version: 66.04
glider: 144
mission: 15
dive: 678
start: 1 24 110 21 24 21
data:
$ID,144
$MISSION,15
$DIVE,678
$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,-75379.352
$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,35
$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
$GPS1,211107,5001.245,-14321.590,31,2.0,31,18.8
$_CALLS,2
$_XMS_NAKs,25
$_XMS_TOUTs,2
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-52.4
$GPS2,212328,5001.137,-14321.665,11,2.5,30,18.8
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.157,-0.059
$KALMAN_X,-90991.2,-21.7,-157.1,219885.0,49.6
$KALMAN_Y,33886.2,-76.2,13.1,-70561.2,1246.4
$MHEAD_RNG_PITCHd_Wd,91.6,342031,-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,-40.95,0.000,2,0.000,0.000,99,2306,2473
$GC,63,-0.68,-117.3,3.4,-6.6,2,100,7.12,2.38,-24.58,0.000,4,0.229,0.062,1850,886,3411
$GC,158,-0.65,-117.3,13.1,-8.9,5,162,0.00,2.30,0.00,0.000,6,0.000,0.038,1848,2304,3413
$GC,475,-0.62,-117.3,43.8,-9.4,20,479,0.00,2.25,0.00,0.000,4,0.000,0.041,1848,890,3413
$GC,526,-0.62,-117.3,49.0,-9.0,22,531,0.10,2.25,0.00,0.000,6,0.124,0.037,1866,2314,3413
$GC,849,-0.62,-117.3,77.7,-8.5,38,853,0.00,2.28,0.00,0.000,4,0.000,0.042,1866,888,3413
$GC,895,-0.65,-117.3,81.6,-8.3,40,902,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2297,3413
$GC,1224,-0.65,-117.3,108.1,-7.7,71,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2297,3413
$GC,1552,-0.69,-117.3,131.6,-6.5,102,1556,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,882,3413
$GC,1608,-0.74,-117.3,135.6,-6.8,106,1616,0.10,2.25,0.00,0.000,6,0.064,0.038,1789,2310,3414
$GC,1939,-0.66,-117.3,168.6,-9.8,126,1944,0.20,2.33,0.00,0.000,4,0.119,0.041,1856,884,3413
$GC,2007,-0.73,-117.3,173.6,-6.7,128,2011,0.00,2.25,0.00,0.000,6,0.000,0.041,1850,2301,3413
$GC,2338,-0.77,-117.3,196.2,-7.2,139,2342,0.00,2.28,0.00,0.000,4,0.000,0.041,1850,889,3414
$GC,2373,-0.82,-117.3,198.9,-7.5,140,2378,0.10,2.30,0.00,0.000,6,0.067,0.038,1777,2315,3413
$GC,2704,-0.73,-117.3,235.9,-11.2,151,2706,0.22,0.00,0.00,0.000,6,0.117,0.000,1846,2315,3413
$GC,3011,-0.78,-117.3,258.4,-7.1,161,3015,0.00,2.30,0.00,0.000,4,0.000,0.043,1846,888,3413
$GC,3056,-0.84,-117.3,262.0,-7.4,162,3060,0.00,2.25,0.00,0.000,6,0.000,0.038,1840,2306,3413
$GC,3381,-0.87,-117.3,285.5,-7.1,173,3383,0.10,0.00,0.00,0.000,6,0.067,0.000,1759,2306,3413
$GC,3717,-0.76,-117.3,323.0,-11.3,181,3722,0.22,2.33,0.00,0.000,4,0.120,0.043,1834,890,3413
$GC,3762,-0.80,-117.3,327.2,-8.0,181,3766,0.00,2.28,0.00,0.000,6,0.000,0.044,1827,2309,3413
$GC,4078,-0.80,-117.3,351.9,-7.9,187,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2309,3412
$GC,4382,-0.82,-117.3,375.8,-7.9,192,4386,0.00,2.30,0.00,0.000,4,0.000,0.043,1827,888,3412
$GC,4428,-0.85,-117.3,379.8,-8.8,192,4433,0.00,2.30,0.00,0.000,6,0.000,0.045,1821,2312,3412
$GC,4744,-0.85,-117.3,405.5,-8.1,198,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2312,3412
$GC,5047,-0.85,-117.3,427.2,-7.0,203,5052,0.00,2.35,0.00,0.000,4,0.000,0.045,1821,889,3411
$GC,5083,-0.85,-117.3,429.7,-6.8,203,5087,0.00,2.30,0.00,0.000,6,0.000,0.041,1811,2312,3412
$GC,5412,-0.85,-117.3,451.7,-6.6,209,5416,0.00,2.33,0.00,0.000,4,0.000,0.044,1811,886,3411
$GC,5451,-0.85,-117.3,454.6,-7.2,209,5455,0.00,2.28,0.00,0.000,6,0.000,0.041,1802,2304,3411
$GC,5773,-0.83,-117.3,477.6,-7.2,215,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2305,3411
$GC,6077,-0.81,-117.3,499.7,-7.3,220,6082,0.08,2.30,0.00,0.000,4,0.145,0.046,1825,894,3411
$GC,6123,-0.85,-117.3,503.1,-7.4,220,6127,0.00,2.28,0.00,0.000,6,0.000,0.041,1821,2307,3411
$GC,6439,-0.85,-117.3,523.9,-6.5,226,6443,0.00,2.28,0.00,0.000,4,0.000,0.044,1821,889,3410
$GC,6467,-0.87,-117.3,525.9,-7.4,226,6472,0.00,2.28,0.00,0.000,6,0.000,0.038,1812,2311,3410
$GC,6807,-0.87,-117.3,549.7,-7.1,232,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2310,3410
$GC,7109,-0.87,-117.3,571.1,-7.1,237,7113,0.00,2.33,0.00,0.000,4,0.000,0.048,1812,888,3410
$GC,7148,-0.87,-117.3,574.0,-7.5,237,7152,0.00,2.30,0.00,0.000,6,0.000,0.045,1807,2312,3410
$GC,7470,-0.87,-117.3,598.1,-7.6,243,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2312,3410
$GC,7774,-0.87,-117.3,621.8,-7.9,248,7778,0.00,2.35,0.00,0.000,4,0.000,0.048,1807,886,3410
$GC,7837,-0.87,-117.3,626.9,-8.3,249,7841,0.00,2.30,0.00,0.000,6,0.000,0.043,1798,2304,3409
$GC,8203,-0.87,-117.3,656.8,-8.2,255,8207,0.00,2.33,0.00,0.000,4,0.000,0.058,1791,3720,3409
$GC,8232,-0.85,-117.3,659.2,-9.0,255,8237,0.10,2.25,0.00,0.000,6,0.115,0.032,1819,2299,3409
$GC,8566,-0.88,-117.3,681.2,-6.4,261,8570,0.00,2.28,0.00,0.000,4,0.000,0.049,1819,895,3409
$GC,8611,-0.92,-117.3,684.2,-6.9,261,8615,0.00,2.25,0.00,0.000,6,0.000,0.044,1813,2309,3409
$GC,8939,-0.92,-117.3,704.5,-6.2,267,8943,0.00,2.28,0.00,0.000,4,0.000,0.051,1804,3710,3409
$GC,8968,-0.92,-117.3,706.5,-7.6,267,8972,0.00,2.20,0.00,0.000,6,0.000,0.032,1804,2301,3409
$GC,9306,-0.92,-117.3,728.3,-6.5,273,9310,0.00,2.30,0.00,0.000,4,0.000,0.046,1804,884,3408
$GC,9345,-0.92,-117.3,731.2,-7.3,273,9349,0.00,2.28,0.00,0.000,6,0.000,0.042,1795,2306,3409
$GC,9668,-0.92,-117.3,754.2,-7.2,279,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2306,3409
$GC,9970,-0.92,-117.3,775.6,-7.1,284,9974,0.00,2.28,0.00,0.000,4,0.000,0.048,1795,894,3408
$GC,10004,-0.92,-117.3,778.3,-7.9,284,10008,0.00,2.28,0.00,0.000,6,0.000,0.045,1789,2306,3408
$GC,10337,-0.90,-117.3,802.5,-7.3,290,10338,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,2306,3409
$GC,10641,-0.87,-117.3,824.1,-7.1,295,10645,0.10,2.33,0.00,0.000,4,0.135,0.050,1817,891,3409
$GC,10670,-0.89,-117.3,826.1,-6.8,295,10674,0.00,2.28,0.00,0.000,6,0.000,0.044,1810,2305,3407
$GC,11003,-0.91,-117.3,845.7,-6.0,301,11004,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2305,3408
$GC,11306,-0.93,-117.3,863.4,-5.8,306,11310,0.00,2.35,0.00,0.000,4,0.000,0.046,1810,887,3408
$GC,11342,-0.95,-117.3,865.6,-5.9,306,11346,0.00,2.33,0.00,0.000,6,0.000,0.041,1808,2312,3408
$GC,11668,-0.95,-117.3,884.3,-5.6,312,11670,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2313,3408
$GC,11971,-0.95,-117.3,901.4,-5.6,317,11973,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2313,3408
$GC,12275,-0.98,-117.3,918.6,-5.7,322,12279,0.00,2.33,0.00,0.000,4,0.000,0.047,1808,892,3407
$GC,12309,-0.98,-117.3,920.9,-6.5,322,12314,0.00,2.30,0.00,0.000,6,0.000,0.041,1806,2308,3407
$GC,12642,-0.98,-117.3,941.1,-6.0,328,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2308,3408
$GC,12945,-0.98,-117.3,959.9,-6.2,333,12949,0.00,2.33,0.00,0.000,4,0.000,0.052,1806,889,3408
$GC,12974,-0.98,-117.3,961.7,-7.2,333,12978,0.00,2.30,0.00,0.000,6,0.000,0.045,1796,2302,3407
$GC,13307,-0.98,-117.3,983.7,-6.7,339,13309,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2302,3407
$STATE,13424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13424,begin apogee
$GC,13433,-0.22,0.0,991.7,6.7,341,13535,0.50,0.00,98.82,1.279,6,0.108,0.000,1958,2302,2931
$STATE,13535,end apogee,CONTROL_FINISHED_OK
$STATE,13535,begin climb
$GC,13539,0.68,117.3,992.9,0.0,342,13651,0.57,2.55,104.32,1.253,4,0.067,0.054,2157,3702,2451
$GC,13687,0.48,117.3,990.0,7.3,345,13692,0.28,2.38,0.00,0.000,6,0.165,0.035,2101,2305,2447
$GC,14037,0.49,131.3,972.4,5.0,351,14051,0.00,0.00,12.05,1.113,6,0.000,0.000,2101,2305,2395
$GC,14341,0.50,139.4,956.7,5.2,356,14351,0.00,0.00,8.38,1.035,6,0.000,0.000,2101,2305,2362
$GC,14643,0.52,155.1,941.8,5.0,361,14663,0.00,2.30,15.12,1.138,4,0.000,0.051,2110,894,2297
$GC,14686,0.55,179.2,939.4,4.7,361,14715,0.00,2.28,22.55,1.170,6,0.000,0.041,2110,2310,2200
$GC,15079,0.55,179.2,917.4,5.7,368,15083,0.00,2.28,0.00,0.000,4,0.000,0.051,2110,3714,2194
$GC,15119,0.52,179.2,914.8,7.0,368,15123,0.00,2.25,0.00,0.000,6,0.000,0.035,2120,2293,2193
$GC,15440,0.52,179.2,896.0,5.8,374,15444,0.00,2.30,0.00,0.000,4,0.000,0.057,2120,3711,2193
$GC,15464,0.49,179.2,894.4,6.3,374,15468,0.10,2.20,0.00,0.000,6,0.157,0.034,2109,2304,2192
$GC,15803,0.51,194.0,877.3,5.0,380,15818,0.00,0.00,13.32,1.095,6,0.000,0.000,2108,2304,2140
$GC,16105,0.55,206.6,861.9,5.1,385,16120,0.00,0.00,12.80,1.078,6,0.000,0.000,2108,2304,2088
$GC,16408,0.59,216.4,846.1,5.2,390,16423,0.00,2.30,9.85,1.023,4,0.000,0.054,2108,3710,2048
$GC,16442,0.62,220.0,844.4,5.4,390,16452,0.00,2.25,5.22,0.830,6,0.000,0.033,2117,2291,2034
$GC,16775,0.63,224.8,826.4,5.3,396,16786,0.00,2.28,5.78,0.871,4,0.000,0.051,2127,889,2013
$GC,16816,0.67,224.8,823.9,6.3,396,16820,0.00,2.25,0.00,0.000,6,0.000,0.039,2126,2306,2012
$GC,17137,0.67,224.8,804.6,6.0,402,17141,0.00,2.28,0.00,0.000,4,0.000,0.056,2127,3718,2012
$GC,17171,0.64,224.8,802.2,7.2,402,17175,0.00,2.22,0.00,0.000,6,0.000,0.033,2137,2304,2011
$GC,17498,0.64,224.8,778.7,7.2,408,17499,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2304,2011
$GC,17802,0.64,224.8,755.9,7.6,413,17803,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2304,2010
$GC,18104,0.64,224.8,732.8,7.7,418,18108,0.00,2.28,0.00,0.000,4,0.000,0.048,2137,3714,2010
$GC,18127,0.61,224.8,730.9,8.0,418,18131,0.00,2.20,0.00,0.000,6,0.000,0.033,2147,2298,2010
$GC,18471,0.57,224.8,703.5,7.9,424,18476,0.10,2.30,0.00,0.000,4,0.150,0.048,2122,3713,2010
$GC,18495,0.54,224.8,701.7,7.4,424,18499,0.00,2.22,0.00,0.000,6,0.000,0.032,2130,2303,2010
$GC,18839,0.54,224.8,679.5,6.3,430,18840,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2304,2010
$GC,19142,0.54,224.8,662.1,5.7,435,19143,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2303,2009
$GC,19445,0.54,224.8,645.3,5.5,440,19446,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2303,2009
$GC,19749,0.54,224.8,628.3,5.6,445,19750,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2303,2009
$GC,20051,0.54,224.8,610.5,6.0,450,20052,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2303,2009
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$STATE,28930,end climb,SURFACE_DEPTH_REACHED
$STATE,28931,begin surface coast
$FINISH,1.2,1.025230
$STATE,28952,end surface coast,CONTROL_FINISHED_OK
$STATE,28953,begin surface
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$HUMID,1757
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$TCM_TEMP,15.60
$XPDR_PINGS,64
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$10V_AH,10.4,83.784
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$DEVICE_SECS,18.425,232.500,436.450,0.000,0.000,50.750,80.113,339.009,16.000,0.000,0.000,33.294,1645.115,24320.252,580.773,2066.836,1146.790,33.383,1704.590,0.000,2021.984,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,521.842,606.547,761.077,791.272,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44383,739
$CAP_FILE_SIZE,185937,0
$CFSIZE,260165632,205881344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250110,052937,4959.749,-14317.275,40,1.2,40,18.8