version: 66.04
glider: 144
mission: 15
dive: 588
start: 12 25 109 12 18 57
data:
$ID,144
$MISSION,15
$DIVE,588
$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,-73592.32
$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,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
$GPS1,121107,5005.591,-14510.453,45,0.9,45,18.4
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-61.0
$GPS2,121801,5005.629,-14510.422,15,1.1,15,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.053,-0.159
$KALMAN_X,-91130.8,-130.1,81.8,91355.3,1468.9
$KALMAN_Y,33378.6,-104.0,-156.4,-61538.2,643.2
$MHEAD_RNG_PITCHd_Wd,179.9,21592,-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,-41.28,0.000,2,0.000,0.000,98,2311,2649
$GC,63,-0.68,-117.3,3.4,-3.9,2,99,7.43,0.00,-21.27,0.000,6,0.238,0.000,1846,2311,3412
$GC,410,-0.65,-117.3,38.2,-10.2,19,414,0.00,2.33,0.00,0.000,4,0.000,0.043,1846,884,3413
$GC,477,-0.65,-117.3,45.0,-9.3,22,481,0.00,2.28,0.00,0.000,6,0.000,0.038,1838,2301,3413
$GC,800,-0.61,-117.3,78.5,-10.2,38,802,0.12,0.00,0.00,0.000,6,0.130,0.000,1874,2301,3413
$GC,1120,-0.63,-117.3,103.1,-7.6,67,1124,0.00,2.28,0.00,0.000,4,0.000,0.041,1874,884,3413
$GC,1161,-0.69,-117.3,106.7,-8.0,70,1165,0.00,2.25,0.00,0.000,6,0.000,0.037,1869,2304,3413
$GC,1497,-0.74,-117.3,128.4,-6.0,101,1504,0.10,0.00,0.00,0.000,6,0.064,0.000,1779,2304,3413
$GC,1839,-0.64,-117.3,168.2,-11.6,124,1844,0.25,2.30,0.00,0.000,4,0.124,0.041,1860,889,3413
$GC,1924,-0.71,-117.3,175.0,-7.0,126,1928,0.00,2.28,0.00,0.000,6,0.000,0.037,1854,2314,3413
$GC,2238,-0.76,-117.3,196.4,-6.7,136,2242,0.00,2.28,0.00,0.000,4,0.000,0.053,1844,3715,3413
$GC,2266,-0.82,-117.3,198.4,-7.1,136,2273,0.08,2.22,0.00,0.000,6,0.074,0.030,1779,2287,3413
$GC,2581,-0.73,-117.3,232.3,-11.0,147,2585,0.17,2.22,0.00,0.000,4,0.121,0.042,1839,894,3413
$GC,2622,-0.77,-117.3,236.2,-8.1,148,2626,0.00,2.25,0.00,0.000,6,0.000,0.045,1837,2304,3413
$GC,2952,-0.80,-117.3,260.6,-7.3,159,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2304,3413
$GC,3258,-0.83,-117.3,283.6,-7.5,169,3262,0.00,2.28,0.00,0.000,4,0.000,0.042,1836,900,3413
$GC,3293,-0.86,-117.3,286.3,-8.3,170,3298,0.08,2.28,0.00,0.000,6,0.083,0.038,1769,2316,3413
$GC,3633,-0.76,-117.3,322.2,-10.7,178,3638,0.20,2.33,0.00,0.000,4,0.124,0.041,1834,890,3413
$GC,3661,-0.76,-117.3,324.9,-8.7,178,3665,0.00,2.30,0.00,0.000,6,0.000,0.045,1834,2309,3413
$GC,3994,-0.79,-117.3,348.9,-7.3,184,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2309,3412
$GC,4297,-0.82,-117.3,371.3,-7.4,189,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2310,3413
$GC,4601,-0.86,-117.3,392.8,-7.0,194,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2309,3413
$GC,4903,-0.90,-117.3,412.6,-6.4,199,4908,0.10,2.30,0.00,0.000,4,0.066,0.044,1766,898,3412
$GC,4943,-0.80,-117.3,416.1,-9.8,199,4948,0.25,2.28,0.00,0.000,6,0.120,0.045,1830,2302,3412
$GC,5270,-0.83,-117.3,436.0,-6.0,205,5274,0.00,2.30,0.00,0.000,4,0.000,0.049,1830,892,3412
$GC,5293,-0.87,-117.3,437.7,-6.8,205,5297,0.00,2.30,0.00,0.000,6,0.000,0.042,1824,2312,3412
$GC,5638,-0.89,-117.3,459.6,-6.4,211,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2313,3411
$GC,5941,-0.91,-117.3,479.8,-6.6,216,5945,0.00,2.30,0.00,0.000,4,0.000,0.043,1823,900,3411
$GC,5998,-0.94,-117.3,484.0,-7.8,216,6003,0.10,2.28,0.00,0.000,6,0.064,0.045,1754,2306,3411
$GC,6313,-0.83,-117.3,516.4,-10.5,222,6315,0.22,0.00,0.00,0.000,6,0.123,0.000,1822,2306,3411
$GC,6616,-0.86,-117.3,536.2,-6.3,227,6620,0.00,2.28,0.00,0.000,4,0.000,0.044,1822,899,3411
$GC,6657,-0.89,-117.3,538.8,-6.6,227,6661,0.00,2.28,0.00,0.000,6,0.000,0.043,1821,2304,3411
$GC,6978,-0.91,-117.3,559.8,-6.6,233,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2305,3411
$GC,7281,-0.94,-117.3,579.1,-6.4,238,7286,0.10,2.30,0.00,0.000,4,0.064,0.044,1756,892,3411
$GC,7317,-0.84,-117.3,582.2,-10.5,238,7322,0.25,2.30,0.00,0.000,6,0.126,0.041,1819,2312,3411
$GC,7644,-0.86,-117.3,604.7,-6.7,244,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2312,3410
$GC,7947,-0.89,-117.3,624.4,-6.4,249,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2312,3410
$GC,8250,-0.92,-117.3,642.6,-5.9,254,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2312,3410
$GC,8553,-0.94,-117.3,660.0,-5.8,259,8557,0.10,2.30,0.00,0.000,4,0.068,0.045,1757,901,3410
$GC,8576,-0.90,-117.3,661.8,-7.9,259,8581,0.20,2.28,0.00,0.000,6,0.131,0.045,1810,2304,3410
$GC,8914,-0.90,-117.3,683.8,-6.4,265,8918,0.00,2.30,0.00,0.000,4,0.000,0.046,1810,892,3410
$GC,8953,-0.92,-117.3,686.5,-6.6,265,8957,0.00,2.30,0.00,0.000,6,0.000,0.041,1808,2312,3410
$GC,9276,-0.92,-117.3,707.1,-6.4,271,9280,0.00,2.33,0.00,0.000,4,0.000,0.046,1808,902,3410
$GC,9304,-0.92,-117.3,709.2,-7.8,271,9308,0.00,2.30,0.00,0.000,6,0.000,0.043,1802,2310,3409
$GC,9636,-0.92,-117.3,731.4,-6.7,277,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2310,3409
$GC,9939,-0.92,-117.3,751.6,-6.7,282,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2310,3409
$GC,10243,-0.92,-117.3,772.1,-6.7,287,10247,0.00,2.30,0.00,0.000,4,0.000,0.050,1802,901,3409
$GC,10282,-0.92,-117.3,774.9,-7.0,287,10286,0.00,2.30,0.00,0.000,6,0.000,0.041,1795,2315,3409
$GC,10604,-0.92,-117.3,798.0,-7.1,293,10605,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2315,3409
$GC,10907,-0.92,-117.3,820.8,-7.5,298,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2315,3409
$GC,11211,-0.92,-117.3,844.1,-7.7,303,11215,0.00,2.33,0.00,0.000,4,0.000,0.052,1795,892,3408
$GC,11238,-0.92,-117.3,846.4,-8.3,303,11242,0.00,2.30,0.00,0.000,6,0.000,0.047,1785,2311,3408
$GC,11571,-0.89,-117.3,872.3,-7.8,309,11575,0.00,2.33,0.00,0.000,4,0.000,0.047,1785,893,3408
$GC,11600,-0.86,-117.3,874.6,-8.9,309,11605,0.12,2.30,0.00,0.000,6,0.132,0.041,1816,2304,3408
$GC,11933,-0.89,-117.3,894.1,-5.8,315,11934,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2304,3408
$GC,12235,-0.93,-117.3,911.1,-5.6,320,12239,0.00,2.33,0.00,0.000,4,0.000,0.054,1807,3715,3408
$GC,12270,-0.97,-117.3,913.2,-6.5,320,12274,0.00,2.28,0.00,0.000,6,0.000,0.033,1808,2296,3407
$GC,12598,-0.99,-117.3,931.5,-5.6,326,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2296,3407
$GC,12900,-1.01,-117.3,948.1,-5.5,331,12905,0.10,2.35,0.00,0.000,4,0.081,0.054,1754,3711,3407
$GC,12934,-0.93,-117.3,950.8,-8.5,331,12939,0.17,2.25,0.00,0.000,6,0.130,0.040,1803,2305,3407
$GC,13261,-0.93,-117.3,971.5,-6.2,337,13265,0.00,2.33,0.00,0.000,4,0.000,0.047,1803,893,3407
$GC,13300,-0.93,-117.3,974.3,-7.3,337,13304,0.00,2.30,0.00,0.000,6,0.000,0.041,1796,2304,3407
$STATE,13556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13557,begin apogee
$GC,13564,-0.22,0.0,991.3,6.6,342,13667,0.50,0.00,99.32,1.285,6,0.115,0.000,1955,2304,2931
$STATE,13667,end apogee,CONTROL_FINISHED_OK
$STATE,13667,begin climb
$GC,13672,0.68,117.3,992.7,0.0,343,13783,0.57,2.58,104.90,1.258,4,0.070,0.055,2151,3722,2451
$GC,13803,0.54,117.3,991.5,5.8,346,13808,0.20,2.45,0.00,0.000,6,0.165,0.034,2116,2300,2448
$GC,14170,0.50,119.0,971.8,5.4,352,14171,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2300,2441
$GC,14473,0.46,119.0,954.4,5.8,357,14477,0.00,2.33,0.00,0.000,4,0.000,0.053,2116,3711,2440
$GC,14508,0.36,119.0,951.9,6.6,357,14513,0.17,2.25,0.00,0.000,6,0.161,0.040,2079,2296,2439
$GC,14835,0.41,131.9,935.2,5.1,363,14849,0.00,0.00,11.85,1.111,6,0.000,0.000,2080,2295,2393
$GC,15139,0.49,131.9,916.9,6.2,368,15143,0.10,2.35,0.00,0.000,4,0.074,0.050,2130,3718,2391
$GC,15282,0.37,131.9,905.6,8.7,370,15287,0.22,2.25,0.00,0.000,6,0.159,0.034,2081,2296,2390
$GC,15639,0.45,131.9,885.7,5.6,376,15643,0.00,2.35,0.00,0.000,4,0.000,0.055,2081,3719,2389
$GC,15746,0.48,162.6,880.0,4.5,377,15780,0.00,2.25,27.45,1.173,6,0.000,0.032,2089,2295,2268
$GC,16138,0.60,178.4,860.4,5.0,384,16159,0.12,2.33,15.12,1.106,4,0.064,0.047,2162,889,2203
$GC,16258,0.53,178.4,852.8,6.7,385,16263,0.17,2.30,0.00,0.000,6,0.142,0.044,2116,2304,2200
$GC,16568,0.56,206.3,838.1,4.6,390,16599,0.00,2.35,25.52,1.137,4,0.000,0.054,2116,3709,2089
$GC,16662,0.56,206.3,833.1,5.5,391,16666,0.00,2.30,0.00,0.000,6,0.000,0.033,2124,2296,2086
$GC,16994,0.59,226.0,817.0,4.8,397,17014,0.00,0.00,18.42,1.099,6,0.000,0.000,2124,2295,2009
$GC,17297,0.61,243.6,802.1,4.9,402,17321,0.00,2.42,16.90,1.079,4,0.000,0.056,2125,3718,1936
$GC,17351,0.61,243.6,798.9,6.1,402,17355,0.00,2.30,0.00,0.000,6,0.000,0.033,2135,2294,1935
$GC,17661,0.61,243.6,780.6,6.0,407,17662,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2294,1932
$GC,17964,0.61,243.6,761.3,6.4,412,17968,0.00,2.33,0.00,0.000,4,0.000,0.048,2135,3711,1931
$GC,17993,0.58,243.6,759.1,7.4,412,17997,0.00,2.25,0.00,0.000,6,0.000,0.032,2144,2298,1930
$GC,18331,0.55,243.6,734.1,7.5,418,18336,0.12,2.35,0.00,0.000,4,0.147,0.054,2111,3715,1930
$GC,18359,0.55,243.6,732.2,6.4,418,18363,0.00,2.25,0.00,0.000,6,0.000,0.032,2120,2292,1930
$GC,18697,0.58,243.6,712.5,5.8,424,18700,0.00,2.28,0.00,0.000,4,0.000,0.047,2130,887,1929
$GC,18721,0.62,243.6,711.1,5.8,424,18725,0.00,2.28,0.00,0.000,6,0.000,0.038,2130,2316,1929
$GC,19070,0.62,243.6,687.5,6.8,430,19074,0.00,2.25,0.00,0.000,4,0.000,0.050,2130,3708,1929
$GC,19109,0.62,243.6,684.2,8.4,430,19113,0.00,2.22,0.00,0.000,6,0.000,0.035,2139,2297,1929
$GC,19438,0.60,243.6,659.2,7.8,436,19439,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2296,1929
$GC,19740,0.60,243.6,635.2,7.8,441,19744,0.00,2.35,0.00,0.000,4,0.000,0.050,2140,3717,1928
$GC,19791,0.56,243.6,630.4,8.9,441,19796,0.12,2.25,0.00,0.000,6,0.138,0.032,2117,2294,1928
$GC,20102,0.60,243.6,610.5,6.4,446,20106,0.00,2.28,0.00,0.000,4,0.000,0.047,2125,895,1928
$GC,20136,0.66,243.6,608.2,6.5,446,20140,0.00,2.25,0.00,0.000,6,0.000,0.037,2125,2312,1928
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$STATE,28911,end climb,SURFACE_DEPTH_REACHED
$STATE,28911,begin surface coast
$FINISH,1.4,1.025521
$STATE,28932,end surface coast,CONTROL_FINISHED_OK
$STATE,28933,begin surface
$SM_CCo,29012,0.00,0.000,0,0,1661,311.53
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$TT8_MAMPS,0.029146
$HUMID,1738
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$TCM_TEMP,15.60
$XPDR_PINGS,60
$24V_AH,21.8,84.957
$10V_AH,10.4,73.653
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$DEVICE_SECS,20.450,246.675,381.400,0.000,0.000,31.346,29.757,191.104,15.000,0.000,0.000,19.317,1718.010,24073.088,549.337,2196.825,877.709,33.381,1723.385,0.000,2175.369,0.000,0.527,0.000
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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,44259,743
$CAP_FILE_SIZE,194215,0
$CFSIZE,260165632,212881408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,251209,202337,5003.071,-14511.900,26,1.6,26,18.4