version: 66.04
glider: 144
mission: 15
dive: 822
start: 3 14 110 15 54 24
data:
$ID,144
$MISSION,15
$DIVE,822
$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,-78403.062
$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,34
$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
$GPS1,154254,4857.955,-13056.102,61,1.5,61,19.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-46.3
$GPS2,155326,4858.058,-13056.215,14,1.6,14,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.166,-0.024
$KALMAN_X,-42778.0,-125.4,114.1,1052442.6,-734.9
$KALMAN_Y,73999.2,-54.0,-79.3,-227438.2,936.3
$MHEAD_RNG_PITCHd_Wd,78.7,19715,-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,-59.75,0.000,2,0.000,0.000,99,2300,2974
$GC,84,-0.68,-117.3,4.3,-5.1,3,107,6.95,2.38,-9.00,0.000,4,0.220,0.061,1840,3704,3412
$GC,215,-0.68,-117.3,28.2,-13.6,8,221,0.00,2.25,0.00,0.000,6,0.000,0.029,1840,2293,3413
$GC,533,-0.62,-117.3,66.8,-12.5,24,537,0.10,2.28,0.00,0.000,4,0.133,0.040,1868,901,3413
$GC,574,-0.62,-117.3,70.9,-9.6,26,578,0.00,2.25,0.00,0.000,6,0.000,0.043,1863,2303,3413
$GC,907,-0.62,-117.3,102.1,-7.9,52,911,0.00,2.28,0.00,0.000,4,0.000,0.039,1863,889,3413
$GC,960,-0.66,-117.3,106.4,-7.7,56,965,0.00,2.30,0.00,0.000,6,0.000,0.037,1863,2317,3413
$GC,1293,-0.71,-117.3,127.9,-6.5,86,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2317,3413
$GC,1621,-0.76,-117.3,149.4,-6.3,117,1628,0.10,0.00,0.00,0.000,6,0.063,0.000,1777,2318,3412
$GC,1947,-0.66,-117.3,183.9,-10.7,129,1952,0.22,2.35,0.00,0.000,4,0.118,0.041,1851,894,3413
$GC,2000,-0.72,-117.3,188.2,-7.1,130,2004,0.00,2.28,0.00,0.000,6,0.000,0.036,1849,2299,3413
$GC,2320,-0.77,-117.3,210.8,-7.4,141,2323,0.00,2.25,0.00,0.000,4,0.000,0.039,1849,900,3413
$GC,2361,-0.82,-117.3,214.2,-7.8,142,2366,0.10,2.30,0.00,0.000,6,0.064,0.038,1778,2313,3412
$GC,2693,-0.73,-117.3,251.5,-11.2,153,2698,0.20,2.30,0.00,0.000,4,0.119,0.039,1843,894,3413
$GC,2728,-0.77,-117.3,255.0,-8.5,154,2732,0.00,2.28,0.00,0.000,6,0.000,0.037,1837,2310,3413
$GC,3059,-0.79,-117.3,282.0,-8.7,165,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2311,3413
$GC,3396,-0.82,-117.3,311.4,-8.7,174,3400,0.00,2.30,0.00,0.000,4,0.000,0.044,1837,899,3413
$GC,3420,-0.86,-117.3,313.8,-9.1,174,3424,0.10,2.30,0.00,0.000,6,0.064,0.039,1768,2312,3412
$GC,3764,-0.76,-117.3,355.4,-12.4,180,3769,0.20,2.33,0.00,0.000,4,0.120,0.040,1833,901,3412
$GC,3851,-0.79,-117.3,363.6,-8.5,181,3855,0.00,2.28,0.00,0.000,6,0.000,0.036,1825,2309,3412
$GC,4195,-0.79,-117.3,394.3,-8.9,187,4199,0.00,2.33,0.00,0.000,4,0.000,0.052,1816,3706,3412
$GC,4219,-0.79,-117.3,396.5,-9.3,187,4223,0.00,2.22,0.00,0.000,6,0.000,0.033,1816,2306,3412
$GC,4564,-0.79,-117.3,425.3,-8.2,193,4568,0.00,2.30,0.00,0.000,4,0.000,0.041,1816,890,3411
$GC,4622,-0.79,-117.3,430.2,-8.2,193,4626,0.00,2.30,0.00,0.000,6,0.000,0.042,1808,2299,3412
$GC,4938,-0.79,-117.3,455.6,-7.9,199,4942,0.00,2.35,0.00,0.000,4,0.000,0.051,1797,3713,3411
$GC,4974,-0.77,-117.3,458.5,-8.1,199,4978,0.12,2.22,0.00,0.000,6,0.108,0.029,1834,2297,3411
$GC,5308,-0.81,-117.3,479.3,-6.2,205,5312,0.00,2.25,0.00,0.000,4,0.000,0.041,1834,890,3411
$GC,5365,-0.87,-117.3,482.8,-6.3,205,5370,0.10,2.33,0.00,0.000,6,0.065,0.037,1765,2307,3410
$GC,5683,-0.78,-117.3,511.3,-9.2,211,5685,0.22,0.00,0.00,0.000,6,0.115,0.000,1835,2307,3410
$GC,5987,-0.83,-117.3,526.6,-4.8,216,5991,0.00,2.30,0.00,0.000,4,0.000,0.043,1835,902,3411
$GC,6033,-0.89,-117.3,529.3,-5.9,216,6037,0.10,2.28,0.00,0.000,6,0.062,0.038,1769,2298,3410
$GC,6360,-0.81,-117.3,558.1,-9.2,222,6362,0.20,0.00,0.00,0.000,6,0.115,0.000,1830,2298,3410
$GC,6665,-0.85,-117.3,579.4,-6.9,227,6669,0.00,2.33,0.00,0.000,4,0.000,0.044,1831,902,3410
$GC,6700,-0.90,-117.3,582.2,-7.8,227,6704,0.00,2.30,0.00,0.000,6,0.000,0.044,1825,2307,3410
$GC,7033,-0.93,-117.3,605.6,-7.0,233,7035,0.10,0.00,0.00,0.000,6,0.066,0.000,1751,2307,3410
$GC,7336,-0.83,-117.3,640.4,-11.9,238,7341,0.20,2.38,0.00,0.000,4,0.122,0.051,1808,3716,3408
$GC,7389,-0.86,-117.3,645.2,-8.6,238,7393,0.00,2.25,0.00,0.000,6,0.000,0.036,1808,2301,3409
$GC,7700,-0.86,-117.3,670.2,-8.0,243,7704,0.00,2.30,0.00,0.000,4,0.000,0.044,1808,897,3409
$GC,7740,-0.86,-117.3,673.9,-9.5,243,7744,0.00,2.30,0.00,0.000,6,0.000,0.044,1800,2304,3408
$GC,8063,-0.86,-117.3,699.8,-8.0,249,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2304,3408
$GC,8365,-0.86,-117.3,720.3,-6.7,254,8369,0.00,2.33,0.00,0.000,4,0.000,0.042,1800,891,3408
$GC,8440,-0.86,-117.3,725.3,-6.6,255,8444,0.00,2.33,0.00,0.000,6,0.000,0.043,1794,2300,3408
$GC,8798,-0.84,-117.3,746.4,-5.8,261,8800,0.10,0.00,0.00,0.000,6,0.132,0.000,1822,2301,3408
$GC,9100,-0.88,-117.3,759.2,-4.2,266,9104,0.00,2.30,0.00,0.000,4,0.000,0.046,1823,899,3407
$GC,9147,-0.94,-117.3,761.3,-4.4,266,9152,0.10,2.33,0.00,0.000,6,0.066,0.039,1758,2310,3407
$GC,9475,-0.85,-117.3,786.5,-8.0,272,9477,0.20,0.00,0.00,0.000,6,0.117,0.000,1818,2310,3407
$GC,9780,-0.89,-117.3,802.7,-5.2,277,9784,0.00,2.35,0.00,0.000,4,0.000,0.044,1819,896,3407
$GC,9809,-0.93,-117.3,804.4,-5.7,277,9813,0.00,2.30,0.00,0.000,6,0.000,0.042,1813,2303,3406
$GC,10148,-0.95,-117.3,823.0,-5.5,283,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2303,3407
$GC,10452,-0.98,-117.3,839.9,-5.6,288,10457,0.10,2.33,0.00,0.000,4,0.073,0.043,1750,896,3406
$GC,10481,-0.91,-117.3,842.2,-9.1,288,10486,0.22,2.33,0.00,0.000,6,0.126,0.039,1805,2306,3406
$GC,10816,-0.91,-117.3,863.2,-6.2,294,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2306,3406
$GC,11120,-0.91,-117.3,883.5,-6.8,299,11121,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2306,3406
$GC,11422,-0.91,-117.3,903.0,-6.5,304,11423,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2307,3405
$GC,11725,-0.91,-117.3,922.3,-6.3,309,11729,0.00,2.38,0.00,0.000,4,0.000,0.051,1805,894,3405
$GC,11765,-0.91,-117.3,925.2,-7.6,309,11769,0.00,2.38,0.00,0.000,6,0.000,0.043,1804,2308,3405
$GC,12092,-0.91,-117.3,945.8,-6.2,315,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2308,3405
$GC,12397,-0.91,-117.3,965.6,-6.6,320,12401,0.00,2.40,0.00,0.000,4,0.000,0.051,1804,893,3405
$GC,12426,-0.91,-117.3,967.8,-7.8,320,12430,0.00,2.38,0.00,0.000,6,0.000,0.042,1795,2311,3405
$STATE,12755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12755,begin apogee
$GC,12765,-0.22,0.0,993.0,7.6,326,12865,0.50,0.00,97.30,1.276,6,0.106,0.000,1956,2311,2931
$STATE,12865,end apogee,CONTROL_FINISHED_OK
$STATE,12866,begin climb
$GC,12871,0.68,117.3,995.5,0.0,327,12982,0.55,2.62,103.25,1.252,4,0.066,0.049,2150,3698,2450
$GC,13018,0.51,132.2,996.8,5.0,329,13038,0.20,2.40,14.20,1.123,6,0.158,0.033,2114,2312,2392
$GC,13368,0.56,193.7,984.6,3.4,335,13431,0.00,2.42,53.38,1.235,4,0.000,0.056,2113,3700,2139
$GC,13450,0.63,248.7,981.3,3.6,336,13505,0.00,2.33,50.10,1.220,6,0.000,0.033,2121,2297,1916
$GC,13873,0.67,267.8,961.6,4.9,343,13897,0.08,2.38,16.70,1.147,4,0.084,0.051,2162,3718,1838
$GC,13922,0.58,267.8,957.7,7.8,343,13927,0.17,2.28,0.00,0.000,6,0.151,0.035,2128,2301,1837
$GC,14238,0.58,267.8,938.3,5.9,349,14240,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2301,1834
$GC,14542,0.58,267.8,918.4,6.6,354,14544,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2302,1832
$GC,14845,0.61,267.8,897.8,6.7,359,14849,0.00,2.33,0.00,0.000,4,0.000,0.051,2128,3715,1832
$GC,14873,0.61,267.8,895.5,7.3,359,14878,0.00,2.25,0.00,0.000,6,0.000,0.036,2134,2304,1832
$GC,15213,0.61,267.8,869.4,7.7,365,15217,0.00,2.33,0.00,0.000,4,0.000,0.052,2134,3711,1831
$GC,15254,0.61,267.8,865.9,8.2,365,15258,0.00,2.22,0.00,0.000,6,0.000,0.034,2144,2297,1831
$GC,15588,0.58,267.8,838.6,8.3,371,15592,0.00,2.38,0.00,0.000,4,0.000,0.052,2144,3716,1831
$GC,15628,0.54,267.8,834.8,9.3,371,15633,0.15,2.28,0.00,0.000,6,0.133,0.035,2114,2297,1831
$GC,15951,0.60,267.8,814.7,6.1,377,15955,0.00,2.30,0.00,0.000,4,0.000,0.051,2124,892,1830
$GC,15975,0.67,267.8,813.1,5.6,377,15980,0.00,2.30,0.00,0.000,6,0.000,0.042,2124,2312,1829
$GC,16315,0.71,267.8,792.5,6.0,383,16320,0.10,2.33,0.00,0.000,4,0.072,0.048,2182,3713,1829
$GC,16362,0.58,267.8,787.8,12.5,383,16367,0.25,2.28,0.00,0.000,6,0.142,0.038,2125,2299,1829
$GC,16679,0.62,267.8,767.1,6.1,389,16683,0.00,2.35,0.00,0.000,4,0.000,0.049,2134,887,1829
$GC,16703,0.67,267.8,765.6,6.2,389,16707,0.00,2.33,0.00,0.000,6,0.000,0.041,2134,2308,1829
$GC,17042,0.67,267.8,743.3,6.6,395,17046,0.00,2.33,0.00,0.000,4,0.000,0.048,2134,3713,1829
$GC,17094,0.67,267.8,739.1,8.4,395,17098,0.00,2.25,0.00,0.000,6,0.000,0.035,2143,2303,1829
$GC,17405,0.67,267.8,715.2,7.8,400,17409,0.00,2.28,0.00,0.000,4,0.000,0.045,2154,893,1829
$GC,17428,0.67,267.8,713.3,8.4,400,17432,0.00,2.33,0.00,0.000,6,0.000,0.042,2154,2313,1828
$GC,17768,0.64,267.8,684.6,8.6,406,17772,0.00,2.30,0.00,0.000,4,0.000,0.050,2154,3710,1828
$GC,17828,0.58,267.8,678.6,10.3,406,17833,0.15,2.22,0.00,0.000,6,0.127,0.031,2127,2300,1828
$GC,18140,0.62,267.8,656.1,7.0,411,18141,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2300,1828
$GC,18443,0.66,267.8,636.1,6.5,416,18444,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2300,1828
$GC,18747,0.70,267.8,618.5,5.8,421,18749,0.10,0.00,0.00,0.000,6,0.068,0.000,2190,2299,1828
$GC,19049,0.59,267.8,590.1,9.6,426,19054,0.20,2.40,0.00,0.000,4,0.133,0.047,2128,3713,1828
$GC,19089,0.59,267.8,587.1,6.5,426,19093,0.00,2.22,0.00,0.000,6,0.000,0.031,2136,2303,1828
$GC,19412,0.60,274.9,570.1,5.3,432,19423,0.00,2.30,6.25,0.776,4,0.000,0.045,2146,895,1809
$GC,19453,0.64,274.9,567.6,6.0,432,19457,0.00,2.28,0.00,0.000,6,0.000,0.035,2145,2311,1809
$GC,19775,0.64,274.9,545.6,7.1,438,19779,0.00,2.35,0.00,0.000,4,0.000,0.047,2146,3718,1808
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$STATE,27695,end climb,SURFACE_DEPTH_REACHED
$STATE,27695,begin surface coast
$FINISH,1.7,1.005586
$STATE,27717,end surface coast,CONTROL_FINISHED_OK
$STATE,27717,begin surface
$SM_CCo,27799,0.00,0.000,0,0,1554,337.78
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$IRIDIUM_FIX,4840.32,-13054.20,080699,151540
$TT8_MAMPS,0.028379
$HUMID,1777
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$TCM_TEMP,16.40
$XPDR_PINGS,68
$24V_AH,21.8,118.594
$10V_AH,10.3,100.101
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$DEVICE_SECS,19.325,221.650,397.350,0.000,0.000,50.924,54.260,275.973,17.000,0.000,0.000,16.140,1636.434,23017.926,536.100,2079.556,1150.079,33.383,1656.399,0.000,2060.601,0.000,0.529,0.000
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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,44329,731
$CAP_FILE_SIZE,180023,0
$CFSIZE,260165632,194732032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,140310,233907,4857.850,-13051.930,39,1.4,39,19.5