version: 66.04
glider: 144
mission: 15
dive: 769
start: 2 24 110 20 4 2
data:
$ID,144
$MISSION,15
$DIVE,769
$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,-77273.25
$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,50
$R_STBD_OVSHOOT,31
$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
$GPS1,195533,4917.630,-13521.829,47,1.4,65,19.5
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-55.5
$GPS2,200308,4917.670,-13521.777,14,1.4,14,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,-0.047
$KALMAN_X,-58656.4,-30.4,-218.1,754737.6,699.1
$KALMAN_Y,66231.5,100.1,116.3,-183692.2,1510.3
$MHEAD_RNG_PITCHd_Wd,86.6,50486,-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,17,-0.68,-117.3,0.0,0.0,0,79,0.00,0.00,-59.85,0.000,2,0.000,0.000,97,2278,3027
$GC,83,-0.68,-117.3,5.0,-7.1,3,106,7.25,2.33,-7.28,0.000,4,0.239,0.058,1836,3718,3414
$GC,321,-0.66,-117.3,42.1,-10.8,13,325,0.00,2.20,0.00,0.000,6,0.000,0.029,1836,2308,3416
$GC,639,-0.60,-117.3,78.5,-11.1,28,644,0.12,2.30,0.00,0.000,4,0.130,0.040,1872,889,3416
$GC,719,-0.64,-117.3,85.1,-7.8,34,725,0.00,2.25,0.00,0.000,6,0.000,0.035,1864,2305,3416
$GC,1050,-0.68,-117.3,107.5,-7.1,65,1054,0.00,2.28,0.00,0.000,4,0.000,0.039,1864,899,3416
$GC,1097,-0.74,-117.3,111.4,-7.1,68,1104,0.10,2.25,0.00,0.000,6,0.064,0.036,1788,2307,3416
$GC,1427,-0.65,-117.3,148.8,-11.5,99,1432,0.20,2.30,0.00,0.000,4,0.125,0.048,1847,3706,3416
$GC,1457,-0.65,-117.3,152.1,-9.2,100,1463,0.00,2.20,0.00,0.000,6,0.000,0.028,1847,2298,3416
$GC,1771,-0.68,-117.3,173.3,-6.5,111,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2298,3416
$GC,2077,-0.73,-117.3,192.5,-6.0,121,2082,0.00,2.25,0.00,0.000,4,0.000,0.041,1847,900,3416
$GC,2137,-0.78,-117.3,196.3,-6.4,122,2144,0.00,2.25,0.00,0.000,6,0.000,0.037,1840,2305,3416
$GC,2452,-0.81,-117.3,217.4,-6.9,133,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2305,3416
$GC,2758,-0.84,-117.3,238.7,-7.1,143,2763,0.10,2.25,0.00,0.000,4,0.065,0.040,1765,902,3416
$GC,2796,-0.74,-117.3,242.2,-11.0,144,2801,0.30,2.22,0.00,0.000,6,0.119,0.039,1842,2303,3416
$GC,3134,-0.78,-117.3,268.1,-7.4,155,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2303,3416
$GC,3439,-0.82,-117.3,289.2,-6.5,165,3443,0.00,2.25,0.00,0.000,4,0.000,0.041,1842,893,3416
$GC,3480,-0.88,-117.3,291.9,-6.4,166,3485,0.10,2.25,0.00,0.000,6,0.063,0.037,1768,2304,3416
$GC,3814,-0.77,-117.3,326.3,-10.6,173,3819,0.17,2.28,0.00,0.000,4,0.127,0.041,1826,900,3415
$GC,3865,-0.79,-117.3,330.8,-7.9,173,3869,0.00,2.28,0.00,0.000,6,0.000,0.044,1821,2305,3415
$GC,4176,-0.79,-117.3,354.3,-7.6,178,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2304,3415
$GC,4480,-0.79,-117.3,378.0,-7.8,183,4484,0.00,2.28,0.00,0.000,4,0.000,0.048,1821,901,3415
$GC,4508,-0.79,-117.3,380.5,-8.1,183,4512,0.00,2.25,0.00,0.000,6,0.000,0.038,1813,2303,3415
$GC,4847,-0.79,-117.3,406.3,-7.6,189,4851,0.00,2.33,0.00,0.000,4,0.000,0.049,1802,3710,3414
$GC,4883,-0.79,-117.3,409.1,-8.3,189,4888,0.10,2.25,0.00,0.000,6,0.118,0.035,1829,2298,3414
$GC,5211,-0.82,-117.3,430.2,-6.4,195,5215,0.00,2.28,0.00,0.000,4,0.000,0.045,1830,900,3414
$GC,5277,-0.87,-117.3,434.7,-7.0,196,5281,0.00,2.28,0.00,0.000,6,0.000,0.041,1823,2312,3414
$GC,5645,-0.87,-117.3,459.3,-6.7,202,5649,0.00,2.30,0.00,0.000,4,0.000,0.044,1823,898,3413
$GC,5680,-0.89,-117.3,461.9,-6.9,202,5684,0.00,2.30,0.00,0.000,6,0.000,0.038,1821,2311,3413
$GC,6013,-0.89,-117.3,482.2,-6.0,208,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2311,3413
$GC,6316,-0.89,-117.3,500.0,-5.8,213,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2311,3413
$GC,6620,-0.89,-117.3,517.9,-6.0,218,6624,0.00,2.33,0.00,0.000,4,0.000,0.042,1821,900,3412
$GC,6667,-0.92,-117.3,520.9,-6.1,218,6671,0.00,2.30,0.00,0.000,6,0.000,0.038,1813,2305,3412
$GC,6983,-0.92,-117.3,539.7,-5.9,224,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2306,3412
$GC,7286,-0.92,-117.3,558.7,-6.3,229,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2306,3412
$GC,7589,-0.92,-117.3,578.5,-6.6,234,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2307,3412
$GC,7893,-0.92,-117.3,598.4,-6.6,239,7897,0.00,2.35,0.00,0.000,4,0.000,0.044,1813,896,3411
$GC,7928,-0.92,-117.3,600.8,-7.1,239,7932,0.00,2.33,0.00,0.000,6,0.000,0.042,1809,2305,3411
$GC,8255,-0.92,-117.3,623.6,-7.0,245,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3411
$GC,8558,-0.92,-117.3,644.4,-6.9,250,8562,0.00,2.30,0.00,0.000,4,0.000,0.047,1808,902,3411
$GC,8639,-0.92,-117.3,650.4,-7.2,251,8643,0.00,2.30,0.00,0.000,6,0.000,0.040,1807,2306,3411
$GC,8989,-0.92,-117.3,677.4,-7.8,257,8993,0.00,2.33,0.00,0.000,4,0.000,0.053,1797,3708,3411
$GC,9012,-0.92,-117.3,679.3,-7.8,257,9016,0.00,2.25,0.00,0.000,6,0.000,0.035,1797,2304,3411
$GC,9357,-0.92,-117.3,707.8,-8.2,263,9361,0.00,2.33,0.00,0.000,4,0.000,0.044,1797,893,3410
$GC,9408,-0.92,-117.3,712.2,-8.3,263,9412,0.00,2.33,0.00,0.000,6,0.000,0.039,1794,2313,3410
$GC,9730,-0.90,-117.3,736.6,-7.5,269,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2313,3410
$GC,10033,-0.90,-117.3,757.7,-6.9,274,10037,0.00,2.35,0.00,0.000,4,0.000,0.044,1794,889,3410
$GC,10079,-0.90,-117.3,761.2,-7.3,274,10083,0.00,2.33,0.00,0.000,6,0.000,0.038,1785,2310,3410
$GC,10395,-0.87,-117.3,784.2,-7.3,280,10400,0.10,2.33,0.00,0.000,4,0.136,0.050,1805,3707,3410
$GC,10441,-0.90,-117.3,787.3,-6.5,280,10445,0.00,2.25,0.00,0.000,6,0.000,0.032,1806,2303,3409
$GC,10758,-0.90,-117.3,806.8,-6.2,286,10762,0.00,2.33,0.00,0.000,4,0.000,0.047,1805,889,3409
$GC,10809,-0.90,-117.3,810.5,-7.2,286,10813,0.00,2.30,0.00,0.000,6,0.000,0.041,1796,2305,3409
$GC,11131,-0.90,-117.3,832.3,-6.7,292,11135,0.00,2.33,0.00,0.000,4,0.000,0.051,1796,899,3409
$GC,11160,-0.90,-117.3,834.4,-7.7,292,11164,0.00,2.33,0.00,0.000,6,0.000,0.044,1793,2305,3409
$GC,11500,-0.90,-117.3,860.2,-7.8,298,11504,0.00,2.33,0.00,0.000,4,0.000,0.048,1793,893,3409
$GC,11545,-0.90,-117.3,864.1,-8.3,298,11549,0.00,2.28,0.00,0.000,6,0.000,0.039,1784,2301,3409
$GC,11873,-0.87,-117.3,889.9,-7.8,304,11875,0.10,0.00,0.00,0.000,6,0.133,0.000,1812,2301,3408
$GC,12176,-0.90,-117.3,907.1,-5.6,309,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2301,3408
$GC,12480,-0.94,-117.3,923.8,-5.5,314,12484,0.00,2.33,0.00,0.000,4,0.000,0.048,1812,893,3409
$GC,12520,-0.97,-117.3,926.4,-6.8,314,12524,0.00,2.33,0.00,0.000,6,0.000,0.041,1810,2307,3409
$GC,12842,-1.00,-117.3,944.0,-5.4,320,12844,0.10,0.00,0.00,0.000,6,0.077,0.000,1762,2308,3408
$GC,13146,-0.92,-117.3,967.9,-8.1,325,13148,0.15,0.00,0.00,0.000,6,0.127,0.000,1806,2309,3409
$GC,13448,-0.95,-117.3,986.9,-6.3,330,13449,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2309,3409
$STATE,13504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13504,begin apogee
$GC,13514,-0.22,0.0,990.7,6.2,331,13615,0.45,0.00,98.50,1.277,6,0.107,0.000,1953,2308,2931
$STATE,13616,end apogee,CONTROL_FINISHED_OK
$STATE,13616,begin climb
$GC,13620,0.68,117.3,992.4,0.0,332,13731,0.57,2.65,103.97,1.249,4,0.067,0.051,2152,3706,2451
$GC,13779,0.49,117.3,990.4,6.0,335,13784,0.22,2.42,0.00,0.000,6,0.156,0.036,2107,2303,2446
$GC,14118,0.51,155.9,975.7,4.2,341,14153,0.00,0.00,33.00,1.214,6,0.000,0.000,2107,2304,2294
$GC,14422,0.54,183.3,961.8,4.6,346,14450,0.00,0.00,24.48,1.190,6,0.000,0.000,2107,2304,2182
$GC,14792,0.57,202.2,944.2,4.9,352,14811,0.00,0.00,17.60,1.151,6,0.000,0.000,2107,2303,2106
$GC,15095,0.60,206.5,927.9,5.4,357,15103,0.10,0.00,4.82,0.827,6,0.068,0.000,2158,2303,2088
$GC,15399,0.52,206.5,905.4,7.6,362,15404,0.17,2.33,0.00,0.000,4,0.136,0.051,2098,3710,2086
$GC,15427,0.52,206.5,903.3,5.7,362,15432,0.00,2.28,0.00,0.000,6,0.000,0.037,2106,2298,2086
$GC,15761,0.62,252.3,890.0,4.0,368,15806,0.10,0.00,42.10,1.182,6,0.068,0.000,2160,2298,1902
$GC,16124,0.55,252.3,864.1,7.5,374,16129,0.15,2.30,0.00,0.000,4,0.130,0.046,2127,896,1894
$GC,16153,0.55,252.3,862.1,5.7,374,16157,0.00,2.28,0.00,0.000,6,0.000,0.041,2127,2311,1893
$GC,16485,0.55,252.3,842.6,6.0,380,16490,0.00,2.30,0.00,0.000,4,0.000,0.049,2126,3708,1892
$GC,16510,0.55,252.3,841.0,6.6,380,16514,0.00,2.28,0.00,0.000,6,0.000,0.038,2135,2294,1892
$GC,16849,0.55,252.3,817.5,6.9,386,16853,0.00,2.33,0.00,0.000,4,0.000,0.054,2136,3710,1892
$GC,16900,0.53,252.3,813.3,8.2,386,16905,0.12,2.25,0.00,0.000,6,0.137,0.033,2113,2304,1892
$GC,17223,0.59,252.3,792.9,6.3,392,17227,0.00,2.30,0.00,0.000,4,0.000,0.047,2122,890,1891
$GC,17257,0.65,252.3,790.3,6.6,392,17262,0.00,2.28,0.00,0.000,6,0.000,0.042,2122,2306,1890
$GC,17591,0.68,252.3,768.2,6.6,398,17596,0.10,2.30,0.00,0.000,4,0.070,0.052,2185,3708,1890
$GC,17661,0.55,252.3,760.8,12.1,399,17666,0.30,2.22,0.00,0.000,6,0.140,0.037,2114,2308,1890
$GC,18028,0.60,252.3,738.4,5.7,405,18033,0.00,2.33,0.00,0.000,4,0.000,0.051,2123,891,1889
$GC,18058,0.67,252.3,736.7,5.8,405,18062,0.08,2.28,0.00,0.000,6,0.081,0.040,2179,2306,1889
$GC,18398,0.58,252.3,705.5,9.4,411,18403,0.20,2.33,0.00,0.000,4,0.132,0.050,2116,3707,1889
$GC,18455,0.61,252.3,701.1,6.4,411,18461,0.00,2.25,0.00,0.000,6,0.000,0.032,2124,2288,1889
$GC,18766,0.65,259.5,684.8,5.3,417,18777,0.00,2.30,5.72,0.809,4,0.000,0.052,2133,887,1872
$GC,18802,0.70,259.5,682.8,5.6,417,18806,0.00,2.28,0.00,0.000,6,0.000,0.038,2133,2306,1872
$GC,19129,0.70,259.5,663.0,6.1,423,19133,0.00,2.28,0.00,0.000,4,0.000,0.054,2134,3707,1871
$GC,19169,0.70,259.5,659.8,9.1,423,19173,0.00,2.20,0.00,0.000,6,0.000,0.032,2143,2304,1871
$GC,19492,0.70,259.5,637.3,6.9,429,19493,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2304,1871
$GC,19794,0.70,259.5,617.5,6.6,434,19795,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2304,1871
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$STATE,27896,end climb,SURFACE_DEPTH_REACHED
$STATE,27896,begin surface coast
$FINISH,1.4,1.013679
$STATE,27918,end surface coast,CONTROL_FINISHED_OK
$STATE,27918,begin surface
$SM_CCo,28000,0.00,0.000,0,0,1422,370.16
$SM_GC,2.31,5.65,0.00,0.00,0.037,0.000,0.000,98,2303,1422,-8.62,0.00,370.16
$IRIDIUM_FIX,4859.98,-13527.99,210599,121241
$TT8_MAMPS,0.029146
$HUMID,1781
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,16.10
$XPDR_PINGS,72
$24V_AH,21.9,110.819
$10V_AH,10.3,94.082
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$DEVICE_SECS,18.850,233.500,432.275,0.000,0.000,29.125,27.750,212.766,18.000,0.000,0.000,15.875,1627.980,23122.502,577.151,2119.511,991.887,33.386,1727.270,0.000,2091.097,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,499.108,577.348,733.561,760.326,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41251,710
$CAP_FILE_SIZE,181744,0
$CFSIZE,260165632,198840320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,250210,035209,4916.518,-13515.542,39,1.5,42,19.5