version: 66.04
glider: 144
mission: 15
dive: 162
start: 8 4 109 18 0 54
data:
$ID,144
$MISSION,15
$DIVE,162
$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,-64098.777
$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,0.039999999
$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,31
$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
$GPS1,175425,4958.618,-14505.900,40,1.5,40,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-62.9
$GPS2,180001,4958.623,-14505.910,11,1.2,22,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.136,0.098
$KALMAN_X,-77464.5,225.0,-346.1,71569.5,-801.0
$KALMAN_Y,66076.9,-91.6,76.7,-68048.5,262.9
$MHEAD_RNG_PITCHd_Wd,36.0,24269,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,60,0.00,0.00,-41.30,0.000,2,0.000,0.000,99,2299,2753
$GC,62,-0.68,-117.3,3.9,-6.8,4,89,7.07,2.30,-13.60,0.000,4,0.244,0.067,1842,3704,3414
$GC,253,-0.55,-117.3,33.4,-11.6,21,258,0.15,2.20,0.00,0.000,6,0.125,0.031,1885,2289,3416
$GC,580,-0.60,-117.3,59.9,-7.0,51,584,0.00,2.20,0.00,0.000,4,0.000,0.043,1884,889,3417
$GC,653,-0.68,-117.3,65.4,-6.9,57,660,0.10,2.22,0.00,0.000,6,0.064,0.037,1813,2311,3418
$GC,973,-0.46,-117.3,104.4,-13.5,79,977,0.25,2.25,0.00,0.000,4,0.132,0.042,1895,888,3418
$GC,1017,-0.58,-117.3,109.1,-9.0,81,1021,0.00,2.22,0.00,0.000,6,0.000,0.038,1890,2303,3419
$GC,1338,-0.72,-117.3,133.2,-6.4,97,1339,0.15,0.00,0.00,0.000,6,0.051,0.000,1798,2305,3418
$GC,1656,-0.52,-117.3,167.8,-11.1,110,1658,0.30,0.00,0.00,0.000,6,0.126,0.000,1891,2305,3419
$GC,1962,-0.71,-117.3,183.6,-4.9,120,1967,0.15,2.22,0.00,0.000,4,0.053,0.042,1796,887,3418
$GC,1983,-0.71,-117.3,185.3,-7.1,120,1990,0.15,2.25,0.00,0.000,6,0.128,0.040,1839,2301,3418
$GC,2296,-0.71,-117.3,209.2,-7.5,131,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2301,3418
$GC,2603,-0.71,-117.3,231.9,-7.4,141,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2301,3417
$GC,2908,-0.71,-117.3,255.7,-7.8,151,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2301,3417
$GC,3215,-0.71,-117.3,280.4,-8.1,161,3219,0.00,2.22,0.00,0.000,4,0.000,0.044,1839,891,3416
$GC,3249,-0.71,-117.3,283.3,-9.0,162,3253,0.00,2.22,0.00,0.000,6,0.000,0.044,1836,2303,3416
$GC,3588,-0.71,-117.3,311.3,-8.3,171,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2302,3415
$GC,3891,-0.71,-117.3,335.6,-8.0,176,3895,0.00,2.22,0.00,0.000,4,0.000,0.049,1836,901,3414
$GC,3941,-0.71,-117.3,339.8,-8.3,176,3945,0.00,2.22,0.00,0.000,6,0.000,0.042,1836,2309,3414
$GC,4262,-0.71,-117.3,363.5,-7.3,182,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2309,3413
$GC,4565,-0.71,-117.3,383.8,-6.7,187,4569,0.00,2.25,0.00,0.000,4,0.000,0.048,1837,890,3413
$GC,4598,-0.71,-117.3,386.2,-6.5,187,4602,0.00,2.25,0.00,0.000,6,0.000,0.043,1829,2301,3413
$GC,4932,-0.71,-117.3,408.1,-6.6,193,4935,0.00,2.22,0.00,0.000,4,0.000,0.046,1828,893,3412
$GC,4982,-0.71,-117.3,411.9,-7.9,193,4986,0.10,2.22,0.00,0.000,6,0.138,0.042,1848,2308,3412
$GC,5297,-0.79,-117.3,431.6,-6.3,199,5300,0.00,2.22,0.00,0.000,4,0.000,0.046,1848,898,3412
$GC,5341,-0.89,-117.3,434.9,-7.1,199,5346,0.15,2.22,0.00,0.000,6,0.058,0.042,1771,2313,3412
$GC,5661,-0.66,-117.3,469.1,-10.9,205,5666,0.25,2.22,0.00,0.000,4,0.135,0.053,1849,3708,3412
$GC,5688,-0.66,-117.3,471.6,-8.5,205,5692,0.00,2.15,0.00,0.000,6,0.000,0.038,1850,2304,3411
$GC,6026,-0.77,-117.3,492.1,-6.0,211,6030,0.00,2.22,0.00,0.000,4,0.000,0.050,1849,891,3411
$GC,6059,-0.87,-117.3,494.3,-6.1,211,6064,0.12,2.22,0.00,0.000,6,0.063,0.048,1775,2304,3411
$GC,6386,-0.67,-117.3,524.8,-9.5,217,6391,0.22,2.25,0.00,0.000,4,0.131,0.057,1842,3716,3410
$GC,6418,-0.74,-117.3,527.2,-6.0,217,6422,0.00,2.17,0.00,0.000,6,0.000,0.032,1842,2304,3410
$GC,6751,-0.82,-117.3,544.1,-5.1,223,6755,0.00,2.22,0.00,0.000,4,0.000,0.048,1841,896,3410
$GC,6785,-0.90,-117.3,546.1,-5.9,223,6789,0.12,2.22,0.00,0.000,6,0.064,0.041,1769,2310,3410
$GC,7117,-0.68,-117.3,576.9,-9.5,229,7122,0.25,2.25,0.00,0.000,4,0.131,0.054,1849,3713,3409
$GC,7156,-0.83,-117.3,579.8,-6.1,229,7160,0.10,2.17,0.00,0.000,6,0.072,0.033,1783,2301,3410
$GC,7477,-0.66,-117.3,609.9,-9.7,235,7481,0.22,2.22,0.00,0.000,4,0.128,0.052,1855,894,3409
$GC,7539,-0.81,-117.3,614.7,-7.0,236,7544,0.10,2.22,0.00,0.000,6,0.071,0.043,1785,2312,3409
$GC,7904,-0.67,-117.3,651.2,-10.1,242,7906,0.22,0.00,0.00,0.000,6,0.128,0.000,1853,2312,3409
$GC,8208,-0.80,-117.3,671.6,-6.6,247,8209,0.10,0.00,0.00,0.000,6,0.071,0.000,1792,2313,3409
$GC,8511,-0.70,-117.3,698.9,-9.1,252,8513,0.20,0.00,0.00,0.000,6,0.124,0.000,1852,2312,3409
$GC,8814,-0.84,-117.3,716.9,-5.8,257,8819,0.12,2.25,0.00,0.000,4,0.067,0.057,1782,3716,3408
$GC,8847,-0.72,-117.3,719.5,-8.8,257,8852,0.22,2.20,0.00,0.000,6,0.126,0.033,1849,2298,3408
$GC,9174,-0.85,-117.3,737.3,-5.1,263,9176,0.12,0.00,0.00,0.000,6,0.071,0.000,1791,2296,3408
$GC,9476,-0.74,-117.3,759.8,-7.5,268,9478,0.17,0.00,0.00,0.000,6,0.130,0.000,1843,2297,3408
$GC,9780,-0.85,-117.3,775.1,-4.9,273,9782,0.10,0.00,0.00,0.000,6,0.081,0.000,1797,2297,3408
$GC,10083,-0.77,-117.3,796.8,-7.3,278,10085,0.12,0.00,0.00,0.000,6,0.131,0.000,1832,2297,3408
$GC,10386,-0.83,-117.3,814.8,-5.9,283,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2297,3407
$GC,10689,-0.91,-117.3,833.0,-6.0,288,10690,0.12,0.00,0.00,0.000,6,0.076,0.000,1779,2296,3407
$GC,10992,-0.76,-117.3,859.5,-8.9,293,10994,0.20,0.00,0.00,0.000,6,0.133,0.000,1837,2297,3407
$GC,11295,-0.86,-117.3,877.8,-5.9,298,11297,0.10,0.00,0.00,0.000,6,0.087,0.000,1796,2296,3407
$GC,11598,-0.78,-117.3,900.4,-7.5,303,11600,0.12,0.00,0.00,0.000,6,0.136,0.000,1830,2297,3407
$GC,11901,-0.85,-117.3,918.0,-5.8,308,11905,0.00,2.25,0.00,0.000,4,0.000,0.056,1830,891,3407
$GC,11935,-0.93,-117.3,920.3,-6.9,308,11940,0.10,2.22,0.00,0.000,6,0.083,0.044,1780,2307,3407
$GC,12267,-0.78,-117.3,948.8,-8.8,314,12272,0.17,2.25,0.00,0.000,4,0.143,0.056,1826,3710,3406
$GC,12300,-0.84,-117.3,951.5,-7.5,314,12304,0.00,2.20,0.00,0.000,6,0.000,0.036,1826,2297,3406
$GC,12634,-0.91,-117.3,972.1,-6.2,320,12636,0.10,0.00,0.00,0.000,6,0.093,0.000,1784,2297,3405
$STATE,12873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12873,begin apogee
$GC,12879,-0.22,0.0,991.4,8.0,324,12975,0.55,0.00,93.12,1.332,6,0.130,0.000,1956,2297,2931
$STATE,12976,end apogee,CONTROL_FINISHED_OK
$STATE,12976,begin climb
$GC,12978,0.68,117.3,993.1,0.0,325,13080,0.55,0.00,98.62,1.303,6,0.079,0.000,2148,2296,2452
$GC,13344,0.39,117.3,974.2,7.0,331,13346,0.25,0.00,0.00,0.000,6,0.162,0.000,2083,2296,2441
$GC,13646,0.43,143.2,960.0,4.6,336,13672,0.00,2.40,21.12,1.233,4,0.000,0.054,2083,3712,2347
$GC,13717,0.37,143.2,956.1,5.9,337,13721,0.00,2.30,0.00,0.000,6,0.000,0.036,2091,2301,2343
$GC,14077,0.37,148.9,937.1,5.3,343,14085,0.00,0.00,5.93,0.974,6,0.000,0.000,2091,2300,2323
$GC,14380,0.37,148.9,920.3,5.6,348,14384,0.00,2.33,0.00,0.000,4,0.000,0.054,2091,3716,2320
$GC,14407,0.29,148.9,918.5,6.5,348,14412,0.15,2.28,0.00,0.000,6,0.166,0.041,2063,2292,2320
$GC,14739,0.41,166.0,902.2,4.9,354,14757,0.10,0.00,15.48,1.187,6,0.077,0.000,2105,2291,2254
$GC,15042,0.35,166.0,882.2,6.7,359,15044,0.12,0.00,0.00,0.000,6,0.149,0.000,2074,2290,2250
$GC,15345,0.46,179.4,866.7,5.0,364,15365,0.10,2.38,12.62,1.143,4,0.077,0.054,2117,3710,2197
$GC,15382,0.31,179.4,864.0,7.3,364,15387,0.22,2.25,0.00,0.000,6,0.162,0.035,2068,2303,2197
$GC,15709,0.55,180.0,846.5,5.5,370,15713,0.17,2.30,0.00,0.000,4,0.065,0.055,2146,885,2194
$GC,15787,0.39,180.0,840.6,7.9,371,15792,0.22,2.28,0.00,0.000,6,0.146,0.044,2083,2304,2194
$GC,16136,0.45,187.5,822.0,5.2,377,16150,0.00,2.33,7.90,1.029,4,0.000,0.056,2083,3710,2165
$GC,16178,0.45,187.5,819.4,5.8,377,16182,0.00,2.25,0.00,0.000,6,0.000,0.038,2091,2296,2164
$GC,16505,0.45,187.5,800.1,5.9,383,16509,0.00,2.28,0.00,0.000,4,0.000,0.054,2101,884,2163
$GC,16532,0.51,187.5,798.3,6.8,383,16536,0.00,2.28,0.00,0.000,6,0.000,0.045,2101,2309,2163
$GC,16865,0.51,187.5,777.1,6.4,389,16866,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2309,2162
$GC,17167,0.51,187.5,759.1,6.0,394,17168,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2309,2162
$GC,17471,0.51,187.5,741.4,5.8,399,17475,0.00,2.28,0.00,0.000,4,0.000,0.050,2111,889,2162
$GC,17509,0.51,187.5,739.1,5.7,399,17513,0.00,2.25,0.00,0.000,6,0.000,0.041,2111,2311,2161
$GC,17836,0.47,187.5,718.7,6.3,405,17840,0.00,2.25,0.00,0.000,4,0.000,0.052,2111,3717,2161
$GC,17857,0.39,187.5,717.1,7.2,405,17862,0.15,2.22,0.00,0.000,6,0.153,0.035,2081,2296,2161
$GC,18195,0.50,202.1,700.0,5.0,411,18211,0.10,0.00,13.38,1.058,6,0.068,0.000,2139,2296,2107
$GC,18498,0.34,202.1,677.1,7.7,416,18503,0.20,2.30,0.00,0.000,4,0.144,0.058,2077,3712,2103
$GC,18525,0.34,202.1,675.1,6.6,416,18529,0.00,2.25,0.00,0.000,6,0.000,0.041,2085,2306,2103
$GC,18864,0.47,226.5,659.1,4.7,422,18892,0.00,2.38,21.48,1.068,4,0.000,0.057,2095,892,2006
$GC,18904,0.68,278.0,657.1,3.8,422,18956,0.17,2.28,45.22,1.083,6,0.052,0.040,2184,2305,1796
$GC,19296,0.40,278.0,611.2,12.5,429,19301,0.32,2.30,0.00,0.000,4,0.152,0.057,2088,3709,1787
$GC,19329,0.46,278.0,607.8,7.8,429,19333,0.00,2.25,0.00,0.000,6,0.000,0.041,2095,2302,1786
$GC,19655,0.61,278.0,588.7,5.9,435,19657,0.12,0.00,0.00,0.000,6,0.063,0.000,2170,2302,1784
$GC,19959,0.41,278.0,555.0,11.4,440,19961,0.30,0.00,0.00,0.000,6,0.140,0.000,2084,2302,1784
$GC,20261,0.90,278.0,533.1,7.5,445,20266,0.30,2.30,0.00,0.000,4,0.074,0.054,2191,3717,1782
$GC,20328,0.60,278.0,526.5,12.2,446,20333,0.25,2.22,0.00,0.000,6,0.163,0.035,2133,2297,1782
$GC,20693,0.60,278.0,499.5,7.1,452,20697,0.00,2.25,0.00,0.000,4,0.000,0.050,2141,895,1782
$GC,20726,0.60,278.0,497.0,6.9,452,20730,0.00,2.22,0.00,0.000,6,0.000,0.040,2141,2305,1781
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$STATE,26905,end climb,SURFACE_DEPTH_REACHED
$STATE,26905,begin surface coast
$FINISH,1.0,1.024329
$STATE,26917,end surface coast,CONTROL_FINISHED_OK
$STATE,26918,begin surface
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$IRIDIUM_FIX,4936.36,-14508.15,291098,090946
$TT8_MAMPS,0.028379
$HUMID,1678
$INTERNAL_PRESSURE,7.43193
$TCM_TEMP,14.80
$XPDR_PINGS,66
$24V_AH,23.5,25.895
$10V_AH,10.7,20.637
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$DEVICE_SECS,27.650,197.425,386.900,0.000,0.000,28.402,25.320,150.561,16.500,0.000,0.000,23.655,1592.960,22573.586,515.432,2070.146,565.441,33.374,1559.225,0.000,2057.966,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,496.836,563.380,722.270,1201.538,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41206,700
$CAP_FILE_SIZE,177719,0
$CFSIZE,260165632,246116352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050809,013206,5001.038,-14502.477,36,2.0,42,18.5