version: 66.04
glider: 144
mission: 15
dive: 515
start: 12 1 109 0 14 57
data:
$ID,144
$MISSION,15
$DIVE,515
$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,-71905.195
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,000737,5009.093,-14447.157,38,2.0,38,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-57.0
$GPS2,001401,5009.134,-14447.112,15,1.5,15,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.127,0.109
$KALMAN_X,-95758.9,-124.9,17.0,123588.8,-473.2
$KALMAN_Y,22466.2,-91.7,-2.0,-44303.5,492.5
$MHEAD_RNG_PITCHd_Wd,30.9,30010,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,50,0.00,0.00,-31.50,0.000,2,0.000,0.000,99,2289,2437
$GC,54,-0.68,-117.3,3.1,-3.1,3,99,6.80,2.33,-30.40,0.000,4,0.212,0.069,1832,3703,3412
$GC,259,-0.64,-117.3,25.1,-10.4,21,263,0.10,2.22,0.00,0.000,6,0.137,0.031,1859,2298,3413
$GC,587,-0.64,-117.3,58.1,-8.8,51,591,0.00,2.25,0.00,0.000,4,0.000,0.043,1859,896,3414
$GC,688,-0.64,-117.3,67.8,-10.3,59,694,0.00,2.22,0.00,0.000,6,0.000,0.036,1850,2308,3413
$GC,1018,-0.64,-117.3,99.7,-9.1,81,1022,0.00,2.28,0.00,0.000,4,0.000,0.041,1851,892,3414
$GC,1137,-0.64,-117.3,110.8,-9.2,86,1141,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2306,3414
$GC,1453,-0.64,-117.3,137.6,-7.8,101,1457,0.00,2.28,0.00,0.000,4,0.000,0.054,1840,3707,3413
$GC,1510,-0.68,-117.3,142.2,-8.3,103,1517,0.00,2.25,0.00,0.000,6,0.000,0.034,1840,2300,3414
$GC,1835,-0.70,-117.3,167.0,-7.4,116,1839,0.00,2.20,0.00,0.000,4,0.000,0.042,1840,904,3414
$GC,1914,-0.72,-117.3,173.3,-7.8,118,1918,0.00,2.22,0.00,0.000,6,0.000,0.038,1837,2307,3414
$GC,2244,-0.72,-117.3,196.4,-7.1,129,2248,0.00,2.25,0.00,0.000,4,0.000,0.042,1837,897,3414
$GC,2329,-0.75,-117.3,202.8,-7.3,131,2333,0.00,2.25,0.00,0.000,6,0.000,0.038,1836,2306,3414
$GC,2642,-0.77,-117.3,223.8,-6.8,141,2646,0.00,2.22,0.00,0.000,4,0.000,0.042,1836,926,3414
$GC,2678,-0.80,-117.3,226.3,-7.1,142,2682,0.00,2.20,0.00,0.000,6,0.000,0.038,1836,2308,3414
$GC,3020,-0.82,-117.3,250.2,-7.1,153,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2308,3414
$GC,3326,-0.85,-117.3,273.6,-7.7,163,3330,0.00,2.25,0.00,0.000,4,0.000,0.043,1836,889,3414
$GC,3371,-0.89,-117.3,277.4,-8.4,164,3375,0.00,2.28,0.00,0.000,6,0.000,0.041,1827,2311,3414
$GC,3727,-0.89,-117.3,305.5,-7.8,175,3730,0.00,2.28,0.00,0.000,4,0.000,0.044,1827,895,3414
$GC,3772,-0.91,-117.3,309.4,-8.4,175,3776,0.00,2.28,0.00,0.000,6,0.000,0.044,1821,2311,3413
$GC,4093,-0.91,-117.3,335.0,-7.9,181,4097,0.00,2.28,0.00,0.000,4,0.000,0.050,1821,899,3413
$GC,4126,-0.91,-117.3,337.7,-8.0,181,4130,0.00,2.25,0.00,0.000,6,0.000,0.044,1811,2303,3414
$GC,4453,-0.91,-117.3,362.0,-7.4,187,4457,0.00,2.28,0.00,0.000,4,0.000,0.044,1812,889,3413
$GC,4492,-0.91,-117.3,365.1,-7.6,187,4496,0.00,2.28,0.00,0.000,6,0.000,0.046,1803,2301,3413
$GC,4813,-0.88,-117.3,390.0,-7.8,193,4817,0.00,2.30,0.00,0.000,4,0.000,0.048,1803,889,3413
$GC,4854,-0.86,-117.3,393.2,-8.3,193,4858,0.00,2.28,0.00,0.000,6,0.000,0.040,1794,2303,3413
$GC,5175,-0.82,-117.3,418.2,-7.8,199,5177,0.10,0.00,0.00,0.000,6,0.138,0.000,1822,2303,3413
$GC,5478,-0.82,-117.3,437.2,-6.2,204,5482,0.00,2.30,0.00,0.000,4,0.000,0.047,1822,892,3412
$GC,5517,-0.84,-117.3,439.8,-6.4,204,5521,0.00,2.28,0.00,0.000,6,0.000,0.045,1821,2302,3412
$GC,5838,-0.84,-117.3,460.9,-6.7,210,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3412
$GC,6141,-0.84,-117.3,481.5,-6.8,215,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3412
$GC,6445,-0.86,-117.3,501.7,-6.6,220,6449,0.00,2.30,0.00,0.000,4,0.000,0.049,1821,898,3412
$GC,6495,-0.89,-117.3,505.2,-6.9,220,6499,0.00,2.28,0.00,0.000,6,0.000,0.045,1814,2306,3412
$GC,6806,-0.89,-117.3,525.2,-6.4,225,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2305,3412
$GC,7109,-0.89,-117.3,544.6,-6.5,230,7113,0.00,2.30,0.00,0.000,4,0.000,0.050,1813,889,3411
$GC,7172,-0.89,-117.3,548.9,-7.3,231,7176,0.00,2.30,0.00,0.000,6,0.000,0.046,1808,2312,3411
$GC,7539,-0.89,-117.3,574.5,-7.0,237,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2313,3411
$GC,7841,-0.89,-117.3,595.9,-7.0,242,7845,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,897,3411
$GC,7885,-0.89,-117.3,599.4,-7.7,242,7889,0.00,2.28,0.00,0.000,6,0.000,0.045,1807,2307,3411
$GC,8200,-0.89,-117.3,620.8,-6.8,248,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2308,3410
$GC,8504,-0.89,-117.3,640.5,-6.5,253,8508,0.00,2.28,0.00,0.000,4,0.000,0.048,1807,889,3411
$GC,8561,-0.89,-117.3,644.7,-7.5,253,8565,0.00,2.28,0.00,0.000,6,0.000,0.046,1798,2304,3410
$GC,8871,-0.89,-117.3,667.4,-7.4,258,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2304,3410
$GC,9174,-0.89,-117.3,690.7,-7.7,263,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2304,3410
$GC,9477,-0.89,-117.3,713.5,-7.5,268,9481,0.00,2.28,0.00,0.000,4,0.000,0.051,1798,898,3410
$GC,9517,-0.89,-117.3,716.6,-7.7,268,9521,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2308,3409
$GC,9838,-0.89,-117.3,740.6,-7.4,274,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2307,3410
$GC,10141,-0.89,-117.3,762.8,-7.4,279,10145,0.00,2.28,0.00,0.000,4,0.000,0.051,1795,895,3409
$GC,10174,-0.89,-117.3,765.4,-7.5,279,10178,0.00,2.28,0.00,0.000,6,0.000,0.046,1793,2304,3409
$GC,10502,-0.86,-117.3,789.1,-7.3,285,10506,0.00,2.30,0.00,0.000,4,0.000,0.057,1783,3720,3409
$GC,10530,-0.83,-117.3,791.3,-8.0,285,10535,0.12,2.22,0.00,0.000,6,0.116,0.035,1820,2299,3409
$GC,10862,-0.88,-117.3,812.5,-6.4,291,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2299,3409
$GC,11166,-0.92,-117.3,832.8,-6.7,296,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2298,3409
$GC,11469,-0.96,-117.3,852.9,-6.6,301,11474,0.12,2.28,0.00,0.000,4,0.067,0.044,1759,890,3409
$GC,11502,-0.88,-117.3,855.9,-10.1,301,11507,0.20,2.28,0.00,0.000,6,0.128,0.041,1813,2304,3409
$GC,11836,-0.91,-117.3,877.6,-6.3,307,11837,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2304,3409
$GC,12138,-0.95,-117.3,895.8,-6.0,312,12139,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2304,3409
$GC,12441,-0.98,-117.3,912.5,-5.5,317,12443,0.10,0.00,0.00,0.000,6,0.077,0.000,1767,2305,3409
$GC,12744,-0.91,-117.3,935.4,-7.7,322,12746,0.12,0.00,0.00,0.000,6,0.127,0.000,1802,2304,3408
$GC,13047,-0.91,-117.3,953.8,-6.0,327,13049,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2304,3408
$GC,13350,-0.91,-117.3,971.4,-5.8,332,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2304,3408
$GC,13653,-0.91,-117.3,989.1,-5.9,337,13657,0.00,2.33,0.00,0.000,4,0.000,0.051,1802,893,3408
$STATE,13667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13667,begin apogee
$GC,13677,-0.22,0.0,990.2,5.8,337,13779,0.45,0.00,98.70,1.291,6,0.113,0.000,1947,2301,2931
$STATE,13780,end apogee,CONTROL_FINISHED_OK
$STATE,13780,begin climb
$GC,13784,0.68,117.3,993.2,0.0,339,13892,0.60,0.00,104.43,1.263,6,0.072,0.000,2151,2301,2452
$GC,14204,0.56,117.3,972.1,6.4,346,14206,0.12,0.00,0.00,0.000,6,0.150,0.000,2121,2301,2442
$GC,14507,0.54,139.2,957.3,4.8,351,14531,0.00,2.40,18.52,1.182,4,0.000,0.054,2121,3712,2362
$GC,14556,0.47,149.5,954.7,5.2,351,14574,0.12,2.28,10.60,1.087,6,0.154,0.034,2098,2308,2320
$GC,14877,0.53,198.4,942.0,3.9,357,14922,0.00,0.00,43.88,1.227,6,0.000,0.000,2098,2308,2122
$GC,15180,0.63,242.1,929.9,4.0,362,15222,0.12,0.00,39.60,1.212,6,0.064,0.000,2154,2306,1943
$GC,15484,0.56,242.1,906.9,7.8,367,15489,0.12,2.33,0.00,0.000,4,0.138,0.052,2122,3710,1935
$GC,15512,0.53,242.1,904.5,7.9,367,15516,0.00,2.28,0.00,0.000,6,0.000,0.040,2130,2302,1935
$GC,15851,0.53,242.1,882.7,6.5,373,15852,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2302,1933
$GC,16154,0.53,242.1,862.1,6.8,378,16158,0.00,2.33,0.00,0.000,4,0.000,0.051,2130,3716,1932
$GC,16194,0.51,242.1,858.9,8.2,378,16199,0.12,2.25,0.00,0.000,6,0.146,0.035,2107,2301,1931
$GC,16515,0.56,242.1,840.6,5.6,384,16519,0.00,2.30,0.00,0.000,4,0.000,0.051,2117,886,1931
$GC,16550,0.64,245.0,838.4,5.4,384,16555,0.08,2.28,0.00,0.000,6,0.090,0.038,2159,2310,1930
$GC,16877,0.56,245.0,810.3,8.7,390,16882,0.15,2.30,0.00,0.000,4,0.141,0.054,2119,3715,1930
$GC,16940,0.56,245.0,805.4,7.0,391,16944,0.00,2.22,0.00,0.000,6,0.000,0.033,2128,2304,1930
$GC,17313,0.56,245.0,781.6,6.3,397,17317,0.00,2.28,0.00,0.000,4,0.000,0.048,2137,896,1930
$GC,17335,0.56,245.0,780.0,5.9,397,17339,0.00,2.25,0.00,0.000,6,0.000,0.044,2137,2304,1929
$GC,17673,0.56,245.0,757.2,6.8,403,17677,0.00,2.25,0.00,0.000,4,0.000,0.048,2138,3709,1929
$GC,17713,0.52,245.0,754.0,8.8,403,17718,0.15,2.22,0.00,0.000,6,0.137,0.035,2107,2297,1929
$GC,18034,0.59,253.0,736.8,5.2,409,18049,0.00,2.33,8.73,0.963,4,0.000,0.048,2116,889,1899
$GC,18067,0.68,262.7,735.0,5.2,409,18083,0.10,2.28,10.77,0.987,6,0.071,0.044,2173,2315,1859
$GC,18400,0.59,262.7,703.3,9.9,415,18405,0.17,2.25,0.00,0.000,4,0.137,0.048,2125,3712,1855
$GC,18463,0.59,262.7,698.0,7.8,416,18467,0.00,2.22,0.00,0.000,6,0.000,0.033,2133,2296,1855
$GC,18830,0.59,262.7,671.6,7.2,422,18834,0.00,2.28,0.00,0.000,4,0.000,0.048,2133,3712,1854
$GC,18858,0.59,262.7,669.2,7.1,422,18862,0.00,2.22,0.00,0.000,6,0.000,0.033,2143,2292,1854
$GC,19191,0.59,262.7,642.3,8.1,428,19192,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2292,1854
$GC,19494,0.59,262.7,618.0,8.0,433,19498,0.00,2.30,0.00,0.000,4,0.000,0.053,2143,3719,1854
$GC,19544,0.56,262.7,613.6,9.1,433,19549,0.12,2.20,0.00,0.000,6,0.137,0.033,2120,2304,1853
$GC,19856,0.61,262.7,595.7,5.5,438,19859,0.00,2.25,0.00,0.000,4,0.000,0.047,2128,892,1854
$GC,19890,0.69,270.3,593.7,5.2,438,19904,0.00,2.22,7.30,0.846,6,0.000,0.037,2128,2313,1829
$GC,20227,0.72,270.3,574.9,5.5,444,20232,0.10,2.28,0.00,0.000,4,0.068,0.054,2201,3718,1827
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$STATE,29050,end climb,SURFACE_DEPTH_REACHED
$STATE,29050,begin surface coast
$FINISH,1.6,1.025499
$STATE,29085,end surface coast,CONTROL_FINISHED_OK
$STATE,29085,begin surface
$SM_CCo,29163,0.00,0.000,0,0,1563,335.57
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$IRIDIUM_FIX,4949.70,-14449.20,240299,161636
$TT8_MAMPS,0.028379
$HUMID,1712
$INTERNAL_PRESSURE,7.37333
$TCM_TEMP,15.90
$XPDR_PINGS,78
$24V_AH,21.9,74.790
$10V_AH,10.5,64.797
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$DEVICE_SECS,17.600,239.800,397.750,0.000,0.000,25.233,25.973,179.251,19.500,0.000,0.000,17.209,1684.699,24227.838,551.157,2287.430,785.948,33.383,1712.676,0.000,2270.500,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,528.126,601.788,772.120,1285.643,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44276,749
$CAP_FILE_SIZE,184962,0
$CFSIZE,260165632,218562560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,011209,082207,5011.764,-14442.971,26,1.9,26,18.6