version: 66.04
glider: 144
mission: 15
dive: 292
start: 9 16 109 3 45 55
data:
$ID,144
$MISSION,15
$DIVE,292
$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,-66832
$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,36
$R_STBD_OVSHOOT,32
$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
$GPS1,033901,4956.338,-14511.770,38,1.2,38,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-59.7
$GPS2,034502,4956.383,-14511.853,33,1.2,33,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.009,-0.139
$KALMAN_X,-31253.8,-44.5,81.9,29705.2,-443.1
$KALMAN_Y,15013.4,146.2,-320.9,-60387.7,605.6
$MHEAD_RNG_PITCHd_Wd,157.8,4393,-16.6,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.81,-73.8,0.0,0.0,0,60,0.00,0.00,-41.30,0.000,2,0.000,0.000,100,2305,2853
$GC,63,-0.81,-73.8,4.1,-8.0,4,86,7.18,2.30,-7.90,0.000,4,0.248,0.061,1807,3706,3235
$GC,224,-0.71,-73.8,34.8,-16.1,18,229,0.15,2.20,0.00,0.000,6,0.143,0.031,1846,2302,3236
$GC,550,-0.71,-73.8,66.9,-9.0,48,554,0.00,2.22,0.00,0.000,4,0.000,0.041,1847,893,3238
$GC,737,-0.73,-73.8,85.5,-9.8,62,741,0.00,2.22,0.00,0.000,6,0.000,0.036,1838,2307,3239
$GC,1053,-0.76,-73.8,115.7,-8.6,77,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2308,3240
$GC,1363,-0.79,-73.8,140.5,-7.0,92,1367,0.00,2.25,0.00,0.000,4,0.000,0.041,1838,895,3240
$GC,1429,-0.84,-73.8,145.6,-7.7,95,1433,0.00,2.25,0.00,0.000,6,0.000,0.038,1831,2303,3240
$GC,1748,-0.87,-73.8,170.8,-8.2,107,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2304,3240
$GC,2055,-0.91,-73.8,195.3,-8.1,117,2059,0.10,2.25,0.00,0.000,4,0.067,0.047,1769,896,3240
$GC,2098,-0.84,-73.8,200.1,-11.3,118,2103,0.22,2.25,0.00,0.000,6,0.142,0.043,1822,2307,3239
$GC,2417,-0.86,-73.8,227.8,-8.5,129,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2307,3239
$GC,2723,-0.89,-73.8,253.2,-8.3,139,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2307,3238
$GC,3029,-0.92,-73.8,278.7,-8.2,149,3034,0.10,2.28,0.00,0.000,4,0.070,0.044,1767,895,3237
$GC,3101,-0.86,-73.8,286.9,-11.9,151,3106,0.20,2.25,0.00,0.000,6,0.140,0.046,1812,2305,3237
$GC,3454,-0.86,-73.8,315.8,-8.0,160,3458,0.00,2.25,0.00,0.000,4,0.000,0.045,1812,893,3236
$GC,3517,-0.88,-73.8,320.9,-8.0,161,3521,0.00,2.25,0.00,0.000,6,0.000,0.041,1805,2308,3236
$GC,3882,-0.88,-73.8,351.0,-8.2,167,3886,0.00,2.25,0.00,0.000,4,0.000,0.045,1805,895,3236
$GC,3915,-0.88,-73.8,354.1,-9.2,167,3919,0.00,2.22,0.00,0.000,6,0.000,0.046,1795,2304,3236
$GC,4241,-0.88,-73.8,383.0,-9.0,173,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2305,3236
$GC,4544,-0.88,-73.8,409.6,-8.7,178,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2305,3235
$GC,4847,-0.88,-73.8,435.3,-8.5,183,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2305,3235
$GC,5151,-0.88,-73.8,460.3,-8.3,188,5154,0.00,2.25,0.00,0.000,4,0.000,0.045,1794,892,3234
$GC,5206,-0.88,-73.8,465.1,-8.2,188,5210,0.10,2.28,0.00,0.000,6,0.148,0.046,1810,2312,3234
$GC,5521,-0.91,-73.8,486.6,-6.7,194,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2312,3234
$GC,5824,-0.94,-73.8,508.0,-7.1,199,5828,0.00,2.28,0.00,0.000,4,0.000,0.050,1811,898,3233
$GC,5868,-0.98,-73.8,511.5,-8.3,199,5872,0.00,2.25,0.00,0.000,6,0.000,0.047,1804,2306,3233
$GC,6184,-0.98,-73.8,536.0,-7.8,205,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2305,3233
$GC,6486,-0.98,-73.8,560.7,-8.2,210,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2305,3232
$GC,6790,-1.00,-73.8,586.2,-8.4,215,6794,0.00,2.28,0.00,0.000,4,0.000,0.050,1804,889,3232
$GC,6823,-1.00,-73.8,589.2,-8.7,215,6827,0.00,2.28,0.00,0.000,6,0.000,0.045,1794,2311,3232
$GC,7149,-1.00,-73.8,615.7,-8.0,221,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2311,3232
$GC,7452,-1.00,-73.8,637.7,-7.2,226,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2311,3232
$GC,7756,-1.00,-73.8,659.0,-7.0,231,7760,0.00,2.28,0.00,0.000,4,0.000,0.052,1794,895,3232
$GC,7796,-1.00,-73.8,662.1,-8.7,231,7800,0.00,2.28,0.00,0.000,6,0.000,0.040,1786,2313,3232
$GC,8116,-1.00,-73.8,688.1,-8.2,237,8120,0.00,2.28,0.00,0.000,4,0.000,0.047,1785,890,3232
$GC,8166,-1.00,-73.8,692.6,-9.4,237,8170,0.00,2.28,0.00,0.000,6,0.000,0.045,1781,2311,3231
$GC,8481,-1.00,-73.8,718.6,-8.3,243,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2310,3231
$GC,8785,-1.00,-73.8,742.1,-7.7,248,8789,0.00,2.28,0.00,0.000,4,0.000,0.052,1781,897,3231
$GC,8834,-1.00,-73.8,746.3,-8.7,248,8838,0.00,2.25,0.00,0.000,6,0.000,0.043,1772,2303,3231
$GC,9150,-0.97,-73.8,770.5,-7.7,254,9154,0.00,2.28,0.00,0.000,4,0.000,0.049,1772,887,3230
$GC,9188,-0.95,-73.8,773.7,-8.1,254,9193,0.10,2.28,0.00,0.000,6,0.155,0.042,1792,2305,3230
$GC,9509,-0.95,-73.8,794.9,-6.6,260,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2306,3230
$GC,9812,-0.97,-73.8,814.6,-6.5,265,9816,0.00,2.25,0.00,0.000,4,0.000,0.050,1792,898,3230
$GC,9850,-0.97,-73.8,817.5,-7.1,265,9854,0.00,2.25,0.00,0.000,6,0.000,0.046,1784,2304,3230
$GC,10177,-0.97,-73.8,840.4,-7.0,271,10181,0.00,2.28,0.00,0.000,4,0.000,0.052,1781,3708,3230
$GC,10198,-0.97,-73.8,842.1,-7.6,271,10202,0.00,2.20,0.00,0.000,6,0.000,0.038,1781,2310,3230
$GC,10542,-0.97,-73.8,867.2,-7.3,277,10546,0.00,2.28,0.00,0.000,4,0.000,0.053,1781,891,3230
$GC,10574,-0.97,-73.8,869.7,-7.3,277,10578,0.00,2.25,0.00,0.000,6,0.000,0.041,1771,2306,3230
$GC,10908,-0.97,-73.8,894.9,-7.5,283,10912,0.00,2.28,0.00,0.000,4,0.000,0.047,1771,896,3229
$GC,10958,-0.94,-73.8,899.0,-8.2,283,10963,0.12,2.28,0.00,0.000,6,0.151,0.042,1800,2309,3229
$GC,11268,-0.98,-73.8,917.7,-6.0,288,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2309,3229
$GC,11572,-1.03,-73.8,935.6,-5.9,293,11574,0.10,0.00,0.00,0.000,6,0.084,0.000,1759,2309,3229
$GC,11874,-0.99,-73.8,958.4,-7.6,298,11876,0.10,0.00,0.00,0.000,6,0.162,0.000,1783,2309,3229
$GC,12177,-0.99,-73.8,978.3,-6.5,303,12181,0.00,2.30,0.00,0.000,4,0.000,0.051,1783,889,3229
$GC,12203,-0.99,-73.8,980.1,-7.4,303,12207,0.00,2.30,0.00,0.000,6,0.000,0.044,1781,2312,3229
$STATE,12357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12357,begin apogee
$GC,12363,-0.22,0.0,990.5,6.7,306,12427,0.55,0.00,60.65,1.307,6,0.133,0.000,1950,2312,2931
$STATE,12427,end apogee,CONTROL_FINISHED_OK
$STATE,12427,begin climb
$GC,12430,0.81,73.8,991.6,0.0,307,12496,0.65,0.00,63.00,1.281,6,0.076,0.000,2177,2312,2630
$GC,12796,0.68,73.8,972.2,6.2,313,12801,0.12,2.33,0.00,0.000,4,0.168,0.052,2149,3712,2621
$GC,12840,0.56,73.8,969.1,6.5,313,12845,0.15,2.28,0.00,0.000,6,0.176,0.035,2122,2302,2620
$GC,13156,0.57,103.9,956.4,3.9,319,13186,0.00,2.38,25.15,1.231,4,0.000,0.054,2122,3718,2505
$GC,13220,0.54,117.2,953.3,4.8,320,13239,0.00,2.30,12.45,1.137,6,0.000,0.037,2130,2300,2453
$GC,13584,0.54,117.2,933.3,5.5,326,13588,0.00,2.33,0.00,0.000,4,0.000,0.055,2130,3715,2447
$GC,13647,0.48,117.2,929.3,6.3,327,13652,0.15,2.25,0.00,0.000,6,0.166,0.035,2103,2302,2446
$GC,14013,0.55,134.8,912.4,4.6,333,14034,0.00,2.33,15.55,1.170,4,0.000,0.053,2103,3712,2380
$GC,14062,0.57,134.8,909.8,5.6,333,14066,0.00,2.28,0.00,0.000,6,0.000,0.038,2112,2294,2378
$GC,14372,0.62,141.1,893.8,5.2,338,14381,0.08,0.00,6.75,0.986,6,0.084,0.000,2149,2294,2354
$GC,14675,0.59,141.1,872.8,7.0,343,14679,0.00,2.33,0.00,0.000,4,0.000,0.057,2148,3710,2352
$GC,14731,0.51,141.1,867.8,9.0,343,14738,0.20,2.25,0.00,0.000,6,0.161,0.035,2107,2302,2352
$GC,15041,0.56,141.1,850.5,5.5,349,15042,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2302,2352
$GC,15345,0.62,144.0,834.0,5.3,354,15354,0.10,2.33,3.80,0.713,4,0.071,0.057,2153,3710,2343
$GC,15382,0.53,144.0,830.9,8.7,354,15387,0.20,2.22,0.00,0.000,6,0.160,0.041,2112,2303,2342
$GC,15708,0.58,144.0,811.7,5.8,360,15712,0.00,2.30,0.00,0.000,4,0.000,0.051,2112,3722,2341
$GC,15741,0.58,144.0,809.3,6.6,360,15746,0.00,2.25,0.00,0.000,6,0.000,0.036,2120,2295,2341
$GC,16068,0.61,144.0,790.1,5.9,366,16072,0.00,2.30,0.00,0.000,4,0.000,0.051,2120,3717,2341
$GC,16112,0.61,144.0,786.8,7.7,366,16115,0.00,2.22,0.00,0.000,6,0.000,0.035,2131,2303,2341
$GC,16433,0.61,144.0,766.2,6.5,372,16437,0.00,2.28,0.00,0.000,4,0.000,0.055,2131,3712,2340
$GC,16471,0.57,144.0,763.5,7.9,372,16475,0.00,2.22,0.00,0.000,6,0.000,0.038,2142,2291,2340
$GC,16792,0.57,144.0,741.8,6.7,378,16796,0.00,2.33,0.00,0.000,4,0.000,0.053,2142,3722,2340
$GC,16832,0.51,144.0,738.7,8.7,378,16837,0.17,2.25,0.00,0.000,6,0.155,0.041,2108,2297,2340
$GC,17154,0.58,145.9,721.1,5.4,384,17155,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2297,2340
$GC,17456,0.64,146.7,704.5,5.5,389,17458,0.12,0.00,0.00,0.000,6,0.059,0.000,2168,2296,2340
$GC,17759,0.58,146.7,680.7,8.0,394,17763,0.15,2.30,0.00,0.000,4,0.150,0.050,2129,3713,2340
$GC,17826,0.56,146.7,675.5,7.0,395,17830,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2291,2340
$GC,18185,0.56,146.7,651.9,6.5,401,18190,0.00,2.33,0.00,0.000,4,0.000,0.056,2138,3719,2340
$GC,18236,0.52,146.7,648.1,7.9,401,18240,0.15,2.22,0.00,0.000,6,0.155,0.034,2109,2304,2340
$GC,18546,0.59,158.1,632.5,4.9,406,18561,0.00,0.00,13.12,0.993,6,0.000,0.000,2109,2305,2285
$GC,18849,0.68,168.2,617.5,5.0,411,18865,0.12,2.33,10.18,0.941,4,0.057,0.055,2172,3720,2244
$GC,18887,0.59,168.2,614.4,8.8,411,18892,0.22,2.25,0.00,0.000,6,0.158,0.033,2123,2306,2243
$GC,19208,0.64,168.2,594.6,6.0,417,19209,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2306,2241
$GC,19511,0.70,168.2,576.4,6.0,422,19515,0.10,2.33,0.00,0.000,4,0.064,0.049,2173,3720,2240
$GC,19538,0.63,168.2,574.0,8.8,422,19543,0.17,2.25,0.00,0.000,6,0.160,0.034,2139,2300,2240
$GC,19870,0.63,168.2,551.9,6.5,428,19871,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2299,2240
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$GC,28100,1.02,260.9,39.7,3.1,688,28142,0.00,0.00,37.75,0.656,6,0.000,0.000,2210,2303,1866
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$STATE,28758,end climb,SURFACE_DEPTH_REACHED
$STATE,28758,begin surface coast
$FINISH,0.8,1.024653
$STATE,28791,end surface coast,CONTROL_FINISHED_OK
$STATE,28791,begin surface
$SM_CCo,28806,30.05,0.611,0,0,1707,300.00
$SM_GC,1.28,0.00,0.00,30.05,0.000,0.000,0.611,98,2296,1707,-8.74,-0.20,300.00
$IRIDIUM_FIX,4943.02,-14508.98,101298,191925
$TT8_MAMPS,0.028379
$HUMID,1691
$INTERNAL_PRESSURE,7.46122
$TCM_TEMP,17.20
$XPDR_PINGS,74
$24V_AH,23.2,43.472
$10V_AH,10.6,36.420
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$DEVICE_SECS,19.300,235.450,297.500,30.050,0.000,28.807,29.936,155.732,18.500,0.000,0.000,35.308,1721.050,24063.154,475.293,2323.849,606.765,33.367,1628.135,0.000,2288.938,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,530.056,609.598,773.530,1290.555,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44332,752
$CAP_FILE_SIZE,190377,0
$CFSIZE,260165632,235925504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160909,114802,4953.789,-14512.297,41,1.5,49,18.4