version: 66.04
glider: 144
mission: 15
dive: 796
start: 3 5 110 22 9 19
data:
$ID,144
$MISSION,15
$DIVE,796
$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,-77790.922
$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,37
$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
$GPS1,220007,4904.820,-13311.446,49,0.8,49,19.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-64.9
$GPS2,220825,4904.867,-13311.454,12,1.1,12,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.160,0.050
$KALMAN_X,-50542.0,176.2,-81.1,900276.3,-156.5
$KALMAN_Y,68159.0,-228.0,448.7,-209351.0,-2190.9
$MHEAD_RNG_PITCHd_Wd,53.1,184544,-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,21,-0.68,-117.3,0.0,0.0,0,63,0.00,0.00,-40.45,0.000,2,0.000,0.000,98,2292,2708
$GC,68,-0.68,-117.3,3.9,-5.4,2,98,7.10,2.35,-16.45,0.000,4,0.227,0.061,1840,3701,3413
$GC,325,-0.65,-117.3,33.6,-10.5,13,329,0.00,2.20,0.00,0.000,6,0.000,0.035,1840,2297,3413
$GC,644,-0.60,-117.3,67.8,-10.4,28,648,0.12,2.25,0.00,0.000,4,0.123,0.041,1878,892,3414
$GC,729,-0.64,-117.3,75.4,-8.2,31,735,0.00,2.25,0.00,0.000,6,0.000,0.036,1876,2312,3414
$GC,1054,-0.69,-117.3,99.4,-6.5,59,1059,0.10,2.25,0.00,0.000,4,0.063,0.039,1792,890,3414
$GC,1086,-0.65,-117.3,102.6,-11.8,61,1091,0.28,2.25,0.00,0.000,6,0.108,0.036,1865,2310,3414
$GC,1413,-0.69,-117.3,125.2,-6.4,91,1417,0.00,2.30,0.00,0.000,4,0.000,0.054,1858,3710,3415
$GC,1449,-0.76,-117.3,127.5,-6.3,93,1457,0.08,2.17,0.00,0.000,6,0.074,0.028,1794,2298,3414
$GC,1796,-0.68,-117.3,164.0,-10.6,118,1801,0.20,2.25,0.00,0.000,4,0.108,0.039,1861,892,3414
$GC,1896,-0.75,-117.3,171.4,-7.0,121,1900,0.10,2.28,0.00,0.000,6,0.064,0.038,1790,2304,3414
$GC,2233,-0.68,-117.3,202.9,-9.4,132,2237,0.17,2.33,0.00,0.000,4,0.120,0.046,1841,3713,3414
$GC,2267,-0.72,-117.3,205.7,-6.9,133,2271,0.00,2.17,0.00,0.000,6,0.000,0.028,1841,2303,3415
$GC,2606,-0.75,-117.3,228.0,-6.9,144,2609,0.00,2.25,0.00,0.000,4,0.000,0.041,1840,901,3414
$GC,2658,-0.80,-117.3,231.9,-7.0,145,2662,0.00,2.28,0.00,0.000,6,0.000,0.040,1837,2303,3414
$GC,2978,-0.82,-117.3,254.9,-7.2,156,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2303,3414
$GC,3285,-0.85,-117.3,276.2,-6.8,166,3289,0.00,2.28,0.00,0.000,4,0.000,0.041,1836,900,3414
$GC,3337,-0.89,-117.3,280.1,-7.8,167,3341,0.10,2.30,0.00,0.000,6,0.064,0.038,1766,2312,3414
$GC,3655,-0.78,-117.3,314.7,-11.4,176,3657,0.22,0.00,0.00,0.000,6,0.118,0.000,1835,2313,3413
$GC,3959,-0.82,-117.3,336.4,-6.9,181,3964,0.00,2.30,0.00,0.000,4,0.000,0.041,1835,893,3414
$GC,4017,-0.86,-117.3,340.9,-7.9,181,4024,0.10,2.30,0.00,0.000,6,0.065,0.039,1767,2303,3413
$GC,4328,-0.76,-117.3,375.2,-11.5,187,4333,0.20,2.35,0.00,0.000,4,0.119,0.048,1834,896,3412
$GC,4409,-0.80,-117.3,382.3,-8.2,188,4413,0.00,2.33,0.00,0.000,6,0.000,0.043,1834,2312,3413
$GC,4760,-0.84,-117.3,409.0,-7.6,194,4764,0.00,2.30,0.00,0.000,4,0.000,0.046,1834,898,3412
$GC,4795,-0.88,-117.3,411.9,-8.4,194,4800,0.10,2.33,0.00,0.000,6,0.065,0.038,1766,2313,3412
$GC,5123,-0.79,-117.3,448.1,-11.2,200,5125,0.22,0.00,0.00,0.000,6,0.116,0.000,1835,2313,3412
$GC,5427,-0.84,-117.3,470.0,-7.0,205,5431,0.00,2.35,0.00,0.000,4,0.000,0.045,1835,899,3412
$GC,5473,-0.89,-117.3,473.3,-7.0,205,5477,0.12,2.33,0.00,0.000,6,0.057,0.044,1759,2304,3412
$GC,5790,-0.79,-117.3,508.0,-11.3,211,5792,0.22,0.00,0.00,0.000,6,0.119,0.000,1829,2305,3411
$GC,6092,-0.82,-117.3,530.6,-7.2,216,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2305,3411
$GC,6396,-0.86,-117.3,550.9,-6.7,221,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2304,3410
$GC,6699,-0.90,-117.3,569.3,-6.0,226,6700,0.10,0.00,0.00,0.000,6,0.067,0.000,1758,2304,3410
$GC,7003,-0.80,-117.3,600.2,-10.6,231,7008,0.20,2.38,0.00,0.000,4,0.117,0.045,1826,893,3410
$GC,7067,-0.85,-117.3,605.8,-7.5,232,7071,0.00,2.28,0.00,0.000,6,0.000,0.045,1823,2302,3410
$GC,7440,-0.88,-117.3,634.0,-7.6,238,7444,0.00,2.28,0.00,0.000,4,0.000,0.050,1823,902,3409
$GC,7470,-0.91,-117.3,636.4,-8.0,238,7474,0.00,2.30,0.00,0.000,6,0.000,0.039,1821,2303,3410
$GC,7810,-0.94,-117.3,659.8,-6.8,244,7814,0.10,2.28,0.00,0.000,4,0.064,0.042,1758,905,3409
$GC,7850,-0.85,-117.3,663.6,-10.5,244,7855,0.22,2.30,0.00,0.000,6,0.118,0.041,1819,2307,3409
$GC,8179,-0.88,-117.3,685.8,-6.6,250,8183,0.00,2.33,0.00,0.000,4,0.000,0.050,1820,902,3409
$GC,8231,-0.91,-117.3,689.4,-7.4,250,8235,0.00,2.28,0.00,0.000,6,0.000,0.046,1820,2306,3408
$GC,8554,-0.95,-117.3,710.6,-6.5,256,8559,0.10,2.33,0.00,0.000,4,0.065,0.044,1756,899,3408
$GC,8596,-0.85,-117.3,714.4,-10.5,256,8601,0.22,2.30,0.00,0.000,6,0.118,0.044,1819,2306,3408
$GC,8918,-0.89,-117.3,736.2,-6.6,262,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2307,3408
$GC,9221,-0.92,-117.3,755.1,-6.3,267,9225,0.00,2.35,0.00,0.000,4,0.000,0.048,1819,895,3408
$GC,9256,-0.96,-117.3,757.5,-7.1,267,9261,0.12,2.33,0.00,0.000,6,0.058,0.044,1751,2310,3408
$GC,9585,-0.86,-117.3,790.3,-10.3,273,9590,0.17,2.38,0.00,0.000,4,0.123,0.046,1812,896,3408
$GC,9659,-0.89,-117.3,796.8,-7.8,274,9663,0.00,2.33,0.00,0.000,6,0.000,0.038,1810,2303,3408
$GC,10015,-0.89,-117.3,821.7,-7.0,280,10016,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3408
$GC,10317,-0.89,-117.3,840.8,-6.2,285,10321,0.00,2.33,0.00,0.000,4,0.000,0.046,1809,902,3407
$GC,10353,-0.91,-117.3,843.2,-7.0,285,10357,0.00,2.33,0.00,0.000,6,0.000,0.045,1808,2303,3407
$GC,10681,-0.91,-117.3,862.8,-6.0,291,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3407
$GC,10985,-0.91,-117.3,881.0,-6.1,296,10986,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3407
$GC,11288,-0.93,-117.3,899.7,-6.2,301,11292,0.00,2.33,0.00,0.000,4,0.000,0.047,1809,902,3407
$GC,11352,-0.96,-117.3,904.0,-7.1,302,11356,0.00,2.33,0.00,0.000,6,0.000,0.047,1808,2302,3407
$GC,11720,-0.98,-117.3,926.2,-6.1,308,11724,0.00,2.35,0.00,0.000,4,0.000,0.046,1808,895,3407
$GC,11754,-0.98,-117.3,928.5,-6.8,308,11759,0.00,2.35,0.00,0.000,6,0.000,0.046,1809,2312,3407
$GC,12082,-1.00,-117.3,947.8,-5.9,314,12084,0.10,0.00,0.00,0.000,6,0.077,0.000,1762,2313,3407
$GC,12386,-0.93,-117.3,973.1,-8.4,319,12390,0.12,2.38,0.00,0.000,4,0.128,0.045,1798,895,3406
$GC,12432,-0.93,-117.3,976.8,-7.3,319,12436,0.00,2.33,0.00,0.000,6,0.000,0.044,1795,2308,3406
$STATE,12622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12623,begin apogee
$GC,12632,-0.22,0.0,990.8,7.2,323,12733,0.50,0.00,97.68,1.278,6,0.104,0.000,1957,2308,2931
$STATE,12733,end apogee,CONTROL_FINISHED_OK
$STATE,12733,begin climb
$GC,12738,0.68,117.3,992.5,0.0,324,12850,0.57,2.60,103.47,1.250,4,0.064,0.052,2157,3708,2450
$GC,12881,0.49,117.3,991.5,6.2,327,12886,0.25,2.38,0.00,0.000,6,0.155,0.038,2107,2313,2447
$GC,13237,0.49,141.6,974.8,4.7,333,13260,0.00,0.00,20.83,1.181,6,0.000,0.000,2107,2313,2352
$GC,13541,0.49,141.6,957.7,5.7,338,13545,0.00,2.28,0.00,0.000,4,0.000,0.054,2107,3711,2348
$GC,13570,0.44,141.6,955.6,6.8,338,13574,0.00,2.22,0.00,0.000,6,0.000,0.036,2115,2298,2347
$GC,13904,0.41,141.6,934.2,6.4,344,13906,0.10,0.00,0.00,0.000,6,0.159,0.000,2092,2298,2346
$GC,14208,0.45,150.2,918.3,5.2,349,14223,0.00,2.35,7.97,1.013,4,0.000,0.054,2092,3711,2317
$GC,14276,0.45,150.2,914.3,5.8,350,14280,0.00,2.20,0.00,0.000,6,0.000,0.033,2100,2299,2316
$GC,14649,0.46,165.2,895.6,5.0,356,14665,0.00,0.00,14.40,1.112,6,0.000,0.000,2100,2299,2257
$GC,14953,0.49,190.5,881.4,4.6,361,14982,0.00,2.38,23.12,1.149,4,0.000,0.052,2100,3711,2153
$GC,15012,0.49,190.5,878.0,5.7,361,15018,0.00,2.22,0.00,0.000,6,0.000,0.033,2110,2301,2152
$GC,15323,0.50,192.8,861.2,5.4,367,15324,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2301,2150
$GC,15626,0.50,192.8,844.1,5.6,372,15630,0.00,2.33,0.00,0.000,4,0.000,0.053,2110,3719,2149
$GC,15667,0.50,192.8,841.5,6.5,372,15671,0.00,2.25,0.00,0.000,6,0.000,0.039,2120,2296,2148
$GC,15989,0.50,192.8,822.2,5.9,378,15993,0.00,2.33,0.00,0.000,4,0.000,0.051,2120,3717,2148
$GC,16018,0.46,192.8,820.0,7.1,378,16023,0.12,2.20,0.00,0.000,6,0.145,0.032,2098,2304,2148
$GC,16353,0.53,205.9,802.9,5.1,384,16369,0.00,0.00,14.18,1.060,6,0.000,0.000,2098,2304,2091
$GC,16655,0.60,220.4,787.6,5.0,389,16672,0.12,0.00,14.40,1.048,6,0.061,0.000,2165,2303,2032
$GC,16958,0.51,220.4,762.2,8.6,394,16962,0.17,2.33,0.00,0.000,4,0.134,0.048,2110,3712,2028
$GC,16992,0.51,220.4,759.6,7.0,394,16996,0.00,2.22,0.00,0.000,6,0.000,0.032,2118,2299,2028
$GC,17321,0.53,222.5,741.4,5.4,400,17325,0.00,2.28,0.00,0.000,4,0.000,0.045,2128,891,2027
$GC,17350,0.59,238.7,739.6,5.0,400,17374,0.00,2.28,16.90,1.039,6,0.000,0.044,2128,2307,1956
$GC,17686,0.59,238.7,719.2,6.1,406,17690,0.00,2.28,0.00,0.000,4,0.000,0.054,2129,3715,1953
$GC,17728,0.59,238.7,716.4,7.8,406,17732,0.00,2.22,0.00,0.000,6,0.000,0.032,2138,2293,1952
$GC,18061,0.59,238.7,694.9,6.4,412,18062,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2293,1952
$GC,18364,0.59,238.7,676.0,6.3,417,18365,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2293,1952
$GC,18667,0.59,238.7,657.0,6.3,422,18671,0.00,2.33,0.00,0.000,4,0.000,0.054,2138,3709,1951
$GC,18714,0.55,238.7,653.4,6.9,422,18719,0.12,2.20,0.00,0.000,6,0.132,0.031,2114,2304,1951
$GC,19030,0.60,241.6,636.0,5.4,428,19035,0.00,2.33,0.00,0.000,4,0.000,0.048,2123,896,1951
$GC,19066,0.67,241.6,633.8,5.7,428,19070,0.08,2.28,0.00,0.000,6,0.074,0.037,2182,2306,1951
$GC,19394,0.56,241.6,602.9,9.7,434,19399,0.20,2.33,0.00,0.000,4,0.133,0.054,2120,3715,1950
$GC,19473,0.56,241.6,596.7,7.1,435,19477,0.00,2.22,0.00,0.000,6,0.000,0.031,2129,2294,1950
$GC,19826,0.58,241.6,575.6,6.1,441,19830,0.00,2.28,0.00,0.000,4,0.000,0.046,2139,887,1950
$GC,19849,0.61,241.6,574.0,6.2,441,19854,0.00,2.30,0.00,0.000,6,0.000,0.043,2139,2309,1950
$GC,20194,0.61,241.6,549.4,7.2,447,20198,0.00,2.30,0.00,0.000,4,0.000,0.049,2139,3714,1950
$GC,20235,0.58,241.6,545.8,8.7,447,20239,0.10,2.22,0.00,0.000,6,0.136,0.038,2126,2303,1950
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$GC,21300,0.63,241.6,471.3,6.5,465,21304,0.00,2.28,0.00,0.000,4,0.000,0.045,2154,887,1950
$GC,21329,0.64,249.8,469.5,5.2,465,21344,0.00,2.30,10.12,0.821,6,0.000,0.037,2154,2317,1912
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$STATE,28638,end climb,SURFACE_DEPTH_REACHED
$STATE,28638,begin surface coast
$FINISH,1.7,1.011645
$STATE,28660,end surface coast,CONTROL_FINISHED_OK
$STATE,28660,begin surface
$SM_CCo,28741,0.00,0.000,0,0,1654,313.00
$SM_GC,2.40,5.68,0.00,0.00,0.044,0.000,0.000,98,2296,1654,-8.61,-0.20,313.00
$IRIDIUM_FIX,4846.86,-13313.19,300599,131350
$TT8_MAMPS,0.028379
$HUMID,1780
$INTERNAL_PRESSURE,7.41239
$TCM_TEMP,16.30
$XPDR_PINGS,71
$24V_AH,21.8,114.645
$10V_AH,10.3,97.146
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$DEVICE_SECS,20.250,238.100,383.125,0.000,0.000,31.468,26.065,256.931,17.750,0.000,0.000,14.049,1714.806,23662.965,536.335,2225.452,1083.268,33.386,1716.128,0.000,2208.387,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,526.470,613.208,776.243,823.745,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44278,749
$CAP_FILE_SIZE,191442,0
$CFSIZE,260165632,196730880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060310,060937,4905.352,-13306.255,32,1.4,32,19.5