version: 66.04
glider: 144
mission: 15
dive: 316
start: 9 24 109 9 27 22
data:
$ID,144
$MISSION,15
$DIVE,316
$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,-67368.219
$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,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
$GPS1,092102,5001.518,-14441.771,41,1.2,41,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-41.5
$GPS2,092626,5001.532,-14441.718,12,1.7,12,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.069,0.153
$KALMAN_X,-44283.1,22.4,17.1,78350.2,-2086.9
$KALMAN_Y,18185.6,-130.4,264.2,-54337.1,-830.9
$MHEAD_RNG_PITCHd_Wd,317.2,15529,-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,-42.08,0.000,2,0.000,0.000,99,2310,2622
$GC,62,-0.68,-117.3,3.6,-6.1,4,96,7.22,2.35,-18.17,0.000,4,0.242,0.063,1846,895,3413
$GC,348,-0.61,-117.3,46.2,-12.9,29,355,0.12,2.22,0.00,0.000,6,0.137,0.037,1871,2307,3415
$GC,676,-0.63,-117.3,71.0,-7.7,60,680,0.00,2.25,0.00,0.000,4,0.000,0.041,1872,886,3415
$GC,742,-0.67,-117.3,76.8,-8.8,65,748,0.00,2.22,0.00,0.000,6,0.000,0.036,1864,2304,3416
$GC,1059,-0.67,-117.3,104.1,-8.6,83,1063,0.00,2.22,0.00,0.000,4,0.000,0.041,1862,892,3417
$GC,1105,-0.67,-117.3,108.2,-8.9,85,1109,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2310,3417
$GC,1431,-0.67,-117.3,134.6,-7.0,101,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2310,3416
$GC,1740,-0.70,-117.3,154.2,-6.4,115,1744,0.00,2.25,0.00,0.000,4,0.000,0.042,1863,893,3416
$GC,1785,-0.76,-117.3,157.2,-6.8,116,1790,0.10,2.22,0.00,0.000,6,0.068,0.038,1791,2311,3417
$GC,2109,-0.68,-117.3,189.2,-10.1,127,2110,0.20,0.00,0.00,0.000,6,0.123,0.000,1850,2311,3416
$GC,2415,-0.72,-117.3,209.5,-6.5,137,2419,0.00,2.25,0.00,0.000,4,0.000,0.042,1850,888,3415
$GC,2444,-0.77,-117.3,211.6,-6.4,138,2448,0.00,2.25,0.00,0.000,6,0.000,0.044,1849,2308,3415
$GC,2780,-0.81,-117.3,232.6,-6.1,149,2784,0.10,2.25,0.00,0.000,4,0.067,0.048,1770,3715,3415
$GC,2812,-0.71,-117.3,235.5,-10.3,150,2817,0.25,2.20,0.00,0.000,6,0.120,0.036,1845,2294,3414
$GC,3142,-0.75,-117.3,256.5,-6.2,161,3146,0.00,2.20,0.00,0.000,4,0.000,0.044,1845,903,3414
$GC,3181,-0.79,-117.3,259.1,-6.9,162,3185,0.00,2.22,0.00,0.000,6,0.000,0.041,1839,2307,3414
$GC,3511,-0.82,-117.3,280.6,-6.6,173,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2307,3413
$GC,3817,-0.85,-117.3,302.1,-7.1,183,3822,0.08,2.25,0.00,0.000,4,0.081,0.044,1777,895,3413
$GC,3890,-0.76,-117.3,310.2,-11.6,184,3895,0.22,2.25,0.00,0.000,6,0.126,0.042,1834,2307,3413
$GC,4245,-0.79,-117.3,339.0,-8.0,190,4248,0.00,2.25,0.00,0.000,4,0.000,0.047,1834,895,3413
$GC,4289,-0.82,-117.3,343.0,-8.7,190,4293,0.00,2.25,0.00,0.000,6,0.000,0.042,1834,2310,3413
$GC,4609,-0.84,-117.3,366.8,-7.4,196,4613,0.00,2.25,0.00,0.000,4,0.000,0.044,1833,901,3412
$GC,4643,-0.87,-117.3,369.4,-7.3,196,4647,0.10,2.22,0.00,0.000,6,0.068,0.039,1771,2302,3411
$GC,4975,-0.78,-117.3,402.9,-10.3,202,4979,0.17,2.25,0.00,0.000,4,0.129,0.048,1828,902,3411
$GC,5013,-0.81,-117.3,406.3,-7.4,202,5017,0.00,2.22,0.00,0.000,6,0.000,0.041,1822,2301,3412
$GC,5333,-0.81,-117.3,428.5,-7.0,208,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2301,3411
$GC,5636,-0.81,-117.3,450.1,-7.2,213,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2301,3411
$GC,5940,-0.81,-117.3,472.2,-7.3,218,5944,0.00,2.25,0.00,0.000,4,0.000,0.051,1822,900,3410
$GC,5989,-0.81,-117.3,476.2,-8.1,218,5993,0.00,2.25,0.00,0.000,6,0.000,0.043,1820,2311,3410
$GC,6305,-0.81,-117.3,498.9,-7.2,224,6309,0.00,2.25,0.00,0.000,4,0.000,0.045,1819,900,3409
$GC,6344,-0.81,-117.3,501.8,-7.5,224,6348,0.00,2.25,0.00,0.000,6,0.000,0.045,1810,2311,3409
$GC,6670,-0.81,-117.3,526.1,-7.4,230,6674,0.00,2.28,0.00,0.000,4,0.000,0.051,1810,900,3409
$GC,6713,-0.81,-117.3,529.6,-8.1,230,6717,0.00,2.25,0.00,0.000,6,0.000,0.041,1807,2305,3409
$GC,7034,-0.81,-117.3,554.3,-7.7,236,7038,0.00,2.28,0.00,0.000,4,0.000,0.047,1807,892,3409
$GC,7068,-0.81,-117.3,557.1,-8.1,236,7072,0.10,2.25,0.00,0.000,6,0.133,0.041,1825,2305,3409
$GC,7394,-0.83,-117.3,578.2,-6.4,242,7398,0.00,2.25,0.00,0.000,4,0.000,0.050,1825,896,3408
$GC,7433,-0.86,-117.3,581.1,-7.3,242,7437,0.00,2.25,0.00,0.000,6,0.000,0.039,1823,2307,3409
$GC,7754,-0.88,-117.3,602.3,-6.6,248,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2306,3408
$GC,8057,-0.90,-117.3,619.8,-5.7,253,8061,0.00,2.28,0.00,0.000,4,0.000,0.044,1823,899,3408
$GC,8124,-0.93,-117.3,623.8,-6.2,254,8128,0.10,2.25,0.00,0.000,6,0.070,0.042,1764,2306,3408
$GC,8490,-0.84,-117.3,653.7,-8.3,260,8492,0.20,0.00,0.00,0.000,6,0.126,0.000,1823,2306,3408
$GC,8792,-0.87,-117.3,671.5,-5.8,265,8796,0.00,2.28,0.00,0.000,4,0.000,0.049,1823,891,3408
$GC,8830,-0.90,-117.3,674.1,-6.8,265,8834,0.00,2.28,0.00,0.000,6,0.000,0.039,1823,2312,3408
$GC,9151,-0.93,-117.3,694.4,-6.3,271,9153,0.10,0.00,0.00,0.000,6,0.069,0.000,1762,2313,3407
$GC,9455,-0.84,-117.3,722.3,-9.3,276,9460,0.17,2.30,0.00,0.000,4,0.127,0.051,1820,896,3407
$GC,9499,-0.87,-117.3,725.7,-6.4,276,9503,0.00,2.28,0.00,0.000,6,0.000,0.046,1820,2309,3407
$GC,9814,-0.90,-117.3,745.2,-6.2,282,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2309,3407
$GC,10118,-0.93,-117.3,764.5,-6.4,287,10122,0.00,2.30,0.00,0.000,4,0.000,0.048,1820,891,3407
$GC,10162,-0.96,-117.3,767.6,-7.4,287,10166,0.00,2.28,0.00,0.000,6,0.000,0.041,1811,2314,3407
$GC,10477,-0.96,-117.3,788.6,-6.7,293,10481,0.00,2.28,0.00,0.000,4,0.000,0.046,1811,901,3407
$GC,10509,-0.96,-117.3,790.9,-7.2,293,10513,0.00,2.25,0.00,0.000,6,0.000,0.048,1808,2308,3407
$GC,10842,-0.96,-117.3,812.5,-6.4,299,10846,0.00,2.28,0.00,0.000,4,0.000,0.051,1809,890,3407
$GC,10885,-0.96,-117.3,815.5,-7.4,299,10889,0.00,2.28,0.00,0.000,6,0.000,0.041,1807,2311,3406
$GC,11207,-0.96,-117.3,836.0,-6.4,305,11211,0.00,2.28,0.00,0.000,4,0.000,0.049,1807,899,3406
$GC,11240,-0.96,-117.3,838.3,-7.4,305,11244,0.00,2.25,0.00,0.000,6,0.000,0.046,1804,2305,3406
$GC,11565,-0.96,-117.3,858.8,-6.3,311,11567,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2305,3406
$GC,11869,-0.96,-117.3,878.7,-6.5,316,11873,0.00,2.28,0.00,0.000,4,0.000,0.053,1804,902,3406
$GC,11931,-0.96,-117.3,883.2,-7.7,317,11935,0.00,2.28,0.00,0.000,6,0.000,0.044,1795,2305,3406
$GC,12298,-0.96,-117.3,908.8,-7.0,323,12302,0.00,2.30,0.00,0.000,4,0.000,0.050,1795,893,3406
$GC,12336,-0.96,-117.3,911.8,-7.2,323,12340,0.00,2.28,0.00,0.000,6,0.000,0.042,1794,2302,3405
$GC,12663,-0.96,-117.3,933.6,-6.7,329,12664,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2302,3405
$GC,12966,-0.96,-117.3,952.9,-6.3,334,12970,0.00,2.28,0.00,0.000,4,0.000,0.049,1794,902,3405
$GC,12999,-0.96,-117.3,955.2,-7.8,334,13003,0.00,2.28,0.00,0.000,6,0.000,0.048,1790,2305,3405
$GC,13325,-0.93,-117.3,975.8,-6.3,340,13329,0.00,2.28,0.00,0.000,4,0.000,0.052,1790,901,3405
$GC,13369,-0.91,-117.3,978.9,-7.5,340,13373,0.00,2.28,0.00,0.000,6,0.000,0.043,1781,2312,3405
$STATE,13560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13560,begin apogee
$GC,13566,-0.22,0.0,991.4,6.6,344,13665,0.55,0.00,96.00,1.308,6,0.123,0.000,1954,2312,2931
$STATE,13665,end apogee,CONTROL_FINISHED_OK
$STATE,13666,begin climb
$GC,13668,0.68,117.3,992.2,0.0,345,13777,0.57,2.53,101.65,1.279,4,0.074,0.058,2153,3709,2451
$GC,13799,0.51,117.3,987.7,7.0,347,13805,0.22,2.40,0.00,0.000,6,0.173,0.036,2112,2316,2447
$GC,14155,0.45,117.3,965.9,6.0,353,14159,0.00,2.40,0.00,0.000,4,0.000,0.049,2121,884,2440
$GC,14199,0.41,117.3,963.0,6.8,353,14204,0.12,2.33,0.00,0.000,6,0.138,0.044,2090,2305,2440
$GC,14515,0.43,134.7,947.3,4.9,359,14535,0.00,2.35,14.02,1.157,4,0.000,0.053,2090,3705,2382
$GC,14597,0.40,134.7,942.5,5.5,360,14602,0.00,2.28,0.00,0.000,6,0.000,0.039,2098,2293,2379
$GC,14947,0.41,140.4,924.0,5.3,366,14957,0.00,2.33,6.22,0.963,4,0.000,0.051,2098,3710,2357
$GC,14992,0.36,140.4,921.2,6.6,366,14996,0.12,2.25,0.00,0.000,6,0.160,0.037,2078,2303,2356
$GC,15307,0.42,168.3,906.8,4.6,372,15334,0.00,0.00,25.27,1.200,6,0.000,0.000,2078,2303,2245
$GC,15610,0.54,168.3,890.5,5.6,377,15615,0.12,2.30,0.00,0.000,4,0.075,0.051,2131,892,2239
$GC,15683,0.50,168.3,885.8,6.7,378,15687,0.00,2.30,0.00,0.000,6,0.000,0.041,2130,2313,2239
$GC,16038,0.45,168.3,862.3,6.7,384,16042,0.12,2.28,0.00,0.000,4,0.148,0.053,2098,3712,2238
$GC,16082,0.45,168.3,859.3,6.3,384,16086,0.00,2.25,0.00,0.000,6,0.000,0.036,2106,2298,2237
$GC,16397,0.45,171.8,842.3,5.4,390,16401,0.00,2.30,0.00,0.000,4,0.000,0.054,2106,3711,2237
$GC,16424,0.42,171.8,840.5,7.1,390,16429,0.10,2.25,0.00,0.000,6,0.160,0.038,2093,2294,2237
$GC,16757,0.47,192.8,824.7,4.8,396,16780,0.00,0.00,21.33,1.144,6,0.000,0.000,2093,2294,2145
$GC,17060,0.53,207.2,809.4,5.0,401,17076,0.08,0.00,13.88,1.086,6,0.086,0.000,2139,2294,2086
$GC,17363,0.48,207.2,786.8,7.6,406,17367,0.15,2.33,0.00,0.000,4,0.139,0.054,2098,3710,2082
$GC,17406,0.48,207.2,783.6,7.1,406,17410,0.00,2.25,0.00,0.000,6,0.000,0.033,2106,2294,2082
$GC,17729,0.50,207.2,764.7,5.9,412,17733,0.00,2.33,0.00,0.000,4,0.000,0.049,2106,3716,2082
$GC,17750,0.50,207.2,763.1,6.4,412,17754,0.00,2.25,0.00,0.000,6,0.000,0.035,2117,2296,2081
$GC,18094,0.50,207.2,742.1,6.0,418,18098,0.00,2.30,0.00,0.000,4,0.000,0.050,2117,3712,2081
$GC,18122,0.48,207.2,740.1,7.1,418,18126,0.10,2.22,0.00,0.000,6,0.153,0.038,2103,2302,2081
$GC,18454,0.54,226.2,723.6,4.9,424,18473,0.00,0.00,17.48,1.066,6,0.000,0.000,2102,2301,2008
$GC,18757,0.60,240.7,708.3,5.0,429,18773,0.10,0.00,13.80,1.029,6,0.071,0.000,2163,2301,1948
$GC,19061,0.52,240.7,681.6,9.1,434,19065,0.20,2.33,0.00,0.000,4,0.137,0.048,2101,3715,1945
$GC,19099,0.55,240.7,678.5,6.7,434,19103,0.00,2.25,0.00,0.000,6,0.000,0.033,2110,2302,1945
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$STATE,29534,end climb,SURFACE_DEPTH_REACHED
$STATE,29534,begin surface coast
$FINISH,1.0,1.024675
$STATE,29562,end surface coast,CONTROL_FINISHED_OK
$STATE,29562,begin surface
$SM_CCo,29638,0.00,0.000,0,0,1365,384.14
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$TT8_MAMPS,0.028379
$HUMID,1689
$INTERNAL_PRESSURE,7.41239
$TCM_TEMP,16.70
$XPDR_PINGS,78
$24V_AH,22.3,46.852
$10V_AH,10.6,39.455
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$DEVICE_SECS,20.050,257.975,430.875,0.000,0.000,23.731,23.626,151.954,19.500,0.000,0.000,14.498,1790.483,24524.438,584.867,2423.945,631.789,33.369,1813.424,0.000,2414.064,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,549.508,627.079,807.131,1338.711,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47545,780
$CAP_FILE_SIZE,200221,0
$CFSIZE,260165632,234061824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240909,174254,5004.355,-14444.633,39,1.5,56,18.5