version: 66.04
glider: 144
mission: 15
dive: 215
start: 8 21 109 11 14 42
data:
$ID,144
$MISSION,15
$DIVE,215
$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,-65133.605
$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,34
$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
$GPS1,110325,5013.209,-14439.552,40,1.7,40,18.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-48.5
$GPS2,111349,5013.144,-14439.624,31,1.9,31,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.131,0.104
$KALMAN_X,-6300.5,18.8,109.4,42746.3,-1703.3
$KALMAN_Y,7491.9,141.7,57.8,-22204.6,55.4
$MHEAD_RNG_PITCHd_Wd,33.0,18602,-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,12,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-42.00,0.000,2,0.000,0.000,98,2315,2819
$GC,62,-0.68,-117.3,3.9,-6.0,4,86,7.05,2.35,-12.32,0.000,4,0.235,0.061,1848,895,3412
$GC,235,-0.54,-117.3,31.6,-11.7,19,240,0.15,2.25,0.00,0.000,6,0.136,0.038,1880,2307,3413
$GC,562,-0.54,-117.3,56.0,-7.7,49,566,0.00,2.25,0.00,0.000,4,0.000,0.048,1874,3716,3415
$GC,613,-0.61,-117.3,60.0,-7.3,53,617,0.00,2.17,0.00,0.000,6,0.000,0.029,1874,2295,3415
$GC,936,-0.61,-117.3,88.1,-9.0,79,939,0.00,2.17,0.00,0.000,4,0.000,0.041,1874,900,3416
$GC,997,-0.65,-117.3,94.1,-9.8,81,1003,0.00,2.20,0.00,0.000,6,0.000,0.042,1864,2308,3416
$GC,1313,-0.65,-117.3,120.3,-7.5,97,1317,0.00,2.22,0.00,0.000,4,0.000,0.041,1864,889,3416
$GC,1369,-0.72,-117.3,124.6,-7.4,99,1373,0.00,2.22,0.00,0.000,6,0.000,0.044,1863,2305,3416
$GC,1684,-0.72,-117.3,147.7,-7.4,114,1688,0.00,2.25,0.00,0.000,4,0.000,0.051,1858,3712,3415
$GC,1724,-0.79,-117.3,150.5,-7.0,116,1728,0.10,2.15,0.00,0.000,6,0.064,0.035,1791,2300,3415
$GC,2053,-0.58,-117.3,184.7,-10.4,127,2058,0.25,2.20,0.00,0.000,4,0.125,0.041,1873,894,3414
$GC,2125,-0.74,-117.3,189.7,-6.0,129,2130,0.10,2.20,0.00,0.000,6,0.065,0.044,1794,2304,3415
$GC,2449,-0.56,-117.3,222.1,-10.3,140,2451,0.28,0.00,0.00,0.000,6,0.123,0.000,1878,2305,3414
$GC,2755,-0.73,-117.3,240.0,-5.9,150,2757,0.12,0.00,0.00,0.000,6,0.058,0.000,1793,2305,3413
$GC,3061,-0.55,-117.3,273.5,-11.3,160,3066,0.25,2.22,0.00,0.000,4,0.122,0.044,1876,901,3413
$GC,3117,-0.75,-117.3,277.9,-6.6,161,3124,0.15,2.20,0.00,0.000,6,0.053,0.041,1785,2307,3413
$GC,3459,-0.56,-117.3,313.0,-10.3,171,3464,0.28,2.22,0.00,0.000,4,0.125,0.049,1875,901,3412
$GC,3492,-0.71,-117.3,315.6,-6.1,171,3497,0.12,2.20,0.00,0.000,6,0.058,0.043,1795,2302,3412
$GC,3819,-0.56,-117.3,344.5,-9.1,177,3821,0.28,0.00,0.00,0.000,6,0.118,0.000,1880,2302,3411
$GC,4122,-0.76,-117.3,360.0,-5.0,182,4123,0.15,0.00,0.00,0.000,6,0.054,0.000,1790,2302,3410
$GC,4424,-0.60,-117.3,388.4,-9.6,187,4429,0.22,2.22,0.00,0.000,4,0.122,0.044,1866,900,3410
$GC,4474,-0.77,-117.3,391.9,-5.9,187,4479,0.10,2.20,0.00,0.000,6,0.068,0.044,1797,2303,3410
$GC,4784,-0.64,-117.3,419.4,-9.1,192,4786,0.22,0.00,0.00,0.000,6,0.123,0.000,1865,2303,3409
$GC,5087,-0.80,-117.3,437.8,-5.9,197,5089,0.15,0.00,0.00,0.000,6,0.054,0.000,1781,2303,3408
$GC,5391,-0.61,-117.3,468.6,-10.4,202,5395,0.25,2.22,0.00,0.000,4,0.125,0.051,1862,902,3408
$GC,5429,-0.77,-117.3,471.7,-6.4,202,5434,0.12,2.20,0.00,0.000,6,0.060,0.045,1789,2301,3408
$GC,5749,-0.63,-117.3,501.6,-9.5,208,5754,0.22,2.22,0.00,0.000,4,0.125,0.051,1863,901,3408
$GC,5794,-0.81,-117.3,504.8,-5.7,208,5798,0.12,2.22,0.00,0.000,6,0.060,0.048,1787,2314,3408
$GC,6108,-0.67,-117.3,533.0,-9.1,214,6110,0.22,0.00,0.00,0.000,6,0.124,0.000,1855,2313,3407
$GC,6412,-0.80,-117.3,548.9,-5.1,219,6414,0.12,0.00,0.00,0.000,6,0.060,0.000,1782,2314,3407
$GC,6715,-0.64,-117.3,575.0,-8.8,224,6720,0.22,2.22,0.00,0.000,4,0.123,0.051,1857,903,3407
$GC,6754,-0.79,-117.3,577.6,-5.7,224,6758,0.00,2.22,0.00,0.000,6,0.000,0.047,1850,2315,3407
$GC,7075,-0.91,-117.3,593.5,-5.0,230,7080,0.15,2.22,0.00,0.000,4,0.055,0.054,1755,3709,3406
$GC,7103,-0.74,-117.3,595.8,-9.2,230,7107,0.28,2.17,0.00,0.000,6,0.133,0.035,1836,2296,3405
$GC,7440,-0.81,-117.3,616.7,-6.1,236,7444,0.00,2.20,0.00,0.000,4,0.000,0.048,1836,898,3406
$GC,7496,-0.90,-117.3,620.7,-7.7,236,7501,0.12,2.22,0.00,0.000,6,0.062,0.044,1766,2311,3406
$GC,7806,-0.69,-117.3,651.6,-10.3,241,7808,0.28,0.00,0.00,0.000,6,0.131,0.000,1848,2311,3405
$GC,8109,-0.81,-117.3,670.3,-5.9,246,8111,0.10,0.00,0.00,0.000,6,0.070,0.000,1787,2312,3405
$GC,8412,-0.69,-117.3,697.0,-9.0,251,8417,0.17,2.25,0.00,0.000,4,0.124,0.051,1845,898,3405
$GC,8450,-0.82,-117.3,700.0,-6.4,251,8454,0.00,2.22,0.00,0.000,6,0.000,0.046,1838,2308,3405
$GC,8772,-0.91,-117.3,719.4,-6.0,257,8774,0.12,0.00,0.00,0.000,6,0.061,0.000,1765,2309,3404
$GC,9074,-0.71,-117.3,747.2,-9.3,262,9079,0.25,2.28,0.00,0.000,4,0.129,0.051,1846,891,3404
$GC,9129,-0.85,-117.3,750.9,-5.6,262,9137,0.10,2.25,0.00,0.000,6,0.074,0.045,1782,2314,3404
$GC,9440,-0.71,-117.3,775.7,-8.2,268,9442,0.22,0.00,0.00,0.000,6,0.123,0.000,1850,2314,3404
$GC,9743,-0.86,-117.3,790.8,-4.9,273,9744,0.12,0.00,0.00,0.000,6,0.069,0.000,1790,2314,3403
$GC,10045,-0.77,-117.3,813.7,-7.7,278,10050,0.15,2.28,0.00,0.000,4,0.128,0.050,1834,894,3404
$GC,10095,-0.85,-117.3,817.1,-6.4,278,10099,0.00,2.25,0.00,0.000,6,0.000,0.045,1826,2314,3404
$GC,10405,-0.90,-117.3,835.4,-5.8,283,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2314,3403
$GC,10708,-0.95,-117.3,852.8,-5.7,288,10713,0.12,2.28,0.00,0.000,4,0.071,0.048,1768,892,3403
$GC,10797,-0.78,-117.3,860.5,-9.9,289,10802,0.25,2.25,0.00,0.000,6,0.130,0.047,1830,2311,3403
$GC,11136,-0.86,-117.3,878.3,-5.1,295,11140,0.00,2.25,0.00,0.000,4,0.000,0.048,1831,900,3403
$GC,11169,-0.94,-117.3,880.3,-5.7,295,11174,0.10,2.22,0.00,0.000,6,0.076,0.042,1775,2305,3403
$GC,11496,-0.79,-117.3,906.2,-8.1,301,11497,0.20,0.00,0.00,0.000,6,0.129,0.000,1834,2305,3402
$GC,11799,-0.89,-117.3,923.1,-5.5,306,11803,0.10,2.25,0.00,0.000,4,0.083,0.050,1792,901,3402
$GC,11837,-0.80,-117.3,926.1,-8.4,306,11842,0.17,2.22,0.00,0.000,6,0.131,0.044,1831,2303,3402
$GC,12158,-0.89,-117.3,944.4,-5.6,312,12160,0.10,0.00,0.00,0.000,6,0.084,0.000,1791,2304,3402
$GC,12460,-0.81,-117.3,967.5,-7.8,317,12465,0.12,2.28,0.00,0.000,4,0.133,0.054,1826,894,3402
$GC,12510,-0.87,-117.3,971.4,-7.0,317,12514,0.00,2.25,0.00,0.000,6,0.000,0.047,1822,2306,3402
$STATE,12817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12818,begin apogee
$GC,12824,-0.22,0.0,991.9,6.6,322,12920,0.43,0.00,93.62,1.325,6,0.119,0.000,1957,2306,2931
$STATE,12921,end apogee,CONTROL_FINISHED_OK
$STATE,12921,begin climb
$GC,12923,0.68,117.3,993.5,0.0,323,13030,0.57,2.53,99.62,1.297,4,0.074,0.059,2153,3710,2451
$GC,13048,0.35,117.3,991.7,6.7,325,13054,0.35,2.38,0.00,0.000,6,0.178,0.041,2080,2313,2448
$GC,13364,0.39,153.0,977.9,4.3,331,13396,0.00,0.00,30.42,1.253,6,0.000,0.000,2079,2313,2307
$GC,13667,0.45,161.5,962.1,5.2,336,13677,0.00,0.00,8.05,1.062,6,0.000,0.000,2080,2312,2272
$GC,13970,0.51,161.5,944.9,5.7,341,13972,0.12,0.00,0.00,0.000,6,0.071,0.000,2131,2312,2269
$GC,14273,0.36,161.5,921.0,8.0,346,14275,0.20,0.00,0.00,0.000,6,0.146,0.000,2077,2312,2268
$GC,14576,0.46,170.6,904.8,5.2,351,14591,0.10,2.33,8.70,1.077,4,0.075,0.053,2121,3707,2235
$GC,14619,0.27,170.6,901.6,8.1,351,14624,0.28,2.22,0.00,0.000,6,0.157,0.035,2055,2298,2234
$GC,14941,0.59,175.1,885.0,5.3,357,14951,0.20,2.30,5.45,0.919,4,0.067,0.053,2138,3709,2216
$GC,15065,0.35,175.1,874.9,7.9,358,15072,0.25,2.22,0.00,0.000,6,0.155,0.036,2080,2302,2215
$GC,15376,0.49,216.6,861.3,4.1,364,15420,0.10,2.40,36.95,1.214,4,0.073,0.053,2137,892,2046
$GC,15432,0.45,230.0,858.1,5.0,364,15452,0.15,2.33,12.77,1.097,6,0.136,0.047,2097,2310,1992
$GC,15810,0.59,273.8,842.5,4.0,371,15855,0.12,2.38,38.40,1.190,4,0.062,0.055,2154,3702,1813
$GC,15878,0.42,273.8,837.3,8.5,372,15882,0.28,2.28,0.00,0.000,6,0.148,0.041,2090,2304,1811
$GC,16238,0.80,295.0,820.7,4.8,378,16264,0.22,2.35,18.65,1.132,4,0.071,0.058,2175,3710,1727
$GC,16281,0.92,295.0,817.3,6.5,378,16285,0.00,2.28,0.00,0.000,6,0.000,0.035,2184,2294,1726
$GC,16601,0.67,295.0,780.3,12.1,384,16603,0.15,0.00,0.00,0.000,6,0.165,0.000,2148,2294,1722
$GC,16904,0.60,295.0,750.9,9.6,389,16908,0.00,2.30,0.00,0.000,4,0.000,0.052,2148,3713,1721
$GC,16932,0.52,295.0,747.8,9.9,389,16937,0.17,2.22,0.00,0.000,6,0.140,0.041,2108,2299,1720
$GC,17264,0.66,295.0,724.3,6.9,395,17269,0.12,2.25,0.00,0.000,4,0.060,0.051,2181,896,1719
$GC,17297,0.57,295.0,721.2,9.6,395,17302,0.22,2.25,0.00,0.000,6,0.137,0.040,2118,2312,1719
$GC,17624,0.66,295.0,696.9,7.2,401,17628,0.10,2.25,0.00,0.000,4,0.066,0.051,2177,3716,1719
$GC,17668,0.44,295.0,692.0,12.3,401,17673,0.32,2.22,0.00,0.000,6,0.143,0.041,2094,2293,1719
$GC,17983,0.99,295.0,669.3,7.4,407,17988,0.32,2.28,0.00,0.000,4,0.069,0.049,2219,3714,1718
$GC,18033,0.72,295.0,664.0,10.3,407,18038,0.25,2.22,0.00,0.000,6,0.166,0.041,2160,2293,1717
$GC,18343,0.60,295.0,634.8,9.2,412,18345,0.12,0.00,0.00,0.000,6,0.150,0.000,2125,2293,1718
$GC,18646,0.66,295.0,616.1,6.0,417,18647,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2293,1718
$GC,18949,0.71,295.0,597.3,6.2,422,18953,0.10,2.28,0.00,0.000,4,0.063,0.050,2183,3709,1718
$GC,18976,0.56,295.0,594.6,9.8,422,18981,0.25,2.20,0.00,0.000,6,0.147,0.042,2124,2296,1717
$GC,19308,0.62,295.0,571.5,6.8,428,19311,0.00,2.22,0.00,0.000,4,0.000,0.049,2132,895,1717
$GC,19330,0.70,295.0,569.9,6.0,428,19334,0.00,2.22,0.00,0.000,6,0.000,0.038,2133,2309,1716
$GC,19672,0.70,295.0,544.9,7.3,434,19676,0.00,2.25,0.00,0.000,4,0.000,0.054,2133,3716,1716
$GC,19700,0.70,295.0,542.5,8.5,434,19704,0.00,2.17,0.00,0.000,6,0.000,0.033,2142,2300,1716
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$STATE,26265,end climb,SURFACE_DEPTH_REACHED
$STATE,26266,begin surface coast
$FINISH,0.9,1.014078
$STATE,26288,end surface coast,CONTROL_FINISHED_OK
$STATE,26288,begin surface
$SM_CCo,26363,0.00,0.000,0,0,1568,334.34
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$IRIDIUM_FIX,4956.40,-14435.95,151198,111110
$TT8_MAMPS,0.029146
$HUMID,1683
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$TCM_TEMP,16.80
$XPDR_PINGS,80
$24V_AH,22.8,32.824
$10V_AH,10.7,26.846
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$DEVICE_SECS,30.850,223.950,388.125,0.000,0.000,54.825,51.630,305.214,20.000,0.000,0.000,32.893,1619.484,21873.893,531.332,2128.740,823.415,33.359,1623.798,0.000,2117.920,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41177,690
$CAP_FILE_SIZE,193447,0
$CFSIZE,260165632,242065408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210809,183524,5014.862,-14435.792,40,1.2,41,18.6