version: 66.04
glider: 144
mission: 15
dive: 553
start: 12 13 109 17 30 5
data:
$ID,144
$MISSION,15
$DIVE,553
$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,-72792.344
$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
$GPS1,171642,4958.875,-14505.286,41,1.1,47,18.4
$_CALLS,2
$_XMS_NAKs,26
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-58.8
$GPS2,172908,4958.906,-14505.419,14,1.2,14,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.154,0.067
$KALMAN_X,-95991.8,277.4,-42.7,101847.5,-1709.8
$KALMAN_Y,28778.4,-1.0,66.2,-69721.7,1159.0
$MHEAD_RNG_PITCHd_Wd,48.2,23485,-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,-117.3,0.0,0.0,0,59,0.00,0.00,-41.17,0.000,2,0.000,0.000,99,2292,2650
$GC,63,-0.68,-117.3,3.5,-3.8,4,97,7.25,2.38,-18.75,0.000,4,0.235,0.066,1837,3698,3412
$GC,201,-0.68,-117.3,19.6,-11.1,16,205,0.00,2.22,0.00,0.000,6,0.000,0.030,1837,2301,3413
$GC,535,-0.64,-117.3,57.9,-10.3,47,540,0.10,2.28,0.00,0.000,4,0.130,0.042,1865,895,3413
$GC,644,-0.66,-117.3,67.9,-9.4,56,648,0.00,2.22,0.00,0.000,6,0.000,0.038,1859,2301,3414
$GC,969,-0.66,-117.3,99.9,-9.2,77,973,0.00,2.25,0.00,0.000,4,0.000,0.042,1859,892,3413
$GC,1010,-0.66,-117.3,103.7,-9.7,79,1014,0.00,2.22,0.00,0.000,6,0.000,0.037,1850,2306,3413
$GC,1343,-0.66,-117.3,132.9,-8.3,95,1346,0.00,2.25,0.00,0.000,4,0.000,0.047,1841,3716,3414
$GC,1389,-0.70,-117.3,136.7,-8.3,97,1393,0.00,2.20,0.00,0.000,6,0.000,0.030,1841,2302,3414
$GC,1732,-0.70,-117.3,162.7,-7.3,111,1736,0.00,2.25,0.00,0.000,4,0.000,0.043,1840,895,3413
$GC,1839,-0.72,-117.3,171.2,-8.1,114,1843,0.00,2.22,0.00,0.000,6,0.000,0.036,1836,2304,3413
$GC,2169,-0.72,-117.3,196.7,-7.8,125,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2304,3414
$GC,2476,-0.74,-117.3,220.1,-7.6,135,2480,0.00,2.25,0.00,0.000,4,0.000,0.042,1837,895,3414
$GC,2510,-0.77,-117.3,223.1,-8.4,136,2514,0.00,2.25,0.00,0.000,6,0.000,0.039,1836,2301,3413
$GC,2841,-0.79,-117.3,247.3,-7.3,147,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2301,3413
$GC,3147,-0.82,-117.3,269.3,-6.9,157,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2301,3414
$GC,3453,-0.84,-117.3,289.8,-6.6,167,3457,0.00,2.28,0.00,0.000,4,0.000,0.044,1836,890,3413
$GC,3523,-0.88,-117.3,294.7,-7.8,169,3527,0.00,2.28,0.00,0.000,6,0.000,0.043,1827,2309,3413
$GC,3856,-0.88,-117.3,317.8,-6.9,176,3860,0.00,2.25,0.00,0.000,4,0.000,0.050,1818,3708,3413
$GC,3879,-0.88,-117.3,319.5,-7.0,176,3883,0.00,2.20,0.00,0.000,6,0.000,0.031,1818,2296,3413
$GC,4218,-0.88,-117.3,343.8,-7.2,182,4222,0.00,2.25,0.00,0.000,4,0.000,0.046,1818,898,3412
$GC,4285,-0.88,-117.3,349.2,-7.8,183,4289,0.00,2.22,0.00,0.000,6,0.000,0.040,1809,2298,3412
$GC,4646,-0.88,-117.3,377.6,-8.0,189,4650,0.00,2.25,0.00,0.000,4,0.000,0.044,1809,889,3412
$GC,4685,-0.88,-117.3,381.2,-8.4,189,4690,0.00,2.28,0.00,0.000,6,0.000,0.044,1799,2308,3412
$GC,5007,-0.85,-117.3,409.1,-8.7,195,5011,0.00,2.28,0.00,0.000,4,0.000,0.044,1800,892,3412
$GC,5053,-0.85,-117.3,413.4,-9.2,195,5058,0.10,2.28,0.00,0.000,6,0.137,0.038,1817,2308,3411
$GC,5368,-0.85,-117.3,436.8,-7.2,201,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2309,3411
$GC,5671,-0.85,-117.3,457.6,-6.8,206,5675,0.00,2.28,0.00,0.000,4,0.000,0.045,1817,893,3411
$GC,5736,-0.85,-117.3,462.0,-7.9,207,5740,0.00,2.25,0.00,0.000,6,0.000,0.039,1810,2302,3411
$GC,6103,-0.85,-117.3,487.0,-6.8,213,6107,0.00,2.25,0.00,0.000,4,0.000,0.045,1810,898,3410
$GC,6159,-0.85,-117.3,491.2,-8.0,213,6165,0.00,2.28,0.00,0.000,6,0.000,0.041,1801,2300,3410
$GC,6469,-0.85,-117.3,515.8,-8.0,219,6473,0.00,2.28,0.00,0.000,4,0.000,0.049,1801,889,3410
$GC,6525,-0.85,-117.3,520.9,-9.3,219,6531,0.00,2.28,0.00,0.000,6,0.000,0.040,1794,2311,3411
$GC,6836,-0.82,-117.3,548.3,-8.9,225,6841,0.12,2.30,0.00,0.000,4,0.132,0.048,1830,892,3410
$GC,6899,-0.87,-117.3,553.4,-7.8,226,6904,0.00,2.28,0.00,0.000,6,0.000,0.041,1823,2311,3410
$GC,7267,-0.89,-117.3,580.1,-7.3,232,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2311,3410
$GC,7569,-0.92,-117.3,601.1,-6.9,237,7571,0.10,0.00,0.00,0.000,6,0.066,0.000,1751,2311,3410
$GC,7873,-0.82,-117.3,632.5,-10.6,242,7878,0.20,2.30,0.00,0.000,4,0.129,0.045,1816,899,3410
$GC,7946,-0.85,-117.3,638.5,-7.6,243,7950,0.00,2.25,0.00,0.000,6,0.000,0.046,1809,2302,3409
$GC,8307,-0.85,-117.3,664.1,-7.0,249,8311,0.00,2.28,0.00,0.000,4,0.000,0.051,1809,896,3410
$GC,8347,-0.85,-117.3,667.0,-7.4,249,8351,0.00,2.28,0.00,0.000,6,0.000,0.040,1808,2304,3410
$GC,8668,-0.85,-117.3,687.2,-6.2,255,8672,0.00,2.28,0.00,0.000,4,0.000,0.049,1808,897,3409
$GC,8714,-0.85,-117.3,690.3,-6.9,255,8718,0.00,2.28,0.00,0.000,6,0.000,0.047,1806,2310,3409
$GC,9030,-0.85,-117.3,708.5,-5.7,261,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2310,3409
$GC,9332,-0.85,-117.3,727.5,-6.3,266,9336,0.00,2.30,0.00,0.000,4,0.000,0.045,1806,893,3409
$GC,9396,-0.85,-117.3,731.8,-6.6,267,9400,0.00,2.25,0.00,0.000,6,0.000,0.043,1797,2304,3408
$GC,9768,-0.85,-117.3,759.2,-7.6,273,9770,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2304,3409
$GC,10071,-0.85,-117.3,783.0,-7.9,278,10075,0.00,2.30,0.00,0.000,4,0.000,0.044,1797,894,3408
$GC,10111,-0.85,-117.3,786.3,-8.5,278,10115,0.00,2.30,0.00,0.000,6,0.000,0.040,1794,2309,3408
$GC,10433,-0.85,-117.3,812.8,-8.2,284,10437,0.00,2.30,0.00,0.000,4,0.000,0.046,1794,896,3408
$GC,10474,-0.85,-117.3,816.3,-9.4,284,10479,0.10,2.28,0.00,0.000,6,0.135,0.041,1818,2305,3408
$GC,10797,-0.89,-117.3,837.0,-6.2,290,10801,0.00,2.30,0.00,0.000,4,0.000,0.050,1819,896,3408
$GC,10838,-0.94,-117.3,839.6,-5.9,290,10842,0.00,2.30,0.00,0.000,6,0.000,0.046,1811,2311,3408
$GC,11160,-0.97,-117.3,858.6,-5.9,296,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2311,3408
$GC,11462,-1.00,-117.3,875.6,-5.6,301,11464,0.10,0.00,0.00,0.000,6,0.077,0.000,1757,2311,3408
$GC,11766,-0.92,-117.3,900.3,-8.3,306,11768,0.15,0.00,0.00,0.000,6,0.130,0.000,1800,2311,3407
$GC,12069,-0.92,-117.3,919.9,-6.4,311,12073,0.00,2.35,0.00,0.000,4,0.000,0.047,1800,895,3407
$GC,12114,-0.92,-117.3,923.3,-7.1,311,12119,0.00,2.30,0.00,0.000,6,0.000,0.041,1795,2303,3407
$GC,12430,-0.92,-117.3,945.6,-7.1,317,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2303,3407
$GC,12733,-0.92,-117.3,967.1,-7.1,322,12737,0.00,2.33,0.00,0.000,4,0.000,0.048,1795,890,3407
$GC,12767,-0.92,-117.3,969.7,-7.7,322,12771,0.00,2.30,0.00,0.000,6,0.000,0.043,1792,2303,3407
$STATE,13091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13091,begin apogee
$GC,13099,-0.22,0.0,991.9,6.7,328,13201,0.50,0.00,98.93,1.288,6,0.119,0.000,1950,2303,2931
$STATE,13201,end apogee,CONTROL_FINISHED_OK
$STATE,13201,begin climb
$GC,13205,0.68,117.3,993.2,0.0,329,13316,0.57,2.58,104.28,1.262,4,0.076,0.054,2150,3715,2451
$GC,13356,0.49,117.3,989.9,7.2,331,13361,0.22,2.40,0.00,0.000,6,0.165,0.034,2107,2310,2447
$GC,13701,0.48,131.1,972.4,5.0,337,13714,0.00,0.00,11.82,1.116,6,0.000,0.000,2107,2310,2396
$GC,14004,0.46,135.9,956.1,5.3,342,14014,0.00,2.35,5.32,0.890,4,0.000,0.057,2107,3712,2376
$GC,14043,0.40,135.9,953.8,6.4,342,14048,0.12,2.30,0.00,0.000,6,0.159,0.035,2085,2295,2375
$GC,14365,0.47,164.9,938.9,4.5,348,14394,0.00,0.00,26.98,1.203,6,0.000,0.000,2085,2295,2258
$GC,14669,0.54,182.2,924.0,4.9,353,14690,0.12,2.38,16.05,1.145,4,0.065,0.055,2142,3709,2187
$GC,14720,0.43,182.2,920.2,8.7,353,14725,0.22,2.28,0.00,0.000,6,0.152,0.033,2093,2305,2185
$GC,15031,0.49,195.8,904.0,5.0,358,15050,0.00,2.40,13.30,1.113,4,0.000,0.052,2102,890,2131
$GC,15070,0.56,202.0,901.8,5.3,358,15084,0.00,2.30,7.12,0.968,6,0.000,0.041,2101,2304,2107
$GC,15402,0.61,212.8,884.7,5.1,364,15418,0.10,2.33,10.90,1.071,4,0.076,0.051,2153,3706,2062
$GC,15447,0.51,212.8,881.2,8.1,364,15452,0.20,2.28,0.00,0.000,6,0.150,0.034,2110,2292,2061
$GC,15764,0.54,215.6,863.6,5.4,370,15765,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2293,2059
$GC,16066,0.58,221.4,847.3,5.3,375,16080,0.00,2.35,8.70,1.011,4,0.000,0.049,2119,896,2028
$GC,16100,0.63,231.0,845.4,5.2,375,16115,0.00,2.28,10.32,1.035,6,0.000,0.043,2120,2305,1989
$GC,16432,0.65,231.0,825.5,6.0,381,16437,0.08,2.30,0.00,0.000,4,0.087,0.054,2168,3709,1984
$GC,16471,0.54,231.0,821.9,9.8,381,16476,0.22,2.25,0.00,0.000,6,0.150,0.035,2118,2302,1984
$GC,16793,0.56,231.0,802.2,6.0,387,16794,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2302,1984
$GC,17097,0.59,231.0,784.2,5.9,392,17098,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2302,1983
$GC,17399,0.62,231.0,765.1,6.3,397,17403,0.00,2.30,0.00,0.000,4,0.000,0.048,2118,3709,1983
$GC,17440,0.62,231.0,762.1,7.7,397,17445,0.00,2.25,0.00,0.000,6,0.000,0.033,2126,2294,1982
$GC,17762,0.62,231.0,739.9,6.8,403,17763,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2294,1982
$GC,18066,0.62,231.0,720.0,6.5,408,18070,0.00,2.30,0.00,0.000,4,0.000,0.048,2126,3711,1982
$GC,18094,0.62,231.0,717.8,7.6,408,18098,0.00,2.22,0.00,0.000,6,0.000,0.033,2136,2302,1982
$GC,18427,0.62,231.0,694.6,6.9,414,18428,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2302,1982
$GC,18729,0.62,231.0,675.1,6.4,419,18733,0.00,2.30,0.00,0.000,4,0.000,0.048,2136,3719,1982
$GC,18753,0.60,231.0,673.4,7.3,419,18757,0.00,2.22,0.00,0.000,6,0.000,0.033,2146,2303,1981
$GC,19091,0.56,231.0,649.9,6.9,425,19096,0.10,2.30,0.00,0.000,4,0.149,0.048,2121,3719,1982
$GC,19130,0.56,231.0,647.2,5.9,425,19134,0.00,2.22,0.00,0.000,6,0.000,0.032,2129,2299,1982
$GC,19452,0.56,231.0,628.2,5.9,431,19453,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2298,1982
$GC,19754,0.56,231.0,610.0,6.0,436,19755,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2298,1981
$GC,20057,0.56,231.0,590.2,6.5,441,20061,0.00,2.30,0.00,0.000,4,0.000,0.048,2129,3709,1981
$GC,20102,0.53,231.0,586.7,8.1,441,20107,0.10,2.22,0.00,0.000,6,0.142,0.035,2116,2301,1982
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$STATE,29076,end climb,SURFACE_DEPTH_REACHED
$STATE,29076,begin surface coast
$FINISH,1.4,1.013085
$STATE,29098,end surface coast,CONTROL_FINISHED_OK
$STATE,29098,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1721
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$TCM_TEMP,15.80
$XPDR_PINGS,73
$24V_AH,21.9,80.087
$10V_AH,10.5,69.621
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$DEVICE_SECS,17.675,232.375,357.600,21.700,0.000,52.128,56.066,416.471,18.250,0.000,0.000,15.718,1702.088,24214.572,530.010,2320.832,1112.369,33.381,1693.838,0.000,2304.432,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,533.628,604.867,778.713,1297.807,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44272,756
$CAP_FILE_SIZE,188760,0
$CFSIZE,260165632,215609344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,141209,013707,5000.487,-14501.193,37,1.6,37,18.5