version: 66.04
glider: 144
mission: 15
dive: 650
start: 1 15 110 9 49 43
data:
$ID,144
$MISSION,15
$DIVE,650
$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,-74791.766
$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,35
$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
$GPS1,094230,5009.328,-14428.465,36,1.1,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-55.1
$GPS2,094849,5009.363,-14428.509,10,1.2,15,18.6
$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,-86347.8,-28.7,30.6,136049.4,1418.3
$KALMAN_Y,37215.4,-101.2,-16.0,-58603.2,-1177.7
$MHEAD_RNG_PITCHd_Wd,178.7,28476,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.68,-117.3,0.0,0.0,0,82,0.00,0.00,-60.22,0.000,2,0.000,0.000,99,2307,2847
$GC,86,-0.68,-117.3,4.1,-4.9,3,109,7.15,0.00,-12.73,0.000,6,0.229,0.000,1846,2307,3411
$GC,419,-0.65,-117.3,43.1,-10.3,19,423,0.00,2.28,0.00,0.000,4,0.000,0.044,1846,895,3414
$GC,469,-0.65,-117.3,47.8,-8.9,21,474,0.08,2.22,0.00,0.000,6,0.140,0.037,1858,2306,3414
$GC,786,-0.65,-117.3,75.3,-8.6,36,790,0.00,2.25,0.00,0.000,4,0.000,0.041,1859,891,3414
$GC,839,-0.67,-117.3,80.0,-9.2,38,843,0.00,2.22,0.00,0.000,6,0.000,0.036,1851,2307,3414
$GC,1168,-0.67,-117.3,113.5,-9.9,68,1172,0.00,2.25,0.00,0.000,4,0.000,0.041,1850,894,3414
$GC,1253,-0.70,-117.3,121.8,-9.4,75,1260,0.00,2.25,0.00,0.000,6,0.000,0.041,1850,2290,3414
$GC,1584,-0.72,-117.3,147.2,-7.5,106,1587,0.00,2.22,0.00,0.000,4,0.000,0.041,1849,888,3414
$GC,1647,-0.75,-117.3,152.4,-8.1,109,1653,0.00,2.25,0.00,0.000,6,0.000,0.040,1850,2310,3414
$GC,1962,-0.79,-117.3,174.7,-7.2,120,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2309,3414
$GC,2267,-0.83,-117.3,196.5,-7.3,130,2271,0.10,2.25,0.00,0.000,4,0.065,0.041,1771,889,3414
$GC,2302,-0.74,-117.3,200.1,-11.4,131,2307,0.28,2.22,0.00,0.000,6,0.124,0.038,1839,2317,3414
$GC,2645,-0.77,-117.3,227.2,-7.4,142,2649,0.00,2.30,0.00,0.000,4,0.000,0.046,1839,889,3414
$GC,2714,-0.81,-117.3,232.6,-8.0,144,2719,0.00,2.25,0.00,0.000,6,0.000,0.044,1837,2308,3414
$GC,3052,-0.83,-117.3,256.5,-6.8,155,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2309,3414
$GC,3357,-0.86,-117.3,277.0,-6.6,165,3359,0.08,0.00,0.00,0.000,6,0.081,0.000,1766,2309,3413
$GC,3662,-0.76,-117.3,308.7,-10.6,174,3667,0.20,2.35,0.00,0.000,4,0.124,0.050,1831,891,3413
$GC,3744,-0.79,-117.3,315.2,-7.7,175,3748,0.00,2.28,0.00,0.000,6,0.000,0.038,1825,2307,3413
$GC,4093,-0.79,-117.3,340.9,-7.3,181,4097,0.00,2.30,0.00,0.000,4,0.000,0.043,1824,886,3413
$GC,4150,-0.79,-117.3,345.3,-7.5,181,4154,0.00,2.30,0.00,0.000,6,0.000,0.044,1820,2313,3413
$GC,4465,-0.79,-117.3,368.3,-7.3,187,4469,0.00,2.30,0.00,0.000,4,0.000,0.054,1810,3717,3413
$GC,4489,-0.79,-117.3,370.3,-8.1,187,4493,0.00,2.22,0.00,0.000,6,0.000,0.031,1810,2300,3413
$GC,4832,-0.79,-117.3,397.8,-8.1,193,4836,0.00,2.28,0.00,0.000,4,0.000,0.044,1810,895,3413
$GC,4895,-0.79,-117.3,403.2,-8.4,193,4902,0.10,2.25,0.00,0.000,6,0.128,0.040,1828,2304,3412
$GC,5206,-0.82,-117.3,426.0,-7.3,199,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2305,3412
$GC,5509,-0.86,-117.3,448.0,-7.1,204,5513,0.00,2.28,0.00,0.000,4,0.000,0.044,1828,892,3412
$GC,5554,-0.89,-117.3,451.3,-7.3,204,5558,0.00,2.28,0.00,0.000,6,0.000,0.038,1823,2314,3412
$GC,5883,-0.89,-117.3,472.4,-6.4,210,5887,0.00,2.33,0.00,0.000,4,0.000,0.043,1823,886,3412
$GC,5926,-0.92,-117.3,475.3,-6.8,210,5930,0.00,2.30,0.00,0.000,6,0.000,0.046,1821,2309,3412
$GC,6247,-0.92,-117.3,495.6,-6.3,216,6251,0.00,2.30,0.00,0.000,4,0.000,0.044,1821,895,3411
$GC,6282,-0.95,-117.3,498.1,-7.9,216,6286,0.00,2.28,0.00,0.000,6,0.000,0.041,1813,2309,3411
$GC,6609,-0.95,-117.3,523.2,-7.8,222,6613,0.00,2.30,0.00,0.000,4,0.000,0.050,1813,893,3411
$GC,6660,-0.95,-117.3,527.6,-8.8,222,6664,0.00,2.28,0.00,0.000,6,0.000,0.043,1808,2308,3411
$GC,6971,-0.95,-117.3,553.2,-8.2,227,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3411
$GC,7274,-0.95,-117.3,575.8,-7.4,232,7278,0.00,2.33,0.00,0.000,4,0.000,0.048,1808,891,3411
$GC,7330,-0.95,-117.3,580.1,-8.0,232,7336,0.00,2.28,0.00,0.000,6,0.000,0.046,1799,2304,3411
$GC,7641,-0.95,-117.3,602.5,-7.2,238,7645,0.00,2.30,0.00,0.000,4,0.000,0.051,1799,893,3410
$GC,7698,-0.95,-117.3,606.8,-7.7,238,7704,0.00,2.30,0.00,0.000,6,0.000,0.044,1794,2314,3411
$GC,8009,-0.92,-117.3,629.8,-7.5,244,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2314,3411
$GC,8312,-0.90,-117.3,653.3,-7.8,249,8316,0.00,2.35,0.00,0.000,4,0.000,0.050,1794,889,3410
$GC,8358,-0.90,-117.3,657.2,-7.9,249,8362,0.00,2.30,0.00,0.000,6,0.000,0.046,1785,2310,3410
$GC,8674,-0.86,-117.3,683.1,-8.2,255,8679,0.10,2.33,0.00,0.000,4,0.140,0.048,1813,888,3410
$GC,8708,-0.86,-117.3,685.9,-8.0,255,8712,0.00,2.30,0.00,0.000,6,0.000,0.039,1809,2311,3409
$GC,9036,-0.86,-117.3,707.4,-6.5,261,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3410
$GC,9338,-0.86,-117.3,726.1,-6.2,266,9342,0.00,2.30,0.00,0.000,4,0.000,0.051,1809,896,3409
$GC,9384,-0.86,-117.3,729.1,-6.7,266,9388,0.00,2.28,0.00,0.000,6,0.000,0.045,1808,2307,3410
$GC,9700,-0.86,-117.3,747.9,-6.0,272,9704,0.00,2.33,0.00,0.000,4,0.000,0.044,1808,888,3409
$GC,9729,-0.86,-117.3,749.7,-7.1,272,9733,0.00,2.28,0.00,0.000,6,0.000,0.041,1807,2304,3409
$GC,10067,-0.86,-117.3,770.2,-6.0,278,10069,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2304,3409
$GC,10370,-0.86,-117.3,789.1,-6.2,283,10374,0.00,2.28,0.00,0.000,4,0.000,0.048,1807,891,3409
$GC,10421,-0.86,-117.3,792.6,-7.0,283,10425,0.00,2.28,0.00,0.000,6,0.000,0.039,1797,2304,3409
$GC,10743,-0.86,-117.3,813.3,-6.4,289,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2305,3409
$GC,11045,-0.86,-117.3,832.5,-6.3,294,11049,0.00,2.33,0.00,0.000,4,0.000,0.052,1798,899,3408
$GC,11074,-0.86,-117.3,834.5,-7.4,294,11078,0.00,2.28,0.00,0.000,6,0.000,0.040,1795,2304,3408
$GC,11406,-0.86,-117.3,854.7,-6.0,300,11407,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2304,3408
$GC,11710,-0.86,-117.3,872.6,-5.9,305,11714,0.00,2.33,0.00,0.000,4,0.000,0.048,1794,895,3408
$GC,11738,-0.86,-117.3,874.5,-6.5,305,11742,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2311,3408
$GC,12071,-0.86,-117.3,894.3,-5.9,311,12075,0.00,2.33,0.00,0.000,4,0.000,0.046,1794,893,3408
$GC,12099,-0.86,-117.3,896.1,-5.7,311,12103,0.00,2.30,0.00,0.000,6,0.000,0.045,1792,2309,3408
$GC,12432,-0.86,-117.3,915.9,-6.0,317,12433,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2309,3408
$GC,12734,-0.86,-117.3,934.9,-6.4,322,12738,0.00,2.35,0.00,0.000,4,0.000,0.050,1792,891,3407
$GC,12768,-0.86,-117.3,937.2,-7.6,322,12773,0.12,2.30,0.00,0.000,6,0.123,0.044,1817,2307,3408
$GC,13096,-0.91,-117.3,955.6,-5.7,328,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2308,3408
$GC,13398,-0.96,-117.3,973.0,-5.7,333,13403,0.10,2.35,0.00,0.000,4,0.080,0.047,1774,898,3408
$GC,13432,-0.91,-117.3,975.6,-8.9,333,13437,0.12,2.28,0.00,0.000,6,0.140,0.041,1802,2303,3407
$STATE,13695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13695,begin apogee
$GC,13704,-0.22,0.0,992.2,6.1,338,13806,0.47,0.00,99.22,1.286,6,0.111,0.000,1957,2303,2930
$STATE,13807,end apogee,CONTROL_FINISHED_OK
$STATE,13807,begin climb
$GC,13811,0.68,117.3,993.6,0.0,339,13923,0.57,2.58,104.60,1.259,4,0.067,0.055,2156,3711,2451
$GC,13953,0.49,117.3,991.2,6.7,342,13958,0.25,2.40,0.00,0.000,6,0.160,0.038,2105,2309,2447
$GC,14310,0.48,131.9,973.2,5.0,348,14324,0.00,0.00,12.40,1.122,6,0.000,0.000,2106,2309,2393
$GC,14612,0.47,138.7,957.1,5.3,353,14626,0.00,2.38,7.15,0.992,4,0.000,0.056,2105,3719,2365
$GC,14655,0.41,138.7,954.6,5.8,353,14660,0.10,2.28,0.00,0.000,6,0.166,0.036,2092,2295,2364
$GC,14978,0.45,168.7,939.7,4.5,359,15007,0.00,0.00,27.52,1.196,6,0.000,0.000,2092,2295,2243
$GC,15280,0.52,197.5,925.9,4.5,364,15312,0.08,2.35,26.20,1.183,4,0.085,0.056,2136,3711,2125
$GC,15359,0.44,197.5,920.6,7.4,365,15364,0.20,2.28,0.00,0.000,6,0.147,0.035,2093,2293,2122
$GC,15710,0.53,233.2,904.9,4.3,371,15749,0.08,2.42,32.35,1.185,4,0.081,0.054,2149,888,1979
$GC,15767,0.53,233.2,901.2,6.3,371,15774,0.12,2.30,0.00,0.000,6,0.124,0.041,2116,2304,1977
$GC,16079,0.57,233.2,883.7,5.6,377,16083,0.00,2.28,0.00,0.000,4,0.000,0.050,2116,3712,1973
$GC,16124,0.57,233.2,880.5,6.5,377,16128,0.00,2.25,0.00,0.000,6,0.000,0.035,2124,2291,1973
$GC,16440,0.57,233.2,860.0,6.5,383,16441,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2290,1971
$GC,16743,0.57,233.2,840.1,6.5,388,16747,0.00,2.33,0.00,0.000,4,0.000,0.050,2123,3721,1971
$GC,16783,0.57,233.2,836.9,7.6,388,16787,0.00,2.25,0.00,0.000,6,0.000,0.038,2134,2295,1970
$GC,17104,0.57,233.2,815.0,6.8,394,17105,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2295,1970
$GC,17407,0.57,233.2,795.8,6.3,399,17411,0.00,2.33,0.00,0.000,4,0.000,0.049,2134,3719,1970
$GC,17459,0.52,233.2,791.9,8.1,399,17464,0.12,2.25,0.00,0.000,6,0.146,0.032,2112,2294,1969
$GC,17770,0.59,258.7,777.1,4.6,404,17799,0.00,2.35,22.42,1.097,4,0.000,0.048,2121,894,1875
$GC,17824,0.68,267.5,774.4,5.2,404,17839,0.10,2.25,9.60,0.976,6,0.069,0.043,2177,2307,1839
$GC,18210,0.58,267.5,738.2,9.8,411,18215,0.20,2.28,0.00,0.000,4,0.136,0.051,2118,3708,1834
$GC,18289,0.61,267.5,731.3,6.8,412,18293,0.00,2.20,0.00,0.000,6,0.000,0.032,2126,2296,1834
$GC,18645,0.63,267.5,707.7,6.7,418,18646,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2296,1833
$GC,18947,0.66,267.5,686.6,7.0,423,18951,0.00,2.33,0.00,0.000,4,0.000,0.048,2126,3711,1833
$GC,18976,0.69,267.5,684.3,7.1,423,18980,0.00,2.22,0.00,0.000,6,0.000,0.032,2135,2305,1833
$GC,19315,0.69,267.5,660.6,6.9,429,19317,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2305,1832
$GC,19618,0.69,267.5,641.3,6.4,434,19619,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2305,1832
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$STATE,28919,end climb,SURFACE_DEPTH_REACHED
$STATE,28919,begin surface coast
$FINISH,1.4,1.025555
$STATE,28928,end surface coast,CONTROL_FINISHED_OK
$STATE,28928,begin surface
$SM_CCo,29009,0.00,0.000,0,0,1580,331.40
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$IRIDIUM_FIX,4953.05,-14430.47,110499,010155
$TT8_MAMPS,0.028379
$HUMID,1726
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$TCM_TEMP,15.50
$XPDR_PINGS,70
$24V_AH,21.8,93.527
$10V_AH,10.4,80.631
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$DEVICE_SECS,18.225,251.025,403.000,0.000,0.000,27.616,26.066,156.460,17.500,0.000,0.000,16.582,1701.620,24002.947,560.699,2222.226,885.682,33.383,1761.036,0.000,2200.979,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,524.100,610.380,773.318,808.495,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44386,745
$CAP_FILE_SIZE,188157,0
$CFSIZE,260165632,208068608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150110,175436,5005.555,-14429.306,41,1.5,41,18.6