version: 66.04
glider: 144
mission: 15
dive: 743
start: 2 15 110 23 50 40
data:
$ID,144
$MISSION,15
$DIVE,743
$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,-76812.008
$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,33
$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
$GPS1,234307,4924.700,-13733.692,34,1.3,35,19.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-53.8
$GPS2,234947,4924.696,-13733.613,20,1.3,20,19.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.166,-0.021
$KALMAN_X,-60921.8,-82.4,100.8,600914.6,1049.1
$KALMAN_Y,54883.3,-189.2,30.6,-158958.7,269.6
$MHEAD_RNG_PITCHd_Wd,77.8,210225,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.68,-117.2,0.0,0.0,0,62,0.00,0.00,-40.10,0.000,2,0.000,0.000,99,2307,2576
$GC,67,-0.68,-117.2,3.6,-6.5,2,102,7.25,2.35,-21.08,0.000,4,0.235,0.067,1840,3715,3412
$GC,277,-0.65,-117.2,27.7,-11.3,11,282,0.00,2.20,0.00,0.000,6,0.000,0.029,1839,2295,3412
$GC,601,-0.59,-117.2,62.2,-10.2,27,605,0.12,2.25,0.00,0.000,4,0.128,0.041,1875,891,3412
$GC,698,-0.63,-117.2,71.6,-9.8,31,702,0.00,2.22,0.00,0.000,6,0.000,0.036,1868,2304,3412
$GC,1028,-0.66,-117.2,101.0,-7.2,58,1032,0.00,2.25,0.00,0.000,4,0.000,0.041,1868,891,3413
$GC,1065,-0.72,-117.2,103.7,-7.2,61,1069,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2301,3412
$GC,1401,-0.77,-117.2,127.0,-7.0,92,1407,0.10,0.00,0.00,0.000,6,0.064,0.000,1780,2301,3413
$GC,1723,-0.67,-117.2,164.6,-11.3,115,1728,0.20,2.28,0.00,0.000,4,0.117,0.040,1848,891,3412
$GC,1781,-0.72,-117.2,169.6,-7.7,116,1788,0.00,2.28,0.00,0.000,6,0.000,0.037,1848,2310,3413
$GC,2096,-0.76,-117.2,190.4,-6.4,127,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2310,3413
$GC,2402,-0.80,-117.2,210.0,-6.3,137,2407,0.10,2.25,0.00,0.000,4,0.064,0.040,1773,898,3413
$GC,2448,-0.71,-117.2,214.4,-11.2,138,2453,0.28,2.25,0.00,0.000,6,0.114,0.044,1845,2309,3413
$GC,2768,-0.75,-117.2,235.8,-6.4,149,2772,0.00,2.28,0.00,0.000,4,0.000,0.041,1845,893,3413
$GC,2798,-0.80,-117.2,237.8,-6.8,150,2803,0.00,2.25,0.00,0.000,6,0.000,0.043,1839,2305,3412
$GC,3137,-0.83,-117.2,262.1,-7.5,161,3140,0.00,2.25,0.00,0.000,4,0.000,0.041,1838,898,3413
$GC,3173,-0.87,-117.2,265.1,-8.3,162,3178,0.10,2.25,0.00,0.000,6,0.064,0.042,1767,2305,3413
$GC,3540,-0.77,-117.2,307.6,-12.1,173,3545,0.20,2.30,0.00,0.000,4,0.120,0.044,1830,896,3412
$GC,3580,-0.80,-117.2,311.9,-9.1,173,3584,0.00,2.25,0.00,0.000,6,0.000,0.044,1823,2303,3413
$GC,3901,-0.80,-117.2,339.7,-8.6,179,3905,0.00,2.28,0.00,0.000,4,0.000,0.046,1823,900,3412
$GC,3936,-0.80,-117.2,342.8,-8.8,179,3940,0.00,2.25,0.00,0.000,6,0.000,0.039,1816,2303,3412
$GC,4264,-0.80,-117.2,369.7,-8.2,185,4268,0.00,2.30,0.00,0.000,4,0.000,0.046,1816,888,3412
$GC,4321,-0.80,-117.2,374.6,-8.2,185,4327,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2309,3412
$GC,4632,-0.78,-117.2,400.8,-8.5,191,4634,0.08,0.00,0.00,0.000,6,0.145,0.000,1830,2309,3412
$GC,4936,-0.81,-117.2,422.6,-7.1,196,4940,0.00,2.30,0.00,0.000,4,0.000,0.047,1830,903,3412
$GC,4982,-0.85,-117.2,426.1,-7.5,196,4986,0.00,2.28,0.00,0.000,6,0.000,0.040,1824,2313,3411
$GC,5299,-0.85,-117.2,448.0,-6.9,202,5303,0.00,2.33,0.00,0.000,4,0.000,0.046,1824,901,3411
$GC,5327,-0.85,-117.2,450.0,-7.4,202,5332,0.00,2.28,0.00,0.000,6,0.000,0.045,1821,2303,3411
$GC,5662,-0.85,-117.2,473.0,-6.9,208,5666,0.00,2.28,0.00,0.000,4,0.000,0.044,1821,896,3410
$GC,5702,-0.87,-117.2,476.1,-7.4,208,5706,0.00,2.28,0.00,0.000,6,0.000,0.039,1812,2308,3411
$GC,6023,-0.87,-117.2,498.9,-7.1,214,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2308,3410
$GC,6326,-0.87,-117.2,520.2,-7.0,219,6330,0.00,2.30,0.00,0.000,4,0.000,0.050,1812,901,3410
$GC,6367,-0.87,-117.2,523.2,-7.6,219,6371,0.00,2.28,0.00,0.000,6,0.000,0.038,1809,2305,3410
$GC,6689,-0.87,-117.2,545.5,-6.9,225,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3410
$GC,6992,-0.87,-117.2,566.6,-7.0,230,6996,0.00,2.33,0.00,0.000,4,0.000,0.044,1808,898,3410
$GC,7044,-0.87,-117.2,570.6,-7.6,230,7048,0.00,2.28,0.00,0.000,6,0.000,0.038,1800,2303,3410
$GC,7356,-0.85,-117.2,594.0,-7.6,235,7360,0.00,2.30,0.00,0.000,4,0.000,0.050,1800,894,3409
$GC,7412,-0.85,-117.2,598.7,-8.2,235,7419,0.00,2.30,0.00,0.000,6,0.000,0.040,1794,2296,3409
$GC,7724,-0.82,-117.2,623.0,-7.8,241,7729,0.10,2.28,0.00,0.000,4,0.134,0.044,1824,901,3409
$GC,7784,-0.86,-117.2,627.2,-6.9,241,7788,0.00,2.28,0.00,0.000,6,0.000,0.041,1822,2313,3409
$GC,8095,-0.89,-117.2,647.7,-6.5,246,8099,0.00,2.33,0.00,0.000,4,0.000,0.048,1823,897,3409
$GC,8130,-0.93,-117.2,650.4,-7.3,246,8135,0.10,2.25,0.00,0.000,6,0.067,0.041,1758,2303,3409
$GC,8465,-0.83,-117.2,682.8,-10.0,252,8467,0.20,0.00,0.00,0.000,6,0.118,0.000,1819,2303,3408
$GC,8767,-0.87,-117.2,703.0,-6.5,257,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2303,3408
$GC,9070,-0.90,-117.2,722.4,-6.4,262,9074,0.00,2.30,0.00,0.000,4,0.000,0.044,1819,897,3408
$GC,9110,-0.94,-117.2,725.2,-6.9,262,9114,0.00,2.28,0.00,0.000,6,0.000,0.039,1812,2309,3408
$GC,9432,-0.94,-117.2,746.3,-6.5,268,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2309,3408
$GC,9734,-0.94,-117.2,766.4,-6.7,273,9738,0.00,2.30,0.00,0.000,4,0.000,0.051,1812,901,3407
$GC,9791,-0.94,-117.2,770.8,-7.3,273,9797,0.00,2.28,0.00,0.000,6,0.000,0.044,1809,2302,3408
$GC,10102,-0.94,-117.2,793.6,-7.4,279,10103,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2302,3408
$GC,10406,-0.94,-117.2,814.9,-7.0,284,10410,0.00,2.33,0.00,0.000,4,0.000,0.044,1809,899,3407
$GC,10452,-0.96,-117.2,818.3,-7.6,284,10456,0.00,2.28,0.00,0.000,6,0.000,0.040,1809,2301,3407
$GC,10768,-0.96,-117.2,839.4,-6.6,290,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2301,3407
$GC,11071,-0.96,-117.2,858.4,-6.2,295,11075,0.00,2.30,0.00,0.000,4,0.000,0.051,1808,894,3407
$GC,11117,-0.96,-117.2,861.5,-6.7,295,11121,0.00,2.30,0.00,0.000,6,0.000,0.046,1807,2311,3407
$GC,11434,-0.96,-117.2,880.4,-5.9,301,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2311,3406
$GC,11738,-0.96,-117.2,898.4,-6.0,306,11742,0.00,2.33,0.00,0.000,4,0.000,0.051,1807,894,3407
$GC,11795,-0.96,-117.2,902.2,-7.1,306,11801,0.00,2.30,0.00,0.000,6,0.000,0.046,1806,2305,3407
$GC,12107,-0.96,-117.2,921.4,-6.2,312,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3406
$GC,12408,-0.96,-117.2,940.0,-6.1,317,12412,0.00,2.33,0.00,0.000,4,0.000,0.047,1806,899,3406
$GC,12454,-0.96,-117.2,943.0,-5.9,317,12458,0.00,2.30,0.00,0.000,6,0.000,0.039,1796,2312,3406
$GC,12770,-0.96,-117.2,963.9,-6.7,323,12774,0.00,2.33,0.00,0.000,4,0.000,0.050,1796,894,3406
$GC,12805,-0.96,-117.2,966.4,-7.5,323,12809,0.00,2.30,0.00,0.000,6,0.000,0.041,1795,2303,3406
$GC,13132,-0.96,-117.2,986.7,-6.1,329,13133,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3406
$STATE,13188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13189,begin apogee
$GC,13197,-0.22,0.0,990.4,6.0,330,13298,0.50,0.00,97.78,1.282,6,0.109,0.000,1955,2303,2931
$STATE,13299,end apogee,CONTROL_FINISHED_OK
$STATE,13299,begin climb
$GC,13303,0.68,117.2,991.3,0.0,331,13415,0.57,2.60,103.57,1.249,4,0.067,0.051,2154,3716,2451
$GC,13444,0.51,117.2,988.4,6.4,334,13449,0.22,2.38,0.00,0.000,6,0.158,0.040,2110,2314,2448
$GC,13806,0.47,117.2,967.6,5.6,340,13807,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2314,2442
$GC,14110,0.44,122.0,951.4,5.3,345,14114,0.00,2.28,0.00,0.000,4,0.000,0.057,2110,3712,2440
$GC,14141,0.39,133.6,949.7,5.1,345,14160,0.15,2.22,13.52,1.127,6,0.160,0.034,2080,2298,2386
$GC,14478,0.46,165.1,934.3,4.4,351,14513,0.00,2.38,28.17,1.190,4,0.000,0.054,2081,3713,2257
$GC,14538,0.51,173.3,931.2,5.2,351,14554,0.08,2.28,9.02,1.029,6,0.079,0.036,2134,2292,2223
$GC,14916,0.47,173.3,904.9,7.0,358,14921,0.12,2.28,0.00,0.000,4,0.139,0.054,2109,891,2219
$GC,14945,0.47,173.3,903.1,5.5,358,14949,0.00,2.28,0.00,0.000,6,0.000,0.039,2109,2312,2218
$GC,15280,0.47,173.3,883.7,5.8,364,15284,0.00,2.28,0.00,0.000,4,0.000,0.051,2109,3713,2218
$GC,15309,0.44,173.3,881.7,5.9,364,15313,0.10,2.22,0.00,0.000,6,0.156,0.033,2096,2299,2217
$GC,15643,0.50,195.0,865.5,4.8,370,15664,0.00,0.00,19.23,1.128,6,0.000,0.000,2096,2299,2136
$GC,15945,0.58,217.8,851.1,4.7,375,15980,0.12,2.38,23.45,1.045,4,0.059,0.053,2159,3709,2042
$GC,16004,0.47,217.8,846.5,8.9,375,16011,0.25,2.22,0.00,0.000,6,0.145,0.033,2103,2304,2041
$GC,16317,0.53,223.9,829.6,5.3,381,16328,0.00,2.30,6.30,0.901,4,0.000,0.050,2112,894,2018
$GC,16346,0.59,223.9,827.8,5.7,381,16350,0.00,2.28,0.00,0.000,6,0.000,0.038,2112,2315,2017
$GC,16679,0.63,223.9,808.1,6.0,387,16684,0.08,2.28,0.00,0.000,4,0.086,0.051,2165,3711,2016
$GC,16714,0.53,223.9,805.1,9.7,387,16719,0.22,2.22,0.00,0.000,6,0.144,0.033,2113,2301,2016
$GC,17042,0.56,223.9,784.9,5.9,393,17046,0.00,2.25,0.00,0.000,4,0.000,0.047,2122,896,2014
$GC,17065,0.61,223.9,783.4,6.7,393,17070,0.00,2.25,0.00,0.000,6,0.000,0.041,2122,2306,2014
$GC,17411,0.61,223.9,762.1,6.2,399,17412,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2306,2014
$GC,17713,0.63,223.9,743.5,6.1,404,17717,0.00,2.30,0.00,0.000,4,0.000,0.046,2131,889,2014
$GC,17736,0.66,223.9,742.0,6.4,404,17740,0.00,2.28,0.00,0.000,6,0.000,0.040,2131,2303,2013
$GC,18075,0.66,223.9,720.5,6.3,410,18079,0.00,2.28,0.00,0.000,4,0.000,0.055,2131,3708,2013
$GC,18116,0.62,223.9,717.5,8.0,410,18120,0.00,2.20,0.00,0.000,6,0.000,0.032,2141,2301,2013
$GC,18439,0.59,223.9,694.8,7.1,416,18443,0.00,2.30,0.00,0.000,4,0.000,0.051,2141,3707,2013
$GC,18469,0.54,223.9,692.2,8.1,416,18473,0.15,2.22,0.00,0.000,6,0.133,0.032,2111,2298,2013
$GC,18809,0.58,224.7,673.4,5.5,422,18813,0.00,2.28,0.00,0.000,4,0.000,0.047,2119,897,2013
$GC,18832,0.64,224.7,671.9,5.6,422,18836,0.00,2.25,0.00,0.000,6,0.000,0.039,2119,2307,2013
$GC,19177,0.67,224.7,651.1,6.0,428,19182,0.10,2.30,0.00,0.000,4,0.066,0.048,2192,3711,2013
$GC,19229,0.49,224.7,645.7,11.4,428,19234,0.35,2.22,0.00,0.000,6,0.150,0.033,2105,2298,2013
$GC,19551,0.57,236.7,628.0,5.1,434,19570,0.00,2.38,12.00,0.940,4,0.000,0.046,2114,891,1965
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$GC,20718,0.58,268.8,539.5,5.9,453,20722,0.00,2.30,0.00,0.000,4,0.000,0.051,2133,3708,1826
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$STATE,28611,end climb,SURFACE_DEPTH_REACHED
$STATE,28611,begin surface coast
$FINISH,1.5,1.025295
$STATE,28633,end surface coast,CONTROL_FINISHED_OK
$STATE,28633,begin surface
$SM_CCo,28713,0.00,0.000,0,0,1306,398.61
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$IRIDIUM_FIX,4906.56,-13738.91,120599,161642
$TT8_MAMPS,0.028379
$HUMID,1738
$INTERNAL_PRESSURE,7.36356
$TCM_TEMP,15.90
$XPDR_PINGS,89
$24V_AH,21.8,106.992
$10V_AH,10.3,91.142
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$DEVICE_SECS,20.075,268.625,451.925,0.000,0.000,27.986,26.759,164.041,22.250,0.000,0.000,22.065,1698.409,23549.090,593.626,2276.878,980.543,33.382,1845.528,0.000,2246.221,0.000,0.528,0.000
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$SENSOR_SECS,514.968,599.136,760.543,789.556,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44380,732
$CAP_FILE_SIZE,195679,0
$CFSIZE,260165632,200843264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160210,075037,4924.600,-13728.714,41,1.1,41,19.4