version: 66.04
glider: 144
mission: 15
dive: 762
start: 2 22 110 10 51 14
data:
$ID,144
$MISSION,15
$DIVE,762
$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,-77169.625
$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
$GPS1,104337,4920.534,-13558.557,38,1.7,38,19.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-54.1
$GPS2,105020,4920.596,-13558.631,14,1.7,14,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.162,-0.042
$KALMAN_X,-62363.2,-42.7,109.7,714558.5,203.5
$KALMAN_Y,59007.3,-68.6,238.0,-171019.4,1095.0
$MHEAD_RNG_PITCHd_Wd,85.2,95227,-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,-117.3,0.0,0.0,0,62,0.00,0.00,-40.00,0.000,2,0.000,0.000,98,2311,2525
$GC,67,-0.68,-117.3,3.5,-5.3,2,99,7.45,0.00,-22.35,0.000,6,0.247,0.000,1847,2311,3412
$GC,400,-0.64,-117.3,38.5,-9.9,18,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2311,3413
$GC,709,-0.59,-117.3,70.9,-10.8,33,714,0.10,2.33,0.00,0.000,4,0.159,0.040,1874,887,3414
$GC,773,-0.63,-117.3,77.2,-9.4,36,777,0.00,2.28,0.00,0.000,6,0.000,0.037,1868,2302,3413
$GC,1104,-0.65,-117.3,104.9,-7.9,65,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2302,3414
$GC,1431,-0.69,-117.3,127.9,-6.4,96,1435,0.00,2.28,0.00,0.000,4,0.000,0.040,1868,886,3414
$GC,1466,-0.75,-117.3,130.3,-6.6,98,1473,0.10,2.28,0.00,0.000,6,0.064,0.035,1790,2312,3413
$GC,1808,-0.67,-117.3,167.9,-11.2,121,1813,0.20,2.33,0.00,0.000,4,0.127,0.039,1854,886,3413
$GC,1844,-0.72,-117.3,171.2,-8.5,122,1848,0.00,2.30,0.00,0.000,6,0.000,0.043,1850,2310,3414
$GC,2175,-0.76,-117.3,195.3,-7.1,133,2179,0.00,2.28,0.00,0.000,4,0.000,0.040,1850,895,3414
$GC,2232,-0.82,-117.3,199.3,-6.8,134,2239,0.10,2.28,0.00,0.000,6,0.063,0.041,1775,2310,3414
$GC,2547,-0.73,-117.3,232.2,-10.8,145,2549,0.22,0.00,0.00,0.000,6,0.129,0.000,1841,2310,3414
$GC,2853,-0.77,-117.3,252.5,-6.1,155,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2310,3414
$GC,3159,-0.81,-117.3,270.8,-6.0,165,3163,0.00,2.30,0.00,0.000,4,0.000,0.054,1833,3711,3414
$GC,3201,-0.85,-117.3,273.5,-6.6,166,3205,0.00,2.20,0.00,0.000,6,0.000,0.029,1833,2297,3413
$GC,3533,-0.88,-117.3,296.2,-6.9,177,3538,0.10,2.25,0.00,0.000,4,0.067,0.040,1762,902,3413
$GC,3618,-0.78,-117.3,305.7,-11.8,179,3623,0.28,2.25,0.00,0.000,6,0.123,0.037,1833,2314,3413
$GC,3974,-0.81,-117.3,330.5,-6.7,185,3978,0.00,2.30,0.00,0.000,4,0.000,0.046,1833,900,3412
$GC,4026,-0.85,-117.3,334.4,-7.1,185,4030,0.00,2.28,0.00,0.000,6,0.000,0.039,1827,2305,3412
$GC,4337,-0.85,-117.3,357.2,-7.4,190,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2305,3412
$GC,4640,-0.87,-117.3,380.1,-7.5,195,4644,0.00,2.30,0.00,0.000,4,0.000,0.042,1827,893,3412
$GC,4671,-0.89,-117.3,382.4,-8.4,195,4675,0.00,2.28,0.00,0.000,6,0.000,0.044,1822,2303,3412
$GC,5010,-0.89,-117.3,407.8,-7.4,201,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3411
$GC,5313,-0.89,-117.3,430.8,-7.7,206,5317,0.00,2.33,0.00,0.000,4,0.000,0.048,1822,902,3411
$GC,5342,-0.89,-117.3,433.2,-8.6,206,5346,0.00,2.30,0.00,0.000,6,0.000,0.044,1819,2312,3411
$GC,5681,-0.89,-117.3,459.9,-7.9,212,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2313,3410
$GC,5983,-0.89,-117.3,482.6,-7.5,217,5987,0.00,2.30,0.00,0.000,4,0.000,0.048,1819,903,3410
$GC,6018,-0.89,-117.3,485.4,-7.8,217,6022,0.00,2.28,0.00,0.000,6,0.000,0.042,1810,2303,3410
$GC,6351,-0.89,-117.3,511.3,-7.8,223,6355,0.00,2.30,0.00,0.000,4,0.000,0.048,1810,902,3410
$GC,6380,-0.89,-117.3,513.7,-9.2,223,6384,0.00,2.28,0.00,0.000,6,0.000,0.046,1806,2305,3410
$GC,6719,-0.89,-117.3,541.2,-8.1,229,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3410
$GC,7022,-0.89,-117.3,565.1,-7.9,234,7026,0.00,2.33,0.00,0.000,4,0.000,0.044,1806,903,3410
$GC,7079,-0.89,-117.3,569.8,-8.8,234,7085,0.00,2.30,0.00,0.000,6,0.000,0.038,1797,2311,3410
$GC,7391,-0.87,-117.3,594.9,-8.1,240,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2310,3409
$GC,7693,-0.84,-117.3,619.4,-8.0,245,7697,0.00,2.33,0.00,0.000,4,0.000,0.046,1797,903,3409
$GC,7729,-0.84,-117.3,622.2,-8.0,245,7734,0.10,2.33,0.00,0.000,6,0.134,0.046,1821,2314,3409
$GC,8058,-0.87,-117.3,642.2,-5.9,251,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2314,3408
$GC,8361,-0.91,-117.3,658.0,-5.1,256,8365,0.00,2.35,0.00,0.000,4,0.000,0.047,1821,895,3408
$GC,8413,-0.95,-117.3,660.9,-5.2,256,8418,0.10,2.33,0.00,0.000,6,0.067,0.040,1756,2312,3408
$GC,8726,-0.86,-117.3,685.9,-8.2,261,8730,0.20,2.35,0.00,0.000,4,0.130,0.050,1819,903,3408
$GC,8761,-0.88,-117.3,688.4,-6.1,261,8765,0.00,2.30,0.00,0.000,6,0.000,0.038,1812,2310,3408
$GC,9088,-0.88,-117.3,706.8,-5.8,267,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2310,3408
$GC,9391,-0.88,-117.3,725.8,-6.3,272,9395,0.00,2.33,0.00,0.000,4,0.000,0.051,1807,3709,3408
$GC,9428,-0.88,-117.3,728.1,-6.9,272,9432,0.00,2.25,0.00,0.000,6,0.000,0.031,1807,2306,3408
$GC,9755,-0.88,-117.3,748.7,-6.2,278,9759,0.00,2.30,0.00,0.000,4,0.000,0.050,1807,898,3407
$GC,9789,-0.88,-117.3,751.2,-7.4,278,9793,0.00,2.30,0.00,0.000,6,0.000,0.038,1798,2313,3407
$GC,10116,-0.88,-117.3,774.6,-7.2,284,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2313,3407
$GC,10420,-0.88,-117.3,797.0,-7.4,289,10421,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2313,3407
$GC,10722,-0.88,-117.3,820.2,-7.7,294,10726,0.00,2.35,0.00,0.000,4,0.000,0.045,1798,889,3407
$GC,10759,-0.88,-117.3,823.0,-8.0,294,10763,0.00,2.33,0.00,0.000,6,0.000,0.047,1795,2303,3407
$GC,11086,-0.88,-117.3,850.8,-8.5,300,11090,0.00,2.35,0.00,0.000,4,0.000,0.051,1785,3713,3407
$GC,11116,-0.86,-117.3,853.4,-10.0,300,11121,0.10,2.25,0.00,0.000,6,0.123,0.032,1811,2305,3406
$GC,11449,-0.89,-117.3,877.2,-7.0,306,11453,0.00,2.33,0.00,0.000,4,0.000,0.051,1812,892,3406
$GC,11484,-0.91,-117.3,879.8,-8.1,306,11488,0.00,2.33,0.00,0.000,6,0.000,0.039,1809,2314,3406
$GC,11818,-0.91,-117.3,901.6,-6.5,312,11820,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2314,3406
$GC,12120,-0.91,-117.3,919.3,-5.7,317,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2314,3406
$GC,12424,-0.93,-117.3,936.3,-5.6,322,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2314,3406
$GC,12727,-0.96,-117.3,953.9,-5.9,327,12728,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2314,3406
$GC,13031,-0.98,-117.3,971.3,-5.8,332,13033,0.08,0.00,0.00,0.000,6,0.092,0.000,1767,2314,3406
$STATE,13329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13329,begin apogee
$GC,13338,-0.22,0.0,994.9,7.9,337,13439,0.60,0.00,97.97,1.275,6,0.120,0.000,1953,2314,2931
$STATE,13440,end apogee,CONTROL_FINISHED_OK
$STATE,13440,begin climb
$GC,13444,0.68,117.3,996.5,0.0,338,13556,0.60,2.62,103.90,1.246,4,0.069,0.049,2169,903,2451
$GC,13594,0.54,117.3,994.1,6.4,341,13599,0.20,2.42,0.00,0.000,6,0.146,0.043,2120,2306,2447
$GC,13944,0.48,117.3,975.0,5.5,347,13948,0.00,2.30,0.00,0.000,4,0.000,0.051,2120,3714,2441
$GC,14036,0.39,117.3,968.9,6.9,348,14041,0.17,2.25,0.00,0.000,6,0.157,0.034,2083,2300,2440
$GC,14374,0.43,154.6,954.1,4.2,354,14408,0.00,0.00,31.60,1.200,6,0.000,0.000,2083,2300,2300
$GC,14678,0.54,160.7,938.7,5.3,359,14689,0.12,2.33,5.88,0.912,4,0.070,0.054,2143,3721,2276
$GC,14832,0.42,160.7,926.8,8.6,361,14837,0.22,2.25,0.00,0.000,6,0.150,0.037,2093,2304,2274
$GC,15176,0.47,175.9,909.3,5.0,367,15193,0.00,0.00,15.07,1.118,6,0.000,0.000,2093,2304,2213
$GC,15481,0.52,182.7,893.5,5.3,372,15495,0.00,2.38,6.95,0.955,4,0.000,0.051,2093,3714,2185
$GC,15508,0.56,182.7,891.6,6.7,372,15512,0.00,2.28,0.00,0.000,6,0.000,0.038,2101,2299,2185
$GC,15848,0.59,182.7,872.8,5.6,378,15850,0.10,0.00,0.00,0.000,6,0.070,0.000,2157,2299,2184
$GC,16151,0.51,182.7,849.1,7.9,383,16156,0.17,2.35,0.00,0.000,4,0.137,0.053,2097,3712,2183
$GC,16186,0.51,182.7,846.7,6.0,383,16190,0.00,2.25,0.00,0.000,6,0.000,0.033,2106,2301,2182
$GC,16514,0.55,195.7,829.8,5.1,389,16528,0.00,0.00,12.68,1.058,6,0.000,0.000,2106,2301,2132
$GC,16817,0.60,215.5,815.2,4.8,394,16842,0.08,2.33,19.02,1.091,4,0.078,0.051,2157,3711,2051
$GC,16885,0.50,215.5,809.9,8.5,395,16890,0.22,2.25,0.00,0.000,6,0.138,0.034,2105,2303,2050
$GC,17253,0.58,242.2,792.1,4.6,401,17282,0.00,2.35,24.55,1.095,4,0.000,0.051,2114,885,1942
$GC,17308,0.69,271.9,789.3,4.5,401,17349,0.12,2.30,30.02,1.028,6,0.064,0.038,2176,2306,1822
$GC,17686,0.61,271.9,754.1,9.7,408,17691,0.17,2.28,0.00,0.000,4,0.133,0.050,2120,3713,1815
$GC,17739,0.64,271.9,749.5,7.3,408,17743,0.00,2.22,0.00,0.000,6,0.000,0.038,2129,2299,1814
$GC,18062,0.67,271.9,728.3,6.5,414,18063,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2299,1813
$GC,18366,0.69,271.9,708.1,6.7,419,18370,0.00,2.30,0.00,0.000,4,0.000,0.053,2129,3705,1812
$GC,18394,0.69,271.9,705.9,7.7,419,18399,0.00,2.22,0.00,0.000,6,0.000,0.032,2138,2296,1812
$GC,18728,0.69,271.9,682.1,7.1,425,18730,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2297,1811
$GC,19031,0.69,271.9,659.9,7.4,430,19035,0.00,2.33,0.00,0.000,4,0.000,0.048,2139,3712,1811
$GC,19059,0.69,271.9,657.5,7.7,430,19064,0.00,2.22,0.00,0.000,6,0.000,0.033,2148,2302,1811
$GC,19393,0.69,271.9,632.1,7.6,436,19397,0.00,2.28,0.00,0.000,4,0.000,0.047,2158,894,1810
$GC,19423,0.69,271.9,629.8,6.8,436,19427,0.00,2.28,0.00,0.000,6,0.000,0.041,2159,2309,1809
$GC,19762,0.66,271.9,601.9,8.2,442,19766,0.00,2.30,0.00,0.000,4,0.000,0.051,2159,3711,1810
$GC,19797,0.61,271.9,598.7,9.8,442,19801,0.15,2.25,0.00,0.000,6,0.131,0.033,2129,2304,1810
$GC,20131,0.65,271.9,576.9,6.4,448,20135,0.00,2.30,0.00,0.000,4,0.000,0.048,2137,891,1810
$GC,20160,0.70,271.9,574.8,6.3,448,20164,0.00,2.28,0.00,0.000,6,0.000,0.039,2137,2309,1809
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$STATE,28742,end climb,SURFACE_DEPTH_REACHED
$STATE,28742,begin surface coast
$FINISH,1.8,1.025349
$STATE,28764,end surface coast,CONTROL_FINISHED_OK
$STATE,28764,begin surface
$SM_CCo,28844,0.00,0.000,0,0,1581,331.15
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$IRIDIUM_FIX,4903.27,-13603.09,190599,020235
$TT8_MAMPS,0.029146
$HUMID,1772
$INTERNAL_PRESSURE,7.40263
$TCM_TEMP,16.10
$XPDR_PINGS,70
$24V_AH,21.9,109.777
$10V_AH,10.3,93.288
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$DEVICE_SECS,19.625,233.300,396.125,0.000,0.000,28.072,26.695,166.903,17.500,0.000,0.000,15.646,1692.665,23865.070,551.546,2166.630,956.582,33.385,1706.635,0.000,2147.117,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,531.772,614.871,781.366,835.974,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44374,754
$CAP_FILE_SIZE,184164,0
$CFSIZE,260165632,199389184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,220210,185331,4920.115,-13553.833,49,1.1,49,19.5