version: 66.04
glider: 144
mission: 15
dive: 811
start: 3 10 110 23 41 27
data:
$ID,144
$MISSION,15
$DIVE,811
$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,-78114.109
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,233227,4903.417,-13152.639,55,3.5,74,19.5
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-45.1
$GPS2,234034,4903.488,-13152.396,27,3.4,46,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.164,-0.037
$KALMAN_X,-44510.9,140.7,59.0,987568.0,208.7
$KALMAN_Y,69847.6,-26.7,11.8,-213337.6,633.0
$MHEAD_RNG_PITCHd_Wd,83.2,88559,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,79,0.00,0.00,-59.88,0.000,2,0.000,0.000,97,2300,2839
$GC,83,-0.68,-117.3,4.7,-6.1,3,107,7.00,2.42,-11.30,0.000,4,0.225,0.064,1839,3711,3413
$GC,305,-0.60,-117.3,38.5,-17.0,12,312,0.12,2.22,0.00,0.000,6,0.122,0.029,1873,2295,3415
$GC,624,-0.60,-117.3,72.8,-10.2,28,628,0.00,2.28,0.00,0.000,4,0.000,0.041,1873,889,3415
$GC,681,-0.65,-117.3,79.9,-12.6,30,687,0.00,2.25,0.00,0.000,6,0.000,0.035,1866,2306,3415
$GC,1012,-0.68,-117.3,112.4,-8.3,61,1016,0.00,2.30,0.00,0.000,4,0.000,0.047,1857,3712,3415
$GC,1047,-0.73,-117.3,115.5,-8.3,63,1054,0.00,2.20,0.00,0.000,6,0.000,0.028,1857,2297,3415
$GC,1378,-0.78,-117.3,134.8,-5.8,94,1383,0.10,2.25,0.00,0.000,4,0.067,0.039,1777,899,3415
$GC,1508,-0.67,-117.3,151.0,-13.8,105,1515,0.30,2.28,0.00,0.000,6,0.114,0.035,1858,2307,3415
$GC,1823,-0.72,-117.3,176.2,-7.4,116,1826,0.00,2.28,0.00,0.000,4,0.000,0.040,1858,902,3415
$GC,1859,-0.78,-117.3,178.8,-7.7,117,1864,0.10,2.28,0.00,0.000,6,0.062,0.043,1782,2303,3416
$GC,2197,-0.70,-117.3,215.9,-10.8,128,2199,0.22,0.00,0.00,0.000,6,0.113,0.000,1852,2303,3415
$GC,2502,-0.75,-117.3,236.8,-6.6,138,2506,0.00,2.28,0.00,0.000,4,0.000,0.041,1852,894,3415
$GC,2543,-0.81,-117.3,239.6,-6.5,139,2548,0.10,2.30,0.00,0.000,6,0.063,0.036,1775,2310,3415
$GC,2870,-0.72,-117.3,274.9,-11.3,150,2874,0.20,2.30,0.00,0.000,4,0.117,0.040,1843,902,3415
$GC,2949,-0.76,-117.3,282.0,-7.9,152,2953,0.00,2.28,0.00,0.000,6,0.000,0.042,1837,2301,3415
$GC,3300,-0.79,-117.3,309.6,-7.9,162,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2301,3415
$GC,3602,-0.82,-117.3,331.3,-7.1,167,3606,0.00,2.28,0.00,0.000,4,0.000,0.041,1836,895,3415
$GC,3631,-0.85,-117.3,333.5,-7.5,167,3635,0.00,2.30,0.00,0.000,6,0.000,0.043,1836,2302,3414
$GC,3965,-0.88,-117.3,357.6,-7.4,173,3970,0.10,2.28,0.00,0.000,4,0.067,0.046,1768,904,3414
$GC,4006,-0.79,-117.3,361.7,-10.8,173,4011,0.25,2.28,0.00,0.000,6,0.116,0.038,1830,2307,3414
$GC,4329,-0.81,-117.3,385.9,-7.3,179,4333,0.00,2.28,0.00,0.000,4,0.000,0.049,1830,903,3413
$GC,4369,-0.85,-117.3,389.0,-7.0,179,4373,0.00,2.28,0.00,0.000,6,0.000,0.039,1823,2312,3413
$GC,4693,-0.85,-117.3,414.0,-7.8,185,4697,0.00,2.33,0.00,0.000,4,0.000,0.044,1824,897,3413
$GC,4733,-0.87,-117.3,417.2,-7.7,185,4737,0.00,2.30,0.00,0.000,6,0.000,0.041,1820,2303,3413
$GC,5056,-0.87,-117.3,438.6,-6.4,191,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2303,3413
$GC,5359,-0.87,-117.3,455.5,-5.7,196,5363,0.00,2.30,0.00,0.000,4,0.000,0.043,1820,904,3412
$GC,5433,-0.87,-117.3,460.5,-6.5,197,5437,0.00,2.28,0.00,0.000,6,0.000,0.043,1811,2303,3412
$GC,5795,-0.87,-117.3,486.2,-7.2,203,5799,0.00,2.33,0.00,0.000,4,0.000,0.049,1810,898,3412
$GC,5823,-0.87,-117.3,488.6,-7.6,203,5828,0.00,2.30,0.00,0.000,6,0.000,0.039,1803,2313,3412
$GC,6158,-0.85,-117.3,514.8,-7.8,209,6162,0.00,2.33,0.00,0.000,4,0.000,0.047,1803,901,3411
$GC,6193,-0.85,-117.3,517.8,-8.4,209,6198,0.10,2.30,0.00,0.000,6,0.126,0.041,1821,2303,3411
$GC,6521,-0.87,-117.3,540.8,-7.0,215,6525,0.00,2.30,0.00,0.000,4,0.000,0.044,1821,903,3411
$GC,6567,-0.89,-117.3,544.5,-7.9,215,6571,0.00,2.30,0.00,0.000,6,0.000,0.044,1821,2304,3411
$GC,6885,-0.89,-117.3,566.7,-7.0,221,6889,0.00,2.35,0.00,0.000,4,0.000,0.043,1821,893,3411
$GC,6920,-0.92,-117.3,569.4,-7.6,221,6924,0.00,2.33,0.00,0.000,6,0.000,0.040,1813,2312,3411
$GC,7253,-0.92,-117.3,594.6,-7.6,227,7257,0.00,2.33,0.00,0.000,4,0.000,0.046,1813,899,3411
$GC,7283,-0.92,-117.3,597.1,-8.9,227,7287,0.00,2.30,0.00,0.000,6,0.000,0.038,1809,2303,3411
$GC,7622,-0.92,-117.3,622.4,-7.2,233,7626,0.00,2.30,0.00,0.000,4,0.000,0.049,1809,895,3411
$GC,7668,-0.92,-117.3,625.5,-7.0,233,7673,0.00,2.28,0.00,0.000,6,0.000,0.045,1808,2301,3410
$GC,7996,-0.92,-117.3,646.2,-6.3,239,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2301,3410
$GC,8300,-0.92,-117.3,665.0,-6.3,244,8304,0.00,2.30,0.00,0.000,4,0.000,0.050,1807,903,3410
$GC,8363,-0.92,-117.3,669.4,-6.7,244,8369,0.00,2.30,0.00,0.000,6,0.000,0.045,1799,2310,3410
$GC,8674,-0.92,-117.3,691.1,-7.0,250,8678,0.00,2.35,0.00,0.000,4,0.000,0.044,1798,899,3409
$GC,8711,-0.92,-117.3,693.8,-7.6,250,8715,0.00,2.35,0.00,0.000,6,0.000,0.043,1794,2315,3409
$GC,9040,-0.90,-117.3,718.3,-7.6,256,9044,0.00,2.33,0.00,0.000,4,0.000,0.046,1794,905,3409
$GC,9080,-0.90,-117.3,721.7,-8.1,256,9084,0.00,2.30,0.00,0.000,6,0.000,0.040,1786,2306,3409
$GC,9402,-0.86,-117.3,748.4,-8.3,262,9404,0.10,0.00,0.00,0.000,6,0.134,0.000,1815,2306,3409
$GC,9705,-0.89,-117.3,767.9,-6.3,267,9709,0.00,2.33,0.00,0.000,4,0.000,0.044,1815,903,3408
$GC,9764,-0.93,-117.3,771.9,-7.0,267,9770,0.00,2.33,0.00,0.000,6,0.000,0.038,1810,2313,3408
$GC,10075,-0.93,-117.3,791.8,-6.4,273,10079,0.00,2.33,0.00,0.000,4,0.000,0.051,1809,907,3409
$GC,10126,-0.93,-117.3,795.5,-6.9,273,10130,0.00,2.33,0.00,0.000,6,0.000,0.039,1808,2303,3408
$GC,10438,-0.93,-117.3,816.0,-6.6,278,10442,0.00,2.33,0.00,0.000,4,0.000,0.044,1808,901,3408
$GC,10495,-0.93,-117.3,820.2,-7.2,278,10501,0.00,2.30,0.00,0.000,6,0.000,0.044,1807,2303,3408
$GC,10806,-0.93,-117.3,840.2,-6.5,284,10807,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3408
$GC,11109,-0.93,-117.3,860.1,-6.6,289,11113,0.00,2.33,0.00,0.000,4,0.000,0.050,1807,904,3408
$GC,11145,-0.93,-117.3,862.5,-7.0,289,11149,0.00,2.33,0.00,0.000,6,0.000,0.042,1805,2302,3408
$GC,11472,-0.93,-117.3,885.3,-6.9,295,11476,0.00,2.33,0.00,0.000,4,0.000,0.050,1806,903,3407
$GC,11512,-0.93,-117.3,888.4,-7.9,295,11516,0.00,2.33,0.00,0.000,6,0.000,0.044,1796,2307,3408
$GC,11834,-0.93,-117.3,911.9,-7.3,301,11838,0.00,2.33,0.00,0.000,4,0.000,0.046,1796,901,3407
$GC,11886,-0.93,-117.3,915.8,-7.2,301,11890,0.00,2.33,0.00,0.000,6,0.000,0.045,1794,2302,3407
$GC,12208,-0.93,-117.3,936.2,-6.2,307,12212,0.00,2.30,0.00,0.000,4,0.000,0.050,1794,905,3407
$GC,12248,-0.93,-117.3,938.7,-5.8,307,12252,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2300,3407
$GC,12576,-0.93,-117.3,956.5,-5.4,313,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2300,3407
$GC,12879,-0.93,-117.3,971.5,-4.9,318,12883,0.00,2.33,0.00,0.000,4,0.000,0.048,1794,906,3407
$GC,12930,-0.93,-117.3,974.5,-5.9,318,12934,0.00,2.35,0.00,0.000,6,0.000,0.041,1793,2314,3406
$STATE,13237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13237,begin apogee
$GC,13247,-0.22,0.0,992.8,5.9,323,13347,0.50,0.00,97.60,1.275,6,0.108,0.000,1953,2314,2931
$STATE,13348,end apogee,CONTROL_FINISHED_OK
$STATE,13348,begin climb
$GC,13354,0.68,117.3,994.2,0.0,324,13465,0.55,2.60,103.50,1.249,4,0.072,0.057,2148,3707,2451
$GC,13534,0.51,117.3,990.0,7.7,326,13539,0.20,2.35,0.00,0.000,6,0.150,0.033,2110,2314,2446
$GC,13847,0.52,149.1,976.0,4.4,331,13876,0.00,0.00,26.90,1.198,6,0.000,0.000,2110,2314,2323
$GC,14149,0.55,173.4,961.8,4.7,336,14172,0.00,0.00,21.75,1.180,6,0.000,0.000,2110,2314,2224
$GC,14452,0.58,202.3,948.0,4.5,341,14480,0.00,0.00,26.27,1.184,6,0.000,0.000,2110,2314,2105
$GC,14756,0.64,228.7,933.9,4.6,346,14783,0.10,0.00,24.15,1.173,6,0.071,0.000,2157,2313,1998
$GC,15058,0.56,228.7,911.4,7.6,351,15063,0.15,2.33,0.00,0.000,4,0.139,0.054,2117,3720,1993
$GC,15092,0.56,228.7,908.6,6.7,351,15097,0.00,2.25,0.00,0.000,6,0.000,0.037,2125,2302,1992
$GC,15420,0.56,228.7,889.0,6.0,357,15424,0.00,2.30,0.00,0.000,4,0.000,0.051,2135,893,1991
$GC,15451,0.58,228.7,887.3,6.0,357,15455,0.00,2.30,0.00,0.000,6,0.000,0.044,2135,2311,1990
$GC,15784,0.58,228.7,865.6,6.5,363,15788,0.00,2.30,0.00,0.000,4,0.000,0.051,2135,3711,1990
$GC,15819,0.54,228.7,862.8,8.4,363,15824,0.12,2.25,0.00,0.000,6,0.144,0.039,2113,2294,1989
$GC,16148,0.58,228.7,844.4,5.6,369,16152,0.00,2.28,0.00,0.000,4,0.000,0.051,2121,892,1989
$GC,16177,0.63,228.7,842.6,5.6,369,16181,0.00,2.28,0.00,0.000,6,0.000,0.038,2121,2306,1989
$GC,16516,0.66,228.7,822.6,5.8,375,16520,0.08,2.30,0.00,0.000,4,0.084,0.054,2173,3708,1989
$GC,16557,0.52,228.7,818.8,10.1,375,16562,0.25,2.25,0.00,0.000,6,0.146,0.035,2117,2298,1989
$GC,16891,0.56,228.7,798.7,5.7,381,16895,0.00,2.30,0.00,0.000,4,0.000,0.054,2126,896,1989
$GC,16926,0.60,228.7,796.5,5.9,381,16930,0.00,2.30,0.00,0.000,6,0.000,0.038,2126,2309,1988
$GC,17254,0.60,228.7,775.5,6.3,387,17259,0.00,2.33,0.00,0.000,4,0.000,0.049,2126,3707,1988
$GC,17278,0.60,228.7,773.9,6.0,387,17282,0.00,2.22,0.00,0.000,6,0.000,0.032,2136,2301,1988
$GC,17616,0.60,228.7,749.7,7.1,393,17620,0.00,2.35,0.00,0.000,4,0.000,0.048,2135,3707,1988
$GC,17646,0.56,228.7,747.2,7.8,393,17651,0.10,2.22,0.00,0.000,6,0.140,0.032,2124,2299,1988
$GC,17980,0.56,228.7,726.4,6.0,399,17984,0.00,2.33,0.00,0.000,4,0.000,0.051,2133,887,1988
$GC,18014,0.59,228.7,724.2,6.1,399,18019,0.00,2.30,0.00,0.000,6,0.000,0.041,2133,2307,1988
$GC,18343,0.60,230.2,706.2,5.5,405,18347,0.00,2.30,0.00,0.000,4,0.000,0.050,2133,3708,1988
$GC,18390,0.56,230.2,702.8,7.6,405,18395,0.10,2.20,0.00,0.000,6,0.140,0.031,2121,2299,1987
$GC,18707,0.60,240.7,686.3,5.1,411,18722,0.00,2.30,10.43,0.953,4,0.000,0.052,2130,888,1948
$GC,18747,0.67,256.7,684.1,5.0,411,18769,0.00,2.28,15.50,0.988,6,0.000,0.040,2130,2306,1884
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$STATE,27568,end climb,SURFACE_DEPTH_REACHED
$STATE,27568,begin surface coast
$FINISH,1.3,1.025280
$STATE,27591,end surface coast,CONTROL_FINISHED_OK
$STATE,27591,begin surface
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$IRIDIUM_FIX,4846.86,-13158.75,040699,151515
$TT8_MAMPS,0.029146
$HUMID,1795
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$TCM_TEMP,18.30
$XPDR_PINGS,84
$24V_AH,21.8,116.942
$10V_AH,10.3,98.851
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$DEVICE_SECS,18.825,252.725,388.375,0.000,0.000,24.068,28.408,209.733,21.000,0.000,0.000,52.306,1594.590,22823.615,567.143,2123.003,1037.264,33.380,1697.469,0.000,2065.112,0.000,0.530,0.000
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$SENSOR_SECS,477.301,563.370,705.580,705.071,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41190,679
$CAP_FILE_SIZE,182761,0
$CFSIZE,260165632,195575808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110310,072439,4903.123,-13146.088,71,1.6,71,19.5