version: 66.04
glider: 144
mission: 15
dive: 282
start: 9 12 109 18 23 29
data:
$ID,144
$MISSION,15
$DIVE,282
$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,-66623.039
$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,35
$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
$GPS1,181530,5018.180,-14505.244,62,1.5,74,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-62.0
$GPS2,182235,5018.110,-14505.270,36,1.4,53,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.125,0.112
$KALMAN_X,-29558.0,76.4,-61.0,35801.8,-888.5
$KALMAN_Y,12706.5,18.3,117.0,-18158.8,-385.8
$MHEAD_RNG_PITCHd_Wd,293.6,9541,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,64,0.00,0.00,-46.40,0.000,2,0.000,0.000,100,2316,2629
$GC,67,-0.68,-117.3,3.4,-3.2,5,95,7.47,0.00,-18.33,0.000,6,0.252,0.000,1849,2316,3412
$GC,412,-0.64,-117.3,48.4,-9.4,38,416,0.00,2.25,0.00,0.000,4,0.000,0.052,1841,3706,3415
$GC,468,-0.64,-117.3,53.9,-9.5,42,474,0.00,2.22,0.00,0.000,6,0.000,0.028,1841,2296,3415
$GC,804,-0.59,-117.3,86.3,-10.0,71,809,0.12,2.22,0.00,0.000,4,0.134,0.040,1876,890,3416
$GC,871,-0.63,-117.3,92.1,-7.6,74,875,0.00,2.25,0.00,0.000,6,0.000,0.044,1875,2308,3416
$GC,1193,-0.68,-117.3,114.0,-6.5,90,1197,0.08,2.25,0.00,0.000,4,0.080,0.039,1815,892,3416
$GC,1233,-0.62,-117.3,117.5,-9.5,92,1238,0.22,2.25,0.00,0.000,6,0.130,0.038,1871,2312,3416
$GC,1560,-0.67,-117.3,139.5,-6.5,108,1563,0.00,2.25,0.00,0.000,4,0.000,0.047,1871,895,3416
$GC,1599,-0.75,-117.3,142.1,-6.9,109,1606,0.05,2.25,0.00,0.000,6,0.062,0.040,1785,2299,3416
$GC,1933,-0.66,-117.3,179.7,-11.7,122,1935,0.25,0.00,0.00,0.000,6,0.130,0.000,1860,2299,3416
$GC,2239,-0.71,-117.3,200.1,-6.2,132,2243,0.00,2.22,0.00,0.000,4,0.000,0.046,1860,898,3415
$GC,2274,-0.78,-117.3,202.4,-6.7,133,2279,0.12,2.22,0.00,0.000,6,0.058,0.039,1783,2309,3415
$GC,2615,-0.68,-117.3,238.8,-10.9,144,2617,0.22,0.00,0.00,0.000,6,0.129,0.000,1849,2309,3414
$GC,2921,-0.72,-117.3,258.6,-6.1,154,2925,0.00,2.22,0.00,0.000,4,0.000,0.043,1849,897,3414
$GC,2956,-0.77,-117.3,260.8,-6.3,155,2960,0.00,2.22,0.00,0.000,6,0.000,0.045,1849,2307,3414
$GC,3296,-0.81,-117.3,281.7,-6.4,166,3298,0.10,0.00,0.00,0.000,6,0.068,0.000,1783,2308,3413
$GC,3601,-0.72,-117.3,313.3,-10.7,174,3606,0.17,2.25,0.00,0.000,4,0.127,0.044,1841,899,3413
$GC,3674,-0.76,-117.3,319.5,-8.0,175,3678,0.00,2.22,0.00,0.000,6,0.000,0.040,1837,2304,3413
$GC,4034,-0.78,-117.3,345.7,-7.1,181,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2303,3412
$GC,4337,-0.80,-117.3,365.9,-6.6,186,4341,0.00,2.25,0.00,0.000,4,0.000,0.049,1836,895,3411
$GC,4399,-0.82,-117.3,370.5,-7.3,186,4405,0.00,2.25,0.00,0.000,6,0.000,0.039,1836,2303,3411
$GC,4709,-0.85,-117.3,391.5,-6.8,192,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2303,3411
$GC,5012,-0.87,-117.3,412.1,-6.9,197,5014,0.10,0.00,0.00,0.000,6,0.071,0.000,1774,2303,3410
$GC,5315,-0.77,-117.3,442.3,-10.1,202,5317,0.20,0.00,0.00,0.000,6,0.128,0.000,1833,2304,3410
$GC,5618,-0.80,-117.3,461.5,-6.1,207,5622,0.00,2.25,0.00,0.000,4,0.000,0.048,1833,901,3409
$GC,5684,-0.84,-117.3,465.9,-6.4,208,5688,0.00,2.25,0.00,0.000,6,0.000,0.043,1826,2311,3409
$GC,6044,-0.84,-117.3,490.4,-6.9,214,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2311,3409
$GC,6348,-0.84,-117.3,512.0,-7.2,219,6352,0.00,2.28,0.00,0.000,4,0.000,0.051,1826,899,3409
$GC,6403,-0.84,-117.3,516.5,-7.6,219,6409,0.00,2.28,0.00,0.000,6,0.000,0.041,1822,2298,3409
$GC,6713,-0.84,-117.3,539.0,-7.3,225,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2298,3408
$GC,7015,-0.84,-117.3,560.9,-7.2,230,7019,0.00,2.25,0.00,0.000,4,0.000,0.044,1822,895,3408
$GC,7049,-0.84,-117.3,563.6,-7.5,230,7053,0.00,2.25,0.00,0.000,6,0.000,0.044,1820,2306,3408
$GC,7375,-0.84,-117.3,587.4,-7.4,236,7379,0.00,2.25,0.00,0.000,4,0.000,0.045,1820,901,3407
$GC,7413,-0.84,-117.3,590.7,-8.7,236,7417,0.00,2.25,0.00,0.000,6,0.000,0.044,1811,2294,3407
$GC,7739,-0.84,-117.3,616.7,-8.1,242,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2294,3407
$GC,8043,-0.84,-117.3,639.5,-7.5,247,8047,0.00,2.25,0.00,0.000,4,0.000,0.050,1811,892,3407
$GC,8075,-0.84,-117.3,642.0,-8.2,247,8079,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2318,3407
$GC,8409,-0.84,-117.3,665.4,-7.0,253,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2318,3406
$GC,8710,-0.84,-117.3,685.0,-6.5,258,8714,0.00,2.28,0.00,0.000,4,0.000,0.050,1808,898,3406
$GC,8777,-0.84,-117.3,689.7,-7.0,259,8781,0.00,2.25,0.00,0.000,6,0.000,0.042,1806,2312,3406
$GC,9143,-0.84,-117.3,714.0,-6.8,265,9147,0.00,2.25,0.00,0.000,4,0.000,0.046,1805,901,3406
$GC,9186,-0.84,-117.3,717.4,-7.8,265,9191,0.08,2.25,0.00,0.000,6,0.147,0.045,1816,2315,3406
$GC,9508,-0.84,-117.3,737.5,-6.3,271,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2316,3406
$GC,9810,-0.84,-117.3,756.7,-6.4,276,9814,0.00,2.25,0.00,0.000,4,0.000,0.051,1816,905,3405
$GC,9837,-0.84,-117.3,758.7,-7.8,276,9841,0.00,2.25,0.00,0.000,6,0.000,0.046,1809,2314,3405
$GC,10181,-0.84,-117.3,781.6,-6.7,282,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2315,3405
$GC,10485,-0.84,-117.3,801.8,-6.7,287,10489,0.00,2.28,0.00,0.000,4,0.000,0.051,1810,897,3405
$GC,10525,-0.84,-117.3,804.8,-7.8,287,10529,0.00,2.25,0.00,0.000,6,0.000,0.048,1808,2304,3405
$GC,10845,-0.84,-117.3,826.7,-6.8,293,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3404
$GC,11148,-0.84,-117.3,847.4,-6.8,298,11152,0.00,2.28,0.00,0.000,4,0.000,0.048,1808,892,3404
$GC,11198,-0.84,-117.3,851.1,-8.3,298,11202,0.00,2.28,0.00,0.000,6,0.000,0.043,1805,2315,3404
$GC,11508,-0.84,-117.3,872.5,-6.8,303,11512,0.00,2.28,0.00,0.000,4,0.000,0.049,1806,898,3404
$GC,11546,-0.84,-117.3,875.3,-7.3,303,11550,0.10,2.25,0.00,0.000,6,0.140,0.046,1822,2305,3404
$GC,11872,-0.88,-117.3,894.6,-5.9,309,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3404
$GC,12176,-0.92,-117.3,912.8,-6.0,314,12180,0.00,2.28,0.00,0.000,4,0.000,0.052,1822,893,3404
$GC,12209,-0.95,-117.3,915.0,-7.1,314,12214,0.12,2.25,0.00,0.000,6,0.073,0.044,1768,2305,3404
$GC,12541,-0.88,-117.3,943.9,-8.8,320,12546,0.15,2.30,0.00,0.000,4,0.140,0.056,1802,3710,3404
$GC,12591,-0.88,-117.3,947.9,-7.6,320,12595,0.00,2.20,0.00,0.000,6,0.000,0.039,1802,2310,3404
$GC,12900,-0.88,-117.3,969.7,-7.1,325,12901,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2310,3403
$STATE,13201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13202,begin apogee
$GC,13207,-0.22,0.0,990.9,7.0,330,13305,0.47,0.00,95.05,1.310,6,0.121,0.000,1951,2309,2931
$STATE,13306,end apogee,CONTROL_FINISHED_OK
$STATE,13306,begin climb
$GC,13309,0.68,117.3,992.6,0.0,331,13417,0.57,2.55,101.03,1.283,4,0.079,0.055,2151,3713,2450
$GC,13439,0.50,117.3,990.9,5.6,333,13444,0.22,2.42,0.00,0.000,6,0.176,0.041,2110,2305,2447
$GC,13794,0.46,128.5,973.0,5.1,339,13806,0.00,0.00,9.45,1.090,6,0.000,0.000,2111,2305,2406
$GC,14097,0.41,128.5,956.2,5.6,344,14098,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2305,2402
$GC,14400,0.36,128.5,938.9,5.7,349,14401,0.12,0.00,0.00,0.000,6,0.160,0.000,2077,2303,2402
$GC,14703,0.40,156.8,924.9,4.5,354,14729,0.00,0.00,24.90,1.216,6,0.000,0.000,2077,2303,2291
$GC,15007,0.51,162.0,909.2,5.3,359,15018,0.12,2.33,5.47,0.911,4,0.074,0.050,2135,887,2270
$GC,15085,0.45,162.0,904.1,6.8,360,15090,0.15,2.30,0.00,0.000,6,0.138,0.042,2096,2308,2268
$GC,15434,0.46,176.5,886.5,5.0,366,15453,0.00,2.33,13.85,1.137,4,0.000,0.052,2096,3704,2211
$GC,15488,0.46,176.5,883.2,6.3,366,15492,0.00,2.25,0.00,0.000,6,0.000,0.039,2103,2293,2209
$GC,15803,0.47,182.4,866.5,5.3,372,15812,0.00,0.00,6.47,0.960,6,0.000,0.000,2104,2293,2187
$GC,16107,0.49,195.7,851.1,5.0,377,16122,0.00,0.00,13.07,1.107,6,0.000,0.000,2103,2293,2133
$GC,16410,0.50,208.5,835.8,5.1,382,16429,0.00,2.40,12.40,1.090,4,0.000,0.051,2103,3716,2080
$GC,16464,0.50,208.5,832.5,6.3,382,16468,0.00,2.28,0.00,0.000,6,0.000,0.041,2114,2292,2079
$GC,16779,0.50,208.5,814.2,5.9,388,16780,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2291,2077
$GC,17082,0.50,208.5,795.6,6.2,393,17083,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2291,2077
$GC,17386,0.50,208.5,776.1,6.6,398,17390,0.00,2.30,0.00,0.000,4,0.000,0.052,2114,3710,2077
$GC,17413,0.48,208.5,773.7,8.2,398,17417,0.00,2.22,0.00,0.000,6,0.000,0.034,2124,2293,2076
$GC,17745,0.46,208.5,749.8,7.2,404,17747,0.10,0.00,0.00,0.000,6,0.157,0.000,2100,2293,2076
$GC,18049,0.50,208.8,733.0,5.5,409,18053,0.00,2.30,0.00,0.000,4,0.000,0.052,2100,3712,2076
$GC,18081,0.50,208.8,731.0,6.1,409,18085,0.00,2.25,0.00,0.000,6,0.000,0.033,2107,2297,2075
$GC,18416,0.51,212.4,713.2,5.4,415,18424,0.00,2.25,4.22,0.731,4,0.000,0.048,2118,893,2065
$GC,18443,0.55,221.4,711.6,5.2,415,18457,0.00,2.25,9.77,0.986,6,0.000,0.039,2118,2314,2028
$GC,18779,0.55,221.4,692.7,5.6,421,18783,0.00,2.28,0.00,0.000,4,0.000,0.054,2118,3718,2024
$GC,18805,0.55,221.4,690.9,6.7,421,18809,0.00,2.25,0.00,0.000,6,0.000,0.038,2128,2298,2024
$GC,19144,0.52,221.4,669.4,6.4,427,19148,0.00,2.30,0.00,0.000,4,0.000,0.050,2128,3713,2024
$GC,19172,0.48,221.4,667.4,6.9,427,19177,0.15,2.22,0.00,0.000,6,0.146,0.040,2097,2303,2024
$GC,19504,0.56,241.0,651.1,4.8,433,19528,0.08,2.33,17.75,1.027,4,0.083,0.048,2161,895,1947
$GC,19545,0.51,241.0,648.1,6.0,433,19550,0.20,2.28,0.00,0.000,6,0.130,0.044,2105,2311,1946
$GC,19866,0.56,241.0,629.7,5.7,439,19870,0.00,2.28,0.00,0.000,4,0.000,0.054,2105,3716,1944
$GC,19905,0.59,241.0,627.0,7.2,439,19909,0.00,2.22,0.00,0.000,6,0.000,0.036,2113,2302,1943
$GC,20226,0.62,241.0,607.0,6.3,445,20231,0.08,2.28,0.00,0.000,4,0.082,0.048,2177,889,1943
$GC,20248,0.60,241.0,605.2,7.6,445,20253,0.17,2.28,0.00,0.000,6,0.137,0.043,2131,2312,1942
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$GC,22283,0.57,255.7,455.8,5.1,479,22302,0.00,2.30,13.12,0.887,4,0.000,0.048,2120,891,1887
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$GC,27405,0.97,343.1,76.0,5.2,625,27421,0.10,2.22,9.93,0.627,6,0.065,0.036,2247,2313,1532
$GC,27746,0.93,343.1,41.2,7.8,657,27751,0.17,2.25,0.00,0.000,4,0.121,0.043,2203,892,1528
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$GC,28118,1.19,355.2,18.3,5.1,691,28134,0.17,2.25,11.02,0.594,4,0.058,0.048,2304,895,1481
$STATE,28268,end climb,SURFACE_DEPTH_REACHED
$STATE,28268,begin surface coast
$FINISH,1.2,1.024649
$STATE,28273,end surface coast,CONTROL_FINISHED_OK
$STATE,28273,begin surface
$SM_CCo,28351,0.00,0.000,0,0,1477,356.67
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$IRIDIUM_FIX,4956.40,-14502.13,071298,090920
$TT8_MAMPS,0.029146
$HUMID,1703
$INTERNAL_PRESSURE,7.42216
$TCM_TEMP,18.60
$XPDR_PINGS,81
$24V_AH,22.4,42.175
$10V_AH,10.6,35.162
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$DEVICE_SECS,20.150,225.975,418.725,0.000,0.000,29.255,33.717,192.902,20.250,0.000,0.000,55.158,1622.628,23713.166,555.957,2228.980,644.759,33.369,1683.506,0.000,2174.048,0.000,0.529,0.000
$DEVICE_MAMPS,251.576,55.991,1310.036,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,495.959,570.288,725.665,1208.046,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41151,704
$CAP_FILE_SIZE,183364,0
$CFSIZE,260165632,236711936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130909,021707,5020.292,-14509.864,28,1.8,28,18.5