version: 66.04
glider: 144
mission: 15
dive: 237
start: 8 28 109 15 37 28
data:
$ID,144
$MISSION,15
$DIVE,237
$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,-65538.898
$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,34
$R_STBD_OVSHOOT,32
$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
$GPS1,153100,5015.494,-14459.992,36,1.3,41,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-64.0
$GPS2,153632,5015.481,-14459.934,14,1.1,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.115,0.123
$KALMAN_X,-11232.4,182.3,79.3,23526.7,-783.2
$KALMAN_Y,3884.6,52.4,-85.7,-14032.2,-865.0
$MHEAD_RNG_PITCHd_Wd,298.4,17500,-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,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-42.15,0.000,2,0.000,0.000,98,2306,2806
$GC,62,-0.68,-117.3,3.7,-6.4,4,88,7.03,2.30,-13.27,0.000,4,0.237,0.065,1847,903,3412
$GC,279,-0.50,-117.3,35.4,-11.6,23,286,0.20,2.20,0.00,0.000,6,0.131,0.040,1895,2299,3415
$GC,606,-0.61,-117.3,57.2,-6.9,54,610,0.10,2.22,0.00,0.000,4,0.064,0.040,1824,894,3416
$GC,640,-0.47,-117.3,60.8,-11.2,57,645,0.28,2.22,0.00,0.000,6,0.124,0.038,1898,2308,3416
$GC,976,-0.59,-117.3,84.6,-6.7,85,980,0.10,2.25,0.00,0.000,4,0.064,0.040,1831,888,3417
$GC,1016,-0.45,-117.3,88.5,-10.3,87,1021,0.28,2.22,0.00,0.000,6,0.121,0.038,1903,2298,3417
$GC,1343,-0.60,-117.3,109.3,-6.0,103,1347,0.12,2.22,0.00,0.000,4,0.056,0.041,1821,888,3417
$GC,1393,-0.45,-117.3,114.2,-11.0,105,1398,0.30,2.25,0.00,0.000,6,0.119,0.038,1902,2315,3416
$GC,1709,-0.67,-117.3,134.1,-5.9,120,1713,0.15,2.25,0.00,0.000,4,0.058,0.045,1834,887,3416
$GC,1732,-0.89,-117.3,135.6,-6.9,121,1736,0.00,2.22,0.00,0.000,6,0.000,0.041,1824,2305,3417
$GC,2047,-0.80,-117.3,163.8,-8.8,134,2051,0.00,2.25,0.00,0.000,4,0.000,0.055,1815,3718,3417
$GC,2075,-0.75,-117.3,166.5,-9.7,134,2082,0.10,2.17,0.00,0.000,6,0.127,0.030,1842,2294,3416
$GC,2387,-0.75,-117.3,190.1,-7.5,145,2391,0.00,2.17,0.00,0.000,4,0.000,0.050,1842,898,3416
$GC,2432,-0.75,-117.3,193.7,-8.2,146,2436,0.00,2.20,0.00,0.000,6,0.000,0.039,1837,2301,3416
$GC,2755,-0.75,-117.3,219.9,-8.2,157,2759,0.00,2.20,0.00,0.000,4,0.000,0.042,1835,898,3415
$GC,2793,-0.75,-117.3,223.3,-8.4,158,2797,0.00,2.22,0.00,0.000,6,0.000,0.044,1828,2309,3415
$GC,3129,-0.75,-117.3,251.5,-8.4,169,3133,0.00,2.25,0.00,0.000,4,0.000,0.044,1828,892,3415
$GC,3192,-0.75,-117.3,256.7,-8.3,171,3196,0.00,2.25,0.00,0.000,6,0.000,0.039,1821,2311,3415
$GC,3527,-0.69,-117.3,284.7,-8.2,182,3532,0.12,2.22,0.00,0.000,4,0.131,0.042,1857,899,3414
$GC,3572,-0.80,-117.3,288.0,-7.2,183,3576,0.10,2.22,0.00,0.000,6,0.066,0.045,1783,2308,3414
$GC,3889,-0.62,-117.3,320.3,-10.5,191,3891,0.28,0.00,0.00,0.000,6,0.124,0.000,1866,2309,3413
$GC,4191,-0.76,-117.3,338.1,-5.6,196,4195,0.12,2.25,0.00,0.000,4,0.061,0.045,1791,893,3413
$GC,4246,-0.61,-117.3,343.2,-10.0,196,4253,0.28,2.22,0.00,0.000,6,0.122,0.046,1865,2304,3412
$GC,4556,-0.75,-117.3,361.4,-5.7,202,4561,0.10,2.22,0.00,0.000,4,0.071,0.048,1798,900,3412
$GC,4589,-0.62,-117.3,364.2,-9.6,202,4594,0.25,2.22,0.00,0.000,6,0.121,0.044,1865,2311,3412
$GC,4921,-0.77,-117.3,383.9,-5.8,208,4926,0.12,2.25,0.00,0.000,4,0.061,0.049,1790,894,3411
$GC,4966,-0.62,-117.3,387.8,-9.6,208,4971,0.28,2.22,0.00,0.000,6,0.120,0.039,1865,2302,3411
$GC,5283,-0.77,-117.3,405.4,-5.3,214,5287,0.12,2.25,0.00,0.000,4,0.061,0.047,1793,890,3411
$GC,5310,-0.71,-117.3,407.7,-9.0,214,5315,0.22,2.25,0.00,0.000,6,0.120,0.039,1850,2310,3411
$GC,5642,-0.82,-117.3,428.3,-6.1,220,5647,0.10,2.25,0.00,0.000,4,0.068,0.044,1790,896,3410
$GC,5691,-0.68,-117.3,432.9,-9.7,220,5696,0.25,2.22,0.00,0.000,6,0.118,0.044,1858,2303,3410
$GC,6002,-0.81,-117.3,451.2,-5.7,225,6004,0.12,0.00,0.00,0.000,6,0.058,0.000,1781,2304,3410
$GC,6304,-0.64,-117.3,480.2,-9.8,230,6309,0.22,2.25,0.00,0.000,4,0.122,0.050,1856,901,3410
$GC,6367,-0.81,-117.3,484.4,-6.5,231,6371,0.10,2.22,0.00,0.000,6,0.067,0.041,1781,2306,3409
$GC,6732,-0.65,-117.3,518.8,-9.6,237,6737,0.22,2.25,0.00,0.000,4,0.123,0.051,1856,899,3409
$GC,6771,-0.80,-117.3,521.8,-6.2,237,6775,0.10,2.22,0.00,0.000,6,0.067,0.041,1783,2306,3409
$GC,7091,-0.66,-117.3,551.7,-9.6,243,7096,0.20,2.22,0.00,0.000,4,0.121,0.050,1850,897,3409
$GC,7136,-0.80,-117.3,555.1,-6.6,243,7141,0.10,2.22,0.00,0.000,6,0.068,0.046,1786,2304,3409
$GC,7452,-0.67,-117.3,582.8,-8.9,249,7454,0.22,0.00,0.00,0.000,6,0.120,0.000,1855,2304,3409
$GC,7754,-0.83,-117.3,599.2,-5.3,254,7759,0.12,2.25,0.00,0.000,4,0.061,0.048,1781,892,3409
$GC,7787,-0.70,-117.3,601.9,-8.8,254,7792,0.25,2.25,0.00,0.000,6,0.122,0.040,1847,2313,3408
$GC,8114,-0.84,-117.3,620.0,-5.4,260,8118,0.12,2.25,0.00,0.000,4,0.061,0.046,1777,899,3408
$GC,8158,-0.68,-117.3,623.9,-9.6,260,8163,0.28,2.22,0.00,0.000,6,0.120,0.041,1852,2307,3408
$GC,8474,-0.83,-117.3,641.0,-5.3,266,8475,0.12,0.00,0.00,0.000,6,0.061,0.000,1778,2307,3407
$GC,8776,-0.69,-117.3,668.2,-9.2,271,8781,0.20,2.25,0.00,0.000,4,0.123,0.045,1845,901,3407
$GC,8826,-0.83,-117.3,671.9,-6.4,271,8830,0.00,2.22,0.00,0.000,6,0.000,0.046,1838,2309,3407
$GC,9135,-0.93,-117.3,689.7,-5.8,276,9140,0.15,2.25,0.00,0.000,4,0.055,0.046,1756,895,3407
$GC,9168,-0.71,-117.3,692.6,-9.6,276,9173,0.32,2.22,0.00,0.000,6,0.128,0.044,1844,2303,3407
$GC,9495,-0.84,-117.3,710.2,-5.2,282,9497,0.10,0.00,0.00,0.000,6,0.070,0.000,1780,2305,3407
$GC,9797,-0.71,-117.3,734.6,-8.2,287,9802,0.20,2.25,0.00,0.000,4,0.120,0.044,1844,895,3407
$GC,9853,-0.87,-117.3,738.0,-5.3,287,9860,0.05,2.25,0.00,0.000,6,0.072,0.043,1790,2302,3407
$GC,10163,-0.78,-117.3,760.4,-7.4,293,10165,0.15,0.00,0.00,0.000,6,0.125,0.000,1834,2302,3407
$GC,10466,-0.88,-117.3,776.2,-5.1,298,10471,0.10,2.25,0.00,0.000,4,0.073,0.046,1782,895,3406
$GC,10505,-0.75,-117.3,779.1,-7.4,298,10510,0.22,2.25,0.00,0.000,6,0.122,0.042,1839,2312,3406
$GC,10826,-0.87,-117.3,795.8,-5.1,304,10828,0.10,0.00,0.00,0.000,6,0.077,0.000,1788,2312,3406
$GC,11128,-0.78,-117.3,819.6,-8.1,309,11133,0.15,2.28,0.00,0.000,4,0.123,0.051,1833,895,3406
$GC,11191,-0.90,-117.3,823.9,-6.4,310,11195,0.00,2.25,0.00,0.000,6,0.000,0.044,1825,2311,3406
$GC,11558,-0.97,-117.3,847.9,-6.6,316,11562,0.12,2.28,0.00,0.000,4,0.070,0.048,1766,894,3405
$GC,11607,-0.79,-117.3,852.6,-10.2,316,11612,0.25,2.25,0.00,0.000,6,0.126,0.042,1830,2308,3405
$GC,11917,-0.88,-117.3,872.9,-6.4,321,11921,0.00,2.25,0.00,0.000,4,0.000,0.054,1830,902,3405
$GC,11958,-0.99,-117.3,875.7,-7.4,321,11963,0.15,2.22,0.00,0.000,6,0.061,0.043,1760,2304,3405
$GC,12279,-0.80,-117.3,907.0,-10.0,327,12284,0.20,2.28,0.00,0.000,4,0.133,0.055,1816,3712,3405
$GC,12318,-0.88,-117.3,910.3,-6.7,327,12322,0.00,2.20,0.00,0.000,6,0.000,0.038,1816,2297,3405
$GC,12639,-0.88,-117.3,932.1,-6.8,333,12642,0.00,2.25,0.00,0.000,4,0.000,0.055,1815,891,3405
$GC,12679,-0.88,-117.3,935.1,-7.9,333,12683,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2302,3404
$GC,13005,-0.88,-117.3,959.8,-7.6,339,13009,0.00,2.28,0.00,0.000,4,0.000,0.054,1808,892,3404
$GC,13050,-0.88,-117.3,963.7,-8.9,339,13054,0.00,2.25,0.00,0.000,6,0.000,0.042,1799,2303,3404
$GC,13365,-0.84,-117.3,989.3,-8.1,345,13369,0.00,2.28,0.00,0.000,4,0.000,0.054,1799,893,3404
$STATE,13374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13374,begin apogee
$GC,13382,-0.22,0.0,990.5,8.1,345,13479,0.47,0.00,94.10,1.324,6,0.124,0.000,1948,2304,2931
$STATE,13480,end apogee,CONTROL_FINISHED_OK
$STATE,13480,begin climb
$GC,13482,0.68,117.3,992.5,0.0,346,13589,0.57,2.53,100.22,1.295,4,0.078,0.056,2147,3707,2451
$GC,13623,0.28,117.3,990.9,7.4,348,13628,0.38,2.35,0.00,0.000,6,0.171,0.036,2064,2310,2447
$GC,13967,0.47,178.2,979.2,3.4,354,14026,0.12,0.00,52.17,1.272,6,0.074,0.000,2117,2309,2203
$GC,14330,0.59,178.2,956.7,6.4,360,14334,0.00,2.35,0.00,0.000,4,0.000,0.054,2122,888,2196
$GC,14452,0.55,178.2,948.3,7.2,361,14459,0.00,2.30,0.00,0.000,6,0.000,0.042,2122,2305,2194
$GC,14763,0.44,178.2,925.1,7.7,367,14767,0.12,2.30,0.00,0.000,4,0.153,0.054,2084,3713,2193
$GC,14817,0.44,178.2,921.1,7.4,367,14824,0.00,2.28,0.00,0.000,6,0.000,0.035,2092,2296,2192
$GC,15128,0.44,178.2,902.3,6.0,373,15129,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2296,2192
$GC,15430,0.44,178.2,884.4,5.9,378,15434,0.00,2.33,0.00,0.000,4,0.000,0.056,2092,3720,2192
$GC,15469,0.44,178.2,881.7,6.8,378,15473,0.00,2.22,0.00,0.000,6,0.000,0.035,2102,2303,2191
$GC,15795,0.44,178.2,861.5,6.1,384,15796,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2303,2191
$GC,16098,0.44,178.2,843.4,6.0,389,16102,0.00,2.30,0.00,0.000,4,0.000,0.053,2102,3714,2191
$GC,16143,0.36,178.2,840.2,7.3,389,16148,0.15,2.22,0.00,0.000,6,0.153,0.035,2073,2298,2190
$GC,16458,0.63,203.7,825.7,4.6,395,16485,0.17,2.30,21.02,1.164,4,0.068,0.054,2158,887,2099
$GC,16547,0.48,203.7,819.6,6.8,396,16552,0.20,2.30,0.00,0.000,6,0.137,0.041,2103,2314,2097
$GC,16884,0.51,229.9,803.4,4.6,402,16914,0.00,2.35,23.30,1.151,4,0.000,0.055,2103,3712,1992
$GC,16950,0.51,229.9,799.8,5.8,403,16954,0.00,2.28,0.00,0.000,6,0.000,0.035,2110,2294,1990
$GC,17315,0.51,231.6,780.0,5.4,409,17319,0.00,2.33,0.00,0.000,4,0.000,0.050,2110,3713,1987
$GC,17337,0.51,231.6,778.5,5.9,409,17341,0.00,2.22,0.00,0.000,6,0.000,0.041,2120,2302,1987
$GC,17681,0.51,231.6,756.8,6.4,415,17685,0.00,2.30,0.00,0.000,4,0.000,0.054,2120,3716,1986
$GC,17725,0.44,231.6,753.3,7.7,415,17730,0.15,2.22,0.00,0.000,6,0.145,0.038,2090,2304,1986
$GC,18041,0.59,252.2,737.8,4.8,421,18066,0.12,2.30,19.55,1.101,4,0.063,0.051,2165,893,1902
$GC,18083,0.47,252.2,734.6,8.6,421,18088,0.22,2.28,0.00,0.000,6,0.130,0.041,2101,2308,1899
$GC,18404,0.58,252.2,716.6,5.5,427,18408,0.10,2.28,0.00,0.000,4,0.066,0.050,2159,3712,1897
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$STATE,28240,end climb,SURFACE_DEPTH_REACHED
$STATE,28240,begin surface coast
$FINISH,0.9,1.012590
$STATE,28264,end surface coast,CONTROL_FINISHED_OK
$STATE,28264,begin surface
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$IRIDIUM_FIX,4953.05,-14506.81,221198,070701
$TT8_MAMPS,0.028379
$HUMID,1667
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$TCM_TEMP,16.90
$XPDR_PINGS,99
$24V_AH,22.6,35.844
$10V_AH,10.7,29.533
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$DEVICE_SECS,32.125,279.100,384.150,0.000,0.000,22.304,25.347,157.663,24.750,0.000,0.000,15.804,1803.840,23228.131,551.605,2447.021,631.593,33.395,1811.918,0.000,2432.100,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,528.961,599.797,776.992,1292.790,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44412,753
$CAP_FILE_SIZE,215050,0
$CFSIZE,260165632,240295936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280809,233106,5018.134,-14503.833,41,1.5,41,18.5