version: 66.04
glider: 144
mission: 15
dive: 413
start: 10 27 109 12 26 55
data:
$ID,144
$MISSION,15
$DIVE,413
$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,-69456.758
$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,46
$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
$GPS1,121707,5014.656,-14508.436,40,2.0,40,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-62.6
$GPS2,122601,5014.718,-14508.587,14,1.7,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.018,-0.167
$KALMAN_X,-82726.9,87.9,149.6,84830.1,-16.6
$KALMAN_Y,19432.0,103.5,55.3,-31192.7,-397.4
$MHEAD_RNG_PITCHd_Wd,167.6,38558,-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,13,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,44,0.00,0.00,-26.08,0.000,2,0.000,0.000,100,2285,2404
$GC,47,-0.68,-117.3,3.1,-3.5,3,92,7.30,2.38,-27.40,0.000,4,0.239,0.067,1834,3715,3413
$GC,109,-0.57,-117.3,9.9,-14.9,8,116,0.15,2.20,0.00,0.000,6,0.126,0.035,1876,2309,3413
$GC,437,-0.57,-117.3,40.1,-8.4,39,440,0.00,2.25,0.00,0.000,4,0.000,0.042,1876,893,3415
$GC,510,-0.60,-117.3,47.0,-9.5,45,516,0.00,2.20,0.00,0.000,6,0.000,0.037,1873,2303,3415
$GC,837,-0.63,-117.3,73.4,-7.1,76,841,0.00,2.20,0.00,0.000,4,0.000,0.040,1873,895,3415
$GC,918,-0.68,-117.3,80.3,-8.4,83,922,0.00,2.20,0.00,0.000,6,0.000,0.035,1864,2305,3416
$GC,1234,-0.68,-117.3,107.3,-8.2,98,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2305,3416
$GC,1544,-0.71,-117.3,131.5,-7.2,113,1547,0.00,2.22,0.00,0.000,4,0.000,0.041,1864,895,3416
$GC,1595,-0.77,-117.3,135.4,-7.9,115,1600,0.12,2.22,0.00,0.000,6,0.055,0.039,1780,2305,3417
$GC,1915,-0.68,-117.3,170.5,-11.0,128,1920,0.20,2.25,0.00,0.000,4,0.125,0.046,1837,3712,3417
$GC,1954,-0.72,-117.3,173.8,-7.5,129,1958,0.00,2.17,0.00,0.000,6,0.000,0.029,1837,2293,3416
$GC,2284,-0.75,-117.3,195.8,-6.6,140,2288,0.00,2.20,0.00,0.000,4,0.000,0.042,1836,891,3416
$GC,2329,-0.78,-117.3,199.2,-7.2,141,2333,0.00,2.20,0.00,0.000,6,0.000,0.037,1829,2305,3416
$GC,2653,-0.78,-117.3,223.0,-7.5,152,2657,0.00,2.22,0.00,0.000,4,0.000,0.041,1829,891,3415
$GC,2703,-0.78,-117.3,227.0,-7.9,153,2707,0.00,2.20,0.00,0.000,6,0.000,0.038,1822,2302,3415
$GC,3027,-0.78,-117.3,252.4,-7.6,164,3031,0.00,2.22,0.00,0.000,4,0.000,0.042,1822,890,3415
$GC,3055,-0.78,-117.3,254.6,-7.9,164,3061,0.00,2.22,0.00,0.000,6,0.000,0.038,1813,2311,3414
$GC,3368,-0.78,-117.3,278.2,-7.4,175,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2311,3415
$GC,3674,-0.78,-117.3,300.2,-7.2,185,3678,0.00,2.22,0.00,0.000,4,0.000,0.043,1813,897,3414
$GC,3701,-0.78,-117.3,302.4,-7.8,185,3706,0.10,2.22,0.00,0.000,6,0.131,0.039,1833,2304,3413
$GC,4039,-0.81,-117.3,323.1,-6.1,191,4043,0.00,2.25,0.00,0.000,4,0.000,0.054,1825,3711,3413
$GC,4068,-0.83,-117.3,325.0,-6.8,191,4072,0.00,2.15,0.00,0.000,6,0.000,0.031,1825,2305,3413
$GC,4406,-0.83,-117.3,347.9,-6.9,197,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2304,3412
$GC,4709,-0.83,-117.3,367.6,-6.5,202,4712,0.00,2.25,0.00,0.000,4,0.000,0.051,1825,890,3412
$GC,4760,-0.86,-117.3,371.1,-7.0,202,4764,0.00,2.22,0.00,0.000,6,0.000,0.039,1817,2302,3412
$GC,5075,-0.86,-117.3,393.3,-7.1,208,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2302,3412
$GC,5378,-0.86,-117.3,415.5,-7.3,213,5382,0.00,2.25,0.00,0.000,4,0.000,0.044,1817,890,3411
$GC,5428,-0.86,-117.3,419.4,-8.3,213,5432,0.00,2.25,0.00,0.000,6,0.000,0.038,1808,2301,3411
$GC,5743,-0.86,-117.3,442.2,-7.2,219,5747,0.00,2.25,0.00,0.000,4,0.000,0.048,1808,893,3411
$GC,5793,-0.86,-117.3,446.1,-7.7,219,5797,0.00,2.25,0.00,0.000,6,0.000,0.044,1799,2314,3410
$GC,6109,-0.83,-117.3,469.9,-7.6,225,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2314,3410
$GC,6412,-0.80,-117.3,493.4,-7.8,230,6417,0.10,2.28,0.00,0.000,4,0.139,0.049,1827,890,3410
$GC,6446,-0.84,-117.3,496.0,-7.6,230,6450,0.00,2.25,0.00,0.000,6,0.000,0.039,1822,2309,3409
$GC,6773,-0.86,-117.3,518.5,-6.8,236,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2310,3409
$GC,7076,-0.89,-117.3,539.2,-6.8,241,7080,0.00,2.25,0.00,0.000,4,0.000,0.045,1822,897,3409
$GC,7104,-0.92,-117.3,541.4,-8.0,241,7108,0.00,2.25,0.00,0.000,6,0.000,0.048,1821,2312,3409
$GC,7437,-0.94,-117.3,562.8,-6.3,247,7439,0.10,0.00,0.00,0.000,6,0.066,0.000,1756,2313,3409
$GC,7739,-0.84,-117.3,591.0,-9.4,252,7744,0.17,2.28,0.00,0.000,4,0.128,0.050,1813,897,3408
$GC,7802,-0.84,-117.3,595.5,-6.6,253,7806,0.00,2.25,0.00,0.000,6,0.000,0.040,1809,2314,3408
$GC,8168,-0.84,-117.3,618.3,-6.2,259,8172,0.00,2.28,0.00,0.000,4,0.000,0.051,1809,893,3408
$GC,8217,-0.84,-117.3,621.7,-7.0,259,8222,0.00,2.25,0.00,0.000,6,0.000,0.044,1806,2308,3408
$GC,8527,-0.84,-117.3,641.2,-6.3,264,8531,0.00,2.28,0.00,0.000,4,0.000,0.051,1796,3712,3408
$GC,8557,-0.84,-117.3,643.0,-6.8,264,8561,0.00,2.22,0.00,0.000,6,0.000,0.031,1797,2295,3408
$GC,8889,-0.84,-117.3,665.4,-6.8,270,8893,0.00,2.22,0.00,0.000,4,0.000,0.051,1796,893,3408
$GC,8945,-0.84,-117.3,669.7,-6.8,270,8949,0.10,2.25,0.00,0.000,6,0.133,0.042,1821,2305,3408
$GC,9255,-0.88,-117.3,687.3,-5.6,275,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3407
$GC,9559,-0.92,-117.3,704.2,-5.6,280,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3408
$GC,9861,-0.96,-117.3,720.3,-5.2,285,9863,0.12,0.00,0.00,0.000,6,0.059,0.000,1752,2305,3407
$GC,10164,-0.86,-117.3,747.1,-9.1,290,10166,0.20,0.00,0.00,0.000,6,0.126,0.000,1812,2306,3407
$GC,10468,-0.89,-117.3,766.9,-6.5,295,10472,0.00,2.28,0.00,0.000,4,0.000,0.050,1812,894,3407
$GC,10509,-0.92,-117.3,769.7,-7.2,295,10513,0.00,2.25,0.00,0.000,6,0.000,0.046,1809,2305,3407
$GC,10830,-0.92,-117.3,791.4,-6.8,301,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2306,3406
$GC,11133,-0.92,-117.3,811.6,-6.7,306,11134,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2306,3406
$GC,11437,-0.94,-117.3,832.1,-6.7,311,11441,0.00,2.28,0.00,0.000,4,0.000,0.051,1809,897,3406
$GC,11481,-0.94,-117.3,835.4,-7.2,311,11485,0.00,2.25,0.00,0.000,6,0.000,0.045,1807,2305,3406
$GC,11796,-0.94,-117.3,857.2,-6.9,317,11797,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3406
$GC,12100,-0.94,-117.3,875.5,-6.0,322,12104,0.00,2.28,0.00,0.000,4,0.000,0.048,1807,897,3405
$GC,12128,-0.94,-117.3,877.3,-6.8,322,12132,0.00,2.25,0.00,0.000,6,0.000,0.047,1804,2304,3406
$GC,12466,-0.94,-117.3,897.0,-5.8,328,12467,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2304,3405
$GC,12768,-0.94,-117.3,914.5,-5.8,333,12773,0.00,2.28,0.00,0.000,4,0.000,0.047,1804,901,3405
$GC,12796,-0.94,-117.3,916.3,-7.0,333,12801,0.00,2.25,0.00,0.000,6,0.000,0.044,1795,2303,3405
$GC,13130,-0.94,-117.3,937.0,-6.2,339,13131,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3405
$GC,13432,-0.94,-117.3,956.1,-6.3,344,13433,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3405
$GC,13735,-0.94,-117.3,975.6,-6.4,349,13739,0.00,2.28,0.00,0.000,4,0.000,0.052,1795,901,3405
$GC,13762,-0.94,-117.3,977.6,-7.5,349,13766,0.00,2.28,0.00,0.000,6,0.000,0.045,1793,2312,3404
$STATE,13970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13971,begin apogee
$GC,13978,-0.22,0.0,991.8,6.7,353,14078,0.50,0.00,97.53,1.299,6,0.118,0.000,1952,2313,2931
$STATE,14079,end apogee,CONTROL_FINISHED_OK
$STATE,14079,begin climb
$GC,14082,0.68,117.3,993.2,0.0,354,14194,0.60,2.55,103.35,1.268,4,0.074,0.054,2154,3702,2450
$GC,14220,0.51,117.3,991.0,6.5,357,14225,0.22,2.38,0.00,0.000,6,0.166,0.034,2112,2313,2447
$GC,14588,0.48,134.3,972.6,4.9,363,14604,0.00,0.00,14.62,1.157,6,0.000,0.000,2112,2313,2382
$GC,14890,0.47,146.7,957.2,5.1,368,14909,0.00,2.38,11.70,1.119,4,0.000,0.058,2112,3709,2332
$GC,14933,0.41,146.7,954.6,6.4,368,14938,0.12,2.28,0.00,0.000,6,0.158,0.038,2090,2294,2330
$GC,15255,0.47,178.4,940.0,4.4,374,15285,0.00,0.00,28.88,1.214,6,0.000,0.000,2090,2295,2203
$GC,15558,0.54,199.2,925.5,4.8,379,15580,0.10,0.00,19.05,1.174,6,0.074,0.000,2137,2294,2119
$GC,15861,0.50,199.2,902.7,7.7,384,15863,0.12,0.00,0.00,0.000,6,0.139,0.000,2105,2294,2114
$GC,16164,0.53,199.2,883.3,6.4,389,16165,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2294,2113
$GC,16467,0.56,199.2,863.7,6.5,394,16471,0.00,2.30,0.00,0.000,4,0.000,0.054,2105,3710,2112
$GC,16494,0.56,199.2,861.6,7.4,394,16498,0.00,2.22,0.00,0.000,6,0.000,0.036,2113,2298,2112
$GC,16826,0.56,199.2,839.2,6.8,400,16828,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2298,2112
$GC,17129,0.56,199.2,819.7,6.3,405,17133,0.00,2.30,0.00,0.000,4,0.000,0.056,2113,3719,2111
$GC,17174,0.54,199.2,816.4,7.4,405,17178,0.00,2.22,0.00,0.000,6,0.000,0.040,2123,2301,2110
$GC,17489,0.54,199.2,796.0,6.4,411,17490,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2301,2111
$GC,17793,0.54,199.2,777.2,6.2,416,17796,0.00,2.28,0.00,0.000,4,0.000,0.056,2124,3712,2110
$GC,17832,0.49,199.2,774.3,8.3,416,17836,0.12,2.20,0.00,0.000,6,0.149,0.035,2103,2302,2110
$GC,18160,0.56,226.2,758.8,4.6,422,18186,0.00,0.00,24.12,1.102,6,0.000,0.000,2103,2302,2008
$GC,18463,0.64,244.0,744.0,4.9,427,18487,0.12,2.38,16.55,1.056,4,0.061,0.048,2182,890,1935
$GC,18504,0.56,244.0,740.7,8.4,427,18509,0.22,2.30,0.00,0.000,6,0.137,0.039,2119,2309,1933
$GC,18825,0.60,244.0,721.0,6.1,433,18829,0.00,2.28,0.00,0.000,4,0.000,0.056,2119,3716,1931
$GC,18865,0.60,244.0,718.0,7.5,433,18869,0.00,2.22,0.00,0.000,6,0.000,0.033,2127,2297,1931
$GC,19185,0.60,244.0,695.7,7.0,439,19189,0.00,2.25,0.00,0.000,4,0.000,0.048,2137,887,1930
$GC,19208,0.62,244.0,694.0,7.1,439,19212,0.00,2.25,0.00,0.000,6,0.000,0.041,2137,2310,1930
$GC,19551,0.62,244.0,669.5,7.1,445,19552,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2310,1929
$GC,19855,0.62,244.0,647.9,7.2,450,19857,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2310,1929
$GC,20157,0.62,244.0,626.8,7.0,455,20161,0.00,2.28,0.00,0.000,4,0.000,0.047,2147,887,1929
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$STATE,29563,end climb,SURFACE_DEPTH_REACHED
$STATE,29563,begin surface coast
$FINISH,1.5,1.024837
$STATE,29582,end surface coast,CONTROL_FINISHED_OK
$STATE,29582,begin surface
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$HUMID,1710
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$TCM_TEMP,16.80
$XPDR_PINGS,59
$24V_AH,22.0,60.454
$10V_AH,10.5,51.810
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$DEVICE_SECS,18.025,224.475,371.650,0.000,0.000,49.379,57.212,220.250,14.750,0.000,0.000,16.213,1711.069,24903.494,527.019,2216.145,824.183,33.372,1637.349,0.000,2218.058,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,547.461,624.483,801.005,1330.764,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44395,775
$CAP_FILE_SIZE,183764,0
$CFSIZE,260165632,226529280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,271009,204231,5011.168,-14508.858,37,1.3,37,18.5