version: 66.04
glider: 144
mission: 15
dive: 476
start: 11 17 109 21 35 38
data:
$ID,144
$MISSION,15
$DIVE,476
$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,-70973.727
$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,33
$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
$GPS1,212743,5020.048,-14429.435,36,1.6,36,18.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-53.6
$GPS2,213444,5020.035,-14429.356,14,1.2,14,18.7
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.016,-0.162
$KALMAN_X,-93502.1,0.6,-22.2,142228.7,528.0
$KALMAN_Y,22937.9,778.0,830.9,-26333.0,1710.7
$MHEAD_RNG_PITCHd_Wd,166.9,48200,-12.9,-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,16,-0.70,-109.3,0.0,0.0,0,49,0.00,0.00,-31.05,0.000,2,0.000,0.000,97,2313,2448
$GC,52,-0.70,-109.3,3.2,-5.9,3,96,6.72,2.33,-27.45,0.000,4,0.211,0.062,1833,3707,3379
$GC,155,-0.66,-109.3,11.7,-9.4,12,160,0.10,2.22,0.00,0.000,6,0.127,0.038,1860,2298,3379
$GC,481,-0.66,-109.3,38.0,-7.9,42,484,0.00,2.22,0.00,0.000,4,0.000,0.043,1860,900,3380
$GC,553,-0.66,-109.3,44.6,-10.2,48,560,0.00,2.20,0.00,0.000,6,0.000,0.038,1854,2303,3381
$GC,878,-0.66,-109.3,84.8,-11.3,77,881,0.00,2.25,0.00,0.000,4,0.000,0.041,1854,890,3381
$GC,929,-0.70,-109.3,90.3,-9.8,79,933,0.00,2.22,0.00,0.000,6,0.000,0.038,1850,2301,3381
$GC,1245,-0.70,-109.3,117.4,-8.1,94,1249,0.00,2.22,0.00,0.000,4,0.000,0.041,1849,897,3380
$GC,1285,-0.74,-109.3,121.0,-8.5,95,1291,0.00,2.22,0.00,0.000,6,0.000,0.038,1849,2307,3381
$GC,1602,-0.77,-109.3,144.9,-7.5,111,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2307,3381
$GC,1929,-0.81,-109.3,171.4,-8.0,123,1930,0.10,0.00,0.00,0.000,6,0.066,0.000,1775,2307,3381
$GC,2235,-0.72,-109.3,205.4,-10.7,133,2237,0.22,0.00,0.00,0.000,6,0.120,0.000,1843,2308,3381
$GC,2542,-0.76,-109.3,225.1,-6.0,143,2546,0.00,2.25,0.00,0.000,4,0.000,0.043,1844,897,3381
$GC,2581,-0.83,-109.3,227.6,-6.5,144,2585,0.00,2.25,0.00,0.000,6,0.000,0.040,1837,2312,3381
$GC,2905,-0.86,-109.3,246.2,-5.7,155,2910,0.10,2.28,0.00,0.000,4,0.064,0.041,1763,892,3381
$GC,3028,-0.77,-109.3,259.2,-11.1,158,3035,0.28,2.25,0.00,0.000,6,0.120,0.044,1834,2307,3381
$GC,3342,-0.80,-109.3,279.9,-6.3,169,3346,0.00,2.25,0.00,0.000,4,0.000,0.044,1834,895,3381
$GC,3377,-0.84,-109.3,282.3,-6.9,170,3381,0.00,2.22,0.00,0.000,6,0.000,0.039,1828,2304,3381
$GC,3719,-0.86,-109.3,304.4,-6.7,180,3723,0.00,2.28,0.00,0.000,4,0.000,0.043,1828,889,3381
$GC,3763,-0.89,-109.3,307.8,-7.2,180,3768,0.00,2.25,0.00,0.000,6,0.000,0.038,1821,2307,3381
$GC,4079,-0.89,-109.3,330.6,-7.3,186,4083,0.00,2.28,0.00,0.000,4,0.000,0.043,1821,894,3380
$GC,4135,-0.91,-109.3,335.1,-8.1,186,4142,0.00,2.28,0.00,0.000,6,0.000,0.038,1813,2306,3380
$GC,4445,-0.91,-109.3,359.8,-8.0,192,4449,0.00,2.28,0.00,0.000,4,0.000,0.048,1813,900,3380
$GC,4473,-0.91,-109.3,362.2,-8.4,192,4477,0.00,2.25,0.00,0.000,6,0.000,0.044,1808,2306,3380
$GC,4806,-0.91,-109.3,387.9,-7.8,198,4810,0.00,2.25,0.00,0.000,4,0.000,0.044,1808,897,3379
$GC,4856,-0.91,-109.3,392.1,-8.3,198,4860,0.00,2.25,0.00,0.000,6,0.000,0.038,1799,2314,3379
$GC,5167,-0.89,-109.3,416.7,-7.9,203,5171,0.00,2.28,0.00,0.000,4,0.000,0.044,1799,891,3378
$GC,5194,-0.89,-109.3,419.1,-8.7,203,5199,0.00,2.28,0.00,0.000,6,0.000,0.044,1790,2316,3379
$GC,5527,-0.85,-109.3,445.1,-7.9,209,5532,0.10,2.28,0.00,0.000,4,0.137,0.051,1818,899,3379
$GC,5578,-0.88,-109.3,448.6,-6.3,209,5582,0.00,2.25,0.00,0.000,6,0.000,0.044,1811,2308,3378
$GC,5888,-0.88,-109.3,467.7,-6.2,214,5892,0.00,2.28,0.00,0.000,4,0.000,0.044,1811,891,3378
$GC,5921,-0.88,-109.3,469.9,-5.8,214,5925,0.00,2.22,0.00,0.000,6,0.000,0.039,1805,2309,3378
$GC,6255,-0.88,-109.3,490.4,-6.1,220,6259,0.00,2.25,0.00,0.000,4,0.000,0.049,1805,899,3378
$GC,6334,-0.88,-109.3,495.7,-6.2,221,6338,0.00,2.22,0.00,0.000,6,0.000,0.041,1796,2311,3378
$GC,6694,-0.88,-109.3,519.6,-6.7,227,6698,0.00,2.30,0.00,0.000,4,0.000,0.045,1796,894,3377
$GC,6758,-0.88,-109.3,524.2,-7.2,228,6762,0.00,2.28,0.00,0.000,6,0.000,0.046,1794,2309,3377
$GC,7124,-0.86,-109.3,550.0,-7.1,234,7128,0.00,2.28,0.00,0.000,4,0.000,0.045,1794,900,3377
$GC,7174,-0.86,-109.3,553.9,-7.7,234,7178,0.12,2.25,0.00,0.000,6,0.122,0.041,1821,2306,3377
$GC,7485,-0.89,-109.3,573.2,-6.3,239,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3377
$GC,7788,-0.93,-109.3,593.2,-6.6,244,7792,0.10,2.30,0.00,0.000,4,0.067,0.047,1762,897,3376
$GC,7828,-0.85,-109.3,597.0,-10.6,244,7833,0.22,2.28,0.00,0.000,6,0.120,0.040,1822,2307,3376
$GC,8150,-0.89,-109.3,618.9,-6.6,250,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2307,3376
$GC,8452,-0.93,-109.3,636.9,-5.9,255,8457,0.10,2.28,0.00,0.000,4,0.067,0.049,1764,899,3376
$GC,8527,-0.87,-109.3,643.4,-9.2,256,8531,0.20,2.28,0.00,0.000,6,0.123,0.046,1814,2313,3376
$GC,8882,-0.90,-109.3,665.3,-6.0,262,8886,0.00,2.28,0.00,0.000,4,0.000,0.044,1814,894,3376
$GC,8910,-0.93,-109.3,667.2,-6.6,262,8914,0.00,2.25,0.00,0.000,6,0.000,0.045,1809,2304,3375
$GC,9243,-0.93,-109.3,688.0,-6.3,268,9247,0.00,2.28,0.00,0.000,4,0.000,0.048,1809,889,3375
$GC,9277,-0.95,-109.3,690.4,-7.0,268,9281,0.00,2.28,0.00,0.000,6,0.000,0.043,1808,2309,3375
$GC,9603,-0.95,-109.3,711.0,-6.3,274,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2310,3375
$GC,9907,-0.95,-109.3,729.3,-6.1,279,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2310,3375
$GC,10210,-0.95,-109.3,746.6,-5.7,284,10211,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2310,3375
$GC,10513,-0.95,-109.3,764.5,-6.0,289,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2310,3375
$GC,10817,-0.97,-109.3,783.3,-6.2,294,10821,0.00,2.28,0.00,0.000,4,0.000,0.047,1808,901,3375
$GC,10856,-0.99,-109.3,785.9,-7.1,294,10860,0.00,2.25,0.00,0.000,6,0.000,0.043,1799,2304,3375
$GC,11177,-0.99,-109.3,807.1,-6.6,300,11178,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2304,3375
$GC,11480,-0.99,-109.3,827.6,-6.7,305,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2304,3375
$GC,11784,-0.99,-109.3,847.3,-6.5,310,11788,0.00,2.33,0.00,0.000,4,0.000,0.048,1799,891,3375
$GC,11818,-0.99,-109.3,850.0,-7.0,310,11822,0.00,2.30,0.00,0.000,6,0.000,0.042,1795,2313,3375
$GC,12153,-0.99,-109.3,873.2,-7.1,316,12157,0.00,2.30,0.00,0.000,4,0.000,0.053,1795,902,3374
$GC,12175,-0.99,-109.3,875.0,-7.4,316,12179,0.00,2.28,0.00,0.000,6,0.000,0.045,1794,2308,3375
$GC,12513,-0.99,-109.3,900.1,-7.5,322,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3375
$GC,12816,-0.99,-109.3,923.4,-7.7,327,12817,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3374
$GC,13119,-0.99,-109.3,947.6,-8.0,332,13120,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2308,3374
$GC,13422,-0.99,-109.3,972.9,-8.4,337,13423,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3374
$STATE,13661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13662,begin apogee
$GC,13669,-0.22,0.0,992.8,8.2,341,13764,0.50,0.00,92.03,1.293,6,0.110,0.000,1956,2309,2931
$STATE,13765,end apogee,CONTROL_FINISHED_OK
$STATE,13765,begin climb
$GC,13768,0.70,109.3,995.0,0.0,342,13872,0.57,2.53,96.65,1.267,4,0.071,0.051,2159,3705,2485
$GC,13924,0.50,109.3,993.3,6.9,344,13929,0.25,2.40,0.00,0.000,6,0.170,0.041,2109,2306,2480
$GC,14257,0.51,141.4,978.9,4.3,350,14286,0.00,0.00,27.83,1.220,6,0.000,0.000,2110,2306,2354
$GC,14560,0.51,141.4,962.3,5.6,355,14564,0.00,2.33,0.00,0.000,4,0.000,0.058,2109,3708,2348
$GC,14594,0.47,141.4,959.9,7.2,355,14598,0.00,2.28,0.00,0.000,6,0.000,0.038,2118,2299,2347
$GC,14928,0.44,141.4,937.4,6.8,361,14933,0.10,2.33,0.00,0.000,4,0.163,0.053,2094,3719,2347
$GC,14956,0.44,141.4,935.1,6.8,361,14960,0.00,2.25,0.00,0.000,6,0.000,0.034,2102,2301,2346
$GC,15294,0.44,141.4,913.7,6.3,367,15298,0.00,2.30,0.00,0.000,4,0.000,0.051,2102,3710,2345
$GC,15328,0.41,141.4,911.2,7.1,367,15333,0.10,2.25,0.00,0.000,6,0.160,0.039,2089,2294,2345
$GC,15660,0.44,141.4,892.2,5.7,373,15661,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2294,2344
$GC,15964,0.48,145.7,876.0,5.3,378,15968,0.00,2.30,0.00,0.000,4,0.000,0.051,2090,3711,2344
$GC,16015,0.48,145.7,872.8,5.5,378,16019,0.00,2.22,0.00,0.000,6,0.000,0.037,2098,2300,2344
$GC,16325,0.49,153.4,856.5,5.2,383,16340,0.00,2.30,10.18,1.059,4,0.000,0.051,2098,3711,2306
$GC,16368,0.49,153.4,854.0,5.6,383,16373,0.00,2.22,0.00,0.000,6,0.000,0.034,2108,2300,2304
$GC,16685,0.50,160.2,837.4,5.3,389,16699,0.00,2.35,7.47,0.976,4,0.000,0.053,2108,3709,2277
$GC,16717,0.50,160.2,835.4,5.6,389,16721,0.00,2.22,0.00,0.000,6,0.000,0.033,2119,2301,2276
$GC,17049,0.50,163.8,817.5,5.4,395,17056,0.00,0.00,4.70,0.801,6,0.000,0.000,2119,2300,2263
$GC,17353,0.50,163.8,800.8,5.5,400,17357,0.00,2.30,0.00,0.000,4,0.000,0.052,2119,3718,2262
$GC,17421,0.45,163.8,796.3,7.7,401,17425,0.12,2.22,0.00,0.000,6,0.150,0.037,2099,2305,2262
$GC,17782,0.52,192.0,779.8,4.5,407,17813,0.00,2.33,26.27,1.116,4,0.000,0.049,2108,890,2146
$GC,17837,0.61,216.5,777.1,4.6,407,17867,0.08,2.28,23.12,1.087,6,0.081,0.044,2157,2304,2047
$GC,18213,0.54,216.5,747.6,8.1,414,18217,0.15,2.30,0.00,0.000,4,0.143,0.051,2116,3718,2041
$GC,18268,0.54,216.5,743.2,6.1,414,18274,0.00,2.25,0.00,0.000,6,0.000,0.033,2125,2292,2040
$GC,18579,0.54,216.5,722.7,6.7,420,18583,0.00,2.30,0.00,0.000,4,0.000,0.049,2125,3711,2039
$GC,18601,0.54,216.5,720.9,7.6,420,18605,0.00,2.22,0.00,0.000,6,0.000,0.041,2135,2302,2038
$GC,18940,0.54,216.5,696.0,7.3,426,18944,0.00,2.30,0.00,0.000,4,0.000,0.048,2135,3714,2039
$GC,18975,0.51,216.5,693.2,7.9,426,18980,0.15,2.22,0.00,0.000,6,0.137,0.032,2105,2299,2038
$GC,19308,0.58,228.4,675.9,5.1,432,19323,0.00,2.28,10.25,0.955,4,0.000,0.046,2114,895,1999
$GC,19352,0.66,228.4,673.6,5.7,432,19356,0.10,2.28,0.00,0.000,6,0.066,0.044,2182,2317,1997
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$GC,20775,0.60,232.3,579.5,5.4,456,20784,0.00,2.28,4.38,0.680,4,0.000,0.047,2128,891,1984
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$GC,21141,0.68,232.3,557.3,6.1,462,21145,0.00,2.28,0.00,0.000,4,0.000,0.051,2128,3716,1983
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$GC,21502,0.68,232.3,532.8,6.7,468,21503,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2299,1983
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$STATE,29505,end climb,SURFACE_DEPTH_REACHED
$STATE,29505,begin surface coast
$FINISH,1.2,1.022892
$STATE,29538,end surface coast,CONTROL_FINISHED_OK
$STATE,29539,begin surface
$SM_CCo,29615,0.00,0.000,0,0,1667,309.81
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$IRIDIUM_FIX,4959.75,-14419.91,110299,121216
$TT8_MAMPS,0.028379
$HUMID,1700
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,14.40
$XPDR_PINGS,105
$24V_AH,22.0,69.392
$10V_AH,10.5,59.826
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$DEVICE_SECS,17.300,262.675,373.225,0.000,0.000,33.067,31.179,189.101,26.250,0.000,0.000,15.758,1747.481,24513.086,527.859,2411.939,816.318,33.377,1765.974,0.000,2400.078,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,535.024,613.569,784.371,1302.825,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44438,759
$CAP_FILE_SIZE,195667,0
$CFSIZE,260165632,221605888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181109,055031,5016.283,-14429.052,38,1.4,38,18.6