version: 66.04
glider: 144
mission: 15
dive: 739
start: 2 14 110 15 35 53
data:
$ID,144
$MISSION,15
$DIVE,739
$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,-76721.43
$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,33
$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
$GPS1,152731,4927.515,-13753.912,41,1.4,41,19.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-50.1
$GPS2,153456,4927.548,-13753.820,11,1.1,11,19.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.160,-0.051
$KALMAN_X,-60849.7,-269.4,13.9,577243.6,1853.0
$KALMAN_Y,54955.4,75.1,-150.0,-153833.1,1192.6
$MHEAD_RNG_PITCHd_Wd,88.4,234966,-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,-117.3,0.0,0.0,0,60,0.00,0.00,-40.88,0.000,2,0.000,0.000,99,2301,2475
$GC,65,-0.68,-117.3,3.1,-3.5,2,102,7.38,2.33,-23.95,0.000,4,0.242,0.071,1839,3704,3411
$GC,271,-0.65,-117.3,27.6,-9.6,10,275,0.00,2.20,0.00,0.000,6,0.000,0.029,1839,2292,3412
$GC,589,-0.61,-117.3,63.2,-11.0,25,594,0.12,2.20,0.00,0.000,4,0.129,0.039,1874,898,3412
$GC,698,-0.65,-117.3,76.2,-13.3,30,702,0.00,2.22,0.00,0.000,6,0.000,0.035,1866,2308,3413
$GC,1028,-0.68,-117.3,106.0,-7.9,59,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2308,3412
$GC,1356,-0.74,-117.3,128.0,-6.3,90,1362,0.10,0.00,0.00,0.000,6,0.065,0.000,1784,2308,3412
$GC,1689,-0.65,-117.3,164.1,-11.4,114,1694,0.22,2.28,0.00,0.000,4,0.120,0.048,1858,898,3413
$GC,1730,-0.72,-117.3,168.0,-8.0,115,1734,0.00,2.22,0.00,0.000,6,0.000,0.036,1851,2309,3413
$GC,2055,-0.76,-117.3,192.3,-7.3,126,2059,0.00,2.30,0.00,0.000,4,0.000,0.048,1851,895,3412
$GC,2102,-0.81,-117.3,195.6,-7.3,127,2106,0.10,2.25,0.00,0.000,6,0.064,0.041,1778,2302,3413
$GC,2423,-0.72,-117.3,228.8,-10.6,138,2427,0.17,2.30,0.00,0.000,4,0.121,0.041,1839,888,3413
$GC,2486,-0.76,-117.3,234.1,-7.9,140,2491,0.00,2.22,0.00,0.000,6,0.000,0.044,1837,2298,3413
$GC,2830,-0.78,-117.3,256.9,-6.6,151,2834,0.00,2.28,0.00,0.000,4,0.000,0.041,1837,893,3413
$GC,2876,-0.81,-117.3,260.2,-6.8,152,2880,0.00,2.30,0.00,0.000,6,0.000,0.038,1836,2316,3413
$GC,3201,-0.84,-117.3,281.1,-6.4,163,3205,0.00,2.33,0.00,0.000,4,0.000,0.047,1836,892,3413
$GC,3248,-0.87,-117.3,284.4,-6.9,164,3253,0.10,2.30,0.00,0.000,6,0.065,0.044,1765,2305,3413
$GC,3602,-0.76,-117.3,320.7,-10.5,173,3604,0.22,0.00,0.00,0.000,6,0.118,0.000,1833,2306,3413
$GC,3905,-0.79,-117.3,341.8,-6.8,178,3909,0.00,2.30,0.00,0.000,4,0.000,0.043,1833,891,3412
$GC,3939,-0.82,-117.3,344.5,-7.6,178,3944,0.00,2.30,0.00,0.000,6,0.000,0.044,1827,2310,3412
$GC,4268,-0.82,-117.3,369.3,-7.6,184,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2310,3412
$GC,4570,-0.82,-117.3,392.9,-7.8,189,4574,0.00,2.30,0.00,0.000,4,0.000,0.044,1827,904,3411
$GC,4627,-0.85,-117.3,397.8,-9.0,189,4633,0.00,2.28,0.00,0.000,6,0.000,0.038,1821,2310,3411
$GC,4937,-0.85,-117.3,423.3,-8.2,195,4941,0.00,2.30,0.00,0.000,4,0.000,0.044,1821,898,3411
$GC,4973,-0.85,-117.3,426.3,-8.7,195,4977,0.00,2.28,0.00,0.000,6,0.000,0.041,1812,2311,3411
$GC,5300,-0.85,-117.3,452.6,-7.9,201,5304,0.00,2.25,0.00,0.000,4,0.000,0.043,1812,900,3411
$GC,5373,-0.85,-117.3,458.7,-7.7,202,5377,0.00,2.25,0.00,0.000,6,0.000,0.041,1804,2303,3411
$GC,5736,-0.83,-117.3,486.0,-7.6,208,5740,0.00,2.25,0.00,0.000,4,0.000,0.048,1804,902,3410
$GC,5781,-0.83,-117.3,489.7,-7.6,208,5786,0.10,2.25,0.00,0.000,6,0.126,0.044,1822,2303,3410
$GC,6097,-0.83,-117.3,511.2,-6.8,214,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3410
$GC,6400,-0.85,-117.3,533.6,-7.5,219,6404,0.00,2.30,0.00,0.000,4,0.000,0.044,1822,901,3410
$GC,6458,-0.87,-117.3,538.5,-8.9,219,6465,0.00,2.28,0.00,0.000,6,0.000,0.040,1822,2303,3410
$GC,6769,-0.87,-117.3,562.8,-7.8,225,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3409
$GC,7073,-0.90,-117.3,585.0,-7.2,230,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3409
$GC,7377,-0.92,-117.3,605.4,-6.6,235,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3409
$GC,7679,-0.94,-117.3,623.0,-5.8,240,7681,0.10,0.00,0.00,0.000,6,0.065,0.000,1758,2303,3409
$GC,7982,-0.85,-117.3,650.4,-9.2,245,7987,0.20,2.33,0.00,0.000,4,0.120,0.044,1827,897,3408
$GC,8033,-0.90,-117.3,654.1,-6.1,245,8037,0.00,2.28,0.00,0.000,6,0.000,0.040,1823,2305,3408
$GC,8345,-0.93,-117.3,672.8,-6.1,250,8347,0.10,0.00,0.00,0.000,6,0.066,0.000,1752,2305,3408
$GC,8649,-0.83,-117.3,701.9,-9.8,255,8654,0.20,2.30,0.00,0.000,4,0.122,0.046,1818,902,3408
$GC,8740,-0.86,-117.3,708.8,-6.8,256,8744,0.00,2.28,0.00,0.000,6,0.000,0.045,1811,2310,3408
$GC,9079,-0.86,-117.3,731.2,-6.7,262,9083,0.00,2.33,0.00,0.000,4,0.000,0.048,1812,897,3408
$GC,9113,-0.86,-117.3,733.7,-7.1,262,9117,0.00,2.28,0.00,0.000,6,0.000,0.040,1809,2299,3408
$GC,9440,-0.86,-117.3,757.0,-7.1,268,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2299,3408
$GC,9743,-0.86,-117.3,778.2,-7.0,273,9747,0.00,2.30,0.00,0.000,4,0.000,0.047,1809,901,3407
$GC,9780,-0.86,-117.3,780.8,-8.1,273,9784,0.00,2.30,0.00,0.000,6,0.000,0.047,1807,2311,3407
$GC,10107,-0.86,-117.3,802.2,-6.4,279,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2311,3407
$GC,10410,-0.86,-117.3,820.9,-6.2,284,10414,0.00,2.33,0.00,0.000,4,0.000,0.050,1807,896,3407
$GC,10474,-0.86,-117.3,825.3,-7.2,285,10478,0.00,2.30,0.00,0.000,6,0.000,0.040,1797,2310,3407
$GC,10842,-0.86,-117.3,850.1,-6.7,291,10846,0.00,2.35,0.00,0.000,4,0.000,0.046,1797,891,3407
$GC,10898,-0.86,-117.3,854.5,-7.1,291,10905,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2301,3407
$GC,11209,-0.86,-117.3,877.4,-7.4,297,11210,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2301,3407
$GC,11513,-0.86,-117.3,899.6,-7.4,302,11514,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2301,3407
$GC,11815,-0.86,-117.3,921.5,-7.2,307,11819,0.00,2.33,0.00,0.000,4,0.000,0.047,1794,898,3407
$GC,11855,-0.86,-117.3,924.5,-7.7,307,11860,0.12,2.33,0.00,0.000,6,0.121,0.042,1819,2310,3407
$GC,12184,-0.91,-117.3,942.1,-5.3,313,12188,0.00,2.33,0.00,0.000,4,0.000,0.048,1820,902,3406
$GC,12220,-0.96,-117.3,944.3,-6.4,313,12225,0.10,2.28,0.00,0.000,6,0.075,0.048,1777,2303,3406
$GC,12553,-0.92,-117.3,967.6,-7.1,319,12558,0.10,2.33,0.00,0.000,4,0.133,0.054,1795,3711,3406
$GC,12587,-0.92,-117.3,970.0,-7.0,319,12591,0.00,2.22,0.00,0.000,6,0.000,0.033,1795,2310,3406
$GC,12921,-0.92,-117.3,989.9,-6.0,325,12925,0.00,2.33,0.00,0.000,4,0.000,0.054,1795,895,3406
$STATE,12929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12929,begin apogee
$GC,12941,-0.22,0.0,990.9,5.9,325,13042,0.47,0.00,97.70,1.276,6,0.114,0.000,1949,2309,2930
$STATE,13042,end apogee,CONTROL_FINISHED_OK
$STATE,13042,begin climb
$GC,13047,0.68,117.3,992.1,0.0,326,13158,0.57,2.55,103.82,1.249,4,0.072,0.055,2151,3700,2452
$GC,13217,0.50,117.3,986.7,7.6,328,13222,0.22,2.35,0.00,0.000,6,0.160,0.039,2107,2301,2446
$GC,13539,0.48,117.3,968.3,5.6,334,13540,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2301,2441
$GC,13843,0.45,117.3,951.4,5.6,339,13847,0.00,2.30,0.00,0.000,4,0.000,0.051,2107,3711,2439
$GC,13878,0.38,117.3,949.3,6.4,339,13883,0.15,2.22,0.00,0.000,6,0.159,0.034,2077,2301,2439
$GC,14206,0.45,151.3,934.8,4.4,345,14236,0.00,0.00,28.42,1.193,6,0.000,0.000,2077,2301,2314
$GC,14510,0.58,160.0,919.3,5.2,350,14525,0.15,2.38,8.60,1.026,4,0.064,0.047,2157,889,2278
$GC,14653,0.50,160.0,910.0,6.8,352,14658,0.17,2.30,0.00,0.000,6,0.140,0.039,2110,2313,2275
$GC,15015,0.51,171.8,891.1,5.1,358,15031,0.00,2.35,11.50,1.075,4,0.000,0.051,2110,3711,2230
$GC,15083,0.48,171.8,886.9,6.5,359,15087,0.00,2.22,0.00,0.000,6,0.000,0.033,2119,2302,2228
$GC,15451,0.48,171.8,865.9,5.8,365,15455,0.00,2.30,0.00,0.000,4,0.000,0.050,2119,3711,2226
$GC,15487,0.43,171.8,863.3,7.3,365,15492,0.15,2.22,0.00,0.000,6,0.150,0.034,2091,2303,2226
$GC,15815,0.51,194.3,847.6,4.7,371,15838,0.00,0.00,20.77,1.126,6,0.000,0.000,2090,2302,2138
$GC,16118,0.64,194.3,831.3,5.6,376,16123,0.15,2.30,0.00,0.000,4,0.062,0.049,2160,886,2133
$GC,16200,0.58,194.3,825.6,7.1,377,16205,0.15,2.28,0.00,0.000,6,0.135,0.043,2120,2308,2133
$GC,16549,0.58,194.3,804.9,5.8,383,16553,0.00,2.25,0.00,0.000,4,0.000,0.051,2120,3707,2132
$GC,16613,0.54,194.3,800.5,6.6,383,16619,0.00,2.20,0.00,0.000,6,0.000,0.033,2129,2297,2132
$GC,16924,0.54,194.3,780.7,6.3,389,16928,0.00,2.30,0.00,0.000,4,0.000,0.051,2129,3708,2131
$GC,16964,0.48,194.3,777.8,7.7,389,16969,0.15,2.22,0.00,0.000,6,0.141,0.035,2099,2301,2130
$GC,17286,0.56,214.6,762.0,4.8,395,17311,0.08,2.35,18.15,1.064,4,0.081,0.048,2162,891,2055
$GC,17330,0.51,214.6,759.2,6.3,395,17335,0.20,2.28,0.00,0.000,6,0.136,0.038,2107,2311,2054
$GC,17653,0.58,233.4,743.0,4.9,401,17677,0.00,2.35,17.58,1.044,4,0.000,0.055,2108,3716,1978
$GC,17721,0.61,233.4,739.1,6.1,402,17725,0.00,2.22,0.00,0.000,6,0.000,0.035,2115,2297,1977
$GC,18088,0.67,239.0,719.2,5.3,408,18099,0.10,2.25,6.22,0.849,4,0.069,0.047,2190,892,1956
$GC,18118,0.63,239.0,716.9,8.9,408,18123,0.20,2.25,0.00,0.000,6,0.137,0.038,2135,2309,1954
$GC,18451,0.63,239.0,695.5,6.3,414,18455,0.00,2.28,0.00,0.000,4,0.000,0.051,2135,3715,1953
$GC,18492,0.60,239.0,692.5,8.2,414,18496,0.00,2.20,0.00,0.000,6,0.000,0.032,2143,2299,1953
$GC,18814,0.58,239.0,668.7,7.5,420,18815,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2300,1952
$GC,19117,0.58,239.0,645.6,7.6,425,19121,0.00,2.30,0.00,0.000,4,0.000,0.051,2143,3713,1952
$GC,19163,0.53,239.0,641.4,8.8,425,19168,0.15,2.20,0.00,0.000,6,0.130,0.039,2112,2305,1951
$GC,19479,0.59,239.0,621.9,6.1,431,19483,0.00,2.25,0.00,0.000,4,0.000,0.047,2121,889,1951
$GC,19503,0.65,239.0,620.3,7.1,431,19507,0.00,2.25,0.00,0.000,6,0.000,0.044,2121,2307,1951
$GC,19848,0.70,239.0,598.5,6.4,437,19853,0.10,2.28,0.00,0.000,4,0.067,0.053,2197,3717,1951
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$STATE,28681,end climb,SURFACE_DEPTH_REACHED
$STATE,28681,begin surface coast
$FINISH,1.5,1.025390
$STATE,28719,end surface coast,CONTROL_FINISHED_OK
$STATE,28719,begin surface
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$TT8_MAMPS,0.027612
$HUMID,1760
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$TCM_TEMP,15.90
$XPDR_PINGS,88
$24V_AH,21.8,106.395
$10V_AH,10.3,90.688
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$DEVICE_SECS,20.400,245.650,400.575,0.000,0.000,23.902,33.266,208.555,22.000,0.000,0.000,13.236,1691.039,23755.393,554.394,2246.879,985.528,33.384,1763.384,0.000,2215.457,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,510.246,598.177,750.547,779.236,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44455,727
$CAP_FILE_SIZE,191014,0
$CFSIZE,260165632,201158656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140210,233707,4926.598,-13749.842,29,1.2,29,19.4