version: 66.04
glider: 144
mission: 15
dive: 104
start: 7 16 109 13 56 58
data:
$ID,144
$MISSION,15
$DIVE,104
$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,-62935.957
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,135007,5011.038,-14454.490,32,1.1,32,18.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-64.3
$GPS2,135602,5011.037,-14454.465,14,1.4,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.081,0.147
$KALMAN_X,-54174.9,289.0,334.7,61143.5,-2392.6
$KALMAN_Y,55828.3,346.8,-24.4,-35153.6,-568.5
$MHEAD_RNG_PITCHd_Wd,312.6,27708,-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,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-42.25,0.000,2,0.000,0.000,99,2304,2814
$GC,61,-0.68,-117.3,4.0,-6.9,4,86,6.78,2.35,-12.75,0.000,4,0.235,0.071,1833,3715,3413
$GC,166,-0.51,-117.3,21.0,-13.0,13,171,0.20,2.20,0.00,0.000,6,0.125,0.037,1893,2298,3414
$GC,498,-0.51,-117.3,50.9,-8.3,44,502,0.00,2.22,0.00,0.000,4,0.000,0.048,1893,892,3416
$GC,559,-0.60,-117.3,56.0,-8.4,49,565,0.00,2.22,0.00,0.000,6,0.000,0.041,1890,2310,3416
$GC,886,-0.65,-117.3,78.7,-6.9,80,890,0.12,2.25,0.00,0.000,4,0.058,0.045,1820,886,3417
$GC,952,-0.47,-117.3,86.1,-11.9,83,957,0.30,2.22,0.00,0.000,6,0.128,0.040,1901,2309,3416
$GC,1274,-0.59,-117.3,107.1,-6.4,99,1278,0.12,2.25,0.00,0.000,4,0.058,0.044,1830,882,3417
$GC,1329,-0.46,-117.3,112.9,-11.8,101,1336,0.20,2.25,0.00,0.000,6,0.121,0.041,1902,2301,3417
$GC,1645,-0.64,-117.3,132.2,-5.7,117,1647,0.15,0.00,0.00,0.000,6,0.054,0.000,1808,2301,3417
$GC,1953,-0.49,-117.3,164.6,-10.6,130,1958,0.25,2.22,0.00,0.000,4,0.122,0.050,1893,893,3417
$GC,2003,-0.70,-117.3,168.6,-6.8,131,2007,0.15,2.22,0.00,0.000,6,0.053,0.044,1807,2314,3417
$GC,2315,-0.56,-117.3,200.7,-10.0,141,2317,0.25,0.00,0.00,0.000,6,0.129,0.000,1883,2314,3417
$GC,2622,-0.73,-117.3,218.7,-5.9,151,2623,0.15,0.00,0.00,0.000,6,0.052,0.000,1792,2314,3417
$GC,2928,-0.56,-117.3,250.6,-10.6,161,2933,0.25,2.25,0.00,0.000,4,0.128,0.047,1875,892,3416
$GC,2989,-0.72,-117.3,255.1,-6.7,162,2996,0.12,2.22,0.00,0.000,6,0.058,0.049,1796,2310,3416
$GC,3302,-0.57,-117.3,285.0,-9.8,173,3304,0.28,0.00,0.00,0.000,6,0.124,0.000,1882,2310,3415
$GC,3638,-0.75,-117.3,304.3,-5.6,183,3643,0.15,2.22,0.00,0.000,4,0.055,0.048,1796,891,3415
$GC,3676,-0.58,-117.3,307.9,-10.2,183,3681,0.30,2.22,0.00,0.000,6,0.129,0.047,1878,2314,3415
$GC,4003,-0.76,-117.3,326.2,-5.4,189,4005,0.15,0.00,0.00,0.000,6,0.055,0.000,1793,2314,3414
$GC,4306,-0.61,-117.3,354.7,-9.7,194,4311,0.22,2.25,0.00,0.000,4,0.125,0.048,1867,889,3413
$GC,4369,-0.76,-117.3,359.1,-6.4,195,4373,0.10,2.22,0.00,0.000,6,0.070,0.048,1799,2308,3413
$GC,4734,-0.64,-117.3,391.8,-9.1,201,4736,0.22,0.00,0.00,0.000,6,0.125,0.000,1868,2307,3413
$GC,5038,-0.79,-117.3,407.0,-4.8,206,5042,0.15,2.25,0.00,0.000,4,0.054,0.048,1790,886,3413
$GC,5082,-0.63,-117.3,410.5,-8.5,206,5087,0.28,2.22,0.00,0.000,6,0.127,0.043,1866,2301,3413
$GC,5397,-0.79,-117.3,425.2,-4.4,212,5399,0.12,0.00,0.00,0.000,6,0.062,0.000,1793,2301,3413
$GC,5700,-0.65,-117.3,451.0,-8.8,217,5704,0.20,2.22,0.00,0.000,4,0.127,0.054,1859,894,3412
$GC,5755,-0.79,-117.3,455.1,-6.7,217,5762,0.05,2.25,0.00,0.000,6,0.065,0.043,1804,2310,3411
$GC,6065,-0.70,-117.3,481.6,-8.7,223,6069,0.15,2.25,0.00,0.000,4,0.132,0.051,1848,889,3411
$GC,6103,-0.78,-117.3,484.6,-7.1,223,6107,0.00,2.22,0.00,0.000,6,0.000,0.047,1847,2304,3412
$GC,6424,-0.87,-117.3,505.0,-6.4,229,6426,0.12,0.00,0.00,0.000,6,0.062,0.000,1777,2305,3411
$GC,6727,-0.68,-117.3,534.5,-9.9,234,6731,0.22,2.22,0.00,0.000,4,0.132,0.051,1852,893,3411
$GC,6776,-0.81,-117.3,538.1,-6.6,234,6781,0.10,2.22,0.00,0.000,6,0.074,0.044,1790,2312,3410
$GC,7088,-0.67,-117.3,563.9,-8.4,239,7090,0.22,0.00,0.00,0.000,6,0.126,0.000,1858,2313,3410
$GC,7390,-0.82,-117.3,578.6,-4.7,244,7394,0.12,2.25,0.00,0.000,4,0.062,0.055,1789,886,3411
$GC,7422,-0.69,-117.3,581.3,-8.6,244,7427,0.25,2.22,0.00,0.000,6,0.129,0.044,1856,2305,3410
$GC,7749,-0.83,-117.3,597.1,-4.7,250,7751,0.12,0.00,0.00,0.000,6,0.062,0.000,1786,2305,3410
$GC,8052,-0.69,-117.3,620.5,-7.8,255,8056,0.17,2.25,0.00,0.000,4,0.130,0.055,1845,881,3409
$GC,8107,-0.79,-117.3,624.1,-6.4,255,8114,0.00,2.25,0.00,0.000,6,0.000,0.044,1838,2299,3409
$GC,8417,-0.85,-117.3,640.6,-5.4,261,8419,0.08,0.00,0.00,0.000,6,0.087,0.000,1784,2300,3409
$GC,8720,-0.71,-117.3,666.1,-8.6,266,8725,0.17,2.25,0.00,0.000,4,0.130,0.050,1841,886,3409
$GC,8792,-0.81,-117.3,671.0,-6.4,267,8796,0.00,2.25,0.00,0.000,6,0.000,0.049,1837,2313,3409
$GC,9146,-0.88,-117.3,691.2,-5.7,273,9151,0.10,2.25,0.00,0.000,4,0.071,0.055,1781,892,3408
$GC,9179,-0.72,-117.3,694.0,-9.5,273,9184,0.25,2.22,0.00,0.000,6,0.132,0.044,1847,2309,3408
$GC,9505,-0.85,-117.3,712.8,-5.7,279,9507,0.12,0.00,0.00,0.000,6,0.070,0.000,1787,2310,3408
$GC,9808,-0.72,-117.3,739.6,-9.0,284,9810,0.20,0.00,0.00,0.000,6,0.128,0.000,1846,2310,3408
$GC,10111,-0.84,-117.3,758.7,-6.1,289,10116,0.12,2.25,0.00,0.000,4,0.070,0.053,1790,893,3408
$GC,10144,-0.73,-117.3,761.6,-9.9,289,10149,0.20,2.22,0.00,0.000,6,0.132,0.051,1840,2308,3408
$GC,10477,-0.83,-117.3,784.1,-6.8,295,10478,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2307,3408
$GC,10779,-0.93,-117.3,804.6,-6.7,300,10781,0.15,0.00,0.00,0.000,6,0.070,0.000,1777,2307,3408
$GC,11083,-0.78,-117.3,833.9,-9.7,305,11087,0.20,2.25,0.00,0.000,4,0.133,0.056,1840,894,3407
$GC,11132,-0.88,-117.3,837.8,-6.8,305,11137,0.10,2.22,0.00,0.000,6,0.084,0.050,1792,2307,3408
$GC,11443,-0.79,-117.3,862.8,-8.0,310,11447,0.12,2.25,0.00,0.000,4,0.142,0.060,1817,3717,3407
$GC,11475,-0.79,-117.3,865.3,-7.0,310,11479,0.00,2.17,0.00,0.000,6,0.000,0.041,1818,2298,3407
$GC,11807,-0.79,-117.3,886.1,-6.2,316,11810,0.00,2.22,0.00,0.000,4,0.000,0.058,1817,894,3407
$GC,11839,-0.79,-117.3,888.3,-6.1,316,11844,0.00,2.25,0.00,0.000,6,0.000,0.048,1807,2303,3407
$GC,12177,-0.79,-117.3,907.9,-5.7,322,12181,0.00,2.25,0.00,0.000,4,0.000,0.054,1807,887,3407
$GC,12227,-0.79,-117.3,911.0,-6.5,322,12232,0.12,2.25,0.00,0.000,6,0.144,0.050,1831,2313,3407
$GC,12538,-0.87,-117.3,925.2,-4.5,327,12542,0.00,2.28,0.00,0.000,4,0.000,0.054,1831,889,3407
$GC,12571,-0.94,-117.3,927.0,-5.0,327,12576,0.10,2.25,0.00,0.000,6,0.087,0.050,1780,2313,3407
$GC,12898,-0.80,-117.3,950.9,-7.4,333,12899,0.17,0.00,0.00,0.000,6,0.143,0.000,1829,2312,3407
$GC,13201,-0.87,-117.3,965.8,-4.8,338,13205,0.00,2.28,0.00,0.000,4,0.000,0.057,1829,892,3406
$GC,13264,-0.95,-117.3,969.4,-5.4,339,13269,0.10,2.22,0.00,0.000,6,0.087,0.047,1781,2303,3407
$STATE,13566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13566,begin apogee
$GC,13572,-0.22,0.0,991.1,7.3,344,13668,0.55,0.00,93.03,1.338,6,0.134,0.000,1954,2302,2930
$STATE,13669,end apogee,CONTROL_FINISHED_OK
$STATE,13669,begin climb
$GC,13672,0.68,117.3,992.1,0.0,345,13778,0.55,2.53,97.70,1.311,4,0.081,0.054,2155,899,2450
$GC,13798,0.42,117.3,987.5,6.7,347,13803,0.22,2.40,0.00,0.000,6,0.162,0.053,2093,2300,2447
$GC,14164,0.34,117.3,965.6,5.9,353,14168,0.00,2.35,0.00,0.000,4,0.000,0.063,2093,3718,2441
$GC,14219,0.18,117.3,961.6,7.3,353,14227,0.22,2.28,0.00,0.000,6,0.167,0.043,2042,2300,2439
$GC,14530,0.43,128.6,946.3,5.1,359,14545,0.17,2.35,8.73,1.107,4,0.068,0.061,2127,888,2405
$GC,14642,0.27,128.6,938.9,7.1,360,14647,0.22,2.30,0.00,0.000,6,0.151,0.046,2060,2309,2404
$GC,14963,0.37,145.0,923.0,4.9,366,14983,0.00,2.33,14.82,1.197,4,0.000,0.060,2061,3712,2340
$GC,15023,0.37,145.0,919.6,5.7,367,15027,0.00,2.28,0.00,0.000,6,0.000,0.042,2069,2293,2338
$GC,15389,0.43,152.8,900.5,5.2,373,15399,0.10,0.00,8.05,1.070,6,0.077,0.000,2114,2293,2307
$GC,15692,0.32,152.8,879.9,6.9,378,15694,0.17,0.00,0.00,0.000,6,0.153,0.000,2067,2292,2304
$GC,15995,0.45,186.8,866.3,4.4,383,16030,0.12,2.40,29.55,1.223,4,0.069,0.058,2120,3710,2168
$GC,16054,0.29,186.8,862.2,7.8,384,16059,0.25,2.28,0.00,0.000,6,0.162,0.043,2064,2305,2166
$GC,16420,0.61,194.3,843.8,5.2,390,16435,0.17,2.38,7.03,1.004,4,0.071,0.059,2147,890,2138
$GC,16549,0.47,194.3,834.7,8.4,391,16556,0.17,2.30,0.00,0.000,6,0.146,0.048,2099,2312,2136
$GC,16859,0.47,201.3,818.0,5.3,397,16872,0.00,2.35,7.32,1.008,4,0.000,0.061,2100,3720,2110
$GC,16907,0.42,201.3,815.0,6.0,397,16911,0.00,2.25,0.00,0.000,6,0.000,0.038,2108,2300,2109
$GC,17223,0.43,210.6,798.4,5.2,403,17234,0.00,0.00,9.62,1.062,6,0.000,0.000,2107,2299,2072
$GC,17526,0.44,213.9,782.3,5.4,408,17535,0.00,2.35,4.05,0.750,4,0.000,0.058,2107,3712,2059
$GC,17552,0.44,213.9,780.5,6.7,408,17557,0.10,2.25,0.00,0.000,6,0.163,0.043,2094,2300,2059
$GC,17897,0.51,219.3,762.4,5.3,414,17910,0.00,2.30,6.65,0.953,4,0.000,0.054,2103,886,2035
$GC,17923,0.60,224.9,760.9,5.3,414,17934,0.10,2.28,6.28,0.920,6,0.074,0.044,2153,2304,2014
$GC,18262,0.40,224.9,728.7,9.8,420,18266,0.20,2.28,0.00,0.000,4,0.151,0.055,2092,3711,2010
$GC,18311,0.40,224.9,724.6,7.3,420,18315,0.00,2.22,0.00,0.000,6,0.000,0.043,2100,2301,2010
$GC,18626,0.45,224.9,704.2,6.5,426,18630,0.00,2.28,0.00,0.000,4,0.000,0.054,2111,887,2009
$GC,18654,0.52,224.9,702.4,6.8,426,18658,0.00,2.25,0.00,0.000,6,0.000,0.044,2111,2305,2009
$GC,18985,0.52,224.9,678.9,7.1,432,18987,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2305,2008
$GC,19288,0.52,224.9,660.3,6.0,437,19292,0.00,2.28,0.00,0.000,4,0.000,0.054,2120,888,2009
$GC,19316,0.53,233.3,658.7,5.2,437,19330,0.00,2.25,8.12,0.957,6,0.000,0.045,2120,2305,1979
$GC,19652,0.49,233.3,638.6,5.9,443,19656,0.00,2.28,0.00,0.000,4,0.000,0.055,2121,3723,1977
$GC,19690,0.40,233.3,635.9,6.8,443,19695,0.17,2.22,0.00,0.000,6,0.145,0.038,2081,2298,1977
$GC,20011,0.71,276.4,623.0,4.0,449,20057,0.20,2.38,37.42,1.071,4,0.058,0.059,2180,891,1802
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$GC,23300,0.67,294.6,383.7,8.1,502,23303,0.00,2.22,0.00,0.000,4,0.000,0.053,2152,894,1729
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$STATE,27565,end climb,SURFACE_DEPTH_REACHED
$STATE,27565,begin surface coast
$FINISH,1.1,1.010998
$STATE,27577,end surface coast,CONTROL_FINISHED_OK
$STATE,27577,begin surface
$SM_CCo,27652,0.00,0.000,0,0,1669,309.57
$SM_GC,1.94,5.62,0.00,0.00,0.044,0.000,0.000,100,2314,1669,-8.63,0.31,309.57
$IRIDIUM_FIX,4949.70,-14449.20,101098,060623
$TT8_MAMPS,0.028379
$HUMID,1642
$INTERNAL_PRESSURE,7.41239
$TCM_TEMP,16.30
$XPDR_PINGS,77
$24V_AH,23.4,17.886
$10V_AH,10.7,13.552
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$DEVICE_SECS,28.950,239.225,366.450,0.000,0.000,27.497,39.361,166.104,19.250,0.000,0.000,15.752,1680.356,22919.504,521.195,2241.185,638.288,33.379,1681.155,0.000,2239.724,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,496.305,566.556,729.476,1205.759,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41171,702
$CAP_FILE_SIZE,198165,0
$CFSIZE,260165632,250703872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,213907,5013.943,-14458.270,39,1.4,39,18.5