version: 66.04
glider: 144
mission: 15
dive: 290
start: 9 15 109 10 59 26
data:
$ID,144
$MISSION,15
$DIVE,290
$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,-66757.375
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,105254,5002.878,-14511.326,39,1.6,39,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-67.5
$GPS2,105832,5002.863,-14511.358,11,1.5,11,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.012,-0.167
$KALMAN_X,-30341.9,-273.9,-29.8,29726.5,173.2
$KALMAN_Y,14481.6,12.1,297.0,-48343.0,-226.8
$MHEAD_RNG_PITCHd_Wd,165.8,16409,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-31.95,0.000,2,0.000,0.000,99,2299,2575
$GC,53,-0.68,-117.3,3.3,-6.2,3,88,7.35,2.38,-21.45,0.000,4,0.248,0.067,1840,3712,3413
$GC,285,-0.61,-117.3,33.7,-13.3,23,292,0.10,2.20,0.00,0.000,6,0.135,0.030,1866,2296,3414
$GC,612,-0.61,-117.3,62.7,-8.1,54,616,0.00,2.22,0.00,0.000,4,0.000,0.040,1866,893,3416
$GC,752,-0.61,-117.3,74.0,-8.0,66,756,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2307,3416
$GC,1081,-0.61,-117.3,100.7,-8.4,85,1085,0.00,2.25,0.00,0.000,4,0.000,0.044,1863,892,3417
$GC,1108,-0.61,-117.3,103.2,-8.9,86,1113,0.00,2.25,0.00,0.000,6,0.000,0.038,1862,2307,3417
$GC,1424,-0.61,-117.3,127.1,-7.3,101,1428,0.00,2.25,0.00,0.000,4,0.000,0.048,1862,893,3417
$GC,1468,-0.65,-117.3,130.7,-8.0,103,1472,0.00,2.25,0.00,0.000,6,0.000,0.039,1862,2309,3417
$GC,1805,-0.69,-117.3,152.6,-6.0,119,1809,0.00,2.25,0.00,0.000,4,0.000,0.049,1854,3719,3417
$GC,1846,-0.73,-117.3,155.2,-6.6,120,1850,0.00,2.20,0.00,0.000,6,0.000,0.030,1854,2297,3417
$GC,2175,-0.78,-117.3,176.5,-6.7,131,2179,0.00,2.20,0.00,0.000,4,0.000,0.041,1854,902,3416
$GC,2226,-0.82,-117.3,180.1,-7.0,132,2230,0.10,2.22,0.00,0.000,6,0.069,0.045,1786,2309,3416
$GC,2544,-0.73,-117.3,210.8,-9.6,143,2546,0.20,0.00,0.00,0.000,6,0.127,0.000,1845,2308,3416
$GC,2850,-0.76,-117.3,230.3,-6.4,153,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2308,3416
$GC,3156,-0.79,-117.3,249.9,-6.3,163,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2308,3415
$GC,3462,-0.82,-117.3,267.8,-5.8,173,3467,0.10,2.20,0.00,0.000,4,0.067,0.043,1783,901,3414
$GC,3530,-0.74,-117.3,274.0,-9.8,175,3535,0.22,2.22,0.00,0.000,6,0.130,0.044,1839,2309,3414
$GC,3865,-0.76,-117.3,295.9,-6.3,186,3869,0.00,2.25,0.00,0.000,4,0.000,0.048,1840,900,3414
$GC,3904,-0.80,-117.3,298.7,-7.7,187,3908,0.00,2.22,0.00,0.000,6,0.000,0.039,1837,2302,3414
$GC,4256,-0.80,-117.3,322.4,-6.8,194,4260,0.00,2.22,0.00,0.000,4,0.000,0.046,1836,899,3414
$GC,4296,-0.82,-117.3,325.5,-7.8,194,4300,0.00,2.22,0.00,0.000,6,0.000,0.044,1836,2309,3413
$GC,4629,-0.82,-117.3,347.9,-6.7,200,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2309,3413
$GC,4931,-0.84,-117.3,368.0,-6.6,205,4935,0.00,2.25,0.00,0.000,4,0.000,0.046,1836,902,3412
$GC,4975,-0.87,-117.3,371.3,-7.4,205,4979,0.10,2.25,0.00,0.000,6,0.069,0.044,1774,2313,3412
$GC,5290,-0.78,-117.3,403.7,-10.5,211,5292,0.20,0.00,0.00,0.000,6,0.125,0.000,1833,2314,3412
$GC,5593,-0.81,-117.3,424.7,-6.7,216,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2314,3412
$GC,5896,-0.84,-117.3,444.5,-6.5,221,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2313,3411
$GC,6199,-0.86,-117.3,464.3,-6.6,226,6203,0.00,2.28,0.00,0.000,4,0.000,0.044,1833,902,3411
$GC,6244,-0.90,-117.3,467.7,-7.2,226,6248,0.08,2.25,0.00,0.000,6,0.081,0.042,1771,2307,3410
$GC,6559,-0.81,-117.3,498.6,-10.2,232,6563,0.17,2.28,0.00,0.000,4,0.130,0.046,1828,895,3410
$GC,6591,-0.81,-117.3,501.7,-8.0,232,6595,0.00,2.25,0.00,0.000,6,0.000,0.045,1822,2310,3410
$GC,6925,-0.81,-117.3,525.0,-7.0,238,6929,0.00,2.25,0.00,0.000,4,0.000,0.044,1822,896,3409
$GC,6958,-0.81,-117.3,527.7,-7.5,238,6962,0.00,2.28,0.00,0.000,6,0.000,0.041,1820,2303,3410
$GC,7292,-0.81,-117.3,551.1,-7.1,244,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2303,3409
$GC,7593,-0.81,-117.3,572.8,-7.2,249,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2303,3409
$GC,7897,-0.81,-117.3,594.8,-7.3,254,7901,0.00,2.25,0.00,0.000,4,0.000,0.051,1820,902,3409
$GC,7924,-0.81,-117.3,597.0,-8.1,254,7928,0.00,2.25,0.00,0.000,6,0.000,0.040,1810,2306,3409
$GC,8262,-0.81,-117.3,620.4,-6.9,260,8266,0.00,2.25,0.00,0.000,4,0.000,0.047,1811,901,3409
$GC,8300,-0.81,-117.3,623.4,-7.6,260,8304,0.00,2.25,0.00,0.000,6,0.000,0.048,1808,2312,3408
$GC,8627,-0.81,-117.3,646.1,-6.9,266,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2312,3409
$GC,8930,-0.81,-117.3,666.7,-6.8,271,8934,0.00,2.28,0.00,0.000,4,0.000,0.047,1808,897,3408
$GC,8968,-0.81,-117.3,669.4,-6.7,271,8973,0.10,2.25,0.00,0.000,6,0.140,0.040,1827,2306,3408
$GC,9296,-0.84,-117.3,686.2,-5.0,277,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2306,3408
$GC,9599,-0.88,-117.3,701.8,-5.1,282,9603,0.00,2.25,0.00,0.000,4,0.000,0.045,1827,898,3408
$GC,9626,-0.92,-117.3,703.5,-5.8,282,9631,0.08,2.25,0.00,0.000,6,0.084,0.047,1770,2311,3408
$GC,9958,-0.84,-117.3,730.9,-8.4,288,9963,0.17,2.28,0.00,0.000,4,0.128,0.054,1820,3713,3407
$GC,9980,-0.82,-117.3,732.5,-7.1,288,9984,0.00,2.20,0.00,0.000,6,0.000,0.033,1820,2298,3407
$GC,10318,-0.85,-117.3,753.3,-6.2,294,10321,0.00,2.25,0.00,0.000,4,0.000,0.051,1819,889,3407
$GC,10368,-0.87,-117.3,756.9,-7.5,294,10372,0.00,2.25,0.00,0.000,6,0.000,0.041,1810,2303,3407
$GC,10683,-0.87,-117.3,779.7,-7.3,300,10687,0.00,2.28,0.00,0.000,4,0.000,0.054,1807,3709,3407
$GC,10721,-0.87,-117.3,782.6,-7.9,300,10725,0.00,2.20,0.00,0.000,6,0.000,0.039,1806,2300,3406
$GC,11048,-0.87,-117.3,806.0,-7.1,306,11049,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2300,3406
$GC,11350,-0.87,-117.3,825.8,-6.5,311,11352,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2300,3406
$GC,11654,-0.87,-117.3,844.9,-6.3,316,11655,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2300,3406
$GC,11957,-0.87,-117.3,864.9,-6.7,321,11961,0.00,2.28,0.00,0.000,4,0.000,0.052,1806,892,3406
$GC,11989,-0.87,-117.3,867.6,-7.9,321,11993,0.00,2.30,0.00,0.000,6,0.000,0.041,1797,2306,3406
$GC,12323,-0.87,-117.3,892.6,-7.5,327,12324,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2306,3406
$GC,12625,-0.87,-117.3,915.4,-7.5,332,12629,0.00,2.28,0.00,0.000,4,0.000,0.047,1797,899,3406
$GC,12674,-0.87,-117.3,919.4,-7.7,332,12678,0.00,2.28,0.00,0.000,6,0.000,0.049,1794,2309,3406
$GC,12990,-0.85,-117.3,942.4,-7.3,338,12991,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3406
$GC,13293,-0.83,-117.3,964.0,-7.2,343,13295,0.10,0.00,0.00,0.000,6,0.146,0.000,1820,2309,3406
$GC,13597,-0.87,-117.3,981.2,-5.7,348,13601,0.00,2.28,0.00,0.000,4,0.000,0.049,1821,901,3405
$GC,13624,-0.91,-117.3,983.1,-6.0,348,13628,0.00,2.28,0.00,0.000,6,0.000,0.047,1821,2312,3405
$STATE,13771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13771,begin apogee
$GC,13777,-0.22,0.0,992.0,5.9,351,13875,0.43,0.00,95.62,1.312,6,0.119,0.000,1956,2313,2931
$STATE,13876,end apogee,CONTROL_FINISHED_OK
$STATE,13876,begin climb
$GC,13879,0.68,117.3,993.2,0.0,352,13988,0.57,2.58,101.97,1.280,4,0.072,0.055,2162,903,2451
$GC,14005,0.56,122.6,991.2,5.3,354,14018,0.17,2.45,5.68,0.913,6,0.152,0.044,2121,2299,2431
$GC,14320,0.49,122.6,972.3,6.1,360,14324,0.00,2.35,0.00,0.000,4,0.000,0.054,2122,3712,2424
$GC,14398,0.37,122.6,966.5,7.8,361,14403,0.20,2.25,0.00,0.000,6,0.161,0.038,2079,2310,2422
$GC,14752,0.40,147.7,949.7,4.7,367,14776,0.00,0.00,21.77,1.212,6,0.000,0.000,2079,2310,2328
$GC,15056,0.45,160.9,934.4,5.1,372,15075,0.00,2.38,12.15,1.136,4,0.000,0.056,2079,3714,2274
$GC,15092,0.45,161.1,932.3,5.5,372,15096,0.00,2.28,0.00,0.000,6,0.000,0.035,2086,2301,2273
$GC,15425,0.48,173.3,915.2,5.1,378,15439,0.00,0.00,12.20,1.130,6,0.000,0.000,2087,2301,2224
$GC,15728,0.53,189.5,900.3,5.0,383,15746,0.10,0.00,15.32,1.155,6,0.076,0.000,2134,2300,2157
$GC,16031,0.48,189.5,879.2,7.0,388,16036,0.12,2.35,0.00,0.000,4,0.142,0.050,2099,3720,2154
$GC,16058,0.46,189.5,877.4,7.2,388,16062,0.00,2.28,0.00,0.000,6,0.000,0.035,2107,2300,2153
$GC,16396,0.46,192.5,859.1,5.4,394,16400,0.00,2.30,0.00,0.000,4,0.000,0.049,2118,887,2153
$GC,16418,0.46,192.5,857.8,5.8,394,16423,0.00,2.30,0.00,0.000,6,0.000,0.046,2117,2316,2152
$GC,16756,0.46,192.5,836.9,6.3,400,16760,0.00,2.25,0.00,0.000,4,0.000,0.055,2118,3712,2152
$GC,16789,0.42,192.5,834.2,7.8,400,16794,0.15,2.22,0.00,0.000,6,0.150,0.038,2088,2300,2152
$GC,17116,0.47,205.9,817.7,5.0,406,17133,0.00,0.00,15.10,1.115,6,0.000,0.000,2088,2300,2091
$GC,17419,0.53,208.3,801.4,5.4,411,17421,0.10,0.00,0.00,0.000,6,0.076,0.000,2140,2299,2087
$GC,17721,0.48,208.3,777.3,8.1,416,17726,0.15,2.30,0.00,0.000,4,0.138,0.053,2098,3710,2087
$GC,17744,0.48,208.3,775.5,7.8,416,17748,0.00,2.25,0.00,0.000,6,0.000,0.034,2106,2293,2086
$GC,18082,0.48,208.3,753.7,6.4,422,18083,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2293,2086
$GC,18385,0.48,208.3,734.7,6.2,427,18389,0.00,2.30,0.00,0.000,4,0.000,0.050,2106,3713,2086
$GC,18423,0.48,208.3,731.8,8.4,427,18427,0.00,2.22,0.00,0.000,6,0.000,0.033,2117,2297,2085
$GC,18750,0.48,208.3,711.1,6.3,433,18751,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2296,2085
$GC,19052,0.48,208.3,691.8,6.4,438,19053,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2296,2085
$GC,19356,0.48,208.3,673.1,6.1,443,19360,0.00,2.28,0.00,0.000,4,0.000,0.049,2117,3713,2085
$GC,19389,0.45,208.3,670.6,7.0,443,19394,0.12,2.22,0.00,0.000,6,0.146,0.037,2094,2291,2085
$GC,19722,0.52,229.0,654.5,4.8,449,19747,0.00,2.25,20.55,1.043,4,0.000,0.050,2103,896,1996
$GC,19764,0.61,238.5,652.2,5.2,449,19782,0.10,2.28,9.93,0.940,6,0.072,0.041,2161,2317,1957
$GC,20084,0.53,238.5,623.7,9.3,455,20089,0.17,2.28,0.00,0.000,4,0.137,0.050,2112,3717,1953
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$GC,21175,0.59,249.2,553.8,5.1,472,21189,0.00,0.00,9.65,0.902,6,0.000,0.000,2108,2296,1914
$GC,21547,0.66,258.7,534.8,5.2,478,21559,0.12,0.00,9.77,0.890,6,0.061,0.000,2182,2294,1876
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$STATE,29701,end climb,SURFACE_DEPTH_REACHED
$STATE,29701,begin surface coast
$FINISH,0.8,1.024348
$STATE,29734,end surface coast,CONTROL_FINISHED_OK
$STATE,29734,begin surface
$SM_CCo,29750,5.62,0.503,0,0,1707,300.00
$SM_GC,2.25,0.00,0.00,5.62,0.000,0.000,0.503,100,2301,1707,-8.74,-0.03,300.00
$IRIDIUM_FIX,4949.70,-14513.41,101298,020217
$TT8_MAMPS,0.029146
$HUMID,1708
$INTERNAL_PRESSURE,7.45146
$TCM_TEMP,16.70
$XPDR_PINGS,76
$24V_AH,22.4,43.226
$10V_AH,10.6,36.167
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$DEVICE_SECS,18.100,230.100,361.775,5.625,0.000,29.152,26.401,156.348,19.000,0.000,0.000,12.867,1760.989,24885.797,532.821,2299.733,605.883,33.368,1674.830,0.000,2288.304,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,560.456,632.908,813.664,1357.579,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47677,791
$CAP_FILE_SIZE,186204,0
$CFSIZE,260165632,236081152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,150909,191637,4959.508,-14512.040,34,2.0,34,18.4