version: 66.04
glider: 144
mission: 15
dive: 681
start: 1 25 110 22 4 23
data:
$ID,144
$MISSION,15
$DIVE,681
$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,-75453.398
$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,32
$R_STBD_OVSHOOT,34
$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
$GPS1,215637,4957.764,-14307.434,38,1.3,38,18.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-54.5
$GPS2,220326,4957.753,-14307.394,11,1.5,11,18.8
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.168,-0.007
$KALMAN_X,-91828.1,73.5,142.6,237179.2,-698.8
$KALMAN_Y,32544.4,96.7,59.0,-75708.2,-476.1
$MHEAD_RNG_PITCHd_Wd,73.7,324175,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.25,0.000,2,0.000,0.000,97,2307,2667
$GC,63,-0.68,-117.3,3.8,-6.7,2,93,7.18,2.40,-17.15,0.000,4,0.232,0.063,1847,895,3413
$GC,347,-0.68,-117.3,38.4,-8.7,14,353,0.00,2.28,0.00,0.000,6,0.000,0.038,1842,2289,3414
$GC,664,-0.64,-117.3,73.0,-11.2,30,668,0.00,2.28,0.00,0.000,4,0.000,0.041,1842,885,3414
$GC,751,-0.64,-117.3,82.4,-10.2,35,755,0.10,2.28,0.00,0.000,6,0.138,0.037,1863,2306,3414
$GC,1080,-0.66,-117.3,108.5,-8.0,65,1084,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,891,3414
$GC,1110,-0.71,-117.3,111.2,-8.5,67,1117,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2309,3415
$GC,1440,-0.76,-117.3,135.1,-6.7,98,1446,0.10,0.00,0.00,0.000,6,0.064,0.000,1781,2309,3414
$GC,1771,-0.66,-117.3,169.7,-10.1,118,1776,0.22,2.30,0.00,0.000,4,0.118,0.051,1846,3708,3414
$GC,1811,-0.72,-117.3,172.7,-6.1,119,1815,0.00,2.20,0.00,0.000,6,0.000,0.030,1846,2291,3415
$GC,2136,-0.77,-117.3,191.6,-6.4,130,2140,0.00,2.22,0.00,0.000,4,0.000,0.042,1846,891,3415
$GC,2183,-0.82,-117.3,194.9,-6.7,131,2187,0.00,2.25,0.00,0.000,6,0.000,0.040,1838,2307,3415
$GC,2508,-0.85,-117.3,217.6,-6.8,142,2510,0.08,0.00,0.00,0.000,6,0.077,0.000,1768,2307,3415
$GC,2814,-0.74,-117.3,250.0,-10.9,152,2819,0.20,2.30,0.00,0.000,4,0.120,0.047,1836,903,3414
$GC,2883,-0.78,-117.3,255.6,-7.1,154,2887,0.00,2.25,0.00,0.000,6,0.000,0.040,1836,2303,3414
$GC,3214,-0.80,-117.3,275.4,-5.7,165,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2303,3414
$GC,3520,-0.83,-117.3,292.8,-5.8,175,3524,0.00,2.28,0.00,0.000,4,0.000,0.043,1837,889,3414
$GC,3561,-0.87,-117.3,295.4,-6.5,176,3565,0.10,2.30,0.00,0.000,6,0.067,0.038,1766,2307,3414
$GC,3883,-0.77,-117.3,327.8,-10.4,183,3887,0.20,2.28,0.00,0.000,4,0.119,0.044,1833,903,3414
$GC,3922,-0.80,-117.3,331.1,-7.1,183,3926,0.00,2.25,0.00,0.000,6,0.000,0.044,1826,2303,3414
$GC,4245,-0.80,-117.3,353.6,-7.0,189,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2303,3413
$GC,4547,-0.80,-117.3,374.8,-7.0,194,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2303,3413
$GC,4850,-0.80,-117.3,396.5,-7.2,199,4854,0.00,2.25,0.00,0.000,4,0.000,0.044,1826,902,3414
$GC,4891,-0.83,-117.3,399.5,-8.0,199,4895,0.00,2.25,0.00,0.000,6,0.000,0.041,1821,2301,3413
$GC,5218,-0.83,-117.3,423.4,-7.3,205,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2301,3414
$GC,5520,-0.83,-117.3,445.3,-7.2,210,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2302,3413
$GC,5824,-0.83,-117.3,469.5,-8.1,215,5827,0.00,2.25,0.00,0.000,4,0.000,0.044,1821,900,3413
$GC,5875,-0.83,-117.3,474.0,-8.4,215,5879,0.00,2.28,0.00,0.000,6,0.000,0.040,1812,2312,3413
$GC,6197,-0.83,-117.3,500.0,-8.0,221,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2312,3413
$GC,6501,-0.83,-117.3,523.1,-7.6,226,6504,0.00,2.30,0.00,0.000,4,0.000,0.051,1812,902,3413
$GC,6563,-0.83,-117.3,528.1,-8.0,226,6569,0.00,2.28,0.00,0.000,6,0.000,0.043,1807,2309,3412
$GC,6873,-0.83,-117.3,551.5,-7.5,232,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2309,3412
$GC,7177,-0.83,-117.3,573.2,-7.1,237,7180,0.00,2.30,0.00,0.000,4,0.000,0.047,1807,897,3412
$GC,7236,-0.83,-117.3,577.7,-8.5,237,7240,0.00,2.28,0.00,0.000,6,0.000,0.040,1798,2305,3412
$GC,7546,-0.81,-117.3,601.4,-7.5,242,7548,0.10,0.00,0.00,0.000,6,0.135,0.000,1826,2305,3412
$GC,7850,-0.85,-117.3,619.2,-5.9,247,7854,0.00,2.25,0.00,0.000,4,0.000,0.044,1826,898,3411
$GC,7895,-0.90,-117.3,622.3,-6.6,247,7900,0.00,2.25,0.00,0.000,6,0.000,0.044,1823,2300,3411
$GC,8224,-0.93,-117.3,643.7,-6.7,253,8226,0.10,0.00,0.00,0.000,6,0.067,0.000,1752,2300,3411
$GC,8526,-0.82,-117.3,675.8,-10.8,258,8531,0.20,2.30,0.00,0.000,4,0.123,0.045,1817,901,3411
$GC,8585,-0.85,-117.3,680.8,-8.2,258,8589,0.00,2.25,0.00,0.000,6,0.000,0.042,1810,2305,3411
$GC,8896,-0.85,-117.3,703.2,-7.1,263,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3411
$GC,9198,-0.85,-117.3,724.1,-7.0,268,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2305,3411
$GC,9501,-0.85,-117.3,744.1,-6.5,273,9505,0.00,2.28,0.00,0.000,4,0.000,0.048,1810,902,3411
$GC,9547,-0.85,-117.3,747.0,-6.7,273,9551,0.00,2.28,0.00,0.000,6,0.000,0.045,1809,2312,3411
$GC,9863,-0.85,-117.3,767.4,-6.5,279,9867,0.00,2.33,0.00,0.000,4,0.000,0.044,1808,895,3410
$GC,9898,-0.85,-117.3,769.8,-7.2,279,9902,0.00,2.30,0.00,0.000,6,0.000,0.046,1807,2309,3411
$GC,10225,-0.85,-117.3,791.3,-6.4,285,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3410
$GC,10528,-0.85,-117.3,810.3,-6.2,290,10529,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3410
$GC,10832,-0.85,-117.3,827.9,-5.8,295,10836,0.00,2.30,0.00,0.000,4,0.000,0.051,1808,899,3410
$GC,10877,-0.85,-117.3,830.7,-6.3,295,10881,0.00,2.25,0.00,0.000,6,0.000,0.045,1798,2304,3410
$GC,11205,-0.85,-117.3,850.8,-6.2,301,11206,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2305,3410
$GC,11507,-0.85,-117.3,869.6,-6.2,306,11509,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2305,3409
$GC,11811,-0.85,-117.3,888.8,-6.3,311,11815,0.00,2.33,0.00,0.000,4,0.000,0.047,1798,904,3409
$GC,11846,-0.85,-117.3,891.2,-7.3,311,11850,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2303,3409
$GC,12173,-0.85,-117.3,912.8,-6.5,317,12174,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3409
$GC,12476,-0.85,-117.3,931.7,-6.3,322,12477,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3409
$GC,12779,-0.85,-117.3,949.9,-6.0,327,12783,0.00,2.33,0.00,0.000,4,0.000,0.048,1795,897,3409
$GC,12830,-0.85,-117.3,953.2,-6.2,327,12835,0.10,2.30,0.00,0.000,6,0.134,0.044,1818,2304,3409
$GC,13152,-0.90,-117.3,969.3,-5.0,333,13154,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2304,3409
$GC,13455,-0.95,-117.3,985.4,-5.3,338,13457,0.10,0.00,0.00,0.000,6,0.080,0.000,1776,2304,3409
$STATE,13572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13572,begin apogee
$GC,13582,-0.22,0.0,994.5,6.5,340,13684,0.55,0.00,99.55,1.278,6,0.112,0.000,1951,2304,2931
$STATE,13685,end apogee,CONTROL_FINISHED_OK
$STATE,13685,begin climb
$GC,13689,0.68,117.3,996.3,0.0,341,13800,0.55,2.58,104.60,1.253,4,0.070,0.051,2147,3712,2451
$GC,13858,0.50,117.3,993.9,6.4,343,13863,0.20,2.38,0.00,0.000,6,0.159,0.036,2109,2311,2446
$GC,14175,0.53,164.0,981.0,3.9,349,14217,0.00,0.00,40.60,1.226,6,0.000,0.000,2109,2311,2262
$GC,14477,0.56,194.0,967.6,4.5,354,14506,0.00,0.00,27.00,1.195,6,0.000,0.000,2109,2311,2140
$GC,14780,0.59,217.0,953.1,4.7,359,14809,0.00,2.40,21.58,1.174,4,0.000,0.052,2109,3714,2045
$GC,14829,0.65,243.4,950.6,4.6,359,14860,0.08,2.28,25.23,1.176,6,0.074,0.036,2157,2300,1938
$GC,15214,0.58,243.4,919.8,8.2,366,15218,0.12,2.30,0.00,0.000,4,0.142,0.053,2134,893,1930
$GC,15254,0.61,243.4,916.6,6.7,366,15258,0.00,2.25,0.00,0.000,6,0.000,0.043,2133,2305,1929
$GC,15575,0.61,243.4,893.7,7.4,372,15579,0.00,2.28,0.00,0.000,4,0.000,0.051,2134,3711,1929
$GC,15610,0.58,243.4,890.5,8.5,372,15614,0.00,2.22,0.00,0.000,6,0.000,0.035,2144,2299,1928
$GC,15938,0.54,243.4,862.1,8.7,378,15942,0.10,2.33,0.00,0.000,4,0.153,0.048,2118,3716,1928
$GC,15960,0.54,243.4,860.1,8.8,378,15964,0.00,2.25,0.00,0.000,6,0.000,0.035,2126,2298,1928
$GC,16298,0.54,243.4,834.2,7.7,384,16302,0.00,2.33,0.00,0.000,4,0.000,0.048,2125,3713,1927
$GC,16326,0.54,243.4,831.6,8.4,384,16330,0.00,2.22,0.00,0.000,6,0.000,0.040,2136,2303,1927
$GC,16659,0.54,243.4,805.0,8.0,390,16663,0.00,2.30,0.00,0.000,4,0.000,0.055,2136,3708,1927
$GC,16688,0.52,243.4,802.4,8.8,390,16692,0.15,2.22,0.00,0.000,6,0.134,0.034,2105,2298,1927
$GC,17021,0.59,243.4,783.0,5.7,396,17025,0.08,2.30,0.00,0.000,4,0.082,0.047,2163,893,1926
$GC,17061,0.56,243.4,779.9,8.2,396,17066,0.17,2.25,0.00,0.000,6,0.132,0.041,2116,2304,1926
$GC,17389,0.61,248.7,761.7,5.3,402,17398,0.00,2.35,3.97,0.687,4,0.000,0.054,2116,3707,1917
$GC,17434,0.64,248.7,758.8,6.8,402,17438,0.00,2.22,0.00,0.000,6,0.000,0.033,2123,2301,1917
$GC,17756,0.66,248.7,740.5,5.7,408,17758,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2301,1917
$GC,18059,0.69,248.7,723.1,5.7,413,18063,0.10,2.33,0.00,0.000,4,0.064,0.053,2183,3708,1916
$GC,18087,0.59,248.7,720.6,9.1,413,18092,0.25,2.22,0.00,0.000,6,0.143,0.033,2124,2303,1916
$GC,18421,0.62,248.7,698.4,6.5,419,18425,0.00,2.28,0.00,0.000,4,0.000,0.047,2133,891,1917
$GC,18444,0.65,248.7,696.6,7.2,419,18448,0.00,2.25,0.00,0.000,6,0.000,0.041,2133,2304,1916
$GC,18782,0.65,248.7,671.2,7.6,425,18786,0.00,2.30,0.00,0.000,4,0.000,0.052,2133,3708,1916
$GC,18840,0.63,248.7,666.2,8.5,425,18846,0.00,2.25,0.00,0.000,6,0.000,0.032,2143,2290,1916
$GC,19151,0.63,248.7,640.5,8.2,431,19152,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2290,1916
$GC,19454,0.61,248.7,617.1,7.6,436,19458,0.00,2.33,0.00,0.000,4,0.000,0.050,2143,3708,1916
$GC,19500,0.56,248.7,613.1,8.4,436,19504,0.12,2.22,0.00,0.000,6,0.132,0.032,2120,2294,1916
$GC,19828,0.61,248.7,593.5,5.9,442,19832,0.00,2.30,0.00,0.000,4,0.000,0.047,2128,889,1916
$GC,19857,0.66,248.7,591.6,5.8,442,19861,0.00,2.25,0.00,0.000,6,0.000,0.036,2128,2313,1915
$GC,20195,0.66,248.7,570.7,6.3,448,20199,0.00,2.28,0.00,0.000,4,0.000,0.054,2129,3713,1915
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$STATE,28554,end climb,SURFACE_DEPTH_REACHED
$STATE,28554,begin surface coast
$FINISH,1.4,1.019458
$STATE,28591,end surface coast,CONTROL_FINISHED_OK
$STATE,28591,begin surface
$SM_CCo,28672,0.00,0.000,0,0,1506,349.55
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$IRIDIUM_FIX,4943.02,-14316.51,210499,141402
$TT8_MAMPS,0.028379
$HUMID,1739
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$TCM_TEMP,15.60
$XPDR_PINGS,55
$24V_AH,21.7,97.975
$10V_AH,10.4,84.123
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$DEVICE_SECS,17.675,235.775,414.125,0.000,0.000,29.449,27.750,180.278,13.750,0.000,0.000,13.092,1640.354,23845.326,564.930,2122.400,897.739,33.405,1704.438,0.000,2096.270,0.000,0.527,0.000
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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,41367,726
$CAP_FILE_SIZE,180397,0
$CFSIZE,260165632,205651968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260110,060337,4957.381,-14302.458,38,1.3,38,18.8