version: 66.04
glider: 144
mission: 15
dive: 281
start: 9 12 109 9 40 55
data:
$ID,144
$MISSION,15
$DIVE,281
$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,-66567.258
$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,0.02
$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,34
$R_STBD_OVSHOOT,34
$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
$GPS1,093431,5015.324,-14502.018,40,1.7,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-63.9
$GPS2,094001,5015.403,-14502.033,9,1.7,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.092,0.140
$KALMAN_X,-29207.3,3.9,92.5,39201.6,-1852.7
$KALMAN_Y,12561.2,79.0,205.7,-23179.3,-458.9
$MHEAD_RNG_PITCHd_Wd,308.2,15651,-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,-117.3,0.0,0.0,0,51,0.00,0.00,-31.95,0.000,2,0.000,0.000,100,2311,2586
$GC,53,-0.68,-117.3,3.3,-6.3,3,88,7.25,2.30,-20.48,0.000,4,0.244,0.059,1845,890,3411
$GC,179,-0.60,-117.3,18.5,-11.6,14,184,0.12,2.28,0.00,0.000,6,0.143,0.040,1869,2304,3412
$GC,504,-0.60,-117.3,53.3,-8.4,44,508,0.00,2.25,0.00,0.000,4,0.000,0.041,1869,885,3413
$GC,621,-0.63,-117.3,63.4,-8.8,54,627,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2309,3414
$GC,942,-0.63,-117.3,91.1,-8.3,79,946,0.00,2.25,0.00,0.000,4,0.000,0.043,1863,891,3415
$GC,992,-0.63,-117.3,95.3,-7.9,81,996,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2306,3415
$GC,1314,-0.63,-117.3,119.9,-7.5,97,1318,0.00,2.25,0.00,0.000,4,0.000,0.047,1863,892,3415
$GC,1380,-0.66,-117.3,124.7,-6.8,100,1384,0.00,2.25,0.00,0.000,6,0.000,0.039,1863,2308,3415
$GC,1702,-0.69,-117.3,146.5,-6.9,116,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2308,3415
$GC,2009,-0.74,-117.3,167.9,-6.8,127,2010,0.08,0.00,0.00,0.000,6,0.083,0.000,1801,2308,3415
$GC,2315,-0.67,-117.3,196.5,-9.2,137,2319,0.20,2.28,0.00,0.000,4,0.123,0.046,1866,891,3415
$GC,2355,-0.74,-117.3,199.2,-6.3,138,2360,0.10,2.25,0.00,0.000,6,0.065,0.039,1798,2306,3414
$GC,2684,-0.68,-117.3,230.2,-9.9,149,2686,0.20,0.00,0.00,0.000,6,0.124,0.000,1858,2306,3414
$GC,2990,-0.73,-117.3,251.2,-6.6,159,2994,0.00,2.25,0.00,0.000,4,0.000,0.044,1857,890,3414
$GC,3052,-0.80,-117.3,255.4,-6.9,160,3059,0.10,2.25,0.00,0.000,6,0.067,0.041,1787,2309,3413
$GC,3365,-0.72,-117.3,286.8,-10.5,171,3369,0.17,2.25,0.00,0.000,4,0.128,0.056,1836,3709,3413
$GC,3409,-0.76,-117.3,290.7,-7.8,172,3413,0.00,2.20,0.00,0.000,6,0.000,0.031,1836,2298,3413
$GC,3731,-0.78,-117.3,316.5,-8.1,180,3735,0.00,2.22,0.00,0.000,4,0.000,0.045,1836,895,3413
$GC,3770,-0.80,-117.3,320.1,-9.1,180,3774,0.00,2.22,0.00,0.000,6,0.000,0.043,1827,2303,3413
$GC,4096,-0.80,-117.3,347.9,-8.5,186,4100,0.00,2.25,0.00,0.000,4,0.000,0.050,1827,892,3412
$GC,4128,-0.80,-117.3,350.9,-9.4,186,4132,0.00,2.25,0.00,0.000,6,0.000,0.039,1821,2306,3412
$GC,4461,-0.80,-117.3,377.4,-7.8,192,4465,0.00,2.25,0.00,0.000,4,0.000,0.044,1821,893,3411
$GC,4504,-0.80,-117.3,381.0,-8.0,192,4508,0.00,2.25,0.00,0.000,6,0.000,0.039,1812,2312,3411
$GC,4826,-0.78,-117.3,405.9,-7.9,198,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2313,3411
$GC,5129,-0.76,-117.3,429.7,-7.9,203,5134,0.10,2.28,0.00,0.000,4,0.143,0.044,1839,892,3410
$GC,5173,-0.80,-117.3,433.0,-7.1,203,5177,0.00,2.25,0.00,0.000,6,0.000,0.044,1837,2304,3410
$GC,5488,-0.83,-117.3,454.4,-6.9,209,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2304,3411
$GC,5791,-0.87,-117.3,475.5,-6.9,214,5796,0.10,2.25,0.00,0.000,4,0.069,0.048,1775,892,3410
$GC,5841,-0.78,-117.3,480.4,-10.5,214,5846,0.22,2.25,0.00,0.000,6,0.133,0.047,1833,2302,3410
$GC,6151,-0.80,-117.3,501.9,-6.8,219,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2302,3409
$GC,6454,-0.83,-117.3,522.6,-6.8,224,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2302,3408
$GC,6757,-0.86,-117.3,541.7,-6.2,229,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2303,3408
$GC,7060,-0.89,-117.3,560.7,-6.3,234,7065,0.10,2.28,0.00,0.000,4,0.071,0.044,1775,892,3408
$GC,7100,-0.80,-117.3,564.3,-9.7,234,7105,0.20,2.28,0.00,0.000,6,0.134,0.044,1825,2309,3408
$GC,7420,-0.80,-117.3,586.4,-6.6,240,7424,0.00,2.28,0.00,0.000,4,0.000,0.047,1825,889,3407
$GC,7465,-0.82,-117.3,589.5,-7.1,240,7469,0.00,2.25,0.00,0.000,6,0.000,0.046,1823,2305,3408
$GC,7781,-0.82,-117.3,610.2,-6.5,246,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2306,3408
$GC,8083,-0.82,-117.3,630.2,-6.6,251,8087,0.00,2.25,0.00,0.000,4,0.000,0.048,1823,892,3407
$GC,8115,-0.82,-117.3,632.6,-7.2,251,8119,0.00,2.25,0.00,0.000,6,0.000,0.041,1821,2302,3407
$GC,8448,-0.82,-117.3,655.5,-6.9,257,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3407
$GC,8751,-0.82,-117.3,676.4,-6.9,262,8755,0.00,2.25,0.00,0.000,4,0.000,0.049,1821,897,3407
$GC,8795,-0.82,-117.3,679.6,-6.9,262,8799,0.00,2.25,0.00,0.000,6,0.000,0.045,1820,2305,3407
$GC,9116,-0.82,-117.3,700.5,-6.5,268,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2305,3406
$GC,9419,-0.82,-117.3,720.7,-6.7,273,9423,0.00,2.25,0.00,0.000,4,0.000,0.051,1820,895,3407
$GC,9452,-0.82,-117.3,723.1,-7.0,273,9456,0.00,2.25,0.00,0.000,6,0.000,0.044,1816,2307,3407
$GC,9790,-0.82,-117.3,744.5,-6.2,279,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2308,3406
$GC,10093,-0.82,-117.3,762.0,-5.7,284,10097,0.00,2.25,0.00,0.000,4,0.000,0.047,1816,900,3406
$GC,10148,-0.82,-117.3,765.3,-5.9,284,10155,0.00,2.25,0.00,0.000,6,0.000,0.044,1810,2309,3406
$GC,10458,-0.82,-117.3,783.1,-5.8,290,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2310,3406
$GC,10760,-0.82,-117.3,800.9,-5.9,295,10765,0.00,2.28,0.00,0.000,4,0.000,0.051,1810,890,3405
$GC,10799,-0.82,-117.3,803.5,-6.4,295,10803,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2307,3405
$GC,11126,-0.82,-117.3,823.7,-6.2,301,11130,0.00,2.28,0.00,0.000,4,0.000,0.051,1809,890,3405
$GC,11154,-0.82,-117.3,825.8,-8.1,301,11158,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2312,3405
$GC,11486,-0.82,-117.3,847.6,-6.6,307,11490,0.00,2.28,0.00,0.000,4,0.000,0.052,1808,896,3406
$GC,11519,-0.82,-117.3,850.0,-7.5,307,11523,0.00,2.25,0.00,0.000,6,0.000,0.043,1806,2310,3406
$GC,11852,-0.82,-117.3,871.6,-6.4,313,11853,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2310,3405
$GC,12154,-0.82,-117.3,890.8,-6.3,318,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2310,3405
$GC,12457,-0.82,-117.3,909.2,-6.0,323,12458,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2310,3405
$GC,12760,-0.82,-117.3,927.5,-6.1,328,12764,0.00,2.30,0.00,0.000,4,0.000,0.049,1806,892,3405
$GC,12833,-0.82,-117.3,932.6,-7.1,329,12837,0.00,2.28,0.00,0.000,6,0.000,0.041,1804,2307,3405
$GC,13187,-0.82,-117.3,954.3,-6.1,335,13191,0.00,2.30,0.00,0.000,4,0.000,0.048,1804,892,3404
$GC,13220,-0.82,-117.3,956.4,-6.5,335,13225,0.10,2.28,0.00,0.000,6,0.147,0.041,1820,2305,3405
$GC,13553,-0.86,-117.3,973.0,-4.9,341,13554,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2305,3404
$GC,13856,-0.90,-117.3,988.0,-5.0,346,13857,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2305,3404
$STATE,13913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13913,begin apogee
$GC,13919,-0.22,0.0,991.0,4.9,347,14017,0.43,0.00,95.47,1.312,6,0.119,0.000,1957,2305,2931
$STATE,14018,end apogee,CONTROL_FINISHED_OK
$STATE,14018,begin climb
$GC,14021,0.68,117.3,991.9,0.0,348,14131,0.57,2.60,101.25,1.280,4,0.077,0.057,2152,3706,2451
$GC,14149,0.52,117.3,988.5,7.3,350,14154,0.22,2.40,0.00,0.000,6,0.175,0.038,2112,2316,2448
$GC,14459,0.46,117.3,970.0,5.9,355,14463,0.00,2.40,0.00,0.000,4,0.000,0.050,2121,888,2441
$GC,14492,0.41,117.3,967.8,6.4,355,14497,0.12,2.35,0.00,0.000,6,0.144,0.048,2091,2309,2440
$GC,14818,0.43,132.4,951.4,5.0,361,14837,0.00,2.38,12.20,1.141,4,0.000,0.057,2091,3716,2390
$GC,14890,0.39,132.4,947.2,6.0,362,14894,0.00,2.30,0.00,0.000,6,0.000,0.038,2099,2288,2388
$GC,15250,0.37,136.7,927.8,5.4,368,15257,0.00,0.00,5.07,0.890,6,0.000,0.000,2099,2288,2373
$GC,15553,0.35,136.7,911.0,5.6,373,15555,0.10,0.00,0.00,0.000,6,0.163,0.000,2075,2288,2371
$GC,15856,0.40,157.5,896.3,4.8,378,15881,0.00,2.35,19.12,1.184,4,0.000,0.059,2076,3716,2287
$GC,15915,0.40,157.5,892.9,6.2,378,15922,0.00,2.28,0.00,0.000,6,0.000,0.041,2083,2299,2285
$GC,16226,0.44,163.1,876.4,5.3,384,16233,0.00,0.00,5.75,0.925,6,0.000,0.000,2083,2299,2266
$GC,16529,0.47,163.9,860.0,5.5,389,16533,0.00,2.30,0.00,0.000,4,0.000,0.057,2084,3710,2264
$GC,16562,0.47,163.9,857.8,5.7,389,16565,0.00,2.25,0.00,0.000,6,0.000,0.035,2094,2293,2263
$GC,16895,0.47,163.9,839.3,5.6,395,16896,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2293,2263
$GC,17196,0.47,163.9,822.1,5.7,400,17200,0.00,2.30,0.00,0.000,4,0.000,0.056,2094,3710,2263
$GC,17230,0.44,163.9,819.9,6.2,400,17234,0.00,2.22,0.00,0.000,6,0.000,0.035,2104,2305,2262
$GC,17557,0.44,163.9,800.2,6.0,406,17558,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2305,2262
$GC,17859,0.44,163.9,781.2,6.3,411,17863,0.00,2.30,0.00,0.000,4,0.000,0.056,2103,3720,2262
$GC,17897,0.40,163.9,778.5,6.6,411,17902,0.12,2.22,0.00,0.000,6,0.157,0.041,2083,2304,2262
$GC,18219,0.44,167.3,761.0,5.4,417,18225,0.00,0.00,4.65,0.794,6,0.000,0.000,2083,2305,2249
$GC,18521,0.49,173.4,744.9,5.3,422,18535,0.08,2.33,7.22,0.946,4,0.086,0.054,2141,891,2223
$GC,18558,0.44,173.4,742.3,6.8,422,18563,0.17,2.25,0.00,0.000,6,0.137,0.043,2092,2306,2223
$GC,18885,0.46,173.4,724.0,5.5,428,18889,0.00,2.28,0.00,0.000,4,0.000,0.050,2092,3719,2222
$GC,18923,0.46,173.4,721.5,6.5,428,18927,0.00,2.22,0.00,0.000,6,0.000,0.034,2101,2298,2221
$GC,19250,0.46,173.4,703.3,5.6,434,19251,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2298,2221
$GC,19553,0.48,182.9,687.4,5.2,439,19567,0.00,2.30,9.48,0.978,4,0.000,0.049,2100,3709,2184
$GC,19590,0.49,195.1,685.3,5.1,439,19609,0.00,2.22,12.12,1.002,6,0.000,0.040,2110,2303,2135
$GC,19920,0.49,197.6,667.6,5.4,445,19921,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2303,2132
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$GC,24586,0.55,238.9,373.7,6.8,522,24590,0.00,2.22,0.00,0.000,4,0.000,0.047,2137,897,1950
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$STATE,30667,end climb,SURFACE_DEPTH_REACHED
$STATE,30667,begin surface coast
$FINISH,0.9,1.024657
$STATE,30687,end surface coast,CONTROL_FINISHED_OK
$STATE,30687,begin surface
$SM_CCo,30763,0.00,0.000,0,0,1365,384.14
$SM_GC,1.88,5.78,0.00,0.00,0.037,0.000,0.000,100,2316,1365,-8.62,0.34,384.14
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$TT8_MAMPS,0.029913
$HUMID,1665
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$TCM_TEMP,18.90
$XPDR_PINGS,86
$24V_AH,22.4,42.026
$10V_AH,10.6,35.041
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$DEVICE_SECS,17.925,235.400,435.750,0.000,0.000,30.130,26.218,146.480,21.500,0.000,0.000,14.897,1769.638,25804.424,566.445,2326.340,616.942,33.374,1751.323,0.000,2315.853,0.000,0.528,0.000
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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,47506,793
$CAP_FILE_SIZE,190185,0
$CFSIZE,260165632,236777472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120909,181530,5018.180,-14505.244,62,1.5,74,18.5