version: 66.04
glider: 144
mission: 15
dive: 437
start: 11 4 109 14 26 8
data:
$ID,144
$MISSION,15
$DIVE,437
$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,-70000.273
$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,30
$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
$GPS1,141906,5008.114,-14427.915,50,1.5,50,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-56.1
$GPS2,142514,5008.115,-14427.831,14,1.8,14,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.014,-0.167
$KALMAN_X,-90610.4,-4.1,13.1,141119.8,-23.3
$KALMAN_Y,23115.3,96.2,-161.6,-46872.3,315.4
$MHEAD_RNG_PITCHd_Wd,166.1,26229,-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,18,-0.68,-117.3,0.0,0.0,0,71,0.00,0.00,-51.10,0.000,2,0.000,0.000,98,2303,2853
$GC,74,-0.68,-117.3,3.8,-5.0,5,99,7.25,2.35,-12.05,0.000,4,0.237,0.060,1834,3710,3412
$GC,296,-0.62,-117.3,35.8,-12.8,24,303,0.12,2.22,0.00,0.000,6,0.121,0.031,1870,2289,3414
$GC,624,-0.62,-117.3,65.7,-7.7,55,628,0.00,2.28,0.00,0.000,4,0.000,0.048,1862,3706,3414
$GC,656,-0.62,-117.3,68.6,-7.9,57,663,0.00,2.17,0.00,0.000,6,0.000,0.028,1862,2297,3414
$GC,977,-0.62,-117.3,93.7,-8.0,80,978,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2297,3416
$GC,1287,-0.64,-117.3,118.2,-7.7,95,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2297,3416
$GC,1596,-0.68,-117.3,140.0,-6.6,110,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2297,3416
$GC,1914,-0.74,-117.3,160.3,-6.0,123,1918,0.08,2.25,0.00,0.000,4,0.078,0.041,1792,894,3416
$GC,2021,-0.69,-117.3,170.6,-9.8,126,2026,0.22,2.22,0.00,0.000,6,0.118,0.037,1850,2303,3416
$GC,2345,-0.73,-117.3,190.9,-5.8,137,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2303,3415
$GC,2651,-0.79,-117.3,207.7,-5.5,147,2655,0.00,2.25,0.00,0.000,4,0.000,0.048,1842,3705,3415
$GC,2687,-0.84,-117.3,209.7,-6.0,148,2692,0.10,2.17,0.00,0.000,6,0.064,0.030,1768,2304,3415
$GC,3028,-0.73,-117.3,244.2,-10.5,159,3033,0.20,2.25,0.00,0.000,4,0.126,0.042,1833,893,3415
$GC,3084,-0.76,-117.3,248.6,-7.0,160,3088,0.00,2.25,0.00,0.000,6,0.000,0.040,1826,2308,3415
$GC,3397,-0.76,-117.3,269.9,-6.8,170,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2309,3414
$GC,3703,-0.76,-117.3,290.3,-6.5,180,3707,0.00,2.25,0.00,0.000,4,0.000,0.043,1825,897,3414
$GC,3732,-0.76,-117.3,292.4,-6.8,181,3736,0.00,2.25,0.00,0.000,6,0.000,0.043,1818,2312,3414
$GC,4095,-0.76,-117.3,317.8,-7.0,189,4099,0.00,2.25,0.00,0.000,4,0.000,0.043,1817,896,3413
$GC,4162,-0.76,-117.3,323.2,-8.2,190,4167,0.10,2.20,0.00,0.000,6,0.130,0.044,1834,2296,3413
$GC,4528,-0.80,-117.3,346.1,-6.2,196,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2296,3413
$GC,4832,-0.84,-117.3,364.8,-6.2,201,4836,0.00,2.25,0.00,0.000,4,0.000,0.050,1826,3714,3413
$GC,4871,-0.87,-117.3,367.4,-6.8,201,4875,0.00,2.20,0.00,0.000,6,0.000,0.031,1826,2295,3412
$GC,5198,-0.90,-117.3,388.1,-6.3,207,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2294,3412
$GC,5501,-0.93,-117.3,408.7,-6.9,212,5503,0.10,0.00,0.00,0.000,6,0.066,0.000,1751,2294,3412
$GC,5804,-0.81,-117.3,442.9,-11.5,217,5806,0.25,0.00,0.00,0.000,6,0.128,0.000,1825,2294,3412
$GC,6107,-0.84,-117.3,464.3,-6.8,222,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2294,3411
$GC,6410,-0.87,-117.3,484.2,-6.6,227,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2294,3411
$GC,6713,-0.91,-117.3,503.9,-6.5,232,6715,0.10,0.00,0.00,0.000,6,0.065,0.000,1754,2294,3410
$GC,7017,-0.80,-117.3,535.2,-10.6,237,7022,0.20,2.25,0.00,0.000,4,0.127,0.048,1820,900,3410
$GC,7056,-0.83,-117.3,538.8,-7.7,237,7060,0.00,2.25,0.00,0.000,6,0.000,0.040,1815,2308,3410
$GC,7377,-0.83,-117.3,561.2,-7.0,243,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2309,3410
$GC,7680,-0.83,-117.3,583.1,-7.2,248,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2309,3410
$GC,7983,-0.83,-117.3,604.8,-7.2,253,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2309,3410
$GC,8286,-0.83,-117.3,626.0,-6.9,258,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2309,3410
$GC,8590,-0.85,-117.3,647.7,-7.2,263,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2309,3409
$GC,8892,-0.87,-117.3,668.6,-6.8,268,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2309,3409
$GC,9196,-0.89,-117.3,687.5,-6.2,273,9200,0.00,2.30,0.00,0.000,4,0.000,0.049,1815,896,3409
$GC,9225,-0.92,-117.3,689.5,-6.7,273,9228,0.00,2.25,0.00,0.000,6,0.000,0.040,1809,2304,3408
$GC,9563,-0.92,-117.3,709.7,-5.9,279,9567,0.00,2.28,0.00,0.000,4,0.000,0.058,1800,3707,3408
$GC,9603,-0.92,-117.3,712.3,-6.4,279,9607,0.00,2.20,0.00,0.000,6,0.000,0.035,1800,2304,3408
$GC,9925,-0.92,-117.3,731.8,-6.1,285,9929,0.00,2.25,0.00,0.000,4,0.000,0.045,1799,892,3408
$GC,9958,-0.92,-117.3,734.2,-6.7,285,9962,0.00,2.25,0.00,0.000,6,0.000,0.044,1794,2310,3408
$GC,10297,-0.92,-117.3,757.1,-6.8,291,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2310,3408
$GC,10599,-0.92,-117.3,777.8,-6.8,296,10601,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2310,3408
$GC,10903,-0.92,-117.3,797.3,-6.4,301,10904,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2310,3408
$GC,11206,-0.92,-117.3,816.3,-6.2,306,11210,0.00,2.30,0.00,0.000,4,0.000,0.051,1795,891,3408
$GC,11250,-0.92,-117.3,819.4,-6.5,306,11254,0.00,2.28,0.00,0.000,6,0.000,0.041,1792,2305,3407
$GC,11565,-0.92,-117.3,839.6,-6.5,312,11569,0.00,2.28,0.00,0.000,4,0.000,0.051,1782,3708,3407
$GC,11599,-0.89,-117.3,841.9,-6.8,312,11603,0.10,2.22,0.00,0.000,6,0.123,0.034,1809,2301,3407
$GC,11925,-0.92,-117.3,860.9,-5.8,318,11926,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2301,3407
$GC,12230,-0.95,-117.3,879.3,-6.1,323,12234,0.00,2.28,0.00,0.000,4,0.000,0.052,1809,896,3407
$GC,12264,-0.98,-117.3,881.7,-7.1,323,12268,0.00,2.28,0.00,0.000,6,0.000,0.043,1808,2311,3407
$GC,12596,-1.00,-117.3,902.7,-6.4,329,12598,0.10,0.00,0.00,0.000,6,0.078,0.000,1763,2312,3407
$GC,12899,-0.93,-117.3,928.1,-8.5,334,12904,0.12,2.33,0.00,0.000,4,0.132,0.053,1799,898,3407
$GC,12932,-0.93,-117.3,930.8,-7.3,334,12936,0.00,2.28,0.00,0.000,6,0.000,0.048,1794,2309,3406
$GC,13259,-0.93,-117.3,954.1,-7.2,340,13260,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3406
$GC,13561,-0.93,-117.3,976.1,-7.3,345,13565,0.00,2.30,0.00,0.000,4,0.000,0.054,1794,897,3406
$GC,13594,-0.93,-117.3,978.7,-7.6,345,13598,0.00,2.28,0.00,0.000,6,0.000,0.047,1791,2306,3406
$STATE,13796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13796,begin apogee
$GC,13803,-0.22,0.0,993.9,7.4,349,13904,0.50,0.00,98.15,1.297,6,0.117,0.000,1951,2306,2931
$STATE,13905,end apogee,CONTROL_FINISHED_OK
$STATE,13905,begin climb
$GC,13908,0.68,117.3,995.6,0.0,350,14019,0.60,2.58,103.70,1.268,4,0.074,0.058,2155,3705,2451
$GC,14048,0.49,117.3,993.8,6.5,353,14053,0.25,2.42,0.00,0.000,6,0.169,0.035,2106,2310,2447
$GC,14410,0.50,150.2,977.6,4.4,359,14444,0.00,2.45,28.12,1.220,4,0.000,0.051,2115,892,2317
$GC,14463,0.54,179.5,975.0,4.5,359,14494,0.00,2.35,26.85,1.207,6,0.000,0.042,2115,2311,2199
$GC,14839,0.54,179.5,954.1,5.6,366,14843,0.00,2.30,0.00,0.000,4,0.000,0.056,2115,3712,2192
$GC,14879,0.49,179.5,951.5,6.8,366,14883,0.00,2.28,0.00,0.000,6,0.000,0.038,2125,2291,2190
$GC,15200,0.46,179.5,932.2,6.0,372,15202,0.10,0.00,0.00,0.000,6,0.161,0.000,2101,2291,2190
$GC,15504,0.51,198.2,917.3,4.9,377,15527,0.00,2.40,16.40,1.157,4,0.000,0.054,2101,3719,2122
$GC,15561,0.51,198.2,913.9,6.0,377,15568,0.00,2.30,0.00,0.000,6,0.000,0.037,2109,2295,2120
$GC,15872,0.53,212.6,898.2,5.0,383,15888,0.00,0.00,14.05,1.125,6,0.000,0.000,2109,2295,2064
$GC,16176,0.57,220.4,882.4,5.2,388,16186,0.00,0.00,8.30,1.021,6,0.000,0.000,2109,2295,2032
$GC,16479,0.61,227.0,866.4,5.3,393,16493,0.08,2.40,7.20,0.975,4,0.081,0.055,2154,3719,2004
$GC,16522,0.51,227.0,862.8,8.8,393,16526,0.20,2.28,0.00,0.000,6,0.150,0.038,2112,2302,2004
$GC,16843,0.54,227.0,844.1,5.7,399,16845,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2302,2002
$GC,17146,0.57,227.0,826.6,5.8,404,17147,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2302,2002
$GC,17449,0.60,227.0,808.5,6.0,409,17450,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2302,2001
$GC,17752,0.64,227.0,789.9,6.1,414,17754,0.10,0.00,0.00,0.000,6,0.068,0.000,2166,2301,2001
$GC,18056,0.54,227.0,761.9,9.5,419,18060,0.17,2.30,0.00,0.000,4,0.141,0.048,2118,3717,2001
$GC,18094,0.54,227.0,758.4,7.3,419,18098,0.00,2.25,0.00,0.000,6,0.000,0.036,2127,2301,2000
$GC,18415,0.54,227.0,737.3,6.6,425,18416,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2301,2000
$GC,18719,0.54,227.0,718.0,6.3,430,18723,0.00,2.30,0.00,0.000,4,0.000,0.050,2127,3722,2000
$GC,18783,0.51,227.0,713.3,8.1,431,18788,0.12,2.25,0.00,0.000,6,0.141,0.034,2104,2294,2000
$GC,19149,0.58,241.4,694.7,5.0,437,19176,0.08,2.30,15.77,0.909,4,0.082,0.047,2172,891,1946
$GC,19194,0.53,241.4,691.5,6.9,437,19199,0.22,2.28,0.00,0.000,6,0.133,0.045,2108,2308,1945
$GC,19510,0.60,256.9,675.2,5.0,443,19530,0.08,2.30,14.90,1.002,4,0.077,0.050,2170,3714,1883
$GC,19564,0.49,256.9,670.3,10.6,443,19572,0.28,2.25,0.00,0.000,6,0.142,0.034,2104,2301,1882
$GC,19876,0.61,267.1,653.7,5.2,449,19892,0.10,2.30,10.57,0.946,4,0.071,0.044,2146,891,1841
$GC,19932,0.71,267.1,649.7,5.9,449,19938,0.00,2.28,0.00,0.000,6,0.000,0.044,2146,2306,1839
$GC,20243,0.82,267.1,628.5,7.0,455,20247,0.12,2.33,0.00,0.000,4,0.060,0.044,2211,884,1837
$GC,20254,0.90,267.1,627.5,7.1,455,20258,0.00,2.28,0.00,0.000,6,0.000,0.038,2211,2304,1836
$GC,20603,0.74,267.1,584.5,12.9,461,20608,0.20,2.30,0.00,0.000,4,0.153,0.047,2161,891,1837
$GC,20716,0.74,267.1,574.3,7.9,462,20720,0.00,2.25,0.00,0.000,6,0.000,0.038,2161,2306,1836
$GC,21032,0.69,267.1,545.7,9.2,468,21035,0.00,2.25,0.00,0.000,4,0.000,0.048,2162,3712,1836
$GC,21088,0.62,267.1,539.7,11.1,468,21093,0.15,2.22,0.00,0.000,6,0.139,0.040,2131,2299,1836
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$STATE,28842,end climb,SURFACE_DEPTH_REACHED
$STATE,28842,begin surface coast
$FINISH,0.6,1.001809
$STATE,28854,end surface coast,CONTROL_FINISHED_OK
$STATE,28854,begin surface
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$IRIDIUM_FIX,4953.05,-14428.52,290199,060609
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$HUMID,1722
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$TCM_TEMP,16.30
$XPDR_PINGS,42
$24V_AH,22.0,63.791
$10V_AH,10.5,54.856
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$DEVICE_SECS,19.075,213.150,397.650,0.000,0.000,30.517,25.600,165.192,10.500,0.000,0.000,15.662,1659.637,24173.887,531.614,2211.956,710.490,33.387,1658.911,0.000,2204.384,0.000,0.527,0.000
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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,44464,743
$CAP_FILE_SIZE,181168,0
$CFSIZE,260165632,224641024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,041109,222937,5005.066,-14428.811,38,1.2,38,18.6