version: 66.04
glider: 144
mission: 15
dive: 601
start: 12 29 109 22 44 50
data:
$ID,144
$MISSION,15
$DIVE,601
$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,-73835.664
$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,33
$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
$GPS1,223754,5012.977,-14437.394,30,2.0,47,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-61.0
$GPS2,224356,5012.961,-14437.403,10,1.9,10,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.073,0.151
$KALMAN_X,-91350.4,-269.2,-128.3,130943.9,1302.6
$KALMAN_Y,42275.3,-120.3,-205.0,-56783.1,1084.6
$MHEAD_RNG_PITCHd_Wd,7.1,17383,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-41.05,0.000,2,0.000,0.000,97,2302,2557
$GC,66,-0.68,-117.3,3.5,-5.1,2,102,7.28,2.35,-23.27,0.000,4,0.236,0.058,1844,889,3412
$GC,321,-0.68,-117.3,27.7,-11.2,12,328,0.00,2.28,0.00,0.000,6,0.000,0.038,1836,2307,3413
$GC,638,-0.63,-117.3,64.0,-11.5,28,643,0.10,2.25,0.00,0.000,4,0.140,0.040,1864,887,3413
$GC,695,-0.66,-117.3,69.1,-8.2,30,699,0.00,2.28,0.00,0.000,6,0.000,0.038,1861,2313,3413
$GC,1018,-0.66,-117.3,99.0,-9.4,54,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2313,3413
$GC,1337,-0.69,-117.3,124.2,-7.6,84,1341,0.00,2.30,0.00,0.000,4,0.000,0.041,1861,893,3414
$GC,1371,-0.74,-117.3,127.1,-7.8,86,1378,0.00,2.28,0.00,0.000,6,0.000,0.037,1853,2295,3413
$GC,1700,-0.78,-117.3,150.5,-7.3,117,1705,0.08,2.28,0.00,0.000,4,0.081,0.041,1782,893,3413
$GC,1752,-0.69,-117.3,156.3,-11.3,118,1757,0.25,2.25,0.00,0.000,6,0.119,0.037,1848,2302,3414
$GC,2072,-0.73,-117.3,176.8,-5.8,129,2076,0.00,2.28,0.00,0.000,4,0.000,0.041,1847,893,3413
$GC,2118,-0.79,-117.3,179.9,-6.4,130,2122,0.00,2.28,0.00,0.000,6,0.000,0.038,1848,2308,3414
$GC,2444,-0.83,-117.3,199.5,-6.0,141,2445,0.10,0.00,0.00,0.000,6,0.064,0.000,1773,2308,3413
$GC,2749,-0.74,-117.3,229.7,-10.1,151,2754,0.20,2.33,0.00,0.000,4,0.120,0.041,1840,894,3413
$GC,2783,-0.77,-117.3,232.6,-6.9,152,2787,0.00,2.28,0.00,0.000,6,0.000,0.037,1837,2307,3414
$GC,3114,-0.79,-117.3,255.0,-6.8,163,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2307,3414
$GC,3419,-0.81,-117.3,275.3,-6.6,173,3423,0.00,2.30,0.00,0.000,4,0.000,0.043,1837,888,3413
$GC,3454,-0.85,-117.3,277.6,-6.6,174,3458,0.00,2.30,0.00,0.000,6,0.000,0.044,1835,2309,3413
$GC,3785,-0.88,-117.3,299.9,-7.0,185,3787,0.10,0.00,0.00,0.000,6,0.064,0.000,1767,2310,3413
$GC,4118,-0.78,-117.3,335.0,-10.6,191,4123,0.20,2.33,0.00,0.000,4,0.121,0.043,1833,894,3412
$GC,4197,-0.81,-117.3,341.1,-7.3,192,4201,0.00,2.30,0.00,0.000,6,0.000,0.044,1826,2309,3413
$GC,4547,-0.81,-117.3,364.8,-6.9,198,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2309,3413
$GC,4849,-0.81,-117.3,386.7,-7.3,203,4853,0.00,2.30,0.00,0.000,4,0.000,0.048,1826,895,3412
$GC,4883,-0.83,-117.3,389.5,-8.0,203,4887,0.00,2.28,0.00,0.000,6,0.000,0.044,1818,2304,3412
$GC,5209,-0.83,-117.3,415.4,-7.9,209,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2304,3411
$GC,5512,-0.83,-117.3,438.5,-7.6,214,5516,0.00,2.28,0.00,0.000,4,0.000,0.044,1818,891,3411
$GC,5586,-0.83,-117.3,444.6,-8.6,215,5590,0.00,2.28,0.00,0.000,6,0.000,0.040,1809,2304,3411
$GC,5941,-0.83,-117.3,471.7,-7.6,221,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3411
$GC,6245,-0.83,-117.3,493.3,-7.1,226,6249,0.00,2.28,0.00,0.000,4,0.000,0.052,1808,896,3411
$GC,6296,-0.83,-117.3,497.3,-7.8,226,6300,0.00,2.28,0.00,0.000,6,0.000,0.039,1800,2306,3411
$GC,6611,-0.81,-117.3,520.7,-7.5,232,6616,0.10,2.30,0.00,0.000,4,0.138,0.045,1828,893,3411
$GC,6646,-0.85,-117.3,523.0,-6.0,232,6650,0.00,2.28,0.00,0.000,6,0.000,0.039,1823,2303,3411
$GC,6973,-0.87,-117.3,542.2,-5.9,238,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2303,3411
$GC,7276,-0.90,-117.3,561.0,-6.3,243,7280,0.00,2.30,0.00,0.000,4,0.000,0.047,1823,890,3410
$GC,7312,-0.93,-117.3,563.4,-7.0,243,7316,0.10,2.30,0.00,0.000,6,0.067,0.042,1757,2305,3410
$GC,7639,-0.83,-117.3,597.2,-10.7,249,7641,0.20,0.00,0.00,0.000,6,0.123,0.000,1818,2305,3411
$GC,7942,-0.86,-117.3,620.7,-7.7,254,7946,0.00,2.33,0.00,0.000,4,0.000,0.044,1818,894,3410
$GC,7987,-0.89,-117.3,624.3,-8.1,254,7991,0.00,2.30,0.00,0.000,6,0.000,0.044,1812,2307,3410
$GC,8303,-0.89,-117.3,647.7,-7.4,260,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2307,3409
$GC,8605,-0.89,-117.3,669.1,-7.0,265,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2307,3409
$GC,8908,-0.89,-117.3,690.1,-6.9,270,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2307,3409
$GC,9211,-0.89,-117.3,710.4,-6.7,275,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2307,3409
$GC,9514,-0.89,-117.3,731.3,-6.9,280,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2307,3409
$GC,9818,-0.89,-117.3,753.6,-7.4,285,9822,0.00,2.35,0.00,0.000,4,0.000,0.051,1812,890,3409
$GC,9864,-0.91,-117.3,757.1,-8.1,285,9868,0.00,2.33,0.00,0.000,6,0.000,0.047,1809,2312,3409
$GC,10179,-0.91,-117.3,780.1,-7.2,291,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2312,3409
$GC,10482,-0.91,-117.3,802.1,-7.3,296,10486,0.00,2.33,0.00,0.000,4,0.000,0.049,1809,890,3409
$GC,10512,-0.91,-117.3,804.2,-7.6,296,10516,0.00,2.30,0.00,0.000,6,0.000,0.045,1808,2302,3409
$GC,10844,-0.91,-117.3,826.7,-6.8,302,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3409
$GC,11147,-0.91,-117.3,847.6,-6.8,307,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3408
$GC,11450,-0.91,-117.3,867.4,-6.5,312,11454,0.00,2.30,0.00,0.000,4,0.000,0.051,1807,888,3408
$GC,11478,-0.91,-117.3,869.4,-7.1,312,11482,0.00,2.30,0.00,0.000,6,0.000,0.041,1805,2304,3408
$GC,11816,-0.91,-117.3,890.2,-6.0,318,11818,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2304,3408
$GC,12119,-0.91,-117.3,908.8,-6.1,323,12120,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2304,3408
$GC,12422,-0.91,-117.3,925.8,-5.6,328,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2304,3408
$GC,12725,-0.91,-117.3,942.2,-5.4,333,12726,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2304,3408
$GC,13029,-0.91,-117.3,958.3,-5.3,338,13033,0.00,2.33,0.00,0.000,4,0.000,0.048,1805,892,3407
$GC,13068,-0.91,-117.3,960.5,-5.9,338,13072,0.00,2.30,0.00,0.000,6,0.000,0.043,1796,2304,3407
$GC,13394,-0.91,-117.3,980.1,-6.0,344,13396,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2304,3407
$STATE,13573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13573,begin apogee
$GC,13581,-0.22,0.0,992.2,6.6,347,13682,0.50,0.00,98.97,1.286,6,0.111,0.000,1956,2304,2931
$STATE,13683,end apogee,CONTROL_FINISHED_OK
$STATE,13683,begin climb
$GC,13688,0.68,117.3,993.7,0.0,348,13800,0.57,2.58,103.95,1.259,4,0.067,0.054,2156,3705,2450
$GC,13830,0.49,117.3,992.1,6.4,351,13835,0.25,2.40,0.00,0.000,6,0.160,0.034,2105,2306,2447
$GC,14187,0.50,148.4,976.3,4.5,357,14220,0.00,2.40,26.48,1.210,4,0.000,0.054,2105,3708,2325
$GC,14239,0.48,156.1,973.7,5.2,357,14253,0.00,2.28,8.52,1.035,6,0.000,0.035,2114,2299,2293
$GC,14621,0.50,176.9,955.2,4.8,364,14646,0.00,2.40,18.95,1.175,4,0.000,0.058,2114,3707,2209
$GC,14665,0.48,177.9,952.7,5.5,364,14669,0.00,2.28,0.00,0.000,6,0.000,0.034,2124,2298,2207
$GC,14986,0.45,178.2,935.2,5.5,370,14991,0.12,2.35,0.00,0.000,4,0.156,0.054,2092,3715,2204
$GC,15015,0.46,187.1,933.7,5.2,370,15030,0.00,2.25,9.77,1.066,6,0.000,0.038,2100,2297,2168
$GC,15347,0.51,199.6,917.1,5.1,376,15362,0.00,0.00,12.70,1.110,6,0.000,0.000,2101,2297,2117
$GC,15651,0.55,206.7,901.2,5.3,381,15665,0.00,2.35,7.70,0.998,4,0.000,0.052,2100,3711,2087
$GC,15690,0.58,206.7,898.7,5.7,381,15694,0.00,2.22,0.00,0.000,6,0.000,0.039,2110,2302,2087
$GC,16017,0.60,206.7,878.1,6.4,387,16019,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2302,2085
$GC,16321,0.63,206.7,858.6,6.5,392,16325,0.10,2.33,0.00,0.000,4,0.067,0.053,2161,3710,2085
$GC,16361,0.50,206.7,854.9,9.7,392,16366,0.25,2.22,0.00,0.000,6,0.153,0.034,2107,2293,2084
$GC,16682,0.54,206.7,835.9,5.6,398,16683,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2293,2084
$GC,16985,0.58,206.7,818.8,5.6,403,16987,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2293,2084
$GC,17288,0.61,206.7,801.9,5.6,408,17290,0.10,0.00,0.00,0.000,6,0.067,0.000,2162,2293,2084
$GC,17593,0.52,206.7,776.6,8.4,413,17597,0.17,2.33,0.00,0.000,4,0.138,0.048,2113,3718,2083
$GC,17643,0.52,206.7,772.8,7.0,413,17647,0.00,2.22,0.00,0.000,6,0.000,0.033,2121,2299,2084
$GC,17953,0.53,211.5,756.1,5.3,418,17960,0.00,0.00,5.38,0.828,6,0.000,0.000,2121,2298,2068
$GC,18257,0.53,214.8,739.8,5.4,423,18266,0.00,2.30,4.60,0.755,4,0.000,0.048,2121,3719,2055
$GC,18307,0.50,214.8,736.6,6.0,423,18311,0.00,2.22,0.00,0.000,6,0.000,0.032,2131,2297,2055
$GC,18622,0.50,214.8,717.5,6.0,429,18623,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2297,2054
$GC,18925,0.50,214.8,697.7,6.6,434,18929,0.00,2.33,0.00,0.000,4,0.000,0.055,2131,3713,2054
$GC,18955,0.47,214.8,695.4,7.6,434,18960,0.15,2.20,0.00,0.000,6,0.137,0.032,2100,2305,2054
$GC,19287,0.53,214.8,676.4,5.6,440,19289,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2305,2054
$GC,19590,0.64,214.8,657.6,6.4,445,19595,0.12,2.28,0.00,0.000,4,0.063,0.044,2170,884,2053
$GC,19670,0.58,214.8,651.4,7.7,446,19675,0.17,2.25,0.00,0.000,6,0.132,0.038,2122,2305,2053
$GC,20020,0.60,214.8,628.4,6.5,452,20024,0.00,2.28,0.00,0.000,4,0.000,0.053,2122,3709,2053
$GC,20070,0.60,214.8,624.4,8.0,452,20074,0.00,2.20,0.00,0.000,6,0.000,0.037,2130,2306,2052
$GC,20392,0.60,214.8,602.1,7.0,458,20396,0.00,2.28,0.00,0.000,4,0.000,0.048,2130,3708,2052
$GC,20427,0.56,214.8,599.2,7.5,458,20431,0.00,2.20,0.00,0.000,6,0.000,0.032,2140,2299,2052
$GC,20765,0.54,214.8,575.4,6.9,464,20767,0.10,0.00,0.00,0.000,6,0.147,0.000,2114,2299,2052
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$GC,27997,0.93,335.4,65.8,4.7,702,28024,0.12,2.28,21.15,0.638,4,0.058,0.044,2275,889,1562
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$STATE,28781,end climb,SURFACE_DEPTH_REACHED
$STATE,28781,begin surface coast
$FINISH,1.5,1.018231
$STATE,28803,end surface coast,CONTROL_FINISHED_OK
$STATE,28803,begin surface
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$SM_GC,2.33,5.47,0.00,0.00,0.039,0.000,0.000,98,2293,1525,-8.61,-0.25,344.89
$IRIDIUM_FIX,4953.05,-14440.64,250399,141435
$TT8_MAMPS,0.029146
$HUMID,1740
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$TCM_TEMP,15.50
$XPDR_PINGS,49
$24V_AH,21.8,86.805
$10V_AH,10.4,75.102
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$DEVICE_SECS,19.150,223.350,416.100,0.000,0.000,28.847,26.129,150.745,12.250,0.000,0.000,11.774,1671.980,24079.783,537.911,2122.173,818.636,33.379,1683.129,0.000,2103.146,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,523.642,606.521,765.759,801.173,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44260,741
$CAP_FILE_SIZE,183775,0
$CFSIZE,260165632,211881984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,301209,064736,5015.925,-14434.519,39,2.0,43,18.6