version: 66.04
glider: 144
mission: 15
dive: 406
start: 10 25 109 1 57 12
data:
$ID,144
$MISSION,15
$DIVE,406
$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,-69309.094
$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,35
$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
$GPS1,014807,5009.177,-14454.985,33,1.7,33,18.5
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-58.9
$GPS2,015619,5009.306,-14454.857,12,1.7,29,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.091,0.141
$KALMAN_X,-80457.3,-31.6,101.0,98955.7,-1222.3
$KALMAN_Y,22136.0,-75.0,-315.9,-43358.9,-231.7
$MHEAD_RNG_PITCHd_Wd,308.6,29622,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.68,-117.3,0.0,0.0,0,63,0.00,0.00,-41.80,0.000,2,0.000,0.000,99,2305,2849
$GC,66,-0.68,-117.3,4.2,-7.9,4,90,7.18,2.33,-11.35,0.000,4,0.235,0.058,1855,894,3414
$GC,344,-0.64,-117.3,41.1,-11.2,28,350,0.00,2.20,0.00,0.000,6,0.000,0.038,1849,2307,3416
$GC,669,-0.64,-117.3,73.2,-7.6,59,673,0.00,2.20,0.00,0.000,4,0.000,0.041,1849,894,3417
$GC,831,-0.64,-117.3,87.7,-9.0,70,835,0.00,2.20,0.00,0.000,6,0.000,0.037,1840,2308,3418
$GC,1160,-0.62,-117.3,117.2,-9.5,86,1164,0.10,2.22,0.00,0.000,4,0.140,0.041,1867,887,3418
$GC,1237,-0.67,-117.3,123.4,-7.3,89,1244,0.00,2.20,0.00,0.000,6,0.000,0.037,1863,2306,3418
$GC,1554,-0.72,-117.3,144.4,-6.7,105,1558,0.00,2.20,0.00,0.000,4,0.000,0.054,1853,3704,3418
$GC,1600,-0.77,-117.3,147.6,-7.8,107,1604,0.00,2.12,0.00,0.000,6,0.000,0.029,1853,2294,3418
$GC,1920,-0.82,-117.3,168.8,-6.7,118,1925,0.12,2.17,0.00,0.000,4,0.059,0.041,1763,900,3418
$GC,1959,-0.70,-117.3,173.0,-11.5,119,1964,0.32,2.20,0.00,0.000,6,0.122,0.038,1851,2308,3418
$GC,2283,-0.74,-117.3,195.7,-6.9,130,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2308,3417
$GC,2590,-0.79,-117.3,215.2,-6.1,140,2591,0.10,0.00,0.00,0.000,6,0.067,0.000,1778,2309,3417
$GC,2896,-0.70,-117.3,246.6,-10.4,150,2901,0.20,2.22,0.00,0.000,4,0.119,0.048,1845,897,3416
$GC,2991,-0.75,-117.3,254.5,-7.5,152,2998,0.00,2.20,0.00,0.000,6,0.000,0.041,1837,2305,3416
$GC,3304,-0.78,-117.3,277.1,-7.0,163,3308,0.00,2.22,0.00,0.000,4,0.000,0.050,1836,894,3415
$GC,3350,-0.81,-117.3,280.5,-7.5,164,3354,0.00,2.20,0.00,0.000,6,0.000,0.039,1836,2312,3415
$GC,3710,-0.84,-117.3,306.0,-7.0,175,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2313,3415
$GC,4013,-0.87,-117.3,325.7,-6.4,180,4018,0.10,2.22,0.00,0.000,4,0.067,0.045,1768,900,3414
$GC,4069,-0.77,-117.3,331.0,-10.5,180,4076,0.25,2.20,0.00,0.000,6,0.120,0.038,1833,2317,3413
$GC,4380,-0.81,-117.3,350.1,-5.9,186,4383,0.00,2.22,0.00,0.000,4,0.000,0.054,1825,3708,3413
$GC,4413,-0.84,-117.3,352.3,-6.3,186,4417,0.00,2.12,0.00,0.000,6,0.000,0.031,1825,2307,3413
$GC,4752,-0.86,-117.3,373.4,-6.3,192,4756,0.00,2.20,0.00,0.000,4,0.000,0.045,1825,897,3413
$GC,4797,-0.86,-117.3,376.6,-6.9,192,4801,0.00,2.20,0.00,0.000,6,0.000,0.045,1818,2304,3413
$GC,5118,-0.86,-117.3,398.9,-7.1,198,5121,0.00,2.22,0.00,0.000,4,0.000,0.047,1817,895,3412
$GC,5162,-0.86,-117.3,402.5,-7.9,198,5166,0.00,2.22,0.00,0.000,6,0.000,0.042,1809,2313,3412
$GC,5484,-0.86,-117.3,427.2,-7.7,204,5488,0.00,2.25,0.00,0.000,4,0.000,0.044,1809,891,3411
$GC,5529,-0.86,-117.3,431.2,-8.1,204,5533,0.00,2.22,0.00,0.000,6,0.000,0.040,1800,2305,3411
$GC,5846,-0.83,-117.3,456.6,-8.2,210,5850,0.00,2.25,0.00,0.000,4,0.000,0.045,1800,888,3411
$GC,5891,-0.83,-117.3,460.7,-8.7,210,5895,0.10,2.22,0.00,0.000,6,0.130,0.045,1818,2303,3411
$GC,6206,-0.83,-117.3,482.3,-6.8,216,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2304,3411
$GC,6508,-0.83,-117.3,502.5,-6.7,221,6512,0.00,2.22,0.00,0.000,4,0.000,0.049,1818,897,3411
$GC,6553,-0.86,-117.3,505.8,-7.8,221,6557,0.00,2.22,0.00,0.000,6,0.000,0.040,1811,2313,3411
$GC,6875,-0.86,-117.3,529.1,-7.3,227,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2313,3410
$GC,7177,-0.86,-117.3,551.1,-7.3,232,7181,0.00,2.25,0.00,0.000,4,0.000,0.045,1811,896,3410
$GC,7210,-0.86,-117.3,553.8,-7.8,232,7214,0.00,2.22,0.00,0.000,6,0.000,0.042,1808,2306,3410
$GC,7543,-0.86,-117.3,578.7,-7.5,238,7547,0.00,2.25,0.00,0.000,4,0.000,0.044,1808,889,3409
$GC,7587,-0.86,-117.3,582.2,-8.0,238,7591,0.00,2.25,0.00,0.000,6,0.000,0.040,1800,2314,3409
$GC,7903,-0.86,-117.3,605.6,-7.5,244,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2314,3409
$GC,8206,-0.86,-117.3,627.5,-7.2,249,8210,0.00,2.25,0.00,0.000,4,0.000,0.047,1800,897,3409
$GC,8250,-0.86,-117.3,630.9,-7.8,249,8253,0.00,2.22,0.00,0.000,6,0.000,0.047,1794,2306,3409
$GC,8572,-0.83,-117.3,653.8,-7.1,255,8576,0.10,2.25,0.00,0.000,4,0.134,0.044,1823,892,3409
$GC,8621,-0.88,-117.3,657.1,-6.3,255,8625,0.00,2.22,0.00,0.000,6,0.000,0.046,1823,2304,3409
$GC,8932,-0.91,-117.3,673.7,-5.3,260,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2304,3409
$GC,9235,-0.95,-117.3,690.6,-5.6,265,9236,0.10,0.00,0.00,0.000,6,0.065,0.000,1755,2304,3408
$GC,9538,-0.86,-117.3,719.2,-9.6,270,9540,0.20,0.00,0.00,0.000,6,0.123,0.000,1815,2303,3408
$GC,9841,-0.89,-117.3,739.3,-6.5,275,9845,0.00,2.25,0.00,0.000,4,0.000,0.050,1815,889,3408
$GC,9886,-0.92,-117.3,742.5,-6.9,275,9890,0.00,2.25,0.00,0.000,6,0.000,0.041,1809,2314,3408
$GC,10202,-0.92,-117.3,763.7,-6.7,281,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2314,3407
$GC,10504,-0.92,-117.3,783.4,-6.5,286,10508,0.00,2.28,0.00,0.000,4,0.000,0.048,1809,891,3407
$GC,10549,-0.92,-117.3,786.5,-6.9,286,10553,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2308,3407
$GC,10866,-0.92,-117.3,804.6,-5.7,292,10867,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3407
$GC,11168,-0.92,-117.3,820.8,-5.3,297,11169,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3407
$GC,11470,-0.92,-117.3,838.4,-5.8,302,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3406
$GC,11774,-0.95,-117.3,856.5,-5.9,307,11778,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,894,3407
$GC,11824,-0.95,-117.3,859.8,-6.1,307,11828,0.00,2.25,0.00,0.000,6,0.000,0.044,1806,2306,3407
$GC,12134,-0.95,-117.3,878.5,-6.1,312,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2306,3407
$GC,12436,-0.95,-117.3,897.5,-6.4,317,12440,0.00,2.28,0.00,0.000,4,0.000,0.053,1806,894,3407
$GC,12486,-0.95,-117.3,901.1,-7.2,317,12491,0.00,2.25,0.00,0.000,6,0.000,0.042,1797,2309,3406
$GC,12796,-0.95,-117.3,923.0,-7.1,322,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2309,3406
$GC,13100,-0.95,-117.3,944.3,-7.0,327,13101,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2309,3406
$GC,13402,-0.95,-117.3,965.3,-6.9,332,13406,0.00,2.28,0.00,0.000,4,0.000,0.050,1796,900,3406
$GC,13447,-0.95,-117.3,968.8,-7.9,332,13451,0.00,2.25,0.00,0.000,6,0.000,0.048,1795,2309,3406
$STATE,13760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13760,begin apogee
$GC,13766,-0.22,0.0,990.6,6.9,338,13867,0.50,0.00,97.62,1.296,6,0.119,0.000,1953,2310,2931
$STATE,13867,end apogee,CONTROL_FINISHED_OK
$STATE,13868,begin climb
$GC,13871,0.68,117.3,992.2,0.0,339,13983,0.55,2.55,103.10,1.269,4,0.077,0.052,2147,3706,2451
$GC,14022,0.50,117.3,988.9,7.4,341,14027,0.20,2.35,0.00,0.000,6,0.163,0.036,2110,2306,2447
$GC,14367,0.47,131.9,971.6,5.0,347,14381,0.00,0.00,12.38,1.133,6,0.000,0.000,2110,2306,2393
$GC,14669,0.44,131.9,954.9,5.6,352,14670,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2306,2390
$GC,14972,0.41,131.9,937.8,5.6,357,14976,0.00,2.30,0.00,0.000,4,0.000,0.055,2110,3719,2388
$GC,15011,0.34,131.9,935.1,7.0,357,15016,0.17,2.22,0.00,0.000,6,0.156,0.035,2072,2300,2387
$GC,15332,0.46,164.8,920.7,4.4,363,15364,0.10,0.00,29.05,1.211,6,0.077,0.000,2117,2299,2259
$GC,15635,0.51,164.8,902.9,5.9,368,15639,0.00,2.28,0.00,0.000,4,0.000,0.051,2122,886,2254
$GC,15776,0.51,164.8,894.9,6.2,370,15780,0.00,2.28,0.00,0.000,6,0.000,0.041,2121,2315,2252
$GC,16130,0.48,164.8,874.8,5.8,376,16131,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2315,2252
$GC,16434,0.45,164.8,857.7,5.6,381,16436,0.10,0.00,0.00,0.000,6,0.142,0.000,2096,2315,2252
$GC,16737,0.50,185.4,843.0,4.8,386,16762,0.00,2.30,18.15,1.134,4,0.000,0.057,2096,3713,2174
$GC,16785,0.50,185.4,840.2,5.6,386,16789,0.00,2.22,0.00,0.000,6,0.000,0.035,2103,2295,2173
$GC,17105,0.50,185.4,822.7,5.5,392,17107,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2295,2171
$GC,17409,0.51,193.9,806.8,5.2,397,17423,0.00,2.33,8.62,0.997,4,0.000,0.051,2104,3709,2139
$GC,17469,0.51,193.9,803.0,6.1,397,17475,0.00,2.22,0.00,0.000,6,0.000,0.034,2114,2298,2138
$GC,17779,0.51,193.9,785.7,5.6,403,17780,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2298,2137
$GC,18082,0.51,197.0,769.4,5.4,408,18091,0.00,2.30,3.90,0.693,4,0.000,0.050,2114,3707,2128
$GC,18120,0.49,197.0,766.9,6.9,408,18124,0.00,2.17,0.00,0.000,6,0.000,0.034,2124,2300,2127
$GC,18453,0.49,197.0,748.3,5.6,414,18454,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2300,2127
$GC,18756,0.49,197.0,730.6,5.9,419,18760,0.00,2.28,0.00,0.000,4,0.000,0.054,2125,3720,2127
$GC,18778,0.46,197.0,728.9,6.9,419,18783,0.15,2.20,0.00,0.000,6,0.141,0.035,2095,2300,2126
$GC,19117,0.53,215.0,712.4,4.9,425,19136,0.00,0.00,17.55,1.052,6,0.000,0.000,2095,2300,2054
$GC,19419,0.66,215.0,694.8,6.0,430,19424,0.15,2.22,0.00,0.000,4,0.061,0.045,2162,896,2050
$GC,19492,0.61,215.0,689.3,7.6,431,19496,0.12,2.22,0.00,0.000,6,0.133,0.046,2130,2306,2050
$GC,19847,0.61,215.0,666.0,6.6,437,19850,0.00,2.25,0.00,0.000,4,0.000,0.054,2130,3717,2049
$GC,19888,0.57,215.0,663.0,8.0,437,19891,0.00,2.20,0.00,0.000,6,0.000,0.033,2138,2293,2049
$GC,20221,0.54,215.0,639.3,7.0,443,20222,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2293,2049
$GC,20524,0.52,215.0,618.8,6.7,448,20528,0.10,2.28,0.00,0.000,4,0.147,0.048,2112,3712,2049
$GC,20562,0.52,215.0,616.2,6.5,448,20566,0.00,2.20,0.00,0.000,6,0.000,0.035,2121,2298,2048
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$STATE,29741,end climb,SURFACE_DEPTH_REACHED
$STATE,29742,begin surface coast
$FINISH,0.9,1.002423
$STATE,29748,end surface coast,CONTROL_FINISHED_OK
$STATE,29749,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1705
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$TCM_TEMP,16.60
$XPDR_PINGS,61
$24V_AH,22.1,59.451
$10V_AH,10.5,50.908
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$DEVICE_SECS,18.950,223.000,452.650,0.000,0.000,23.906,27.867,283.227,15.250,0.000,0.000,31.415,1713.906,24856.711,587.106,2327.630,817.487,33.381,1746.614,0.000,2307.527,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,536.737,613.539,787.005,1308.154,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44421,762
$CAP_FILE_SIZE,187941,0
$CFSIZE,260165632,227078144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251009,101536,5011.908,-14458.738,39,1.2,39,18.5