version: 66.04
glider: 144
mission: 15
dive: 660
start: 1 18 110 17 40 48
data:
$ID,144
$MISSION,15
$DIVE,660
$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,-74971.383
$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
$GPS1,172737,5007.438,-14449.572,35,1.3,35,18.5
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-65.2
$GPS2,173950,5007.488,-14449.574,13,1.6,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.167,0.014
$KALMAN_X,-89300.1,-118.7,61.5,114164.4,-1590.5
$KALMAN_Y,28469.2,-112.5,-42.6,-53299.5,-1140.3
$MHEAD_RNG_PITCHd_Wd,66.6,448220,-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,-41.03,0.000,2,0.000,0.000,98,2295,2759
$GC,63,-0.68,-117.3,3.9,-7.5,2,93,7.38,2.38,-15.15,0.000,4,0.240,0.068,1838,3704,3413
$GC,279,-0.68,-117.3,30.1,-12.0,11,285,0.00,2.22,0.00,0.000,6,0.000,0.030,1838,2295,3414
$GC,596,-0.63,-117.3,64.1,-10.8,27,601,0.10,2.28,0.00,0.000,4,0.130,0.042,1867,891,3414
$GC,688,-0.66,-117.3,72.8,-8.9,31,692,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2303,3414
$GC,1013,-0.66,-117.3,101.9,-8.6,58,1017,0.00,2.28,0.00,0.000,4,0.000,0.041,1863,893,3414
$GC,1036,-0.66,-117.3,104.2,-9.0,59,1043,0.00,2.25,0.00,0.000,6,0.000,0.037,1856,2312,3414
$GC,1366,-0.66,-117.3,131.5,-7.5,90,1369,0.00,2.28,0.00,0.000,4,0.000,0.041,1856,892,3414
$GC,1402,-0.71,-117.3,134.5,-7.7,93,1407,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2301,3415
$GC,1735,-0.74,-117.3,158.7,-6.7,116,1739,0.00,2.28,0.00,0.000,4,0.000,0.055,1844,3714,3415
$GC,1815,-0.79,-117.3,164.5,-7.7,118,1819,0.00,2.22,0.00,0.000,6,0.000,0.029,1844,2290,3415
$GC,2134,-0.82,-117.3,186.4,-6.6,129,2138,0.00,2.25,0.00,0.000,4,0.000,0.043,1844,890,3415
$GC,2208,-0.85,-117.3,191.8,-7.5,131,2212,0.00,2.28,0.00,0.000,6,0.000,0.042,1836,2313,3414
$GC,2534,-0.85,-117.3,215.6,-7.7,142,2538,0.00,2.30,0.00,0.000,4,0.000,0.044,1837,901,3415
$GC,2624,-0.85,-117.3,223.2,-8.7,144,2630,0.00,2.22,0.00,0.000,6,0.000,0.038,1836,2304,3415
$GC,2938,-0.87,-117.3,247.6,-7.7,155,2942,0.10,2.28,0.00,0.000,4,0.067,0.041,1767,889,3415
$GC,3008,-0.78,-117.3,255.1,-11.7,157,3013,0.25,2.28,0.00,0.000,6,0.116,0.044,1831,2311,3415
$GC,3344,-0.78,-117.3,282.0,-7.9,168,3348,0.00,2.28,0.00,0.000,4,0.000,0.044,1831,899,3414
$GC,3374,-0.81,-117.3,284.4,-8.2,169,3378,0.00,2.25,0.00,0.000,6,0.000,0.040,1824,2303,3414
$GC,3709,-0.81,-117.3,311.3,-8.0,178,3713,0.00,2.30,0.00,0.000,4,0.000,0.054,1813,3711,3414
$GC,3737,-0.81,-117.3,313.6,-8.3,178,3741,0.00,2.20,0.00,0.000,6,0.000,0.031,1813,2305,3414
$GC,4069,-0.81,-117.3,339.9,-7.8,184,4073,0.00,2.28,0.00,0.000,4,0.000,0.044,1813,891,3414
$GC,4114,-0.81,-117.3,343.6,-8.5,184,4118,0.00,2.30,0.00,0.000,6,0.000,0.038,1805,2316,3414
$GC,4431,-0.78,-117.3,367.6,-7.6,190,4436,0.10,2.30,0.00,0.000,4,0.133,0.047,1833,896,3413
$GC,4476,-0.83,-117.3,370.7,-6.3,190,4480,0.00,2.28,0.00,0.000,6,0.000,0.042,1826,2310,3413
$GC,4792,-0.85,-117.3,389.7,-6.0,196,4796,0.00,2.30,0.00,0.000,4,0.000,0.046,1826,888,3413
$GC,4850,-0.88,-117.3,393.7,-7.0,196,4854,0.00,2.25,0.00,0.000,6,0.000,0.040,1822,2301,3413
$GC,5165,-0.88,-117.3,415.5,-7.0,202,5169,0.00,2.30,0.00,0.000,4,0.000,0.047,1822,891,3413
$GC,5194,-0.88,-117.3,417.6,-7.6,202,5198,0.00,2.30,0.00,0.000,6,0.000,0.040,1813,2310,3413
$GC,5532,-0.88,-117.3,444.1,-7.9,208,5536,0.00,2.30,0.00,0.000,4,0.000,0.044,1813,890,3413
$GC,5583,-0.88,-117.3,448.4,-8.2,208,5587,0.00,2.25,0.00,0.000,6,0.000,0.039,1807,2301,3412
$GC,5904,-0.88,-117.3,474.1,-8.0,214,5908,0.00,2.28,0.00,0.000,4,0.000,0.044,1807,893,3412
$GC,5933,-0.88,-117.3,476.4,-8.6,214,5937,0.00,2.30,0.00,0.000,6,0.000,0.041,1798,2316,3412
$GC,6272,-0.85,-117.3,502.5,-7.6,220,6276,0.00,2.28,0.00,0.000,4,0.000,0.044,1798,897,3412
$GC,6318,-0.85,-117.3,506.4,-8.5,220,6322,0.00,2.28,0.00,0.000,6,0.000,0.044,1794,2308,3412
$GC,6646,-0.81,-117.3,531.9,-7.8,226,6648,0.12,0.00,0.00,0.000,6,0.125,0.000,1831,2309,3412
$GC,6949,-0.86,-117.3,551.4,-6.4,231,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2308,3412
$GC,7253,-0.90,-117.3,571.6,-6.7,236,7254,0.10,0.00,0.00,0.000,6,0.066,0.000,1764,2309,3412
$GC,7555,-0.82,-117.3,602.2,-10.3,241,7560,0.17,2.35,0.00,0.000,4,0.118,0.048,1825,898,3412
$GC,7619,-0.86,-117.3,607.2,-6.7,242,7623,0.00,2.28,0.00,0.000,6,0.000,0.043,1822,2304,3412
$GC,7986,-0.89,-117.3,631.5,-6.5,248,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2304,3411
$GC,8288,-0.93,-117.3,649.9,-6.0,253,8290,0.10,0.00,0.00,0.000,6,0.066,0.000,1754,2304,3411
$GC,8592,-0.83,-117.3,677.7,-9.3,258,8596,0.20,2.35,0.00,0.000,4,0.120,0.050,1819,891,3410
$GC,8632,-0.87,-117.3,680.6,-6.0,258,8636,0.00,2.28,0.00,0.000,6,0.000,0.041,1811,2304,3411
$GC,8964,-0.87,-117.3,701.3,-6.2,264,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2304,3410
$GC,9267,-0.87,-117.3,721.2,-6.6,269,9269,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2305,3411
$GC,9570,-0.87,-117.3,741.3,-6.7,274,9574,0.00,2.30,0.00,0.000,4,0.000,0.048,1811,897,3410
$GC,9616,-0.87,-117.3,744.8,-7.4,274,9620,0.00,2.28,0.00,0.000,6,0.000,0.046,1808,2305,3410
$GC,9932,-0.87,-117.3,766.3,-6.8,280,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3410
$GC,10234,-0.87,-117.3,786.9,-6.8,285,10238,0.00,2.28,0.00,0.000,4,0.000,0.046,1808,898,3410
$GC,10257,-0.87,-117.3,788.7,-7.9,285,10261,0.00,2.28,0.00,0.000,6,0.000,0.044,1807,2314,3410
$GC,10601,-0.87,-117.3,812.9,-7.1,291,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2315,3410
$GC,10905,-0.87,-117.3,833.4,-6.7,296,10909,0.00,2.33,0.00,0.000,4,0.000,0.048,1807,889,3410
$GC,10940,-0.87,-117.3,836.0,-7.1,296,10944,0.00,2.28,0.00,0.000,6,0.000,0.041,1797,2305,3409
$GC,11267,-0.87,-117.3,858.5,-6.8,302,11271,0.00,2.30,0.00,0.000,4,0.000,0.046,1797,898,3409
$GC,11302,-0.87,-117.3,861.0,-7.3,302,11306,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2304,3409
$GC,11630,-0.87,-117.3,882.7,-6.6,308,11631,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3409
$GC,11932,-0.87,-117.3,903.0,-6.7,313,11936,0.00,2.30,0.00,0.000,4,0.000,0.050,1795,895,3409
$GC,11972,-0.87,-117.3,906.0,-7.1,313,11976,0.00,2.28,0.00,0.000,6,0.000,0.048,1792,2305,3408
$GC,12294,-0.87,-117.3,928.3,-6.9,319,12295,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2305,3409
$GC,12596,-0.87,-117.3,950.6,-7.4,324,12600,0.00,2.33,0.00,0.000,4,0.000,0.047,1792,894,3408
$GC,12658,-0.87,-117.3,955.8,-8.2,324,12665,0.12,2.28,0.00,0.000,6,0.123,0.041,1817,2301,3408
$GC,12969,-0.91,-117.3,975.9,-6.5,330,12970,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2301,3409
$STATE,13207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13207,begin apogee
$GC,13217,-0.22,0.0,991.3,6.3,334,13319,0.43,0.00,99.45,1.279,6,0.107,0.000,1957,2301,2931
$STATE,13320,end apogee,CONTROL_FINISHED_OK
$STATE,13320,begin climb
$GC,13323,0.68,117.3,993.1,0.0,335,13435,0.55,2.55,104.72,1.256,4,0.068,0.057,2154,3715,2451
$GC,13482,0.49,121.0,992.1,5.4,337,13492,0.22,2.38,4.03,0.733,6,0.155,0.034,2110,2306,2437
$GC,13820,0.50,157.1,977.3,4.3,343,13854,0.00,0.00,32.47,1.216,6,0.000,0.000,2110,2306,2290
$GC,14122,0.53,179.9,963.2,4.7,348,14145,0.00,0.00,21.00,1.180,6,0.000,0.000,2110,2306,2196
$GC,14426,0.55,197.4,948.6,4.9,353,14451,0.00,0.00,18.25,1.042,6,0.000,0.000,2109,2306,2126
$GC,14729,0.56,206.2,933.1,5.2,358,14740,0.00,0.00,9.27,1.052,6,0.000,0.000,2109,2306,2090
$GC,15032,0.59,206.2,915.7,5.8,363,15033,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2306,2087
$GC,15336,0.62,206.2,897.0,6.2,368,15338,0.10,0.00,0.00,0.000,6,0.067,0.000,2159,2305,2086
$GC,15639,0.53,206.2,869.4,9.4,373,15643,0.17,2.33,0.00,0.000,4,0.137,0.054,2111,3713,2085
$GC,15678,0.53,206.2,865.9,7.7,373,15682,0.00,2.25,0.00,0.000,6,0.000,0.033,2119,2292,2085
$GC,16005,0.53,206.2,844.2,6.5,379,16006,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2292,2085
$GC,16308,0.53,206.2,825.6,6.0,384,16309,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2292,2084
$GC,16612,0.53,206.2,808.0,5.8,389,16616,0.00,2.33,0.00,0.000,4,0.000,0.051,2119,3712,2084
$GC,16640,0.53,206.2,806.0,7.3,389,16644,0.00,2.22,0.00,0.000,6,0.000,0.032,2129,2300,2084
$GC,16978,0.53,206.2,784.9,6.2,395,16979,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2299,2084
$GC,17281,0.53,206.2,765.9,6.3,400,17285,0.00,2.30,0.00,0.000,4,0.000,0.048,2129,3714,2084
$GC,17327,0.48,206.2,762.5,8.5,400,17332,0.15,2.22,0.00,0.000,6,0.139,0.033,2099,2301,2083
$GC,17655,0.56,231.1,746.8,4.7,406,17690,0.08,2.33,24.67,1.003,4,0.081,0.048,2165,892,1988
$GC,17709,0.51,231.1,743.0,7.0,406,17715,0.20,2.28,0.00,0.000,6,0.130,0.044,2110,2306,1986
$GC,18020,0.57,243.0,726.8,5.1,412,18039,0.00,2.30,11.75,0.988,4,0.000,0.051,2109,3715,1939
$GC,18075,0.61,243.0,723.6,5.9,412,18079,0.00,2.25,0.00,0.000,6,0.000,0.032,2116,2299,1938
$GC,18386,0.65,245.7,706.7,5.4,417,18388,0.10,0.00,0.00,0.000,6,0.066,0.000,2183,2299,1937
$GC,18690,0.54,245.7,678.4,9.5,422,18695,0.20,2.33,0.00,0.000,4,0.137,0.047,2121,3717,1936
$GC,18740,0.54,245.7,674.7,6.1,422,18744,0.00,2.25,0.00,0.000,6,0.000,0.032,2129,2295,1936
$GC,19051,0.54,245.7,656.9,5.7,427,19052,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2295,1935
$GC,19354,0.54,245.7,639.8,5.6,432,19358,0.00,2.28,0.00,0.000,4,0.000,0.048,2129,3708,1935
$GC,19400,0.54,245.7,636.9,6.8,432,19404,0.00,2.20,0.00,0.000,6,0.000,0.032,2139,2298,1935
$GC,19727,0.54,245.7,617.2,6.0,438,19728,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2298,1935
$GC,20030,0.54,245.7,597.9,6.4,443,20034,0.00,2.25,0.00,0.000,4,0.000,0.048,2139,3708,1935
$GC,20082,0.51,245.7,593.9,8.6,443,20086,0.15,2.20,0.00,0.000,6,0.130,0.032,2107,2303,1935
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$STATE,29045,end climb,SURFACE_DEPTH_REACHED
$STATE,29045,begin surface coast
$FINISH,1.2,1.023343
$STATE,29067,end surface coast,CONTROL_FINISHED_OK
$STATE,29067,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1738
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$TCM_TEMP,15.60
$XPDR_PINGS,63
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$10V_AH,10.4,81.746
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$DEVICE_SECS,19.075,236.725,393.525,0.000,0.000,86.153,102.945,248.444,15.750,0.000,0.000,14.586,1672.161,24397.516,544.518,2153.268,1103.887,33.380,1705.096,0.000,2130.604,0.000,0.527,0.000
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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,44265,734
$CAP_FILE_SIZE,185995,0
$CFSIZE,260165632,207298560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,190110,014758,5007.681,-14443.892,40,1.5,40,18.5