version: 66.04
glider: 144
mission: 15
dive: 536
start: 12 8 109 1 12 20
data:
$ID,144
$MISSION,15
$DIVE,536
$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,-72417.539
$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,33
$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
$GPS1,010027,5009.818,-14453.742,34,2.5,53,18.5
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-49.8
$GPS2,011126,5009.850,-14453.789,11,1.7,11,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.114,0.123
$KALMAN_X,-97332.5,58.4,154.8,116944.6,-451.5
$KALMAN_Y,26362.0,4.0,-35.2,-46933.7,-26.5
$MHEAD_RNG_PITCHd_Wd,298.6,29789,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.33,0.000,2,0.000,0.000,98,2294,2406
$GC,63,-0.68,-117.3,3.3,-3.3,4,108,7.28,2.38,-30.40,0.000,4,0.237,0.061,1838,3707,3410
$GC,290,-0.65,-117.3,24.9,-8.8,24,294,0.00,2.20,0.00,0.000,6,0.000,0.031,1837,2294,3410
$GC,625,-0.62,-117.3,66.3,-12.3,55,629,0.10,2.25,0.00,0.000,4,0.130,0.042,1867,898,3411
$GC,722,-0.65,-117.3,76.1,-10.0,63,726,0.00,2.25,0.00,0.000,6,0.000,0.040,1863,2304,3410
$GC,1050,-0.65,-117.3,107.6,-8.9,80,1053,0.00,2.25,0.00,0.000,4,0.000,0.041,1862,889,3410
$GC,1119,-0.69,-117.3,113.5,-8.0,83,1123,0.00,2.25,0.00,0.000,6,0.000,0.038,1862,2304,3411
$GC,1447,-0.72,-117.3,137.6,-7.1,99,1451,0.00,2.25,0.00,0.000,4,0.000,0.048,1851,3711,3410
$GC,1476,-0.76,-117.3,139.7,-7.5,100,1479,0.00,2.17,0.00,0.000,6,0.000,0.029,1851,2298,3410
$GC,1792,-0.81,-117.3,161.2,-6.5,113,1796,0.10,2.30,0.00,0.000,4,0.064,0.048,1763,3705,3411
$GC,1820,-0.73,-117.3,164.0,-10.5,113,1828,0.17,2.20,0.00,0.000,6,0.115,0.030,1839,2303,3411
$GC,2134,-0.75,-117.3,187.5,-6.9,124,2138,0.00,2.25,0.00,0.000,4,0.000,0.044,1839,893,3410
$GC,2231,-0.79,-117.3,194.7,-7.8,126,2237,0.00,2.22,0.00,0.000,6,0.000,0.037,1836,2303,3411
$GC,2544,-0.79,-117.3,217.6,-7.2,137,2548,0.00,2.22,0.00,0.000,4,0.000,0.048,1836,895,3410
$GC,2595,-0.82,-117.3,221.6,-8.0,138,2599,0.00,2.25,0.00,0.000,6,0.000,0.038,1828,2311,3410
$GC,2914,-0.82,-117.3,246.4,-7.9,149,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2311,3410
$GC,3221,-0.82,-117.3,267.5,-6.4,159,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2311,3410
$GC,3526,-0.82,-117.3,287.2,-6.6,169,3530,0.00,2.25,0.00,0.000,4,0.000,0.043,1828,899,3411
$GC,3582,-0.84,-117.3,291.2,-7.5,170,3586,0.00,2.28,0.00,0.000,6,0.000,0.038,1821,2308,3410
$GC,3894,-0.84,-117.3,314.2,-7.4,177,3898,0.00,2.25,0.00,0.000,4,0.000,0.043,1820,900,3410
$GC,3945,-0.84,-117.3,318.3,-7.5,177,3949,0.00,2.28,0.00,0.000,6,0.000,0.040,1812,2317,3410
$GC,4260,-0.84,-117.3,342.3,-7.6,183,4264,0.00,2.30,0.00,0.000,4,0.000,0.045,1812,899,3410
$GC,4316,-0.84,-117.3,346.7,-7.8,183,4322,0.00,2.25,0.00,0.000,6,0.000,0.038,1803,2307,3409
$GC,4627,-0.81,-117.3,371.3,-8.0,189,4631,0.00,2.28,0.00,0.000,4,0.000,0.046,1803,895,3409
$GC,4672,-0.81,-117.3,375.5,-9.0,189,4677,0.12,2.25,0.00,0.000,6,0.124,0.039,1829,2301,3409
$GC,4988,-0.84,-117.3,397.8,-7.1,195,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2301,3408
$GC,5292,-0.87,-117.3,420.5,-7.5,200,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2301,3408
$GC,5594,-0.91,-117.3,444.0,-7.8,205,5599,0.10,2.30,0.00,0.000,4,0.066,0.049,1766,895,3408
$GC,5633,-0.82,-117.3,448.3,-11.3,205,5638,0.22,2.30,0.00,0.000,6,0.120,0.043,1823,2307,3408
$GC,5955,-0.84,-117.3,473.7,-7.7,211,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2307,3408
$GC,6259,-0.86,-117.3,495.5,-7.1,216,6263,0.00,2.28,0.00,0.000,4,0.000,0.048,1823,901,3408
$GC,6315,-0.90,-117.3,499.6,-7.5,216,6321,0.00,2.28,0.00,0.000,6,0.000,0.040,1821,2303,3408
$GC,6625,-0.90,-117.3,520.5,-6.8,222,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3408
$GC,6928,-0.92,-117.3,540.2,-6.5,227,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3407
$GC,7232,-0.94,-117.3,559.7,-6.4,232,7234,0.10,0.00,0.00,0.000,6,0.065,0.000,1755,2303,3407
$GC,7535,-0.84,-117.3,590.2,-10.3,237,7540,0.20,2.30,0.00,0.000,4,0.123,0.048,1819,900,3407
$GC,7580,-0.87,-117.3,594.1,-8.1,237,7584,0.00,2.28,0.00,0.000,6,0.000,0.043,1811,2309,3406
$GC,7896,-0.87,-117.3,615.9,-6.9,243,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2308,3406
$GC,8198,-0.87,-117.3,635.5,-6.4,248,8202,0.00,2.28,0.00,0.000,4,0.000,0.049,1811,900,3406
$GC,8248,-0.87,-117.3,639.0,-6.7,248,8252,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2300,3406
$GC,8560,-0.87,-117.3,657.5,-5.9,253,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2300,3406
$GC,8862,-0.87,-117.3,674.0,-5.5,258,8866,0.00,2.30,0.00,0.000,4,0.000,0.046,1808,891,3406
$GC,8902,-0.87,-117.3,676.6,-6.3,258,8906,0.00,2.30,0.00,0.000,6,0.000,0.041,1802,2311,3406
$GC,9224,-0.87,-117.3,695.5,-5.9,264,9228,0.00,2.30,0.00,0.000,4,0.000,0.046,1802,895,3406
$GC,9269,-0.87,-117.3,698.4,-6.3,264,9273,0.00,2.30,0.00,0.000,6,0.000,0.039,1795,2314,3405
$GC,9587,-0.85,-117.3,718.4,-6.5,270,9591,0.00,2.33,0.00,0.000,4,0.000,0.051,1795,889,3405
$GC,9632,-0.85,-117.3,721.9,-7.5,270,9637,0.10,2.30,0.00,0.000,6,0.133,0.047,1820,2304,3405
$GC,9948,-0.89,-117.3,739.2,-5.5,276,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2305,3405
$GC,10251,-0.93,-117.3,756.4,-5.7,281,10256,0.10,2.30,0.00,0.000,4,0.067,0.044,1758,899,3405
$GC,10314,-0.85,-117.3,761.9,-9.8,282,10319,0.20,2.28,0.00,0.000,6,0.128,0.046,1813,2311,3405
$GC,10686,-0.88,-117.3,785.1,-6.1,288,10690,0.00,2.33,0.00,0.000,4,0.000,0.052,1813,893,3405
$GC,10738,-0.91,-117.3,788.6,-6.6,288,10742,0.00,2.30,0.00,0.000,6,0.000,0.041,1809,2311,3405
$GC,11048,-0.91,-117.3,806.8,-5.8,293,11049,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2312,3404
$GC,11351,-0.91,-117.3,824.1,-5.7,298,11355,0.00,2.30,0.00,0.000,4,0.000,0.047,1809,901,3405
$GC,11401,-0.94,-117.3,827.5,-6.8,298,11405,0.00,2.28,0.00,0.000,6,0.000,0.046,1808,2304,3404
$GC,11714,-0.94,-117.3,846.1,-6.0,303,11718,0.00,2.30,0.00,0.000,4,0.000,0.049,1808,895,3404
$GC,11747,-0.94,-117.3,848.6,-6.4,303,11751,0.00,2.28,0.00,0.000,6,0.000,0.041,1805,2305,3404
$GC,12081,-0.94,-117.3,869.3,-6.3,309,12085,0.00,2.30,0.00,0.000,4,0.000,0.051,1805,892,3404
$GC,12126,-0.94,-117.3,872.5,-7.6,309,12130,0.00,2.30,0.00,0.000,6,0.000,0.044,1795,2310,3404
$GC,12442,-0.94,-117.3,893.4,-6.6,315,12446,0.00,2.30,0.00,0.000,4,0.000,0.047,1796,898,3404
$GC,12487,-0.94,-117.3,896.7,-7.4,315,12491,0.00,2.28,0.00,0.000,6,0.000,0.041,1792,2304,3404
$GC,12803,-0.94,-117.3,917.2,-6.4,321,12804,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2304,3404
$GC,13106,-0.94,-117.3,936.1,-6.2,326,13110,0.00,2.30,0.00,0.000,4,0.000,0.052,1793,900,3404
$GC,13157,-0.94,-117.3,939.7,-6.8,326,13161,0.00,2.30,0.00,0.000,6,0.000,0.044,1782,2312,3404
$GC,13468,-0.91,-117.3,961.1,-7.0,331,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2312,3404
$GC,13770,-0.88,-117.3,981.8,-6.8,336,13775,0.10,2.30,0.00,0.000,4,0.139,0.050,1810,903,3404
$GC,13816,-0.92,-117.3,984.8,-6.1,336,13820,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2306,3404
$STATE,13948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13948,begin apogee
$GC,13955,-0.22,0.0,992.2,5.6,339,14056,0.45,0.00,98.28,1.289,6,0.110,0.000,1954,2306,2931
$STATE,14057,end apogee,CONTROL_FINISHED_OK
$STATE,14057,begin climb
$GC,14060,0.68,117.3,993.4,0.0,340,14173,0.60,2.53,104.43,1.265,4,0.073,0.051,2157,3714,2450
$GC,14203,0.48,117.3,990.4,7.0,343,14209,0.25,2.38,0.00,0.000,6,0.163,0.037,2108,2314,2446
$GC,14560,0.46,126.0,971.5,5.2,349,14568,0.00,0.00,7.07,1.000,6,0.000,0.000,2108,2313,2417
$GC,14863,0.43,130.1,955.3,5.4,354,14870,0.00,0.00,5.05,0.869,6,0.000,0.000,2108,2313,2400
$GC,15166,0.41,134.3,939.0,5.4,359,15176,0.00,2.30,5.47,0.903,4,0.000,0.054,2108,3714,2382
$GC,15205,0.35,134.3,936.4,7.0,359,15210,0.17,2.25,0.00,0.000,6,0.154,0.035,2071,2292,2381
$GC,15527,0.46,150.9,921.0,4.9,365,15549,0.12,2.38,16.00,1.154,4,0.067,0.054,2126,3715,2314
$GC,15684,0.36,150.9,910.2,7.2,367,15689,0.20,2.28,0.00,0.000,6,0.149,0.037,2081,2302,2311
$GC,16023,0.48,204.1,897.1,3.7,373,16073,0.08,0.00,47.60,1.210,6,0.081,0.000,2125,2301,2099
$GC,16326,0.56,204.1,879.9,5.7,378,16330,0.00,2.30,0.00,0.000,4,0.000,0.048,2131,891,2091
$GC,16445,0.61,222.3,873.5,4.9,379,16466,0.00,2.28,16.50,1.123,6,0.000,0.040,2131,2305,2024
$GC,16823,0.70,222.3,851.8,5.9,386,16827,0.00,2.28,0.00,0.000,4,0.000,0.055,2130,3711,2019
$GC,16930,0.65,222.3,844.4,6.7,387,16934,0.00,2.22,0.00,0.000,6,0.000,0.040,2140,2303,2018
$GC,17252,0.61,222.3,822.5,6.9,393,17254,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2303,2018
$GC,17555,0.58,222.3,800.8,7.2,398,17559,0.00,2.30,0.00,0.000,4,0.000,0.052,2140,3719,2017
$GC,17589,0.51,222.3,797.9,8.7,398,17594,0.15,2.22,0.00,0.000,6,0.144,0.034,2111,2300,2017
$GC,17917,0.55,222.3,778.3,5.9,404,17920,0.00,2.25,0.00,0.000,4,0.000,0.048,2119,893,2017
$GC,17945,0.60,222.3,776.6,6.1,404,17949,0.00,2.25,0.00,0.000,6,0.000,0.040,2120,2310,2016
$GC,18283,0.60,222.3,756.6,5.8,410,18284,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2310,2016
$GC,18587,0.62,222.3,738.6,5.9,415,18588,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2310,2015
$GC,18890,0.62,222.3,720.7,5.9,420,18891,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2310,2015
$GC,19192,0.64,222.3,703.0,5.8,425,19196,0.00,2.30,0.00,0.000,4,0.000,0.047,2129,892,2015
$GC,19221,0.68,226.2,701.3,5.4,425,19225,0.00,2.28,0.00,0.000,6,0.000,0.041,2129,2307,2015
$GC,19560,0.68,226.2,680.6,6.1,431,19564,0.00,2.30,0.00,0.000,4,0.000,0.046,2139,892,2015
$GC,19588,0.68,226.2,678.5,6.2,431,19592,0.00,2.28,0.00,0.000,6,0.000,0.044,2140,2310,2015
$GC,19921,0.66,226.2,657.1,6.5,437,19922,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2310,2015
$GC,20224,0.64,226.2,637.7,6.3,442,20228,0.00,2.30,0.00,0.000,4,0.000,0.048,2149,886,2015
$GC,20252,0.64,226.2,635.8,6.1,442,20256,0.00,2.25,0.00,0.000,6,0.000,0.038,2149,2304,2014
$GC,20584,0.59,226.2,612.6,7.0,448,20588,0.00,2.25,0.00,0.000,4,0.000,0.048,2150,3706,2014
$GC,20630,0.51,226.2,608.6,9.4,448,20635,0.17,2.20,0.00,0.000,6,0.139,0.032,2112,2300,2014
$GC,20952,0.57,241.0,592.1,5.0,454,20973,0.00,2.28,16.15,0.961,4,0.000,0.047,2120,892,1948
$GC,20997,0.68,274.2,589.7,4.4,454,21033,0.10,2.25,30.92,0.987,6,0.067,0.038,2190,2304,1813
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$STATE,29391,end climb,SURFACE_DEPTH_REACHED
$STATE,29392,begin surface coast
$FINISH,1.6,1.023298
$STATE,29403,end surface coast,CONTROL_FINISHED_OK
$STATE,29403,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1707
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$TCM_TEMP,15.80
$XPDR_PINGS,79
$24V_AH,21.9,77.718
$10V_AH,10.5,67.466
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$DEVICE_SECS,18.325,240.600,471.875,0.000,0.000,57.750,77.745,282.315,19.750,0.000,0.000,13.460,1703.599,24423.053,593.713,2371.360,1036.947,33.379,1812.887,0.000,2357.212,0.000,0.529,0.000
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$SENSOR_SECS,525.240,597.064,767.894,1278.844,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44296,745
$CAP_FILE_SIZE,193254,0
$CFSIZE,260165632,216924160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081209,092507,5012.433,-14457.851,38,1.5,44,18.5