version: 66.04
glider: 144
mission: 15
dive: 238
start: 8 28 109 23 40 38
data:
$ID,144
$MISSION,15
$DIVE,238
$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,-65552.258
$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,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
$GPS1,233106,5018.134,-14503.833,41,1.5,41,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-57.9
$GPS2,233944,5018.218,-14503.821,11,2.0,11,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.137,0.097
$KALMAN_X,-11733.0,212.2,120.4,19378.4,-1509.3
$KALMAN_Y,4430.2,117.7,50.2,-9721.9,-2.9
$MHEAD_RNG_PITCHd_Wd,286.7,10902,-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,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-39.85,0.000,2,0.000,0.000,100,2297,2652
$GC,62,-0.68,-117.3,3.3,-4.8,4,96,7.05,2.30,-17.67,0.000,4,0.234,0.064,1853,897,3412
$GC,349,-0.55,-117.3,42.3,-12.4,29,356,0.12,2.22,0.00,0.000,6,0.147,0.037,1880,2311,3414
$GC,676,-0.60,-117.3,68.8,-8.0,60,680,0.00,2.25,0.00,0.000,4,0.000,0.040,1881,891,3415
$GC,739,-0.69,-117.3,74.1,-8.5,65,743,0.10,2.22,0.00,0.000,6,0.067,0.036,1811,2305,3415
$GC,1067,-0.47,-117.3,114.6,-12.4,83,1069,0.30,0.00,0.00,0.000,6,0.129,0.000,1901,2306,3416
$GC,1376,-0.66,-117.3,133.2,-5.3,98,1381,0.15,2.22,0.00,0.000,4,0.051,0.040,1804,897,3416
$GC,1443,-0.50,-117.3,139.9,-10.9,101,1448,0.32,2.22,0.00,0.000,6,0.122,0.044,1892,2308,3416
$GC,1784,-0.68,-117.3,156.5,-4.9,116,1789,0.15,2.25,0.00,0.000,4,0.051,0.042,1798,889,3415
$GC,1817,-0.51,-117.3,159.6,-9.8,117,1822,0.32,2.25,0.00,0.000,6,0.125,0.038,1889,2314,3415
$GC,2147,-0.72,-117.3,178.6,-5.4,128,2152,0.15,2.25,0.00,0.000,4,0.054,0.044,1794,892,3415
$GC,2187,-0.54,-117.3,182.2,-10.2,129,2192,0.32,2.22,0.00,0.000,6,0.119,0.042,1885,2306,3415
$GC,2517,-0.74,-117.3,199.8,-5.0,140,2519,0.15,0.00,0.00,0.000,6,0.051,0.000,1792,2306,3414
$GC,2823,-0.56,-117.3,229.4,-9.9,150,2827,0.25,2.25,0.00,0.000,4,0.122,0.043,1874,892,3414
$GC,2862,-0.73,-117.3,232.4,-6.2,151,2867,0.10,2.22,0.00,0.000,6,0.067,0.045,1799,2304,3414
$GC,3192,-0.60,-117.3,263.2,-9.6,162,3196,0.20,2.22,0.00,0.000,4,0.123,0.049,1866,894,3413
$GC,3226,-0.71,-117.3,265.8,-6.5,163,3230,0.00,2.20,0.00,0.000,6,0.000,0.039,1863,2301,3413
$GC,3566,-0.83,-117.3,285.6,-5.8,174,3568,0.15,0.00,0.00,0.000,6,0.051,0.000,1776,2301,3412
$GC,3902,-0.62,-117.3,322.6,-11.3,182,3907,0.25,2.25,0.00,0.000,4,0.123,0.050,1859,889,3411
$GC,3975,-0.75,-117.3,328.6,-7.5,183,3980,0.00,2.25,0.00,0.000,6,0.000,0.045,1851,2314,3412
$GC,4331,-0.83,-117.3,352.3,-6.5,189,4335,0.12,2.28,0.00,0.000,4,0.061,0.049,1772,891,3411
$GC,4363,-0.63,-117.3,355.5,-10.8,189,4368,0.32,2.25,0.00,0.000,6,0.126,0.039,1862,2307,3410
$GC,4690,-0.77,-117.3,374.0,-5.4,195,4692,0.12,0.00,0.00,0.000,6,0.061,0.000,1789,2308,3410
$GC,4993,-0.62,-117.3,401.4,-9.3,200,4998,0.22,2.28,0.00,0.000,4,0.122,0.044,1862,887,3409
$GC,5037,-0.79,-117.3,404.4,-5.7,200,5042,0.12,2.25,0.00,0.000,6,0.058,0.044,1789,2306,3409
$GC,5352,-0.64,-117.3,429.7,-8.2,206,5356,0.20,2.28,0.00,0.000,4,0.122,0.044,1856,887,3409
$GC,5385,-0.76,-117.3,431.8,-5.6,206,5389,0.00,2.25,0.00,0.000,6,0.000,0.039,1850,2302,3409
$GC,5712,-0.86,-117.3,446.6,-4.5,212,5714,0.12,0.00,0.00,0.000,6,0.061,0.000,1768,2304,3408
$GC,6015,-0.64,-117.3,474.9,-9.7,217,6019,0.28,2.25,0.00,0.000,4,0.127,0.044,1857,897,3408
$GC,6064,-0.81,-117.3,478.1,-5.6,217,6069,0.10,2.22,0.00,0.000,6,0.068,0.039,1785,2304,3408
$GC,6374,-0.66,-117.3,504.4,-8.7,222,6376,0.25,0.00,0.00,0.000,6,0.120,0.000,1862,2303,3407
$GC,6678,-0.83,-117.3,520.1,-5.0,227,6679,0.15,0.00,0.00,0.000,6,0.055,0.000,1777,2304,3407
$GC,6980,-0.66,-117.3,549.4,-10.0,232,6985,0.22,2.25,0.00,0.000,4,0.125,0.048,1853,897,3406
$GC,7036,-0.81,-117.3,553.7,-6.8,232,7043,0.05,2.25,0.00,0.000,6,0.065,0.044,1794,2298,3407
$GC,7346,-0.71,-117.3,580.9,-8.9,238,7350,0.17,2.28,0.00,0.000,4,0.123,0.052,1849,3707,3406
$GC,7373,-0.81,-117.3,583.1,-7.5,238,7377,0.10,2.17,0.00,0.000,6,0.071,0.033,1782,2300,3406
$GC,7705,-0.66,-117.3,614.1,-9.6,244,7710,0.22,2.25,0.00,0.000,4,0.127,0.048,1855,890,3406
$GC,7755,-0.84,-117.3,617.7,-6.0,244,7759,0.12,2.25,0.00,0.000,6,0.060,0.040,1774,2309,3406
$GC,8065,-0.67,-117.3,646.0,-9.4,249,8067,0.28,0.00,0.00,0.000,6,0.122,0.000,1858,2310,3406
$GC,8368,-0.84,-117.3,661.0,-4.7,254,8370,0.15,0.00,0.00,0.000,6,0.054,0.000,1771,2310,3406
$GC,8671,-0.66,-117.3,687.7,-9.1,259,8673,0.28,0.00,0.00,0.000,6,0.123,0.000,1855,2310,3405
$GC,8974,-0.82,-117.3,702.6,-4.8,264,8979,0.12,2.28,0.00,0.000,4,0.061,0.044,1783,886,3405
$GC,9002,-0.76,-117.3,704.7,-8.5,264,9006,0.22,2.25,0.00,0.000,6,0.126,0.040,1840,2303,3405
$GC,9333,-0.87,-117.3,723.4,-5.6,270,9335,0.12,0.00,0.00,0.000,6,0.066,0.000,1774,2304,3405
$GC,9636,-0.71,-117.3,749.9,-8.9,275,9641,0.20,2.25,0.00,0.000,4,0.126,0.049,1841,897,3405
$GC,9699,-0.84,-117.3,754.2,-6.1,276,9703,0.00,2.25,0.00,0.000,6,0.000,0.046,1836,2311,3404
$GC,10066,-0.94,-117.3,774.1,-5.3,282,10067,0.12,0.00,0.00,0.000,6,0.064,0.000,1770,2312,3405
$GC,10369,-0.76,-117.3,799.7,-8.7,287,10371,0.22,0.00,0.00,0.000,6,0.125,0.000,1839,2312,3404
$GC,10672,-0.89,-117.3,815.9,-5.2,292,10677,0.12,2.28,0.00,0.000,4,0.072,0.049,1781,897,3404
$GC,10716,-0.75,-117.3,819.6,-8.8,292,10721,0.22,2.25,0.00,0.000,6,0.126,0.047,1838,2306,3404
$GC,11032,-0.87,-117.3,837.0,-5.5,298,11034,0.10,0.00,0.00,0.000,6,0.084,0.000,1794,2306,3404
$GC,11334,-0.80,-117.3,859.7,-7.5,303,11339,0.12,2.28,0.00,0.000,4,0.128,0.051,1828,894,3404
$GC,11367,-0.86,-117.3,862.1,-6.7,303,11371,0.00,2.25,0.00,0.000,6,0.000,0.041,1823,2305,3403
$GC,11694,-0.92,-117.3,881.1,-5.8,309,11696,0.08,0.00,0.00,0.000,6,0.095,0.000,1781,2305,3404
$GC,11997,-0.80,-117.3,904.2,-7.7,314,12002,0.17,2.28,0.00,0.000,4,0.127,0.047,1839,893,3403
$GC,12041,-0.94,-117.3,907.0,-5.3,314,12046,0.15,2.25,0.00,0.000,6,0.067,0.042,1773,2303,3403
$GC,12356,-0.79,-117.3,931.7,-7.9,320,12361,0.17,2.30,0.00,0.000,4,0.128,0.056,1821,3719,3403
$GC,12389,-0.86,-117.3,933.9,-5.9,320,12393,0.00,2.22,0.00,0.000,6,0.000,0.041,1821,2295,3403
$GC,12715,-0.92,-117.3,953.2,-6.0,326,12719,0.00,2.25,0.00,0.000,4,0.000,0.050,1821,893,3403
$GC,12759,-0.98,-117.3,956.4,-7.0,326,12764,0.10,2.25,0.00,0.000,6,0.081,0.048,1769,2305,3403
$GC,13074,-0.82,-117.3,984.0,-9.0,332,13079,0.17,2.28,0.00,0.000,4,0.141,0.053,1816,3707,3403
$GC,13107,-0.87,-117.3,986.6,-6.9,332,13111,0.00,2.20,0.00,0.000,6,0.000,0.041,1816,2300,3402
$STATE,13188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13188,begin apogee
$GC,13194,-0.22,0.0,992.3,6.8,334,13291,0.43,0.00,94.15,1.322,6,0.119,0.000,1951,2299,2931
$STATE,13292,end apogee,CONTROL_FINISHED_OK
$STATE,13292,begin climb
$GC,13294,0.68,117.3,994.0,0.0,335,13401,0.60,2.53,100.22,1.293,4,0.077,0.054,2153,3705,2451
$GC,13431,0.28,117.3,991.7,6.6,337,13438,0.40,2.38,0.00,0.000,6,0.176,0.035,2064,2308,2447
$GC,13742,0.45,168.0,979.7,3.8,343,13792,0.12,2.47,42.80,1.263,4,0.074,0.054,2120,892,2245
$GC,13819,0.45,168.0,975.0,5.5,344,13824,0.10,2.38,0.00,0.000,6,0.137,0.045,2097,2305,2243
$GC,14175,0.62,168.0,954.8,5.8,350,14179,0.12,2.33,0.00,0.000,4,0.069,0.049,2158,892,2239
$GC,14317,0.43,168.0,943.8,8.7,352,14322,0.25,2.30,0.00,0.000,6,0.146,0.044,2089,2309,2238
$GC,14672,0.48,169.8,924.0,5.4,358,14676,0.00,2.28,0.00,0.000,4,0.000,0.055,2089,3712,2236
$GC,14727,0.48,169.8,920.2,6.5,358,14735,0.00,2.28,0.00,0.000,6,0.000,0.036,2097,2296,2236
$GC,15037,0.48,169.8,901.0,6.3,364,15038,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2295,2235
$GC,15340,0.48,169.8,881.2,6.6,369,15344,0.00,2.30,0.00,0.000,4,0.000,0.051,2097,3712,2236
$GC,15385,0.41,169.8,877.8,7.4,369,15389,0.00,2.22,0.00,0.000,6,0.000,0.037,2106,2297,2235
$GC,15699,0.41,169.8,855.4,7.1,375,15703,0.00,2.30,0.00,0.000,4,0.000,0.051,2106,3715,2235
$GC,15727,0.32,169.8,853.1,7.9,375,15732,0.17,2.22,0.00,0.000,6,0.153,0.041,2070,2298,2235
$GC,16059,0.58,169.8,833.5,6.1,381,16064,0.17,2.25,0.00,0.000,4,0.064,0.053,2144,892,2234
$GC,16114,0.44,169.8,829.5,7.3,381,16121,0.17,2.25,0.00,0.000,6,0.144,0.041,2097,2308,2234
$GC,16424,0.45,177.6,812.8,5.2,387,16438,0.00,2.30,7.75,1.008,4,0.000,0.057,2097,3713,2206
$GC,16485,0.40,177.6,809.2,5.6,387,16491,0.00,2.22,0.00,0.000,6,0.000,0.035,2105,2308,2205
$GC,16794,0.41,184.4,792.6,5.3,393,16808,0.00,2.33,7.28,0.979,4,0.000,0.052,2104,3716,2179
$GC,16826,0.37,184.4,790.5,6.6,393,16831,0.15,2.22,0.00,0.000,6,0.147,0.035,2074,2301,2178
$GC,17159,0.63,203.9,775.1,4.8,399,17183,0.17,2.33,18.35,1.119,4,0.064,0.052,2161,898,2098
$GC,17262,0.48,203.9,767.7,7.7,400,17267,0.22,2.28,0.00,0.000,6,0.137,0.043,2098,2309,2095
$GC,17589,0.55,213.6,750.9,5.2,406,17604,0.08,2.30,9.45,1.011,4,0.080,0.058,2143,3702,2060
$GC,17643,0.36,213.6,746.4,9.7,406,17648,0.28,2.22,0.00,0.000,6,0.146,0.035,2076,2299,2059
$GC,17953,0.68,213.6,729.0,5.7,411,17958,0.20,2.25,0.00,0.000,4,0.062,0.046,2158,895,2056
$GC,18036,0.55,213.6,723.0,7.0,412,18041,0.15,2.25,0.00,0.000,6,0.136,0.042,2119,2303,2056
$GC,18384,0.55,213.6,700.8,6.4,418,18388,0.00,2.28,0.00,0.000,4,0.000,0.051,2119,3711,2055
$GC,18429,0.49,213.6,697.4,7.7,418,18433,0.00,2.22,0.00,0.000,6,0.000,0.035,2126,2291,2055
$GC,18745,0.42,213.6,674.6,7.2,424,18746,0.12,0.00,0.00,0.000,6,0.145,0.000,2093,2290,2055
$GC,19047,0.53,215.0,657.9,5.5,429,19049,0.08,0.00,0.00,0.000,6,0.080,0.000,2150,2290,2055
$GC,19350,0.37,215.0,632.6,8.5,434,19355,0.22,2.33,0.00,0.000,4,0.137,0.051,2079,3712,2055
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$STATE,28068,end climb,SURFACE_DEPTH_REACHED
$STATE,28068,begin surface coast
$FINISH,0.8,1.019926
$STATE,28093,end surface coast,CONTROL_FINISHED_OK
$STATE,28093,begin surface
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$HUMID,1701
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$TCM_TEMP,16.30
$XPDR_PINGS,91
$24V_AH,22.6,35.984
$10V_AH,10.6,29.660
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$DEVICE_SECS,30.450,257.200,333.400,21.925,0.000,50.952,59.092,215.915,22.750,0.000,0.000,12.731,1760.341,23231.982,533.439,2381.131,733.980,33.368,1749.835,0.000,2368.741,0.000,0.529,0.000
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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,44356,733
$CAP_FILE_SIZE,210040,0
$CFSIZE,260165632,240214016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,290809,073106,5019.454,-14508.675,54,1.1,54,18.5