version: 66.04
glider: 144
mission: 15
dive: 95
start: 7 13 109 14 18 7
data:
$ID,144
$MISSION,15
$DIVE,95
$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,-62783.551
$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,30
$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
$GPS1,141107,4958.084,-14427.720,26,1.0,26,18.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-68.1
$GPS2,141713,4958.040,-14427.746,14,1.0,31,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.068,-0.154
$KALMAN_X,-47165.3,-75.7,-180.2,86837.5,373.1
$KALMAN_Y,57714.3,367.3,-140.1,-61003.8,-640.1
$MHEAD_RNG_PITCHd_Wd,185.2,7866,-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,13,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.55,0.000,2,0.000,0.000,100,2304,2755
$GC,61,-0.68,-117.3,3.8,-5.9,4,89,6.95,2.30,-14.82,0.000,4,0.245,0.070,1845,3719,3411
$GC,173,-0.51,-117.3,21.1,-13.0,13,180,0.15,2.20,0.00,0.000,6,0.133,0.035,1887,2300,3413
$GC,500,-0.56,-117.3,51.8,-7.8,44,503,0.00,2.22,0.00,0.000,4,0.000,0.048,1887,894,3413
$GC,538,-0.67,-117.3,55.1,-7.8,47,545,0.10,2.22,0.00,0.000,6,0.067,0.042,1817,2314,3414
$GC,862,-0.44,-117.3,94.0,-12.4,73,867,0.28,2.25,0.00,0.000,4,0.135,0.048,1903,895,3415
$GC,889,-0.44,-117.3,96.9,-8.6,74,893,0.00,2.22,0.00,0.000,6,0.000,0.048,1903,2305,3415
$GC,1210,-0.57,-117.3,117.2,-6.5,90,1212,0.10,0.00,0.00,0.000,6,0.067,0.000,1839,2306,3416
$GC,1521,-0.51,-117.3,147.6,-9.8,105,1526,0.17,2.25,0.00,0.000,4,0.124,0.047,1892,885,3416
$GC,1584,-0.71,-117.3,152.6,-7.0,108,1588,0.15,2.22,0.00,0.000,6,0.055,0.050,1807,2304,3416
$GC,1919,-0.55,-117.3,186.6,-9.7,119,1923,0.22,2.25,0.00,0.000,4,0.131,0.057,1872,3720,3416
$GC,1951,-0.68,-117.3,189.1,-6.3,120,1955,0.00,2.17,0.00,0.000,6,0.000,0.035,1872,2298,3416
$GC,2287,-0.81,-117.3,206.6,-5.4,131,2289,0.15,0.00,0.00,0.000,6,0.057,0.000,1789,2298,3415
$GC,2593,-0.61,-117.3,237.6,-10.3,141,2597,0.22,2.20,0.00,0.000,4,0.133,0.052,1863,887,3415
$GC,2642,-0.73,-117.3,241.4,-6.7,142,2646,0.00,2.22,0.00,0.000,6,0.000,0.051,1863,2305,3415
$GC,2955,-0.82,-117.3,259.0,-5.4,152,2957,0.15,0.00,0.00,0.000,6,0.057,0.000,1780,2306,3415
$GC,3261,-0.59,-117.3,289.8,-10.6,162,3266,0.28,2.22,0.00,0.000,4,0.133,0.049,1869,893,3414
$GC,3300,-0.73,-117.3,292.9,-6.3,163,3304,0.00,2.22,0.00,0.000,6,0.000,0.044,1863,2312,3414
$GC,3627,-0.84,-117.3,311.6,-5.7,171,3629,0.15,0.00,0.00,0.000,6,0.057,0.000,1778,2313,3413
$GC,3931,-0.61,-117.3,341.7,-10.2,176,3933,0.30,0.00,0.00,0.000,6,0.133,0.000,1869,2313,3413
$GC,4234,-0.76,-117.3,356.3,-4.5,181,4238,0.12,2.22,0.00,0.000,4,0.061,0.049,1799,897,3413
$GC,4257,-0.76,-117.3,357.8,-6.5,181,4261,0.15,2.20,0.00,0.000,6,0.142,0.048,1834,2304,3413
$GC,4593,-0.76,-117.3,379.3,-6.3,187,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2304,3412
$GC,4896,-0.76,-117.3,399.7,-6.7,192,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2305,3412
$GC,5200,-0.76,-117.3,421.8,-7.4,197,5204,0.00,2.22,0.00,0.000,4,0.000,0.051,1833,890,3412
$GC,5238,-0.76,-117.3,425.1,-8.4,197,5243,0.00,2.25,0.00,0.000,6,0.000,0.048,1828,2308,3411
$GC,5571,-0.76,-117.3,450.7,-7.7,203,5575,0.00,2.22,0.00,0.000,4,0.000,0.056,1828,896,3411
$GC,5611,-0.76,-117.3,454.0,-8.7,203,5615,0.00,2.20,0.00,0.000,6,0.000,0.050,1822,2302,3411
$GC,5937,-0.76,-117.3,479.9,-8.0,209,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2302,3411
$GC,6239,-0.76,-117.3,503.6,-7.8,214,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2302,3410
$GC,6543,-0.76,-117.3,527.8,-8.0,219,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2301,3411
$GC,6846,-0.76,-117.3,551.3,-7.8,224,6849,0.00,2.22,0.00,0.000,4,0.000,0.058,1821,894,3410
$GC,6878,-0.76,-117.3,554.1,-8.5,224,6882,0.00,2.22,0.00,0.000,6,0.000,0.048,1816,2309,3410
$GC,7216,-0.76,-117.3,580.8,-7.9,230,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2310,3409
$GC,7519,-0.76,-117.3,604.4,-7.7,235,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2310,3409
$GC,7823,-0.76,-117.3,626.6,-7.3,240,7826,0.00,2.22,0.00,0.000,4,0.000,0.052,1816,899,3409
$GC,7883,-0.76,-117.3,631.3,-7.8,240,7890,0.08,2.22,0.00,0.000,6,0.134,0.051,1835,2297,3409
$GC,8194,-0.81,-117.3,649.8,-6.0,246,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2297,3409
$GC,8497,-0.87,-117.3,668.2,-6.1,251,8501,0.10,2.22,0.00,0.000,4,0.076,0.053,1784,896,3409
$GC,8519,-0.81,-117.3,669.9,-7.2,251,8524,0.17,2.22,0.00,0.000,6,0.140,0.046,1826,2310,3409
$GC,8857,-0.81,-117.3,690.9,-6.1,257,8858,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2310,3409
$GC,9159,-0.81,-117.3,709.0,-6.0,262,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2310,3409
$GC,9463,-0.81,-117.3,726.6,-5.8,267,9467,0.00,2.25,0.00,0.000,4,0.000,0.058,1826,892,3409
$GC,9495,-0.81,-117.3,728.8,-6.9,267,9499,0.00,2.25,0.00,0.000,6,0.000,0.051,1820,2303,3408
$GC,9828,-0.81,-117.3,750.1,-6.5,273,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2303,3409
$GC,10130,-0.81,-117.3,770.6,-6.8,278,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2302,3408
$GC,10433,-0.81,-117.3,791.7,-6.9,283,10437,0.00,2.22,0.00,0.000,4,0.000,0.058,1819,900,3408
$GC,10466,-0.81,-117.3,794.1,-7.4,283,10470,0.00,2.20,0.00,0.000,6,0.000,0.051,1810,2301,3408
$GC,10804,-0.81,-117.3,818.5,-7.3,289,10807,0.00,2.22,0.00,0.000,4,0.000,0.057,1811,899,3407
$GC,10842,-0.81,-117.3,821.4,-7.0,289,10846,0.00,2.22,0.00,0.000,6,0.000,0.054,1805,2310,3407
$GC,11175,-0.76,-117.3,844.6,-6.9,295,11177,0.12,0.00,0.00,0.000,6,0.140,0.000,1840,2310,3407
$GC,11479,-0.86,-117.3,859.7,-4.8,300,11481,0.10,0.00,0.00,0.000,6,0.086,0.000,1799,2310,3407
$GC,11781,-0.80,-117.3,879.3,-6.6,305,11786,0.10,2.25,0.00,0.000,4,0.140,0.061,1826,900,3407
$GC,11819,-0.80,-117.3,882.0,-6.7,305,11823,0.00,2.22,0.00,0.000,6,0.000,0.053,1820,2311,3407
$GC,12146,-0.80,-117.3,901.5,-6.0,311,12150,0.00,2.25,0.00,0.000,4,0.000,0.056,1820,899,3407
$GC,12174,-0.80,-117.3,903.2,-6.5,311,12178,0.00,2.22,0.00,0.000,6,0.000,0.050,1811,2312,3407
$GC,12506,-0.80,-117.3,925.4,-6.7,317,12510,0.00,2.25,0.00,0.000,4,0.000,0.055,1813,901,3407
$GC,12550,-0.80,-117.3,928.7,-7.6,317,12554,0.00,2.22,0.00,0.000,6,0.000,0.054,1806,2309,3407
$GC,12872,-0.80,-117.3,950.0,-6.6,323,12873,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2309,3406
$GC,13174,-0.80,-117.3,969.2,-6.3,328,13178,0.00,2.28,0.00,0.000,4,0.000,0.062,1807,893,3407
$GC,13213,-0.80,-117.3,971.9,-7.3,328,13218,0.12,2.25,0.00,0.000,6,0.152,0.054,1829,2314,3407
$GC,13535,-0.87,-117.3,987.3,-4.7,334,13536,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2314,3407
$STATE,13592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13592,begin apogee
$GC,13598,-0.22,0.0,990.2,4.7,335,13693,0.38,0.00,92.78,1.342,6,0.128,0.000,1951,2314,2931
$STATE,13694,end apogee,CONTROL_FINISHED_OK
$STATE,13694,begin climb
$GC,13697,0.68,117.3,991.1,0.0,336,13803,0.57,2.53,97.65,1.315,4,0.085,0.060,2148,3713,2450
$GC,13849,0.26,117.3,984.6,8.5,338,13855,0.40,2.33,0.00,0.000,6,0.185,0.045,2058,2314,2446
$GC,14188,0.38,160.2,969.9,4.1,344,14226,0.10,0.00,35.80,1.275,6,0.085,0.000,2095,2313,2277
$GC,14490,0.38,160.2,952.1,6.0,349,14491,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2313,2270
$GC,14793,0.38,160.2,934.6,5.8,354,14794,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2313,2268
$GC,15096,0.38,160.2,917.4,5.7,359,15097,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2313,2268
$GC,15400,0.38,160.2,900.5,5.6,364,15401,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2313,2267
$GC,15702,0.38,160.2,883.6,5.6,369,15703,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2313,2267
$GC,16006,0.38,162.3,866.9,5.4,374,16007,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2313,2267
$GC,16309,0.38,162.3,849.9,5.6,379,16313,0.00,2.28,0.00,0.000,4,0.000,0.058,2095,3719,2266
$GC,16330,0.32,162.3,848.3,6.7,379,16335,0.15,2.25,0.00,0.000,6,0.164,0.044,2066,2291,2265
$GC,16668,0.46,191.3,832.8,4.5,385,16696,0.12,0.00,25.73,1.206,6,0.069,0.000,2121,2290,2150
$GC,16971,0.36,191.3,812.4,6.9,390,16973,0.17,0.00,0.00,0.000,6,0.145,0.000,2073,2290,2144
$GC,17274,0.51,212.2,797.9,4.8,395,17295,0.12,0.00,18.42,1.153,6,0.070,0.000,2130,2290,2065
$GC,17577,0.40,212.2,774.6,7.9,400,17582,0.17,2.35,0.00,0.000,4,0.147,0.059,2076,3719,2060
$GC,17610,0.47,212.2,772.1,6.1,400,17614,0.00,2.25,0.00,0.000,6,0.000,0.040,2085,2292,2059
$GC,17943,0.56,212.2,753.2,5.7,406,17948,0.12,2.28,0.00,0.000,4,0.068,0.058,2150,887,2059
$GC,17970,0.50,212.2,751.0,8.5,406,17975,0.15,2.28,0.00,0.000,6,0.148,0.047,2111,2307,2058
$GC,18302,0.50,212.2,728.7,6.6,412,18306,0.00,2.25,0.00,0.000,4,0.000,0.058,2111,3712,2059
$GC,18346,0.43,212.2,725.1,7.6,412,18351,0.10,2.22,0.00,0.000,6,0.167,0.044,2095,2293,2058
$GC,18662,0.51,217.8,707.9,5.3,418,18671,0.00,2.25,5.10,0.846,4,0.000,0.055,2103,887,2043
$GC,18705,0.60,217.8,705.4,5.7,418,18710,0.10,2.28,0.00,0.000,6,0.074,0.052,2156,2314,2042
$GC,19020,0.38,217.8,678.1,9.0,424,19025,0.22,2.25,0.00,0.000,4,0.153,0.058,2086,3714,2042
$GC,19064,0.44,217.8,674.7,7.3,424,19068,0.00,2.20,0.00,0.000,6,0.000,0.038,2094,2302,2041
$GC,19379,0.52,219.8,657.8,5.4,430,19383,0.00,2.25,0.00,0.000,4,0.000,0.054,2105,888,2041
$GC,19407,0.60,219.8,656.1,5.6,430,19412,0.08,2.25,0.00,0.000,6,0.084,0.044,2156,2314,2041
$GC,19745,0.38,219.8,625.1,9.6,436,19749,0.22,2.22,0.00,0.000,4,0.151,0.055,2086,3709,2041
$GC,19807,0.45,219.8,620.5,7.2,437,19811,0.00,2.17,0.00,0.000,6,0.000,0.038,2093,2300,2041
$GC,20179,0.56,219.8,598.8,5.9,443,20184,0.10,2.22,0.00,0.000,4,0.074,0.051,2152,894,2040
$GC,20211,0.56,219.8,596.2,7.5,443,20216,0.12,2.22,0.00,0.000,6,0.137,0.050,2118,2307,2041
$GC,20544,0.73,219.8,572.6,7.1,449,20548,0.15,2.25,0.00,0.000,4,0.056,0.051,2208,894,2040
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$STATE,28433,end climb,SURFACE_DEPTH_REACHED
$STATE,28433,begin surface coast
$FINISH,1.0,1.012493
$STATE,28476,end surface coast,CONTROL_FINISHED_OK
$STATE,28476,begin surface
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$IRIDIUM_FIX,4943.02,-14421.51,071098,060619
$TT8_MAMPS,0.029146
$HUMID,1634
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$TCM_TEMP,16.10
$XPDR_PINGS,58
$24V_AH,23.5,16.733
$10V_AH,10.7,12.437
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$DEVICE_SECS,24.000,214.775,353.350,0.000,0.000,29.525,30.632,167.197,14.500,0.000,0.000,32.738,1641.084,24009.527,506.311,2148.644,602.470,33.377,1589.511,0.000,2133.519,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,503.245,575.630,736.838,1222.655,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41233,712
$CAP_FILE_SIZE,183149,0
$CFSIZE,260165632,251445248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130709,221525,4955.028,-14429.767,49,1.2,49,18.5