version: 66.04
glider: 144
mission: 15
dive: 71
start: 7 5 109 13 1 49
data:
$ID,144
$MISSION,15
$DIVE,71
$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,-62330.852
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,125454,4953.493,-14512.334,69,1.7,69,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-68.0
$GPS2,130055,4953.507,-14512.355,11,1.2,11,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.120,0.117
$KALMAN_X,-33807.2,-306.4,-49.7,20467.7,773.2
$KALMAN_Y,14795.6,-161.0,-46.1,-26043.9,959.5
$MHEAD_RNG_PITCHd_Wd,27.4,36361,-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,-31.90,0.000,2,0.000,0.000,102,2303,2579
$GC,53,-0.68,-117.3,3.3,-6.1,3,88,6.97,2.38,-21.88,0.000,4,0.243,0.070,1837,3710,3412
$GC,168,-0.50,-117.3,17.1,-13.5,13,173,0.20,2.22,0.00,0.000,6,0.127,0.037,1896,2297,3413
$GC,501,-0.60,-117.3,44.7,-7.4,44,505,0.10,2.25,0.00,0.000,4,0.071,0.047,1840,882,3414
$GC,601,-0.49,-117.3,55.4,-11.2,52,608,0.20,2.25,0.00,0.000,6,0.132,0.044,1895,2308,3415
$GC,928,-0.57,-117.3,79.5,-7.9,83,931,0.00,2.25,0.00,0.000,4,0.000,0.048,1896,890,3415
$GC,955,-0.67,-117.3,82.0,-8.2,84,960,0.12,2.22,0.00,0.000,6,0.061,0.041,1820,2305,3415
$GC,1271,-0.48,-117.3,122.0,-12.8,99,1275,0.22,2.25,0.00,0.000,4,0.131,0.060,1885,3719,3416
$GC,1286,-0.38,-117.3,123.9,-11.9,99,1294,0.12,2.17,0.00,0.000,6,0.113,0.035,1924,2300,3416
$GC,1603,-0.97,-117.3,144.0,-5.2,115,1608,0.38,2.20,0.00,0.000,4,0.063,0.047,1775,893,3416
$GC,1755,-0.72,-117.3,160.2,-11.4,121,1760,0.28,2.22,0.00,0.000,6,0.140,0.047,1848,2311,3416
$GC,2068,-0.72,-117.3,184.6,-7.8,131,2072,0.00,2.25,0.00,0.000,4,0.000,0.050,1848,887,3415
$GC,2117,-0.72,-117.3,188.8,-8.3,132,2121,0.00,2.25,0.00,0.000,6,0.000,0.049,1848,2300,3416
$GC,2435,-0.72,-117.3,213.9,-7.9,143,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2300,3415
$GC,2741,-0.72,-117.3,237.2,-7.5,153,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2300,3415
$GC,3048,-0.72,-117.3,258.9,-6.8,163,3052,0.00,2.22,0.00,0.000,4,0.000,0.051,1848,894,3414
$GC,3086,-0.77,-117.3,261.7,-7.3,164,3090,0.00,2.22,0.00,0.000,6,0.000,0.050,1848,2308,3414
$GC,3415,-0.77,-117.3,282.3,-6.3,175,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2308,3414
$GC,3722,-0.81,-117.3,301.6,-6.2,185,3724,0.10,0.00,0.00,0.000,6,0.077,0.000,1794,2308,3414
$GC,4025,-0.65,-117.3,329.3,-9.3,190,4030,0.20,2.25,0.00,0.000,4,0.130,0.051,1859,890,3413
$GC,4069,-0.77,-117.3,332.8,-6.9,190,4073,0.00,2.22,0.00,0.000,6,0.000,0.048,1852,2311,3413
$GC,4390,-0.85,-117.3,352.4,-6.1,196,4392,0.12,0.00,0.00,0.000,6,0.069,0.000,1780,2312,3413
$GC,4693,-0.65,-117.3,382.3,-10.1,201,4698,0.22,2.22,0.00,0.000,4,0.133,0.063,1847,3712,3412
$GC,4719,-0.65,-117.3,384.8,-8.1,201,4723,0.00,2.17,0.00,0.000,6,0.000,0.043,1847,2296,3412
$GC,5058,-0.72,-117.3,407.0,-6.7,207,5061,0.00,2.20,0.00,0.000,4,0.000,0.054,1847,894,3411
$GC,5097,-0.79,-117.3,409.7,-7.1,207,5101,0.00,2.22,0.00,0.000,6,0.000,0.051,1840,2314,3411
$GC,5423,-0.79,-117.3,431.4,-6.5,213,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2314,3411
$GC,5726,-0.83,-117.3,449.3,-5.9,218,5730,0.00,2.25,0.00,0.000,4,0.000,0.051,1840,889,3411
$GC,5770,-0.88,-117.3,452.3,-6.5,218,5775,0.10,2.22,0.00,0.000,6,0.077,0.051,1782,2308,3411
$GC,6086,-0.69,-117.3,480.3,-9.2,224,6087,0.22,0.00,0.00,0.000,6,0.134,0.000,1849,2308,3410
$GC,6389,-0.78,-117.3,497.3,-5.4,229,6393,0.00,2.22,0.00,0.000,4,0.000,0.051,1849,895,3410
$GC,6416,-0.88,-117.3,499.1,-6.1,229,6421,0.15,2.22,0.00,0.000,6,0.061,0.048,1773,2310,3411
$GC,6748,-0.67,-117.3,531.5,-10.0,235,6750,0.28,0.00,0.00,0.000,6,0.135,0.000,1856,2309,3410
$GC,7051,-0.80,-117.3,548.9,-5.5,240,7053,0.12,0.00,0.00,0.000,6,0.064,0.000,1790,2310,3410
$GC,7355,-0.67,-117.3,574.9,-8.7,245,7357,0.22,0.00,0.00,0.000,6,0.128,0.000,1859,2310,3409
$GC,7658,-0.82,-117.3,590.9,-5.1,250,7660,0.12,0.00,0.00,0.000,6,0.065,0.000,1792,2310,3409
$GC,7960,-0.70,-117.3,615.2,-8.2,255,7962,0.20,0.00,0.00,0.000,6,0.126,0.000,1853,2310,3409
$GC,8264,-0.84,-117.3,630.7,-4.9,260,8269,0.12,2.25,0.00,0.000,4,0.070,0.056,1793,894,3409
$GC,8304,-0.71,-117.3,633.7,-8.7,260,8309,0.22,2.22,0.00,0.000,6,0.132,0.048,1850,2314,3409
$GC,8625,-0.84,-117.3,650.4,-5.0,266,8627,0.12,0.00,0.00,0.000,6,0.074,0.000,1794,2314,3409
$GC,8928,-0.74,-117.3,673.6,-7.8,271,8929,0.15,0.00,0.00,0.000,6,0.130,0.000,1839,2314,3408
$GC,9231,-0.82,-117.3,690.8,-5.6,276,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2314,3408
$GC,9534,-0.91,-117.3,708.5,-5.8,281,9536,0.12,0.00,0.00,0.000,6,0.077,0.000,1785,2314,3407
$GC,9837,-0.77,-117.3,734.2,-8.6,286,9841,0.17,2.25,0.00,0.000,4,0.135,0.057,1836,899,3408
$GC,9881,-0.84,-117.3,737.5,-6.2,286,9885,0.00,2.22,0.00,0.000,6,0.000,0.054,1836,2309,3408
$GC,10196,-0.92,-117.3,756.9,-6.1,292,10201,0.12,2.25,0.00,0.000,4,0.080,0.060,1782,896,3408
$GC,10229,-0.76,-117.3,759.7,-9.0,292,10234,0.22,2.20,0.00,0.000,6,0.142,0.048,1838,2305,3408
$GC,10561,-0.85,-117.3,780.2,-6.1,298,10563,0.10,0.00,0.00,0.000,6,0.091,0.000,1799,2305,3408
$GC,10864,-0.77,-117.3,804.1,-7.9,303,10869,0.12,2.25,0.00,0.000,4,0.138,0.061,1824,3716,3407
$GC,10902,-0.84,-117.3,806.8,-6.9,303,10906,0.00,2.17,0.00,0.000,6,0.000,0.044,1824,2307,3407
$GC,11228,-0.84,-117.3,828.4,-6.7,309,11229,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2307,3407
$GC,11532,-0.84,-117.3,847.9,-6.4,314,11533,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2307,3407
$GC,11835,-0.84,-117.3,867.7,-6.5,319,11836,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2307,3407
$GC,12138,-0.84,-117.3,886.8,-6.3,324,12139,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2307,3407
$GC,12441,-0.88,-117.3,905.4,-6.1,329,12442,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2307,3407
$GC,12744,-0.88,-117.3,922.7,-5.6,334,12748,0.00,2.28,0.00,0.000,4,0.000,0.067,1814,3719,3407
$GC,12771,-0.88,-117.3,924.4,-5.9,334,12775,0.00,2.20,0.00,0.000,6,0.000,0.046,1814,2303,3407
$GC,13108,-0.88,-117.3,944.4,-5.9,340,13110,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2303,3407
$GC,13412,-0.88,-117.3,961.8,-5.8,345,13413,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2303,3407
$GC,13715,-0.88,-117.3,978.1,-5.3,350,13716,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2303,3407
$STATE,13955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13955,begin apogee
$GC,13960,-0.22,0.0,991.1,5.3,354,14056,0.45,0.00,92.65,1.348,6,0.133,0.000,1956,2302,2931
$STATE,14057,end apogee,CONTROL_FINISHED_OK
$STATE,14057,begin climb
$GC,14059,0.68,117.3,991.8,0.0,355,14164,0.60,2.50,97.82,1.322,4,0.090,0.063,2152,3707,2451
$GC,14193,0.25,117.3,986.5,8.2,357,14200,0.43,2.35,0.00,0.000,6,0.186,0.048,2053,2307,2446
$GC,14503,0.43,144.2,972.0,4.6,363,14533,0.15,2.47,22.08,1.251,4,0.075,0.060,2118,886,2342
$GC,14613,0.32,144.2,965.1,6.3,364,14618,0.17,2.35,0.00,0.000,6,0.151,0.051,2073,2300,2339
$GC,14934,0.40,171.1,950.0,4.6,370,14964,0.00,2.42,23.33,1.253,4,0.000,0.067,2073,3710,2232
$GC,15003,0.40,171.1,946.3,6.4,371,15008,0.00,2.33,0.00,0.000,6,0.000,0.048,2081,2293,2230
$GC,15370,0.48,195.5,929.1,4.7,377,15394,0.08,0.00,21.38,1.239,6,0.097,0.000,2116,2293,2133
$GC,15673,0.40,195.5,909.5,6.6,382,15675,0.12,0.00,0.00,0.000,6,0.157,0.000,2085,2292,2129
$GC,15976,0.49,212.6,894.5,4.9,387,15994,0.00,0.00,15.52,1.193,6,0.000,0.000,2086,2292,2064
$GC,16280,0.60,225.2,879.2,5.1,392,16294,0.15,0.00,12.07,1.149,6,0.069,0.000,2144,2292,2012
$GC,16583,0.43,225.2,852.6,9.0,397,16585,0.20,0.00,0.00,0.000,6,0.153,0.000,2090,2292,2007
$GC,16885,0.52,225.2,834.7,5.7,402,16887,0.10,0.00,0.00,0.000,6,0.080,0.000,2131,2292,2006
$GC,17188,0.41,225.2,809.5,8.5,407,17190,0.17,0.00,0.00,0.000,6,0.147,0.000,2083,2292,2006
$GC,17492,0.55,230.6,793.0,5.3,412,17500,0.12,0.00,5.28,0.893,6,0.070,0.000,2137,2292,1990
$GC,17795,0.41,230.6,767.7,8.5,417,17797,0.17,0.00,0.00,0.000,6,0.147,0.000,2089,2292,1989
$GC,18098,0.53,240.7,751.7,5.2,422,18110,0.10,0.00,10.15,1.059,6,0.076,0.000,2134,2292,1949
$GC,18401,0.43,240.7,728.2,7.9,427,18403,0.15,0.00,0.00,0.000,6,0.143,0.000,2093,2292,1946
$GC,18704,0.56,250.7,712.0,5.2,432,18716,0.10,0.00,9.68,1.025,6,0.072,0.000,2141,2292,1909
$GC,19007,0.44,250.7,686.0,8.8,437,19009,0.17,0.00,0.00,0.000,6,0.143,0.000,2092,2292,1906
$GC,19310,0.58,250.7,668.3,5.7,442,19315,0.12,2.33,0.00,0.000,4,0.064,0.060,2151,3717,1905
$GC,19333,0.58,250.7,666.4,8.5,442,19338,0.15,2.25,0.00,0.000,6,0.166,0.049,2124,2297,1905
$GC,19670,0.58,250.7,640.0,7.6,448,19674,0.00,2.25,0.00,0.000,4,0.000,0.057,2133,892,1905
$GC,19703,0.58,250.7,637.4,6.7,448,19707,0.00,2.25,0.00,0.000,6,0.000,0.052,2132,2310,1905
$GC,20030,0.50,250.7,610.5,8.4,454,20034,0.10,2.25,0.00,0.000,4,0.156,0.060,2108,3711,1905
$GC,20068,0.50,250.7,607.1,8.8,454,20072,0.00,2.20,0.00,0.000,6,0.000,0.041,2116,2301,1905
$GC,20395,0.50,250.7,584.5,6.9,460,20396,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2301,1904
$GC,20697,0.50,250.7,565.2,6.4,465,20698,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2301,1904
$GC,21001,0.50,250.7,546.9,6.0,470,21005,0.00,2.28,0.00,0.000,4,0.000,0.059,2116,3717,1904
$GC,21033,0.50,250.7,544.5,6.7,470,21037,0.00,2.20,0.00,0.000,6,0.000,0.041,2125,2303,1904
$GC,21365,0.50,250.7,522.7,6.6,476,21367,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2304,1904
$GC,21669,0.50,250.7,500.7,7.3,481,21670,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2304,1904
$GC,21972,0.50,250.7,477.6,7.7,486,21976,0.00,2.25,0.00,0.000,4,0.000,0.057,2125,3712,1903
$GC,21994,0.46,250.7,475.6,8.2,486,21998,0.15,2.17,0.00,0.000,6,0.149,0.041,2093,2303,1904
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$GC,28309,0.81,286.6,39.2,5.0,712,28332,0.00,2.30,13.43,0.664,4,0.000,0.054,2183,888,1761
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$STATE,28923,end climb,SURFACE_DEPTH_REACHED
$STATE,28923,begin surface coast
$FINISH,1.1,1.000464
$STATE,28956,end surface coast,CONTROL_FINISHED_OK
$STATE,28956,begin surface
$SM_CCo,28971,10.30,0.620,0,0,1708,300.00
$SM_GC,3.32,0.00,0.00,10.30,0.000,0.000,0.620,100,2302,1708,-8.74,-0.03,300.00
$IRIDIUM_FIX,4936.36,-14508.15,290998,050522
$TT8_MAMPS,0.029146
$HUMID,1616
$INTERNAL_PRESSURE,7.40263
$TCM_TEMP,15.10
$XPDR_PINGS,50
$24V_AH,23.5,13.405
$10V_AH,10.7,9.406
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$DEVICE_SECS,24.400,170.425,344.500,10.300,0.000,33.080,36.693,156.390,12.500,0.000,0.000,12.968,1668.536,24508.896,497.277,2068.433,592.425,33.371,1509.831,0.000,2072.397,0.000,0.528,0.000
$DEVICE_MAMPS,243.139,69.797,1348.386,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,548.366,616.515,793.392,1323.724,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44205,771
$CAP_FILE_SIZE,174685,0
$CFSIZE,260165632,253411328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050709,210607,4956.287,-14508.798,35,1.9,35,18.4