version: 66.04
glider: 144
mission: 15
dive: 818
start: 3 13 110 8 8 0
data:
$ID,144
$MISSION,15
$DIVE,818
$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,-78237.547
$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,34
$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
$GPS1,080007,4859.174,-13114.865,24,1.5,24,19.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-53.1
$GPS2,080702,4859.175,-13114.910,12,1.5,12,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,-0.048
$KALMAN_X,-41099.6,141.0,22.1,1028492.6,209.5
$KALMAN_Y,73246.3,-91.7,-252.2,-224397.5,1471.6
$MHEAD_RNG_PITCHd_Wd,87.2,42480,-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,-117.3,0.0,0.0,0,59,0.00,0.00,-40.35,0.000,2,0.000,0.000,99,2301,2354
$GC,64,-0.68,-117.3,3.3,-4.1,2,108,7.00,2.35,-30.45,0.000,4,0.223,0.068,1838,3711,3409
$GC,273,-0.65,-117.3,23.0,-10.2,11,278,0.10,2.22,0.00,0.000,6,0.123,0.029,1865,2292,3410
$GC,596,-0.65,-117.3,51.0,-10.8,27,600,0.00,2.25,0.00,0.000,4,0.000,0.041,1865,897,3411
$GC,661,-0.67,-117.3,57.7,-10.3,30,665,0.00,2.28,0.00,0.000,6,0.000,0.036,1863,2307,3411
$GC,982,-0.67,-117.3,89.9,-10.3,50,986,0.00,2.28,0.00,0.000,4,0.000,0.039,1863,899,3411
$GC,1028,-0.67,-117.3,94.5,-9.4,53,1035,0.00,2.28,0.00,0.000,6,0.000,0.037,1854,2314,3411
$GC,1357,-0.67,-117.3,121.2,-7.9,84,1361,0.00,2.30,0.00,0.000,4,0.000,0.039,1854,891,3411
$GC,1403,-0.71,-117.3,125.3,-7.9,87,1409,0.00,2.28,0.00,0.000,6,0.000,0.036,1850,2304,3411
$GC,1734,-0.71,-117.3,150.9,-8.0,118,1738,0.00,2.35,0.00,0.000,4,0.000,0.048,1843,3718,3411
$GC,1771,-0.71,-117.3,154.0,-8.4,119,1775,0.00,2.20,0.00,0.000,6,0.000,0.028,1843,2294,3411
$GC,2114,-0.73,-117.3,180.8,-8.5,130,2118,0.00,2.28,0.00,0.000,4,0.000,0.040,1843,890,3411
$GC,2189,-0.76,-117.3,187.6,-9.3,132,2193,0.00,2.28,0.00,0.000,6,0.000,0.035,1837,2309,3411
$GC,2526,-0.76,-117.3,213.2,-7.1,143,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2309,3411
$GC,2832,-0.76,-117.3,235.3,-7.3,153,2836,0.00,2.30,0.00,0.000,4,0.000,0.040,1837,888,3411
$GC,2890,-0.80,-117.3,239.7,-7.5,154,2894,0.00,2.33,0.00,0.000,6,0.000,0.044,1836,2304,3411
$GC,3204,-0.80,-117.3,260.1,-6.4,164,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2304,3411
$GC,3511,-0.82,-117.3,281.5,-7.3,174,3515,0.00,2.28,0.00,0.000,4,0.000,0.041,1836,897,3411
$GC,3574,-0.85,-117.3,286.5,-8.1,175,3580,0.00,2.30,0.00,0.000,6,0.000,0.041,1835,2307,3411
$GC,3888,-0.85,-117.3,309.7,-7.4,184,3892,0.00,2.28,0.00,0.000,4,0.000,0.041,1835,901,3410
$GC,3940,-0.88,-117.3,314.0,-7.9,184,3944,0.00,2.25,0.00,0.000,6,0.000,0.036,1826,2304,3410
$GC,4262,-0.88,-117.3,340.1,-8.1,190,4266,0.00,2.30,0.00,0.000,4,0.000,0.042,1826,895,3409
$GC,4342,-0.88,-117.3,346.7,-8.1,191,4346,0.00,2.30,0.00,0.000,6,0.000,0.041,1821,2306,3410
$GC,4697,-0.88,-117.3,373.6,-7.5,197,4701,0.00,2.30,0.00,0.000,4,0.000,0.043,1821,893,3409
$GC,4771,-0.88,-117.3,379.5,-8.0,198,4775,0.00,2.33,0.00,0.000,6,0.000,0.042,1812,2312,3409
$GC,5128,-0.88,-117.3,408.4,-8.0,204,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2312,3409
$GC,5430,-0.88,-117.3,432.0,-7.8,209,5434,0.00,2.28,0.00,0.000,4,0.000,0.043,1812,903,3408
$GC,5471,-0.88,-117.3,435.4,-8.2,209,5475,0.00,2.30,0.00,0.000,6,0.000,0.045,1807,2309,3408
$GC,5798,-0.88,-117.3,462.7,-8.5,215,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2310,3408
$GC,6101,-0.88,-117.3,488.5,-8.4,220,6105,0.00,2.33,0.00,0.000,4,0.000,0.046,1807,902,3408
$GC,6137,-0.88,-117.3,491.7,-9.3,220,6141,0.00,2.30,0.00,0.000,6,0.000,0.042,1797,2309,3408
$GC,6465,-0.85,-117.3,521.9,-9.2,226,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2309,3407
$GC,6768,-0.81,-117.3,549.4,-9.1,231,6773,0.10,2.35,0.00,0.000,4,0.132,0.044,1826,893,3407
$GC,6815,-0.85,-117.3,553.5,-8.5,231,6819,0.00,2.33,0.00,0.000,6,0.000,0.040,1822,2306,3407
$GC,7132,-0.87,-117.3,576.6,-7.2,237,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2307,3407
$GC,7435,-0.89,-117.3,597.2,-6.7,242,7439,0.00,2.30,0.00,0.000,4,0.000,0.043,1822,903,3407
$GC,7499,-0.93,-117.3,601.9,-8.1,243,7504,0.10,2.33,0.00,0.000,6,0.066,0.038,1757,2312,3407
$GC,7867,-0.83,-117.3,639.6,-10.3,249,7869,0.22,0.00,0.00,0.000,6,0.119,0.000,1826,2312,3406
$GC,8169,-0.87,-117.3,660.2,-6.7,254,8173,0.00,2.33,0.00,0.000,4,0.000,0.046,1826,903,3406
$GC,8215,-0.92,-117.3,663.5,-7.1,254,8219,0.00,2.30,0.00,0.000,6,0.000,0.039,1822,2303,3406
$GC,8532,-0.95,-117.3,685.8,-7.1,260,8537,0.10,2.35,0.00,0.000,4,0.066,0.042,1751,901,3405
$GC,8567,-0.85,-117.3,689.1,-11.1,260,8572,0.25,2.35,0.00,0.000,6,0.123,0.044,1813,2310,3405
$GC,8895,-0.85,-117.3,712.7,-6.9,266,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2310,3405
$GC,9199,-0.85,-117.3,731.9,-6.3,271,9203,0.00,2.33,0.00,0.000,4,0.000,0.049,1814,903,3405
$GC,9235,-0.88,-117.3,734.5,-7.1,271,9239,0.00,2.30,0.00,0.000,6,0.000,0.044,1809,2307,3405
$GC,9562,-0.88,-117.3,755.5,-6.5,277,9566,0.00,2.35,0.00,0.000,4,0.000,0.050,1799,3708,3405
$GC,9591,-0.88,-117.3,757.7,-7.3,277,9596,0.00,2.25,0.00,0.000,6,0.000,0.034,1799,2305,3404
$GC,9926,-0.88,-117.3,780.0,-6.7,283,9930,0.00,2.35,0.00,0.000,4,0.000,0.043,1799,894,3404
$GC,9989,-0.88,-117.3,785.0,-7.7,284,9993,0.00,2.33,0.00,0.000,6,0.000,0.041,1794,2310,3404
$GC,10362,-0.88,-117.3,813.2,-7.6,290,10363,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2310,3404
$GC,10666,-0.88,-117.3,835.0,-7.1,295,10670,0.00,2.35,0.00,0.000,4,0.000,0.043,1794,901,3404
$GC,10723,-0.88,-117.3,839.2,-7.5,295,10730,0.05,2.35,0.00,0.000,6,0.125,0.040,1804,2301,3404
$GC,11034,-0.88,-117.3,859.4,-6.5,301,11035,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2301,3403
$GC,11337,-0.88,-117.3,880.0,-6.8,306,11341,0.00,2.33,0.00,0.000,4,0.000,0.045,1804,901,3403
$GC,11402,-0.88,-117.3,884.8,-7.1,307,11406,0.00,2.33,0.00,0.000,6,0.000,0.040,1796,2308,3403
$GC,11775,-0.88,-117.3,911.2,-7.0,313,11779,0.00,2.33,0.00,0.000,4,0.000,0.047,1796,900,3403
$GC,11826,-0.88,-117.3,915.2,-8.0,313,11830,0.00,2.33,0.00,0.000,6,0.000,0.044,1794,2304,3403
$GC,12149,-0.88,-117.3,938.7,-7.3,319,12150,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3403
$GC,12451,-0.88,-117.3,960.0,-7.0,324,12452,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3402
$GC,12754,-0.88,-117.3,981.2,-7.0,329,12758,0.00,2.38,0.00,0.000,4,0.000,0.046,1794,901,3402
$GC,12799,-0.88,-117.3,984.5,-7.6,329,12803,0.00,2.38,0.00,0.000,6,0.000,0.046,1790,2307,3402
$STATE,12929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12930,begin apogee
$GC,12940,-0.22,0.0,993.8,7.1,332,13040,0.50,0.00,96.80,1.276,6,0.107,0.000,1950,2307,2931
$STATE,13041,end apogee,CONTROL_FINISHED_OK
$STATE,13041,begin climb
$GC,13045,0.68,117.3,995.4,0.0,333,13157,0.60,2.62,103.43,1.249,4,0.070,0.051,2154,3706,2451
$GC,13193,0.48,117.3,993.1,6.3,336,13198,0.25,2.40,0.00,0.000,6,0.158,0.033,2105,2310,2446
$GC,13545,0.49,145.6,976.7,4.5,342,13570,0.00,0.00,24.02,1.190,6,0.000,0.000,2105,2310,2336
$GC,13846,0.53,178.5,963.4,4.4,347,13877,0.00,0.00,29.27,1.200,6,0.000,0.000,2105,2310,2202
$GC,14149,0.57,209.8,950.1,4.4,352,14179,0.00,0.00,28.15,1.191,6,0.000,0.000,2105,2310,2075
$GC,14454,0.62,219.8,934.6,5.2,357,14466,0.10,0.00,9.85,1.056,6,0.073,0.000,2155,2309,2034
$GC,14755,0.54,219.8,909.6,8.5,362,14760,0.15,2.35,0.00,0.000,4,0.135,0.054,2111,3711,2030
$GC,14784,0.54,219.8,907.2,7.5,362,14788,0.00,2.28,0.00,0.000,6,0.000,0.037,2119,2293,2030
$GC,15119,0.54,219.8,886.0,6.3,368,15120,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2293,2029
$GC,15421,0.54,219.8,867.9,5.9,373,15422,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2293,2028
$GC,15725,0.58,228.5,851.9,5.2,378,15739,0.00,2.40,8.20,0.992,4,0.000,0.054,2120,3711,1999
$GC,15758,0.58,230.6,849.8,5.4,378,15762,0.00,2.25,0.00,0.000,6,0.000,0.037,2130,2303,1998
$GC,16093,0.58,230.6,830.2,5.9,384,16094,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2303,1997
$GC,16395,0.58,230.6,811.8,6.1,389,16396,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2303,1996
$GC,16698,0.58,230.6,791.8,6.6,394,16699,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2304,1996
$GC,17001,0.58,230.6,771.7,6.6,399,17005,0.00,2.33,0.00,0.000,4,0.000,0.051,2130,3711,1996
$GC,17031,0.58,230.6,769.6,7.5,399,17035,0.00,2.25,0.00,0.000,6,0.000,0.039,2140,2302,1995
$GC,17370,0.58,230.6,746.3,6.8,405,17374,0.00,2.35,0.00,0.000,4,0.000,0.051,2139,3714,1995
$GC,17393,0.54,230.6,744.4,7.6,405,17398,0.12,2.25,0.00,0.000,6,0.134,0.032,2120,2299,1995
$GC,17740,0.60,252.9,727.0,4.7,411,17769,0.00,2.38,22.30,1.053,4,0.000,0.045,2129,891,1899
$GC,17790,0.71,299.7,724.6,3.9,411,17846,0.10,2.30,45.47,1.029,6,0.065,0.037,2191,2307,1709
$GC,18173,0.61,299.7,686.8,10.5,418,18177,0.20,2.28,0.00,0.000,4,0.132,0.049,2128,3713,1702
$GC,18233,0.65,299.7,681.2,7.1,418,18237,0.00,2.22,0.00,0.000,6,0.000,0.032,2135,2290,1701
$GC,18544,0.69,299.7,659.3,7.0,423,18548,0.00,2.28,0.00,0.000,4,0.000,0.050,2145,892,1700
$GC,18568,0.73,299.7,657.4,7.0,423,18572,0.00,2.25,0.00,0.000,6,0.000,0.043,2146,2304,1699
$GC,18919,0.73,299.7,632.6,7.0,429,18923,0.00,2.30,0.00,0.000,4,0.000,0.049,2146,3707,1699
$GC,18959,0.73,299.7,629.3,8.4,429,18963,0.00,2.22,0.00,0.000,6,0.000,0.031,2155,2303,1699
$GC,19281,0.73,299.7,603.6,8.0,435,19285,0.00,2.30,0.00,0.000,4,0.000,0.046,2165,895,1698
$GC,19310,0.73,299.7,601.2,7.3,435,19314,0.00,2.28,0.00,0.000,6,0.000,0.037,2165,2304,1697
$GC,19645,0.70,299.7,572.6,8.7,441,19649,0.00,2.33,0.00,0.000,4,0.000,0.047,2165,3711,1697
$GC,19680,0.65,299.7,568.9,10.8,441,19685,0.15,2.25,0.00,0.000,6,0.128,0.036,2135,2305,1697
$GC,20013,0.70,299.7,546.5,6.7,447,20017,0.00,2.30,0.00,0.000,4,0.000,0.049,2143,893,1697
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$STATE,26999,end climb,SURFACE_DEPTH_REACHED
$STATE,26999,begin surface coast
$FINISH,1.7,1.025298
$STATE,27021,end surface coast,CONTROL_FINISHED_OK
$STATE,27021,begin surface
$SM_CCo,27103,0.00,0.000,0,0,1568,334.34
$SM_GC,2.31,5.53,0.00,0.00,0.029,0.000,0.000,99,2294,1568,-8.63,-0.25,334.34
$IRIDIUM_FIX,4843.59,-13124.12,070699,000026
$TT8_MAMPS,0.029146
$HUMID,1771
$INTERNAL_PRESSURE,7.40263
$TCM_TEMP,16.20
$XPDR_PINGS,65
$24V_AH,21.8,117.999
$10V_AH,10.3,99.647
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$DEVICE_SECS,17.300,216.175,396.600,0.000,0.000,27.681,26.786,175.000,16.250,0.000,0.000,13.873,1553.418,22364.438,560.080,2062.158,964.998,33.383,1661.316,0.000,2041.089,0.000,0.528,0.000
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$SENSOR_SECS,478.637,556.469,703.378,729.674,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41232,680
$CAP_FILE_SIZE,169057,0
$CFSIZE,260165632,195043328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130310,154127,4858.347,-13110.100,39,4.4,59,19.5