version: 66.04
glider: 144
mission: 15
dive: 80
start: 7 8 109 12 40 43
data:
$ID,144
$MISSION,15
$DIVE,80
$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,-62485.504
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,123407,5010.688,-14441.742,28,1.4,28,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-63.8
$GPS2,123949,5010.710,-14441.779,9,1.8,14,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.136,0.098
$KALMAN_X,-41421.9,-154.5,-44.1,64322.3,-896.3
$KALMAN_Y,23609.2,-222.7,-30.9,-2953.8,1873.8
$MHEAD_RNG_PITCHd_Wd,35.8,23729,-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,-42.33,0.000,2,0.000,0.000,101,2299,2700
$GC,64,-0.68,-117.3,3.6,-4.9,4,98,6.88,2.35,-17.02,0.000,4,0.242,0.068,1842,886,3413
$GC,282,-0.54,-117.3,32.5,-11.8,23,289,0.17,2.25,0.00,0.000,6,0.137,0.045,1885,2309,3416
$GC,609,-0.58,-117.3,59.0,-7.7,54,610,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2308,3416
$GC,935,-0.62,-117.3,83.2,-7.4,83,939,0.00,2.25,0.00,0.000,4,0.000,0.049,1885,887,3417
$GC,975,-0.70,-117.3,86.3,-8.0,84,982,0.10,2.22,0.00,0.000,6,0.067,0.044,1820,2309,3417
$GC,1291,-0.53,-117.3,123.7,-11.9,100,1293,0.22,0.00,0.00,0.000,6,0.130,0.000,1887,2309,3417
$GC,1600,-0.68,-117.3,145.2,-6.6,115,1605,0.12,2.25,0.00,0.000,4,0.060,0.048,1817,886,3417
$GC,1752,-0.59,-117.3,161.1,-10.5,120,1757,0.22,2.22,0.00,0.000,6,0.126,0.045,1877,2308,3418
$GC,2065,-0.72,-117.3,181.0,-5.9,130,2067,0.12,0.00,0.00,0.000,6,0.059,0.000,1806,2309,3418
$GC,2371,-0.57,-117.3,211.8,-10.5,140,2376,0.20,2.22,0.00,0.000,4,0.127,0.050,1873,891,3417
$GC,2432,-0.72,-117.3,217.0,-8.0,141,2438,0.00,2.22,0.00,0.000,6,0.000,0.044,1865,2315,3417
$GC,2745,-0.82,-117.3,238.4,-6.8,152,2749,0.15,2.25,0.00,0.000,4,0.057,0.048,1783,879,3417
$GC,2779,-0.62,-117.3,241.8,-11.1,153,2784,0.30,2.22,0.00,0.000,6,0.131,0.046,1870,2305,3417
$GC,3114,-0.74,-117.3,265.1,-6.9,164,3116,0.12,0.00,0.00,0.000,6,0.062,0.000,1799,2305,3416
$GC,3420,-0.59,-117.3,296.5,-10.3,174,3424,0.20,2.22,0.00,0.000,4,0.127,0.049,1867,891,3416
$GC,3464,-0.72,-117.3,300.2,-7.3,175,3468,0.00,2.22,0.00,0.000,6,0.000,0.051,1863,2314,3415
$GC,3785,-0.83,-117.3,320.9,-6.4,181,3787,0.15,0.00,0.00,0.000,6,0.055,0.000,1781,2314,3415
$GC,4088,-0.62,-117.3,353.6,-11.1,186,4092,0.25,2.25,0.00,0.000,4,0.131,0.051,1863,890,3415
$GC,4137,-0.76,-117.3,357.9,-7.7,186,4142,0.10,2.22,0.00,0.000,6,0.073,0.046,1803,2310,3415
$GC,4447,-0.64,-117.3,388.1,-9.9,191,4449,0.20,0.00,0.00,0.000,6,0.128,0.000,1862,2310,3415
$GC,4750,-0.76,-117.3,407.4,-6.2,196,4755,0.10,2.25,0.00,0.000,4,0.071,0.051,1806,882,3414
$GC,4873,-0.67,-117.3,418.7,-9.7,197,4880,0.20,2.22,0.00,0.000,6,0.126,0.046,1857,2303,3414
$GC,5183,-0.78,-117.3,438.3,-6.2,203,5188,0.10,2.22,0.00,0.000,4,0.072,0.056,1802,891,3414
$GC,5223,-0.66,-117.3,441.8,-9.6,203,5228,0.20,2.22,0.00,0.000,6,0.129,0.049,1854,2313,3413
$GC,5543,-0.76,-117.3,463.4,-6.6,209,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2313,3413
$GC,5846,-0.88,-117.3,482.0,-6.1,214,5848,0.15,0.00,0.00,0.000,6,0.059,0.000,1780,2314,3413
$GC,6150,-0.69,-117.3,510.9,-9.8,219,6152,0.22,0.00,0.00,0.000,6,0.130,0.000,1849,2313,3413
$GC,6453,-0.78,-117.3,527.3,-5.2,224,6457,0.00,2.25,0.00,0.000,4,0.000,0.058,1848,888,3413
$GC,6497,-0.88,-117.3,529.7,-5.5,224,6502,0.15,2.22,0.00,0.000,6,0.059,0.048,1770,2309,3413
$GC,6812,-0.67,-117.3,556.8,-8.8,230,6814,0.28,0.00,0.00,0.000,6,0.133,0.000,1854,2309,3412
$GC,7115,-0.78,-117.3,570.5,-4.3,235,7117,0.10,0.00,0.00,0.000,6,0.073,0.000,1799,2309,3412
$GC,7418,-0.68,-117.3,593.0,-7.6,240,7420,0.17,0.00,0.00,0.000,6,0.124,0.000,1852,2309,3412
$GC,7722,-0.80,-117.3,610.4,-5.7,245,7726,0.10,2.25,0.00,0.000,4,0.074,0.055,1797,884,3411
$GC,7766,-0.69,-117.3,614.0,-8.9,245,7771,0.22,2.22,0.00,0.000,6,0.129,0.048,1858,2303,3411
$GC,8083,-0.83,-117.3,631.8,-5.5,251,8084,0.12,0.00,0.00,0.000,6,0.067,0.000,1794,2304,3411
$GC,8384,-0.72,-117.3,656.9,-8.5,256,8386,0.17,0.00,0.00,0.000,6,0.127,0.000,1846,2303,3411
$GC,8687,-0.83,-117.3,676.3,-6.3,261,8691,0.10,2.22,0.00,0.000,4,0.079,0.051,1797,892,3411
$GC,8725,-0.72,-117.3,679.6,-9.5,261,8730,0.20,2.22,0.00,0.000,6,0.130,0.050,1848,2310,3411
$GC,9046,-0.84,-117.3,699.9,-6.2,267,9050,0.12,2.25,0.00,0.000,4,0.072,0.057,1792,889,3410
$GC,9072,-0.76,-117.3,702.2,-9.0,267,9077,0.17,2.22,0.00,0.000,6,0.133,0.051,1833,2307,3410
$GC,9404,-0.82,-117.3,725.2,-6.8,273,9408,0.00,2.25,0.00,0.000,4,0.000,0.055,1833,886,3410
$GC,9443,-0.88,-117.3,727.8,-6.9,273,9447,0.00,2.22,0.00,0.000,6,0.000,0.048,1826,2302,3410
$GC,9763,-0.88,-117.3,748.1,-6.3,279,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2303,3410
$GC,10066,-0.88,-117.3,765.3,-5.6,284,10070,0.00,2.25,0.00,0.000,4,0.000,0.060,1826,887,3409
$GC,10109,-0.88,-117.3,768.0,-5.9,284,10113,0.00,2.25,0.00,0.000,6,0.000,0.054,1820,2313,3410
$GC,10431,-0.88,-117.3,785.5,-5.5,290,10432,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2313,3410
$GC,10734,-0.88,-117.3,802.2,-5.6,295,10738,0.00,2.28,0.00,0.000,4,0.000,0.061,1820,887,3409
$GC,10772,-0.88,-117.3,804.7,-6.6,295,10776,0.00,2.25,0.00,0.000,6,0.000,0.050,1810,2311,3409
$GC,11098,-0.88,-117.3,825.7,-6.6,301,11102,0.00,2.28,0.00,0.000,4,0.000,0.059,1812,883,3409
$GC,11148,-0.88,-117.3,829.4,-7.5,301,11152,0.00,2.25,0.00,0.000,6,0.000,0.050,1806,2308,3409
$GC,11464,-0.84,-117.3,850.8,-6.9,307,11468,0.00,2.25,0.00,0.000,4,0.000,0.061,1806,893,3409
$GC,11527,-0.78,-117.3,855.5,-7.2,308,11532,0.12,2.22,0.00,0.000,6,0.143,0.052,1831,2306,3409
$GC,11893,-0.85,-117.3,877.2,-5.9,314,11897,0.00,2.25,0.00,0.000,4,0.000,0.060,1831,890,3409
$GC,11931,-0.92,-117.3,879.8,-7.3,314,11936,0.10,2.22,0.00,0.000,6,0.084,0.049,1781,2305,3409
$GC,12252,-0.78,-117.3,907.0,-8.7,320,12256,0.17,2.25,0.00,0.000,4,0.144,0.066,1828,3712,3408
$GC,12302,-0.88,-117.3,910.8,-6.6,320,12306,0.00,2.17,0.00,0.000,6,0.000,0.041,1829,2302,3408
$GC,12612,-0.93,-117.3,930.7,-6.4,325,12616,0.12,2.25,0.00,0.000,4,0.086,0.057,1779,887,3408
$GC,12656,-0.77,-117.3,934.6,-9.1,325,12661,0.22,2.22,0.00,0.000,6,0.148,0.052,1833,2301,3408
$GC,12972,-0.86,-117.3,954.3,-6.1,331,12976,0.00,2.25,0.00,0.000,4,0.000,0.059,1834,888,3408
$GC,13005,-0.93,-117.3,956.6,-7.0,331,13009,0.12,2.22,0.00,0.000,6,0.081,0.054,1782,2304,3408
$GC,13337,-0.80,-117.3,984.8,-8.7,337,13342,0.17,2.25,0.00,0.000,4,0.145,0.062,1822,3711,3408
$GC,13381,-0.88,-117.3,988.1,-6.5,337,13384,0.00,2.20,0.00,0.000,6,0.000,0.044,1823,2292,3408
$STATE,13457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13457,begin apogee
$GC,13462,-0.22,0.0,993.5,6.9,339,13558,0.40,0.00,93.07,1.348,6,0.123,0.000,1951,2292,2931
$STATE,13559,end apogee,CONTROL_FINISHED_OK
$STATE,13559,begin climb
$GC,13561,0.68,117.3,995.1,0.0,340,13665,0.60,2.50,97.65,1.322,4,0.086,0.061,2149,3710,2451
$GC,13702,0.24,117.3,991.8,7.3,343,13708,0.43,2.33,0.00,0.000,6,0.185,0.046,2052,2308,2447
$GC,14069,0.48,169.0,978.3,3.8,349,14119,0.17,2.47,43.03,1.293,4,0.071,0.058,2132,897,2240
$GC,14225,0.36,169.0,968.2,7.2,351,14230,0.20,2.33,0.00,0.000,6,0.150,0.052,2079,2301,2235
$GC,14564,0.44,183.3,951.2,5.0,357,14583,0.00,2.42,12.10,1.176,4,0.000,0.061,2079,3722,2182
$GC,14611,0.44,183.3,948.1,6.3,357,14615,0.00,2.30,0.00,0.000,6,0.000,0.047,2087,2298,2181
$GC,14933,0.48,185.9,930.7,5.4,363,14937,0.00,2.30,0.00,0.000,4,0.000,0.061,2098,891,2179
$GC,14954,0.53,185.9,929.4,5.5,363,14958,0.00,2.28,0.00,0.000,6,0.000,0.048,2098,2306,2179
$GC,15297,0.53,185.9,908.9,6.1,369,15301,0.00,2.28,0.00,0.000,4,0.000,0.064,2098,3710,2178
$GC,15330,0.46,185.9,906.4,7.6,369,15334,0.00,2.22,0.00,0.000,6,0.000,0.044,2108,2304,2177
$GC,15657,0.41,185.9,884.3,6.7,375,15658,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2304,2177
$GC,15960,0.37,185.9,863.2,6.9,380,15965,0.12,2.28,0.00,0.000,4,0.166,0.058,2085,893,2177
$GC,15983,0.41,185.9,861.9,5.9,380,15987,0.00,2.25,0.00,0.000,6,0.000,0.048,2085,2307,2176
$GC,16321,0.47,188.3,843.3,5.4,386,16327,0.00,0.00,4.85,0.882,6,0.000,0.000,2085,2307,2162
$GC,16624,0.54,195.8,827.3,5.2,391,16635,0.12,0.00,8.25,1.056,6,0.075,0.000,2139,2307,2132
$GC,16927,0.37,195.8,801.7,8.7,396,16929,0.22,0.00,0.00,0.000,6,0.153,0.000,2076,2307,2129
$GC,17230,0.50,205.9,785.5,5.2,401,17242,0.12,0.00,9.93,1.077,6,0.070,0.000,2130,2307,2091
$GC,17533,0.37,205.9,762.1,7.9,406,17538,0.20,2.28,0.00,0.000,4,0.147,0.058,2068,3716,2088
$GC,17560,0.41,205.9,760.0,6.6,406,17564,0.00,2.22,0.00,0.000,6,0.000,0.040,2077,2295,2088
$GC,17899,0.55,226.7,743.8,4.8,412,17920,0.15,0.00,18.90,1.127,6,0.063,0.000,2146,2295,2006
$GC,18202,0.39,226.7,718.1,8.7,417,18203,0.22,0.00,0.00,0.000,6,0.146,0.000,2082,2294,2001
$GC,18505,0.54,236.6,702.2,5.2,422,18517,0.12,0.00,9.30,1.009,6,0.064,0.000,2143,2294,1966
$GC,18808,0.40,236.6,674.7,9.3,427,18813,0.20,2.33,0.00,0.000,4,0.141,0.059,2082,3716,1963
$GC,18840,0.47,236.6,671.9,7.1,427,18844,0.00,2.22,0.00,0.000,6,0.000,0.041,2090,2302,1962
$GC,19174,0.59,236.6,652.2,5.9,433,19179,0.12,2.28,0.00,0.000,4,0.066,0.054,2165,887,1962
$GC,19195,0.59,236.6,650.4,7.2,433,19200,0.15,2.25,0.00,0.000,6,0.150,0.051,2125,2304,1961
$GC,19539,0.54,236.6,624.1,7.6,439,19543,0.00,2.28,0.00,0.000,4,0.000,0.063,2126,3717,1961
$GC,19572,0.45,236.6,621.2,8.2,439,19577,0.15,2.22,0.00,0.000,6,0.152,0.041,2093,2300,1961
$GC,19898,0.58,243.4,603.6,5.3,445,19913,0.12,2.33,6.68,0.886,4,0.061,0.055,2169,888,1938
$GC,19935,0.44,243.4,600.7,8.1,445,19940,0.28,2.25,0.00,0.000,6,0.140,0.052,2090,2304,1937
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$STATE,27912,end climb,SURFACE_DEPTH_REACHED
$STATE,27913,begin surface coast
$FINISH,1.2,1.024924
$STATE,27937,end surface coast,CONTROL_FINISHED_OK
$STATE,27937,begin surface
$SM_CCo,27952,4.57,0.507,0,0,1708,300.00
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$IRIDIUM_FIX,4949.70,-14446.46,021098,040443
$TT8_MAMPS,0.029146
$HUMID,1621
$INTERNAL_PRESSURE,7.42216
$TCM_TEMP,14.80
$XPDR_PINGS,76
$24V_AH,23.5,14.630
$10V_AH,10.7,10.519
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$DEVICE_SECS,27.350,220.600,352.050,4.575,0.000,29.520,36.029,155.415,19.000,0.000,0.000,16.279,1710.854,23214.883,522.577,2244.725,600.763,33.373,1647.814,0.000,2243.031,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,519.588,587.941,759.245,1262.422,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44279,735
$CAP_FILE_SIZE,193594,0
$CFSIZE,260165632,252682240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080709,202801,5012.777,-14437.779,40,1.7,40,18.6