version: 66.04
glider: 144
mission: 15
dive: 815
start: 3 12 110 7 55 20
data:
$ID,144
$MISSION,15
$DIVE,815
$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,-78189.984
$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,32
$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
$GPS1,074636,4900.793,-13130.023,51,1.5,51,19.5
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-60.4
$GPS2,075426,4900.838,-13129.976,11,1.6,11,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.164,-0.036
$KALMAN_X,-40756.2,-142.5,-103.5,1010764.7,1690.2
$KALMAN_Y,71655.8,46.8,-23.6,-220096.6,676.2
$MHEAD_RNG_PITCHd_Wd,83.0,60953,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.68,-117.1,0.0,0.0,0,50,0.00,0.00,-30.50,0.000,2,0.000,0.000,97,2294,2464
$GC,55,-0.68,-117.3,3.4,-4.6,2,98,6.93,2.33,-26.42,0.000,4,0.217,0.064,1842,3700,3412
$GC,134,-0.58,-117.3,10.2,-10.8,5,139,0.12,2.22,0.00,0.000,6,0.114,0.030,1877,2288,3413
$GC,452,-0.60,-117.3,37.7,-8.6,20,453,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2288,3414
$GC,762,-0.62,-117.3,62.6,-8.5,35,766,0.00,2.22,0.00,0.000,4,0.000,0.041,1876,891,3414
$GC,791,-0.66,-117.3,65.6,-9.4,36,796,0.00,2.25,0.00,0.000,6,0.000,0.036,1875,2303,3414
$GC,1120,-0.68,-117.3,95.6,-8.7,60,1125,0.08,2.33,0.00,0.000,4,0.078,0.051,1794,3716,3414
$GC,1180,-0.56,-117.3,103.5,-14.5,64,1187,0.28,2.20,0.00,0.000,6,0.106,0.028,1878,2294,3414
$GC,1507,-0.62,-117.3,125.8,-6.6,95,1510,0.00,2.20,0.00,0.000,4,0.000,0.039,1877,900,3414
$GC,1578,-0.71,-117.3,130.5,-6.7,101,1583,0.12,2.28,0.00,0.000,6,0.054,0.038,1787,2310,3414
$GC,1899,-0.62,-117.3,167.9,-11.1,121,1904,0.22,2.28,0.00,0.000,4,0.122,0.038,1861,900,3414
$GC,1952,-0.69,-117.3,172.3,-7.5,122,1956,0.00,2.25,0.00,0.000,6,0.000,0.038,1861,2300,3414
$GC,2272,-0.74,-117.3,193.7,-6.6,133,2274,0.10,0.00,0.00,0.000,6,0.064,0.000,1777,2300,3414
$GC,2578,-0.65,-117.3,226.4,-10.8,143,2583,0.25,2.38,0.00,0.000,4,0.113,0.050,1850,3710,3414
$GC,2648,-0.72,-117.3,231.5,-6.1,145,2652,0.00,2.20,0.00,0.000,6,0.000,0.028,1850,2298,3414
$GC,2979,-0.78,-117.3,250.8,-6.1,156,2983,0.00,2.25,0.00,0.000,4,0.000,0.041,1849,897,3414
$GC,3043,-0.85,-117.3,255.0,-6.7,157,3050,0.12,2.28,0.00,0.000,6,0.055,0.036,1767,2313,3414
$GC,3359,-0.74,-117.3,289.8,-11.6,168,3364,0.20,2.38,0.00,0.000,4,0.122,0.053,1826,3713,3414
$GC,3433,-0.77,-117.3,296.5,-8.1,170,3437,0.00,2.22,0.00,0.000,6,0.000,0.029,1826,2301,3414
$GC,3785,-0.77,-117.3,322.7,-7.3,177,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2301,3414
$GC,4089,-0.77,-117.3,343.8,-7.0,182,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2301,3414
$GC,4391,-0.77,-117.3,364.0,-6.6,187,4395,0.00,2.30,0.00,0.000,4,0.000,0.043,1826,898,3413
$GC,4443,-0.81,-117.3,367.5,-6.3,187,4447,0.00,2.30,0.00,0.000,6,0.000,0.038,1821,2304,3413
$GC,4754,-0.81,-117.3,389.1,-7.0,192,4758,0.00,2.28,0.00,0.000,4,0.000,0.041,1821,900,3412
$GC,4789,-0.81,-117.3,391.8,-7.4,192,4794,0.00,2.30,0.00,0.000,6,0.000,0.038,1811,2305,3412
$GC,5117,-0.81,-117.3,418.6,-8.3,198,5121,0.00,2.30,0.00,0.000,4,0.000,0.044,1812,891,3412
$GC,5157,-0.81,-117.3,422.2,-8.7,198,5161,0.00,2.33,0.00,0.000,6,0.000,0.041,1804,2307,3412
$GC,5480,-0.78,-117.3,448.2,-7.9,204,5485,0.10,2.30,0.00,0.000,4,0.130,0.042,1833,901,3411
$GC,5532,-0.83,-117.3,452.0,-6.6,204,5536,0.00,2.33,0.00,0.000,6,0.000,0.043,1826,2310,3412
$GC,5843,-0.85,-117.3,471.0,-6.1,209,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2310,3412
$GC,6146,-0.88,-117.3,490.4,-6.5,214,6150,0.00,2.30,0.00,0.000,4,0.000,0.044,1826,895,3411
$GC,6176,-0.91,-117.3,492.6,-7.4,214,6180,0.00,2.30,0.00,0.000,6,0.000,0.042,1823,2308,3411
$GC,6515,-0.91,-117.3,517.3,-7.4,220,6519,0.00,2.38,0.00,0.000,4,0.000,0.049,1813,3713,3410
$GC,6538,-0.91,-117.3,519.2,-7.9,220,6542,0.00,2.20,0.00,0.000,6,0.000,0.030,1813,2300,3410
$GC,6884,-0.91,-117.3,545.5,-7.6,226,6888,0.00,2.33,0.00,0.000,4,0.000,0.050,1812,894,3410
$GC,6918,-0.91,-117.3,548.2,-7.5,226,6922,0.00,2.33,0.00,0.000,6,0.000,0.042,1808,2309,3409
$GC,7246,-0.91,-117.3,570.4,-6.7,232,7250,0.00,2.38,0.00,0.000,4,0.000,0.048,1798,3717,3409
$GC,7310,-0.91,-117.3,574.8,-7.4,233,7314,0.00,2.25,0.00,0.000,6,0.000,0.038,1798,2307,3409
$GC,7678,-0.91,-117.3,600.6,-7.1,239,7682,0.00,2.30,0.00,0.000,4,0.000,0.044,1798,895,3409
$GC,7712,-0.89,-117.3,603.6,-8.6,239,7717,0.00,2.30,0.00,0.000,6,0.000,0.038,1790,2305,3409
$GC,8041,-0.85,-117.3,629.5,-7.9,245,8043,0.10,0.00,0.00,0.000,6,0.133,0.000,1819,2305,3409
$GC,8345,-0.87,-117.3,648.6,-6.2,250,8349,0.00,2.35,0.00,0.000,4,0.000,0.050,1819,888,3408
$GC,8374,-0.90,-117.3,650.6,-6.7,250,8378,0.00,2.35,0.00,0.000,6,0.000,0.038,1812,2303,3408
$GC,8708,-0.90,-117.3,674.4,-7.1,256,8712,0.00,2.38,0.00,0.000,4,0.000,0.054,1803,3709,3408
$GC,8737,-0.90,-117.3,676.5,-8.4,256,8741,0.00,2.28,0.00,0.000,6,0.000,0.031,1802,2302,3408
$GC,9077,-0.90,-117.3,702.3,-7.6,262,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2302,3408
$GC,9379,-0.90,-117.3,724.6,-7.4,267,9383,0.00,2.35,0.00,0.000,4,0.000,0.043,1802,895,3407
$GC,9430,-0.90,-117.3,728.4,-6.7,267,9434,0.00,2.33,0.00,0.000,6,0.000,0.041,1795,2303,3407
$GC,9741,-0.88,-117.3,751.0,-7.3,272,9742,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3407
$GC,10045,-0.88,-117.3,772.9,-7.2,277,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3407
$GC,10347,-0.88,-117.3,793.6,-6.8,282,10351,0.00,2.35,0.00,0.000,4,0.000,0.044,1795,888,3407
$GC,10398,-0.88,-117.3,797.3,-7.1,282,10403,0.10,2.35,0.00,0.000,6,0.128,0.045,1812,2314,3407
$GC,10720,-0.91,-117.3,817.6,-6.3,288,10724,0.00,2.35,0.00,0.000,4,0.000,0.048,1812,896,3407
$GC,10751,-0.93,-117.3,819.7,-7.4,288,10755,0.00,2.33,0.00,0.000,6,0.000,0.041,1809,2303,3407
$GC,11090,-0.93,-117.3,842.0,-6.6,294,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2303,3406
$GC,11393,-0.93,-117.3,860.8,-6.2,299,11394,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2303,3406
$GC,11696,-0.93,-117.3,879.6,-6.1,304,11700,0.00,2.33,0.00,0.000,4,0.000,0.049,1810,897,3406
$GC,11744,-0.95,-117.3,882.7,-7.0,304,11748,0.00,2.33,0.00,0.000,6,0.000,0.041,1808,2309,3406
$GC,12060,-0.95,-117.3,901.5,-5.9,310,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3406
$GC,12363,-0.97,-117.3,918.8,-5.7,315,12368,0.00,2.35,0.00,0.000,4,0.000,0.051,1808,897,3406
$GC,12400,-0.97,-117.3,921.0,-5.7,315,12404,0.00,2.35,0.00,0.000,6,0.000,0.045,1808,2304,3406
$GC,12728,-0.97,-117.3,939.0,-5.4,321,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3405
$GC,13031,-1.00,-117.3,954.5,-5.0,326,13033,0.10,0.00,0.00,0.000,6,0.077,0.000,1763,2305,3405
$GC,13334,-0.93,-117.3,977.5,-7.8,331,13339,0.12,2.40,0.00,0.000,4,0.129,0.050,1790,3717,3405
$GC,13372,-0.93,-117.3,980.3,-7.5,331,13376,0.00,2.30,0.00,0.000,6,0.000,0.033,1790,2296,3405
$STATE,13513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13513,begin apogee
$GC,13523,-0.22,0.0,990.2,6.7,334,13623,0.52,0.00,97.65,1.276,6,0.106,0.000,1958,2296,2931
$STATE,13624,end apogee,CONTROL_FINISHED_OK
$STATE,13624,begin climb
$GC,13629,0.68,117.3,991.6,0.0,335,13736,0.55,0.00,104.03,1.248,6,0.067,0.000,2153,2296,2452
$GC,13997,0.56,117.3,975.7,6.4,341,14002,0.12,2.35,0.00,0.000,4,0.150,0.049,2122,3713,2442
$GC,14026,0.46,117.3,973.4,6.8,341,14031,0.12,2.25,0.00,0.000,6,0.161,0.041,2101,2300,2441
$GC,14359,0.47,122.8,955.7,5.3,347,14369,0.00,2.35,4.00,0.742,4,0.000,0.051,2098,3711,2430
$GC,14429,0.42,122.8,951.4,7.3,348,14433,0.00,2.20,0.00,0.000,6,0.000,0.041,2106,2304,2429
$GC,14803,0.40,123.3,930.8,5.5,354,14807,0.00,2.30,0.00,0.000,4,0.000,0.054,2107,3711,2428
$GC,14861,0.33,123.3,926.9,7.1,354,14868,0.17,2.22,0.00,0.000,6,0.155,0.033,2072,2304,2427
$GC,15175,0.42,130.1,910.7,5.3,360,15189,0.00,2.35,7.72,1.004,4,0.000,0.049,2072,3713,2399
$GC,15293,0.47,134.4,904.3,5.4,361,15304,0.08,2.22,5.38,0.871,6,0.079,0.032,2125,2301,2383
$GC,15611,0.42,134.4,886.3,5.7,366,15616,0.15,2.30,0.00,0.000,4,0.140,0.047,2093,891,2381
$GC,15652,0.48,149.8,884.2,5.0,366,15673,0.00,2.30,14.68,1.112,6,0.000,0.041,2093,2314,2320
$GC,15980,0.56,153.2,867.5,5.4,372,15989,0.10,2.28,4.30,0.763,4,0.076,0.048,2150,3715,2306
$GC,16165,0.43,153.2,852.3,8.7,374,16170,0.25,2.22,0.00,0.000,6,0.149,0.035,2095,2299,2304
$GC,16491,0.49,181.8,837.1,4.5,380,16521,0.00,2.30,25.90,1.134,4,0.000,0.047,2104,891,2189
$GC,16540,0.55,196.1,834.3,5.0,380,16560,0.00,2.30,14.12,1.061,6,0.000,0.038,2104,2310,2131
$GC,16924,0.61,209.1,814.5,5.1,387,16944,0.10,2.35,12.12,1.037,4,0.073,0.050,2163,3717,2077
$GC,17003,0.47,209.1,807.8,11.7,388,17008,0.28,2.25,0.00,0.000,6,0.146,0.035,2098,2291,2076
$GC,17365,0.54,214.0,788.2,5.3,394,17375,0.00,2.33,5.25,0.814,4,0.000,0.049,2098,3714,2059
$GC,17395,0.59,219.7,786.4,5.3,394,17409,0.08,2.22,7.15,0.911,6,0.077,0.039,2156,2302,2035
$GC,17732,0.53,219.7,758.3,8.4,400,17737,0.15,2.30,0.00,0.000,4,0.135,0.045,2123,888,2032
$GC,17767,0.57,219.7,755.7,6.0,400,17771,0.00,2.30,0.00,0.000,6,0.000,0.042,2124,2313,2031
$GC,18102,0.57,219.7,735.3,6.1,406,18106,0.00,2.30,0.00,0.000,4,0.000,0.053,2123,3715,2031
$GC,18142,0.57,219.7,732.3,6.9,406,18146,0.00,2.22,0.00,0.000,6,0.000,0.035,2134,2306,2031
$GC,18464,0.57,219.7,710.3,7.0,412,18465,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2306,2030
$GC,18767,0.57,219.7,690.1,6.6,417,18768,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2306,2030
$GC,19070,0.57,219.7,670.6,6.4,422,19074,0.00,2.35,0.00,0.000,4,0.000,0.048,2133,3716,2030
$GC,19110,0.52,219.7,667.6,7.9,422,19115,0.12,2.28,0.00,0.000,6,0.137,0.031,2111,2290,2030
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$GC,28605,0.98,352.7,41.3,4.8,701,28631,0.10,2.33,19.58,0.594,4,0.063,0.046,2263,3710,1492
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$STATE,29235,end climb,SURFACE_DEPTH_REACHED
$STATE,29235,begin surface coast
$FINISH,1.5,1.025215
$STATE,29257,end surface coast,CONTROL_FINISHED_OK
$STATE,29257,begin surface
$SM_CCo,29339,0.00,0.000,0,0,1485,354.70
$SM_GC,2.31,5.75,0.00,0.00,0.039,0.000,0.000,98,2304,1485,-8.60,0.06,354.70
$IRIDIUM_FIX,4843.59,-13133.38,050699,232353
$TT8_MAMPS,0.029146
$HUMID,1773
$INTERNAL_PRESSURE,7.40263
$TCM_TEMP,16.30
$XPDR_PINGS,80
$24V_AH,22.3,117.551
$10V_AH,10.3,99.313
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$DEVICE_SECS,20.300,269.675,427.200,0.000,0.000,24.230,24.625,233.074,20.000,0.000,0.000,13.398,1734.890,24087.785,571.114,2302.592,1095.576,33.384,1831.896,0.000,2275.108,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,513.427,597.042,758.187,784.578,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44484,731
$CAP_FILE_SIZE,201827,0
$CFSIZE,260165632,195248128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120310,160537,4900.812,-13124.927,34,1.9,34,19.5