version: 66.04
glider: 144
mission: 15
dive: 785
start: 3 2 110 4 20 5
data:
$ID,144
$MISSION,15
$DIVE,785
$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,-77589.359
$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,37
$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
$GPS1,041207,4907.425,-13405.044,38,1.1,38,19.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-60.9
$GPS2,041907,4907.451,-13405.045,14,1.3,14,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.154,-0.066
$KALMAN_X,-48763.5,-293.0,-288.7,835849.1,1886.3
$KALMAN_Y,78782.6,-519.2,-139.5,-214291.0,1833.5
$MHEAD_RNG_PITCHd_Wd,93.5,249871,-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,-117.0,0.0,0.0,0,59,0.00,0.00,-40.40,0.000,2,0.000,0.000,99,2292,2615
$GC,64,-0.68,-117.3,3.6,-5.0,2,98,7.10,2.38,-20.08,0.000,4,0.230,0.065,1838,3707,3413
$GC,179,-0.66,-117.3,17.5,-10.9,7,183,0.00,2.20,0.00,0.000,6,0.000,0.035,1838,2303,3414
$GC,502,-0.60,-117.3,54.5,-11.2,23,507,0.12,2.25,0.00,0.000,4,0.128,0.041,1873,897,3414
$GC,622,-0.63,-117.3,65.0,-8.3,28,626,0.00,2.22,0.00,0.000,6,0.000,0.035,1865,2303,3414
$GC,944,-0.63,-117.3,95.0,-9.7,50,947,0.00,2.22,0.00,0.000,4,0.000,0.039,1865,894,3414
$GC,968,-0.63,-117.3,97.5,-10.5,52,973,0.00,2.25,0.00,0.000,6,0.000,0.038,1864,2301,3414
$GC,1300,-0.66,-117.3,124.9,-7.3,82,1304,0.00,2.30,0.00,0.000,4,0.000,0.046,1853,3715,3415
$GC,1358,-0.71,-117.3,129.7,-7.3,86,1364,0.00,2.20,0.00,0.000,6,0.000,0.028,1853,2296,3414
$GC,1708,-0.74,-117.3,154.5,-7.1,115,1712,0.00,2.22,0.00,0.000,4,0.000,0.039,1853,900,3415
$GC,1850,-0.79,-117.3,165.7,-7.8,119,1855,0.08,2.22,0.00,0.000,6,0.080,0.035,1781,2306,3415
$GC,2188,-0.70,-117.3,201.0,-10.4,130,2192,0.20,2.28,0.00,0.000,4,0.124,0.044,1847,902,3415
$GC,2239,-0.75,-117.3,205.4,-7.3,131,2243,0.00,2.22,0.00,0.000,6,0.000,0.035,1841,2304,3415
$GC,2559,-0.78,-117.3,227.9,-7.3,142,2563,0.00,2.30,0.00,0.000,4,0.000,0.054,1835,3712,3415
$GC,2590,-0.80,-117.3,230.1,-7.8,142,2596,0.00,2.25,0.00,0.000,6,0.000,0.035,1835,2305,3415
$GC,2904,-0.83,-117.3,252.0,-6.8,153,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2305,3415
$GC,3211,-0.85,-117.3,272.4,-6.7,163,3214,0.00,2.25,0.00,0.000,4,0.000,0.041,1834,897,3415
$GC,3291,-0.88,-117.3,278.2,-7.4,165,3295,0.00,2.25,0.00,0.000,6,0.000,0.038,1827,2305,3414
$GC,3617,-0.88,-117.3,301.6,-7.3,176,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2304,3414
$GC,3920,-0.88,-117.3,324.0,-7.4,181,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2304,3414
$GC,4222,-0.88,-117.3,345.2,-7.0,186,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2304,3414
$GC,4525,-0.88,-117.3,364.8,-6.4,191,4529,0.00,2.28,0.00,0.000,4,0.000,0.041,1826,903,3414
$GC,4567,-0.88,-117.3,367.6,-7.0,191,4571,0.00,2.28,0.00,0.000,6,0.000,0.040,1822,2309,3413
$GC,4894,-0.88,-117.3,390.5,-7.1,197,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2309,3412
$GC,5197,-0.88,-117.3,412.4,-7.2,202,5201,0.00,2.33,0.00,0.000,4,0.000,0.047,1822,894,3413
$GC,5295,-0.88,-117.3,420.2,-8.1,203,5299,0.00,2.28,0.00,0.000,6,0.000,0.044,1814,2304,3413
$GC,5629,-0.88,-117.3,446.3,-7.8,209,5633,0.00,2.33,0.00,0.000,4,0.000,0.043,1814,899,3412
$GC,5697,-0.88,-117.3,452.0,-7.9,210,5701,0.00,2.33,0.00,0.000,6,0.000,0.041,1808,2308,3412
$GC,6064,-0.88,-117.3,482.0,-8.3,216,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3412
$GC,6368,-0.88,-117.3,507.9,-8.5,221,6372,0.00,2.33,0.00,0.000,4,0.000,0.048,1809,893,3411
$GC,6419,-0.88,-117.3,512.6,-8.4,221,6423,0.00,2.30,0.00,0.000,6,0.000,0.038,1800,2311,3411
$GC,6731,-0.86,-117.3,539.2,-8.6,226,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2311,3410
$GC,7034,-0.83,-117.3,562.3,-7.5,231,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2311,3410
$GC,7338,-0.81,-117.3,586.3,-8.0,236,7340,0.10,0.00,0.00,0.000,6,0.134,0.000,1828,2311,3410
$GC,7640,-0.85,-117.3,607.7,-7.0,241,7644,0.00,2.33,0.00,0.000,4,0.000,0.050,1828,900,3409
$GC,7686,-0.89,-117.3,611.4,-7.8,241,7690,0.00,2.30,0.00,0.000,6,0.000,0.043,1823,2305,3410
$GC,8003,-0.92,-117.3,637.1,-8.2,247,8005,0.10,0.00,0.00,0.000,6,0.066,0.000,1751,2305,3410
$GC,8305,-0.81,-117.3,672.0,-11.6,252,8310,0.22,2.33,0.00,0.000,4,0.123,0.048,1825,903,3409
$GC,8398,-0.86,-117.3,679.5,-7.5,253,8402,0.00,2.28,0.00,0.000,6,0.000,0.042,1823,2305,3409
$GC,8738,-0.90,-117.3,701.4,-6.2,259,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2306,3409
$GC,9040,-0.93,-117.3,719.9,-6.1,264,9044,0.10,2.30,0.00,0.000,4,0.066,0.044,1754,902,3409
$GC,9114,-0.84,-117.3,726.9,-10.4,265,9119,0.25,2.30,0.00,0.000,6,0.119,0.044,1816,2306,3409
$GC,9471,-0.87,-117.3,749.5,-6.2,271,9475,0.00,2.33,0.00,0.000,4,0.000,0.048,1817,902,3408
$GC,9528,-0.90,-117.3,753.6,-7.2,271,9534,0.00,2.30,0.00,0.000,6,0.000,0.044,1810,2304,3408
$GC,9839,-0.90,-117.3,774.2,-6.6,277,9843,0.00,2.33,0.00,0.000,4,0.000,0.044,1810,899,3408
$GC,9873,-0.90,-117.3,776.9,-8.4,277,9877,0.00,2.30,0.00,0.000,6,0.000,0.042,1808,2308,3408
$GC,10202,-0.90,-117.3,799.5,-6.9,283,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3407
$GC,10504,-0.90,-117.3,820.2,-6.9,288,10508,0.00,2.33,0.00,0.000,4,0.000,0.046,1808,899,3407
$GC,10561,-0.92,-117.3,824.4,-7.4,288,10567,0.00,2.33,0.00,0.000,6,0.000,0.041,1807,2312,3407
$GC,10872,-0.92,-117.3,844.8,-6.6,294,10876,0.00,2.35,0.00,0.000,4,0.000,0.045,1808,893,3407
$GC,10907,-0.92,-117.3,847.3,-6.5,294,10911,0.00,2.33,0.00,0.000,6,0.000,0.044,1806,2304,3407
$GC,11234,-0.92,-117.3,869.6,-6.8,300,11238,0.00,2.30,0.00,0.000,4,0.000,0.046,1806,898,3407
$GC,11269,-0.92,-117.3,872.3,-7.6,300,11273,0.00,2.30,0.00,0.000,6,0.000,0.038,1795,2303,3406
$GC,11598,-0.92,-117.3,895.5,-7.1,306,11602,0.00,2.33,0.00,0.000,4,0.000,0.049,1795,893,3406
$GC,11638,-0.92,-117.3,898.7,-7.8,306,11642,0.00,2.33,0.00,0.000,6,0.000,0.045,1794,2306,3406
$GC,11967,-0.92,-117.3,921.9,-7.1,312,11968,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3406
$GC,12268,-0.92,-117.3,944.0,-7.3,317,12273,0.00,2.33,0.00,0.000,4,0.000,0.045,1794,902,3406
$GC,12310,-0.92,-117.3,947.3,-7.7,317,12314,0.00,2.30,0.00,0.000,6,0.000,0.046,1785,2303,3406
$GC,12632,-0.90,-117.3,972.4,-7.8,323,12636,0.00,2.35,0.00,0.000,4,0.000,0.046,1786,906,3406
$GC,12667,-0.87,-117.3,975.3,-8.0,323,12672,0.12,2.30,0.00,0.000,6,0.131,0.048,1815,2305,3406
$STATE,12929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12929,begin apogee
$GC,12940,-0.22,0.0,992.4,6.3,328,13040,0.43,0.00,97.65,1.276,6,0.104,0.000,1955,2305,2930
$STATE,13041,end apogee,CONTROL_FINISHED_OK
$STATE,13041,begin climb
$GC,13045,0.68,117.3,994.4,0.0,329,13152,0.55,0.00,103.60,1.250,6,0.067,0.000,2150,2305,2452
$GC,13412,0.59,125.8,982.8,5.2,335,13427,0.00,2.40,7.20,0.991,4,0.000,0.051,2160,902,2417
$GC,13459,0.50,128.9,980.2,5.4,335,13468,0.20,2.30,4.38,0.784,6,0.137,0.044,2106,2311,2405
$GC,13786,0.57,183.8,967.7,3.6,341,13840,0.00,2.40,48.60,1.227,4,0.000,0.053,2106,3707,2180
$GC,13877,0.57,183.8,963.4,6.1,342,13881,0.00,2.25,0.00,0.000,6,0.000,0.033,2114,2309,2177
$GC,14216,0.59,202.6,946.9,4.9,348,14240,0.00,2.38,16.88,1.148,4,0.000,0.051,2114,3713,2104
$GC,14259,0.59,202.6,944.5,5.6,348,14263,0.00,2.28,0.00,0.000,6,0.000,0.034,2123,2302,2102
$GC,14580,0.59,202.6,924.7,6.2,354,14585,0.00,2.33,0.00,0.000,4,0.000,0.050,2123,3714,2100
$GC,14611,0.56,202.6,922.4,7.8,354,14615,0.00,2.28,0.00,0.000,6,0.000,0.034,2134,2295,2099
$GC,14944,0.53,202.6,898.8,7.0,360,14948,0.00,2.33,0.00,0.000,4,0.000,0.054,2134,3714,2099
$GC,14973,0.48,202.6,896.3,8.4,360,14978,0.15,2.22,0.00,0.000,6,0.147,0.032,2105,2303,2098
$GC,15307,0.52,202.6,877.4,5.6,366,15311,0.00,2.30,0.00,0.000,4,0.000,0.048,2114,894,2098
$GC,15331,0.57,204.6,876.0,5.4,366,15335,0.00,2.28,0.00,0.000,6,0.000,0.038,2113,2306,2097
$GC,15675,0.59,204.6,856.6,5.7,372,15679,0.00,2.30,0.00,0.000,4,0.000,0.049,2113,3717,2097
$GC,15711,0.59,204.6,854.3,6.3,372,15715,0.00,2.25,0.00,0.000,6,0.000,0.032,2123,2292,2097
$GC,16044,0.59,204.6,834.7,5.8,378,16045,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2292,2097
$GC,16347,0.59,204.6,816.8,5.9,383,16351,0.00,2.35,0.00,0.000,4,0.000,0.050,2123,3717,2097
$GC,16387,0.56,204.6,814.0,6.6,383,16391,0.00,2.25,0.00,0.000,6,0.000,0.037,2133,2306,2096
$GC,16710,0.54,204.6,794.1,6.1,389,16711,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2306,2096
$GC,17011,0.54,204.6,774.2,6.6,394,17015,0.00,2.33,0.00,0.000,4,0.000,0.053,2133,3711,2096
$GC,17063,0.48,204.6,770.2,7.6,394,17068,0.15,2.25,0.00,0.000,6,0.139,0.031,2104,2296,2096
$GC,17376,0.54,218.8,754.1,5.0,399,17395,0.00,2.33,14.40,1.032,4,0.000,0.046,2112,893,2038
$GC,17420,0.64,243.5,751.7,4.7,399,17450,0.10,2.28,23.62,1.064,6,0.067,0.039,2171,2304,1937
$GC,17817,0.56,243.5,714.9,9.7,406,17821,0.17,2.28,0.00,0.000,4,0.132,0.048,2122,3707,1931
$GC,17897,0.56,243.5,707.7,8.1,407,17901,0.00,2.20,0.00,0.000,6,0.000,0.031,2130,2299,1931
$GC,18258,0.56,243.5,683.5,6.5,413,18259,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2299,1931
$GC,18561,0.56,243.5,664.3,6.4,418,18562,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2299,1929
$GC,18866,0.58,243.5,645.0,6.3,423,18870,0.00,2.35,0.00,0.000,4,0.000,0.049,2130,3715,1930
$GC,18900,0.58,243.5,642.4,7.0,423,18904,0.00,2.22,0.00,0.000,6,0.000,0.031,2140,2304,1929
$GC,19227,0.58,243.5,621.8,6.2,429,19231,0.00,2.33,0.00,0.000,4,0.000,0.045,2150,886,1929
$GC,19267,0.58,243.5,619.2,6.5,429,19272,0.10,2.30,0.00,0.000,6,0.121,0.044,2126,2311,1928
$GC,19590,0.62,243.5,600.2,6.0,435,19594,0.00,2.30,0.00,0.000,4,0.000,0.050,2125,3713,1928
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$STATE,28198,end climb,SURFACE_DEPTH_REACHED
$STATE,28198,begin surface coast
$FINISH,1.5,1.025295
$STATE,28220,end surface coast,CONTROL_FINISHED_OK
$STATE,28220,begin surface
$SM_CCo,28300,0.00,0.000,0,0,1433,367.46
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$IRIDIUM_FIX,4853.41,-13457.67,260599,202002
$TT8_MAMPS,0.028379
$HUMID,1753
$INTERNAL_PRESSURE,7.39286
$TCM_TEMP,16.50
$XPDR_PINGS,73
$24V_AH,22.3,113.020
$10V_AH,10.2,95.880
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$DEVICE_SECS,18.100,260.100,428.725,0.000,0.000,30.389,24.781,181.100,18.250,0.000,0.000,16.039,1679.431,23200.543,569.526,2255.874,1002.516,33.384,1790.721,0.000,2225.768,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,503.338,583.362,741.533,772.458,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41177,715
$CAP_FILE_SIZE,191183,0
$CFSIZE,260165632,197591040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,020310,121306,4906.558,-13400.652,36,0.9,36,19.5