version: 66.04
glider: 144
mission: 15
dive: 35
start: 6 23 109 10 41 32
data:
$ID,144
$MISSION,15
$DIVE,35
$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,-61584.395
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,103506,5009.831,-14446.358,36,1.4,36,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-60.7
$GPS2,104038,5009.827,-14446.427,14,1.5,14,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.151,0.072
$KALMAN_X,-23778.0,-20.8,-25.6,40988.1,-1229.7
$KALMAN_Y,6936.7,-117.1,-25.6,11965.5,1825.1
$MHEAD_RNG_PITCHd_Wd,45.9,28520,-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,16,-0.68,-117.3,0.0,0.0,0,61,0.00,0.00,-42.33,0.000,2,0.000,0.000,102,2304,2695
$GC,64,-0.68,-117.3,3.3,-4.5,4,98,7.10,2.35,-17.45,0.000,4,0.255,0.077,1841,3712,3412
$GC,258,-0.50,-117.3,29.2,-12.1,21,263,0.17,2.22,0.00,0.000,6,0.140,0.041,1891,2300,3414
$GC,585,-0.56,-117.3,56.2,-7.6,51,589,0.00,2.25,0.00,0.000,4,0.000,0.054,1890,893,3415
$GC,618,-0.64,-117.3,59.0,-7.6,53,624,0.12,2.25,0.00,0.000,6,0.065,0.048,1823,2306,3415
$GC,949,-0.45,-117.3,98.4,-12.5,78,951,0.28,0.00,0.00,0.000,6,0.137,0.000,1904,2306,3415
$GC,1259,-0.58,-117.3,119.7,-6.1,93,1263,0.12,2.25,0.00,0.000,4,0.063,0.051,1841,893,3416
$GC,1381,-0.51,-117.3,131.7,-9.8,98,1388,0.17,2.22,0.00,0.000,6,0.137,0.048,1887,2305,3416
$GC,1698,-0.65,-117.3,149.7,-5.1,114,1702,0.10,2.25,0.00,0.000,4,0.072,0.063,1821,3723,3415
$GC,1747,-0.59,-117.3,153.9,-8.9,116,1752,0.17,2.20,0.00,0.000,6,0.126,0.042,1873,2300,3416
$GC,2060,-0.70,-117.3,173.0,-6.1,126,2065,0.10,2.22,0.00,0.000,4,0.074,0.051,1819,893,3415
$GC,2158,-0.60,-117.3,182.2,-10.0,129,2162,0.20,2.22,0.00,0.000,6,0.134,0.053,1869,2307,3416
$GC,2493,-0.72,-117.3,203.7,-5.9,140,2497,0.10,2.25,0.00,0.000,4,0.074,0.060,1810,3717,3415
$GC,2531,-0.61,-117.3,207.0,-9.4,141,2536,0.20,2.20,0.00,0.000,6,0.131,0.040,1869,2295,3415
$GC,2855,-0.72,-117.3,227.9,-6.5,152,2857,0.10,0.00,0.00,0.000,6,0.075,0.000,1816,2294,3415
$GC,3161,-0.63,-117.3,256.3,-9.6,162,3165,0.17,2.22,0.00,0.000,4,0.136,0.054,1873,892,3415
$GC,3216,-0.79,-117.3,260.7,-7.7,163,3223,0.08,2.25,0.00,0.000,6,0.058,0.048,1794,2305,3415
$GC,3529,-0.63,-117.3,292.3,-10.2,174,3533,0.20,2.25,0.00,0.000,4,0.143,0.058,1850,3718,3415
$GC,3557,-0.63,-117.3,294.7,-8.2,175,3561,0.00,2.17,0.00,0.000,6,0.000,0.040,1849,2305,3415
$GC,3889,-0.69,-117.3,316.4,-6.5,182,3893,0.00,2.22,0.00,0.000,4,0.000,0.055,1850,893,3414
$GC,3934,-0.75,-117.3,319.7,-7.1,182,3938,0.00,2.22,0.00,0.000,6,0.000,0.055,1849,2308,3414
$GC,4255,-0.80,-117.3,340.9,-6.6,188,4260,0.10,2.22,0.00,0.000,4,0.077,0.054,1797,892,3413
$GC,4288,-0.66,-117.3,343.8,-9.3,188,4293,0.22,2.22,0.00,0.000,6,0.144,0.051,1859,2304,3413
$GC,4614,-0.76,-117.3,363.3,-5.9,194,4618,0.10,2.22,0.00,0.000,4,0.077,0.054,1809,894,3413
$GC,4658,-0.66,-117.3,367.2,-8.9,194,4662,0.17,2.22,0.00,0.000,6,0.143,0.056,1856,2307,3413
$GC,4973,-0.76,-117.3,386.9,-6.1,200,4974,0.10,0.00,0.00,0.000,6,0.076,0.000,1806,2308,3412
$GC,5275,-0.66,-117.3,413.3,-8.9,205,5280,0.17,2.25,0.00,0.000,4,0.134,0.054,1857,888,3412
$GC,5325,-0.79,-117.3,417.1,-7.1,205,5329,0.00,2.22,0.00,0.000,6,0.000,0.049,1850,2304,3412
$GC,5640,-0.87,-117.3,438.1,-6.7,211,5642,0.12,0.00,0.00,0.000,6,0.071,0.000,1787,2304,3412
$GC,5943,-0.71,-117.3,467.2,-9.8,216,5945,0.20,0.00,0.00,0.000,6,0.140,0.000,1846,2304,3412
$GC,6247,-0.79,-117.3,486.7,-6.2,221,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2305,3411
$GC,6550,-0.86,-117.3,506.4,-6.6,226,6554,0.12,2.25,0.00,0.000,4,0.071,0.054,1787,886,3411
$GC,6577,-0.76,-117.3,508.8,-9.4,226,6582,0.20,2.25,0.00,0.000,6,0.150,0.055,1838,2313,3411
$GC,6909,-0.81,-117.3,530.9,-6.5,232,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2313,3411
$GC,7212,-0.86,-117.3,549.8,-6.3,237,7216,0.10,2.22,0.00,0.000,4,0.086,0.061,1786,3712,3411
$GC,7239,-0.76,-117.3,552.0,-8.6,237,7243,0.17,2.17,0.00,0.000,6,0.140,0.048,1836,2302,3410
$GC,7570,-0.81,-117.3,573.5,-6.3,243,7574,0.00,2.22,0.00,0.000,4,0.000,0.059,1836,896,3410
$GC,7603,-0.86,-117.3,575.7,-6.4,243,7608,0.10,2.22,0.00,0.000,6,0.084,0.055,1791,2305,3410
$GC,7935,-0.73,-117.3,603.5,-8.5,249,7940,0.17,2.25,0.00,0.000,4,0.145,0.063,1839,3712,3410
$GC,7973,-0.83,-117.3,606.4,-6.5,249,7977,0.00,2.17,0.00,0.000,6,0.000,0.044,1839,2306,3410
$GC,8300,-0.90,-117.3,627.2,-6.5,255,8302,0.12,0.00,0.00,0.000,6,0.080,0.000,1786,2306,3410
$GC,8603,-0.75,-117.3,654.0,-8.9,260,8605,0.17,0.00,0.00,0.000,6,0.146,0.000,1836,2305,3410
$GC,8907,-0.80,-117.3,672.6,-6.0,265,8911,0.00,2.28,0.00,0.000,4,0.000,0.067,1828,3712,3410
$GC,8934,-0.86,-117.3,674.5,-6.9,265,8938,0.00,2.20,0.00,0.000,6,0.000,0.046,1828,2296,3410
$GC,9272,-0.86,-117.3,696.6,-6.5,271,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2296,3410
$GC,9575,-0.86,-117.3,717.1,-6.8,276,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2296,3410
$GC,9878,-0.86,-117.3,737.9,-6.9,281,9882,0.00,2.28,0.00,0.000,4,0.000,0.065,1819,3710,3409
$GC,9927,-0.86,-117.3,741.6,-7.4,281,9931,0.00,2.20,0.00,0.000,6,0.000,0.048,1818,2296,3409
$GC,10243,-0.86,-117.3,763.5,-6.9,287,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2296,3409
$GC,10546,-0.86,-117.3,783.8,-6.7,292,10550,0.00,2.28,0.00,0.000,4,0.000,0.065,1809,3710,3409
$GC,10590,-0.86,-117.3,787.0,-8.0,292,10594,0.00,2.20,0.00,0.000,6,0.000,0.049,1808,2300,3409
$GC,10911,-0.81,-117.3,809.6,-7.1,298,10912,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2300,3409
$GC,11214,-0.76,-117.3,830.8,-7.0,303,11216,0.10,0.00,0.00,0.000,6,0.156,0.000,1834,2300,3409
$GC,11518,-0.83,-117.3,848.6,-5.8,308,11522,0.00,2.25,0.00,0.000,4,0.000,0.067,1834,890,3409
$GC,11545,-0.89,-117.3,850.3,-6.5,308,11550,0.10,2.25,0.00,0.000,6,0.097,0.055,1792,2308,3409
$GC,11877,-0.79,-117.3,875.6,-7.7,314,11882,0.15,2.25,0.00,0.000,4,0.160,0.071,1823,3720,3408
$GC,11921,-0.84,-117.3,878.7,-7.0,314,11925,0.00,2.22,0.00,0.000,6,0.000,0.051,1823,2294,3408
$GC,12236,-0.84,-117.3,897.7,-6.1,320,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2294,3408
$GC,12539,-0.84,-117.3,916.2,-6.1,325,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2294,3408
$GC,12842,-0.84,-117.3,935.0,-6.2,330,12846,0.00,2.25,0.00,0.000,4,0.000,0.069,1823,894,3408
$GC,12869,-0.84,-117.3,937.0,-7.8,330,12873,0.00,2.25,0.00,0.000,6,0.000,0.062,1816,2305,3408
$GC,13207,-0.84,-117.3,959.3,-6.7,336,13211,0.00,2.25,0.00,0.000,4,0.000,0.066,1806,3711,3408
$GC,13233,-0.84,-117.3,961.2,-7.3,336,13238,0.00,2.20,0.00,0.000,6,0.000,0.052,1805,2305,3408
$GC,13572,-0.80,-117.3,985.1,-7.1,342,13573,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3408
$STATE,13690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13690,begin apogee
$GC,13696,-0.22,0.0,993.7,7.0,344,13792,0.47,0.00,93.65,1.344,6,0.153,0.000,1950,2305,2931
$STATE,13793,end apogee,CONTROL_FINISHED_OK
$STATE,13793,begin climb
$GC,13796,0.68,117.3,995.3,0.0,345,13903,0.65,2.53,98.40,1.318,4,0.113,0.071,2151,3709,2450
$GC,13949,0.25,117.3,990.0,8.5,348,13954,0.43,2.35,0.00,0.000,6,0.196,0.054,2054,2308,2446
$GC,14304,0.39,160.8,975.1,4.0,354,14346,0.12,2.45,35.88,1.281,4,0.091,0.070,2106,891,2274
$GC,14368,0.39,160.8,971.3,6.0,355,14372,0.00,2.40,0.00,0.000,6,0.000,0.057,2106,2305,2271
$GC,14734,0.32,160.8,947.3,6.6,361,14739,0.15,2.35,0.00,0.000,4,0.166,0.065,2068,3719,2267
$GC,14756,0.32,160.8,945.7,6.4,361,14761,0.00,2.30,0.00,0.000,6,0.000,0.047,2076,2293,2266
$GC,15094,0.39,176.8,928.7,5.0,367,15110,0.00,0.00,13.62,1.190,6,0.000,0.000,2076,2292,2210
$GC,15398,0.51,206.5,915.0,4.5,372,15427,0.12,0.00,26.65,1.243,6,0.091,0.000,2124,2293,2089
$GC,15701,0.40,206.5,894.2,7.0,377,15703,0.15,0.00,0.00,0.000,6,0.160,0.000,2086,2293,2083
$GC,16004,0.52,242.4,880.9,4.3,382,16041,0.10,2.40,30.98,1.232,4,0.093,0.065,2132,887,1943
$GC,16052,0.47,242.4,878.1,5.5,382,16057,0.12,2.40,0.00,0.000,6,0.153,0.057,2102,2313,1940
$GC,16361,0.52,242.4,860.7,5.7,387,16363,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2313,1935
$GC,16665,0.56,242.4,840.9,6.6,392,16669,0.00,2.33,0.00,0.000,4,0.000,0.066,2102,3718,1934
$GC,16686,0.56,242.4,839.2,7.1,392,16690,0.00,2.28,0.00,0.000,6,0.000,0.052,2110,2302,1933
$GC,17029,0.56,242.4,812.4,7.9,398,17033,0.00,2.33,0.00,0.000,4,0.000,0.064,2110,3713,1932
$GC,17051,0.56,242.4,810.4,8.9,398,17055,0.00,2.25,0.00,0.000,6,0.000,0.046,2120,2303,1932
$GC,17395,0.51,242.4,780.2,8.9,404,17396,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2303,1932
$GC,17698,0.47,242.4,755.1,8.1,409,17702,0.00,2.30,0.00,0.000,4,0.000,0.063,2120,3714,1932
$GC,17736,0.40,242.4,751.7,9.1,409,17741,0.17,2.25,0.00,0.000,6,0.164,0.045,2083,2297,1932
$GC,18057,0.55,242.4,733.0,5.7,415,18062,0.12,2.28,0.00,0.000,4,0.083,0.064,2144,887,1931
$GC,18089,0.55,242.4,730.4,8.6,415,18094,0.10,2.28,0.00,0.000,6,0.160,0.050,2120,2311,1931
$GC,18421,0.55,242.4,704.9,7.8,421,18425,0.00,2.28,0.00,0.000,4,0.000,0.067,2120,3716,1931
$GC,18459,0.49,242.4,701.4,8.7,421,18463,0.00,2.25,0.00,0.000,6,0.000,0.051,2128,2293,1931
$GC,18781,0.42,242.4,674.7,8.3,427,18782,0.15,0.00,0.00,0.000,6,0.166,0.000,2088,2293,1931
$GC,19084,0.57,249.6,658.1,5.3,432,19095,0.12,2.33,5.85,0.880,4,0.079,0.064,2143,3722,1912
$GC,19112,0.50,249.6,656.0,8.1,432,19116,0.17,2.25,0.00,0.000,6,0.171,0.047,2108,2301,1912
$GC,19444,0.54,250.0,637.3,5.5,438,19448,0.00,2.30,0.00,0.000,4,0.000,0.061,2108,3720,1911
$GC,19465,0.54,250.0,635.9,6.9,438,19469,0.00,2.28,0.00,0.000,6,0.000,0.045,2116,2299,1911
$GC,19808,0.54,250.0,614.9,6.2,444,19812,0.00,2.30,0.00,0.000,4,0.000,0.063,2115,3723,1910
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$STATE,28759,end climb,SURFACE_DEPTH_REACHED
$STATE,28760,begin surface coast
$FINISH,0.9,1.014084
$STATE,28782,end surface coast,CONTROL_FINISHED_OK
$STATE,28782,begin surface
$SM_CCo,28796,19.75,0.657,0,0,1707,300.00
$SM_GC,2.25,0.00,0.00,19.75,0.000,0.000,0.657,103,2305,1707,-8.73,0.06,300.00
$IRIDIUM_FIX,4946.36,-14446.46,170998,020214
$TT8_MAMPS,0.029146
$HUMID,1610
$INTERNAL_PRESSURE,7.40263
$TCM_TEMP,16.20
$XPDR_PINGS,64
$24V_AH,23.5,8.548
$10V_AH,10.7,4.895
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$DEVICE_SECS,23.850,248.075,325.325,19.750,0.000,31.312,25.168,154.076,16.000,0.000,0.000,16.245,1729.983,24044.059,521.723,2258.393,586.471,33.366,1667.280,0.000,2255.187,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,532.925,602.922,774.428,1289.690,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44315,751
$CAP_FILE_SIZE,196311,0
$CFSIZE,260165632,256294912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,230609,184327,5011.402,-14441.909,38,3.1,57,18.6