version: 66.04
glider: 144
mission: 15
dive: 247
start: 8 31 109 23 1 20
data:
$ID,144
$MISSION,15
$DIVE,247
$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,-65736.711
$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,0.039999999
$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,35
$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
$GPS1,225450,5000.347,-14512.634,50,1.6,50,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-64.2
$GPS2,230026,5000.303,-14512.636,11,1.6,11,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.013,-0.167
$KALMAN_X,-9919.3,-46.6,-66.9,7606.8,-76.4
$KALMAN_Y,5798.7,163.4,-42.4,-44211.2,200.5
$MHEAD_RNG_PITCHd_Wd,157.0,11681,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-32.20,0.000,2,0.000,0.000,97,2287,2472
$GC,53,-0.68,-117.3,3.2,-5.7,3,91,7.03,2.28,-24.73,0.000,4,0.233,0.063,1845,899,3412
$GC,345,-0.52,-117.3,41.1,-12.9,29,350,0.17,2.22,0.00,0.000,6,0.131,0.038,1886,2300,3414
$GC,672,-0.59,-117.3,67.0,-6.5,59,676,0.00,2.22,0.00,0.000,4,0.000,0.041,1887,889,3416
$GC,772,-0.69,-117.3,74.1,-7.0,67,779,0.10,2.22,0.00,0.000,6,0.064,0.037,1808,2309,3416
$GC,1090,-0.47,-117.3,112.0,-12.4,86,1094,0.28,2.22,0.00,0.000,4,0.130,0.040,1896,899,3416
$GC,1136,-0.65,-117.3,115.9,-6.8,88,1140,0.10,2.20,0.00,0.000,6,0.064,0.038,1822,2302,3417
$GC,1463,-0.54,-117.3,148.0,-9.6,104,1465,0.20,0.00,0.00,0.000,6,0.120,0.000,1883,2302,3416
$GC,1780,-0.70,-117.3,166.4,-5.6,115,1784,0.12,2.22,0.00,0.000,4,0.058,0.040,1795,888,3416
$GC,1842,-0.54,-117.3,172.4,-10.8,117,1847,0.32,2.22,0.00,0.000,6,0.120,0.042,1885,2301,3416
$GC,2177,-0.72,-117.3,190.7,-5.0,128,2182,0.15,2.25,0.00,0.000,4,0.051,0.054,1787,3707,3416
$GC,2216,-0.53,-117.3,194.0,-10.1,129,2221,0.32,2.17,0.00,0.000,6,0.118,0.034,1886,2293,3416
$GC,2540,-0.73,-117.3,210.4,-4.7,140,2544,0.15,2.20,0.00,0.000,4,0.055,0.041,1792,891,3415
$GC,2573,-0.56,-117.3,213.1,-9.1,141,2578,0.32,2.22,0.00,0.000,6,0.123,0.038,1880,2301,3415
$GC,2902,-0.74,-117.3,231.0,-5.5,152,2904,0.15,0.00,0.00,0.000,6,0.053,0.000,1786,2301,3415
$GC,3208,-0.55,-117.3,263.6,-11.0,162,3213,0.28,2.25,0.00,0.000,4,0.126,0.046,1876,892,3414
$GC,3241,-0.70,-117.3,266.3,-6.6,163,3246,0.10,2.25,0.00,0.000,6,0.066,0.040,1808,2312,3414
$GC,3570,-0.61,-117.3,293.2,-8.1,174,3575,0.17,2.28,0.00,0.000,4,0.123,0.044,1865,886,3414
$GC,3603,-0.74,-117.3,295.4,-6.1,175,3608,0.10,2.25,0.00,0.000,6,0.067,0.042,1797,2307,3414
$GC,3930,-0.61,-117.3,322.6,-8.6,182,3935,0.20,2.25,0.00,0.000,4,0.124,0.045,1864,893,3413
$GC,3980,-0.77,-117.3,325.9,-6.0,182,3985,0.10,2.22,0.00,0.000,6,0.068,0.040,1797,2305,3413
$GC,4290,-0.64,-117.3,352.4,-8.9,187,4292,0.22,0.00,0.00,0.000,6,0.123,0.000,1865,2305,3412
$GC,4594,-0.79,-117.3,369.2,-5.4,192,4598,0.12,2.22,0.00,0.000,4,0.062,0.043,1788,894,3412
$GC,4634,-0.62,-117.3,372.5,-9.5,192,4639,0.28,2.22,0.00,0.000,6,0.126,0.043,1863,2301,3412
$GC,4955,-0.77,-117.3,389.2,-4.9,198,4957,0.12,0.00,0.00,0.000,6,0.064,0.000,1790,2301,3411
$GC,5257,-0.63,-117.3,414.9,-8.8,203,5259,0.25,0.00,0.00,0.000,6,0.122,0.000,1866,2301,3411
$GC,5561,-0.80,-117.3,429.4,-4.6,208,5563,0.15,0.00,0.00,0.000,6,0.055,0.000,1780,2301,3410
$GC,5864,-0.62,-117.3,456.8,-9.3,213,5869,0.25,2.25,0.00,0.000,4,0.125,0.051,1862,895,3410
$GC,5909,-0.80,-117.3,459.9,-5.7,213,5913,0.12,2.25,0.00,0.000,6,0.060,0.043,1784,2312,3410
$GC,6225,-0.64,-117.3,487.7,-9.0,219,6227,0.25,0.00,0.00,0.000,6,0.124,0.000,1860,2312,3410
$GC,6527,-0.79,-117.3,502.7,-4.8,224,6531,0.12,2.28,0.00,0.000,4,0.059,0.048,1783,891,3409
$GC,6555,-0.71,-117.3,504.8,-8.3,224,6559,0.22,2.25,0.00,0.000,6,0.128,0.041,1846,2304,3409
$GC,6887,-0.81,-117.3,522.4,-5.1,230,6888,0.10,0.00,0.00,0.000,6,0.072,0.000,1785,2304,3408
$GC,7189,-0.67,-117.3,547.4,-8.4,235,7194,0.20,2.22,0.00,0.000,4,0.125,0.044,1850,898,3408
$GC,7252,-0.81,-117.3,551.2,-5.8,236,7257,0.10,2.22,0.00,0.000,6,0.071,0.044,1789,2305,3408
$GC,7618,-0.70,-117.3,581.4,-8.4,242,7620,0.20,0.00,0.00,0.000,6,0.126,0.000,1848,2305,3408
$GC,7921,-0.83,-117.3,598.0,-5.3,247,7926,0.12,2.28,0.00,0.000,4,0.060,0.052,1768,3715,3408
$GC,7954,-0.66,-117.3,600.7,-10.1,247,7960,0.30,2.20,0.00,0.000,6,0.123,0.031,1860,2290,3407
$GC,8281,-0.92,-117.3,617.1,-5.0,253,8286,0.17,2.30,0.00,0.000,4,0.058,0.054,1774,3710,3407
$GC,8423,-0.79,-117.3,628.6,-8.8,255,8427,0.20,2.20,0.00,0.000,6,0.121,0.032,1833,2293,3406
$GC,8777,-0.87,-117.3,648.7,-5.6,261,8782,0.10,2.22,0.00,0.000,4,0.074,0.052,1777,898,3406
$GC,8821,-0.71,-117.3,652.3,-8.7,261,8826,0.28,2.22,0.00,0.000,6,0.123,0.041,1850,2302,3406
$GC,9138,-0.85,-117.3,668.0,-4.8,267,9140,0.12,0.00,0.00,0.000,6,0.066,0.000,1781,2303,3407
$GC,9439,-0.72,-117.3,693.2,-8.6,272,9444,0.17,2.25,0.00,0.000,4,0.126,0.047,1840,892,3406
$GC,9472,-0.82,-117.3,695.6,-6.6,272,9476,0.00,2.25,0.00,0.000,6,0.000,0.040,1837,2304,3406
$GC,9799,-0.90,-117.3,713.7,-5.5,278,9801,0.12,0.00,0.00,0.000,6,0.062,0.000,1766,2305,3406
$GC,10101,-0.72,-117.3,740.5,-9.0,283,10106,0.22,2.28,0.00,0.000,4,0.128,0.047,1839,892,3405
$GC,10156,-0.84,-117.3,744.3,-6.1,283,10163,0.00,2.25,0.00,0.000,6,0.000,0.044,1836,2309,3406
$GC,10467,-0.94,-117.3,761.1,-5.5,289,10472,0.12,2.28,0.00,0.000,4,0.064,0.058,1765,3718,3405
$GC,10500,-0.77,-117.3,763.8,-9.2,289,10504,0.22,2.17,0.00,0.000,6,0.129,0.033,1831,2304,3405
$GC,10832,-0.85,-117.3,783.8,-5.9,295,10836,0.00,2.25,0.00,0.000,4,0.000,0.048,1831,890,3405
$GC,10872,-0.95,-117.3,786.4,-7.4,295,10876,0.12,2.25,0.00,0.000,6,0.064,0.041,1765,2307,3405
$GC,11193,-0.76,-117.3,816.2,-9.5,301,11197,0.20,2.28,0.00,0.000,4,0.136,0.058,1821,3713,3405
$GC,11236,-0.86,-117.3,819.5,-6.7,301,11240,0.00,2.20,0.00,0.000,6,0.000,0.034,1822,2294,3405
$GC,11553,-0.91,-117.3,839.2,-6.3,307,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2294,3405
$GC,11855,-0.97,-117.3,858.3,-6.3,312,11859,0.12,2.22,0.00,0.000,4,0.071,0.053,1765,900,3405
$GC,11893,-0.79,-117.3,861.8,-9.7,312,11898,0.25,2.22,0.00,0.000,6,0.133,0.042,1828,2304,3405
$GC,12214,-0.86,-117.3,881.1,-5.9,318,12218,0.00,2.25,0.00,0.000,4,0.000,0.048,1828,895,3405
$GC,12247,-0.95,-117.3,883.1,-7.0,318,12252,0.10,2.25,0.00,0.000,6,0.078,0.044,1778,2312,3404
$GC,12573,-0.82,-117.3,908.4,-7.8,324,12578,0.17,2.28,0.00,0.000,4,0.133,0.053,1820,3718,3404
$GC,12613,-0.91,-117.3,911.1,-5.6,324,12618,0.00,2.20,0.00,0.000,6,0.000,0.036,1820,2300,3404
$GC,12935,-0.96,-117.3,929.7,-5.8,330,12939,0.10,2.25,0.00,0.000,4,0.082,0.049,1774,897,3404
$GC,12975,-0.81,-117.3,932.8,-8.3,330,12979,0.20,2.25,0.00,0.000,6,0.138,0.042,1821,2308,3404
$GC,13296,-0.87,-117.3,951.7,-5.8,336,13300,0.00,2.28,0.00,0.000,4,0.000,0.050,1821,898,3405
$GC,13323,-0.93,-117.3,953.5,-6.6,336,13327,0.00,2.25,0.00,0.000,6,0.000,0.048,1814,2307,3404
$GC,13655,-0.93,-117.3,973.2,-5.9,342,13659,0.00,2.28,0.00,0.000,4,0.000,0.054,1814,900,3404
$GC,13687,-0.93,-117.3,975.3,-6.3,342,13691,0.00,2.25,0.00,0.000,6,0.000,0.048,1808,2303,3404
$STATE,13957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13957,begin apogee
$GC,13962,-0.22,0.0,991.9,6.1,347,14060,0.47,0.00,94.60,1.322,6,0.124,0.000,1957,2304,2931
$STATE,14061,end apogee,CONTROL_FINISHED_OK
$STATE,14061,begin climb
$GC,14063,0.68,117.3,993.3,0.0,348,14170,0.57,2.55,100.43,1.293,4,0.074,0.058,2152,3714,2451
$GC,14204,0.25,117.3,989.3,8.5,351,14209,0.43,2.38,0.00,0.000,6,0.175,0.039,2057,2310,2447
$GC,14564,0.47,146.1,973.5,4.5,357,14594,0.15,2.40,24.12,1.231,4,0.071,0.054,2125,892,2334
$GC,14680,0.36,146.1,966.7,6.4,358,14685,0.17,2.33,0.00,0.000,6,0.146,0.047,2079,2302,2330
$GC,14996,0.43,165.0,951.1,4.9,364,15019,0.00,2.40,16.75,1.193,4,0.000,0.058,2079,3712,2257
$GC,15053,0.43,165.0,947.9,6.0,364,15060,0.00,2.28,0.00,0.000,6,0.000,0.038,2087,2299,2255
$GC,15363,0.45,176.8,932.0,5.1,370,15376,0.00,0.00,11.40,1.137,6,0.000,0.000,2087,2298,2210
$GC,15667,0.52,192.4,916.8,5.0,375,15687,0.10,2.35,14.77,1.167,4,0.075,0.060,2133,3719,2146
$GC,15710,0.34,192.4,913.5,7.5,375,15715,0.25,2.28,0.00,0.000,6,0.163,0.035,2078,2305,2144
$GC,16025,0.50,220.8,898.7,4.5,381,16056,0.12,2.35,25.70,1.207,4,0.069,0.051,2139,892,2030
$GC,16073,0.44,220.8,895.4,7.2,381,16078,0.17,2.33,0.00,0.000,6,0.134,0.042,2092,2313,2027
$GC,16383,0.55,220.8,878.2,5.5,386,16385,0.10,0.00,0.00,0.000,6,0.073,0.000,2140,2313,2024
$GC,16686,0.42,220.8,853.0,8.5,391,16691,0.17,2.28,0.00,0.000,4,0.144,0.056,2085,3710,2023
$GC,16707,0.42,220.8,851.2,6.9,391,16711,0.00,2.25,0.00,0.000,6,0.000,0.039,2093,2291,2022
$GC,17052,0.52,220.8,831.4,5.8,397,17056,0.00,2.25,0.00,0.000,4,0.000,0.055,2103,897,2022
$GC,17079,0.64,220.8,829.5,7.0,397,17084,0.12,2.25,0.00,0.000,6,0.070,0.046,2160,2309,2022
$GC,17411,0.43,220.8,797.2,10.0,403,17416,0.22,2.28,0.00,0.000,4,0.144,0.051,2092,3715,2022
$GC,17474,0.48,220.8,792.7,6.6,404,17478,0.00,2.22,0.00,0.000,6,0.000,0.036,2100,2293,2021
$GC,17839,0.55,220.8,771.8,5.7,410,17843,0.00,2.25,0.00,0.000,4,0.000,0.050,2110,894,2021
$GC,17873,0.67,230.7,769.7,5.2,410,17887,0.12,2.25,8.65,1.010,6,0.063,0.042,2170,2313,1990
$GC,18209,0.43,230.7,735.0,10.7,416,18214,0.25,2.25,0.00,0.000,4,0.145,0.052,2094,3709,1988
$GC,18253,0.50,230.7,731.1,7.8,416,18257,0.00,2.20,0.00,0.000,6,0.000,0.034,2102,2303,1987
$GC,18568,0.59,230.7,711.2,6.3,422,18573,0.10,2.25,0.00,0.000,4,0.069,0.048,2168,889,1987
$GC,18601,0.48,230.7,708.2,9.7,422,18606,0.22,2.25,0.00,0.000,6,0.135,0.039,2104,2303,1986
$GC,18927,0.57,230.7,688.0,6.0,428,18930,0.00,2.25,0.00,0.000,4,0.000,0.053,2104,3709,1986
$GC,18960,0.61,230.7,685.5,7.2,428,18965,0.00,2.20,0.00,0.000,6,0.000,0.038,2111,2299,1986
$GC,19293,0.66,230.7,664.3,6.3,434,19297,0.10,2.25,0.00,0.000,4,0.071,0.047,2181,887,1986
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$GC,20022,0.80,238.7,622.5,5.5,446,20027,0.28,2.30,0.00,0.000,4,0.073,0.050,2174,3719,1953
$GC,20072,0.64,238.7,619.0,8.0,446,20077,0.17,2.22,0.00,0.000,6,0.156,0.039,2139,2296,1953
$GC,20383,0.56,238.7,598.2,6.7,451,20384,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2296,1953
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$GC,22079,0.91,277.4,488.7,8.4,478,22080,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2295,1792
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$STATE,28851,end climb,SURFACE_DEPTH_REACHED
$STATE,28851,begin surface coast
$FINISH,1.1,1.024276
$STATE,28880,end surface coast,CONTROL_FINISHED_OK
$STATE,28880,begin surface
$SM_CCo,28956,0.00,0.000,0,0,1632,318.64
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$IRIDIUM_FIX,4946.36,-14514.48,251198,151517
$TT8_MAMPS,0.029146
$HUMID,1650
$INTERNAL_PRESSURE,7.44169
$TCM_TEMP,17.20
$XPDR_PINGS,91
$24V_AH,22.6,37.282
$10V_AH,10.7,30.777
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$DEVICE_SECS,31.775,247.675,374.975,0.000,0.000,25.054,35.877,150.421,22.750,0.000,0.000,13.246,1806.648,23973.422,530.519,2371.759,599.435,33.368,1731.826,0.000,2351.791,0.000,0.529,0.000
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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,44434,766
$CAP_FILE_SIZE,209887,0
$CFSIZE,260165632,239493120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,010909,070506,4956.955,-14512.555,32,1.2,32,18.4