version: 66.04
glider: 144
mission: 15
dive: 223
start: 8 24 109 0 52 40
data:
$ID,144
$MISSION,15
$DIVE,223
$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,-65301.875
$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,37
$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
$GPS1,004548,5009.398,-14427.316,46,1.2,46,18.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-63.0
$GPS2,005144,5009.371,-14427.278,13,1.1,13,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.034,-0.164
$KALMAN_X,-6173.3,-90.2,88.7,57344.1,626.4
$KALMAN_Y,8793.3,229.3,2.9,-30528.4,462.6
$MHEAD_RNG_PITCHd_Wd,172.9,28608,-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,-117.3,0.0,0.0,0,69,0.00,0.00,-52.10,0.000,2,0.000,0.000,100,2290,2798
$GC,72,-0.68,-117.3,3.7,-5.0,5,100,7.07,2.35,-12.93,0.000,4,0.235,0.063,1838,3708,3414
$GC,124,-0.33,-117.3,14.3,-17.6,10,129,0.30,2.22,0.00,0.000,6,0.131,0.031,1927,2292,3415
$GC,451,-0.58,-117.3,39.5,-5.4,40,456,0.17,2.20,0.00,0.000,4,0.048,0.040,1820,894,3416
$GC,503,-0.38,-117.3,44.6,-11.3,44,508,0.35,2.22,0.00,0.000,6,0.123,0.037,1916,2308,3416
$GC,830,-0.57,-117.3,63.5,-5.1,74,832,0.15,0.00,0.00,0.000,6,0.050,0.000,1818,2308,3418
$GC,1142,-0.38,-117.3,100.0,-12.3,96,1147,0.30,2.22,0.00,0.000,4,0.125,0.040,1915,895,3418
$GC,1214,-0.63,-117.3,105.5,-5.7,99,1219,0.15,2.22,0.00,0.000,6,0.048,0.041,1830,2313,3419
$GC,1531,-0.52,-117.3,139.6,-11.3,114,1535,0.20,2.25,0.00,0.000,4,0.123,0.042,1895,892,3419
$GC,1571,-0.69,-117.3,142.9,-7.3,116,1575,0.15,2.20,0.00,0.000,6,0.051,0.043,1796,2304,3419
$GC,1901,-0.51,-117.3,179.6,-11.0,128,1906,0.28,2.22,0.00,0.000,4,0.120,0.048,1886,895,3419
$GC,1945,-0.72,-117.3,183.1,-6.2,129,1950,0.12,2.22,0.00,0.000,6,0.059,0.041,1806,2312,3419
$GC,2263,-0.59,-117.3,213.9,-9.7,140,2268,0.17,2.22,0.00,0.000,4,0.124,0.048,1858,3714,3418
$GC,2284,-0.59,-117.3,215.8,-8.3,140,2291,0.00,2.20,0.00,0.000,6,0.000,0.032,1858,2303,3418
$GC,2598,-0.68,-117.3,233.5,-5.6,151,2602,0.00,2.22,0.00,0.000,4,0.000,0.049,1858,892,3417
$GC,2626,-0.77,-117.3,235.3,-6.3,151,2632,0.00,2.22,0.00,0.000,6,0.000,0.041,1850,2307,3417
$GC,2938,-0.82,-117.3,254.6,-6.3,162,2943,0.10,2.25,0.00,0.000,4,0.066,0.053,1769,3712,3417
$GC,2967,-0.66,-117.3,257.2,-9.9,163,2972,0.30,2.17,0.00,0.000,6,0.125,0.031,1860,2305,3416
$GC,3302,-0.77,-117.3,278.0,-6.1,174,3304,0.10,0.00,0.00,0.000,6,0.069,0.000,1792,2304,3416
$GC,3608,-0.62,-117.3,307.2,-9.5,183,3613,0.20,2.22,0.00,0.000,4,0.122,0.048,1860,899,3415
$GC,3658,-0.75,-117.3,310.8,-6.4,183,3662,0.00,2.22,0.00,0.000,6,0.000,0.041,1853,2312,3415
$GC,3968,-0.83,-117.3,329.5,-6.1,188,3970,0.12,0.00,0.00,0.000,6,0.058,0.000,1769,2312,3415
$GC,4272,-0.60,-117.3,362.2,-11.0,193,4277,0.30,2.28,0.00,0.000,4,0.127,0.044,1867,888,3414
$GC,4339,-0.78,-117.3,367.1,-6.4,194,4343,0.12,2.22,0.00,0.000,6,0.058,0.040,1789,2302,3414
$GC,4699,-0.62,-117.3,401.1,-9.7,200,4703,0.22,2.28,0.00,0.000,4,0.126,0.051,1855,3716,3413
$GC,4731,-0.75,-117.3,403.8,-7.0,200,4735,0.00,2.17,0.00,0.000,6,0.000,0.038,1855,2300,3413
$GC,5067,-0.89,-117.3,422.3,-5.6,206,5068,0.15,0.00,0.00,0.000,6,0.056,0.000,1767,2299,3413
$GC,5367,-0.66,-117.3,453.4,-10.6,211,5372,0.28,2.22,0.00,0.000,4,0.127,0.044,1856,895,3412
$GC,5411,-0.81,-117.3,457.0,-7.3,211,5416,0.10,2.22,0.00,0.000,6,0.067,0.045,1783,2306,3412
$GC,5727,-0.65,-117.3,487.6,-10.0,217,5731,0.22,2.25,0.00,0.000,4,0.122,0.048,1857,895,3411
$GC,5771,-0.81,-117.3,491.1,-7.1,217,5775,0.10,2.22,0.00,0.000,6,0.067,0.044,1786,2307,3411
$GC,6086,-0.67,-117.3,520.7,-9.6,223,6088,0.22,0.00,0.00,0.000,6,0.122,0.000,1854,2307,3411
$GC,6389,-0.80,-117.3,538.1,-5.6,228,6391,0.10,0.00,0.00,0.000,6,0.071,0.000,1790,2307,3411
$GC,6692,-0.68,-117.3,564.1,-8.8,233,6696,0.17,2.25,0.00,0.000,4,0.123,0.046,1849,899,3410
$GC,6736,-0.82,-117.3,567.5,-6.9,233,6740,0.10,2.22,0.00,0.000,6,0.070,0.046,1784,2302,3410
$GC,7051,-0.69,-117.3,597.4,-9.8,239,7053,0.22,0.00,0.00,0.000,6,0.124,0.000,1852,2302,3410
$GC,7353,-0.83,-117.3,617.5,-6.5,244,7355,0.12,0.00,0.00,0.000,6,0.063,0.000,1779,2302,3409
$GC,7657,-0.67,-117.3,647.0,-9.9,249,7662,0.22,2.25,0.00,0.000,4,0.124,0.046,1853,895,3409
$GC,7702,-0.83,-117.3,650.4,-6.5,249,7706,0.12,2.22,0.00,0.000,6,0.061,0.045,1778,2302,3409
$GC,8018,-0.69,-117.3,678.9,-9.2,255,8023,0.20,2.28,0.00,0.000,4,0.126,0.051,1836,3711,3409
$GC,8045,-0.73,-117.3,681.1,-6.4,255,8049,0.00,2.20,0.00,0.000,6,0.000,0.038,1836,2293,3409
$GC,8378,-0.84,-117.3,698.6,-5.1,261,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2293,3409
$GC,8681,-0.94,-117.3,712.9,-4.6,266,8683,0.15,0.00,0.00,0.000,6,0.055,0.000,1755,2292,3409
$GC,8984,-0.72,-117.3,740.1,-9.2,271,8988,0.28,2.22,0.00,0.000,4,0.132,0.048,1843,898,3408
$GC,9034,-0.86,-117.3,743.4,-5.5,271,9038,0.10,2.22,0.00,0.000,6,0.072,0.041,1780,2304,3408
$GC,9345,-0.73,-117.3,767.9,-8.1,276,9347,0.20,0.00,0.00,0.000,6,0.123,0.000,1840,2304,3408
$GC,9647,-0.85,-117.3,785.4,-5.8,281,9648,0.10,0.00,0.00,0.000,6,0.076,0.000,1790,2304,3408
$GC,9950,-0.77,-117.3,810.9,-8.6,286,9952,0.15,0.00,0.00,0.000,6,0.126,0.000,1833,2304,3408
$GC,10254,-0.87,-117.3,831.3,-6.7,291,10258,0.00,2.28,0.00,0.000,4,0.000,0.048,1833,889,3407
$GC,10276,-0.96,-117.3,832.9,-6.9,291,10280,0.12,2.25,0.00,0.000,6,0.066,0.041,1768,2305,3407
$GC,10613,-0.79,-117.3,865.0,-9.6,297,10615,0.20,0.00,0.00,0.000,6,0.129,0.000,1827,2305,3406
$GC,10917,-0.88,-117.3,884.1,-6.1,302,10921,0.00,2.28,0.00,0.000,4,0.000,0.054,1828,894,3407
$GC,10957,-0.96,-117.3,886.7,-6.6,302,10961,0.12,2.25,0.00,0.000,6,0.071,0.043,1768,2304,3407
$GC,11278,-0.79,-117.3,914.3,-8.8,308,11279,0.20,0.00,0.00,0.000,6,0.135,0.000,1826,2304,3406
$GC,11581,-0.87,-117.3,932.7,-5.9,313,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2304,3406
$GC,11883,-0.95,-117.3,952.0,-6.4,318,11888,0.12,2.28,0.00,0.000,4,0.077,0.052,1775,895,3406
$GC,11927,-0.80,-117.3,956.0,-9.8,318,11932,0.22,2.25,0.00,0.000,6,0.137,0.044,1829,2305,3406
$GC,12243,-0.89,-117.3,977.1,-6.6,324,12247,0.10,2.28,0.00,0.000,4,0.087,0.055,1790,896,3406
$GC,12275,-0.81,-117.3,980.0,-9.9,324,12280,0.15,2.25,0.00,0.000,6,0.142,0.044,1821,2308,3406
$STATE,12417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12417,begin apogee
$GC,12422,-0.22,0.0,990.5,7.2,327,12520,0.43,0.00,94.38,1.326,6,0.122,0.000,1958,2308,2931
$STATE,12520,end apogee,CONTROL_FINISHED_OK
$STATE,12520,begin climb
$GC,12523,0.68,117.3,992.6,0.0,328,12630,0.57,2.53,99.70,1.299,4,0.075,0.058,2153,3710,2451
$GC,12666,0.25,117.3,991.8,6.2,331,12672,0.43,2.35,0.00,0.000,6,0.176,0.041,2056,2314,2446
$GC,13033,0.51,174.7,979.6,3.6,337,13088,0.17,2.47,48.28,1.275,4,0.066,0.055,2130,895,2217
$GC,13178,0.42,174.7,971.0,6.4,339,13183,0.15,2.33,0.00,0.000,6,0.142,0.041,2092,2301,2212
$GC,13532,0.42,174.7,951.6,5.5,345,13536,0.00,2.33,0.00,0.000,4,0.000,0.054,2092,3711,2209
$GC,13587,0.42,174.7,947.6,7.6,345,13593,0.00,2.30,0.00,0.000,6,0.000,0.038,2100,2295,2208
$GC,13897,0.42,174.7,927.6,6.5,351,13898,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2295,2208
$GC,14200,0.42,174.7,907.7,6.5,356,14204,0.00,2.33,0.00,0.000,4,0.000,0.051,2100,3716,2207
$GC,14233,0.34,174.7,905.2,8.0,356,14238,0.15,2.25,0.00,0.000,6,0.157,0.041,2072,2293,2207
$GC,14559,0.58,174.7,885.4,6.2,362,14564,0.17,2.25,0.00,0.000,4,0.070,0.052,2143,893,2206
$GC,14638,0.43,174.7,879.5,7.7,363,14643,0.20,2.28,0.00,0.000,6,0.144,0.041,2088,2316,2206
$GC,14988,0.49,180.6,860.3,5.3,369,14997,0.00,2.28,4.47,0.826,4,0.000,0.058,2088,3722,2194
$GC,15036,0.49,180.6,857.3,6.4,369,15040,0.00,2.25,0.00,0.000,6,0.000,0.041,2096,2296,2193
$GC,15357,0.51,196.7,841.2,5.0,375,15378,0.00,2.30,15.23,1.149,4,0.000,0.051,2096,3712,2129
$GC,15400,0.52,203.7,838.9,5.3,375,15417,0.00,2.25,7.80,1.006,6,0.000,0.037,2105,2297,2099
$GC,15720,0.55,226.8,823.6,4.7,381,15746,0.00,2.35,20.83,1.158,4,0.000,0.054,2105,3716,2006
$GC,15768,0.58,251.0,821.1,4.7,381,15797,0.00,2.28,22.48,1.143,6,0.000,0.035,2115,2305,1907
$GC,16149,0.60,264.8,802.0,5.0,388,16168,0.00,2.38,12.50,1.080,4,0.000,0.052,2115,3717,1850
$GC,16190,0.60,264.8,799.4,6.1,388,16194,0.00,2.28,0.00,0.000,6,0.000,0.034,2125,2302,1850
$GC,16518,0.60,264.8,779.7,6.1,394,16522,0.00,2.30,0.00,0.000,4,0.000,0.054,2125,3713,1847
$GC,16547,0.55,264.8,777.5,7.4,394,16551,0.00,2.25,0.00,0.000,6,0.000,0.041,2134,2298,1846
$GC,16879,0.49,264.8,753.1,7.4,400,16884,0.12,2.30,0.00,0.000,4,0.153,0.051,2102,3713,1845
$GC,16900,0.49,264.8,751.4,7.4,400,16904,0.00,2.22,0.00,0.000,6,0.000,0.036,2109,2300,1845
$GC,17245,0.56,264.8,731.0,6.0,406,17249,0.00,2.30,0.00,0.000,4,0.000,0.054,2109,3717,1844
$GC,17272,0.62,264.8,728.9,7.7,406,17276,0.00,2.22,0.00,0.000,6,0.000,0.035,2119,2303,1844
$GC,17604,0.62,264.8,706.4,6.8,412,17605,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2303,1844
$GC,17907,0.62,264.8,685.5,6.9,417,17911,0.00,2.28,0.00,0.000,4,0.000,0.051,2119,3713,1843
$GC,17940,0.62,264.8,682.7,7.9,417,17944,0.00,2.22,0.00,0.000,6,0.000,0.034,2129,2291,1843
$GC,18272,0.62,264.8,658.7,7.3,423,18273,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2291,1843
$GC,18576,0.62,264.8,636.8,7.2,428,18580,0.00,2.30,0.00,0.000,4,0.000,0.054,2129,3714,1843
$GC,18609,0.57,264.8,634.0,7.3,428,18613,0.00,2.20,0.00,0.000,6,0.000,0.033,2138,2297,1843
$GC,18942,0.51,264.8,609.2,7.5,434,18944,0.12,0.00,0.00,0.000,6,0.149,0.000,2105,2297,1842
$GC,19244,0.64,275.8,593.3,5.1,439,19259,0.12,2.30,9.82,0.942,4,0.059,0.051,2181,3718,1806
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$STATE,27525,end climb,SURFACE_DEPTH_REACHED
$STATE,27525,begin surface coast
$FINISH,1.0,1.024472
$STATE,27569,end surface coast,CONTROL_FINISHED_OK
$STATE,27569,begin surface
$SM_CCo,27645,0.00,0.000,0,0,1652,313.49
$SM_GC,2.05,5.47,0.00,0.00,0.040,0.000,0.000,100,2302,1652,-8.62,-0.03,313.49
$IRIDIUM_FIX,4956.40,-14423.83,171198,171720
$TT8_MAMPS,0.028379
$HUMID,1677
$INTERNAL_PRESSURE,7.44169
$TCM_TEMP,16.50
$XPDR_PINGS,82
$24V_AH,22.7,33.911
$10V_AH,10.7,27.808
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$DEVICE_SECS,28.250,243.000,366.825,0.000,0.000,29.260,24.437,176.265,20.500,0.000,0.000,14.555,1706.404,22843.840,517.091,2289.328,635.552,33.365,1692.873,0.000,2283.589,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,510.310,583.352,747.576,1241.471,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44296,723
$CAP_FILE_SIZE,197152,0
$CFSIZE,260165632,241426432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,240809,083508,5005.601,-14428.049,34,2.8,64,18.6