version: 66.04
glider: 144
mission: 15
dive: 348
start: 10 5 109 7 17 38
data:
$ID,144
$MISSION,15
$DIVE,348
$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,-68069.914
$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,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
$GPS1,071106,5014.480,-14428.336,27,1.9,27,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-66.3
$GPS2,071644,5014.448,-14428.301,12,1.7,12,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.023,-0.166
$KALMAN_X,-57112.6,430.2,230.6,106399.1,-1090.3
$KALMAN_Y,22544.3,-122.0,-286.5,-34219.4,596.0
$MHEAD_RNG_PITCHd_Wd,153.5,37893,-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,-117.2,0.0,0.0,0,51,0.00,0.00,-31.75,0.000,2,0.000,0.000,100,2314,2584
$GC,54,-0.68,-117.2,3.6,-6.7,3,88,7.15,2.25,-19.80,0.000,4,0.235,0.064,1833,3706,3411
$GC,168,-0.60,-117.2,18.1,-12.3,13,173,0.12,2.20,0.00,0.000,6,0.129,0.031,1867,2293,3412
$GC,500,-0.60,-117.2,53.3,-10.8,44,503,0.00,2.20,0.00,0.000,4,0.000,0.041,1866,899,3413
$GC,573,-0.64,-117.2,59.4,-8.1,50,579,0.00,2.20,0.00,0.000,6,0.000,0.035,1863,2305,3413
$GC,895,-0.64,-117.2,87.3,-8.9,77,896,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2305,3414
$GC,1205,-0.64,-117.2,114.8,-8.3,92,1209,0.00,2.25,0.00,0.000,4,0.000,0.040,1863,889,3415
$GC,1255,-0.68,-117.2,118.8,-7.5,94,1259,0.00,2.25,0.00,0.000,6,0.000,0.038,1861,2311,3415
$GC,1571,-0.71,-117.2,139.8,-6.4,109,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2311,3415
$GC,1889,-0.76,-117.2,160.4,-6.7,122,1891,0.10,0.00,0.00,0.000,6,0.064,0.000,1782,2311,3415
$GC,2196,-0.67,-117.2,193.9,-11.1,132,2200,0.20,2.25,0.00,0.000,4,0.127,0.041,1848,899,3414
$GC,2285,-0.72,-117.2,201.3,-7.1,134,2291,0.00,2.22,0.00,0.000,6,0.000,0.038,1848,2305,3414
$GC,2598,-0.76,-117.2,221.6,-6.0,145,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2304,3414
$GC,2904,-0.80,-117.2,240.6,-6.4,155,2906,0.08,0.00,0.00,0.000,6,0.081,0.000,1782,2305,3413
$GC,3210,-0.72,-117.2,271.6,-10.3,165,3214,0.17,2.25,0.00,0.000,4,0.124,0.041,1840,889,3413
$GC,3254,-0.76,-117.2,275.5,-7.8,166,3258,0.00,2.25,0.00,0.000,6,0.000,0.041,1837,2302,3413
$GC,3578,-0.78,-117.2,299.4,-7.4,177,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2302,3413
$GC,3911,-0.81,-117.2,322.6,-6.9,183,3915,0.00,2.25,0.00,0.000,4,0.000,0.043,1837,892,3412
$GC,3962,-0.85,-117.2,326.3,-7.0,183,3966,0.00,2.25,0.00,0.000,6,0.000,0.041,1836,2300,3412
$GC,4272,-0.87,-117.2,347.6,-6.9,188,4277,0.10,2.28,0.00,0.000,4,0.068,0.055,1757,3712,3412
$GC,4299,-0.79,-117.2,350.5,-11.3,188,4304,0.25,2.17,0.00,0.000,6,0.125,0.036,1828,2301,3412
$GC,4637,-0.79,-117.2,377.1,-7.9,194,4641,0.00,2.25,0.00,0.000,4,0.000,0.048,1828,890,3411
$GC,4671,-0.82,-117.2,379.9,-8.2,194,4675,0.00,2.25,0.00,0.000,6,0.000,0.039,1822,2309,3411
$GC,5004,-0.82,-117.2,405.5,-7.6,200,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2308,3411
$GC,5306,-0.82,-117.2,426.0,-6.7,205,5310,0.00,2.28,0.00,0.000,4,0.000,0.044,1822,891,3410
$GC,5350,-0.82,-117.2,429.0,-6.7,205,5353,0.00,2.25,0.00,0.000,6,0.000,0.043,1814,2303,3410
$GC,5671,-0.82,-117.2,450.3,-6.7,211,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2304,3410
$GC,5974,-0.82,-117.2,471.1,-6.9,216,5977,0.00,2.25,0.00,0.000,4,0.000,0.049,1813,896,3409
$GC,6006,-0.82,-117.2,473.6,-8.0,216,6010,0.00,2.25,0.00,0.000,6,0.000,0.043,1806,2306,3409
$GC,6344,-0.82,-117.2,499.0,-7.7,222,6348,0.00,2.28,0.00,0.000,4,0.000,0.050,1806,891,3409
$GC,6378,-0.82,-117.2,501.7,-8.2,222,6382,0.10,2.28,0.00,0.000,6,0.133,0.039,1823,2314,3408
$GC,6704,-0.84,-117.2,522.8,-6.4,228,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2314,3408
$GC,7007,-0.87,-117.2,541.6,-6.2,233,7011,0.00,2.28,0.00,0.000,4,0.000,0.047,1823,895,3408
$GC,7040,-0.90,-117.2,543.9,-7.1,233,7044,0.00,2.25,0.00,0.000,6,0.000,0.043,1821,2303,3408
$GC,7366,-0.90,-117.2,565.3,-6.6,239,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3408
$GC,7669,-0.92,-117.2,586.3,-6.9,244,7671,0.08,0.00,0.00,0.000,6,0.080,0.000,1764,2304,3408
$GC,7973,-0.83,-117.2,617.1,-10.3,249,7978,0.20,2.28,0.00,0.000,4,0.123,0.048,1828,896,3408
$GC,8006,-0.87,-117.2,620.0,-7.5,249,8010,0.00,2.25,0.00,0.000,6,0.000,0.040,1823,2304,3407
$GC,8340,-0.90,-117.2,643.4,-7.0,255,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2303,3407
$GC,8641,-0.93,-117.2,664.4,-6.9,260,8646,0.10,2.28,0.00,0.000,4,0.066,0.045,1755,890,3407
$GC,8674,-0.83,-117.2,667.5,-9.8,260,8679,0.25,2.28,0.00,0.000,6,0.129,0.041,1821,2306,3407
$GC,9000,-0.86,-117.2,688.9,-6.4,266,9005,0.00,2.28,0.00,0.000,4,0.000,0.044,1820,889,3406
$GC,9030,-0.89,-117.2,690.9,-7.1,266,9034,0.00,2.28,0.00,0.000,6,0.000,0.041,1820,2308,3406
$GC,9362,-0.92,-117.2,711.1,-6.0,272,9366,0.00,2.28,0.00,0.000,4,0.000,0.047,1821,896,3407
$GC,9396,-0.95,-117.2,713.2,-6.0,272,9401,0.10,2.25,0.00,0.000,6,0.066,0.040,1756,2309,3407
$GC,9729,-0.86,-117.2,741.0,-8.4,278,9731,0.20,0.00,0.00,0.000,6,0.130,0.000,1815,2309,3406
$GC,10032,-0.88,-117.3,757.3,-5.2,283,10036,0.00,2.28,0.00,0.000,4,0.000,0.045,1815,894,3406
$GC,10066,-0.90,-117.3,759.4,-5.8,283,10070,0.00,2.28,0.00,0.000,6,0.000,0.043,1809,2311,3406
$GC,10392,-0.90,-117.3,778.6,-5.9,289,10393,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2312,3406
$GC,10695,-0.90,-117.3,796.9,-6.0,294,10699,0.00,2.30,0.00,0.000,4,0.000,0.049,1809,888,3406
$GC,10727,-0.90,-117.3,799.1,-7.3,294,10731,0.00,2.30,0.00,0.000,6,0.000,0.043,1807,2314,3405
$GC,11060,-0.90,-117.3,819.9,-6.2,300,11064,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,892,3405
$GC,11088,-0.90,-117.3,821.7,-6.8,300,11092,0.00,2.28,0.00,0.000,6,0.000,0.040,1798,2305,3406
$GC,11420,-0.90,-117.3,843.3,-6.4,306,11421,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2305,3406
$GC,11723,-0.90,-117.3,862.8,-6.5,311,11727,0.00,2.28,0.00,0.000,4,0.000,0.047,1798,897,3406
$GC,11750,-0.90,-117.3,864.9,-7.1,311,11754,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2308,3406
$GC,12082,-0.90,-117.3,885.6,-6.2,317,12083,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3405
$GC,12384,-0.90,-117.3,904.5,-6.3,322,12388,0.00,2.28,0.00,0.000,4,0.000,0.051,1794,898,3405
$GC,12440,-0.90,-117.3,908.5,-6.7,322,12447,0.00,2.28,0.00,0.000,6,0.000,0.043,1791,2310,3405
$GC,12750,-0.88,-117.3,928.3,-6.4,328,12752,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2310,3405
$GC,13053,-0.86,-117.3,948.1,-6.6,333,13058,0.08,2.30,0.00,0.000,4,0.159,0.048,1811,890,3405
$GC,13097,-0.89,-117.3,951.2,-6.4,333,13101,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2302,3404
$GC,13413,-0.91,-117.3,969.6,-5.9,339,13415,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2302,3405
$GC,13716,-0.93,-117.3,988.5,-6.3,344,13720,0.00,2.30,0.00,0.000,4,0.000,0.049,1809,891,3404
$STATE,13735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13735,begin apogee
$GC,13743,-0.22,0.0,990.0,6.1,344,13842,0.43,0.00,96.10,1.305,6,0.122,0.000,1948,2306,2931
$STATE,13843,end apogee,CONTROL_FINISHED_OK
$STATE,13843,begin climb
$GC,13846,0.68,117.3,993.1,0.0,346,13957,0.57,2.60,102.20,1.274,4,0.076,0.058,2147,3706,2450
$GC,13991,0.49,117.3,989.1,6.9,348,13996,0.20,2.40,0.00,0.000,6,0.166,0.034,2111,2312,2447
$GC,14335,0.46,132.8,972.0,5.0,354,14350,0.00,0.00,13.15,1.144,6,0.000,0.000,2112,2311,2389
$GC,14638,0.44,144.3,956.7,5.1,359,14651,0.00,0.00,11.30,1.118,6,0.000,0.000,2111,2312,2342
$GC,14941,0.42,159.2,941.6,5.0,364,14960,0.00,2.38,14.20,1.155,4,0.000,0.054,2121,884,2281
$GC,14979,0.43,160.6,939.5,5.5,364,14984,0.12,2.33,0.00,0.000,6,0.133,0.044,2088,2306,2279
$GC,15305,0.51,204.0,926.2,4.0,370,15351,0.08,2.38,39.90,1.227,4,0.086,0.054,2128,3710,2098
$GC,15385,0.44,204.0,921.2,7.1,371,15390,0.17,2.30,0.00,0.000,6,0.153,0.040,2092,2300,2096
$GC,15729,0.53,239.3,906.0,4.3,377,15768,0.10,2.42,31.33,1.202,4,0.071,0.055,2148,884,1954
$GC,15796,0.53,239.3,901.7,7.1,378,15801,0.12,2.35,0.00,0.000,6,0.129,0.047,2116,2312,1951
$GC,16156,0.53,239.3,880.1,6.1,384,16160,0.00,2.30,0.00,0.000,4,0.000,0.054,2116,3721,1947
$GC,16197,0.53,239.3,877.2,7.6,384,16201,0.00,2.25,0.00,0.000,6,0.000,0.034,2124,2300,1946
$GC,16518,0.53,239.3,853.9,7.2,390,16519,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2300,1946
$GC,16821,0.53,239.3,831.6,7.4,395,16825,0.00,2.33,0.00,0.000,4,0.000,0.051,2124,3719,1945
$GC,16848,0.53,239.3,829.2,8.0,395,16852,0.00,2.25,0.00,0.000,6,0.000,0.038,2135,2303,1945
$GC,17181,0.50,239.3,801.7,8.3,401,17186,0.10,2.30,0.00,0.000,4,0.158,0.055,2110,3713,1945
$GC,17202,0.50,239.3,799.8,8.4,401,17206,0.00,2.22,0.00,0.000,6,0.000,0.039,2118,2297,1945
$GC,17546,0.50,239.3,776.0,6.9,407,17547,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2297,1944
$GC,17849,0.50,239.3,756.3,6.4,412,17853,0.00,2.30,0.00,0.000,4,0.000,0.051,2118,3712,1944
$GC,17870,0.51,244.4,754.8,5.3,412,17880,0.00,2.22,3.78,0.678,6,0.000,0.038,2129,2295,1935
$GC,18214,0.51,244.4,732.0,6.6,418,18215,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2295,1934
$GC,18516,0.51,244.4,712.3,6.5,423,18520,0.00,2.30,0.00,0.000,4,0.000,0.049,2128,3714,1934
$GC,18549,0.48,244.4,709.8,7.3,423,18554,0.15,2.22,0.00,0.000,6,0.138,0.033,2098,2291,1934
$GC,18876,0.56,247.6,692.1,5.4,429,18886,0.08,2.25,4.90,0.783,4,0.083,0.048,2166,893,1921
$GC,18915,0.52,247.6,689.1,8.7,429,18920,0.20,2.28,0.00,0.000,6,0.129,0.039,2109,2318,1920
$GC,19236,0.57,247.6,670.0,5.9,435,19239,0.00,2.25,0.00,0.000,4,0.000,0.054,2109,3715,1920
$GC,19264,0.61,247.6,668.1,6.1,435,19268,0.00,2.22,0.00,0.000,6,0.000,0.032,2116,2291,1919
$GC,19602,0.65,247.6,647.4,6.1,441,19607,0.08,2.25,0.00,0.000,4,0.081,0.047,2186,891,1919
$GC,19631,0.60,247.6,645.1,8.2,441,19636,0.20,2.25,0.00,0.000,6,0.134,0.040,2130,2305,1919
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$STATE,29050,end climb,SURFACE_DEPTH_REACHED
$STATE,29050,begin surface coast
$FINISH,1.2,1.024729
$STATE,29083,end surface coast,CONTROL_FINISHED_OK
$STATE,29083,begin surface
$SM_CCo,29159,0.00,0.000,0,0,1535,342.44
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$IRIDIUM_FIX,4959.75,-14426.57,291298,232347
$TT8_MAMPS,0.028379
$HUMID,1702
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$TCM_TEMP,15.10
$XPDR_PINGS,74
$24V_AH,22.2,51.346
$10V_AH,10.6,43.508
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$DEVICE_SECS,19.700,239.900,399.400,0.000,0.000,28.812,27.326,150.153,18.500,0.000,0.000,13.779,1714.112,24317.252,517.875,2303.757,632.324,33.373,1702.038,0.000,2292.120,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,527.547,604.631,772.391,1285.367,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44256,749
$CAP_FILE_SIZE,191274,0
$CFSIZE,260165632,231583744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051009,152518,5010.932,-14427.657,44,1.7,62,18.6