version: 66.04
glider: 144
mission: 15
dive: 204
start: 8 17 109 20 38 0
data:
$ID,144
$MISSION,15
$DIVE,204
$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,-64903.062
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,203107,4957.315,-14511.127,32,1.3,32,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-61.1
$GPS2,203707,4957.335,-14511.058,14,1.3,31,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.069,-0.153
$KALMAN_X,3244.2,-205.1,-2.2,-3611.5,1668.2
$KALMAN_Y,4137.3,-54.2,-124.9,-47739.4,712.2
$MHEAD_RNG_PITCHd_Wd,185.8,6245,-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,-117.3,0.0,0.0,0,50,0.00,0.00,-31.48,0.000,2,0.000,0.000,98,2290,2541
$GC,52,-0.68,-117.3,3.1,-5.8,3,87,7.12,2.30,-21.40,0.000,4,0.242,0.063,1837,3707,3412
$GC,138,-0.38,-117.3,15.9,-18.1,10,145,0.22,2.25,0.00,0.000,6,0.120,0.031,1922,2306,3412
$GC,465,-0.56,-117.3,42.0,-6.7,41,469,0.15,2.28,0.00,0.000,4,0.050,0.040,1827,882,3414
$GC,493,-0.49,-117.3,45.1,-11.3,43,498,0.25,2.25,0.00,0.000,6,0.129,0.037,1893,2308,3414
$GC,820,-0.59,-117.3,72.2,-7.4,73,824,0.00,2.25,0.00,0.000,4,0.000,0.041,1892,892,3416
$GC,865,-0.71,-117.3,75.8,-8.2,76,872,0.15,2.22,0.00,0.000,6,0.051,0.037,1797,2304,3416
$GC,1182,-0.44,-117.3,118.2,-13.4,94,1187,0.32,2.25,0.00,0.000,4,0.131,0.041,1901,889,3417
$GC,1245,-0.62,-117.3,123.2,-6.1,97,1249,0.12,2.22,0.00,0.000,6,0.054,0.044,1827,2305,3417
$GC,1571,-0.53,-117.3,151.1,-8.1,113,1576,0.20,2.25,0.00,0.000,4,0.120,0.042,1887,892,3417
$GC,1621,-0.72,-117.3,154.0,-5.6,114,1626,0.12,2.22,0.00,0.000,6,0.060,0.041,1797,2306,3417
$GC,1939,-0.54,-117.3,185.6,-10.9,125,1941,0.28,0.00,0.00,0.000,6,0.122,0.000,1882,2307,3417
$GC,2245,-0.72,-117.3,207.5,-6.9,135,2250,0.15,2.25,0.00,0.000,4,0.053,0.041,1787,892,3416
$GC,2307,-0.53,-117.3,214.5,-12.0,136,2314,0.35,2.25,0.00,0.000,6,0.125,0.041,1889,2311,3416
$GC,2620,-0.73,-117.3,232.2,-5.1,147,2622,0.17,0.00,0.00,0.000,6,0.048,0.000,1783,2311,3416
$GC,2926,-0.52,-117.3,263.8,-10.8,157,2930,0.30,2.28,0.00,0.000,4,0.123,0.048,1882,884,3415
$GC,2975,-0.74,-117.3,267.3,-5.9,158,2980,0.12,2.25,0.00,0.000,6,0.060,0.041,1807,2311,3415
$GC,3293,-0.63,-117.3,295.1,-9.0,169,3295,0.20,0.00,0.00,0.000,6,0.122,0.000,1868,2311,3415
$GC,3627,-0.77,-117.3,314.8,-5.8,176,3629,0.12,0.00,0.00,0.000,6,0.060,0.000,1787,2311,3413
$GC,3931,-0.58,-117.3,345.4,-10.3,181,3936,0.25,2.28,0.00,0.000,4,0.123,0.044,1869,892,3413
$GC,3994,-0.76,-117.3,350.0,-6.7,182,3998,0.10,2.25,0.00,0.000,6,0.068,0.040,1795,2312,3413
$GC,4359,-0.62,-117.3,385.3,-9.8,188,4361,0.22,0.00,0.00,0.000,6,0.123,0.000,1863,2312,3412
$GC,4662,-0.76,-117.3,404.3,-6.1,193,4667,0.10,2.28,0.00,0.000,4,0.071,0.048,1795,889,3412
$GC,4689,-0.69,-117.3,406.7,-9.0,193,4694,0.22,2.25,0.00,0.000,6,0.123,0.040,1853,2313,3411
$GC,5021,-0.79,-117.3,428.9,-6.6,199,5026,0.10,2.25,0.00,0.000,4,0.072,0.049,1793,892,3410
$GC,5085,-0.65,-117.3,434.8,-9.8,200,5090,0.25,2.22,0.00,0.000,6,0.117,0.042,1859,2305,3410
$GC,5451,-0.79,-117.3,456.6,-5.7,206,5453,0.12,0.00,0.00,0.000,6,0.058,0.000,1785,2306,3410
$GC,5754,-0.63,-117.3,485.1,-9.7,211,5759,0.22,2.28,0.00,0.000,4,0.123,0.051,1857,885,3409
$GC,5821,-0.78,-117.3,489.6,-6.0,212,5825,0.00,2.25,0.00,0.000,6,0.000,0.039,1850,2308,3409
$GC,6182,-0.88,-117.3,509.0,-5.3,218,6183,0.15,0.00,0.00,0.000,6,0.056,0.000,1763,2308,3409
$GC,6484,-0.65,-117.3,536.9,-9.4,223,6489,0.28,2.28,0.00,0.000,4,0.130,0.051,1853,892,3409
$GC,6551,-0.78,-117.3,540.8,-5.1,224,6555,0.00,2.22,0.00,0.000,6,0.000,0.044,1850,2302,3408
$GC,6917,-0.89,-117.3,556.5,-4.3,230,6919,0.15,0.00,0.00,0.000,6,0.053,0.000,1766,2302,3408
$GC,7220,-0.68,-117.3,582.5,-8.9,235,7222,0.28,0.00,0.00,0.000,6,0.124,0.000,1850,2302,3408
$GC,7524,-0.80,-117.3,597.8,-4.9,240,7529,0.10,2.25,0.00,0.000,4,0.069,0.046,1787,894,3408
$GC,7564,-0.67,-117.3,600.9,-8.3,240,7569,0.25,2.25,0.00,0.000,6,0.123,0.041,1857,2311,3408
$GC,7885,-0.82,-117.3,617.0,-4.8,246,7890,0.12,2.25,0.00,0.000,4,0.061,0.047,1783,894,3407
$GC,7918,-0.69,-117.3,619.7,-9.2,246,7923,0.25,2.25,0.00,0.000,6,0.125,0.044,1856,2314,3407
$GC,8250,-0.84,-117.3,637.2,-5.2,252,8252,0.15,0.00,0.00,0.000,6,0.056,0.000,1774,2314,3406
$GC,8553,-0.67,-117.3,664.5,-9.3,257,8555,0.28,0.00,0.00,0.000,6,0.123,0.000,1859,2315,3407
$GC,8857,-0.84,-117.3,680.1,-5.0,262,8861,0.15,2.28,0.00,0.000,4,0.054,0.047,1774,895,3406
$GC,8889,-0.68,-117.3,682.9,-9.8,262,8894,0.30,2.25,0.00,0.000,6,0.124,0.041,1856,2311,3406
$GC,9216,-0.84,-117.3,700.0,-5.1,268,9218,0.15,0.00,0.00,0.000,6,0.058,0.000,1779,2311,3406
$GC,9519,-0.70,-117.3,726.4,-8.9,273,9521,0.22,0.00,0.00,0.000,6,0.122,0.000,1847,2311,3405
$GC,9822,-0.84,-117.3,742.4,-5.0,278,9827,0.12,2.28,0.00,0.000,4,0.064,0.048,1784,890,3405
$GC,9849,-0.77,-117.3,744.7,-8.9,278,9854,0.20,2.25,0.00,0.000,6,0.127,0.042,1835,2307,3405
$GC,10181,-0.86,-117.3,763.5,-5.6,284,10185,0.00,2.28,0.00,0.000,4,0.000,0.053,1835,887,3405
$GC,10214,-0.95,-117.3,765.7,-6.1,284,10219,0.15,2.25,0.00,0.000,6,0.064,0.044,1769,2304,3406
$GC,10541,-0.76,-117.3,794.2,-8.9,290,10545,0.20,2.28,0.00,0.000,4,0.137,0.048,1833,890,3405
$GC,10591,-0.84,-117.3,797.8,-6.8,290,10595,0.00,2.25,0.00,0.000,6,0.000,0.041,1824,2309,3404
$GC,10901,-0.88,-117.3,817.0,-6.2,295,10902,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2309,3405
$GC,11203,-0.93,-117.3,836.6,-6.5,300,11208,0.10,2.28,0.00,0.000,4,0.081,0.048,1774,895,3404
$GC,11277,-0.78,-117.3,843.3,-9.6,301,11282,0.22,2.25,0.00,0.000,6,0.128,0.044,1830,2311,3404
$GC,11632,-0.86,-117.3,865.6,-6.2,307,11633,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2311,3404
$GC,11936,-0.95,-117.3,883.3,-5.8,312,11941,0.12,2.28,0.00,0.000,4,0.076,0.050,1779,896,3404
$GC,11986,-0.80,-117.3,887.5,-8.5,312,11991,0.20,2.25,0.00,0.000,6,0.133,0.041,1825,2309,3404
$GC,12296,-0.86,-117.3,905.4,-5.7,317,12297,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2310,3404
$GC,12599,-0.93,-117.3,922.2,-5.5,322,12604,0.12,2.30,0.00,0.000,4,0.080,0.055,1777,892,3404
$GC,12639,-0.77,-117.3,925.3,-8.2,322,12644,0.22,2.25,0.00,0.000,6,0.134,0.048,1832,2305,3404
$GC,12961,-0.87,-117.3,942.7,-5.3,328,12962,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2305,3404
$GC,13264,-0.96,-117.3,957.8,-4.9,333,13268,0.15,2.28,0.00,0.000,4,0.076,0.054,1773,895,3404
$GC,13314,-0.80,-117.3,961.6,-9.0,333,13318,0.22,2.25,0.00,0.000,6,0.137,0.046,1828,2309,3404
$GC,13624,-0.88,-117.3,977.8,-5.1,338,13628,0.00,2.28,0.00,0.000,4,0.000,0.050,1828,892,3403
$GC,13657,-0.95,-117.3,979.6,-5.9,338,13661,0.12,2.25,0.00,0.000,6,0.077,0.043,1772,2312,3403
$STATE,13804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13804,begin apogee
$GC,13810,-0.22,0.0,990.6,7.6,341,13906,0.57,0.00,93.68,1.326,6,0.134,0.000,1949,2312,2931
$STATE,13907,end apogee,CONTROL_FINISHED_OK
$STATE,13907,begin climb
$GC,13910,0.68,117.3,991.6,0.0,342,14013,0.60,0.00,100.30,1.296,6,0.079,0.000,2151,2312,2453
$GC,14290,0.39,117.3,966.5,8.2,349,14292,0.25,0.00,0.00,0.000,6,0.160,0.000,2087,2312,2442
$GC,14592,0.39,117.3,949.3,5.5,354,14596,0.00,2.33,0.00,0.000,4,0.000,0.056,2086,3718,2439
$GC,14621,0.31,117.3,947.6,6.4,354,14626,0.12,2.28,0.00,0.000,6,0.172,0.038,2065,2298,2439
$GC,14953,0.41,152.5,933.0,4.3,360,14984,0.10,0.00,28.80,1.243,6,0.076,0.000,2105,2297,2309
$GC,15257,0.35,152.5,915.5,5.8,365,15262,0.12,2.35,0.00,0.000,4,0.148,0.057,2072,3716,2303
$GC,15295,0.35,152.5,913.1,6.7,365,15300,0.00,2.28,0.00,0.000,6,0.000,0.038,2080,2301,2302
$GC,15617,0.42,173.8,897.8,4.8,371,15638,0.00,0.00,18.70,1.195,6,0.000,0.000,2080,2300,2222
$GC,15920,0.51,193.2,883.1,4.8,376,15945,0.10,2.35,17.50,1.175,4,0.074,0.059,2129,3705,2142
$GC,15968,0.33,193.2,879.5,7.6,376,15973,0.25,2.28,0.00,0.000,6,0.160,0.036,2073,2298,2141
$GC,16283,0.59,193.2,861.9,5.7,382,16288,0.17,2.28,0.00,0.000,4,0.069,0.048,2141,894,2138
$GC,16346,0.50,193.2,857.3,7.5,383,16351,0.12,2.28,0.00,0.000,6,0.145,0.044,2110,2308,2138
$GC,16711,0.50,193.2,831.2,7.2,389,16715,0.00,2.28,0.00,0.000,4,0.000,0.054,2110,3716,2137
$GC,16761,0.40,193.2,827.0,8.3,389,16765,0.12,2.22,0.00,0.000,6,0.157,0.041,2086,2302,2136
$GC,17071,0.49,193.2,808.0,6.1,394,17075,0.00,2.28,0.00,0.000,4,0.000,0.053,2095,887,2136
$GC,17098,0.59,193.2,806.1,6.7,394,17103,0.12,2.25,0.00,0.000,6,0.067,0.045,2153,2303,2136
$GC,17430,0.36,193.2,773.9,9.9,400,17434,0.25,2.28,0.00,0.000,4,0.150,0.051,2070,3717,2136
$GC,17493,0.46,193.2,769.4,6.5,401,17497,0.08,2.20,0.00,0.000,6,0.079,0.036,2124,2301,2135
$GC,17858,0.38,193.2,743.2,7.0,407,17863,0.15,2.28,0.00,0.000,4,0.134,0.053,2092,889,2135
$GC,17908,0.56,228.8,740.5,4.3,407,17944,0.10,2.25,30.30,1.134,6,0.072,0.041,2147,2311,1998
$GC,18290,0.40,228.8,710.9,7.9,414,18295,0.20,2.28,0.00,0.000,4,0.140,0.051,2086,3711,1991
$GC,18352,0.49,228.8,707.0,6.5,415,18356,0.00,2.22,0.00,0.000,6,0.000,0.038,2093,2300,1991
$GC,18719,0.63,270.2,691.5,4.1,421,18760,0.15,2.35,35.53,1.101,4,0.053,0.052,2181,890,1828
$GC,18778,0.45,270.2,686.9,8.8,422,18783,0.30,2.33,0.00,0.000,6,0.134,0.041,2097,2311,1825
$GC,19145,0.66,311.6,671.1,4.1,428,19187,0.15,2.35,35.65,1.081,4,0.051,0.051,2178,3717,1659
$GC,19232,0.42,311.6,662.6,10.8,429,19236,0.35,2.28,0.00,0.000,6,0.149,0.041,2092,2308,1655
$GC,19575,0.90,311.6,637.0,8.3,435,19580,0.30,2.30,0.00,0.000,4,0.081,0.046,2198,891,1650
$GC,19586,1.46,311.6,635.8,9.1,435,19591,0.35,2.28,0.00,0.000,6,0.058,0.046,2338,2309,1649
$GC,19935,0.64,311.6,545.5,28.3,441,19940,0.70,2.28,0.00,0.000,4,0.197,0.052,2137,3709,1649
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$STATE,25997,end climb,SURFACE_DEPTH_REACHED
$STATE,25997,begin surface coast
$FINISH,1.1,1.011601
$STATE,26007,end surface coast,CONTROL_FINISHED_OK
$STATE,26007,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1724
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$TCM_TEMP,16.00
$XPDR_PINGS,75
$24V_AH,23.1,31.260
$10V_AH,10.7,25.492
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$DEVICE_SECS,32.675,221.200,375.800,0.000,0.000,27.255,27.931,159.787,18.750,0.000,0.000,33.414,1619.470,21513.801,550.365,2160.040,587.224,33.362,1624.731,0.000,2134.292,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,481.851,546.110,701.626,1167.431,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41170,680
$CAP_FILE_SIZE,189763,0
$CFSIZE,260165632,242954240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180809,035421,4954.682,-14512.391,40,4.5,60,18.4