,0.59,241.2,741.9,7.0,411,17987,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2301,1941
$GC,18289,0.59,241.2,719.7,7.4,416,18293,0.00,2.30,0.00,0.000,4,0.000,0.050,2128,3723,1941
$GC,18327,0.52,241.2,716.3,8.8,416,18332,0.10,2.22,0.00,0.000,6,0.155,0.035,2113,2302,1940
$GC,18647,0.58,241.2,696.2,6.2,422,18649,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2302,1940
$GC,18950,0.63,241.2,678.0,6.0,427,18952,0.10,0.00,0.00,0.000,6,0.072,0.000,2172,2302,1940
$GC,19255,0.41,241.2,647.6,10.3,432,19259,0.28,2.30,0.00,0.000,4,0.142,0.053,2087,3713,1940
$GC,19299,0.55,241.2,644.3,5.9,432,19303,0.08,2.22,0.00,0.000,6,0.081,0.033,2151,2299,1940
$GC,19614,0.43,241.2,619.3,8.1,438,19619,0.20,2.25,0.00,0.000,4,0.134,0.053,2097,900,1940
$GC,19647,0.63,262.5,617.3,4.8,438,19675,0.12,2.22,19.33,1.014,6,0.068,0.038,2156,2307,1858
$GC,19978,0.51,262.5,591.2,8.1,444,19982,0.17,2.30,0.00,0.000,4,0.133,0.055,2106,3719,1855
$GC,20028,0.60,262.5,587.7,5.9,444,20032,0.00,2.22,0.00,0.000,6,0.000,0.040,2115,2306,1854
$GC,20338,0.71,278.4,572.3,5.0,449,20355,0.12,0.00,14.57,0.960,6,0.061,0.000,2189,2306,1796
$GC,20641,0.46,278.4,541.7,10.5,454,20646,0.28,2.30,0.00,0.000,4,0.143,0.048,2105,3712,1791
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$STATE,27872,end climb,SURFACE_DEPTH_REACHED
$STATE,27873,begin surface coast
$FINISH,1.0,1.024566
$STATE,27906,end surface coast,CONTROL_FINISHED_OK
$STATE,27906,begin surface
$SM_CCo,27981,0.00,0.000,0,0,1698,302.21
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$TT8_MAMPS,0.028379
$HUMID,1721
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$TCM_TEMP,16.20
$XPDR_PINGS,68
$24V_AH,22.5,40.396
$10V_AH,10.6,33.665
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$DEVICE_SECS,28.675,203.125,362.125,0.000,0.000,30.688,40.556,158.785,17.000,0.000,0.000,16.615,1636.746,23512.758,500.260,2057.990,622.521,33.363,1543.291,0.000,2061.987,0.000,0.528,0.000
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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,41118,716
$CAP_FILE_SIZE,183136,0
$CFSIZE,260165632,237649920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090909,011407,4957.190,-14428.545,37,1.0,37,18.5