version: 66.04
glider: 144
mission: 15
dive: 131
start: 7 25 109 12 22 8
data:
$ID,144
$MISSION,15
$DIVE,131
$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,-63447.328
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,121336,5018.155,-14426.953,48,1.2,52,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-63.9
$GPS2,122114,5018.135,-14426.920,11,1.2,11,18.7
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.023,-0.166
$KALMAN_X,-66959.8,301.3,201.4,106837.4,-1183.7
$KALMAN_Y,67575.8,-89.6,82.2,-33417.8,1209.6
$MHEAD_RNG_PITCHd_Wd,153.6,44812,-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,13,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,-41.33,0.000,2,0.000,0.000,101,2301,2783
$GC,61,-0.68,-117.3,3.8,-6.4,4,88,6.97,2.30,-13.75,0.000,4,0.242,0.060,1844,894,3412
$GC,129,-0.48,-117.3,15.8,-14.6,10,134,0.20,2.25,0.00,0.000,6,0.137,0.047,1893,2309,3414
$GC,454,-0.48,-117.3,44.9,-7.6,40,458,0.00,2.25,0.00,0.000,4,0.000,0.044,1893,890,3416
$GC,494,-0.57,-117.3,47.9,-7.5,43,498,0.00,2.22,0.00,0.000,6,0.000,0.039,1890,2307,3416
$GC,821,-0.63,-117.3,73.1,-7.6,73,823,0.10,0.00,0.00,0.000,6,0.064,0.000,1824,2307,3417
$GC,1141,-0.45,-117.3,108.2,-11.4,92,1146,0.22,2.25,0.00,0.000,4,0.127,0.044,1899,885,3417
$GC,1209,-0.60,-117.3,113.6,-7.2,95,1213,0.00,2.20,0.00,0.000,6,0.000,0.045,1891,2304,3418
$GC,1542,-0.72,-117.3,136.5,-6.4,111,1546,0.15,2.22,0.00,0.000,4,0.054,0.042,1800,887,3417
$GC,1574,-0.52,-117.3,140.0,-11.8,112,1581,0.32,2.22,0.00,0.000,6,0.127,0.047,1891,2309,3418
$GC,1899,-0.70,-117.3,156.4,-3.7,126,1904,0.15,2.22,0.00,0.000,4,0.051,0.043,1802,890,3417
$GC,1917,-0.76,-117.3,157.3,-3.9,126,1922,0.15,2.22,0.00,0.000,6,0.133,0.046,1836,2312,3417
$GC,2230,-0.76,-117.3,181.0,-8.0,136,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2312,3417
$GC,2536,-0.76,-117.3,206.6,-8.4,146,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2313,3417
$GC,2842,-0.76,-117.3,231.0,-7.9,156,2846,0.00,2.22,0.00,0.000,4,0.000,0.045,1836,894,3416
$GC,2881,-0.76,-117.3,234.1,-8.0,157,2884,0.00,2.22,0.00,0.000,6,0.000,0.047,1836,2314,3416
$GC,3216,-0.76,-117.3,259.6,-7.6,168,3219,0.00,2.22,0.00,0.000,4,0.000,0.046,1836,892,3415
$GC,3288,-0.76,-117.3,265.6,-8.7,170,3292,0.00,2.22,0.00,0.000,6,0.000,0.042,1829,2315,3415
$GC,3623,-0.76,-117.3,293.1,-8.3,181,3627,0.00,2.25,0.00,0.000,4,0.000,0.048,1829,887,3415
$GC,3667,-0.76,-117.3,297.0,-8.6,182,3671,0.00,2.22,0.00,0.000,6,0.000,0.043,1822,2305,3414
$GC,4019,-0.70,-117.3,326.6,-8.4,189,4021,0.10,0.00,0.00,0.000,6,0.143,0.000,1849,2306,3414
$GC,4323,-0.76,-117.3,346.5,-6.5,194,4327,0.00,2.22,0.00,0.000,4,0.000,0.048,1848,893,3413
$GC,4351,-0.83,-117.3,348.6,-7.4,194,4355,0.10,2.22,0.00,0.000,6,0.072,0.048,1788,2310,3413
$GC,4688,-0.65,-117.3,381.5,-9.9,200,4690,0.25,0.00,0.00,0.000,6,0.181,0.000,1862,2310,3413
$GC,4992,-0.79,-117.3,398.7,-5.4,205,4994,0.12,0.00,0.00,0.000,6,0.059,0.000,1788,2310,3412
$GC,5294,-0.62,-117.3,426.5,-9.4,210,5299,0.22,2.25,0.00,0.000,4,0.126,0.047,1862,887,3411
$GC,5333,-0.76,-117.3,429.4,-6.3,210,5337,0.10,2.22,0.00,0.000,6,0.071,0.044,1798,2304,3411
$GC,5654,-0.63,-117.3,456.5,-8.7,216,5655,0.22,0.00,0.00,0.000,6,0.126,0.000,1866,2305,3411
$GC,5957,-0.79,-117.3,473.0,-5.2,221,5959,0.12,0.00,0.00,0.000,6,0.064,0.000,1790,2305,3411
$GC,6259,-0.64,-117.3,499.1,-8.8,226,6264,0.20,2.22,0.00,0.000,4,0.127,0.048,1855,895,3410
$GC,6309,-0.78,-117.3,502.5,-6.5,226,6313,0.00,2.20,0.00,0.000,6,0.000,0.042,1850,2304,3410
$GC,6619,-0.88,-117.3,519.9,-5.8,231,6621,0.15,0.00,0.00,0.000,6,0.055,0.000,1766,2305,3410
$GC,6922,-0.66,-117.3,550.9,-10.5,236,6926,0.28,2.22,0.00,0.000,4,0.131,0.050,1854,894,3409
$GC,6984,-0.79,-117.3,555.6,-7.0,237,6989,0.08,2.22,0.00,0.000,6,0.085,0.045,1793,2312,3409
$GC,7350,-0.66,-117.3,586.5,-8.5,243,7352,0.22,0.00,0.00,0.000,6,0.123,0.000,1861,2313,3409
$GC,7653,-0.83,-117.3,600.6,-4.4,248,7655,0.15,0.00,0.00,0.000,6,0.054,0.000,1778,2312,3409
$GC,7956,-0.65,-117.3,625.0,-8.3,253,7958,0.28,0.00,0.00,0.000,6,0.126,0.000,1863,2312,3409
$GC,8259,-0.83,-117.3,638.6,-4.4,258,8264,0.15,2.22,0.00,0.000,4,0.057,0.049,1780,896,3408
$GC,8286,-0.74,-117.3,640.6,-8.2,258,8291,0.25,2.20,0.00,0.000,6,0.128,0.044,1845,2305,3408
$GC,8619,-0.84,-117.3,658.7,-5.4,264,8623,0.10,2.22,0.00,0.000,4,0.072,0.048,1788,891,3408
$GC,8647,-0.76,-117.3,660.8,-7.9,264,8652,0.20,2.22,0.00,0.000,6,0.131,0.043,1840,2310,3408
$GC,8979,-0.85,-117.3,680.9,-6.0,270,8984,0.10,2.22,0.00,0.000,4,0.074,0.048,1785,896,3408
$GC,9034,-0.70,-117.3,685.6,-9.6,270,9041,0.25,2.20,0.00,0.000,6,0.126,0.048,1853,2303,3408
$GC,9345,-0.85,-117.3,701.3,-4.9,276,9347,0.15,0.00,0.00,0.000,6,0.061,0.000,1781,2303,3407
$GC,9647,-0.70,-117.3,725.4,-8.1,281,9652,0.20,2.22,0.00,0.000,4,0.128,0.048,1848,893,3407
$GC,9674,-0.75,-117.3,727.2,-6.2,281,9679,0.00,2.22,0.00,0.000,6,0.000,0.046,1848,2307,3407
$GC,10008,-0.88,-117.3,741.4,-4.2,287,10009,0.15,0.00,0.00,0.000,6,0.063,0.000,1779,2308,3407
$GC,10310,-0.73,-117.3,764.5,-7.9,292,10314,0.17,2.22,0.00,0.000,4,0.134,0.055,1838,891,3407
$GC,10359,-0.82,-117.3,767.8,-6.4,292,10363,0.00,2.22,0.00,0.000,6,0.000,0.044,1836,2305,3407
$GC,10675,-0.90,-117.3,784.7,-5.4,298,10680,0.12,2.22,0.00,0.000,4,0.071,0.051,1779,897,3407
$GC,10713,-0.74,-117.3,787.9,-9.3,298,10718,0.25,2.22,0.00,0.000,6,0.131,0.048,1843,2315,3406
$GC,11035,-0.86,-117.3,804.7,-5.1,304,11037,0.12,0.00,0.00,0.000,6,0.072,0.000,1790,2315,3407
$GC,11338,-0.75,-117.3,827.9,-7.8,309,11343,0.17,2.25,0.00,0.000,4,0.130,0.051,1848,896,3407
$GC,11365,-0.82,-117.3,829.8,-6.3,309,11370,0.10,2.22,0.00,0.000,6,0.077,0.047,1803,2308,3407
$GC,11697,-0.82,-117.3,853.6,-7.2,315,11698,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2308,3406
$GC,12000,-0.78,-117.3,875.8,-7.3,320,12005,0.10,2.25,0.00,0.000,4,0.140,0.055,1829,891,3407
$GC,12033,-0.83,-117.3,878.1,-6.3,320,12037,0.00,2.22,0.00,0.000,6,0.000,0.044,1822,2304,3406
$GC,12359,-0.83,-117.3,898.5,-6.3,326,12363,0.00,2.22,0.00,0.000,4,0.000,0.056,1821,899,3406
$GC,12403,-0.83,-117.3,901.7,-7.0,326,12407,0.00,2.22,0.00,0.000,6,0.000,0.045,1813,2310,3406
$GC,12730,-0.83,-117.3,924.0,-6.8,332,12733,0.00,2.25,0.00,0.000,4,0.000,0.053,1813,897,3406
$GC,12779,-0.83,-117.3,927.9,-8.1,332,12783,0.00,2.22,0.00,0.000,6,0.000,0.051,1806,2304,3406
$GC,13100,-0.83,-117.3,950.8,-7.2,338,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2304,3406
$GC,13403,-0.83,-117.3,972.4,-7.1,343,13407,0.00,2.25,0.00,0.000,4,0.000,0.053,1806,891,3405
$GC,13467,-0.78,-117.3,977.2,-7.8,344,13472,0.12,2.22,0.00,0.000,6,0.148,0.045,1830,2303,3405
$STATE,13708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13708,begin apogee
$GC,13714,-0.22,0.0,991.3,5.6,348,13809,0.38,0.00,92.80,1.336,6,0.125,0.000,1952,2304,2931
$STATE,13810,end apogee,CONTROL_FINISHED_OK
$STATE,13810,begin climb
$GC,13812,0.68,117.3,992.7,0.0,349,13919,0.57,2.55,97.85,1.309,4,0.078,0.058,2152,3713,2451
$GC,13953,0.23,117.3,988.0,8.5,351,13958,0.43,2.35,0.00,0.000,6,0.182,0.043,2054,2306,2447
$GC,14303,0.43,150.8,972.7,4.4,357,14337,0.15,2.45,27.62,1.257,4,0.070,0.061,2121,893,2315
$GC,14405,0.32,150.8,966.2,6.5,358,14410,0.20,2.33,0.00,0.000,6,0.146,0.050,2068,2300,2312
$GC,14731,0.43,181.1,951.4,4.5,364,14763,0.10,2.38,26.17,1.247,4,0.074,0.060,2110,3712,2191
$GC,14816,0.28,181.1,945.4,8.1,365,14821,0.22,2.30,0.00,0.000,6,0.164,0.044,2062,2294,2189
$GC,15159,0.58,187.0,927.8,5.3,371,15170,0.20,2.28,5.60,0.947,4,0.069,0.057,2147,894,2169
$GC,15267,0.43,187.0,919.9,7.7,372,15272,0.20,2.28,0.00,0.000,6,0.141,0.048,2092,2305,2166
$GC,15588,0.44,192.3,902.4,5.3,378,15599,0.00,2.28,6.32,0.999,4,0.000,0.054,2092,3711,2146
$GC,15632,0.44,192.3,899.6,6.0,378,15636,0.00,2.25,0.00,0.000,6,0.000,0.041,2100,2294,2145
$GC,15953,0.44,192.3,881.2,5.7,384,15954,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2294,2144
$GC,16256,0.44,192.3,863.7,5.8,389,16260,0.00,2.30,0.00,0.000,4,0.000,0.058,2100,3715,2143
$GC,16283,0.39,192.3,861.8,6.6,389,16288,0.10,2.22,0.00,0.000,6,0.170,0.039,2087,2298,2142
$GC,16615,0.47,207.2,844.9,5.0,395,16631,0.00,0.00,13.93,1.150,6,0.000,0.000,2087,2298,2086
$GC,16918,0.57,222.5,829.9,5.0,400,16935,0.12,0.00,14.52,1.141,6,0.068,0.000,2143,2298,2023
$GC,17221,0.40,222.5,804.4,8.7,405,17226,0.17,2.33,0.00,0.000,4,0.153,0.059,2085,3722,2019
$GC,17248,0.40,222.5,802.1,8.5,405,17252,0.00,2.25,0.00,0.000,6,0.000,0.037,2093,2301,2018
$GC,17587,0.48,222.5,781.2,6.2,411,17588,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2301,2018
$GC,17889,0.55,222.5,762.1,6.4,416,17891,0.10,0.00,0.00,0.000,6,0.072,0.000,2147,2300,2017
$GC,18192,0.37,222.5,733.1,9.8,421,18197,0.22,2.28,0.00,0.000,4,0.146,0.054,2077,3712,2017
$GC,18231,0.46,222.5,730.0,7.9,421,18235,0.00,2.20,0.00,0.000,6,0.000,0.040,2085,2301,2016
$GC,18551,0.57,222.5,711.6,5.7,427,18556,0.12,2.25,0.00,0.000,4,0.064,0.051,2159,890,2016
$GC,18572,0.57,222.5,710.0,7.9,427,18577,0.15,2.25,0.00,0.000,6,0.144,0.042,2119,2315,2016
$GC,18916,0.52,222.5,684.2,7.5,433,18919,0.00,2.22,0.00,0.000,4,0.000,0.060,2120,3712,2015
$GC,18955,0.43,222.5,680.9,8.7,433,18959,0.15,2.20,0.00,0.000,6,0.150,0.036,2086,2296,2015
$GC,19281,0.55,223.4,662.7,5.5,439,19286,0.12,2.25,0.00,0.000,4,0.060,0.050,2163,884,2016
$GC,19314,0.41,223.4,660.1,8.2,439,19319,0.25,2.25,0.00,0.000,6,0.137,0.044,2091,2311,2015
$GC,19641,0.53,237.2,643.0,5.0,445,19660,0.10,2.28,12.65,1.024,4,0.067,0.059,2151,3706,1963
$GC,19689,0.30,237.2,638.9,10.9,445,19693,0.32,2.20,0.00,0.000,6,0.150,0.036,2067,2304,1963
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$GC,20432,0.57,237.2,592.9,5.7,458,20436,0.00,2.25,0.00,0.000,4,0.000,0.053,2111,894,1959
$GC,20465,0.67,237.2,590.8,6.4,458,20470,0.12,2.22,0.00,0.000,6,0.058,0.042,2184,2305,1959
$GC,20798,0.38,237.2,555.3,11.0,464,20802,0.32,2.25,0.00,0.000,4,0.150,0.055,2085,3709,1959
$GC,20870,0.47,239.7,550.3,5.4,465,20874,0.00,2.20,0.00,0.000,6,0.000,0.035,2093,2292,1958
$GC,21231,0.62,267.9,533.6,4.5,471,21265,0.12,2.35,26.75,1.005,4,0.060,0.052,2179,887,1836
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$STATE,28520,end climb,SURFACE_DEPTH_REACHED
$STATE,28521,begin surface coast
$FINISH,1.2,1.024642
$STATE,28555,end surface coast,CONTROL_FINISHED_OK
$STATE,28556,begin surface
$SM_CCo,28570,5.38,0.535,0,0,1708,300.00
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$IRIDIUM_FIX,5003.11,-14427.35,191098,121216
$TT8_MAMPS,0.029146
$HUMID,1657
$INTERNAL_PRESSURE,7.43193
$TCM_TEMP,16.40
$XPDR_PINGS,80
$24V_AH,23.3,21.628
$10V_AH,10.7,16.876
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$DEVICE_SECS,28.575,246.650,346.150,5.375,0.000,55.816,71.450,148.141,20.000,0.000,0.000,14.932,1774.571,23689.717,502.666,2379.813,678.426,33.378,1703.968,0.000,2379.683,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,531.640,600.974,775.597,1286.172,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44324,749
$CAP_FILE_SIZE,204447,0
$CFSIZE,260165632,248537088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250709,201936,5014.646,-14425.800,31,1.7,31,18.6