version: 66.04
glider: 144
mission: 15
dive: 524
start: 12 4 109 1 36 17
data:
$ID,144
$MISSION,15
$DIVE,524
$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,-72134.148
$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,35
$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
$GPS1,012907,5007.708,-14428.649,30,1.7,30,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-66.2
$GPS2,013520,5007.733,-14428.688,13,1.7,13,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.050,-0.160
$KALMAN_X,-91501.0,12.8,-75.0,141066.2,1451.1
$KALMAN_Y,24577.7,185.3,47.4,-49340.0,-520.0
$MHEAD_RNG_PITCHd_Wd,178.6,25450,-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,15,-0.68,-117.3,0.0,0.0,0,39,0.00,0.00,-21.38,0.000,2,0.000,0.000,99,2306,2273
$GC,43,-0.68,-117.3,3.1,-4.9,2,97,7.20,2.40,-37.60,0.000,4,0.236,0.067,1842,3711,3412
$GC,306,-0.68,-117.3,26.7,-9.7,25,312,0.00,2.25,0.00,0.000,6,0.000,0.031,1842,2293,3413
$GC,635,-0.64,-117.3,60.2,-10.4,56,639,0.00,2.25,0.00,0.000,4,0.000,0.043,1842,895,3413
$GC,725,-0.64,-117.3,69.7,-10.0,63,732,0.10,2.22,0.00,0.000,6,0.133,0.038,1860,2302,3413
$GC,1055,-0.64,-117.3,98.8,-8.9,85,1059,0.00,2.25,0.00,0.000,4,0.000,0.041,1860,892,3413
$GC,1095,-0.68,-117.3,102.1,-7.7,86,1101,0.00,2.28,0.00,0.000,6,0.000,0.039,1853,2308,3413
$GC,1412,-0.70,-117.3,128.4,-8.0,102,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2307,3413
$GC,1721,-0.73,-117.3,151.4,-6.6,117,1725,0.00,2.28,0.00,0.000,4,0.000,0.042,1853,896,3413
$GC,1750,-0.78,-117.3,153.5,-7.1,117,1757,0.00,2.25,0.00,0.000,6,0.000,0.037,1850,2308,3414
$GC,2064,-0.82,-117.3,172.6,-6.1,128,2069,0.10,2.30,0.00,0.000,4,0.064,0.041,1771,888,3413
$GC,2187,-0.72,-117.3,185.5,-10.4,131,2194,0.28,2.25,0.00,0.000,6,0.118,0.038,1846,2304,3413
$GC,2502,-0.76,-117.3,204.2,-5.7,142,2506,0.00,2.22,0.00,0.000,4,0.000,0.042,1846,894,3414
$GC,2547,-0.81,-117.3,207.1,-6.5,143,2551,0.00,2.22,0.00,0.000,6,0.000,0.040,1839,2299,3414
$GC,2871,-0.83,-117.3,227.0,-6.4,154,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2299,3413
$GC,3178,-0.87,-117.3,247.4,-6.6,164,3180,0.10,0.00,0.00,0.000,6,0.064,0.000,1760,2300,3414
$GC,3484,-0.75,-117.3,281.8,-11.4,174,3488,0.22,2.28,0.00,0.000,4,0.125,0.047,1833,897,3413
$GC,3524,-0.79,-117.3,285.4,-7.8,175,3529,0.00,2.28,0.00,0.000,6,0.000,0.041,1826,2312,3413
$GC,3854,-0.79,-117.3,309.9,-7.5,184,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2312,3413
$GC,4156,-0.79,-117.3,331.5,-7.1,189,4160,0.00,2.28,0.00,0.000,4,0.000,0.043,1826,896,3413
$GC,4202,-0.82,-117.3,334.9,-7.8,189,4206,0.00,2.28,0.00,0.000,6,0.000,0.040,1819,2304,3413
$GC,4517,-0.82,-117.3,358.2,-7.4,195,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2304,3412
$GC,4821,-0.82,-117.3,381.3,-7.6,200,4825,0.00,2.28,0.00,0.000,4,0.000,0.044,1819,888,3412
$GC,4865,-0.82,-117.3,384.9,-7.4,200,4869,0.00,2.28,0.00,0.000,6,0.000,0.039,1809,2302,3412
$GC,5187,-0.82,-117.3,408.0,-7.1,206,5191,0.00,2.28,0.00,0.000,4,0.000,0.044,1809,888,3412
$GC,5220,-0.82,-117.3,410.5,-7.6,206,5225,0.10,2.28,0.00,0.000,6,0.127,0.045,1828,2304,3412
$GC,5548,-0.85,-117.3,429.3,-5.7,212,5552,0.00,2.28,0.00,0.000,4,0.000,0.046,1828,889,3412
$GC,5576,-0.88,-117.3,431.3,-6.8,212,5580,0.00,2.28,0.00,0.000,6,0.000,0.043,1823,2305,3411
$GC,5909,-0.91,-117.3,451.5,-6.0,218,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2304,3411
$GC,6213,-0.93,-117.3,470.8,-6.5,223,6215,0.10,0.00,0.00,0.000,6,0.065,0.000,1753,2305,3411
$GC,6516,-0.82,-117.3,501.4,-10.3,228,6521,0.20,2.30,0.00,0.000,4,0.126,0.051,1817,889,3410
$GC,6594,-0.82,-117.3,507.7,-7.5,229,6598,0.00,2.28,0.00,0.000,6,0.000,0.042,1810,2308,3411
$GC,6950,-0.82,-117.3,531.5,-6.7,235,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2308,3411
$GC,7252,-0.82,-117.3,553.2,-7.2,240,7256,0.00,2.30,0.00,0.000,4,0.000,0.050,1810,893,3411
$GC,7315,-0.82,-117.3,558.0,-8.2,241,7319,0.00,2.30,0.00,0.000,6,0.000,0.043,1804,2315,3410
$GC,7681,-0.82,-117.3,585.5,-7.5,247,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2315,3409
$GC,7984,-0.82,-117.3,608.9,-7.8,252,7988,0.00,2.30,0.00,0.000,4,0.000,0.046,1804,892,3410
$GC,8047,-0.82,-117.3,614.2,-8.9,253,8051,0.10,2.28,0.00,0.000,6,0.124,0.041,1823,2307,3410
$GC,8413,-0.86,-117.3,640.1,-7.0,259,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2306,3410
$GC,8717,-0.90,-117.3,661.0,-6.9,264,8721,0.00,2.28,0.00,0.000,4,0.000,0.052,1823,893,3410
$GC,8751,-0.94,-117.3,663.5,-7.2,264,8755,0.10,2.28,0.00,0.000,6,0.067,0.041,1759,2304,3410
$GC,9083,-0.86,-117.3,695.1,-9.6,270,9085,0.20,0.00,0.00,0.000,6,0.123,0.000,1819,2304,3409
$GC,9387,-0.89,-117.3,713.9,-6.0,275,9391,0.00,2.28,0.00,0.000,4,0.000,0.050,1820,897,3409
$GC,9416,-0.93,-117.3,715.8,-7.2,275,9420,0.10,2.28,0.00,0.000,6,0.067,0.044,1754,2306,3409
$GC,9754,-0.85,-117.3,746.0,-9.1,281,9759,0.17,2.30,0.00,0.000,4,0.127,0.048,1813,889,3409
$GC,9800,-0.88,-117.3,749.3,-6.6,281,9804,0.00,2.28,0.00,0.000,6,0.000,0.047,1810,2307,3409
$GC,10115,-0.88,-117.3,768.1,-5.9,287,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3409
$GC,10418,-0.88,-117.3,786.2,-6.1,292,10422,0.00,2.30,0.00,0.000,4,0.000,0.050,1809,892,3408
$GC,10464,-0.91,-117.3,789.4,-7.4,292,10468,0.00,2.28,0.00,0.000,6,0.000,0.043,1808,2304,3408
$GC,10780,-0.91,-117.3,809.2,-6.3,298,10781,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3408
$GC,11082,-0.91,-117.3,828.1,-6.2,303,11086,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,898,3408
$GC,11115,-0.91,-117.3,830.4,-7.0,303,11119,0.00,2.28,0.00,0.000,6,0.000,0.041,1806,2304,3408
$GC,11443,-0.91,-117.3,851.4,-6.4,309,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2304,3408
$GC,11747,-0.93,-117.3,871.5,-6.7,314,11751,0.00,2.28,0.00,0.000,4,0.000,0.053,1806,897,3408
$GC,11780,-0.93,-117.3,874.2,-7.5,314,11784,0.00,2.28,0.00,0.000,6,0.000,0.045,1800,2310,3408
$GC,12107,-0.93,-117.3,897.0,-7.0,320,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2310,3408
$GC,12411,-0.93,-117.3,918.3,-7.0,325,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2310,3408
$GC,12714,-0.93,-117.3,938.6,-6.6,330,12718,0.00,2.30,0.00,0.000,4,0.000,0.051,1800,890,3408
$GC,12758,-0.93,-117.3,941.8,-7.0,330,12763,0.00,2.28,0.00,0.000,6,0.000,0.043,1795,2302,3407
$GC,13075,-0.93,-117.3,961.4,-6.1,336,13079,0.00,2.30,0.00,0.000,4,0.000,0.053,1785,3711,3408
$GC,13103,-0.93,-117.3,963.3,-6.9,336,13106,0.00,2.20,0.00,0.000,6,0.000,0.036,1785,2299,3407
$GC,13442,-0.93,-117.3,985.6,-6.6,342,13443,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2299,3407
$STATE,13559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13559,begin apogee
$GC,13566,-0.22,0.0,993.4,6.6,344,13668,0.52,0.00,99.07,1.290,6,0.111,0.000,1954,2299,2931
$STATE,13669,end apogee,CONTROL_FINISHED_OK
$STATE,13669,begin climb
$GC,13672,0.68,117.3,994.5,0.0,345,13785,0.60,2.60,104.70,1.264,4,0.072,0.054,2156,3708,2450
$GC,13799,0.55,118.5,992.5,5.5,347,13806,0.20,2.42,0.00,0.000,6,0.168,0.037,2122,2305,2448
$GC,14110,0.49,119.7,975.3,5.5,353,14111,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2305,2441
$GC,14413,0.43,122.4,958.9,5.4,358,14417,0.12,2.33,0.00,0.000,4,0.163,0.052,2085,3720,2439
$GC,14447,0.43,138.5,957.0,5.0,358,14474,0.00,2.25,17.67,1.176,6,0.000,0.035,2093,2299,2366
$GC,14778,0.46,164.2,941.7,4.6,364,14807,0.00,2.40,23.62,1.194,4,0.000,0.051,2093,3703,2260
$GC,14836,0.46,164.2,938.3,5.9,364,14842,0.00,2.28,0.00,0.000,6,0.000,0.033,2103,2298,2258
$GC,15148,0.47,168.1,921.7,5.4,370,15154,0.00,0.00,4.28,0.780,6,0.000,0.000,2103,2297,2245
$GC,15449,0.47,168.1,904.7,5.6,375,15453,0.00,2.35,0.00,0.000,4,0.000,0.051,2103,3718,2244
$GC,15500,0.44,168.1,901.2,6.7,375,15504,0.00,2.28,0.00,0.000,6,0.000,0.038,2114,2302,2243
$GC,15810,0.44,168.1,883.2,5.8,380,15812,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2303,2243
$GC,16115,0.44,168.1,866.0,5.7,385,16119,0.00,2.33,0.00,0.000,4,0.000,0.051,2114,3719,2243
$GC,16171,0.38,168.1,862.2,6.1,385,16178,0.15,2.25,0.00,0.000,6,0.153,0.033,2085,2305,2242
$GC,16482,0.50,183.9,847.0,5.0,391,16503,0.08,2.33,14.93,1.108,4,0.084,0.052,2134,885,2181
$GC,16577,0.50,183.9,841.3,5.8,392,16582,0.10,2.30,0.00,0.000,6,0.133,0.047,2109,2311,2179
$GC,16909,0.52,199.5,824.6,5.0,398,16930,0.00,2.30,15.35,1.095,4,0.000,0.056,2109,3712,2115
$GC,16987,0.52,199.5,820.0,6.5,399,16991,0.00,2.25,0.00,0.000,6,0.000,0.033,2117,2295,2114
$GC,17336,0.52,199.5,800.2,5.7,405,17337,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2295,2112
$GC,17639,0.52,199.5,783.3,5.6,410,17643,0.00,2.33,0.00,0.000,4,0.000,0.054,2117,3722,2112
$GC,17689,0.49,199.5,779.9,7.5,410,17694,0.00,2.22,0.00,0.000,6,0.000,0.033,2127,2300,2111
$GC,18001,0.49,199.5,762.3,5.6,415,18005,0.00,2.33,0.00,0.000,4,0.000,0.055,2127,3718,2111
$GC,18029,0.45,199.5,760.3,6.2,415,18033,0.15,2.25,0.00,0.000,6,0.143,0.032,2097,2301,2111
$GC,18368,0.55,239.1,746.0,4.2,421,18409,0.08,2.35,35.40,1.104,4,0.080,0.048,2164,892,1955
$GC,18429,0.51,239.1,742.1,6.3,422,18433,0.20,2.30,0.00,0.000,6,0.129,0.039,2108,2304,1952
$GC,18795,0.57,246.4,722.8,5.3,428,18809,0.00,2.38,6.97,0.889,4,0.000,0.049,2108,3718,1925
$GC,18840,0.61,246.4,720.0,7.4,428,18844,0.00,2.25,0.00,0.000,6,0.000,0.032,2115,2302,1925
$GC,19161,0.65,246.4,701.2,5.8,434,19163,0.10,0.00,0.00,0.000,6,0.067,0.000,2185,2302,1923
$GC,19465,0.54,246.4,670.5,10.5,439,19469,0.22,2.33,0.00,0.000,4,0.140,0.048,2115,3716,1923
$GC,19516,0.56,246.4,666.3,6.6,439,19520,0.00,2.25,0.00,0.000,6,0.000,0.032,2123,2301,1922
$GC,19827,0.59,246.4,647.0,6.2,444,19831,0.00,2.28,0.00,0.000,4,0.000,0.048,2133,894,1922
$GC,19861,0.63,246.4,644.6,6.7,444,19865,0.00,2.25,0.00,0.000,6,0.000,0.037,2133,2316,1921
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$STATE,29264,end climb,SURFACE_DEPTH_REACHED
$STATE,29264,begin surface coast
$FINISH,1.7,1.025500
$STATE,29297,end surface coast,CONTROL_FINISHED_OK
$STATE,29297,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1703
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$TCM_TEMP,15.90
$XPDR_PINGS,67
$24V_AH,21.6,76.070
$10V_AH,10.5,65.956
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$DEVICE_SECS,20.025,236.800,427.250,0.000,0.000,24.349,27.055,168.848,16.750,0.000,0.000,14.739,1705.622,24328.188,584.068,2329.010,790.940,33.376,1773.730,0.000,2321.810,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,534.646,606.615,780.001,1296.070,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44426,755
$CAP_FILE_SIZE,190085,0
$CFSIZE,260165632,217849856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041209,094707,5004.214,-14429.243,32,1.1,32,18.6