version: 66.04
glider: 144
mission: 15
dive: 340
start: 10 2 109 12 44 56
data:
$ID,144
$MISSION,15
$DIVE,340
$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,-67933.492
$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,32
$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
$GPS1,123824,5007.153,-14450.393,26,1.0,43,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-60.1
$GPS2,124402,5007.168,-14450.370,13,1.9,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.136,0.099
$KALMAN_X,-55132.6,-176.4,112.3,79068.1,-577.7
$KALMAN_Y,20015.8,-42.3,15.5,-45563.8,984.6
$MHEAD_RNG_PITCHd_Wd,35.4,35300,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,61,0.00,0.00,-41.30,0.000,2,0.000,0.000,98,2300,2518
$GC,64,-0.68,-117.3,3.3,-3.5,4,99,7.10,2.35,-22.98,0.000,4,0.235,0.064,1838,3715,3412
$GC,230,-0.61,-117.3,23.3,-12.4,18,237,0.12,2.20,0.00,0.000,6,0.127,0.030,1872,2297,3414
$GC,557,-0.64,-117.3,55.5,-8.3,49,561,0.00,2.22,0.00,0.000,4,0.000,0.041,1872,886,3413
$GC,620,-0.69,-117.3,60.6,-8.3,54,624,0.00,2.25,0.00,0.000,6,0.000,0.036,1864,2316,3415
$GC,943,-0.69,-117.3,87.0,-8.4,80,944,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2317,3416
$GC,1252,-0.69,-117.3,113.5,-8.2,95,1256,0.00,2.25,0.00,0.000,4,0.000,0.042,1864,895,3416
$GC,1297,-0.73,-117.3,117.2,-7.9,97,1301,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2312,3416
$GC,1619,-0.76,-117.3,140.4,-6.5,113,1623,0.10,2.22,0.00,0.000,4,0.066,0.052,1776,3714,3416
$GC,1646,-0.69,-117.3,143.1,-10.2,114,1651,0.25,2.17,0.00,0.000,6,0.180,0.030,1848,2296,3416
$GC,1971,-0.71,-117.3,166.3,-7.2,126,1975,0.00,2.20,0.00,0.000,4,0.000,0.042,1848,888,3415
$GC,2026,-0.75,-117.3,171.0,-8.4,127,2031,0.00,2.25,0.00,0.000,6,0.000,0.044,1848,2311,3415
$GC,2340,-0.78,-117.3,192.4,-6.3,137,2343,0.00,2.22,0.00,0.000,4,0.000,0.042,1848,901,3415
$GC,2390,-0.82,-117.3,195.8,-6.6,138,2395,0.10,2.22,0.00,0.000,6,0.069,0.040,1779,2311,3415
$GC,2708,-0.73,-117.3,227.9,-10.7,149,2713,0.20,2.22,0.00,0.000,4,0.130,0.041,1842,898,3414
$GC,2753,-0.77,-117.3,231.8,-7.6,150,2757,0.00,2.22,0.00,0.000,6,0.000,0.040,1837,2309,3415
$GC,3071,-0.77,-117.3,254.7,-7.1,161,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2309,3414
$GC,3377,-0.77,-117.3,276.2,-6.9,171,3381,0.00,2.22,0.00,0.000,4,0.000,0.043,1836,896,3413
$GC,3422,-0.80,-117.3,279.7,-7.6,172,3426,0.00,2.22,0.00,0.000,6,0.000,0.042,1835,2305,3414
$GC,3745,-0.80,-117.3,301.0,-6.5,183,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2305,3413
$GC,4048,-0.80,-117.3,320.1,-6.3,188,4052,0.00,2.25,0.00,0.000,4,0.000,0.044,1835,893,3412
$GC,4087,-0.82,-117.3,322.7,-6.6,188,4091,0.00,2.25,0.00,0.000,6,0.000,0.044,1826,2307,3412
$GC,4413,-0.82,-117.3,344.2,-6.6,194,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2307,3412
$GC,4716,-0.82,-117.3,365.2,-7.0,199,4720,0.00,2.25,0.00,0.000,4,0.000,0.051,1826,893,3411
$GC,4754,-0.82,-117.3,368.2,-7.9,199,4758,0.00,2.25,0.00,0.000,6,0.000,0.039,1823,2309,3411
$GC,5080,-0.82,-117.3,391.6,-7.3,205,5084,0.00,2.25,0.00,0.000,4,0.000,0.044,1823,897,3411
$GC,5114,-0.82,-117.3,394.3,-7.9,205,5118,0.00,2.25,0.00,0.000,6,0.000,0.045,1817,2310,3411
$GC,5440,-0.82,-117.3,419.5,-7.8,211,5444,0.00,2.28,0.00,0.000,4,0.000,0.047,1817,893,3410
$GC,5473,-0.82,-117.3,422.4,-8.5,211,5477,0.00,2.25,0.00,0.000,6,0.000,0.038,1809,2300,3410
$GC,5799,-0.82,-117.3,448.8,-8.0,217,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2300,3410
$GC,6102,-0.82,-117.3,471.5,-7.5,222,6106,0.00,2.25,0.00,0.000,4,0.000,0.044,1809,889,3409
$GC,6141,-0.82,-117.3,474.5,-7.7,222,6145,0.00,2.28,0.00,0.000,6,0.000,0.047,1806,2305,3409
$GC,6468,-0.80,-117.3,497.9,-7.2,228,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3409
$GC,6771,-0.80,-117.3,520.8,-7.6,233,6775,0.00,2.28,0.00,0.000,4,0.000,0.044,1806,890,3409
$GC,6809,-0.80,-117.3,524.1,-7.8,233,6814,0.12,2.28,0.00,0.000,6,0.123,0.044,1832,2315,3409
$GC,7130,-0.84,-117.3,544.9,-6.4,239,7134,0.00,2.28,0.00,0.000,4,0.000,0.046,1832,890,3408
$GC,7157,-0.88,-117.3,547.0,-7.5,239,7161,0.00,2.25,0.00,0.000,6,0.000,0.045,1826,2302,3408
$GC,7490,-0.91,-117.3,569.8,-6.9,245,7495,0.10,2.25,0.00,0.000,4,0.067,0.044,1754,899,3408
$GC,7523,-0.81,-117.3,573.1,-10.7,245,7528,0.28,2.25,0.00,0.000,6,0.127,0.046,1827,2305,3408
$GC,7850,-0.84,-117.3,595.3,-6.6,251,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2306,3408
$GC,8153,-0.88,-117.3,614.7,-6.4,256,8157,0.00,2.28,0.00,0.000,4,0.000,0.048,1827,891,3408
$GC,8186,-0.91,-117.3,617.1,-7.0,256,8190,0.00,2.28,0.00,0.000,6,0.000,0.045,1823,2309,3408
$GC,8513,-0.94,-117.3,638.4,-6.5,262,8515,0.10,0.00,0.00,0.000,6,0.067,0.000,1758,2310,3408
$GC,8816,-0.84,-117.3,667.6,-9.8,267,8818,0.20,0.00,0.00,0.000,6,0.127,0.000,1818,2310,3407
$GC,9119,-0.86,-117.3,687.2,-6.3,272,9123,0.00,2.28,0.00,0.000,4,0.000,0.048,1818,899,3407
$GC,9163,-0.89,-117.3,690.4,-7.2,272,9167,0.00,2.25,0.00,0.000,6,0.000,0.039,1811,2303,3406
$GC,9477,-0.89,-117.3,710.9,-6.6,278,9481,0.00,2.28,0.00,0.000,4,0.000,0.054,1805,3707,3407
$GC,9510,-0.89,-117.3,713.1,-6.4,278,9514,0.00,2.20,0.00,0.000,6,0.000,0.038,1806,2300,3406
$GC,9843,-0.89,-117.3,735.2,-6.6,284,9847,0.00,2.25,0.00,0.000,4,0.000,0.050,1806,898,3407
$GC,9881,-0.89,-117.3,738.0,-7.3,284,9885,0.00,2.25,0.00,0.000,6,0.000,0.040,1796,2304,3406
$GC,10208,-0.89,-117.3,761.4,-7.2,290,10209,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2304,3406
$GC,10511,-0.87,-117.3,782.6,-7.0,295,10513,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2304,3406
$GC,10814,-0.87,-117.3,803.0,-6.7,300,10818,0.00,2.30,0.00,0.000,4,0.000,0.051,1796,890,3406
$GC,10852,-0.87,-117.3,805.8,-7.0,300,10856,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2300,3406
$GC,11179,-0.85,-117.3,826.9,-6.4,306,11181,0.10,0.00,0.00,0.000,6,0.139,0.000,1822,2300,3406
$GC,11483,-0.89,-117.3,841.9,-4.9,311,11487,0.00,2.28,0.00,0.000,4,0.000,0.047,1822,893,3405
$GC,11522,-0.93,-117.3,843.9,-5.7,311,11527,0.10,2.28,0.00,0.000,6,0.077,0.042,1772,2306,3405
$GC,11843,-0.87,-117.3,866.2,-7.1,317,11847,0.15,2.30,0.00,0.000,4,0.130,0.057,1807,3718,3405
$GC,11876,-0.87,-117.3,868.3,-6.0,317,11880,0.00,2.22,0.00,0.000,6,0.000,0.035,1807,2297,3405
$GC,12202,-0.87,-117.3,886.8,-5.7,323,12203,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2297,3405
$GC,12505,-0.87,-117.3,905.2,-6.1,328,12509,0.00,2.25,0.00,0.000,4,0.000,0.048,1807,896,3405
$GC,12532,-0.87,-117.3,907.0,-7.5,328,12535,0.00,2.25,0.00,0.000,6,0.000,0.047,1805,2302,3405
$GC,12870,-0.87,-117.3,929.8,-6.8,334,12871,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2302,3405
$GC,13173,-0.87,-117.3,950.6,-6.9,339,13177,0.00,2.30,0.00,0.000,4,0.000,0.048,1804,891,3405
$GC,13222,-0.87,-117.3,954.5,-7.7,339,13226,0.00,2.28,0.00,0.000,6,0.000,0.046,1795,2301,3404
$GC,13538,-0.87,-117.3,977.6,-7.4,345,13539,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2301,3404
$STATE,13719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13719,begin apogee
$GC,13725,-0.22,0.0,991.2,7.5,348,13824,0.50,0.00,96.32,1.304,6,0.119,0.000,1954,2301,2931
$STATE,13825,end apogee,CONTROL_FINISHED_OK
$STATE,13825,begin climb
$GC,13828,0.68,117.3,993.3,0.0,349,13936,0.60,2.55,101.97,1.275,4,0.074,0.056,2157,3706,2451
$GC,13964,0.48,117.3,991.9,6.1,352,13969,0.28,2.40,0.00,0.000,6,0.175,0.036,2103,2313,2448
$GC,14326,0.49,151.7,976.3,4.3,358,14357,0.00,0.00,29.45,1.228,6,0.000,0.000,2103,2313,2312
$GC,14628,0.50,165.4,961.1,5.0,363,14642,0.00,0.00,12.68,1.139,6,0.000,0.000,2103,2313,2256
$GC,14931,0.51,169.1,944.9,5.4,368,14937,0.00,0.00,4.43,0.812,6,0.000,0.000,2103,2313,2241
$GC,15234,0.51,169.1,927.8,5.7,373,15235,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2313,2239
$GC,15536,0.51,169.1,910.1,6.0,378,15538,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2313,2239
$GC,15840,0.51,169.1,891.8,6.0,383,15841,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2313,2238
$GC,16143,0.51,169.1,872.7,6.3,388,16144,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2313,2237
$GC,16446,0.51,169.1,853.7,6.2,393,16450,0.00,2.30,0.00,0.000,4,0.000,0.053,2112,891,2237
$GC,16473,0.52,177.5,852.0,5.2,393,16487,0.00,2.28,8.40,1.025,6,0.000,0.044,2112,2312,2207
$GC,16810,0.52,177.5,831.1,6.1,399,16814,0.00,2.28,0.00,0.000,4,0.000,0.051,2112,3713,2205
$GC,16854,0.48,177.5,828.1,6.6,399,16858,0.00,2.25,0.00,0.000,6,0.000,0.039,2122,2292,2204
$GC,17170,0.44,177.5,808.8,6.0,405,17174,0.12,2.33,0.00,0.000,4,0.155,0.052,2090,3721,2204
$GC,17191,0.44,177.5,807.4,5.6,405,17195,0.00,2.22,0.00,0.000,6,0.000,0.036,2098,2303,2203
$GC,17535,0.50,201.7,791.2,4.7,411,17559,0.00,0.00,22.35,1.127,6,0.000,0.000,2098,2303,2108
$GC,17839,0.57,231.4,777.6,4.5,416,17868,0.10,0.00,27.00,1.122,6,0.068,0.000,2155,2303,1987
$GC,18142,0.49,231.4,753.8,8.1,421,18147,0.17,2.33,0.00,0.000,4,0.139,0.055,2107,3719,1981
$GC,18191,0.49,231.4,750.1,6.0,421,18195,0.00,2.25,0.00,0.000,6,0.000,0.041,2116,2303,1981
$GC,18508,0.49,231.4,732.1,5.7,427,18512,0.00,2.28,0.00,0.000,4,0.000,0.049,2115,3710,1979
$GC,18535,0.49,231.4,730.1,6.6,427,18539,0.00,2.22,0.00,0.000,6,0.000,0.033,2125,2294,1979
$GC,18873,0.49,231.4,707.6,6.7,433,18877,0.00,2.30,0.00,0.000,4,0.000,0.051,2125,3712,1978
$GC,18894,0.49,231.4,706.0,7.2,433,18899,0.12,2.20,0.00,0.000,6,0.140,0.034,2102,2302,1978
$GC,19239,0.56,238.2,687.6,5.3,439,19250,0.00,2.28,6.22,0.862,4,0.000,0.048,2111,890,1959
$GC,19278,0.63,238.2,685.4,5.7,439,19283,0.10,2.25,0.00,0.000,6,0.068,0.038,2174,2308,1958
$GC,19599,0.53,238.2,655.0,9.7,445,19603,0.17,2.28,0.00,0.000,4,0.144,0.054,2120,3717,1958
$GC,19643,0.53,238.2,651.3,7.6,445,19647,0.00,2.22,0.00,0.000,6,0.000,0.034,2128,2298,1957
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$STATE,28924,end climb,SURFACE_DEPTH_REACHED
$STATE,28924,begin surface coast
$FINISH,1.3,1.024775
$STATE,28937,end surface coast,CONTROL_FINISHED_OK
$STATE,28937,begin surface
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$IRIDIUM_FIX,4946.36,-14454.99,271298,040434
$TT8_MAMPS,0.027612
$HUMID,1673
$INTERNAL_PRESSURE,7.41239
$TCM_TEMP,15.20
$XPDR_PINGS,71
$24V_AH,22.2,50.235
$10V_AH,10.6,42.499
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$DEVICE_SECS,19.250,247.875,448.825,0.000,0.000,28.399,30.809,147.532,17.750,0.000,0.000,14.770,1701.619,24148.406,601.902,2232.417,656.347,33.366,1752.877,0.000,2234.687,0.000,0.528,0.000
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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,44297,759
$CAP_FILE_SIZE,188665,0
$CFSIZE,260165632,232198144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,021009,204940,5009.082,-14446.730,29,1.3,33,18.5