version: 66.04
glider: 144
mission: 15
dive: 429
start: 11 1 109 21 15 56
data:
$ID,144
$MISSION,15
$DIVE,429
$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,-69854.961
$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,35
$R_STBD_OVSHOOT,33
$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
$GPS1,210907,5010.482,-14441.784,40,1.4,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-63.3
$GPS2,211502,5010.542,-14441.776,13,1.4,13,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.118,0.119
$KALMAN_X,-89516.6,-156.5,58.7,123626.4,-825.5
$KALMAN_Y,21518.2,100.9,-12.3,-40939.1,440.7
$MHEAD_RNG_PITCHd_Wd,26.3,23979,-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,18,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-31.12,0.000,2,0.000,0.000,98,2292,2443
$GC,54,-0.68,-117.3,3.0,-3.6,3,99,7.18,2.33,-27.27,0.000,4,0.234,0.064,1843,891,3413
$GC,337,-0.63,-117.3,34.6,-11.7,28,341,0.12,2.25,0.00,0.000,6,0.133,0.043,1869,2312,3415
$GC,665,-0.65,-117.3,64.1,-8.0,58,669,0.00,2.25,0.00,0.000,4,0.000,0.048,1861,3712,3415
$GC,765,-0.69,-117.3,72.9,-8.0,66,772,0.00,2.20,0.00,0.000,6,0.000,0.029,1861,2290,3415
$GC,1084,-0.69,-117.3,100.4,-8.8,86,1087,0.00,2.22,0.00,0.000,4,0.000,0.041,1861,891,3416
$GC,1146,-0.73,-117.3,106.3,-9.1,88,1152,0.00,2.22,0.00,0.000,6,0.000,0.037,1853,2310,3416
$GC,1462,-0.73,-117.3,134.9,-8.2,104,1466,0.00,2.25,0.00,0.000,4,0.000,0.041,1853,891,3416
$GC,1513,-0.76,-117.3,138.9,-7.8,106,1517,0.00,2.20,0.00,0.000,6,0.000,0.037,1849,2302,3416
$GC,1838,-0.79,-117.3,161.2,-6.5,119,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2303,3416
$GC,2144,-0.82,-117.3,180.8,-6.2,129,2148,0.10,2.28,0.00,0.000,4,0.064,0.047,1777,890,3416
$GC,2189,-0.73,-117.3,184.9,-10.3,130,2194,0.25,2.25,0.00,0.000,6,0.120,0.043,1843,2310,3416
$GC,2514,-0.76,-117.3,207.4,-7.0,141,2517,0.00,2.25,0.00,0.000,4,0.000,0.042,1843,890,3416
$GC,2549,-0.81,-117.3,210.2,-8.0,142,2553,0.00,2.20,0.00,0.000,6,0.000,0.038,1837,2309,3416
$GC,2890,-0.83,-117.3,236.9,-7.8,153,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2309,3415
$GC,3197,-0.85,-117.3,259.6,-7.4,163,3201,0.08,2.25,0.00,0.000,4,0.081,0.043,1768,898,3415
$GC,3241,-0.75,-117.3,264.4,-11.3,164,3246,0.28,2.22,0.00,0.000,6,0.119,0.043,1840,2307,3415
$GC,3566,-0.79,-117.3,287.2,-6.9,175,3569,0.00,2.22,0.00,0.000,4,0.000,0.042,1840,895,3414
$GC,3601,-0.84,-117.3,289.8,-7.4,176,3605,0.00,2.20,0.00,0.000,6,0.000,0.038,1837,2312,3415
$GC,3941,-0.87,-117.3,315.0,-7.4,184,3943,0.10,0.00,0.00,0.000,6,0.065,0.000,1763,2312,3414
$GC,4244,-0.77,-117.3,347.7,-10.9,189,4249,0.20,2.28,0.00,0.000,4,0.127,0.048,1829,900,3413
$GC,4312,-0.80,-117.3,353.3,-7.1,190,4316,0.00,2.22,0.00,0.000,6,0.000,0.041,1823,2305,3413
$GC,4672,-0.80,-117.3,378.9,-7.1,196,4676,0.00,2.25,0.00,0.000,4,0.000,0.049,1822,891,3413
$GC,4717,-0.80,-117.3,382.3,-7.5,196,4721,0.00,2.25,0.00,0.000,6,0.000,0.038,1814,2313,3413
$GC,5032,-0.80,-117.3,405.2,-7.2,202,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2313,3412
$GC,5336,-0.80,-117.3,426.8,-7.1,207,5340,0.00,2.25,0.00,0.000,4,0.000,0.044,1814,896,3412
$GC,5392,-0.80,-117.3,431.2,-7.8,207,5398,0.00,2.22,0.00,0.000,6,0.000,0.042,1807,2302,3412
$GC,5702,-0.80,-117.3,455.2,-7.8,213,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2302,3412
$GC,6005,-0.80,-117.3,478.6,-7.7,218,6009,0.00,2.22,0.00,0.000,4,0.000,0.044,1807,900,3411
$GC,6044,-0.80,-117.3,482.1,-8.3,218,6049,0.10,2.22,0.00,0.000,6,0.127,0.047,1826,2303,3412
$GC,6365,-0.83,-117.3,503.3,-6.7,224,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2303,3411
$GC,6668,-0.86,-117.3,522.3,-6.2,229,6672,0.00,2.25,0.00,0.000,4,0.000,0.051,1826,900,3411
$GC,6707,-0.91,-117.3,524.8,-6.6,229,6711,0.00,2.22,0.00,0.000,6,0.000,0.044,1823,2305,3410
$GC,7029,-0.93,-117.3,544.5,-6.1,235,7031,0.10,0.00,0.00,0.000,6,0.064,0.000,1756,2305,3410
$GC,7332,-0.83,-117.3,574.2,-10.1,240,7337,0.20,2.28,0.00,0.000,4,0.125,0.045,1821,900,3410
$GC,7399,-0.87,-117.3,579.3,-6.8,241,7404,0.00,2.22,0.00,0.000,6,0.000,0.045,1821,2308,3410
$GC,7766,-0.89,-117.3,602.3,-6.3,247,7770,0.00,2.28,0.00,0.000,4,0.000,0.051,1820,894,3410
$GC,7799,-0.93,-117.3,604.6,-6.9,247,7804,0.00,2.25,0.00,0.000,6,0.000,0.042,1812,2312,3409
$GC,8127,-0.93,-117.3,625.2,-6.3,253,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2313,3409
$GC,8429,-0.93,-117.3,644.1,-6.3,258,8433,0.00,2.28,0.00,0.000,4,0.000,0.045,1813,897,3409
$GC,8496,-0.96,-117.3,648.7,-6.6,259,8500,0.00,2.25,0.00,0.000,6,0.000,0.048,1808,2310,3409
$GC,8856,-0.96,-117.3,673.7,-7.1,265,8860,0.00,2.28,0.00,0.000,4,0.000,0.049,1808,893,3409
$GC,8901,-0.96,-117.3,677.2,-7.7,265,8905,0.00,2.25,0.00,0.000,6,0.000,0.044,1807,2306,3408
$GC,9216,-0.96,-117.3,698.9,-6.8,271,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3409
$GC,9519,-0.96,-117.3,716.5,-5.7,276,9523,0.00,2.28,0.00,0.000,4,0.000,0.045,1807,900,3408
$GC,9570,-0.98,-117.3,719.5,-6.2,276,9574,0.00,2.25,0.00,0.000,6,0.000,0.041,1799,2309,3408
$GC,9880,-0.98,-117.3,737.1,-5.7,281,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2309,3408
$GC,10182,-0.98,-117.3,754.6,-5.8,286,10187,0.00,2.30,0.00,0.000,4,0.000,0.050,1799,891,3408
$GC,10245,-0.98,-117.3,758.7,-6.9,287,10249,0.00,2.25,0.00,0.000,6,0.000,0.047,1794,2305,3408
$GC,10618,-0.98,-117.3,783.3,-6.7,293,10622,0.00,2.28,0.00,0.000,4,0.000,0.046,1794,900,3407
$GC,10651,-0.98,-117.3,785.9,-7.3,293,10655,0.00,2.25,0.00,0.000,6,0.000,0.041,1785,2310,3408
$GC,10977,-0.95,-117.3,810.8,-7.7,299,10981,0.00,2.28,0.00,0.000,4,0.000,0.048,1785,900,3407
$GC,11029,-0.93,-117.3,815.2,-8.4,299,11033,0.00,2.25,0.00,0.000,6,0.000,0.041,1781,2305,3407
$GC,11339,-0.90,-117.3,840.4,-8.2,304,11344,0.10,2.28,0.00,0.000,4,0.139,0.050,1809,899,3407
$GC,11395,-0.94,-117.3,844.7,-7.6,304,11401,0.00,2.25,0.00,0.000,6,0.000,0.047,1809,2305,3407
$GC,11705,-0.96,-117.3,865.9,-6.9,310,11707,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3407
$GC,12009,-0.99,-117.3,887.6,-7.2,315,12013,0.10,2.28,0.00,0.000,4,0.078,0.048,1763,901,3407
$GC,12072,-0.93,-117.3,893.7,-9.4,316,12077,0.15,2.25,0.00,0.000,6,0.133,0.042,1797,2305,3407
$GC,12438,-0.93,-117.3,922.4,-7.7,322,12442,0.00,2.28,0.00,0.000,4,0.000,0.048,1797,901,3407
$GC,12476,-0.93,-117.3,925.8,-8.7,322,12480,0.00,2.25,0.00,0.000,6,0.000,0.042,1795,2308,3407
$GC,12797,-0.93,-117.3,950.3,-7.7,328,12801,0.00,2.28,0.00,0.000,4,0.000,0.053,1795,901,3407
$GC,12831,-0.93,-117.3,953.0,-7.6,328,12835,0.00,2.25,0.00,0.000,6,0.000,0.043,1794,2305,3407
$GC,13158,-0.93,-117.3,976.2,-7.1,334,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2305,3406
$STATE,13397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13397,begin apogee
$GC,13403,-0.22,0.0,991.8,6.4,338,13504,0.50,0.00,97.62,1.292,6,0.115,0.000,1954,2305,2931
$STATE,13505,end apogee,CONTROL_FINISHED_OK
$STATE,13505,begin climb
$GC,13507,0.68,117.3,992.7,0.0,339,13619,0.55,2.55,103.20,1.262,4,0.073,0.058,2148,3701,2451
$GC,13669,0.50,117.3,986.2,8.1,341,13674,0.20,2.35,0.00,0.000,6,0.166,0.034,2112,2310,2446
$GC,13996,0.46,117.3,964.6,6.6,347,14000,0.00,2.30,0.00,0.000,4,0.000,0.051,2111,3709,2441
$GC,14026,0.39,117.3,962.4,7.4,347,14031,0.15,2.25,0.00,0.000,6,0.160,0.040,2083,2297,2441
$GC,14359,0.40,124.3,944.3,5.3,353,14366,0.00,0.00,5.30,0.894,6,0.000,0.000,2083,2297,2424
$GC,14662,0.41,139.7,929.2,5.0,358,14682,0.00,2.33,14.95,1.151,4,0.000,0.054,2083,3714,2361
$GC,14722,0.41,139.7,925.9,5.9,359,14726,0.00,2.25,0.00,0.000,6,0.000,0.041,2091,2295,2359
$GC,15095,0.45,167.0,908.3,4.6,365,15124,0.00,2.35,24.60,1.190,4,0.000,0.054,2091,3709,2249
$GC,15147,0.46,178.9,905.7,5.1,365,15173,0.00,2.25,13.82,0.955,6,0.000,0.039,2101,2303,2201
$GC,15530,0.49,203.8,887.8,4.7,372,15559,0.00,2.38,22.70,1.167,4,0.000,0.055,2101,3710,2100
$GC,15583,0.50,207.1,884.9,5.4,372,15595,0.00,2.28,4.43,0.775,6,0.000,0.039,2111,2294,2087
$GC,15899,0.54,222.9,869.1,5.0,378,15916,0.00,0.00,15.38,1.117,6,0.000,0.000,2111,2294,2022
$GC,16203,0.58,237.4,853.9,5.0,383,16222,0.00,2.38,13.90,1.096,4,0.000,0.053,2111,3709,1963
$GC,16257,0.58,237.5,850.6,5.5,383,16261,0.00,2.25,0.00,0.000,6,0.000,0.041,2121,2304,1961
$GC,16567,0.58,237.5,832.9,5.8,388,16571,0.00,2.30,0.00,0.000,4,0.000,0.051,2121,3717,1958
$GC,16594,0.58,237.5,830.8,7.7,388,16598,0.00,2.22,0.00,0.000,6,0.000,0.033,2131,2304,1958
$GC,16927,0.58,237.5,807.8,7.0,394,16931,0.00,2.28,0.00,0.000,4,0.000,0.051,2131,3711,1957
$GC,16960,0.55,237.5,805.0,8.1,394,16965,0.10,2.22,0.00,0.000,6,0.155,0.036,2118,2295,1957
$GC,17286,0.55,237.5,784.0,6.4,400,17290,0.00,2.30,0.00,0.000,4,0.000,0.054,2118,3719,1957
$GC,17325,0.55,237.5,781.0,7.9,400,17329,0.00,2.22,0.00,0.000,6,0.000,0.041,2126,2297,1956
$GC,17645,0.55,237.5,758.1,7.2,406,17649,0.00,2.30,0.00,0.000,4,0.000,0.051,2126,3721,1956
$GC,17679,0.55,237.5,755.4,8.1,406,17683,0.00,2.22,0.00,0.000,6,0.000,0.038,2137,2303,1955
$GC,18006,0.52,237.5,729.9,7.8,412,18011,0.10,2.28,0.00,0.000,4,0.154,0.049,2112,3712,1956
$GC,18039,0.52,237.5,727.2,6.6,412,18043,0.00,2.20,0.00,0.000,6,0.000,0.033,2120,2301,1955
$GC,18367,0.52,237.5,705.3,6.7,418,18371,0.00,2.28,0.00,0.000,4,0.000,0.049,2120,3712,1956
$GC,18411,0.52,237.5,701.6,8.8,418,18415,0.00,2.22,0.00,0.000,6,0.000,0.032,2130,2298,1956
$GC,18727,0.52,237.5,677.6,7.7,424,18731,0.00,2.28,0.00,0.000,4,0.000,0.054,2130,3712,1955
$GC,18765,0.50,237.5,674.2,9.0,424,18770,0.12,2.22,0.00,0.000,6,0.139,0.033,2107,2292,1955
$GC,19087,0.56,237.5,655.0,5.8,430,19088,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2292,1955
$GC,19390,0.62,246.5,639.2,5.2,435,19401,0.10,0.00,8.48,0.905,6,0.069,0.000,2174,2291,1926
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$STATE,29087,end climb,SURFACE_DEPTH_REACHED
$STATE,29087,begin surface coast
$FINISH,1.1,1.022921
$STATE,29113,end surface coast,CONTROL_FINISHED_OK
$STATE,29113,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1713
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$TCM_TEMP,16.50
$XPDR_PINGS,71
$24V_AH,22.0,62.648
$10V_AH,10.5,53.847
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$DEVICE_SECS,18.125,252.675,424.875,0.000,0.000,23.782,30.836,157.146,17.750,0.000,0.000,14.573,1716.226,24104.320,570.390,2417.616,721.122,33.378,1808.672,0.000,2406.547,0.000,0.527,0.000
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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,44416,753
$CAP_FILE_SIZE,191621,0
$CFSIZE,260165632,225259520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021109,052337,5012.869,-14438.217,32,1.3,32,18.6