version: 66.04
glider: 144
mission: 15
dive: 482
start: 11 19 109 23 6 20
data:
$ID,144
$MISSION,15
$DIVE,482
$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,-71127.141
$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,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
$GPS1,225906,4959.607,-14430.958,49,1.2,49,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-57.7
$GPS2,230526,4959.577,-14430.952,10,1.2,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.018,-0.167
$KALMAN_X,-89946.7,-212.2,-240.1,137229.2,1436.0
$KALMAN_Y,21592.7,112.2,-149.8,-61214.5,-79.3
$MHEAD_RNG_PITCHd_Wd,167.7,10394,-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,-117.3,0.0,0.0,0,51,0.00,0.00,-30.70,0.000,2,0.000,0.000,99,2300,2503
$GC,54,-0.68,-117.3,3.1,-4.8,3,92,7.22,2.33,-25.33,0.000,4,0.235,0.067,1837,3711,3410
$GC,233,-0.68,-117.3,21.5,-11.3,18,239,0.00,2.20,0.00,0.000,6,0.000,0.029,1837,2300,3412
$GC,561,-0.62,-117.3,61.4,-12.6,49,566,0.10,2.25,0.00,0.000,4,0.132,0.041,1865,891,3412
$GC,663,-0.65,-117.3,71.6,-9.0,57,669,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2301,3412
$GC,992,-0.67,-117.3,99.3,-8.0,78,996,0.00,2.22,0.00,0.000,4,0.000,0.041,1863,898,3412
$GC,1066,-0.69,-117.3,105.4,-8.1,81,1070,0.00,2.22,0.00,0.000,6,0.000,0.038,1855,2316,3413
$GC,1383,-0.69,-117.3,129.8,-7.2,96,1387,0.00,2.25,0.00,0.000,4,0.000,0.042,1855,897,3412
$GC,1424,-0.73,-117.3,132.8,-7.1,98,1428,0.00,2.20,0.00,0.000,6,0.000,0.038,1850,2299,3413
$GC,1761,-0.76,-117.3,157.1,-7.2,113,1765,0.00,2.30,0.00,0.000,4,0.000,0.051,1841,3714,3413
$GC,1840,-0.80,-117.3,163.1,-7.4,115,1844,0.00,2.20,0.00,0.000,6,0.000,0.029,1840,2302,3413
$GC,2160,-0.84,-117.3,185.0,-6.9,126,2161,0.08,0.00,0.00,0.000,6,0.078,0.000,1767,2301,3413
$GC,2466,-0.74,-117.3,218.4,-10.9,136,2471,0.20,2.25,0.00,0.000,4,0.123,0.043,1834,901,3413
$GC,2550,-0.76,-117.3,225.0,-7.2,138,2554,0.00,2.22,0.00,0.000,6,0.000,0.038,1827,2316,3413
$GC,2864,-0.76,-117.3,247.2,-7.3,148,2868,0.00,2.28,0.00,0.000,4,0.000,0.043,1826,894,3412
$GC,2897,-0.76,-117.3,249.9,-7.9,149,2901,0.00,2.25,0.00,0.000,6,0.000,0.040,1821,2308,3412
$GC,3226,-0.76,-117.3,274.8,-7.5,160,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3413
$GC,3533,-0.76,-117.3,297.8,-7.4,170,3536,0.00,2.25,0.00,0.000,4,0.000,0.044,1821,895,3412
$GC,3568,-0.76,-117.3,300.3,-7.3,171,3573,0.10,2.25,0.00,0.000,6,0.125,0.043,1838,2313,3412
$GC,3901,-0.80,-117.3,321.1,-6.2,177,3905,0.00,2.28,0.00,0.000,4,0.000,0.043,1838,897,3412
$GC,3923,-0.85,-117.3,322.6,-6.0,177,3927,0.00,2.25,0.00,0.000,6,0.000,0.040,1836,2308,3412
$GC,4263,-0.89,-117.3,344.7,-6.6,183,4264,0.10,0.00,0.00,0.000,6,0.064,0.000,1765,2308,3412
$GC,4565,-0.80,-117.3,375.4,-10.2,188,4570,0.17,2.28,0.00,0.000,4,0.123,0.043,1824,898,3412
$GC,4628,-0.82,-117.3,380.3,-7.1,189,4632,0.00,2.25,0.00,0.000,6,0.000,0.048,1821,2308,3411
$GC,4994,-0.82,-117.3,405.8,-7.0,195,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3410
$GC,5297,-0.82,-117.3,426.3,-6.8,200,5301,0.00,2.25,0.00,0.000,4,0.000,0.045,1820,901,3410
$GC,5370,-0.84,-117.3,431.8,-7.7,201,5374,0.00,2.22,0.00,0.000,6,0.000,0.041,1812,2302,3410
$GC,5731,-0.84,-117.3,456.8,-6.9,207,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2302,3410
$GC,6035,-0.84,-117.3,476.3,-6.4,212,6039,0.00,2.28,0.00,0.000,4,0.000,0.044,1812,892,3410
$GC,6063,-0.84,-117.3,478.2,-6.6,212,6067,0.00,2.28,0.00,0.000,6,0.000,0.045,1807,2315,3410
$GC,6395,-0.84,-117.3,500.8,-6.8,218,6399,0.00,2.30,0.00,0.000,4,0.000,0.049,1808,893,3410
$GC,6429,-0.84,-117.3,503.4,-7.8,218,6433,0.00,2.25,0.00,0.000,6,0.000,0.046,1799,2308,3410
$GC,6762,-0.84,-117.3,527.6,-7.3,224,6766,0.00,2.28,0.00,0.000,4,0.000,0.047,1798,902,3409
$GC,6803,-0.84,-117.3,530.8,-7.9,224,6808,0.10,2.25,0.00,0.000,6,0.134,0.041,1821,2304,3409
$GC,7124,-0.87,-117.3,550.8,-6.2,230,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2304,3409
$GC,7428,-0.90,-117.3,568.9,-6.0,235,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2304,3409
$GC,7730,-0.93,-117.3,586.1,-5.7,240,7735,0.10,2.25,0.00,0.000,4,0.067,0.044,1760,901,3408
$GC,7758,-0.87,-117.3,588.4,-8.1,240,7762,0.20,2.25,0.00,0.000,6,0.129,0.042,1813,2302,3408
$GC,8090,-0.87,-117.3,609.3,-6.2,246,8093,0.00,2.25,0.00,0.000,4,0.000,0.048,1812,901,3408
$GC,8118,-0.89,-117.3,611.1,-6.5,246,8122,0.00,2.25,0.00,0.000,6,0.000,0.043,1809,2305,3408
$GC,8457,-0.89,-117.3,632.6,-6.4,252,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3408
$GC,8760,-0.89,-117.3,652.6,-6.7,257,8764,0.00,2.28,0.00,0.000,4,0.000,0.051,1809,891,3408
$GC,8799,-0.89,-117.3,655.6,-7.3,257,8803,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2303,3408
$GC,9121,-0.89,-117.3,677.9,-6.9,263,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3407
$GC,9424,-0.89,-117.3,698.8,-6.9,268,9428,0.00,2.30,0.00,0.000,4,0.000,0.046,1808,896,3407
$GC,9479,-0.89,-117.3,703.0,-7.6,268,9486,0.00,2.28,0.00,0.000,6,0.000,0.040,1799,2304,3407
$GC,9790,-0.89,-117.3,725.7,-7.4,274,9794,0.00,2.28,0.00,0.000,4,0.000,0.044,1799,896,3407
$GC,9823,-0.89,-117.3,728.4,-7.8,274,9827,0.00,2.25,0.00,0.000,6,0.000,0.042,1794,2303,3407
$GC,10150,-0.89,-117.3,753.7,-7.9,280,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3407
$GC,10453,-0.89,-117.3,776.9,-7.7,285,10454,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3407
$GC,10756,-0.89,-117.3,798.1,-6.9,290,10760,0.00,2.28,0.00,0.000,4,0.000,0.051,1795,902,3407
$GC,10789,-0.89,-117.3,800.5,-7.1,290,10793,0.00,2.28,0.00,0.000,6,0.000,0.047,1792,2310,3407
$GC,11115,-0.89,-117.3,822.0,-6.6,296,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2310,3407
$GC,11419,-0.89,-117.3,842.0,-6.5,301,11423,0.00,2.33,0.00,0.000,4,0.000,0.050,1792,896,3406
$GC,11483,-0.89,-117.3,846.3,-7.9,302,11487,0.10,2.30,0.00,0.000,6,0.127,0.046,1810,2314,3407
$GC,11849,-0.92,-117.3,866.4,-5.4,308,11850,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2314,3406
$GC,12152,-0.96,-117.3,884.7,-6.1,313,12153,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2314,3406
$GC,12455,-0.99,-117.3,903.5,-6.2,318,12459,0.10,2.33,0.00,0.000,4,0.075,0.053,1764,898,3406
$GC,12494,-0.92,-117.3,906.7,-8.7,318,12499,0.17,2.28,0.00,0.000,6,0.129,0.048,1805,2308,3406
$GC,12816,-0.95,-117.3,927.7,-6.4,324,12817,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2309,3406
$GC,13119,-0.97,-117.3,946.3,-6.1,329,13123,0.00,2.30,0.00,0.000,4,0.000,0.048,1805,898,3406
$GC,13148,-1.00,-117.3,948.3,-7.0,329,13152,0.00,2.28,0.00,0.000,6,0.000,0.042,1805,2306,3406
$GC,13480,-1.02,-117.3,969.5,-6.4,335,13482,0.10,0.00,0.00,0.000,6,0.081,0.000,1761,2306,3406
$STATE,13719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13719,begin apogee
$GC,13726,-0.22,0.0,990.1,8.6,339,13827,0.60,0.00,98.32,1.289,6,0.119,0.000,1951,2306,2931
$STATE,13828,end apogee,CONTROL_FINISHED_OK
$STATE,13828,begin climb
$GC,13832,0.68,117.3,991.9,0.0,340,13944,0.57,2.58,103.90,1.262,4,0.074,0.056,2151,3699,2451
$GC,13972,0.50,117.3,990.2,5.9,342,13977,0.22,2.38,0.00,0.000,6,0.168,0.041,2109,2316,2447
$GC,14323,0.50,142.6,973.9,4.6,348,14351,0.00,2.35,21.75,1.198,4,0.000,0.051,2108,3708,2347
$GC,14376,0.44,142.6,970.8,6.3,348,14380,0.00,2.33,0.00,0.000,6,0.000,0.038,2117,2292,2345
$GC,14686,0.40,142.6,953.6,5.6,353,14691,0.12,2.35,0.00,0.000,4,0.153,0.051,2084,3708,2343
$GC,14731,0.40,142.9,951.1,5.5,353,14736,0.00,2.28,0.00,0.000,6,0.000,0.035,2092,2300,2342
$GC,15047,0.44,170.9,936.6,4.6,359,15077,0.00,2.35,25.02,1.202,4,0.000,0.054,2092,3711,2233
$GC,15111,0.44,170.9,933.1,6.2,360,15115,0.00,2.28,0.00,0.000,6,0.000,0.035,2103,2304,2230
$GC,15472,0.44,171.2,913.6,5.5,366,15476,0.00,2.33,0.00,0.000,4,0.000,0.053,2102,3716,2228
$GC,15517,0.41,171.2,910.4,7.4,366,15522,0.10,2.28,0.00,0.000,6,0.156,0.035,2090,2295,2227
$GC,15833,0.45,172.0,893.3,5.5,372,15835,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2296,2227
$GC,16137,0.50,172.2,876.7,5.5,377,16141,0.00,2.30,0.00,0.000,4,0.000,0.053,2090,3712,2226
$GC,16181,0.50,172.2,873.8,6.2,377,16185,0.00,2.25,0.00,0.000,6,0.000,0.035,2098,2292,2226
$GC,16496,0.52,172.2,856.1,5.6,383,16500,0.00,2.30,0.00,0.000,4,0.000,0.054,2098,3709,2226
$GC,16525,0.52,172.2,854.2,6.4,383,16529,0.00,2.22,0.00,0.000,6,0.000,0.038,2109,2303,2225
$GC,16858,0.52,172.2,834.5,6.0,389,16859,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2304,2225
$GC,17160,0.52,172.2,816.4,6.0,394,17164,0.00,2.28,0.00,0.000,4,0.000,0.050,2109,3709,2225
$GC,17210,0.48,172.2,812.9,6.8,394,17214,0.00,2.22,0.00,0.000,6,0.000,0.039,2119,2296,2225
$GC,17521,0.48,172.2,792.9,6.5,399,17525,0.00,2.30,0.00,0.000,4,0.000,0.050,2119,3712,2224
$GC,17554,0.43,172.2,790.4,7.4,399,17559,0.15,2.22,0.00,0.000,6,0.146,0.034,2091,2306,2224
$GC,17887,0.48,180.1,772.8,5.2,405,17901,0.00,2.33,8.15,0.971,4,0.000,0.048,2100,892,2196
$GC,17920,0.57,204.2,771.0,4.7,405,17953,0.08,2.25,22.60,1.098,6,0.085,0.039,2151,2308,2098
$GC,18256,0.50,204.2,744.2,8.2,411,18261,0.17,2.30,0.00,0.000,4,0.138,0.048,2100,3716,2093
$GC,18306,0.52,204.2,740.4,6.4,411,18310,0.00,2.25,0.00,0.000,6,0.000,0.033,2107,2298,2093
$GC,18617,0.55,204.2,722.6,5.7,416,18619,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2298,2092
$GC,18920,0.60,215.6,706.8,5.1,421,18934,0.08,0.00,11.05,0.989,6,0.078,0.000,2167,2298,2051
$GC,19223,0.51,215.6,682.5,8.1,426,19228,0.17,2.30,0.00,0.000,4,0.137,0.048,2112,3709,2048
$GC,19268,0.51,215.6,679.3,6.9,426,19272,0.00,2.22,0.00,0.000,6,0.000,0.033,2121,2304,2048
$GC,19583,0.51,215.6,661.8,5.5,432,19585,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2303,2048
$GC,19886,0.51,215.6,643.8,6.0,437,19887,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2303,2047
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$GC,21402,0.53,234.4,559.6,5.0,462,21421,0.00,2.38,13.32,0.927,4,0.000,0.050,2121,3711,1975
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$STATE,29761,end climb,SURFACE_DEPTH_REACHED
$STATE,29761,begin surface coast
$FINISH,1.3,1.014005
$STATE,29776,end surface coast,CONTROL_FINISHED_OK
$STATE,29776,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1694
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$TCM_TEMP,14.10
$XPDR_PINGS,79
$24V_AH,21.9,70.278
$10V_AH,10.5,60.597
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$DEVICE_SECS,18.600,240.200,447.050,0.000,0.000,30.719,28.740,170.911,19.750,0.000,0.000,12.147,1682.706,24922.945,567.228,2277.674,769.667,33.378,1750.263,0.000,2268.303,0.000,0.528,0.000
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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,44284,738
$CAP_FILE_SIZE,188638,0
$CFSIZE,260165632,221138944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,201109,072506,4955.968,-14431.985,32,1.8,32,18.5