version: 66.04
glider: 144
mission: 15
dive: 875
start: 4 1 110 13 51 16
data:
$ID,144
$MISSION,15
$DIVE,875
$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,-79423.164
$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,37
$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
$GPS1,134254,4824.604,-12755.802,25,1.6,42,19.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-54.2
$GPS2,135019,4824.573,-12755.813,12,1.8,29,19.2
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P4
$TGT_LATLONG,4839.000,-12640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.167,0.024
$KALMAN_X,-83301.4,299.1,37.3,1305805.4,-4469.3
$KALMAN_Y,132681.7,55.6,-59.9,-348265.5,-410.2
$MHEAD_RNG_PITCHd_Wd,62.6,96532,-12.2,-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,-39.97,0.000,2,0.000,0.000,97,2299,2558
$GC,64,-0.68,-117.3,3.7,-4.9,2,100,7.15,2.40,-21.48,0.000,4,0.232,0.065,1843,3700,3412
$GC,294,-0.65,-117.3,32.2,-10.8,12,298,0.00,2.22,0.00,0.000,6,0.000,0.031,1843,2301,3412
$GC,618,-0.60,-117.3,68.3,-11.3,28,623,0.10,2.30,0.00,0.000,4,0.132,0.039,1870,898,3412
$GC,732,-0.60,-117.3,79.5,-9.4,33,736,0.00,2.25,0.00,0.000,6,0.000,0.035,1863,2303,3413
$GC,1069,-0.62,-117.3,107.9,-7.3,64,1073,0.00,2.28,0.00,0.000,4,0.000,0.038,1863,889,3413
$GC,1094,-0.66,-117.3,110.0,-7.5,65,1100,0.00,2.28,0.00,0.000,6,0.000,0.035,1863,2303,3413
$GC,1425,-0.70,-117.3,132.5,-6.9,96,1429,0.00,2.28,0.00,0.000,4,0.000,0.038,1863,897,3413
$GC,1483,-0.75,-117.3,137.1,-7.2,100,1490,0.10,2.30,0.00,0.000,6,0.064,0.038,1790,2305,3413
$GC,1804,-0.68,-117.3,170.7,-10.6,119,1806,0.22,0.00,0.00,0.000,6,0.117,0.000,1858,2305,3413
$GC,2109,-0.73,-117.3,190.2,-6.2,129,2113,0.00,2.28,0.00,0.000,4,0.000,0.039,1858,899,3414
$GC,2140,-0.80,-117.3,192.3,-7.3,129,2147,0.10,2.30,0.00,0.000,6,0.061,0.043,1777,2313,3413
$GC,2455,-0.71,-117.3,227.4,-11.3,140,2460,0.20,2.33,0.00,0.000,4,0.118,0.038,1843,899,3413
$GC,2548,-0.75,-117.3,235.1,-7.9,142,2552,0.00,2.30,0.00,0.000,6,0.000,0.036,1836,2311,3413
$GC,2864,-0.75,-117.3,258.7,-7.3,152,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2310,3413
$GC,3169,-0.77,-117.3,281.0,-7.2,162,3173,0.00,2.33,0.00,0.000,4,0.000,0.040,1837,890,3413
$GC,3216,-0.80,-117.3,284.6,-7.7,163,3220,0.00,2.30,0.00,0.000,6,0.000,0.036,1836,2304,3413
$GC,3572,-0.82,-117.3,310.4,-7.4,173,3576,0.00,2.30,0.00,0.000,4,0.000,0.042,1836,899,3413
$GC,3607,-0.86,-117.3,313.4,-8.1,173,3611,0.00,2.35,0.00,0.000,6,0.000,0.038,1835,2305,3413
$GC,3941,-0.88,-117.3,339.2,-7.8,179,3942,0.10,0.00,0.00,0.000,6,0.063,0.000,1763,2306,3412
$GC,4244,-0.78,-117.3,374.9,-12.0,184,4249,0.20,2.40,0.00,0.000,4,0.118,0.047,1830,899,3412
$GC,4331,-0.81,-117.3,382.6,-8.3,185,4335,0.00,2.33,0.00,0.000,6,0.000,0.037,1823,2307,3412
$GC,4676,-0.81,-117.3,409.6,-7.8,191,4680,0.00,2.35,0.00,0.000,4,0.000,0.047,1823,893,3412
$GC,4735,-0.81,-117.3,414.2,-8.3,191,4739,0.00,2.33,0.00,0.000,6,0.000,0.036,1815,2309,3412
$GC,5048,-0.81,-117.3,437.9,-7.6,196,5052,0.00,2.38,0.00,0.000,4,0.000,0.043,1815,890,3412
$GC,5089,-0.81,-117.3,441.3,-7.8,196,5093,0.00,2.33,0.00,0.000,6,0.000,0.038,1808,2307,3412
$GC,5411,-0.81,-117.3,465.7,-7.6,202,5415,0.00,2.35,0.00,0.000,4,0.000,0.041,1808,899,3411
$GC,5457,-0.81,-117.3,469.5,-8.6,202,5461,0.10,2.35,0.00,0.000,6,0.122,0.038,1825,2314,3411
$GC,5774,-0.83,-117.3,490.6,-6.6,208,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2314,3410
$GC,6076,-0.86,-117.3,510.5,-6.6,213,6081,0.00,2.38,0.00,0.000,4,0.000,0.048,1826,897,3411
$GC,6118,-0.89,-117.3,513.5,-7.2,213,6122,0.00,2.33,0.00,0.000,6,0.000,0.041,1822,2310,3410
$GC,6441,-0.89,-117.3,536.8,-7.3,219,6445,0.00,2.38,0.00,0.000,4,0.000,0.045,1822,898,3410
$GC,6481,-0.92,-117.3,540.0,-8.4,219,6486,0.00,2.33,0.00,0.000,6,0.000,0.043,1821,2308,3410
$GC,6804,-0.92,-117.3,563.3,-7.2,225,6808,0.00,2.35,0.00,0.000,4,0.000,0.043,1821,894,3409
$GC,6850,-0.94,-117.3,566.7,-7.7,225,6854,0.00,2.35,0.00,0.000,6,0.000,0.042,1811,2308,3409
$GC,7168,-0.94,-117.3,589.8,-7.3,231,7172,0.00,2.38,0.00,0.000,4,0.000,0.044,1811,892,3409
$GC,7214,-0.94,-117.3,593.5,-8.2,231,7218,0.00,2.35,0.00,0.000,6,0.000,0.037,1808,2300,3409
$GC,7541,-0.94,-117.3,616.6,-7.0,237,7546,0.00,2.35,0.00,0.000,4,0.000,0.046,1808,896,3408
$GC,7572,-0.94,-117.3,618.9,-7.3,237,7576,0.00,2.35,0.00,0.000,6,0.000,0.041,1799,2306,3408
$GC,7911,-0.94,-117.3,642.9,-7.1,243,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2305,3408
$GC,8214,-0.94,-117.3,664.0,-7.0,248,8217,0.00,2.38,0.00,0.000,4,0.000,0.048,1799,898,3408
$GC,8260,-0.94,-117.3,667.5,-7.3,248,8264,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2301,3407
$GC,8589,-0.92,-117.3,691.1,-7.2,254,8593,0.00,2.38,0.00,0.000,4,0.000,0.042,1794,901,3407
$GC,8635,-0.92,-117.3,694.8,-7.8,254,8640,0.00,2.38,0.00,0.000,6,0.000,0.038,1785,2315,3407
$GC,8953,-0.88,-117.3,719.4,-7.9,260,8957,0.10,2.35,0.00,0.000,4,0.133,0.041,1813,894,3407
$GC,9000,-0.91,-117.3,722.8,-7.1,260,9004,0.00,2.38,0.00,0.000,6,0.000,0.044,1809,2312,3407
$GC,9317,-0.91,-117.3,744.1,-6.8,266,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2312,3407
$GC,9620,-0.91,-117.3,766.7,-7.5,271,9624,0.00,2.42,0.00,0.000,4,0.000,0.049,1809,893,3406
$GC,9654,-0.91,-117.3,769.5,-8.2,271,9658,0.00,2.40,0.00,0.000,6,0.000,0.040,1808,2310,3407
$GC,9983,-0.91,-117.3,795.0,-7.7,277,9987,0.00,2.35,0.00,0.000,4,0.000,0.050,1808,901,3406
$GC,10012,-0.91,-117.3,797.6,-8.4,277,10016,0.00,2.33,0.00,0.000,6,0.000,0.043,1807,2302,3406
$GC,10345,-0.91,-117.3,821.5,-7.1,283,10349,0.00,2.38,0.00,0.000,4,0.000,0.044,1807,895,3406
$GC,10380,-0.91,-117.3,824.1,-8.2,283,10384,0.00,2.35,0.00,0.000,6,0.000,0.040,1797,2306,3406
$GC,10708,-0.91,-117.3,845.6,-6.5,289,10710,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2307,3406
$GC,11010,-0.91,-117.3,864.5,-6.3,294,11012,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2307,3405
$GC,11313,-0.91,-117.3,884.0,-6.4,299,11318,0.00,2.38,0.00,0.000,4,0.000,0.046,1797,902,3405
$GC,11371,-0.91,-117.3,888.1,-7.9,299,11377,0.00,2.38,0.00,0.000,6,0.000,0.040,1794,2306,3405
$GC,11683,-0.91,-117.3,908.7,-6.7,305,11685,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3404
$GC,11985,-0.91,-117.3,929.1,-6.8,310,11986,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2305,3404
$GC,12290,-0.91,-117.3,950.0,-6.8,315,12294,0.00,2.42,0.00,0.000,4,0.000,0.046,1794,898,3404
$GC,12347,-0.91,-117.3,954.2,-7.6,315,12353,0.00,2.35,0.00,0.000,6,0.000,0.045,1786,2304,3404
$GC,12660,-0.89,-117.3,977.1,-7.3,321,12664,0.00,2.40,0.00,0.000,4,0.000,0.045,1786,899,3404
$GC,12706,-0.89,-117.3,981.1,-7.9,321,12711,0.10,2.38,0.00,0.000,6,0.138,0.041,1806,2300,3404
$STATE,12836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12837,begin apogee
$GC,12847,-0.22,0.0,990.2,6.9,324,12947,0.45,0.00,97.43,1.262,6,0.104,0.000,1952,2299,2930
$STATE,12948,end apogee,CONTROL_FINISHED_OK
$STATE,12948,begin climb
$GC,12953,0.68,117.3,992.1,0.0,325,13065,0.60,2.67,104.20,1.237,4,0.067,0.055,2162,3700,2451
$GC,13102,0.47,117.3,991.5,5.9,328,13108,0.30,2.47,0.00,0.000,6,0.158,0.032,2104,2314,2446
$GC,13453,0.51,177.0,978.9,3.5,334,13510,0.00,0.00,50.67,1.225,6,0.000,0.000,2104,2314,2209
$GC,13817,0.56,213.9,963.8,4.3,340,13856,0.00,2.45,32.25,1.199,4,0.000,0.054,2113,884,2056
$GC,13876,0.65,250.9,960.9,4.3,340,13917,0.10,2.35,33.88,1.189,6,0.077,0.043,2156,2311,1907
$GC,14256,0.59,250.9,930.1,8.6,347,14261,0.12,2.30,0.00,0.000,4,0.137,0.055,2124,3713,1898
$GC,14326,0.59,250.9,924.0,7.9,348,14330,0.00,2.25,0.00,0.000,6,0.000,0.035,2132,2293,1898
$GC,14693,0.59,250.9,895.4,7.9,354,14697,0.00,2.35,0.00,0.000,4,0.000,0.054,2132,3714,1896
$GC,14735,0.57,250.9,891.6,8.4,354,14739,0.00,2.25,0.00,0.000,6,0.000,0.037,2142,2305,1895
$GC,15057,0.55,250.9,863.0,8.9,360,15062,0.10,2.35,0.00,0.000,4,0.148,0.054,2117,3718,1895
$GC,15086,0.55,250.9,860.3,8.1,360,15090,0.00,2.25,0.00,0.000,6,0.000,0.040,2125,2303,1895
$GC,15421,0.55,250.9,835.2,7.5,366,15425,0.00,2.35,0.00,0.000,4,0.000,0.049,2125,3713,1894
$GC,15450,0.55,250.9,832.5,9.0,366,15454,0.00,2.25,0.00,0.000,6,0.000,0.040,2135,2297,1894
$GC,15789,0.55,250.9,806.7,7.5,372,15790,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2297,1894
$GC,16092,0.55,250.9,784.5,7.3,377,16096,0.00,2.35,0.00,0.000,4,0.000,0.048,2135,3710,1894
$GC,16157,0.52,250.9,779.0,9.4,378,16162,0.15,2.22,0.00,0.000,6,0.132,0.039,2107,2300,1894
$GC,16530,0.59,255.9,758.4,5.3,384,16535,0.00,2.30,0.00,0.000,4,0.000,0.045,2115,895,1893
$GC,16572,0.67,255.9,756.0,5.7,384,16576,0.10,2.30,0.00,0.000,6,0.067,0.043,2171,2307,1893
$GC,16895,0.59,255.9,729.7,8.2,390,16900,0.15,2.35,0.00,0.000,4,0.130,0.047,2129,3713,1893
$GC,16969,0.59,255.9,724.4,6.1,391,16973,0.00,2.28,0.00,0.000,6,0.000,0.036,2137,2292,1893
$GC,17331,0.59,255.9,701.6,6.3,397,17335,0.00,2.38,0.00,0.000,4,0.000,0.053,2137,3713,1893
$GC,17363,0.57,255.9,699.3,6.3,397,17368,0.10,2.28,0.00,0.000,6,0.133,0.039,2123,2295,1892
$GC,17696,0.61,255.9,678.9,6.1,403,17700,0.00,2.35,0.00,0.000,4,0.000,0.047,2131,887,1892
$GC,17721,0.65,255.9,677.3,6.0,403,17725,0.00,2.30,0.00,0.000,6,0.000,0.035,2131,2305,1891
$GC,18061,0.65,255.9,653.5,7.0,409,18065,0.00,2.33,0.00,0.000,4,0.000,0.047,2131,3711,1892
$GC,18107,0.65,255.9,649.5,9.4,409,18111,0.00,2.22,0.00,0.000,6,0.000,0.031,2141,2299,1892
$GC,18435,0.65,255.9,624.0,7.8,415,18436,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2299,1892
$GC,18739,0.65,255.9,600.8,7.6,420,18743,0.00,2.35,0.00,0.000,4,0.000,0.047,2141,3707,1892
$GC,18796,0.62,255.9,595.9,9.4,420,18803,0.00,2.28,0.00,0.000,6,0.000,0.031,2151,2298,1892
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$STATE,27116,end climb,SURFACE_DEPTH_REACHED
$STATE,27116,begin surface coast
$FINISH,1.8,1.025101
$STATE,27138,end surface coast,CONTROL_FINISHED_OK
$STATE,27138,begin surface
$SM_CCo,27220,0.00,0.000,0,0,1358,385.86
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$IRIDIUM_FIX,4804.60,-12759.60,260699,050547
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$HUMID,1785
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$TCM_TEMP,16.60
$XPDR_PINGS,84
$24V_AH,21.5,126.245
$10V_AH,8.7,106.144
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$DEVICE_SECS,17.625,264.750,434.575,0.000,0.000,26.353,26.848,179.612,21.000,0.000,0.000,31.150,1615.176,22177.820,573.337,2224.064,1057.805,33.390,1779.595,0.000,2181.546,0.000,0.529,0.000
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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,41183,688
$CAP_FILE_SIZE,183450,0
$CFSIZE,260165632,190590976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,010410,212637,4824.075,-12751.597,55,1.1,56,19.2