version: 66.04
glider: 144
mission: 15
dive: 749
start: 2 18 110 0 34 34
data:
$ID,144
$MISSION,15
$DIVE,749
$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,-76942.336
$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,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
$GPS1,002607,4922.646,-13703.527,25,1.7,25,19.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-50.7
$GPS2,003338,4922.677,-13703.539,36,2.0,36,19.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.167,-0.021
$KALMAN_X,-61290.3,136.8,-88.1,636797.2,275.7
$KALMAN_Y,55872.8,-101.1,-260.7,-163473.1,357.0
$MHEAD_RNG_PITCHd_Wd,77.7,173727,-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,-40.03,0.000,2,0.000,0.000,98,2300,2630
$GC,64,-0.68,-117.3,3.5,-5.3,2,96,7.88,2.33,-18.90,0.000,4,0.263,0.061,1837,3714,3411
$GC,120,-0.63,-117.3,10.9,-10.7,4,127,0.08,2.28,0.00,0.000,6,0.120,0.034,1863,2296,3412
$GC,437,-0.63,-117.3,38.6,-7.4,20,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2295,3412
$GC,747,-0.63,-117.3,70.8,-10.3,35,751,0.00,2.28,0.00,0.000,4,0.000,0.041,1863,890,3412
$GC,827,-0.65,-117.3,79.3,-9.6,38,832,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2308,3412
$GC,1157,-0.67,-117.3,107.8,-7.6,67,1161,0.00,2.25,0.00,0.000,4,0.000,0.041,1862,901,3413
$GC,1205,-0.72,-117.3,112.0,-8.4,71,1209,0.00,2.22,0.00,0.000,6,0.000,0.038,1862,2306,3413
$GC,1537,-0.77,-117.3,136.9,-6.7,101,1544,0.10,0.00,0.00,0.000,6,0.064,0.000,1784,2306,3413
$GC,1878,-0.68,-117.3,174.9,-10.7,120,1883,0.20,2.30,0.00,0.000,4,0.131,0.042,1848,897,3413
$GC,1929,-0.73,-117.3,179.3,-7.6,121,1934,0.00,2.25,0.00,0.000,6,0.000,0.039,1848,2299,3413
$GC,2244,-0.77,-117.3,201.5,-7.3,131,2248,0.00,2.25,0.00,0.000,4,0.000,0.041,1848,889,3413
$GC,2274,-0.82,-117.3,204.0,-8.4,131,2281,0.08,2.28,0.00,0.000,6,0.048,0.038,1778,2302,3413
$GC,2589,-0.73,-117.3,238.0,-10.8,142,2593,0.17,2.28,0.00,0.000,4,0.134,0.042,1835,903,3413
$GC,2657,-0.77,-117.3,243.7,-7.3,144,2661,0.00,2.25,0.00,0.000,6,0.000,0.041,1829,2303,3413
$GC,2989,-0.77,-117.3,267.6,-7.4,155,2993,0.00,2.28,0.00,0.000,4,0.000,0.041,1829,895,3413
$GC,3029,-0.79,-117.3,270.9,-7.8,156,3033,0.00,2.28,0.00,0.000,6,0.000,0.038,1823,2311,3413
$GC,3354,-0.79,-117.3,297.0,-8.0,167,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2311,3413
$GC,3658,-0.79,-117.3,321.0,-7.9,173,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2311,3413
$GC,3960,-0.79,-117.3,343.6,-7.4,178,3964,0.00,2.28,0.00,0.000,4,0.000,0.042,1822,900,3412
$GC,4001,-0.79,-117.3,346.9,-8.0,178,4005,0.00,2.25,0.00,0.000,6,0.000,0.038,1814,2301,3412
$GC,4328,-0.79,-117.3,373.8,-8.4,184,4331,0.00,2.25,0.00,0.000,4,0.000,0.042,1813,902,3412
$GC,4419,-0.79,-117.3,382.1,-9.1,185,4424,0.10,2.25,0.00,0.000,6,0.130,0.040,1832,2304,3412
$GC,4764,-0.83,-117.3,409.0,-7.8,191,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2304,3412
$GC,5067,-0.87,-117.3,432.1,-7.7,196,5071,0.00,2.30,0.00,0.000,4,0.000,0.044,1832,902,3411
$GC,5103,-0.91,-117.3,435.1,-8.2,196,5108,0.08,2.28,0.00,0.000,6,0.077,0.038,1767,2308,3411
$GC,5430,-0.82,-117.3,471.4,-11.2,202,5432,0.20,0.00,0.00,0.000,6,0.131,0.000,1826,2308,3412
$GC,5734,-0.85,-117.3,493.8,-7.2,207,5738,0.00,2.30,0.00,0.000,4,0.000,0.046,1826,902,3411
$GC,5780,-0.88,-117.3,497.2,-7.0,207,5784,0.00,2.28,0.00,0.000,6,0.000,0.041,1822,2309,3411
$GC,6098,-0.90,-117.3,518.9,-6.8,213,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2309,3410
$GC,6400,-0.93,-117.3,539.0,-6.6,218,6404,0.08,2.33,0.00,0.000,4,0.080,0.047,1758,900,3410
$GC,6428,-0.85,-117.3,541.6,-9.5,218,6433,0.22,2.28,0.00,0.000,6,0.132,0.041,1814,2307,3410
$GC,6768,-0.85,-117.3,564.1,-6.5,224,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2307,3410
$GC,7070,-0.85,-117.3,583.6,-6.5,229,7074,0.00,2.30,0.00,0.000,4,0.000,0.045,1814,903,3410
$GC,7110,-0.85,-117.3,586.4,-6.4,229,7114,0.00,2.30,0.00,0.000,6,0.000,0.038,1809,2308,3409
$GC,7437,-0.85,-117.3,607.9,-6.6,235,7441,0.00,2.28,0.00,0.000,4,0.000,0.044,1809,904,3409
$GC,7478,-0.85,-117.3,611.0,-8.0,235,7482,0.00,2.28,0.00,0.000,6,0.000,0.041,1804,2304,3410
$GC,7807,-0.85,-117.3,633.0,-6.7,241,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2304,3410
$GC,8109,-0.85,-117.3,651.1,-5.9,246,8113,0.00,2.30,0.00,0.000,4,0.000,0.044,1804,897,3409
$GC,8189,-0.85,-117.3,656.4,-6.6,247,8193,0.00,2.28,0.00,0.000,6,0.000,0.045,1795,2301,3409
$GC,8545,-0.83,-117.3,679.9,-6.7,253,8550,0.10,2.28,0.00,0.000,4,0.139,0.050,1822,902,3409
$GC,8585,-0.88,-117.3,682.7,-6.2,253,8589,0.00,2.28,0.00,0.000,6,0.000,0.045,1822,2304,3409
$GC,8908,-0.91,-117.3,700.9,-5.6,259,8912,0.00,2.33,0.00,0.000,4,0.000,0.045,1822,898,3408
$GC,8938,-0.95,-117.3,702.7,-6.4,259,8943,0.10,2.30,0.00,0.000,6,0.066,0.039,1759,2313,3408
$GC,9271,-0.87,-117.3,731.5,-8.8,265,9273,0.17,0.00,0.00,0.000,6,0.135,0.000,1810,2313,3408
$GC,9574,-0.87,-117.3,748.3,-5.4,270,9578,0.00,2.33,0.00,0.000,4,0.000,0.051,1810,894,3408
$GC,9615,-0.89,-117.3,750.7,-5.9,270,9619,0.00,2.30,0.00,0.000,6,0.000,0.044,1809,2307,3408
$GC,9937,-0.89,-117.3,768.1,-5.4,276,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3407
$GC,10240,-0.89,-117.3,785.5,-5.8,281,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3407
$GC,10544,-0.91,-117.3,803.6,-6.0,286,10548,0.00,2.30,0.00,0.000,4,0.000,0.051,1809,904,3407
$GC,10574,-0.93,-117.3,805.6,-6.6,286,10578,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2304,3407
$GC,10912,-0.93,-117.3,827.1,-6.4,292,10913,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3407
$GC,11215,-0.93,-117.3,846.4,-6.4,297,11219,0.00,2.28,0.00,0.000,4,0.000,0.050,1808,904,3407
$GC,11255,-0.93,-117.3,849.2,-6.5,297,11259,0.00,2.30,0.00,0.000,6,0.000,0.046,1806,2310,3407
$GC,11584,-0.95,-117.3,870.1,-6.3,303,11588,0.00,2.30,0.00,0.000,4,0.000,0.048,1807,906,3407
$GC,11635,-0.95,-117.3,873.9,-7.4,303,11639,0.00,2.28,0.00,0.000,6,0.000,0.040,1804,2310,3407
$GC,11956,-0.95,-117.3,894.8,-6.5,309,11957,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2310,3406
$GC,12259,-0.95,-117.3,912.9,-5.9,314,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2310,3406
$GC,12563,-0.95,-117.3,930.2,-5.7,319,12567,0.00,2.35,0.00,0.000,4,0.000,0.047,1804,905,3406
$GC,12603,-0.95,-117.3,932.9,-6.1,319,12608,0.00,2.30,0.00,0.000,6,0.000,0.044,1795,2308,3406
$GC,12925,-0.95,-117.3,953.7,-6.5,325,12929,0.00,2.33,0.00,0.000,4,0.000,0.053,1795,902,3407
$GC,12960,-0.95,-117.3,956.3,-6.8,325,12964,0.00,2.30,0.00,0.000,6,0.000,0.041,1793,2307,3406
$GC,13288,-0.95,-117.3,978.1,-6.6,331,13290,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2306,3406
$STATE,13465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13465,begin apogee
$GC,13474,-0.22,0.0,990.3,6.7,334,13575,0.50,0.00,98.00,1.282,6,0.114,0.000,1951,2306,2931
$STATE,13575,end apogee,CONTROL_FINISHED_OK
$STATE,13575,begin climb
$GC,13580,0.68,117.3,991.8,0.0,335,13693,0.60,2.60,103.80,1.255,4,0.072,0.051,2155,3706,2450
$GC,13751,0.49,117.3,988.0,6.5,338,13756,0.22,2.35,0.00,0.000,6,0.153,0.034,2109,2314,2446
$GC,14079,0.49,141.6,972.3,4.7,344,14105,0.00,2.33,20.70,1.184,4,0.000,0.055,2109,3711,2352
$GC,14143,0.43,147.1,969.0,5.3,345,14154,0.10,2.28,5.95,0.921,6,0.163,0.041,2095,2291,2331
$GC,14511,0.48,186.6,953.5,4.2,351,14561,0.00,2.45,37.25,1.160,4,0.000,0.054,2095,3707,2169
$GC,14576,0.55,216.8,950.6,4.5,352,14610,0.00,2.30,28.50,1.188,6,0.000,0.035,2103,2296,2046
$GC,14946,0.61,230.3,932.1,5.0,358,14961,0.10,0.00,12.10,1.099,6,0.074,0.000,2157,2296,1992
$GC,15249,0.53,230.3,908.3,8.0,363,15254,0.15,2.33,0.00,0.000,4,0.137,0.052,2117,3710,1988
$GC,15301,0.53,230.3,904.6,7.0,363,15305,0.00,2.25,0.00,0.000,6,0.000,0.034,2124,2300,1988
$GC,15613,0.53,230.3,886.7,5.7,368,15617,0.00,2.30,0.00,0.000,4,0.000,0.051,2125,3708,1986
$GC,15648,0.51,230.3,884.3,6.7,368,15652,0.10,2.22,0.00,0.000,6,0.152,0.035,2112,2305,1986
$GC,15976,0.57,246.5,867.9,5.0,374,15996,0.00,2.33,15.12,1.106,4,0.000,0.053,2121,890,1925
$GC,16015,0.67,279.2,865.7,4.4,374,16060,0.08,2.28,33.35,1.095,6,0.090,0.041,2162,2310,1791
$GC,16411,0.61,279.2,834.0,8.3,381,16415,0.12,2.30,0.00,0.000,4,0.135,0.055,2129,3717,1785
$GC,16461,0.61,279.2,829.5,7.8,381,16466,0.00,2.25,0.00,0.000,6,0.000,0.033,2137,2298,1785
$GC,16773,0.61,279.2,807.8,7.0,386,16774,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2298,1783
$GC,17076,0.61,279.2,784.5,7.8,391,17080,0.00,2.35,0.00,0.000,4,0.000,0.054,2137,3718,1783
$GC,17117,0.61,279.2,780.9,8.8,391,17121,0.00,2.25,0.00,0.000,6,0.000,0.033,2147,2302,1782
$GC,17438,0.61,279.2,754.6,8.1,397,17442,0.00,2.33,0.00,0.000,4,0.000,0.055,2147,3718,1781
$GC,17461,0.59,279.2,752.5,8.2,397,17466,0.12,2.22,0.00,0.000,6,0.133,0.032,2123,2300,1782
$GC,17806,0.64,279.2,731.9,5.8,403,17811,0.00,2.28,0.00,0.000,4,0.000,0.047,2132,896,1781
$GC,17830,0.70,280.7,730.5,5.5,403,17834,0.00,2.25,0.00,0.000,6,0.000,0.038,2132,2307,1780
$GC,18170,0.73,280.7,710.6,5.8,409,18174,0.10,2.28,0.00,0.000,4,0.072,0.048,2198,3710,1780
$GC,18216,0.58,280.7,705.9,11.5,409,18221,0.30,2.25,0.00,0.000,6,0.146,0.037,2128,2295,1781
$GC,18533,0.63,280.7,686.1,5.8,415,18537,0.00,2.30,0.00,0.000,4,0.000,0.048,2136,884,1781
$GC,18556,0.68,280.7,684.6,5.7,415,18560,0.00,2.28,0.00,0.000,6,0.000,0.044,2136,2306,1780
$GC,18896,0.70,280.7,662.0,6.7,421,18900,0.00,2.25,0.00,0.000,4,0.000,0.048,2136,3710,1780
$GC,18942,0.70,280.7,658.3,8.1,421,18946,0.00,2.22,0.00,0.000,6,0.000,0.032,2146,2292,1779
$GC,19270,0.70,280.7,633.9,7.4,427,19274,0.00,2.33,0.00,0.000,4,0.000,0.050,2146,3718,1779
$GC,19292,0.70,280.7,632.0,7.9,427,19297,0.00,2.22,0.00,0.000,6,0.000,0.032,2156,2293,1780
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$STATE,28328,end climb,SURFACE_DEPTH_REACHED
$STATE,28328,begin surface coast
$FINISH,1.7,1.025368
$STATE,28350,end surface coast,CONTROL_FINISHED_OK
$STATE,28350,begin surface
$SM_CCo,28370,1.25,0.092,0,0,1708,300.00
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$IRIDIUM_FIX,4906.56,-13711.08,140599,161635
$TT8_MAMPS,0.029146
$HUMID,1764
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$TCM_TEMP,16.10
$XPDR_PINGS,83
$24V_AH,21.8,107.876
$10V_AH,10.3,91.817
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$DEVICE_SECS,19.675,246.325,371.725,1.250,0.000,30.098,26.783,193.200,20.750,0.000,0.000,38.292,1672.971,23411.248,523.424,2204.955,1001.546,33.389,1706.415,0.000,2163.701,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,515.278,598.582,759.590,793.081,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44350,730
$CAP_FILE_SIZE,187921,0
$CFSIZE,260165632,200384512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180210,082928,4922.942,-13658.138,70,1.8,73,19.4