version: 66.04
glider: 144
mission: 15
dive: 708
start: 2 4 110 2 38 37
data:
$ID,144
$MISSION,15
$DIVE,708
$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,-76040.75
$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,34
$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
$GPS1,023100,4944.051,-14041.279,40,1.5,41,19.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-58.9
$GPS2,023743,4944.053,-14041.362,10,1.2,10,19.1
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.162,-0.045
$KALMAN_X,-78637.8,-60.8,-79.3,396922.8,1908.3
$KALMAN_Y,37304.1,-24.4,-18.9,-105650.9,615.1
$MHEAD_RNG_PITCHd_Wd,86.4,146957,-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,-117.3,0.0,0.0,0,82,0.00,0.00,-59.85,0.000,2,0.000,0.000,98,2304,2918
$GC,86,-0.68,-117.3,4.5,-5.9,3,109,7.22,2.38,-10.00,0.000,4,0.235,0.061,1855,895,3412
$GC,195,-0.68,-117.3,21.4,-10.0,7,201,0.00,2.22,0.00,0.000,6,0.000,0.036,1850,2307,3414
$GC,512,-0.64,-117.3,52.1,-9.6,23,516,0.00,2.25,0.00,0.000,4,0.000,0.041,1849,893,3414
$GC,574,-0.64,-117.3,58.6,-10.3,25,580,0.00,2.28,0.00,0.000,6,0.000,0.037,1841,2307,3414
$GC,896,-0.60,-117.3,92.3,-10.8,46,900,0.10,2.28,0.00,0.000,4,0.139,0.040,1868,893,3414
$GC,952,-0.64,-117.3,97.6,-8.1,50,958,0.00,2.22,0.00,0.000,6,0.000,0.035,1863,2309,3414
$GC,1283,-0.68,-117.3,122.9,-7.5,81,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2309,3415
$GC,1610,-0.73,-117.3,145.5,-6.6,112,1615,0.08,2.25,0.00,0.000,4,0.079,0.040,1790,893,3414
$GC,1661,-0.66,-117.3,150.6,-10.3,116,1668,0.28,2.25,0.00,0.000,6,0.118,0.038,1861,2306,3414
$GC,1976,-0.72,-117.3,169.2,-5.9,127,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2306,3414
$GC,2282,-0.79,-117.3,187.4,-5.9,137,2284,0.12,0.00,0.00,0.000,6,0.056,0.000,1778,2307,3414
$GC,2588,-0.69,-117.3,219.7,-10.8,147,2592,0.20,2.30,0.00,0.000,4,0.119,0.047,1845,897,3414
$GC,2651,-0.74,-117.3,225.0,-7.3,148,2657,0.00,2.25,0.00,0.000,6,0.000,0.037,1838,2306,3414
$GC,2965,-0.77,-117.3,247.4,-7.2,159,2969,0.00,2.30,0.00,0.000,4,0.000,0.041,1838,887,3414
$GC,3012,-0.80,-117.3,251.1,-7.9,160,3016,0.00,2.30,0.00,0.000,6,0.000,0.039,1837,2309,3414
$GC,3338,-0.82,-117.3,274.6,-7.2,171,3342,0.00,2.30,0.00,0.000,4,0.000,0.042,1837,893,3414
$GC,3385,-0.86,-117.3,278.1,-7.6,172,3389,0.10,2.28,0.00,0.000,6,0.066,0.038,1766,2304,3414
$GC,3739,-0.76,-117.3,316.4,-11.0,182,3744,0.20,2.28,0.00,0.000,4,0.121,0.044,1832,897,3413
$GC,3785,-0.80,-117.3,320.6,-7.5,182,3789,0.00,2.25,0.00,0.000,6,0.000,0.044,1825,2310,3413
$GC,4100,-0.80,-117.3,343.4,-7.3,188,4104,0.00,2.30,0.00,0.000,4,0.000,0.044,1825,894,3413
$GC,4129,-0.80,-117.3,345.5,-7.8,188,4133,0.00,2.28,0.00,0.000,6,0.000,0.044,1816,2309,3413
$GC,4462,-0.80,-117.3,368.9,-7.0,194,4466,0.00,2.30,0.00,0.000,4,0.000,0.042,1816,892,3413
$GC,4497,-0.80,-117.3,371.4,-7.3,194,4501,0.00,2.28,0.00,0.000,6,0.000,0.038,1807,2305,3413
$GC,4824,-0.77,-117.3,395.6,-7.4,200,4829,0.10,2.28,0.00,0.000,4,0.138,0.041,1836,889,3413
$GC,4882,-0.83,-117.3,399.4,-6.1,200,4888,0.00,2.28,0.00,0.000,6,0.000,0.038,1836,2306,3413
$GC,5194,-0.87,-117.3,417.8,-6.0,206,5198,0.10,2.30,0.00,0.000,4,0.064,0.042,1767,897,3412
$GC,5228,-0.78,-117.3,420.9,-10.1,206,5233,0.25,2.25,0.00,0.000,6,0.118,0.043,1829,2305,3412
$GC,5562,-0.81,-117.3,442.5,-6.3,212,5566,0.00,2.28,0.00,0.000,4,0.000,0.044,1830,891,3412
$GC,5591,-0.85,-117.3,444.6,-6.7,212,5595,0.00,2.28,0.00,0.000,6,0.000,0.043,1823,2316,3412
$GC,5929,-0.85,-117.3,466.4,-6.5,218,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2316,3412
$GC,6232,-0.85,-117.3,486.3,-6.6,223,6236,0.00,2.30,0.00,0.000,4,0.000,0.047,1823,893,3411
$GC,6273,-0.88,-117.3,489.2,-7.5,223,6277,0.00,2.28,0.00,0.000,6,0.000,0.045,1820,2309,3411
$GC,6600,-0.88,-117.3,513.9,-7.6,229,6604,0.00,2.33,0.00,0.000,4,0.000,0.048,1820,889,3411
$GC,6634,-0.90,-117.3,516.7,-8.5,229,6638,0.00,2.30,0.00,0.000,6,0.000,0.038,1810,2312,3411
$GC,6962,-0.90,-117.3,544.7,-8.6,235,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2312,3411
$GC,7265,-0.90,-117.3,570.2,-8.3,240,7269,0.00,2.33,0.00,0.000,4,0.000,0.046,1810,894,3411
$GC,7311,-0.90,-117.3,574.3,-8.5,240,7315,0.00,2.28,0.00,0.000,6,0.000,0.041,1801,2305,3410
$GC,7627,-0.90,-117.3,601.3,-8.5,246,7631,0.00,2.30,0.00,0.000,4,0.000,0.046,1801,888,3410
$GC,7655,-0.90,-117.3,603.8,-8.6,246,7659,0.00,2.28,0.00,0.000,6,0.000,0.043,1794,2301,3410
$GC,7994,-0.87,-117.3,630.5,-7.8,252,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2301,3410
$GC,8296,-0.84,-117.3,655.0,-8.1,257,8298,0.10,0.00,0.00,0.000,6,0.137,0.000,1822,2301,3410
$GC,8600,-0.88,-117.3,674.2,-6.2,262,8604,0.00,2.30,0.00,0.000,4,0.000,0.048,1822,887,3410
$GC,8641,-0.92,-117.3,676.9,-6.6,262,8645,0.00,2.28,0.00,0.000,6,0.000,0.041,1822,2304,3410
$GC,8963,-0.96,-117.3,695.9,-5.8,268,8965,0.10,0.00,0.00,0.000,6,0.066,0.000,1758,2304,3410
$GC,9266,-0.87,-117.3,723.4,-9.3,273,9271,0.17,2.30,0.00,0.000,4,0.122,0.044,1816,892,3410
$GC,9326,-0.90,-117.3,727.9,-6.9,273,9330,0.00,2.28,0.00,0.000,6,0.000,0.043,1809,2306,3410
$GC,9636,-0.90,-117.3,749.4,-7.0,278,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2306,3410
$GC,9939,-0.90,-117.3,770.5,-6.9,283,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2306,3410
$GC,10242,-0.90,-117.3,790.5,-6.6,288,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2307,3409
$GC,10545,-0.90,-117.3,811.3,-6.8,293,10549,0.00,2.33,0.00,0.000,4,0.000,0.051,1809,888,3409
$GC,10592,-0.92,-117.3,814.6,-8.3,293,10596,0.00,2.30,0.00,0.000,6,0.000,0.040,1808,2305,3409
$GC,10908,-0.92,-117.3,835.1,-6.4,299,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3409
$GC,11211,-0.92,-117.3,854.0,-6.2,304,11215,0.00,2.33,0.00,0.000,4,0.000,0.051,1808,892,3409
$GC,11256,-0.92,-117.3,857.0,-6.9,304,11260,0.00,2.30,0.00,0.000,6,0.000,0.046,1806,2303,3409
$GC,11572,-0.92,-117.3,875.7,-6.0,310,11576,0.00,2.33,0.00,0.000,4,0.000,0.054,1796,3710,3409
$GC,11603,-0.92,-117.3,877.7,-7.2,310,11607,0.00,2.25,0.00,0.000,6,0.000,0.031,1796,2297,3409
$GC,11936,-0.92,-117.3,899.6,-6.6,316,11940,0.00,2.28,0.00,0.000,4,0.000,0.050,1796,898,3409
$GC,11987,-0.92,-117.3,903.4,-8.0,316,11992,0.00,2.28,0.00,0.000,6,0.000,0.041,1793,2304,3408
$GC,12298,-0.92,-117.3,926.0,-7.3,321,12302,0.00,2.30,0.00,0.000,4,0.000,0.048,1793,896,3408
$GC,12344,-0.92,-117.3,929.7,-8.0,321,12348,0.00,2.28,0.00,0.000,6,0.000,0.044,1782,2304,3408
$GC,12660,-0.89,-117.3,954.2,-7.8,327,12662,0.10,0.00,0.00,0.000,6,0.140,0.000,1809,2304,3408
$GC,12964,-0.92,-117.3,972.7,-6.0,332,12968,0.00,2.33,0.00,0.000,4,0.000,0.048,1809,896,3408
$GC,12998,-0.94,-117.3,975.1,-6.3,332,13003,0.00,2.30,0.00,0.000,6,0.000,0.043,1809,2306,3408
$STATE,13261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13261,begin apogee
$GC,13270,-0.22,0.0,990.9,6.0,337,13372,0.45,0.00,98.85,1.279,6,0.112,0.000,1953,2306,2930
$STATE,13372,end apogee,CONTROL_FINISHED_OK
$STATE,13373,begin climb
$GC,13377,0.68,117.3,992.3,0.0,338,13489,0.55,2.53,104.18,1.251,4,0.070,0.056,2148,3707,2451
$GC,13523,0.50,117.3,990.0,6.4,341,13529,0.20,2.38,0.00,0.000,6,0.154,0.034,2110,2302,2447
$GC,13875,0.49,135.6,972.8,4.9,347,13893,0.00,0.00,15.45,1.150,6,0.000,0.000,2110,2303,2377
$GC,14246,0.49,160.3,955.2,4.7,353,14275,0.00,2.40,22.30,1.183,4,0.000,0.055,2110,3709,2276
$GC,14305,0.45,160.3,952.0,5.6,353,14311,0.00,2.28,0.00,0.000,6,0.000,0.034,2119,2298,2274
$GC,14617,0.43,168.5,935.7,5.2,359,14632,0.10,2.33,8.10,1.016,4,0.157,0.052,2094,3708,2243
$GC,14673,0.43,168.5,932.8,5.5,359,14677,0.00,2.25,0.00,0.000,6,0.000,0.034,2102,2292,2242
$GC,14984,0.48,203.8,919.4,4.3,364,15018,0.00,0.00,32.42,1.194,6,0.000,0.000,2102,2292,2100
$GC,15288,0.55,233.2,905.7,4.5,369,15322,0.00,2.42,26.90,1.168,4,0.000,0.055,2102,3719,1980
$GC,15347,0.61,239.7,902.7,5.3,369,15362,0.08,2.28,7.50,0.967,6,0.077,0.036,2155,2296,1953
$GC,15726,0.54,239.7,873.6,7.9,376,15728,0.15,0.00,0.00,0.000,6,0.137,0.000,2115,2295,1948
$GC,16028,0.59,249.6,857.5,5.2,381,16042,0.00,2.33,9.45,1.022,4,0.000,0.050,2115,3718,1912
$GC,16068,0.63,249.6,855.0,5.6,381,16072,0.00,2.22,0.00,0.000,6,0.000,0.034,2121,2297,1912
$GC,16395,0.63,249.6,834.8,6.3,387,16396,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2297,1909
$GC,16699,0.63,249.6,813.9,6.9,392,16703,0.00,2.30,0.00,0.000,4,0.000,0.054,2121,3715,1908
$GC,16744,0.63,249.6,810.1,9.8,392,16748,0.00,2.22,0.00,0.000,6,0.000,0.034,2131,2300,1908
$GC,17060,0.63,249.6,787.6,7.0,398,17062,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2300,1909
$GC,17363,0.63,249.6,768.1,6.4,403,17367,0.00,2.30,0.00,0.000,4,0.000,0.050,2131,3718,1908
$GC,17416,0.61,249.6,764.2,7.4,403,17420,0.00,2.22,0.00,0.000,6,0.000,0.032,2141,2293,1908
$GC,17726,0.61,249.6,741.2,7.5,408,17730,0.00,2.33,0.00,0.000,4,0.000,0.055,2141,3718,1908
$GC,17755,0.57,249.6,738.7,8.0,408,17760,0.12,2.20,0.00,0.000,6,0.135,0.032,2118,2303,1907
$GC,18095,0.62,249.6,717.1,6.3,414,18096,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2303,1908
$GC,18400,0.66,249.6,698.7,6.0,419,18402,0.10,0.00,0.00,0.000,6,0.066,0.000,2184,2302,1907
$GC,18700,0.55,249.6,668.3,10.3,424,18705,0.20,2.33,0.00,0.000,4,0.133,0.051,2121,3718,1907
$GC,18751,0.55,249.6,664.0,7.3,424,18755,0.00,2.22,0.00,0.000,6,0.000,0.032,2129,2301,1907
$GC,19062,0.55,249.6,643.9,6.5,429,19063,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2301,1907
$GC,19364,0.55,249.6,623.2,6.8,434,19368,0.00,2.33,0.00,0.000,4,0.000,0.051,2129,3711,1907
$GC,19405,0.55,249.6,620.2,7.6,434,19409,0.00,2.22,0.00,0.000,6,0.000,0.035,2139,2305,1907
$GC,19726,0.55,249.6,596.4,7.5,440,19730,0.00,2.30,0.00,0.000,4,0.000,0.049,2139,3713,1906
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$STATE,28800,end climb,SURFACE_DEPTH_REACHED
$STATE,28800,begin surface coast
$FINISH,1.4,1.025459
$STATE,28822,end surface coast,CONTROL_FINISHED_OK
$STATE,28822,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1756
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$TCM_TEMP,15.80
$XPDR_PINGS,66
$24V_AH,21.7,101.857
$10V_AH,10.3,87.158
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$DEVICE_SECS,18.575,246.000,379.600,0.000,0.000,30.926,32.066,166.126,16.500,0.000,0.000,11.959,1696.402,23912.912,545.989,2211.886,922.589,33.384,1738.604,0.000,2185.839,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,529.361,611.227,778.132,840.872,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44340,754
$CAP_FILE_SIZE,185992,0
$CFSIZE,260165632,203558912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040210,104156,4943.342,-14035.949,33,6.1,52,19.1