version: 66.04
glider: 144
mission: 15
dive: 329
start: 9 28 109 17 47 10
data:
$ID,144
$MISSION,15
$DIVE,329
$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,-67658.961
$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,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
$GPS1,174036,5010.443,-14508.585,36,1.3,36,18.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-50.9
$GPS2,174614,5010.425,-14508.582,14,1.2,14,18.5
$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,-52067.2,50.4,-198.3,54565.5,567.1
$KALMAN_Y,17030.6,-186.6,-7.4,-36378.0,-494.9
$MHEAD_RNG_PITCHd_Wd,174.9,30662,-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,-117.3,0.0,0.0,0,49,0.00,0.00,-31.92,0.000,2,0.000,0.000,97,2298,2409
$GC,52,-0.68,-117.3,3.0,-4.4,3,97,7.10,2.35,-28.48,0.000,4,0.234,0.069,1834,3711,3411
$GC,289,-0.59,-117.3,32.7,-14.7,24,294,0.15,2.22,0.00,0.000,6,0.123,0.036,1877,2294,3413
$GC,615,-0.63,-117.3,62.9,-7.8,54,618,0.00,2.22,0.00,0.000,4,0.000,0.041,1877,890,3414
$GC,655,-0.68,-117.3,66.2,-8.0,57,659,0.10,2.25,0.00,0.000,6,0.065,0.037,1806,2314,3414
$GC,985,-0.58,-117.3,105.6,-12.2,78,986,0.22,0.00,0.00,0.000,6,0.124,0.000,1873,2314,3415
$GC,1294,-0.63,-117.3,128.3,-6.6,93,1298,0.00,2.25,0.00,0.000,4,0.000,0.041,1874,897,3415
$GC,1317,-0.69,-117.3,129.9,-6.4,94,1321,0.00,2.22,0.00,0.000,6,0.000,0.036,1869,2308,3415
$GC,1639,-0.75,-117.3,149.0,-5.8,110,1644,0.10,2.22,0.00,0.000,4,0.065,0.041,1794,893,3415
$GC,1712,-0.67,-117.3,156.4,-10.6,113,1717,0.25,2.22,0.00,0.000,6,0.119,0.037,1858,2311,3415
$GC,2036,-0.73,-117.3,178.8,-7.0,124,2040,0.00,2.25,0.00,0.000,4,0.000,0.047,1858,899,3415
$GC,2081,-0.79,-117.3,182.2,-7.0,125,2086,0.10,2.22,0.00,0.000,6,0.064,0.041,1781,2304,3414
$GC,2405,-0.70,-117.3,218.1,-11.2,136,2409,0.20,2.22,0.00,0.000,4,0.122,0.043,1847,902,3414
$GC,2460,-0.75,-117.3,223.0,-8.2,137,2466,0.00,2.20,0.00,0.000,6,0.000,0.038,1840,2302,3414
$GC,2773,-0.77,-117.3,245.7,-7.2,148,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2303,3414
$GC,3079,-0.80,-117.3,268.0,-7.5,158,3083,0.00,2.22,0.00,0.000,4,0.000,0.042,1841,891,3413
$GC,3129,-0.84,-117.3,272.0,-7.8,159,3133,0.00,2.25,0.00,0.000,6,0.000,0.039,1837,2303,3413
$GC,3447,-0.86,-117.3,295.4,-7.1,170,3449,0.10,0.00,0.00,0.000,6,0.066,0.000,1769,2304,3413
$GC,3751,-0.76,-117.3,326.4,-10.4,176,3753,0.22,0.00,0.00,0.000,6,0.121,0.000,1837,2303,3412
$GC,4054,-0.79,-117.3,344.8,-5.8,181,4058,0.00,2.25,0.00,0.000,4,0.000,0.050,1837,892,3412
$GC,4098,-0.83,-117.3,347.6,-6.4,181,4102,0.00,2.25,0.00,0.000,6,0.000,0.041,1837,2309,3412
$GC,4414,-0.86,-117.3,366.5,-6.0,187,4416,0.08,0.00,0.00,0.000,6,0.081,0.000,1778,2309,3411
$GC,4717,-0.78,-117.3,395.8,-9.8,192,4721,0.17,2.25,0.00,0.000,4,0.123,0.048,1837,900,3411
$GC,4772,-0.82,-117.3,400.1,-7.3,192,4779,0.00,2.25,0.00,0.000,6,0.000,0.045,1836,2296,3411
$GC,5082,-0.86,-117.3,419.7,-6.3,198,5087,0.08,2.22,0.00,0.000,4,0.082,0.051,1779,897,3410
$GC,5120,-0.78,-117.3,423.2,-8.8,198,5125,0.22,2.25,0.00,0.000,6,0.121,0.044,1836,2314,3410
$GC,5441,-0.82,-117.3,442.3,-5.9,204,5445,0.00,2.25,0.00,0.000,4,0.000,0.044,1836,890,3410
$GC,5480,-0.86,-117.3,444.7,-6.1,204,5484,0.10,2.25,0.00,0.000,6,0.067,0.042,1770,2309,3410
$GC,5800,-0.77,-117.3,475.4,-9.9,210,5802,0.22,0.00,0.00,0.000,6,0.123,0.000,1837,2308,3409
$GC,6103,-0.82,-117.3,496.7,-6.9,215,6107,0.00,2.25,0.00,0.000,4,0.000,0.048,1837,895,3408
$GC,6148,-0.87,-117.3,500.0,-7.5,215,6153,0.10,2.25,0.00,0.000,6,0.068,0.041,1772,2313,3409
$GC,6463,-0.79,-117.3,531.2,-10.1,221,6465,0.20,0.00,0.00,0.000,6,0.122,0.000,1832,2313,3409
$GC,6766,-0.83,-117.3,551.9,-6.6,226,6770,0.00,2.25,0.00,0.000,4,0.000,0.051,1832,896,3408
$GC,6806,-0.88,-117.3,554.9,-8.1,226,6810,0.10,2.25,0.00,0.000,6,0.068,0.045,1768,2312,3408
$GC,7132,-0.80,-117.3,586.4,-9.8,232,7134,0.20,0.00,0.00,0.000,6,0.122,0.000,1828,2312,3407
$GC,7435,-0.84,-117.3,605.7,-6.3,237,7439,0.00,2.25,0.00,0.000,4,0.000,0.045,1828,899,3408
$GC,7479,-0.88,-117.3,608.7,-6.7,237,7483,0.00,2.22,0.00,0.000,6,0.000,0.044,1823,2303,3407
$GC,7795,-0.90,-117.3,627.4,-5.9,243,7797,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2304,3407
$GC,8098,-0.93,-117.3,645.2,-5.9,248,8103,0.10,2.25,0.00,0.000,4,0.067,0.044,1756,898,3407
$GC,8161,-0.84,-117.3,650.8,-9.8,249,8166,0.22,2.25,0.00,0.000,6,0.127,0.048,1821,2301,3406
$GC,8527,-0.86,-117.3,674.9,-6.5,255,8531,0.00,2.25,0.00,0.000,4,0.000,0.044,1821,893,3407
$GC,8556,-0.89,-117.3,676.8,-7.3,255,8560,0.00,2.25,0.00,0.000,6,0.000,0.045,1821,2306,3407
$GC,8888,-0.92,-117.3,698.8,-6.6,261,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3407
$GC,9191,-0.95,-117.3,718.6,-6.5,266,9196,0.10,2.28,0.00,0.000,4,0.068,0.044,1763,893,3406
$GC,9229,-0.86,-117.3,722.3,-10.2,266,9234,0.20,2.25,0.00,0.000,6,0.124,0.044,1814,2302,3406
$GC,9550,-0.88,-117.3,744.9,-7.1,272,9554,0.00,2.28,0.00,0.000,4,0.000,0.046,1814,891,3406
$GC,9591,-0.88,-117.3,748.0,-7.8,272,9595,0.00,2.28,0.00,0.000,6,0.000,0.040,1809,2310,3406
$GC,9911,-0.88,-117.3,771.2,-7.2,278,9912,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3406
$GC,10214,-0.88,-117.3,793.4,-7.4,283,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3405
$GC,10517,-0.88,-117.3,815.4,-7.2,288,10521,0.00,2.30,0.00,0.000,4,0.000,0.046,1809,893,3405
$GC,10550,-0.88,-117.3,817.9,-7.5,288,10554,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2305,3405
$GC,10875,-0.88,-117.3,840.8,-7.0,294,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3405
$GC,11178,-0.88,-117.3,861.2,-6.7,299,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3405
$GC,11482,-0.88,-117.3,880.8,-6.5,304,11486,0.00,2.30,0.00,0.000,4,0.000,0.050,1808,895,3405
$GC,11522,-0.88,-117.3,883.4,-6.5,304,11526,0.00,2.28,0.00,0.000,6,0.000,0.044,1807,2301,3405
$GC,11842,-0.88,-117.3,903.1,-6.0,310,11843,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2301,3405
$GC,12145,-0.88,-117.3,920.4,-5.7,315,12149,0.00,2.28,0.00,0.000,4,0.000,0.049,1807,902,3404
$GC,12183,-0.88,-117.3,922.8,-5.8,315,12187,0.00,2.28,0.00,0.000,6,0.000,0.046,1805,2309,3404
$GC,12510,-0.88,-117.3,941.1,-5.6,321,12511,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2309,3404
$GC,12813,-0.88,-117.3,957.8,-5.5,326,12817,0.00,2.30,0.00,0.000,4,0.000,0.048,1805,895,3404
$GC,12851,-0.88,-117.3,960.2,-5.7,326,12855,0.00,2.28,0.00,0.000,6,0.000,0.042,1795,2307,3404
$GC,13178,-0.88,-117.3,979.8,-6.0,332,13179,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2307,3404
$STATE,13359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13359,begin apogee
$GC,13365,-0.22,0.0,991.4,6.3,335,13464,0.50,0.00,96.07,1.304,6,0.117,0.000,1954,2307,2931
$STATE,13465,end apogee,CONTROL_FINISHED_OK
$STATE,13465,begin climb
$GC,13467,0.68,117.3,992.6,0.0,336,13578,0.57,2.60,102.03,1.276,4,0.075,0.056,2153,3706,2450
$GC,13612,0.48,117.3,989.6,7.4,338,13617,0.25,2.40,0.00,0.000,6,0.169,0.037,2104,2306,2447
$GC,13956,0.49,158.8,974.8,4.1,344,13993,0.00,0.00,35.55,1.240,6,0.000,0.000,2104,2306,2283
$GC,14259,0.53,194.2,961.9,4.3,349,14292,0.00,0.00,31.30,1.231,6,0.000,0.000,2104,2306,2139
$GC,14562,0.58,232.8,949.0,4.2,354,14611,0.10,2.45,36.30,1.172,4,0.071,0.053,2147,3718,1981
$GC,14628,0.50,232.8,944.5,8.0,355,14633,0.20,2.35,0.00,0.000,6,0.149,0.041,2106,2294,1979
$GC,14989,0.57,253.0,927.0,4.8,361,15013,0.00,2.35,18.02,1.172,4,0.000,0.054,2114,901,1898
$GC,15042,0.64,255.6,923.9,5.4,361,15047,0.08,2.30,0.00,0.000,6,0.091,0.045,2152,2310,1896
$GC,15353,0.57,255.6,897.3,8.9,366,15357,0.12,2.30,0.00,0.000,4,0.145,0.055,2120,3717,1893
$GC,15392,0.57,255.6,893.7,8.0,366,15396,0.00,2.25,0.00,0.000,6,0.000,0.037,2128,2301,1892
$GC,15713,0.57,255.6,869.2,7.6,372,15717,0.00,2.30,0.00,0.000,4,0.000,0.051,2129,3715,1891
$GC,15740,0.54,255.6,866.7,8.6,372,15744,0.00,2.25,0.00,0.000,6,0.000,0.041,2139,2294,1891
$GC,16072,0.51,255.6,839.5,8.3,378,16077,0.12,2.30,0.00,0.000,4,0.153,0.055,2106,3712,1891
$GC,16111,0.54,255.6,836.5,7.6,378,16115,0.00,2.22,0.00,0.000,6,0.000,0.034,2115,2302,1890
$GC,16432,0.57,255.6,816.5,6.2,384,16436,0.00,2.28,0.00,0.000,4,0.000,0.049,2125,895,1890
$GC,16465,0.62,255.6,814.4,6.3,384,16469,0.00,2.25,0.00,0.000,6,0.000,0.041,2125,2305,1890
$GC,16791,0.62,255.6,791.7,7.1,390,16795,0.00,2.25,0.00,0.000,4,0.000,0.054,2125,3710,1889
$GC,16819,0.62,255.6,789.5,7.6,390,16823,0.00,2.22,0.00,0.000,6,0.000,0.038,2135,2295,1889
$GC,17152,0.62,255.6,762.4,8.2,396,17156,0.00,2.30,0.00,0.000,4,0.000,0.051,2134,3720,1889
$GC,17179,0.58,255.6,759.8,10.0,396,17183,0.00,2.22,0.00,0.000,6,0.000,0.033,2145,2295,1889
$GC,17512,0.54,255.6,729.4,9.2,402,17517,0.12,2.30,0.00,0.000,4,0.149,0.054,2112,3717,1889
$GC,17544,0.54,255.6,726.3,8.9,402,17548,0.00,2.22,0.00,0.000,6,0.000,0.033,2120,2294,1889
$GC,17877,0.56,255.6,702.3,7.1,408,17881,0.00,2.22,0.00,0.000,4,0.000,0.048,2130,896,1889
$GC,17899,0.59,255.6,700.7,6.7,408,17903,0.00,2.22,0.00,0.000,6,0.000,0.044,2130,2305,1888
$GC,18243,0.59,255.6,677.1,6.7,414,18247,0.00,2.28,0.00,0.000,4,0.000,0.052,2130,3717,1888
$GC,18270,0.59,255.6,675.0,6.8,414,18274,0.00,2.22,0.00,0.000,6,0.000,0.033,2140,2292,1888
$GC,18609,0.57,255.6,650.3,7.3,420,18613,0.00,2.28,0.00,0.000,4,0.000,0.048,2140,3709,1889
$GC,18637,0.53,255.6,647.8,8.9,420,18641,0.15,2.20,0.00,0.000,6,0.138,0.033,2108,2301,1888
$GC,18969,0.59,255.6,628.5,5.7,426,18972,0.00,2.25,0.00,0.000,4,0.000,0.048,2117,894,1888
$GC,19002,0.66,255.6,626.4,5.5,426,19007,0.10,2.25,0.00,0.000,6,0.068,0.038,2188,2309,1888
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$STATE,27452,end climb,SURFACE_DEPTH_REACHED
$STATE,27452,begin surface coast
$FINISH,1.3,1.004525
$STATE,27465,end surface coast,CONTROL_FINISHED_OK
$STATE,27465,begin surface
$SM_CCo,27541,0.00,0.000,0,0,1309,397.88
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$IRIDIUM_FIX,4956.40,-14518.93,231298,090958
$TT8_MAMPS,0.028379
$HUMID,1702
$INTERNAL_PRESSURE,7.39286
$TCM_TEMP,16.50
$XPDR_PINGS,62
$24V_AH,22.3,48.622
$10V_AH,10.6,41.095
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$DEVICE_SECS,21.250,234.775,443.650,0.000,0.000,23.457,25.594,158.960,15.500,0.000,0.000,15.875,1636.495,22881.727,584.140,2155.054,614.144,33.378,1704.145,0.000,2145.058,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,500.143,571.242,729.497,1213.003,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41203,707
$CAP_FILE_SIZE,185481,0
$CFSIZE,260165632,233058304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,290909,012730,5007.271,-14509.582,40,1.7,40,18.5