version: 66.04
glider: 144
mission: 15
dive: 203
start: 8 17 109 12 34 54
data:
$ID,144
$MISSION,15
$DIVE,203
$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,-64869.016
$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,33
$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
$GPS1,122354,5000.625,-14511.230,41,1.5,59,18.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-58.7
$GPS2,123401,5000.574,-14511.136,13,1.5,30,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.020,-0.167
$KALMAN_X,2116.0,93.4,-3.7,-2866.3,328.0
$KALMAN_Y,3967.8,0.7,53.5,-41810.8,1085.0
$MHEAD_RNG_PITCHd_Wd,168.4,12192,-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,-42.03,0.000,2,0.000,0.000,99,2301,2771
$GC,61,-0.68,-117.3,3.9,-7.2,4,88,7.18,2.33,-12.88,0.000,4,0.243,0.069,1840,3712,3414
$GC,99,-0.00,-117.3,13.6,-23.7,7,107,0.52,2.22,0.00,0.000,6,0.129,0.033,1999,2295,3415
$GC,428,-0.68,-117.3,35.8,-7.3,38,433,0.40,2.28,0.00,0.000,4,0.072,0.046,1851,3710,3416
$GC,461,-0.98,-117.3,38.8,-7.8,40,468,0.20,2.17,0.00,0.000,6,0.049,0.029,1750,2298,3416
$GC,786,-0.53,-117.3,91.8,-17.8,68,791,0.43,2.22,0.00,0.000,4,0.148,0.041,1880,897,3418
$GC,927,-0.60,-117.3,106.4,-8.9,74,931,0.00,2.22,0.00,0.000,6,0.000,0.038,1877,2308,3418
$GC,1243,-0.65,-117.3,131.2,-7.1,89,1247,0.00,2.22,0.00,0.000,4,0.000,0.041,1876,895,3419
$GC,1289,-0.74,-117.3,134.7,-7.7,91,1294,0.12,2.22,0.00,0.000,6,0.058,0.041,1796,2308,3419
$GC,1614,-0.55,-117.3,169.8,-10.6,104,1616,0.28,0.00,0.00,0.000,6,0.125,0.000,1880,2308,3418
$GC,1920,-0.72,-117.3,188.5,-6.2,114,1925,0.12,2.22,0.00,0.000,4,0.059,0.046,1795,904,3417
$GC,1987,-0.56,-117.3,195.4,-11.1,116,1992,0.30,2.22,0.00,0.000,6,0.119,0.039,1877,2312,3417
$GC,2317,-0.72,-117.3,215.0,-5.5,127,2319,0.12,0.00,0.00,0.000,6,0.058,0.000,1794,2312,3416
$GC,2622,-0.56,-117.3,244.7,-9.9,137,2627,0.25,2.25,0.00,0.000,4,0.120,0.045,1874,901,3415
$GC,2677,-0.73,-117.3,248.7,-6.3,138,2684,0.10,2.22,0.00,0.000,6,0.068,0.044,1803,2313,3415
$GC,2990,-0.61,-117.3,277.6,-9.6,149,2992,0.22,0.00,0.00,0.000,6,0.119,0.000,1871,2313,3415
$GC,3296,-0.77,-117.3,297.7,-6.6,159,3301,0.15,2.25,0.00,0.000,4,0.051,0.046,1780,902,3414
$GC,3346,-0.57,-117.3,303.1,-12.1,160,3351,0.35,2.22,0.00,0.000,6,0.120,0.039,1878,2312,3414
$GC,3656,-0.76,-117.3,321.2,-5.5,165,3658,0.15,0.00,0.00,0.000,6,0.054,0.000,1787,2312,3413
$GC,3959,-0.58,-117.3,348.8,-9.3,170,3963,0.25,2.28,0.00,0.000,4,0.123,0.044,1869,896,3413
$GC,4014,-0.77,-117.3,352.3,-5.4,170,4021,0.08,2.25,0.00,0.000,6,0.053,0.039,1804,2304,3412
$GC,4324,-0.67,-117.3,375.9,-7.8,176,4326,0.17,0.00,0.00,0.000,6,0.123,0.000,1856,2304,3411
$GC,4627,-0.78,-117.3,392.9,-5.6,181,4632,0.10,2.22,0.00,0.000,4,0.068,0.044,1790,903,3411
$GC,4677,-0.64,-117.3,397.5,-9.8,181,4681,0.28,2.22,0.00,0.000,6,0.120,0.041,1865,2310,3410
$GC,4987,-0.80,-117.3,415.3,-5.6,186,4989,0.15,0.00,0.00,0.000,6,0.055,0.000,1781,2311,3410
$GC,5289,-0.62,-117.3,444.8,-10.1,191,5294,0.25,2.25,0.00,0.000,4,0.121,0.046,1864,902,3410
$GC,5322,-0.76,-117.3,447.3,-6.2,191,5327,0.10,2.22,0.00,0.000,6,0.068,0.044,1795,2309,3410
$GC,5649,-0.65,-117.3,474.6,-8.5,197,5651,0.22,0.00,0.00,0.000,6,0.121,0.000,1864,2310,3409
$GC,5952,-0.81,-117.3,489.9,-4.8,202,5956,0.15,2.25,0.00,0.000,4,0.055,0.046,1777,902,3408
$GC,5979,-0.70,-117.3,492.1,-8.5,202,5984,0.28,2.22,0.00,0.000,6,0.126,0.041,1851,2306,3408
$GC,6312,-0.83,-117.3,507.7,-4.5,208,6316,0.12,2.25,0.00,0.000,4,0.065,0.047,1781,894,3408
$GC,6344,-0.67,-117.3,510.2,-8.2,208,6349,0.28,2.22,0.00,0.000,6,0.121,0.040,1856,2306,3408
$GC,6677,-0.81,-117.3,524.4,-4.2,214,6681,0.12,2.25,0.00,0.000,4,0.062,0.047,1784,895,3407
$GC,6704,-0.73,-117.3,526.3,-7.9,214,6709,0.20,2.25,0.00,0.000,6,0.128,0.045,1840,2309,3407
$GC,7036,-0.81,-117.3,543.2,-5.0,220,7040,0.00,2.22,0.00,0.000,4,0.000,0.045,1840,901,3406
$GC,7081,-0.91,-117.3,545.9,-6.0,220,7085,0.12,2.22,0.00,0.000,6,0.060,0.041,1767,2311,3406
$GC,7402,-0.71,-117.3,576.1,-9.8,226,7406,0.22,2.25,0.00,0.000,4,0.130,0.049,1840,901,3406
$GC,7451,-0.81,-117.3,580.0,-7.1,226,7455,0.00,2.22,0.00,0.000,6,0.000,0.044,1836,2309,3406
$GC,7761,-0.88,-117.3,600.2,-6.6,231,7766,0.10,2.25,0.00,0.000,4,0.067,0.046,1774,895,3406
$GC,7794,-0.71,-117.3,603.4,-10.0,231,7799,0.28,2.22,0.00,0.000,6,0.123,0.044,1851,2304,3405
$GC,8126,-0.85,-117.3,625.2,-6.6,237,8131,0.12,2.22,0.00,0.000,4,0.064,0.044,1781,904,3406
$GC,8147,-0.85,-117.3,627.2,-8.6,237,8152,0.15,2.22,0.00,0.000,6,0.130,0.045,1814,2312,3405
$GC,8491,-0.85,-117.3,654.6,-7.8,243,8494,0.00,2.25,0.00,0.000,4,0.000,0.048,1814,897,3406
$GC,8535,-0.85,-117.3,658.4,-8.4,243,8539,0.00,2.22,0.00,0.000,6,0.000,0.044,1808,2303,3405
$GC,8861,-0.85,-117.3,682.6,-7.3,249,8865,0.00,2.22,0.00,0.000,4,0.000,0.047,1807,904,3405
$GC,8930,-0.85,-117.3,687.6,-7.4,250,8934,0.00,2.22,0.00,0.000,6,0.000,0.047,1798,2311,3405
$GC,9296,-0.77,-117.3,713.5,-7.0,256,9301,0.12,2.25,0.00,0.000,4,0.133,0.048,1833,900,3405
$GC,9340,-0.87,-117.3,716.4,-6.2,256,9344,0.00,2.22,0.00,0.000,6,0.000,0.047,1827,2307,3405
$GC,9656,-0.92,-117.3,733.7,-5.5,262,9658,0.10,0.00,0.00,0.000,6,0.077,0.000,1768,2307,3404
$GC,9959,-0.74,-117.3,759.2,-8.6,267,9961,0.25,0.00,0.00,0.000,6,0.130,0.000,1843,2307,3404
$GC,10263,-0.86,-117.3,774.3,-4.7,272,10267,0.12,2.25,0.00,0.000,4,0.068,0.047,1786,904,3404
$GC,10296,-0.76,-117.3,776.7,-8.1,272,10300,0.20,2.22,0.00,0.000,6,0.124,0.041,1835,2312,3404
$GC,10628,-0.86,-117.3,793.5,-5.0,278,10633,0.10,2.25,0.00,0.000,4,0.079,0.047,1791,895,3403
$GC,10655,-0.81,-117.3,795.5,-7.1,278,10660,0.15,2.25,0.00,0.000,6,0.128,0.041,1824,2313,3403
$GC,10988,-0.87,-117.3,814.0,-5.5,284,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2313,3403
$GC,11291,-0.93,-117.3,831.4,-5.8,289,11295,0.10,2.28,0.00,0.000,4,0.083,0.050,1781,900,3403
$GC,11346,-0.82,-117.3,836.0,-9.5,289,11353,0.17,2.25,0.00,0.000,6,0.128,0.048,1822,2314,3403
$GC,11656,-0.88,-117.3,854.8,-6.0,295,11660,0.00,2.28,0.00,0.000,4,0.000,0.050,1822,895,3403
$GC,11701,-0.95,-117.3,857.9,-6.7,295,11706,0.08,2.25,0.00,0.000,6,0.090,0.045,1776,2311,3403
$GC,12018,-0.82,-117.3,883.7,-8.3,301,12022,0.17,2.28,0.00,0.000,4,0.133,0.050,1827,896,3403
$GC,12062,-0.91,-117.3,887.0,-5.8,301,12066,0.00,2.25,0.00,0.000,6,0.000,0.042,1822,2311,3402
$GC,12378,-0.97,-117.3,905.4,-5.8,307,12382,0.12,2.25,0.00,0.000,4,0.075,0.052,1767,906,3402
$GC,12405,-0.85,-117.3,907.4,-8.3,307,12410,0.20,2.22,0.00,0.000,6,0.138,0.042,1814,2307,3402
$GC,12736,-0.85,-117.3,928.0,-6.0,313,12740,0.00,2.25,0.00,0.000,4,0.000,0.054,1812,903,3402
$GC,12775,-0.89,-117.3,930.7,-6.4,313,12779,0.00,2.22,0.00,0.000,6,0.000,0.043,1807,2304,3402
$GC,13101,-0.89,-117.3,952.2,-6.6,319,13106,0.00,2.25,0.00,0.000,4,0.000,0.049,1807,900,3402
$GC,13134,-0.89,-117.3,954.8,-7.3,319,13138,0.00,2.25,0.00,0.000,6,0.000,0.045,1798,2313,3402
$GC,13467,-0.84,-117.3,977.6,-6.9,325,13471,0.00,2.25,0.00,0.000,4,0.000,0.049,1799,906,3402
$GC,13522,-0.84,-117.3,981.8,-7.1,325,13530,0.08,2.25,0.00,0.000,6,0.133,0.049,1817,2295,3402
$STATE,13709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13709,begin apogee
$GC,13714,-0.22,0.0,993.4,6.2,329,13811,0.43,0.00,93.55,1.325,6,0.122,0.000,1954,2295,2931
$STATE,13811,end apogee,CONTROL_FINISHED_OK
$STATE,13811,begin climb
$GC,13814,0.68,117.3,994.7,0.0,330,13921,0.60,2.58,99.60,1.299,4,0.078,0.056,2155,3709,2451
$GC,13958,0.23,117.3,990.5,9.2,333,13964,0.47,2.35,0.00,0.000,6,0.179,0.042,2048,2315,2447
$GC,14325,0.49,148.8,974.8,4.4,339,14359,0.17,2.47,26.35,1.245,4,0.068,0.052,2125,887,2323
$GC,14477,0.38,148.8,965.5,6.4,341,14482,0.15,2.35,0.00,0.000,6,0.144,0.045,2084,2310,2318
$GC,14820,0.41,171.7,949.2,4.7,347,14845,0.00,2.35,19.85,1.217,4,0.000,0.059,2084,3717,2230
$GC,14884,0.41,171.7,945.6,6.6,348,14888,0.00,2.30,0.00,0.000,6,0.000,0.038,2092,2295,2228
$GC,15250,0.42,178.6,926.6,5.3,354,15264,0.00,2.40,6.95,1.019,4,0.000,0.058,2092,3720,2201
$GC,15287,0.42,178.6,924.1,7.0,354,15291,0.00,2.28,0.00,0.000,6,0.000,0.035,2102,2297,2200
$GC,15613,0.42,178.6,904.4,6.0,360,15618,0.00,2.33,0.00,0.000,4,0.000,0.051,2102,3722,2200
$GC,15643,0.35,178.6,902.4,7.0,360,15647,0.15,2.25,0.00,0.000,6,0.163,0.038,2074,2299,2198
$GC,15975,0.49,210.6,887.2,4.4,366,16006,0.12,0.00,28.55,1.220,6,0.070,0.000,2130,2298,2072
$GC,16278,0.37,210.6,865.3,7.5,371,16280,0.20,0.00,0.00,0.000,6,0.145,0.000,2075,2298,2066
$GC,16581,0.65,233.4,850.6,4.7,376,16606,0.17,2.33,19.85,1.170,4,0.072,0.053,2150,886,1978
$GC,16641,0.65,233.4,846.6,6.9,377,16646,0.00,2.30,0.00,0.000,6,0.000,0.041,2150,2305,1976
$GC,17007,0.48,233.4,813.5,9.4,383,17012,0.17,2.30,0.00,0.000,4,0.150,0.052,2097,3720,1974
$GC,17081,0.48,233.4,807.7,7.3,384,17085,0.00,2.25,0.00,0.000,6,0.000,0.037,2105,2298,1973
$GC,17435,0.48,233.4,783.5,6.8,390,17439,0.00,2.30,0.00,0.000,4,0.000,0.055,2105,3716,1972
$GC,17473,0.48,233.4,780.4,8.4,390,17477,0.00,2.22,0.00,0.000,6,0.000,0.035,2115,2303,1972
$GC,17800,0.48,233.4,756.7,7.2,396,17804,0.00,2.28,0.00,0.000,4,0.000,0.055,2115,3715,1972
$GC,17833,0.42,233.4,753.9,8.2,396,17838,0.12,2.22,0.00,0.000,6,0.150,0.035,2093,2295,1972
$GC,18160,0.53,233.4,735.0,5.7,402,18164,0.08,2.25,0.00,0.000,4,0.083,0.049,2151,895,1971
$GC,18181,0.53,233.4,733.4,6.0,402,18185,0.15,2.25,0.00,0.000,6,0.139,0.044,2111,2312,1971
$GC,18524,0.53,233.4,711.8,6.2,408,18528,0.00,2.25,0.00,0.000,4,0.000,0.051,2112,3710,1971
$GC,18592,0.53,233.4,706.7,7.6,409,18596,0.00,2.20,0.00,0.000,6,0.000,0.034,2119,2305,1971
$GC,18958,0.53,233.4,683.7,6.2,415,18959,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2304,1970
$GC,19262,0.53,233.4,664.5,6.4,420,19265,0.00,2.28,0.00,0.000,4,0.000,0.051,2119,3712,1971
$GC,19312,0.48,233.4,660.7,6.5,420,19316,0.10,2.20,0.00,0.000,6,0.153,0.035,2105,2303,1970
$GC,19627,0.54,240.2,643.8,5.3,426,19635,0.00,0.00,6.25,0.871,6,0.000,0.000,2105,2303,1951
$GC,19931,0.62,245.5,627.9,5.3,431,19939,0.10,0.00,6.00,0.846,6,0.067,0.000,2166,2302,1930
$GC,20233,0.41,245.5,599.8,9.5,436,20238,0.25,2.30,0.00,0.000,4,0.143,0.051,2092,3717,1928
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$STATE,28404,end climb,SURFACE_DEPTH_REACHED
$STATE,28404,begin surface coast
$FINISH,1.0,1.012403
$STATE,28427,end surface coast,CONTROL_FINISHED_OK
$STATE,28427,begin surface
$SM_CCo,28502,0.00,0.000,0,0,1656,312.51
$SM_GC,2.11,5.65,0.00,0.00,0.042,0.000,0.000,99,2290,1656,-8.63,-0.37,312.51
$IRIDIUM_FIX,4939.69,-14506.23,111198,121241
$TT8_MAMPS,0.029146
$HUMID,1700
$INTERNAL_PRESSURE,7.45146
$TCM_TEMP,16.60
$XPDR_PINGS,94
$24V_AH,22.8,31.116
$10V_AH,10.7,25.376
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$DEVICE_SECS,30.775,256.925,367.150,0.000,0.000,54.980,58.043,283.068,23.500,0.000,0.000,31.677,1739.493,23624.385,534.809,2375.609,822.535,33.353,1744.465,0.000,2356.442,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,506.415,586.049,743.923,1232.552,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44403,718
$CAP_FILE_SIZE,209690,0
$CFSIZE,260165632,243011584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,170809,203107,4957.315,-14511.127,32,1.3,32,18.4