version: 66.04
glider: 144
mission: 15
dive: 602
start: 12 30 109 6 58 6
data:
$ID,144
$MISSION,15
$DIVE,602
$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,-73867.891
$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,36
$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
$GPS1,064736,5015.925,-14434.519,39,2.0,43,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-63.5
$GPS2,065713,5015.920,-14434.457,13,1.3,30,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.096,0.137
$KALMAN_X,-91163.4,272.7,-13.6,133589.7,112.3
$KALMAN_Y,42292.6,-270.2,-103.6,-51280.6,1215.0
$MHEAD_RNG_PITCHd_Wd,16.4,10893,-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,-117.3,0.0,0.0,0,59,0.00,0.00,-41.12,0.000,2,0.000,0.000,98,2293,2589
$GC,63,-0.68,-117.3,3.6,-5.7,2,99,7.25,2.35,-22.55,0.000,4,0.234,0.064,1847,901,3412
$GC,353,-0.68,-117.3,31.7,-9.6,15,358,0.00,2.28,0.00,0.000,6,0.000,0.039,1839,2308,3413
$GC,682,-0.63,-117.3,68.4,-11.9,31,687,0.10,2.28,0.00,0.000,4,0.139,0.041,1867,895,3413
$GC,768,-0.67,-117.3,77.9,-10.7,35,772,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2311,3414
$GC,1094,-0.67,-117.3,107.8,-8.8,64,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2311,3413
$GC,1412,-0.70,-117.3,131.1,-7.2,94,1416,0.00,2.25,0.00,0.000,4,0.000,0.041,1862,892,3413
$GC,1520,-0.75,-117.3,139.3,-7.7,103,1526,0.08,2.25,0.00,0.000,6,0.077,0.042,1790,2304,3414
$GC,1837,-0.67,-117.3,174.4,-10.5,120,1842,0.20,2.28,0.00,0.000,4,0.118,0.049,1848,3708,3414
$GC,1888,-0.73,-117.3,178.8,-7.9,121,1892,0.00,2.15,0.00,0.000,6,0.000,0.029,1847,2298,3414
$GC,2208,-0.78,-117.3,201.2,-7.0,132,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2299,3413
$GC,2513,-0.83,-117.3,220.5,-5.7,142,2518,0.10,2.22,0.00,0.000,4,0.067,0.041,1771,901,3413
$GC,2552,-0.73,-117.3,224.1,-10.5,143,2557,0.28,2.22,0.00,0.000,6,0.119,0.038,1843,2305,3414
$GC,2878,-0.77,-117.3,245.0,-6.3,154,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2305,3414
$GC,3183,-0.81,-117.3,265.1,-6.7,164,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2305,3414
$GC,3490,-0.85,-117.3,287.0,-7.7,174,3494,0.12,2.25,0.00,0.000,4,0.055,0.041,1767,893,3413
$GC,3541,-0.75,-117.3,292.8,-12.6,175,3546,0.28,2.28,0.00,0.000,6,0.118,0.038,1838,2311,3412
$GC,3888,-0.79,-117.3,319.6,-7.4,183,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2312,3413
$GC,4191,-0.82,-117.3,340.3,-6.8,188,4195,0.00,2.30,0.00,0.000,4,0.000,0.046,1838,903,3413
$GC,4231,-0.87,-117.3,343.1,-6.9,188,4236,0.10,2.28,0.00,0.000,6,0.065,0.041,1769,2307,3413
$GC,4552,-0.77,-117.3,374.2,-9.8,194,4557,0.20,2.30,0.00,0.000,4,0.120,0.048,1834,903,3412
$GC,4603,-0.82,-117.3,378.2,-6.7,194,4607,0.00,2.28,0.00,0.000,6,0.000,0.044,1828,2308,3412
$GC,4915,-0.84,-117.3,398.4,-6.5,199,4919,0.00,2.28,0.00,0.000,4,0.000,0.049,1828,903,3412
$GC,4949,-0.87,-117.3,400.9,-7.0,199,4953,0.00,2.28,0.00,0.000,6,0.000,0.039,1821,2312,3412
$GC,5276,-0.87,-117.3,423.9,-7.0,205,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2312,3412
$GC,5579,-0.87,-117.3,444.8,-6.8,210,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2312,3412
$GC,5883,-0.87,-117.3,464.9,-6.6,215,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2312,3412
$GC,6185,-0.87,-117.3,483.9,-6.2,220,6189,0.00,2.33,0.00,0.000,4,0.000,0.044,1821,898,3411
$GC,6230,-0.89,-117.3,487.1,-7.4,220,6234,0.00,2.30,0.00,0.000,6,0.000,0.044,1813,2310,3411
$GC,6546,-0.89,-117.3,508.3,-6.8,226,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2310,3411
$GC,6849,-0.89,-117.3,529.6,-7.1,231,6853,0.00,2.28,0.00,0.000,4,0.000,0.044,1813,903,3411
$GC,6889,-0.89,-117.3,532.8,-7.9,231,6893,0.00,2.28,0.00,0.000,6,0.000,0.041,1807,2307,3411
$GC,7210,-0.89,-117.3,557.0,-7.7,237,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2308,3411
$GC,7513,-0.89,-117.3,580.0,-7.5,242,7517,0.00,2.30,0.00,0.000,4,0.000,0.051,1806,902,3411
$GC,7570,-0.89,-117.3,584.5,-8.1,242,7576,0.00,2.28,0.00,0.000,6,0.000,0.043,1797,2304,3411
$GC,7880,-0.87,-117.3,607.8,-7.5,248,7884,0.00,2.28,0.00,0.000,4,0.000,0.051,1798,903,3410
$GC,7931,-0.87,-117.3,611.9,-7.6,248,7936,0.10,2.28,0.00,0.000,6,0.128,0.044,1816,2312,3410
$GC,8242,-0.89,-117.3,631.5,-6.3,253,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2312,3410
$GC,8545,-0.91,-117.3,648.9,-5.6,258,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2312,3410
$GC,8848,-0.93,-117.3,665.7,-5.6,263,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2311,3410
$GC,9151,-0.96,-117.3,684.3,-6.1,268,9155,0.10,2.30,0.00,0.000,4,0.066,0.049,1754,895,3409
$GC,9202,-0.86,-117.3,689.0,-10.6,268,9206,0.22,2.30,0.00,0.000,6,0.123,0.043,1811,2312,3410
$GC,9512,-0.86,-117.3,711.0,-6.9,273,9516,0.00,2.30,0.00,0.000,4,0.000,0.044,1811,903,3409
$GC,9546,-0.86,-117.3,713.6,-7.6,273,9550,0.00,2.28,0.00,0.000,6,0.000,0.040,1808,2301,3409
$GC,9873,-0.86,-117.3,735.9,-6.8,279,9877,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,904,3408
$GC,9902,-0.86,-117.3,737.7,-6.2,279,9906,0.00,2.30,0.00,0.000,6,0.000,0.040,1805,2316,3409
$GC,10234,-0.86,-117.3,757.8,-5.9,285,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2317,3408
$GC,10537,-0.86,-117.3,774.7,-5.6,290,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2317,3408
$GC,10840,-0.86,-117.3,793.7,-6.4,295,10844,0.00,2.33,0.00,0.000,4,0.000,0.045,1805,903,3408
$GC,10899,-0.86,-117.3,798.1,-7.8,295,10903,0.00,2.30,0.00,0.000,6,0.000,0.040,1796,2312,3408
$GC,11209,-0.86,-117.3,821.6,-7.6,300,11210,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2312,3408
$GC,11512,-0.86,-117.3,844.5,-7.6,305,11516,0.00,2.35,0.00,0.000,4,0.000,0.052,1796,903,3408
$GC,11551,-0.86,-117.3,847.7,-8.1,305,11555,0.00,2.33,0.00,0.000,6,0.000,0.047,1794,2313,3408
$GC,11873,-0.86,-117.3,870.8,-7.1,311,11877,0.00,2.33,0.00,0.000,4,0.000,0.046,1795,903,3408
$GC,11907,-0.86,-117.3,873.5,-7.1,311,11912,0.10,2.30,0.00,0.000,6,0.130,0.047,1811,2306,3408
$GC,12234,-0.89,-117.3,892.9,-5.8,317,12235,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2306,3408
$GC,12537,-0.92,-117.3,910.1,-5.6,322,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2306,3408
$GC,12841,-0.96,-117.3,926.8,-5.5,327,12842,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2306,3407
$GC,13144,-0.99,-117.3,943.2,-5.4,332,13145,0.10,0.00,0.00,0.000,6,0.077,0.000,1766,2307,3407
$GC,13446,-0.92,-117.3,966.3,-7.7,337,13451,0.12,2.33,0.00,0.000,4,0.127,0.046,1802,909,3407
$GC,13480,-0.92,-117.3,968.8,-6.8,337,13484,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2300,3407
$GC,13807,-0.92,-117.3,989.8,-6.4,343,13808,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2301,3407
$STATE,13863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13863,begin apogee
$GC,13871,-0.22,0.0,993.6,6.4,344,13973,0.50,0.00,98.95,1.289,6,0.134,0.000,1950,2301,2931
$STATE,13974,end apogee,CONTROL_FINISHED_OK
$STATE,13974,begin climb
$GC,13977,0.68,117.3,994.9,0.0,345,14091,0.60,2.58,104.22,1.261,4,0.071,0.051,2156,3713,2450
$GC,14127,0.48,117.3,991.4,7.0,348,14132,0.25,2.40,0.00,0.000,6,0.157,0.037,2105,2314,2446
$GC,14477,0.48,139.4,974.5,4.8,354,14497,0.00,0.00,18.92,1.181,6,0.000,0.000,2105,2314,2362
$GC,14780,0.50,155.8,959.4,4.9,359,14800,0.00,2.35,15.40,1.153,4,0.000,0.058,2105,3716,2293
$GC,14824,0.47,155.8,956.7,6.5,359,14828,0.00,2.28,0.00,0.000,6,0.000,0.037,2114,2300,2292
$GC,15139,0.48,157.9,939.7,5.4,365,15143,0.00,2.33,0.00,0.000,4,0.000,0.054,2114,3715,2290
$GC,15163,0.44,157.9,938.2,6.2,365,15168,0.12,2.22,0.00,0.000,6,0.158,0.033,2093,2303,2289
$GC,15502,0.52,202.6,924.3,4.0,371,15546,0.00,0.00,41.65,1.216,6,0.000,0.000,2094,2303,2105
$GC,15805,0.67,217.9,909.8,5.0,376,15825,0.17,2.35,14.62,1.124,4,0.061,0.055,2170,3720,2042
$GC,16001,0.52,217.9,891.3,9.9,378,16007,0.25,2.28,0.00,0.000,6,0.156,0.038,2113,2294,2039
$GC,16311,0.55,219.1,873.6,5.5,384,16315,0.00,2.25,0.00,0.000,4,0.000,0.056,2122,892,2037
$GC,16335,0.59,219.1,872.1,6.0,384,16339,0.00,2.28,0.00,0.000,6,0.000,0.045,2122,2313,2036
$GC,16681,0.59,219.1,850.8,6.3,390,16685,0.00,2.25,0.00,0.000,4,0.000,0.052,2122,3709,2036
$GC,16703,0.59,219.1,849.0,6.3,390,16707,0.00,2.22,0.00,0.000,6,0.000,0.040,2132,2294,2036
$GC,17041,0.59,219.1,826.5,6.5,396,17045,0.00,2.33,0.00,0.000,4,0.000,0.056,2132,3715,2035
$GC,17076,0.54,219.1,823.8,8.1,396,17081,0.10,2.20,0.00,0.000,6,0.152,0.033,2119,2304,2035
$GC,17409,0.56,219.1,802.6,6.3,402,17413,0.00,2.28,0.00,0.000,4,0.000,0.048,2127,896,2034
$GC,17444,0.59,219.1,800.5,5.7,402,17449,0.00,2.25,0.00,0.000,6,0.000,0.041,2127,2305,2034
$GC,17772,0.59,219.1,778.1,6.8,408,17776,0.00,2.28,0.00,0.000,4,0.000,0.056,2127,3715,2034
$GC,17807,0.56,219.1,775.3,7.9,408,17811,0.00,2.22,0.00,0.000,6,0.000,0.033,2137,2290,2034
$GC,18134,0.56,219.1,749.6,7.8,414,18135,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2290,2034
$GC,18438,0.56,219.1,726.0,7.8,419,18442,0.00,2.35,0.00,0.000,4,0.000,0.049,2137,3707,2034
$GC,18478,0.50,219.1,722.6,8.9,419,18483,0.15,2.22,0.00,0.000,6,0.137,0.032,2106,2300,2034
$GC,18799,0.56,224.1,704.7,5.3,425,18807,0.00,0.00,5.55,0.819,6,0.000,0.000,2106,2300,2017
$GC,19103,0.63,237.1,689.3,5.1,430,19118,0.10,0.00,13.35,0.999,6,0.066,0.000,2173,2299,1964
$GC,19406,0.53,237.1,662.7,9.0,435,19411,0.20,2.38,0.00,0.000,4,0.133,0.049,2111,3710,1961
$GC,19434,0.53,237.1,660.1,7.2,435,19438,0.00,2.28,0.00,0.000,6,0.000,0.035,2119,2297,1961
$GC,19767,0.56,237.1,640.3,6.0,441,19768,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2297,1960
$GC,20071,0.59,237.1,620.9,6.5,446,20072,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2297,1960
$GC,20373,0.63,237.1,600.8,6.6,451,20377,0.00,2.38,0.00,0.000,4,0.000,0.052,2119,3714,1959
$GC,20402,0.65,237.1,598.5,6.4,451,20406,0.00,2.22,0.00,0.000,6,0.000,0.031,2129,2300,1960
$GC,20740,0.65,237.1,574.6,7.1,457,20744,0.00,2.30,0.00,0.000,4,0.000,0.046,2139,893,1960
$GC,20769,0.68,237.1,572.5,7.0,457,20773,0.00,2.25,0.00,0.000,6,0.000,0.037,2139,2305,1959
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$GC,21832,0.61,256.8,503.0,4.8,475,21856,0.00,2.35,17.92,0.917,4,0.000,0.048,2128,897,1883
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$STATE,28896,end climb,SURFACE_DEPTH_REACHED
$STATE,28897,begin surface coast
$FINISH,1.5,1.017224
$STATE,28918,end surface coast,CONTROL_FINISHED_OK
$STATE,28918,begin surface
$SM_CCo,28997,0.00,0.000,0,0,1686,305.40
$SM_GC,2.39,5.60,0.00,0.00,0.045,0.000,0.000,99,2298,1686,-8.59,-0.14,305.40
$IRIDIUM_FIX,4959.75,-14429.30,260399,060655
$TT8_MAMPS,0.029146
$HUMID,1730
$INTERNAL_PRESSURE,7.37333
$TCM_TEMP,15.50
$XPDR_PINGS,62
$24V_AH,21.8,86.950
$10V_AH,10.4,75.214
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$DEVICE_SECS,19.100,223.175,375.075,0.000,0.000,48.083,55.159,232.262,15.500,0.000,0.000,31.594,1666.751,24271.820,536.168,2129.904,955.544,33.377,1661.732,0.000,2101.942,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,516.891,605.338,763.596,794.279,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44377,735
$CAP_FILE_SIZE,183104,0
$CFSIZE,260165632,211804160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301209,150237,5018.352,-14431.262,32,1.1,32,18.7