version: 66.04
glider: 144
mission: 15
dive: 819
start: 3 13 110 15 51 8
data:
$ID,144
$MISSION,15
$DIVE,819
$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,-78293.531
$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
$GPS1,154127,4858.347,-13110.100,39,4.4,59,19.5
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-50.5
$GPS2,155015,4858.408,-13109.969,34,2.6,53,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.168,-0.005
$KALMAN_X,-40945.6,-78.9,133.7,1034287.7,9.6
$KALMAN_Y,73060.6,60.2,26.2,-226060.2,106.2
$MHEAD_RNG_PITCHd_Wd,72.1,36437,-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,-40.42,0.000,2,0.000,0.000,99,2294,2628
$GC,64,-0.68,-117.3,3.6,-5.9,2,95,7.12,2.38,-18.80,0.000,4,0.231,0.063,1841,3707,3410
$GC,249,-0.62,-117.3,30.8,-16.7,10,253,0.10,2.20,0.00,0.000,6,0.128,0.028,1866,2298,3412
$GC,567,-0.62,-117.3,59.2,-9.2,25,571,0.00,2.25,0.00,0.000,4,0.000,0.040,1866,893,3412
$GC,647,-0.62,-117.3,66.7,-9.1,28,651,0.00,2.25,0.00,0.000,6,0.000,0.035,1863,2301,3412
$GC,969,-0.62,-117.3,96.0,-9.7,50,973,0.00,2.25,0.00,0.000,4,0.000,0.039,1863,897,3412
$GC,1012,-0.67,-117.3,100.2,-9.8,53,1016,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2303,3412
$GC,1350,-0.70,-117.3,126.5,-7.0,84,1354,0.00,2.33,0.00,0.000,4,0.000,0.047,1853,3714,3412
$GC,1392,-0.74,-117.3,129.9,-8.0,87,1396,0.00,2.20,0.00,0.000,6,0.000,0.028,1853,2300,3412
$GC,1737,-0.77,-117.3,154.9,-7.1,115,1741,0.00,2.25,0.00,0.000,4,0.000,0.039,1853,894,3412
$GC,1856,-0.80,-117.3,164.2,-7.6,118,1861,0.10,2.28,0.00,0.000,6,0.064,0.035,1778,2310,3413
$GC,2172,-0.71,-117.3,197.7,-11.2,128,2176,0.20,2.28,0.00,0.000,4,0.125,0.039,1843,899,3412
$GC,2291,-0.75,-117.3,208.3,-8.5,131,2295,0.00,2.25,0.00,0.000,6,0.000,0.035,1837,2306,3413
$GC,2611,-0.75,-117.3,233.4,-7.6,142,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2307,3412
$GC,2917,-0.77,-117.3,254.4,-6.8,152,2921,0.00,2.33,0.00,0.000,4,0.000,0.054,1829,3711,3412
$GC,2940,-0.80,-117.3,256.2,-7.0,152,2947,0.00,2.22,0.00,0.000,6,0.000,0.035,1829,2304,3412
$GC,3255,-0.80,-117.3,281.0,-8.4,163,3259,0.00,2.25,0.00,0.000,4,0.000,0.041,1828,891,3412
$GC,3285,-0.82,-117.3,283.7,-9.0,163,3292,0.00,2.33,0.00,0.000,6,0.000,0.039,1822,2301,3412
$GC,3598,-0.82,-117.3,309.6,-8.0,172,3602,0.00,2.35,0.00,0.000,4,0.000,0.053,1812,3710,3412
$GC,3627,-0.82,-117.3,312.0,-8.4,172,3631,0.00,2.25,0.00,0.000,6,0.000,0.035,1812,2299,3412
$GC,3961,-0.82,-117.3,340.5,-8.7,178,3965,0.00,2.28,0.00,0.000,4,0.000,0.041,1811,887,3412
$GC,4001,-0.82,-117.3,344.5,-9.4,178,4005,0.00,2.33,0.00,0.000,6,0.000,0.040,1803,2310,3412
$GC,4323,-0.78,-117.3,375.6,-9.7,184,4325,0.10,0.00,0.00,0.000,6,0.130,0.000,1832,2309,3412
$GC,4626,-0.82,-117.3,398.3,-7.4,189,4630,0.00,2.30,0.00,0.000,4,0.000,0.044,1832,894,3411
$GC,4674,-0.85,-117.3,401.8,-6.9,189,4678,0.00,2.30,0.00,0.000,6,0.000,0.036,1825,2304,3412
$GC,4990,-0.85,-117.3,424.9,-7.3,195,4994,0.00,2.33,0.00,0.000,4,0.000,0.054,1816,3707,3412
$GC,5025,-0.85,-117.3,427.6,-7.7,195,5029,0.00,2.25,0.00,0.000,6,0.000,0.033,1816,2296,3411
$GC,5354,-0.85,-117.3,451.4,-7.3,201,5358,0.00,2.25,0.00,0.000,4,0.000,0.042,1816,901,3411
$GC,5417,-0.85,-117.3,456.3,-7.3,201,5423,0.00,2.30,0.00,0.000,6,0.000,0.041,1808,2308,3411
$GC,5729,-0.85,-117.3,478.9,-7.2,207,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3410
$GC,6031,-0.85,-117.3,500.5,-7.2,212,6035,0.00,2.33,0.00,0.000,4,0.000,0.043,1808,887,3411
$GC,6111,-0.85,-117.3,507.0,-8.0,213,6115,0.00,2.30,0.00,0.000,6,0.000,0.042,1799,2304,3410
$GC,6468,-0.83,-117.3,536.1,-8.2,219,6472,0.00,2.33,0.00,0.000,4,0.000,0.049,1799,890,3410
$GC,6514,-0.83,-117.3,540.3,-9.0,219,6519,0.10,2.33,0.00,0.000,6,0.129,0.040,1820,2306,3410
$GC,6831,-0.85,-117.3,562.3,-6.9,225,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2306,3410
$GC,7133,-0.88,-117.3,583.0,-6.8,230,7137,0.00,2.33,0.00,0.000,4,0.000,0.047,1820,894,3409
$GC,7185,-0.91,-117.3,587.0,-7.4,230,7189,0.00,2.30,0.00,0.000,6,0.000,0.038,1814,2307,3409
$GC,7496,-0.91,-117.3,608.2,-6.9,235,7500,0.00,2.33,0.00,0.000,4,0.000,0.043,1814,895,3408
$GC,7544,-0.91,-117.3,611.7,-7.8,235,7548,0.00,2.30,0.00,0.000,6,0.000,0.038,1808,2303,3408
$GC,7861,-0.91,-117.3,633.9,-7.0,241,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3409
$GC,8164,-0.91,-117.3,655.4,-7.2,246,8168,0.00,2.33,0.00,0.000,4,0.000,0.044,1808,895,3408
$GC,8204,-0.91,-117.3,658.5,-7.9,246,8208,0.00,2.33,0.00,0.000,6,0.000,0.038,1799,2306,3408
$GC,8527,-0.91,-117.3,682.2,-7.3,252,8532,0.00,2.35,0.00,0.000,4,0.000,0.048,1799,891,3408
$GC,8558,-0.91,-117.3,684.6,-7.8,252,8562,0.00,2.35,0.00,0.000,6,0.000,0.042,1794,2307,3408
$GC,8892,-0.88,-117.3,710.8,-7.9,258,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2307,3407
$GC,9195,-0.86,-117.3,734.0,-7.5,263,9199,0.00,2.33,0.00,0.000,4,0.000,0.044,1794,896,3407
$GC,9236,-0.86,-117.3,737.1,-7.8,263,9241,0.10,2.33,0.00,0.000,6,0.125,0.042,1812,2312,3407
$GC,9558,-0.89,-117.3,757.4,-6.2,269,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2312,3407
$GC,9861,-0.91,-117.3,775.9,-6.1,274,9865,0.00,2.38,0.00,0.000,4,0.000,0.046,1812,894,3407
$GC,9903,-0.94,-117.3,778.8,-6.9,274,9907,0.00,2.35,0.00,0.000,6,0.000,0.044,1809,2304,3407
$GC,10225,-0.94,-117.3,802.2,-7.3,280,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3406
$GC,10528,-0.94,-117.3,825.7,-7.8,285,10532,0.00,2.35,0.00,0.000,4,0.000,0.051,1808,890,3406
$GC,10569,-0.96,-117.3,828.9,-7.7,285,10573,0.00,2.35,0.00,0.000,6,0.000,0.038,1808,2304,3406
$GC,10892,-0.96,-117.3,850.3,-6.5,291,10893,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3406
$GC,11195,-0.96,-117.3,869.5,-6.3,296,11199,0.00,2.30,0.00,0.000,4,0.000,0.044,1808,898,3406
$GC,11259,-0.98,-117.3,873.8,-7.0,297,11264,0.08,2.33,0.00,0.000,6,0.084,0.041,1767,2311,3405
$GC,11627,-0.93,-117.3,903.3,-8.1,303,11629,0.12,0.00,0.00,0.000,6,0.132,0.000,1802,2311,3405
$GC,11929,-0.93,-117.3,921.2,-5.8,308,11933,0.00,2.33,0.00,0.000,4,0.000,0.044,1802,896,3405
$GC,11975,-0.93,-117.3,924.1,-6.3,308,11979,0.00,2.35,0.00,0.000,6,0.000,0.045,1795,2311,3405
$GC,12291,-0.93,-117.3,944.1,-6.4,314,12295,0.00,2.35,0.00,0.000,4,0.000,0.047,1795,900,3405
$GC,12338,-0.93,-117.3,947.5,-7.0,314,12342,0.00,2.33,0.00,0.000,6,0.000,0.043,1794,2305,3405
$GC,12655,-0.93,-117.3,968.5,-6.7,320,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2305,3405
$GC,12958,-0.93,-117.3,987.7,-6.4,325,12962,0.00,2.38,0.00,0.000,4,0.000,0.045,1794,900,3405
$GC,12994,-0.93,-117.3,989.9,-6.8,325,12998,0.00,2.25,0.00,0.000,3,0.000,0.042,1793,2238,3405
$STATE,12999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12999,begin apogee
$GC,13010,-0.22,0.0,990.3,6.5,325,13110,0.47,0.00,97.12,1.272,6,0.109,0.000,1951,2311,2930
$STATE,13111,end apogee,CONTROL_FINISHED_OK
$STATE,13111,begin climb
$GC,13115,0.68,117.3,992.4,0.0,327,13226,0.60,2.55,104.05,1.247,4,0.070,0.053,2154,3702,2451
$GC,13256,0.50,117.3,988.3,7.5,329,13261,0.22,2.42,0.00,0.000,6,0.153,0.032,2112,2304,2448
$GC,13574,0.46,117.3,969.6,5.8,335,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2304,2441
$GC,13876,0.42,117.3,952.2,5.7,340,13880,0.00,2.33,0.00,0.000,4,0.000,0.056,2112,3707,2440
$GC,13922,0.34,117.3,949.2,6.7,340,13927,0.17,2.25,0.00,0.000,6,0.157,0.034,2075,2294,2440
$GC,14241,0.41,137.5,933.9,4.8,346,14259,0.00,0.00,16.50,1.150,6,0.000,0.000,2075,2294,2370
$GC,14542,0.51,137.5,916.2,5.9,351,14547,0.12,2.33,0.00,0.000,4,0.071,0.048,2135,3706,2365
$GC,14780,0.39,137.5,897.4,7.4,354,14785,0.22,2.22,0.00,0.000,6,0.153,0.034,2086,2302,2364
$GC,15108,0.44,154.0,880.9,4.9,360,15125,0.00,0.00,15.23,1.114,6,0.000,0.000,2086,2302,2303
$GC,15412,0.53,186.6,867.2,4.4,365,15446,0.10,2.38,29.12,1.155,4,0.076,0.049,2141,3704,2169
$GC,15480,0.46,186.6,862.8,7.8,366,15484,0.20,2.28,0.00,0.000,6,0.146,0.034,2098,2293,2168
$GC,15847,0.52,204.8,844.4,4.9,372,15870,0.00,2.30,16.60,1.095,4,0.000,0.052,2107,888,2095
$GC,15891,0.58,207.1,842.2,5.4,372,15895,0.00,2.30,0.00,0.000,6,0.000,0.041,2107,2302,2094
$GC,16213,0.63,209.3,824.7,5.4,378,16224,0.10,2.33,5.20,0.827,4,0.072,0.051,2165,3716,2077
$GC,16259,0.49,209.3,820.6,9.9,378,16264,0.25,2.25,0.00,0.000,6,0.145,0.033,2107,2294,2076
$GC,16577,0.55,220.1,803.3,5.1,384,16590,0.00,0.00,11.00,1.019,6,0.000,0.000,2107,2294,2033
$GC,16879,0.63,244.5,789.0,4.7,389,16905,0.10,0.00,22.85,1.088,6,0.066,0.000,2166,2293,1933
$GC,17182,0.55,244.5,763.3,8.8,394,17187,0.17,2.33,0.00,0.000,4,0.130,0.047,2117,3708,1928
$GC,17247,0.55,244.5,758.6,6.7,395,17251,0.00,2.22,0.00,0.000,6,0.000,0.036,2125,2300,1927
$GC,17620,0.57,244.5,733.8,6.7,401,17624,0.00,2.33,0.00,0.000,4,0.000,0.052,2126,3714,1926
$GC,17649,0.57,244.5,731.5,7.0,401,17654,0.00,2.22,0.00,0.000,6,0.000,0.031,2134,2294,1926
$GC,17990,0.57,244.5,706.5,7.4,407,17991,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2294,1926
$GC,18292,0.57,244.5,685.5,6.9,412,18296,0.00,2.35,0.00,0.000,4,0.000,0.054,2134,3710,1925
$GC,18344,0.54,244.5,681.4,8.0,412,18348,0.12,2.25,0.00,0.000,6,0.133,0.035,2112,2294,1925
$GC,18657,0.60,254.1,664.9,5.2,417,18671,0.00,2.30,8.55,0.899,4,0.000,0.047,2120,902,1895
$GC,18696,0.72,289.3,662.7,4.3,417,18736,0.12,2.25,33.00,1.021,6,0.055,0.043,2198,2306,1750
$GC,19097,0.60,289.3,616.6,12.4,424,19102,0.22,2.30,0.00,0.000,4,0.133,0.049,2128,3716,1744
$GC,19178,0.62,289.3,608.6,8.1,425,19182,0.00,2.22,0.00,0.000,6,0.000,0.034,2136,2297,1744
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$STATE,27579,end climb,SURFACE_DEPTH_REACHED
$STATE,27580,begin surface coast
$FINISH,1.7,1.025278
$STATE,27622,end surface coast,CONTROL_FINISHED_OK
$STATE,27622,begin surface
$SM_CCo,27704,0.00,0.000,0,0,1614,323.06
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$IRIDIUM_FIX,4843.59,-13114.86,070699,080852
$TT8_MAMPS,0.029146
$HUMID,1782
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$TCM_TEMP,16.30
$XPDR_PINGS,79
$24V_AH,21.8,118.145
$10V_AH,10.3,99.761
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$DEVICE_SECS,18.950,248.075,385.875,0.000,0.000,26.511,28.202,247.845,19.750,0.000,0.000,55.352,1655.406,22702.146,558.252,2220.638,1080.892,33.386,1713.082,0.000,2163.207,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,500.458,584.285,737.866,774.229,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41295,711
$CAP_FILE_SIZE,186781,0
$CFSIZE,260165632,194953216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130310,233407,4858.631,-13105.525,30,2.0,30,19.5