version: 66.04
glider: 144
mission: 15
dive: 504
start: 11 27 109 10 5 26
data:
$ID,144
$MISSION,15
$DIVE,504
$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,-71678.172
$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,37
$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
$GPS1,095516,4959.383,-14513.378,41,1.2,57,18.4
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,1
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-44.7
$GPS2,100433,4959.346,-14513.448,14,2.1,33,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.010,-0.167
$KALMAN_X,-91372.1,-193.3,-299.6,88486.1,1524.6
$KALMAN_Y,17354.0,76.4,-118.9,-57374.7,-475.3
$MHEAD_RNG_PITCHd_Wd,165.1,10042,-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,16,-0.68,-117.3,0.0,0.0,0,99,0.00,0.00,-80.78,0.000,2,0.000,0.000,97,2292,2665
$GC,103,-0.68,-117.3,3.7,-3.6,8,137,7.47,2.40,-18.55,0.000,4,0.248,0.073,1840,3707,3413
$GC,241,-0.68,-117.3,17.2,-8.8,20,244,0.00,2.20,0.00,0.000,6,0.000,0.030,1841,2302,3413
$GC,574,-0.62,-117.3,51.7,-10.9,51,579,0.10,2.28,0.00,0.000,4,0.136,0.043,1867,896,3413
$GC,665,-0.65,-117.3,60.3,-7.6,58,671,0.00,2.22,0.00,0.000,6,0.000,0.038,1862,2306,3413
$GC,998,-0.65,-117.3,93.7,-9.1,84,999,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2306,3413
$GC,1307,-0.67,-117.3,117.2,-7.0,99,1311,0.00,2.25,0.00,0.000,4,0.000,0.042,1862,890,3414
$GC,1447,-0.73,-117.3,127.8,-7.4,105,1451,0.00,2.25,0.00,0.000,6,0.000,0.038,1856,2312,3414
$GC,1764,-0.77,-117.3,150.4,-7.3,120,1768,0.08,2.22,0.00,0.000,4,0.078,0.041,1780,895,3414
$GC,1918,-0.69,-117.3,167.4,-11.3,124,1923,0.28,2.20,0.00,0.000,6,0.115,0.037,1854,2305,3414
$GC,2237,-0.74,-117.3,187.7,-5.7,135,2240,0.00,2.22,0.00,0.000,4,0.000,0.042,1853,896,3414
$GC,2282,-0.81,-117.3,190.5,-6.2,136,2287,0.10,2.22,0.00,0.000,6,0.065,0.037,1774,2313,3413
$GC,2607,-0.72,-117.3,222.0,-9.7,147,2612,0.20,2.30,0.00,0.000,4,0.123,0.041,1840,891,3413
$GC,2641,-0.74,-117.3,224.8,-6.9,148,2645,0.00,2.28,0.00,0.000,6,0.000,0.038,1837,2310,3414
$GC,2972,-0.77,-117.3,245.4,-6.4,159,2975,0.00,2.25,0.00,0.000,4,0.000,0.042,1836,898,3413
$GC,3011,-0.80,-117.3,248.3,-6.9,160,3015,0.00,2.25,0.00,0.000,6,0.000,0.039,1836,2312,3413
$GC,3342,-0.83,-117.3,269.7,-6.5,171,3346,0.00,2.30,0.00,0.000,4,0.000,0.043,1836,889,3413
$GC,3387,-0.86,-117.3,273.0,-7.4,172,3391,0.00,2.28,0.00,0.000,6,0.000,0.038,1828,2315,3413
$GC,3705,-0.86,-117.3,295.8,-7.2,183,3709,0.00,2.30,0.00,0.000,4,0.000,0.043,1828,888,3412
$GC,3751,-0.88,-117.3,299.4,-8.1,184,3755,0.00,2.28,0.00,0.000,6,0.000,0.039,1822,2309,3412
$GC,4066,-0.88,-117.3,322.6,-7.2,190,4070,0.00,2.25,0.00,0.000,4,0.000,0.044,1821,901,3412
$GC,4106,-0.88,-117.3,325.7,-7.7,190,4110,0.00,2.25,0.00,0.000,6,0.000,0.041,1813,2310,3412
$GC,4433,-0.88,-117.3,349.5,-7.2,196,4437,0.00,2.30,0.00,0.000,4,0.000,0.051,1813,890,3411
$GC,4483,-0.88,-117.3,353.4,-7.5,196,4487,0.00,2.28,0.00,0.000,6,0.000,0.042,1804,2304,3411
$GC,4795,-0.86,-117.3,378.2,-8.1,201,4799,0.00,2.28,0.00,0.000,4,0.000,0.046,1804,897,3411
$GC,4823,-0.83,-117.3,380.9,-9.2,201,4827,0.10,2.22,0.00,0.000,6,0.151,0.038,1820,2304,3410
$GC,5161,-0.83,-117.3,406.1,-7.4,207,5165,0.00,2.28,0.00,0.000,4,0.000,0.051,1820,891,3410
$GC,5201,-0.83,-117.3,409.1,-7.9,207,5205,0.00,2.28,0.00,0.000,6,0.000,0.044,1813,2309,3410
$GC,5523,-0.83,-117.3,434.3,-7.9,213,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2310,3410
$GC,5825,-0.83,-117.3,457.9,-7.8,218,5829,0.00,2.30,0.00,0.000,4,0.000,0.048,1813,893,3410
$GC,5899,-0.83,-117.3,464.0,-8.4,219,5903,0.00,2.28,0.00,0.000,6,0.000,0.046,1807,2309,3409
$GC,6255,-0.83,-117.3,491.1,-7.5,225,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2310,3409
$GC,6557,-0.83,-117.3,512.0,-6.9,230,6561,0.00,2.28,0.00,0.000,4,0.000,0.048,1807,895,3409
$GC,6603,-0.83,-117.3,515.3,-7.2,230,6607,0.00,2.28,0.00,0.000,6,0.000,0.041,1799,2315,3409
$GC,6920,-0.81,-117.3,538.5,-7.4,236,6925,0.10,2.30,0.00,0.000,4,0.134,0.048,1827,889,3408
$GC,6971,-0.86,-117.3,542.1,-6.9,236,6975,0.00,2.28,0.00,0.000,6,0.000,0.041,1823,2308,3409
$GC,7282,-0.89,-117.3,561.3,-6.2,241,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2307,3408
$GC,7585,-0.92,-117.3,579.6,-6.0,246,7590,0.08,2.30,0.00,0.000,4,0.081,0.044,1756,891,3408
$GC,7636,-0.82,-117.3,584.3,-10.0,246,7641,0.25,2.28,0.00,0.000,6,0.124,0.043,1822,2307,3408
$GC,7947,-0.85,-117.3,603.8,-6.1,251,7951,0.00,2.28,0.00,0.000,4,0.000,0.048,1822,897,3408
$GC,7991,-0.89,-117.3,606.9,-6.7,251,7995,0.00,2.28,0.00,0.000,6,0.000,0.044,1823,2313,3408
$GC,8308,-0.92,-117.3,625.3,-5.9,257,8312,0.00,2.30,0.00,0.000,4,0.000,0.046,1822,895,3408
$GC,8348,-0.96,-117.3,627.8,-6.0,257,8353,0.10,2.28,0.00,0.000,6,0.067,0.039,1755,2310,3407
$GC,8669,-0.86,-117.3,658.1,-9.7,263,8671,0.20,0.00,0.00,0.000,6,0.125,0.000,1816,2310,3407
$GC,8973,-0.89,-117.3,679.1,-6.8,268,8977,0.00,2.33,0.00,0.000,4,0.000,0.051,1816,890,3407
$GC,9019,-0.92,-117.3,682.5,-7.7,268,9023,0.00,2.28,0.00,0.000,6,0.000,0.042,1810,2304,3407
$GC,9335,-0.92,-117.3,705.2,-7.1,274,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3407
$GC,9637,-0.92,-117.3,727.7,-7.5,279,9641,0.00,2.30,0.00,0.000,4,0.000,0.051,1810,896,3407
$GC,9693,-0.92,-117.3,732.3,-7.9,279,9700,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2304,3407
$GC,10004,-0.92,-117.3,755.3,-7.4,285,10008,0.00,2.28,0.00,0.000,4,0.000,0.046,1809,895,3407
$GC,10038,-0.92,-117.3,758.2,-8.1,285,10042,0.00,2.25,0.00,0.000,6,0.000,0.041,1807,2301,3407
$GC,10371,-0.92,-117.3,780.9,-6.8,291,10375,0.00,2.28,0.00,0.000,4,0.000,0.049,1807,894,3406
$GC,10412,-0.92,-117.3,783.7,-6.8,291,10416,0.00,2.28,0.00,0.000,6,0.000,0.039,1805,2307,3406
$GC,10734,-0.92,-117.3,804.3,-6.3,297,10735,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2306,3406
$GC,11037,-0.92,-117.3,823.0,-6.2,302,11041,0.00,2.30,0.00,0.000,4,0.000,0.047,1805,900,3406
$GC,11081,-0.92,-117.3,826.1,-7.4,302,11086,0.00,2.28,0.00,0.000,6,0.000,0.039,1796,2307,3406
$GC,11398,-0.92,-117.3,847.2,-6.7,308,11400,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2307,3406
$GC,11701,-0.92,-117.3,867.4,-6.6,313,11705,0.00,2.30,0.00,0.000,4,0.000,0.053,1796,901,3406
$GC,11746,-0.92,-117.3,870.8,-7.2,313,11750,0.00,2.28,0.00,0.000,6,0.000,0.042,1794,2305,3406
$GC,12061,-0.92,-117.3,890.6,-6.2,319,12065,0.00,2.30,0.00,0.000,4,0.000,0.048,1794,896,3406
$GC,12101,-0.92,-117.3,893.2,-6.6,319,12105,0.00,2.30,0.00,0.000,6,0.000,0.041,1792,2316,3406
$GC,12423,-0.92,-117.3,913.0,-6.2,325,12424,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2316,3405
$GC,12726,-0.92,-117.3,930.8,-5.9,330,12730,0.00,2.35,0.00,0.000,4,0.000,0.051,1792,892,3405
$GC,12770,-0.92,-117.3,933.8,-6.8,330,12774,0.00,2.30,0.00,0.000,6,0.000,0.041,1782,2312,3405
$GC,13088,-0.89,-117.3,954.7,-6.7,336,13092,0.10,2.33,0.00,0.000,4,0.137,0.047,1810,895,3405
$GC,13123,-0.91,-117.3,956.9,-5.9,336,13127,0.00,2.30,0.00,0.000,6,0.000,0.045,1809,2311,3405
$GC,13451,-0.94,-117.3,977.0,-6.2,342,13455,0.00,2.33,0.00,0.000,4,0.000,0.054,1809,895,3405
$GC,13474,-0.96,-117.3,978.5,-6.4,342,13478,0.00,2.30,0.00,0.000,6,0.000,0.043,1808,2313,3405
$STATE,13689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13689,begin apogee
$GC,13696,-0.22,0.0,993.4,6.9,346,13798,0.45,0.00,98.72,1.295,6,0.110,0.000,1954,2313,2931
$STATE,13798,end apogee,CONTROL_FINISHED_OK
$STATE,13799,begin climb
$GC,13802,0.68,117.3,995.4,0.0,347,13913,0.55,2.55,104.95,1.269,4,0.069,0.055,2150,3712,2451
$GC,13959,0.50,117.3,994.7,6.2,349,13964,0.22,2.40,0.00,0.000,6,0.166,0.039,2106,2308,2446
$GC,14292,0.54,175.5,982.5,3.5,355,14344,0.00,0.00,50.30,1.248,6,0.000,0.000,2106,2308,2215
$GC,14595,0.58,214.4,969.9,4.2,360,14635,0.00,2.38,34.33,1.230,4,0.000,0.058,2106,3716,2055
$GC,14660,0.63,249.1,966.8,4.3,361,14700,0.08,2.30,31.73,1.211,6,0.078,0.035,2153,2299,1914
$GC,15029,0.57,249.1,939.1,7.8,367,15033,0.12,2.30,0.00,0.000,4,0.142,0.052,2130,890,1905
$GC,15068,0.61,249.1,936.4,5.8,367,15072,0.00,2.28,0.00,0.000,6,0.000,0.044,2130,2307,1904
$GC,15390,0.61,249.1,917.2,6.0,373,15394,0.00,2.28,0.00,0.000,4,0.000,0.051,2130,3711,1902
$GC,15429,0.58,249.1,914.3,7.7,373,15433,0.00,2.22,0.00,0.000,6,0.000,0.035,2139,2303,1902
$GC,15751,0.56,249.1,892.3,6.9,379,15753,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2303,1901
$GC,16054,0.53,249.1,871.2,7.1,384,16058,0.10,2.30,0.00,0.000,4,0.157,0.054,2114,3716,1901
$GC,16098,0.55,249.1,867.9,7.0,384,16102,0.00,2.22,0.00,0.000,6,0.000,0.038,2122,2302,1901
$GC,16415,0.55,249.1,847.5,6.5,390,16419,0.00,2.30,0.00,0.000,4,0.000,0.051,2122,3718,1899
$GC,16448,0.55,249.1,844.9,8.2,390,16452,0.00,2.22,0.00,0.000,6,0.000,0.034,2132,2299,1899
$GC,16775,0.55,249.1,821.7,7.1,396,16776,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2298,1899
$GC,17078,0.55,249.1,800.9,6.8,401,17082,0.00,2.30,0.00,0.000,4,0.000,0.056,2133,3715,1899
$GC,17134,0.52,249.1,796.5,8.5,401,17141,0.12,2.22,0.00,0.000,6,0.146,0.033,2111,2291,1899
$GC,17445,0.59,262.1,780.5,5.1,407,17460,0.00,2.28,10.32,1.021,4,0.000,0.048,2119,885,1861
$GC,17484,0.70,287.4,778.4,4.6,407,17520,0.12,2.28,25.95,1.033,6,0.063,0.038,2185,2311,1759
$GC,17874,0.59,287.4,740.6,9.9,414,17879,0.17,2.28,0.00,0.000,4,0.142,0.048,2131,3711,1752
$GC,17947,0.59,287.4,734.5,7.1,415,17951,0.00,2.20,0.00,0.000,6,0.000,0.032,2139,2301,1752
$GC,18308,0.59,287.4,710.7,6.7,421,18309,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2301,1751
$GC,18610,0.59,287.4,688.4,7.4,426,18614,0.00,2.30,0.00,0.000,4,0.000,0.056,2140,3715,1751
$GC,18650,0.59,287.4,685.0,8.7,426,18654,0.00,2.22,0.00,0.000,6,0.000,0.033,2150,2294,1751
$GC,18971,0.59,287.4,658.3,8.4,432,18972,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2294,1750
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$STATE,28180,end climb,SURFACE_DEPTH_REACHED
$STATE,28180,begin surface coast
$FINISH,1.5,1.025410
$STATE,28207,end surface coast,CONTROL_FINISHED_OK
$STATE,28207,begin surface
$SM_CCo,28284,0.00,0.000,0,0,1687,305.15
$SM_GC,2.27,5.53,0.00,0.00,0.038,0.000,0.000,97,2293,1687,-8.63,-0.28,305.15
$IRIDIUM_FIX,4943.02,-14507.06,210299,010105
$TT8_MAMPS,0.029146
$HUMID,1716
$INTERNAL_PRESSURE,7.39286
$TCM_TEMP,16.00
$XPDR_PINGS,105
$24V_AH,21.9,73.399
$10V_AH,10.5,63.429
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$DEVICE_SECS,18.150,267.450,371.675,0.000,0.000,30.928,33.057,316.602,26.250,0.000,0.000,36.241,1718.335,23173.471,556.917,2422.282,954.758,33.378,1782.761,0.000,2388.772,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,523.227,596.312,765.234,1270.423,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44285,740
$CAP_FILE_SIZE,194665,0
$CFSIZE,260165632,219406336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,271109,175807,4956.016,-14513.209,36,1.5,36,18.4