version: 66.04
glider: 144
mission: 15
dive: 754
start: 2 19 110 17 17 24
data:
$ID,144
$MISSION,15
$DIVE,754
$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,-77044.062
$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,34
$R_STBD_OVSHOOT,35
$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
$GPS1,170937,4921.274,-13639.493,34,1.3,34,19.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-61.2
$GPS2,171626,4921.253,-13639.518,14,1.3,14,19.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.166,-0.026
$KALMAN_X,-62694.2,-204.4,123.9,666721.8,-158.1
$KALMAN_Y,56711.6,-305.7,28.9,-167046.2,609.9
$MHEAD_RNG_PITCHd_Wd,79.5,144603,-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,-117.3,0.0,0.0,0,79,0.00,0.00,-60.05,0.000,2,0.000,0.000,99,2303,2949
$GC,84,-0.68,-117.3,4.6,-5.2,3,107,7.68,2.35,-9.18,0.000,4,0.256,0.063,1836,3709,3412
$GC,193,-0.66,-117.3,23.6,-11.4,7,199,0.00,2.20,0.00,0.000,6,0.000,0.029,1836,2290,3413
$GC,510,-0.60,-117.3,58.7,-11.0,23,515,0.12,2.22,0.00,0.000,4,0.128,0.040,1872,892,3413
$GC,591,-0.63,-117.3,66.1,-8.6,26,595,0.00,2.25,0.00,0.000,6,0.000,0.035,1864,2311,3413
$GC,913,-0.63,-117.3,96.1,-9.6,48,916,0.00,2.25,0.00,0.000,4,0.000,0.040,1864,898,3413
$GC,953,-0.66,-117.3,99.9,-8.9,51,960,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2305,3413
$GC,1285,-0.70,-117.3,125.2,-7.5,82,1289,0.00,2.28,0.00,0.000,4,0.000,0.048,1854,3716,3414
$GC,1343,-0.76,-117.3,129.9,-7.8,87,1348,0.00,2.20,0.00,0.000,6,0.000,0.028,1854,2295,3414
$GC,1683,-0.80,-117.3,155.2,-7.6,114,1687,0.10,2.22,0.00,0.000,4,0.067,0.040,1781,898,3414
$GC,1775,-0.72,-117.3,165.5,-11.1,116,1780,0.25,2.25,0.00,0.000,6,0.114,0.038,1845,2303,3414
$GC,2090,-0.76,-117.3,190.8,-7.8,126,2093,0.00,2.25,0.00,0.000,4,0.000,0.041,1844,902,3414
$GC,2148,-0.80,-117.3,195.4,-7.6,127,2152,0.00,2.20,0.00,0.000,6,0.000,0.036,1841,2303,3414
$GC,2468,-0.83,-117.3,218.6,-7.1,138,2472,0.00,2.25,0.00,0.000,4,0.000,0.041,1840,902,3413
$GC,2497,-0.87,-117.3,220.9,-7.0,138,2504,0.10,2.25,0.00,0.000,6,0.064,0.037,1768,2302,3413
$GC,2813,-0.76,-117.3,254.8,-10.9,149,2818,0.20,2.25,0.00,0.000,4,0.127,0.041,1833,901,3413
$GC,2864,-0.80,-117.3,259.2,-7.4,150,2868,0.00,2.25,0.00,0.000,6,0.000,0.044,1826,2308,3413
$GC,3184,-0.80,-117.3,282.9,-7.7,161,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2308,3414
$GC,3520,-0.80,-117.3,310.5,-8.3,170,3524,0.00,2.25,0.00,0.000,4,0.000,0.043,1827,905,3413
$GC,3560,-0.82,-117.3,313.9,-9.1,170,3564,0.00,2.28,0.00,0.000,6,0.000,0.038,1821,2313,3413
$GC,3882,-0.82,-117.3,339.6,-7.9,176,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2314,3412
$GC,4185,-0.82,-117.3,361.7,-7.3,181,4189,0.00,2.30,0.00,0.000,4,0.000,0.044,1821,895,3412
$GC,4220,-0.82,-117.3,364.4,-7.6,181,4224,0.00,2.28,0.00,0.000,6,0.000,0.045,1813,2305,3413
$GC,4553,-0.82,-117.3,390.1,-7.7,187,4557,0.00,2.28,0.00,0.000,4,0.000,0.048,1813,903,3412
$GC,4593,-0.82,-117.3,393.3,-8.1,187,4597,0.00,2.28,0.00,0.000,6,0.000,0.038,1808,2310,3412
$GC,4914,-0.82,-117.3,418.8,-7.9,193,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3412
$GC,5218,-0.82,-117.3,442.3,-7.7,198,5222,0.00,2.25,0.00,0.000,4,0.000,0.047,1808,904,3412
$GC,5253,-0.82,-117.3,445.3,-8.7,198,5257,0.08,2.28,0.00,0.000,6,0.137,0.038,1820,2309,3412
$GC,5585,-0.82,-117.3,468.7,-7.1,204,5589,0.00,2.30,0.00,0.000,4,0.000,0.047,1821,892,3411
$GC,5620,-0.84,-117.3,471.3,-7.7,204,5624,0.00,2.30,0.00,0.000,6,0.000,0.038,1814,2313,3411
$GC,5955,-0.84,-117.3,495.5,-7.2,210,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2313,3410
$GC,6256,-0.84,-117.3,516.3,-6.9,215,6260,0.00,2.33,0.00,0.000,4,0.000,0.050,1813,903,3410
$GC,6290,-0.84,-117.3,518.9,-7.4,215,6294,0.00,2.28,0.00,0.000,6,0.000,0.043,1808,2308,3410
$GC,6618,-0.84,-117.3,542.5,-7.3,221,6621,0.00,2.28,0.00,0.000,4,0.000,0.043,1809,900,3410
$GC,6670,-0.84,-117.3,546.8,-8.4,221,6674,0.00,2.28,0.00,0.000,6,0.000,0.046,1806,2300,3410
$GC,6991,-0.84,-117.3,572.0,-7.9,227,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2300,3409
$GC,7294,-0.84,-117.3,596.5,-8.1,232,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2300,3409
$GC,7597,-0.84,-117.3,620.0,-7.8,237,7601,0.00,2.30,0.00,0.000,4,0.000,0.051,1806,904,3409
$GC,7634,-0.84,-117.3,622.9,-8.1,237,7638,0.00,2.30,0.00,0.000,6,0.000,0.038,1797,2312,3409
$GC,7962,-0.84,-117.3,649.1,-7.9,243,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2313,3409
$GC,8265,-0.84,-117.3,671.9,-7.5,248,8269,0.00,2.33,0.00,0.000,4,0.000,0.044,1797,897,3409
$GC,8328,-0.84,-117.3,676.8,-8.0,249,8333,0.10,2.30,0.00,0.000,6,0.131,0.044,1821,2308,3409
$GC,8696,-0.88,-117.3,699.3,-6.0,255,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3409
$GC,8998,-0.92,-117.3,716.9,-5.8,260,9002,0.00,2.30,0.00,0.000,4,0.000,0.044,1821,905,3408
$GC,9044,-0.96,-117.3,719.7,-6.0,260,9049,0.12,2.28,0.00,0.000,6,0.058,0.040,1752,2305,3408
$GC,9362,-0.87,-117.3,748.8,-9.5,266,9364,0.20,0.00,0.00,0.000,6,0.127,0.000,1811,2305,3408
$GC,9664,-0.89,-117.3,767.5,-6.0,271,9668,0.00,2.28,0.00,0.000,4,0.000,0.046,1812,905,3408
$GC,9738,-0.92,-117.3,772.4,-7.4,272,9742,0.00,2.28,0.00,0.000,6,0.000,0.043,1809,2311,3408
$GC,10094,-0.92,-117.3,795.6,-6.6,278,10098,0.00,2.30,0.00,0.000,4,0.000,0.048,1809,902,3407
$GC,10123,-0.92,-117.3,797.8,-7.4,278,10127,0.00,2.28,0.00,0.000,6,0.000,0.046,1808,2308,3407
$GC,10461,-0.92,-117.3,819.9,-6.5,284,10463,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3407
$GC,10764,-0.92,-117.3,840.1,-6.7,289,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3407
$GC,11068,-0.92,-117.3,861.0,-6.9,294,11072,0.00,2.30,0.00,0.000,4,0.000,0.049,1808,903,3407
$GC,11114,-0.92,-117.3,864.7,-8.2,294,11118,0.00,2.28,0.00,0.000,6,0.000,0.040,1807,2302,3407
$GC,11430,-0.94,-117.3,886.7,-7.0,300,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2303,3407
$GC,11733,-0.94,-117.3,907.5,-6.9,305,11737,0.00,2.28,0.00,0.000,4,0.000,0.047,1808,906,3407
$GC,11785,-0.94,-117.3,911.3,-8.2,305,11789,0.00,2.30,0.00,0.000,6,0.000,0.042,1807,2310,3407
$GC,12095,-0.94,-117.3,933.0,-7.0,310,12096,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2310,3407
$GC,12400,-0.97,-117.3,955.1,-7.4,315,12404,0.00,2.33,0.00,0.000,4,0.000,0.048,1807,896,3406
$GC,12440,-0.97,-117.3,958.4,-8.2,315,12444,0.00,2.30,0.00,0.000,6,0.000,0.045,1804,2304,3406
$GC,12763,-0.97,-117.3,982.7,-7.5,321,12764,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2304,3406
$STATE,12879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12879,begin apogee
$GC,12888,-0.22,0.0,991.6,7.3,323,12989,0.47,0.00,97.97,1.277,6,0.107,0.000,1958,2305,2931
$STATE,12989,end apogee,CONTROL_FINISHED_OK
$STATE,12989,begin climb
$GC,12994,0.68,117.3,993.6,0.0,324,13104,0.55,2.55,103.78,1.251,4,0.068,0.057,2154,3701,2451
$GC,13174,0.49,117.3,989.9,6.6,326,13179,0.22,2.30,0.00,0.000,6,0.156,0.038,2109,2311,2445
$GC,13486,0.49,137.8,974.6,4.8,331,13505,0.00,0.00,17.45,1.161,6,0.000,0.000,2109,2312,2369
$GC,13790,0.50,142.3,958.7,5.3,336,13796,0.00,0.00,5.03,0.857,6,0.000,0.000,2109,2312,2350
$GC,14091,0.50,142.3,941.6,5.6,341,14093,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2311,2348
$GC,14395,0.50,148.0,925.5,5.3,346,14406,0.00,2.28,6.32,0.946,4,0.000,0.050,2109,3711,2327
$GC,14414,0.52,159.0,924.5,5.1,346,14430,0.00,2.22,11.35,1.081,6,0.000,0.041,2118,2298,2281
$GC,14759,0.52,159.6,905.7,5.5,352,14763,0.00,2.33,0.00,0.000,4,0.000,0.051,2117,3717,2277
$GC,14818,0.45,159.6,902.0,6.0,352,14822,0.12,2.25,0.00,0.000,6,0.156,0.038,2097,2302,2277
$GC,15129,0.52,195.2,888.5,4.3,357,15163,0.00,0.00,32.30,1.174,6,0.000,0.000,2097,2302,2135
$GC,15433,0.60,222.1,874.7,4.6,362,15460,0.12,0.00,24.85,1.145,6,0.062,0.000,2158,2302,2025
$GC,15736,0.52,222.1,850.7,8.2,367,15741,0.17,2.33,0.00,0.000,4,0.137,0.050,2104,3718,2020
$GC,15776,0.55,222.1,847.5,6.7,367,15781,0.00,2.25,0.00,0.000,6,0.000,0.036,2112,2298,2019
$GC,16100,0.58,222.1,828.4,5.9,373,16104,0.00,2.30,0.00,0.000,4,0.000,0.049,2112,3711,2018
$GC,16123,0.58,222.1,826.6,6.5,373,16127,0.00,2.22,0.00,0.000,6,0.000,0.039,2122,2298,2018
$GC,16462,0.58,222.1,804.2,6.6,379,16463,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2298,2018
$GC,16765,0.58,222.1,784.8,6.4,384,16766,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2298,2017
$GC,17069,0.58,222.1,767.2,5.8,389,17070,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2298,2017
$GC,17371,0.58,222.1,749.9,5.7,394,17375,0.00,2.30,0.00,0.000,4,0.000,0.048,2123,3714,2016
$GC,17410,0.58,222.1,747.1,6.6,394,17414,0.00,2.22,0.00,0.000,6,0.000,0.032,2133,2298,2016
$GC,17738,0.58,222.1,725.7,6.5,400,17742,0.00,2.30,0.00,0.000,4,0.000,0.048,2133,3713,2016
$GC,17768,0.55,222.1,723.5,7.6,400,17772,0.10,2.20,0.00,0.000,6,0.140,0.032,2118,2304,2016
$GC,18107,0.59,222.6,704.7,5.5,406,18111,0.00,2.28,0.00,0.000,4,0.000,0.054,2126,890,2016
$GC,18144,0.63,222.6,702.6,5.7,406,18148,0.00,2.28,0.00,0.000,6,0.000,0.041,2126,2310,2015
$GC,18472,0.63,222.6,683.0,6.0,412,18476,0.00,2.30,0.00,0.000,4,0.000,0.051,2126,3716,2015
$GC,18506,0.63,222.6,680.5,7.1,412,18510,0.00,2.25,0.00,0.000,6,0.000,0.035,2136,2299,2015
$GC,18833,0.63,222.6,658.7,6.8,418,18835,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2299,2015
$GC,19136,0.63,222.6,638.2,6.7,423,19140,0.00,2.33,0.00,0.000,4,0.000,0.054,2136,3705,2014
$GC,19172,0.59,222.6,635.6,7.3,423,19176,0.00,2.22,0.00,0.000,6,0.000,0.032,2146,2301,2015
$GC,19500,0.56,222.6,612.6,7.0,429,19505,0.10,2.33,0.00,0.000,4,0.145,0.050,2120,3711,2015
$GC,19529,0.56,222.6,610.5,7.4,429,19533,0.00,2.22,0.00,0.000,6,0.000,0.031,2128,2295,2014
$GC,19863,0.56,222.6,589.3,6.4,435,19864,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2295,2015
$GC,20165,0.56,222.6,569.5,6.6,440,20166,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2295,2015
$GC,20468,0.56,222.6,549.9,6.5,445,20469,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2295,2015
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$GC,21815,0.60,244.1,464.8,4.8,467,21840,0.10,2.35,18.77,0.881,4,0.067,0.047,2184,893,1934
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$STATE,28183,end climb,SURFACE_DEPTH_REACHED
$STATE,28184,begin surface coast
$FINISH,1.6,1.012337
$STATE,28205,end surface coast,CONTROL_FINISHED_OK
$STATE,28206,begin surface
$SM_CCo,28287,0.00,0.000,0,0,1608,324.53
$SM_GC,2.29,5.70,0.00,0.00,0.044,0.000,0.000,98,2303,1608,-8.62,0.00,324.53
$IRIDIUM_FIX,4903.27,-13645.13,160599,090914
$TT8_MAMPS,0.029146
$HUMID,1777
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$TCM_TEMP,16.10
$XPDR_PINGS,67
$24V_AH,21.9,108.607
$10V_AH,10.3,92.381
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$DEVICE_SECS,18.025,236.125,387.750,0.000,0.000,29.776,26.693,173.327,16.750,0.000,0.000,16.235,1633.852,23475.973,548.981,2085.618,940.183,33.378,1669.744,0.000,2059.526,0.000,0.528,0.000
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$SENSOR_SECS,504.794,587.069,740.849,769.101,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41206,717
$CAP_FILE_SIZE,177137,0
$CFSIZE,260165632,200003584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200210,011027,4920.903,-13634.658,32,2.1,51,19.4