version: 66.04
glider: 144
mission: 15
dive: 372
start: 10 13 109 9 8 20
data:
$ID,144
$MISSION,15
$DIVE,372
$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,-68587.508
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,085654,5010.821,-14509.243,41,1.4,41,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-59.1
$GPS2,090726,5010.873,-14509.195,14,1.4,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.045,-0.161
$KALMAN_X,-68608.6,-242.3,-70.8,70546.2,1037.9
$KALMAN_Y,20396.2,111.3,-7.6,-39218.6,53.7
$MHEAD_RNG_PITCHd_Wd,177.2,31400,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-41.97,0.000,2,0.000,0.000,99,2306,2781
$GC,65,-0.68,-117.3,3.8,-6.7,4,91,7.18,2.38,-13.43,0.000,4,0.236,0.063,1846,896,3412
$GC,305,-0.63,-117.3,36.7,-12.2,25,312,0.10,2.22,0.00,0.000,6,0.141,0.037,1863,2307,3414
$GC,633,-0.63,-117.3,67.8,-7.9,56,634,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2306,3414
$GC,944,-0.63,-117.3,94.4,-8.4,78,947,0.00,2.28,0.00,0.000,4,0.000,0.045,1864,889,3416
$GC,965,-0.63,-117.3,96.3,-8.2,79,969,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2302,3416
$GC,1293,-0.63,-117.3,122.4,-7.8,95,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2302,3416
$GC,1602,-0.66,-117.3,144.6,-7.2,110,1606,0.00,2.25,0.00,0.000,4,0.000,0.041,1862,889,3416
$GC,1652,-0.72,-117.3,148.4,-7.3,112,1656,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2303,3416
$GC,1992,-0.77,-117.3,168.9,-5.9,124,1996,0.10,2.25,0.00,0.000,4,0.064,0.048,1775,3708,3416
$GC,2031,-0.66,-117.3,172.4,-10.2,125,2036,0.28,2.20,0.00,0.000,6,0.114,0.030,1860,2287,3415
$GC,2355,-0.72,-117.3,191.0,-5.7,136,2358,0.00,2.22,0.00,0.000,4,0.000,0.042,1860,888,3414
$GC,2394,-0.79,-117.3,193.5,-6.4,137,2399,0.12,2.25,0.00,0.000,6,0.055,0.039,1779,2306,3415
$GC,2723,-0.69,-117.3,225.5,-9.8,148,2728,0.20,2.28,0.00,0.000,4,0.120,0.048,1837,3709,3414
$GC,2752,-0.69,-117.3,228.0,-7.8,149,2756,0.00,2.20,0.00,0.000,6,0.000,0.030,1837,2296,3414
$GC,3088,-0.72,-117.3,251.0,-6.9,160,3091,0.00,2.22,0.00,0.000,4,0.000,0.044,1837,899,3413
$GC,3123,-0.75,-117.3,253.6,-7.5,161,3127,0.00,2.22,0.00,0.000,6,0.000,0.042,1829,2306,3413
$GC,3458,-0.75,-117.3,278.9,-7.5,172,3462,0.00,2.28,0.00,0.000,4,0.000,0.049,1819,3719,3413
$GC,3487,-0.75,-117.3,281.2,-8.1,173,3490,0.00,2.20,0.00,0.000,6,0.000,0.030,1819,2304,3412
$GC,3859,-0.75,-117.3,312.7,-8.6,183,3863,0.00,2.25,0.00,0.000,4,0.000,0.044,1818,896,3412
$GC,3931,-0.75,-117.3,319.7,-9.4,184,3935,0.10,2.25,0.00,0.000,6,0.130,0.039,1837,2308,3412
$GC,4293,-0.79,-117.3,346.6,-7.2,190,4297,0.00,2.28,0.00,0.000,4,0.000,0.044,1837,891,3411
$GC,4320,-0.82,-117.3,348.7,-7.3,190,4324,0.00,2.25,0.00,0.000,6,0.000,0.043,1837,2309,3411
$GC,4653,-0.85,-117.3,368.2,-5.7,196,4657,0.08,2.25,0.00,0.000,4,0.080,0.041,1777,898,3410
$GC,4680,-0.80,-117.3,370.4,-8.5,196,4685,0.20,2.25,0.00,0.000,6,0.124,0.038,1827,2314,3410
$GC,5012,-0.80,-117.3,389.4,-5.6,202,5016,0.00,2.28,0.00,0.000,4,0.000,0.048,1827,900,3410
$GC,5056,-0.82,-117.3,392.2,-6.8,202,5060,0.00,2.25,0.00,0.000,6,0.000,0.039,1823,2313,3410
$GC,5371,-0.82,-117.3,413.4,-6.9,208,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2313,3409
$GC,5674,-0.82,-117.3,434.9,-7.1,213,5678,0.00,2.28,0.00,0.000,4,0.000,0.043,1823,899,3409
$GC,5702,-0.82,-117.3,437.0,-7.8,213,5705,0.00,2.25,0.00,0.000,6,0.000,0.040,1814,2306,3409
$GC,6039,-0.82,-117.3,461.4,-7.2,219,6043,0.00,2.25,0.00,0.000,4,0.000,0.044,1814,902,3408
$GC,6061,-0.82,-117.3,463.1,-7.4,219,6065,0.00,2.25,0.00,0.000,6,0.000,0.040,1808,2312,3408
$GC,6411,-0.82,-117.3,488.3,-7.2,225,6415,0.00,2.30,0.00,0.000,4,0.000,0.045,1808,890,3408
$GC,6438,-0.82,-117.3,490.5,-8.1,225,6441,0.00,2.25,0.00,0.000,6,0.000,0.042,1800,2304,3408
$GC,6776,-0.80,-117.3,517.6,-8.1,231,6778,0.10,0.00,0.00,0.000,6,0.136,0.000,1828,2304,3407
$GC,7079,-0.83,-117.3,535.6,-5.8,236,7083,0.00,2.28,0.00,0.000,4,0.000,0.050,1828,889,3407
$GC,7118,-0.87,-117.3,538.2,-6.7,236,7122,0.00,2.25,0.00,0.000,6,0.000,0.044,1823,2301,3407
$GC,7438,-0.89,-117.3,559.7,-6.7,242,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2301,3407
$GC,7742,-0.92,-117.3,579.3,-6.4,247,7746,0.08,2.28,0.00,0.000,4,0.081,0.045,1762,892,3406
$GC,7786,-0.82,-117.3,583.4,-9.3,247,7791,0.22,2.28,0.00,0.000,6,0.126,0.039,1821,2308,3406
$GC,8101,-0.84,-117.3,602.2,-5.8,253,8105,0.00,2.28,0.00,0.000,4,0.000,0.044,1821,899,3406
$GC,8135,-0.87,-117.3,604.4,-6.6,253,8139,0.00,2.25,0.00,0.000,6,0.000,0.043,1822,2305,3406
$GC,8462,-0.90,-117.3,623.0,-5.7,259,8463,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3406
$GC,8765,-0.92,-117.3,641.2,-6.1,264,8769,0.00,2.30,0.00,0.000,4,0.000,0.047,1821,890,3406
$GC,8804,-0.95,-117.3,643.8,-6.8,264,8808,0.00,2.28,0.00,0.000,6,0.000,0.039,1812,2311,3406
$GC,9124,-0.95,-117.3,664.4,-6.4,270,9128,0.00,2.30,0.00,0.000,4,0.000,0.048,1813,896,3405
$GC,9157,-0.95,-117.3,666.6,-6.8,270,9161,0.00,2.25,0.00,0.000,6,0.000,0.040,1809,2299,3405
$GC,9483,-0.95,-117.3,686.6,-6.1,276,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2300,3405
$GC,9786,-0.95,-117.3,704.5,-5.9,281,9790,0.00,2.30,0.00,0.000,4,0.000,0.049,1809,891,3405
$GC,9824,-0.95,-117.3,707.0,-6.4,281,9828,0.00,2.30,0.00,0.000,6,0.000,0.042,1808,2313,3405
$GC,10146,-0.95,-117.3,727.5,-6.4,287,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2314,3405
$GC,10448,-0.95,-117.3,747.3,-6.5,292,10452,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,889,3405
$GC,10503,-0.95,-117.3,751.4,-6.9,292,10510,0.00,2.30,0.00,0.000,6,0.000,0.041,1805,2306,3405
$GC,10813,-0.95,-117.3,772.4,-6.8,298,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2307,3405
$GC,11116,-0.95,-117.3,793.1,-6.8,303,11121,0.00,2.28,0.00,0.000,4,0.000,0.051,1805,896,3404
$GC,11149,-0.95,-117.3,795.7,-7.7,303,11153,0.00,2.25,0.00,0.000,6,0.000,0.045,1796,2304,3404
$GC,11482,-0.95,-117.3,821.1,-7.7,309,11486,0.00,2.28,0.00,0.000,4,0.000,0.051,1796,897,3404
$GC,11532,-0.95,-117.3,825.3,-7.8,309,11536,0.00,2.28,0.00,0.000,6,0.000,0.046,1794,2313,3404
$GC,11842,-0.95,-117.3,848.6,-7.5,314,11846,0.00,2.30,0.00,0.000,4,0.000,0.048,1793,893,3404
$GC,11869,-0.95,-117.3,850.9,-7.8,314,11872,0.00,2.28,0.00,0.000,6,0.000,0.042,1784,2308,3404
$GC,12207,-0.92,-117.3,876.9,-7.8,320,12211,0.00,2.30,0.00,0.000,4,0.000,0.051,1784,891,3403
$GC,12235,-0.88,-117.3,879.3,-8.5,320,12240,0.10,2.28,0.00,0.000,6,0.143,0.042,1808,2305,3404
$GC,12566,-0.88,-117.3,900.2,-6.1,326,12570,0.00,2.30,0.00,0.000,4,0.000,0.051,1808,893,3404
$GC,12594,-0.88,-117.3,902.2,-6.8,326,12597,0.00,2.28,0.00,0.000,6,0.000,0.047,1808,2305,3404
$GC,12932,-0.88,-117.3,923.5,-6.3,332,12936,0.00,2.28,0.00,0.000,4,0.000,0.053,1808,898,3404
$GC,12953,-0.88,-117.3,925.0,-6.3,332,12957,0.00,2.28,0.00,0.000,6,0.000,0.045,1808,2311,3404
$GC,13297,-0.88,-117.3,947.4,-6.7,338,13301,0.00,2.30,0.00,0.000,4,0.000,0.049,1806,893,3403
$GC,13329,-0.88,-117.3,949.7,-6.5,338,13333,0.00,2.28,0.00,0.000,6,0.000,0.047,1806,2306,3404
$GC,13656,-0.88,-117.3,971.6,-6.8,344,13660,0.00,2.30,0.00,0.000,4,0.000,0.048,1806,898,3404
$GC,13685,-0.88,-117.3,973.8,-8.5,344,13689,0.00,2.28,0.00,0.000,6,0.000,0.048,1798,2312,3403
$STATE,13954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13954,begin apogee
$GC,13960,-0.22,0.0,993.1,7.1,349,14060,0.47,0.00,96.43,1.301,6,0.116,0.000,1951,2312,2931
$STATE,14060,end apogee,CONTROL_FINISHED_OK
$STATE,14060,begin climb
$GC,14063,0.68,117.3,995.0,0.0,350,14172,0.60,2.53,102.55,1.272,4,0.078,0.054,2151,3706,2451
$GC,14197,0.52,119.3,993.6,5.4,352,14205,0.20,2.42,0.00,0.000,6,0.167,0.035,2116,2310,2447
$GC,14508,0.50,149.5,979.4,4.5,358,14545,0.00,0.00,29.80,1.154,6,0.000,0.000,2115,2310,2321
$GC,14812,0.48,158.3,963.6,5.2,363,14826,0.00,2.35,8.52,1.058,4,0.000,0.054,2115,3702,2284
$GC,14860,0.41,158.3,960.5,6.8,363,14865,0.15,2.30,0.00,0.000,6,0.156,0.041,2085,2295,2283
$GC,15176,0.49,191.2,946.3,4.4,369,15207,0.00,0.00,29.88,1.222,6,0.000,0.000,2085,2294,2151
$GC,15480,0.62,191.2,928.8,6.0,374,15484,0.17,2.33,0.00,0.000,4,0.066,0.051,2159,887,2145
$GC,15569,0.54,191.2,921.6,8.1,375,15574,0.15,2.30,0.00,0.000,6,0.143,0.046,2120,2303,2144
$GC,15907,0.54,191.2,897.9,7.0,381,15911,0.00,2.30,0.00,0.000,4,0.000,0.052,2121,3718,2143
$GC,15940,0.50,191.2,895.0,8.7,381,15945,0.00,2.28,0.00,0.000,6,0.000,0.038,2129,2293,2143
$GC,16268,0.47,191.2,870.4,7.5,387,16270,0.12,0.00,0.00,0.000,6,0.151,0.000,2097,2292,2143
$GC,16570,0.50,191.2,851.5,6.2,392,16574,0.00,2.33,0.00,0.000,4,0.000,0.057,2097,3719,2142
$GC,16604,0.50,191.2,849.0,6.7,392,16608,0.00,2.25,0.00,0.000,6,0.000,0.034,2104,2296,2141
$GC,16931,0.50,191.2,827.5,6.6,398,16932,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2296,2142
$GC,17233,0.50,191.2,808.4,6.3,403,17237,0.00,2.33,0.00,0.000,4,0.000,0.054,2104,3713,2141
$GC,17261,0.50,191.2,806.3,7.0,403,17265,0.00,2.25,0.00,0.000,6,0.000,0.035,2115,2301,2140
$GC,17593,0.50,191.2,785.1,6.5,409,17594,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2301,2141
$GC,17895,0.50,191.2,765.1,6.6,414,17897,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2301,2141
$GC,18198,0.50,191.2,745.6,6.5,419,18202,0.00,2.28,0.00,0.000,4,0.000,0.049,2115,3712,2141
$GC,18232,0.47,191.2,743.0,8.8,419,18237,0.10,2.22,0.00,0.000,6,0.154,0.033,2101,2295,2140
$GC,18565,0.50,191.2,723.7,5.8,425,18568,0.00,2.25,0.00,0.000,4,0.000,0.048,2109,893,2140
$GC,18587,0.54,191.2,722.3,6.0,425,18591,0.00,2.25,0.00,0.000,6,0.000,0.040,2109,2308,2140
$GC,18930,0.54,191.2,701.5,6.1,431,18934,0.00,2.28,0.00,0.000,4,0.000,0.054,2110,3719,2140
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$GC,20677,0.61,239.1,601.0,5.4,459,20689,0.08,2.22,5.30,0.752,6,0.077,0.032,2169,2302,1956
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$GC,21020,0.55,239.1,571.9,5.6,465,21024,0.00,2.25,0.00,0.000,6,0.000,0.038,2116,2313,1951
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$STATE,29218,end climb,SURFACE_DEPTH_REACHED
$STATE,29218,begin surface coast
$FINISH,0.8,1.017907
$STATE,29253,end surface coast,CONTROL_FINISHED_OK
$STATE,29253,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1720
$INTERNAL_PRESSURE,7.44169
$TCM_TEMP,16.70
$XPDR_PINGS,73
$24V_AH,22.2,54.507
$10V_AH,10.6,46.542
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$DEVICE_SECS,20.400,280.650,390.625,0.000,0.000,60.391,52.572,319.607,18.250,0.000,0.000,15.879,1745.760,24368.072,560.551,2367.088,907.679,33.371,1780.992,0.000,2353.731,0.000,0.529,0.000
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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,44410,745
$CAP_FILE_SIZE,204509,0
$CFSIZE,260165632,229715968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,131009,171825,5007.553,-14510.398,38,1.4,38,18.5