version: 66.04
glider: 144
mission: 15
dive: 693
start: 1 30 110 0 44 8
data:
$ID,144
$MISSION,15
$DIVE,693
$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,-75694.422
$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
$GPS1,003636,4952.398,-14203.743,39,1.2,39,18.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-61.6
$GPS2,004314,4952.391,-14203.700,16,1.2,16,18.9
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.165,-0.029
$KALMAN_X,-87396.9,-307.9,-82.6,308632.8,1615.4
$KALMAN_Y,33027.1,85.9,-151.4,-85902.3,-41.1
$MHEAD_RNG_PITCHd_Wd,80.9,247032,-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,-117.3,0.0,0.0,0,62,0.00,0.00,-40.38,0.000,2,0.000,0.000,98,2308,2613
$GC,66,-0.68,-117.3,3.6,-6.2,2,101,7.25,2.40,-20.12,0.000,4,0.237,0.060,1845,896,3412
$GC,356,-0.68,-117.3,34.6,-10.1,15,360,0.00,2.28,0.00,0.000,6,0.000,0.043,1837,2308,3413
$GC,684,-0.63,-117.3,70.0,-10.4,31,689,0.10,2.28,0.00,0.000,4,0.139,0.040,1865,897,3413
$GC,771,-0.65,-117.3,77.6,-8.5,35,776,0.00,2.25,0.00,0.000,6,0.000,0.038,1862,2308,3413
$GC,1101,-0.68,-117.3,102.0,-7.2,64,1105,0.00,2.30,0.00,0.000,4,0.000,0.048,1852,3716,3413
$GC,1184,-0.73,-117.3,108.3,-7.5,71,1188,0.00,2.22,0.00,0.000,6,0.000,0.030,1852,2295,3413
$GC,1513,-0.77,-117.3,131.0,-7.1,101,1517,0.00,2.25,0.00,0.000,4,0.000,0.041,1852,898,3413
$GC,1583,-0.81,-117.3,136.4,-7.1,107,1587,0.10,2.22,0.00,0.000,6,0.065,0.037,1777,2307,3413
$GC,1927,-0.72,-117.3,173.5,-10.9,126,1932,0.20,2.30,0.00,0.000,4,0.120,0.041,1844,889,3413
$GC,2013,-0.76,-117.3,180.3,-7.3,128,2017,0.00,2.28,0.00,0.000,6,0.000,0.037,1836,2305,3413
$GC,2327,-0.78,-117.3,201.0,-6.3,138,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2306,3413
$GC,2634,-0.80,-117.3,222.0,-7.1,148,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2306,3413
$GC,2940,-0.83,-117.3,244.5,-7.5,158,2944,0.00,2.25,0.00,0.000,4,0.000,0.042,1837,897,3413
$GC,2970,-0.86,-117.3,246.9,-8.2,158,2977,0.05,2.30,0.00,0.000,6,0.062,0.041,1775,2303,3413
$GC,3284,-0.77,-117.3,280.2,-10.5,169,3289,0.17,2.28,0.00,0.000,4,0.122,0.041,1834,900,3413
$GC,3318,-0.79,-117.3,283.4,-8.4,170,3322,0.00,2.25,0.00,0.000,6,0.000,0.039,1826,2303,3413
$GC,3679,-0.79,-117.3,308.9,-7.0,180,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2303,3413
$GC,3981,-0.79,-117.3,329.3,-6.7,185,3985,0.00,2.28,0.00,0.000,4,0.000,0.046,1827,900,3412
$GC,4015,-0.82,-117.3,332.0,-8.1,185,4019,0.00,2.28,0.00,0.000,6,0.000,0.041,1820,2314,3413
$GC,4343,-0.82,-117.3,357.0,-7.7,191,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2314,3412
$GC,4647,-0.82,-117.3,380.0,-7.6,196,4651,0.00,2.28,0.00,0.000,4,0.000,0.048,1820,904,3412
$GC,4692,-0.82,-117.3,383.6,-8.0,196,4696,0.00,2.25,0.00,0.000,6,0.000,0.044,1810,2306,3412
$GC,5008,-0.82,-117.3,409.1,-8.1,202,5012,0.00,2.33,0.00,0.000,4,0.000,0.050,1810,895,3412
$GC,5041,-0.82,-117.3,411.9,-8.0,202,5046,0.08,2.28,0.00,0.000,6,0.136,0.045,1822,2303,3412
$GC,5370,-0.82,-117.3,435.7,-7.2,208,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3412
$GC,5671,-0.82,-117.3,456.6,-6.9,213,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3412
$GC,5975,-0.84,-117.3,477.0,-6.7,218,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3411
$GC,6278,-0.86,-117.3,495.8,-6.2,223,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3411
$GC,6582,-0.89,-117.3,515.2,-6.5,228,6586,0.00,2.30,0.00,0.000,4,0.000,0.046,1822,902,3411
$GC,6622,-0.92,-117.3,518.2,-7.4,228,6627,0.08,2.28,0.00,0.000,6,0.081,0.046,1763,2305,3411
$GC,6944,-0.84,-117.3,549.3,-10.0,234,6946,0.20,0.00,0.00,0.000,6,0.119,0.000,1824,2306,3411
$GC,7248,-0.87,-117.3,569.7,-6.6,239,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2306,3411
$GC,7550,-0.91,-117.3,590.2,-6.8,244,7554,0.00,2.33,0.00,0.000,4,0.000,0.045,1824,895,3410
$GC,7585,-0.95,-117.3,592.8,-7.3,244,7589,0.10,2.28,0.00,0.000,6,0.067,0.042,1760,2303,3410
$GC,7917,-0.86,-117.3,625.7,-10.0,250,7919,0.17,0.00,0.00,0.000,6,0.123,0.000,1812,2303,3410
$GC,8221,-0.86,-117.3,647.1,-6.8,255,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2303,3410
$GC,8523,-0.86,-117.3,667.0,-6.5,260,8527,0.00,2.30,0.00,0.000,4,0.000,0.051,1812,899,3410
$GC,8558,-0.86,-117.3,669.4,-6.6,260,8563,0.00,2.28,0.00,0.000,6,0.000,0.039,1809,2311,3410
$GC,8886,-0.86,-117.3,691.6,-6.8,266,8890,0.00,2.33,0.00,0.000,4,0.000,0.051,1809,897,3410
$GC,8921,-0.86,-117.3,694.2,-7.4,266,8925,0.00,2.30,0.00,0.000,6,0.000,0.040,1806,2310,3409
$GC,9248,-0.86,-117.3,717.6,-7.1,272,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2310,3409
$GC,9551,-0.86,-117.3,738.9,-7.0,277,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2310,3409
$GC,9854,-0.86,-117.3,759.8,-6.9,282,9858,0.00,2.33,0.00,0.000,4,0.000,0.045,1806,895,3409
$GC,9906,-0.86,-117.3,763.8,-8.0,282,9910,0.00,2.28,0.00,0.000,6,0.000,0.043,1797,2305,3409
$GC,10227,-0.86,-117.3,787.4,-7.3,288,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2305,3409
$GC,10530,-0.86,-117.3,809.2,-7.1,293,10534,0.00,2.35,0.00,0.000,4,0.000,0.044,1797,896,3408
$GC,10576,-0.86,-117.3,812.9,-7.7,293,10580,0.00,2.30,0.00,0.000,6,0.000,0.045,1794,2310,3408
$GC,10892,-0.86,-117.3,835.6,-7.2,299,10893,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2311,3408
$GC,11194,-0.86,-117.3,857.8,-7.3,304,11195,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2311,3408
$GC,11497,-0.86,-117.3,879.4,-7.1,309,11501,0.00,2.35,0.00,0.000,4,0.000,0.052,1794,895,3408
$GC,11554,-0.86,-117.3,883.5,-7.7,309,11559,0.12,2.30,0.00,0.000,6,0.120,0.040,1820,2305,3408
$GC,11866,-0.91,-117.3,900.3,-5.3,314,11868,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2304,3408
$GC,12169,-0.96,-117.3,916.5,-5.4,319,12170,0.10,0.00,0.00,0.000,6,0.076,0.000,1771,2306,3408
$GC,12471,-0.91,-117.3,939.6,-7.7,324,12473,0.12,0.00,0.00,0.000,6,0.122,0.000,1806,2306,3408
$GC,12775,-0.93,-117.3,957.6,-5.9,329,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3408
$GC,13078,-0.96,-117.3,974.3,-5.4,334,13079,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3408
$GC,13381,-0.98,-117.3,989.6,-5.0,339,13385,0.00,2.35,0.00,0.000,4,0.000,0.048,1807,895,3408
$STATE,13388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13389,begin apogee
$GC,13400,-0.22,0.0,990.1,4.8,339,13506,0.43,0.00,98.60,1.277,6,0.111,0.000,1949,2308,2930
$STATE,13507,end apogee,CONTROL_FINISHED_OK
$STATE,13507,begin climb
$GC,13512,0.68,117.3,992.1,0.0,341,13623,0.55,2.53,104.00,1.249,4,0.068,0.056,2148,3712,2451
$GC,13669,0.50,117.3,986.0,8.1,343,13674,0.20,2.35,0.00,0.000,6,0.156,0.035,2110,2313,2447
$GC,14003,0.46,117.3,966.7,5.7,349,14004,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2313,2442
$GC,14305,0.44,125.9,950.7,5.2,354,14314,0.00,0.00,6.88,0.976,6,0.000,0.000,2110,2313,2417
$GC,14608,0.44,153.1,936.7,4.6,359,14638,0.00,2.38,25.27,1.184,4,0.000,0.056,2110,3719,2305
$GC,14680,0.38,153.1,933.1,5.8,360,14685,0.15,2.30,0.00,0.000,6,0.150,0.039,2080,2297,2302
$GC,15036,0.55,203.0,919.9,3.8,366,15086,0.12,2.40,44.38,1.202,4,0.067,0.056,2141,3711,2103
$GC,15212,0.47,203.0,908.6,7.5,368,15216,0.20,2.28,0.00,0.000,6,0.142,0.034,2097,2302,2098
$GC,15533,0.56,240.8,894.8,4.2,374,15580,0.10,2.38,35.85,1.120,4,0.067,0.054,2159,886,1949
$GC,15605,0.53,240.8,890.0,6.6,375,15610,0.17,2.33,0.00,0.000,6,0.128,0.040,2111,2308,1946
$GC,15961,0.57,240.8,869.3,5.9,381,15965,0.00,2.28,0.00,0.000,4,0.000,0.049,2111,3709,1942
$GC,16024,0.57,240.8,864.4,7.4,382,16028,0.00,2.22,0.00,0.000,6,0.000,0.034,2119,2300,1942
$GC,16392,0.60,240.8,837.4,7.5,388,16393,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2300,1940
$GC,16694,0.63,240.8,814.5,7.6,393,16695,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2301,1940
$GC,16997,0.66,240.8,793.1,7.0,398,17001,0.08,2.30,0.00,0.000,4,0.078,0.051,2170,3715,1940
$GC,17021,0.61,240.8,791.1,8.4,398,17025,0.20,2.22,0.00,0.000,6,0.142,0.033,2126,2300,1939
$GC,17364,0.61,240.8,767.7,6.5,404,17368,0.00,2.33,0.00,0.000,4,0.000,0.048,2136,886,1939
$GC,17387,0.61,240.8,766.2,6.2,404,17391,0.00,2.28,0.00,0.000,6,0.000,0.038,2136,2314,1938
$GC,17731,0.61,240.8,742.5,6.9,410,17735,0.00,2.30,0.00,0.000,4,0.000,0.051,2136,3717,1939
$GC,17789,0.57,240.8,738.1,8.4,410,17796,0.05,2.28,0.00,0.000,6,0.140,0.033,2113,2298,1938
$GC,18100,0.63,250.2,721.6,5.2,416,18115,0.10,2.33,8.35,0.930,4,0.069,0.048,2191,895,1910
$GC,18133,0.56,250.2,719.0,8.9,416,18138,0.25,2.25,0.00,0.000,6,0.133,0.041,2120,2305,1909
$GC,18466,0.60,250.2,699.7,5.7,422,18470,0.00,2.28,0.00,0.000,4,0.000,0.048,2120,3712,1908
$GC,18517,0.60,250.2,696.1,6.8,422,18522,0.00,2.22,0.00,0.000,6,0.000,0.032,2127,2290,1908
$GC,18828,0.60,250.2,676.1,6.5,427,18829,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2290,1907
$GC,19132,0.62,250.2,656.7,6.4,432,19133,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2290,1907
$GC,19434,0.64,250.2,637.8,6.2,437,19438,0.00,2.30,0.00,0.000,4,0.000,0.048,2127,3711,1907
$GC,19485,0.64,250.2,634.0,7.3,437,19489,0.00,2.20,0.00,0.000,6,0.000,0.032,2137,2303,1907
$GC,19807,0.64,250.2,612.5,6.8,443,19808,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2304,1907
$GC,20111,0.64,250.2,592.8,6.5,448,20115,0.00,2.30,0.00,0.000,4,0.000,0.048,2137,3714,1907
$GC,20133,0.64,250.2,591.2,6.5,448,20138,0.00,2.22,0.00,0.000,6,0.000,0.032,2147,2306,1907
$GC,20472,0.62,250.2,567.3,7.1,454,20476,0.00,2.30,0.00,0.000,4,0.000,0.047,2157,888,1907
$GC,20495,0.62,250.2,565.5,7.2,454,20500,0.10,2.28,0.00,0.000,6,0.119,0.038,2131,2307,1906
$GC,20835,0.64,250.2,543.4,6.5,460,20839,0.00,2.28,0.00,0.000,4,0.000,0.053,2131,3714,1906
$GC,20880,0.64,250.2,539.8,7.2,460,20884,0.00,2.22,0.00,0.000,6,0.000,0.032,2139,2289,1906
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$STATE,28807,end climb,SURFACE_DEPTH_REACHED
$STATE,28807,begin surface coast
$FINISH,1.5,1.013963
$STATE,28829,end surface coast,CONTROL_FINISHED_OK
$STATE,28829,begin surface
$SM_CCo,28910,0.00,0.000,0,0,1669,309.81
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$IRIDIUM_FIX,4933.03,-14211.02,250499,161654
$TT8_MAMPS,0.029146
$HUMID,1758
$INTERNAL_PRESSURE,7.37333
$TCM_TEMP,15.60
$XPDR_PINGS,50
$24V_AH,21.8,99.664
$10V_AH,10.3,85.477
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$DEVICE_SECS,18.725,223.500,378.225,0.000,0.000,25.423,26.697,172.853,12.500,0.000,0.000,17.507,1674.512,24046.887,499.911,2186.792,887.682,33.382,1672.601,0.000,2155.063,0.000,0.528,0.000
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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,44357,743
$CAP_FILE_SIZE,182835,0
$CFSIZE,260165632,204726272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,300110,084727,4952.315,-14158.489,25,2.4,44,18.9