version: 66.04
glider: 144
mission: 15
dive: 146
start: 7 30 109 10 6 22
data:
$ID,144
$MISSION,15
$DIVE,146
$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,-63794.055
$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,32
$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
$GPS1,095904,5010.257,-14453.656,66,1.3,67,18.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-62.1
$GPS2,100528,5010.275,-14453.607,9,3.6,28,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.062,0.156
$KALMAN_X,-72227.1,208.2,131.7,80500.0,-2670.5
$KALMAN_Y,64323.8,63.7,53.9,-44849.5,-1140.2
$MHEAD_RNG_PITCHd_Wd,319.8,29406,-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,13,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.58,0.000,2,0.000,0.000,99,2306,2558
$GC,62,-0.68,-117.3,3.1,-3.6,4,96,6.95,2.28,-20.88,0.000,4,0.239,0.062,1858,887,3410
$GC,349,-0.60,-117.3,39.6,-11.3,29,355,0.00,2.22,0.00,0.000,6,0.000,0.040,1850,2302,3413
$GC,676,-0.49,-117.3,73.9,-10.4,60,681,0.15,2.22,0.00,0.000,4,0.135,0.043,1895,891,3414
$GC,761,-0.61,-117.3,81.4,-7.8,67,765,0.10,2.22,0.00,0.000,6,0.066,0.043,1824,2307,3414
$GC,1088,-0.42,-117.3,120.5,-11.9,83,1090,0.28,0.00,0.00,0.000,6,0.128,0.000,1907,2307,3415
$GC,1397,-0.63,-117.3,139.2,-5.4,98,1401,0.15,2.22,0.00,0.000,4,0.054,0.043,1814,888,3415
$GC,1419,-0.63,-117.3,140.9,-7.4,99,1424,0.20,2.22,0.00,0.000,6,0.130,0.040,1866,2309,3415
$GC,1755,-0.69,-117.3,163.1,-5.9,112,1758,0.00,2.22,0.00,0.000,4,0.000,0.044,1865,893,3415
$GC,1810,-0.81,-117.3,166.8,-6.5,113,1815,0.12,2.22,0.00,0.000,6,0.061,0.041,1791,2315,3415
$GC,2123,-0.60,-117.3,201.1,-11.1,123,2128,0.22,2.22,0.00,0.000,4,0.134,0.056,1857,3719,3415
$GC,2152,-0.60,-117.3,203.4,-8.1,124,2155,0.00,2.17,0.00,0.000,6,0.000,0.032,1857,2293,3415
$GC,2493,-0.68,-117.3,224.6,-6.2,135,2496,0.00,2.20,0.00,0.000,4,0.000,0.046,1857,887,3414
$GC,2543,-0.75,-117.3,228.2,-7.0,136,2547,0.00,2.22,0.00,0.000,6,0.000,0.041,1850,2310,3414
$GC,2861,-0.79,-117.3,249.7,-6.5,147,2866,0.08,2.22,0.00,0.000,4,0.082,0.051,1790,893,3413
$GC,2894,-0.62,-117.3,252.9,-10.0,148,2899,0.28,2.22,0.00,0.000,6,0.127,0.041,1866,2315,3413
$GC,3223,-0.73,-117.3,271.5,-5.5,159,3228,0.10,2.22,0.00,0.000,4,0.070,0.044,1801,896,3412
$GC,3256,-0.60,-117.3,274.3,-8.9,160,3261,0.25,2.20,0.00,0.000,6,0.125,0.041,1870,2304,3413
$GC,3585,-0.74,-117.3,292.5,-5.3,171,3587,0.12,0.00,0.00,0.000,6,0.061,0.000,1793,2304,3412
$GC,3920,-0.58,-117.3,323.7,-9.6,178,3924,0.22,2.22,0.00,0.000,4,0.127,0.046,1868,895,3411
$GC,3969,-0.73,-117.3,327.4,-6.5,178,3974,0.08,2.20,0.00,0.000,6,0.082,0.043,1804,2304,3411
$GC,4279,-0.61,-117.3,354.6,-9.1,183,4281,0.22,0.00,0.00,0.000,6,0.123,0.000,1872,2304,3411
$GC,4582,-0.78,-117.3,372.0,-5.6,188,4584,0.15,0.00,0.00,0.000,6,0.054,0.000,1781,2304,3410
$GC,4885,-0.57,-117.3,403.8,-10.8,193,4890,0.28,2.22,0.00,0.000,4,0.127,0.047,1871,892,3409
$GC,4940,-0.76,-117.3,408.3,-7.2,193,4948,0.10,2.20,0.00,0.000,6,0.070,0.048,1799,2305,3409
$GC,5251,-0.63,-117.3,437.7,-9.7,199,5253,0.22,0.00,0.00,0.000,6,0.123,0.000,1868,2305,3408
$GC,5554,-0.79,-117.3,456.9,-6.2,204,5555,0.15,0.00,0.00,0.000,6,0.055,0.000,1781,2305,3409
$GC,5856,-0.61,-117.3,489.1,-10.9,209,5861,0.25,2.22,0.00,0.000,4,0.126,0.053,1864,894,3408
$GC,5912,-0.78,-117.3,493.3,-6.1,209,5919,0.08,2.22,0.00,0.000,6,0.054,0.048,1795,2297,3408
$GC,6222,-0.66,-117.3,521.3,-9.1,215,6226,0.17,2.25,0.00,0.000,4,0.130,0.053,1848,3716,3408
$GC,6265,-0.81,-117.3,524.4,-6.2,215,6270,0.10,2.17,0.00,0.000,6,0.073,0.036,1789,2292,3408
$GC,6586,-0.64,-117.3,552.0,-8.7,221,6591,0.22,2.20,0.00,0.000,4,0.127,0.048,1858,890,3407
$GC,6631,-0.79,-117.3,554.6,-5.1,221,6636,0.08,2.20,0.00,0.000,6,0.083,0.044,1794,2302,3407
$GC,6946,-0.67,-117.3,578.5,-7.8,227,6948,0.20,0.00,0.00,0.000,6,0.125,0.000,1854,2303,3407
$GC,7249,-0.80,-117.3,593.1,-4.7,232,7254,0.12,2.25,0.00,0.000,4,0.062,0.058,1772,3723,3407
$GC,7282,-0.62,-117.3,595.7,-9.2,232,7287,0.30,2.17,0.00,0.000,6,0.127,0.039,1864,2302,3407
$GC,7609,-0.80,-117.3,611.6,-4.8,238,7613,0.15,2.20,0.00,0.000,4,0.058,0.047,1781,898,3406
$GC,7637,-0.71,-117.3,613.8,-9.1,238,7642,0.25,2.20,0.00,0.000,6,0.130,0.048,1846,2307,3407
$GC,7969,-0.82,-117.3,633.6,-5.8,244,7974,0.10,2.22,0.00,0.000,4,0.070,0.046,1787,893,3406
$GC,8035,-0.68,-117.3,639.6,-9.1,245,8040,0.25,2.22,0.00,0.000,6,0.125,0.049,1857,2314,3406
$GC,8396,-0.83,-117.3,658.7,-5.1,251,8398,0.12,0.00,0.00,0.000,6,0.063,0.000,1787,2314,3406
$GC,8698,-0.69,-117.3,682.4,-7.9,256,8703,0.20,2.25,0.00,0.000,4,0.127,0.048,1853,890,3406
$GC,8731,-0.82,-117.3,684.3,-5.6,256,8736,0.10,2.22,0.00,0.000,6,0.074,0.048,1794,2308,3406
$GC,9058,-0.71,-117.3,706.8,-7.0,262,9060,0.17,0.00,0.00,0.000,6,0.127,0.000,1845,2308,3406
$GC,9361,-0.82,-117.3,720.7,-4.5,267,9365,0.10,2.22,0.00,0.000,4,0.076,0.051,1793,895,3405
$GC,9393,-0.72,-117.3,722.9,-7.4,267,9398,0.22,2.20,0.00,0.000,6,0.126,0.042,1850,2304,3405
$GC,9720,-0.86,-117.3,736.7,-4.1,273,9722,0.12,0.00,0.00,0.000,6,0.068,0.000,1792,2304,3405
$GC,10022,-0.74,-117.3,757.9,-7.2,278,10024,0.17,0.00,0.00,0.000,6,0.127,0.000,1843,2304,3405
$GC,10326,-0.86,-117.3,773.0,-4.9,283,10328,0.12,0.00,0.00,0.000,6,0.071,0.000,1785,2304,3405
$GC,10629,-0.73,-117.3,795.8,-7.6,288,10631,0.20,0.00,0.00,0.000,6,0.130,0.000,1845,2304,3405
$GC,10932,-0.84,-117.3,810.1,-4.6,293,10934,0.10,0.00,0.00,0.000,6,0.084,0.000,1799,2304,3404
$GC,11235,-0.77,-117.3,829.4,-6.5,298,11239,0.12,2.25,0.00,0.000,4,0.133,0.051,1833,896,3404
$GC,11273,-0.84,-117.3,831.5,-6.0,298,11277,0.00,2.22,0.00,0.000,6,0.000,0.044,1826,2307,3404
$GC,11594,-0.84,-117.3,847.3,-4.9,304,11598,0.00,2.25,0.00,0.000,4,0.000,0.053,1826,894,3404
$GC,11638,-0.84,-117.3,849.8,-5.7,304,11642,0.00,2.22,0.00,0.000,6,0.000,0.049,1819,2304,3404
$GC,11959,-0.84,-117.3,867.6,-5.6,310,11960,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2304,3404
$GC,12262,-0.84,-117.3,886.0,-6.1,315,12265,0.00,2.22,0.00,0.000,4,0.000,0.052,1819,901,3403
$GC,12306,-0.84,-117.3,889.1,-6.2,315,12310,0.00,2.22,0.00,0.000,6,0.000,0.044,1810,2311,3403
$GC,12632,-0.84,-117.3,910.8,-6.7,321,12636,0.00,2.25,0.00,0.000,4,0.000,0.050,1812,892,3403
$GC,12670,-0.84,-117.3,913.5,-6.6,321,12674,0.00,2.22,0.00,0.000,6,0.000,0.048,1805,2304,3403
$GC,12997,-0.80,-117.3,934.6,-6.3,327,12999,0.08,0.00,0.00,0.000,6,0.160,0.000,1825,2304,3404
$GC,13300,-0.84,-117.3,949.9,-5.0,332,13304,0.00,2.25,0.00,0.000,4,0.000,0.055,1827,893,3403
$GC,13364,-0.90,-117.3,953.5,-6.2,333,13368,0.00,2.22,0.00,0.000,6,0.000,0.050,1823,2304,3403
$GC,13729,-0.90,-117.3,975.0,-6.0,339,13731,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2304,3403
$STATE,13969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13969,begin apogee
$GC,13975,-0.22,0.0,990.3,6.3,343,14070,0.43,0.00,92.70,1.337,6,0.141,0.000,1955,2304,2931
$STATE,14071,end apogee,CONTROL_FINISHED_OK
$STATE,14071,begin climb
$GC,14073,0.68,117.3,991.7,0.0,344,14178,0.57,2.50,98.35,1.309,4,0.078,0.056,2150,3713,2451
$GC,14203,0.31,117.3,988.6,7.6,346,14208,0.38,2.38,0.00,0.000,6,0.182,0.038,2069,2306,2447
$GC,14513,0.34,146.5,974.4,4.5,351,14539,0.00,0.00,24.40,1.248,6,0.000,0.000,2069,2306,2333
$GC,14816,0.42,159.4,959.0,5.1,356,14830,0.08,0.00,11.77,1.157,6,0.090,0.000,2102,2306,2281
$GC,15119,0.36,159.4,939.1,6.7,361,15121,0.10,0.00,0.00,0.000,6,0.154,0.000,2078,2306,2277
$GC,15422,0.40,159.4,922.0,5.6,366,15426,0.00,2.30,0.00,0.000,4,0.000,0.060,2078,3711,2276
$GC,15445,0.40,159.4,920.5,6.4,366,15449,0.00,2.25,0.00,0.000,6,0.000,0.037,2087,2293,2275
$GC,15782,0.40,159.4,901.0,5.7,372,15786,0.00,2.30,0.00,0.000,4,0.000,0.053,2087,3710,2275
$GC,15815,0.34,159.4,899.1,6.0,372,15820,0.10,2.22,0.00,0.000,6,0.170,0.038,2074,2298,2274
$GC,16142,0.44,195.5,884.6,4.3,378,16175,0.08,0.00,31.23,1.239,6,0.090,0.000,2111,2298,2133
$GC,16445,0.39,195.5,865.9,6.2,383,16447,0.12,0.00,0.00,0.000,6,0.146,0.000,2079,2297,2127
$GC,16747,0.53,226.5,852.2,4.5,388,16777,0.12,0.00,26.92,1.203,6,0.067,0.000,2135,2297,2007
$GC,17051,0.39,226.5,828.3,8.0,393,17053,0.17,0.00,0.00,0.000,6,0.144,0.000,2087,2296,2001
$GC,17354,0.52,244.1,813.0,4.9,398,17375,0.10,2.30,15.55,1.138,4,0.074,0.056,2144,894,1935
$GC,17397,0.46,244.1,810.1,6.0,398,17402,0.17,2.28,0.00,0.000,6,0.134,0.041,2097,2304,1932
$GC,17712,0.57,258.5,793.9,5.0,404,17732,0.10,2.35,13.38,1.102,4,0.067,0.054,2147,3714,1876
$GC,17755,0.40,258.5,790.5,9.2,404,17760,0.25,2.25,0.00,0.000,6,0.152,0.038,2088,2304,1875
$GC,18076,0.59,288.2,775.5,4.5,410,18110,0.15,2.40,26.50,1.149,4,0.059,0.052,2167,894,1755
$GC,18144,0.50,288.2,770.1,8.5,411,18149,0.22,2.30,0.00,0.000,6,0.133,0.042,2105,2305,1752
$GC,18505,0.63,297.4,750.8,5.2,417,18519,0.12,2.33,8.75,1.002,4,0.060,0.054,2166,3707,1718
$GC,18553,0.43,297.4,746.3,10.6,417,18558,0.30,2.25,0.00,0.000,6,0.148,0.038,2093,2295,1717
$GC,18868,0.82,297.4,727.1,6.2,423,18873,0.25,2.30,0.00,0.000,4,0.087,0.057,2176,3710,1714
$GC,18918,0.98,297.4,722.9,7.8,423,18923,0.10,2.22,0.00,0.000,6,0.071,0.038,2231,2292,1713
$GC,19228,0.49,297.4,671.0,17.7,428,19233,0.40,2.25,0.00,0.000,4,0.165,0.052,2121,894,1714
$GC,19260,0.49,297.4,667.0,9.4,428,19264,0.00,2.25,0.00,0.000,6,0.000,0.046,2121,2313,1713
$GC,19593,0.55,297.4,644.9,6.7,434,19594,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2314,1712
$GC,19896,0.61,297.4,624.0,6.9,439,19897,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2314,1712
$GC,20199,0.67,297.4,600.5,7.8,444,20201,0.10,0.00,0.00,0.000,6,0.072,0.000,2184,2314,1712
$GC,20502,0.40,297.4,560.5,13.5,449,20505,0.35,0.00,0.00,0.000,6,0.142,0.000,2081,2313,1712
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$STATE,27760,end climb,SURFACE_DEPTH_REACHED
$STATE,27760,begin surface coast
$FINISH,1.0,1.023840
$STATE,27837,end surface coast,CONTROL_FINISHED_OK
$STATE,27837,begin surface
$SM_CCo,27912,0.00,0.000,0,0,1568,334.59
$SM_GC,1.61,5.35,0.00,0.00,0.043,0.000,0.000,99,2305,1568,-8.61,0.06,334.59
$IRIDIUM_FIX,4949.70,-14451.95,241098,030302
$TT8_MAMPS,0.029146
$HUMID,1659
$INTERNAL_PRESSURE,7.44169
$TCM_TEMP,16.70
$XPDR_PINGS,71
$24V_AH,23.2,23.682
$10V_AH,10.7,18.678
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$DEVICE_SECS,29.000,196.750,377.875,0.000,0.000,29.863,32.457,185.720,17.750,0.000,0.000,30.916,1631.505,23421.430,534.649,2083.463,620.168,33.373,1571.444,0.000,2072.710,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,503.917,578.234,739.552,1229.370,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44181,716
$CAP_FILE_SIZE,184569,0
$CFSIZE,260165632,247369728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300709,175237,5013.208,-14456.313,25,1.9,25,18.5