version: 66.04
glider: 144
mission: 15
dive: 189
start: 8 13 109 19 32 46
data:
$ID,144
$MISSION,15
$DIVE,189
$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,-64663.98
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,192537,5013.513,-14457.839,28,1.6,28,18.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-68.9
$GPS2,193152,5013.561,-14457.938,10,2.1,29,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.103,0.133
$KALMAN_X,-88239.4,-6.1,113.9,91597.7,-1814.3
$KALMAN_Y,67494.1,-30.2,83.2,-41874.4,-225.5
$MHEAD_RNG_PITCHd_Wd,303.8,21546,-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,-31.48,0.000,2,0.000,0.000,100,2299,2579
$GC,51,-0.68,-117.3,3.4,-6.4,3,86,7.07,2.33,-19.27,0.000,4,0.242,0.061,1842,867,3412
$GC,201,-0.46,-117.3,26.3,-15.5,16,206,0.22,2.30,0.00,0.000,6,0.133,0.045,1900,2306,3413
$GC,528,-0.56,-117.3,50.5,-6.5,46,532,0.00,2.25,0.00,0.000,4,0.000,0.041,1900,894,3415
$GC,578,-0.71,-117.3,54.1,-6.8,50,585,0.17,2.22,0.00,0.000,6,0.047,0.038,1796,2312,3415
$GC,912,-0.41,-117.3,97.0,-13.7,76,917,0.35,2.25,0.00,0.000,4,0.140,0.048,1908,894,3416
$GC,975,-0.61,-117.3,102.8,-7.0,79,980,0.12,2.22,0.00,0.000,6,0.057,0.040,1822,2306,3417
$GC,1302,-0.48,-117.3,138.3,-10.1,95,1304,0.25,0.00,0.00,0.000,6,0.127,0.000,1898,2307,3417
$GC,1611,-0.73,-117.3,153.5,-4.8,109,1613,0.17,0.00,0.00,0.000,6,0.057,0.000,1822,2306,3417
$GC,1917,-0.89,-117.3,176.0,-7.5,119,1920,0.00,2.22,0.00,0.000,4,0.000,0.042,1821,894,3416
$GC,2109,-0.83,-117.3,192.5,-8.8,124,2113,0.00,2.20,0.00,0.000,6,0.000,0.045,1813,2301,3416
$GC,2427,-0.72,-117.3,221.1,-9.1,135,2432,0.12,2.25,0.00,0.000,4,0.136,0.048,1848,886,3415
$GC,2455,-0.72,-117.3,223.5,-8.2,136,2459,0.00,2.25,0.00,0.000,6,0.000,0.041,1848,2312,3415
$GC,2790,-0.76,-117.3,247.0,-6.7,147,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2312,3415
$GC,3096,-0.82,-117.3,266.4,-6.3,157,3098,0.10,0.00,0.00,0.000,6,0.069,0.000,1786,2312,3414
$GC,3402,-0.62,-117.3,297.5,-10.4,167,3407,0.25,2.28,0.00,0.000,4,0.128,0.044,1866,891,3413
$GC,3459,-0.77,-117.3,301.7,-7.0,168,3466,0.12,2.25,0.00,0.000,6,0.060,0.043,1793,2312,3414
$GC,3769,-0.61,-117.3,331.7,-9.9,174,3774,0.22,2.25,0.00,0.000,4,0.127,0.043,1865,892,3413
$GC,3824,-0.76,-117.3,336.0,-6.8,174,3831,0.08,2.25,0.00,0.000,6,0.054,0.041,1797,2297,3413
$GC,4134,-0.61,-117.3,364.3,-9.3,180,4136,0.22,0.00,0.00,0.000,6,0.127,0.000,1865,2297,3412
$GC,4438,-0.75,-117.3,381.2,-5.4,185,4440,0.12,0.00,0.00,0.000,6,0.061,0.000,1787,2296,3411
$GC,4741,-0.58,-117.3,409.6,-9.5,190,4743,0.30,0.00,0.00,0.000,6,0.123,0.000,1880,2297,3411
$GC,5044,-0.90,-117.3,425.5,-5.2,195,5049,0.20,2.25,0.00,0.000,4,0.061,0.054,1792,3708,3411
$GC,5174,-0.78,-117.3,435.9,-8.4,197,5179,0.15,2.20,0.00,0.000,6,0.127,0.037,1835,2294,3411
$GC,5539,-0.78,-117.3,459.0,-6.2,203,5543,0.00,2.22,0.00,0.000,4,0.000,0.049,1835,892,3410
$GC,5578,-0.84,-117.3,461.8,-7.0,203,5582,0.00,2.22,0.00,0.000,6,0.000,0.041,1835,2301,3410
$GC,5905,-0.88,-117.3,483.1,-6.5,209,5910,0.10,2.22,0.00,0.000,4,0.071,0.051,1776,896,3410
$GC,5932,-0.75,-117.3,485.6,-8.9,209,5937,0.22,2.22,0.00,0.000,6,0.132,0.045,1834,2308,3409
$GC,6264,-0.75,-117.3,508.4,-6.8,215,6268,0.00,2.25,0.00,0.000,4,0.000,0.047,1834,892,3409
$GC,6302,-0.81,-117.3,511.4,-7.2,215,6306,0.00,2.22,0.00,0.000,6,0.000,0.043,1829,2305,3409
$GC,6629,-0.81,-117.3,536.2,-7.6,221,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2305,3409
$GC,6932,-0.81,-117.3,560.2,-7.9,226,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2305,3408
$GC,7235,-0.81,-117.3,583.2,-7.6,231,7239,0.00,2.25,0.00,0.000,4,0.000,0.051,1829,892,3408
$GC,7285,-0.85,-117.3,587.1,-7.6,231,7289,0.00,2.22,0.00,0.000,6,0.000,0.041,1823,2304,3408
$GC,7594,-0.85,-117.3,608.7,-7.0,236,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2304,3408
$GC,7898,-0.85,-117.3,629.1,-6.7,241,7902,0.00,2.25,0.00,0.000,4,0.000,0.046,1823,899,3407
$GC,7930,-0.85,-117.3,631.6,-7.2,241,7934,0.00,2.25,0.00,0.000,6,0.000,0.048,1816,2302,3407
$GC,8263,-0.85,-117.3,653.8,-6.7,247,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2302,3407
$GC,8565,-0.85,-117.3,673.2,-6.3,252,8567,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2302,3407
$GC,8869,-0.85,-117.3,692.0,-6.2,257,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2302,3407
$GC,9172,-0.85,-117.3,710.8,-6.1,262,9176,0.00,2.25,0.00,0.000,4,0.000,0.049,1815,898,3406
$GC,9227,-0.85,-117.3,714.6,-7.1,262,9231,0.00,2.22,0.00,0.000,6,0.000,0.045,1807,2302,3406
$GC,9543,-0.81,-117.3,735.4,-6.7,268,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2303,3406
$GC,9846,-0.76,-117.3,757.5,-7.3,273,9848,0.10,0.00,0.00,0.000,6,0.141,0.000,1835,2303,3406
$GC,10149,-0.85,-117.3,776.4,-6.1,278,10153,0.00,2.28,0.00,0.000,4,0.000,0.058,1827,3715,3406
$GC,10182,-0.93,-117.3,778.5,-6.7,278,10187,0.10,2.20,0.00,0.000,6,0.077,0.033,1777,2303,3406
$GC,10508,-0.77,-117.3,808.2,-9.3,284,10513,0.17,2.28,0.00,0.000,4,0.132,0.054,1835,892,3406
$GC,10563,-0.87,-117.3,812.6,-7.5,284,10570,0.05,2.28,0.00,0.000,6,0.071,0.043,1797,2304,3406
$GC,10873,-0.80,-117.3,837.5,-8.1,290,10875,0.12,0.00,0.00,0.000,6,0.137,0.000,1830,2304,3406
$GC,11176,-0.93,-117.3,855.7,-5.8,295,11181,0.12,2.28,0.00,0.000,4,0.080,0.058,1777,3717,3406
$GC,11203,-0.93,-117.3,857.7,-7.6,295,11207,0.08,2.20,0.00,0.000,6,0.153,0.037,1796,2304,3406
$GC,11541,-0.86,-117.3,880.7,-6.8,301,11545,0.00,2.25,0.00,0.000,4,0.000,0.052,1796,897,3405
$GC,11624,-0.80,-117.3,887.0,-7.4,302,11629,0.15,2.22,0.00,0.000,6,0.136,0.044,1830,2304,3405
$GC,11968,-0.88,-117.3,904.4,-5.0,308,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2304,3405
$GC,12271,-0.96,-117.3,919.0,-4.8,313,12273,0.15,0.00,0.00,0.000,6,0.075,0.000,1771,2303,3405
$GC,12573,-0.80,-117.3,942.3,-7.8,318,12575,0.20,0.00,0.00,0.000,6,0.138,0.000,1828,2304,3405
$GC,12877,-0.88,-117.3,958.1,-5.0,323,12881,0.00,2.25,0.00,0.000,4,0.000,0.054,1828,899,3405
$GC,12916,-0.96,-117.3,960.5,-6.2,323,12921,0.12,2.22,0.00,0.000,6,0.077,0.043,1771,2301,3405
$GC,13236,-0.80,-117.3,985.2,-7.8,329,13238,0.20,0.00,0.00,0.000,6,0.143,0.000,1828,2301,3405
$STATE,13355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13355,begin apogee
$GC,13360,-0.22,0.0,991.6,6.6,331,13457,0.40,0.00,93.68,1.328,6,0.125,0.000,1956,2301,2931
$STATE,13457,end apogee,CONTROL_FINISHED_OK
$STATE,13458,begin climb
$GC,13460,0.68,117.3,992.6,0.0,332,13563,0.57,0.00,99.88,1.301,6,0.077,0.000,2150,2301,2452
$GC,13841,0.39,117.3,969.4,7.8,339,13843,0.25,0.00,0.00,0.000,6,0.160,0.000,2086,2301,2442
$GC,14144,0.41,126.7,953.1,5.2,344,14153,0.00,0.00,7.40,1.046,6,0.000,0.000,2086,2301,2414
$GC,14447,0.42,138.4,937.6,5.1,349,14466,0.00,2.40,11.55,1.145,4,0.000,0.055,2086,3715,2365
$GC,14495,0.35,138.4,934.7,5.7,349,14499,0.00,2.28,0.00,0.000,6,0.000,0.035,2094,2307,2364
$GC,14810,0.32,149.2,918.4,5.1,355,14826,0.12,2.33,10.55,1.125,4,0.159,0.053,2062,3715,2320
$GC,14849,0.45,189.9,916.6,4.1,355,14891,0.10,2.28,35.92,1.236,6,0.071,0.041,2114,2298,2156
$GC,15237,0.40,189.9,893.4,6.1,362,15241,0.12,2.33,0.00,0.000,4,0.143,0.054,2091,887,2149
$GC,15287,0.52,199.7,890.5,5.2,362,15303,0.08,2.30,8.93,1.067,6,0.091,0.041,2130,2310,2116
$GC,15671,0.40,199.7,864.6,7.0,369,15675,0.17,2.28,0.00,0.000,4,0.147,0.058,2076,3712,2112
$GC,15715,0.50,219.1,861.8,4.8,369,15740,0.08,2.25,17.92,1.166,6,0.084,0.035,2126,2297,2037
$GC,16103,0.42,219.1,836.1,6.8,376,16108,0.15,2.30,0.00,0.000,4,0.142,0.051,2095,893,2032
$GC,16147,0.59,237.2,833.6,4.9,376,16169,0.12,2.28,16.25,1.139,6,0.070,0.047,2151,2313,1964
$GC,16532,0.42,237.2,800.6,9.0,383,16536,0.20,2.28,0.00,0.000,4,0.147,0.054,2093,3709,1959
$GC,16594,0.48,237.2,795.9,6.2,384,16598,0.00,2.22,0.00,0.000,6,0.000,0.038,2101,2303,1958
$GC,16965,0.54,237.2,773.8,6.0,390,16967,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2303,1957
$GC,17268,0.60,237.2,754.5,6.4,395,17273,0.10,2.30,0.00,0.000,4,0.071,0.051,2154,3717,1956
$GC,17308,0.38,237.2,750.6,10.4,395,17313,0.30,2.25,0.00,0.000,6,0.148,0.037,2079,2299,1956
$GC,17630,0.74,237.2,727.5,7.3,401,17632,0.25,0.00,0.00,0.000,6,0.064,0.000,2171,2299,1955
$GC,17932,0.79,237.2,699.7,9.2,406,17936,0.00,2.30,0.00,0.000,4,0.000,0.050,2171,3721,1955
$GC,17971,0.52,237.2,695.6,11.1,406,17976,0.28,2.25,0.00,0.000,6,0.156,0.035,2106,2292,1955
$GC,18292,0.58,237.2,673.2,6.8,412,18293,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2292,1955
$GC,18595,0.64,237.2,653.9,6.3,417,18600,0.12,2.30,0.00,0.000,4,0.058,0.055,2172,3722,1955
$GC,18628,0.37,237.2,650.6,10.0,417,18633,0.38,2.22,0.00,0.000,6,0.148,0.038,2075,2303,1955
$GC,18954,0.75,237.2,630.8,6.2,423,18956,0.28,0.00,0.00,0.000,6,0.057,0.000,2180,2303,1954
$GC,19258,0.68,237.2,606.7,8.0,428,19262,0.12,2.28,0.00,0.000,4,0.148,0.053,2157,886,1954
$GC,19307,0.60,237.2,602.4,9.0,428,19312,0.12,2.25,0.00,0.000,6,0.138,0.044,2125,2308,1954
$GC,19617,0.60,237.2,581.4,6.8,433,19620,0.00,2.25,0.00,0.000,4,0.000,0.054,2126,3716,1955
$GC,19661,0.53,237.2,577.7,9.1,433,19665,0.00,2.20,0.00,0.000,6,0.000,0.034,2133,2294,1954
$GC,19982,0.45,237.2,554.0,7.4,439,19987,0.15,2.28,0.00,0.000,4,0.142,0.050,2092,3712,1954
$GC,20009,0.45,237.2,552.1,6.2,439,20013,0.00,2.20,0.00,0.000,6,0.000,0.034,2099,2300,1954
$GC,20348,0.55,237.6,533.4,5.5,445,20349,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2300,1954
$GC,20650,0.66,237.6,516.3,5.6,450,20652,0.15,0.00,0.00,0.000,6,0.057,0.000,2182,2300,1954
$GC,20954,0.36,237.6,484.4,11.0,455,20959,0.32,2.28,0.00,0.000,4,0.148,0.054,2082,3712,1954
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$GC,22304,0.57,237.9,393.1,5.5,477,22308,0.00,2.22,0.00,0.000,4,0.000,0.051,2113,3712,1954
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$GC,24068,0.81,246.0,286.9,6.0,509,24073,0.22,2.25,0.00,0.000,4,0.058,0.053,2185,3717,1926
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$STATE,28162,end climb,SURFACE_DEPTH_REACHED
$STATE,28162,begin surface coast
$FINISH,1.1,1.022501
$STATE,28186,end surface coast,CONTROL_FINISHED_OK
$STATE,28186,begin surface
$SM_CCo,28261,0.00,0.000,0,0,1604,325.51
$SM_GC,1.79,5.68,0.00,0.00,0.040,0.000,0.000,99,2309,1604,-8.62,0.17,325.51
$IRIDIUM_FIX,4953.05,-14451.95,071198,111124
$TT8_MAMPS,0.029146
$HUMID,1679
$INTERNAL_PRESSURE,7.43193
$TCM_TEMP,16.40
$XPDR_PINGS,77
$24V_AH,23.2,29.614
$10V_AH,10.7,24.008
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$DEVICE_SECS,28.775,220.300,378.875,0.000,0.000,28.786,30.474,173.773,19.250,0.000,0.000,32.291,1696.714,23430.547,536.382,2330.615,632.397,33.375,1697.040,0.000,2307.754,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,507.677,577.238,742.034,1230.990,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44458,717
$CAP_FILE_SIZE,196502,0
$CFSIZE,260165632,243916800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140809,032526,5015.604,-14501.472,41,2.1,60,18.5