version: 66.04
glider: 144
mission: 15
dive: 259
start: 9 4 109 23 22 10
data:
$ID,144
$MISSION,15
$DIVE,259
$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,-66001.305
$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,33
$R_STBD_OVSHOOT,34
$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
$GPS1,231531,5012.323,-14439.614,36,1.6,37,18.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-56.8
$GPS2,232114,5012.201,-14439.697,13,2.0,13,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.130,0.106
$KALMAN_X,-20296.6,-132.8,257.6,56655.6,-1803.5
$KALMAN_Y,10851.0,-7.7,-117.9,-26974.3,214.7
$MHEAD_RNG_PITCHd_Wd,32.3,20049,-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,-42.08,0.000,2,0.000,0.000,98,2307,2651
$GC,61,-0.68,-117.3,3.6,-6.3,4,96,7.07,2.35,-17.08,0.000,4,0.235,0.060,1850,888,3413
$GC,191,-0.52,-117.3,23.6,-13.0,15,198,0.15,2.28,0.00,0.000,6,0.142,0.039,1889,2309,3414
$GC,519,-0.59,-117.3,51.1,-7.1,46,523,0.00,2.25,0.00,0.000,4,0.000,0.041,1889,892,3415
$GC,582,-0.73,-117.3,55.8,-7.2,51,587,0.15,2.25,0.00,0.000,6,0.051,0.037,1797,2306,3416
$GC,916,-0.47,-117.3,100.3,-14.0,75,921,0.30,2.25,0.00,0.000,4,0.136,0.040,1891,892,3416
$GC,960,-0.61,-117.3,105.1,-8.3,77,965,0.10,2.25,0.00,0.000,6,0.067,0.038,1821,2309,3417
$GC,1282,-0.50,-117.3,141.1,-10.6,93,1284,0.22,0.00,0.00,0.000,6,0.122,0.000,1888,2309,3417
$GC,1600,-0.81,-117.3,159.2,-5.3,106,1605,0.17,2.28,0.00,0.000,4,0.054,0.049,1804,3718,3418
$GC,1672,-0.67,-117.3,165.1,-9.5,108,1677,0.17,2.22,0.00,0.000,6,0.117,0.032,1856,2288,3417
$GC,1996,-0.74,-117.3,186.2,-6.8,119,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2288,3417
$GC,2302,-0.83,-117.3,207.2,-6.7,129,2307,0.12,2.20,0.00,0.000,4,0.061,0.041,1779,896,3416
$GC,2352,-0.64,-117.3,212.5,-11.7,130,2357,0.30,2.22,0.00,0.000,6,0.120,0.044,1861,2305,3416
$GC,2665,-0.75,-117.3,233.1,-6.3,140,2667,0.10,0.00,0.00,0.000,6,0.068,0.000,1794,2305,3416
$GC,2971,-0.61,-117.3,263.5,-10.1,150,2973,0.25,0.00,0.00,0.000,6,0.117,0.000,1871,2305,3415
$GC,3277,-0.77,-117.3,281.5,-5.6,160,3282,0.15,2.22,0.00,0.000,4,0.050,0.043,1781,902,3415
$GC,3311,-0.59,-117.3,284.4,-9.8,161,3316,0.32,2.22,0.00,0.000,6,0.122,0.041,1870,2311,3415
$GC,3647,-0.75,-117.3,303.5,-5.5,171,3648,0.12,0.00,0.00,0.000,6,0.059,0.000,1791,2310,3414
$GC,3949,-0.60,-117.3,332.3,-9.8,176,3951,0.25,0.00,0.00,0.000,6,0.118,0.000,1868,2311,3413
$GC,4252,-0.77,-117.3,350.0,-5.6,181,4257,0.12,2.28,0.00,0.000,4,0.059,0.044,1785,891,3413
$GC,4280,-0.68,-117.3,352.6,-9.8,181,4285,0.25,2.25,0.00,0.000,6,0.123,0.041,1856,2304,3413
$GC,4611,-0.80,-117.3,373.1,-6.0,187,4613,0.12,0.00,0.00,0.000,6,0.060,0.000,1780,2304,3413
$GC,4915,-0.62,-117.3,403.2,-10.2,192,4917,0.28,0.00,0.00,0.000,6,0.119,0.000,1865,2304,3412
$GC,5218,-0.79,-117.3,420.7,-5.6,197,5220,0.12,0.00,0.00,0.000,6,0.059,0.000,1783,2303,3412
$GC,5521,-0.63,-117.3,449.4,-9.7,202,5526,0.22,2.25,0.00,0.000,4,0.120,0.051,1857,892,3412
$GC,5554,-0.76,-117.3,452.0,-6.4,202,5558,0.00,2.25,0.00,0.000,6,0.000,0.040,1850,2304,3412
$GC,5880,-0.87,-117.3,470.6,-5.6,208,5885,0.12,2.28,0.00,0.000,4,0.061,0.056,1760,3709,3411
$GC,5904,-0.79,-117.3,472.4,-7.9,208,5908,0.22,2.20,0.00,0.000,6,0.131,0.034,1825,2299,3410
$GC,6241,-0.79,-117.3,495.7,-6.7,214,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2298,3411
$GC,6544,-0.79,-117.3,516.0,-6.7,219,6548,0.00,2.25,0.00,0.000,4,0.000,0.048,1825,898,3410
$GC,6582,-0.79,-117.3,518.9,-7.2,219,6587,0.00,2.25,0.00,0.000,6,0.000,0.041,1822,2306,3410
$GC,6903,-0.79,-117.3,542.5,-7.5,225,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2307,3410
$GC,7206,-0.79,-117.3,565.5,-7.6,230,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2307,3410
$GC,7510,-0.79,-117.3,587.6,-7.2,235,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2307,3410
$GC,7812,-0.79,-117.3,607.6,-6.6,240,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2307,3410
$GC,8116,-0.79,-117.3,625.9,-6.0,245,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2307,3409
$GC,8419,-0.79,-117.3,643.2,-5.6,250,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2307,3409
$GC,8722,-0.79,-117.3,659.9,-5.4,255,8726,0.00,2.28,0.00,0.000,4,0.000,0.047,1822,898,3409
$GC,8754,-0.79,-117.3,662.0,-6.2,255,8758,0.00,2.25,0.00,0.000,6,0.000,0.043,1818,2305,3408
$GC,9087,-0.79,-117.3,681.2,-5.9,261,9091,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,3708,3408
$GC,9125,-0.79,-117.3,683.8,-6.8,261,9129,0.00,2.20,0.00,0.000,6,0.000,0.037,1808,2299,3408
$GC,9452,-0.79,-117.3,705.4,-6.7,267,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2299,3408
$GC,9755,-0.79,-117.3,725.6,-6.7,272,9759,0.00,2.25,0.00,0.000,4,0.000,0.046,1808,897,3408
$GC,9799,-0.79,-117.3,729.0,-8.0,272,9804,0.12,2.25,0.00,0.000,6,0.127,0.040,1834,2306,3408
$GC,10115,-0.90,-117.3,746.8,-5.6,278,10117,0.12,0.00,0.00,0.000,6,0.066,0.000,1769,2306,3407
$GC,10418,-0.74,-117.3,773.4,-9.0,283,10423,0.20,2.30,0.00,0.000,4,0.125,0.054,1828,3718,3407
$GC,10468,-0.86,-117.3,776.9,-6.2,283,10472,0.00,2.22,0.00,0.000,6,0.000,0.035,1828,2298,3407
$GC,10778,-0.95,-117.3,795.9,-6.1,288,10783,0.12,2.25,0.00,0.000,4,0.067,0.046,1766,897,3407
$GC,10805,-0.83,-117.3,798.5,-9.6,288,10810,0.22,2.25,0.00,0.000,6,0.128,0.046,1822,2308,3407
$GC,11137,-0.90,-117.3,820.0,-6.4,294,11138,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2308,3407
$GC,11440,-0.96,-117.3,838.8,-6.2,299,11442,0.12,0.00,0.00,0.000,6,0.071,0.000,1767,2308,3407
$GC,11743,-0.79,-117.3,865.1,-8.7,304,11745,0.20,0.00,0.00,0.000,6,0.127,0.000,1826,2307,3407
$GC,12047,-0.88,-117.3,881.1,-5.1,309,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2308,3407
$GC,12351,-0.96,-117.3,895.5,-4.7,314,12356,0.12,2.30,0.00,0.000,4,0.074,0.048,1772,889,3407
$GC,12390,-0.81,-117.3,898.4,-7.4,314,12395,0.20,2.28,0.00,0.000,6,0.133,0.045,1822,2306,3406
$GC,12711,-0.88,-117.3,914.1,-4.9,320,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2307,3406
$GC,13014,-0.96,-117.3,930.2,-5.3,325,13019,0.12,2.30,0.00,0.000,4,0.077,0.050,1771,894,3406
$GC,13064,-0.81,-117.3,934.3,-8.1,325,13069,0.22,2.28,0.00,0.000,6,0.132,0.044,1826,2311,3406
$GC,13375,-0.89,-117.3,951.9,-5.6,330,13377,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2311,3406
$GC,13677,-0.98,-117.3,970.1,-6.0,335,13682,0.15,2.30,0.00,0.000,4,0.075,0.054,1767,896,3406
$GC,13721,-0.82,-117.3,974.1,-9.7,335,13726,0.22,2.28,0.00,0.000,6,0.134,0.044,1821,2314,3406
$STATE,13973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13973,begin apogee
$GC,13978,-0.22,0.0,990.7,6.4,340,14076,0.40,0.00,95.25,1.317,6,0.120,0.000,1950,2315,2931
$STATE,14077,end apogee,CONTROL_FINISHED_OK
$STATE,14077,begin climb
$GC,14080,0.68,117.3,992.6,0.0,341,14185,0.60,0.00,101.60,1.287,6,0.079,0.000,2152,2315,2452
$GC,14459,0.41,117.3,976.3,6.2,348,14464,0.22,2.35,0.00,0.000,4,0.156,0.053,2084,3710,2441
$GC,14498,0.37,141.1,974.3,4.7,348,14524,0.00,2.30,20.38,1.206,6,0.000,0.039,2093,2306,2355
$GC,14892,0.43,185.1,958.3,4.0,355,14932,0.00,0.00,38.60,1.246,6,0.000,0.000,2093,2306,2176
$GC,15195,0.51,219.2,945.0,4.3,360,15230,0.00,2.38,30.38,1.227,4,0.000,0.053,2093,3710,2037
$GC,15255,0.60,233.4,941.9,5.0,361,15274,0.10,2.33,13.95,1.140,6,0.068,0.036,2146,2297,1979
$GC,15625,0.45,233.4,912.2,8.4,367,15630,0.17,2.33,0.00,0.000,4,0.143,0.050,2101,890,1971
$GC,15669,0.60,234.0,909.3,5.5,367,15674,0.10,2.30,0.00,0.000,6,0.084,0.040,2146,2308,1970
$GC,15985,0.46,234.0,882.9,8.6,373,15990,0.17,2.30,0.00,0.000,4,0.143,0.051,2093,3718,1969
$GC,16023,0.53,234.0,880.0,6.7,373,16028,0.00,2.25,0.00,0.000,6,0.000,0.035,2101,2298,1969
$GC,16345,0.60,234.0,861.4,5.8,379,16347,0.10,0.00,0.00,0.000,6,0.073,0.000,2149,2298,1968
$GC,16648,0.45,234.0,834.6,9.0,384,16650,0.20,0.00,0.00,0.000,6,0.138,0.000,2093,2297,1968
$GC,16951,0.60,243.0,818.1,5.2,389,16965,0.12,2.33,7.97,1.006,4,0.066,0.058,2150,3710,1940
$GC,16982,0.46,243.0,815.6,9.5,389,16987,0.22,2.25,0.00,0.000,6,0.151,0.038,2100,2295,1939
$GC,17315,0.58,248.0,797.4,5.3,395,17324,0.10,0.00,6.25,0.923,6,0.071,0.000,2152,2294,1919
$GC,17618,0.44,248.0,772.6,8.4,400,17622,0.20,2.33,0.00,0.000,4,0.135,0.056,2091,3722,1916
$GC,17650,0.50,248.0,770.3,6.0,400,17654,0.00,2.25,0.00,0.000,6,0.000,0.038,2099,2297,1916
$GC,17985,0.64,269.9,754.2,4.8,406,18011,0.12,2.28,20.52,1.106,4,0.063,0.051,2173,894,1829
$GC,18028,0.51,269.9,750.8,7.6,406,18033,0.22,2.28,0.00,0.000,6,0.132,0.039,2109,2305,1827
$GC,18344,0.62,281.4,734.0,5.1,412,18360,0.10,2.30,11.18,1.019,4,0.065,0.052,2164,3716,1782
$GC,18394,0.44,281.4,729.6,10.7,412,18399,0.28,2.25,0.00,0.000,6,0.140,0.036,2097,2304,1781
$GC,18705,0.85,281.4,712.3,5.5,417,18709,0.22,2.30,0.00,0.000,4,0.067,0.049,2176,3720,1778
$GC,18749,0.97,281.4,708.9,7.3,417,18754,0.10,2.25,0.00,0.000,6,0.072,0.034,2233,2300,1777
$GC,19066,0.52,281.4,661.6,15.7,423,19071,0.40,2.28,0.00,0.000,4,0.160,0.056,2123,896,1778
$GC,19105,0.60,281.4,657.5,7.4,423,19109,0.00,2.25,0.00,0.000,6,0.000,0.044,2124,2316,1776
$GC,19426,0.67,281.4,637.9,6.1,429,19430,0.00,2.25,0.00,0.000,4,0.000,0.051,2124,3717,1776
$GC,19454,0.71,281.4,635.7,7.9,429,19459,0.08,2.22,0.00,0.000,6,0.077,0.035,2180,2295,1776
$GC,19786,0.50,281.4,601.2,10.7,435,19790,0.22,2.28,0.00,0.000,4,0.140,0.051,2120,890,1776
$GC,19825,0.64,281.4,598.3,5.8,435,19829,0.00,2.25,0.00,0.000,6,0.000,0.038,2120,2312,1775
$GC,20146,0.76,289.4,581.2,5.2,441,20161,0.15,2.30,7.47,0.874,4,0.056,0.056,2209,3710,1751
$GC,20183,0.42,289.4,577.2,12.4,441,20188,0.45,2.22,0.00,0.000,6,0.153,0.035,2090,2298,1750
$GC,20510,0.97,289.4,555.6,7.0,447,20515,0.32,2.30,0.00,0.000,4,0.064,0.050,2216,3714,1748
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$STATE,27677,end climb,SURFACE_DEPTH_REACHED
$STATE,27677,begin surface coast
$FINISH,1.2,1.024649
$STATE,27692,end surface coast,CONTROL_FINISHED_OK
$STATE,27692,begin surface
$SM_CCo,27767,0.00,0.000,0,0,1448,363.78
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$IRIDIUM_FIX,4959.75,-14841.91,291198,151515
$TT8_MAMPS,0.028379
$HUMID,1718
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$TCM_TEMP,14.60
$XPDR_PINGS,71
$24V_AH,22.8,38.942
$10V_AH,10.6,32.258
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$DEVICE_SECS,28.225,203.250,418.100,0.000,0.000,30.755,26.850,160.061,17.750,0.000,0.000,15.387,1610.353,23309.385,570.930,2009.982,602.493,33.398,1593.534,0.000,2013.892,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,496.685,572.185,727.295,1206.574,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41151,703
$CAP_FILE_SIZE,182910,0
$CFSIZE,260165632,238555136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050909,070616,5014.423,-14435.840,41,1.7,41,18.6