version: 66.04
glider: 144
mission: 15
dive: 279
start: 9 11 109 17 31 22
data:
$ID,144
$MISSION,15
$DIVE,279
$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,-66540.008
$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,0.02
$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,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
$GPS1,172437,5009.958,-14455.006,34,1.1,34,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-56.3
$GPS2,173028,5009.988,-14455.048,11,2.6,30,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.108,0.128
$KALMAN_X,-27608.7,-60.9,-134.9,46158.6,-900.4
$KALMAN_Y,12936.6,-156.8,-111.1,-33025.1,278.0
$MHEAD_RNG_PITCHd_Wd,301.4,28553,-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,-41.53,0.000,2,0.000,0.000,98,2315,2508
$GC,62,-0.68,-117.3,3.0,-3.5,4,99,7.35,2.33,-23.52,0.000,4,0.249,0.060,1848,899,3412
$GC,268,-0.62,-117.3,32.1,-12.5,22,275,0.10,2.25,0.00,0.000,6,0.153,0.038,1865,2311,3414
$GC,595,-0.62,-117.3,65.8,-7.5,53,599,0.00,2.25,0.00,0.000,4,0.000,0.040,1865,892,3415
$GC,706,-0.64,-117.3,75.7,-8.6,62,713,0.00,2.25,0.00,0.000,6,0.000,0.039,1863,2310,3416
$GC,1034,-0.64,-117.3,103.8,-8.8,81,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2310,3416
$GC,1343,-0.64,-117.3,129.5,-7.8,96,1347,0.00,2.25,0.00,0.000,4,0.000,0.046,1863,893,3416
$GC,1384,-0.67,-117.3,132.7,-7.9,98,1388,0.00,2.22,0.00,0.000,6,0.000,0.039,1863,2305,3416
$GC,1716,-0.70,-117.3,155.2,-6.7,113,1720,0.00,2.22,0.00,0.000,4,0.000,0.047,1863,893,3416
$GC,1766,-0.74,-117.3,159.0,-7.6,114,1771,0.10,2.25,0.00,0.000,6,0.070,0.038,1797,2312,3416
$GC,2084,-0.67,-117.3,192.4,-10.6,125,2086,0.20,0.00,0.00,0.000,6,0.127,0.000,1856,2311,3416
$GC,2390,-0.71,-117.3,213.1,-6.5,135,2394,0.00,2.22,0.00,0.000,4,0.000,0.042,1857,893,3415
$GC,2435,-0.77,-117.3,216.2,-7.5,136,2439,0.00,2.22,0.00,0.000,6,0.000,0.040,1850,2304,3415
$GC,2760,-0.80,-117.3,239.2,-7.5,147,2761,0.10,0.00,0.00,0.000,6,0.067,0.000,1778,2304,3415
$GC,3066,-0.71,-117.3,273.4,-11.1,157,3068,0.22,0.00,0.00,0.000,6,0.125,0.000,1844,2304,3415
$GC,3372,-0.74,-117.3,296.2,-7.2,167,3376,0.00,2.25,0.00,0.000,4,0.000,0.044,1845,895,3414
$GC,3417,-0.78,-117.3,299.5,-7.2,168,3421,0.00,2.25,0.00,0.000,6,0.000,0.042,1838,2312,3414
$GC,3737,-0.78,-117.3,322.6,-7.1,174,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2312,3413
$GC,4040,-0.80,-117.3,343.9,-7.0,179,4044,0.00,2.28,0.00,0.000,4,0.000,0.048,1837,895,3412
$GC,4096,-0.83,-117.3,348.3,-7.7,179,4103,0.00,2.25,0.00,0.000,6,0.000,0.046,1837,2303,3412
$GC,4406,-0.85,-117.3,369.9,-7.0,185,4410,0.00,2.25,0.00,0.000,4,0.000,0.046,1836,893,3412
$GC,4440,-0.88,-117.3,372.5,-7.2,185,4444,0.10,2.25,0.00,0.000,6,0.071,0.040,1774,2312,3412
$GC,4778,-0.79,-117.3,407.1,-10.4,191,4782,0.17,2.28,0.00,0.000,4,0.131,0.048,1831,890,3411
$GC,4822,-0.82,-117.3,411.1,-7.9,191,4826,0.00,2.25,0.00,0.000,6,0.000,0.044,1823,2308,3411
$GC,5137,-0.82,-117.3,434.7,-7.5,197,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2308,3410
$GC,5440,-0.82,-117.3,457.0,-7.3,202,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2309,3411
$GC,5743,-0.82,-117.3,478.1,-6.9,207,5747,0.00,2.28,0.00,0.000,4,0.000,0.049,1823,890,3410
$GC,5775,-0.82,-117.3,480.5,-6.7,207,5779,0.00,2.28,0.00,0.000,6,0.000,0.041,1821,2312,3410
$GC,6108,-0.82,-117.3,502.5,-6.6,213,6112,0.00,2.28,0.00,0.000,4,0.000,0.045,1821,894,3409
$GC,6163,-0.82,-117.3,506.5,-6.7,213,6170,0.00,2.28,0.00,0.000,6,0.000,0.043,1812,2301,3409
$GC,6473,-0.82,-117.3,529.4,-7.5,219,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2301,3409
$GC,6776,-0.82,-117.3,552.0,-7.5,224,6780,0.00,2.25,0.00,0.000,4,0.000,0.048,1811,895,3409
$GC,6825,-0.82,-117.3,556.1,-7.9,224,6829,0.00,2.25,0.00,0.000,6,0.000,0.042,1808,2305,3409
$GC,7141,-0.82,-117.3,579.9,-7.6,230,7145,0.00,2.25,0.00,0.000,4,0.000,0.044,1808,896,3409
$GC,7184,-0.82,-117.3,583.6,-8.4,230,7188,0.00,2.25,0.00,0.000,6,0.000,0.045,1807,2307,3408
$GC,7505,-0.82,-117.3,608.5,-7.7,236,7509,0.00,2.28,0.00,0.000,4,0.000,0.046,1806,888,3408
$GC,7533,-0.82,-117.3,610.8,-8.0,236,7538,0.10,2.28,0.00,0.000,6,0.140,0.044,1824,2312,3409
$GC,7865,-0.90,-117.3,633.1,-6.7,242,7869,0.00,2.28,0.00,0.000,4,0.000,0.046,1824,891,3408
$GC,7921,-0.95,-117.3,637.2,-7.0,242,7928,0.12,2.28,0.00,0.000,6,0.062,0.039,1754,2315,3408
$GC,8231,-0.91,-117.3,663.5,-8.6,248,8236,0.17,2.25,0.00,0.000,4,0.131,0.051,1797,3710,3407
$GC,8429,-0.93,-117.3,678.8,-7.5,251,8433,0.00,2.22,0.00,0.000,6,0.000,0.037,1797,2291,3407
$GC,8795,-0.99,-117.3,705.5,-7.2,257,8798,0.00,2.22,0.00,0.000,4,0.000,0.051,1796,897,3407
$GC,9015,-0.97,-117.3,722.9,-8.2,260,9019,0.00,2.28,0.00,0.000,6,0.000,0.044,1794,2311,3407
$GC,9364,-0.93,-117.3,750.5,-7.9,266,9365,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2311,3407
$GC,9667,-0.90,-117.3,774.3,-7.9,271,9668,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2311,3407
$GC,9970,-0.87,-117.3,797.2,-7.5,276,9971,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2311,3406
$GC,10273,-0.84,-117.3,819.2,-7.2,281,10278,0.10,2.30,0.00,0.000,4,0.145,0.048,1821,895,3406
$GC,10306,-0.87,-117.3,821.6,-6.3,281,10310,0.00,2.28,0.00,0.000,6,0.000,0.041,1821,2308,3406
$GC,10633,-0.90,-117.3,840.7,-5.9,287,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3406
$GC,10935,-0.93,-117.3,859.2,-6.1,292,10937,0.08,0.00,0.00,0.000,6,0.094,0.000,1780,2308,3406
$GC,11238,-0.87,-117.3,883.9,-8.3,297,11243,0.12,2.30,0.00,0.000,4,0.130,0.047,1815,899,3405
$GC,11283,-0.90,-117.3,887.4,-7.2,297,11287,0.00,2.28,0.00,0.000,6,0.000,0.048,1810,2308,3405
$GC,11598,-0.90,-117.3,909.7,-7.1,303,11602,0.00,2.30,0.00,0.000,4,0.000,0.051,1810,897,3405
$GC,11647,-0.90,-117.3,913.6,-7.7,303,11651,0.00,2.28,0.00,0.000,6,0.000,0.045,1808,2304,3405
$GC,11963,-0.90,-117.3,935.3,-6.8,309,11964,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3405
$GC,12266,-0.90,-117.3,955.8,-6.7,314,12270,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,898,3405
$GC,12315,-0.90,-117.3,959.4,-6.7,314,12319,0.00,2.28,0.00,0.000,6,0.000,0.049,1805,2312,3405
$GC,12631,-0.90,-117.3,980.1,-6.6,320,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2312,3404
$STATE,12812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12812,begin apogee
$GC,12818,-0.22,0.0,991.9,6.4,323,12916,0.47,0.00,95.38,1.316,6,0.122,0.000,1955,2312,2931
$STATE,12916,end apogee,CONTROL_FINISHED_OK
$STATE,12917,begin climb
$GC,12919,0.68,117.3,993.2,0.0,324,13027,0.55,2.53,101.15,1.283,4,0.077,0.052,2146,3709,2450
$GC,13067,0.49,117.3,988.7,7.3,326,13072,0.22,2.38,0.00,0.000,6,0.174,0.038,2105,2303,2446
$GC,13411,0.44,117.3,969.0,5.8,332,13412,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2303,2439
$GC,13713,0.40,117.3,951.9,5.6,337,13714,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2303,2438
$GC,14016,0.36,124.6,935.8,5.3,342,14024,0.10,0.00,5.20,0.905,6,0.169,0.000,2079,2303,2422
$GC,14319,0.41,165.1,923.1,4.1,347,14357,0.00,0.00,36.22,1.238,6,0.000,0.000,2080,2303,2257
$GC,14623,0.50,199.3,909.9,4.3,352,14658,0.10,0.00,30.15,1.210,6,0.077,0.000,2121,2303,2118
$GC,14991,0.50,199.3,887.1,6.2,358,14992,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2303,2111
$GC,15295,0.50,199.3,868.1,6.2,363,15299,0.00,2.33,0.00,0.000,4,0.000,0.051,2121,3713,2111
$GC,15328,0.45,199.3,865.6,7.0,363,15333,0.15,2.25,0.00,0.000,6,0.153,0.035,2092,2299,2110
$GC,15660,0.53,225.2,849.8,4.6,369,15684,0.00,0.00,22.50,1.167,6,0.000,0.000,2092,2299,2013
$GC,15964,0.62,253.4,836.0,4.5,374,15992,0.15,0.00,25.70,1.164,6,0.059,0.000,2159,2298,1898
$GC,16267,0.54,253.4,810.0,8.8,379,16272,0.17,2.35,0.00,0.000,4,0.139,0.055,2106,3722,1892
$GC,16294,0.54,253.4,807.8,7.3,379,16298,0.00,2.30,0.00,0.000,6,0.000,0.041,2114,2309,1892
$GC,16633,0.57,255.0,789.2,5.4,385,16637,0.00,2.30,0.00,0.000,4,0.000,0.054,2114,3715,1890
$GC,16673,0.57,255.0,786.7,6.8,385,16677,0.00,2.25,0.00,0.000,6,0.000,0.037,2124,2302,1889
$GC,16993,0.57,255.0,766.1,6.5,391,16997,0.00,2.30,0.00,0.000,4,0.000,0.051,2124,3716,1889
$GC,17026,0.57,255.0,763.6,8.0,391,17030,0.00,2.28,0.00,0.000,6,0.000,0.038,2134,2298,1889
$GC,17361,0.54,255.0,738.4,7.7,397,17362,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2298,1888
$GC,17662,0.52,255.0,714.6,7.8,402,17666,0.00,2.30,0.00,0.000,4,0.000,0.050,2134,3713,1888
$GC,17712,0.49,255.0,710.0,8.1,402,17717,0.15,2.25,0.00,0.000,6,0.143,0.035,2104,2292,1888
$GC,18022,0.55,255.0,691.3,5.9,407,18026,0.00,2.25,0.00,0.000,4,0.000,0.048,2113,889,1888
$GC,18044,0.62,255.0,690.0,5.5,407,18048,0.00,2.28,0.00,0.000,6,0.000,0.044,2113,2315,1887
$GC,18381,0.66,255.0,670.1,5.8,413,18386,0.10,2.25,0.00,0.000,4,0.073,0.050,2176,3713,1887
$GC,18408,0.59,255.0,667.6,11.4,413,18413,0.22,2.22,0.00,0.000,6,0.150,0.040,2125,2295,1887
$GC,18740,0.59,255.0,644.2,7.0,419,18741,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2295,1887
$GC,19043,0.59,255.0,622.8,7.1,424,19047,0.00,2.30,0.00,0.000,4,0.000,0.049,2126,3714,1887
$GC,19081,0.59,255.0,619.4,8.7,424,19085,0.00,2.22,0.00,0.000,6,0.000,0.033,2134,2292,1887
$GC,19408,0.59,255.0,593.0,8.0,430,19409,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2293,1887
$GC,19711,0.59,255.0,567.0,8.5,435,19715,0.00,2.30,0.00,0.000,4,0.000,0.053,2134,3713,1887
$GC,19744,0.56,255.0,563.8,9.9,435,19748,0.10,2.22,0.00,0.000,6,0.150,0.037,2119,2296,1886
$GC,20070,0.59,255.0,540.3,7.2,441,20073,0.00,2.22,0.00,0.000,4,0.000,0.047,2127,893,1886
$GC,20092,0.63,255.0,538.6,6.3,441,20096,0.00,2.22,0.00,0.000,6,0.000,0.039,2127,2305,1886
$GC,20434,0.63,255.0,513.8,7.1,447,20438,0.00,2.28,0.00,0.000,4,0.000,0.052,2128,3716,1886
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$STATE,27770,end climb,SURFACE_DEPTH_REACHED
$STATE,27770,begin surface coast
$FINISH,1.0,1.012911
$STATE,27792,end surface coast,CONTROL_FINISHED_OK
$STATE,27792,begin surface
$SM_CCo,27868,0.00,0.000,0,0,1476,356.67
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$IRIDIUM_FIX,4949.70,-14451.95,061298,090924
$TT8_MAMPS,0.029146
$HUMID,1710
$INTERNAL_PRESSURE,7.42216
$TCM_TEMP,16.40
$XPDR_PINGS,75
$24V_AH,22.4,41.741
$10V_AH,10.6,34.784
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$DEVICE_SECS,18.775,199.175,407.925,0.000,0.000,30.771,23.157,153.840,18.750,0.000,0.000,32.414,1604.508,23296.881,561.878,2155.128,591.665,33.371,1635.999,0.000,2133.940,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,505.576,578.286,740.177,1230.487,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41215,717
$CAP_FILE_SIZE,173630,0
$CFSIZE,260165632,236949504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,120909,011707,5012.421,-14458.428,39,1.1,39,18.5