version: 66.04
glider: 144
mission: 15
dive: 672
start: 1 22 110 20 21 49
data:
$ID,144
$MISSION,15
$DIVE,672
$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,-75271.016
$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,34
$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
$GPS1,200739,5003.955,-14351.299,35,1.8,35,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-58.0
$GPS2,202056,5003.828,-14351.269,15,1.7,15,18.7
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.164,-0.035
$KALMAN_X,-91602.4,-80.8,53.2,185349.3,-170.5
$KALMAN_Y,29689.8,-441.6,102.8,-61109.5,417.0
$MHEAD_RNG_PITCHd_Wd,83.5,377935,-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,16,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.80,0.000,2,0.000,0.000,99,2298,2618
$GC,63,-0.68,-117.3,3.7,-6.6,2,98,7.22,2.40,-19.98,0.000,4,0.234,0.067,1839,3711,3412
$GC,242,-0.66,-117.3,22.4,-9.8,10,246,0.00,2.22,0.00,0.000,6,0.000,0.030,1839,2298,3413
$GC,571,-0.61,-117.3,57.5,-10.9,26,576,0.10,2.30,0.00,0.000,4,0.133,0.041,1866,887,3414
$GC,651,-0.64,-117.3,65.1,-9.3,29,658,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2307,3414
$GC,972,-0.64,-117.3,92.3,-8.3,51,976,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,895,3414
$GC,1037,-0.67,-117.3,97.5,-8.8,56,1041,0.00,2.25,0.00,0.000,6,0.000,0.038,1860,2313,3414
$GC,1367,-0.71,-117.3,121.0,-7.3,86,1371,0.00,2.25,0.00,0.000,4,0.000,0.041,1860,895,3414
$GC,1443,-0.77,-117.3,126.9,-8.2,92,1447,0.00,2.22,0.00,0.000,6,0.000,0.037,1852,2304,3414
$GC,1773,-0.80,-117.3,148.5,-6.3,122,1779,0.10,0.00,0.00,0.000,6,0.064,0.000,1776,2305,3414
$GC,2098,-0.70,-117.3,185.7,-12.0,134,2102,0.20,2.28,0.00,0.000,4,0.120,0.047,1842,898,3414
$GC,2223,-0.75,-117.3,196.7,-8.6,137,2229,0.00,2.25,0.00,0.000,6,0.000,0.038,1836,2306,3414
$GC,2537,-0.77,-117.3,220.0,-7.2,148,2541,0.00,2.30,0.00,0.000,4,0.000,0.054,1827,3717,3414
$GC,2573,-0.80,-117.3,222.7,-7.9,149,2577,0.00,2.20,0.00,0.000,6,0.000,0.030,1827,2298,3414
$GC,2915,-0.80,-117.3,247.8,-7.2,160,2919,0.00,2.25,0.00,0.000,4,0.000,0.042,1827,895,3414
$GC,2989,-0.80,-117.3,253.7,-8.0,162,2993,0.00,2.28,0.00,0.000,6,0.000,0.044,1821,2316,3414
$GC,3320,-0.80,-117.3,279.9,-8.1,173,3324,0.00,2.30,0.00,0.000,4,0.000,0.042,1821,894,3414
$GC,3343,-0.80,-117.3,282.1,-8.3,173,3349,0.00,2.25,0.00,0.000,6,0.000,0.043,1812,2300,3414
$GC,3685,-0.80,-117.3,310.6,-8.3,183,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2300,3414
$GC,3988,-0.80,-117.3,334.2,-7.7,188,3992,0.00,2.28,0.00,0.000,4,0.000,0.043,1812,892,3413
$GC,4022,-0.80,-117.3,337.0,-8.0,188,4027,0.00,2.28,0.00,0.000,6,0.000,0.038,1807,2306,3413
$GC,4357,-0.77,-117.3,362.2,-7.6,194,4361,0.10,2.33,0.00,0.000,4,0.134,0.043,1834,892,3413
$GC,4426,-0.82,-117.3,366.8,-6.5,195,4430,0.00,2.28,0.00,0.000,6,0.000,0.040,1834,2300,3413
$GC,4794,-0.85,-117.3,388.7,-6.1,201,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2301,3412
$GC,5096,-0.89,-117.3,408.6,-6.6,206,5098,0.10,0.00,0.00,0.000,6,0.066,0.000,1766,2301,3412
$GC,5399,-0.80,-117.3,441.4,-11.0,211,5404,0.20,2.33,0.00,0.000,4,0.118,0.044,1831,895,3412
$GC,5484,-0.84,-117.3,448.5,-7.7,212,5489,0.00,2.28,0.00,0.000,6,0.000,0.041,1824,2305,3412
$GC,5830,-0.87,-117.3,472.1,-6.7,218,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2306,3411
$GC,6132,-0.89,-117.3,491.4,-6.3,223,6136,0.00,2.30,0.00,0.000,4,0.000,0.044,1824,897,3412
$GC,6205,-0.92,-117.3,496.3,-6.8,224,6209,0.00,2.25,0.00,0.000,6,0.000,0.038,1821,2308,3412
$GC,6567,-0.92,-117.3,519.5,-6.4,230,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3412
$GC,6870,-0.94,-117.3,539.3,-6.6,235,6874,0.10,2.30,0.00,0.000,4,0.064,0.049,1756,889,3411
$GC,6909,-0.84,-117.3,543.2,-10.9,235,6914,0.25,2.30,0.00,0.000,6,0.122,0.039,1820,2313,3411
$GC,7232,-0.86,-117.3,566.8,-7.2,241,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2313,3411
$GC,7535,-0.89,-117.3,587.2,-6.6,246,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2313,3411
$GC,7838,-0.92,-117.3,604.4,-5.6,251,7842,0.00,2.30,0.00,0.000,4,0.000,0.047,1820,895,3410
$GC,7889,-0.95,-117.3,607.7,-6.3,251,7894,0.10,2.28,0.00,0.000,6,0.066,0.046,1753,2305,3411
$GC,8212,-0.85,-117.3,636.7,-9.3,257,8216,0.17,2.28,0.00,0.000,4,0.127,0.049,1813,897,3410
$GC,8262,-0.88,-117.3,640.6,-6.6,257,8266,0.00,2.28,0.00,0.000,6,0.000,0.043,1808,2313,3410
$GC,8584,-0.88,-117.3,661.4,-6.5,263,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2314,3410
$GC,8888,-0.88,-117.3,681.9,-6.8,268,8892,0.00,2.33,0.00,0.000,4,0.000,0.044,1808,893,3410
$GC,8933,-0.88,-117.3,685.5,-8.1,268,8937,0.00,2.28,0.00,0.000,6,0.000,0.044,1799,2304,3410
$GC,9249,-0.88,-117.3,710.0,-7.9,274,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2305,3410
$GC,9552,-0.88,-117.3,734.6,-8.1,279,9556,0.00,2.30,0.00,0.000,4,0.000,0.046,1799,892,3410
$GC,9616,-0.88,-117.3,740.0,-8.5,280,9620,0.00,2.30,0.00,0.000,6,0.000,0.044,1795,2311,3410
$GC,9982,-0.88,-117.3,769.1,-7.9,286,9986,0.00,2.30,0.00,0.000,4,0.000,0.045,1795,897,3409
$GC,10028,-0.88,-117.3,772.9,-8.7,286,10032,0.10,2.28,0.00,0.000,6,0.129,0.041,1813,2310,3409
$GC,10345,-0.91,-117.3,793.5,-6.5,292,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2310,3409
$GC,10647,-0.94,-117.3,812.6,-6.3,297,10651,0.00,2.33,0.00,0.000,4,0.000,0.048,1814,898,3409
$GC,10676,-0.98,-117.3,814.6,-7.1,297,10680,0.00,2.28,0.00,0.000,6,0.000,0.042,1809,2304,3409
$GC,11009,-1.00,-117.3,835.6,-6.2,303,11011,0.10,0.00,0.00,0.000,6,0.069,0.000,1752,2305,3409
$GC,11313,-0.90,-117.3,862.3,-8.9,308,11318,0.17,2.35,0.00,0.000,4,0.125,0.049,1812,890,3409
$GC,11376,-0.93,-117.3,866.7,-6.2,309,11381,0.00,2.30,0.00,0.000,6,0.000,0.040,1809,2304,3409
$GC,11743,-0.95,-117.3,887.7,-5.8,315,11745,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3408
$GC,12048,-0.98,-117.3,904.4,-5.4,320,12052,0.00,2.30,0.00,0.000,4,0.000,0.047,1809,896,3409
$GC,12094,-1.01,-117.3,907.1,-5.3,320,12098,0.10,2.30,0.00,0.000,6,0.074,0.045,1761,2309,3409
$GC,12410,-0.94,-117.3,931.3,-7.8,326,12415,0.12,2.33,0.00,0.000,4,0.132,0.057,1788,3718,3409
$GC,12456,-0.94,-117.3,934.4,-6.5,326,12460,0.00,2.25,0.00,0.000,6,0.000,0.037,1788,2296,3408
$GC,12771,-0.94,-117.3,955.0,-6.5,332,12775,0.00,2.28,0.00,0.000,4,0.000,0.047,1788,894,3408
$GC,12812,-0.92,-117.3,957.8,-6.5,332,12816,0.00,2.28,0.00,0.000,6,0.000,0.047,1781,2303,3408
$GC,13135,-0.88,-117.3,980.5,-7.1,338,13139,0.10,2.30,0.00,0.000,4,0.140,0.051,1810,898,3407
$GC,13174,-0.91,-117.3,983.6,-6.9,338,13179,0.00,2.30,0.00,0.000,6,0.000,0.045,1809,2304,3408
$STATE,13311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13311,begin apogee
$GC,13319,-0.22,0.0,991.9,6.1,341,13421,0.45,0.00,99.20,1.279,6,0.110,0.000,1954,2305,2931
$STATE,13422,end apogee,CONTROL_FINISHED_OK
$STATE,13422,begin climb
$GC,13427,0.68,117.3,993.4,0.0,342,13538,0.55,2.53,104.28,1.252,4,0.068,0.055,2152,3708,2451
$GC,13560,0.54,117.3,992.5,6.0,345,13565,0.17,2.40,0.00,0.000,6,0.163,0.038,2122,2304,2448
$GC,13929,0.50,128.4,973.2,5.1,351,13940,0.00,0.00,9.30,1.061,6,0.000,0.000,2122,2303,2407
$GC,14231,0.46,133.8,957.1,5.3,356,14240,0.10,0.00,6.32,0.950,6,0.168,0.000,2096,2303,2385
$GC,14534,0.48,155.8,942.9,4.8,361,14559,0.00,2.35,20.65,1.176,4,0.000,0.054,2096,3718,2294
$GC,14611,0.48,155.8,938.5,5.9,362,14615,0.00,2.25,0.00,0.000,6,0.000,0.033,2104,2297,2292
$GC,14967,0.48,155.8,918.3,5.7,368,14971,0.00,2.30,0.00,0.000,4,0.000,0.052,2104,3712,2290
$GC,15007,0.44,155.8,915.6,7.0,368,15011,0.00,2.22,0.00,0.000,6,0.000,0.039,2115,2303,2289
$GC,15329,0.44,155.8,896.0,6.0,374,15330,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2303,2289
$GC,15631,0.44,155.8,878.7,5.6,379,15635,0.00,2.30,0.00,0.000,4,0.000,0.051,2114,3717,2288
$GC,15688,0.38,155.8,874.9,6.3,379,15695,0.17,2.22,0.00,0.000,6,0.151,0.033,2082,2294,2288
$GC,16000,0.50,201.2,862.2,4.0,385,16042,0.10,0.00,40.30,1.171,6,0.070,0.000,2139,2293,2110
$GC,16303,0.55,201.2,844.0,6.0,390,16307,0.00,2.28,0.00,0.000,4,0.000,0.049,2147,889,2105
$GC,16368,0.52,201.2,840.1,6.3,391,16373,0.15,2.28,0.00,0.000,6,0.133,0.041,2107,2306,2104
$GC,16736,0.58,224.3,822.6,4.7,397,16771,0.00,2.38,22.90,1.030,4,0.000,0.049,2107,3702,2015
$GC,16806,0.61,224.3,818.7,5.5,398,16810,0.00,2.22,0.00,0.000,6,0.000,0.031,2114,2303,2013
$GC,17167,0.65,229.6,799.6,5.3,404,17178,0.10,2.30,5.95,0.869,4,0.071,0.047,2182,892,1993
$GC,17192,0.62,229.6,797.9,6.6,404,17197,0.17,2.28,0.00,0.000,6,0.140,0.040,2135,2309,1992
$GC,17530,0.62,229.6,775.1,6.6,410,17534,0.00,2.30,0.00,0.000,4,0.000,0.053,2135,3717,1992
$GC,17594,0.57,229.6,770.3,7.1,411,17598,0.00,2.22,0.00,0.000,6,0.000,0.033,2143,2304,1991
$GC,17961,0.53,229.6,744.4,7.0,417,17966,0.12,2.30,0.00,0.000,4,0.143,0.047,2110,3715,1991
$GC,18006,0.53,229.6,741.4,6.6,417,18010,0.00,2.25,0.00,0.000,6,0.000,0.032,2118,2292,1990
$GC,18333,0.56,229.6,722.4,5.9,423,18337,0.00,2.28,0.00,0.000,4,0.000,0.047,2128,892,1990
$GC,18357,0.59,229.6,720.9,6.5,423,18361,0.00,2.25,0.00,0.000,6,0.000,0.041,2128,2303,1989
$GC,18701,0.59,229.6,697.7,6.8,429,18705,0.00,2.30,0.00,0.000,4,0.000,0.054,2128,3715,1989
$GC,18735,0.59,229.6,695.1,7.8,429,18739,0.00,2.25,0.00,0.000,6,0.000,0.032,2138,2292,1989
$GC,19063,0.59,229.6,671.4,7.2,435,19064,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2292,1989
$GC,19365,0.59,229.6,649.4,7.3,440,19369,0.00,2.35,0.00,0.000,4,0.000,0.051,2138,3711,1989
$GC,19410,0.54,229.6,645.8,8.1,440,19415,0.12,2.25,0.00,0.000,6,0.134,0.032,2115,2293,1989
$GC,19727,0.59,238.0,628.7,5.2,446,19741,0.00,2.33,8.32,0.883,4,0.000,0.047,2123,906,1960
$GC,19766,0.67,251.7,626.5,5.0,446,19786,0.08,2.25,14.02,0.949,6,0.078,0.043,2183,2310,1904
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$STATE,28732,end climb,SURFACE_DEPTH_REACHED
$STATE,28732,begin surface coast
$FINISH,1.3,1.013674
$STATE,28754,end surface coast,CONTROL_FINISHED_OK
$STATE,28754,begin surface
$SM_CCo,28834,0.00,0.000,0,0,1599,326.74
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$TT8_MAMPS,0.028379
$HUMID,1756
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$TCM_TEMP,15.50
$XPDR_PINGS,69
$24V_AH,21.8,96.645
$10V_AH,10.4,83.111
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$DEVICE_SECS,19.225,246.025,400.750,0.000,0.000,80.539,86.853,325.452,17.250,0.000,0.000,16.498,1719.839,23852.848,570.317,2280.942,1189.794,33.382,1776.944,0.000,2259.682,0.000,0.527,0.000
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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,44320,742
$CAP_FILE_SIZE,198255,0
$CFSIZE,260165632,206340096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,230110,042337,5003.709,-14346.329,31,1.2,31,18.7