version: 66.04
glider: 144
mission: 15
dive: 834
start: 3 18 110 16 59 30
data:
$ID,144
$MISSION,15
$DIVE,834
$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,-78665.57
$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,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
$GPS1,164536,4850.280,-12945.199,35,1.8,40,19.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-66.8
$GPS2,165837,4850.319,-12945.354,13,1.3,30,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P8
$TGT_LATLONG,4849.000,-12840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.166,0.026
$KALMAN_X,-27063.8,-225.0,-121.8,1120820.2,2497.0
$KALMAN_Y,76178.2,171.5,-69.6,-244188.4,-1190.2
$MHEAD_RNG_PITCHd_Wd,61.7,79736,-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,-39.95,0.000,2,0.000,0.000,99,2310,2676
$GC,64,-0.68,-117.3,4.3,-6.9,2,94,7.05,2.38,-16.62,0.000,4,0.226,0.058,1847,897,3412
$GC,235,-0.65,-117.3,25.1,-11.5,9,239,0.00,2.28,0.00,0.000,6,0.000,0.035,1839,2309,3414
$GC,553,-0.58,-117.3,61.3,-10.9,24,558,0.12,2.30,0.00,0.000,4,0.130,0.038,1874,895,3413
$GC,605,-0.62,-117.3,66.1,-7.7,26,609,0.00,2.28,0.00,0.000,6,0.000,0.035,1867,2311,3414
$GC,928,-0.65,-117.3,92.1,-7.7,48,932,0.00,2.30,0.00,0.000,4,0.000,0.042,1867,897,3413
$GC,951,-0.70,-117.3,94.1,-7.7,49,958,0.00,2.25,0.00,0.000,6,0.000,0.042,1863,2296,3414
$GC,1284,-0.74,-117.3,117.4,-6.8,80,1288,0.10,2.33,0.00,0.000,4,0.064,0.046,1769,3713,3414
$GC,1363,-0.61,-117.3,127.0,-12.5,86,1371,0.32,2.20,0.00,0.000,6,0.111,0.028,1868,2299,3414
$GC,1691,-0.69,-117.3,149.2,-5.7,117,1695,0.00,2.35,0.00,0.000,4,0.000,0.046,1861,3714,3414
$GC,1722,-0.77,-117.3,151.1,-6.0,119,1726,0.10,2.20,0.00,0.000,6,0.065,0.028,1785,2299,3413
$GC,2059,-0.68,-117.3,186.1,-10.4,130,2063,0.20,2.30,0.00,0.000,4,0.112,0.039,1852,891,3413
$GC,2128,-0.74,-117.3,191.5,-6.8,132,2132,0.00,2.33,0.00,0.000,6,0.000,0.039,1850,2314,3414
$GC,2459,-0.78,-117.3,213.1,-6.4,143,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2315,3413
$GC,2765,-0.83,-117.3,232.7,-6.5,153,2767,0.10,0.00,0.00,0.000,6,0.064,0.000,1766,2314,3413
$GC,3073,-0.71,-117.3,267.1,-11.5,163,3077,0.22,2.33,0.00,0.000,4,0.120,0.044,1841,901,3413
$GC,3176,-0.76,-117.3,275.1,-7.1,166,3180,0.00,2.28,0.00,0.000,6,0.000,0.037,1837,2306,3414
$GC,3515,-0.79,-117.3,298.6,-7.0,177,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2306,3413
$GC,3847,-0.82,-117.3,321.9,-7.1,183,3851,0.00,2.30,0.00,0.000,4,0.000,0.041,1837,894,3413
$GC,3882,-0.85,-117.3,324.5,-7.7,183,3886,0.00,2.33,0.00,0.000,6,0.000,0.042,1836,2308,3413
$GC,4210,-0.88,-117.3,346.5,-6.6,189,4215,0.10,2.30,0.00,0.000,4,0.064,0.047,1755,3710,3413
$GC,4246,-0.77,-117.3,349.9,-10.9,189,4251,0.28,2.20,0.00,0.000,6,0.113,0.035,1834,2306,3413
$GC,4574,-0.80,-117.3,372.1,-6.6,195,4578,0.00,2.30,0.00,0.000,4,0.000,0.044,1834,895,3413
$GC,4631,-0.85,-117.3,375.9,-6.5,195,4638,0.00,2.30,0.00,0.000,6,0.000,0.038,1835,2305,3413
$GC,4944,-0.89,-117.3,394.6,-6.0,201,4949,0.10,2.33,0.00,0.000,4,0.064,0.051,1755,3713,3412
$GC,5018,-0.78,-117.3,402.5,-11.3,202,5023,0.28,2.22,0.00,0.000,6,0.110,0.030,1836,2301,3412
$GC,5380,-0.82,-117.3,428.0,-7.1,208,5384,0.00,2.30,0.00,0.000,4,0.000,0.045,1836,889,3412
$GC,5427,-0.88,-117.3,431.8,-7.6,208,5432,0.10,2.33,0.00,0.000,6,0.064,0.036,1768,2303,3412
$GC,5744,-0.78,-117.3,467.7,-11.6,214,5745,0.20,0.00,0.00,0.000,6,0.117,0.000,1830,2303,3412
$GC,6047,-0.81,-117.3,492.9,-8.2,219,6051,0.00,2.30,0.00,0.000,4,0.000,0.048,1830,896,3412
$GC,6083,-0.86,-117.3,495.8,-8.9,219,6087,0.00,2.30,0.00,0.000,6,0.000,0.044,1824,2303,3412
$GC,6410,-0.86,-117.3,522.0,-7.9,225,6414,0.00,2.35,0.00,0.000,4,0.000,0.050,1814,3707,3411
$GC,6445,-0.86,-117.3,525.0,-8.6,225,6449,0.00,2.20,0.00,0.000,6,0.000,0.029,1814,2295,3411
$GC,6774,-0.86,-117.3,549.0,-7.2,231,6778,0.00,2.30,0.00,0.000,4,0.000,0.048,1814,900,3411
$GC,6814,-0.86,-117.3,552.3,-7.3,231,6818,0.00,2.30,0.00,0.000,6,0.000,0.038,1808,2309,3411
$GC,7136,-0.86,-117.3,574.9,-7.0,237,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3410
$GC,7439,-0.86,-117.3,595.4,-6.7,242,7443,0.00,2.33,0.00,0.000,4,0.000,0.043,1808,891,3410
$GC,7469,-0.86,-117.3,597.4,-7.4,242,7473,0.00,2.30,0.00,0.000,6,0.000,0.038,1799,2304,3410
$GC,7803,-0.83,-117.3,622.0,-7.5,248,7808,0.00,2.33,0.00,0.000,4,0.000,0.043,1799,901,3410
$GC,7861,-0.83,-117.3,627.0,-8.6,248,7867,0.12,2.33,0.00,0.000,6,0.117,0.043,1826,2315,3410
$GC,8172,-0.87,-117.3,646.8,-6.3,254,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2314,3410
$GC,8476,-0.92,-117.3,666.0,-6.4,259,8481,0.10,2.35,0.00,0.000,4,0.064,0.048,1764,901,3409
$GC,8517,-0.83,-117.3,669.8,-10.3,259,8521,0.22,2.30,0.00,0.000,6,0.116,0.038,1820,2302,3409
$GC,8839,-0.86,-117.3,691.5,-6.6,265,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2302,3409
$GC,9143,-0.89,-117.3,712.1,-6.8,270,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2302,3409
$GC,9445,-0.92,-117.3,732.2,-6.6,275,9449,0.00,2.33,0.00,0.000,4,0.000,0.049,1820,900,3408
$GC,9480,-0.96,-117.3,734.7,-6.8,275,9484,0.12,2.30,0.00,0.000,6,0.058,0.041,1751,2303,3408
$GC,9814,-0.85,-117.3,766.5,-9.7,281,9816,0.22,0.00,0.00,0.000,6,0.118,0.000,1820,2303,3408
$GC,10117,-0.89,-117.3,785.5,-6.1,286,10121,0.00,2.28,0.00,0.000,4,0.000,0.051,1820,899,3408
$GC,10164,-0.94,-117.3,788.6,-6.9,286,10168,0.10,2.33,0.00,0.000,6,0.067,0.041,1759,2312,3408
$GC,10492,-0.86,-117.3,818.5,-9.3,292,10494,0.20,0.00,0.00,0.000,6,0.119,0.000,1818,2312,3408
$GC,10796,-0.89,-117.3,836.2,-5.6,297,10800,0.00,2.35,0.00,0.000,4,0.000,0.044,1818,899,3407
$GC,10831,-0.93,-117.3,838.4,-6.4,297,10835,0.00,2.33,0.00,0.000,6,0.000,0.039,1812,2309,3407
$GC,11164,-0.95,-117.3,857.6,-5.7,303,11165,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2309,3407
$GC,11467,-0.98,-117.3,874.9,-5.8,308,11469,0.10,0.00,0.00,0.000,6,0.072,0.000,1753,2309,3407
$GC,11772,-0.88,-117.3,901.2,-8.9,313,11774,0.20,0.00,0.00,0.000,6,0.122,0.000,1813,2309,3407
$GC,12074,-0.92,-117.3,919.0,-5.7,318,12078,0.00,2.35,0.00,0.000,4,0.000,0.048,1813,902,3407
$GC,12109,-0.95,-117.3,921.3,-6.6,318,12113,0.00,2.35,0.00,0.000,6,0.000,0.045,1809,2311,3406
$GC,12443,-0.97,-117.3,941.9,-6.2,324,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2311,3406
$GC,12745,-0.99,-117.3,960.1,-5.9,329,12750,0.10,2.38,0.00,0.000,4,0.076,0.044,1759,902,3406
$GC,12791,-0.92,-117.3,963.7,-8.2,329,12796,0.17,2.33,0.00,0.000,6,0.129,0.041,1803,2306,3406
$GC,13109,-0.92,-117.3,983.7,-6.3,335,13110,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2306,3406
$STATE,13224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13224,begin apogee
$GC,13234,-0.22,0.0,991.2,6.2,337,13334,0.47,0.00,97.43,1.273,6,0.107,0.000,1957,2307,2931
$STATE,13335,end apogee,CONTROL_FINISHED_OK
$STATE,13335,begin climb
$GC,13340,0.68,117.3,992.7,0.0,338,13447,0.57,0.00,104.00,1.246,6,0.064,0.000,2156,2306,2452
$GC,13713,0.56,117.3,977.2,6.3,345,13717,0.15,2.33,0.00,0.000,4,0.146,0.054,2117,3714,2443
$GC,13760,0.46,117.3,974.4,5.9,345,13765,0.12,2.25,0.00,0.000,6,0.160,0.036,2096,2300,2442
$GC,14077,0.53,170.1,962.0,3.7,351,14123,0.00,0.00,44.78,1.223,6,0.000,0.000,2096,2301,2237
$GC,14380,0.64,185.0,947.5,5.0,356,14400,0.15,2.38,13.45,1.116,4,0.063,0.056,2160,3706,2175
$GC,14538,0.49,185.0,933.7,9.3,358,14543,0.25,2.22,0.00,0.000,6,0.150,0.036,2103,2304,2172
$GC,14883,0.52,189.2,914.9,5.4,364,14892,0.00,2.30,4.68,0.812,4,0.000,0.047,2111,882,2159
$GC,14918,0.56,189.2,912.6,6.3,364,14922,0.00,2.28,0.00,0.000,6,0.000,0.038,2112,2307,2158
$GC,15252,0.56,189.2,890.2,6.8,370,15256,0.00,2.30,0.00,0.000,4,0.000,0.048,2112,3707,2157
$GC,15304,0.53,189.2,886.0,7.8,370,15308,0.00,2.22,0.00,0.000,6,0.000,0.037,2121,2302,2157
$GC,15616,0.53,189.2,864.3,6.9,375,15620,0.00,2.33,0.00,0.000,4,0.000,0.053,2122,3707,2156
$GC,15645,0.50,189.2,862.0,7.0,375,15650,0.10,2.22,0.00,0.000,6,0.148,0.040,2108,2302,2156
$GC,15979,0.52,189.2,841.0,6.3,381,15980,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2302,2156
$GC,16283,0.54,189.2,821.9,6.3,386,16287,0.00,2.35,0.00,0.000,4,0.000,0.051,2108,3711,2155
$GC,16324,0.54,189.2,818.7,6.6,386,16328,0.00,2.28,0.00,0.000,6,0.000,0.033,2116,2290,2155
$GC,16645,0.54,189.2,798.9,6.2,392,16647,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2290,2155
$GC,16949,0.55,193.9,782.5,5.3,397,16959,0.00,2.35,5.20,0.817,4,0.000,0.053,2116,3714,2140
$GC,17001,0.53,195.6,779.6,5.4,397,17005,0.00,2.22,0.00,0.000,6,0.000,0.031,2126,2299,2139
$GC,17313,0.56,224.8,765.0,4.5,402,17343,0.00,0.00,28.65,1.099,6,0.000,0.000,2126,2299,2014
$GC,17616,0.60,252.8,751.1,4.6,407,17643,0.00,0.00,25.52,1.071,6,0.000,0.000,2126,2299,1900
$GC,17920,0.63,259.1,735.3,5.3,412,17934,0.00,2.38,6.53,0.858,4,0.000,0.053,2126,3715,1874
$GC,17975,0.63,259.1,731.6,7.2,412,17980,0.00,2.22,0.00,0.000,6,0.000,0.032,2136,2299,1874
$GC,18288,0.63,259.1,712.0,6.3,417,18289,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2299,1871
$GC,18590,0.63,259.1,691.6,6.8,422,18594,0.00,2.33,0.00,0.000,4,0.000,0.051,2136,3710,1870
$GC,18637,0.63,259.1,688.1,7.6,422,18641,0.00,2.22,0.00,0.000,6,0.000,0.031,2145,2293,1870
$GC,18953,0.63,259.1,663.9,7.6,428,18957,0.00,2.35,0.00,0.000,4,0.000,0.048,2145,3714,1870
$GC,18977,0.60,259.1,661.7,8.8,428,18982,0.12,2.25,0.00,0.000,6,0.128,0.037,2123,2302,1870
$GC,19317,0.64,259.1,639.9,6.4,434,19321,0.00,2.30,0.00,0.000,4,0.000,0.047,2131,889,1870
$GC,19347,0.70,259.1,638.0,6.0,434,19351,0.00,2.28,0.00,0.000,6,0.000,0.037,2131,2303,1869
$GC,19680,0.73,259.1,617.8,5.9,440,19685,0.10,2.33,0.00,0.000,4,0.067,0.054,2200,3713,1869
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$STATE,27390,end climb,SURFACE_DEPTH_REACHED
$STATE,27390,begin surface coast
$FINISH,1.9,1.011701
$STATE,27411,end surface coast,CONTROL_FINISHED_OK
$STATE,27411,begin surface
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$IRIDIUM_FIX,4830.54,-12947.50,120699,161628
$TT8_MAMPS,0.029146
$HUMID,1784
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$TCM_TEMP,16.30
$XPDR_PINGS,73
$24V_AH,22.2,120.350
$10V_AH,10.3,101.462
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$DEVICE_SECS,21.025,247.300,403.375,0.000,0.000,94.840,85.727,255.844,18.250,0.000,0.000,31.533,1653.113,22651.051,594.662,2123.338,1233.542,33.381,1710.243,0.000,2084.897,0.000,0.528,0.000
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$SENSOR_SECS,499.187,592.318,735.944,777.419,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41135,712
$CAP_FILE_SIZE,190551,0
$CFSIZE,260165632,193794048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190310,003908,4850.704,-12940.175,37,1.0,39,19.5