version: 66.04
glider: 144
mission: 15
dive: 753
start: 2 19 110 9 14 14
data:
$ID,144
$MISSION,15
$DIVE,753
$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,-77027.195
$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,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
$GPS1,090630,4921.523,-13644.232,37,1.6,42,19.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-52.9
$GPS2,091320,4921.558,-13644.306,14,1.9,14,19.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.168,-0.008
$KALMAN_X,-62285.7,-79.4,-35.5,660692.3,-442.3
$KALMAN_Y,56764.5,139.9,-161.5,-166781.8,-42.9
$MHEAD_RNG_PITCHd_Wd,73.2,150410,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.68,-117.3,0.0,0.0,0,63,0.00,0.00,-40.75,0.000,2,0.000,0.000,98,2291,2470
$GC,68,-0.68,-117.3,3.3,-5.1,2,111,7.72,2.38,-26.58,0.000,4,0.258,0.067,1840,3698,3412
$GC,160,-0.65,-117.3,12.6,-12.1,6,164,0.00,2.22,0.00,0.000,6,0.000,0.035,1840,2302,3412
$GC,489,-0.60,-117.3,49.9,-11.4,22,494,0.12,2.33,0.00,0.000,4,0.131,0.041,1875,888,3413
$GC,562,-0.64,-117.3,56.6,-8.7,25,567,0.00,2.28,0.00,0.000,6,0.000,0.036,1871,2312,3413
$GC,882,-0.64,-117.3,84.9,-8.9,42,883,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2312,3414
$GC,1200,-0.68,-117.3,111.8,-8.4,72,1204,0.00,2.28,0.00,0.000,4,0.000,0.040,1871,889,3414
$GC,1308,-0.74,-117.3,120.8,-8.2,81,1315,0.10,2.25,0.00,0.000,6,0.063,0.035,1791,2310,3413
$GC,1636,-0.66,-117.3,157.3,-11.1,108,1641,0.17,2.28,0.00,0.000,4,0.129,0.039,1850,894,3413
$GC,1680,-0.71,-117.3,161.6,-8.4,109,1684,0.00,2.25,0.00,0.000,6,0.000,0.041,1850,2301,3413
$GC,2011,-0.75,-117.3,184.8,-6.7,120,2015,0.00,2.28,0.00,0.000,4,0.000,0.050,1846,3708,3413
$GC,2040,-0.79,-117.3,187.0,-7.4,120,2047,0.00,2.22,0.00,0.000,6,0.000,0.029,1846,2297,3413
$GC,2356,-0.83,-117.3,209.2,-7.2,131,2360,0.10,2.22,0.00,0.000,4,0.064,0.040,1771,900,3413
$GC,2412,-0.74,-117.3,215.4,-12.4,132,2420,0.25,2.25,0.00,0.000,6,0.120,0.043,1837,2308,3413
$GC,2727,-0.77,-117.3,239.6,-7.3,143,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2308,3413
$GC,3034,-0.80,-117.3,260.1,-6.4,153,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2308,3413
$GC,3339,-0.83,-117.3,280.2,-6.7,163,3343,0.00,2.28,0.00,0.000,4,0.000,0.042,1837,896,3413
$GC,3402,-0.87,-117.3,284.7,-6.7,164,3409,0.10,2.25,0.00,0.000,6,0.063,0.038,1770,2305,3413
$GC,3746,-0.77,-117.3,319.8,-10.5,173,3748,0.22,0.00,0.00,0.000,6,0.123,0.000,1838,2305,3413
$GC,4048,-0.81,-117.3,338.3,-5.8,178,4052,0.00,2.30,0.00,0.000,4,0.000,0.048,1838,899,3413
$GC,4089,-0.86,-117.3,340.8,-6.5,178,4094,0.10,2.25,0.00,0.000,6,0.062,0.038,1769,2302,3413
$GC,4411,-0.77,-117.3,371.8,-9.9,184,4413,0.22,0.00,0.00,0.000,6,0.122,0.000,1838,2302,3412
$GC,4715,-0.81,-117.3,391.0,-6.1,189,4719,0.00,2.28,0.00,0.000,4,0.000,0.042,1838,902,3411
$GC,4755,-0.87,-117.3,393.8,-7.0,189,4760,0.10,2.28,0.00,0.000,6,0.063,0.038,1770,2310,3411
$GC,5077,-0.78,-117.3,423.5,-9.4,195,5081,0.17,2.30,0.00,0.000,4,0.127,0.042,1829,905,3411
$GC,5142,-0.82,-117.3,428.0,-6.9,196,5146,0.00,2.25,0.00,0.000,6,0.000,0.043,1823,2308,3411
$GC,5508,-0.82,-117.3,451.6,-6.4,202,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2308,3411
$GC,5813,-0.84,-117.3,472.2,-6.8,207,5817,0.00,2.28,0.00,0.000,4,0.000,0.043,1823,896,3410
$GC,5849,-0.86,-117.3,474.9,-7.9,207,5853,0.00,2.30,0.00,0.000,6,0.000,0.038,1821,2314,3411
$GC,6176,-0.86,-117.3,499.2,-7.4,213,6180,0.00,2.30,0.00,0.000,4,0.000,0.044,1822,899,3410
$GC,6228,-0.89,-117.3,503.2,-8.3,213,6232,0.00,2.28,0.00,0.000,6,0.000,0.039,1820,2310,3410
$GC,6540,-0.89,-117.3,524.7,-6.9,218,6544,0.00,2.33,0.00,0.000,4,0.000,0.046,1820,897,3410
$GC,6580,-0.91,-117.3,527.5,-7.0,218,6584,0.00,2.28,0.00,0.000,6,0.000,0.043,1811,2303,3409
$GC,6902,-0.91,-117.3,549.6,-6.8,224,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2304,3410
$GC,7205,-0.91,-117.3,570.8,-7.0,229,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2304,3409
$GC,7508,-0.91,-117.3,592.3,-7.1,234,7512,0.00,2.30,0.00,0.000,4,0.000,0.044,1811,904,3409
$GC,7560,-0.91,-117.3,596.2,-7.8,234,7564,0.00,2.30,0.00,0.000,6,0.000,0.039,1809,2313,3409
$GC,7871,-0.91,-117.3,618.1,-7.0,239,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2313,3409
$GC,8174,-0.91,-117.3,638.6,-6.7,244,8178,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,902,3408
$GC,8254,-0.91,-117.3,644.4,-7.6,245,8259,0.00,2.28,0.00,0.000,6,0.000,0.042,1807,2302,3408
$GC,8610,-0.91,-117.3,669.7,-7.2,251,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2303,3408
$GC,8914,-0.91,-117.3,692.2,-7.4,256,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2303,3408
$GC,9217,-0.91,-117.3,714.4,-7.3,261,9220,0.00,2.33,0.00,0.000,4,0.000,0.044,1807,896,3408
$GC,9251,-0.91,-117.3,717.3,-8.8,261,9255,0.00,2.30,0.00,0.000,6,0.000,0.041,1805,2311,3408
$GC,9585,-0.91,-117.3,741.5,-7.3,267,9586,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2311,3408
$GC,9887,-0.91,-117.3,762.8,-7.0,272,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2311,3408
$GC,10190,-0.91,-117.3,783.1,-6.7,277,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2311,3407
$GC,10493,-0.91,-117.3,803.8,-6.8,282,10497,0.00,2.35,0.00,0.000,4,0.000,0.049,1805,899,3407
$GC,10523,-0.91,-117.3,806.0,-7.6,282,10527,0.00,2.30,0.00,0.000,6,0.000,0.045,1796,2309,3407
$GC,10861,-0.91,-117.3,829.4,-6.9,288,10862,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2309,3407
$GC,11164,-0.91,-117.3,852.2,-7.6,293,11166,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2309,3406
$GC,11467,-0.91,-117.3,875.5,-7.7,298,11471,0.00,2.35,0.00,0.000,4,0.000,0.045,1796,893,3406
$GC,11509,-0.91,-117.3,878.8,-8.0,298,11513,0.00,2.33,0.00,0.000,6,0.000,0.046,1793,2313,3406
$GC,11830,-0.91,-117.3,903.0,-7.5,304,11834,0.00,2.30,0.00,0.000,4,0.000,0.049,1793,905,3406
$GC,11865,-0.91,-117.3,905.8,-8.0,304,11869,0.00,2.28,0.00,0.000,6,0.000,0.044,1784,2302,3406
$GC,12192,-0.88,-117.3,930.6,-7.6,310,12197,0.10,2.33,0.00,0.000,4,0.137,0.044,1812,894,3405
$GC,12234,-0.92,-117.3,933.5,-6.7,310,12238,0.00,2.30,0.00,0.000,6,0.000,0.046,1810,2304,3406
$GC,12556,-0.94,-117.3,953.2,-6.1,316,12558,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3406
$GC,12859,-0.97,-117.3,971.1,-5.9,321,12863,0.00,2.35,0.00,0.000,4,0.000,0.052,1803,3712,3406
$GC,12890,-0.99,-117.3,972.9,-5.6,321,12894,0.00,2.25,0.00,0.000,6,0.000,0.032,1803,2305,3406
$STATE,13218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13219,begin apogee
$GC,13228,-0.22,0.0,993.5,6.1,327,13328,0.47,0.00,97.88,1.279,6,0.106,0.000,1957,2305,2931
$STATE,13329,end apogee,CONTROL_FINISHED_OK
$STATE,13329,begin climb
$GC,13333,0.68,117.3,994.8,0.0,328,13446,0.57,2.58,103.53,1.253,4,0.066,0.050,2157,3706,2450
$GC,13484,0.48,117.3,992.1,7.0,331,13488,0.25,2.38,0.00,0.000,6,0.158,0.035,2106,2298,2447
$GC,13840,0.47,134.0,974.2,4.9,337,13859,0.00,2.33,14.10,1.140,4,0.000,0.056,2106,3703,2383
$GC,13896,0.41,134.0,971.1,6.5,337,13901,0.12,2.22,0.00,0.000,6,0.160,0.040,2085,2298,2382
$GC,14207,0.47,161.5,956.5,4.6,342,14236,0.00,2.35,24.58,1.192,4,0.000,0.051,2085,3708,2271
$GC,14262,0.50,161.5,953.5,6.1,342,14266,0.00,2.25,0.00,0.000,6,0.000,0.040,2092,2304,2269
$GC,14574,0.53,164.8,936.8,5.4,347,14576,0.08,0.00,0.00,0.000,6,0.084,0.000,2139,2305,2267
$GC,14876,0.46,164.8,915.1,7.2,352,14878,0.15,0.00,0.00,0.000,6,0.137,0.000,2098,2304,2266
$GC,15179,0.50,178.6,899.3,5.0,357,15197,0.00,0.00,15.50,1.125,6,0.000,0.000,2099,2304,2202
$GC,15483,0.58,210.5,885.7,4.4,362,15518,0.10,2.33,29.02,1.164,4,0.071,0.050,2150,3709,2073
$GC,15542,0.49,210.5,881.8,7.2,362,15549,0.20,2.28,0.00,0.000,6,0.143,0.037,2107,2295,2071
$GC,15854,0.58,251.8,868.5,4.1,368,15893,0.00,0.00,37.60,1.164,6,0.000,0.000,2107,2295,1904
$GC,16158,0.69,285.2,855.2,4.4,373,16203,0.15,2.38,32.45,1.085,4,0.054,0.048,2186,901,1767
$GC,16223,0.62,285.2,849.9,8.9,374,16228,0.20,2.28,0.00,0.000,6,0.133,0.041,2131,2305,1765
$GC,16591,0.65,285.2,825.3,6.6,380,16595,0.00,2.28,0.00,0.000,4,0.000,0.049,2132,3708,1761
$GC,16647,0.65,285.2,820.8,7.4,380,16654,0.00,2.25,0.00,0.000,6,0.000,0.038,2139,2292,1760
$GC,16958,0.65,285.2,797.1,7.6,386,16960,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2292,1759
$GC,17262,0.65,285.2,773.6,7.7,391,17266,0.00,2.33,0.00,0.000,4,0.000,0.048,2139,3715,1759
$GC,17308,0.65,285.2,769.5,8.6,391,17312,0.00,2.25,0.00,0.000,6,0.000,0.041,2149,2297,1758
$GC,17625,0.65,285.2,743.9,8.0,397,17629,0.00,2.30,0.00,0.000,4,0.000,0.048,2149,3715,1758
$GC,17654,0.62,285.2,741.1,8.5,397,17659,0.10,2.25,0.00,0.000,6,0.140,0.036,2134,2297,1758
$GC,17987,0.65,285.2,718.6,6.7,403,17988,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2297,1757
$GC,18291,0.67,285.2,698.2,6.7,408,18292,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2297,1757
$GC,18593,0.70,285.2,679.0,6.3,413,18594,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2297,1757
$GC,18896,0.73,285.2,660.4,6.1,418,18901,0.10,2.33,0.00,0.000,4,0.067,0.048,2198,3709,1756
$GC,18937,0.59,285.2,656.1,11.9,418,18942,0.30,2.25,0.00,0.000,6,0.140,0.033,2125,2301,1757
$GC,19260,0.65,285.2,635.0,6.1,424,19264,0.00,2.33,0.00,0.000,4,0.000,0.048,2134,888,1756
$GC,19283,0.72,285.2,633.4,6.3,424,19287,0.00,2.28,0.00,0.000,6,0.000,0.038,2134,2310,1755
$GC,19624,0.75,285.2,610.7,6.7,430,19628,0.10,2.28,0.00,0.000,4,0.069,0.048,2205,3708,1755
$GC,19658,0.61,285.2,606.9,14.5,430,19663,0.30,2.22,0.00,0.000,6,0.143,0.037,2133,2302,1756
$GC,19986,0.65,285.2,584.1,6.5,436,19990,0.00,2.30,0.00,0.000,4,0.000,0.051,2141,889,1755
$GC,20020,0.71,285.2,581.7,6.9,436,20025,0.00,2.28,0.00,0.000,6,0.000,0.037,2141,2309,1755
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$GC,27617,1.01,391.6,58.9,3.7,687,27669,0.10,2.30,44.67,0.619,4,0.063,0.045,2272,3701,1333
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$STATE,28341,end climb,SURFACE_DEPTH_REACHED
$STATE,28341,begin surface coast
$FINISH,1.6,1.023569
$STATE,28363,end surface coast,CONTROL_FINISHED_OK
$STATE,28363,begin surface
$SM_CCo,28444,0.00,0.000,0,0,1323,394.44
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$IRIDIUM_FIX,4903.27,-13647.40,160599,010105
$TT8_MAMPS,0.028379
$HUMID,1754
$INTERNAL_PRESSURE,7.36356
$TCM_TEMP,16.10
$XPDR_PINGS,73
$24V_AH,21.9,108.467
$10V_AH,10.3,92.272
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$DEVICE_SECS,20.525,236.775,447.150,0.000,0.000,25.259,35.965,164.436,18.250,0.000,0.000,15.593,1636.062,23539.217,592.126,2096.040,975.543,33.381,1745.675,0.000,2084.948,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,508.909,594.502,754.094,786.167,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44240,722
$CAP_FILE_SIZE,184097,0
$CFSIZE,260165632,200077312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,190210,170937,4921.274,-13639.493,34,1.3,34,19.4