version: 66.04
glider: 144
mission: 15
dive: 687
start: 1 27 110 23 17 14
data:
$ID,144
$MISSION,15
$DIVE,687
$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,-75584.023
$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,37
$R_STBD_OVSHOOT,34
$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
$GPS1,230955,4956.035,-14237.152,38,1.6,38,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-56.4
$GPS2,231620,4956.094,-14237.112,13,1.2,13,18.9
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.165,-0.028
$KALMAN_X,-91714.0,-31.5,-115.9,273215.6,451.4
$KALMAN_Y,32281.0,135.6,52.6,-78563.2,74.1
$MHEAD_RNG_PITCHd_Wd,80.7,287729,-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,-117.3,0.0,0.0,0,78,0.00,0.00,-55.85,0.000,2,0.000,0.000,99,2292,2902
$GC,82,-0.68,-117.3,4.2,-4.4,3,106,7.12,2.45,-10.80,0.000,4,0.230,0.066,1839,3711,3413
$GC,191,-0.65,-117.3,20.5,-9.8,7,198,0.00,2.22,0.00,0.000,6,0.000,0.030,1839,2302,3414
$GC,509,-0.61,-117.3,54.6,-10.3,23,513,0.10,2.30,0.00,0.000,4,0.133,0.041,1868,889,3414
$GC,588,-0.64,-117.3,62.2,-8.8,26,592,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2303,3414
$GC,909,-0.64,-117.3,91.2,-8.7,46,910,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2303,3415
$GC,1226,-0.67,-117.3,116.2,-7.2,76,1230,0.00,2.28,0.00,0.000,4,0.000,0.048,1853,3715,3415
$GC,1246,-0.70,-117.3,117.5,-6.7,77,1250,0.00,2.20,0.00,0.000,6,0.000,0.030,1853,2300,3415
$GC,1577,-0.74,-117.3,141.9,-7.6,107,1581,0.00,2.28,0.00,0.000,4,0.000,0.041,1853,894,3415
$GC,1658,-0.80,-117.3,148.3,-7.1,113,1665,0.10,2.25,0.00,0.000,6,0.065,0.037,1773,2315,3415
$GC,1994,-0.69,-117.3,184.7,-10.9,126,1999,0.22,2.30,0.00,0.000,4,0.122,0.041,1848,899,3415
$GC,2058,-0.75,-117.3,189.6,-6.8,128,2062,0.00,2.25,0.00,0.000,6,0.000,0.038,1848,2310,3415
$GC,2395,-0.79,-117.3,211.4,-6.5,139,2399,0.00,2.28,0.00,0.000,4,0.000,0.041,1848,899,3415
$GC,2441,-0.85,-117.3,215.0,-7.6,140,2446,0.12,2.28,0.00,0.000,6,0.056,0.039,1765,2309,3415
$GC,2761,-0.74,-117.3,250.3,-11.3,151,2765,0.22,2.28,0.00,0.000,4,0.121,0.041,1839,899,3415
$GC,2801,-0.78,-117.3,253.9,-7.4,152,2805,0.00,2.25,0.00,0.000,6,0.000,0.038,1837,2303,3415
$GC,3127,-0.81,-117.3,276.7,-6.9,163,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2304,3415
$GC,3433,-0.83,-117.3,296.3,-6.3,173,3437,0.00,2.25,0.00,0.000,4,0.000,0.043,1836,898,3415
$GC,3470,-0.87,-117.3,298.7,-6.5,174,3475,0.10,2.28,0.00,0.000,6,0.067,0.038,1764,2306,3415
$GC,3803,-0.77,-117.3,333.3,-10.7,180,3805,0.22,0.00,0.00,0.000,6,0.120,0.000,1832,2306,3414
$GC,4106,-0.80,-117.3,353.0,-6.3,185,4110,0.00,2.25,0.00,0.000,4,0.000,0.043,1833,898,3414
$GC,4147,-0.84,-117.3,355.8,-6.8,185,4151,0.00,2.25,0.00,0.000,6,0.000,0.040,1827,2303,3414
$GC,4469,-0.86,-117.3,377.2,-6.7,191,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2303,3414
$GC,4772,-0.88,-117.3,397.2,-6.6,196,4776,0.00,2.30,0.00,0.000,4,0.000,0.045,1826,903,3414
$GC,4802,-0.91,-117.3,399.4,-8.2,196,4806,0.00,2.28,0.00,0.000,6,0.000,0.044,1821,2306,3414
$GC,5135,-0.91,-117.3,423.7,-7.4,202,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2307,3415
$GC,5437,-0.91,-117.3,446.7,-7.6,207,5442,0.00,2.30,0.00,0.000,4,0.000,0.043,1821,890,3413
$GC,5478,-0.93,-117.3,449.9,-8.2,207,5482,0.00,2.30,0.00,0.000,6,0.000,0.041,1813,2311,3413
$GC,5799,-0.93,-117.3,474.7,-7.7,213,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2311,3413
$GC,6103,-0.93,-117.3,496.1,-7.0,218,6107,0.00,2.33,0.00,0.000,4,0.000,0.051,1813,903,3413
$GC,6160,-0.93,-117.3,500.4,-7.9,218,6166,0.00,2.30,0.00,0.000,6,0.000,0.044,1806,2313,3413
$GC,6470,-0.93,-117.3,523.2,-7.4,224,6474,0.00,2.30,0.00,0.000,4,0.000,0.043,1806,901,3413
$GC,6527,-0.93,-117.3,527.9,-8.4,224,6533,0.00,2.28,0.00,0.000,6,0.000,0.045,1796,2307,3413
$GC,6839,-0.91,-117.3,553.2,-8.2,230,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2308,3412
$GC,7141,-0.88,-117.3,577.3,-7.9,235,7145,0.00,2.30,0.00,0.000,4,0.000,0.051,1796,894,3412
$GC,7219,-0.88,-117.3,584.1,-8.6,236,7224,0.08,2.30,0.00,0.000,6,0.137,0.041,1808,2316,3412
$GC,7575,-0.88,-117.3,609.0,-6.9,242,7579,0.00,2.33,0.00,0.000,4,0.000,0.048,1808,902,3412
$GC,7620,-0.88,-117.3,612.5,-7.6,242,7624,0.00,2.28,0.00,0.000,6,0.000,0.041,1806,2305,3412
$GC,7935,-0.88,-117.3,635.1,-7.2,248,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3412
$GC,8238,-0.88,-117.3,657.4,-7.4,253,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3412
$GC,8542,-0.88,-117.3,680.5,-7.6,258,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3412
$GC,8845,-0.88,-117.3,703.3,-7.5,263,8849,0.00,2.30,0.00,0.000,4,0.000,0.044,1806,902,3412
$GC,8884,-0.88,-117.3,706.5,-8.6,263,8889,0.00,2.28,0.00,0.000,6,0.000,0.042,1797,2305,3412
$GC,9206,-0.88,-117.3,730.8,-7.5,269,9210,0.00,2.30,0.00,0.000,4,0.000,0.048,1797,894,3412
$GC,9246,-0.88,-117.3,734.0,-8.1,269,9250,0.00,2.30,0.00,0.000,6,0.000,0.044,1794,2311,3411
$GC,9568,-0.88,-117.3,757.7,-7.4,275,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2312,3412
$GC,9871,-0.88,-117.3,778.6,-6.9,280,9875,0.00,2.30,0.00,0.000,4,0.000,0.045,1794,896,3411
$GC,9911,-0.88,-117.3,781.4,-7.4,280,9915,0.10,2.28,0.00,0.000,6,0.127,0.042,1812,2310,3411
$GC,10234,-0.91,-117.3,798.5,-5.2,286,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2311,3411
$GC,10537,-0.93,-117.3,814.4,-5.2,291,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2310,3411
$GC,10839,-0.96,-117.3,830.8,-5.5,296,10843,0.00,2.35,0.00,0.000,4,0.000,0.051,1812,891,3410
$GC,10881,-0.99,-117.3,833.3,-6.5,296,10885,0.10,2.30,0.00,0.000,6,0.071,0.044,1755,2302,3411
$GC,11209,-0.91,-117.3,861.6,-8.7,302,11210,0.17,0.00,0.00,0.000,6,0.123,0.000,1807,2303,3410
$GC,11512,-0.93,-117.3,879.7,-5.9,307,11516,0.00,2.30,0.00,0.000,4,0.000,0.048,1807,900,3410
$GC,11546,-0.93,-117.3,881.9,-5.8,307,11550,0.00,2.28,0.00,0.000,6,0.000,0.041,1807,2301,3410
$GC,11874,-0.93,-117.3,900.5,-5.7,313,11878,0.00,2.33,0.00,0.000,4,0.000,0.051,1807,895,3410
$GC,11908,-0.93,-117.3,902.7,-5.9,313,11912,0.00,2.30,0.00,0.000,6,0.000,0.047,1805,2303,3410
$GC,12235,-0.93,-117.3,921.8,-5.8,319,12239,0.00,2.30,0.00,0.000,4,0.000,0.046,1805,903,3410
$GC,12264,-0.93,-117.3,923.8,-7.2,319,12268,0.00,2.30,0.00,0.000,6,0.000,0.041,1795,2313,3410
$GC,12596,-0.93,-117.3,944.9,-6.3,325,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2313,3410
$GC,12899,-0.93,-117.3,965.3,-6.8,330,12904,0.00,2.35,0.00,0.000,4,0.000,0.051,1795,897,3410
$GC,12965,-0.93,-117.3,970.2,-7.5,331,12969,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2308,3410
$STATE,13267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13267,begin apogee
$GC,13277,-0.22,0.0,991.6,6.9,336,13379,0.50,0.00,99.50,1.279,6,0.112,0.000,1955,2308,2931
$STATE,13380,end apogee,CONTROL_FINISHED_OK
$STATE,13380,begin climb
$GC,13384,0.68,117.3,993.3,0.0,337,13495,0.55,2.55,104.28,1.253,4,0.067,0.051,2152,3707,2451
$GC,13549,0.49,117.3,990.5,7.0,340,13554,0.22,2.38,0.00,0.000,6,0.158,0.035,2107,2305,2447
$GC,13883,0.51,151.1,975.7,4.4,346,13914,0.00,0.00,29.00,1.208,6,0.000,0.000,2107,2305,2315
$GC,14185,0.53,173.0,961.4,4.8,351,14207,0.00,0.00,20.23,1.176,6,0.000,0.000,2107,2305,2226
$GC,14489,0.56,194.1,946.9,4.8,356,14511,0.00,0.00,19.67,1.166,6,0.000,0.000,2107,2305,2139
$GC,14792,0.61,214.4,932.3,4.8,361,14821,0.10,0.00,21.20,1.067,6,0.070,0.000,2157,2304,2057
$GC,15095,0.53,214.4,908.4,8.0,366,15100,0.17,2.33,0.00,0.000,4,0.142,0.051,2098,3711,2052
$GC,15124,0.53,214.4,906.3,6.2,366,15128,0.00,2.25,0.00,0.000,6,0.000,0.035,2106,2300,2052
$GC,15457,0.58,228.0,889.4,5.0,372,15477,0.00,2.38,12.77,1.089,4,0.000,0.051,2117,890,2000
$GC,15495,0.66,247.7,887.3,4.8,372,15523,0.10,2.28,19.48,1.128,6,0.076,0.042,2165,2305,1921
$GC,15827,0.57,247.7,857.6,9.3,378,15832,0.15,2.30,0.00,0.000,4,0.140,0.048,2125,3718,1915
$GC,15878,0.57,247.7,853.2,7.5,378,15882,0.00,2.22,0.00,0.000,6,0.000,0.033,2133,2302,1915
$GC,16188,0.57,247.7,831.2,7.1,383,16193,0.00,2.30,0.00,0.000,4,0.000,0.050,2133,3715,1914
$GC,16224,0.54,247.7,828.4,8.1,383,16229,0.12,2.25,0.00,0.000,6,0.143,0.041,2110,2293,1914
$GC,16551,0.60,247.7,809.7,5.5,389,16555,0.00,2.25,0.00,0.000,4,0.000,0.054,2119,896,1913
$GC,16575,0.66,248.2,808.4,5.5,389,16580,0.08,2.25,0.00,0.000,6,0.085,0.044,2169,2311,1912
$GC,16915,0.57,248.2,777.1,9.5,395,16919,0.17,2.28,0.00,0.000,4,0.137,0.053,2114,3709,1912
$GC,16978,0.57,248.2,772.2,7.0,396,16982,0.00,2.20,0.00,0.000,6,0.000,0.033,2121,2302,1912
$GC,17345,0.59,248.2,749.7,6.1,402,17347,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2302,1912
$GC,17649,0.61,248.2,731.9,5.9,407,17653,0.00,2.33,0.00,0.000,4,0.000,0.053,2121,3709,1911
$GC,17689,0.61,248.2,728.9,8.0,407,17693,0.00,2.22,0.00,0.000,6,0.000,0.032,2130,2301,1911
$GC,18011,0.61,248.2,708.7,6.2,413,18015,0.00,2.30,0.00,0.000,4,0.000,0.048,2131,3708,1911
$GC,18045,0.61,248.2,706.2,7.3,413,18049,0.00,2.22,0.00,0.000,6,0.000,0.038,2141,2302,1911
$GC,18373,0.61,248.2,684.0,6.7,419,18374,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2302,1911
$GC,18675,0.61,248.2,663.8,6.7,424,18679,0.00,2.33,0.00,0.000,4,0.000,0.053,2141,3718,1910
$GC,18715,0.57,248.2,660.6,9.6,424,18719,0.12,2.25,0.00,0.000,6,0.134,0.035,2118,2299,1911
$GC,19038,0.62,251.3,643.0,5.4,430,19042,0.00,2.28,0.00,0.000,4,0.000,0.049,2126,892,1911
$GC,19061,0.67,251.3,641.5,5.9,430,19065,0.00,2.25,0.00,0.000,6,0.000,0.038,2126,2308,1910
$GC,19400,0.70,251.3,620.2,6.4,436,19404,0.10,2.30,0.00,0.000,4,0.069,0.052,2200,3711,1910
$GC,19440,0.53,251.3,615.8,13.1,436,19445,0.35,2.25,0.00,0.000,6,0.150,0.033,2113,2296,1910
$GC,19768,0.58,251.3,595.6,5.8,442,19772,0.00,2.28,0.00,0.000,4,0.000,0.048,2122,885,1909
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$STATE,28286,end climb,SURFACE_DEPTH_REACHED
$STATE,28286,begin surface coast
$FINISH,1.5,1.025460
$STATE,28308,end surface coast,CONTROL_FINISHED_OK
$STATE,28308,begin surface
$SM_CCo,28388,0.00,0.000,0,0,1478,356.42
$SM_GC,2.23,5.62,0.00,0.00,0.044,0.000,0.000,99,2303,1478,-8.60,0.00,356.42
$IRIDIUM_FIX,4939.69,-14242.40,230499,151555
$TT8_MAMPS,0.029146
$HUMID,1748
$INTERNAL_PRESSURE,7.3538
$TCM_TEMP,15.40
$XPDR_PINGS,67
$24V_AH,21.8,98.825
$10V_AH,10.4,84.800
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$DEVICE_SECS,20.025,255.350,426.525,0.000,0.000,29.805,25.886,159.427,16.750,0.000,0.000,15.272,1689.146,23352.211,598.008,2213.790,906.798,33.382,1790.129,0.000,2189.574,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,515.699,600.899,757.197,787.748,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44392,729
$CAP_FILE_SIZE,191864,0
$CFSIZE,260165632,205185024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,280110,071206,4955.569,-14231.511,61,1.5,61,18.9