version: 66.04
glider: 144
mission: 15
dive: 354
start: 10 7 109 9 32 56
data:
$ID,144
$MISSION,15
$DIVE,354
$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,-68181.961
$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,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
$GPS1,092307,4954.396,-14429.390,34,1.1,34,18.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-61.3
$GPS2,093202,4954.396,-14429.426,16,1.1,16,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.111,0.126
$KALMAN_X,-58165.2,141.4,-116.9,106765.0,-503.1
$KALMAN_Y,20572.9,0.4,151.1,-69959.0,-247.3
$MHEAD_RNG_PITCHd_Wd,300.3,35202,-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,15,begin dive
$GC,18,-0.68,-117.3,0.0,0.0,0,52,0.00,0.00,-31.48,0.000,2,0.000,0.000,98,2299,2539
$GC,55,-0.68,-117.3,3.5,-6.8,3,90,7.12,2.33,-21.38,0.000,4,0.230,0.056,1845,890,3411
$GC,343,-0.62,-117.3,39.5,-12.7,28,350,0.08,2.28,0.00,0.000,6,0.133,0.038,1861,2290,3412
$GC,668,-0.62,-117.3,70.8,-7.4,59,669,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2290,3413
$GC,981,-0.62,-117.3,94.9,-8.1,80,985,0.00,2.20,0.00,0.000,4,0.000,0.040,1862,895,3414
$GC,1020,-0.62,-117.3,98.5,-9.2,81,1026,0.00,2.28,0.00,0.000,6,0.000,0.038,1862,2308,3414
$GC,1336,-0.62,-117.3,124.4,-7.4,97,1340,0.00,2.22,0.00,0.000,4,0.000,0.040,1862,894,3414
$GC,1385,-0.66,-117.3,128.3,-7.3,99,1390,0.00,2.25,0.00,0.000,6,0.000,0.041,1852,2311,3414
$GC,1718,-0.68,-117.3,152.3,-6.8,115,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2311,3414
$GC,2023,-0.71,-117.3,172.7,-6.5,125,2027,0.00,2.28,0.00,0.000,4,0.000,0.041,1852,886,3413
$GC,2068,-0.75,-117.3,175.9,-6.5,126,2072,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2305,3414
$GC,2386,-0.79,-117.3,197.4,-7.1,137,2390,0.00,2.25,0.00,0.000,4,0.000,0.051,1841,3706,3413
$GC,2431,-0.83,-117.3,201.1,-8.4,138,2436,0.08,2.17,0.00,0.000,6,0.076,0.029,1776,2297,3413
$GC,2750,-0.73,-117.3,237.3,-11.6,149,2754,0.17,2.22,0.00,0.000,4,0.125,0.041,1834,893,3412
$GC,2816,-0.76,-117.3,243.5,-8.3,151,2820,0.00,2.25,0.00,0.000,6,0.000,0.039,1827,2308,3412
$GC,3145,-0.76,-117.3,268.7,-7.5,162,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2309,3411
$GC,3451,-0.76,-117.3,291.6,-7.5,172,3455,0.00,2.22,0.00,0.000,4,0.000,0.043,1827,896,3411
$GC,3495,-0.76,-117.3,295.2,-8.4,173,3500,0.00,2.25,0.00,0.000,6,0.000,0.041,1823,2306,3411
$GC,3817,-0.76,-117.3,320.7,-7.9,180,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2306,3411
$GC,4120,-0.76,-117.3,344.0,-7.7,185,4123,0.00,2.25,0.00,0.000,4,0.000,0.043,1822,894,3409
$GC,4176,-0.76,-117.3,348.6,-7.8,185,4180,0.08,2.25,0.00,0.000,6,0.140,0.046,1833,2308,3409
$GC,4486,-0.78,-117.3,368.1,-6.2,190,4490,0.00,2.25,0.00,0.000,4,0.000,0.043,1833,893,3409
$GC,4514,-0.81,-117.3,370.0,-6.4,190,4518,0.00,2.25,0.00,0.000,6,0.000,0.040,1827,2306,3409
$GC,4851,-0.81,-117.3,391.2,-6.2,196,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2306,3409
$GC,5155,-0.81,-117.3,409.3,-6.0,201,5159,0.00,2.25,0.00,0.000,4,0.000,0.046,1827,901,3407
$GC,5188,-0.84,-117.3,411.5,-6.3,201,5193,0.00,2.22,0.00,0.000,6,0.000,0.040,1823,2301,3407
$GC,5526,-0.84,-117.3,433.5,-6.6,207,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2301,3407
$GC,5829,-0.84,-117.3,453.4,-6.6,212,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2301,3407
$GC,6133,-0.84,-117.3,475.2,-7.2,217,6137,0.00,2.28,0.00,0.000,4,0.000,0.048,1823,893,3407
$GC,6182,-0.84,-117.3,479.1,-7.9,217,6186,0.00,2.28,0.00,0.000,6,0.000,0.039,1814,2309,3406
$GC,6498,-0.84,-117.3,501.3,-7.0,223,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2309,3406
$GC,6801,-0.84,-117.3,522.3,-6.9,228,6805,0.00,2.28,0.00,0.000,4,0.000,0.049,1814,893,3406
$GC,6851,-0.84,-117.3,526.1,-7.5,228,6855,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2312,3405
$GC,7161,-0.84,-117.3,548.5,-7.3,233,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2312,3405
$GC,7464,-0.84,-117.3,568.7,-6.6,238,7468,0.00,2.28,0.00,0.000,4,0.000,0.045,1808,892,3405
$GC,7526,-0.84,-117.3,572.7,-6.9,239,7530,0.00,2.28,0.00,0.000,6,0.000,0.041,1806,2307,3406
$GC,7892,-0.84,-117.3,595.4,-6.2,245,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2307,3405
$GC,8194,-0.84,-117.3,614.7,-6.4,250,8198,0.00,2.28,0.00,0.000,4,0.000,0.045,1806,891,3405
$GC,8233,-0.84,-117.3,617.6,-7.8,250,8237,0.08,2.28,0.00,0.000,6,0.138,0.044,1817,2308,3404
$GC,8559,-0.84,-117.3,638.1,-6.4,256,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2308,3404
$GC,8863,-0.86,-117.3,658.9,-6.9,261,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2308,3404
$GC,9166,-0.88,-117.3,679.5,-6.7,266,9170,0.00,2.28,0.00,0.000,4,0.000,0.050,1818,899,3404
$GC,9206,-0.91,-117.3,682.3,-6.7,266,9210,0.00,2.28,0.00,0.000,6,0.000,0.041,1811,2314,3404
$GC,9528,-0.91,-117.3,703.8,-6.6,272,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2314,3404
$GC,9830,-0.91,-117.3,722.4,-6.1,277,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2314,3403
$GC,10133,-0.91,-117.3,740.7,-6.1,282,10137,0.00,2.30,0.00,0.000,4,0.000,0.051,1811,899,3403
$GC,10177,-0.91,-117.3,743.7,-7.0,282,10181,0.00,2.28,0.00,0.000,6,0.000,0.042,1809,2305,3403
$GC,10498,-0.91,-117.3,763.0,-6.0,288,10502,0.00,2.28,0.00,0.000,4,0.000,0.051,1809,899,3403
$GC,10532,-0.91,-117.3,765.1,-6.3,288,10536,0.00,2.28,0.00,0.000,6,0.000,0.047,1808,2309,3403
$GC,10858,-0.91,-117.3,784.0,-5.8,294,10862,0.00,2.28,0.00,0.000,4,0.000,0.051,1800,3709,3403
$GC,10891,-0.91,-117.3,785.9,-5.7,294,10895,0.00,2.20,0.00,0.000,6,0.000,0.033,1800,2306,3402
$GC,11218,-0.91,-117.3,805.0,-5.9,300,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2306,3402
$GC,11520,-0.91,-117.3,823.2,-6.0,305,11524,0.00,2.30,0.00,0.000,4,0.000,0.057,1794,3709,3402
$GC,11547,-0.91,-117.3,825.1,-7.4,305,11551,0.00,2.22,0.00,0.000,6,0.000,0.035,1794,2300,3402
$GC,11880,-0.91,-117.3,847.5,-6.8,311,11881,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2300,3402
$GC,12183,-0.91,-117.3,868.2,-6.8,316,12187,0.00,2.33,0.00,0.000,4,0.000,0.054,1784,3712,3402
$GC,12232,-0.91,-117.3,871.9,-7.1,316,12236,0.00,2.22,0.00,0.000,6,0.000,0.037,1784,2300,3402
$GC,12548,-0.87,-117.3,894.0,-7.0,322,12553,0.10,2.33,0.00,0.000,4,0.135,0.057,1802,3712,3402
$GC,12580,-0.87,-117.3,896.3,-6.3,322,12584,0.00,2.22,0.00,0.000,6,0.000,0.033,1803,2303,3402
$GC,12913,-0.87,-117.3,917.0,-6.3,328,12917,0.00,2.30,0.00,0.000,4,0.000,0.053,1794,3708,3402
$GC,12957,-0.87,-117.3,920.3,-7.1,328,12961,0.00,2.20,0.00,0.000,6,0.000,0.038,1794,2304,3401
$GC,13278,-0.87,-117.3,943.7,-7.3,334,13282,0.00,2.30,0.00,0.000,4,0.000,0.053,1784,3713,3401
$GC,13306,-0.85,-117.3,945.9,-8.5,334,13310,0.12,2.20,0.00,0.000,6,0.119,0.037,1819,2300,3401
$GC,13644,-0.89,-117.3,966.8,-6.1,340,13645,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2300,3401
$GC,13946,-0.93,-117.3,984.5,-5.8,345,13950,0.00,2.25,0.00,0.000,4,0.000,0.051,1819,898,3401
$GC,13985,-0.98,-117.3,987.0,-6.8,345,13990,0.12,2.25,0.00,0.000,6,0.071,0.050,1765,2304,3401
$STATE,14061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14061,begin apogee
$GC,14067,-0.22,0.0,992.9,7.8,347,14166,0.60,0.00,96.18,1.304,6,0.130,0.000,1950,2303,2931
$STATE,14167,end apogee,CONTROL_FINISHED_OK
$STATE,14167,begin climb
$GC,14170,0.68,117.3,994.2,0.0,348,14281,0.57,2.53,102.22,1.276,4,0.074,0.054,2161,901,2451
$GC,14300,0.57,120.2,991.4,5.4,350,14305,0.17,2.45,0.00,0.000,6,0.149,0.041,2121,2305,2448
$GC,14661,0.51,120.2,970.2,5.8,356,14665,0.00,2.33,0.00,0.000,4,0.000,0.055,2121,3712,2441
$GC,14701,0.40,120.2,967.6,6.9,356,14706,0.17,2.25,0.00,0.000,6,0.161,0.041,2085,2306,2440
$GC,15023,0.44,152.7,953.1,4.4,362,15055,0.00,0.00,29.80,1.229,6,0.000,0.000,2085,2307,2308
$GC,15326,0.49,172.6,938.6,4.8,367,15346,0.08,0.00,18.05,1.180,6,0.086,0.000,2122,2306,2227
$GC,15628,0.46,172.6,919.6,6.4,372,15629,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2306,2223
$GC,15932,0.43,172.6,900.9,6.2,377,15937,0.12,2.30,0.00,0.000,4,0.135,0.048,2097,895,2221
$GC,15959,0.46,172.6,899.3,6.0,377,15963,0.00,2.28,0.00,0.000,6,0.000,0.040,2097,2306,2221
$GC,16291,0.49,178.1,881.9,5.3,383,16301,0.00,2.30,5.43,0.896,4,0.000,0.056,2097,3720,2205
$GC,16318,0.49,178.1,880.2,6.0,383,16322,0.00,2.25,0.00,0.000,6,0.000,0.034,2107,2303,2204
$GC,16650,0.49,178.1,861.6,5.6,389,16651,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2302,2204
$GC,16953,0.49,178.1,844.4,5.7,394,16957,0.00,2.33,0.00,0.000,4,0.000,0.051,2107,3719,2203
$GC,16992,0.46,178.1,841.7,6.1,394,16996,0.00,2.25,0.00,0.000,6,0.000,0.037,2118,2303,2202
$GC,17314,0.46,178.1,822.7,5.9,400,17315,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2303,2202
$GC,17616,0.46,178.1,804.8,5.9,405,17620,0.00,2.30,0.00,0.000,4,0.000,0.055,2118,3716,2202
$GC,17649,0.40,178.1,802.3,6.7,405,17654,0.15,2.22,0.00,0.000,6,0.153,0.033,2089,2301,2202
$GC,17976,0.48,211.2,787.7,4.4,411,18008,0.00,0.00,30.10,1.144,6,0.000,0.000,2089,2301,2069
$GC,18279,0.63,211.2,771.7,5.5,416,18283,0.17,2.28,0.00,0.000,4,0.060,0.045,2161,894,2064
$GC,18384,0.58,211.2,764.0,7.1,417,18389,0.15,2.28,0.00,0.000,6,0.134,0.040,2121,2308,2063
$GC,18705,0.58,211.2,745.4,5.7,423,18709,0.00,2.28,0.00,0.000,4,0.000,0.056,2121,3713,2063
$GC,18739,0.55,211.2,743.0,6.9,423,18743,0.00,2.22,0.00,0.000,6,0.000,0.033,2130,2296,2062
$GC,19065,0.55,211.2,721.5,6.6,429,19066,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2295,2062
$GC,19368,0.55,211.2,700.8,6.8,434,19369,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2295,2062
$GC,19671,0.55,211.2,680.2,6.8,439,19673,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2295,2062
$GC,19974,0.55,211.2,659.2,6.9,444,19978,0.00,2.33,0.00,0.000,4,0.000,0.048,2130,3716,2062
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$GC,21009,0.52,229.8,589.2,10.0,461,21011,0.28,0.00,0.00,0.000,6,0.141,0.000,2108,2313,1992
$GC,21311,0.57,230.0,571.7,5.5,466,21313,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2313,1992
$GC,21615,0.63,235.3,555.4,5.3,471,21628,0.10,2.25,6.60,0.816,4,0.064,0.055,2173,3711,1970
$GC,21651,0.50,235.3,552.1,10.7,471,21656,0.28,2.22,0.00,0.000,6,0.145,0.033,2106,2294,1969
$GC,21978,0.56,237.8,533.6,5.4,477,21982,0.00,2.25,0.00,0.000,4,0.000,0.048,2115,897,1968
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$GC,22345,0.78,238.3,510.3,6.5,483,22349,0.17,2.28,0.00,0.000,4,0.056,0.044,2205,890,1967
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$GC,24244,0.64,238.3,383.4,6.4,514,24247,0.00,2.25,0.00,0.000,4,0.000,0.047,2144,896,1966
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$STATE,30164,end climb,SURFACE_DEPTH_REACHED
$STATE,30165,begin surface coast
$FINISH,1.0,1.013390
$STATE,30198,end surface coast,CONTROL_FINISHED_OK
$STATE,30198,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1715
$INTERNAL_PRESSURE,7.44169
$TCM_TEMP,16.90
$XPDR_PINGS,62
$24V_AH,22.2,52.190
$10V_AH,10.6,44.274
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$DEVICE_SECS,18.675,239.700,378.025,0.000,0.000,46.553,53.716,233.282,15.500,0.000,0.000,17.530,1753.639,25365.727,531.800,2343.075,804.265,33.367,1710.635,0.000,2340.583,0.000,0.528,0.000
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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,44312,769
$CAP_FILE_SIZE,194561,0
$CFSIZE,260165632,231120896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,071009,175856,4956.307,-14434.117,29,1.7,48,18.5