version: 66.04
glider: 144
mission: 15
dive: 813
start: 3 11 110 15 34 20
data:
$ID,144
$MISSION,15
$DIVE,813
$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,-78143.57
$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,34
$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
$GPS1,152230,4902.265,-13140.754,78,1.9,90,19.5
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-45.2
$GPS2,153326,4902.247,-13140.432,12,1.0,12,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,-0.049
$KALMAN_X,-41605.1,-63.0,26.6,999033.4,1503.5
$KALMAN_Y,70966.3,-54.8,-97.3,-216619.2,989.6
$MHEAD_RNG_PITCHd_Wd,87.4,73851,-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,21,-0.68,-117.3,0.0,0.0,0,83,0.00,0.00,-59.88,0.000,2,0.000,0.000,98,2302,2777
$GC,88,-0.68,-117.3,4.2,-5.0,3,114,7.10,2.30,-13.68,0.000,4,0.228,0.060,1838,3707,3410
$GC,265,-0.65,-117.3,32.5,-14.7,11,269,0.00,2.20,0.00,0.000,6,0.000,0.029,1838,2298,3411
$GC,594,-0.58,-117.3,78.9,-14.4,27,599,0.12,2.28,0.00,0.000,4,0.128,0.041,1873,898,3411
$GC,693,-0.61,-117.3,89.8,-9.0,35,697,0.00,2.22,0.00,0.000,6,0.000,0.037,1866,2303,3411
$GC,1029,-0.64,-117.3,113.7,-6.2,66,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2303,3411
$GC,1358,-0.68,-117.3,138.9,-6.9,97,1362,0.00,2.35,0.00,0.000,4,0.000,0.052,1857,3706,3411
$GC,1389,-0.73,-117.3,141.0,-7.3,99,1393,0.00,2.17,0.00,0.000,6,0.000,0.028,1857,2300,3411
$GC,1735,-0.78,-117.3,161.2,-5.5,120,1740,0.10,2.28,0.00,0.000,4,0.066,0.038,1778,893,3411
$GC,1875,-0.69,-117.3,175.5,-11.0,124,1880,0.28,2.25,0.00,0.000,6,0.112,0.035,1850,2310,3411
$GC,2207,-0.73,-117.3,200.5,-7.4,135,2211,0.00,2.30,0.00,0.000,4,0.000,0.048,1845,3708,3411
$GC,2248,-0.78,-117.3,203.6,-7.8,136,2252,0.00,2.17,0.00,0.000,6,0.000,0.028,1845,2304,3411
$GC,2579,-0.82,-117.3,228.5,-7.5,147,2581,0.08,0.00,0.00,0.000,6,0.077,0.000,1779,2303,3411
$GC,2887,-0.73,-117.3,260.8,-10.1,157,2891,0.17,2.35,0.00,0.000,4,0.117,0.043,1839,892,3411
$GC,2958,-0.77,-117.3,266.0,-6.4,159,2962,0.00,2.30,0.00,0.000,6,0.000,0.041,1837,2305,3411
$GC,3295,-0.79,-117.3,284.9,-5.4,170,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2304,3411
$GC,3600,-0.82,-117.3,305.9,-7.3,179,3604,0.00,2.30,0.00,0.000,4,0.000,0.042,1836,900,3410
$GC,3647,-0.85,-117.3,309.6,-7.8,179,3651,0.00,2.30,0.00,0.000,6,0.000,0.038,1836,2312,3411
$GC,3963,-0.88,-117.3,334.3,-7.9,185,3968,0.10,2.33,0.00,0.000,4,0.065,0.049,1755,3716,3410
$GC,3993,-0.79,-117.3,337.3,-11.1,185,3998,0.25,2.25,0.00,0.000,6,0.117,0.035,1829,2301,3410
$GC,4327,-0.79,-117.3,364.9,-8.0,191,4331,0.00,2.25,0.00,0.000,4,0.000,0.043,1829,885,3409
$GC,4384,-0.83,-117.3,369.7,-8.6,191,4388,0.00,2.30,0.00,0.000,6,0.000,0.041,1823,2310,3409
$GC,4701,-0.83,-117.3,395.0,-8.1,197,4705,0.00,2.35,0.00,0.000,4,0.000,0.041,1823,888,3409
$GC,4759,-0.83,-117.3,399.9,-8.4,197,4763,0.00,2.30,0.00,0.000,6,0.000,0.037,1820,2312,3408
$GC,5075,-0.83,-117.3,423.9,-7.5,203,5079,0.00,2.33,0.00,0.000,4,0.000,0.044,1820,892,3409
$GC,5109,-0.83,-117.3,426.4,-7.0,203,5113,0.00,2.33,0.00,0.000,6,0.000,0.038,1810,2311,3409
$GC,5442,-0.83,-117.3,449.0,-6.8,209,5446,0.00,2.33,0.00,0.000,4,0.000,0.047,1810,894,3408
$GC,5506,-0.83,-117.3,453.6,-7.1,209,5512,0.00,2.30,0.00,0.000,6,0.000,0.041,1801,2305,3408
$GC,5818,-0.80,-117.3,477.3,-7.7,215,5822,0.10,2.28,0.00,0.000,4,0.130,0.041,1830,896,3407
$GC,5863,-0.84,-117.3,480.5,-6.9,215,5867,0.00,2.30,0.00,0.000,6,0.000,0.037,1823,2310,3407
$GC,6181,-0.84,-117.3,502.2,-7.0,221,6185,0.00,2.33,0.00,0.000,4,0.000,0.046,1823,892,3406
$GC,6217,-0.87,-117.3,504.9,-7.5,221,6221,0.00,2.33,0.00,0.000,6,0.000,0.039,1821,2310,3407
$GC,6544,-0.87,-117.3,528.2,-7.1,227,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2310,3406
$GC,6847,-0.87,-117.3,548.7,-6.7,232,6851,0.00,2.33,0.00,0.000,4,0.000,0.043,1821,897,3406
$GC,6913,-0.89,-117.3,553.1,-7.0,233,6917,0.00,2.30,0.00,0.000,6,0.000,0.038,1811,2306,3406
$GC,7279,-0.89,-117.3,577.9,-6.7,239,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2306,3406
$GC,7583,-0.89,-117.3,596.9,-6.3,244,7587,0.00,2.33,0.00,0.000,4,0.000,0.048,1812,890,3406
$GC,7612,-0.89,-117.3,598.8,-5.9,244,7616,0.00,2.30,0.00,0.000,6,0.000,0.040,1808,2301,3405
$GC,7952,-0.89,-117.3,619.4,-6.1,250,7956,0.00,2.38,0.00,0.000,4,0.000,0.053,1798,3712,3405
$GC,7987,-0.89,-117.3,621.7,-6.7,250,7991,0.00,2.22,0.00,0.000,6,0.000,0.030,1798,2298,3405
$GC,8315,-0.89,-117.3,644.0,-6.8,256,8319,0.00,2.28,0.00,0.000,4,0.000,0.043,1798,897,3405
$GC,8423,-0.89,-117.3,652.0,-7.9,257,8427,0.00,2.33,0.00,0.000,6,0.000,0.039,1794,2305,3405
$GC,8745,-0.87,-117.3,673.7,-6.7,263,8749,0.00,2.33,0.00,0.000,4,0.000,0.045,1794,899,3405
$GC,8780,-0.84,-117.3,676.2,-7.4,263,8785,0.12,2.35,0.00,0.000,6,0.120,0.038,1820,2308,3405
$GC,9109,-0.88,-117.3,695.9,-6.1,269,9111,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3405
$GC,9411,-0.91,-117.3,717.2,-7.1,274,9415,0.00,2.35,0.00,0.000,4,0.000,0.045,1821,898,3404
$GC,9446,-0.95,-117.3,720.0,-8.2,274,9451,0.10,2.33,0.00,0.000,6,0.067,0.040,1759,2303,3404
$GC,9774,-0.86,-117.3,754.0,-10.6,280,9776,0.20,0.00,0.00,0.000,6,0.119,0.000,1820,2303,3404
$GC,10078,-0.90,-117.3,775.6,-6.8,285,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2303,3404
$GC,10380,-0.93,-117.3,795.5,-6.6,290,10385,0.10,2.35,0.00,0.000,4,0.067,0.044,1752,891,3404
$GC,10462,-0.85,-117.3,803.1,-9.6,291,10467,0.25,2.35,0.00,0.000,6,0.123,0.038,1814,2306,3403
$GC,10814,-0.88,-117.3,826.3,-6.3,297,10818,0.00,2.35,0.00,0.000,4,0.000,0.046,1814,899,3403
$GC,10874,-0.91,-117.3,830.5,-7.6,297,10878,0.00,2.33,0.00,0.000,6,0.000,0.044,1809,2307,3403
$GC,11185,-0.91,-117.3,851.2,-6.6,302,11189,0.00,2.35,0.00,0.000,4,0.000,0.044,1809,899,3403
$GC,11220,-0.91,-117.3,853.6,-6.8,302,11225,0.00,2.35,0.00,0.000,6,0.000,0.043,1808,2309,3402
$GC,11548,-0.91,-117.3,875.5,-6.6,308,11549,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3403
$GC,11851,-0.91,-117.3,895.5,-6.6,313,11852,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3403
$GC,12154,-0.91,-117.3,913.2,-5.7,318,12156,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3403
$GC,12459,-0.91,-117.3,928.9,-5.2,323,12463,0.00,2.35,0.00,0.000,4,0.000,0.045,1808,898,3403
$GC,12511,-0.94,-117.3,931.8,-5.5,323,12515,0.00,2.35,0.00,0.000,6,0.000,0.041,1808,2302,3402
$GC,12823,-0.96,-117.3,947.2,-4.9,328,12824,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3402
$GC,13127,-0.98,-117.3,961.1,-4.6,333,13131,0.08,2.38,0.00,0.000,4,0.091,0.048,1768,891,3402
$GC,13161,-0.93,-117.3,963.5,-7.2,333,13166,0.12,2.38,0.00,0.000,6,0.137,0.048,1798,2307,3402
$GC,13489,-0.93,-117.3,980.2,-5.1,339,13493,0.00,2.35,0.00,0.000,4,0.000,0.049,1798,900,3402
$GC,13529,-0.93,-117.3,982.5,-5.3,339,13534,0.00,2.35,0.00,0.000,6,0.000,0.043,1794,2310,3402
$STATE,13665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13665,begin apogee
$GC,13676,-0.22,0.0,990.6,5.7,342,13776,0.50,0.00,96.65,1.276,6,0.109,0.000,1954,2311,2931
$STATE,13776,end apogee,CONTROL_FINISHED_OK
$STATE,13776,begin climb
$GC,13781,0.68,117.3,991.5,0.0,343,13893,0.60,2.60,103.70,1.251,4,0.067,0.050,2159,3710,2450
$GC,13941,0.48,117.3,986.5,7.8,346,13946,0.28,2.40,0.00,0.000,6,0.160,0.039,2104,2308,2446
$GC,14280,0.50,128.9,968.7,5.1,352,14294,0.00,2.33,9.50,1.065,4,0.000,0.055,2113,886,2404
$GC,14325,0.52,148.9,966.4,4.8,352,14349,0.00,2.30,19.02,1.164,6,0.000,0.041,2113,2307,2322
$GC,14719,0.55,172.3,946.8,4.7,359,14744,0.00,2.33,20.65,1.170,4,0.000,0.052,2113,3707,2227
$GC,14797,0.50,172.3,942.5,5.6,360,14801,0.00,2.25,0.00,0.000,6,0.000,0.037,2123,2291,2225
$GC,15154,0.49,185.1,924.4,5.1,366,15172,0.00,2.40,11.80,1.095,4,0.000,0.050,2123,3713,2175
$GC,15209,0.43,185.1,921.0,6.8,366,15214,0.15,2.25,0.00,0.000,6,0.149,0.034,2094,2297,2173
$GC,15521,0.54,239.0,909.2,3.7,371,15572,0.10,0.00,48.60,1.199,6,0.070,0.000,2147,2296,1956
$GC,15825,0.50,239.0,889.1,6.9,376,15830,0.15,2.33,0.00,0.000,4,0.133,0.049,2105,3708,1948
$GC,15866,0.55,248.2,886.4,5.2,376,15880,0.00,2.22,8.50,1.003,6,0.000,0.032,2115,2298,1919
$GC,16193,0.59,250.9,869.0,5.4,382,16197,0.00,2.28,0.00,0.000,4,0.000,0.047,2123,897,1914
$GC,16229,0.65,250.9,866.7,5.8,382,16233,0.00,2.28,0.00,0.000,6,0.000,0.042,2123,2306,1913
$GC,16557,0.68,250.9,847.0,6.0,388,16559,0.08,0.00,0.00,0.000,6,0.087,0.000,2172,2306,1913
$GC,16860,0.59,250.9,819.7,9.2,393,16865,0.17,2.35,0.00,0.000,4,0.136,0.050,2117,3717,1912
$GC,16890,0.56,250.9,817.1,8.4,393,16894,0.00,2.28,0.00,0.000,6,0.000,0.033,2126,2299,1912
$GC,17223,0.58,250.9,794.8,6.6,399,17227,0.00,2.30,0.00,0.000,4,0.000,0.046,2135,897,1911
$GC,17253,0.62,250.9,792.8,5.6,399,17257,0.00,2.30,0.00,0.000,6,0.000,0.038,2135,2303,1911
$GC,17587,0.62,250.9,770.9,6.6,405,17591,0.00,2.30,0.00,0.000,4,0.000,0.049,2135,3707,1911
$GC,17646,0.59,250.9,766.3,8.6,405,17650,0.00,2.22,0.00,0.000,6,0.000,0.032,2145,2303,1911
$GC,17959,0.57,250.9,743.2,7.4,410,17960,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2303,1911
$GC,18260,0.57,250.9,719.5,7.9,415,18264,0.00,2.33,0.00,0.000,4,0.000,0.050,2145,3708,1910
$GC,18290,0.53,250.9,716.7,8.1,415,18295,0.15,2.22,0.00,0.000,6,0.130,0.031,2115,2293,1910
$GC,18624,0.59,250.9,694.7,6.5,421,18628,0.00,2.30,0.00,0.000,4,0.000,0.052,2123,888,1910
$GC,18670,0.66,250.9,691.6,6.3,421,18674,0.00,2.28,0.00,0.000,6,0.000,0.036,2123,2315,1910
$GC,18999,0.70,250.9,672.0,5.9,427,19004,0.10,2.33,0.00,0.000,4,0.068,0.054,2190,3713,1910
$GC,19045,0.54,250.9,667.4,11.7,427,19050,0.30,2.25,0.00,0.000,6,0.145,0.032,2119,2296,1910
$GC,19362,0.60,263.0,650.0,5.1,433,19381,0.00,2.35,13.27,0.964,4,0.000,0.045,2127,893,1857
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$STATE,27793,end climb,SURFACE_DEPTH_REACHED
$STATE,27793,begin surface coast
$FINISH,1.6,1.025251
$STATE,27815,end surface coast,CONTROL_FINISHED_OK
$STATE,27815,begin surface
$SM_CCo,27897,0.00,0.000,0,0,1486,354.46
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$IRIDIUM_FIX,4843.59,-13142.65,050699,151515
$TT8_MAMPS,0.028379
$HUMID,1779
$INTERNAL_PRESSURE,7.40263
$TCM_TEMP,16.30
$XPDR_PINGS,83
$24V_AH,21.8,117.268
$10V_AH,10.2,99.080
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$DEVICE_SECS,19.750,266.275,415.725,0.000,0.000,54.291,49.383,301.604,20.750,0.000,0.000,13.566,1679.942,22796.348,576.135,2277.165,1208.686,33.385,1812.291,0.000,2245.985,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,493.559,571.222,723.694,741.620,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41146,697
$CAP_FILE_SIZE,199083,0
$CFSIZE,260165632,195411968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110310,232111,4901.440,-13135.402,49,2.4,68,19.5