version: 66.04
glider: 144
mission: 15
dive: 670
start: 1 22 110 3 48 49
data:
$ID,144
$MISSION,15
$DIVE,670
$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,-75237.508
$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,32
$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
$GPS1,034101,5005.282,-14400.309,41,1.8,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-65.6
$GPS2,034755,5005.279,-14400.253,13,1.4,13,18.7
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,-0.047
$KALMAN_X,-90844.6,424.9,-53.7,173575.3,-901.2
$KALMAN_Y,29881.1,43.2,-339.7,-58658.2,940.3
$MHEAD_RNG_PITCHd_Wd,87.5,389005,-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,-60.12,0.000,2,0.000,0.000,99,2291,2944
$GC,86,-0.68,-117.3,4.7,-6.0,3,109,7.20,2.30,-9.52,0.000,4,0.233,0.064,1845,895,3412
$GC,362,-0.66,-117.3,40.1,-10.4,15,366,0.00,2.22,0.00,0.000,6,0.000,0.036,1836,2303,3413
$GC,685,-0.60,-117.3,73.7,-10.5,31,690,0.12,2.30,0.00,0.000,4,0.134,0.041,1871,884,3413
$GC,799,-0.65,-117.3,83.6,-7.8,37,805,0.00,2.25,0.00,0.000,6,0.000,0.036,1864,2303,3413
$GC,1129,-0.69,-117.3,109.3,-7.3,68,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2303,3413
$GC,1456,-0.75,-117.3,132.1,-6.3,99,1461,0.10,2.30,0.00,0.000,4,0.064,0.041,1790,886,3413
$GC,1487,-0.71,-117.3,134.9,-9.8,101,1492,0.22,2.25,0.00,0.000,6,0.115,0.036,1844,2303,3414
$GC,1827,-0.74,-117.3,163.2,-8.3,123,1831,0.00,2.28,0.00,0.000,4,0.000,0.041,1845,891,3414
$GC,1873,-0.78,-117.3,167.4,-8.4,124,1877,0.00,2.25,0.00,0.000,6,0.000,0.036,1838,2307,3414
$GC,2192,-0.81,-117.3,193.0,-7.7,135,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2306,3414
$GC,2499,-0.83,-117.3,214.6,-6.7,145,2503,0.00,2.33,0.00,0.000,4,0.000,0.042,1838,888,3413
$GC,2540,-0.86,-117.3,217.7,-7.0,146,2545,0.10,2.30,0.00,0.000,6,0.065,0.042,1767,2305,3414
$GC,2866,-0.76,-117.3,252.4,-11.1,157,2871,0.20,2.30,0.00,0.000,4,0.122,0.042,1833,890,3414
$GC,2912,-0.79,-117.3,256.7,-7.5,158,2916,0.00,2.25,0.00,0.000,6,0.000,0.037,1826,2307,3414
$GC,3231,-0.79,-117.3,282.2,-8.1,169,3235,0.00,2.30,0.00,0.000,4,0.000,0.042,1826,886,3413
$GC,3276,-0.79,-117.3,286.0,-8.7,170,3280,0.00,2.30,0.00,0.000,6,0.000,0.044,1820,2309,3413
$GC,3594,-0.79,-117.3,310.7,-7.8,179,3598,0.00,2.28,0.00,0.000,4,0.000,0.043,1820,894,3413
$GC,3640,-0.79,-117.3,314.6,-7.9,179,3644,0.00,2.25,0.00,0.000,6,0.000,0.040,1810,2303,3413
$GC,3956,-0.79,-117.3,339.6,-7.9,185,3959,0.00,2.28,0.00,0.000,4,0.000,0.043,1810,892,3413
$GC,4001,-0.79,-117.3,343.3,-8.5,185,4006,0.10,2.28,0.00,0.000,6,0.125,0.039,1828,2304,3413
$GC,4318,-0.82,-117.3,364.9,-6.8,191,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2304,3413
$GC,4621,-0.84,-117.3,385.7,-6.9,196,4625,0.00,2.30,0.00,0.000,4,0.000,0.045,1828,888,3413
$GC,4684,-0.88,-117.3,390.8,-7.9,197,4688,0.00,2.28,0.00,0.000,6,0.000,0.041,1823,2309,3412
$GC,5052,-0.88,-117.3,418.1,-7.3,203,5055,0.00,2.28,0.00,0.000,4,0.000,0.046,1822,898,3412
$GC,5086,-0.88,-117.3,420.7,-8.1,203,5090,0.00,2.25,0.00,0.000,6,0.000,0.040,1814,2303,3412
$GC,5418,-0.88,-117.3,444.7,-7.1,209,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2303,3412
$GC,5722,-0.88,-117.3,465.3,-6.7,214,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2303,3412
$GC,6026,-0.88,-117.3,485.5,-6.7,219,6030,0.00,2.33,0.00,0.000,4,0.000,0.046,1814,885,3412
$GC,6089,-0.88,-117.3,490.2,-7.5,220,6093,0.00,2.30,0.00,0.000,6,0.000,0.043,1806,2305,3412
$GC,6455,-0.88,-117.3,517.5,-7.5,226,6459,0.00,2.30,0.00,0.000,4,0.000,0.047,1807,894,3411
$GC,6507,-0.88,-117.3,521.8,-7.8,226,6511,0.00,2.28,0.00,0.000,6,0.000,0.044,1797,2305,3411
$GC,6818,-0.85,-117.3,547.5,-8.3,231,6822,0.00,2.30,0.00,0.000,4,0.000,0.048,1797,890,3411
$GC,6853,-0.83,-117.3,550.7,-9.3,231,6858,0.12,2.28,0.00,0.000,6,0.121,0.041,1824,2307,3411
$GC,7180,-0.86,-117.3,573.7,-7.0,237,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2308,3411
$GC,7484,-0.90,-117.3,595.3,-7.2,242,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2308,3411
$GC,7786,-0.93,-117.3,616.8,-7.0,247,7791,0.10,2.30,0.00,0.000,4,0.065,0.048,1764,891,3411
$GC,7855,-0.86,-117.3,623.5,-9.7,248,7860,0.20,2.30,0.00,0.000,6,0.122,0.041,1814,2311,3411
$GC,8222,-0.86,-117.3,649.8,-7.0,254,8226,0.00,2.33,0.00,0.000,4,0.000,0.047,1814,892,3410
$GC,8262,-0.88,-117.3,652.9,-7.8,254,8266,0.00,2.28,0.00,0.000,6,0.000,0.040,1809,2306,3410
$GC,8583,-0.88,-117.3,675.0,-6.8,260,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2306,3410
$GC,8886,-0.88,-117.3,695.1,-6.6,265,8890,0.00,2.33,0.00,0.000,4,0.000,0.049,1809,895,3410
$GC,8927,-0.88,-117.3,698.0,-7.4,265,8931,0.00,2.30,0.00,0.000,6,0.000,0.041,1807,2310,3410
$GC,9249,-0.88,-117.3,719.1,-6.5,271,9253,0.00,2.35,0.00,0.000,4,0.000,0.048,1807,888,3410
$GC,9283,-0.88,-117.3,721.4,-7.1,271,9287,0.00,2.33,0.00,0.000,6,0.000,0.045,1798,2313,3410
$GC,9611,-0.88,-117.3,743.2,-6.7,277,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2314,3409
$GC,9913,-0.88,-117.3,764.0,-6.8,282,9917,0.00,2.33,0.00,0.000,4,0.000,0.049,1798,895,3410
$GC,9952,-0.88,-117.3,766.8,-7.3,282,9956,0.00,2.30,0.00,0.000,6,0.000,0.047,1794,2308,3410
$GC,10274,-0.88,-117.3,789.0,-6.9,288,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2308,3409
$GC,10577,-0.88,-117.3,809.3,-6.7,293,10581,0.00,2.33,0.00,0.000,4,0.000,0.051,1794,895,3409
$GC,10623,-0.88,-117.3,812.6,-7.4,293,10627,0.10,2.30,0.00,0.000,6,0.127,0.046,1812,2306,3409
$GC,10950,-0.91,-117.3,831.9,-5.9,299,10955,0.00,2.33,0.00,0.000,4,0.000,0.045,1812,888,3409
$GC,10991,-0.94,-117.3,834.7,-6.4,299,10995,0.00,2.30,0.00,0.000,6,0.000,0.043,1809,2303,3409
$GC,11313,-0.96,-117.3,854.9,-6.4,305,11317,0.00,2.30,0.00,0.000,4,0.000,0.048,1809,895,3409
$GC,11348,-0.98,-117.3,857.4,-7.2,305,11352,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2302,3409
$GC,11675,-0.98,-117.3,877.9,-6.3,311,11676,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3409
$GC,11979,-0.98,-117.3,896.9,-6.2,316,11984,0.00,2.33,0.00,0.000,4,0.000,0.046,1808,888,3409
$GC,12036,-0.98,-117.3,900.9,-7.6,316,12042,0.00,2.33,0.00,0.000,6,0.000,0.047,1808,2309,3410
$GC,12347,-1.00,-117.3,920.3,-6.3,322,12349,0.10,0.00,0.00,0.000,6,0.077,0.000,1762,2309,3409
$GC,12650,-0.93,-117.3,946.3,-8.7,327,12652,0.12,0.00,0.00,0.000,6,0.130,0.000,1798,2309,3409
$GC,12953,-0.93,-117.3,967.2,-6.8,332,12957,0.00,2.38,0.00,0.000,4,0.000,0.049,1798,891,3409
$GC,13016,-0.93,-117.3,972.0,-7.7,332,13022,0.00,2.33,0.00,0.000,6,0.000,0.043,1795,2312,3409
$STATE,13323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13323,begin apogee
$GC,13331,-0.22,0.0,993.4,6.8,338,13433,0.50,0.00,99.22,1.284,6,0.114,0.000,1954,2311,2931
$STATE,13434,end apogee,CONTROL_FINISHED_OK
$STATE,13434,begin climb
$GC,13439,0.68,117.3,994.8,0.0,339,13550,0.55,2.53,104.43,1.255,4,0.069,0.052,2150,3710,2451
$GC,13624,0.50,117.3,989.6,7.5,341,13631,0.20,2.35,0.00,0.000,6,0.160,0.035,2111,2308,2445
$GC,13936,0.47,126.3,973.3,5.2,347,13945,0.00,0.00,7.72,1.014,6,0.000,0.000,2111,2308,2415
$GC,14238,0.45,132.9,957.5,5.3,352,14247,0.00,0.00,7.07,0.990,6,0.000,0.000,2111,2308,2388
$GC,14541,0.42,134.9,941.1,5.4,357,14542,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2308,2387
$GC,14844,0.40,137.6,924.7,5.4,362,14855,0.10,2.30,5.35,0.887,4,0.165,0.056,2086,3712,2369
$GC,14891,0.41,150.5,922.1,5.1,362,14910,0.00,2.28,13.15,1.113,6,0.000,0.038,2094,2292,2317
$GC,15278,0.45,160.3,902.1,5.2,369,15293,0.00,2.38,9.75,1.057,4,0.000,0.051,2094,3719,2276
$GC,15318,0.47,180.7,899.9,4.8,369,15344,0.00,2.28,19.48,1.143,6,0.000,0.037,2104,2302,2194
$GC,15649,0.49,180.7,880.3,5.9,375,15650,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2302,2189
$GC,15952,0.51,180.7,863.0,5.7,380,15956,0.00,2.35,0.00,0.000,4,0.000,0.050,2104,3712,2188
$GC,15992,0.51,180.7,860.2,6.4,380,15996,0.00,2.25,0.00,0.000,6,0.000,0.033,2114,2298,2187
$GC,16315,0.51,180.7,840.5,6.1,386,16316,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2298,2187
$GC,16617,0.51,180.7,822.6,5.9,391,16621,0.00,2.33,0.00,0.000,4,0.000,0.048,2114,3721,2186
$GC,16663,0.47,180.7,819.3,7.8,391,16667,0.00,2.25,0.00,0.000,6,0.000,0.033,2124,2304,2186
$GC,16979,0.47,180.7,799.8,6.2,397,16980,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2304,2186
$GC,17281,0.47,180.7,782.0,5.8,402,17285,0.00,2.28,0.00,0.000,4,0.000,0.049,2124,3713,2186
$GC,17322,0.41,180.7,779.2,7.9,402,17327,0.17,2.22,0.00,0.000,6,0.144,0.034,2088,2297,2185
$GC,17649,0.54,193.9,763.2,5.1,408,17668,0.10,2.38,11.88,1.019,4,0.071,0.053,2154,885,2140
$GC,17769,0.49,193.9,755.6,6.5,409,17774,0.17,2.30,0.00,0.000,6,0.133,0.044,2107,2307,2138
$GC,18086,0.53,199.0,738.5,5.3,415,18096,0.00,2.28,6.12,0.857,4,0.000,0.054,2107,3709,2118
$GC,18152,0.53,199.0,734.5,7.3,416,18156,0.00,2.22,0.00,0.000,6,0.000,0.032,2115,2297,2117
$GC,18518,0.53,199.0,713.9,5.5,422,18519,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2297,2117
$GC,18822,0.54,211.5,698.4,5.1,427,18841,0.00,2.38,12.43,0.988,4,0.000,0.051,2115,3708,2067
$GC,18860,0.55,218.9,696.3,5.2,427,18874,0.00,2.25,8.40,0.907,6,0.000,0.032,2125,2291,2037
$GC,19192,0.55,220.7,678.1,5.4,433,19193,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2292,2034
$GC,19495,0.55,220.7,660.5,5.9,438,19499,0.00,2.30,0.00,0.000,4,0.000,0.048,2125,3715,2034
$GC,19534,0.55,220.7,657.7,7.9,438,19538,0.00,2.22,0.00,0.000,6,0.000,0.033,2135,2303,2033
$GC,19857,0.55,220.7,636.5,6.6,444,19858,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2303,2034
$GC,20159,0.55,220.7,616.2,6.7,449,20163,0.00,2.33,0.00,0.000,4,0.000,0.048,2135,3717,2033
$GC,20188,0.52,220.7,613.9,7.7,449,20192,0.12,2.22,0.00,0.000,6,0.140,0.032,2112,2304,2033
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$GC,20558,0.63,232.3,592.9,5.1,455,20576,0.00,2.25,12.43,0.926,6,0.000,0.037,2120,2304,1983
$GC,20895,0.67,232.3,573.9,5.6,461,20900,0.08,2.28,0.00,0.000,4,0.077,0.048,2184,3719,1980
$GC,20954,0.51,232.3,568.2,10.8,461,20959,0.30,2.25,0.00,0.000,6,0.149,0.038,2112,2303,1980
$GC,21266,0.56,232.3,549.6,5.6,466,21270,0.00,2.30,0.00,0.000,4,0.000,0.047,2121,882,1979
$GC,21289,0.65,252.4,548.3,4.8,466,21314,0.00,2.25,18.30,0.930,6,0.000,0.037,2121,2310,1903
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$STATE,28883,end climb,SURFACE_DEPTH_REACHED
$STATE,28883,begin surface coast
$FINISH,1.4,1.013337
$STATE,28907,end surface coast,CONTROL_FINISHED_OK
$STATE,28910,begin surface
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$SM_GC,2.27,5.65,0.00,0.00,0.046,0.000,0.000,99,2304,1542,-8.62,0.03,340.48
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$TT8_MAMPS,0.028379
$HUMID,1754
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$TCM_TEMP,15.50
$XPDR_PINGS,61
$24V_AH,21.8,96.345
$10V_AH,10.4,82.879
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$DEVICE_SECS,18.450,251.150,414.375,0.000,0.000,30.999,29.037,163.883,15.250,0.000,0.000,14.999,1681.717,23988.594,565.006,2236.459,917.622,33.382,1778.057,0.000,2202.798,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,513.113,596.773,752.472,777.329,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44308,730
$CAP_FILE_SIZE,189163,0
$CFSIZE,260165632,206508032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220110,115332,5004.716,-14356.074,50,1.4,50,18.7