version: 66.04
glider: 144
mission: 15
dive: 24
start: 6 19 109 19 31 46
data:
$ID,144
$MISSION,15
$DIVE,24
$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,528
$T_MISSION,570
$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,150
$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,-61367.77
$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,24
$R_STBD_OVSHOOT,27
$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
$GPS1,192530,5004.146,-14509.314,36,2.0,43,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-57.2
$GPS2,193052,5004.135,-14509.273,11,2.1,30,18.4
$SPEED_LIMITS,0.062,0.194
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.021,-0.193
$KALMAN_X,-15206.0,400.3,-155.4,4921.2,-328.1
$KALMAN_Y,5291.3,-260.6,-49.1,3246.8,177.5
$MHEAD_RNG_PITCHd_Wd,167.9,19017,-12.4,-6.250
$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,16,-0.72,-146.6,0.0,0.0,0,71,0.00,0.00,-52.38,0.000,2,0.000,0.000,103,2298,2801
$GC,74,-0.72,-146.6,3.6,-4.3,5,102,7.05,2.33,-16.12,0.000,4,0.259,0.074,1826,3717,3531
$GC,218,-0.57,-146.6,25.4,-13.3,17,222,0.17,2.25,0.00,0.000,6,0.140,0.043,1874,2294,3532
$GC,543,-0.62,-146.6,53.8,-7.9,47,546,0.00,2.22,0.00,0.000,4,0.000,0.055,1875,893,3533
$GC,600,-0.72,-146.6,58.4,-8.4,52,605,0.12,2.25,0.00,0.000,6,0.067,0.049,1811,2308,3533
$GC,933,-0.52,-146.6,99.3,-12.8,76,935,0.25,0.00,0.00,0.000,6,0.145,0.000,1884,2308,3533
$GC,1241,-0.65,-146.6,123.4,-6.8,91,1243,0.10,0.00,0.00,0.000,6,0.074,0.000,1830,2308,3534
$GC,1560,-0.60,-146.6,153.3,-9.2,106,1564,0.15,2.28,0.00,0.000,4,0.133,0.054,1873,886,3534
$GC,1637,-0.79,-146.6,159.1,-7.0,108,1642,0.12,2.25,0.00,0.000,6,0.069,0.052,1805,2307,3534
$GC,1955,-0.68,-146.6,189.7,-9.8,119,1960,0.17,2.25,0.00,0.000,4,0.143,0.054,1861,893,3533
$GC,2005,-0.84,-146.6,193.5,-6.7,120,2009,0.15,2.25,0.00,0.000,6,0.062,0.051,1787,2311,3533
$GC,2318,-0.67,-146.6,226.3,-10.7,130,2320,0.22,0.00,0.00,0.000,6,0.143,0.000,1852,2311,3533
$GC,2624,-0.77,-146.6,246.4,-6.4,140,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2311,3533
$GC,2930,-0.89,-146.6,266.8,-6.7,150,2934,0.15,2.25,0.00,0.000,4,0.064,0.055,1782,893,3533
$GC,2964,-0.74,-146.6,270.0,-10.7,151,2968,0.20,2.22,0.00,0.000,6,0.150,0.058,1837,2303,3533
$GC,3304,-0.79,-146.6,295.8,-7.3,162,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2304,3533
$GC,3608,-0.84,-146.6,317.5,-7.1,168,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2304,3532
$GC,3911,-0.89,-146.6,339.1,-7.1,173,3916,0.12,2.25,0.00,0.000,4,0.072,0.056,1780,889,3532
$GC,3944,-0.75,-146.6,342.4,-10.4,173,3949,0.22,2.25,0.00,0.000,6,0.147,0.053,1836,2311,3532
$GC,4270,-0.81,-146.6,364.9,-6.7,179,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2311,3532
$GC,4573,-0.87,-146.6,385.4,-6.7,184,4575,0.10,0.00,0.00,0.000,6,0.081,0.000,1792,2312,3531
$GC,4876,-0.77,-146.6,413.5,-9.4,189,4881,0.15,2.28,0.00,0.000,4,0.144,0.057,1833,885,3531
$GC,4931,-0.85,-146.6,417.9,-7.4,189,4938,0.00,2.25,0.00,0.000,6,0.000,0.058,1832,2303,3531
$GC,5241,-0.90,-146.6,439.0,-6.8,195,5243,0.10,0.00,0.00,0.000,6,0.077,0.000,1781,2303,3531
$GC,5544,-0.76,-146.6,468.5,-10.0,200,5546,0.17,0.00,0.00,0.000,6,0.143,0.000,1832,2303,3530
$GC,5848,-0.83,-146.6,490.9,-7.3,205,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2303,3530
$GC,6151,-0.90,-146.6,511.7,-6.8,210,6153,0.10,0.00,0.00,0.000,6,0.085,0.000,1788,2303,3529
$GC,6454,-0.80,-146.6,538.9,-9.1,215,6458,0.15,2.28,0.00,0.000,4,0.143,0.058,1830,882,3529
$GC,6503,-0.88,-146.6,543.0,-7.5,215,6507,0.00,2.25,0.00,0.000,6,0.000,0.053,1822,2304,3529
$GC,6812,-0.88,-146.6,564.5,-7.0,220,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2304,3529
$GC,7116,-0.88,-146.6,584.5,-6.6,225,7120,0.00,2.25,0.00,0.000,4,0.000,0.064,1814,3710,3529
$GC,7143,-0.92,-146.6,586.5,-7.5,225,7147,0.00,2.20,0.00,0.000,6,0.000,0.051,1815,2293,3529
$GC,7481,-0.92,-146.6,610.6,-7.2,231,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2293,3529
$GC,7784,-0.92,-146.6,632.3,-7.2,236,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2293,3528
$GC,8087,-0.92,-146.6,655.0,-7.5,241,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2293,3528
$GC,8390,-0.92,-146.6,677.7,-7.4,246,8394,0.00,2.30,0.00,0.000,4,0.000,0.068,1806,3713,3528
$GC,8422,-0.92,-146.6,680.3,-7.8,246,8426,0.00,2.20,0.00,0.000,6,0.000,0.048,1806,2304,3529
$GC,8755,-0.92,-146.6,706.4,-7.9,252,8759,0.00,2.25,0.00,0.000,4,0.000,0.068,1806,893,3528
$GC,8782,-0.92,-146.6,708.7,-9.0,252,8786,0.00,2.25,0.00,0.000,6,0.000,0.055,1797,2308,3528
$GC,9120,-0.86,-146.6,736.1,-8.1,258,9124,0.00,2.28,0.00,0.000,4,0.000,0.065,1798,887,3528
$GC,9147,-0.81,-146.6,738.4,-8.6,258,9152,0.12,2.25,0.00,0.000,6,0.162,0.055,1825,2302,3528
$GC,9479,-0.89,-146.6,758.6,-6.0,264,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2302,3528
$GC,9782,-0.98,-146.6,776.9,-6.0,269,9784,0.15,0.00,0.00,0.000,6,0.087,0.000,1771,2302,3528
$GC,10085,-0.83,-146.6,806.2,-10.0,274,10087,0.17,0.00,0.00,0.000,6,0.160,0.000,1819,2302,3527
$GC,10388,-0.89,-146.6,829.2,-7.4,279,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2302,3528
$GC,10691,-0.94,-146.6,850.3,-6.9,284,10696,0.10,2.28,0.00,0.000,4,0.104,0.063,1785,890,3528
$GC,10729,-0.87,-146.6,853.6,-9.9,284,10734,0.12,2.25,0.00,0.000,6,0.173,0.062,1810,2304,3527
$GC,11049,-0.87,-146.6,876.2,-7.0,290,11050,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3527
$GC,11352,-0.87,-146.6,897.0,-6.9,295,11356,0.00,2.28,0.00,0.000,4,0.000,0.065,1813,892,3527
$GC,11373,-0.87,-146.6,898.5,-6.5,295,11377,0.00,2.25,0.00,0.000,6,0.000,0.057,1807,2304,3527
$GC,11717,-0.87,-146.6,922.4,-6.9,301,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2304,3527
$GC,12019,-0.87,-146.6,943.3,-6.9,306,12021,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2304,3526
$GC,12323,-0.87,-146.6,964.7,-7.1,311,12327,0.00,2.28,0.00,0.000,4,0.000,0.071,1806,894,3526
$GC,12362,-0.87,-146.6,967.7,-8.4,311,12366,0.00,2.25,0.00,0.000,6,0.000,0.059,1798,2306,3526
$STATE,12681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12681,begin apogee
$GC,12686,-0.22,0.0,991.7,7.4,317,12806,0.50,0.00,117.18,1.337,6,0.163,0.000,1948,2306,2931
$STATE,12807,end apogee,CONTROL_FINISHED_OK
$STATE,12807,begin climb
$GC,12810,0.72,146.6,995.1,0.0,319,12939,0.65,2.53,122.32,1.309,4,0.120,0.073,2151,3709,2331
$GC,12963,0.38,146.6,988.8,7.8,321,12968,0.32,2.38,0.00,0.000,6,0.196,0.050,2082,2312,2328
$GC,13295,0.43,187.1,971.8,5.0,327,13334,0.00,2.53,33.55,1.262,4,0.000,0.067,2091,888,2167
$GC,13352,0.57,239.2,968.7,4.7,327,13404,0.12,2.42,46.20,1.259,6,0.101,0.056,2132,2305,1955
$GC,13719,0.47,239.2,939.2,8.2,334,13724,0.12,2.38,0.00,0.000,4,0.173,0.068,2098,3710,1944
$GC,13741,0.41,239.2,937.4,7.5,334,13745,0.00,2.30,0.00,0.000,6,0.000,0.053,2104,2303,1944
$GC,14078,0.41,239.2,916.1,6.3,340,14082,0.00,2.35,0.00,0.000,4,0.000,0.070,2115,886,1942
$GC,14106,0.47,239.2,914.2,6.8,340,14110,0.00,2.33,0.00,0.000,6,0.000,0.058,2115,2303,1942
$GC,14437,0.47,239.2,892.4,6.6,346,14441,0.00,2.33,0.00,0.000,4,0.000,0.074,2115,3711,1941
$GC,14470,0.41,239.2,889.7,8.1,346,14475,0.12,2.28,0.00,0.000,6,0.181,0.053,2091,2301,1941
$GC,14797,0.55,266.5,871.9,5.4,352,14827,0.10,2.42,22.20,1.203,4,0.100,0.067,2134,891,1843
$GC,14849,0.55,266.5,868.1,6.5,352,14853,0.00,2.35,0.00,0.000,6,0.000,0.061,2135,2306,1840
$GC,15165,0.46,266.5,843.1,8.1,358,15169,0.15,2.33,0.00,0.000,4,0.166,0.072,2096,3712,1839
$GC,15185,0.46,266.5,841.3,7.3,358,15189,0.00,2.28,0.00,0.000,6,0.000,0.048,2103,2302,1838
$GC,15530,0.56,284.5,821.7,5.7,364,15550,0.00,2.35,16.05,1.148,4,0.000,0.067,2114,891,1769
$GC,15567,0.71,313.6,819.5,5.4,364,15599,0.15,2.33,26.38,1.166,6,0.093,0.054,2162,2304,1651
$GC,15956,0.55,313.6,780.5,10.4,371,15961,0.17,2.35,0.00,0.000,4,0.168,0.071,2119,3719,1645
$GC,16011,0.61,313.6,775.1,7.8,371,16018,0.00,2.30,0.00,0.000,6,0.000,0.053,2127,2298,1644
$GC,16321,0.61,313.6,752.5,7.3,377,16325,0.00,2.33,0.00,0.000,4,0.000,0.064,2136,888,1643
$GC,16342,0.66,313.6,750.9,7.2,377,16346,0.00,2.30,0.00,0.000,6,0.000,0.056,2136,2306,1643
$GC,16680,0.66,313.6,726.0,7.4,383,16684,0.00,2.33,0.00,0.000,4,0.000,0.069,2136,3724,1642
$GC,16723,0.66,313.6,722.3,8.3,383,16727,0.00,2.28,0.00,0.000,6,0.000,0.054,2146,2301,1643
$GC,17045,0.58,313.6,695.5,8.4,389,17049,0.00,2.33,0.00,0.000,4,0.000,0.066,2157,882,1642
$GC,17066,0.54,313.6,693.6,8.5,389,17071,0.15,2.30,0.00,0.000,6,0.153,0.054,2118,2309,1641
$GC,17404,0.63,316.2,672.5,6.2,395,17408,0.00,2.28,0.00,0.000,4,0.000,0.070,2118,3713,1641
$GC,17448,0.70,316.2,669.1,9.0,395,17452,0.10,2.25,0.00,0.000,6,0.082,0.048,2166,2298,1641
$GC,17762,0.54,316.2,636.7,10.6,401,17767,0.17,2.30,0.00,0.000,4,0.162,0.064,2123,881,1641
$GC,17795,0.64,316.2,633.9,6.7,401,17799,0.00,2.30,0.00,0.000,6,0.000,0.054,2123,2315,1640
$GC,18121,0.73,316.2,612.6,6.5,407,18123,0.12,0.00,0.00,0.000,6,0.084,0.000,2173,2315,1641
$GC,18424,0.55,316.2,580.2,10.9,412,18426,0.20,0.00,0.00,0.000,6,0.160,0.000,2120,2315,1641
$GC,18728,0.67,330.8,561.8,5.8,417,18748,0.10,2.30,14.23,0.989,4,0.083,0.070,2163,3716,1581
$GC,18770,0.56,330.8,557.9,10.9,417,18775,0.20,2.28,0.00,0.000,6,0.163,0.048,2121,2297,1581
$GC,19091,0.70,344.5,538.6,5.8,423,19111,0.12,2.35,12.68,0.958,4,0.071,0.063,2185,890,1526
$GC,19133,0.62,344.5,535.1,10.2,423,19138,0.20,2.30,0.00,0.000,6,0.149,0.057,2131,2307,1524
$GC,19454,0.71,344.5,514.2,6.4,429,19458,0.10,2.28,0.00,0.000,4,0.077,0.067,2177,3712,1522
$GC,19503,0.55,344.5,509.1,11.5,429,19508,0.25,2.25,0.00,0.000,6,0.164,0.052,2120,2301,1522
$GC,19814,0.74,363.7,490.7,5.7,434,19838,0.15,2.38,17.00,0.949,4,0.067,0.062,2196,892,1447
$GC,19872,0.65,363.7,485.2,10.3,434,19879,0.20,2.30,0.00,0.000,6,0.149,0.055,2142,2303,1445
$GC,20182,0.71,363.7,463.2,6.9,440,20186,0.00,2.30,0.00,0.000,4,0.000,0.069,2141,3711,1443
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$STATE,25253,end climb,SURFACE_DEPTH_REACHED
$STATE,25253,begin surface coast
$FINISH,1.0,1.015768
$STATE,25277,end surface coast,CONTROL_FINISHED_OK
$STATE,25277,begin surface
$SM_CCo,25351,0.00,0.000,0,0,1439,365.99
$SM_GC,1.73,5.55,0.00,0.00,0.058,0.000,0.000,102,2313,1439,-8.61,0.25,365.99
$IRIDIUM_FIX,4949.70,-14515.32,130998,121215
$TT8_MAMPS,0.028379
$HUMID,1610
$INTERNAL_PRESSURE,7.37333
$TCM_TEMP,16.00
$XPDR_PINGS,67
$24V_AH,23.3,6.874
$10V_AH,10.7,3.532
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$DEVICE_SECS,22.450,214.575,427.775,0.000,0.000,25.222,27.772,134.105,16.750,0.000,0.000,32.995,1484.462,21148.469,550.087,1986.401,496.481,33.363,1578.954,0.000,1952.189,0.000,0.527,0.000
$DEVICE_MAMPS,259.246,74.399,1336.881,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,450.402,513.672,656.514,1099.110,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38082,640
$CAP_FILE_SIZE,171295,0
$CFSIZE,260165632,257183744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200609,023536,5000.837,-14509.339,38,1.4,42,18.4