version: 66.04
glider: 144
mission: 15
dive: 103
start: 7 16 109 6 5 56
data:
$ID,144
$MISSION,15
$DIVE,103
$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,-62919.574
$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,31
$R_STBD_OVSHOOT,31
$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
$GPS1,055637,5008.124,-14451.416,27,1.3,27,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-66.5
$GPS2,060502,5008.105,-14451.444,14,1.1,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.098,0.136
$KALMAN_X,-53343.3,-23.4,-178.9,64746.6,-1257.1
$KALMAN_Y,55654.4,-117.9,36.9,-40008.2,-214.2
$MHEAD_RNG_PITCHd_Wd,305.7,34029,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,49,0.00,0.00,-31.27,0.000,2,0.000,0.000,100,2310,2569
$GC,51,-0.68,-117.3,3.1,-6.4,3,86,6.90,2.28,-20.48,0.000,4,0.237,0.070,1836,3712,3412
$GC,136,-0.44,-117.3,16.7,-15.9,10,144,0.20,2.25,0.00,0.000,6,0.122,0.036,1914,2307,3413
$GC,463,-0.56,-117.3,41.7,-7.3,41,468,0.12,2.25,0.00,0.000,4,0.061,0.045,1842,887,3415
$GC,518,-0.43,-117.3,47.8,-11.7,45,525,0.25,2.25,0.00,0.000,6,0.129,0.041,1910,2312,3415
$GC,845,-0.59,-117.3,68.5,-6.0,76,850,0.12,2.22,0.00,0.000,4,0.059,0.051,1825,3715,3416
$GC,900,-0.44,-117.3,74.1,-10.7,80,907,0.28,2.17,0.00,0.000,6,0.119,0.034,1911,2294,3416
$GC,1219,-0.60,-117.3,95.7,-6.5,100,1223,0.15,2.20,0.00,0.000,4,0.052,0.045,1825,889,3417
$GC,1274,-0.44,-117.3,101.6,-11.9,102,1281,0.30,2.22,0.00,0.000,6,0.127,0.042,1909,2308,3417
$GC,1590,-0.62,-117.3,120.9,-6.1,118,1592,0.15,0.00,0.00,0.000,6,0.053,0.000,1822,2309,3417
$GC,1919,-0.49,-117.3,156.8,-10.6,133,1924,0.20,2.22,0.00,0.000,4,0.120,0.046,1894,895,3417
$GC,2008,-0.70,-117.3,162.8,-5.7,135,2015,0.10,2.22,0.00,0.000,6,0.045,0.041,1811,2298,3417
$GC,2321,-0.55,-117.3,188.9,-8.4,146,2326,0.20,2.20,0.00,0.000,4,0.125,0.045,1878,895,3416
$GC,2393,-0.70,-117.3,193.6,-6.0,148,2398,0.10,2.20,0.00,0.000,6,0.071,0.048,1810,2302,3416
$GC,2717,-0.58,-117.3,223.1,-9.6,159,2719,0.22,0.00,0.00,0.000,6,0.123,0.000,1880,2302,3415
$GC,3023,-0.74,-117.3,240.8,-5.4,169,3025,0.15,0.00,0.00,0.000,6,0.054,0.000,1794,2302,3415
$GC,3329,-0.55,-117.3,270.6,-10.1,179,3334,0.25,2.22,0.00,0.000,4,0.127,0.051,1876,890,3414
$GC,3384,-0.75,-117.3,274.7,-6.6,180,3391,0.12,2.22,0.00,0.000,6,0.061,0.047,1802,2310,3414
$GC,3727,-0.60,-117.3,307.2,-9.6,191,3729,0.22,0.00,0.00,0.000,6,0.128,0.000,1870,2310,3414
$GC,4030,-0.74,-117.3,325.1,-5.8,196,4032,0.12,0.00,0.00,0.000,6,0.059,0.000,1795,2310,3414
$GC,4334,-0.58,-117.3,354.8,-10.0,201,4338,0.22,2.22,0.00,0.000,4,0.126,0.054,1870,897,3412
$GC,4383,-0.75,-117.3,358.7,-6.9,201,4388,0.10,2.20,0.00,0.000,6,0.071,0.044,1799,2307,3412
$GC,4693,-0.61,-117.3,388.1,-9.7,206,4695,0.22,0.00,0.00,0.000,6,0.126,0.000,1868,2307,3412
$GC,4997,-0.77,-117.3,406.2,-5.8,211,5001,0.12,2.22,0.00,0.000,4,0.061,0.054,1798,892,3410
$GC,5037,-0.62,-117.3,409.6,-9.7,211,5042,0.25,2.20,0.00,0.000,6,0.128,0.046,1865,2302,3411
$GC,5358,-0.76,-117.3,428.7,-5.7,217,5362,0.12,2.22,0.00,0.000,4,0.062,0.054,1794,887,3410
$GC,5390,-0.63,-117.3,431.6,-9.7,217,5395,0.28,2.22,0.00,0.000,6,0.127,0.048,1869,2314,3410
$GC,5723,-0.78,-117.3,450.2,-5.5,223,5725,0.15,0.00,0.00,0.000,6,0.055,0.000,1787,2315,3409
$GC,6025,-0.61,-117.3,480.6,-10.2,228,6027,0.28,0.00,0.00,0.000,6,0.124,0.000,1872,2315,3410
$GC,6328,-0.79,-117.3,499.2,-6.0,233,6333,0.15,2.22,0.00,0.000,4,0.054,0.055,1793,896,3409
$GC,6367,-0.64,-117.3,502.7,-9.7,233,6371,0.28,2.20,0.00,0.000,6,0.126,0.044,1867,2306,3408
$GC,6687,-0.81,-117.3,522.7,-6.0,239,6689,0.15,0.00,0.00,0.000,6,0.057,0.000,1785,2306,3409
$GC,6990,-0.65,-117.3,552.0,-9.9,244,6995,0.22,2.22,0.00,0.000,4,0.127,0.049,1857,893,3409
$GC,7034,-0.80,-117.3,555.2,-6.3,244,7039,0.10,2.20,0.00,0.000,6,0.074,0.044,1787,2304,3408
$GC,7349,-0.65,-117.3,582.5,-8.8,250,7354,0.20,2.22,0.00,0.000,4,0.131,0.049,1852,893,3408
$GC,7387,-0.78,-117.3,585.2,-5.9,250,7391,0.00,2.22,0.00,0.000,6,0.000,0.044,1850,2313,3408
$GC,7709,-0.89,-117.3,602.2,-5.2,256,7713,0.15,2.25,0.00,0.000,4,0.056,0.051,1770,891,3407
$GC,7747,-0.67,-117.3,605.6,-9.9,256,7752,0.32,2.22,0.00,0.000,6,0.132,0.051,1860,2311,3407
$GC,8068,-0.83,-117.3,621.0,-4.7,262,8070,0.15,0.00,0.00,0.000,6,0.054,0.000,1779,2313,3407
$GC,8371,-0.66,-117.3,647.2,-8.9,267,8376,0.22,2.22,0.00,0.000,4,0.179,0.048,1853,897,3407
$GC,8416,-0.80,-117.3,650.1,-5.5,267,8420,0.10,2.20,0.00,0.000,6,0.074,0.044,1793,2303,3407
$GC,8730,-0.69,-117.3,674.3,-7.9,273,8732,0.20,0.00,0.00,0.000,6,0.128,0.000,1853,2302,3406
$GC,9034,-0.84,-117.3,689.5,-4.9,278,9038,0.12,2.22,0.00,0.000,4,0.066,0.049,1792,890,3406
$GC,9106,-0.73,-117.3,695.3,-9.1,279,9111,0.20,2.22,0.00,0.000,6,0.129,0.048,1841,2308,3406
$GC,9460,-0.83,-117.3,715.5,-5.7,285,9464,0.00,2.25,0.00,0.000,4,0.000,0.054,1841,888,3406
$GC,9494,-0.94,-117.3,717.6,-5.9,285,9498,0.12,2.22,0.00,0.000,6,0.069,0.051,1776,2304,3406
$GC,9820,-0.77,-117.3,745.0,-8.5,291,9824,0.17,2.22,0.00,0.000,4,0.140,0.054,1833,897,3406
$GC,9864,-0.83,-117.3,747.8,-5.8,291,9868,0.00,2.22,0.00,0.000,6,0.000,0.044,1826,2314,3406
$GC,10179,-0.83,-117.3,765.6,-5.6,297,10183,0.00,2.25,0.00,0.000,4,0.000,0.051,1826,891,3406
$GC,10228,-0.83,-117.3,768.6,-6.1,297,10232,0.00,2.22,0.00,0.000,6,0.000,0.050,1821,2304,3406
$GC,10543,-0.83,-117.3,786.6,-5.7,303,10547,0.00,2.22,0.00,0.000,4,0.000,0.054,1820,894,3406
$GC,10576,-0.83,-117.3,788.7,-6.5,303,10580,0.00,2.22,0.00,0.000,6,0.000,0.048,1812,2311,3406
$GC,10914,-0.83,-117.3,810.8,-6.6,309,10915,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2311,3405
$GC,11217,-0.83,-117.3,830.8,-6.6,314,11221,0.00,2.25,0.00,0.000,4,0.000,0.054,1812,890,3405
$GC,11305,-0.83,-117.3,837.2,-6.8,315,11309,0.00,2.22,0.00,0.000,6,0.000,0.047,1804,2304,3405
$GC,11649,-0.78,-117.3,860.0,-6.6,321,11654,0.10,2.25,0.00,0.000,4,0.147,0.057,1830,891,3405
$GC,11716,-0.84,-117.3,864.0,-5.6,322,11720,0.00,2.22,0.00,0.000,6,0.000,0.049,1823,2302,3405
$GC,12076,-0.84,-117.3,882.0,-4.9,328,12080,0.00,2.25,0.00,0.000,4,0.000,0.052,1823,890,3404
$GC,12145,-0.84,-117.3,885.9,-6.1,329,12149,0.00,2.25,0.00,0.000,6,0.000,0.051,1817,2313,3404
$GC,12510,-0.84,-117.3,907.1,-5.9,335,12514,0.00,2.25,0.00,0.000,4,0.000,0.058,1817,900,3404
$GC,12554,-0.84,-117.3,910.2,-6.7,335,12558,0.00,2.22,0.00,0.000,6,0.000,0.052,1808,2308,3405
$GC,12876,-0.84,-117.3,932.7,-7.1,341,12880,0.00,2.25,0.00,0.000,4,0.000,0.054,1808,900,3404
$GC,12914,-0.84,-117.3,935.8,-8.3,341,12918,0.00,2.22,0.00,0.000,6,0.000,0.052,1800,2307,3404
$GC,13241,-0.78,-117.3,962.5,-8.2,347,13246,0.12,2.25,0.00,0.000,4,0.146,0.055,1834,900,3405
$GC,13285,-0.86,-117.3,966.1,-8.0,347,13289,0.00,2.22,0.00,0.000,6,0.000,0.054,1833,2307,3404
$GC,13600,-0.94,-117.3,987.5,-6.8,353,13605,0.12,2.25,0.00,0.000,4,0.082,0.058,1786,897,3404
$STATE,13624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13624,begin apogee
$GC,13632,-0.22,0.0,990.1,8.9,353,13727,0.52,0.00,92.03,1.341,6,0.137,0.000,1948,2306,2931
$STATE,13728,end apogee,CONTROL_FINISHED_OK
$STATE,13728,begin climb
$GC,13731,0.68,117.3,993.5,0.0,355,13837,0.57,2.53,97.68,1.309,4,0.084,0.061,2147,3710,2451
$GC,13857,0.34,117.3,990.5,5.5,357,13862,0.32,2.33,0.00,0.000,6,0.181,0.044,2077,2314,2448
$GC,14223,0.38,147.0,974.3,4.5,363,14253,0.00,2.42,24.62,1.254,4,0.000,0.063,2086,891,2330
$GC,14270,0.43,186.1,971.9,4.2,363,14311,0.00,2.35,34.25,1.262,6,0.000,0.050,2085,2301,2172
$GC,14656,0.49,186.1,948.6,6.3,370,14660,0.00,2.33,0.00,0.000,4,0.000,0.056,2085,3712,2164
$GC,14683,0.49,186.1,946.6,6.2,370,14686,0.00,2.28,0.00,0.000,6,0.000,0.041,2091,2295,2163
$GC,15020,0.49,186.1,924.4,6.5,376,15021,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2295,2163
$GC,15324,0.49,186.1,906.2,6.0,381,15328,0.00,2.33,0.00,0.000,4,0.000,0.063,2092,3717,2162
$GC,15356,0.49,186.1,903.9,7.4,381,15361,0.00,2.28,0.00,0.000,6,0.000,0.040,2101,2300,2161
$GC,15690,0.49,186.1,883.8,6.0,387,15692,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2300,2161
$GC,15992,0.49,186.1,865.8,6.0,392,15996,0.00,2.30,0.00,0.000,4,0.000,0.061,2101,3720,2160
$GC,16020,0.43,186.1,863.8,7.0,392,16024,0.00,2.22,0.00,0.000,6,0.000,0.042,2112,2302,2160
$GC,16352,0.35,186.1,841.5,6.6,398,16357,0.15,2.28,0.00,0.000,4,0.161,0.054,2081,885,2160
$GC,16379,0.44,186.1,839.9,5.6,398,16384,0.00,2.25,0.00,0.000,6,0.000,0.050,2081,2317,2159
$GC,16718,0.56,212.6,824.0,4.6,404,16742,0.12,0.00,21.92,1.185,6,0.071,0.000,2137,2317,2064
$GC,17021,0.40,212.6,801.8,7.6,409,17026,0.17,2.28,0.00,0.000,4,0.150,0.060,2084,3717,2059
$GC,17048,0.40,212.6,800.1,6.5,409,17052,0.00,2.28,0.00,0.000,6,0.000,0.044,2091,2304,2059
$GC,17386,0.51,240.5,784.8,4.6,415,17412,0.00,0.00,24.50,1.164,6,0.000,0.000,2091,2304,1950
$GC,17689,0.64,260.2,770.2,4.8,420,17709,0.15,0.00,17.98,1.124,6,0.061,0.000,2157,2304,1870
$GC,17992,0.46,260.2,741.8,9.7,425,17994,0.22,0.00,0.00,0.000,6,0.147,0.000,2095,2302,1864
$GC,18295,0.58,260.2,723.8,5.7,430,18296,0.12,0.00,0.00,0.000,6,0.062,0.000,2155,2302,1862
$GC,18598,0.42,260.2,693.8,10.2,435,18602,0.20,2.28,0.00,0.000,4,0.143,0.058,2094,3710,1862
$GC,18642,0.51,260.2,690.2,7.2,435,18646,0.00,2.22,0.00,0.000,6,0.000,0.039,2102,2297,1862
$GC,18957,0.60,260.2,670.6,6.2,441,18961,0.10,2.25,0.00,0.000,4,0.074,0.056,2170,893,1862
$GC,18978,0.60,260.2,668.9,8.1,441,18982,0.15,2.25,0.00,0.000,6,0.143,0.043,2129,2314,1861
$GC,19321,0.60,260.2,642.5,7.7,447,19324,0.00,2.25,0.00,0.000,4,0.000,0.058,2130,3716,1861
$GC,19371,0.54,260.2,638.1,8.8,447,19375,0.00,2.22,0.00,0.000,6,0.000,0.041,2137,2293,1861
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$GC,26893,0.82,317.9,54.8,6.4,653,26897,0.00,2.20,0.00,0.000,6,0.000,0.036,2164,2299,1632
$GC,27220,1.21,317.9,36.6,6.7,683,27225,0.25,2.20,0.00,0.000,4,0.058,0.048,2275,894,1631
$GC,27271,0.97,317.9,32.2,8.1,687,27276,0.22,2.20,0.00,0.000,6,0.137,0.041,2208,2304,1631
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$STATE,27673,end climb,SURFACE_DEPTH_REACHED
$STATE,27673,begin surface coast
$FINISH,1.0,1.020707
$STATE,27706,end surface coast,CONTROL_FINISHED_OK
$STATE,27706,begin surface
$SM_CCo,27781,0.00,0.000,0,0,1627,319.63
$SM_GC,1.73,5.30,0.00,0.00,0.029,0.000,0.000,99,2304,1627,-8.63,0.03,319.63
$IRIDIUM_FIX,4949.70,-14449.20,101098,060617
$TT8_MAMPS,0.029146
$HUMID,1630
$INTERNAL_PRESSURE,7.42216
$TCM_TEMP,16.20
$XPDR_PINGS,83
$24V_AH,23.5,17.746
$10V_AH,10.7,13.432
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$DEVICE_SECS,27.425,237.600,361.250,0.000,0.000,58.515,52.463,204.129,20.750,0.000,0.000,16.146,1691.155,23133.682,509.540,2233.209,708.778,33.374,1650.131,0.000,2232.521,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,514.278,583.266,751.721,1247.063,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44363,726
$CAP_FILE_SIZE,195637,0
$CFSIZE,260165632,250785792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160709,135007,5011.038,-14454.490,32,1.1,32,18.5