version: 66.04
glider: 144
mission: 15
dive: 508
start: 11 28 109 16 53 38
data:
$ID,144
$MISSION,15
$DIVE,508
$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,-71756.867
$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
$GPS1,164307,4957.940,-14509.513,94,1.0,94,18.4
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-52.5
$GPS2,165244,4957.963,-14509.427,9,1.5,9,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.145,0.084
$KALMAN_X,-91963.2,22.7,-208.7,93518.6,-351.5
$KALMAN_Y,19559.0,144.3,195.3,-62536.2,890.9
$MHEAD_RNG_PITCHd_Wd,41.4,28233,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,69,0.00,0.00,-50.95,0.000,2,0.000,0.000,97,2297,2917
$GC,72,-0.68,-117.3,4.6,-5.5,5,96,7.30,2.30,-9.70,0.000,4,0.239,0.063,1842,895,3412
$GC,350,-0.64,-117.3,44.4,-9.5,29,357,0.05,2.30,0.00,0.000,6,0.132,0.038,1855,2301,3413
$GC,678,-0.64,-117.3,71.6,-9.5,60,682,0.00,2.28,0.00,0.000,4,0.000,0.042,1855,891,3413
$GC,745,-0.64,-117.3,77.5,-9.6,65,752,0.00,2.25,0.00,0.000,6,0.000,0.037,1850,2307,3413
$GC,1073,-0.64,-117.3,106.7,-8.6,83,1077,0.00,2.28,0.00,0.000,4,0.000,0.041,1850,889,3413
$GC,1115,-0.66,-117.3,110.7,-9.6,85,1118,0.00,2.25,0.00,0.000,6,0.000,0.040,1849,2307,3414
$GC,1447,-0.66,-117.3,138.0,-7.6,101,1451,0.00,2.25,0.00,0.000,4,0.000,0.041,1850,885,3414
$GC,1521,-0.69,-117.3,143.5,-7.1,104,1525,0.00,2.28,0.00,0.000,6,0.000,0.041,1848,2313,3414
$GC,1851,-0.71,-117.3,163.8,-6.4,117,1855,0.00,2.28,0.00,0.000,4,0.000,0.048,1849,896,3414
$GC,1896,-0.77,-117.3,167.3,-8.6,118,1900,0.00,2.25,0.00,0.000,6,0.000,0.045,1850,2305,3414
$GC,2215,-0.81,-117.3,186.4,-5.8,129,2217,0.10,0.00,0.00,0.000,6,0.067,0.000,1776,2305,3414
$GC,2521,-0.71,-117.3,219.5,-11.1,139,2526,0.20,2.28,0.00,0.000,4,0.119,0.046,1843,895,3414
$GC,2554,-0.74,-117.3,222.5,-7.4,140,2558,0.00,2.22,0.00,0.000,6,0.000,0.037,1837,2304,3414
$GC,2886,-0.76,-117.3,244.4,-6.3,151,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2304,3414
$GC,3191,-0.79,-117.3,265.3,-6.9,161,3195,0.00,2.25,0.00,0.000,4,0.000,0.044,1837,898,3413
$GC,3230,-0.83,-117.3,268.2,-7.1,162,3234,0.00,2.25,0.00,0.000,6,0.000,0.044,1836,2306,3413
$GC,3555,-0.85,-117.3,291.0,-7.1,173,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2306,3413
$GC,3889,-0.88,-117.3,313.7,-6.7,181,3894,0.10,2.28,0.00,0.000,4,0.068,0.046,1769,891,3412
$GC,3968,-0.79,-117.3,321.9,-11.2,182,3973,0.25,2.25,0.00,0.000,6,0.120,0.045,1834,2305,3412
$GC,4318,-0.82,-117.3,346.3,-6.8,188,4322,0.00,2.25,0.00,0.000,4,0.000,0.044,1834,894,3412
$GC,4357,-0.86,-117.3,349.2,-7.4,188,4361,0.00,2.25,0.00,0.000,6,0.000,0.043,1834,2303,3412
$GC,4685,-0.89,-117.3,371.0,-6.7,194,4687,0.10,0.00,0.00,0.000,6,0.069,0.000,1767,2303,3411
$GC,4989,-0.80,-117.3,402.7,-10.8,199,4994,0.20,2.28,0.00,0.000,4,0.121,0.051,1831,898,3411
$GC,5039,-0.84,-117.3,407.4,-7.8,199,5043,0.00,2.25,0.00,0.000,6,0.000,0.040,1824,2304,3411
$GC,5349,-0.84,-117.3,430.4,-7.5,204,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2304,3411
$GC,5652,-0.84,-117.3,451.0,-6.7,209,5656,0.00,2.28,0.00,0.000,4,0.000,0.051,1824,899,3410
$GC,5709,-0.86,-117.3,455.0,-7.1,209,5716,0.00,2.28,0.00,0.000,6,0.000,0.040,1821,2309,3410
$GC,6020,-0.86,-117.3,474.7,-6.3,215,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2309,3410
$GC,6323,-0.86,-117.3,493.2,-6.0,220,6327,0.00,2.30,0.00,0.000,4,0.000,0.048,1821,893,3410
$GC,6368,-0.89,-117.3,496.2,-7.0,220,6372,0.00,2.28,0.00,0.000,6,0.000,0.045,1813,2305,3410
$GC,6684,-0.89,-117.3,517.1,-6.7,226,6688,0.00,2.30,0.00,0.000,4,0.000,0.044,1813,891,3410
$GC,6728,-0.89,-117.3,520.5,-7.6,226,6732,0.00,2.28,0.00,0.000,6,0.000,0.040,1808,2302,3409
$GC,7044,-0.89,-117.3,545.0,-8.0,232,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3409
$GC,7347,-0.89,-117.3,569.8,-8.2,237,7351,0.00,2.28,0.00,0.000,4,0.000,0.046,1808,892,3409
$GC,7392,-0.89,-117.3,573.8,-9.3,237,7396,0.00,2.28,0.00,0.000,6,0.000,0.044,1799,2310,3409
$GC,7707,-0.89,-117.3,600.7,-8.5,243,7711,0.00,2.30,0.00,0.000,4,0.000,0.048,1799,892,3409
$GC,7779,-0.89,-117.3,607.2,-9.0,244,7783,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2304,3409
$GC,8141,-0.86,-117.3,636.9,-8.1,250,8145,0.00,2.28,0.00,0.000,4,0.000,0.051,1794,896,3408
$GC,8180,-0.84,-117.3,640.4,-9.0,250,8185,0.12,2.28,0.00,0.000,6,0.123,0.041,1821,2311,3409
$GC,8501,-0.87,-117.3,661.7,-6.6,256,8505,0.00,2.28,0.00,0.000,4,0.000,0.050,1822,895,3409
$GC,8536,-0.90,-117.3,664.3,-7.4,256,8540,0.00,2.28,0.00,0.000,6,0.000,0.044,1822,2312,3409
$GC,8864,-0.94,-117.3,687.5,-7.1,262,8866,0.10,0.00,0.00,0.000,6,0.067,0.000,1758,2312,3408
$GC,9167,-0.85,-117.3,717.8,-10.1,267,9169,0.20,0.00,0.00,0.000,6,0.121,0.000,1819,2313,3408
$GC,9470,-0.89,-117.3,736.6,-6.0,272,9474,0.00,2.30,0.00,0.000,4,0.000,0.049,1819,889,3408
$GC,9535,-0.93,-117.3,740.7,-6.6,273,9539,0.00,2.28,0.00,0.000,6,0.000,0.046,1813,2306,3408
$GC,9901,-0.95,-117.3,761.8,-5.7,279,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2306,3408
$GC,10204,-0.97,-117.3,778.7,-5.5,284,10209,0.10,2.28,0.00,0.000,4,0.069,0.049,1748,896,3407
$GC,10239,-0.87,-117.3,781.5,-9.6,284,10244,0.25,2.28,0.00,0.000,6,0.127,0.048,1816,2312,3407
$GC,10566,-0.90,-117.3,800.2,-5.6,290,10567,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2313,3407
$GC,10869,-0.94,-117.3,817.3,-5.6,295,10873,0.00,2.33,0.00,0.000,4,0.000,0.051,1816,895,3407
$GC,10897,-0.97,-117.3,819.0,-5.8,295,10902,0.08,2.28,0.00,0.000,6,0.083,0.041,1757,2308,3407
$GC,11235,-0.89,-117.3,847.1,-8.5,301,11240,0.17,2.33,0.00,0.000,4,0.124,0.048,1816,898,3407
$GC,11298,-0.93,-117.3,851.2,-6.3,302,11303,0.00,2.28,0.00,0.000,6,0.000,0.042,1810,2309,3407
$GC,11666,-0.95,-117.3,872.3,-5.7,308,11667,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2309,3407
$GC,11969,-0.98,-117.3,889.7,-5.8,313,11973,0.00,2.30,0.00,0.000,4,0.000,0.047,1810,895,3407
$GC,12014,-1.00,-117.3,892.7,-6.1,313,12019,0.10,2.28,0.00,0.000,6,0.075,0.041,1759,2304,3406
$GC,12331,-0.92,-117.3,919.5,-8.7,319,12333,0.15,0.00,0.00,0.000,6,0.130,0.000,1803,2304,3406
$GC,12634,-0.92,-117.3,939.3,-6.4,324,12638,0.00,2.30,0.00,0.000,4,0.000,0.050,1803,890,3406
$GC,12668,-0.92,-117.3,941.9,-7.0,324,12672,0.00,2.28,0.00,0.000,6,0.000,0.044,1795,2303,3406
$GC,13002,-0.92,-117.3,965.2,-7.1,330,13003,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2303,3406
$GC,13304,-0.92,-117.3,986.2,-6.9,335,13308,0.00,2.30,0.00,0.000,4,0.000,0.048,1796,892,3406
$GC,13343,-0.92,-117.3,989.1,-7.5,335,13347,0.00,2.28,0.00,0.000,6,0.000,0.048,1794,2301,3406
$STATE,13359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13359,begin apogee
$GC,13367,-0.22,0.0,990.3,7.1,336,13468,0.50,0.00,98.47,1.291,6,0.112,0.000,1955,2301,2931
$STATE,13469,end apogee,CONTROL_FINISHED_OK
$STATE,13469,begin climb
$GC,13473,0.68,117.3,991.8,0.0,337,13584,0.57,2.55,104.78,1.263,4,0.067,0.056,2155,3698,2451
$GC,13604,0.54,124.9,990.1,5.2,340,13619,0.20,2.40,8.23,1.022,6,0.166,0.036,2119,2304,2420
$GC,13975,0.49,124.9,968.2,5.9,346,13976,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2304,2413
$GC,14279,0.44,124.9,949.6,6.2,351,14283,0.10,2.30,0.00,0.000,4,0.167,0.054,2094,3711,2411
$GC,14312,0.40,124.9,947.3,6.4,351,14316,0.00,2.25,0.00,0.000,6,0.000,0.041,2102,2297,2410
$GC,14639,0.40,124.9,928.9,5.6,357,14640,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2297,2410
$GC,14942,0.40,128.3,912.4,5.4,362,14947,0.00,2.30,0.00,0.000,4,0.000,0.051,2102,3711,2409
$GC,14993,0.34,128.3,909.1,6.4,362,14998,0.15,2.22,0.00,0.000,6,0.155,0.039,2074,2300,2408
$GC,15304,0.45,149.9,894.6,4.8,367,15331,0.08,2.33,20.95,1.166,4,0.087,0.054,2117,3711,2319
$GC,15424,0.37,149.9,886.9,7.2,368,15429,0.17,2.25,0.00,0.000,6,0.146,0.036,2082,2300,2317
$GC,15736,0.48,180.4,872.4,4.5,373,15770,0.08,2.38,27.67,1.167,4,0.084,0.052,2125,3706,2193
$GC,15817,0.42,180.4,867.4,6.8,374,15822,0.17,2.28,0.00,0.000,6,0.147,0.038,2088,2291,2192
$GC,16172,0.55,216.6,852.2,4.3,380,16212,0.10,2.40,32.70,1.160,4,0.074,0.058,2135,3706,2045
$GC,16258,0.51,216.6,846.6,7.2,381,16263,0.15,2.25,0.00,0.000,6,0.142,0.038,2106,2305,2044
$GC,16608,0.57,235.0,829.1,4.9,387,16629,0.00,2.30,16.52,1.095,4,0.000,0.054,2115,895,1972
$GC,16658,0.67,260.4,826.4,4.6,387,16689,0.10,2.28,24.12,1.114,6,0.074,0.041,2167,2307,1868
$GC,17041,0.59,260.4,791.6,9.5,394,17045,0.15,2.28,0.00,0.000,4,0.139,0.052,2126,3711,1861
$GC,17113,0.59,260.4,785.5,7.0,395,17117,0.00,2.22,0.00,0.000,6,0.000,0.033,2135,2298,1861
$GC,17474,0.59,260.4,760.8,6.9,401,17478,0.00,2.30,0.00,0.000,4,0.000,0.048,2134,3721,1858
$GC,17513,0.56,260.4,757.3,9.2,401,17518,0.10,2.22,0.00,0.000,6,0.146,0.032,2118,2302,1858
$GC,17835,0.61,260.4,736.9,6.2,407,17839,0.00,2.28,0.00,0.000,4,0.000,0.048,2128,887,1857
$GC,17857,0.67,260.4,735.4,5.9,407,17861,0.00,2.28,0.00,0.000,6,0.000,0.042,2128,2316,1857
$GC,18196,0.69,260.4,713.2,6.6,413,18200,0.00,2.22,0.00,0.000,4,0.000,0.054,2128,3706,1857
$GC,18229,0.69,260.4,710.5,7.3,413,18233,0.00,2.20,0.00,0.000,6,0.000,0.035,2137,2300,1857
$GC,18561,0.69,260.4,687.2,7.0,419,18565,0.00,2.28,0.00,0.000,4,0.000,0.048,2137,3715,1856
$GC,18589,0.69,260.4,685.0,7.2,419,18593,0.00,2.20,0.00,0.000,6,0.000,0.033,2147,2300,1856
$GC,18922,0.66,260.4,658.4,8.1,425,18926,0.00,2.28,0.00,0.000,4,0.000,0.048,2147,3712,1857
$GC,18950,0.62,260.4,655.7,9.1,425,18955,0.10,2.20,0.00,0.000,6,0.145,0.033,2132,2302,1856
$GC,19283,0.62,260.4,633.3,6.6,431,19287,0.00,2.28,0.00,0.000,4,0.000,0.054,2132,3708,1856
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$STATE,27927,end climb,SURFACE_DEPTH_REACHED
$STATE,27927,begin surface coast
$FINISH,1.3,1.025395
$STATE,27950,end surface coast,CONTROL_FINISHED_OK
$STATE,27950,begin surface
$SM_CCo,28027,0.00,0.000,0,0,1283,404.25
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$TT8_MAMPS,0.028379
$HUMID,1696
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$TCM_TEMP,14.00
$XPDR_PINGS,93
$24V_AH,21.9,73.880
$10V_AH,10.5,63.921
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$DEVICE_SECS,20.025,249.400,459.850,0.000,0.000,59.646,113.208,194.623,23.250,0.000,0.000,11.427,1682.157,23025.078,595.916,2362.814,924.300,33.384,1815.957,0.000,2348.795,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,512.748,582.851,750.677,1248.072,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44328,727
$CAP_FILE_SIZE,192334,0
$CFSIZE,260165632,219103232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291109,004227,4959.563,-14505.821,41,2.3,60,18.4