version: 66.04
glider: 144
mission: 15
dive: 806
start: 3 9 110 6 48 31
data:
$ID,144
$MISSION,15
$DIVE,806
$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,-77996.695
$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,44
$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
$GPS1,063455,4907.625,-13217.523,40,1.3,40,19.6
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-45.3
$GPS2,064738,4907.778,-13217.558,14,1.3,32,19.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.159,-0.053
$KALMAN_X,-45814.9,97.2,55.9,959182.1,634.7
$KALMAN_Y,67096.8,164.9,33.1,-202866.6,919.8
$MHEAD_RNG_PITCHd_Wd,88.7,119925,-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,-117.3,0.0,0.0,0,73,0.00,0.00,-50.75,0.000,2,0.000,0.000,99,2283,2602
$GC,78,-0.68,-117.3,3.1,-2.2,3,114,7.03,2.42,-21.95,0.000,4,0.224,0.061,1842,3705,3412
$GC,210,-0.63,-117.3,14.8,-11.7,8,217,0.00,2.25,0.00,0.000,6,0.000,0.033,1842,2312,3413
$GC,528,-0.54,-117.3,52.1,-11.1,24,533,0.15,2.33,0.00,0.000,4,0.120,0.041,1886,892,3413
$GC,624,-0.61,-117.3,60.0,-5.8,28,628,0.00,2.25,0.00,0.000,6,0.000,0.034,1878,2304,3414
$GC,946,-0.61,-117.3,88.6,-8.5,48,952,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,2305,3413
$GC,1274,-0.65,-117.3,114.5,-6.2,79,1278,0.00,2.28,0.00,0.000,4,0.000,0.039,1878,898,3413
$GC,1321,-0.73,-117.3,117.5,-6.5,82,1328,0.12,2.28,0.00,0.000,6,0.054,0.036,1793,2311,3414
$GC,1668,-0.65,-117.3,154.7,-11.5,113,1673,0.20,2.35,0.00,0.000,4,0.123,0.047,1850,3713,3414
$GC,1704,-0.69,-117.3,158.1,-8.2,114,1708,0.00,2.22,0.00,0.000,6,0.000,0.028,1850,2293,3414
$GC,2035,-0.74,-117.3,184.6,-7.8,125,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2293,3414
$GC,2341,-0.79,-117.3,203.8,-5.9,135,2346,0.08,2.28,0.00,0.000,4,0.077,0.039,1782,888,3414
$GC,2373,-0.74,-117.3,206.4,-9.6,136,2378,0.22,2.30,0.00,0.000,6,0.113,0.043,1839,2305,3414
$GC,2710,-0.77,-117.3,229.5,-6.6,147,2714,0.00,2.30,0.00,0.000,4,0.000,0.047,1839,892,3414
$GC,2741,-0.80,-117.3,231.6,-7.4,148,2745,0.00,2.25,0.00,0.000,6,0.000,0.036,1837,2303,3414
$GC,3079,-0.82,-117.3,253.5,-6.4,159,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2303,3413
$GC,3384,-0.84,-117.3,274.2,-6.8,169,3388,0.00,2.28,0.00,0.000,4,0.000,0.041,1836,898,3413
$GC,3415,-0.88,-117.3,276.4,-7.7,170,3420,0.10,2.28,0.00,0.000,6,0.066,0.038,1765,2305,3413
$GC,3782,-0.77,-117.3,314.5,-10.5,180,3787,0.20,2.30,0.00,0.000,4,0.122,0.054,1821,3706,3413
$GC,3811,-0.75,-117.3,317.5,-8.8,180,3815,0.00,2.20,0.00,0.000,6,0.000,0.030,1822,2305,3413
$GC,4150,-0.75,-117.3,340.9,-6.8,186,4154,0.00,2.30,0.00,0.000,4,0.000,0.043,1821,893,3412
$GC,4179,-0.75,-117.3,343.1,-7.3,186,4184,0.10,2.30,0.00,0.000,6,0.125,0.040,1839,2311,3412
$GC,4520,-0.79,-117.3,363.0,-5.8,192,4524,0.00,2.35,0.00,0.000,4,0.000,0.046,1839,888,3412
$GC,4566,-0.85,-117.3,366.0,-6.3,192,4570,0.00,2.33,0.00,0.000,6,0.000,0.038,1837,2307,3412
$GC,4883,-0.88,-117.3,385.1,-6.1,198,4887,0.10,2.33,0.00,0.000,4,0.064,0.048,1761,889,3411
$GC,4929,-0.77,-117.3,389.4,-10.6,198,4934,0.28,2.33,0.00,0.000,6,0.114,0.040,1832,2309,3411
$GC,5246,-0.80,-117.3,411.6,-6.9,204,5250,0.00,2.30,0.00,0.000,4,0.000,0.042,1833,895,3411
$GC,5286,-0.84,-117.3,414.9,-8.1,204,5290,0.00,2.30,0.00,0.000,6,0.000,0.038,1827,2303,3411
$GC,5610,-0.87,-117.3,440.5,-8.0,210,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2303,3410
$GC,5912,-0.89,-117.3,464.0,-7.7,215,5916,0.00,2.33,0.00,0.000,4,0.000,0.048,1827,888,3410
$GC,5963,-0.92,-117.3,468.1,-8.3,215,5968,0.00,2.33,0.00,0.000,6,0.000,0.038,1822,2306,3410
$GC,6275,-0.92,-117.3,489.4,-6.8,220,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2306,3410
$GC,6578,-0.94,-117.3,511.0,-7.2,225,6580,0.10,0.00,0.00,0.000,6,0.065,0.000,1751,2306,3409
$GC,6881,-0.82,-117.3,545.0,-11.4,230,6886,0.20,2.33,0.00,0.000,4,0.123,0.044,1818,898,3409
$GC,6960,-0.82,-117.3,552.1,-8.1,231,6964,0.00,2.30,0.00,0.000,6,0.000,0.039,1810,2311,3409
$GC,7317,-0.82,-117.3,578.9,-7.4,237,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2311,3408
$GC,7619,-0.82,-117.3,598.9,-6.6,242,7623,0.00,2.33,0.00,0.000,4,0.000,0.044,1810,895,3408
$GC,7676,-0.82,-117.3,603.1,-7.6,242,7680,0.00,2.33,0.00,0.000,6,0.000,0.044,1808,2306,3408
$GC,7992,-0.82,-117.3,624.6,-6.8,248,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3408
$GC,8296,-0.82,-117.3,643.7,-6.3,253,8300,0.00,2.33,0.00,0.000,4,0.000,0.048,1808,888,3407
$GC,8353,-0.82,-117.3,647.9,-7.2,253,8360,0.10,2.35,0.00,0.000,6,0.123,0.038,1827,2316,3407
$GC,8665,-0.87,-117.3,665.6,-5.6,259,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2316,3407
$GC,8968,-0.92,-117.3,684.6,-6.4,264,8973,0.10,2.40,0.00,0.000,4,0.065,0.044,1764,888,3407
$GC,9026,-0.84,-117.3,690.3,-11.0,264,9033,0.22,2.33,0.00,0.000,6,0.117,0.044,1820,2299,3407
$GC,9337,-0.87,-117.3,715.2,-7.9,270,9341,0.00,2.35,0.00,0.000,4,0.000,0.044,1820,887,3407
$GC,9367,-0.91,-117.3,717.7,-8.6,270,9371,0.00,2.35,0.00,0.000,6,0.000,0.039,1820,2314,3406
$GC,9702,-0.94,-117.3,743.4,-7.7,276,9706,0.10,2.38,0.00,0.000,4,0.066,0.043,1759,890,3406
$GC,9742,-0.85,-117.3,747.8,-11.7,276,9747,0.22,2.35,0.00,0.000,6,0.118,0.038,1820,2309,3406
$GC,10070,-0.89,-117.3,771.7,-7.1,282,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2310,3406
$GC,10374,-0.93,-117.3,791.3,-6.4,287,10378,0.00,2.38,0.00,0.000,4,0.000,0.045,1821,886,3406
$GC,10414,-0.98,-117.3,793.9,-6.5,287,10419,0.12,2.35,0.00,0.000,6,0.059,0.044,1754,2305,3405
$GC,10738,-0.88,-117.3,822.2,-8.8,293,10740,0.20,0.00,0.00,0.000,6,0.121,0.000,1815,2305,3405
$GC,11042,-0.92,-117.3,838.2,-5.1,298,11046,0.00,2.38,0.00,0.000,4,0.000,0.045,1816,892,3405
$GC,11083,-0.95,-117.3,840.6,-5.6,298,11087,0.00,2.35,0.00,0.000,6,0.000,0.042,1809,2309,3405
$GC,11405,-0.98,-117.3,858.1,-5.5,304,11410,0.00,2.38,0.00,0.000,4,0.000,0.048,1809,888,3405
$GC,11441,-0.98,-117.3,860.4,-7.0,304,11445,0.00,2.33,0.00,0.000,6,0.000,0.044,1808,2306,3404
$GC,11769,-0.98,-117.3,881.4,-6.5,310,11773,0.00,2.35,0.00,0.000,4,0.000,0.048,1808,891,3405
$GC,11809,-1.00,-117.3,884.3,-8.6,310,11814,0.10,2.35,0.00,0.000,6,0.072,0.038,1763,2310,3405
$GC,12132,-0.93,-117.3,913.2,-9.1,316,12136,0.12,2.35,0.00,0.000,4,0.135,0.055,1789,3713,3404
$GC,12162,-0.90,-117.3,915.8,-9.0,316,12166,0.00,2.25,0.00,0.000,6,0.000,0.039,1789,2304,3403
$GC,12500,-0.90,-117.3,942.0,-7.8,322,12504,0.00,2.35,0.00,0.000,4,0.000,0.047,1789,893,3404
$GC,12564,-0.90,-117.3,947.4,-8.8,322,12570,0.10,2.35,0.00,0.000,6,0.134,0.045,1807,2311,3404
$GC,12876,-0.93,-117.3,969.2,-6.9,328,12877,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2311,3404
$STATE,13173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13173,begin apogee
$GC,13183,-0.22,0.0,990.9,7.2,333,13283,0.45,0.00,97.12,1.279,6,0.104,0.000,1955,2311,2931
$STATE,13284,end apogee,CONTROL_FINISHED_OK
$STATE,13284,begin climb
$GC,13288,0.68,117.3,992.9,0.0,334,13399,0.55,2.58,103.22,1.258,4,0.068,0.055,2152,3704,2450
$GC,13492,0.50,117.3,988.8,7.3,337,13497,0.22,2.33,0.00,0.000,6,0.160,0.038,2105,2301,2444
$GC,13854,0.52,152.3,972.9,4.3,343,13888,0.00,2.35,29.20,1.212,4,0.000,0.051,2115,886,2309
$GC,13921,0.54,168.1,969.4,5.0,344,13941,0.00,2.30,15.25,1.136,6,0.000,0.041,2115,2306,2245
$GC,14286,0.54,171.4,949.3,5.4,350,14290,0.00,2.28,0.00,0.000,4,0.000,0.052,2115,3714,2238
$GC,14333,0.48,171.4,946.5,6.7,350,14337,0.00,2.22,0.00,0.000,6,0.000,0.036,2125,2297,2238
$GC,14650,0.45,171.4,927.7,6.0,356,14654,0.12,2.30,0.00,0.000,4,0.155,0.055,2093,3710,2237
$GC,14690,0.45,171.4,925.1,6.0,356,14694,0.00,2.22,0.00,0.000,6,0.000,0.034,2101,2294,2236
$GC,15012,0.46,177.9,908.3,5.3,362,15023,0.00,0.00,8.77,1.033,6,0.000,0.000,2101,2294,2205
$GC,15317,0.49,188.1,892.5,5.2,367,15329,0.00,0.00,10.18,1.055,6,0.000,0.000,2101,2294,2164
$GC,15619,0.55,203.6,877.4,5.0,372,15636,0.00,0.00,15.25,1.109,6,0.000,0.000,2102,2295,2100
$GC,15922,0.61,217.7,862.3,5.0,377,15942,0.10,2.35,13.62,1.083,4,0.069,0.055,2156,3704,2043
$GC,15979,0.50,217.7,857.7,9.4,377,15984,0.22,2.22,0.00,0.000,6,0.143,0.035,2107,2299,2042
$GC,16290,0.55,217.7,839.5,5.7,382,16294,0.00,2.30,0.00,0.000,4,0.000,0.048,2116,882,2039
$GC,16325,0.60,217.7,837.5,5.9,382,16329,0.00,2.28,0.00,0.000,6,0.000,0.038,2116,2305,2038
$GC,16654,0.63,217.7,816.3,6.5,388,16658,0.00,2.30,0.00,0.000,4,0.000,0.054,2116,3715,2039
$GC,16699,0.63,217.7,812.6,8.7,388,16703,0.00,2.22,0.00,0.000,6,0.000,0.033,2126,2297,2037
$GC,17015,0.63,217.7,789.1,7.5,394,17016,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2297,2037
$GC,17318,0.63,217.7,767.1,7.2,399,17319,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2297,2038
$GC,17622,0.63,217.7,746.2,6.9,404,17626,0.00,2.33,0.00,0.000,4,0.000,0.049,2125,3713,2037
$GC,17653,0.63,217.7,743.9,7.1,404,17657,0.00,2.25,0.00,0.000,6,0.000,0.035,2136,2293,2037
$GC,17986,0.63,217.7,720.2,7.0,410,17990,0.00,2.35,0.00,0.000,4,0.000,0.054,2135,3714,2037
$GC,18021,0.59,217.7,717.6,7.3,410,18026,0.00,2.22,0.00,0.000,6,0.000,0.032,2145,2304,2037
$GC,18351,0.55,217.7,695.4,6.6,416,18353,0.12,0.00,0.00,0.000,6,0.138,0.000,2111,2304,2037
$GC,18653,0.62,234.5,680.2,4.9,421,18671,0.08,0.00,15.48,0.996,6,0.077,0.000,2172,2304,1974
$GC,18956,0.53,234.5,654.8,8.6,426,18961,0.17,2.33,0.00,0.000,4,0.134,0.048,2117,3715,1970
$GC,18992,0.53,234.5,651.9,7.9,426,18996,0.00,2.22,0.00,0.000,6,0.000,0.032,2126,2298,1970
$GC,19320,0.55,234.5,633.4,5.5,432,19321,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2298,1969
$GC,19623,0.58,241.6,617.5,5.3,437,19632,0.00,0.00,7.20,0.838,6,0.000,0.000,2126,2298,1946
$GC,19927,0.61,241.6,600.5,5.6,442,19931,0.00,2.35,0.00,0.000,4,0.000,0.050,2126,3716,1943
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$GC,20955,0.61,241.6,530.7,7.2,459,20959,0.00,2.30,0.00,0.000,4,0.000,0.046,2155,884,1943
$GC,20978,0.61,241.6,528.9,7.1,459,20982,0.00,2.30,0.00,0.000,6,0.000,0.037,2155,2307,1943
$GC,21318,0.58,241.6,504.5,7.1,465,21322,0.12,2.30,0.00,0.000,4,0.130,0.048,2121,3708,1942
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$STATE,28709,end climb,SURFACE_DEPTH_REACHED
$STATE,28709,begin surface coast
$FINISH,1.4,1.014765
$STATE,28731,end surface coast,CONTROL_FINISHED_OK
$STATE,28731,begin surface
$SM_CCo,28812,0.00,0.000,0,0,1568,334.34
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$IRIDIUM_FIX,4846.86,-13249.81,030699,060643
$TT8_MAMPS,0.029146
$HUMID,1788
$INTERNAL_PRESSURE,7.40263
$TCM_TEMP,16.10
$XPDR_PINGS,70
$24V_AH,21.8,116.208
$10V_AH,10.2,98.285
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$DEVICE_SECS,19.825,253.075,398.650,0.000,0.000,60.240,62.367,372.165,17.500,0.000,0.000,34.445,1678.191,23854.936,568.204,2160.014,1296.622,33.384,1737.266,0.000,2122.304,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,513.919,604.964,760.480,789.531,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44300,730
$CAP_FILE_SIZE,195182,0
$CFSIZE,260165632,195956736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090310,145007,4907.071,-13212.482,39,1.9,39,19.6