version: 66.04
glider: 144
mission: 15
dive: 21
start: 6 18 109 21 15 50
data:
$ID,144
$MISSION,15
$DIVE,21
$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,528
$T_MISSION,570
$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,150
$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,-61287
$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,0.039999999
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,210036,5013.231,-14513.895,40,1.4,40,18.5
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-47.6
$GPS2,211454,5013.287,-14513.952,14,1.2,24,18.5
$SPEED_LIMITS,0.062,0.194
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.140,-0.134
$KALMAN_X,-15760.7,32.8,781.3,-657.2,-4076.3
$KALMAN_Y,5007.4,-42.3,494.2,19711.2,-1294.5
$MHEAD_RNG_PITCHd_Wd,115.1,35779,-12.4,-6.250
$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,15,-0.72,-146.6,0.0,0.0,0,69,0.00,0.00,-52.12,0.000,2,0.000,0.000,100,2315,2783
$GC,72,-0.72,-146.6,3.3,-3.7,5,106,7.05,2.35,-17.05,0.000,4,0.252,0.082,1827,3709,3532
$GC,246,-0.60,-146.6,27.9,-11.9,20,253,0.15,2.22,0.00,0.000,6,0.140,0.041,1869,2292,3533
$GC,573,-0.60,-146.6,57.7,-10.0,51,577,0.00,2.25,0.00,0.000,4,0.000,0.054,1869,888,3533
$GC,617,-0.66,-146.6,62.2,-9.9,54,624,0.00,2.25,0.00,0.000,6,0.000,0.048,1864,2306,3533
$GC,948,-0.66,-146.6,94.3,-9.2,79,952,0.00,2.28,0.00,0.000,4,0.000,0.054,1863,883,3534
$GC,992,-0.71,-146.6,98.5,-8.6,81,996,0.00,2.28,0.00,0.000,6,0.000,0.051,1863,2314,3534
$GC,1313,-0.75,-146.6,125.1,-7.6,97,1315,0.10,0.00,0.00,0.000,6,0.078,0.000,1810,2314,3534
$GC,1622,-0.64,-146.6,158.5,-10.9,111,1626,0.17,2.28,0.00,0.000,4,0.140,0.054,1865,887,3534
$GC,1688,-0.80,-146.6,164.1,-7.7,113,1693,0.12,2.25,0.00,0.000,6,0.068,0.050,1798,2308,3534
$GC,2017,-0.66,-146.6,198.8,-10.5,124,2022,0.17,2.25,0.00,0.000,4,0.143,0.054,1853,893,3533
$GC,2061,-0.79,-146.6,202.7,-7.6,125,2065,0.00,2.25,0.00,0.000,6,0.000,0.051,1850,2313,3533
$GC,2379,-0.87,-146.6,224.4,-6.9,136,2381,0.12,0.00,0.00,0.000,6,0.069,0.000,1788,2314,3533
$GC,2685,-0.72,-146.6,256.8,-10.7,146,2687,0.20,0.00,0.00,0.000,6,0.143,0.000,1845,2314,3532
$GC,2992,-0.79,-146.6,279.4,-7.3,156,2996,0.00,2.28,0.00,0.000,4,0.000,0.057,1845,888,3532
$GC,3025,-0.90,-146.6,282.1,-7.7,157,3029,0.12,2.25,0.00,0.000,6,0.067,0.052,1779,2308,3532
$GC,3383,-0.72,-146.6,322.2,-11.4,166,3385,0.22,0.00,0.00,0.000,6,0.146,0.000,1844,2308,3532
$GC,3686,-0.81,-146.6,343.7,-6.8,171,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2308,3531
$GC,3989,-0.91,-146.6,363.9,-6.6,176,3993,0.15,2.28,0.00,0.000,4,0.063,0.056,1772,885,3530
$GC,4044,-0.74,-146.6,369.7,-11.7,176,4051,0.25,2.25,0.00,0.000,6,0.145,0.059,1842,2306,3530
$GC,4354,-0.83,-146.6,391.1,-6.7,182,4359,0.10,2.25,0.00,0.000,4,0.079,0.057,1793,892,3530
$GC,4381,-0.79,-146.6,393.5,-9.1,182,4386,0.15,2.25,0.00,0.000,6,0.143,0.057,1825,2315,3529
$GC,4712,-0.79,-146.6,416.3,-6.7,188,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2315,3530
$GC,5016,-0.79,-146.6,434.9,-6.1,193,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2315,3529
$GC,5318,-0.79,-146.6,454.3,-6.4,198,5322,0.00,2.28,0.00,0.000,4,0.000,0.058,1825,884,3529
$GC,5357,-0.85,-146.6,457.2,-7.5,198,5361,0.00,2.25,0.00,0.000,6,0.000,0.060,1822,2308,3529
$GC,5677,-0.85,-146.6,480.5,-7.3,204,5681,0.00,2.25,0.00,0.000,4,0.000,0.058,1822,892,3529
$GC,5718,-0.89,-146.6,483.7,-7.9,204,5722,0.00,2.25,0.00,0.000,6,0.000,0.053,1821,2314,3529
$GC,6039,-0.89,-146.6,508.3,-7.6,210,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2314,3528
$GC,6341,-0.89,-146.6,531.0,-7.5,215,6345,0.00,2.28,0.00,0.000,4,0.000,0.059,1821,885,3528
$GC,6380,-0.94,-146.6,534.1,-8.3,215,6384,0.00,2.25,0.00,0.000,6,0.000,0.054,1818,2307,3528
$GC,6700,-0.94,-146.6,558.7,-7.7,221,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2306,3528
$GC,7003,-0.94,-146.6,581.0,-7.3,226,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2306,3528
$GC,7306,-0.94,-146.6,603.6,-7.5,231,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2306,3527
$GC,7610,-0.94,-146.6,626.3,-7.5,236,7614,0.00,2.25,0.00,0.000,4,0.000,0.064,1818,896,3527
$GC,7631,-0.94,-146.6,628.0,-7.5,236,7635,0.00,2.22,0.00,0.000,6,0.000,0.054,1809,2304,3527
$GC,7975,-0.94,-146.6,653.7,-7.4,242,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3526
$GC,8278,-0.94,-146.6,676.0,-7.3,247,8282,0.00,2.28,0.00,0.000,4,0.000,0.063,1809,887,3527
$GC,8318,-0.94,-146.6,679.0,-7.7,247,8322,0.00,2.25,0.00,0.000,6,0.000,0.056,1806,2302,3527
$GC,8638,-0.94,-146.6,702.2,-7.2,253,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2302,3526
$GC,8941,-0.94,-146.6,723.2,-6.9,258,8945,0.00,2.25,0.00,0.000,4,0.000,0.068,1806,896,3526
$GC,8979,-0.94,-146.6,726.1,-7.1,258,8983,0.00,2.25,0.00,0.000,6,0.000,0.058,1797,2311,3526
$GC,9306,-0.88,-146.6,750.7,-7.6,264,9307,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2312,3526
$GC,9609,-0.84,-146.6,773.9,-7.7,269,9613,0.00,2.28,0.00,0.000,4,0.000,0.069,1799,893,3526
$GC,9675,-0.84,-146.6,779.5,-7.6,270,9680,0.10,2.25,0.00,0.000,6,0.173,0.057,1817,2309,3525
$GC,10041,-0.89,-146.6,803.5,-6.5,276,10045,0.00,2.28,0.00,0.000,4,0.000,0.064,1818,889,3526
$GC,10069,-0.95,-146.6,805.4,-7.2,276,10073,0.00,2.25,0.00,0.000,6,0.000,0.061,1810,2308,3526
$GC,10400,-0.95,-146.6,828.8,-7.1,282,10401,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2308,3526
$GC,10703,-0.95,-146.6,850.0,-7.0,287,10707,0.00,2.28,0.00,0.000,4,0.000,0.069,1812,894,3525
$GC,10729,-0.95,-146.6,852.0,-7.4,287,10734,0.00,2.25,0.00,0.000,6,0.000,0.058,1806,2306,3525
$GC,11067,-0.95,-146.6,876.0,-7.1,293,11069,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2306,3525
$GC,11371,-0.95,-146.6,898.2,-7.4,298,11375,0.00,2.28,0.00,0.000,4,0.000,0.071,1806,896,3525
$GC,11409,-0.95,-146.6,901.4,-8.1,298,11413,0.00,2.25,0.00,0.000,6,0.000,0.059,1797,2306,3525
$GC,11735,-0.95,-146.6,927.3,-7.9,304,11737,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2306,3525
$GC,12038,-0.95,-146.6,951.1,-7.8,309,12042,0.00,2.28,0.00,0.000,4,0.000,0.067,1803,897,3525
$GC,12088,-0.95,-146.6,955.2,-8.1,309,12092,0.00,2.25,0.00,0.000,6,0.000,0.061,1794,2306,3525
$GC,12404,-0.90,-146.6,979.5,-7.7,315,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2306,3525
$STATE,12584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12584,begin apogee
$GC,12590,-0.22,0.0,993.1,7.5,318,12709,0.52,0.00,116.68,1.329,6,0.171,0.000,1949,2307,2931
$STATE,12710,end apogee,CONTROL_FINISHED_OK
$STATE,12710,begin climb
$GC,12713,0.72,146.6,996.0,0.0,320,12842,0.65,2.55,122.28,1.301,4,0.128,0.073,2149,3713,2331
$GC,12883,0.33,146.6,987.3,9.6,322,12888,0.35,2.38,0.00,0.000,6,0.197,0.057,2074,2309,2327
$GC,13199,0.41,171.4,969.4,5.5,328,13224,0.00,2.45,20.12,1.218,4,0.000,0.069,2084,883,2233
$GC,13252,0.53,182.3,966.3,5.9,328,13269,0.12,2.40,10.90,1.121,6,0.106,0.060,2122,2300,2187
$GC,13626,0.43,182.3,938.4,7.6,335,13630,0.12,2.38,0.00,0.000,4,0.178,0.070,2094,3713,2181
$GC,13664,0.39,182.3,935.3,7.8,335,13668,0.00,2.30,0.00,0.000,6,0.000,0.051,2102,2301,2180
$GC,13985,0.39,182.7,915.2,6.2,341,13986,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2301,2180
$GC,14287,0.40,189.3,897.1,6.0,346,14298,0.00,2.35,6.12,0.981,4,0.000,0.075,2102,3714,2160
$GC,14315,0.35,189.3,895.2,6.8,346,14320,0.15,2.30,0.00,0.000,6,0.175,0.053,2075,2291,2159
$GC,14647,0.53,243.6,879.8,4.6,352,14702,0.15,2.45,47.40,1.238,4,0.091,0.072,2136,899,1936
$GC,14718,0.53,243.6,874.8,6.7,353,14722,0.00,2.40,0.00,0.000,6,0.000,0.064,2135,2309,1932
$GC,15079,0.43,243.6,845.9,8.0,359,15084,0.17,2.35,0.00,0.000,4,0.166,0.074,2085,3721,1927
$GC,15114,0.51,246.8,843.6,6.2,359,15118,0.00,2.30,0.00,0.000,6,0.000,0.057,2091,2304,1927
$GC,15441,0.65,268.6,825.5,5.6,365,15468,0.17,2.38,21.12,1.170,4,0.088,0.067,2164,891,1834
$GC,15485,0.53,268.6,821.7,9.1,365,15490,0.20,2.35,0.00,0.000,6,0.160,0.063,2112,2304,1831
$GC,15800,0.57,268.6,799.5,7.0,371,15804,0.00,2.35,0.00,0.000,4,0.000,0.069,2112,3724,1828
$GC,15855,0.57,268.6,794.8,8.3,371,15861,0.00,2.33,0.00,0.000,6,0.000,0.057,2120,2306,1827
$GC,16165,0.57,268.6,770.8,7.8,377,16169,0.00,2.33,0.00,0.000,4,0.000,0.073,2130,891,1827
$GC,16186,0.57,268.6,769.2,6.5,377,16190,0.00,2.30,0.00,0.000,6,0.000,0.058,2130,2309,1826
$GC,16530,0.57,268.6,742.8,7.7,383,16534,0.00,2.30,0.00,0.000,4,0.000,0.074,2131,3714,1826
$GC,16551,0.52,268.6,740.8,9.9,383,16556,0.12,2.25,0.00,0.000,6,0.179,0.051,2111,2301,1826
$GC,16889,0.57,269.9,719.3,6.2,389,16893,0.00,2.30,0.00,0.000,4,0.000,0.067,2120,887,1826
$GC,16917,0.67,269.9,717.4,6.6,389,16921,0.10,2.28,0.00,0.000,6,0.099,0.056,2157,2304,1825
$GC,17248,0.51,269.9,687.2,9.3,395,17253,0.17,2.30,0.00,0.000,4,0.170,0.067,2112,3718,1826
$GC,17297,0.51,269.9,683.1,7.2,395,17301,0.00,2.25,0.00,0.000,6,0.000,0.051,2117,2301,1826
$GC,17613,0.51,269.9,662.2,6.7,401,17617,0.00,2.30,0.00,0.000,4,0.000,0.067,2128,881,1825
$GC,17634,0.56,269.9,660.5,7.1,401,17638,0.00,2.28,0.00,0.000,6,0.000,0.054,2128,2304,1824
$GC,17972,0.56,269.9,635.3,7.6,407,17976,0.00,2.28,0.00,0.000,4,0.000,0.067,2128,3711,1824
$GC,17999,0.52,269.9,632.8,8.5,407,18004,0.10,2.22,0.00,0.000,6,0.179,0.051,2114,2301,1824
$GC,18331,0.58,269.9,608.4,7.4,413,18332,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2301,1824
$GC,18634,0.65,269.9,585.3,7.7,418,18636,0.10,0.00,0.00,0.000,6,0.090,0.000,2154,2301,1825
$GC,18937,0.52,269.9,553.0,10.9,423,18942,0.15,2.30,0.00,0.000,4,0.160,0.065,2115,3716,1824
$GC,18959,0.46,269.9,550.5,11.4,423,18963,0.10,2.22,0.00,0.000,6,0.173,0.048,2099,2304,1824
$GC,19296,0.67,269.9,527.2,6.8,429,19301,0.15,2.28,0.00,0.000,4,0.094,0.062,2150,884,1823
$GC,19328,0.90,269.9,524.3,9.2,429,19333,0.15,2.28,0.00,0.000,6,0.084,0.058,2210,2314,1824
$GC,19655,0.54,269.9,479.7,14.3,435,19659,0.32,2.25,0.00,0.000,4,0.175,0.070,2116,3714,1823
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$GC,22019,0.73,332.3,316.7,5.7,474,22039,0.15,2.40,13.90,0.827,4,0.068,0.064,2186,3716,1576
$GC,22056,0.57,332.3,313.3,11.4,474,22061,0.28,2.28,0.00,0.000,6,0.160,0.047,2121,2301,1574
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$GC,24978,0.88,344.9,82.4,9.7,579,24982,0.00,2.20,0.00,0.000,6,0.000,0.044,2193,2301,1518
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$STATE,25980,end climb,SURFACE_DEPTH_REACHED
$STATE,25980,begin surface coast
$FINISH,0.9,1.002800
$STATE,26024,end surface coast,CONTROL_FINISHED_OK
$STATE,26024,begin surface
$SM_CCo,26100,0.00,0.000,0,0,1516,347.10
$SM_GC,1.63,5.68,0.00,0.00,0.067,0.000,0.000,103,2307,1516,-8.61,0.11,347.10
$IRIDIUM_FIX,4953.05,-14514.25,120998,212105
$TT8_MAMPS,0.028379
$HUMID,1599
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,14.10
$XPDR_PINGS,61
$24V_AH,23.4,6.387
$10V_AH,10.7,3.192
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$DEVICE_SECS,20.650,223.525,407.575,0.000,0.000,117.053,106.192,317.608,15.250,0.000,0.000,27.079,1539.889,21897.441,552.963,2072.391,894.276,33.361,1613.370,0.000,2054.961,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,477.407,542.899,693.963,1157.497,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41183,674
$CAP_FILE_SIZE,177361,0
$CFSIZE,260165632,257392640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190609,043206,5011.042,-14510.257,38,1.7,39,18.5