version: 66.04
glider: 144
mission: 15
dive: 436
start: 11 4 109 6 18 44
data:
$ID,144
$MISSION,15
$DIVE,436
$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,-69983.984
$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
$GPS1,061109,5011.166,-14426.494,52,1.1,53,18.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-57.7
$GPS2,061749,5011.109,-14426.557,14,1.1,14,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.038,-0.163
$KALMAN_X,-90336.6,157.0,-247.8,142439.1,732.3
$KALMAN_Y,23282.6,-366.9,-171.4,-41011.1,645.0
$MHEAD_RNG_PITCHd_Wd,174.5,31905,-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,12,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.35,0.000,2,0.000,0.000,99,2302,2679
$GC,62,-0.68,-117.3,3.6,-5.9,4,96,7.18,2.35,-17.85,0.000,4,0.234,0.058,1845,898,3412
$GC,350,-0.65,-117.3,37.8,-11.2,29,356,0.10,2.22,0.00,0.000,6,0.136,0.038,1862,2308,3414
$GC,678,-0.65,-117.3,69.5,-8.5,60,682,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,892,3414
$GC,855,-0.68,-117.3,85.0,-9.1,73,859,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2304,3415
$GC,1182,-0.68,-117.3,114.8,-9.1,89,1186,0.00,2.25,0.00,0.000,4,0.000,0.041,1862,892,3415
$GC,1244,-0.73,-117.3,120.5,-9.3,91,1250,0.00,2.25,0.00,0.000,6,0.000,0.038,1861,2314,3416
$GC,1560,-0.76,-117.3,143.2,-6.5,107,1562,0.10,0.00,0.00,0.000,6,0.064,0.000,1786,2314,3415
$GC,1889,-0.68,-117.3,176.3,-9.9,119,1891,0.22,0.00,0.00,0.000,6,0.119,0.000,1855,2315,3415
$GC,2194,-0.73,-117.3,195.0,-6.1,129,2198,0.00,2.30,0.00,0.000,4,0.000,0.043,1855,886,3415
$GC,2250,-0.80,-117.3,198.9,-7.5,130,2257,0.05,2.28,0.00,0.000,6,0.062,0.038,1781,2304,3415
$GC,2564,-0.72,-117.3,230.5,-10.3,141,2565,0.20,0.00,0.00,0.000,6,0.122,0.000,1842,2304,3415
$GC,2869,-0.75,-117.3,251.9,-6.7,151,2873,0.00,2.28,0.00,0.000,4,0.000,0.043,1842,888,3414
$GC,2909,-0.80,-117.3,254.6,-6.9,152,2913,0.00,2.25,0.00,0.000,6,0.000,0.038,1837,2305,3414
$GC,3234,-0.82,-117.3,276.9,-7.1,163,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2305,3414
$GC,3539,-0.85,-117.3,299.2,-7.2,173,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2305,3413
$GC,3873,-0.88,-117.3,322.1,-6.8,179,3878,0.10,2.28,0.00,0.000,4,0.066,0.042,1764,888,3413
$GC,3914,-0.78,-117.3,326.1,-11.1,179,3919,0.28,2.28,0.00,0.000,6,0.127,0.043,1836,2312,3413
$GC,4236,-0.81,-117.3,347.4,-6.4,185,4240,0.00,2.28,0.00,0.000,4,0.000,0.044,1836,890,3412
$GC,4264,-0.85,-117.3,349.4,-7.4,185,4268,0.00,2.25,0.00,0.000,6,0.000,0.044,1836,2303,3412
$GC,4597,-0.89,-117.3,370.7,-6.4,191,4599,0.10,0.00,0.00,0.000,6,0.066,0.000,1767,2303,3412
$GC,4900,-0.79,-117.3,402.4,-10.7,196,4905,0.17,2.28,0.00,0.000,4,0.124,0.050,1826,898,3411
$GC,4967,-0.82,-117.3,408.5,-7.7,197,4971,0.00,2.25,0.00,0.000,6,0.000,0.043,1821,2306,3411
$GC,5328,-0.82,-117.3,437.6,-8.2,203,5332,0.00,2.28,0.00,0.000,4,0.000,0.043,1821,890,3411
$GC,5369,-0.82,-117.3,441.0,-8.9,203,5373,0.00,2.25,0.00,0.000,6,0.000,0.041,1812,2300,3411
$GC,5690,-0.82,-117.3,468.3,-8.6,209,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2300,3410
$GC,5992,-0.82,-117.3,492.8,-8.0,214,5996,0.00,2.25,0.00,0.000,4,0.000,0.051,1812,898,3410
$GC,6021,-0.82,-117.3,495.2,-9.0,214,6025,0.00,2.25,0.00,0.000,6,0.000,0.042,1803,2307,3410
$GC,6353,-0.82,-117.3,520.9,-7.7,220,6357,0.00,2.30,0.00,0.000,4,0.000,0.045,1803,888,3410
$GC,6393,-0.82,-117.3,524.1,-8.0,220,6398,0.10,2.28,0.00,0.000,6,0.133,0.046,1822,2310,3409
$GC,6715,-0.85,-117.3,544.3,-6.2,226,6719,0.00,2.28,0.00,0.000,4,0.000,0.046,1821,897,3409
$GC,6755,-0.88,-117.3,546.9,-6.9,226,6759,0.00,2.25,0.00,0.000,6,0.000,0.044,1821,2305,3409
$GC,7077,-0.90,-117.3,568.7,-6.9,232,7081,0.00,2.28,0.00,0.000,4,0.000,0.051,1821,888,3409
$GC,7111,-0.93,-117.3,571.3,-7.2,232,7115,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2310,3409
$GC,7444,-0.93,-117.3,596.6,-7.7,238,7448,0.00,2.28,0.00,0.000,4,0.000,0.047,1812,896,3409
$GC,7484,-0.93,-117.3,599.8,-8.0,238,7488,0.00,2.25,0.00,0.000,6,0.000,0.045,1809,2306,3408
$GC,7805,-0.93,-117.3,625.1,-7.9,244,7809,0.00,2.30,0.00,0.000,4,0.000,0.046,1809,887,3408
$GC,7832,-0.93,-117.3,627.4,-8.7,244,7836,0.00,2.28,0.00,0.000,6,0.000,0.041,1807,2302,3408
$GC,8164,-0.93,-117.3,652.6,-7.6,250,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2303,3408
$GC,8467,-0.93,-117.3,675.3,-7.5,255,8471,0.00,2.28,0.00,0.000,4,0.000,0.047,1807,893,3408
$GC,8508,-0.93,-117.3,678.6,-8.1,255,8512,0.00,2.28,0.00,0.000,6,0.000,0.043,1798,2312,3408
$GC,8830,-0.93,-117.3,704.1,-8.0,261,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2311,3408
$GC,9132,-0.93,-117.3,727.3,-7.7,266,9136,0.00,2.30,0.00,0.000,4,0.000,0.046,1798,891,3408
$GC,9171,-0.93,-117.3,730.3,-7.6,266,9175,0.00,2.28,0.00,0.000,6,0.000,0.040,1794,2305,3408
$GC,9492,-0.93,-117.3,753.9,-7.3,272,9496,0.00,2.30,0.00,0.000,4,0.000,0.048,1794,888,3407
$GC,9560,-0.93,-117.3,759.0,-7.4,273,9564,0.00,2.28,0.00,0.000,6,0.000,0.044,1785,2310,3407
$GC,9921,-0.90,-117.3,784.1,-6.9,279,9925,0.00,2.30,0.00,0.000,4,0.000,0.046,1785,887,3407
$GC,9961,-0.88,-117.3,786.8,-7.3,279,9966,0.10,2.28,0.00,0.000,6,0.140,0.043,1807,2306,3407
$GC,10283,-0.88,-117.3,803.3,-5.1,285,10287,0.00,2.28,0.00,0.000,4,0.000,0.052,1808,895,3407
$GC,10305,-0.90,-117.3,804.6,-5.5,285,10309,0.00,2.25,0.00,0.000,6,0.000,0.042,1808,2303,3407
$GC,10644,-0.90,-117.3,822.9,-5.5,291,10648,0.00,2.28,0.00,0.000,4,0.000,0.050,1808,893,3407
$GC,10677,-0.92,-117.3,825.0,-5.8,291,10682,0.00,2.28,0.00,0.000,6,0.000,0.041,1807,2307,3407
$GC,11004,-0.92,-117.3,844.2,-5.9,297,11008,0.00,2.28,0.00,0.000,4,0.000,0.046,1808,898,3407
$GC,11038,-0.94,-117.3,846.5,-6.4,297,11042,0.00,2.28,0.00,0.000,6,0.000,0.044,1807,2312,3406
$GC,11364,-0.94,-117.3,866.9,-6.3,303,11368,0.00,2.30,0.00,0.000,4,0.000,0.047,1808,888,3407
$GC,11392,-0.94,-117.3,868.9,-6.8,303,11396,0.00,2.30,0.00,0.000,6,0.000,0.041,1806,2314,3406
$GC,11724,-0.94,-117.3,890.6,-6.5,309,11728,0.00,2.30,0.00,0.000,4,0.000,0.053,1806,895,3406
$GC,11763,-0.96,-117.3,893.4,-6.9,309,11767,0.00,2.28,0.00,0.000,6,0.000,0.047,1806,2305,3406
$GC,12084,-0.96,-117.3,914.1,-6.5,315,12088,0.00,2.30,0.00,0.000,4,0.000,0.051,1806,890,3406
$GC,12106,-0.96,-117.3,915.8,-6.4,315,12110,0.00,2.30,0.00,0.000,6,0.000,0.042,1802,2314,3406
$GC,12444,-0.96,-117.3,937.5,-6.4,321,12448,0.00,2.33,0.00,0.000,4,0.000,0.048,1802,894,3405
$GC,12489,-0.96,-117.3,940.7,-6.7,321,12493,0.00,2.28,0.00,0.000,6,0.000,0.042,1794,2303,3405
$GC,12804,-0.96,-117.3,960.2,-6.2,327,12808,0.00,2.30,0.00,0.000,4,0.000,0.049,1795,897,3405
$GC,12832,-0.96,-117.3,962.1,-6.2,327,12836,0.00,2.28,0.00,0.000,6,0.000,0.042,1793,2302,3405
$GC,13164,-0.96,-117.3,981.4,-5.8,333,13168,0.00,2.30,0.00,0.000,4,0.000,0.050,1793,894,3405
$GC,13202,-0.96,-117.3,984.0,-6.8,333,13206,0.00,2.28,0.00,0.000,6,0.000,0.044,1783,2304,3405
$STATE,13338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13338,begin apogee
$GC,13345,-0.22,0.0,992.6,6.3,336,13446,0.52,0.00,98.15,1.295,6,0.113,0.000,1952,2305,2931
$STATE,13447,end apogee,CONTROL_FINISHED_OK
$STATE,13447,begin climb
$GC,13450,0.68,117.3,993.4,0.0,337,13561,0.57,2.58,103.72,1.264,4,0.076,0.058,2152,3702,2451
$GC,13601,0.49,117.3,988.0,7.3,339,13606,0.25,2.38,0.00,0.000,6,0.164,0.040,2103,2304,2447
$GC,13940,0.48,129.5,970.3,5.1,345,13952,0.00,0.00,10.60,1.100,6,0.000,0.000,2103,2304,2402
$GC,14242,0.51,157.0,956.2,4.6,350,14269,0.00,0.00,25.10,1.206,6,0.000,0.000,2103,2304,2289
$GC,14546,0.55,190.4,942.9,4.4,355,14590,0.00,2.42,31.70,1.145,4,0.000,0.057,2103,3709,2153
$GC,14630,0.55,190.4,938.5,5.8,356,14634,0.00,2.30,0.00,0.000,6,0.000,0.037,2111,2299,2151
$GC,14979,0.57,203.5,921.0,5.1,362,14998,0.00,2.38,12.35,1.110,4,0.000,0.055,2111,3711,2100
$GC,15028,0.57,203.5,917.9,7.1,362,15032,0.00,2.30,0.00,0.000,6,0.000,0.040,2121,2295,2099
$GC,15344,0.57,203.5,899.3,6.0,368,15348,0.00,2.33,0.00,0.000,4,0.000,0.053,2121,3713,2097
$GC,15388,0.53,203.5,895.7,8.1,368,15392,0.00,2.28,0.00,0.000,6,0.000,0.038,2131,2297,2097
$GC,15704,0.49,203.5,872.8,7.3,374,15709,0.10,2.30,0.00,0.000,4,0.160,0.054,2107,3711,2096
$GC,15748,0.49,203.5,869.4,7.6,374,15752,0.00,2.25,0.00,0.000,6,0.000,0.039,2116,2293,2096
$GC,16063,0.49,203.5,847.8,7.0,380,16068,0.00,2.33,0.00,0.000,4,0.000,0.057,2116,3719,2095
$GC,16114,0.47,203.5,843.3,8.6,380,16119,0.12,2.25,0.00,0.000,6,0.148,0.033,2096,2299,2095
$GC,16425,0.52,203.5,822.6,6.7,385,16426,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2299,2095
$GC,16728,0.57,203.5,803.2,6.4,390,16730,0.10,0.00,0.00,0.000,6,0.069,0.000,2153,2299,2094
$GC,17031,0.48,203.5,776.8,8.8,395,17035,0.17,2.33,0.00,0.000,4,0.142,0.056,2098,3710,2094
$GC,17081,0.51,203.5,773.0,7.6,395,17086,0.00,2.25,0.00,0.000,6,0.000,0.033,2106,2296,2094
$GC,17392,0.55,205.1,755.8,5.4,400,17393,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2295,2094
$GC,17695,0.60,226.8,741.1,4.8,405,17721,0.08,2.35,20.92,1.078,4,0.077,0.050,2160,3715,2005
$GC,17762,0.50,226.8,735.9,7.8,406,17766,0.22,2.28,0.00,0.000,6,0.144,0.033,2109,2298,2004
$GC,18128,0.57,247.6,717.8,4.8,412,18152,0.00,2.35,19.17,1.050,4,0.000,0.051,2109,3711,1921
$GC,18177,0.62,247.6,715.1,5.6,412,18181,0.00,2.28,0.00,0.000,6,0.000,0.032,2117,2299,1919
$GC,18493,0.65,252.9,698.5,5.3,418,18504,0.10,2.33,6.00,0.839,4,0.068,0.052,2181,3713,1899
$GC,18527,0.53,252.9,695.4,8.7,418,18532,0.28,2.25,0.00,0.000,6,0.145,0.034,2115,2305,1898
$GC,18855,0.58,252.9,676.1,5.7,424,18859,0.00,2.28,0.00,0.000,4,0.000,0.048,2116,3712,1896
$GC,18883,0.62,252.9,674.2,6.1,424,18887,0.00,2.22,0.00,0.000,6,0.000,0.032,2123,2301,1896
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$STATE,28629,end climb,SURFACE_DEPTH_REACHED
$STATE,28629,begin surface coast
$FINISH,1.5,1.024950
$STATE,28653,end surface coast,CONTROL_FINISHED_OK
$STATE,28653,begin surface
$SM_CCo,28732,0.00,0.000,0,0,1509,348.82
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$IRIDIUM_FIX,4956.40,-14423.83,280199,222240
$TT8_MAMPS,0.029146
$HUMID,1722
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$TCM_TEMP,16.30
$XPDR_PINGS,72
$24V_AH,22.0,63.649
$10V_AH,10.5,54.732
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$DEVICE_SECS,18.975,259.550,413.225,0.000,0.000,23.821,28.584,203.883,18.000,0.000,0.000,18.500,1694.852,23768.441,566.125,2317.792,774.407,33.390,1760.487,0.000,2308.503,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,514.283,591.354,753.965,1251.202,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44482,729
$CAP_FILE_SIZE,192882,0
$CFSIZE,260165632,224710656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,041109,141906,5008.114,-14427.915,50,1.5,50,18.6