version: 66.04
glider: 144
mission: 15
dive: 214
start: 8 21 109 3 11 55
data:
$ID,144
$MISSION,15
$DIVE,214
$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,-65100.082
$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,30
$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
$GPS1,030443,5010.708,-14442.753,29,1.4,36,18.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-55.4
$GPS2,031101,5010.678,-14442.662,14,1.8,14,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.129,0.108
$KALMAN_X,-5013.1,-121.6,-20.5,38134.2,-1306.9
$KALMAN_Y,7064.8,16.4,-99.0,-26057.3,314.2
$MHEAD_RNG_PITCHd_Wd,31.5,24411,-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,12,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.72,0.000,2,0.000,0.000,99,2304,2642
$GC,62,-0.68,-117.3,3.4,-4.8,4,96,7.05,2.33,-17.98,0.000,4,0.238,0.064,1845,886,3414
$GC,348,-0.58,-117.3,46.0,-9.6,29,355,0.12,2.22,0.00,0.000,6,0.133,0.037,1871,2304,3416
$GC,677,-0.58,-117.3,74.1,-9.1,60,682,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2304,3417
$GC,994,-0.58,-117.3,99.8,-8.4,79,998,0.00,2.22,0.00,0.000,4,0.000,0.041,1871,889,3417
$GC,1049,-0.58,-117.3,105.0,-9.5,81,1056,0.00,2.25,0.00,0.000,6,0.000,0.038,1864,2302,3417
$GC,1366,-0.58,-117.3,133.5,-8.6,97,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2302,3417
$GC,1675,-0.63,-117.3,155.5,-6.9,111,1678,0.00,2.22,0.00,0.000,4,0.000,0.044,1863,891,3417
$GC,1730,-0.70,-117.3,159.7,-7.6,112,1735,0.00,2.22,0.00,0.000,6,0.000,0.042,1864,2303,3417
$GC,2044,-0.77,-117.3,180.8,-6.3,122,2048,0.10,2.22,0.00,0.000,4,0.067,0.042,1798,892,3416
$GC,2087,-0.60,-117.3,185.0,-9.8,123,2092,0.25,2.22,0.00,0.000,6,0.123,0.038,1867,2308,3416
$GC,2406,-0.71,-117.3,206.1,-6.6,134,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2308,3416
$GC,2712,-0.82,-117.3,227.2,-6.7,144,2717,0.15,2.25,0.00,0.000,4,0.054,0.044,1785,885,3415
$GC,2767,-0.62,-117.3,233.1,-11.5,145,2774,0.28,2.22,0.00,0.000,6,0.127,0.042,1864,2301,3415
$GC,3080,-0.73,-117.3,253.4,-6.2,156,3082,0.10,0.00,0.00,0.000,6,0.071,0.000,1801,2301,3414
$GC,3386,-0.60,-117.3,282.4,-9.6,166,3391,0.20,2.22,0.00,0.000,4,0.123,0.048,1866,885,3413
$GC,3448,-0.74,-117.3,287.0,-6.5,168,3453,0.10,2.22,0.00,0.000,6,0.067,0.039,1799,2306,3413
$GC,3782,-0.60,-117.3,319.0,-9.8,176,3784,0.25,0.00,0.00,0.000,6,0.123,0.000,1875,2306,3413
$GC,4084,-0.77,-117.3,336.3,-5.5,181,4089,0.15,2.25,0.00,0.000,4,0.053,0.048,1790,885,3411
$GC,4128,-0.60,-117.3,340.4,-10.2,181,4133,0.30,2.22,0.00,0.000,6,0.124,0.039,1873,2302,3412
$GC,4444,-0.76,-117.3,357.7,-5.3,187,4446,0.12,0.00,0.00,0.000,6,0.060,0.000,1797,2303,3411
$GC,4746,-0.62,-117.3,384.9,-9.1,192,4751,0.20,2.25,0.00,0.000,4,0.123,0.048,1863,891,3410
$GC,4790,-0.78,-117.3,387.9,-5.7,192,4795,0.12,2.25,0.00,0.000,6,0.060,0.041,1789,2316,3410
$GC,5105,-0.62,-117.3,415.6,-9.0,198,5107,0.25,0.00,0.00,0.000,6,0.125,0.000,1865,2316,3410
$GC,5408,-0.77,-117.3,432.3,-5.4,203,5410,0.12,0.00,0.00,0.000,6,0.061,0.000,1793,2316,3409
$GC,5711,-0.63,-117.3,459.3,-9.1,208,5716,0.20,2.28,0.00,0.000,4,0.123,0.052,1859,889,3409
$GC,5755,-0.78,-117.3,462.4,-6.4,208,5760,0.00,2.22,0.00,0.000,6,0.000,0.041,1851,2305,3409
$GC,6071,-0.88,-117.3,480.0,-5.6,214,6073,0.15,0.00,0.00,0.000,6,0.054,0.000,1765,2305,3408
$GC,6374,-0.64,-117.3,511.9,-10.8,219,6379,0.28,2.25,0.00,0.000,4,0.129,0.045,1854,891,3408
$GC,6423,-0.79,-117.3,515.8,-6.4,219,6428,0.00,2.22,0.00,0.000,6,0.000,0.041,1850,2306,3408
$GC,6733,-0.88,-117.3,535.7,-6.5,224,6735,0.15,0.00,0.00,0.000,6,0.055,0.000,1767,2306,3407
$GC,7037,-0.66,-117.3,566.8,-10.4,229,7042,0.25,2.25,0.00,0.000,4,0.128,0.046,1850,885,3407
$GC,7103,-0.78,-117.3,571.3,-5.9,230,7107,0.00,2.25,0.00,0.000,6,0.000,0.041,1850,2309,3406
$GC,7464,-0.89,-117.3,589.7,-5.0,236,7466,0.15,0.00,0.00,0.000,6,0.057,0.000,1767,2309,3406
$GC,7766,-0.67,-117.3,617.6,-9.4,241,7771,0.25,2.22,0.00,0.000,4,0.129,0.045,1849,892,3405
$GC,7821,-0.81,-117.3,621.2,-5.6,241,7828,0.10,2.22,0.00,0.000,6,0.071,0.047,1786,2306,3405
$GC,8132,-0.67,-117.3,647.4,-8.7,247,8133,0.22,0.00,0.00,0.000,6,0.123,0.000,1855,2306,3405
$GC,8434,-0.82,-117.3,664.7,-5.5,252,8436,0.12,0.00,0.00,0.000,6,0.062,0.000,1781,2306,3405
$GC,8737,-0.67,-117.3,691.0,-8.8,257,8742,0.20,2.25,0.00,0.000,4,0.124,0.051,1848,893,3405
$GC,8804,-0.81,-117.3,695.3,-6.0,258,8808,0.10,2.22,0.00,0.000,6,0.071,0.041,1788,2302,3405
$GC,9164,-0.69,-117.3,723.4,-7.8,264,9166,0.22,0.00,0.00,0.000,6,0.125,0.000,1856,2302,3405
$GC,9467,-0.85,-117.3,736.8,-4.3,269,9469,0.15,0.00,0.00,0.000,6,0.057,0.000,1778,2302,3404
$GC,9770,-0.70,-117.3,760.4,-8.0,274,9772,0.22,0.00,0.00,0.000,6,0.124,0.000,1846,2302,3404
$GC,10073,-0.83,-117.3,775.0,-4.7,279,10078,0.10,2.25,0.00,0.000,4,0.076,0.047,1796,889,3404
$GC,10106,-0.75,-117.3,777.2,-7.3,279,10111,0.17,2.22,0.00,0.000,6,0.127,0.041,1836,2302,3404
$GC,10433,-0.84,-117.3,794.7,-5.3,285,10434,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2303,3404
$GC,10735,-0.93,-117.3,811.1,-5.4,290,10737,0.15,0.00,0.00,0.000,6,0.067,0.000,1772,2302,3404
$GC,11039,-0.76,-117.3,837.4,-8.9,295,11043,0.20,2.25,0.00,0.000,4,0.131,0.052,1837,894,3403
$GC,11111,-0.86,-117.3,842.7,-6.8,296,11116,0.10,2.25,0.00,0.000,6,0.080,0.045,1790,2314,3403
$GC,11465,-0.77,-117.3,871.9,-8.4,302,11467,0.15,0.00,0.00,0.000,6,0.135,0.000,1832,2315,3403
$GC,11768,-0.85,-117.3,891.1,-6.2,307,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2314,3403
$GC,12072,-0.94,-117.3,908.5,-5.7,312,12076,0.12,2.30,0.00,0.000,4,0.077,0.051,1780,887,3403
$GC,12104,-0.80,-117.3,911.2,-8.2,312,12109,0.20,2.25,0.00,0.000,6,0.135,0.046,1826,2305,3403
$GC,12430,-0.86,-117.3,929.7,-5.5,318,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2305,3402
$GC,12734,-0.93,-117.3,945.4,-5.1,323,12739,0.10,2.28,0.00,0.000,4,0.087,0.048,1786,894,3402
$GC,12767,-0.82,-117.3,947.9,-7.7,323,12772,0.17,2.25,0.00,0.000,6,0.137,0.042,1826,2309,3402
$GC,13093,-0.89,-117.3,966.4,-5.7,329,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2309,3402
$GC,13397,-0.95,-117.3,983.3,-5.5,334,13401,0.12,2.28,0.00,0.000,4,0.082,0.050,1778,895,3402
$GC,13429,-0.81,-117.3,985.6,-7.2,334,13434,0.20,2.25,0.00,0.000,6,0.140,0.048,1825,2311,3402
$STATE,13510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13510,begin apogee
$GC,13516,-0.22,0.0,990.7,5.7,336,13612,0.40,0.00,93.68,1.324,6,0.124,0.000,1952,2311,2931
$STATE,13613,end apogee,CONTROL_FINISHED_OK
$STATE,13613,begin climb
$GC,13616,0.68,117.3,991.8,0.0,337,13722,0.60,2.50,100.20,1.297,4,0.078,0.055,2154,3707,2451
$GC,13739,0.35,117.3,988.6,7.6,339,13745,0.38,2.38,0.00,0.000,6,0.177,0.037,2074,2307,2448
$GC,14049,0.38,145.3,974.2,4.6,344,14074,0.00,0.00,23.77,1.234,6,0.000,0.000,2074,2307,2338
$GC,14353,0.47,169.0,959.9,4.7,349,14380,0.10,2.35,20.95,1.220,4,0.080,0.059,2114,3712,2241
$GC,14396,0.34,169.0,957.1,6.9,349,14401,0.20,2.30,0.00,0.000,6,0.156,0.036,2072,2297,2239
$GC,14712,0.48,196.0,942.2,4.6,355,14739,0.12,0.00,24.33,1.226,6,0.071,0.000,2123,2296,2131
$GC,15015,0.39,196.0,921.8,6.8,360,15020,0.15,2.33,0.00,0.000,4,0.146,0.058,2084,3710,2125
$GC,15042,0.39,196.0,920.0,5.6,360,15046,0.00,2.28,0.00,0.000,6,0.000,0.042,2092,2301,2124
$GC,15381,0.46,211.9,903.1,5.0,366,15397,0.00,0.00,14.12,1.160,6,0.000,0.000,2092,2300,2067
$GC,15685,0.54,224.6,887.7,5.1,371,15710,0.10,2.35,14.07,0.994,4,0.075,0.054,2140,3705,2015
$GC,15726,0.40,224.6,884.6,7.9,371,15731,0.25,2.25,0.00,0.000,6,0.153,0.040,2082,2293,2014
$GC,16047,0.56,247.4,869.0,4.7,377,16074,0.15,2.30,21.10,1.182,4,0.059,0.050,2158,895,1921
$GC,16097,0.46,247.4,865.1,8.6,377,16102,0.22,2.30,0.00,0.000,6,0.136,0.047,2096,2312,1918
$GC,16406,0.57,247.4,847.6,5.5,382,16411,0.10,2.28,0.00,0.000,4,0.067,0.051,2146,3720,1915
$GC,16445,0.41,247.4,844.3,9.2,382,16450,0.25,2.25,0.00,0.000,6,0.149,0.038,2087,2296,1915
$GC,16766,0.59,264.7,827.9,4.9,388,16787,0.15,2.30,15.80,1.134,4,0.061,0.052,2165,886,1850
$GC,16810,0.48,264.7,824.5,8.3,388,16815,0.22,2.30,0.00,0.000,6,0.133,0.041,2103,2313,1848
$GC,17125,0.58,264.7,806.6,5.5,394,17130,0.10,2.28,0.00,0.000,4,0.069,0.051,2153,3717,1845
$GC,17174,0.42,264.7,802.1,9.5,394,17179,0.28,2.22,0.00,0.000,6,0.143,0.035,2086,2303,1845
$GC,17484,0.84,264.7,782.9,6.4,399,17489,0.28,2.30,0.00,0.000,4,0.071,0.057,2188,3716,1843
$GC,17535,0.56,264.7,778.2,9.9,399,17539,0.28,2.22,0.00,0.000,6,0.160,0.036,2123,2302,1843
$GC,17844,0.56,264.7,755.9,7.0,404,17848,0.00,2.28,0.00,0.000,4,0.000,0.054,2132,885,1844
$GC,17866,0.56,264.7,754.1,7.6,404,17870,0.00,2.28,0.00,0.000,6,0.000,0.047,2132,2318,1843
$GC,18215,0.56,264.7,726.7,8.1,410,18219,0.00,2.22,0.00,0.000,4,0.000,0.051,2132,3710,1843
$GC,18254,0.50,264.7,722.8,10.0,410,18259,0.12,2.17,0.00,0.000,6,0.143,0.040,2109,2300,1843
$GC,18587,0.59,264.7,700.3,6.7,416,18588,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2300,1842
$GC,18889,0.69,264.7,681.4,6.2,421,18894,0.15,2.22,0.00,0.000,4,0.053,0.047,2193,895,1842
$GC,18905,0.69,264.7,679.9,6.1,421,18909,0.17,2.20,0.00,0.000,6,0.143,0.044,2146,2305,1843
$GC,19253,0.60,264.7,651.9,7.9,427,19257,0.00,2.25,0.00,0.000,4,0.000,0.051,2147,3713,1842
$GC,19333,0.48,264.7,644.7,9.1,428,19338,0.20,2.20,0.00,0.000,6,0.137,0.036,2098,2297,1842
$GC,19688,0.65,286.8,627.3,4.8,434,19713,0.15,2.28,19.05,1.033,4,0.053,0.051,2195,886,1760
$GC,19730,0.44,286.8,623.7,10.5,434,19735,0.35,2.25,0.00,0.000,6,0.133,0.044,2092,2303,1758
$GC,20051,0.93,286.8,603.6,6.6,440,20055,0.30,2.25,0.00,0.000,4,0.079,0.050,2199,3710,1754
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$GC,26972,0.98,325.7,99.1,4.5,615,27006,0.15,2.20,25.67,0.695,6,0.053,0.043,2257,2308,1602
$GC,27320,0.69,325.7,58.8,10.9,640,27325,0.32,2.25,0.00,0.000,4,0.136,0.048,2154,3709,1596
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$GC,27960,1.39,325.7,17.1,6.4,698,27965,0.38,2.22,0.00,0.000,6,0.065,0.038,2311,2315,1591
$STATE,28112,end climb,SURFACE_DEPTH_REACHED
$STATE,28113,begin surface coast
$FINISH,1.0,1.024465
$STATE,28136,end surface coast,CONTROL_FINISHED_OK
$STATE,28136,begin surface
$SM_CCo,28212,0.00,0.000,0,0,1590,328.95
$SM_GC,1.74,5.75,0.00,0.00,0.039,0.000,0.000,98,2315,1590,-8.60,0.34,328.95
$IRIDIUM_FIX,4949.70,-14446.46,141198,191952
$TT8_MAMPS,0.029146
$HUMID,1705
$INTERNAL_PRESSURE,7.43193
$TCM_TEMP,16.30
$XPDR_PINGS,81
$24V_AH,22.8,32.666
$10V_AH,10.7,26.726
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$DEVICE_SECS,29.400,215.800,381.250,0.000,0.000,28.947,23.885,196.027,20.250,0.000,0.000,16.272,1660.082,23556.449,562.641,2161.682,637.337,33.358,1652.380,0.000,2160.119,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,504.669,577.322,738.336,1225.860,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41258,714
$CAP_FILE_SIZE,191539,0
$CFSIZE,260165632,242143232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,210809,110325,5013.209,-14439.552,40,1.7,40,18.6