version: 66.04
glider: 144
mission: 15
dive: 416
start: 10 28 109 13 28 50
data:
$ID,144
$MISSION,15
$DIVE,416
$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,-69520.117
$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,0.02
$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,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
$GPS1,132140,5004.636,-14509.873,34,2.0,34,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-50.5
$GPS2,132756,5004.587,-14509.791,11,1.9,11,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.056,-0.158
$KALMAN_X,-80523.5,-130.3,-91.9,81672.7,1198.5
$KALMAN_Y,18617.0,37.0,8.4,-49017.4,-633.3
$MHEAD_RNG_PITCHd_Wd,181.1,19755,-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,-31.35,0.000,2,0.000,0.000,97,2298,2518
$GC,54,-0.68,-117.3,3.3,-5.2,3,90,7.28,2.30,-23.12,0.000,4,0.241,0.065,1841,899,3413
$GC,102,-0.61,-117.3,9.2,-13.6,7,109,0.12,2.22,0.00,0.000,6,0.133,0.041,1868,2302,3414
$GC,430,-0.59,-117.3,41.9,-10.6,38,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2302,3415
$GC,756,-0.62,-117.3,70.6,-8.5,69,760,0.00,2.25,0.00,0.000,4,0.000,0.048,1860,3715,3415
$GC,859,-0.66,-117.3,78.3,-8.0,78,863,0.00,2.17,0.00,0.000,6,0.000,0.028,1860,2299,3415
$GC,1191,-0.66,-117.3,105.7,-7.8,95,1195,0.00,2.20,0.00,0.000,4,0.000,0.042,1860,897,3417
$GC,1253,-0.70,-117.3,110.8,-8.4,97,1259,0.00,2.20,0.00,0.000,6,0.000,0.037,1851,2307,3417
$GC,1569,-0.70,-117.3,135.6,-7.8,113,1572,0.00,2.20,0.00,0.000,4,0.000,0.041,1850,898,3416
$GC,1670,-0.73,-117.3,144.0,-8.2,117,1674,0.00,2.22,0.00,0.000,6,0.000,0.045,1850,2307,3417
$GC,2010,-0.77,-117.3,169.6,-7.4,130,2014,0.00,2.22,0.00,0.000,4,0.000,0.041,1849,893,3417
$GC,2061,-0.81,-117.3,173.4,-7.3,131,2065,0.10,2.22,0.00,0.000,6,0.067,0.038,1777,2314,3417
$GC,2379,-0.72,-117.3,206.4,-10.4,142,2384,0.20,2.25,0.00,0.000,4,0.123,0.050,1834,3708,3416
$GC,2408,-0.72,-117.3,208.9,-8.0,143,2412,0.00,2.17,0.00,0.000,6,0.000,0.030,1834,2295,3416
$GC,2749,-0.74,-117.3,232.2,-7.0,154,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2295,3416
$GC,3056,-0.76,-117.3,254.1,-7.2,164,3060,0.00,2.22,0.00,0.000,4,0.000,0.044,1834,889,3415
$GC,3119,-0.79,-117.3,259.0,-7.8,165,3126,0.00,2.25,0.00,0.000,6,0.000,0.045,1826,2308,3415
$GC,3432,-0.79,-117.3,282.6,-7.5,176,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2308,3415
$GC,3738,-0.79,-117.3,305.8,-7.7,185,3742,0.00,2.25,0.00,0.000,4,0.000,0.044,1826,896,3414
$GC,3771,-0.79,-117.3,308.6,-8.3,185,3775,0.00,2.25,0.00,0.000,6,0.000,0.041,1821,2308,3414
$GC,4098,-0.79,-117.3,334.2,-7.8,191,4102,0.00,2.25,0.00,0.000,4,0.000,0.044,1820,896,3414
$GC,4142,-0.79,-117.3,337.9,-8.1,191,4146,0.00,2.25,0.00,0.000,6,0.000,0.041,1811,2307,3413
$GC,4469,-0.79,-117.3,364.0,-8.0,197,4473,0.00,2.25,0.00,0.000,4,0.000,0.048,1811,897,3413
$GC,4508,-0.79,-117.3,367.3,-8.3,197,4512,0.10,2.22,0.00,0.000,6,0.131,0.043,1831,2305,3413
$GC,4829,-0.82,-117.3,388.7,-6.5,203,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2304,3413
$GC,5132,-0.85,-117.3,406.8,-5.9,208,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2305,3412
$GC,5435,-0.89,-117.3,424.5,-5.9,213,5440,0.10,2.25,0.00,0.000,4,0.065,0.048,1767,897,3412
$GC,5468,-0.81,-117.3,427.6,-10.0,213,5473,0.22,2.25,0.00,0.000,6,0.123,0.046,1824,2311,3411
$GC,5795,-0.83,-117.3,449.6,-6.7,219,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2312,3411
$GC,6098,-0.86,-117.3,470.0,-6.7,224,6102,0.00,2.28,0.00,0.000,4,0.000,0.047,1824,893,3411
$GC,6131,-0.89,-117.3,472.3,-6.9,224,6136,0.00,2.25,0.00,0.000,6,0.000,0.039,1822,2302,3411
$GC,6458,-0.89,-117.3,493.3,-6.3,230,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3411
$GC,6761,-0.89,-117.3,511.7,-6.0,235,6765,0.00,2.25,0.00,0.000,4,0.000,0.051,1822,899,3410
$GC,6800,-0.91,-117.3,514.4,-6.9,235,6804,0.00,2.25,0.00,0.000,6,0.000,0.044,1820,2308,3410
$GC,7121,-0.91,-117.3,535.5,-6.6,241,7125,0.00,2.28,0.00,0.000,4,0.000,0.044,1821,890,3410
$GC,7177,-0.93,-117.3,539.7,-7.3,241,7184,0.00,2.28,0.00,0.000,6,0.000,0.040,1812,2300,3410
$GC,7487,-0.93,-117.3,561.9,-7.2,247,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2300,3409
$GC,7791,-0.93,-117.3,583.4,-7.0,252,7795,0.00,2.28,0.00,0.000,4,0.000,0.045,1812,890,3409
$GC,7835,-0.93,-117.3,586.9,-7.9,252,7839,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2311,3409
$GC,8150,-0.93,-117.3,608.3,-6.8,258,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2311,3409
$GC,8453,-0.93,-117.3,628.1,-6.5,263,8457,0.00,2.28,0.00,0.000,4,0.000,0.048,1809,893,3409
$GC,8480,-0.93,-117.3,630.0,-7.0,263,8484,0.00,2.25,0.00,0.000,6,0.000,0.046,1807,2305,3409
$GC,8812,-0.93,-117.3,651.3,-6.4,269,8816,0.00,2.28,0.00,0.000,4,0.000,0.046,1807,890,3409
$GC,8840,-0.93,-117.3,653.4,-7.2,269,8844,0.00,2.28,0.00,0.000,6,0.000,0.041,1798,2310,3408
$GC,9178,-0.93,-117.3,676.0,-6.7,275,9182,0.00,2.28,0.00,0.000,4,0.000,0.045,1798,891,3408
$GC,9211,-0.93,-117.3,678.5,-7.5,275,9215,0.00,2.25,0.00,0.000,6,0.000,0.041,1794,2303,3408
$GC,9538,-0.91,-117.3,703.9,-7.9,281,9542,0.00,2.25,0.00,0.000,4,0.000,0.048,1794,897,3408
$GC,9571,-0.91,-117.3,706.9,-8.9,281,9575,0.00,2.25,0.00,0.000,6,0.000,0.048,1794,2305,3408
$GC,9904,-0.91,-117.3,734.1,-8.2,287,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3408
$GC,10207,-0.91,-117.3,757.8,-7.7,292,10208,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3408
$GC,10509,-0.91,-117.3,780.6,-7.5,297,10513,0.00,2.28,0.00,0.000,4,0.000,0.051,1794,893,3408
$GC,10537,-0.91,-117.3,782.9,-8.0,297,10541,0.00,2.28,0.00,0.000,6,0.000,0.047,1785,2315,3408
$GC,10869,-0.88,-117.3,808.7,-7.8,303,10874,0.10,2.30,0.00,0.000,4,0.140,0.051,1812,900,3408
$GC,10914,-0.91,-117.3,812.1,-6.9,303,10918,0.00,2.25,0.00,0.000,6,0.000,0.043,1809,2303,3408
$GC,11229,-0.93,-117.3,833.2,-6.7,309,11231,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3408
$GC,11533,-0.95,-117.3,852.5,-6.4,314,11534,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3407
$GC,11836,-0.98,-117.3,871.0,-6.1,319,11840,0.00,2.28,0.00,0.000,4,0.000,0.049,1809,901,3407
$GC,11870,-1.00,-117.3,873.2,-6.6,319,11875,0.10,2.28,0.00,0.000,6,0.075,0.047,1762,2314,3407
$GC,12197,-0.93,-117.3,899.4,-8.1,325,12198,0.15,0.00,0.00,0.000,6,0.133,0.000,1804,2314,3407
$GC,12500,-0.93,-117.3,917.2,-5.8,330,12501,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2314,3406
$GC,12803,-0.93,-117.3,934.0,-5.6,335,12807,0.00,2.30,0.00,0.000,4,0.000,0.054,1804,901,3406
$GC,12836,-0.93,-117.3,936.2,-6.2,335,12840,0.00,2.25,0.00,0.000,6,0.000,0.044,1797,2308,3406
$GC,13168,-0.93,-117.3,956.5,-6.1,341,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2309,3406
$GC,13470,-0.93,-117.3,975.8,-6.4,346,13474,0.00,2.28,0.00,0.000,4,0.000,0.049,1797,902,3406
$GC,13504,-0.93,-117.3,978.2,-6.5,346,13508,0.00,2.25,0.00,0.000,6,0.000,0.043,1794,2303,3405
$STATE,13707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13707,begin apogee
$GC,13713,-0.22,0.0,991.6,6.5,350,13813,0.50,0.00,97.45,1.295,6,0.120,0.000,1953,2303,2930
$STATE,13814,end apogee,CONTROL_FINISHED_OK
$STATE,13814,begin climb
$GC,13817,0.68,117.3,992.8,0.0,351,13929,0.57,2.60,103.03,1.268,4,0.075,0.052,2153,3716,2451
$GC,13957,0.49,117.3,990.1,7.1,353,13962,0.22,2.40,0.00,0.000,6,0.167,0.036,2111,2311,2447
$GC,14307,0.46,125.6,972.0,5.2,359,14320,0.00,2.40,7.07,1.003,4,0.000,0.053,2120,891,2417
$GC,14345,0.45,139.3,969.8,5.0,359,14365,0.10,2.30,13.45,1.140,6,0.140,0.048,2096,2305,2363
$GC,14676,0.48,165.8,954.3,4.6,365,14705,0.00,2.40,23.75,1.205,4,0.000,0.058,2096,3712,2255
$GC,14758,0.48,165.8,949.8,5.9,366,14763,0.00,2.30,0.00,0.000,6,0.000,0.035,2103,2292,2252
$GC,15108,0.49,171.1,931.1,5.3,372,15115,0.00,0.00,5.82,0.927,6,0.000,0.000,2103,2292,2233
$GC,15411,0.49,171.1,913.6,5.9,377,15415,0.00,2.33,0.00,0.000,4,0.000,0.051,2104,3713,2231
$GC,15444,0.46,171.1,911.2,6.7,377,15448,0.00,2.25,0.00,0.000,6,0.000,0.035,2114,2291,2230
$GC,15778,0.46,171.1,889.3,6.7,383,15782,0.00,2.30,0.00,0.000,4,0.000,0.057,2114,3712,2229
$GC,15811,0.41,171.1,886.7,7.1,383,15816,0.15,2.22,0.00,0.000,6,0.155,0.039,2086,2304,2229
$GC,16144,0.45,171.1,868.2,5.5,389,16147,0.00,2.28,0.00,0.000,4,0.000,0.054,2095,889,2229
$GC,16167,0.52,183.3,866.9,5.1,389,16185,0.00,2.25,11.60,1.089,6,0.000,0.041,2095,2306,2183
$GC,16507,0.56,183.3,845.8,6.2,395,16512,0.10,2.28,0.00,0.000,4,0.075,0.050,2148,3714,2181
$GC,16540,0.45,183.3,842.9,9.8,395,16545,0.22,2.22,0.00,0.000,6,0.150,0.038,2098,2301,2180
$GC,16868,0.48,183.3,822.8,6.0,401,16869,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2301,2180
$GC,17170,0.51,183.3,805.8,5.6,406,17171,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2301,2179
$GC,17474,0.56,195.0,790.2,5.1,411,17487,0.10,0.00,11.50,1.048,6,0.068,0.000,2152,2300,2135
$GC,17777,0.49,195.0,769.7,6.8,416,17782,0.17,2.33,0.00,0.000,4,0.135,0.051,2097,3710,2133
$GC,17805,0.51,211.0,768.0,5.0,416,17825,0.00,2.22,15.48,1.068,6,0.000,0.033,2105,2301,2070
$GC,18137,0.58,239.1,753.2,4.6,422,18164,0.00,0.00,25.67,1.095,6,0.000,0.000,2105,2301,1955
$GC,18440,0.65,254.7,738.4,5.0,427,18457,0.12,0.00,15.05,1.038,6,0.058,0.000,2173,2300,1892
$GC,18742,0.56,254.7,710.4,9.5,432,18747,0.20,2.33,0.00,0.000,4,0.136,0.049,2111,3718,1887
$GC,18782,0.58,254.7,707.1,7.5,432,18786,0.00,2.25,0.00,0.000,6,0.000,0.038,2120,2300,1887
$GC,19104,0.62,254.7,688.1,6.0,438,19108,0.00,2.25,0.00,0.000,4,0.000,0.048,2130,895,1884
$GC,19132,0.67,254.7,686.2,6.5,438,19136,0.00,2.22,0.00,0.000,6,0.000,0.045,2130,2310,1884
$GC,19475,0.67,254.7,664.1,6.4,444,19479,0.00,2.25,0.00,0.000,4,0.000,0.053,2130,3710,1884
$GC,19520,0.67,254.7,660.7,7.1,444,19524,0.00,2.20,0.00,0.000,6,0.000,0.034,2140,2301,1884
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$STATE,29208,end climb,SURFACE_DEPTH_REACHED
$STATE,29211,begin surface coast
$FINISH,1.0,1.024840
$STATE,29231,end surface coast,CONTROL_FINISHED_OK
$STATE,29231,begin surface
$SM_CCo,29307,0.00,0.000,0,0,1442,365.25
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$IRIDIUM_FIX,4953.05,-14511.49,220199,050535
$TT8_MAMPS,0.028379
$HUMID,1713
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$TCM_TEMP,16.70
$XPDR_PINGS,66
$24V_AH,22.0,60.899
$10V_AH,10.5,52.195
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$DEVICE_SECS,18.400,239.250,428.900,0.000,0.000,28.635,28.497,175.888,16.500,0.000,0.000,12.898,1703.215,24407.160,569.944,2262.450,726.446,33.377,1737.006,0.000,2262.957,0.000,0.528,0.000
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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,44374,763
$CAP_FILE_SIZE,186882,0
$CFSIZE,260165632,226291712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281009,213845,5001.172,-14511.435,40,1.2,48,18.4