version: 66.04
glider: 144
mission: 15
dive: 478
start: 11 18 109 14 5 34
data:
$ID,144
$MISSION,15
$DIVE,478
$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,-71004.156
$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
$GPS1,135537,5013.259,-14428.222,68,1.4,68,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-61.9
$GPS2,140438,5013.250,-14428.245,11,1.0,11,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.031,-0.165
$KALMAN_X,-91573.7,-147.5,225.6,141512.3,1098.7
$KALMAN_Y,25476.1,-463.1,-1375.2,-37938.9,5803.2
$MHEAD_RNG_PITCHd_Wd,171.9,35680,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.83,0.000,2,0.000,0.000,98,2292,2645
$GC,63,-0.68,-117.3,3.5,-5.2,4,97,7.40,2.33,-19.48,0.000,4,0.242,0.065,1841,3708,3413
$GC,289,-0.66,-117.3,26.9,-10.9,24,293,0.00,2.20,0.00,0.000,6,0.000,0.030,1840,2303,3414
$GC,619,-0.62,-117.3,60.0,-11.1,54,623,0.10,2.25,0.00,0.000,4,0.130,0.041,1869,887,3414
$GC,687,-0.65,-117.3,66.5,-8.8,60,691,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2303,3414
$GC,1019,-0.68,-117.3,94.0,-7.8,83,1023,0.00,2.28,0.00,0.000,4,0.000,0.048,1853,3715,3414
$GC,1043,-0.70,-117.3,95.8,-7.7,84,1047,0.00,2.20,0.00,0.000,6,0.000,0.030,1853,2301,3414
$GC,1370,-0.70,-117.3,119.8,-7.0,100,1374,0.00,2.25,0.00,0.000,4,0.000,0.042,1852,888,3415
$GC,1477,-0.74,-117.3,127.7,-7.6,104,1484,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2312,3415
$GC,1795,-0.76,-117.3,149.4,-6.7,120,1799,0.00,2.28,0.00,0.000,4,0.000,0.049,1850,895,3415
$GC,1839,-0.81,-117.3,152.8,-7.2,122,1844,0.10,2.22,0.00,0.000,6,0.067,0.038,1777,2303,3415
$GC,2159,-0.72,-117.3,187.8,-10.7,133,2163,0.20,2.28,0.00,0.000,4,0.123,0.048,1834,3707,3415
$GC,2209,-0.77,-117.3,191.9,-7.1,134,2212,0.00,2.17,0.00,0.000,6,0.000,0.030,1834,2299,3415
$GC,2528,-0.79,-117.3,213.3,-6.6,145,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2299,3415
$GC,2835,-0.82,-117.3,232.9,-6.5,155,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2299,3415
$GC,3140,-0.85,-117.3,252.1,-6.1,165,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2299,3415
$GC,3446,-0.88,-117.3,271.9,-6.6,175,3451,0.10,2.25,0.00,0.000,4,0.064,0.042,1757,889,3414
$GC,3509,-0.76,-117.3,278.4,-11.8,176,3516,0.30,2.25,0.00,0.000,6,0.122,0.038,1837,2311,3414
$GC,3822,-0.80,-117.3,297.9,-5.9,187,3826,0.00,2.22,0.00,0.000,4,0.000,0.043,1837,899,3414
$GC,3863,-0.85,-117.3,300.5,-6.2,188,3867,0.00,2.22,0.00,0.000,6,0.000,0.046,1837,2301,3414
$GC,4191,-0.88,-117.3,320.9,-6.3,194,4193,0.10,0.00,0.00,0.000,6,0.064,0.000,1766,2301,3413
$GC,4493,-0.78,-117.3,351.2,-10.1,199,4498,0.17,2.28,0.00,0.000,4,0.123,0.043,1826,900,3413
$GC,4538,-0.81,-117.3,354.7,-7.1,199,4542,0.00,2.25,0.00,0.000,6,0.000,0.042,1819,2306,3413
$GC,4854,-0.81,-117.3,375.9,-6.7,205,4858,0.00,2.28,0.00,0.000,4,0.000,0.047,1819,897,3413
$GC,4899,-0.81,-117.3,379.1,-7.2,205,4903,0.00,2.22,0.00,0.000,6,0.000,0.038,1810,2304,3413
$GC,5217,-0.81,-117.3,401.4,-7.1,211,5220,0.00,2.25,0.00,0.000,4,0.000,0.044,1809,894,3412
$GC,5262,-0.81,-117.3,405.0,-7.9,211,5267,0.10,2.25,0.00,0.000,6,0.127,0.044,1828,2305,3412
$GC,5584,-0.85,-117.3,424.6,-6.0,217,5588,0.00,2.25,0.00,0.000,4,0.000,0.043,1828,900,3412
$GC,5612,-0.89,-117.3,426.4,-6.6,217,5617,0.00,2.20,0.00,0.000,6,0.000,0.044,1823,2297,3412
$GC,5957,-0.91,-117.3,447.5,-6.1,223,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2297,3412
$GC,6260,-0.93,-117.3,465.8,-6.1,228,6261,0.10,0.00,0.00,0.000,6,0.065,0.000,1751,2297,3412
$GC,6564,-0.82,-117.3,496.2,-10.2,233,6568,0.20,2.28,0.00,0.000,4,0.127,0.051,1818,900,3412
$GC,6619,-0.85,-117.3,500.7,-6.9,233,6626,0.00,2.28,0.00,0.000,6,0.000,0.039,1810,2312,3412
$GC,6929,-0.85,-117.3,521.8,-6.8,239,6933,0.00,2.28,0.00,0.000,4,0.000,0.046,1810,896,3412
$GC,6969,-0.85,-117.3,524.7,-7.3,239,6973,0.00,2.25,0.00,0.000,6,0.000,0.047,1804,2305,3411
$GC,7290,-0.85,-117.3,547.2,-7.0,245,7294,0.00,2.25,0.00,0.000,4,0.000,0.044,1805,898,3411
$GC,7335,-0.85,-117.3,550.6,-7.7,245,7339,0.00,2.25,0.00,0.000,6,0.000,0.042,1795,2307,3411
$GC,7651,-0.82,-117.3,574.2,-7.5,251,7656,0.10,2.28,0.00,0.000,4,0.135,0.044,1823,897,3410
$GC,7691,-0.86,-117.3,576.9,-6.5,251,7695,0.00,2.25,0.00,0.000,6,0.000,0.046,1822,2301,3410
$GC,8013,-0.90,-117.3,596.1,-6.0,257,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2301,3410
$GC,8316,-0.93,-117.3,614.8,-6.2,262,8318,0.10,0.00,0.00,0.000,6,0.066,0.000,1755,2301,3410
$GC,8620,-0.84,-117.3,644.0,-9.8,267,8625,0.17,2.30,0.00,0.000,4,0.124,0.049,1815,897,3410
$GC,8664,-0.87,-117.3,647.7,-7.4,267,8668,0.00,2.28,0.00,0.000,6,0.000,0.040,1809,2306,3410
$GC,8980,-0.87,-117.3,669.2,-6.8,273,8984,0.00,2.28,0.00,0.000,4,0.000,0.048,1809,899,3410
$GC,9019,-0.87,-117.3,672.0,-7.2,273,9023,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2311,3410
$GC,9341,-0.87,-117.3,692.3,-6.3,279,9345,0.00,2.30,0.00,0.000,4,0.000,0.045,1808,893,3410
$GC,9374,-0.87,-117.3,694.5,-7.3,279,9378,0.00,2.28,0.00,0.000,6,0.000,0.042,1806,2306,3410
$GC,9700,-0.87,-117.3,714.0,-5.9,285,9704,0.00,2.28,0.00,0.000,4,0.000,0.051,1806,892,3409
$GC,9728,-0.87,-117.3,715.7,-6.2,285,9732,0.00,2.28,0.00,0.000,6,0.000,0.039,1798,2307,3409
$GC,10061,-0.87,-117.3,736.6,-6.3,291,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2308,3409
$GC,10363,-0.87,-117.3,756.1,-6.5,296,10367,0.00,2.28,0.00,0.000,4,0.000,0.049,1797,898,3409
$GC,10402,-0.87,-117.3,759.0,-7.2,296,10406,0.00,2.28,0.00,0.000,6,0.000,0.046,1794,2309,3409
$GC,10724,-0.87,-117.3,781.1,-6.9,302,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3409
$GC,11026,-0.87,-117.3,802.2,-7.0,307,11030,0.00,2.30,0.00,0.000,4,0.000,0.051,1794,894,3409
$GC,11064,-0.87,-117.3,805.2,-7.7,307,11068,0.00,2.28,0.00,0.000,6,0.000,0.042,1793,2304,3408
$GC,11386,-0.87,-117.3,828.9,-7.4,313,11390,0.00,2.28,0.00,0.000,4,0.000,0.046,1793,894,3408
$GC,11414,-0.87,-117.3,831.2,-9.1,313,11419,0.12,2.28,0.00,0.000,6,0.121,0.043,1818,2311,3408
$GC,11746,-0.92,-117.3,851.3,-6.0,319,11751,0.00,2.30,0.00,0.000,4,0.000,0.051,1818,895,3408
$GC,11769,-0.96,-117.3,852.8,-6.2,319,11773,0.00,2.28,0.00,0.000,6,0.000,0.046,1811,2306,3408
$GC,12108,-1.00,-117.3,873.4,-6.2,325,12110,0.10,0.00,0.00,0.000,6,0.076,0.000,1756,2307,3408
$GC,12410,-0.92,-117.3,899.0,-8.6,330,12415,0.17,2.33,0.00,0.000,4,0.126,0.046,1814,894,3408
$GC,12474,-0.95,-117.3,903.4,-6.5,331,12478,0.00,2.28,0.00,0.000,6,0.000,0.044,1810,2303,3408
$GC,12841,-0.98,-117.3,924.7,-5.8,337,12843,0.10,0.00,0.00,0.000,6,0.077,0.000,1762,2303,3408
$GC,13144,-0.92,-117.3,949.0,-8.1,342,13146,0.15,0.00,0.00,0.000,6,0.124,0.000,1805,2303,3408
$GC,13447,-0.95,-117.3,967.8,-6.1,347,13451,0.00,2.28,0.00,0.000,4,0.000,0.052,1806,903,3408
$GC,13486,-0.97,-117.3,970.7,-7.1,347,13490,0.00,2.28,0.00,0.000,6,0.000,0.044,1805,2309,3408
$STATE,13804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13804,begin apogee
$GC,13812,-0.22,0.0,991.7,6.6,353,13914,0.45,0.00,99.03,1.289,6,0.113,0.000,1951,2309,2931
$STATE,13915,end apogee,CONTROL_FINISHED_OK
$STATE,13915,begin climb
$GC,13918,0.68,117.3,993.2,0.0,354,14029,0.57,2.58,103.93,1.263,4,0.071,0.058,2153,3703,2451
$GC,14069,0.49,117.3,991.7,6.1,356,14074,0.22,2.38,0.00,0.000,6,0.165,0.035,2110,2309,2447
$GC,14408,0.50,156.3,977.2,4.2,362,14444,0.00,0.00,33.78,1.229,6,0.000,0.000,2110,2309,2293
$GC,14711,0.53,182.2,963.2,4.6,367,14740,0.00,2.38,23.05,1.200,4,0.000,0.055,2110,3705,2187
$GC,14759,0.56,205.0,960.6,4.7,367,14785,0.00,2.30,21.75,1.184,6,0.000,0.041,2118,2292,2095
$GC,15140,0.56,205.0,939.1,5.7,374,15144,0.00,2.35,0.00,0.000,4,0.000,0.054,2118,3709,2088
$GC,15180,0.53,205.0,936.3,7.1,374,15184,0.00,2.28,0.00,0.000,6,0.000,0.038,2128,2296,2087
$GC,15502,0.51,205.0,915.4,6.6,380,15506,0.00,2.33,0.00,0.000,4,0.000,0.051,2128,3716,2086
$GC,15529,0.47,205.0,913.0,7.7,380,15534,0.15,2.25,0.00,0.000,6,0.150,0.041,2099,2293,2086
$GC,15868,0.53,216.1,895.4,5.1,386,15880,0.00,0.00,10.10,1.071,6,0.000,0.000,2099,2294,2049
$GC,16172,0.59,225.9,879.8,5.2,391,16184,0.10,0.00,10.15,1.063,6,0.073,0.000,2151,2293,2009
$GC,16474,0.52,225.9,857.1,7.6,396,16479,0.15,2.33,0.00,0.000,4,0.140,0.051,2110,3716,2006
$GC,16518,0.52,225.9,854.1,5.8,396,16522,0.00,2.25,0.00,0.000,6,0.000,0.033,2118,2295,2006
$GC,16834,0.55,245.4,838.7,4.8,402,16861,0.00,0.00,20.33,1.034,6,0.000,0.000,2118,2295,1930
$GC,17137,0.60,265.2,824.1,4.8,407,17162,0.00,2.38,19.10,1.114,4,0.000,0.055,2118,3706,1849
$GC,17191,0.63,265.2,821.1,6.3,407,17195,0.00,2.28,0.00,0.000,6,0.000,0.035,2128,2296,1848
$GC,17502,0.63,265.2,803.0,5.9,412,17503,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2295,1845
$GC,17805,0.65,265.2,784.3,6.2,417,17806,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2295,1844
$GC,18108,0.67,265.2,764.9,6.4,422,18112,0.00,2.30,0.00,0.000,4,0.000,0.054,2128,3709,1843
$GC,18142,0.67,265.2,762.2,7.5,422,18146,0.00,2.25,0.00,0.000,6,0.000,0.036,2138,2296,1843
$GC,18469,0.67,265.2,739.4,7.1,428,18470,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2296,1842
$GC,18771,0.67,265.2,717.2,7.3,433,18775,0.00,2.30,0.00,0.000,4,0.000,0.048,2138,3718,1843
$GC,18793,0.67,265.2,715.4,8.7,433,18797,0.00,2.25,0.00,0.000,6,0.000,0.033,2148,2292,1842
$GC,19132,0.65,265.2,689.2,7.7,439,19136,0.00,2.28,0.00,0.000,4,0.000,0.048,2148,3710,1842
$GC,19160,0.61,265.2,686.8,7.6,439,19165,0.12,2.22,0.00,0.000,6,0.140,0.033,2126,2293,1842
$GC,19493,0.65,265.2,666.8,5.8,445,19496,0.00,2.25,0.00,0.000,4,0.000,0.048,2134,885,1842
$GC,19527,0.70,265.2,664.8,6.0,445,19531,0.00,2.25,0.00,0.000,6,0.000,0.038,2134,2316,1841
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$STATE,29098,end climb,SURFACE_DEPTH_REACHED
$STATE,29098,begin surface coast
$FINISH,1.4,1.025383
$STATE,29131,end surface coast,CONTROL_FINISHED_OK
$STATE,29135,begin surface
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$IRIDIUM_FIX,4953.05,-14425.79,120299,141442
$TT8_MAMPS,0.028379
$HUMID,1713
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$TCM_TEMP,16.10
$XPDR_PINGS,103
$24V_AH,21.9,69.680
$10V_AH,10.5,60.082
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$DEVICE_SECS,18.775,262.325,375.750,2.750,0.000,53.879,123.200,155.017,25.750,0.000,0.000,12.554,1764.913,24117.412,550.031,2375.216,880.585,33.367,1753.396,0.000,2359.414,0.000,0.527,0.000
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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,44306,775
$CAP_FILE_SIZE,195419,0
$CFSIZE,260165632,221450240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181109,221300,5009.423,-14429.196,48,1.5,48,18.6