version: 66.04
glider: 144
mission: 15
dive: 364
start: 10 10 109 16 56 45
data:
$ID,144
$MISSION,15
$DIVE,364
$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,-68429.367
$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,35
$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
$GPS1,164821,5012.701,-14459.144,40,2.2,59,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-67.7
$GPS2,165552,5012.751,-14459.183,13,2.5,32,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.106,0.130
$KALMAN_X,-66928.3,-225.8,34.6,80584.8,-1242.6
$KALMAN_Y,21384.8,17.0,-33.5,-36605.0,475.5
$MHEAD_RNG_PITCHd_Wd,302.1,21478,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,61,0.00,0.00,-42.10,0.000,2,0.000,0.000,100,2311,2704
$GC,64,-0.68,-117.3,3.4,-3.6,4,98,7.15,2.38,-17.12,0.000,4,0.235,0.060,1845,891,3412
$GC,295,-0.62,-117.3,33.1,-11.9,24,302,0.12,2.25,0.00,0.000,6,0.132,0.038,1870,2308,3413
$GC,623,-0.66,-117.3,63.5,-6.3,55,627,0.00,2.28,0.00,0.000,4,0.000,0.040,1870,887,3414
$GC,674,-0.71,-117.3,67.4,-8.2,59,678,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2311,3414
$GC,1005,-0.71,-117.3,94.4,-8.2,82,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2311,3415
$GC,1314,-0.71,-117.3,122.7,-9.4,97,1318,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,890,3416
$GC,1386,-0.76,-117.3,129.2,-8.5,100,1391,0.10,2.25,0.00,0.000,6,0.067,0.041,1791,2304,3416
$GC,1707,-0.67,-117.3,164.2,-10.4,114,1712,0.17,2.28,0.00,0.000,4,0.124,0.052,1839,3715,3416
$GC,1779,-0.70,-117.3,170.4,-7.9,116,1783,0.00,2.20,0.00,0.000,6,0.000,0.029,1840,2291,3415
$GC,2103,-0.70,-117.3,193.6,-6.9,127,2106,0.00,2.20,0.00,0.000,4,0.000,0.041,1839,893,3414
$GC,2159,-0.73,-117.3,198.0,-7.8,128,2163,0.00,2.22,0.00,0.000,6,0.000,0.038,1837,2304,3415
$GC,2472,-0.73,-117.3,222.2,-7.7,138,2475,0.00,2.22,0.00,0.000,4,0.000,0.042,1836,899,3414
$GC,2511,-0.76,-117.3,225.2,-7.6,139,2515,0.00,2.25,0.00,0.000,6,0.000,0.044,1836,2312,3414
$GC,2835,-0.76,-117.3,247.6,-6.8,150,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2312,3414
$GC,3141,-0.76,-117.3,269.6,-7.4,160,3144,0.00,2.25,0.00,0.000,4,0.000,0.042,1835,897,3413
$GC,3185,-0.79,-117.3,273.2,-8.0,161,3189,0.00,2.22,0.00,0.000,6,0.000,0.043,1827,2302,3413
$GC,3510,-0.79,-117.3,297.4,-7.4,172,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2302,3413
$GC,3813,-0.79,-117.3,319.5,-7.2,178,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2302,3412
$GC,4116,-0.79,-117.3,343.0,-7.8,183,4120,0.00,2.25,0.00,0.000,4,0.000,0.043,1826,900,3412
$GC,4166,-0.81,-117.3,347.2,-8.3,183,4170,0.00,2.25,0.00,0.000,6,0.000,0.043,1823,2309,3411
$GC,4481,-0.81,-117.3,370.8,-7.4,189,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2309,3411
$GC,4785,-0.81,-117.3,391.6,-6.8,194,4789,0.00,2.25,0.00,0.000,4,0.000,0.049,1822,905,3411
$GC,4818,-0.81,-117.3,394.0,-7.1,194,4822,0.00,2.25,0.00,0.000,6,0.000,0.040,1814,2312,3411
$GC,5156,-0.81,-117.3,417.0,-6.8,200,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2312,3410
$GC,5459,-0.81,-117.3,439.6,-7.5,205,5463,0.00,2.28,0.00,0.000,4,0.000,0.044,1814,902,3409
$GC,5515,-0.81,-117.3,444.3,-8.5,205,5522,0.00,2.25,0.00,0.000,6,0.000,0.046,1809,2302,3409
$GC,5825,-0.81,-117.3,470.4,-8.5,211,5829,0.00,2.28,0.00,0.000,4,0.000,0.049,1809,892,3408
$GC,5854,-0.81,-117.3,473.1,-9.4,211,5859,0.10,2.28,0.00,0.000,6,0.130,0.044,1828,2315,3408
$GC,6186,-0.84,-117.3,497.7,-7.2,217,6190,0.00,2.28,0.00,0.000,4,0.000,0.044,1828,898,3408
$GC,6225,-0.87,-117.3,500.7,-7.8,217,6229,0.00,2.25,0.00,0.000,6,0.000,0.044,1823,2307,3408
$GC,6547,-0.87,-117.3,521.7,-6.5,223,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2307,3408
$GC,6849,-0.87,-117.3,542.0,-6.8,228,6853,0.00,2.28,0.00,0.000,4,0.000,0.048,1823,901,3408
$GC,6882,-0.87,-117.3,544.4,-7.3,228,6886,0.00,2.25,0.00,0.000,6,0.000,0.042,1821,2307,3408
$GC,7208,-0.87,-117.3,566.8,-6.9,234,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3408
$GC,7511,-0.89,-117.3,586.7,-6.6,239,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3407
$GC,7814,-0.92,-117.3,605.2,-6.0,244,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3407
$GC,8118,-0.94,-117.3,623.6,-6.0,249,8123,0.10,2.30,0.00,0.000,4,0.066,0.044,1758,893,3407
$GC,8159,-0.84,-117.3,627.1,-9.5,249,8163,0.22,2.28,0.00,0.000,6,0.127,0.041,1821,2305,3407
$GC,8480,-0.86,-117.3,647.5,-6.1,255,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3406
$GC,8782,-0.89,-117.3,665.8,-6.0,260,8786,0.00,2.28,0.00,0.000,4,0.000,0.047,1821,898,3406
$GC,8822,-0.92,-117.3,668.5,-7.0,260,8826,0.00,2.25,0.00,0.000,6,0.000,0.048,1821,2304,3406
$GC,9142,-0.95,-117.3,689.6,-6.6,266,9144,0.10,0.00,0.00,0.000,6,0.066,0.000,1758,2305,3406
$GC,9446,-0.86,-117.3,719.3,-9.9,271,9450,0.17,2.30,0.00,0.000,4,0.127,0.045,1817,892,3406
$GC,9490,-0.89,-117.3,722.9,-7.2,271,9495,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2306,3406
$GC,9805,-0.89,-117.3,744.9,-7.0,277,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2306,3406
$GC,10108,-0.89,-117.3,765.6,-6.8,282,10110,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2306,3405
$GC,10412,-0.89,-117.3,784.6,-6.2,287,10416,0.00,2.28,0.00,0.000,4,0.000,0.049,1809,902,3405
$GC,10452,-0.89,-117.3,787.3,-7.0,287,10456,0.00,2.25,0.00,0.000,6,0.000,0.047,1808,2304,3405
$GC,10773,-0.89,-117.3,807.8,-6.3,293,10775,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3405
$GC,11076,-0.89,-117.3,827.0,-6.3,298,11080,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,901,3405
$GC,11126,-0.89,-117.3,830.4,-6.5,298,11130,0.00,2.28,0.00,0.000,6,0.000,0.041,1806,2313,3405
$GC,11442,-0.89,-117.3,849.1,-5.9,304,11443,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2313,3405
$GC,11745,-0.89,-117.3,866.0,-5.5,309,11746,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2313,3405
$GC,12048,-0.89,-117.3,883.3,-5.7,314,12052,0.00,2.33,0.00,0.000,4,0.000,0.053,1806,898,3404
$GC,12081,-0.89,-117.3,885.5,-7.3,314,12085,0.00,2.25,0.00,0.000,6,0.000,0.045,1796,2304,3404
$GC,12414,-0.89,-117.3,908.4,-7.1,320,12418,0.00,2.28,0.00,0.000,4,0.000,0.050,1796,903,3404
$GC,12458,-0.89,-117.3,911.9,-7.8,320,12462,0.00,2.28,0.00,0.000,6,0.000,0.044,1794,2312,3404
$GC,12773,-0.89,-117.3,935.8,-7.5,326,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2312,3404
$GC,13076,-0.89,-117.3,958.2,-7.4,331,13080,0.00,2.30,0.00,0.000,4,0.000,0.050,1794,898,3404
$GC,13109,-0.89,-117.3,960.8,-7.2,331,13113,0.00,2.25,0.00,0.000,6,0.000,0.045,1790,2304,3404
$GC,13442,-0.86,-117.3,984.8,-7.2,337,13446,0.10,2.28,0.00,0.000,4,0.144,0.050,1817,903,3404
$GC,13475,-0.90,-117.3,987.2,-6.6,337,13479,0.00,2.25,0.00,0.000,6,0.000,0.046,1810,2303,3404
$STATE,13562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13562,begin apogee
$GC,13568,-0.22,0.0,992.4,6.0,339,13668,0.45,0.00,96.70,1.303,6,0.114,0.000,1954,2304,2931
$STATE,13668,end apogee,CONTROL_FINISHED_OK
$STATE,13669,begin climb
$GC,13671,0.68,117.3,994.0,0.0,340,13781,0.60,2.55,102.72,1.276,4,0.078,0.058,2154,3713,2451
$GC,13800,0.53,117.3,992.1,6.3,342,13807,0.22,2.42,0.00,0.000,6,0.173,0.041,2114,2307,2448
$GC,14111,0.49,124.8,975.6,5.2,348,14119,0.00,0.00,6.15,0.956,6,0.000,0.000,2114,2307,2422
$GC,14413,0.46,139.9,960.5,5.0,353,14430,0.00,0.00,14.75,1.164,6,0.000,0.000,2114,2307,2360
$GC,14717,0.45,155.2,945.5,5.0,358,14733,0.00,0.00,14.27,1.155,6,0.000,0.000,2114,2306,2298
$GC,15020,0.44,166.4,929.9,5.1,363,15036,0.00,2.33,10.93,1.106,4,0.000,0.052,2113,3711,2252
$GC,15075,0.39,166.4,926.4,6.6,363,15082,0.15,2.28,0.00,0.000,6,0.153,0.035,2084,2301,2250
$GC,15386,0.47,200.6,912.6,4.3,369,15422,0.00,2.35,30.83,1.209,4,0.000,0.053,2092,895,2112
$GC,15447,0.58,221.7,909.8,4.8,370,15472,0.12,2.33,20.20,1.162,6,0.071,0.044,2146,2313,2027
$GC,15811,0.51,221.7,881.4,8.0,376,15816,0.15,2.28,0.00,0.000,4,0.137,0.051,2106,3710,2019
$GC,15866,0.51,221.7,877.4,6.4,376,15873,0.00,2.28,0.00,0.000,6,0.000,0.038,2114,2304,2019
$GC,16176,0.51,221.7,859.1,5.9,382,16180,0.00,2.30,0.00,0.000,4,0.000,0.051,2114,3714,2018
$GC,16208,0.51,221.7,856.9,6.7,382,16212,0.00,2.25,0.00,0.000,6,0.000,0.035,2124,2291,2018
$GC,16541,0.51,221.7,836.4,6.2,388,16545,0.00,2.33,0.00,0.000,4,0.000,0.055,2124,3710,2017
$GC,16575,0.48,221.7,833.9,7.7,388,16580,0.12,2.22,0.00,0.000,6,0.150,0.034,2103,2305,2017
$GC,16902,0.54,239.5,817.5,4.9,394,16922,0.00,2.33,15.48,1.106,4,0.000,0.056,2112,886,1953
$GC,16940,0.64,265.2,815.3,4.6,394,16977,0.10,2.30,25.98,1.058,6,0.077,0.039,2162,2313,1850
$GC,17329,0.57,265.2,780.4,9.4,401,17333,0.15,2.30,0.00,0.000,4,0.137,0.050,2121,3712,1843
$GC,17372,0.57,265.2,776.4,7.9,401,17376,0.00,2.28,0.00,0.000,6,0.000,0.037,2130,2296,1843
$GC,17689,0.57,265.2,753.9,7.1,407,17690,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2296,1842
$GC,17991,0.57,265.2,732.8,6.9,412,17995,0.00,2.30,0.00,0.000,4,0.000,0.056,2130,3710,1841
$GC,18024,0.57,265.2,729.8,9.3,412,18028,0.00,2.22,0.00,0.000,6,0.000,0.033,2140,2300,1841
$GC,18357,0.57,265.2,704.1,7.8,418,18358,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2300,1840
$GC,18660,0.57,265.2,680.1,8.0,423,18664,0.00,2.30,0.00,0.000,4,0.000,0.050,2141,3710,1840
$GC,18704,0.54,265.2,675.8,9.4,423,18709,0.15,2.22,0.00,0.000,6,0.136,0.033,2110,2305,1840
$GC,19019,0.61,265.2,655.0,6.5,429,19024,0.08,2.28,0.00,0.000,4,0.078,0.051,2178,894,1839
$GC,19047,0.61,265.2,652.6,9.3,429,19052,0.17,2.25,0.00,0.000,6,0.128,0.041,2129,2306,1839
$GC,19378,0.61,265.2,628.2,7.2,435,19382,0.00,2.28,0.00,0.000,4,0.000,0.054,2130,3709,1839
$GC,19423,0.61,265.2,624.5,8.9,435,19427,0.00,2.22,0.00,0.000,6,0.000,0.033,2137,2299,1839
$GC,19749,0.61,265.2,600.7,7.2,441,19750,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2298,1839
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$GC,27260,0.85,277.6,64.4,6.7,650,27264,0.00,2.20,0.00,0.000,6,0.000,0.031,2194,2301,1797
$GC,27593,0.95,320.9,47.6,4.0,681,27638,0.00,2.30,37.47,0.653,4,0.000,0.048,2194,3715,1621
$GC,27663,1.03,335.3,44.4,5.0,687,27686,0.08,2.25,13.15,0.603,6,0.077,0.031,2264,2293,1562
$GC,28004,0.92,335.3,14.3,9.4,719,28009,0.20,2.30,0.00,0.000,4,0.130,0.045,2208,896,1557
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$STATE,28221,end climb,SURFACE_DEPTH_REACHED
$STATE,28221,begin surface coast
$FINISH,0.9,1.023695
$STATE,28254,end surface coast,CONTROL_FINISHED_OK
$STATE,28257,begin surface
$SM_CCo,28332,0.00,0.000,0,0,1554,337.78
$SM_GC,1.78,5.55,0.00,0.00,0.038,0.000,0.000,99,2305,1554,-8.63,0.06,337.78
$IRIDIUM_FIX,4953.05,-14451.95,040199,080817
$TT8_MAMPS,0.028379
$HUMID,1705
$INTERNAL_PRESSURE,7.43193
$TCM_TEMP,15.40
$XPDR_PINGS,59
$24V_AH,22.1,53.465
$10V_AH,10.6,45.519
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$DEVICE_SECS,18.125,217.800,400.750,0.000,0.000,29.793,26.399,236.533,14.750,0.000,0.000,35.305,1637.745,23658.301,539.640,2185.008,750.202,33.370,1647.605,0.000,2173.627,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,522.741,601.870,770.152,1273.502,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44299,742
$CAP_FILE_SIZE,178122,0
$CFSIZE,260165632,230363136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,111009,005007,5014.984,-14503.130,31,1.8,31,18.5