version: 66.04
glider: 144
mission: 15
dive: 826
start: 3 15 110 23 45 53
data:
$ID,144
$MISSION,15
$DIVE,826
$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,-78505.383
$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,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
$GPS1,233725,4858.602,-13035.733,38,2.0,39,19.5
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-61.7
$GPS2,234456,4858.647,-13035.797,14,1.8,14,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P8
$TGT_LATLONG,4849.000,-12840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.136,-0.099
$KALMAN_X,-42032.8,32.1,60.7,1075710.4,464.8
$KALMAN_Y,79550.7,-178.1,-39.0,-231814.2,2874.1
$MHEAD_RNG_PITCHd_Wd,106.7,142338,-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,-40.42,0.000,2,0.000,0.000,99,2296,2773
$GC,64,-0.68,-117.3,4.3,-8.3,2,90,7.18,2.35,-13.57,0.000,4,0.233,0.059,1845,888,3411
$GC,120,-0.62,-117.3,14.2,-12.7,4,127,0.12,2.33,0.00,0.000,6,0.128,0.039,1870,2290,3412
$GC,437,-0.62,-117.3,42.3,-8.5,20,442,0.00,2.38,0.00,0.000,4,0.000,0.049,1862,3716,3412
$GC,467,-0.62,-117.3,45.1,-10.5,21,471,0.00,2.22,0.00,0.000,6,0.000,0.028,1863,2297,3412
$GC,785,-0.62,-117.3,74.7,-9.0,36,789,0.00,2.25,0.00,0.000,4,0.000,0.040,1862,897,3412
$GC,850,-0.62,-117.3,81.1,-9.7,39,854,0.00,2.30,0.00,0.000,6,0.000,0.041,1854,2314,3412
$GC,1182,-0.62,-117.3,110.2,-8.0,69,1186,0.00,2.38,0.00,0.000,4,0.000,0.045,1854,889,3412
$GC,1230,-0.65,-117.3,114.5,-7.8,73,1234,0.00,2.30,0.00,0.000,6,0.000,0.035,1850,2310,3412
$GC,1566,-0.65,-117.3,139.8,-7.5,104,1570,0.00,2.30,0.00,0.000,4,0.000,0.039,1850,891,3412
$GC,1613,-0.69,-117.3,143.6,-7.5,108,1618,0.00,2.30,0.00,0.000,6,0.000,0.036,1850,2314,3413
$GC,1958,-0.72,-117.3,166.3,-6.3,125,1962,0.00,2.30,0.00,0.000,4,0.000,0.047,1850,901,3412
$GC,1998,-0.76,-117.3,169.3,-7.6,126,2002,0.00,2.28,0.00,0.000,6,0.000,0.044,1850,2300,3412
$GC,2325,-0.80,-117.3,191.5,-7.0,137,2329,0.08,2.35,0.00,0.000,4,0.080,0.045,1769,3713,3412
$GC,2359,-0.70,-117.3,195.0,-10.5,138,2364,0.28,2.25,0.00,0.000,6,0.110,0.032,1848,2298,3412
$GC,2692,-0.74,-117.3,218.5,-7.1,149,2696,0.00,2.30,0.00,0.000,4,0.000,0.044,1848,898,3412
$GC,2743,-0.80,-117.3,222.3,-6.9,150,2748,0.00,2.30,0.00,0.000,6,0.000,0.036,1848,2316,3412
$GC,3064,-0.84,-117.3,242.4,-6.1,161,3066,0.12,0.00,0.00,0.000,6,0.054,0.000,1765,2316,3412
$GC,3371,-0.73,-117.3,276.2,-11.3,171,3376,0.22,2.35,0.00,0.000,4,0.119,0.040,1840,887,3412
$GC,3475,-0.77,-117.3,284.3,-6.3,174,3479,0.00,2.33,0.00,0.000,6,0.000,0.041,1837,2310,3412
$GC,3811,-0.79,-117.3,305.1,-5.9,184,3815,0.00,2.35,0.00,0.000,4,0.000,0.048,1829,3713,3412
$GC,3842,-0.82,-117.3,306.8,-6.0,184,3846,0.00,2.22,0.00,0.000,6,0.000,0.029,1829,2297,3412
$GC,4181,-0.84,-117.3,325.8,-5.5,190,4185,0.00,2.28,0.00,0.000,4,0.000,0.041,1829,890,3412
$GC,4244,-0.86,-117.3,329.7,-6.0,190,4251,0.00,2.33,0.00,0.000,6,0.000,0.042,1823,2312,3412
$GC,4557,-0.86,-117.3,349.3,-6.4,196,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2312,3412
$GC,4859,-0.86,-117.3,371.2,-7.3,201,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2313,3412
$GC,5162,-0.86,-117.3,394.2,-7.6,206,5166,0.00,2.30,0.00,0.000,4,0.000,0.041,1823,888,3411
$GC,5214,-0.86,-117.3,398.6,-8.2,206,5217,0.00,2.30,0.00,0.000,6,0.000,0.043,1818,2302,3411
$GC,5536,-0.86,-117.3,424.2,-8.0,212,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2302,3411
$GC,5840,-0.86,-117.3,448.6,-8.1,217,5844,0.00,2.30,0.00,0.000,4,0.000,0.041,1818,897,3411
$GC,5880,-0.86,-117.3,452.3,-8.7,217,5884,0.00,2.30,0.00,0.000,6,0.000,0.042,1809,2306,3411
$GC,6202,-0.86,-117.3,478.7,-8.2,223,6206,0.00,2.30,0.00,0.000,4,0.000,0.041,1809,896,3410
$GC,6253,-0.86,-117.3,483.1,-8.8,223,6257,0.00,2.35,0.00,0.000,6,0.000,0.038,1800,2315,3410
$GC,6565,-0.84,-117.3,507.8,-7.9,228,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2314,3410
$GC,6867,-0.81,-117.3,529.1,-6.9,233,6869,0.10,0.00,0.00,0.000,6,0.132,0.000,1829,2315,3410
$GC,7171,-0.85,-117.3,545.9,-5.4,238,7175,0.00,2.30,0.00,0.000,4,0.000,0.042,1829,897,3410
$GC,7224,-0.89,-117.3,549.1,-6.3,238,7228,0.00,2.28,0.00,0.000,6,0.000,0.038,1823,2300,3410
$GC,7546,-0.92,-117.3,569.5,-6.4,244,7548,0.08,0.00,0.00,0.000,6,0.081,0.000,1757,2300,3409
$GC,7849,-0.82,-117.3,599.1,-10.0,249,7854,0.20,2.35,0.00,0.000,4,0.120,0.048,1825,898,3409
$GC,7914,-0.86,-117.3,603.6,-6.2,250,7918,0.00,2.33,0.00,0.000,6,0.000,0.042,1823,2305,3409
$GC,8288,-0.89,-117.3,624.3,-5.5,256,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2306,3409
$GC,8591,-0.92,-117.3,642.2,-5.9,261,8596,0.08,2.33,0.00,0.000,4,0.081,0.048,1761,890,3409
$GC,8620,-0.85,-117.3,644.6,-9.1,261,8625,0.22,2.35,0.00,0.000,6,0.120,0.038,1819,2307,3408
$GC,8955,-0.88,-117.3,667.7,-6.9,267,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2308,3408
$GC,9257,-0.90,-117.3,688.5,-6.8,272,9261,0.00,2.38,0.00,0.000,4,0.000,0.047,1819,888,3408
$GC,9292,-0.94,-117.3,691.1,-8.2,272,9296,0.00,2.33,0.00,0.000,6,0.000,0.043,1813,2304,3408
$GC,9620,-0.94,-117.3,714.6,-7.1,278,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2305,3408
$GC,9922,-0.94,-117.3,736.2,-7.1,283,9926,0.00,2.35,0.00,0.000,4,0.000,0.044,1812,891,3407
$GC,9969,-0.96,-117.3,739.8,-8.0,283,9973,0.00,2.38,0.00,0.000,6,0.000,0.041,1809,2307,3407
$GC,10285,-0.96,-117.3,762.8,-7.3,289,10289,0.00,2.38,0.00,0.000,4,0.000,0.052,1800,3714,3407
$GC,10320,-0.96,-117.3,765.6,-8.0,289,10325,0.00,2.30,0.00,0.000,6,0.000,0.036,1800,2293,3407
$GC,10648,-0.96,-117.3,789.7,-7.3,295,10652,0.00,2.30,0.00,0.000,4,0.000,0.048,1800,899,3407
$GC,10705,-0.96,-117.3,793.9,-7.6,295,10712,0.00,2.35,0.00,0.000,6,0.000,0.040,1794,2303,3407
$GC,11018,-0.96,-117.3,816.2,-7.1,301,11019,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2303,3406
$GC,11320,-0.96,-117.3,837.3,-6.9,306,11324,0.00,2.30,0.00,0.000,4,0.000,0.051,1795,901,3406
$GC,11355,-0.96,-117.3,839.9,-7.4,306,11359,0.00,2.35,0.00,0.000,6,0.000,0.042,1792,2314,3406
$GC,11683,-0.96,-117.3,863.6,-7.2,312,11687,0.00,2.33,0.00,0.000,4,0.000,0.044,1792,901,3405
$GC,11730,-0.96,-117.3,867.5,-8.4,312,11734,0.00,2.35,0.00,0.000,6,0.000,0.044,1783,2314,3406
$GC,12047,-0.92,-117.3,891.2,-7.4,318,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,2314,3405
$GC,12350,-0.89,-117.3,913.7,-7.4,323,12355,0.10,2.42,0.00,0.000,4,0.130,0.048,1811,894,3405
$GC,12402,-0.92,-117.3,917.2,-5.8,323,12406,0.00,2.35,0.00,0.000,6,0.000,0.039,1810,2312,3406
$GC,12714,-0.94,-117.3,935.8,-6.0,328,12715,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2312,3405
$GC,13016,-0.96,-117.3,954.4,-6.2,333,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2313,3405
$GC,13319,-0.99,-117.3,973.6,-6.4,338,13324,0.10,2.38,0.00,0.000,4,0.075,0.044,1762,901,3405
$GC,13349,-0.94,-117.3,976.2,-9.5,338,13354,0.15,2.38,0.00,0.000,6,0.133,0.041,1795,2303,3405
$STATE,13562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13562,begin apogee
$GC,13572,-0.22,0.0,992.5,7.4,342,13672,0.50,0.00,97.62,1.270,6,0.107,0.000,1957,2303,2931
$STATE,13673,end apogee,CONTROL_FINISHED_OK
$STATE,13673,begin climb
$GC,13678,0.68,117.3,994.5,0.0,343,13790,0.57,2.65,103.62,1.244,4,0.066,0.050,2155,3708,2451
$GC,13833,0.48,117.3,993.6,6.0,346,13838,0.25,2.45,0.00,0.000,6,0.153,0.034,2106,2306,2447
$GC,14178,0.50,153.4,978.8,4.3,352,14210,0.00,0.00,30.85,1.204,6,0.000,0.000,2106,2307,2305
$GC,14482,0.50,156.5,962.8,5.4,357,14486,0.00,2.33,0.00,0.000,4,0.000,0.050,2106,3711,2299
$GC,14528,0.46,156.5,959.5,7.7,357,14532,0.00,2.28,0.00,0.000,6,0.000,0.034,2115,2295,2298
$GC,14845,0.44,156.5,939.8,6.2,363,14846,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2295,2297
$GC,15148,0.42,156.5,921.7,5.9,368,15152,0.10,2.38,0.00,0.000,4,0.151,0.051,2091,3714,2297
$GC,15224,0.45,178.1,917.7,4.8,369,15250,0.00,2.25,21.25,1.159,6,0.000,0.039,2098,2302,2205
$GC,15581,0.52,209.5,901.6,4.4,375,15615,0.00,2.40,28.55,1.167,4,0.000,0.051,2108,891,2076
$GC,15636,0.64,264.3,899.2,3.7,375,15701,0.10,2.33,52.45,1.139,6,0.074,0.037,2158,2310,1852
$GC,16017,0.58,264.3,869.8,8.0,382,16021,0.12,2.28,0.00,0.000,4,0.132,0.048,2124,3710,1843
$GC,16057,0.58,264.3,866.5,7.1,382,16061,0.00,2.25,0.00,0.000,6,0.000,0.037,2132,2291,1843
$GC,16385,0.58,264.3,847.4,5.8,388,16389,0.00,2.33,0.00,0.000,4,0.000,0.054,2132,3708,1841
$GC,16414,0.58,264.3,845.3,6.3,388,16418,0.00,2.22,0.00,0.000,6,0.000,0.038,2142,2298,1841
$GC,16753,0.58,264.3,822.6,6.7,394,16754,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2298,1840
$GC,17056,0.58,264.3,800.5,7.3,399,17060,0.00,2.38,0.00,0.000,4,0.000,0.054,2142,3713,1839
$GC,17091,0.55,264.3,797.4,7.9,399,17096,0.12,2.28,0.00,0.000,6,0.133,0.033,2120,2301,1839
$GC,17419,0.60,264.3,776.2,6.4,405,17423,0.00,2.33,0.00,0.000,4,0.000,0.051,2129,894,1839
$GC,17449,0.67,264.3,774.0,7.1,405,17453,0.00,2.30,0.00,0.000,6,0.000,0.037,2128,2313,1838
$GC,17784,0.70,264.3,751.1,6.9,411,17788,0.08,2.30,0.00,0.000,4,0.084,0.047,2185,3709,1837
$GC,17824,0.58,264.3,746.7,10.9,411,17829,0.25,2.22,0.00,0.000,6,0.142,0.032,2128,2302,1838
$GC,18152,0.60,264.3,723.2,7.0,417,18153,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2302,1838
$GC,18456,0.63,264.3,702.5,6.8,422,18457,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2302,1837
$GC,18758,0.67,264.3,683.9,6.0,427,18759,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2302,1837
$GC,19061,0.70,264.3,666.6,5.7,432,19063,0.10,0.00,0.00,0.000,6,0.064,0.000,2190,2302,1837
$GC,19364,0.59,264.3,635.0,10.8,437,19369,0.20,2.40,0.00,0.000,4,0.133,0.051,2127,3716,1837
$GC,19417,0.59,264.3,630.4,8.3,437,19421,0.00,2.28,0.00,0.000,6,0.000,0.037,2136,2299,1837
$GC,19728,0.59,264.3,607.7,7.3,442,19729,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2299,1837
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$STATE,28284,end climb,SURFACE_DEPTH_REACHED
$STATE,28284,begin surface coast
$FINISH,1.8,1.025214
$STATE,28322,end surface coast,CONTROL_FINISHED_OK
$STATE,28322,begin surface
$SM_CCo,28407,0.00,0.000,0,0,1649,314.47
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$IRIDIUM_FIX,4840.32,-13042.48,090699,151555
$TT8_MAMPS,0.028379
$HUMID,1784
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$TCM_TEMP,16.20
$XPDR_PINGS,74
$24V_AH,21.8,119.176
$10V_AH,10.3,100.552
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$DEVICE_SECS,18.400,244.925,377.350,0.000,0.000,30.249,27.751,206.154,18.500,0.000,0.000,15.838,1632.321,23548.984,526.457,2084.434,1053.642,33.382,1665.032,0.000,2061.781,0.000,0.528,0.000
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$SENSOR_SECS,502.208,599.683,743.985,775.762,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41247,717
$CAP_FILE_SIZE,182569,0
$CFSIZE,260165632,194420736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160310,074037,4856.845,-13030.363,32,1.8,32,19.5