version: 66.04
glider: 144
mission: 15
dive: 474
start: 11 17 109 5 23 8
data:
$ID,144
$MISSION,15
$DIVE,474
$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,-70941.75
$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,40
$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
$GPS1,051602,5018.633,-14431.978,68,1.8,69,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-49.7
$GPS2,052214,5018.592,-14431.873,12,1.9,12,18.7
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.072,0.085
$KALMAN_X,-94033.1,211.5,69.9,139480.2,-178.2
$KALMAN_Y,17419.3,-296.1,-237.4,-21299.4,1395.6
$MHEAD_RNG_PITCHd_Wd,21.5,5083,-22.0,-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,-1.01,-44.8,0.0,0.0,0,71,0.00,0.00,-50.72,0.000,2,0.000,0.000,97,2301,2767
$GC,74,-1.04,-67.5,3.5,-3.6,5,98,6.95,2.30,-10.73,0.000,4,0.238,0.063,1774,898,3210
$GC,351,-1.04,-67.5,51.3,-17.8,29,358,0.00,2.22,0.00,0.000,6,0.000,0.038,1765,2304,3211
$GC,672,-1.04,-67.5,100.2,-14.1,53,676,0.00,2.25,0.00,0.000,4,0.000,0.042,1765,891,3211
$GC,846,-1.04,-67.5,125.5,-14.5,60,853,0.00,2.25,0.00,0.000,6,0.000,0.038,1755,2296,3212
$GC,1161,-1.04,-67.5,166.3,-12.3,74,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,2296,3212
$GC,1468,-1.06,-67.5,202.1,-11.2,84,1472,0.00,2.22,0.00,0.000,4,0.000,0.043,1754,899,3212
$GC,1609,-1.09,-67.5,218.3,-11.3,88,1613,0.00,2.22,0.00,0.000,6,0.000,0.038,1745,2308,3212
$GC,1938,-1.09,-67.5,255.5,-11.5,99,1942,0.00,2.25,0.00,0.000,4,0.000,0.043,1744,889,3211
$GC,2006,-1.09,-67.5,263.7,-12.0,101,2011,0.12,2.25,0.00,0.000,6,0.159,0.041,1765,2305,3212
$GC,2336,-1.14,-67.5,296.6,-9.9,112,2340,0.00,2.25,0.00,0.000,4,0.000,0.044,1766,892,3212
$GC,2431,-1.20,-67.5,306.4,-10.0,114,2435,0.00,2.25,0.00,0.000,6,0.000,0.039,1758,2303,3212
$GC,2764,-1.25,-67.5,338.4,-9.6,120,2769,0.10,2.25,0.00,0.000,4,0.074,0.048,1709,902,3211
$GC,2848,-1.21,-67.5,349.0,-13.0,121,2852,0.15,2.25,0.00,0.000,6,0.161,0.041,1736,2312,3211
$GC,3192,-1.21,-67.5,386.2,-10.8,127,3196,0.00,2.25,0.00,0.000,4,0.000,0.048,1736,902,3211
$GC,3292,-1.21,-67.5,397.7,-11.5,128,3296,0.00,2.22,0.00,0.000,6,0.000,0.038,1728,2305,3211
$GC,3619,-1.21,-67.5,435.7,-11.8,134,3623,0.00,2.25,0.00,0.000,4,0.000,0.044,1728,895,3211
$GC,3721,-1.21,-67.5,448.0,-12.0,135,3725,0.00,2.25,0.00,0.000,6,0.000,0.039,1718,2311,3211
$GC,4053,-1.18,-67.5,488.0,-12.1,141,4055,0.10,0.00,0.00,0.000,6,0.169,0.000,1741,2311,3211
$GC,4357,-1.21,-67.5,520.8,-10.7,146,4361,0.00,2.30,0.00,0.000,4,0.000,0.048,1741,900,3210
$GC,4517,-1.24,-67.5,538.0,-11.1,148,4521,0.00,2.25,0.00,0.000,6,0.000,0.044,1733,2307,3210
$GC,4855,-1.24,-67.5,572.3,-9.9,154,4859,0.00,2.28,0.00,0.000,4,0.000,0.049,1733,894,3210
$GC,4985,-1.24,-67.5,585.0,-9.9,156,4989,0.00,2.28,0.00,0.000,6,0.000,0.041,1723,2314,3210
$GC,5352,-1.24,-67.5,619.4,-9.4,162,5356,0.00,2.28,0.00,0.000,4,0.000,0.051,1723,899,3209
$GC,5503,-1.24,-67.5,634.8,-10.4,164,5507,0.00,2.28,0.00,0.000,6,0.000,0.045,1714,2314,3209
$GC,5847,-1.22,-67.5,669.8,-10.3,170,5851,0.00,2.33,0.00,0.000,4,0.000,0.048,1713,895,3208
$GC,5965,-1.22,-67.5,683.3,-11.3,171,5970,0.12,2.25,0.00,0.000,6,0.158,0.039,1731,2315,3209
$GC,6280,-1.22,-67.5,715.3,-10.2,177,6284,0.00,2.33,0.00,0.000,4,0.000,0.050,1731,892,3208
$GC,6440,-1.24,-67.5,732.5,-11.6,179,6444,0.00,2.25,0.00,0.000,6,0.000,0.041,1723,2304,3208
$GC,6784,-1.24,-67.5,770.0,-10.8,185,6788,0.00,2.28,0.00,0.000,4,0.000,0.045,1724,899,3208
$GC,6884,-1.24,-67.5,781.3,-11.2,186,6889,0.00,2.25,0.00,0.000,6,0.000,0.041,1714,2301,3208
$GC,7212,-1.24,-67.5,816.2,-10.6,192,7216,0.00,2.28,0.00,0.000,4,0.000,0.052,1714,895,3208
$GC,7285,-1.24,-67.5,824.6,-11.4,193,7290,0.10,2.28,0.00,0.000,6,0.160,0.046,1727,2312,3208
$GC,7645,-1.24,-67.5,859.8,-9.7,199,7649,0.00,2.30,0.00,0.000,4,0.000,0.051,1726,904,3208
$GC,7684,-1.24,-67.5,863.6,-10.0,199,7688,0.00,2.25,0.00,0.000,6,0.000,0.041,1719,2303,3207
$GC,8005,-1.24,-67.5,894.5,-9.6,205,8009,0.00,2.28,0.00,0.000,4,0.000,0.046,1719,902,3207
$GC,8046,-1.24,-67.5,898.5,-10.0,205,8050,0.00,2.25,0.00,0.000,6,0.000,0.046,1709,2303,3207
$GC,8368,-1.24,-67.5,930.3,-9.9,211,8372,0.00,2.30,0.00,0.000,4,0.000,0.049,1709,892,3207
$GC,8479,-1.24,-67.5,942.1,-9.8,212,8484,0.12,2.28,0.00,0.000,6,0.163,0.041,1729,2304,3207
$GC,8795,-1.27,-67.5,969.0,-8.4,218,8799,0.00,2.28,0.00,0.000,4,0.000,0.048,1729,903,3206
$GC,8846,-1.30,-67.5,973.7,-9.0,218,8850,0.00,2.28,0.00,0.000,6,0.000,0.044,1721,2311,3207
$STATE,9033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9033,begin apogee
$GC,9040,-0.22,0.0,990.4,8.9,221,9100,0.75,0.00,57.47,1.282,6,0.128,0.000,1954,2311,2931
$STATE,9101,end apogee,CONTROL_FINISHED_OK
$STATE,9101,begin climb
$GC,9104,1.04,67.5,991.7,0.0,222,9167,0.80,0.00,59.25,1.256,6,0.067,0.000,2234,2311,2655
$GC,9458,0.93,67.5,969.1,7.5,228,9463,0.15,2.30,0.00,0.000,4,0.181,0.052,2193,3709,2647
$GC,9515,0.83,67.5,964.7,7.7,228,9521,0.00,2.25,0.00,0.000,6,0.000,0.036,2202,2312,2647
$GC,9825,0.78,67.5,944.6,6.4,234,9830,0.12,2.30,0.00,0.000,4,0.188,0.051,2172,3714,2646
$GC,9881,0.72,67.5,941.0,6.6,234,9888,0.10,2.25,0.00,0.000,6,0.196,0.035,2160,2302,2646
$GC,10193,0.76,80.0,926.9,4.4,240,10205,0.00,0.00,10.40,1.091,6,0.000,0.000,2160,2302,2604
$GC,10495,0.80,87.5,912.3,4.9,245,10509,0.00,2.33,7.85,1.019,4,0.000,0.050,2160,3714,2573
$GC,10564,0.80,87.5,908.3,6.9,246,10568,0.00,2.25,0.00,0.000,6,0.000,0.038,2169,2304,2572
$GC,10931,0.80,87.5,887.5,5.6,252,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2304,2571
$GC,11234,0.80,87.5,869.8,5.9,257,11238,0.00,2.28,0.00,0.000,4,0.000,0.050,2169,3709,2571
$GC,11297,0.76,87.5,865.3,6.8,258,11301,0.00,2.20,0.00,0.000,6,0.000,0.034,2180,2296,2571
$GC,11664,0.76,87.5,839.5,7.1,264,11668,0.00,2.30,0.00,0.000,4,0.000,0.050,2180,3715,2571
$GC,11753,0.70,87.5,831.8,9.2,265,11758,0.15,2.22,0.00,0.000,6,0.180,0.036,2155,2298,2571
$GC,12092,0.75,87.5,810.0,6.4,271,12096,0.00,2.28,0.00,0.000,4,0.000,0.049,2155,3711,2570
$GC,12131,0.75,87.5,807.0,7.0,271,12135,0.00,2.20,0.00,0.000,6,0.000,0.033,2164,2298,2570
$GC,12453,0.78,87.5,786.5,6.3,277,12457,0.00,2.28,0.00,0.000,4,0.000,0.053,2163,3712,2570
$GC,12537,0.76,87.5,780.5,6.7,278,12541,0.00,2.20,0.00,0.000,6,0.000,0.036,2174,2304,2570
$GC,12881,0.76,87.5,759.5,6.0,284,12885,0.00,2.28,0.00,0.000,4,0.000,0.054,2173,3716,2570
$GC,12965,0.72,87.5,753.8,7.4,285,12969,0.12,2.20,0.00,0.000,6,0.178,0.033,2155,2300,2570
$GC,13309,0.78,97.3,737.4,4.7,291,13323,0.00,2.30,9.18,0.975,4,0.000,0.055,2155,3715,2533
$GC,13364,0.78,97.3,734.2,5.7,291,13368,0.00,2.20,0.00,0.000,6,0.000,0.033,2163,2304,2532
$GC,13675,0.83,104.1,718.7,4.9,296,13689,0.00,2.33,7.40,0.915,4,0.000,0.049,2164,3719,2506
$GC,13729,0.83,104.1,715.5,5.8,296,13733,0.00,2.22,0.00,0.000,6,0.000,0.033,2174,2301,2505
$GC,14040,0.86,108.4,699.5,5.1,301,14047,0.00,0.00,4.97,0.777,6,0.000,0.000,2175,2301,2489
$GC,14344,0.89,111.6,683.7,5.2,306,14353,0.00,2.30,4.35,0.718,4,0.000,0.048,2174,3718,2476
$GC,14405,0.87,111.6,679.9,6.7,306,14413,0.00,2.25,0.00,0.000,6,0.000,0.033,2185,2302,2476
$GC,14715,0.87,111.6,661.9,5.8,312,14719,0.00,2.28,0.00,0.000,4,0.000,0.049,2185,3715,2475
$GC,14780,0.83,111.6,657.5,6.6,313,14784,0.00,2.22,0.00,0.000,6,0.000,0.033,2196,2294,2475
$GC,15147,0.83,111.6,632.6,6.8,319,15151,0.00,2.30,0.00,0.000,4,0.000,0.051,2196,3715,2475
$GC,15225,0.76,111.6,625.9,8.2,320,15230,0.17,2.22,0.00,0.000,6,0.174,0.033,2163,2294,2474
$GC,15574,0.82,111.6,604.2,6.2,326,15578,0.00,2.30,0.00,0.000,4,0.000,0.048,2163,3715,2474
$GC,15620,0.82,111.6,600.9,7.2,326,15624,0.00,2.22,0.00,0.000,6,0.000,0.033,2171,2304,2474
$GC,15936,0.85,111.6,579.3,6.9,332,15940,0.00,2.28,0.00,0.000,4,0.000,0.048,2171,3714,2474
$GC,15969,0.85,111.6,576.6,8.3,332,15973,0.00,2.22,0.00,0.000,6,0.000,0.033,2181,2299,2474
$GC,16295,0.85,111.6,553.6,7.0,338,16299,0.00,2.28,0.00,0.000,4,0.000,0.048,2182,3711,2474
$GC,16341,0.82,111.6,550.1,8.5,338,16345,0.00,2.22,0.00,0.000,6,0.000,0.033,2192,2297,2474
$GC,16656,0.82,111.6,528.8,6.6,344,16661,0.00,2.28,0.00,0.000,4,0.000,0.048,2193,3713,2474
$GC,16707,0.76,111.6,524.8,8.2,344,16712,0.15,2.22,0.00,0.000,6,0.173,0.033,2166,2293,2474
$GC,17018,0.83,117.1,508.6,5.0,349,17030,0.00,2.28,6.45,0.776,4,0.000,0.048,2166,3712,2452
$GC,17092,0.83,117.1,504.1,6.0,350,17096,0.00,2.20,0.00,0.000,6,0.000,0.033,2175,2305,2451
$GC,17447,0.86,117.1,483.3,6.0,356,17451,0.00,2.25,0.00,0.000,4,0.000,0.048,2175,3711,2451
$GC,17547,0.86,117.1,475.9,7.1,357,17551,0.00,2.22,0.00,0.000,6,0.000,0.033,2185,2290,2450
$GC,17880,0.89,117.1,452.6,7.1,363,17881,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2290,2450
$GC,18184,0.91,117.1,430.5,7.3,368,18188,0.00,2.30,0.00,0.000,4,0.000,0.048,2186,3718,2451
$GC,18252,0.87,117.1,424.8,8.3,369,18256,0.00,2.22,0.00,0.000,6,0.000,0.032,2196,2302,2451
$GC,18613,0.87,117.1,398.3,7.2,375,18617,0.00,2.28,0.00,0.000,4,0.000,0.048,2196,3718,2450
$GC,18748,0.81,117.1,387.1,8.3,377,18753,0.12,2.22,0.00,0.000,6,0.172,0.033,2177,2292,2450
$GC,19114,0.85,117.1,364.3,6.1,383,19118,0.00,2.28,0.00,0.000,4,0.000,0.048,2177,3711,2450
$GC,19170,0.85,117.1,360.5,6.7,383,19177,0.00,2.22,0.00,0.000,6,0.000,0.033,2186,2303,2450
$GC,19481,0.88,117.1,342.8,5.7,389,19482,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2304,2450
$GC,19784,0.90,117.1,324.9,5.9,394,19787,0.00,2.25,0.00,0.000,4,0.000,0.048,2186,3711,2450
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$GC,24069,1.14,194.0,85.1,3.3,541,24096,0.00,2.28,21.92,0.656,4,0.000,0.047,2228,3716,2139
$GC,24348,1.18,194.0,67.9,6.0,561,24355,0.00,2.28,0.00,0.000,6,0.000,0.031,2236,2306,2135
$GC,24677,1.23,194.0,47.7,7.5,592,24681,0.10,2.30,0.00,0.000,4,0.068,0.045,2292,3713,2134
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$STATE,25386,end climb,SURFACE_DEPTH_REACHED
$STATE,25386,begin surface coast
$FINISH,1.3,1.025319
$STATE,25406,end surface coast,CONTROL_FINISHED_OK
$STATE,25406,begin surface
$SM_CCo,25423,61.38,0.604,0,0,1707,300.00
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$IRIDIUM_FIX,4959.75,-14436.75,100299,212139
$TT8_MAMPS,0.028379
$HUMID,1703
$INTERNAL_PRESSURE,7.40263
$TCM_TEMP,16.10
$XPDR_PINGS,87
$24V_AH,22.8,69.108
$10V_AH,10.5,59.542
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$DEVICE_SECS,17.150,225.850,261.375,61.375,0.000,29.940,34.344,161.773,21.750,0.000,0.000,14.200,1630.505,20393.625,490.198,2635.191,701.468,33.369,1756.391,0.000,2602.922,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,466.283,527.945,677.956,1131.115,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37962,659
$CAP_FILE_SIZE,180765,0
$CFSIZE,260165632,221802496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,171109,122907,5020.840,-14430.044,30,1.2,31,18.7