version: 66.04
glider: 144
mission: 15
dive: 320
start: 9 25 109 16 21 49
data:
$ID,144
$MISSION,15
$DIVE,320
$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,-67450.078
$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,41
$R_STBD_OVSHOOT,35
$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
$GPS1,161125,5007.068,-14449.756,40,1.7,41,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-54.6
$GPS2,162056,5007.058,-14449.741,14,1.8,33,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.076,0.150
$KALMAN_X,-48357.1,130.5,174.9,72664.0,-2476.9
$KALMAN_Y,17952.4,92.0,-38.8,-43787.5,-253.1
$MHEAD_RNG_PITCHd_Wd,314.6,36823,-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,-117.3,0.0,0.0,0,49,0.00,0.00,-31.77,0.000,2,0.000,0.000,100,2306,2574
$GC,52,-0.68,-117.3,3.0,-4.6,3,87,7.22,2.33,-21.08,0.000,4,0.242,0.065,1846,895,3411
$GC,247,-0.61,-117.3,30.7,-12.3,20,252,0.12,2.25,0.00,0.000,6,0.141,0.036,1870,2309,3414
$GC,572,-0.61,-117.3,60.5,-7.2,50,576,0.00,2.25,0.00,0.000,4,0.000,0.040,1871,896,3414
$GC,639,-0.65,-117.3,65.6,-7.3,55,646,0.00,2.22,0.00,0.000,6,0.000,0.036,1864,2311,3415
$GC,970,-0.65,-117.3,91.8,-7.9,80,974,0.00,2.25,0.00,0.000,4,0.000,0.040,1863,892,3415
$GC,1015,-0.67,-117.3,95.6,-8.9,82,1019,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2304,3415
$GC,1336,-0.67,-117.3,124.1,-8.7,98,1340,0.00,2.22,0.00,0.000,4,0.000,0.041,1863,890,3416
$GC,1385,-0.70,-117.3,128.5,-8.7,100,1390,0.00,2.25,0.00,0.000,6,0.000,0.038,1862,2308,3415
$GC,1717,-0.73,-117.3,152.6,-7.3,116,1721,0.00,2.25,0.00,0.000,4,0.000,0.051,1859,3712,3415
$GC,1767,-0.79,-117.3,156.5,-7.6,117,1771,0.10,2.15,0.00,0.000,6,0.064,0.029,1783,2303,3415
$GC,2085,-0.69,-117.3,191.9,-11.1,128,2090,0.20,2.22,0.00,0.000,4,0.123,0.041,1849,897,3414
$GC,2157,-0.72,-117.3,197.8,-7.1,130,2161,0.00,2.22,0.00,0.000,6,0.000,0.038,1848,2308,3414
$GC,2482,-0.76,-117.3,219.5,-6.8,141,2486,0.00,2.22,0.00,0.000,4,0.000,0.041,1848,895,3414
$GC,2517,-0.81,-117.3,222.0,-6.9,142,2522,0.10,2.22,0.00,0.000,6,0.071,0.040,1781,2304,3414
$GC,2853,-0.71,-117.3,257.4,-10.7,153,2858,0.17,2.25,0.00,0.000,4,0.127,0.041,1840,901,3413
$GC,2902,-0.75,-117.3,261.9,-7.6,154,2907,0.00,2.22,0.00,0.000,6,0.000,0.041,1836,2301,3413
$GC,3215,-0.75,-117.3,284.3,-7.0,164,3219,0.00,2.25,0.00,0.000,4,0.000,0.044,1836,892,3412
$GC,3250,-0.75,-117.3,286.9,-7.9,165,3254,0.00,2.25,0.00,0.000,6,0.000,0.040,1835,2312,3412
$GC,3583,-0.75,-117.3,311.0,-7.2,174,3587,0.00,2.25,0.00,0.000,4,0.000,0.049,1835,899,3411
$GC,3638,-0.77,-117.3,315.2,-8.0,174,3645,0.00,2.22,0.00,0.000,6,0.000,0.038,1827,2299,3411
$GC,3947,-0.77,-117.3,337.8,-7.4,180,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2300,3411
$GC,4251,-0.77,-117.3,359.9,-7.2,185,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2299,3411
$GC,4554,-0.77,-117.3,380.2,-6.6,190,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2299,3410
$GC,4857,-0.77,-117.3,399.9,-6.5,195,4861,0.00,2.25,0.00,0.000,4,0.000,0.044,1827,893,3410
$GC,4906,-0.77,-117.3,403.6,-7.0,195,4910,0.00,2.28,0.00,0.000,6,0.000,0.046,1823,2309,3409
$GC,5222,-0.77,-117.3,426.1,-7.2,201,5226,0.00,2.25,0.00,0.000,4,0.000,0.051,1823,896,3409
$GC,5265,-0.77,-117.3,429.5,-7.8,201,5269,0.00,2.22,0.00,0.000,6,0.000,0.041,1821,2302,3409
$GC,5587,-0.77,-117.3,452.6,-7.2,207,5590,0.00,2.22,0.00,0.000,4,0.000,0.049,1820,902,3408
$GC,5648,-0.77,-117.3,457.6,-7.7,207,5654,0.00,2.25,0.00,0.000,6,0.000,0.042,1811,2295,3409
$GC,5958,-0.77,-117.3,481.3,-7.7,213,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2295,3408
$GC,6260,-0.77,-117.3,504.5,-7.6,218,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2296,3408
$GC,6564,-0.77,-117.3,527.6,-7.6,223,6567,0.00,2.22,0.00,0.000,4,0.000,0.046,1811,902,3407
$GC,6591,-0.77,-117.3,529.9,-8.7,223,6595,0.10,2.25,0.00,0.000,6,0.137,0.041,1836,2313,3408
$GC,6935,-0.82,-117.3,551.4,-6.2,229,6939,0.00,2.25,0.00,0.000,4,0.000,0.044,1836,902,3407
$GC,6979,-0.87,-117.3,554.6,-7.3,229,6984,0.10,2.22,0.00,0.000,6,0.070,0.040,1772,2305,3407
$GC,7294,-0.79,-117.3,585.4,-10.0,235,7299,0.17,2.28,0.00,0.000,4,0.126,0.044,1829,894,3406
$GC,7327,-0.81,-117.3,588.4,-7.7,235,7331,0.00,2.25,0.00,0.000,6,0.000,0.039,1823,2301,3406
$GC,7653,-0.84,-117.3,612.2,-7.3,241,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2302,3406
$GC,7956,-0.86,-117.3,633.6,-7.0,246,7960,0.00,2.25,0.00,0.000,4,0.000,0.048,1824,902,3406
$GC,7995,-0.89,-117.3,636.6,-7.9,246,7999,0.00,2.25,0.00,0.000,6,0.000,0.043,1822,2305,3406
$GC,8316,-0.92,-117.3,657.3,-6.3,252,8320,0.00,2.25,0.00,0.000,4,0.000,0.047,1822,898,3406
$GC,8354,-0.94,-117.3,659.9,-7.2,252,8359,0.10,2.25,0.00,0.000,6,0.071,0.044,1762,2310,3405
$GC,8675,-0.85,-117.3,688.2,-9.0,258,8677,0.20,0.00,0.00,0.000,6,0.127,0.000,1821,2311,3405
$GC,8978,-0.88,-117.3,706.7,-6.0,263,8982,0.00,2.28,0.00,0.000,4,0.000,0.046,1822,898,3405
$GC,9034,-0.91,-117.3,710.4,-6.9,263,9041,0.00,2.28,0.00,0.000,6,0.000,0.041,1822,2300,3405
$GC,9344,-0.94,-117.3,729.2,-6.1,269,9348,0.10,2.25,0.00,0.000,4,0.070,0.050,1761,903,3404
$GC,9377,-0.85,-117.3,732.1,-9.6,269,9382,0.20,2.25,0.00,0.000,6,0.129,0.041,1813,2306,3404
$GC,9702,-0.85,-117.3,754.7,-6.9,275,9706,0.00,2.25,0.00,0.000,4,0.000,0.049,1813,902,3404
$GC,9736,-0.85,-117.3,757.1,-7.2,275,9740,0.00,2.25,0.00,0.000,6,0.000,0.042,1809,2311,3404
$GC,10062,-0.85,-117.3,779.9,-7.0,281,10066,0.00,2.25,0.00,0.000,4,0.000,0.049,1809,904,3404
$GC,10095,-0.85,-117.3,782.4,-7.9,281,10099,0.00,2.25,0.00,0.000,6,0.000,0.044,1808,2312,3404
$GC,10433,-0.85,-117.3,805.1,-6.7,287,10434,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2313,3403
$GC,10736,-0.85,-117.3,824.9,-6.5,292,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2312,3404
$GC,11039,-0.85,-117.3,845.0,-6.7,297,11043,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,903,3404
$GC,11094,-0.85,-117.3,849.4,-7.9,297,11101,0.00,2.28,0.00,0.000,6,0.000,0.045,1808,2302,3404
$GC,11403,-0.85,-117.3,870.8,-6.9,303,11405,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3404
$GC,11707,-0.85,-117.3,891.6,-6.9,308,11708,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3404
$GC,12010,-0.85,-117.3,913.0,-7.1,313,12014,0.00,2.28,0.00,0.000,4,0.000,0.048,1808,897,3403
$GC,12074,-0.85,-117.3,917.8,-7.4,314,12078,0.00,2.28,0.00,0.000,6,0.000,0.048,1807,2313,3403
$GC,12439,-0.85,-117.3,945.1,-7.4,320,12443,0.00,2.30,0.00,0.000,4,0.000,0.049,1808,895,3403
$GC,12494,-0.85,-117.3,949.8,-9.0,320,12501,0.00,2.30,0.00,0.000,6,0.000,0.042,1806,2301,3403
$GC,12804,-0.85,-117.3,973.7,-7.7,326,12808,0.00,2.28,0.00,0.000,4,0.000,0.050,1806,899,3403
$GC,12837,-0.85,-117.3,976.6,-8.5,326,12841,0.00,2.25,0.00,0.000,6,0.000,0.048,1797,2309,3403
$STATE,13046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13046,begin apogee
$GC,13052,-0.22,0.0,992.8,7.7,330,13149,0.50,0.00,95.05,1.309,6,0.119,0.000,1956,2309,2931
$STATE,13150,end apogee,CONTROL_FINISHED_OK
$STATE,13150,begin climb
$GC,13153,0.68,117.3,994.6,0.0,331,13263,0.57,2.58,101.62,1.277,4,0.073,0.056,2152,3708,2450
$GC,13287,0.50,117.3,992.9,5.9,333,13295,0.22,2.38,0.00,0.000,6,0.172,0.038,2111,2315,2447
$GC,13598,0.48,139.6,978.0,4.7,339,13618,0.00,0.00,18.88,1.192,6,0.000,0.000,2111,2315,2362
$GC,13901,0.45,144.9,961.9,5.3,344,13909,0.00,0.00,5.72,0.933,6,0.000,0.000,2111,2315,2340
$GC,14204,0.41,146.0,945.4,5.5,349,14208,0.00,2.30,0.00,0.000,4,0.000,0.054,2111,3711,2337
$GC,14231,0.35,146.0,943.5,6.2,349,14236,0.17,2.28,0.00,0.000,6,0.155,0.038,2074,2291,2337
$GC,14564,0.46,176.7,928.7,4.5,355,14595,0.10,0.00,28.75,1.221,6,0.082,0.000,2119,2291,2209
$GC,14866,0.52,176.7,910.4,6.1,360,14870,0.00,2.30,0.00,0.000,4,0.000,0.056,2122,891,2204
$GC,14978,0.52,176.7,903.2,6.4,361,14982,0.00,2.30,0.00,0.000,6,0.000,0.045,2122,2308,2203
$GC,15300,0.49,176.7,883.2,6.3,367,15304,0.00,2.28,0.00,0.000,4,0.000,0.052,2122,3710,2203
$GC,15329,0.43,176.7,881.0,6.6,367,15334,0.15,2.22,0.00,0.000,6,0.154,0.037,2092,2303,2202
$GC,15661,0.49,199.4,864.8,4.7,373,15683,0.00,0.00,19.95,1.162,6,0.000,0.000,2093,2303,2118
$GC,15965,0.56,224.0,850.5,4.7,378,15995,0.10,2.38,22.73,1.156,4,0.072,0.049,2154,897,2016
$GC,16011,0.52,224.0,847.2,6.7,378,16016,0.17,2.30,0.00,0.000,6,0.133,0.047,2107,2303,2013
$GC,16327,0.55,224.8,829.8,5.5,384,16331,0.00,2.30,0.00,0.000,4,0.000,0.051,2107,3715,2010
$GC,16354,0.55,224.8,828.0,6.1,384,16358,0.00,2.25,0.00,0.000,6,0.000,0.040,2115,2304,2010
$GC,16686,0.55,224.8,808.5,5.7,390,16687,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2304,2010
$GC,16989,0.55,224.8,790.9,5.8,395,16994,0.00,2.30,0.00,0.000,4,0.000,0.051,2115,3720,2009
$GC,17017,0.55,224.8,789.1,6.7,395,17020,0.00,2.25,0.00,0.000,6,0.000,0.036,2126,2294,2009
$GC,17355,0.53,224.8,766.7,6.8,401,17359,0.00,2.30,0.00,0.000,4,0.000,0.052,2126,3715,2008
$GC,17383,0.50,224.8,764.4,8.8,401,17387,0.12,2.22,0.00,0.000,6,0.147,0.035,2104,2302,2008
$GC,17714,0.54,224.8,744.8,5.9,407,17718,0.00,2.28,0.00,0.000,4,0.000,0.053,2112,883,2007
$GC,17748,0.60,225.2,742.7,5.5,407,17753,0.00,2.25,0.00,0.000,6,0.000,0.044,2113,2305,2007
$GC,18075,0.63,225.2,721.5,6.5,413,18080,0.08,2.25,0.00,0.000,4,0.086,0.051,2170,3707,2007
$GC,18104,0.54,225.2,718.9,10.7,413,18108,0.25,2.20,0.00,0.000,6,0.151,0.036,2112,2297,2007
$GC,18436,0.56,225.2,696.1,6.6,419,18439,0.00,2.25,0.00,0.000,4,0.000,0.048,2121,890,2007
$GC,18469,0.60,225.2,694.0,5.9,419,18473,0.00,2.25,0.00,0.000,6,0.000,0.038,2121,2313,2007
$GC,18802,0.60,225.2,671.7,6.7,425,18805,0.00,2.22,0.00,0.000,4,0.000,0.056,2122,3707,2006
$GC,18841,0.58,225.2,668.6,8.6,425,18845,0.00,2.17,0.00,0.000,6,0.000,0.034,2131,2302,2007
$GC,19175,0.56,225.2,646.0,6.7,431,19179,0.00,2.28,0.00,0.000,4,0.000,0.053,2131,3713,2006
$GC,19202,0.52,225.2,643.6,7.8,431,19206,0.12,2.20,0.00,0.000,6,0.143,0.036,2110,2304,2006
$GC,19534,0.57,236.9,626.4,5.1,437,19547,0.00,0.00,10.82,0.953,6,0.000,0.000,2109,2304,1965
$GC,19837,0.63,249.8,611.0,5.1,442,19857,0.10,2.30,12.80,0.963,4,0.069,0.048,2189,900,1911
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$GC,20565,0.57,249.8,560.6,7.4,454,20569,0.00,2.28,0.00,0.000,4,0.000,0.048,2125,3716,1907
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$STATE,28378,end climb,SURFACE_DEPTH_REACHED
$STATE,28378,begin surface coast
$FINISH,1.0,1.024752
$STATE,28411,end surface coast,CONTROL_FINISHED_OK
$STATE,28411,begin surface
$SM_CCo,28486,0.00,0.000,0,0,1475,357.16
$SM_GC,1.90,5.45,0.00,0.00,0.036,0.000,0.000,99,2303,1475,-8.62,0.00,357.16
$IRIDIUM_FIX,4949.70,-14451.14,201298,161613
$TT8_MAMPS,0.028379
$HUMID,1709
$INTERNAL_PRESSURE,7.43193
$TCM_TEMP,14.90
$XPDR_PINGS,72
$24V_AH,22.3,47.317
$10V_AH,10.6,39.963
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$DEVICE_SECS,19.525,261.325,410.175,0.000,0.000,59.795,51.747,247.319,18.000,0.000,0.000,35.354,1691.065,23716.404,572.128,2293.635,772.912,33.376,1743.416,0.000,2259.829,0.000,0.530,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,511.159,584.432,750.324,1247.600,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44436,727
$CAP_FILE_SIZE,195699,0
$CFSIZE,260165632,233746432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260909,001814,5010.007,-14452.568,41,2.7,60,18.5