version: 66.04
glider: 144
mission: 15
dive: 435
start: 11 3 109 22 13 42
data:
$ID,144
$MISSION,15
$DIVE,435
$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,-69964.852
$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,33
$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
$GPS1,220637,5014.965,-14426.912,32,1.6,32,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-57.7
$GPS2,221249,5014.986,-14426.958,33,1.6,33,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.003,-0.168
$KALMAN_X,-91021.9,-101.2,76.8,142587.2,-372.4
$KALMAN_Y,23972.3,-16.0,28.7,-35084.2,716.1
$MHEAD_RNG_PITCHd_Wd,162.3,38996,-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,-117.2,0.0,0.0,0,71,0.00,0.00,-51.20,0.000,2,0.000,0.000,98,2304,2902
$GC,74,-0.68,-117.3,4.0,-5.1,5,98,7.28,2.30,-10.10,0.000,4,0.239,0.060,1853,893,3411
$GC,302,-0.66,-117.3,36.4,-11.1,25,306,0.00,2.22,0.00,0.000,6,0.000,0.037,1849,2304,3413
$GC,631,-0.62,-117.3,72.9,-10.1,55,636,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2303,3414
$GC,949,-0.62,-117.3,103.8,-9.6,74,950,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2303,3414
$GC,1258,-0.62,-117.3,131.9,-9.0,89,1262,0.00,2.25,0.00,0.000,4,0.000,0.041,1849,885,3415
$GC,1298,-0.65,-117.3,135.5,-8.3,91,1302,0.00,2.25,0.00,0.000,6,0.000,0.038,1841,2315,3415
$GC,1635,-0.65,-117.3,164.5,-8.6,105,1639,0.00,2.28,0.00,0.000,4,0.000,0.041,1841,887,3415
$GC,1724,-0.68,-117.3,172.4,-8.2,107,1731,0.00,2.25,0.00,0.000,6,0.000,0.038,1836,2313,3415
$GC,2037,-0.68,-117.3,195.8,-7.3,118,2041,0.00,2.25,0.00,0.000,4,0.000,0.041,1836,891,3414
$GC,2073,-0.68,-117.3,198.4,-7.4,119,2077,0.10,2.20,0.00,0.000,6,0.128,0.038,1857,2304,3414
$GC,2414,-0.74,-117.3,218.9,-6.2,130,2418,0.00,2.22,0.00,0.000,4,0.000,0.042,1857,893,3414
$GC,2449,-0.82,-117.3,221.3,-6.8,131,2453,0.10,2.22,0.00,0.000,6,0.065,0.037,1781,2314,3414
$GC,2790,-0.74,-117.3,257.1,-10.6,142,2792,0.20,0.00,0.00,0.000,6,0.121,0.000,1842,2314,3413
$GC,3096,-0.78,-117.3,277.2,-6.1,152,3100,0.00,2.28,0.00,0.000,4,0.000,0.044,1842,884,3413
$GC,3131,-0.84,-117.3,279.5,-6.8,153,3135,0.00,2.22,0.00,0.000,6,0.000,0.038,1837,2306,3413
$GC,3503,-0.86,-117.3,304.2,-6.6,164,3507,0.10,2.25,0.00,0.000,4,0.066,0.042,1763,889,3413
$GC,3530,-0.79,-117.3,306.9,-10.2,164,3535,0.25,2.28,0.00,0.000,6,0.127,0.043,1827,2312,3413
$GC,3868,-0.79,-117.3,332.4,-7.4,170,3872,0.00,2.28,0.00,0.000,4,0.000,0.043,1827,894,3412
$GC,3913,-0.82,-117.3,336.0,-7.5,170,3917,0.00,2.25,0.00,0.000,6,0.000,0.040,1822,2302,3412
$GC,4228,-0.82,-117.3,359.6,-7.5,176,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3411
$GC,4531,-0.82,-117.3,381.2,-7.0,181,4535,0.00,2.25,0.00,0.000,4,0.000,0.045,1822,895,3411
$GC,4577,-0.84,-117.3,384.5,-7.2,181,4581,0.00,2.25,0.00,0.000,6,0.000,0.045,1813,2305,3411
$GC,4898,-0.84,-117.3,407.4,-7.3,187,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2306,3411
$GC,5201,-0.84,-117.3,429.2,-7.2,192,5205,0.00,2.28,0.00,0.000,4,0.000,0.044,1813,894,3410
$GC,5263,-0.84,-117.3,434.0,-7.6,193,5268,0.00,2.28,0.00,0.000,6,0.000,0.044,1805,2312,3410
$GC,5630,-0.84,-117.3,462.2,-7.7,199,5634,0.00,2.28,0.00,0.000,4,0.000,0.044,1805,889,3409
$GC,5692,-0.84,-117.3,467.3,-8.9,200,5696,0.00,2.28,0.00,0.000,6,0.000,0.041,1796,2306,3409
$GC,6060,-0.81,-117.3,497.4,-8.3,206,6064,0.10,2.28,0.00,0.000,4,0.138,0.045,1824,894,3410
$GC,6105,-0.85,-117.3,500.9,-7.1,206,6109,0.00,2.25,0.00,0.000,6,0.000,0.043,1821,2302,3409
$GC,6420,-0.85,-117.3,523.0,-7.1,212,6424,0.00,2.28,0.00,0.000,4,0.000,0.047,1821,889,3410
$GC,6459,-0.88,-117.3,526.0,-7.8,212,6463,0.00,2.28,0.00,0.000,6,0.000,0.041,1812,2313,3409
$GC,6780,-0.88,-117.3,549.7,-7.4,218,6784,0.00,2.30,0.00,0.000,4,0.000,0.051,1813,886,3409
$GC,6821,-0.88,-117.3,552.9,-8.6,218,6825,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2305,3409
$GC,7142,-0.88,-117.3,577.3,-7.7,224,7146,0.00,2.28,0.00,0.000,4,0.000,0.050,1808,888,3408
$GC,7182,-0.88,-117.3,580.4,-8.1,224,7186,0.00,2.28,0.00,0.000,6,0.000,0.045,1800,2315,3408
$GC,7504,-0.88,-117.3,603.5,-7.1,230,7508,0.00,2.28,0.00,0.000,4,0.000,0.046,1800,894,3408
$GC,7554,-0.88,-117.3,607.4,-7.2,230,7558,0.00,2.25,0.00,0.000,6,0.000,0.040,1793,2302,3408
$GC,7864,-0.85,-117.3,631.2,-7.7,235,7868,0.00,2.28,0.00,0.000,4,0.000,0.051,1794,893,3408
$GC,7902,-0.85,-117.3,634.4,-7.9,235,7907,0.12,2.28,0.00,0.000,6,0.126,0.040,1821,2315,3407
$GC,8224,-0.89,-117.3,654.8,-6.4,241,8228,0.00,2.30,0.00,0.000,4,0.000,0.046,1821,893,3408
$GC,8251,-0.93,-117.3,656.9,-7.3,241,8256,0.08,2.28,0.00,0.000,6,0.082,0.042,1762,2309,3407
$GC,8584,-0.85,-117.3,688.2,-9.6,247,8588,0.17,2.30,0.00,0.000,4,0.124,0.046,1820,892,3408
$GC,8617,-0.88,-117.3,690.9,-6.5,247,8621,0.00,2.28,0.00,0.000,6,0.000,0.044,1820,2314,3407
$GC,8944,-0.91,-117.3,711.3,-6.2,253,8948,0.00,2.30,0.00,0.000,4,0.000,0.047,1820,892,3407
$GC,8973,-0.95,-117.3,713.3,-6.6,253,8977,0.00,2.28,0.00,0.000,6,0.000,0.044,1812,2312,3407
$GC,9306,-0.95,-117.3,734.0,-6.2,259,9307,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2312,3406
$GC,9608,-0.97,-117.3,752.3,-6.0,264,9613,0.08,2.33,0.00,0.000,4,0.081,0.051,1753,885,3406
$GC,9658,-0.88,-117.3,756.8,-9.7,264,9663,0.22,2.28,0.00,0.000,6,0.127,0.046,1809,2303,3406
$GC,9969,-0.88,-117.3,775.8,-6.0,269,9973,0.00,2.28,0.00,0.000,4,0.000,0.047,1810,891,3406
$GC,10009,-0.91,-117.3,778.3,-6.4,269,10014,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2309,3406
$GC,10331,-0.91,-117.3,797.8,-6.1,275,10335,0.00,2.30,0.00,0.000,4,0.000,0.046,1809,896,3406
$GC,10358,-0.91,-117.3,799.7,-6.7,275,10362,0.00,2.28,0.00,0.000,6,0.000,0.046,1808,2307,3406
$GC,10696,-0.91,-117.3,820.7,-6.3,281,10700,0.00,2.30,0.00,0.000,4,0.000,0.053,1808,887,3406
$GC,10724,-0.93,-117.3,822.7,-7.7,281,10728,0.00,2.28,0.00,0.000,6,0.000,0.044,1807,2305,3405
$GC,11063,-0.93,-117.3,843.9,-6.3,287,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3405
$GC,11365,-0.93,-117.3,863.1,-6.4,292,11369,0.00,2.30,0.00,0.000,4,0.000,0.048,1807,886,3405
$GC,11405,-0.96,-117.3,865.9,-8.2,292,11410,0.00,2.30,0.00,0.000,6,0.000,0.045,1805,2315,3405
$GC,11727,-0.96,-117.3,886.3,-6.3,298,11728,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2315,3405
$GC,12030,-0.96,-117.3,905.1,-6.2,303,12034,0.00,2.33,0.00,0.000,4,0.000,0.053,1804,891,3405
$GC,12086,-0.96,-117.3,909.1,-6.8,303,12093,0.00,2.30,0.00,0.000,6,0.000,0.041,1795,2299,3405
$GC,12396,-0.96,-117.3,930.0,-6.8,309,12400,0.00,2.28,0.00,0.000,4,0.000,0.054,1795,896,3405
$GC,12419,-0.96,-117.3,931.8,-7.7,309,12423,0.00,2.28,0.00,0.000,6,0.000,0.044,1794,2306,3405
$GC,12756,-0.96,-117.3,955.4,-7.0,315,12760,0.00,2.30,0.00,0.000,4,0.000,0.048,1794,888,3405
$GC,12790,-0.96,-117.3,958.0,-6.7,315,12795,0.00,2.28,0.00,0.000,6,0.000,0.047,1792,2305,3405
$GC,13117,-0.96,-117.3,980.7,-7.0,321,13121,0.00,2.30,0.00,0.000,4,0.000,0.054,1792,888,3405
$GC,13167,-0.96,-117.3,984.4,-7.3,321,13171,0.00,2.28,0.00,0.000,6,0.000,0.041,1782,2302,3405
$STATE,13292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13292,begin apogee
$GC,13299,-0.22,0.0,993.6,7.3,323,13400,0.55,0.00,97.57,1.295,6,0.117,0.000,1957,2303,2931
$STATE,13400,end apogee,CONTROL_FINISHED_OK
$STATE,13400,begin climb
$GC,13403,0.68,117.3,994.8,0.0,324,13515,0.57,2.58,103.53,1.266,4,0.072,0.054,2154,3705,2450
$GC,13542,0.51,117.3,992.0,7.1,327,13547,0.22,2.42,0.00,0.000,6,0.169,0.041,2112,2300,2448
$GC,13909,0.47,117.4,971.5,5.5,333,13913,0.00,2.33,0.00,0.000,4,0.000,0.051,2112,3709,2441
$GC,13937,0.39,117.4,969.5,6.3,333,13942,0.15,2.25,0.00,0.000,6,0.161,0.039,2083,2300,2440
$GC,14269,0.44,153.9,955.1,4.3,339,14302,0.00,0.00,30.98,1.221,6,0.000,0.000,2083,2299,2303
$GC,14574,0.55,164.3,940.0,5.1,344,14589,0.12,2.33,9.88,1.078,4,0.069,0.054,2135,3712,2260
$GC,14724,0.45,164.3,928.7,8.4,346,14729,0.20,2.28,0.00,0.000,6,0.148,0.037,2092,2294,2258
$GC,15069,0.52,199.9,913.5,4.3,352,15103,0.00,0.00,32.33,1.203,6,0.000,0.000,2093,2294,2116
$GC,15371,0.62,239.2,900.8,4.2,357,15421,0.15,2.45,37.58,1.143,4,0.060,0.054,2156,3712,1954
$GC,15445,0.52,239.2,895.0,9.5,358,15450,0.20,2.33,0.00,0.000,6,0.150,0.040,2115,2298,1952
$GC,15801,0.55,240.8,875.5,5.4,364,15805,0.00,2.33,0.00,0.000,4,0.000,0.051,2115,3716,1947
$GC,15834,0.55,240.8,873.2,6.9,364,15838,0.00,2.25,0.00,0.000,6,0.000,0.033,2123,2298,1947
$GC,16167,0.55,240.8,853.6,6.0,370,16171,0.00,2.30,0.00,0.000,4,0.000,0.056,2123,3713,1945
$GC,16206,0.55,240.8,850.8,7.1,370,16210,0.00,2.25,0.00,0.000,6,0.000,0.034,2134,2301,1945
$GC,16527,0.52,240.8,829.4,6.7,376,16531,0.00,2.30,0.00,0.000,4,0.000,0.050,2134,3721,1945
$GC,16573,0.49,240.8,825.9,7.1,376,16577,0.15,2.25,0.00,0.000,6,0.143,0.037,2104,2299,1944
$GC,16889,0.58,272.6,811.5,4.4,382,16928,0.08,0.00,31.48,1.081,6,0.082,0.000,2153,2298,1819
$GC,17191,0.54,272.6,788.4,7.8,387,17196,0.15,2.33,0.00,0.000,4,0.131,0.048,2112,3709,1813
$GC,17231,0.58,272.6,785.5,6.8,387,17235,0.00,2.28,0.00,0.000,6,0.000,0.033,2120,2294,1813
$GC,17553,0.62,272.6,767.0,5.8,393,17554,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2293,1812
$GC,17856,0.67,272.6,748.8,5.9,398,17861,0.08,2.33,0.00,0.000,4,0.078,0.055,2172,3712,1811
$GC,17906,0.57,272.6,743.8,9.8,398,17911,0.22,2.25,0.00,0.000,6,0.141,0.034,2120,2293,1811
$GC,18219,0.61,272.6,723.5,6.4,403,18220,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2292,1810
$GC,18519,0.66,272.6,703.9,6.4,408,18524,0.08,2.30,0.00,0.000,4,0.077,0.048,2181,3719,1810
$GC,18553,0.56,272.6,700.5,12.3,408,18557,0.25,2.25,0.00,0.000,6,0.140,0.033,2121,2291,1810
$GC,18880,0.60,272.6,679.9,6.1,414,18881,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2291,1810
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$STATE,28455,end climb,SURFACE_DEPTH_REACHED
$STATE,28455,begin surface coast
$FINISH,0.9,1.025034
$STATE,28477,end surface coast,CONTROL_FINISHED_OK
$STATE,28477,begin surface
$SM_CCo,28555,0.00,0.000,0,0,1583,330.66
$SM_GC,1.59,5.70,0.00,0.00,0.053,0.000,0.000,98,2303,1583,-8.61,0.00,330.66
$IRIDIUM_FIX,5003.11,-14503.79,280199,141407
$TT8_MAMPS,0.029146
$HUMID,1723
$INTERNAL_PRESSURE,7.42216
$TCM_TEMP,16.50
$XPDR_PINGS,66
$24V_AH,22.0,63.501
$10V_AH,10.5,54.607
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$DEVICE_SECS,19.800,263.600,391.825,0.000,0.000,25.667,26.787,154.905,16.500,0.000,0.000,35.404,1710.648,23498.203,580.942,2402.677,720.461,33.382,1788.614,0.000,2367.743,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,510.983,585.234,748.280,1244.230,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44320,725
$CAP_FILE_SIZE,193763,0
$CFSIZE,260165632,224784384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,041109,061109,5011.166,-14426.494,52,1.1,53,18.6