version: 66.04
glider: 144
mission: 15
dive: 748
start: 2 17 110 16 40 31
data:
$ID,144
$MISSION,15
$DIVE,748
$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,-76903.414
$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,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
$GPS1,163255,4923.874,-13708.913,42,1.5,42,19.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-53.7
$GPS2,163937,4923.915,-13708.952,14,1.7,14,19.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.162,-0.042
$KALMAN_X,-61594.7,-239.3,16.1,630985.6,-39.9
$KALMAN_Y,56576.7,-123.1,-58.1,-162084.7,1076.5
$MHEAD_RNG_PITCHd_Wd,85.0,180403,-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,-117.1,0.0,0.0,0,63,0.00,0.00,-40.95,0.000,2,0.000,0.000,100,2297,2646
$GC,68,-0.68,-117.1,3.7,-6.1,2,99,7.53,2.38,-18.75,0.000,4,0.251,0.064,1837,3710,3409
$GC,135,-0.61,-117.1,12.1,-11.8,5,140,0.12,2.25,0.00,0.000,6,0.128,0.030,1871,2296,3410
$GC,457,-0.61,-117.1,45.3,-9.3,21,461,0.00,2.25,0.00,0.000,4,0.000,0.041,1871,897,3411
$GC,509,-0.66,-117.1,49.5,-7.9,23,513,0.00,2.22,0.00,0.000,6,0.000,0.036,1864,2308,3410
$GC,832,-0.66,-117.1,78.4,-9.3,39,836,0.00,2.28,0.00,0.000,4,0.000,0.041,1864,897,3410
$GC,878,-0.66,-117.1,83.1,-9.9,42,885,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2299,3411
$GC,1209,-0.68,-117.1,110.3,-7.3,73,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2299,3411
$GC,1536,-0.72,-117.1,133.1,-7.2,104,1540,0.00,2.25,0.00,0.000,4,0.000,0.040,1862,900,3411
$GC,1565,-0.77,-117.1,135.2,-7.7,106,1574,0.05,2.28,0.00,0.000,6,0.055,0.037,1777,2309,3411
$GC,1897,-0.67,-117.1,171.6,-11.2,126,1899,0.28,0.00,0.00,0.000,6,0.134,0.000,1858,2309,3411
$GC,2202,-0.73,-117.1,191.4,-6.0,136,2206,0.00,2.28,0.00,0.000,4,0.000,0.040,1858,898,3411
$GC,2237,-0.81,-117.1,193.8,-6.4,137,2241,0.12,2.25,0.00,0.000,6,0.057,0.036,1765,2313,3411
$GC,2568,-0.70,-117.1,229.8,-11.2,148,2573,0.25,2.33,0.00,0.000,4,0.133,0.040,1845,894,3411
$GC,2620,-0.76,-117.1,234.3,-6.8,149,2624,0.00,2.28,0.00,0.000,6,0.000,0.038,1838,2302,3411
$GC,2934,-0.79,-117.1,254.7,-6.3,159,2938,0.00,2.25,0.00,0.000,4,0.000,0.041,1838,892,3411
$GC,2993,-0.83,-117.1,258.8,-7.2,160,2997,0.00,2.28,0.00,0.000,6,0.000,0.038,1837,2300,3411
$GC,3307,-0.86,-117.1,280.0,-6.9,170,3312,0.08,2.25,0.00,0.000,4,0.079,0.040,1776,898,3411
$GC,3338,-0.80,-117.1,282.7,-9.7,171,3342,0.22,2.25,0.00,0.000,6,0.133,0.038,1830,2306,3411
$GC,3675,-0.82,-117.1,305.7,-6.5,181,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2306,3410
$GC,3977,-0.84,-117.1,324.7,-6.3,186,3981,0.00,2.25,0.00,0.000,4,0.000,0.042,1830,900,3410
$GC,4012,-0.87,-117.1,327.2,-7.0,186,4016,0.00,2.28,0.00,0.000,6,0.000,0.038,1823,2311,3410
$GC,4346,-0.87,-117.1,349.6,-6.7,192,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2311,3410
$GC,4648,-0.87,-117.1,370.4,-6.9,197,4652,0.00,2.30,0.00,0.000,4,0.000,0.044,1823,903,3409
$GC,4688,-0.89,-117.1,373.2,-6.9,197,4692,0.00,2.28,0.00,0.000,6,0.000,0.038,1814,2312,3409
$GC,5010,-0.89,-117.1,396.7,-7.4,203,5014,0.00,2.33,0.00,0.000,4,0.000,0.045,1814,891,3409
$GC,5040,-0.89,-117.1,399.1,-8.6,203,5044,0.00,2.28,0.00,0.000,6,0.000,0.043,1805,2305,3409
$GC,5373,-0.87,-117.1,426.3,-8.2,209,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3409
$GC,5675,-0.87,-117.1,449.1,-7.5,214,5679,0.00,2.28,0.00,0.000,4,0.000,0.043,1805,898,3408
$GC,5739,-0.87,-117.1,454.0,-7.9,215,5743,0.00,2.25,0.00,0.000,6,0.000,0.044,1796,2307,3408
$GC,6107,-0.84,-117.1,482.8,-7.9,221,6112,0.08,2.30,0.00,0.000,4,0.154,0.045,1817,896,3408
$GC,6164,-0.84,-117.1,487.1,-6.8,221,6170,0.00,2.30,0.00,0.000,6,0.000,0.044,1809,2316,3408
$GC,6474,-0.84,-117.1,508.5,-6.9,227,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2317,3408
$GC,6778,-0.84,-117.1,529.4,-6.9,232,6782,0.00,2.33,0.00,0.000,4,0.000,0.045,1809,894,3407
$GC,6823,-0.84,-117.1,532.9,-7.6,232,6827,0.00,2.28,0.00,0.000,6,0.000,0.042,1800,2307,3407
$GC,7139,-0.84,-117.1,554.4,-6.8,238,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2306,3407
$GC,7443,-0.84,-117.1,574.6,-6.7,243,7447,0.00,2.30,0.00,0.000,4,0.000,0.044,1801,900,3407
$GC,7484,-0.84,-117.1,577.5,-7.2,243,7489,0.10,2.28,0.00,0.000,6,0.137,0.045,1820,2300,3406
$GC,7806,-0.86,-117.1,597.0,-6.1,249,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2300,3407
$GC,8109,-0.89,-117.1,615.8,-6.2,254,8113,0.00,2.28,0.00,0.000,4,0.000,0.043,1820,901,3406
$GC,8139,-0.92,-117.1,617.8,-6.7,254,8143,0.00,2.28,0.00,0.000,6,0.000,0.038,1816,2306,3406
$GC,8477,-0.92,-117.1,640.6,-6.7,260,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2306,3406
$GC,8781,-0.94,-117.1,661.6,-7.0,265,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2306,3406
$GC,9084,-0.96,-117.1,682.6,-6.9,270,9086,0.10,0.00,0.00,0.000,6,0.068,0.000,1751,2306,3406
$GC,9388,-0.86,-117.1,713.6,-10.5,275,9393,0.17,2.38,0.00,0.000,4,0.137,0.044,1808,896,3406
$GC,9469,-0.86,-117.1,720.5,-7.9,276,9473,0.00,2.30,0.00,0.000,6,0.000,0.040,1807,2302,3405
$GC,9818,-0.86,-117.1,745.5,-7.1,282,9823,0.00,2.30,0.00,0.000,4,0.000,0.044,1807,897,3405
$GC,9859,-0.86,-117.1,748.5,-7.9,282,9863,0.00,2.28,0.00,0.000,6,0.000,0.039,1798,2302,3405
$GC,10181,-0.86,-117.1,771.9,-7.3,288,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2302,3405
$GC,10484,-0.86,-117.1,793.7,-7.2,293,10485,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2302,3405
$GC,10787,-0.86,-117.1,814.7,-6.9,298,10791,0.00,2.33,0.00,0.000,4,0.000,0.044,1798,901,3405
$GC,10856,-0.86,-117.1,819.7,-7.1,299,10860,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2310,3405
$GC,11217,-0.86,-117.1,844.3,-6.7,305,11218,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2310,3405
$GC,11520,-0.86,-117.1,864.2,-6.6,310,11524,0.00,2.33,0.00,0.000,4,0.000,0.052,1794,896,3404
$GC,11560,-0.86,-117.1,867.0,-7.4,310,11565,0.12,2.30,0.00,0.000,6,0.127,0.043,1819,2305,3405
$GC,11884,-0.91,-117.3,884.2,-5.3,316,11886,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2305,3404
$GC,12186,-0.95,-117.3,901.2,-5.6,321,12188,0.10,0.00,0.00,0.000,6,0.072,0.000,1768,2305,3404
$GC,12489,-0.89,-117.3,927.1,-8.8,326,12491,0.15,0.00,0.00,0.000,6,0.132,0.000,1811,2305,3404
$GC,12793,-0.92,-117.3,948.1,-6.8,331,12797,0.00,2.35,0.00,0.000,4,0.000,0.047,1811,897,3404
$GC,12822,-0.95,-117.3,950.4,-7.5,331,12826,0.00,2.30,0.00,0.000,6,0.000,0.040,1809,2302,3403
$GC,13155,-0.97,-117.3,973.2,-6.8,337,13156,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2302,3404
$STATE,13454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13454,begin apogee
$GC,13463,-0.22,0.0,991.5,5.9,342,13563,0.45,0.00,97.28,1.281,6,0.110,0.000,1954,2302,2931
$STATE,13564,end apogee,CONTROL_FINISHED_OK
$STATE,13564,begin climb
$GC,13569,0.68,117.3,992.6,0.0,343,13681,0.57,2.58,103.62,1.253,4,0.070,0.056,2152,3704,2450
$GC,13723,0.50,117.3,988.8,6.9,346,13729,0.22,2.38,0.00,0.000,6,0.154,0.035,2106,2304,2446
$GC,14069,0.47,117.3,968.8,5.7,352,14070,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2304,2441
$GC,14371,0.44,120.7,952.4,5.4,357,14373,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2304,2439
$GC,14675,0.43,133.8,936.8,5.1,362,14694,0.00,2.35,13.25,1.128,4,0.000,0.056,2106,3703,2384
$GC,14726,0.38,133.8,933.9,5.8,362,14730,0.15,2.25,0.00,0.000,6,0.156,0.034,2077,2301,2383
$GC,15042,0.50,164.9,919.9,4.4,368,15077,0.10,2.38,28.05,1.187,4,0.080,0.052,2129,3711,2257
$GC,15184,0.40,164.9,910.8,7.2,370,15188,0.20,2.25,0.00,0.000,6,0.150,0.033,2086,2302,2254
$GC,15551,0.51,215.5,895.9,3.8,376,15602,0.10,2.38,45.12,1.190,4,0.069,0.054,2148,892,2051
$GC,15620,0.49,215.5,891.8,5.7,377,15625,0.17,2.33,0.00,0.000,6,0.127,0.046,2101,2314,2048
$GC,15977,0.60,257.6,877.2,4.1,383,16022,0.10,2.38,37.17,1.167,4,0.069,0.051,2151,3711,1880
$GC,16058,0.54,257.6,871.5,7.9,384,16062,0.17,2.28,0.00,0.000,6,0.140,0.038,2114,2297,1879
$GC,16409,0.61,280.0,854.4,4.7,390,16443,0.00,2.35,22.58,1.039,4,0.000,0.051,2123,889,1788
$GC,16462,0.72,304.3,851.6,4.7,390,16499,0.12,2.30,25.60,1.048,6,0.068,0.043,2179,2317,1690
$GC,16843,0.64,304.3,815.9,9.9,397,16848,0.15,2.30,0.00,0.000,4,0.137,0.051,2139,3716,1683
$GC,16899,0.64,304.3,810.5,7.1,397,16905,0.00,2.28,0.00,0.000,6,0.000,0.038,2146,2297,1682
$GC,17210,0.64,304.3,787.4,7.5,403,17211,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2296,1681
$GC,17513,0.64,304.3,762.3,8.4,408,17517,0.00,2.33,0.00,0.000,4,0.000,0.051,2147,3711,1680
$GC,17549,0.64,304.3,759.0,9.4,408,17554,0.00,2.22,0.00,0.000,6,0.000,0.032,2156,2301,1680
$GC,17877,0.62,304.3,729.2,8.9,414,17881,0.00,2.30,0.00,0.000,4,0.000,0.046,2167,896,1679
$GC,17901,0.62,304.3,727.1,8.6,414,17905,0.12,2.28,0.00,0.000,6,0.120,0.042,2134,2313,1679
$GC,18239,0.67,304.3,704.9,6.4,420,18243,0.00,2.25,0.00,0.000,4,0.000,0.048,2134,3712,1679
$GC,18285,0.71,304.3,701.7,7.4,420,18289,0.00,2.20,0.00,0.000,6,0.000,0.031,2140,2303,1678
$GC,18614,0.73,304.3,679.8,6.6,426,18618,0.00,2.28,0.00,0.000,4,0.000,0.046,2149,888,1678
$GC,18645,0.78,304.3,677.7,6.6,426,18649,0.00,2.25,0.00,0.000,6,0.000,0.037,2150,2313,1677
$GC,18983,0.78,304.3,652.8,7.5,432,18987,0.00,2.28,0.00,0.000,4,0.000,0.048,2150,3715,1677
$GC,19029,0.78,304.3,648.7,8.9,432,19033,0.00,2.20,0.00,0.000,6,0.000,0.032,2160,2304,1677
$GC,19345,0.78,304.3,622.9,8.2,438,19346,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2304,1677
$GC,19649,0.78,304.3,599.5,7.7,443,19653,0.00,2.33,0.00,0.000,4,0.000,0.054,2159,3708,1677
$GC,19689,0.74,304.3,595.8,10.4,443,19693,0.00,2.22,0.00,0.000,6,0.000,0.032,2170,2304,1677
$GC,20023,0.70,304.3,567.7,8.5,449,20027,0.00,2.30,0.00,0.000,4,0.000,0.048,2170,3717,1677
$GC,20052,0.64,304.3,564.9,8.2,449,20056,0.15,2.25,0.00,0.000,6,0.140,0.032,2141,2299,1677
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$STATE,27764,end climb,SURFACE_DEPTH_REACHED
$STATE,27765,begin surface coast
$FINISH,1.6,1.012253
$STATE,27786,end surface coast,CONTROL_FINISHED_OK
$STATE,27786,begin surface
$SM_CCo,27867,0.00,0.000,0,0,1594,327.97
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$IRIDIUM_FIX,4906.56,-13710.90,140599,080817
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$HUMID,1774
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$TCM_TEMP,15.90
$XPDR_PINGS,64
$24V_AH,21.9,107.734
$10V_AH,10.3,91.705
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$DEVICE_SECS,20.750,246.525,394.925,0.000,0.000,30.100,24.620,166.765,16.000,0.000,0.000,16.447,1652.186,22983.867,538.178,2136.765,941.387,33.385,1706.163,0.000,2111.613,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,502.059,585.880,740.849,774.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41244,715
$CAP_FILE_SIZE,186201,0
$CFSIZE,260165632,200462336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,180210,002607,4922.646,-13703.527,25,1.7,25,19.4