version: 66.04
glider: 144
mission: 15
dive: 782
start: 3 1 110 3 41 54
data:
$ID,144
$MISSION,15
$DIVE,782
$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,-77539.961
$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,38
$R_STBD_OVSHOOT,29
$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
$GPS1,033036,4911.225,-13419.628,62,1.5,68,19.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-57.2
$GPS2,034101,4911.209,-13419.555,13,1.6,24,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.136,-0.098
$KALMAN_X,-50102.8,-179.3,-135.9,819775.8,1651.6
$KALMAN_Y,78319.2,-571.3,-411.8,-206529.0,2931.6
$MHEAD_RNG_PITCHd_Wd,106.4,268009,-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,-117.3,0.0,0.0,0,54,0.00,0.00,-35.47,0.000,2,0.000,0.000,98,2306,2624
$GC,59,-0.68,-117.3,3.7,-5.0,2,90,7.38,2.33,-18.23,0.000,4,0.242,0.063,1838,3711,3413
$GC,154,-0.64,-117.3,14.4,-9.7,6,159,0.10,2.22,0.00,0.000,6,0.130,0.034,1864,2296,3413
$GC,471,-0.64,-117.3,45.2,-8.3,21,475,0.00,2.22,0.00,0.000,4,0.000,0.040,1864,901,3414
$GC,551,-0.64,-117.3,53.2,-10.7,24,557,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2306,3414
$GC,869,-0.64,-117.3,82.7,-9.1,41,870,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2306,3414
$GC,1188,-0.67,-117.3,108.8,-7.6,71,1192,0.00,2.22,0.00,0.000,4,0.000,0.040,1863,903,3414
$GC,1262,-0.71,-117.3,115.0,-8.0,77,1269,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2314,3414
$GC,1593,-0.75,-117.3,138.6,-7.0,108,1598,0.10,2.25,0.00,0.000,4,0.064,0.038,1784,896,3414
$GC,1706,-0.66,-117.3,151.4,-10.8,117,1711,0.28,2.28,0.00,0.000,6,0.117,0.042,1860,2303,3414
$GC,2032,-0.71,-117.3,171.0,-5.8,128,2036,0.00,2.28,0.00,0.000,4,0.000,0.048,1853,3707,3414
$GC,2079,-0.78,-117.3,174.3,-7.0,129,2084,0.08,2.20,0.00,0.000,6,0.076,0.031,1790,2300,3414
$GC,2405,-0.70,-117.3,207.6,-10.5,140,2409,0.20,2.22,0.00,0.000,4,0.115,0.039,1857,902,3414
$GC,2485,-0.77,-117.3,213.8,-7.1,142,2489,0.00,2.22,0.00,0.000,6,0.000,0.036,1850,2307,3414
$GC,2816,-0.82,-117.3,237.1,-7.0,153,2821,0.10,2.28,0.00,0.000,4,0.066,0.038,1771,893,3414
$GC,2875,-0.72,-117.3,243.4,-12.0,154,2882,0.28,2.28,0.00,0.000,6,0.117,0.044,1842,2308,3414
$GC,3191,-0.76,-117.3,265.8,-6.6,165,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2307,3414
$GC,3496,-0.79,-117.3,285.4,-6.4,175,3500,0.00,2.30,0.00,0.000,4,0.000,0.043,1842,903,3414
$GC,3538,-0.84,-117.3,288.3,-7.1,176,3542,0.00,2.25,0.00,0.000,6,0.000,0.040,1837,2305,3414
$GC,3898,-0.87,-117.3,312.9,-6.7,185,3900,0.10,0.00,0.00,0.000,6,0.064,0.000,1755,2306,3413
$GC,4200,-0.74,-117.3,345.1,-10.7,190,4205,0.25,2.30,0.00,0.000,4,0.123,0.041,1837,904,3414
$GC,4303,-0.78,-117.3,352.2,-6.4,191,4307,0.00,2.30,0.00,0.000,6,0.000,0.038,1836,2312,3413
$GC,4632,-0.81,-117.3,370.9,-5.8,197,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2312,3413
$GC,4934,-0.85,-117.3,390.7,-6.7,202,4938,0.00,2.33,0.00,0.000,4,0.000,0.043,1836,895,3413
$GC,4969,-0.88,-117.3,393.5,-7.5,202,4974,0.10,2.30,0.00,0.000,6,0.066,0.040,1767,2310,3413
$GC,5297,-0.79,-117.3,427.3,-10.5,208,5301,0.20,2.33,0.00,0.000,4,0.123,0.046,1833,896,3412
$GC,5367,-0.83,-117.3,432.9,-7.2,209,5371,0.00,2.28,0.00,0.000,6,0.000,0.039,1826,2305,3412
$GC,5728,-0.83,-117.3,459.8,-7.4,215,5732,0.00,2.25,0.00,0.000,4,0.000,0.042,1826,899,3412
$GC,5769,-0.86,-117.3,462.9,-7.4,215,5773,0.00,2.28,0.00,0.000,6,0.000,0.044,1823,2302,3412
$GC,6098,-0.86,-117.3,488.1,-7.7,221,6102,0.00,2.30,0.00,0.000,4,0.000,0.043,1823,894,3411
$GC,6149,-0.88,-117.3,492.4,-8.0,221,6153,0.00,2.28,0.00,0.000,6,0.000,0.042,1821,2302,3411
$GC,6461,-0.88,-117.3,516.4,-7.7,226,6465,0.00,2.30,0.00,0.000,4,0.000,0.045,1821,904,3411
$GC,6513,-0.91,-117.3,520.7,-8.2,226,6518,0.00,2.30,0.00,0.000,6,0.000,0.041,1813,2306,3411
$GC,6825,-0.91,-117.3,545.3,-7.9,231,6829,0.00,2.30,0.00,0.000,4,0.000,0.043,1813,904,3410
$GC,6899,-0.91,-117.3,551.8,-8.4,232,6903,0.00,2.30,0.00,0.000,6,0.000,0.038,1809,2303,3410
$GC,7255,-0.91,-117.3,581.2,-8.3,238,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3409
$GC,7557,-0.91,-117.3,604.7,-7.7,243,7561,0.00,2.33,0.00,0.000,4,0.000,0.045,1809,894,3410
$GC,7586,-0.91,-117.3,607.0,-8.0,243,7590,0.00,2.35,0.00,0.000,6,0.000,0.045,1808,2309,3409
$GC,7925,-0.91,-117.3,630.6,-6.8,249,7929,0.00,2.30,0.00,0.000,4,0.000,0.044,1808,905,3409
$GC,7967,-0.91,-117.3,633.5,-7.2,249,7971,0.00,2.30,0.00,0.000,6,0.000,0.041,1806,2303,3409
$GC,8294,-0.91,-117.3,656.2,-7.0,255,8298,0.00,2.30,0.00,0.000,4,0.000,0.046,1806,897,3409
$GC,8340,-0.91,-117.3,659.9,-7.7,255,8344,0.00,2.25,0.00,0.000,6,0.000,0.041,1797,2298,3408
$GC,8668,-0.91,-117.3,685.7,-7.9,261,8672,0.00,2.28,0.00,0.000,4,0.000,0.048,1797,904,3408
$GC,8709,-0.91,-117.3,689.2,-8.7,261,8713,0.00,2.30,0.00,0.000,6,0.000,0.046,1794,2312,3408
$GC,9031,-0.88,-117.3,714.7,-7.9,267,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2312,3408
$GC,9334,-0.86,-117.3,737.5,-7.5,272,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2312,3408
$GC,9637,-0.86,-117.3,758.5,-6.9,277,9641,0.00,2.30,0.00,0.000,4,0.000,0.044,1794,902,3408
$GC,9712,-0.86,-117.3,764.0,-7.7,278,9717,0.12,2.30,0.00,0.000,6,0.120,0.043,1819,2314,3407
$GC,10073,-0.90,-117.3,785.2,-6.0,284,10077,0.00,2.33,0.00,0.000,4,0.000,0.048,1820,900,3407
$GC,10120,-0.95,-117.3,788.2,-6.2,284,10124,0.10,2.30,0.00,0.000,6,0.070,0.044,1764,2303,3407
$GC,10437,-0.88,-117.3,814.5,-8.4,290,10442,0.17,2.35,0.00,0.000,4,0.122,0.051,1816,3707,3406
$GC,10461,-0.88,-117.3,816.5,-7.3,290,10465,0.00,2.22,0.00,0.000,6,0.000,0.034,1816,2304,3407
$GC,10801,-0.92,-117.3,834.5,-5.4,296,10802,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2304,3406
$GC,11104,-0.95,-117.3,851.5,-5.6,301,11109,0.08,2.33,0.00,0.000,4,0.092,0.047,1765,896,3406
$GC,11168,-0.89,-117.3,856.7,-8.7,302,11173,0.20,2.30,0.00,0.000,6,0.123,0.045,1812,2301,3406
$GC,11536,-0.92,-117.3,878.1,-5.7,308,11540,0.00,2.38,0.00,0.000,4,0.000,0.048,1812,888,3406
$GC,11583,-0.95,-117.3,881.1,-6.3,308,11587,0.00,2.35,0.00,0.000,6,0.000,0.039,1809,2306,3406
$GC,11899,-0.97,-117.3,900.4,-6.1,314,11901,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2306,3406
$GC,12203,-1.00,-117.3,919.2,-6.2,319,12204,0.10,0.00,0.00,0.000,6,0.075,0.000,1761,2306,3406
$GC,12507,-0.93,-117.3,944.3,-8.4,324,12509,0.15,0.00,0.00,0.000,6,0.128,0.000,1805,2306,3405
$GC,12808,-0.93,-117.3,962.8,-5.9,329,12812,0.00,2.35,0.00,0.000,4,0.000,0.047,1805,893,3405
$GC,12854,-0.93,-117.3,965.9,-7.0,329,12858,0.00,2.35,0.00,0.000,6,0.000,0.041,1804,2310,3405
$GC,13181,-0.93,-117.3,986.4,-6.3,335,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2310,3405
$STATE,13298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13298,begin apogee
$GC,13309,-0.22,0.0,993.8,6.2,337,13409,0.47,0.00,97.35,1.277,6,0.110,0.000,1956,2310,2931
$STATE,13409,end apogee,CONTROL_FINISHED_OK
$STATE,13410,begin climb
$GC,13414,0.68,117.3,995.2,0.0,338,13525,0.55,2.55,103.07,1.253,4,0.068,0.052,2153,3698,2451
$GC,13584,0.50,117.3,991.6,7.3,340,13589,0.22,2.35,0.00,0.000,6,0.156,0.035,2107,2297,2447
$GC,13907,0.49,137.6,975.8,4.8,346,13927,0.00,0.00,17.33,1.160,6,0.000,0.000,2107,2297,2370
$GC,14210,0.50,144.4,960.0,5.3,351,14224,0.00,2.40,6.95,0.980,4,0.000,0.051,2107,3709,2342
$GC,14251,0.47,150.7,957.6,5.3,351,14264,0.00,2.25,7.35,0.992,6,0.000,0.035,2116,2301,2316
$GC,14583,0.44,150.7,938.3,5.8,357,14584,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2301,2313
$GC,14886,0.42,150.7,921.0,5.7,362,14891,0.10,2.35,0.00,0.000,4,0.153,0.054,2092,3716,2312
$GC,14910,0.42,150.7,919.5,5.5,362,14914,0.00,2.25,0.00,0.000,6,0.000,0.032,2100,2292,2311
$GC,15249,0.44,169.9,902.8,4.9,368,15268,0.00,0.00,17.60,1.144,6,0.000,0.000,2101,2292,2238
$GC,15552,0.50,201.9,889.4,4.4,373,15586,0.00,2.40,29.35,1.169,4,0.000,0.049,2100,3711,2106
$GC,15620,0.58,247.5,886.5,4.0,374,15668,0.00,2.25,41.72,1.171,6,0.000,0.032,2110,2302,1921
$GC,15987,0.66,270.2,869.0,4.7,380,16022,0.12,2.35,22.52,1.041,4,0.061,0.053,2182,901,1829
$GC,16046,0.60,270.2,864.4,8.3,380,16053,0.20,2.28,0.00,0.000,6,0.134,0.046,2128,2309,1826
$GC,16359,0.62,270.2,846.1,5.7,386,16363,0.00,2.30,0.00,0.000,4,0.000,0.050,2128,3720,1823
$GC,16440,0.62,270.2,840.6,6.2,387,16444,0.00,2.22,0.00,0.000,6,0.000,0.032,2136,2302,1822
$GC,16790,0.62,270.2,819.1,6.1,393,16794,0.00,2.35,0.00,0.000,4,0.000,0.050,2136,3714,1821
$GC,16825,0.62,270.2,816.7,7.1,393,16829,0.00,2.22,0.00,0.000,6,0.000,0.032,2146,2303,1821
$GC,17152,0.62,270.2,794.8,6.7,399,17153,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2303,1821
$GC,17455,0.62,270.2,773.2,7.1,404,17456,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2302,1820
$GC,17758,0.62,270.2,751.7,7.1,409,17762,0.00,2.30,0.00,0.000,4,0.000,0.048,2146,3718,1820
$GC,17796,0.59,270.2,749.0,8.2,409,17801,0.12,2.22,0.00,0.000,6,0.134,0.031,2123,2296,1820
$GC,18125,0.63,270.2,730.3,5.5,415,18129,0.00,2.28,0.00,0.000,4,0.000,0.047,2131,890,1819
$GC,18160,0.70,270.2,728.0,5.6,415,18164,0.00,2.28,0.00,0.000,6,0.000,0.037,2132,2309,1819
$GC,18495,0.73,270.2,706.7,6.5,421,18499,0.10,2.30,0.00,0.000,4,0.068,0.047,2199,3711,1818
$GC,18553,0.57,270.2,700.3,12.2,421,18558,0.32,2.22,0.00,0.000,6,0.153,0.032,2125,2291,1818
$GC,18866,0.62,270.2,680.4,5.9,426,18869,0.00,2.30,0.00,0.000,4,0.000,0.052,2133,888,1819
$GC,18890,0.67,270.2,678.7,6.2,426,18894,0.00,2.25,0.00,0.000,6,0.000,0.036,2133,2304,1817
$GC,19241,0.69,270.2,656.7,6.3,432,19245,0.00,2.30,0.00,0.000,4,0.000,0.048,2133,3713,1817
$GC,19286,0.69,270.2,653.5,6.7,432,19290,0.00,2.20,0.00,0.000,6,0.000,0.031,2143,2302,1818
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$STATE,28328,end climb,SURFACE_DEPTH_REACHED
$STATE,28329,begin surface coast
$FINISH,1.5,1.024693
$STATE,28350,end surface coast,CONTROL_FINISHED_OK
$STATE,28351,begin surface
$SM_CCo,28433,0.00,0.000,0,0,1563,335.33
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$IRIDIUM_FIX,4853.41,-13420.43,260599,030323
$TT8_MAMPS,0.028379
$HUMID,1782
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$TCM_TEMP,16.20
$XPDR_PINGS,73
$24V_AH,21.9,112.587
$10V_AH,10.3,95.541
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$DEVICE_SECS,20.150,251.200,398.000,0.000,0.000,59.754,70.282,226.535,18.250,0.000,0.000,25.575,1665.725,23503.230,532.753,2210.146,1126.732,33.376,1731.698,0.000,2173.356,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,496.301,575.491,731.830,746.588,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41156,705
$CAP_FILE_SIZE,190255,0
$CFSIZE,260165632,197828608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010310,113706,4910.080,-13414.262,34,1.5,34,19.5