version: 66.04
glider: 144
mission: 15
dive: 287
start: 9 14 109 9 43 34
data:
$ID,144
$MISSION,15
$DIVE,287
$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,-66713.375
$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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,093701,5011.998,-14508.699,40,1.9,40,18.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-55.6
$GPS2,094238,5012.081,-14508.681,10,1.4,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.039,-0.163
$KALMAN_X,-29759.8,-317.6,5.5,32305.6,828.1
$KALMAN_Y,14259.1,-148.5,-71.3,-30519.2,861.6
$MHEAD_RNG_PITCHd_Wd,175.0,33691,-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,-117.3,0.0,0.0,0,64,0.00,0.00,-46.88,0.000,2,0.000,0.000,99,2309,2783
$GC,67,-0.68,-117.3,3.7,-4.2,5,94,7.18,2.33,-13.27,0.000,4,0.239,0.058,1841,891,3412
$GC,158,-0.60,-117.3,18.2,-13.3,13,163,0.15,2.25,0.00,0.000,6,0.142,0.043,1874,2304,3414
$GC,483,-0.60,-117.3,50.5,-7.2,43,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2303,3415
$GC,802,-0.60,-117.3,75.6,-7.8,73,805,0.00,2.22,0.00,0.000,4,0.000,0.040,1873,893,3416
$GC,874,-0.63,-117.3,81.5,-7.8,79,878,0.00,2.22,0.00,0.000,6,0.000,0.037,1870,2307,3416
$GC,1201,-0.63,-117.3,106.9,-7.9,95,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2307,3417
$GC,1511,-0.66,-117.3,130.4,-7.7,110,1515,0.00,2.25,0.00,0.000,4,0.000,0.052,1863,3709,3417
$GC,1551,-0.70,-117.3,133.6,-8.2,112,1555,0.00,2.20,0.00,0.000,6,0.000,0.034,1863,2285,3417
$GC,1867,-0.75,-117.3,156.8,-7.1,126,1872,0.10,2.20,0.00,0.000,4,0.068,0.040,1794,895,3416
$GC,1963,-0.67,-117.3,167.4,-11.6,129,1968,0.25,2.25,0.00,0.000,6,0.127,0.039,1857,2312,3416
$GC,2298,-0.72,-117.3,190.6,-6.1,140,2302,0.00,2.28,0.00,0.000,4,0.000,0.048,1857,893,3415
$GC,2332,-0.77,-117.3,192.7,-6.2,141,2336,0.00,2.25,0.00,0.000,6,0.000,0.044,1850,2308,3415
$GC,2661,-0.80,-117.3,212.1,-5.9,152,2666,0.10,2.25,0.00,0.000,4,0.066,0.045,1779,893,3415
$GC,2690,-0.73,-117.3,214.6,-9.4,153,2694,0.25,2.25,0.00,0.000,6,0.127,0.039,1842,2314,3415
$GC,3025,-0.75,-117.3,238.4,-6.8,164,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2314,3415
$GC,3331,-0.78,-117.3,258.5,-6.5,174,3335,0.00,2.25,0.00,0.000,4,0.000,0.050,1843,904,3414
$GC,3364,-0.81,-117.3,260.8,-6.9,175,3368,0.00,2.22,0.00,0.000,6,0.000,0.045,1837,2305,3414
$GC,3693,-0.81,-117.3,282.5,-6.5,186,3697,0.00,2.22,0.00,0.000,4,0.000,0.044,1836,904,3413
$GC,3721,-0.81,-117.3,284.6,-7.3,186,3727,0.00,2.22,0.00,0.000,6,0.000,0.043,1837,2308,3413
$GC,4033,-0.81,-117.3,304.6,-6.4,196,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2308,3413
$GC,4336,-0.81,-117.3,323.7,-6.3,201,4340,0.00,2.28,0.00,0.000,4,0.000,0.044,1837,892,3412
$GC,4368,-0.81,-117.3,325.9,-6.6,201,4373,0.00,2.25,0.00,0.000,6,0.000,0.045,1837,2305,3412
$GC,4695,-0.81,-117.3,347.1,-6.6,207,4699,0.00,2.25,0.00,0.000,4,0.000,0.044,1836,899,3412
$GC,4723,-0.83,-117.3,349.1,-7.8,207,4727,0.00,2.25,0.00,0.000,6,0.000,0.044,1836,2312,3412
$GC,5055,-0.85,-117.3,371.1,-6.6,213,5059,0.00,2.28,0.00,0.000,4,0.000,0.046,1836,895,3411
$GC,5093,-0.88,-117.3,374.0,-7.2,213,5098,0.10,2.25,0.00,0.000,6,0.071,0.046,1775,2303,3411
$GC,5414,-0.79,-117.3,405.9,-10.2,219,5416,0.20,0.00,0.00,0.000,6,0.131,0.000,1833,2304,3411
$GC,5717,-0.81,-117.3,427.6,-7.0,224,5721,0.00,2.25,0.00,0.000,4,0.000,0.049,1834,899,3411
$GC,5767,-0.84,-117.3,431.7,-7.8,224,5771,0.00,2.25,0.00,0.000,6,0.000,0.047,1829,2308,3410
$GC,6077,-0.84,-117.3,454.9,-7.5,229,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2308,3409
$GC,6380,-0.84,-117.3,477.5,-7.5,234,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2308,3410
$GC,6683,-0.84,-117.3,500.2,-7.5,239,6687,0.00,2.28,0.00,0.000,4,0.000,0.045,1829,895,3409
$GC,6739,-0.86,-117.3,504.8,-8.1,239,6746,0.00,2.28,0.00,0.000,6,0.000,0.043,1823,2296,3409
$GC,7048,-0.86,-117.3,527.6,-7.4,245,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2296,3409
$GC,7351,-0.86,-117.3,547.1,-6.3,250,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2297,3408
$GC,7655,-0.86,-117.3,565.4,-6.1,255,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2297,3408
$GC,7959,-0.86,-117.3,584.3,-6.3,260,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2297,3408
$GC,8261,-0.86,-117.3,604.2,-6.5,265,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2296,3407
$GC,8564,-0.86,-117.3,624.0,-6.5,270,8568,0.00,2.25,0.00,0.000,4,0.000,0.046,1823,896,3407
$GC,8609,-0.89,-117.3,627.4,-7.7,270,8613,0.00,2.28,0.00,0.000,6,0.000,0.040,1821,2317,3407
$GC,8924,-0.91,-117.3,648.6,-6.7,276,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2318,3407
$GC,9227,-0.91,-117.3,668.9,-6.7,281,9231,0.00,2.28,0.00,0.000,4,0.000,0.047,1821,902,3407
$GC,9259,-0.91,-117.3,671.4,-7.5,281,9263,0.00,2.28,0.00,0.000,6,0.000,0.044,1819,2303,3406
$GC,9593,-0.91,-117.3,693.8,-6.7,287,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2304,3407
$GC,9895,-0.91,-117.3,713.3,-6.4,292,9898,0.00,2.25,0.00,0.000,4,0.000,0.048,1819,902,3406
$GC,9927,-0.91,-117.3,715.5,-6.8,292,9931,0.00,2.25,0.00,0.000,6,0.000,0.040,1810,2307,3406
$GC,10265,-0.91,-117.3,737.8,-6.6,298,10267,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2308,3406
$GC,10568,-0.91,-117.3,756.9,-6.3,303,10573,0.00,2.28,0.00,0.000,4,0.000,0.045,1810,902,3405
$GC,10607,-0.91,-117.3,759.6,-7.4,303,10611,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2303,3406
$GC,10928,-0.91,-117.3,779.5,-6.1,309,10929,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3406
$GC,11232,-0.91,-117.3,797.5,-6.0,314,11236,0.00,2.25,0.00,0.000,4,0.000,0.051,1808,902,3406
$GC,11275,-0.91,-117.3,800.6,-7.3,314,11279,0.00,2.25,0.00,0.000,6,0.000,0.044,1805,2305,3406
$GC,11597,-0.91,-117.3,821.1,-6.4,320,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3406
$GC,11899,-0.91,-117.3,841.8,-6.8,325,11903,0.00,2.28,0.00,0.000,4,0.000,0.051,1805,892,3406
$GC,11949,-0.91,-117.3,845.6,-7.3,325,11953,0.00,2.25,0.00,0.000,6,0.000,0.045,1795,2302,3405
$GC,12265,-0.88,-117.3,869.1,-7.5,331,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2302,3405
$GC,12568,-0.86,-117.3,890.8,-7.1,336,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2302,3405
$GC,12871,-0.84,-117.3,911.4,-6.7,341,12876,0.10,2.28,0.00,0.000,4,0.144,0.053,1822,895,3405
$GC,12898,-0.84,-117.3,913.1,-6.2,341,12902,0.00,2.28,0.00,0.000,6,0.000,0.044,1822,2309,3405
$GC,13237,-0.88,-117.3,931.7,-5.5,347,13241,0.00,2.28,0.00,0.000,4,0.000,0.048,1822,903,3405
$GC,13275,-0.92,-117.3,934.2,-6.4,347,13280,0.00,2.28,0.00,0.000,6,0.000,0.046,1821,2312,3405
$GC,13597,-0.95,-117.3,952.7,-5.8,353,13598,0.10,0.00,0.00,0.000,6,0.083,0.000,1778,2312,3405
$GC,13900,-0.90,-117.3,975.7,-7.6,358,13902,0.10,0.00,0.00,0.000,6,0.145,0.000,1803,2312,3404
$STATE,14139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14139,begin apogee
$GC,14146,-0.22,0.0,991.1,6.3,362,14244,0.47,0.00,95.68,1.312,6,0.123,0.000,1955,2312,2931
$STATE,14245,end apogee,CONTROL_FINISHED_OK
$STATE,14245,begin climb
$GC,14247,0.68,117.3,992.5,0.0,363,14357,0.57,2.58,101.30,1.282,4,0.073,0.058,2151,3706,2450
$GC,14382,0.50,117.3,989.9,6.7,365,14389,0.22,2.38,0.00,0.000,6,0.176,0.035,2111,2317,2447
$GC,14692,0.45,120.6,972.9,5.4,371,14693,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2317,2441
$GC,14995,0.41,131.9,957.4,5.1,376,15009,0.10,0.00,11.98,1.142,6,0.170,0.000,2086,2316,2393
$GC,15298,0.45,164.9,944.2,4.4,381,15332,0.00,2.35,29.40,1.230,4,0.000,0.059,2086,3709,2257
$GC,15350,0.47,182.1,941.4,4.9,381,15371,0.00,2.33,16.40,1.163,6,0.000,0.035,2095,2293,2188
$GC,15727,0.50,191.5,921.9,5.2,388,15738,0.00,0.00,8.82,1.063,6,0.000,0.000,2095,2292,2150
$GC,16031,0.55,206.4,906.6,5.0,393,16050,0.10,2.35,14.50,1.151,4,0.077,0.053,2142,3713,2089
$GC,16078,0.45,206.4,902.8,9.0,393,16083,0.20,2.28,0.00,0.000,6,0.156,0.035,2101,2300,2087
$GC,16394,0.50,225.9,887.0,4.8,399,16418,0.00,2.38,17.95,1.165,4,0.000,0.052,2110,890,2009
$GC,16442,0.56,230.4,884.4,5.3,399,16452,0.00,2.30,5.62,0.896,6,0.000,0.039,2110,2305,1991
$GC,16758,0.60,238.7,868.0,5.2,404,16772,0.00,2.33,8.62,1.035,4,0.000,0.057,2109,3703,1956
$GC,16806,0.60,238.7,864.9,6.6,404,16810,0.00,2.25,0.00,0.000,6,0.000,0.041,2120,2292,1955
$GC,17127,0.60,238.7,845.1,6.2,410,17129,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2293,1954
$GC,17430,0.60,238.7,826.4,6.1,415,17431,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2293,1953
$GC,17733,0.60,238.7,807.5,6.2,420,17738,0.00,2.33,0.00,0.000,4,0.000,0.058,2120,3712,1952
$GC,17755,0.60,238.7,806.0,6.1,420,17759,0.00,2.25,0.00,0.000,6,0.000,0.033,2130,2297,1952
$GC,18101,0.57,238.7,781.4,7.1,426,18105,0.00,2.30,0.00,0.000,4,0.000,0.053,2130,3710,1952
$GC,18128,0.53,238.7,778.9,8.8,426,18133,0.12,2.22,0.00,0.000,6,0.150,0.034,2108,2302,1951
$GC,18460,0.57,238.7,757.9,6.4,432,18464,0.00,2.28,0.00,0.000,4,0.000,0.051,2117,886,1951
$GC,18488,0.62,238.7,755.8,7.6,432,18492,0.00,2.28,0.00,0.000,6,0.000,0.044,2117,2316,1950
$GC,18820,0.64,238.7,732.6,7.0,438,18824,0.08,2.25,0.00,0.000,4,0.087,0.050,2168,3716,1951
$GC,18852,0.53,238.7,729.3,10.6,438,18857,0.22,2.22,0.00,0.000,6,0.153,0.036,2118,2294,1951
$GC,19179,0.53,238.7,708.0,6.3,444,19182,0.00,2.25,0.00,0.000,4,0.000,0.054,2126,892,1950
$GC,19212,0.56,238.7,705.8,6.8,444,19216,0.00,2.25,0.00,0.000,6,0.000,0.038,2126,2308,1949
$GC,19544,0.56,238.7,685.9,5.9,450,19548,0.00,2.28,0.00,0.000,4,0.000,0.051,2126,3720,1950
$GC,19588,0.54,238.7,683.0,6.5,450,19593,0.00,2.22,0.00,0.000,6,0.000,0.035,2136,2305,1950
$GC,19904,0.50,238.7,663.5,6.1,456,19906,0.12,0.00,0.00,0.000,6,0.146,0.000,2103,2304,1949
$GC,20207,0.59,265.0,649.5,4.6,461,20233,0.10,0.00,23.58,1.051,6,0.071,0.000,2168,2304,1850
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$STATE,29424,end climb,SURFACE_DEPTH_REACHED
$STATE,29424,begin surface coast
$FINISH,0.7,1.024644
$STATE,29459,end surface coast,CONTROL_FINISHED_OK
$STATE,29459,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1685
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$TCM_TEMP,16.60
$XPDR_PINGS,77
$24V_AH,22.4,42.819
$10V_AH,10.6,35.783
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$DEVICE_SECS,18.975,217.375,401.200,0.000,0.000,29.475,26.064,158.529,19.250,0.000,0.000,11.867,1698.795,24812.838,549.956,2176.232,629.494,33.368,1649.361,0.000,2186.500,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,544.297,622.700,800.929,1328.118,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44338,774
$CAP_FILE_SIZE,182586,0
$CFSIZE,260165632,236322816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,140909,175707,5008.549,-14509.629,37,1.0,37,18.5