version: 66.04
glider: 144
mission: 15
dive: 699
start: 2 1 110 1 29 55
data:
$ID,144
$MISSION,15
$DIVE,699
$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,-75827.805
$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,32
$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
$GPS1,012226,4949.831,-14131.196,38,2.3,57,19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-58.8
$GPS2,012901,4949.835,-14131.237,11,1.4,15,19.0
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.163,-0.040
$KALMAN_X,-84432.0,-238.1,-156.3,344037.4,1702.5
$KALMAN_Y,35960.8,192.8,-28.2,-93803.7,352.1
$MHEAD_RNG_PITCHd_Wd,84.9,207759,-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,16,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,-40.25,0.000,2,0.000,0.000,99,2303,2560
$GC,67,-0.68,-117.3,3.4,-5.4,2,102,7.15,2.35,-22.85,0.000,4,0.230,0.062,1848,885,3412
$GC,133,-0.65,-117.3,10.4,-11.5,5,137,0.00,2.28,0.00,0.000,6,0.000,0.038,1842,2311,3413
$GC,468,-0.61,-117.3,46.9,-10.5,21,472,0.10,2.30,0.00,0.000,4,0.140,0.041,1869,885,3413
$GC,519,-0.65,-117.3,51.9,-8.7,23,523,0.00,2.25,0.00,0.000,6,0.000,0.035,1863,2311,3413
$GC,842,-0.65,-117.3,80.8,-9.1,39,846,0.00,2.28,0.00,0.000,4,0.000,0.041,1863,891,3413
$GC,884,-0.67,-117.3,84.7,-9.1,42,888,0.00,2.22,0.00,0.000,6,0.000,0.038,1862,2308,3413
$GC,1220,-0.70,-117.3,110.5,-6.8,73,1224,0.00,2.25,0.00,0.000,4,0.000,0.041,1862,891,3413
$GC,1278,-0.74,-117.3,115.1,-7.5,78,1282,0.00,2.22,0.00,0.000,6,0.000,0.037,1854,2305,3413
$GC,1608,-0.77,-117.3,139.1,-7.0,108,1612,0.08,2.28,0.00,0.000,4,0.079,0.048,1769,3713,3413
$GC,1671,-0.67,-117.3,146.1,-11.8,113,1678,0.30,2.20,0.00,0.000,6,0.112,0.030,1861,2288,3413
$GC,1997,-0.73,-117.3,166.5,-5.9,127,2001,0.00,2.22,0.00,0.000,4,0.000,0.041,1861,894,3413
$GC,2044,-0.81,-117.3,169.2,-5.8,128,2048,0.12,2.28,0.00,0.000,6,0.055,0.041,1778,2310,3414
$GC,2369,-0.72,-117.3,204.0,-11.1,139,2374,0.20,2.30,0.00,0.000,4,0.120,0.041,1844,888,3413
$GC,2439,-0.76,-117.3,209.9,-8.0,141,2443,0.00,2.22,0.00,0.000,6,0.000,0.036,1837,2302,3414
$GC,2776,-0.78,-117.3,233.8,-7.0,152,2780,0.00,2.33,0.00,0.000,4,0.000,0.049,1827,3705,3414
$GC,2806,-0.81,-117.3,236.1,-7.8,153,2810,0.00,2.20,0.00,0.000,6,0.000,0.030,1828,2300,3413
$GC,3142,-0.81,-117.3,260.3,-7.1,164,3146,0.00,2.28,0.00,0.000,4,0.000,0.042,1828,896,3413
$GC,3199,-0.81,-117.3,264.8,-7.6,165,3205,0.00,2.22,0.00,0.000,6,0.000,0.038,1821,2306,3413
$GC,3513,-0.81,-117.3,289.7,-8.1,176,3517,0.00,2.28,0.00,0.000,4,0.000,0.042,1821,901,3413
$GC,3563,-0.81,-117.3,294.0,-8.3,177,3568,0.00,2.22,0.00,0.000,6,0.000,0.041,1812,2309,3413
$GC,3911,-0.81,-117.3,322.3,-8.2,185,3915,0.00,2.30,0.00,0.000,4,0.000,0.042,1812,888,3413
$GC,3957,-0.81,-117.3,326.3,-8.9,185,3961,0.00,2.28,0.00,0.000,6,0.000,0.038,1803,2310,3413
$GC,4273,-0.78,-117.3,353.9,-8.8,191,4278,0.10,2.30,0.00,0.000,4,0.134,0.046,1831,888,3412
$GC,4301,-0.78,-117.3,356.2,-7.8,191,4306,0.00,2.28,0.00,0.000,6,0.000,0.038,1824,2314,3412
$GC,4641,-0.78,-117.3,378.5,-6.5,197,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2314,3412
$GC,4943,-0.78,-117.3,397.5,-6.3,202,4947,0.00,2.33,0.00,0.000,4,0.000,0.042,1824,890,3412
$GC,4983,-0.80,-117.3,400.3,-6.9,202,4987,0.00,2.30,0.00,0.000,6,0.000,0.038,1815,2308,3412
$GC,5304,-0.80,-117.3,422.9,-7.1,208,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2308,3412
$GC,5608,-0.80,-117.3,443.8,-6.9,213,5612,0.00,2.30,0.00,0.000,4,0.000,0.045,1815,898,3411
$GC,5682,-0.80,-117.3,449.2,-7.5,214,5686,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2310,3411
$GC,6037,-0.80,-117.3,473.6,-6.9,220,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2310,3411
$GC,6340,-0.80,-117.3,495.4,-7.1,225,6344,0.00,2.30,0.00,0.000,4,0.000,0.044,1808,891,3411
$GC,6397,-0.80,-117.3,499.9,-8.0,225,6402,0.10,2.28,0.00,0.000,6,0.127,0.038,1826,2306,3411
$GC,6714,-0.83,-117.3,521.3,-6.8,231,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2307,3410
$GC,7016,-0.87,-117.3,542.1,-6.9,236,7020,0.00,2.25,0.00,0.000,4,0.000,0.049,1826,900,3410
$GC,7046,-0.90,-117.3,544.4,-7.9,236,7050,0.00,2.28,0.00,0.000,6,0.000,0.043,1821,2311,3410
$GC,7385,-0.93,-117.3,568.7,-7.2,242,7390,0.10,2.30,0.00,0.000,4,0.064,0.043,1751,890,3410
$GC,7408,-0.88,-117.3,570.9,-8.8,242,7413,0.25,2.28,0.00,0.000,6,0.125,0.040,1813,2310,3410
$GC,7752,-0.88,-117.3,596.2,-7.3,248,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2310,3410
$GC,8056,-0.88,-117.3,617.2,-6.9,253,8060,0.00,2.30,0.00,0.000,4,0.000,0.044,1814,898,3409
$GC,8090,-0.90,-117.3,619.7,-7.3,253,8094,0.00,2.28,0.00,0.000,6,0.000,0.045,1809,2311,3409
$GC,8417,-0.90,-117.3,642.4,-6.9,259,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3409
$GC,8720,-0.90,-117.3,663.7,-7.0,264,8724,0.00,2.33,0.00,0.000,4,0.000,0.050,1809,893,3409
$GC,8784,-0.90,-117.3,668.3,-7.5,265,8788,0.00,2.28,0.00,0.000,6,0.000,0.044,1807,2303,3409
$GC,9156,-0.90,-117.3,693.0,-6.5,271,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2303,3409
$GC,9459,-0.90,-117.3,712.4,-6.4,276,9463,0.00,2.30,0.00,0.000,4,0.000,0.049,1807,891,3409
$GC,9506,-0.90,-117.3,715.6,-7.1,276,9510,0.00,2.28,0.00,0.000,6,0.000,0.044,1797,2305,3409
$GC,9822,-0.90,-117.3,737.5,-7.0,282,9823,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2305,3409
$GC,10125,-0.90,-117.3,759.0,-7.1,287,10129,0.00,2.35,0.00,0.000,4,0.000,0.045,1797,889,3409
$GC,10153,-0.90,-117.3,761.1,-7.6,287,10157,0.00,2.30,0.00,0.000,6,0.000,0.045,1794,2309,3408
$GC,10493,-0.90,-117.3,785.1,-7.1,293,10494,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3408
$GC,10795,-0.90,-117.3,807.5,-7.3,298,10799,0.00,2.30,0.00,0.000,4,0.000,0.045,1794,897,3408
$GC,10829,-0.90,-117.3,810.0,-7.9,298,10833,0.00,2.28,0.00,0.000,6,0.000,0.039,1785,2305,3408
$GC,11162,-0.87,-117.3,834.8,-7.5,304,11164,0.10,0.00,0.00,0.000,6,0.137,0.000,1813,2306,3408
$GC,11466,-0.90,-117.3,852.5,-5.7,309,11470,0.00,2.30,0.00,0.000,4,0.000,0.045,1813,898,3408
$GC,11511,-0.94,-117.3,855.5,-6.3,309,11515,0.00,2.28,0.00,0.000,6,0.000,0.043,1810,2309,3408
$GC,11828,-0.96,-117.3,873.6,-5.7,315,11829,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3408
$GC,12131,-0.99,-117.3,890.7,-5.6,320,12135,0.10,2.33,0.00,0.000,4,0.071,0.044,1757,896,3407
$GC,12166,-0.91,-117.3,893.4,-8.3,320,12171,0.17,2.28,0.00,0.000,6,0.129,0.048,1803,2303,3407
$GC,12493,-0.91,-117.3,914.3,-6.3,326,12497,0.00,2.30,0.00,0.000,4,0.000,0.057,1795,3708,3407
$GC,12521,-0.91,-117.3,916.1,-6.3,326,12525,0.00,2.22,0.00,0.000,6,0.000,0.038,1795,2305,3407
$GC,12860,-0.91,-117.3,940.3,-7.3,332,12864,0.00,2.30,0.00,0.000,4,0.000,0.046,1795,898,3407
$GC,12899,-0.91,-117.3,943.6,-8.0,332,12903,0.00,2.28,0.00,0.000,6,0.000,0.046,1792,2303,3407
$GC,13227,-0.91,-117.3,969.1,-7.8,338,13228,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2303,3407
$STATE,13526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13526,begin apogee
$GC,13536,-0.22,0.0,992.3,7.6,343,13637,0.50,0.00,98.85,1.280,6,0.110,0.000,1953,2303,2931
$STATE,13638,end apogee,CONTROL_FINISHED_OK
$STATE,13638,begin climb
$GC,13642,0.68,117.3,994.2,0.0,344,13753,0.55,2.55,104.25,1.255,4,0.068,0.054,2150,3709,2451
$GC,13804,0.50,117.3,991.7,7.1,346,13809,0.20,2.38,0.00,0.000,6,0.157,0.034,2112,2310,2447
$GC,14133,0.48,135.9,975.9,4.9,352,14151,0.00,0.00,16.10,1.155,6,0.000,0.000,2111,2310,2376
$GC,14435,0.47,142.8,960.0,5.3,357,14444,0.00,0.00,7.22,0.993,6,0.000,0.000,2112,2310,2348
$GC,14738,0.48,151.2,944.2,5.2,362,14752,0.00,2.33,8.70,1.041,4,0.000,0.054,2112,3702,2314
$GC,14794,0.42,151.2,940.7,5.8,362,14799,0.12,2.25,0.00,0.000,6,0.157,0.038,2090,2291,2312
$GC,15105,0.48,173.7,925.9,4.7,367,15128,0.00,0.00,21.15,1.169,6,0.000,0.000,2089,2291,2222
$GC,15408,0.58,173.7,909.3,5.6,372,15413,0.12,2.33,0.00,0.000,4,0.067,0.055,2149,3714,2217
$GC,15577,0.46,173.7,895.0,8.4,374,15582,0.22,2.22,0.00,0.000,6,0.150,0.034,2099,2303,2216
$GC,15905,0.51,186.7,878.1,5.1,380,15924,0.00,2.38,12.15,1.084,4,0.000,0.048,2108,895,2169
$GC,15944,0.58,210.5,876.1,4.7,380,15972,0.00,2.25,22.88,1.139,6,0.000,0.038,2108,2303,2071
$GC,16276,0.61,210.5,857.3,5.7,386,16280,0.10,2.30,0.00,0.000,4,0.073,0.048,2166,3715,2067
$GC,16304,0.53,210.5,854.8,9.6,386,16309,0.22,2.25,0.00,0.000,6,0.149,0.033,2115,2292,2066
$GC,16638,0.55,210.5,834.1,6.0,392,16642,0.00,2.25,0.00,0.000,4,0.000,0.048,2123,894,2066
$GC,16673,0.59,210.5,831.9,6.7,392,16677,0.00,2.25,0.00,0.000,6,0.000,0.038,2124,2308,2065
$GC,17006,0.59,210.5,812.8,5.6,398,17010,0.00,2.25,0.00,0.000,4,0.000,0.053,2123,3708,2064
$GC,17047,0.56,210.5,810.2,6.2,398,17051,0.00,2.22,0.00,0.000,6,0.000,0.033,2134,2291,2063
$GC,17368,0.53,210.5,791.1,5.9,404,17370,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2291,2064
$GC,17671,0.53,212.6,774.8,5.4,409,17675,0.00,2.30,0.00,0.000,4,0.000,0.049,2133,3709,2064
$GC,17712,0.48,212.6,772.1,7.1,409,17716,0.15,2.22,0.00,0.000,6,0.140,0.039,2104,2293,2063
$GC,18034,0.58,254.6,758.8,4.1,415,18078,0.08,0.00,39.38,1.103,6,0.081,0.000,2158,2293,1891
$GC,18403,0.53,254.6,730.6,8.0,421,18408,0.17,2.33,0.00,0.000,4,0.130,0.046,2109,3708,1884
$GC,18444,0.57,254.6,727.6,7.7,421,18448,0.00,2.28,0.00,0.000,6,0.000,0.032,2116,2298,1884
$GC,18766,0.62,256.2,709.9,5.4,427,18770,0.00,2.28,0.00,0.000,4,0.000,0.046,2127,891,1883
$GC,18794,0.68,256.2,708.0,6.6,427,18798,0.00,2.22,0.00,0.000,6,0.000,0.041,2127,2305,1882
$GC,19134,0.72,256.2,687.7,6.0,433,19139,0.10,2.25,0.00,0.000,4,0.069,0.051,2196,3707,1882
$GC,19180,0.55,256.2,682.8,11.1,433,19184,0.32,2.22,0.00,0.000,6,0.146,0.036,2116,2295,1882
$GC,19496,0.61,256.2,664.0,5.7,439,19499,0.00,2.25,0.00,0.000,4,0.000,0.047,2124,896,1881
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$STATE,28801,end climb,SURFACE_DEPTH_REACHED
$STATE,28801,begin surface coast
$FINISH,1.5,1.013077
$STATE,28823,end surface coast,CONTROL_FINISHED_OK
$STATE,28823,begin surface
$SM_CCo,28903,0.00,0.000,0,0,1608,324.53
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$TT8_MAMPS,0.027612
$HUMID,1755
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$TCM_TEMP,15.70
$XPDR_PINGS,77
$24V_AH,21.7,100.533
$10V_AH,10.3,86.149
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$DEVICE_SECS,19.500,254.825,398.950,0.000,0.000,29.738,24.866,164.875,19.250,0.000,0.000,16.915,1705.656,23908.443,541.489,2219.382,907.390,33.384,1738.410,0.000,2185.848,0.000,0.527,0.000
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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,44262,737
$CAP_FILE_SIZE,191692,0
$CFSIZE,260165632,204251136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010210,093326,4949.274,-14125.311,44,2.6,63,19.0