version: 66.04
glider: 144
mission: 15
dive: 516
start: 12 1 109 8 29 33
data:
$ID,144
$MISSION,15
$DIVE,516
$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,-71947.859
$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,32
$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
$GPS1,082207,5011.764,-14442.971,26,1.9,26,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-54.7
$GPS2,082840,5011.791,-14443.019,14,2.1,39,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.135,0.100
$KALMAN_X,-95978.3,335.1,86.1,128115.4,-1240.2
$KALMAN_Y,23227.0,223.5,-62.2,-40409.2,376.1
$MHEAD_RNG_PITCHd_Wd,35.0,23114,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.68,-117.3,0.0,0.0,0,61,0.00,0.00,-40.92,0.000,2,0.000,0.000,98,2300,2646
$GC,65,-0.68,-117.3,3.8,-5.0,4,99,7.20,2.35,-17.65,0.000,4,0.232,0.061,1839,3704,3412
$GC,180,-0.63,-117.3,16.8,-10.2,14,185,0.10,2.20,0.00,0.000,6,0.126,0.031,1866,2295,3414
$GC,513,-0.63,-117.3,47.5,-9.1,45,517,0.00,2.25,0.00,0.000,4,0.000,0.043,1866,892,3414
$GC,583,-0.65,-117.3,54.7,-9.6,51,587,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2309,3414
$GC,907,-0.65,-117.3,84.1,-8.6,79,908,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2308,3413
$GC,1217,-0.69,-117.3,109.2,-7.9,94,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2309,3414
$GC,1527,-0.73,-117.3,130.1,-7.0,109,1530,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,893,3415
$GC,1596,-0.78,-117.3,135.4,-7.3,112,1600,0.12,2.22,0.00,0.000,6,0.058,0.038,1779,2303,3415
$GC,1922,-0.69,-117.3,173.0,-11.5,125,1924,0.25,0.00,0.00,0.000,6,0.123,0.000,1856,2303,3415
$GC,2227,-0.75,-117.3,192.7,-5.9,135,2231,0.00,2.30,0.00,0.000,4,0.000,0.054,1848,3704,3415
$GC,2261,-0.81,-117.3,195.1,-6.4,136,2266,0.10,2.17,0.00,0.000,6,0.065,0.029,1770,2304,3414
$GC,2592,-0.70,-117.3,232.9,-11.6,147,2597,0.22,2.28,0.00,0.000,4,0.122,0.042,1843,891,3415
$GC,2655,-0.75,-117.3,238.4,-8.0,149,2659,0.00,2.25,0.00,0.000,6,0.000,0.044,1837,2304,3414
$GC,2991,-0.78,-117.3,262.7,-7.1,160,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2304,3414
$GC,3298,-0.81,-117.3,284.0,-6.9,170,3302,0.00,2.25,0.00,0.000,4,0.000,0.043,1837,891,3415
$GC,3354,-0.85,-117.3,288.3,-7.2,171,3361,0.00,2.25,0.00,0.000,6,0.000,0.038,1836,2313,3414
$GC,3667,-0.87,-117.3,309.7,-6.8,180,3668,0.10,0.00,0.00,0.000,6,0.067,0.000,1765,2314,3414
$GC,3971,-0.77,-117.3,341.6,-10.7,185,3975,0.20,2.28,0.00,0.000,4,0.121,0.043,1832,895,3414
$GC,4005,-0.77,-117.3,344.8,-7.9,185,4009,0.00,2.25,0.00,0.000,6,0.000,0.039,1824,2311,3413
$GC,4332,-0.77,-117.3,369.2,-7.5,191,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2311,3413
$GC,4635,-0.77,-117.3,393.2,-7.9,196,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2311,3413
$GC,4938,-0.77,-117.3,415.7,-7.3,201,4942,0.00,2.28,0.00,0.000,4,0.000,0.051,1824,892,3413
$GC,4995,-0.79,-117.3,419.9,-6.9,201,5001,0.00,2.22,0.00,0.000,6,0.000,0.039,1821,2303,3413
$GC,5305,-0.79,-117.3,440.0,-6.4,207,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3413
$GC,5608,-0.79,-117.3,458.8,-6.2,212,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3412
$GC,5911,-0.79,-117.3,477.2,-6.1,217,5915,0.00,2.30,0.00,0.000,4,0.000,0.048,1821,901,3413
$GC,5956,-0.82,-117.3,480.3,-7.4,217,5960,0.00,2.28,0.00,0.000,6,0.000,0.044,1811,2309,3412
$GC,6272,-0.82,-117.3,502.1,-7.0,223,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2309,3412
$GC,6575,-0.82,-117.3,523.7,-7.2,228,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2309,3411
$GC,6879,-0.82,-117.3,545.0,-6.9,233,6883,0.00,2.33,0.00,0.000,4,0.000,0.046,1811,893,3411
$GC,6930,-0.82,-117.3,548.8,-7.0,233,6934,0.00,2.30,0.00,0.000,6,0.000,0.046,1808,2312,3411
$GC,7240,-0.82,-117.3,570.2,-6.9,238,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2312,3411
$GC,7543,-0.82,-117.3,590.1,-6.5,243,7547,0.00,2.30,0.00,0.000,4,0.000,0.051,1808,895,3411
$GC,7599,-0.82,-117.3,594.0,-7.0,243,7606,0.10,2.28,0.00,0.000,6,0.127,0.041,1827,2308,3411
$GC,7911,-0.87,-117.3,610.6,-5.3,249,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2308,3411
$GC,8213,-0.91,-117.3,628.6,-6.0,254,8215,0.10,0.00,0.00,0.000,6,0.067,0.000,1763,2307,3411
$GC,8516,-0.83,-117.3,657.7,-9.8,259,8518,0.20,0.00,0.00,0.000,6,0.120,0.000,1823,2308,3410
$GC,8820,-0.87,-117.3,676.6,-6.1,264,8824,0.00,2.30,0.00,0.000,4,0.000,0.047,1824,901,3410
$GC,8859,-0.91,-117.3,679.3,-6.9,264,8864,0.00,2.28,0.00,0.000,6,0.000,0.041,1823,2305,3410
$GC,9181,-0.95,-117.3,698.7,-6.0,270,9183,0.10,0.00,0.00,0.000,6,0.066,0.000,1754,2305,3410
$GC,9484,-0.86,-117.3,727.0,-9.5,275,9486,0.20,0.00,0.00,0.000,6,0.123,0.000,1814,2306,3410
$GC,9788,-0.89,-117.3,745.7,-5.9,280,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2305,3410
$GC,10091,-0.91,-117.3,763.8,-6.0,285,10095,0.00,2.30,0.00,0.000,4,0.000,0.050,1815,901,3410
$GC,10136,-0.95,-117.3,766.9,-6.8,285,10140,0.00,2.28,0.00,0.000,6,0.000,0.041,1810,2304,3410
$GC,10454,-0.95,-117.3,786.8,-6.3,291,10458,0.00,2.30,0.00,0.000,4,0.000,0.058,1799,3711,3410
$GC,10488,-0.95,-117.3,789.1,-6.7,291,10492,0.00,2.22,0.00,0.000,6,0.000,0.038,1800,2300,3409
$GC,10821,-0.95,-117.3,809.6,-6.1,297,10825,0.00,2.28,0.00,0.000,4,0.000,0.047,1800,897,3409
$GC,10872,-0.95,-117.3,813.1,-6.4,297,10876,0.00,2.28,0.00,0.000,6,0.000,0.046,1795,2306,3409
$GC,11183,-0.95,-117.3,833.0,-6.5,302,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3409
$GC,11485,-0.95,-117.3,852.7,-6.5,307,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2306,3409
$GC,11788,-0.95,-117.3,873.9,-7.1,312,11792,0.00,2.30,0.00,0.000,4,0.000,0.047,1794,892,3409
$GC,11832,-0.95,-117.3,877.3,-7.1,312,11837,0.00,2.28,0.00,0.000,6,0.000,0.044,1786,2305,3409
$GC,12149,-0.92,-117.3,901.7,-7.8,318,12150,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,2305,3409
$GC,12452,-0.90,-117.3,925.8,-8.0,323,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,2305,3409
$GC,12755,-0.88,-117.3,948.7,-7.5,328,12757,0.10,0.00,0.00,0.000,6,0.140,0.000,1814,2306,3409
$GC,13058,-0.92,-117.3,965.9,-5.6,333,13062,0.00,2.33,0.00,0.000,4,0.000,0.053,1813,895,3409
$GC,13087,-0.96,-117.3,967.7,-5.9,333,13091,0.00,2.30,0.00,0.000,6,0.000,0.044,1810,2301,3408
$GC,13419,-0.99,-117.3,985.7,-5.4,339,13421,0.10,0.00,0.00,0.000,6,0.079,0.000,1764,2301,3408
$STATE,13537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13537,begin apogee
$GC,13544,-0.22,0.0,994.4,6.1,341,13646,0.60,0.00,99.35,1.292,6,0.119,0.000,1953,2301,2931
$STATE,13647,end apogee,CONTROL_FINISHED_OK
$STATE,13647,begin climb
$GC,13651,0.68,117.3,995.6,0.0,342,13759,0.60,0.00,105.25,1.264,6,0.071,0.000,2157,2301,2452
$GC,14024,0.55,117.3,974.9,7.4,349,14029,0.15,2.38,0.00,0.000,4,0.152,0.051,2119,3712,2443
$GC,14074,0.45,117.3,971.0,7.3,349,14079,0.12,2.28,0.00,0.000,6,0.164,0.041,2098,2308,2441
$GC,14385,0.48,134.8,955.5,4.9,354,14402,0.00,0.00,14.68,1.151,6,0.000,0.000,2098,2307,2381
$GC,14688,0.49,149.4,940.3,5.0,359,14714,0.00,2.33,16.05,1.021,4,0.000,0.053,2098,3711,2320
$GC,14743,0.47,149.4,937.2,5.6,359,14749,0.00,2.28,0.00,0.000,6,0.000,0.040,2105,2303,2319
$GC,15054,0.47,149.4,920.1,5.6,365,15058,0.00,2.33,0.00,0.000,4,0.000,0.055,2106,3721,2317
$GC,15082,0.43,149.4,918.1,6.3,365,15086,0.10,2.28,0.00,0.000,6,0.158,0.034,2093,2293,2317
$GC,15420,0.45,160.5,900.8,5.1,371,15435,0.00,2.35,10.82,1.087,4,0.000,0.053,2093,3715,2275
$GC,15464,0.45,160.5,898.1,6.2,371,15468,0.00,2.28,0.00,0.000,6,0.000,0.040,2101,2295,2274
$GC,15780,0.45,160.5,880.8,5.5,377,15781,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2295,2273
$GC,16082,0.45,160.5,864.0,5.5,382,16086,0.00,2.33,0.00,0.000,4,0.000,0.054,2101,3718,2272
$GC,16126,0.42,160.5,861.1,6.2,382,16131,0.00,2.25,0.00,0.000,6,0.000,0.040,2111,2300,2271
$GC,16443,0.42,160.5,843.3,5.6,388,16444,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2300,2271
$GC,16746,0.42,165.1,827.1,5.3,393,16755,0.00,2.33,5.15,0.844,4,0.000,0.054,2112,3712,2256
$GC,16790,0.38,165.1,824.3,6.9,393,16794,0.17,2.25,0.00,0.000,6,0.149,0.033,2076,2296,2255
$GC,17111,0.53,192.2,810.0,4.6,399,17142,0.12,2.38,25.23,1.132,4,0.066,0.049,2135,3712,2146
$GC,17277,0.46,192.2,798.9,6.4,401,17282,0.17,2.28,0.00,0.000,6,0.144,0.034,2100,2305,2143
$GC,17605,0.54,225.9,784.3,4.4,407,17637,0.00,0.00,30.55,1.118,6,0.000,0.000,2099,2305,2010
$GC,17907,0.67,225.9,768.2,5.6,412,17912,0.15,2.30,0.00,0.000,4,0.062,0.052,2167,893,2003
$GC,17998,0.61,225.9,761.5,6.9,413,18002,0.12,2.28,0.00,0.000,6,0.133,0.044,2135,2306,2002
$GC,18337,0.59,225.9,738.4,6.9,419,18341,0.00,2.28,0.00,0.000,4,0.000,0.054,2134,3711,2002
$GC,18412,0.54,225.9,732.4,8.3,420,18416,0.12,2.22,0.00,0.000,6,0.143,0.033,2110,2293,2001
$GC,18767,0.58,226.8,712.5,5.5,426,18768,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2292,2001
$GC,19071,0.63,226.8,695.0,5.8,431,19073,0.10,0.00,0.00,0.000,6,0.068,0.000,2176,2292,2000
$GC,19373,0.51,226.8,665.4,10.1,436,19378,0.20,2.30,0.00,0.000,4,0.136,0.048,2114,3715,2000
$GC,19423,0.51,226.8,661.3,7.8,436,19427,0.00,2.22,0.00,0.000,6,0.000,0.033,2121,2294,2000
$GC,19734,0.51,226.8,642.3,6.1,441,19735,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2293,2000
$GC,20036,0.51,226.8,624.6,5.9,446,20040,0.00,2.33,0.00,0.000,4,0.000,0.048,2122,3718,2000
$GC,20064,0.51,226.8,622.6,6.6,446,20068,0.00,2.25,0.00,0.000,6,0.000,0.032,2132,2292,2000
$GC,20397,0.51,226.8,600.3,6.7,452,20401,0.00,2.30,0.00,0.000,4,0.000,0.048,2132,3709,2000
$GC,20443,0.48,226.8,596.6,8.7,452,20447,0.15,2.22,0.00,0.000,6,0.135,0.032,2101,2296,2000
$GC,20759,0.59,226.8,577.3,6.2,458,20763,0.10,2.25,0.00,0.000,4,0.071,0.044,2151,890,1999
$GC,20822,0.63,226.8,572.8,7.1,459,20826,0.00,2.22,0.00,0.000,6,0.000,0.038,2151,2306,1999
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$STATE,29732,end climb,SURFACE_DEPTH_REACHED
$STATE,29732,begin surface coast
$FINISH,1.4,1.025027
$STATE,29765,end surface coast,CONTROL_FINISHED_OK
$STATE,29766,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1700
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$TCM_TEMP,15.90
$XPDR_PINGS,75
$24V_AH,22.1,74.924
$10V_AH,10.5,64.927
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$DEVICE_SECS,19.000,226.825,375.400,0.000,0.000,30.570,25.617,158.303,18.750,0.000,0.000,42.035,1741.203,24767.135,558.307,2383.881,772.734,33.373,1721.702,0.000,2350.523,0.000,0.527,0.000
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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,44263,772
$CAP_FILE_SIZE,188663,0
$CFSIZE,260165632,218484736
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,011209,164807,5013.759,-14439.156,29,1.2,29,18.6