version: 66.04
glider: 144
mission: 15
dive: 624
start: 1 6 110 15 3 0
data:
$ID,144
$MISSION,15
$DIVE,624
$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,-74297.391
$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,34
$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
$GPS1,145506,5018.096,-14503.991,32,1.6,32,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-60.3
$GPS2,150204,5018.120,-14504.004,8,2.1,27,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.144,0.087
$KALMAN_X,-94097.2,323.2,-166.5,101697.8,-1030.2
$KALMAN_Y,32277.8,-63.5,-74.4,-37433.6,417.2
$MHEAD_RNG_PITCHd_Wd,282.6,10802,-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,-41.25,0.000,2,0.000,0.000,98,2303,2599
$GC,63,-0.68,-117.3,3.5,-6.3,2,98,7.30,2.38,-21.45,0.000,4,0.234,0.061,1847,898,3413
$GC,353,-0.68,-117.3,33.6,-9.1,15,357,0.00,2.25,0.00,0.000,6,0.000,0.037,1840,2304,3414
$GC,682,-0.63,-117.3,68.2,-10.8,31,686,0.10,2.28,0.00,0.000,4,0.140,0.041,1867,894,3414
$GC,750,-0.67,-117.3,74.7,-8.9,34,754,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2308,3414
$GC,1080,-0.67,-117.3,104.1,-8.4,62,1084,0.00,2.28,0.00,0.000,4,0.000,0.041,1863,886,3414
$GC,1133,-0.69,-117.3,108.6,-9.3,66,1137,0.00,2.28,0.00,0.000,6,0.000,0.038,1854,2306,3414
$GC,1462,-0.72,-117.3,134.0,-7.2,96,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2306,3414
$GC,1786,-0.76,-117.3,156.2,-6.2,121,1790,0.00,2.28,0.00,0.000,4,0.000,0.049,1854,893,3414
$GC,1837,-0.82,-117.3,159.5,-6.0,122,1841,0.10,2.25,0.00,0.000,6,0.065,0.037,1776,2305,3415
$GC,2156,-0.72,-117.3,192.6,-10.9,133,2158,0.22,0.00,0.00,0.000,6,0.117,0.000,1846,2305,3415
$GC,2463,-0.76,-117.3,215.2,-7.2,143,2467,0.00,2.30,0.00,0.000,4,0.000,0.042,1846,893,3415
$GC,2493,-0.81,-117.3,217.4,-7.0,144,2497,0.00,2.28,0.00,0.000,6,0.000,0.042,1840,2307,3414
$GC,2829,-0.84,-117.3,241.2,-7.1,155,2834,0.08,2.28,0.00,0.000,4,0.080,0.041,1767,888,3414
$GC,2886,-0.75,-117.3,247.1,-11.4,156,2895,0.28,2.25,0.00,0.000,6,0.114,0.037,1841,2307,3414
$GC,3200,-0.78,-117.3,269.8,-6.9,167,3204,0.00,2.30,0.00,0.000,4,0.000,0.042,1841,887,3414
$GC,3246,-0.84,-117.3,273.3,-7.9,168,3250,0.00,2.28,0.00,0.000,6,0.000,0.038,1837,2308,3414
$GC,3566,-0.87,-117.3,295.5,-7.1,179,3571,0.10,2.30,0.00,0.000,4,0.065,0.041,1764,887,3414
$GC,3600,-0.77,-117.3,298.9,-10.5,180,3605,0.28,2.30,0.00,0.000,6,0.117,0.040,1837,2310,3414
$GC,3928,-0.81,-117.3,322.7,-7.1,186,3932,0.00,2.28,0.00,0.000,4,0.000,0.043,1837,891,3414
$GC,3974,-0.85,-117.3,326.2,-7.4,186,3978,0.00,2.28,0.00,0.000,6,0.000,0.041,1837,2303,3414
$GC,4290,-0.89,-117.3,348.0,-6.8,192,4291,0.10,0.00,0.00,0.000,6,0.065,0.000,1767,2303,3414
$GC,4593,-0.80,-117.3,379.2,-10.5,197,4597,0.17,2.33,0.00,0.000,4,0.120,0.047,1826,892,3414
$GC,4662,-0.83,-117.3,384.8,-7.2,198,4667,0.00,2.30,0.00,0.000,6,0.000,0.040,1821,2311,3414
$GC,5029,-0.83,-117.3,411.8,-7.3,204,5033,0.00,2.30,0.00,0.000,4,0.000,0.048,1821,893,3413
$GC,5064,-0.83,-117.3,414.5,-7.9,204,5068,0.00,2.28,0.00,0.000,6,0.000,0.038,1811,2303,3413
$GC,5392,-0.83,-117.3,440.6,-7.9,210,5396,0.00,2.28,0.00,0.000,4,0.000,0.045,1811,896,3413
$GC,5426,-0.83,-117.3,443.7,-8.4,210,5430,0.00,2.28,0.00,0.000,6,0.000,0.045,1801,2312,3412
$GC,5753,-0.81,-117.3,471.1,-8.4,216,5758,0.10,2.28,0.00,0.000,4,0.133,0.046,1830,895,3412
$GC,5823,-0.85,-117.3,476.4,-7.3,217,5827,0.00,2.28,0.00,0.000,6,0.000,0.044,1823,2309,3412
$GC,6185,-0.87,-117.3,502.0,-7.0,223,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2309,3412
$GC,6488,-0.90,-117.3,522.7,-6.8,228,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2309,3412
$GC,6791,-0.92,-117.3,544.1,-7.0,233,6795,0.10,2.30,0.00,0.000,4,0.066,0.044,1751,887,3412
$GC,6842,-0.82,-117.3,549.5,-12.3,233,6847,0.28,2.28,0.00,0.000,6,0.120,0.044,1824,2303,3412
$GC,7153,-0.85,-117.3,571.7,-7.0,238,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2303,3412
$GC,7456,-0.89,-117.3,590.8,-6.2,243,7460,0.00,2.30,0.00,0.000,4,0.000,0.051,1824,899,3411
$GC,7491,-0.93,-117.3,593.0,-6.2,243,7496,0.10,2.28,0.00,0.000,6,0.067,0.046,1759,2302,3412
$GC,7824,-0.84,-117.3,622.6,-9.0,249,7826,0.20,0.00,0.00,0.000,6,0.120,0.000,1820,2302,3412
$GC,8127,-0.87,-117.3,641.0,-5.9,254,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2302,3411
$GC,8431,-0.90,-117.3,659.7,-6.2,259,8435,0.00,2.30,0.00,0.000,4,0.000,0.047,1820,892,3411
$GC,8482,-0.93,-117.3,663.5,-6.9,259,8487,0.10,2.30,0.00,0.000,6,0.066,0.040,1754,2311,3410
$GC,8793,-0.84,-117.3,694.2,-10.2,264,8797,0.20,2.30,0.00,0.000,4,0.119,0.045,1820,898,3410
$GC,8844,-0.88,-117.3,698.4,-7.2,264,8848,0.00,2.28,0.00,0.000,6,0.000,0.040,1812,2309,3411
$GC,9154,-0.88,-117.3,720.1,-6.9,269,9158,0.00,2.30,0.00,0.000,4,0.000,0.048,1813,888,3410
$GC,9206,-0.90,-117.3,723.9,-7.4,269,9210,0.00,2.30,0.00,0.000,6,0.000,0.039,1808,2309,3410
$GC,9516,-0.90,-117.3,744.9,-6.7,274,9520,0.00,2.33,0.00,0.000,4,0.000,0.050,1808,888,3410
$GC,9552,-0.90,-117.3,747.3,-7.2,274,9556,0.00,2.30,0.00,0.000,6,0.000,0.048,1806,2306,3410
$GC,9879,-0.90,-117.3,768.4,-6.3,280,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2306,3410
$GC,10182,-0.90,-117.3,787.6,-6.3,285,10186,0.00,2.33,0.00,0.000,4,0.000,0.047,1806,897,3410
$GC,10226,-0.90,-117.3,790.6,-6.7,285,10230,0.00,2.28,0.00,0.000,6,0.000,0.040,1796,2302,3410
$GC,10543,-0.90,-117.3,812.1,-6.8,291,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2303,3410
$GC,10846,-0.90,-117.3,832.8,-6.8,296,10850,0.00,2.30,0.00,0.000,4,0.000,0.051,1796,897,3410
$GC,10902,-0.90,-117.3,837.0,-7.8,296,10908,0.00,2.28,0.00,0.000,6,0.000,0.047,1794,2302,3409
$GC,11212,-0.90,-117.3,857.8,-6.7,302,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2302,3410
$GC,11516,-0.90,-117.3,877.4,-6.4,307,11520,0.00,2.33,0.00,0.000,4,0.000,0.046,1794,890,3409
$GC,11549,-0.90,-117.3,879.8,-7.1,307,11554,0.00,2.33,0.00,0.000,6,0.000,0.040,1784,2312,3409
$GC,11882,-0.88,-117.3,901.5,-6.5,313,11887,0.10,2.30,0.00,0.000,4,0.135,0.048,1812,897,3409
$GC,11923,-0.91,-117.3,904.0,-5.2,313,11927,0.00,2.30,0.00,0.000,6,0.000,0.044,1809,2308,3409
$GC,12256,-0.93,-117.3,921.6,-5.3,319,12257,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2308,3408
$GC,12559,-0.96,-117.3,938.4,-5.6,324,12563,0.00,2.30,0.00,0.000,4,0.000,0.050,1809,897,3408
$GC,12604,-0.99,-117.3,941.2,-6.0,324,12609,0.08,2.28,0.00,0.000,6,0.091,0.048,1771,2305,3408
$GC,12934,-0.94,-117.3,965.9,-7.8,330,12936,0.10,0.00,0.00,0.000,6,0.136,0.000,1797,2305,3408
$GC,13234,-0.94,-117.3,986.0,-6.5,335,13235,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2305,3409
$STATE,13351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13352,begin apogee
$GC,13360,-0.22,0.0,993.6,6.4,337,13462,0.47,0.00,99.25,1.287,6,0.111,0.000,1952,2305,2931
$STATE,13463,end apogee,CONTROL_FINISHED_OK
$STATE,13463,begin climb
$GC,13467,0.68,117.3,994.9,0.0,338,13579,0.60,2.60,104.12,1.261,4,0.071,0.057,2156,3699,2451
$GC,13609,0.49,117.3,992.7,6.6,341,13614,0.25,2.40,0.00,0.000,6,0.165,0.035,2107,2304,2447
$GC,13966,0.48,133.7,975.1,4.9,347,13982,0.00,0.00,14.25,1.147,6,0.000,0.000,2107,2305,2385
$GC,14268,0.47,139.8,959.0,5.3,352,14279,0.00,2.33,6.38,0.958,4,0.000,0.053,2107,3711,2360
$GC,14308,0.42,139.8,956.5,7.0,352,14313,0.12,2.28,0.00,0.000,6,0.158,0.035,2086,2293,2359
$GC,14631,0.48,169.8,941.9,4.5,358,14660,0.00,0.00,27.70,1.202,6,0.000,0.000,2085,2293,2238
$GC,14933,0.60,169.8,925.8,5.5,363,14937,0.15,2.33,0.00,0.000,4,0.065,0.048,2155,886,2233
$GC,15066,0.54,169.8,916.6,7.3,365,15071,0.15,2.28,0.00,0.000,6,0.137,0.045,2116,2303,2233
$GC,15439,0.54,169.8,893.4,6.2,371,15443,0.00,2.30,0.00,0.000,4,0.000,0.051,2115,3718,2232
$GC,15490,0.48,169.8,889.6,7.5,371,15494,0.00,2.28,0.00,0.000,6,0.000,0.037,2125,2295,2230
$GC,15811,0.45,169.8,867.9,6.8,377,15813,0.12,0.00,0.00,0.000,6,0.156,0.000,2092,2295,2230
$GC,16115,0.50,177.7,851.8,5.2,382,16129,0.00,2.40,7.22,0.966,4,0.000,0.051,2092,3721,2205
$GC,16159,0.50,177.7,849.2,5.5,382,16163,0.00,2.25,0.00,0.000,6,0.000,0.032,2101,2298,2205
$GC,16481,0.53,181.6,831.8,5.4,388,16488,0.00,0.00,5.07,0.834,6,0.000,0.000,2101,2298,2190
$GC,16785,0.57,192.3,816.2,5.1,393,16799,0.08,0.00,11.02,1.041,6,0.082,0.000,2150,2298,2148
$GC,17087,0.51,192.3,794.1,7.4,398,17092,0.15,2.38,0.00,0.000,4,0.134,0.047,2108,3719,2144
$GC,17121,0.51,192.3,791.6,6.6,398,17125,0.00,2.30,0.00,0.000,6,0.000,0.038,2117,2296,2144
$GC,17448,0.51,192.3,772.5,5.9,404,17449,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2296,2144
$GC,17750,0.51,192.3,755.9,5.5,409,17751,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2296,2143
$GC,18054,0.51,193.0,739.4,5.5,414,18055,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2296,2143
$GC,18358,0.51,193.0,722.6,5.5,419,18359,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2296,2143
$GC,18660,0.51,193.0,705.9,5.5,424,18661,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2296,2143
$GC,18964,0.51,198.7,689.8,5.3,429,18972,0.00,0.00,6.75,0.872,6,0.000,0.000,2117,2296,2121
$GC,19266,0.53,212.6,674.4,5.0,434,19285,0.00,2.38,13.85,0.991,4,0.000,0.048,2117,3709,2064
$GC,19309,0.55,224.3,671.9,5.1,434,19331,0.00,2.28,12.35,0.963,6,0.000,0.032,2127,2296,2015
$GC,19635,0.56,238.8,655.4,5.0,440,19655,0.00,2.38,13.73,0.972,4,0.000,0.048,2127,3706,1957
$GC,19685,0.56,238.8,652.3,6.2,440,19689,0.00,2.28,0.00,0.000,6,0.000,0.033,2136,2297,1955
$GC,20001,0.56,238.8,634.1,5.8,446,20002,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2297,1953
$GC,20304,0.56,238.8,614.9,6.3,451,20305,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2297,1952
$GC,20608,0.56,238.8,594.0,6.9,456,20609,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2296,1952
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$GC,21213,0.56,238.8,550.8,6.9,466,21217,0.00,2.35,0.00,0.000,4,0.000,0.048,2137,3718,1951
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$GC,21576,0.60,243.3,530.3,5.3,472,21585,0.00,2.33,4.68,0.684,4,0.000,0.048,2121,895,1939
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$STATE,29556,end climb,SURFACE_DEPTH_REACHED
$STATE,29556,begin surface coast
$FINISH,1.2,1.025428
$STATE,29578,end surface coast,CONTROL_FINISHED_OK
$STATE,29578,begin surface
$SM_CCo,29658,0.00,0.000,0,0,1561,335.82
$SM_GC,2.16,5.70,0.00,0.00,0.048,0.000,0.000,99,2292,1561,-8.63,-0.31,335.82
$IRIDIUM_FIX,4956.40,-14455.52,020499,060602
$TT8_MAMPS,0.029146
$HUMID,1717
$INTERNAL_PRESSURE,7.36356
$TCM_TEMP,15.60
$XPDR_PINGS,56
$24V_AH,21.8,89.908
$10V_AH,10.4,77.701
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$DEVICE_SECS,19.825,224.250,407.200,0.000,0.000,24.668,33.239,179.499,14.000,0.000,0.000,30.277,1725.241,24688.217,558.183,2211.535,880.104,33.379,1724.664,0.000,2180.421,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,538.804,625.863,792.126,830.545,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44360,764
$CAP_FILE_SIZE,189137,0
$CFSIZE,260165632,210079744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,060110,231836,5019.498,-14508.700,35,1.7,35,18.5