version: 66.04
glider: 144
mission: 15
dive: 389
start: 10 19 109 5 18 38
data:
$ID,144
$MISSION,15
$DIVE,389
$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,-68920.977
$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,32
$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
$GPS1,050506,5017.333,-14433.129,26,1.2,26,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-67.1
$GPS2,051744,5017.353,-14432.960,10,1.2,10,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.090,0.142
$KALMAN_X,-75635.8,60.5,149.2,119861.7,86.1
$KALMAN_Y,22580.9,-388.6,-460.9,-28436.3,969.3
$MHEAD_RNG_PITCHd_Wd,13.9,7714,-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,-31.38,0.000,2,0.000,0.000,99,2305,2574
$GC,54,-0.68,-117.3,3.4,-5.6,3,89,7.15,2.33,-20.05,0.000,4,0.233,0.061,1835,3705,3411
$GC,173,-0.61,-117.3,18.9,-12.5,13,181,0.12,2.22,0.00,0.000,6,0.127,0.035,1869,2299,3412
$GC,501,-0.61,-117.3,52.1,-10.0,44,505,0.00,2.25,0.00,0.000,4,0.000,0.041,1869,887,3412
$GC,619,-0.67,-117.3,61.8,-7.2,54,625,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2311,3413
$GC,941,-0.67,-117.3,86.9,-8.3,81,945,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,887,3414
$GC,974,-0.69,-117.3,89.8,-8.9,82,978,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2307,3413
$GC,1296,-0.69,-117.3,115.6,-7.7,98,1300,0.00,2.25,0.00,0.000,4,0.000,0.040,1863,886,3414
$GC,1334,-0.73,-117.3,118.6,-8.2,99,1341,0.00,2.22,0.00,0.000,6,0.000,0.038,1862,2304,3414
$GC,1652,-0.77,-117.3,141.3,-6.8,115,1656,0.10,2.22,0.00,0.000,4,0.066,0.039,1789,895,3414
$GC,1714,-0.67,-117.3,147.8,-11.5,118,1719,0.25,2.22,0.00,0.000,6,0.127,0.037,1855,2307,3414
$GC,2028,-0.72,-117.3,169.5,-6.5,129,2032,0.00,2.22,0.00,0.000,4,0.000,0.041,1855,887,3413
$GC,2074,-0.78,-117.3,172.7,-6.8,130,2078,0.00,2.22,0.00,0.000,6,0.000,0.037,1850,2302,3413
$GC,2398,-0.83,-117.3,192.7,-5.6,141,2400,0.10,0.00,0.00,0.000,6,0.065,0.000,1768,2302,3413
$GC,2704,-0.72,-117.3,223.4,-10.4,151,2709,0.22,2.25,0.00,0.000,4,0.127,0.041,1840,890,3412
$GC,2774,-0.76,-117.3,228.8,-7.3,153,2778,0.00,2.25,0.00,0.000,6,0.000,0.041,1837,2301,3412
$GC,3109,-0.78,-117.3,251.5,-6.9,164,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2301,3412
$GC,3415,-0.81,-117.3,272.9,-7.0,174,3419,0.00,2.28,0.00,0.000,4,0.000,0.043,1837,889,3411
$GC,3455,-0.84,-117.3,276.0,-7.9,175,3459,0.00,2.28,0.00,0.000,6,0.000,0.044,1836,2310,3411
$GC,3779,-0.87,-117.3,299.0,-7.1,186,3781,0.10,0.00,0.00,0.000,6,0.066,0.000,1766,2311,3410
$GC,4113,-0.77,-117.3,336.2,-11.3,192,4118,0.20,2.30,0.00,0.000,4,0.127,0.043,1829,889,3410
$GC,4197,-0.79,-117.3,343.5,-8.4,193,4201,0.00,2.25,0.00,0.000,6,0.000,0.041,1823,2303,3410
$GC,4546,-0.79,-117.3,369.6,-7.4,199,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2304,3409
$GC,4849,-0.79,-117.3,393.5,-7.9,204,4853,0.00,2.25,0.00,0.000,4,0.000,0.044,1822,898,3408
$GC,4899,-0.79,-117.3,397.8,-8.7,204,4903,0.00,2.25,0.00,0.000,6,0.000,0.045,1818,2309,3408
$GC,5209,-0.79,-117.3,422.9,-8.1,209,5213,0.00,2.28,0.00,0.000,4,0.000,0.048,1819,890,3408
$GC,5242,-0.79,-117.3,425.9,-8.3,209,5245,0.00,2.28,0.00,0.000,6,0.000,0.045,1810,2316,3408
$GC,5574,-0.79,-117.3,453.7,-8.4,215,5578,0.00,2.30,0.00,0.000,4,0.000,0.048,1810,890,3407
$GC,5613,-0.79,-117.3,457.2,-9.2,215,5617,0.10,2.28,0.00,0.000,6,0.133,0.040,1829,2313,3407
$GC,5933,-0.83,-117.3,479.7,-6.9,221,5937,0.00,2.25,0.00,0.000,4,0.000,0.044,1828,896,3407
$GC,5967,-0.86,-117.3,482.2,-7.1,221,5971,0.00,2.25,0.00,0.000,6,0.000,0.044,1823,2308,3406
$GC,6294,-0.88,-117.3,504.5,-6.8,227,6298,0.00,2.28,0.00,0.000,4,0.000,0.050,1822,890,3406
$GC,6335,-0.91,-117.3,507.4,-7.2,227,6339,0.00,2.28,0.00,0.000,6,0.000,0.040,1821,2309,3407
$GC,6656,-0.91,-117.3,529.9,-7.0,233,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3406
$GC,6959,-0.93,-117.3,551.9,-7.3,238,6963,0.08,2.28,0.00,0.000,4,0.080,0.044,1764,894,3406
$GC,7022,-0.85,-117.3,558.3,-10.6,239,7026,0.20,2.25,0.00,0.000,6,0.128,0.040,1813,2307,3406
$GC,7392,-0.85,-117.3,585.8,-7.2,245,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2308,3406
$GC,7696,-0.85,-117.3,606.7,-6.9,250,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2308,3405
$GC,7999,-0.85,-117.3,626.7,-6.6,255,8003,0.00,2.28,0.00,0.000,4,0.000,0.047,1814,898,3405
$GC,8032,-0.85,-117.3,629.0,-7.0,255,8035,0.00,2.25,0.00,0.000,6,0.000,0.046,1809,2303,3405
$GC,8364,-0.85,-117.3,649.9,-6.3,261,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3404
$GC,8667,-0.85,-117.3,668.1,-6.0,266,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3405
$GC,8970,-0.85,-117.3,686.4,-6.1,271,8974,0.00,2.30,0.00,0.000,4,0.000,0.051,1809,892,3404
$GC,9003,-0.85,-117.3,688.6,-7.1,271,9007,0.00,2.28,0.00,0.000,6,0.000,0.041,1807,2305,3404
$GC,9336,-0.85,-117.3,708.3,-5.9,277,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3404
$GC,9638,-0.85,-117.3,726.3,-6.0,282,9642,0.00,2.30,0.00,0.000,4,0.000,0.047,1808,892,3404
$GC,9665,-0.85,-117.3,728.1,-7.1,282,9669,0.00,2.28,0.00,0.000,6,0.000,0.040,1799,2308,3403
$GC,9998,-0.85,-117.3,750.9,-7.0,288,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2308,3404
$GC,10300,-0.85,-117.3,773.8,-7.6,293,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2308,3403
$GC,10603,-0.85,-117.3,796.9,-7.6,298,10607,0.00,2.30,0.00,0.000,4,0.000,0.051,1799,893,3403
$GC,10631,-0.85,-117.3,799.1,-8.0,298,10635,0.08,2.28,0.00,0.000,6,0.146,0.044,1816,2307,3402
$GC,10963,-0.88,-117.3,819.9,-6.2,304,10965,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2307,3403
$GC,11266,-0.92,-117.3,837.7,-5.8,309,11270,0.00,2.30,0.00,0.000,4,0.000,0.048,1816,893,3402
$GC,11293,-0.96,-117.3,839.3,-6.4,309,11297,0.00,2.28,0.00,0.000,6,0.000,0.040,1810,2309,3402
$GC,11626,-0.98,-117.3,858.8,-5.8,315,11628,0.10,0.00,0.00,0.000,6,0.076,0.000,1757,2309,3402
$GC,11929,-0.90,-117.3,883.2,-8.1,320,11931,0.17,0.00,0.00,0.000,6,0.128,0.000,1808,2309,3402
$GC,12233,-0.93,-117.3,899.7,-5.3,325,12234,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3402
$GC,12535,-0.95,-117.3,915.7,-5.3,330,12539,0.00,2.30,0.00,0.000,4,0.000,0.050,1808,893,3402
$GC,12575,-0.97,-117.3,918.1,-6.3,330,12579,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2305,3402
$GC,12896,-1.00,-117.3,935.6,-5.5,336,12898,0.10,0.00,0.00,0.000,6,0.081,0.000,1765,2305,3402
$GC,13199,-0.93,-117.3,958.8,-7.8,341,13201,0.12,0.00,0.00,0.000,6,0.133,0.000,1799,2306,3401
$GC,13502,-0.93,-117.3,978.8,-6.7,346,13503,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2306,3401
$STATE,13681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13681,begin apogee
$GC,13687,-0.22,0.0,991.9,7.1,349,13786,0.47,0.00,96.38,1.296,6,0.122,0.000,1950,2305,2931
$STATE,13787,end apogee,CONTROL_FINISHED_OK
$STATE,13787,begin climb
$GC,13789,0.68,117.3,993.7,0.0,350,13901,0.57,2.60,102.93,1.269,4,0.082,0.053,2147,3712,2450
$GC,13929,0.52,129.7,993.2,5.1,352,13949,0.20,2.42,12.02,1.115,6,0.164,0.034,2111,2303,2401
$GC,14282,0.53,168.9,978.2,4.2,358,14318,0.00,0.00,34.50,1.232,6,0.000,0.000,2111,2304,2242
$GC,14585,0.56,189.6,963.9,4.8,363,14606,0.00,0.00,19.05,1.186,6,0.000,0.000,2111,2303,2157
$GC,14889,0.57,195.9,948.0,5.3,368,14897,0.00,0.00,6.57,0.974,6,0.000,0.000,2111,2303,2131
$GC,15191,0.57,195.9,930.4,5.8,373,15195,0.00,2.33,0.00,0.000,4,0.000,0.053,2120,886,2129
$GC,15218,0.57,195.9,928.5,6.1,373,15222,0.00,2.30,0.00,0.000,6,0.000,0.040,2120,2311,2128
$GC,15556,0.57,195.9,905.7,6.8,379,15560,0.00,2.28,0.00,0.000,4,0.000,0.058,2120,3711,2128
$GC,15579,0.54,195.9,903.9,7.3,379,15583,0.00,2.28,0.00,0.000,6,0.000,0.038,2130,2291,2127
$GC,15917,0.51,195.9,878.6,7.5,385,15918,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2291,2127
$GC,16220,0.48,195.9,855.7,7.6,390,16224,0.12,2.33,0.00,0.000,4,0.153,0.053,2098,3716,2127
$GC,16258,0.48,195.9,852.7,7.0,390,16263,0.00,2.25,0.00,0.000,6,0.000,0.036,2106,2300,2126
$GC,16579,0.48,195.9,832.9,6.1,396,16580,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2300,2126
$GC,16882,0.48,195.9,815.9,5.6,401,16883,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2300,2126
$GC,17186,0.50,199.7,799.6,5.4,406,17195,0.00,2.30,4.12,0.736,4,0.000,0.055,2105,3716,2116
$GC,17214,0.50,199.7,797.9,5.6,406,17218,0.00,2.25,0.00,0.000,6,0.000,0.033,2117,2298,2116
$GC,17552,0.50,199.7,779.0,5.6,412,17556,0.00,2.28,0.00,0.000,4,0.000,0.049,2127,893,2115
$GC,17573,0.50,199.7,777.7,5.5,412,17577,0.00,2.25,0.00,0.000,6,0.000,0.046,2127,2305,2115
$GC,17917,0.50,199.7,757.6,5.7,418,17918,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2305,2115
$GC,18220,0.50,200.2,740.9,5.5,423,18221,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2304,2115
$GC,18524,0.51,207.6,725.0,5.2,428,18534,0.00,0.00,8.68,0.966,6,0.000,0.000,2127,2305,2084
$GC,18827,0.52,210.7,708.6,5.4,433,18836,0.00,2.30,4.22,0.718,4,0.000,0.051,2137,894,2072
$GC,18865,0.52,210.7,706.2,6.4,433,18870,0.10,2.25,0.00,0.000,6,0.129,0.041,2111,2308,2071
$GC,19192,0.56,224.1,689.6,5.0,439,19211,0.00,2.30,13.55,1.014,4,0.000,0.051,2111,3707,2017
$GC,19229,0.59,224.1,687.4,6.1,439,19233,0.00,2.22,0.00,0.000,6,0.000,0.033,2119,2298,2016
$GC,19556,0.61,224.1,667.6,6.2,445,19560,0.00,2.25,0.00,0.000,4,0.000,0.047,2129,897,2013
$GC,19594,0.65,224.1,664.9,7.0,445,19599,0.00,2.25,0.00,0.000,6,0.000,0.040,2130,2312,2012
$GC,19916,0.65,224.1,642.5,7.0,451,19917,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2312,2012
$GC,20218,0.65,224.1,622.2,6.7,456,20220,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2312,2012
$GC,20522,0.65,224.1,602.4,6.5,461,20526,0.00,2.30,0.00,0.000,4,0.000,0.047,2139,895,2012
$GC,20549,0.65,224.1,600.5,6.6,461,20553,0.00,2.25,0.00,0.000,6,0.000,0.043,2138,2304,2012
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$GC,22488,0.66,233.7,464.5,5.2,493,22502,0.00,2.22,9.23,0.834,6,0.000,0.038,2124,2306,1978
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$GC,22869,0.55,243.6,443.2,9.6,499,22874,0.32,2.20,0.00,0.000,6,0.153,0.033,2117,2305,1936
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$STATE,28996,end climb,SURFACE_DEPTH_REACHED
$STATE,28997,begin surface coast
$FINISH,1.0,1.024903
$STATE,29030,end surface coast,CONTROL_FINISHED_OK
$STATE,29030,begin surface
$SM_CCo,29106,0.00,0.000,0,0,1470,358.38
$SM_GC,2.00,5.70,0.00,0.00,0.038,0.000,0.000,99,2298,1470,-8.62,-0.17,358.38
$IRIDIUM_FIX,5003.11,-14704.52,130199,050523
$TT8_MAMPS,0.029146
$HUMID,1713
$INTERNAL_PRESSURE,7.42216
$TCM_TEMP,16.70
$XPDR_PINGS,52
$24V_AH,22.1,56.955
$10V_AH,10.5,48.703
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$DEVICE_SECS,18.425,213.000,420.950,0.000,0.000,55.495,69.897,432.143,13.000,0.000,0.000,12.320,1655.862,24472.699,549.802,2178.221,993.842,33.376,1655.249,0.000,2166.220,0.000,0.530,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,530.620,599.724,772.140,1289.106,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44424,751
$CAP_FILE_SIZE,182640,0
$CFSIZE,260165632,228421632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,191009,132501,5020.922,-14430.132,38,1.3,38,18.7