version: 66.04
glider: 144
mission: 15
dive: 202
start: 8 17 109 4 45 50
data:
$ID,144
$MISSION,15
$DIVE,202
$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,-64836.711
$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,33
$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
$GPS1,043756,5003.165,-14510.449,44,2.9,63,18.4
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-54.3
$GPS2,044456,5003.198,-14510.387,14,1.2,14,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.035,-0.164
$KALMAN_X,1676.9,96.7,55.2,-1615.7,772.3
$KALMAN_Y,3267.9,-170.8,-100.7,-35919.1,1267.5
$MHEAD_RNG_PITCHd_Wd,173.8,17115,-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,17,-0.68,-117.3,0.0,0.0,0,61,0.00,0.00,-41.85,0.000,2,0.000,0.000,99,2304,2624
$GC,64,-0.68,-117.3,3.1,-4.7,4,96,7.12,0.00,-18.75,0.000,6,0.242,0.000,1846,2304,3412
$GC,416,-0.56,-117.3,50.2,-10.3,37,418,0.12,0.00,0.00,0.000,6,0.140,0.000,1882,2304,3414
$GC,733,-0.56,-117.3,76.8,-8.1,67,737,0.00,2.25,0.00,0.000,4,0.000,0.043,1882,886,3416
$GC,788,-0.64,-117.3,81.5,-8.2,70,795,0.00,2.22,0.00,0.000,6,0.000,0.037,1877,2301,3415
$GC,1105,-0.64,-117.3,107.8,-8.4,86,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2302,3416
$GC,1414,-0.70,-117.3,131.5,-7.7,101,1415,0.10,0.00,0.00,0.000,6,0.066,0.000,1805,2302,3416
$GC,1732,-0.53,-117.3,166.0,-10.4,114,1736,0.22,2.25,0.00,0.000,4,0.123,0.046,1880,894,3415
$GC,1830,-0.71,-117.3,173.1,-6.9,117,1834,0.10,2.22,0.00,0.000,6,0.067,0.043,1807,2306,3416
$GC,2164,-0.57,-117.3,205.5,-9.7,128,2169,0.20,2.22,0.00,0.000,4,0.127,0.049,1864,3709,3415
$GC,2192,-0.64,-117.3,207.9,-7.4,128,2198,0.00,2.20,0.00,0.000,6,0.000,0.033,1864,2286,3415
$GC,2506,-0.76,-117.3,225.9,-5.4,139,2510,0.10,2.17,0.00,0.000,4,0.071,0.041,1792,892,3415
$GC,2540,-0.60,-117.3,228.6,-9.0,140,2544,0.30,2.22,0.00,0.000,6,0.124,0.042,1873,2312,3415
$GC,2881,-0.76,-117.3,245.9,-4.7,151,2882,0.12,0.00,0.00,0.000,6,0.056,0.000,1789,2313,3413
$GC,3186,-0.57,-117.3,273.8,-9.2,161,3191,0.25,2.25,0.00,0.000,4,0.125,0.044,1871,892,3413
$GC,3236,-0.74,-117.3,277.0,-5.7,162,3241,0.10,2.22,0.00,0.000,6,0.067,0.038,1799,2306,3413
$GC,3585,-0.60,-117.3,306.6,-8.8,173,3589,0.20,2.22,0.00,0.000,4,0.126,0.048,1864,898,3412
$GC,3623,-0.75,-117.3,309.2,-6.0,173,3628,0.10,2.20,0.00,0.000,6,0.069,0.046,1798,2301,3412
$GC,3949,-0.63,-117.3,337.9,-9.1,179,3951,0.22,0.00,0.00,0.000,6,0.123,0.000,1866,2301,3411
$GC,4253,-0.78,-117.3,354.8,-5.4,184,4258,0.12,2.22,0.00,0.000,4,0.060,0.043,1785,899,3410
$GC,4285,-0.61,-117.3,357.7,-9.3,184,4290,0.28,2.22,0.00,0.000,6,0.125,0.047,1864,2309,3410
$GC,4618,-0.76,-117.3,375.5,-5.2,190,4622,0.12,2.25,0.00,0.000,4,0.063,0.044,1791,895,3410
$GC,4645,-0.68,-117.3,377.7,-8.1,190,4650,0.25,2.22,0.00,0.000,6,0.124,0.043,1857,2310,3410
$GC,4977,-0.80,-117.3,395.7,-5.4,196,4979,0.12,0.00,0.00,0.000,6,0.058,0.000,1781,2311,3409
$GC,5280,-0.62,-117.3,425.7,-10.1,201,5285,0.25,2.25,0.00,0.000,4,0.126,0.051,1863,897,3409
$GC,5347,-0.79,-117.3,430.7,-7.0,202,5352,0.12,2.22,0.00,0.000,6,0.059,0.042,1784,2311,3408
$GC,5707,-0.63,-117.3,466.4,-10.1,208,5709,0.25,0.00,0.00,0.000,6,0.125,0.000,1860,2311,3408
$GC,6010,-0.78,-117.3,484.8,-6.0,213,6015,0.12,2.25,0.00,0.000,4,0.058,0.045,1780,892,3407
$GC,6037,-0.68,-117.3,487.3,-9.7,213,6042,0.28,2.22,0.00,0.000,6,0.123,0.040,1853,2307,3407
$GC,6369,-0.81,-117.3,509.6,-6.6,219,6374,0.12,2.25,0.00,0.000,4,0.059,0.051,1770,3712,3407
$GC,6396,-0.69,-117.3,512.0,-9.4,219,6401,0.28,2.20,0.00,0.000,6,0.127,0.037,1853,2299,3407
$GC,6728,-0.81,-117.3,532.5,-6.0,225,6730,0.12,0.00,0.00,0.000,6,0.064,0.000,1780,2298,3407
$GC,7031,-0.64,-117.3,563.0,-10.4,230,7036,0.22,2.22,0.00,0.000,4,0.126,0.047,1855,897,3406
$GC,7069,-0.78,-117.3,566.2,-7.4,230,7073,0.00,2.22,0.00,0.000,6,0.000,0.041,1850,2307,3406
$GC,7390,-0.90,-117.3,586.1,-6.1,236,7392,0.15,0.00,0.00,0.000,6,0.054,0.000,1764,2307,3406
$GC,7693,-0.68,-117.3,615.9,-10.0,241,7697,0.28,2.28,0.00,0.000,4,0.134,0.051,1853,897,3406
$GC,7776,-0.83,-117.3,621.2,-5.8,242,7780,0.10,2.25,0.00,0.000,6,0.070,0.041,1789,2314,3405
$GC,8119,-0.71,-117.3,648.3,-8.1,248,8124,0.20,2.25,0.00,0.000,4,0.125,0.051,1849,3713,3405
$GC,8158,-0.89,-117.3,650.7,-4.8,248,8162,0.15,2.20,0.00,0.000,6,0.055,0.038,1763,2296,3405
$GC,8478,-0.67,-117.3,679.5,-9.2,254,8483,0.28,2.22,0.00,0.000,4,0.128,0.052,1853,899,3405
$GC,8523,-0.83,-117.3,682.4,-5.1,254,8527,0.12,2.22,0.00,0.000,6,0.062,0.044,1780,2308,3404
$GC,8837,-0.69,-117.3,706.2,-7.7,260,8839,0.25,0.00,0.00,0.000,6,0.123,0.000,1856,2308,3404
$GC,9141,-0.86,-117.3,719.2,-4.1,265,9146,0.15,2.25,0.00,0.000,4,0.058,0.049,1775,898,3404
$GC,9174,-0.70,-117.3,721.6,-8.3,265,9178,0.28,2.22,0.00,0.000,6,0.126,0.041,1849,2305,3404
$GC,9500,-0.84,-117.3,736.5,-4.4,271,9502,0.12,0.00,0.00,0.000,6,0.067,0.000,1785,2305,3404
$GC,9803,-0.72,-117.3,760.1,-8.0,276,9808,0.20,2.28,0.00,0.000,4,0.125,0.047,1850,894,3403
$GC,9847,-0.88,-117.3,763.0,-5.7,276,9852,0.15,2.25,0.00,0.000,6,0.064,0.041,1779,2312,3404
$GC,10162,-0.73,-117.3,788.7,-8.3,282,10166,0.17,2.25,0.00,0.000,4,0.135,0.047,1837,896,3403
$GC,10189,-0.73,-117.3,790.7,-6.2,282,10192,0.00,2.25,0.00,0.000,6,0.000,0.044,1837,2314,3403
$GC,10527,-0.82,-117.3,809.1,-5.4,288,10531,0.00,2.28,0.00,0.000,4,0.000,0.049,1837,894,3403
$GC,10571,-0.93,-117.3,811.8,-6.2,288,10576,0.12,2.25,0.00,0.000,6,0.071,0.045,1779,2311,3403
$GC,10886,-0.79,-117.3,837.5,-8.4,294,10888,0.17,0.00,0.00,0.000,6,0.133,0.000,1830,2311,3403
$GC,11189,-0.87,-117.3,856.3,-6.1,299,11193,0.00,2.28,0.00,0.000,4,0.000,0.051,1830,892,3403
$GC,11233,-0.95,-117.3,859.3,-7.2,299,11238,0.10,2.25,0.00,0.000,6,0.081,0.041,1775,2312,3403
$GC,11548,-0.80,-117.3,886.0,-8.6,305,11552,0.17,2.25,0.00,0.000,4,0.133,0.055,1817,3709,3402
$GC,11580,-0.80,-117.3,888.6,-6.3,305,11584,0.00,2.17,0.00,0.000,6,0.000,0.041,1817,2308,3402
$GC,11912,-0.80,-117.3,909.5,-6.3,311,11916,0.00,2.25,0.00,0.000,4,0.000,0.050,1818,897,3402
$GC,11951,-0.80,-117.3,912.1,-7.0,311,11955,0.00,2.25,0.00,0.000,6,0.000,0.042,1807,2312,3402
$GC,12278,-0.80,-117.3,934.2,-6.8,317,12282,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,894,3402
$GC,12327,-0.80,-117.3,938.1,-7.0,317,12332,0.10,2.25,0.00,0.000,6,0.146,0.044,1824,2311,3402
$GC,12642,-0.87,-117.3,957.0,-6.0,323,12646,0.00,2.28,0.00,0.000,4,0.000,0.052,1824,898,3402
$GC,12676,-0.92,-117.3,959.2,-6.8,323,12680,0.00,2.25,0.00,0.000,6,0.000,0.042,1822,2309,3402
$GC,13003,-0.97,-117.3,980.0,-6.4,329,13008,0.12,2.28,0.00,0.000,4,0.079,0.060,1759,3713,3402
$GC,13043,-0.77,-117.3,983.4,-9.3,329,13048,0.25,2.22,0.00,0.000,6,0.143,0.040,1831,2298,3401
$STATE,13179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13179,begin apogee
$GC,13185,-0.22,0.0,992.6,6.4,332,13281,0.38,0.00,93.22,1.325,6,0.123,0.000,1952,2297,2931
$STATE,13281,end apogee,CONTROL_FINISHED_OK
$STATE,13281,begin climb
$GC,13284,0.68,117.3,994.4,0.0,333,13392,0.60,2.55,99.47,1.299,4,0.079,0.057,2153,3701,2450
$GC,13430,0.24,117.3,991.3,7.8,336,13436,0.43,2.35,0.00,0.000,6,0.178,0.036,2057,2307,2446
$GC,13791,0.47,162.1,977.3,4.0,342,13837,0.15,2.47,37.40,1.262,4,0.070,0.053,2123,893,2268
$GC,13917,0.38,162.1,970.1,6.0,343,13924,0.15,2.35,0.00,0.000,6,0.143,0.048,2085,2309,2265
$GC,14227,0.40,175.1,954.4,5.1,349,14245,0.00,2.38,11.68,1.144,4,0.000,0.058,2085,3710,2216
$GC,14292,0.40,175.1,950.3,6.6,350,14297,0.00,2.28,0.00,0.000,6,0.000,0.036,2093,2295,2214
$GC,14664,0.40,175.1,929.0,5.7,356,14665,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2296,2212
$GC,14967,0.40,175.1,910.9,6.0,361,14971,0.00,2.33,0.00,0.000,4,0.000,0.051,2093,3716,2211
$GC,15007,0.34,175.1,908.1,7.6,361,15012,0.12,2.25,0.00,0.000,6,0.163,0.036,2072,2305,2211
$GC,15328,0.47,192.5,892.0,4.9,367,15347,0.10,0.00,15.55,1.175,6,0.079,0.000,2118,2303,2145
$GC,15698,0.40,192.5,867.4,6.6,373,15702,0.12,2.33,0.00,0.000,4,0.144,0.054,2085,3716,2141
$GC,15724,0.40,192.5,865.6,6.5,373,15729,0.00,2.30,0.00,0.000,6,0.000,0.040,2093,2297,2141
$GC,16064,0.47,212.5,848.9,4.8,379,16084,0.00,0.00,18.02,1.164,6,0.000,0.000,2093,2297,2064
$GC,16366,0.56,238.3,834.9,4.6,384,16396,0.10,2.40,23.20,1.171,4,0.072,0.058,2145,3707,1959
$GC,16424,0.37,238.3,830.3,9.5,384,16431,0.28,2.30,0.00,0.000,6,0.154,0.035,2081,2295,1957
$GC,16735,0.71,253.3,814.9,5.0,390,16754,0.20,2.35,13.57,1.101,4,0.067,0.054,2169,898,1898
$GC,16833,0.55,253.3,807.4,8.2,391,16838,0.20,2.28,0.00,0.000,6,0.143,0.041,2116,2303,1894
$GC,17164,0.55,253.3,786.8,6.2,397,17168,0.00,2.28,0.00,0.000,4,0.000,0.056,2115,3712,1893
$GC,17237,0.55,253.3,781.3,7.9,398,17240,0.00,2.22,0.00,0.000,6,0.000,0.036,2124,2302,1892
$GC,17597,0.55,253.3,756.1,7.0,404,17601,0.00,2.30,0.00,0.000,4,0.000,0.054,2123,3719,1891
$GC,17624,0.50,253.3,754.0,8.8,404,17629,0.12,2.25,0.00,0.000,6,0.151,0.036,2101,2299,1891
$GC,17956,0.60,253.3,735.2,5.6,410,17961,0.10,2.28,0.00,0.000,4,0.071,0.055,2162,889,1891
$GC,17977,0.60,253.3,733.5,7.7,410,17982,0.12,2.25,0.00,0.000,6,0.137,0.041,2130,2306,1890
$GC,18321,0.55,253.3,707.9,7.5,416,18324,0.00,2.25,0.00,0.000,4,0.000,0.051,2131,3709,1891
$GC,18390,0.47,253.3,702.1,8.9,417,18395,0.15,2.20,0.00,0.000,6,0.143,0.040,2097,2301,1891
$GC,18756,0.61,262.6,682.3,5.2,423,18770,0.12,2.30,8.48,0.964,4,0.060,0.051,2179,896,1860
$GC,18787,0.46,262.6,679.7,8.1,423,18792,0.28,2.22,0.00,0.000,6,0.135,0.047,2100,2303,1858
$GC,19119,0.60,275.9,662.1,5.1,429,19139,0.12,2.30,12.98,1.017,4,0.058,0.055,2174,3701,1805
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$GC,26549,1.24,327.1,51.3,7.4,648,26554,0.32,2.25,0.00,0.000,4,0.061,0.048,2269,3714,1589
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$STATE,27291,end climb,SURFACE_DEPTH_REACHED
$STATE,27291,begin surface coast
$FINISH,1.2,1.011457
$STATE,27313,end surface coast,CONTROL_FINISHED_OK
$STATE,27313,begin surface
$SM_CCo,27388,0.00,0.000,0,0,1526,344.40
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$TT8_MAMPS,0.028379
$HUMID,1643
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$TCM_TEMP,16.50
$XPDR_PINGS,89
$24V_AH,22.8,30.966
$10V_AH,10.7,25.249
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$DEVICE_SECS,31.925,248.150,389.850,0.000,0.000,30.443,27.031,234.604,22.250,0.000,0.000,16.240,1720.130,22529.430,546.567,2321.999,677.868,33.356,1737.506,0.000,2307.564,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44294,718
$CAP_FILE_SIZE,205414,0
$CFSIZE,260165632,243097600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,170809,122354,5000.625,-14511.230,41,1.5,59,18.4