version: 66.04
glider: 144
mission: 15
dive: 387
start: 10 18 109 12 8 49
data:
$ID,144
$MISSION,15
$DIVE,387
$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,-68890.062
$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,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
$GPS1,120107,5014.207,-14440.377,35,1.0,35,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-66.5
$GPS2,120755,5014.267,-14440.322,10,1.2,15,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.124,0.113
$KALMAN_X,-74630.4,-44.9,267.0,110148.5,-493.9
$KALMAN_Y,22674.8,174.4,187.0,-35482.5,-67.9
$MHEAD_RNG_PITCHd_Wd,29.1,17594,-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,-41.47,0.000,2,0.000,0.000,99,2308,2669
$GC,64,-0.68,-117.3,3.7,-5.7,4,91,7.30,0.00,-17.20,0.000,6,0.238,0.000,1845,2308,3412
$GC,412,-0.60,-117.3,50.4,-13.5,37,416,0.10,2.30,0.00,0.000,4,0.146,0.043,1873,895,3414
$GC,520,-0.65,-117.3,61.5,-8.7,46,524,0.00,2.22,0.00,0.000,6,0.000,0.036,1865,2305,3414
$GC,852,-0.65,-117.3,88.7,-8.3,72,856,0.00,2.28,0.00,0.000,4,0.000,0.052,1854,3711,3415
$GC,874,-0.65,-117.3,90.7,-8.2,73,878,0.00,2.22,0.00,0.000,6,0.000,0.028,1854,2288,3415
$GC,1202,-0.65,-117.3,119.8,-9.1,89,1206,0.00,2.20,0.00,0.000,4,0.000,0.041,1854,896,3416
$GC,1275,-0.67,-117.3,126.6,-9.2,92,1279,0.00,2.22,0.00,0.000,6,0.000,0.036,1850,2307,3416
$GC,1616,-0.70,-117.3,154.6,-7.4,108,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2306,3416
$GC,1923,-0.73,-117.3,175.2,-6.3,118,1927,0.00,2.25,0.00,0.000,4,0.000,0.041,1849,891,3416
$GC,1979,-0.77,-117.3,178.9,-6.1,119,1983,0.00,2.22,0.00,0.000,6,0.000,0.042,1850,2297,3415
$GC,2297,-0.82,-117.3,199.6,-6.7,130,2302,0.10,2.30,0.00,0.000,4,0.066,0.048,1765,3721,3415
$GC,2336,-0.70,-117.3,203.4,-11.2,131,2341,0.28,2.22,0.00,0.000,6,0.119,0.036,1848,2299,3415
$GC,2660,-0.75,-117.3,225.2,-6.5,142,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2298,3415
$GC,2966,-0.80,-117.3,245.5,-6.6,152,2971,0.10,2.22,0.00,0.000,4,0.066,0.041,1779,897,3414
$GC,3005,-0.72,-117.3,249.4,-10.4,153,3010,0.25,2.25,0.00,0.000,6,0.122,0.040,1843,2316,3414
$GC,3329,-0.76,-117.3,272.4,-7.0,164,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2317,3414
$GC,3636,-0.81,-117.3,292.4,-6.5,174,3640,0.00,2.28,0.00,0.000,4,0.000,0.043,1843,898,3413
$GC,3675,-0.86,-117.3,295.1,-6.7,175,3680,0.10,2.22,0.00,0.000,6,0.064,0.038,1767,2308,3413
$GC,3997,-0.76,-117.3,328.1,-10.5,182,4002,0.20,2.28,0.00,0.000,4,0.124,0.049,1832,899,3413
$GC,4035,-0.79,-117.3,331.4,-7.0,182,4040,0.00,2.22,0.00,0.000,6,0.000,0.041,1825,2299,3413
$GC,4357,-0.79,-117.3,352.2,-6.5,188,4361,0.00,2.25,0.00,0.000,4,0.000,0.048,1825,896,3412
$GC,4412,-0.79,-117.3,356.1,-7.0,188,4419,0.00,2.28,0.00,0.000,6,0.000,0.041,1822,2303,3412
$GC,4722,-0.79,-117.3,377.6,-7.0,194,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2304,3412
$GC,5025,-0.79,-117.3,401.1,-7.8,199,5029,0.00,2.25,0.00,0.000,4,0.000,0.047,1821,902,3411
$GC,5070,-0.79,-117.3,405.0,-8.9,199,5074,0.00,2.25,0.00,0.000,6,0.000,0.042,1813,2311,3411
$GC,5385,-0.79,-117.3,431.8,-8.4,205,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2311,3411
$GC,5689,-0.79,-117.3,455.7,-7.8,210,5693,0.00,2.30,0.00,0.000,4,0.000,0.047,1813,897,3410
$GC,5734,-0.79,-117.3,459.5,-8.4,210,5738,0.00,2.25,0.00,0.000,6,0.000,0.043,1808,2305,3410
$GC,6050,-0.79,-117.3,484.2,-7.8,216,6054,0.00,2.28,0.00,0.000,4,0.000,0.048,1808,899,3410
$GC,6088,-0.79,-117.3,487.3,-8.3,216,6093,0.10,2.25,0.00,0.000,6,0.133,0.040,1826,2307,3410
$GC,6410,-0.83,-117.3,508.6,-6.5,222,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2308,3409
$GC,6713,-0.86,-117.3,527.8,-6.3,227,6717,0.00,2.28,0.00,0.000,4,0.000,0.053,1818,3712,3409
$GC,6741,-0.89,-117.3,529.6,-6.3,227,6745,0.00,2.22,0.00,0.000,6,0.000,0.035,1819,2295,3409
$GC,7074,-0.92,-117.3,549.8,-6.0,233,7078,0.00,2.22,0.00,0.000,4,0.000,0.044,1819,894,3409
$GC,7138,-0.92,-117.3,553.9,-6.6,234,7142,0.00,2.25,0.00,0.000,6,0.000,0.042,1809,2308,3408
$GC,7504,-0.92,-117.3,575.7,-5.8,240,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2308,3409
$GC,7807,-0.92,-117.3,592.3,-5.5,245,7811,0.00,2.25,0.00,0.000,4,0.000,0.044,1809,894,3408
$GC,7845,-0.92,-117.3,595.0,-6.3,245,7849,0.00,2.25,0.00,0.000,6,0.000,0.047,1807,2311,3408
$GC,8172,-0.92,-117.3,615.1,-6.3,251,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2310,3408
$GC,8476,-0.92,-117.3,634.6,-6.5,256,8480,0.00,2.28,0.00,0.000,4,0.000,0.044,1807,896,3408
$GC,8531,-0.92,-117.3,638.6,-7.4,256,8537,0.00,2.25,0.00,0.000,6,0.000,0.041,1799,2306,3407
$GC,8841,-0.92,-117.3,660.0,-7.0,262,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2306,3407
$GC,9144,-0.92,-117.3,682.8,-7.5,267,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2306,3407
$GC,9447,-0.92,-117.3,706.3,-7.8,272,9451,0.00,2.28,0.00,0.000,4,0.000,0.048,1798,891,3407
$GC,9492,-0.92,-117.3,710.1,-8.5,272,9496,0.00,2.28,0.00,0.000,6,0.000,0.041,1795,2302,3407
$GC,9807,-0.92,-117.3,735.5,-8.1,278,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3407
$GC,10110,-0.92,-117.3,759.9,-8.1,283,10111,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2304,3407
$GC,10414,-0.92,-117.3,783.9,-7.9,288,10418,0.00,2.28,0.00,0.000,4,0.000,0.049,1795,900,3407
$GC,10469,-0.92,-117.3,788.6,-8.1,288,10475,0.00,2.28,0.00,0.000,6,0.000,0.041,1793,2312,3407
$GC,10779,-0.92,-117.3,811.6,-7.4,294,10780,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2312,3406
$GC,11082,-0.92,-117.3,832.5,-6.8,299,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2313,3406
$GC,11385,-0.92,-117.3,851.8,-6.3,304,11389,0.00,2.30,0.00,0.000,4,0.000,0.053,1793,901,3406
$GC,11424,-0.92,-117.3,854.5,-6.3,304,11428,0.00,2.25,0.00,0.000,6,0.000,0.045,1783,2304,3406
$GC,11745,-0.88,-117.3,876.7,-7.0,310,11747,0.10,0.00,0.00,0.000,6,0.137,0.000,1810,2304,3406
$GC,12049,-0.91,-117.3,895.5,-6.3,315,12053,0.00,2.30,0.00,0.000,4,0.000,0.048,1810,896,3405
$GC,12112,-0.94,-117.3,899.9,-7.0,315,12118,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2307,3406
$GC,12422,-0.96,-117.3,920.7,-6.8,321,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3406
$GC,12725,-0.99,-117.3,941.6,-6.8,326,12730,0.10,2.30,0.00,0.000,4,0.082,0.050,1766,902,3406
$GC,12776,-0.92,-117.3,946.2,-10.5,326,12781,0.17,2.28,0.00,0.000,6,0.132,0.046,1805,2314,3405
$GC,13085,-0.92,-117.3,967.6,-6.8,331,13087,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2314,3405
$GC,13389,-0.92,-117.3,987.8,-6.7,336,13393,0.00,2.30,0.00,0.000,4,0.000,0.050,1805,900,3406
$STATE,13419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13419,begin apogee
$GC,13427,-0.22,0.0,990.4,7.9,336,13527,0.43,0.00,97.00,1.295,6,0.120,0.000,1946,2308,2931
$STATE,13528,end apogee,CONTROL_FINISHED_OK
$STATE,13528,begin climb
$GC,13532,0.68,117.3,993.5,0.0,338,13643,0.60,2.58,102.80,1.269,4,0.081,0.057,2148,3708,2450
$GC,13677,0.49,117.3,990.2,6.4,340,13682,0.22,2.38,0.00,0.000,6,0.166,0.035,2106,2314,2446
$GC,14022,0.49,141.5,974.2,4.7,346,14048,0.00,2.38,20.88,1.199,4,0.000,0.054,2115,893,2352
$GC,14076,0.49,143.2,971.3,5.4,346,14082,0.00,2.33,0.00,0.000,6,0.000,0.047,2115,2309,2349
$GC,14386,0.46,143.2,953.9,5.7,352,14390,0.00,2.30,0.00,0.000,4,0.000,0.054,2115,3720,2347
$GC,14437,0.38,143.2,950.3,7.8,352,14442,0.17,2.28,0.00,0.000,6,0.159,0.038,2080,2297,2346
$GC,14747,0.44,165.1,935.4,4.8,357,14770,0.00,0.00,20.55,1.193,6,0.000,0.000,2080,2297,2258
$GC,15051,0.56,165.5,919.3,5.5,362,15056,0.15,2.30,0.00,0.000,4,0.067,0.047,2144,895,2253
$GC,15147,0.50,165.5,913.0,6.8,363,15152,0.15,2.30,0.00,0.000,6,0.140,0.041,2105,2312,2253
$GC,15479,0.52,181.6,896.2,5.0,369,15499,0.00,2.28,15.48,1.145,4,0.000,0.052,2105,3712,2189
$GC,15534,0.50,182.4,893.1,5.5,369,15540,0.00,2.25,0.00,0.000,6,0.000,0.035,2113,2305,2187
$GC,15844,0.51,189.9,876.8,5.2,375,15854,0.00,0.00,8.48,1.029,6,0.000,0.000,2113,2305,2156
$GC,16147,0.52,196.6,861.0,5.3,380,16161,0.00,2.35,7.25,0.979,4,0.000,0.056,2113,3711,2128
$GC,16184,0.49,196.6,858.7,6.6,380,16188,0.00,2.28,0.00,0.000,6,0.000,0.035,2124,2301,2127
$GC,16511,0.49,196.6,837.7,6.5,386,16515,0.00,2.30,0.00,0.000,4,0.000,0.052,2124,3710,2127
$GC,16545,0.44,196.6,835.1,6.8,386,16550,0.15,2.25,0.00,0.000,6,0.150,0.040,2094,2303,2126
$GC,16872,0.49,197.6,817.2,5.5,392,16876,0.00,2.30,0.00,0.000,4,0.000,0.052,2103,891,2126
$GC,16894,0.54,197.6,815.8,5.8,392,16898,0.00,2.28,0.00,0.000,6,0.000,0.046,2103,2313,2126
$GC,17232,0.57,197.6,796.7,5.7,398,17233,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2313,2125
$GC,17536,0.60,198.5,780.1,5.5,403,17540,0.10,2.25,0.00,0.000,4,0.074,0.050,2161,3710,2125
$GC,17563,0.51,198.5,777.7,8.0,403,17568,0.22,2.22,0.00,0.000,6,0.151,0.035,2110,2296,2125
$GC,17901,0.51,198.5,757.1,6.0,409,17905,0.00,2.25,0.00,0.000,4,0.000,0.053,2119,894,2125
$GC,17923,0.54,198.5,755.6,6.7,409,17927,0.00,2.25,0.00,0.000,6,0.000,0.040,2119,2310,2124
$GC,18261,0.54,198.5,733.8,6.4,415,18265,0.00,2.25,0.00,0.000,4,0.000,0.050,2119,3715,2124
$GC,18288,0.51,198.5,731.7,6.7,415,18292,0.00,2.20,0.00,0.000,6,0.000,0.033,2130,2298,2124
$GC,18620,0.51,198.5,709.3,6.7,421,18621,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2299,2124
$GC,18923,0.51,198.5,688.7,6.8,426,18927,0.00,2.28,0.00,0.000,4,0.000,0.052,2130,3710,2124
$GC,18969,0.44,198.5,684.9,10.2,426,18973,0.17,2.20,0.00,0.000,6,0.140,0.033,2092,2300,2124
$GC,19284,0.55,198.5,666.8,5.8,432,19288,0.10,2.28,0.00,0.000,4,0.074,0.051,2142,3710,2124
$GC,19317,0.52,198.5,664.3,6.5,432,19321,0.15,2.20,0.00,0.000,6,0.140,0.033,2112,2294,2124
$GC,19644,0.54,198.5,645.0,5.8,438,19647,0.00,2.22,0.00,0.000,4,0.000,0.048,2120,893,2124
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$STATE,29703,end climb,SURFACE_DEPTH_REACHED
$STATE,29703,begin surface coast
$FINISH,1.1,1.024618
$STATE,29728,end surface coast,CONTROL_FINISHED_OK
$STATE,29728,begin surface
$SM_CCo,29804,0.00,0.000,0,0,1641,316.44
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$IRIDIUM_FIX,4953.05,-14442.58,120199,040432
$TT8_MAMPS,0.028379
$HUMID,1686
$INTERNAL_PRESSURE,7.44169
$TCM_TEMP,17.10
$XPDR_PINGS,71
$24V_AH,22.1,56.644
$10V_AH,10.6,48.438
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$DEVICE_SECS,18.725,257.875,380.300,0.000,0.000,29.229,25.322,215.139,17.750,0.000,0.000,17.306,1754.185,24765.467,525.977,2388.672,767.709,33.367,1748.645,0.000,2383.542,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,544.674,625.572,803.627,1332.183,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44382,776
$CAP_FILE_SIZE,195608,0
$CFSIZE,260165632,228569088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,181009,202651,5016.693,-14438.037,39,1.9,39,18.6