version: 66.04
glider: 144
mission: 15
dive: 330
start: 9 29 109 1 34 12
data:
$ID,144
$MISSION,15
$DIVE,330
$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,-67693.711
$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
$GPS1,012730,5007.271,-14509.582,40,1.7,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-56.3
$GPS2,013319,5007.263,-14509.610,32,1.3,32,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.006,-0.168
$KALMAN_X,-52295.4,180.4,68.8,53188.1,-592.1
$KALMAN_Y,16538.1,223.0,115.5,-42282.1,-1279.6
$MHEAD_RNG_PITCHd_Wd,163.7,24700,-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,-117.3,0.0,0.0,0,61,0.00,0.00,-42.22,0.000,2,0.000,0.000,98,2309,2472
$GC,64,-0.68,-117.3,3.1,-3.5,4,103,7.03,2.30,-26.75,0.000,4,0.231,0.064,1838,3712,3410
$GC,277,-0.62,-117.3,29.9,-14.6,22,284,0.10,2.20,0.00,0.000,6,0.141,0.029,1863,2299,3412
$GC,604,-0.62,-117.3,61.4,-7.3,53,608,0.00,2.22,0.00,0.000,4,0.000,0.041,1863,894,3412
$GC,678,-0.64,-117.3,67.3,-8.5,59,682,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2308,3414
$GC,1014,-0.64,-117.3,96.6,-8.8,82,1018,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,895,3414
$GC,1041,-0.64,-117.3,99.1,-9.2,83,1045,0.00,2.25,0.00,0.000,6,0.000,0.044,1861,2304,3414
$GC,1357,-0.64,-117.3,126.9,-8.2,98,1360,0.00,2.22,0.00,0.000,4,0.000,0.041,1860,894,3414
$GC,1396,-0.66,-117.3,130.4,-8.2,99,1402,0.00,2.22,0.00,0.000,6,0.000,0.037,1851,2308,3414
$GC,1712,-0.69,-117.3,154.8,-7.3,114,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2308,3414
$GC,2017,-0.72,-117.3,176.8,-6.8,124,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2308,3414
$GC,2324,-0.76,-117.3,196.1,-6.1,134,2328,0.00,2.25,0.00,0.000,4,0.000,0.042,1851,901,3413
$GC,2379,-0.81,-117.3,199.8,-6.5,135,2386,0.10,2.22,0.00,0.000,6,0.067,0.038,1785,2304,3413
$GC,2693,-0.72,-117.3,228.3,-9.3,146,2695,0.20,0.00,0.00,0.000,6,0.123,0.000,1844,2303,3413
$GC,2998,-0.76,-117.3,247.3,-6.3,156,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2303,3413
$GC,3304,-0.79,-117.3,266.6,-6.2,166,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2304,3412
$GC,3611,-0.83,-117.3,286.4,-6.5,176,3616,0.10,2.22,0.00,0.000,4,0.065,0.050,1776,900,3411
$GC,3651,-0.74,-117.3,290.1,-10.5,177,3656,0.25,2.22,0.00,0.000,6,0.124,0.044,1842,2299,3411
$GC,3979,-0.77,-117.3,311.4,-6.2,185,3983,0.00,2.25,0.00,0.000,4,0.000,0.048,1842,899,3411
$GC,4012,-0.81,-117.3,313.6,-6.7,185,4016,0.00,2.25,0.00,0.000,6,0.000,0.043,1837,2307,3411
$GC,4339,-0.84,-117.3,332.7,-5.8,191,4343,0.00,2.25,0.00,0.000,4,0.000,0.043,1836,893,3410
$GC,4372,-0.87,-117.3,334.9,-6.6,191,4377,0.10,2.25,0.00,0.000,6,0.069,0.044,1770,2305,3410
$GC,4704,-0.78,-117.3,367.0,-9.9,197,4709,0.17,2.28,0.00,0.000,4,0.130,0.043,1827,895,3409
$GC,4776,-0.78,-117.3,372.8,-7.2,198,4780,0.00,2.25,0.00,0.000,6,0.000,0.046,1821,2305,3409
$GC,5136,-0.78,-117.3,395.8,-6.3,204,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3409
$GC,5440,-0.78,-117.3,415.1,-6.4,209,5444,0.00,2.28,0.00,0.000,4,0.000,0.045,1821,895,3409
$GC,5469,-0.78,-117.3,417.2,-7.7,209,5473,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2302,3408
$GC,5801,-0.78,-117.3,441.6,-7.3,215,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2302,3408
$GC,6103,-0.78,-117.3,463.3,-7.2,220,6107,0.00,2.28,0.00,0.000,4,0.000,0.048,1812,893,3408
$GC,6142,-0.78,-117.3,466.3,-8.0,220,6147,0.10,2.28,0.00,0.000,6,0.137,0.042,1834,2305,3408
$GC,6463,-0.82,-117.3,485.1,-5.8,226,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2305,3408
$GC,6766,-0.86,-117.3,503.0,-5.9,231,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2305,3407
$GC,7069,-0.90,-117.3,522.8,-6.6,236,7073,0.12,2.28,0.00,0.000,4,0.060,0.044,1763,898,3407
$GC,7153,-0.81,-117.3,531.4,-10.8,237,7157,0.25,2.28,0.00,0.000,6,0.124,0.046,1829,2312,3406
$GC,7496,-0.85,-117.3,556.5,-7.2,243,7500,0.00,2.28,0.00,0.000,4,0.000,0.048,1829,899,3407
$GC,7523,-0.88,-117.3,558.8,-8.6,243,7527,0.00,2.25,0.00,0.000,6,0.000,0.041,1823,2306,3407
$GC,7856,-0.90,-117.3,583.2,-7.3,249,7860,0.00,2.28,0.00,0.000,4,0.000,0.046,1823,890,3406
$GC,7889,-0.92,-117.3,586.0,-7.8,249,7893,0.08,2.28,0.00,0.000,6,0.084,0.046,1766,2308,3406
$GC,8215,-0.84,-117.3,617.7,-9.8,255,8220,0.17,2.28,0.00,0.000,4,0.129,0.045,1817,900,3406
$GC,8271,-0.86,-117.3,622.2,-7.7,255,8277,0.00,2.25,0.00,0.000,6,0.000,0.040,1810,2306,3406
$GC,8580,-0.86,-117.3,643.5,-6.8,261,8584,0.00,2.28,0.00,0.000,4,0.000,0.048,1809,893,3406
$GC,8612,-0.86,-117.3,646.0,-7.9,261,8616,0.00,2.28,0.00,0.000,6,0.000,0.041,1807,2310,3406
$GC,8940,-0.86,-117.3,667.8,-6.6,267,8944,0.00,2.28,0.00,0.000,4,0.000,0.044,1807,896,3405
$GC,8972,-0.86,-117.3,670.4,-7.1,267,8976,0.00,2.28,0.00,0.000,6,0.000,0.040,1798,2294,3405
$GC,9306,-0.86,-117.3,693.0,-6.9,273,9310,0.00,2.25,0.00,0.000,4,0.000,0.046,1798,898,3405
$GC,9345,-0.86,-117.3,696.2,-8.3,273,9349,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2312,3405
$GC,9672,-0.83,-117.3,719.1,-7.0,279,9674,0.10,0.00,0.00,0.000,6,0.139,0.000,1822,2313,3405
$GC,9975,-0.87,-117.3,736.2,-5.6,284,9979,0.00,2.30,0.00,0.000,4,0.000,0.051,1822,892,3405
$GC,10019,-0.91,-117.3,739.0,-6.4,284,10023,0.00,2.28,0.00,0.000,6,0.000,0.041,1822,2302,3405
$GC,10335,-0.94,-117.3,756.8,-5.7,290,10337,0.10,0.00,0.00,0.000,6,0.071,0.000,1765,2302,3405
$GC,10638,-0.86,-117.3,783.2,-8.9,295,10643,0.17,2.28,0.00,0.000,4,0.126,0.045,1822,900,3404
$GC,10678,-0.90,-117.3,786.2,-6.8,295,10682,0.00,2.25,0.00,0.000,6,0.000,0.044,1822,2304,3404
$GC,11000,-0.94,-117.3,807.5,-6.7,301,11002,0.10,0.00,0.00,0.000,6,0.072,0.000,1768,2305,3404
$GC,11303,-0.87,-117.3,836.3,-9.7,306,11307,0.15,2.28,0.00,0.000,4,0.127,0.045,1812,900,3404
$GC,11352,-0.89,-117.3,840.8,-8.2,306,11356,0.00,2.25,0.00,0.000,6,0.000,0.041,1809,2305,3404
$GC,11662,-0.89,-117.3,864.4,-7.6,311,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3404
$GC,11965,-0.89,-117.3,886.1,-7.1,316,11969,0.00,2.28,0.00,0.000,4,0.000,0.054,1809,896,3403
$GC,12003,-0.89,-117.3,889.1,-7.2,316,12007,0.00,2.28,0.00,0.000,6,0.000,0.042,1807,2309,3404
$GC,12330,-0.89,-117.3,909.9,-6.3,322,12334,0.00,2.28,0.00,0.000,4,0.000,0.048,1807,898,3404
$GC,12362,-0.89,-117.3,912.2,-6.9,322,12366,0.00,2.30,0.00,0.000,6,0.000,0.044,1804,2306,3403
$GC,12696,-0.89,-117.3,932.8,-6.1,328,12700,0.00,2.28,0.00,0.000,4,0.000,0.052,1804,894,3403
$GC,12735,-0.89,-117.3,935.5,-7.2,328,12739,0.00,2.30,0.00,0.000,6,0.000,0.043,1795,2308,3403
$GC,13061,-0.89,-117.3,956.9,-6.6,334,13065,0.00,2.28,0.00,0.000,4,0.000,0.052,1795,898,3403
$GC,13099,-0.89,-117.3,959.8,-7.7,334,13103,0.00,2.28,0.00,0.000,6,0.000,0.049,1792,2315,3403
$GC,13419,-0.89,-117.3,982.3,-7.1,340,13423,0.00,2.30,0.00,0.000,4,0.000,0.051,1792,894,3403
$GC,13484,-0.87,-117.3,987.0,-7.1,341,13488,0.12,2.28,0.00,0.000,6,0.135,0.044,1816,2313,3403
$STATE,13525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13525,begin apogee
$GC,13531,-0.22,0.0,990.1,5.6,341,13630,0.40,0.00,95.82,1.302,6,0.117,0.000,1951,2313,2931
$STATE,13631,end apogee,CONTROL_FINISHED_OK
$STATE,13631,begin climb
$GC,13633,0.68,117.3,992.3,0.0,343,13743,0.60,2.55,102.20,1.272,4,0.077,0.054,2153,3709,2451
$GC,13762,0.52,117.3,989.8,6.2,345,13767,0.20,2.38,0.00,0.000,6,0.169,0.039,2119,2313,2448
$GC,14095,0.47,127.8,972.4,5.1,351,14109,0.00,2.40,8.75,1.065,4,0.000,0.054,2128,890,2410
$GC,14138,0.44,144.5,969.9,4.9,351,14161,0.12,2.33,16.27,1.169,6,0.140,0.045,2097,2312,2341
$GC,14463,0.46,163.5,954.1,4.9,357,14487,0.00,2.38,17.08,1.178,4,0.000,0.053,2097,3716,2263
$GC,14521,0.44,163.5,950.6,5.7,357,14528,0.00,2.28,0.00,0.000,6,0.000,0.038,2105,2298,2261
$GC,14831,0.44,163.5,933.4,5.6,363,14832,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2298,2259
$GC,15134,0.44,163.5,916.4,5.6,368,15138,0.00,2.33,0.00,0.000,4,0.000,0.050,2104,3713,2258
$GC,15167,0.40,163.5,914.1,6.1,368,15172,0.12,2.25,0.00,0.000,6,0.157,0.037,2084,2302,2257
$GC,15494,0.47,189.3,898.7,4.6,374,15523,0.00,2.38,22.52,1.189,4,0.000,0.050,2093,889,2158
$GC,15541,0.58,228.6,896.2,4.2,374,15582,0.12,2.33,35.75,1.198,6,0.071,0.044,2150,2314,1999
$GC,15923,0.51,228.6,862.4,9.3,381,15927,0.15,2.30,0.00,0.000,4,0.143,0.051,2110,3719,1990
$GC,15972,0.51,228.6,857.8,8.0,381,15976,0.00,2.28,0.00,0.000,6,0.000,0.038,2118,2302,1990
$GC,16293,0.51,228.6,834.6,7.2,387,16297,0.00,2.33,0.00,0.000,4,0.000,0.051,2118,3719,1988
$GC,16314,0.51,228.6,832.7,8.1,387,16318,0.00,2.25,0.00,0.000,6,0.000,0.035,2129,2303,1988
$GC,16658,0.49,228.6,808.3,7.0,393,16663,0.10,2.30,0.00,0.000,4,0.155,0.051,2104,3712,1988
$GC,16690,0.49,228.6,805.9,6.5,393,16694,0.00,2.22,0.00,0.000,6,0.000,0.033,2113,2300,1987
$GC,17023,0.49,228.6,786.9,5.8,399,17024,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2300,1987
$GC,17325,0.49,228.6,769.2,5.8,404,17330,0.00,2.30,0.00,0.000,4,0.000,0.052,2113,3716,1987
$GC,17375,0.49,228.6,765.6,7.7,404,17379,0.00,2.22,0.00,0.000,6,0.000,0.034,2123,2295,1986
$GC,17691,0.49,228.6,745.0,6.6,410,17692,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2295,1986
$GC,17994,0.49,228.6,724.8,6.6,415,17998,0.00,2.30,0.00,0.000,4,0.000,0.054,2123,3717,1986
$GC,18044,0.46,228.6,721.0,6.7,415,18048,0.12,2.22,0.00,0.000,6,0.145,0.033,2100,2292,1986
$GC,18354,0.54,246.7,705.6,4.9,420,18373,0.00,2.28,14.82,1.039,4,0.000,0.053,2109,894,1925
$GC,18397,0.65,274.9,703.4,4.5,420,18428,0.12,2.28,26.17,1.065,6,0.061,0.041,2178,2316,1810
$GC,18786,0.55,274.9,665.6,10.1,427,18790,0.20,2.28,0.00,0.000,4,0.139,0.052,2117,3716,1802
$GC,18849,0.58,274.9,660.5,6.7,428,18853,0.00,2.25,0.00,0.000,6,0.000,0.038,2125,2297,1802
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$STATE,28287,end climb,SURFACE_DEPTH_REACHED
$STATE,28287,begin surface coast
$FINISH,1.2,1.024770
$STATE,28313,end surface coast,CONTROL_FINISHED_OK
$STATE,28313,begin surface
$SM_CCo,28388,0.00,0.000,0,0,1456,361.82
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$TT8_MAMPS,0.028379
$HUMID,1696
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$TCM_TEMP,15.20
$XPDR_PINGS,75
$24V_AH,22.3,48.768
$10V_AH,10.6,41.219
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$DEVICE_SECS,18.975,240.475,412.125,0.000,0.000,27.451,26.784,147.188,18.750,0.000,0.000,34.120,1674.168,23599.016,542.024,2294.437,616.752,33.381,1717.179,0.000,2265.774,0.000,0.527,0.000
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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,44314,737
$CAP_FILE_SIZE,185549,0
$CFSIZE,260165632,232980480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290909,092846,5004.080,-14510.294,43,1.2,47,18.4