version: 66.04
glider: 144
mission: 15
dive: 783
start: 3 1 110 11 45 2
data:
$ID,144
$MISSION,15
$DIVE,783
$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,-77556.391
$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,33
$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
$GPS1,113706,4910.080,-13414.262,34,1.5,34,19.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-56.8
$GPS2,114408,4910.143,-13414.238,14,1.3,14,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.142,-0.089
$KALMAN_X,-49075.0,-61.6,85.6,824686.1,1593.2
$KALMAN_Y,79141.7,-32.2,-294.6,-209994.5,2634.1
$MHEAD_RNG_PITCHd_Wd,102.7,261398,-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,-117.1,0.0,0.0,0,63,0.00,0.00,-40.65,0.000,2,0.000,0.000,98,2311,2629
$GC,68,-0.68,-117.1,3.8,-7.3,2,99,7.40,2.33,-18.40,0.000,4,0.247,0.062,1837,3713,3410
$GC,179,-0.65,-117.1,17.1,-9.0,7,183,0.00,2.20,0.00,0.000,6,0.000,0.029,1837,2300,3411
$GC,503,-0.59,-117.1,53.0,-13.3,23,508,0.12,2.28,0.00,0.000,4,0.130,0.040,1872,896,3412
$GC,595,-0.63,-117.1,60.7,-7.4,27,599,0.00,2.22,0.00,0.000,6,0.000,0.035,1864,2303,3412
$GC,916,-0.63,-117.1,89.1,-9.7,47,920,0.00,2.25,0.00,0.000,4,0.000,0.040,1864,890,3412
$GC,970,-0.65,-117.1,94.3,-10.1,51,974,0.00,2.28,0.00,0.000,6,0.000,0.038,1863,2300,3412
$GC,1303,-0.68,-117.1,122.0,-8.4,81,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2300,3412
$GC,1630,-0.73,-117.1,146.0,-6.5,112,1634,0.00,2.33,0.00,0.000,4,0.000,0.048,1854,3716,3412
$GC,1666,-0.79,-117.1,148.6,-7.3,114,1673,0.10,2.20,0.00,0.000,6,0.063,0.028,1777,2301,3412
$GC,2002,-0.68,-117.1,186.3,-11.6,127,2006,0.22,2.30,0.00,0.000,4,0.117,0.039,1853,891,3412
$GC,2092,-0.74,-117.1,194.0,-7.8,129,2099,0.00,2.28,0.00,0.000,6,0.000,0.038,1850,2304,3413
$GC,2408,-0.78,-117.1,216.8,-7.0,140,2412,0.00,2.30,0.00,0.000,4,0.000,0.048,1844,3711,3412
$GC,2431,-0.82,-117.1,218.6,-7.2,140,2436,0.08,2.20,0.00,0.000,6,0.074,0.028,1781,2296,3412
$GC,2746,-0.74,-117.1,249.4,-9.8,150,2751,0.20,2.30,0.00,0.000,4,0.115,0.040,1846,890,3412
$GC,2850,-0.79,-117.1,257.0,-6.9,153,2855,0.00,2.28,0.00,0.000,6,0.000,0.035,1839,2313,3412
$GC,3188,-0.83,-117.1,280.9,-7.3,164,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2313,3412
$GC,3524,-0.86,-117.1,304.6,-6.9,174,3529,0.10,2.30,0.00,0.000,4,0.066,0.040,1760,900,3412
$GC,3559,-0.76,-117.1,308.2,-11.3,174,3564,0.28,2.30,0.00,0.000,6,0.120,0.038,1832,2301,3412
$GC,3887,-0.78,-117.1,330.8,-6.5,180,3891,0.00,2.30,0.00,0.000,4,0.000,0.048,1832,894,3412
$GC,3953,-0.82,-117.1,335.2,-6.9,181,3957,0.00,2.28,0.00,0.000,6,0.000,0.038,1826,2302,3412
$GC,4320,-0.82,-117.1,360.4,-6.9,187,4324,0.00,2.28,0.00,0.000,4,0.000,0.044,1826,902,3412
$GC,4377,-0.84,-117.1,364.8,-7.9,187,4381,0.00,2.30,0.00,0.000,6,0.000,0.044,1822,2312,3412
$GC,4693,-0.84,-117.1,389.1,-7.8,193,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2312,3411
$GC,4997,-0.84,-117.1,412.1,-7.6,198,5001,0.00,2.28,0.00,0.000,4,0.000,0.042,1822,897,3411
$GC,5061,-0.86,-117.1,417.3,-7.8,199,5065,0.00,2.25,0.00,0.000,6,0.000,0.042,1813,2304,3411
$GC,5433,-0.86,-117.1,445.7,-7.5,205,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2304,3410
$GC,5737,-0.86,-117.1,469.2,-7.8,210,5741,0.00,2.28,0.00,0.000,4,0.000,0.044,1813,902,3410
$GC,5806,-0.86,-117.1,475.0,-8.3,211,5810,0.00,2.28,0.00,0.000,6,0.000,0.038,1808,2303,3410
$GC,6167,-0.86,-117.1,504.8,-8.3,217,6171,0.00,2.30,0.00,0.000,4,0.000,0.049,1808,895,3410
$GC,6201,-0.86,-117.1,507.7,-8.0,217,6205,0.00,2.28,0.00,0.000,6,0.000,0.038,1799,2304,3409
$GC,6536,-0.83,-117.1,533.8,-7.8,223,6540,0.00,2.30,0.00,0.000,4,0.000,0.051,1790,3710,3409
$GC,6571,-0.80,-117.1,536.8,-8.3,223,6575,0.12,2.22,0.00,0.000,6,0.113,0.038,1826,2304,3408
$GC,6904,-0.83,-117.1,558.8,-6.6,229,6908,0.00,2.28,0.00,0.000,4,0.000,0.044,1826,898,3408
$GC,6979,-0.88,-117.1,564.4,-8.1,230,6983,0.00,2.28,0.00,0.000,6,0.000,0.038,1823,2311,3408
$GC,7341,-0.91,-117.1,590.8,-7.3,236,7345,0.00,2.33,0.00,0.000,4,0.000,0.048,1823,892,3407
$GC,7382,-0.94,-117.1,594.1,-8.2,236,7387,0.10,2.33,0.00,0.000,6,0.067,0.044,1756,2314,3408
$GC,7705,-0.84,-117.1,628.4,-10.8,242,7707,0.20,0.00,0.00,0.000,6,0.126,0.000,1816,2313,3407
$GC,8008,-0.86,-117.1,650.1,-6.9,247,8012,0.00,2.35,0.00,0.000,4,0.000,0.045,1816,893,3407
$GC,8059,-0.89,-117.1,654.2,-7.9,247,8064,0.00,2.30,0.00,0.000,6,0.000,0.038,1809,2302,3407
$GC,8371,-0.89,-117.1,675.6,-6.8,252,8375,0.00,2.33,0.00,0.000,4,0.000,0.045,1810,891,3407
$GC,8423,-0.89,-117.1,679.4,-7.5,252,8427,0.00,2.33,0.00,0.000,6,0.000,0.044,1808,2310,3407
$GC,8734,-0.89,-117.1,699.9,-6.5,257,8738,0.00,2.35,0.00,0.000,4,0.000,0.047,1808,899,3407
$GC,8757,-0.89,-117.1,701.7,-7.4,257,8761,0.00,2.30,0.00,0.000,6,0.000,0.038,1807,2307,3406
$GC,9102,-0.89,-117.1,724.5,-6.7,263,9106,0.00,2.33,0.00,0.000,4,0.000,0.050,1807,890,3406
$GC,9125,-0.89,-117.1,726.1,-7.0,263,9129,0.00,2.33,0.00,0.000,6,0.000,0.038,1797,2307,3406
$GC,9463,-0.89,-117.1,749.4,-6.9,269,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2307,3406
$GC,9767,-0.89,-117.1,770.5,-6.9,274,9771,0.00,2.35,0.00,0.000,4,0.000,0.049,1798,892,3406
$GC,9813,-0.89,-117.1,774.0,-7.4,274,9817,0.00,2.33,0.00,0.000,6,0.000,0.044,1795,2306,3406
$GC,10130,-0.89,-117.1,796.0,-6.9,280,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2306,3405
$GC,10433,-0.89,-117.1,817.9,-7.4,285,10437,0.00,2.30,0.00,0.000,4,0.000,0.048,1795,900,3405
$GC,10499,-0.89,-117.1,823.3,-8.5,286,10504,0.00,2.33,0.00,0.000,6,0.000,0.045,1793,2305,3405
$GC,10866,-0.89,-117.1,854.7,-8.4,292,10870,0.00,2.33,0.00,0.000,4,0.000,0.051,1793,900,3405
$GC,10940,-0.89,-117.1,861.5,-9.3,293,10945,0.10,2.33,0.00,0.000,6,0.124,0.041,1808,2306,3405
$GC,11297,-0.92,-117.1,887.4,-7.2,299,11299,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2306,3405
$GC,11599,-0.95,-117.1,907.0,-6.3,304,11603,0.00,2.35,0.00,0.000,4,0.000,0.045,1809,894,3405
$GC,11659,-0.98,-117.1,910.9,-6.7,304,11663,0.00,2.33,0.00,0.000,6,0.000,0.044,1809,2305,3405
$GC,11971,-1.00,-117.1,930.2,-6.2,309,11973,0.10,0.00,0.00,0.000,6,0.077,0.000,1762,2304,3404
$GC,12273,-0.93,-117.1,955.6,-8.5,314,12275,0.12,0.00,0.00,0.000,6,0.133,0.000,1796,2305,3405
$GC,12576,-0.93,-117.1,976.9,-7.1,319,12580,0.00,2.38,0.00,0.000,4,0.000,0.053,1796,894,3405
$GC,12633,-0.93,-117.1,981.6,-7.3,319,12639,0.00,2.33,0.00,0.000,6,0.000,0.046,1795,2302,3404
$STATE,12757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12758,begin apogee
$GC,12768,-0.22,0.0,991.5,7.9,322,12868,0.50,0.00,97.22,1.277,6,0.108,0.000,1956,2302,2931
$STATE,12869,end apogee,CONTROL_FINISHED_OK
$STATE,12869,begin climb
$GC,12873,0.68,117.1,993.5,0.0,323,12985,0.57,2.60,102.97,1.252,4,0.068,0.052,2153,3709,2451
$GC,13021,0.49,117.1,992.9,5.7,326,13026,0.22,2.38,0.00,0.000,6,0.154,0.040,2109,2308,2448
$GC,13377,0.51,158.7,978.1,4.1,332,13415,0.00,0.00,35.62,1.217,6,0.000,0.000,2109,2308,2284
$GC,13680,0.51,158.7,961.5,5.6,337,13684,0.00,2.30,0.00,0.000,4,0.000,0.051,2109,3717,2277
$GC,13714,0.46,158.7,959.3,6.5,337,13719,0.00,2.25,0.00,0.000,6,0.000,0.039,2117,2294,2277
$GC,14044,0.44,158.7,937.9,6.6,343,14048,0.10,2.33,0.00,0.000,4,0.156,0.051,2093,3714,2275
$GC,14083,0.44,158.7,935.1,6.6,343,14087,0.00,2.22,0.00,0.000,6,0.000,0.040,2101,2303,2275
$GC,14405,0.44,158.7,916.6,5.6,349,14407,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2303,2274
$GC,14710,0.44,159.4,900.1,5.5,354,14714,0.00,2.33,0.00,0.000,4,0.000,0.052,2101,3712,2274
$GC,14739,0.44,159.4,898.1,5.9,354,14743,0.00,2.28,0.00,0.000,6,0.000,0.035,2112,2294,2274
$GC,15072,0.44,159.4,878.2,6.0,360,15076,0.00,2.35,0.00,0.000,4,0.000,0.048,2111,3713,2273
$GC,15112,0.39,159.4,875.4,7.6,360,15117,0.15,2.28,0.00,0.000,6,0.151,0.033,2084,2292,2273
$GC,15435,0.49,160.2,858.4,5.5,366,15440,0.10,2.35,0.00,0.000,4,0.077,0.048,2139,3713,2273
$GC,15565,0.38,160.2,848.3,8.2,367,15572,0.25,2.28,0.00,0.000,6,0.150,0.038,2083,2296,2273
$GC,15878,0.49,168.0,832.0,5.2,373,15892,0.08,2.33,7.93,0.973,4,0.086,0.048,2141,893,2245
$GC,15950,0.44,168.0,827.0,6.6,374,15955,0.17,2.25,0.00,0.000,6,0.137,0.042,2094,2307,2244
$GC,16319,0.49,173.7,807.4,5.3,380,16332,0.00,2.35,6.55,0.907,4,0.000,0.050,2094,3713,2222
$GC,16379,0.49,173.7,803.4,6.5,380,16386,0.00,2.25,0.00,0.000,6,0.000,0.032,2102,2299,2221
$GC,16691,0.51,176.0,786.5,5.4,386,16692,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2299,2220
$GC,16994,0.56,191.1,771.2,5.0,391,17017,0.00,2.30,16.67,1.058,4,0.000,0.048,2102,3709,2150
$GC,17044,0.56,192.0,768.5,5.5,391,17048,0.00,2.22,0.00,0.000,6,0.000,0.031,2112,2294,2149
$GC,17361,0.57,203.3,752.2,5.1,397,17374,0.00,0.00,11.85,1.006,6,0.000,0.000,2112,2294,2102
$GC,17664,0.61,211.0,736.4,5.2,402,17679,0.00,2.35,8.25,0.927,4,0.000,0.054,2112,3707,2069
$GC,17700,0.64,214.5,734.4,5.4,402,17709,0.00,2.22,4.85,0.756,6,0.000,0.038,2122,2296,2056
$GC,18032,0.64,214.5,715.9,5.5,408,18033,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2296,2053
$GC,18335,0.64,214.5,698.3,5.9,413,18339,0.00,2.33,0.00,0.000,4,0.000,0.051,2122,3708,2052
$GC,18370,0.64,214.5,696.0,7.0,413,18374,0.00,2.22,0.00,0.000,6,0.000,0.037,2131,2305,2052
$GC,18697,0.64,214.5,675.9,6.1,419,18698,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2305,2052
$GC,19000,0.64,214.5,657.2,6.2,424,19004,0.00,2.33,0.00,0.000,4,0.000,0.054,2131,3718,2052
$GC,19040,0.60,214.5,654.1,8.5,424,19044,0.00,2.22,0.00,0.000,6,0.000,0.031,2142,2293,2051
$GC,19364,0.58,214.5,631.8,6.9,430,19368,0.00,2.33,0.00,0.000,4,0.000,0.048,2141,3708,2052
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$GC,20098,0.56,237.0,581.7,8.8,442,20103,0.17,2.28,0.00,0.000,4,0.139,0.047,2126,3707,1961
$GC,20184,0.56,237.0,575.6,6.8,443,20188,0.00,2.22,0.00,0.000,6,0.000,0.032,2134,2293,1960
$GC,20529,0.56,238.1,556.6,5.5,449,20530,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2294,1959
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$STATE,29157,end climb,SURFACE_DEPTH_REACHED
$STATE,29157,begin surface coast
$FINISH,1.5,1.025288
$STATE,29176,end surface coast,CONTROL_FINISHED_OK
$STATE,29176,begin surface
$SM_CCo,29260,0.00,0.000,0,0,1376,381.20
$SM_GC,2.21,5.80,0.00,0.00,0.046,0.000,0.000,98,2310,1376,-8.62,0.20,381.20
$IRIDIUM_FIX,4853.41,-13415.78,260599,030334
$TT8_MAMPS,0.029146
$HUMID,1765
$INTERNAL_PRESSURE,7.39286
$TCM_TEMP,16.40
$XPDR_PINGS,79
$24V_AH,21.9,112.732
$10V_AH,10.3,95.656
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$DEVICE_SECS,19.125,247.350,444.875,0.000,0.000,30.686,37.465,165.282,19.750,0.000,0.000,15.806,1715.539,24072.643,603.158,2265.550,1008.596,33.373,1820.728,0.000,2245.528,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,522.686,608.536,772.490,806.721,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44346,744
$CAP_FILE_SIZE,192420,0
$CFSIZE,260165632,197746688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010310,195406,4908.299,-13410.205,39,1.5,39,19.5