version: 66.04
glider: 144
mission: 15
dive: 53
start: 6 29 109 12 41 25
data:
$ID,144
$MISSION,15
$DIVE,53
$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,-62019.336
$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,30
$R_STBD_OVSHOOT,29
$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
$GPS1,123400,5004.005,-14444.855,40,1.9,40,18.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-64.2
$GPS2,124031,5004.068,-14444.797,11,1.4,22,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.119,0.118
$KALMAN_X,-27148.8,96.5,237.0,45922.4,-1124.6
$KALMAN_Y,10990.0,-66.6,231.5,-3066.1,505.0
$MHEAD_RNG_PITCHd_Wd,296.3,9641,-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,13,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,54,0.00,0.00,-36.60,0.000,2,0.000,0.000,100,2301,2691
$GC,57,-0.68,-117.3,3.4,-4.1,4,91,7.07,2.35,-18.05,0.000,4,0.255,0.078,1837,3705,3413
$GC,238,-0.53,-117.3,26.5,-12.6,20,243,0.17,2.20,0.00,0.000,6,0.130,0.039,1888,2301,3414
$GC,565,-0.58,-117.3,54.3,-7.7,50,569,0.00,2.25,0.00,0.000,4,0.000,0.052,1888,884,3415
$GC,706,-0.67,-117.3,66.2,-8.7,62,710,0.12,2.25,0.00,0.000,6,0.067,0.047,1825,2306,3416
$GC,1036,-0.49,-117.3,106.2,-12.0,83,1040,0.20,2.25,0.00,0.000,4,0.132,0.051,1891,888,3416
$GC,1102,-0.61,-117.3,112.2,-8.1,86,1107,0.08,2.25,0.00,0.000,6,0.090,0.052,1840,2310,3417
$GC,1423,-0.56,-117.3,142.8,-9.2,102,1428,0.15,2.25,0.00,0.000,4,0.131,0.051,1884,887,3416
$GC,1473,-0.70,-117.3,146.6,-6.8,104,1478,0.10,2.22,0.00,0.000,6,0.074,0.046,1820,2306,3416
$GC,1796,-0.59,-117.3,176.7,-9.8,115,1798,0.17,0.00,0.00,0.000,6,0.130,0.000,1871,2305,3416
$GC,2103,-0.70,-117.3,196.2,-5.8,125,2105,0.10,0.00,0.00,0.000,6,0.073,0.000,1818,2306,3416
$GC,2409,-0.61,-117.3,223.9,-9.4,135,2413,0.17,2.22,0.00,0.000,4,0.128,0.054,1876,893,3416
$GC,2458,-0.77,-117.3,227.9,-7.4,136,2463,0.15,2.22,0.00,0.000,6,0.061,0.053,1801,2313,3416
$GC,2771,-0.62,-117.3,260.9,-10.7,146,2776,0.20,2.25,0.00,0.000,4,0.134,0.053,1864,883,3416
$GC,2826,-0.74,-117.3,265.8,-7.9,147,2831,0.10,2.22,0.00,0.000,6,0.077,0.052,1807,2303,3416
$GC,3139,-0.63,-117.3,295.5,-9.2,157,3141,0.20,0.00,0.00,0.000,6,0.132,0.000,1867,2305,3415
$GC,3473,-0.75,-117.3,314.6,-5.6,164,3475,0.12,0.00,0.00,0.000,6,0.067,0.000,1806,2304,3415
$GC,3777,-0.64,-117.3,340.7,-8.8,169,3781,0.20,2.22,0.00,0.000,4,0.129,0.054,1872,893,3415
$GC,3817,-0.81,-117.3,343.4,-6.0,169,3821,0.12,2.20,0.00,0.000,6,0.068,0.053,1797,2304,3415
$GC,4137,-0.67,-117.3,372.0,-9.1,175,4139,0.20,0.00,0.00,0.000,6,0.133,0.000,1856,2304,3414
$GC,4440,-0.77,-117.3,389.4,-5.6,180,4442,0.10,0.00,0.00,0.000,6,0.076,0.000,1803,2304,3414
$GC,4743,-0.66,-117.3,414.9,-8.6,185,4745,0.17,0.00,0.00,0.000,6,0.132,0.000,1855,2304,3414
$GC,5047,-0.76,-117.3,433.4,-6.0,190,5050,0.00,2.22,0.00,0.000,4,0.000,0.060,1855,891,3413
$GC,5097,-0.88,-117.3,436.9,-6.8,190,5101,0.12,2.22,0.00,0.000,6,0.067,0.050,1786,2314,3413
$GC,5412,-0.70,-117.3,466.4,-9.6,196,5416,0.17,2.25,0.00,0.000,4,0.135,0.054,1844,887,3413
$GC,5484,-0.76,-117.3,471.7,-6.7,197,5488,0.00,2.22,0.00,0.000,6,0.000,0.048,1837,2310,3413
$GC,5838,-0.76,-117.3,493.8,-6.2,203,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2311,3412
$GC,6141,-0.80,-117.3,511.9,-5.9,208,6145,0.00,2.22,0.00,0.000,4,0.000,0.061,1836,894,3412
$GC,6191,-0.84,-117.3,515.1,-6.4,208,6195,0.00,2.20,0.00,0.000,6,0.000,0.055,1836,2304,3412
$GC,6507,-0.84,-117.3,533.6,-5.9,214,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2304,3412
$GC,6810,-0.89,-117.3,552.0,-6.0,219,6812,0.10,0.00,0.00,0.000,6,0.077,0.000,1783,2304,3412
$GC,7113,-0.72,-117.3,578.0,-8.8,224,7118,0.20,2.22,0.00,0.000,4,0.133,0.054,1846,891,3411
$GC,7176,-0.81,-117.3,582.1,-6.0,225,7180,0.00,2.22,0.00,0.000,6,0.000,0.050,1839,2310,3411
$GC,7542,-0.87,-117.3,602.1,-5.4,231,7547,0.10,2.25,0.00,0.000,4,0.082,0.061,1790,885,3411
$GC,7592,-0.73,-117.3,606.0,-8.0,231,7596,0.20,2.22,0.00,0.000,6,0.138,0.051,1840,2306,3411
$GC,7902,-0.80,-117.3,623.7,-5.7,236,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2306,3411
$GC,8204,-0.88,-117.3,642.0,-6.0,241,8206,0.12,0.00,0.00,0.000,6,0.077,0.000,1787,2306,3411
$GC,8508,-0.74,-117.3,668.1,-8.7,246,8509,0.17,0.00,0.00,0.000,6,0.133,0.000,1839,2306,3411
$GC,8811,-0.81,-117.3,685.7,-5.6,251,8815,0.00,2.22,0.00,0.000,4,0.000,0.058,1838,895,3411
$GC,8844,-0.88,-117.3,687.9,-6.2,251,8849,0.10,2.20,0.00,0.000,6,0.086,0.054,1794,2308,3410
$GC,9182,-0.77,-117.3,712.8,-7.4,257,9184,0.15,0.00,0.00,0.000,6,0.140,0.000,1836,2308,3410
$GC,9485,-0.85,-117.3,728.6,-5.1,262,9489,0.00,2.22,0.00,0.000,4,0.000,0.059,1836,896,3410
$GC,9530,-0.91,-117.3,730.9,-5.1,262,9535,0.12,2.20,0.00,0.000,6,0.082,0.054,1785,2303,3410
$GC,9850,-0.77,-117.3,754.8,-7.5,268,9855,0.17,2.25,0.00,0.000,4,0.141,0.066,1832,3717,3410
$GC,9889,-0.86,-117.3,757.2,-5.5,268,9893,0.00,2.17,0.00,0.000,6,0.000,0.043,1832,2304,3410
$GC,10210,-0.92,-117.3,774.3,-5.4,274,10215,0.12,2.22,0.00,0.000,4,0.083,0.061,1782,893,3410
$GC,10249,-0.76,-117.3,777.2,-8.1,274,10254,0.22,2.22,0.00,0.000,6,0.148,0.051,1837,2312,3410
$GC,10570,-0.83,-117.3,795.4,-5.6,280,10573,0.00,2.25,0.00,0.000,4,0.000,0.064,1839,893,3409
$GC,10603,-0.92,-117.3,797.5,-6.8,280,10608,0.12,2.20,0.00,0.000,6,0.084,0.054,1787,2304,3409
$GC,10941,-0.80,-117.3,825.0,-8.3,286,10945,0.15,2.25,0.00,0.000,4,0.146,0.064,1819,3716,3409
$GC,10990,-0.84,-117.3,828.7,-6.9,286,10994,0.00,2.20,0.00,0.000,6,0.000,0.048,1819,2294,3409
$GC,11300,-0.84,-117.3,849.6,-6.8,291,11301,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2294,3410
$GC,11603,-0.84,-117.3,870.8,-7.0,296,11604,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2294,3409
$GC,11906,-0.84,-117.3,891.2,-6.7,301,11907,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2294,3409
$GC,12209,-0.84,-117.3,910.2,-6.2,306,12212,0.00,2.22,0.00,0.000,4,0.000,0.062,1819,889,3409
$GC,12253,-0.84,-117.3,913.2,-6.3,306,12257,0.00,2.22,0.00,0.000,6,0.000,0.052,1810,2300,3409
$GC,12579,-0.84,-117.3,933.0,-6.0,312,12580,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2301,3409
$GC,12883,-0.84,-117.3,950.3,-5.6,317,12887,0.00,2.25,0.00,0.000,4,0.000,0.061,1815,890,3409
$GC,12922,-0.84,-117.3,952.6,-5.7,317,12927,0.00,2.22,0.00,0.000,6,0.000,0.053,1807,2305,3409
$GC,13243,-0.84,-117.3,970.6,-5.6,323,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3408
$GC,13546,-0.84,-117.3,988.3,-5.9,328,13547,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3409
$STATE,13604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13604,begin apogee
$GC,13610,-0.22,0.0,991.9,5.9,329,13706,0.47,0.00,93.32,1.349,6,0.146,0.000,1953,2305,2931
$STATE,13707,end apogee,CONTROL_FINISHED_OK
$STATE,13707,begin climb
$GC,13709,0.68,117.3,992.5,0.0,330,13814,0.62,2.47,98.07,1.321,4,0.099,0.067,2151,3707,2450
$GC,13853,0.24,117.3,985.7,9.4,333,13858,0.43,2.30,0.00,0.000,6,0.189,0.049,2053,2309,2446
$GC,14213,0.42,121.0,966.8,5.4,339,14218,0.15,2.35,0.00,0.000,4,0.082,0.059,2111,882,2439
$GC,14319,0.32,121.0,960.1,6.8,340,14324,0.15,2.33,0.00,0.000,6,0.156,0.051,2071,2310,2438
$GC,14640,0.34,140.8,944.3,4.8,346,14664,0.00,2.38,18.35,1.238,4,0.000,0.064,2071,3716,2356
$GC,14705,0.34,140.8,940.5,5.7,347,14709,0.00,2.28,0.00,0.000,6,0.000,0.049,2078,2301,2354
$GC,15070,0.36,154.6,921.9,5.0,353,15089,0.00,2.35,12.85,1.184,4,0.000,0.065,2089,899,2299
$GC,15101,0.38,172.2,920.3,4.9,353,15123,0.00,2.30,16.50,1.200,6,0.000,0.051,2089,2310,2228
$GC,15433,0.39,178.5,902.8,5.3,359,15444,0.00,2.33,6.18,0.992,4,0.000,0.067,2089,3721,2203
$GC,15465,0.39,178.5,900.8,5.7,359,15469,0.00,2.28,0.00,0.000,6,0.000,0.044,2099,2303,2201
$GC,15798,0.39,178.5,881.8,5.7,365,15799,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2302,2201
$GC,16101,0.39,178.5,864.6,5.6,370,16105,0.00,2.30,0.00,0.000,4,0.000,0.063,2099,3717,2199
$GC,16139,0.30,178.5,862.1,6.9,370,16144,0.17,2.25,0.00,0.000,6,0.165,0.048,2063,2294,2199
$GC,16460,0.57,186.5,845.9,5.2,376,16475,0.20,2.33,7.82,1.055,4,0.078,0.064,2150,887,2170
$GC,16548,0.40,186.5,839.3,6.9,377,16553,0.25,2.28,0.00,0.000,6,0.153,0.051,2080,2305,2169
$GC,16892,0.48,196.5,821.1,5.2,383,16907,0.10,2.30,10.18,1.098,4,0.076,0.065,2121,3712,2128
$GC,16954,0.32,196.5,816.1,9.9,384,16958,0.22,2.25,0.00,0.000,6,0.163,0.051,2072,2297,2127
$GC,17325,0.56,196.5,795.3,5.8,390,17329,0.17,2.28,0.00,0.000,4,0.077,0.061,2146,882,2125
$GC,17408,0.42,196.5,788.9,7.7,391,17413,0.20,2.28,0.00,0.000,6,0.154,0.050,2091,2308,2125
$GC,17751,0.47,196.5,768.6,5.9,397,17755,0.00,2.25,0.00,0.000,4,0.000,0.061,2092,3713,2124
$GC,17789,0.47,196.5,765.9,7.2,397,17793,0.00,2.22,0.00,0.000,6,0.000,0.044,2100,2294,2124
$GC,18122,0.47,196.5,745.5,6.1,403,18126,0.00,2.30,0.00,0.000,4,0.000,0.064,2100,3717,2124
$GC,18155,0.42,196.5,743.2,7.4,403,18159,0.00,2.22,0.00,0.000,6,0.000,0.044,2110,2298,2124
$GC,18480,0.42,196.5,722.8,6.3,409,18481,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2297,2124
$GC,18783,0.42,196.5,704.3,6.1,414,18787,0.00,2.28,0.00,0.000,4,0.000,0.062,2110,3712,2123
$GC,18822,0.33,196.5,701.5,6.8,414,18827,0.17,2.20,0.00,0.000,6,0.157,0.051,2072,2302,2123
$GC,19144,0.51,233.0,687.5,4.3,420,19178,0.12,0.00,31.27,1.124,6,0.072,0.000,2130,2301,1979
$GC,19511,0.43,233.0,660.7,7.4,426,19516,0.15,2.30,0.00,0.000,4,0.150,0.061,2090,3711,1973
$GC,19544,0.48,233.0,658.4,6.7,426,19548,0.00,2.25,0.00,0.000,6,0.000,0.044,2098,2292,1972
$GC,19870,0.56,235.4,640.5,5.4,432,19875,0.08,2.30,0.00,0.000,4,0.091,0.061,2142,3711,1971
$GC,19897,0.46,235.4,638.2,7.6,432,19902,0.20,2.22,0.00,0.000,6,0.157,0.048,2099,2297,1971
$GC,20230,0.54,242.4,620.2,5.3,438,20244,0.00,2.30,7.88,0.934,4,0.000,0.063,2108,897,1942
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$STATE,28186,end climb,SURFACE_DEPTH_REACHED
$STATE,28186,begin surface coast
$FINISH,1.3,1.025172
$STATE,28209,end surface coast,CONTROL_FINISHED_OK
$STATE,28209,begin surface
$SM_CCo,28283,0.00,0.000,0,0,1687,304.91
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$IRIDIUM_FIX,4943.02,-14440.19,230998,040433
$TT8_MAMPS,0.029146
$HUMID,1606
$INTERNAL_PRESSURE,7.40263
$TCM_TEMP,14.50
$XPDR_PINGS,80
$24V_AH,23.5,11.028
$10V_AH,10.7,7.154
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$DEVICE_SECS,26.175,233.975,357.025,0.000,0.000,31.204,25.938,205.036,20.000,0.000,0.000,25.182,1707.373,23501.318,494.156,2325.611,636.196,33.362,1667.216,0.000,2310.231,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,510.540,583.689,745.842,1239.772,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44336,722
$CAP_FILE_SIZE,197437,0
$CFSIZE,260165632,254849024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290609,203406,5006.258,-14449.270,34,1.6,40,18.5