version: 66.04
glider: 144
mission: 15
dive: 118
start: 7 21 109 6 13 38
data:
$ID,144
$MISSION,15
$DIVE,118
$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,-63209.203
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,060654,4956.750,-14508.261,24,1.0,41,18.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-62.7
$GPS2,061244,4956.775,-14508.250,15,1.1,15,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.142,0.090
$KALMAN_X,-56964.9,141.8,-77.9,48096.1,-733.9
$KALMAN_Y,60035.6,16.8,11.4,-65472.6,954.7
$MHEAD_RNG_PITCHd_Wd,39.1,28638,-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,-117.3,0.0,0.0,0,49,0.00,0.00,-31.52,0.000,2,0.000,0.000,100,2311,2558
$GC,52,-0.68,-117.3,3.3,-5.5,3,87,6.93,2.25,-21.35,0.000,4,0.241,0.074,1837,3708,3411
$GC,256,-0.53,-117.3,30.6,-11.8,21,261,0.17,2.20,0.00,0.000,6,0.126,0.035,1889,2294,3412
$GC,583,-0.60,-117.3,57.3,-6.8,51,587,0.00,2.20,0.00,0.000,4,0.000,0.047,1889,887,3414
$GC,651,-0.70,-117.3,62.3,-7.2,57,656,0.15,2.22,0.00,0.000,6,0.054,0.042,1806,2303,3414
$GC,982,-0.44,-117.3,105.8,-13.9,79,986,0.30,2.22,0.00,0.000,4,0.134,0.046,1909,894,3415
$GC,1031,-0.63,-117.3,110.3,-7.2,81,1036,0.15,2.22,0.00,0.000,6,0.051,0.043,1812,2314,3415
$GC,1347,-0.45,-117.3,144.0,-10.3,96,1349,0.30,0.00,0.00,0.000,6,0.127,0.000,1903,2314,3415
$GC,1655,-0.69,-117.3,158.0,-4.2,108,1657,0.17,0.00,0.00,0.000,6,0.051,0.000,1806,2314,3415
$GC,1961,-0.54,-117.3,187.0,-9.9,118,1965,0.22,2.25,0.00,0.000,4,0.127,0.046,1881,888,3414
$GC,1988,-0.61,-117.3,189.2,-7.1,118,1994,0.00,2.22,0.00,0.000,6,0.000,0.048,1877,2308,3414
$GC,2301,-0.76,-117.3,206.1,-5.3,129,2303,0.15,0.00,0.00,0.000,6,0.051,0.000,1788,2308,3414
$GC,2607,-0.56,-117.3,236.8,-10.4,139,2611,0.28,2.25,0.00,0.000,4,0.128,0.050,1879,886,3413
$GC,2645,-0.73,-117.3,239.6,-5.7,140,2650,0.12,2.22,0.00,0.000,6,0.061,0.048,1801,2305,3413
$GC,2975,-0.58,-117.3,268.9,-9.1,151,2979,0.20,2.22,0.00,0.000,4,0.127,0.050,1868,892,3413
$GC,3018,-0.73,-117.3,271.9,-5.9,152,3022,0.00,2.22,0.00,0.000,6,0.000,0.048,1863,2313,3413
$GC,3348,-0.84,-117.3,290.7,-5.8,163,3350,0.15,0.00,0.00,0.000,6,0.053,0.000,1779,2313,3412
$GC,3653,-0.61,-117.3,323.2,-11.0,170,3657,0.25,2.22,0.00,0.000,4,0.132,0.051,1862,891,3412
$GC,3715,-0.74,-117.3,328.0,-6.8,171,3720,0.10,2.22,0.00,0.000,6,0.072,0.043,1797,2311,3412
$GC,4081,-0.59,-117.3,361.9,-9.4,177,4083,0.25,0.00,0.00,0.000,6,0.126,0.000,1874,2311,3411
$GC,4385,-0.77,-117.3,376.8,-4.7,182,4390,0.15,2.25,0.00,0.000,4,0.052,0.048,1786,886,3411
$GC,4418,-0.59,-117.3,379.5,-8.9,182,4422,0.30,2.22,0.00,0.000,6,0.131,0.044,1873,2300,3411
$GC,4750,-0.77,-117.3,395.7,-4.7,188,4752,0.15,0.00,0.00,0.000,6,0.055,0.000,1787,2300,3410
$GC,5053,-0.59,-117.3,422.7,-9.1,193,5057,0.25,2.22,0.00,0.000,4,0.126,0.054,1870,890,3409
$GC,5115,-0.78,-117.3,426.6,-5.4,194,5120,0.12,2.22,0.00,0.000,6,0.062,0.043,1786,2314,3409
$GC,5486,-0.61,-117.3,460.0,-9.3,200,5488,0.28,0.00,0.00,0.000,6,0.129,0.000,1870,2314,3409
$GC,5790,-0.78,-117.3,475.1,-4.8,205,5792,0.15,0.00,0.00,0.000,6,0.054,0.000,1783,2314,3409
$GC,6092,-0.61,-117.3,502.6,-9.3,210,6097,0.25,2.25,0.00,0.000,4,0.128,0.048,1866,890,3408
$GC,6136,-0.79,-117.3,505.6,-5.7,210,6141,0.12,2.22,0.00,0.000,6,0.062,0.048,1792,2309,3409
$GC,6452,-0.66,-117.3,531.3,-8.4,216,6454,0.22,0.00,0.00,0.000,6,0.128,0.000,1860,2309,3408
$GC,6755,-0.81,-117.3,545.6,-4.6,221,6756,0.12,0.00,0.00,0.000,6,0.060,0.000,1786,2309,3408
$GC,7057,-0.65,-117.3,570.2,-8.3,226,7062,0.20,2.22,0.00,0.000,4,0.129,0.049,1853,894,3407
$GC,7130,-0.78,-117.3,574.7,-5.8,227,7134,0.00,2.22,0.00,0.000,6,0.000,0.045,1850,2310,3407
$GC,7485,-0.89,-117.3,592.4,-5.0,233,7489,0.15,2.22,0.00,0.000,4,0.057,0.055,1766,3710,3407
$GC,7518,-0.68,-117.3,595.1,-9.7,233,7523,0.30,2.17,0.00,0.000,6,0.130,0.038,1857,2298,3407
$GC,7844,-0.83,-117.3,610.1,-4.4,239,7846,0.12,0.00,0.00,0.000,6,0.066,0.000,1787,2297,3407
$GC,8147,-0.68,-117.3,634.2,-8.2,244,8152,0.20,2.22,0.00,0.000,4,0.129,0.054,1852,885,3407
$GC,8202,-0.81,-117.3,637.8,-6.0,244,8210,0.08,2.25,0.00,0.000,6,0.057,0.044,1790,2300,3407
$GC,8512,-0.68,-117.3,662.0,-8.0,250,8514,0.20,0.00,0.00,0.000,6,0.130,0.000,1850,2300,3406
$GC,8816,-0.81,-117.3,676.6,-4.6,255,8817,0.10,0.00,0.00,0.000,6,0.074,0.000,1794,2300,3406
$GC,9118,-0.70,-117.3,699.4,-7.7,260,9120,0.17,0.00,0.00,0.000,6,0.127,0.000,1846,2300,3406
$GC,9422,-0.81,-117.3,715.5,-5.2,265,9424,0.10,0.00,0.00,0.000,6,0.078,0.000,1798,2300,3406
$GC,9725,-0.72,-117.3,739.5,-8.0,270,9729,0.17,2.22,0.00,0.000,4,0.127,0.052,1850,897,3405
$GC,9757,-0.83,-117.3,741.9,-7.0,270,9762,0.12,2.22,0.00,0.000,6,0.072,0.046,1793,2311,3405
$GC,10090,-0.73,-117.3,770.3,-8.7,276,10092,0.17,0.00,0.00,0.000,6,0.133,0.000,1844,2311,3405
$GC,10392,-0.84,-117.3,789.4,-6.2,281,10397,0.10,2.25,0.00,0.000,4,0.081,0.055,1799,893,3405
$GC,10436,-0.75,-117.3,793.1,-8.4,281,10441,0.17,2.22,0.00,0.000,6,0.133,0.050,1840,2307,3405
$GC,10751,-0.86,-117.3,812.7,-6.1,287,10753,0.10,0.00,0.00,0.000,6,0.085,0.000,1798,2307,3405
$GC,11054,-0.78,-117.3,835.3,-7.5,292,11056,0.12,0.00,0.00,0.000,6,0.136,0.000,1832,2306,3405
$GC,11358,-0.85,-117.3,852.1,-5.4,297,11362,0.00,2.25,0.00,0.000,4,0.000,0.051,1833,890,3405
$GC,11408,-0.93,-117.3,855.2,-6.6,297,11413,0.10,2.22,0.00,0.000,6,0.083,0.051,1779,2305,3405
$GC,11718,-0.78,-117.3,879.9,-8.2,302,11722,0.17,2.25,0.00,0.000,4,0.143,0.058,1820,3716,3405
$GC,11744,-0.78,-117.3,881.8,-7.2,302,11748,0.00,2.17,0.00,0.000,6,0.000,0.039,1820,2307,3404
$GC,12082,-0.78,-117.3,903.3,-6.4,308,12086,0.00,2.25,0.00,0.000,4,0.000,0.058,1820,887,3404
$GC,12132,-0.78,-117.3,907.0,-7.6,308,12136,0.00,2.22,0.00,0.000,6,0.000,0.049,1811,2301,3405
$GC,12447,-0.78,-117.3,928.4,-6.9,314,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2301,3404
$GC,12750,-0.78,-117.3,949.4,-6.9,319,12754,0.00,2.25,0.00,0.000,4,0.000,0.054,1813,894,3404
$GC,12828,-0.78,-117.3,955.3,-7.0,320,12833,0.10,2.25,0.00,0.000,6,0.153,0.047,1831,2314,3404
$GC,13177,-0.85,-117.3,975.9,-5.8,326,13181,0.00,2.28,0.00,0.000,4,0.000,0.054,1832,889,3404
$GC,13210,-0.93,-117.3,977.9,-6.0,326,13214,0.10,2.25,0.00,0.000,6,0.087,0.048,1781,2312,3404
$STATE,13412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13412,begin apogee
$GC,13418,-0.22,0.0,993.8,7.9,330,13513,0.55,0.00,92.43,1.341,6,0.138,0.000,1953,2313,2932
$STATE,13514,end apogee,CONTROL_FINISHED_OK
$STATE,13514,begin climb
$GC,13516,0.68,117.3,995.1,0.0,331,13623,0.60,2.53,98.57,1.312,4,0.083,0.058,2152,3711,2450
$GC,13634,0.36,117.3,991.8,6.5,333,13639,0.35,2.38,0.00,0.000,6,0.187,0.045,2076,2309,2448
$GC,13956,0.38,130.6,975.5,5.1,339,13968,0.00,0.00,10.98,1.152,6,0.000,0.000,2076,2309,2398
$GC,14258,0.39,136.9,959.6,5.3,344,14267,0.00,0.00,6.55,1.019,6,0.000,0.000,2076,2308,2372
$GC,14561,0.39,136.9,942.8,5.6,349,14565,0.00,2.30,0.00,0.000,4,0.000,0.056,2070,3710,2370
$GC,14594,0.39,136.9,940.7,6.2,349,14598,0.00,2.22,0.00,0.000,6,0.000,0.043,2078,2299,2369
$GC,14927,0.39,140.5,922.6,5.4,355,14933,0.00,0.00,4.25,0.818,6,0.000,0.000,2078,2299,2358
$GC,15230,0.39,144.8,906.6,5.4,360,15240,0.00,2.30,5.60,0.955,4,0.000,0.062,2078,3710,2339
$GC,15280,0.33,144.8,903.6,5.6,360,15284,0.00,2.22,0.00,0.000,6,0.000,0.044,2088,2301,2338
$GC,15590,0.33,144.8,886.6,5.5,365,15594,0.00,2.30,0.00,0.000,4,0.000,0.055,2088,3718,2338
$GC,15630,0.23,144.8,883.8,7.3,365,15635,0.17,2.22,0.00,0.000,6,0.160,0.041,2052,2301,2337
$GC,15952,0.49,147.4,867.1,5.4,371,15956,0.17,2.30,0.00,0.000,4,0.068,0.057,2130,3721,2337
$GC,16069,0.19,147.4,857.3,9.1,372,16074,0.35,2.22,0.00,0.000,6,0.166,0.041,2041,2304,2336
$GC,16379,0.52,167.8,842.6,4.8,377,16405,0.17,2.30,20.33,1.193,4,0.067,0.058,2129,890,2245
$GC,16480,0.40,167.8,836.2,6.5,378,16485,0.17,2.28,0.00,0.000,6,0.146,0.048,2081,2304,2243
$GC,16806,0.47,185.6,820.0,4.9,384,16827,0.00,2.33,15.88,1.147,4,0.000,0.054,2081,3720,2173
$GC,16872,0.47,186.0,816.2,5.5,385,16876,0.00,2.25,0.00,0.000,6,0.000,0.038,2089,2295,2171
$GC,17238,0.52,190.5,796.6,5.3,391,17248,0.08,2.33,5.20,0.877,4,0.088,0.056,2135,3716,2154
$GC,17277,0.28,190.5,793.4,9.2,391,17281,0.30,2.25,0.00,0.000,6,0.160,0.043,2062,2296,2153
$GC,17597,0.61,190.5,775.5,5.7,397,17602,0.17,2.25,0.00,0.000,4,0.067,0.052,2139,892,2152
$GC,17692,0.49,190.5,768.8,7.3,398,17696,0.12,2.25,0.00,0.000,6,0.147,0.045,2107,2304,2152
$GC,18023,0.49,190.5,748.1,6.3,404,18027,0.00,2.25,0.00,0.000,4,0.000,0.056,2107,3711,2151
$GC,18073,0.39,190.5,744.4,6.6,404,18078,0.12,2.20,0.00,0.000,6,0.157,0.038,2083,2301,2150
$GC,18384,0.50,210.4,729.1,4.8,409,18405,0.10,0.00,18.12,1.108,6,0.070,0.000,2137,2300,2072
$GC,18750,0.35,210.4,701.4,7.7,415,18754,0.20,2.30,0.00,0.000,4,0.147,0.059,2076,3717,2068
$GC,18794,0.44,210.4,698.4,5.9,415,18798,0.00,2.22,0.00,0.000,6,0.000,0.038,2084,2296,2068
$GC,19115,0.57,232.5,683.0,4.8,421,19137,0.12,0.00,19.58,1.080,6,0.064,0.000,2154,2296,1983
$GC,19419,0.37,232.5,654.8,9.7,426,19423,0.22,2.33,0.00,0.000,4,0.145,0.060,2085,3720,1978
$GC,19440,0.31,232.5,652.8,9.2,426,19445,0.10,2.25,0.00,0.000,6,0.149,0.038,2067,2296,1977
$GC,19777,0.81,232.5,631.2,6.9,432,19782,0.30,2.30,0.00,0.000,4,0.072,0.055,2176,3713,1976
$GC,19850,0.47,232.5,624.5,9.5,433,19854,0.30,2.22,0.00,0.000,6,0.164,0.038,2103,2297,1975
$GC,20204,0.53,232.5,601.3,6.3,439,20205,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2297,1975
$GC,20507,0.58,232.5,583.1,5.9,444,20509,0.10,0.00,0.00,0.000,6,0.068,0.000,2159,2297,1975
$GC,20810,0.38,232.5,554.2,9.7,449,20815,0.25,2.28,0.00,0.000,4,0.145,0.054,2081,3713,1975
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$GC,21169,0.59,253.8,535.8,4.8,455,21194,0.12,2.30,18.10,0.987,4,0.063,0.053,2176,897,1895
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$STATE,28650,end climb,SURFACE_DEPTH_REACHED
$STATE,28650,begin surface coast
$FINISH,1.1,1.003356
$STATE,28675,end surface coast,CONTROL_FINISHED_OK
$STATE,28675,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1663
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$TCM_TEMP,14.70
$XPDR_PINGS,75
$24V_AH,23.4,19.838
$10V_AH,10.7,15.292
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$DEVICE_SECS,30.575,237.850,358.125,0.000,0.000,22.844,26.335,176.902,18.750,0.000,0.000,18.928,1731.010,23921.262,532.396,2289.386,617.921,33.371,1684.834,0.000,2286.822,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,516.536,590.066,756.844,1256.882,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44424,732
$CAP_FILE_SIZE,202427,0
$CFSIZE,260165632,249573376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210709,141407,4958.924,-14505.651,40,1.5,40,18.4