version: 66.04
glider: 144
mission: 15
dive: 784
start: 3 1 110 20 2 17
data:
$ID,144
$MISSION,15
$DIVE,784
$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,-77572.688
$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,30
$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
$GPS1,195406,4908.299,-13410.205,39,1.5,39,19.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-56.1
$GPS2,200119,4908.289,-13410.176,9,1.8,14,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.164,-0.036
$KALMAN_X,-49078.4,-106.2,-262.2,829893.5,937.4
$KALMAN_Y,78713.6,-146.3,-110.9,-213059.5,776.0
$MHEAD_RNG_PITCHd_Wd,82.8,256204,-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,-117.3,0.0,0.0,0,59,0.00,0.00,-40.42,0.000,2,0.000,0.000,98,2311,2422
$GC,64,-0.68,-117.3,3.1,-4.2,2,107,7.35,2.33,-28.65,0.000,4,0.242,0.061,1840,3718,3408
$GC,238,-0.68,-117.3,22.4,-9.0,9,244,0.00,2.22,0.00,0.000,6,0.000,0.029,1840,2290,3409
$GC,556,-0.62,-117.3,58.0,-11.6,25,560,0.10,2.25,0.00,0.000,4,0.132,0.041,1867,893,3409
$GC,647,-0.62,-117.3,67.1,-9.4,29,651,0.00,2.22,0.00,0.000,6,0.000,0.035,1863,2306,3409
$GC,970,-0.62,-117.3,97.4,-7.8,53,974,0.00,2.25,0.00,0.000,4,0.000,0.040,1863,897,3409
$GC,1067,-0.65,-117.3,105.0,-8.2,61,1074,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2310,3410
$GC,1400,-0.69,-117.3,129.4,-7.1,92,1404,0.00,2.25,0.00,0.000,4,0.000,0.040,1864,892,3410
$GC,1442,-0.74,-117.3,133.0,-7.6,95,1447,0.10,2.22,0.00,0.000,6,0.066,0.037,1789,2311,3410
$GC,1789,-0.65,-117.3,170.6,-10.7,116,1791,0.22,0.00,0.00,0.000,6,0.122,0.000,1856,2311,3410
$GC,2095,-0.70,-117.3,190.2,-6.3,126,2099,0.00,2.25,0.00,0.000,4,0.000,0.040,1856,886,3410
$GC,2146,-0.77,-117.3,193.9,-6.6,127,2151,0.00,2.28,0.00,0.000,6,0.000,0.040,1851,2311,3410
$GC,2468,-0.82,-117.3,215.6,-6.9,138,2472,0.10,2.25,0.00,0.000,4,0.063,0.039,1775,889,3410
$GC,2514,-0.73,-117.3,220.6,-11.9,139,2519,0.25,2.28,0.00,0.000,6,0.116,0.039,1840,2304,3410
$GC,2839,-0.75,-117.3,247.4,-8.2,150,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2305,3410
$GC,3147,-0.78,-117.3,270.5,-7.2,160,3151,0.00,2.22,0.00,0.000,4,0.000,0.041,1839,897,3409
$GC,3183,-0.83,-117.3,273.3,-7.9,161,3187,0.00,2.22,0.00,0.000,6,0.000,0.037,1837,2306,3409
$GC,3526,-0.85,-117.3,295.9,-6.3,172,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2306,3409
$GC,3861,-0.88,-117.3,318.0,-6.6,179,3866,0.10,2.28,0.00,0.000,4,0.064,0.041,1762,892,3409
$GC,3963,-0.77,-117.3,329.3,-11.4,180,3968,0.28,2.28,0.00,0.000,6,0.119,0.037,1836,2302,3409
$GC,4291,-0.80,-117.3,352.0,-6.8,186,4295,0.00,2.25,0.00,0.000,4,0.000,0.044,1836,898,3408
$GC,4332,-0.84,-117.3,354.8,-7.3,186,4336,0.00,2.25,0.00,0.000,6,0.000,0.040,1836,2300,3408
$GC,4660,-0.87,-117.3,377.3,-6.9,192,4664,0.10,2.33,0.00,0.000,4,0.064,0.051,1754,3714,3408
$GC,4688,-0.79,-117.3,380.2,-10.4,192,4693,0.25,2.20,0.00,0.000,6,0.118,0.031,1826,2304,3408
$GC,5028,-0.79,-117.3,406.1,-7.5,198,5032,0.00,2.30,0.00,0.000,4,0.000,0.048,1826,887,3408
$GC,5069,-0.82,-117.3,409.5,-8.2,198,5073,0.00,2.30,0.00,0.000,6,0.000,0.038,1822,2314,3408
$GC,5396,-0.82,-117.3,434.8,-7.6,204,5400,0.00,2.33,0.00,0.000,4,0.000,0.043,1822,886,3407
$GC,5432,-0.82,-117.3,437.7,-8.2,204,5436,0.00,2.30,0.00,0.000,6,0.000,0.038,1821,2312,3407
$GC,5759,-0.82,-117.3,463.0,-7.7,210,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2312,3407
$GC,6062,-0.82,-117.3,485.1,-7.3,215,6066,0.00,2.28,0.00,0.000,4,0.000,0.043,1821,890,3407
$GC,6129,-0.84,-117.3,490.1,-7.8,216,6133,0.00,2.28,0.00,0.000,6,0.000,0.041,1812,2304,3407
$GC,6497,-0.84,-117.3,517.7,-7.4,222,6501,0.00,2.30,0.00,0.000,4,0.000,0.045,1812,889,3406
$GC,6531,-0.84,-117.3,520.4,-7.6,222,6535,0.00,2.33,0.00,0.000,6,0.000,0.044,1808,2313,3406
$GC,6865,-0.84,-117.3,543.7,-6.9,228,6869,0.00,2.33,0.00,0.000,4,0.000,0.046,1808,894,3406
$GC,6940,-0.84,-117.3,549.1,-7.1,229,6944,0.00,2.30,0.00,0.000,6,0.000,0.044,1799,2304,3406
$GC,7301,-0.82,-117.3,573.9,-6.9,235,7306,0.10,2.30,0.00,0.000,4,0.131,0.044,1828,896,3405
$GC,7348,-0.86,-117.3,576.7,-5.2,235,7352,0.00,2.30,0.00,0.000,6,0.000,0.043,1823,2309,3405
$GC,7666,-0.89,-117.3,594.0,-5.5,241,7670,0.00,2.30,0.00,0.000,4,0.000,0.046,1823,895,3404
$GC,7701,-0.92,-117.3,596.4,-6.3,241,7705,0.00,2.30,0.00,0.000,6,0.000,0.040,1821,2305,3405
$GC,8029,-0.94,-117.3,614.8,-5.6,247,8031,0.10,0.00,0.00,0.000,6,0.064,0.000,1754,2306,3404
$GC,8333,-0.84,-117.3,642.6,-9.4,252,8338,0.17,2.35,0.00,0.000,4,0.125,0.042,1814,886,3404
$GC,8364,-0.84,-117.3,645.2,-7.9,252,8368,0.00,2.33,0.00,0.000,6,0.000,0.038,1809,2309,3404
$GC,8697,-0.84,-117.3,668.3,-6.9,258,8701,0.00,2.33,0.00,0.000,4,0.000,0.043,1808,889,3404
$GC,8731,-0.84,-117.3,670.8,-7.6,258,8735,0.00,2.33,0.00,0.000,6,0.000,0.038,1805,2304,3404
$GC,9059,-0.84,-117.3,692.4,-6.5,264,9063,0.00,2.30,0.00,0.000,4,0.000,0.045,1806,891,3403
$GC,9088,-0.84,-117.3,694.6,-6.8,264,9092,0.00,2.33,0.00,0.000,6,0.000,0.041,1796,2314,3404
$GC,9421,-0.84,-117.3,717.9,-7.1,270,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2314,3403
$GC,9724,-0.84,-117.3,740.5,-7.4,275,9728,0.00,2.33,0.00,0.000,4,0.000,0.050,1796,894,3403
$GC,9770,-0.84,-117.3,744.1,-8.2,275,9775,0.10,2.30,0.00,0.000,6,0.130,0.046,1820,2306,3402
$GC,10087,-0.88,-117.3,763.6,-6.1,281,10088,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3403
$GC,10390,-0.92,-117.3,782.3,-6.2,286,10394,0.00,2.33,0.00,0.000,4,0.000,0.048,1821,892,3402
$GC,10437,-0.97,-117.3,785.7,-7.7,286,10442,0.12,2.33,0.00,0.000,6,0.060,0.042,1753,2306,3402
$GC,10754,-0.87,-117.3,816.9,-10.1,292,10759,0.17,2.35,0.00,0.000,4,0.127,0.044,1813,890,3402
$GC,10783,-0.87,-117.3,819.6,-9.0,292,10787,0.00,2.33,0.00,0.000,6,0.000,0.038,1809,2305,3402
$GC,11116,-0.87,-117.3,842.2,-6.7,298,11120,0.00,2.35,0.00,0.000,4,0.000,0.048,1810,889,3402
$GC,11151,-0.87,-117.3,844.7,-7.1,298,11155,0.00,2.33,0.00,0.000,6,0.000,0.039,1808,2304,3402
$GC,11478,-0.87,-117.3,866.1,-6.5,304,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3401
$GC,11781,-0.87,-117.3,885.5,-6.4,309,11785,0.00,2.33,0.00,0.000,4,0.000,0.048,1808,893,3401
$GC,11833,-0.90,-117.3,889.1,-6.5,309,11838,0.00,2.33,0.00,0.000,6,0.000,0.039,1808,2306,3401
$GC,12145,-0.92,-117.3,908.1,-6.0,314,12146,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3401
$GC,12447,-0.92,-117.3,925.0,-5.5,319,12448,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3401
$GC,12750,-0.92,-117.3,942.5,-5.8,324,12754,0.00,2.33,0.00,0.000,4,0.000,0.051,1808,897,3401
$GC,12791,-0.94,-117.3,945.1,-6.2,324,12795,0.00,2.33,0.00,0.000,6,0.000,0.045,1808,2302,3401
$GC,13120,-0.96,-117.3,964.0,-5.8,330,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2301,3401
$GC,13422,-0.98,-117.3,982.7,-6.2,335,13426,0.00,2.35,0.00,0.000,4,0.000,0.048,1808,895,3401
$GC,13462,-1.01,-117.3,985.6,-7.3,335,13467,0.10,2.35,0.00,0.000,6,0.076,0.044,1766,2312,3401
$STATE,13537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13537,begin apogee
$GC,13548,-0.22,0.0,992.0,8.3,337,13648,0.60,0.00,96.72,1.274,6,0.110,0.000,1955,2312,2930
$STATE,13648,end apogee,CONTROL_FINISHED_OK
$STATE,13649,begin climb
$GC,13653,0.68,117.3,993.8,0.0,338,13760,0.55,0.00,103.57,1.249,6,0.068,0.000,2151,2312,2452
$GC,14020,0.57,117.3,980.0,5.7,344,14021,0.12,0.00,0.00,0.000,6,0.150,0.000,2120,2312,2443
$GC,14324,0.54,133.0,964.7,5.0,349,14339,0.00,0.00,13.15,1.122,6,0.000,0.000,2120,2312,2388
$GC,14626,0.51,144.7,949.1,5.1,354,14642,0.00,2.30,11.12,1.090,4,0.000,0.054,2121,3718,2341
$GC,14694,0.43,144.7,944.6,7.1,355,14699,0.15,2.25,0.00,0.000,6,0.154,0.037,2090,2295,2339
$GC,15063,0.49,167.4,927.0,4.7,361,15086,0.00,0.00,21.17,1.166,6,0.000,0.000,2090,2295,2248
$GC,15365,0.56,167.4,909.9,5.8,366,15366,0.12,0.00,0.00,0.000,6,0.069,0.000,2152,2294,2243
$GC,15668,0.56,167.4,887.5,7.5,371,15672,0.12,2.28,0.00,0.000,4,0.130,0.045,2126,896,2242
$GC,15705,0.56,167.4,885.0,6.3,371,15709,0.00,2.28,0.00,0.000,6,0.000,0.038,2126,2308,2242
$GC,16033,0.53,167.4,864.0,6.4,377,16037,0.00,2.28,0.00,0.000,4,0.000,0.050,2126,3709,2241
$GC,16073,0.45,167.4,860.8,7.7,377,16078,0.15,2.20,0.00,0.000,6,0.148,0.034,2100,2304,2241
$GC,16397,0.48,174.0,843.7,5.3,383,16405,0.00,0.00,6.28,0.910,6,0.000,0.000,2100,2305,2221
$GC,16699,0.53,191.9,828.6,4.9,388,16718,0.00,0.00,17.27,1.095,6,0.000,0.000,2100,2305,2148
$GC,17002,0.60,213.5,814.2,4.8,393,17025,0.10,0.00,20.42,1.098,6,0.068,0.000,2157,2304,2060
$GC,17306,0.53,213.5,789.1,8.5,398,17310,0.17,2.30,0.00,0.000,4,0.133,0.052,2098,3715,2055
$GC,17351,0.56,213.5,785.6,6.8,398,17356,0.00,2.22,0.00,0.000,6,0.000,0.034,2106,2295,2055
$GC,17668,0.60,213.5,766.0,6.3,404,17670,0.08,0.00,0.00,0.000,6,0.080,0.000,2161,2296,2054
$GC,17973,0.52,213.5,738.7,9.1,409,17977,0.17,2.33,0.00,0.000,4,0.130,0.054,2106,3715,2054
$GC,18007,0.52,213.5,735.7,7.4,409,18011,0.00,2.20,0.00,0.000,6,0.000,0.039,2114,2304,2054
$GC,18334,0.55,213.5,715.6,6.0,415,18336,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2304,2053
$GC,18637,0.58,213.5,696.9,6.2,420,18641,0.00,2.30,0.00,0.000,4,0.000,0.051,2114,3716,2053
$GC,18667,0.58,213.5,694.8,7.9,420,18671,0.00,2.20,0.00,0.000,6,0.000,0.032,2124,2293,2053
$GC,19001,0.58,213.5,674.3,6.0,426,19005,0.00,2.30,0.00,0.000,4,0.000,0.047,2124,3713,2053
$GC,19029,0.58,213.5,672.4,6.3,426,19034,0.00,2.22,0.00,0.000,6,0.000,0.034,2134,2298,2052
$GC,19370,0.58,213.9,653.2,5.5,432,19371,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2299,2052
$GC,19671,0.58,213.9,635.9,5.7,437,19675,0.00,2.33,0.00,0.000,4,0.000,0.051,2134,3712,2053
$GC,19712,0.54,213.9,633.2,7.1,437,19717,0.12,2.20,0.00,0.000,6,0.137,0.031,2111,2295,2052
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$GC,20732,0.62,241.5,568.1,6.6,454,20736,0.00,2.25,0.00,0.000,6,0.000,0.037,2135,2305,1939
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$STATE,29203,end climb,SURFACE_DEPTH_REACHED
$STATE,29203,begin surface coast
$FINISH,1.6,1.023394
$STATE,29225,end surface coast,CONTROL_FINISHED_OK
$STATE,29225,begin surface
$SM_CCo,29306,0.00,0.000,0,0,1548,339.25
$SM_GC,2.53,5.55,0.00,0.00,0.039,0.000,0.000,99,2294,1548,-8.59,-0.25,339.25
$IRIDIUM_FIX,4850.13,-13457.68,260599,111104
$TT8_MAMPS,0.029146
$HUMID,1761
$INTERNAL_PRESSURE,7.41239
$TCM_TEMP,16.20
$XPDR_PINGS,75
$24V_AH,22.3,112.873
$10V_AH,10.3,95.767
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$DEVICE_SECS,20.300,241.175,399.800,0.000,0.000,30.294,40.250,178.400,18.750,0.000,0.000,15.673,1679.827,24339.318,581.125,2115.326,1010.659,33.379,1716.336,0.000,2090.732,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,510.645,595.606,751.651,765.486,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44342,725
$CAP_FILE_SIZE,188804,0
$CFSIZE,260165632,197668864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020310,041207,4907.425,-13405.044,38,1.1,38,19.5