version: 66.04
glider: 144
mission: 15
dive: 286
start: 9 14 109 1 34 4
data:
$ID,144
$MISSION,15
$DIVE,286
$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,-66700.875
$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,0.02
$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,39
$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
$GPS1,012731,5015.317,-14508.558,40,1.2,40,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-61.8
$GPS2,013308,5015.306,-14508.567,12,1.9,12,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.006,-0.168
$KALMAN_X,-30164.0,259.0,145.3,32117.7,-837.3
$KALMAN_Y,13715.3,196.8,53.7,-24475.3,-49.3
$MHEAD_RNG_PITCHd_Wd,159.4,39643,-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,-42.05,0.000,2,0.000,0.000,98,2285,2860
$GC,61,-0.68,-117.3,3.8,-6.6,4,84,7.15,0.00,-11.35,0.000,6,0.240,0.000,1846,2285,3413
$GC,405,-0.65,-117.3,49.6,-8.9,36,409,0.00,2.20,0.00,0.000,4,0.000,0.041,1845,898,3415
$GC,450,-0.65,-117.3,54.0,-9.0,40,454,0.00,2.22,0.00,0.000,6,0.000,0.036,1839,2314,3416
$GC,790,-0.60,-117.3,89.7,-11.1,68,794,0.12,2.25,0.00,0.000,4,0.139,0.039,1873,891,3417
$GC,835,-0.65,-117.3,94.0,-8.5,70,839,0.00,2.25,0.00,0.000,6,0.000,0.038,1866,2309,3417
$GC,1162,-0.67,-117.3,118.9,-6.8,86,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2309,3417
$GC,1471,-0.72,-117.3,140.4,-6.9,101,1476,0.08,2.22,0.00,0.000,4,0.080,0.041,1806,900,3417
$GC,1515,-0.66,-117.3,144.8,-10.9,103,1520,0.22,2.22,0.00,0.000,6,0.127,0.037,1862,2305,3417
$GC,1834,-0.71,-117.3,166.0,-6.2,115,1838,0.00,2.25,0.00,0.000,4,0.000,0.048,1862,888,3417
$GC,1866,-0.77,-117.3,167.9,-7.5,116,1870,0.12,2.25,0.00,0.000,6,0.058,0.039,1788,2307,3417
$GC,2201,-0.68,-117.3,202.0,-10.7,127,2205,0.17,2.25,0.00,0.000,4,0.131,0.051,1837,3716,3417
$GC,2229,-0.68,-117.3,204.7,-9.2,128,2233,0.00,2.20,0.00,0.000,6,0.000,0.032,1837,2296,3417
$GC,2565,-0.68,-117.3,232.0,-7.9,139,2568,0.00,2.20,0.00,0.000,4,0.000,0.042,1837,890,3416
$GC,2614,-0.68,-117.3,236.2,-8.3,140,2618,0.00,2.25,0.00,0.000,6,0.000,0.040,1833,2306,3416
$GC,2938,-0.68,-117.3,258.8,-6.7,151,2942,0.00,2.22,0.00,0.000,4,0.000,0.048,1833,898,3415
$GC,2973,-0.68,-117.3,261.0,-6.9,152,2978,0.10,2.22,0.00,0.000,6,0.137,0.045,1851,2305,3416
$GC,3313,-0.73,-117.3,280.4,-5.8,163,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2305,3415
$GC,3619,-0.78,-117.3,298.4,-6.0,173,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2305,3415
$GC,3954,-0.83,-117.3,317.7,-5.8,179,3955,0.12,0.00,0.00,0.000,6,0.060,0.000,1779,2305,3414
$GC,4256,-0.74,-117.3,346.9,-9.8,184,4261,0.17,2.25,0.00,0.000,4,0.133,0.050,1835,902,3413
$GC,4311,-0.76,-117.3,351.3,-7.2,184,4318,0.00,2.25,0.00,0.000,6,0.000,0.048,1834,2292,3414
$GC,4621,-0.76,-117.3,371.6,-6.6,190,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2292,3413
$GC,4925,-0.79,-117.3,391.5,-6.6,195,4928,0.00,2.22,0.00,0.000,4,0.000,0.045,1834,899,3413
$GC,4952,-0.81,-117.3,393.6,-7.4,195,4956,0.00,2.25,0.00,0.000,6,0.000,0.044,1826,2311,3413
$GC,5289,-0.81,-117.3,416.7,-6.8,201,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2311,3412
$GC,5592,-0.81,-117.3,437.6,-6.9,206,5596,0.00,2.25,0.00,0.000,4,0.000,0.048,1826,899,3412
$GC,5658,-0.81,-117.3,442.6,-7.3,207,5662,0.00,2.22,0.00,0.000,6,0.000,0.042,1823,2302,3412
$GC,6018,-0.81,-117.3,466.8,-6.7,213,6022,0.00,2.25,0.00,0.000,4,0.000,0.047,1822,892,3412
$GC,6045,-0.81,-117.3,468.8,-7.5,213,6049,0.00,2.25,0.00,0.000,6,0.000,0.040,1820,2306,3411
$GC,6384,-0.81,-117.3,491.6,-6.7,219,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2306,3411
$GC,6686,-0.81,-117.3,511.4,-6.5,224,6690,0.00,2.25,0.00,0.000,4,0.000,0.046,1820,896,3411
$GC,6725,-0.81,-117.3,514.2,-7.4,224,6729,0.00,2.25,0.00,0.000,6,0.000,0.043,1810,2311,3411
$GC,7051,-0.81,-117.3,537.4,-7.2,230,7055,0.00,2.25,0.00,0.000,4,0.000,0.051,1810,899,3410
$GC,7084,-0.81,-117.3,540.1,-8.1,230,7089,0.00,2.25,0.00,0.000,6,0.000,0.045,1807,2312,3410
$GC,7411,-0.79,-117.3,564.8,-7.7,236,7416,0.08,2.28,0.00,0.000,4,0.155,0.049,1828,900,3410
$GC,7455,-0.82,-117.3,568.2,-7.0,236,7459,0.00,2.25,0.00,0.000,6,0.000,0.040,1823,2309,3410
$GC,7770,-0.82,-117.3,588.7,-6.6,242,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2309,3410
$GC,8072,-0.82,-117.3,608.5,-6.5,247,8076,0.00,2.28,0.00,0.000,4,0.000,0.047,1823,892,3410
$GC,8117,-0.84,-117.3,611.6,-7.3,247,8121,0.00,2.28,0.00,0.000,6,0.000,0.041,1822,2313,3410
$GC,8432,-0.84,-117.3,630.8,-6.0,253,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2314,3410
$GC,8735,-0.84,-117.3,648.3,-5.8,258,8739,0.00,2.28,0.00,0.000,4,0.000,0.045,1822,892,3410
$GC,8768,-0.84,-117.3,650.5,-6.9,258,8772,0.00,2.25,0.00,0.000,6,0.000,0.040,1821,2303,3409
$GC,9100,-0.84,-117.3,670.0,-5.8,264,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3409
$GC,9403,-0.84,-117.3,687.5,-5.7,269,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3409
$GC,9707,-0.84,-117.3,705.4,-5.9,274,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2304,3408
$GC,10010,-0.84,-117.3,723.8,-6.1,279,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2304,3409
$GC,10313,-0.86,-117.3,742.5,-6.1,284,10317,0.00,2.28,0.00,0.000,4,0.000,0.046,1821,900,3408
$GC,10346,-0.88,-117.3,744.6,-6.4,284,10351,0.00,2.28,0.00,0.000,6,0.000,0.041,1818,2309,3408
$GC,10673,-0.88,-117.3,764.5,-6.0,290,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2310,3408
$GC,10976,-0.88,-117.3,782.9,-6.1,295,10980,0.00,2.30,0.00,0.000,4,0.000,0.046,1819,891,3408
$GC,11019,-0.88,-117.3,785.9,-6.7,295,11023,0.00,2.28,0.00,0.000,6,0.000,0.042,1810,2304,3407
$GC,11340,-0.88,-117.3,807.2,-6.7,301,11341,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3407
$GC,11644,-0.88,-117.3,827.1,-6.6,306,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3408
$GC,11947,-0.88,-117.3,847.4,-6.7,311,11951,0.00,2.28,0.00,0.000,4,0.000,0.048,1810,902,3408
$GC,11991,-0.88,-117.3,850.7,-7.3,311,11995,0.00,2.28,0.00,0.000,6,0.000,0.045,1808,2309,3408
$GC,12312,-0.88,-117.3,872.0,-6.6,317,12313,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3407
$GC,12615,-0.88,-117.3,891.6,-6.4,322,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3407
$GC,12918,-0.88,-117.3,911.4,-6.5,327,12920,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3407
$GC,13221,-0.88,-117.3,931.7,-6.7,332,13225,0.00,2.30,0.00,0.000,4,0.000,0.049,1808,902,3407
$GC,13248,-0.88,-117.3,933.6,-6.8,332,13252,0.00,2.28,0.00,0.000,6,0.000,0.049,1806,2304,3407
$GC,13586,-0.88,-117.3,957.5,-7.1,338,13587,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2303,3406
$GC,13889,-0.88,-117.3,979.4,-7.2,343,13893,0.00,2.30,0.00,0.000,4,0.000,0.049,1806,894,3406
$GC,13922,-0.88,-117.3,982.1,-7.9,343,13926,0.00,2.28,0.00,0.000,6,0.000,0.045,1801,2304,3407
$STATE,14070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14070,begin apogee
$GC,14076,-0.22,0.0,993.2,7.4,346,14175,0.47,0.00,96.00,1.317,6,0.123,0.000,1951,2304,2931
$STATE,14175,end apogee,CONTROL_FINISHED_OK
$STATE,14175,begin climb
$GC,14178,0.68,117.3,995.3,0.0,347,14286,0.57,2.55,101.57,1.285,4,0.077,0.054,2150,3707,2451
$GC,14314,0.49,117.3,993.6,6.5,349,14319,0.22,2.38,0.00,0.000,6,0.174,0.035,2110,2316,2447
$GC,14664,0.46,134.0,976.4,4.9,355,14683,0.00,2.40,14.23,1.167,4,0.000,0.051,2119,888,2383
$GC,14707,0.42,134.0,974.0,5.7,355,14712,0.12,2.35,0.00,0.000,6,0.141,0.044,2088,2306,2381
$GC,15027,0.44,153.9,958.5,4.8,361,15052,0.00,2.38,17.98,1.196,4,0.000,0.058,2088,3704,2302
$GC,15093,0.44,153.9,954.5,6.4,362,15097,0.00,2.28,0.00,0.000,6,0.000,0.038,2096,2296,2300
$GC,15464,0.44,153.9,932.2,6.1,368,15466,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2296,2298
$GC,15768,0.44,153.9,913.2,6.3,373,15772,0.00,2.33,0.00,0.000,4,0.000,0.055,2096,3710,2297
$GC,15808,0.40,153.9,910.2,8.3,373,15812,0.00,2.25,0.00,0.000,6,0.000,0.039,2106,2303,2297
$GC,16129,0.38,153.9,888.7,6.6,379,16134,0.10,2.30,0.00,0.000,4,0.164,0.054,2082,3710,2296
$GC,16156,0.38,153.9,886.8,6.6,379,16160,0.00,2.28,0.00,0.000,6,0.000,0.034,2090,2303,2295
$GC,16494,0.39,161.7,868.8,5.2,385,16503,0.00,0.00,7.30,1.006,6,0.000,0.000,2090,2303,2271
$GC,16798,0.41,183.6,854.1,4.8,390,16823,0.00,2.33,20.17,1.166,4,0.000,0.056,2090,3709,2181
$GC,16839,0.42,188.7,851.8,5.3,390,16850,0.00,2.28,6.05,0.912,6,0.000,0.034,2101,2294,2161
$GC,17155,0.43,196.6,835.4,5.2,395,17164,0.00,0.00,8.18,1.012,6,0.000,0.000,2101,2294,2129
$GC,17458,0.44,205.0,819.6,5.2,400,17472,0.00,2.38,8.82,1.022,4,0.000,0.058,2101,3711,2095
$GC,17500,0.44,205.0,816.8,6.3,400,17504,0.00,2.28,0.00,0.000,6,0.000,0.038,2111,2294,2093
$GC,17827,0.44,205.0,797.6,6.0,406,17828,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2294,2092
$GC,18130,0.44,205.0,779.9,5.9,411,18134,0.00,2.33,0.00,0.000,4,0.000,0.056,2111,3717,2091
$GC,18169,0.41,205.0,777.1,8.5,411,18173,0.12,2.25,0.00,0.000,6,0.151,0.034,2089,2303,2091
$GC,18489,0.50,232.5,762.1,4.6,417,18519,0.00,2.33,24.73,1.123,4,0.000,0.051,2098,893,1983
$GC,18542,0.63,263.8,759.5,4.4,417,18579,0.12,2.30,29.12,1.111,6,0.066,0.038,2155,2312,1854
$GC,18925,0.56,263.8,726.5,9.0,424,18930,0.12,2.30,0.00,0.000,4,0.145,0.053,2124,3717,1846
$GC,18969,0.56,263.8,722.4,7.5,424,18973,0.00,2.25,0.00,0.000,6,0.000,0.036,2131,2305,1845
$GC,19290,0.56,263.8,698.7,7.3,430,19294,0.00,2.30,0.00,0.000,4,0.000,0.051,2143,893,1844
$GC,19311,0.56,263.8,697.1,6.3,430,19315,0.00,2.28,0.00,0.000,6,0.000,0.040,2142,2309,1843
$GC,19655,0.53,263.8,670.1,7.9,436,19660,0.12,2.28,0.00,0.000,4,0.137,0.055,2108,3710,1843
$GC,19676,0.53,263.8,668.5,7.4,436,19680,0.00,2.25,0.00,0.000,6,0.000,0.035,2117,2290,1843
$GC,20020,0.57,263.8,648.4,5.8,442,20024,0.00,2.28,0.00,0.000,4,0.000,0.047,2126,886,1842
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$STATE,28805,end climb,SURFACE_DEPTH_REACHED
$STATE,28805,begin surface coast
$FINISH,0.8,1.024645
$STATE,28821,end surface coast,CONTROL_FINISHED_OK
$STATE,28821,begin surface
$SM_CCo,28899,0.00,0.000,0,0,1515,347.59
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$HUMID,1695
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$TCM_TEMP,19.00
$XPDR_PINGS,90
$24V_AH,22.4,42.674
$10V_AH,10.6,35.658
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$DEVICE_SECS,18.100,249.175,407.450,0.000,0.000,30.592,25.884,155.868,22.500,0.000,0.000,13.578,1690.735,24126.941,528.900,2287.175,594.625,33.369,1705.172,0.000,2264.417,0.000,0.529,0.000
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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,44286,737
$CAP_FILE_SIZE,186699,0
$CFSIZE,260165632,236396544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,140909,093701,5011.998,-14508.699,40,1.9,40,18.5