version: 66.04
glider: 144
mission: 15
dive: 770
start: 2 25 110 4 0 9
data:
$ID,144
$MISSION,15
$DIVE,770
$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,-77294.094
$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,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
$GPS1,035209,4916.518,-13515.542,39,1.5,42,19.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-56.5
$GPS2,035916,4916.486,-13515.496,10,1.6,18,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.160,-0.052
$KALMAN_X,-57250.7,-7.5,4.1,760489.0,1717.2
$KALMAN_Y,66526.0,-440.0,-265.0,-185247.4,2044.5
$MHEAD_RNG_PITCHd_Wd,88.6,42893,-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,15,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,-40.08,0.000,2,0.000,0.000,98,2303,2451
$GC,67,-0.68,-117.3,3.1,-4.0,2,110,7.18,2.33,-27.40,0.000,4,0.232,0.061,1840,3699,3411
$GC,235,-0.63,-117.3,22.4,-16.1,9,240,0.10,2.22,0.00,0.000,6,0.125,0.036,1867,2288,3413
$GC,552,-0.63,-117.3,55.6,-9.5,24,556,0.00,2.22,0.00,0.000,4,0.000,0.041,1867,889,3413
$GC,622,-0.63,-117.3,62.1,-8.8,27,626,0.00,2.22,0.00,0.000,6,0.000,0.036,1863,2300,3413
$GC,950,-0.63,-117.3,95.2,-7.8,50,954,0.00,2.22,0.00,0.000,4,0.000,0.040,1862,898,3413
$GC,1043,-0.67,-117.3,103.0,-8.7,58,1047,0.00,2.22,0.00,0.000,6,0.000,0.037,1862,2306,3413
$GC,1379,-0.71,-117.3,131.1,-8.8,89,1383,0.00,2.28,0.00,0.000,4,0.000,0.046,1853,3718,3414
$GC,1431,-0.76,-117.3,136.3,-8.8,93,1438,0.00,2.20,0.00,0.000,6,0.000,0.028,1852,2301,3413
$GC,1775,-0.80,-117.3,160.3,-6.7,116,1779,0.10,2.25,0.00,0.000,4,0.065,0.039,1776,890,3413
$GC,1882,-0.71,-117.3,172.4,-11.6,119,1887,0.28,2.22,0.00,0.000,6,0.118,0.035,1850,2305,3413
$GC,2213,-0.75,-117.3,196.7,-7.0,130,2217,0.00,2.25,0.00,0.000,4,0.000,0.040,1850,900,3414
$GC,2251,-0.81,-117.3,199.5,-7.9,131,2255,0.10,2.22,0.00,0.000,6,0.064,0.036,1777,2305,3413
$GC,2587,-0.71,-117.3,239.2,-12.4,142,2589,0.22,0.00,0.00,0.000,6,0.123,0.000,1845,2305,3414
$GC,2895,-0.75,-117.3,263.2,-7.4,152,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2305,3413
$GC,3200,-0.79,-117.3,284.8,-7.0,162,3204,0.00,2.28,0.00,0.000,4,0.000,0.041,1845,899,3413
$GC,3229,-0.85,-117.3,287.0,-7.6,162,3236,0.10,2.28,0.00,0.000,6,0.063,0.042,1768,2306,3413
$GC,3542,-0.74,-117.3,321.4,-11.1,170,3546,0.20,2.30,0.00,0.000,4,0.126,0.041,1834,900,3413
$GC,3617,-0.77,-117.3,327.4,-7.1,171,3621,0.00,2.28,0.00,0.000,6,0.000,0.038,1828,2306,3413
$GC,3972,-0.77,-117.3,351.8,-6.8,177,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2306,3413
$GC,4275,-0.77,-117.3,371.0,-6.3,182,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2307,3413
$GC,4579,-0.77,-117.3,390.5,-6.5,187,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2307,3412
$GC,4882,-0.77,-117.3,410.8,-6.7,192,4886,0.00,2.33,0.00,0.000,4,0.000,0.043,1828,895,3411
$GC,4956,-0.80,-117.3,416.0,-7.2,193,4960,0.00,2.30,0.00,0.000,6,0.000,0.038,1823,2303,3411
$GC,5317,-0.80,-117.3,438.9,-6.3,199,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2304,3411
$GC,5621,-0.80,-117.3,458.1,-6.3,204,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2304,3411
$GC,5923,-0.80,-117.3,476.8,-6.1,209,5927,0.00,2.33,0.00,0.000,4,0.000,0.045,1823,901,3410
$GC,5979,-0.80,-117.3,480.7,-7.0,209,5985,0.00,2.33,0.00,0.000,6,0.000,0.045,1821,2313,3410
$GC,6290,-0.80,-117.3,501.5,-6.8,215,6294,0.00,2.33,0.00,0.000,4,0.000,0.044,1821,899,3410
$GC,6342,-0.82,-117.3,505.2,-7.1,215,6346,0.00,2.30,0.00,0.000,6,0.000,0.038,1813,2311,3410
$GC,6653,-0.82,-117.3,528.1,-7.4,220,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2312,3410
$GC,6956,-0.82,-117.3,550.5,-7.4,225,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2312,3410
$GC,7259,-0.82,-117.3,573.2,-7.4,230,7263,0.00,2.33,0.00,0.000,4,0.000,0.049,1812,898,3409
$GC,7318,-0.82,-117.3,577.6,-8.0,230,7322,0.00,2.30,0.00,0.000,6,0.000,0.042,1808,2304,3409
$GC,7629,-0.82,-117.3,601.2,-7.6,235,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3409
$GC,7932,-0.82,-117.3,623.5,-7.3,240,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3409
$GC,8235,-0.82,-117.3,645.6,-7.4,245,8239,0.00,2.33,0.00,0.000,4,0.000,0.044,1808,894,3409
$GC,8287,-0.82,-117.3,649.6,-8.0,245,8291,0.00,2.30,0.00,0.000,6,0.000,0.044,1807,2306,3408
$GC,8598,-0.82,-117.3,672.4,-7.3,250,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3408
$GC,8902,-0.82,-117.3,693.1,-6.8,255,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3408
$GC,9204,-0.82,-117.3,711.7,-6.1,260,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3408
$GC,9507,-0.82,-117.3,730.8,-6.2,265,9511,0.00,2.33,0.00,0.000,4,0.000,0.044,1807,900,3408
$GC,9574,-0.82,-117.3,735.3,-7.9,266,9578,0.10,2.30,0.00,0.000,6,0.123,0.041,1825,2308,3407
$GC,9941,-0.87,-117.3,755.3,-5.3,272,9945,0.00,2.30,0.00,0.000,4,0.000,0.044,1825,900,3408
$GC,9970,-0.92,-117.3,757.1,-6.8,272,9975,0.08,2.30,0.00,0.000,6,0.080,0.039,1768,2311,3408
$GC,10310,-0.85,-117.3,783.6,-8.0,278,10314,0.17,2.38,0.00,0.000,4,0.123,0.056,1818,3716,3407
$GC,10367,-0.90,-117.3,787.4,-5.5,278,10372,0.00,2.28,0.00,0.000,6,0.000,0.035,1818,2301,3407
$GC,10679,-0.94,-117.3,803.9,-5.3,283,10684,0.08,2.30,0.00,0.000,4,0.087,0.047,1760,898,3406
$GC,10720,-0.86,-117.3,807.0,-8.1,283,10725,0.22,2.30,0.00,0.000,6,0.123,0.041,1820,2303,3406
$GC,11054,-0.90,-117.3,824.5,-5.1,289,11055,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2303,3407
$GC,11357,-0.94,-117.3,840.7,-5.4,294,11359,0.10,0.00,0.00,0.000,6,0.072,0.000,1764,2303,3406
$GC,11660,-0.86,-117.3,865.4,-8.3,299,11662,0.17,0.00,0.00,0.000,6,0.120,0.000,1817,2303,3406
$GC,11963,-0.90,-117.3,884.0,-6.0,304,11964,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2303,3406
$GC,12265,-0.94,-117.3,901.6,-5.8,309,12270,0.10,2.35,0.00,0.000,4,0.076,0.049,1764,892,3405
$GC,12307,-0.87,-117.3,904.9,-8.4,309,12311,0.20,2.33,0.00,0.000,6,0.122,0.041,1812,2302,3405
$GC,12640,-0.91,-117.3,924.3,-5.6,315,12641,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2302,3405
$GC,12943,-0.94,-117.3,940.9,-5.5,320,12944,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2302,3405
$GC,13246,-0.97,-117.3,956.4,-5.1,325,13251,0.10,2.35,0.00,0.000,4,0.079,0.046,1767,897,3405
$GC,13287,-0.91,-117.3,959.3,-8.0,325,13292,0.17,2.33,0.00,0.000,6,0.123,0.045,1806,2303,3405
$GC,13610,-0.93,-117.3,977.0,-5.4,331,13611,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2303,3404
$STATE,13847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13847,begin apogee
$GC,13856,-0.22,0.0,991.0,5.8,335,13957,0.45,0.00,97.62,1.276,6,0.105,0.000,1955,2303,2931
$STATE,13957,end apogee,CONTROL_FINISHED_OK
$STATE,13958,begin climb
$GC,13963,0.68,117.3,992.3,0.0,336,14074,0.55,2.60,103.80,1.249,4,0.067,0.051,2151,3704,2451
$GC,14120,0.50,117.3,989.8,6.5,338,14126,0.22,2.40,0.00,0.000,6,0.156,0.038,2107,2304,2446
$GC,14455,0.52,155.9,975.4,4.2,344,14490,0.00,0.00,32.95,1.210,6,0.000,0.000,2107,2304,2295
$GC,14757,0.56,193.8,962.5,4.2,349,14792,0.00,0.00,33.80,1.204,6,0.000,0.000,2108,2304,2141
$GC,15060,0.63,230.8,949.5,4.3,354,15097,0.12,0.00,33.60,1.197,6,0.065,0.000,2162,2304,1990
$GC,15364,0.55,230.8,926.5,7.9,359,15369,0.17,2.33,0.00,0.000,4,0.135,0.054,2111,3715,1984
$GC,15398,0.55,230.8,924.0,6.1,359,15402,0.00,2.25,0.00,0.000,6,0.000,0.035,2119,2299,1983
$GC,15727,0.60,252.1,908.1,4.8,365,15748,0.00,0.00,19.38,1.146,6,0.000,0.000,2119,2299,1903
$GC,16031,0.66,269.7,893.3,4.9,370,16057,0.08,0.00,18.98,1.024,6,0.083,0.000,2164,2299,1831
$GC,16333,0.59,269.7,868.2,8.5,375,16334,0.15,0.00,0.00,0.000,6,0.133,0.000,2123,2299,1827
$GC,16636,0.63,269.7,850.1,5.9,380,16637,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2299,1825
$GC,16939,0.67,269.7,830.5,6.5,385,16943,0.08,2.33,0.00,0.000,4,0.081,0.054,2181,896,1825
$GC,16968,0.67,269.7,828.1,9.0,385,16973,0.15,2.28,0.00,0.000,6,0.135,0.038,2142,2304,1824
$GC,17307,0.67,269.7,800.7,7.9,391,17311,0.00,2.33,0.00,0.000,4,0.000,0.049,2143,3717,1824
$GC,17358,0.65,269.7,796.3,7.9,391,17363,0.00,2.25,0.00,0.000,6,0.000,0.033,2150,2299,1823
$GC,17671,0.62,269.7,770.9,8.1,396,17673,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2299,1823
$GC,17973,0.60,269.7,748.1,7.4,401,17977,0.00,2.30,0.00,0.000,4,0.000,0.050,2150,3708,1823
$GC,18002,0.55,269.7,745.7,7.9,401,18007,0.15,2.25,0.00,0.000,6,0.130,0.040,2119,2305,1823
$GC,18342,0.64,291.6,729.0,4.8,407,18367,0.00,2.33,19.95,1.046,4,0.000,0.049,2127,893,1742
$GC,18408,0.73,295.5,725.4,5.4,408,18418,0.10,2.28,4.95,0.756,6,0.070,0.040,2188,2307,1726
$GC,18775,0.63,295.5,688.9,10.3,414,18780,0.17,2.30,0.00,0.000,4,0.134,0.048,2133,3718,1724
$GC,18833,0.66,295.5,683.8,8.1,414,18839,0.00,2.22,0.00,0.000,6,0.000,0.035,2141,2302,1724
$GC,19144,0.68,295.5,663.2,6.6,420,19148,0.00,2.28,0.00,0.000,4,0.000,0.047,2151,890,1723
$GC,19167,0.71,295.5,661.5,7.0,420,19171,0.00,2.28,0.00,0.000,6,0.000,0.036,2152,2310,1722
$GC,19507,0.71,295.5,633.6,8.4,426,19511,0.00,2.25,0.00,0.000,4,0.000,0.047,2152,3710,1722
$GC,19529,0.71,295.5,631.2,10.5,426,19534,0.00,2.20,0.00,0.000,6,0.000,0.033,2162,2300,1722
$GC,19874,0.67,295.5,598.0,9.7,432,19876,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2301,1722
$GC,20178,0.64,295.5,571.4,8.7,437,20180,0.10,0.00,0.00,0.000,6,0.143,0.000,2136,2301,1722
$GC,20480,0.68,295.5,553.3,5.7,442,20485,0.00,2.35,0.00,0.000,4,0.000,0.052,2136,3715,1722
$GC,20504,0.72,295.5,551.6,6.6,442,20508,0.00,2.25,0.00,0.000,6,0.000,0.032,2143,2295,1722
$GC,20849,0.74,295.5,529.0,6.7,448,20850,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2295,1722
$GC,21153,0.76,295.5,507.8,6.9,453,21155,0.08,0.00,0.00,0.000,6,0.077,0.000,2205,2295,1721
$GC,21455,0.63,295.5,473.0,11.8,458,21460,0.22,2.33,0.00,0.000,4,0.139,0.046,2136,3708,1722
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$STATE,27801,end climb,SURFACE_DEPTH_REACHED
$STATE,27801,begin surface coast
$FINISH,1.6,1.025361
$STATE,27823,end surface coast,CONTROL_FINISHED_OK
$STATE,27828,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1781
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$TCM_TEMP,16.20
$XPDR_PINGS,59
$24V_AH,21.9,110.966
$10V_AH,10.3,94.187
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$DEVICE_SECS,19.250,192.250,405.475,0.000,0.000,22.474,32.159,186.346,14.750,0.000,0.000,20.216,1566.762,23319.047,559.236,1937.012,936.995,33.387,1586.018,0.000,1917.260,0.000,0.528,0.000
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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,41262,695
$CAP_FILE_SIZE,169932,0
$CFSIZE,260165632,198782976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250210,114638,4915.921,-13510.627,36,1.3,37,19.6