version: 66.04
glider: 144
mission: 15
dive: 716
start: 2 6 110 20 6 11
data:
$ID,144
$MISSION,15
$DIVE,716
$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,-76235.633
$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,35
$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
$GPS1,195818,4939.695,-13956.940,39,1.5,39,19.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-62.5
$GPS2,200514,4939.719,-13956.854,10,1.8,10,19.2
$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,-73602.7,-48.1,73.5,444317.2,1602.5
$KALMAN_Y,39345.0,-56.6,37.0,-115742.1,835.1
$MHEAD_RNG_PITCHd_Wd,87.1,92917,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.05,0.000,2,0.000,0.000,99,2294,2770
$GC,63,-0.68,-117.3,4.2,-7.7,2,90,7.12,2.33,-14.40,0.000,4,0.232,0.060,1846,897,3412
$GC,344,-0.65,-117.3,35.9,-12.3,14,351,0.08,2.22,0.00,0.000,6,0.142,0.037,1858,2310,3413
$GC,662,-0.65,-117.3,64.7,-8.4,30,666,0.00,2.28,0.00,0.000,4,0.000,0.041,1858,894,3413
$GC,814,-0.65,-117.3,79.6,-9.7,36,820,0.00,2.22,0.00,0.000,6,0.000,0.036,1851,2311,3414
$GC,1140,-0.65,-117.3,109.6,-8.8,66,1144,0.00,2.25,0.00,0.000,4,0.000,0.041,1851,893,3413
$GC,1194,-0.68,-117.3,114.2,-9.0,70,1198,0.00,2.22,0.00,0.000,6,0.000,0.037,1850,2303,3414
$GC,1524,-0.68,-117.3,139.5,-6.9,100,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2303,3414
$GC,1865,-0.71,-117.3,162.4,-6.6,121,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2303,3414
$GC,2170,-0.75,-117.3,183.0,-6.6,131,2174,0.00,2.22,0.00,0.000,4,0.000,0.042,1850,892,3414
$GC,2222,-0.81,-117.3,186.5,-6.7,132,2227,0.10,2.25,0.00,0.000,6,0.065,0.040,1777,2302,3413
$GC,2542,-0.72,-117.3,218.5,-10.1,143,2544,0.22,0.00,0.00,0.000,6,0.114,0.000,1845,2302,3414
$GC,2848,-0.76,-117.3,238.8,-7.0,153,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2302,3414
$GC,3154,-0.81,-117.3,260.6,-6.8,163,3158,0.10,2.25,0.00,0.000,4,0.064,0.041,1768,886,3414
$GC,3247,-0.72,-117.3,270.4,-11.6,165,3252,0.30,2.28,0.00,0.000,6,0.114,0.039,1846,2311,3414
$GC,3561,-0.77,-117.3,291.7,-6.3,175,3565,0.00,2.30,0.00,0.000,4,0.000,0.049,1847,888,3413
$GC,3613,-0.83,-117.3,295.3,-7.0,176,3617,0.10,2.28,0.00,0.000,6,0.062,0.041,1775,2312,3413
$GC,3930,-0.75,-117.3,327.5,-10.5,183,3932,0.20,0.00,0.00,0.000,6,0.114,0.000,1836,2312,3413
$GC,4232,-0.79,-117.3,349.1,-6.9,188,4236,0.00,2.30,0.00,0.000,4,0.000,0.048,1835,888,3413
$GC,4267,-0.83,-117.3,351.9,-7.9,188,4271,0.00,2.30,0.00,0.000,6,0.000,0.038,1836,2310,3413
$GC,4595,-0.87,-117.3,375.5,-7.3,194,4597,0.10,0.00,0.00,0.000,6,0.064,0.000,1764,2310,3413
$GC,4897,-0.78,-117.3,408.9,-11.2,199,4899,0.22,0.00,0.00,0.000,6,0.114,0.000,1834,2310,3412
$GC,5201,-0.82,-117.3,430.2,-6.7,204,5205,0.00,2.30,0.00,0.000,4,0.000,0.047,1834,895,3412
$GC,5269,-0.87,-117.3,435.1,-6.6,205,5274,0.10,2.28,0.00,0.000,6,0.065,0.041,1765,2305,3412
$GC,5631,-0.78,-117.3,470.2,-9.9,211,5633,0.22,0.00,0.00,0.000,6,0.115,0.000,1834,2305,3412
$GC,5934,-0.83,-117.3,488.4,-5.7,216,5938,0.00,2.30,0.00,0.000,4,0.000,0.043,1834,888,3412
$GC,5974,-0.88,-117.3,491.0,-6.0,216,5979,0.10,2.30,0.00,0.000,6,0.065,0.039,1766,2306,3412
$GC,6297,-0.80,-117.3,521.2,-9.7,222,6302,0.17,2.35,0.00,0.000,4,0.118,0.049,1826,889,3412
$GC,6332,-0.83,-117.3,524.2,-7.6,222,6336,0.00,2.30,0.00,0.000,6,0.000,0.042,1822,2310,3412
$GC,6659,-0.85,-117.3,546.2,-6.8,228,6663,0.00,2.30,0.00,0.000,4,0.000,0.044,1823,896,3411
$GC,6695,-0.88,-117.3,548.8,-7.5,228,6699,0.00,2.30,0.00,0.000,6,0.000,0.044,1821,2314,3411
$GC,7022,-0.90,-117.3,570.4,-6.6,234,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2315,3411
$GC,7325,-0.93,-117.3,590.6,-6.7,239,7330,0.08,2.33,0.00,0.000,4,0.081,0.043,1763,894,3411
$GC,7394,-0.85,-117.3,597.3,-9.8,240,7399,0.20,2.30,0.00,0.000,6,0.120,0.040,1813,2312,3411
$GC,7756,-0.85,-117.3,623.6,-7.1,246,7760,0.00,2.35,0.00,0.000,4,0.000,0.050,1814,888,3411
$GC,7801,-0.88,-117.3,627.1,-7.7,246,7806,0.00,2.30,0.00,0.000,6,0.000,0.041,1809,2311,3411
$GC,8119,-0.88,-117.3,648.3,-6.7,252,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2312,3411
$GC,8421,-0.88,-117.3,668.1,-6.5,257,8425,0.00,2.33,0.00,0.000,4,0.000,0.044,1809,889,3411
$GC,8457,-0.88,-117.3,670.7,-7.6,257,8461,0.00,2.30,0.00,0.000,6,0.000,0.047,1807,2311,3410
$GC,8784,-0.88,-117.3,692.5,-6.6,263,8788,0.00,2.33,0.00,0.000,4,0.000,0.044,1807,888,3410
$GC,8830,-0.88,-117.3,695.7,-7.4,263,8834,0.00,2.30,0.00,0.000,6,0.000,0.041,1798,2313,3410
$GC,9146,-0.88,-117.3,716.5,-6.5,269,9150,0.00,2.33,0.00,0.000,4,0.000,0.045,1799,887,3410
$GC,9180,-0.88,-117.3,719.0,-7.4,269,9184,0.00,2.30,0.00,0.000,6,0.000,0.046,1794,2303,3410
$GC,9507,-0.88,-117.3,741.7,-7.0,275,9511,0.00,2.30,0.00,0.000,4,0.000,0.048,1794,886,3410
$GC,9541,-0.88,-117.3,744.4,-8.4,275,9546,0.00,2.30,0.00,0.000,6,0.000,0.046,1792,2305,3410
$GC,9870,-0.86,-117.3,768.9,-7.5,281,9874,0.00,2.28,0.00,0.000,4,0.000,0.051,1792,895,3410
$GC,9909,-0.86,-117.3,772.4,-8.1,281,9914,0.12,2.28,0.00,0.000,6,0.117,0.044,1818,2303,3410
$GC,10238,-0.90,-117.3,794.4,-6.7,287,10242,0.00,2.28,0.00,0.000,4,0.000,0.051,1817,890,3410
$GC,10273,-0.94,-117.3,797.0,-7.7,287,10277,0.00,2.30,0.00,0.000,6,0.000,0.040,1811,2310,3409
$GC,10606,-0.96,-117.3,821.6,-7.4,293,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2310,3409
$GC,10910,-0.99,-117.3,843.9,-7.4,298,10915,0.10,2.33,0.00,0.000,4,0.072,0.049,1753,889,3409
$GC,10996,-0.91,-117.3,852.9,-10.5,299,11001,0.22,2.30,0.00,0.000,6,0.120,0.041,1807,2311,3409
$GC,11340,-0.93,-117.3,877.5,-6.8,305,11344,0.00,2.33,0.00,0.000,4,0.000,0.051,1808,898,3409
$GC,11387,-0.96,-117.3,880.8,-7.4,305,11391,0.00,2.30,0.00,0.000,6,0.000,0.040,1807,2306,3409
$GC,11716,-0.98,-117.3,901.4,-6.2,311,11717,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2307,3409
$GC,12019,-1.00,-117.3,918.9,-5.8,316,12023,0.10,2.35,0.00,0.000,4,0.075,0.050,1759,889,3409
$GC,12059,-0.92,-117.3,922.2,-9.3,316,12064,0.17,2.33,0.00,0.000,6,0.126,0.044,1804,2311,3408
$GC,12392,-0.92,-117.3,943.1,-6.1,322,12396,0.00,2.33,0.00,0.000,4,0.000,0.052,1804,898,3409
$GC,12437,-0.92,-117.3,946.2,-7.1,322,12441,0.00,2.28,0.00,0.000,6,0.000,0.041,1797,2303,3409
$GC,12753,-0.92,-117.3,967.0,-6.6,328,12757,0.00,2.33,0.00,0.000,4,0.000,0.053,1797,888,3408
$GC,12788,-0.92,-117.3,969.6,-7.4,328,12792,0.00,2.33,0.00,0.000,6,0.000,0.041,1795,2310,3408
$STATE,13112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13112,begin apogee
$GC,13121,-0.22,0.0,991.8,6.6,334,13222,0.50,0.00,98.78,1.280,6,0.110,0.000,1955,2310,2931
$STATE,13223,end apogee,CONTROL_FINISHED_OK
$STATE,13223,begin climb
$GC,13227,0.68,117.3,993.3,0.0,335,13339,0.55,2.55,104.38,1.253,4,0.067,0.054,2152,3706,2451
$GC,13362,0.55,117.3,992.2,5.9,337,13367,0.17,2.40,0.00,0.000,6,0.159,0.035,2122,2304,2448
$GC,13723,0.49,118.4,972.4,5.5,343,13727,0.00,2.30,0.00,0.000,4,0.000,0.049,2131,888,2441
$GC,13753,0.45,130.5,970.8,5.1,343,13769,0.12,2.30,10.82,1.093,6,0.143,0.044,2099,2315,2399
$GC,14086,0.49,161.4,955.5,4.5,349,14120,0.00,2.35,27.95,1.198,4,0.000,0.051,2099,3707,2273
$GC,14179,0.49,161.4,950.6,5.9,350,14183,0.00,2.25,0.00,0.000,6,0.000,0.041,2107,2295,2270
$GC,14524,0.51,178.7,933.6,4.9,356,14542,0.00,0.00,16.10,1.141,6,0.000,0.000,2107,2295,2202
$GC,14826,0.54,196.2,918.6,4.9,361,14848,0.00,2.35,16.38,1.136,4,0.000,0.049,2107,3716,2131
$GC,14889,0.54,196.2,914.9,6.7,362,14893,0.00,2.28,0.00,0.000,6,0.000,0.033,2117,2294,2129
$GC,15256,0.54,199.7,895.3,5.4,368,15265,0.00,2.33,4.50,0.791,4,0.000,0.049,2117,3709,2116
$GC,15300,0.51,199.7,892.5,6.5,368,15304,0.00,2.22,0.00,0.000,6,0.000,0.032,2128,2293,2116
$GC,15622,0.51,199.7,873.5,6.0,374,15626,0.00,2.33,0.00,0.000,4,0.000,0.050,2128,3718,2115
$GC,15652,0.46,199.7,871.3,6.9,374,15657,0.15,2.25,0.00,0.000,6,0.146,0.035,2099,2304,2114
$GC,15985,0.51,199.7,853.0,5.6,380,15989,0.00,2.28,0.00,0.000,4,0.000,0.048,2108,893,2114
$GC,16015,0.56,199.7,851.2,5.7,380,16019,0.00,2.28,0.00,0.000,6,0.000,0.040,2107,2313,2113
$GC,16349,0.59,199.7,830.9,6.1,386,16354,0.08,2.28,0.00,0.000,4,0.086,0.050,2159,3714,2113
$GC,16389,0.47,199.7,827.3,9.5,386,16394,0.25,2.22,0.00,0.000,6,0.146,0.033,2102,2304,2112
$GC,16717,0.51,203.9,808.9,5.4,392,16725,0.00,0.00,5.00,0.816,6,0.000,0.000,2102,2304,2099
$GC,17090,0.57,213.2,789.6,5.2,398,17103,0.08,0.00,10.02,1.002,6,0.079,0.000,2155,2304,2061
$GC,17392,0.51,213.2,765.4,8.2,403,17397,0.17,2.33,0.00,0.000,4,0.132,0.054,2099,3714,2059
$GC,17420,0.51,213.2,763.2,6.7,403,17425,0.00,2.22,0.00,0.000,6,0.000,0.032,2107,2306,2058
$GC,17755,0.55,219.2,745.3,5.3,409,17768,0.00,2.30,6.82,0.891,4,0.000,0.045,2118,887,2036
$GC,17788,0.61,219.2,743.4,5.6,409,17792,0.00,2.28,0.00,0.000,6,0.000,0.038,2118,2310,2035
$GC,18121,0.64,219.2,724.7,5.7,415,18126,0.08,2.28,0.00,0.000,4,0.082,0.048,2179,3709,2035
$GC,18167,0.49,219.2,720.5,10.0,415,18173,0.30,2.22,0.00,0.000,6,0.146,0.033,2106,2290,2034
$GC,18484,0.56,228.8,703.3,5.2,421,18496,0.00,0.00,9.70,0.947,6,0.000,0.000,2105,2289,1998
$GC,18788,0.61,230.1,686.7,5.5,426,18790,0.10,0.00,0.00,0.000,6,0.067,0.000,2172,2289,1996
$GC,19092,0.52,230.1,658.7,9.5,431,19097,0.17,2.33,0.00,0.000,4,0.131,0.048,2116,3708,1996
$GC,19137,0.52,230.1,654.8,6.9,431,19141,0.00,2.20,0.00,0.000,6,0.000,0.032,2123,2298,1995
$GC,19453,0.54,230.1,635.7,6.0,437,19454,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2298,1995
$GC,19757,0.57,230.1,617.7,5.9,442,19758,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2298,1995
$GC,20059,0.60,230.1,598.6,6.3,447,20063,0.00,2.30,0.00,0.000,4,0.000,0.047,2124,3715,1995
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$GC,21763,0.62,244.6,487.1,5.0,475,21784,0.08,2.33,15.30,0.877,4,0.077,0.047,2181,887,1932
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$STATE,29306,end climb,SURFACE_DEPTH_REACHED
$STATE,29306,begin surface coast
$FINISH,1.5,1.025476
$STATE,29328,end surface coast,CONTROL_FINISHED_OK
$STATE,29328,begin surface
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$IRIDIUM_FIX,4919.77,-14012.94,030599,121221
$TT8_MAMPS,0.027612
$HUMID,1770
$INTERNAL_PRESSURE,7.37333
$TCM_TEMP,15.70
$XPDR_PINGS,71
$24V_AH,21.8,103.024
$10V_AH,10.3,88.078
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$DEVICE_SECS,21.400,260.250,403.400,0.000,0.000,29.020,26.130,190.190,17.750,0.000,0.000,11.691,1758.083,24218.377,547.082,2314.550,974.223,33.388,1793.465,0.000,2290.130,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,534.239,619.608,780.617,825.595,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44437,753
$CAP_FILE_SIZE,200264,0
$CFSIZE,260165632,202924032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070210,041736,4939.187,-13950.832,34,1.5,34,19.2