version: 66.04
glider: 144
mission: 15
dive: 827
start: 3 16 110 7 48 52
data:
$ID,144
$MISSION,15
$DIVE,827
$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,-78529.602
$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,35
$R_STBD_OVSHOOT,25
$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
$GPS1,074037,4856.845,-13030.363,32,1.8,32,19.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-62.9
$GPS2,074756,4856.848,-13030.345,10,2.0,22,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P8
$TGT_LATLONG,4849.000,-12840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.145,-0.085
$KALMAN_X,-40695.7,347.6,37.0,1080525.2,543.6
$KALMAN_Y,79964.0,-230.9,-312.4,-235213.5,2399.7
$MHEAD_RNG_PITCHd_Wd,100.7,135347,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.68,-117.3,0.0,0.0,0,60,0.00,0.00,-40.50,0.000,2,0.000,0.000,98,2301,2736
$GC,65,-0.68,-117.3,4.0,-7.4,2,92,7.05,2.40,-14.75,0.000,4,0.225,0.062,1838,3719,3411
$GC,116,-0.60,-117.3,12.7,-12.2,4,121,0.12,2.25,0.00,0.000,6,0.123,0.030,1873,2298,3412
$GC,434,-0.60,-117.3,42.9,-9.4,19,438,0.00,2.28,0.00,0.000,4,0.000,0.040,1873,889,3412
$GC,508,-0.63,-117.3,50.0,-9.4,22,512,0.00,2.28,0.00,0.000,6,0.000,0.035,1865,2316,3412
$GC,827,-0.63,-117.3,81.0,-9.8,37,831,0.00,2.28,0.00,0.000,4,0.000,0.039,1865,900,3413
$GC,931,-0.68,-117.3,90.3,-7.9,46,935,0.00,2.28,0.00,0.000,6,0.000,0.036,1863,2307,3412
$GC,1270,-0.72,-117.3,113.1,-6.3,77,1274,0.00,2.30,0.00,0.000,4,0.000,0.047,1853,3711,3413
$GC,1323,-0.76,-117.3,117.0,-6.6,81,1327,0.00,2.20,0.00,0.000,6,0.000,0.028,1853,2300,3412
$GC,1657,-0.81,-117.3,140.2,-7.6,111,1661,0.10,2.25,0.00,0.000,4,0.065,0.039,1777,894,3412
$GC,1802,-0.72,-117.3,157.3,-11.4,120,1807,0.28,2.28,0.00,0.000,6,0.113,0.038,1847,2305,3413
$GC,2134,-0.75,-117.3,180.6,-6.7,131,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2305,3413
$GC,2439,-0.79,-117.3,201.8,-6.8,141,2443,0.00,2.30,0.00,0.000,4,0.000,0.040,1847,894,3413
$GC,2476,-0.84,-117.3,204.5,-6.9,142,2481,0.12,2.30,0.00,0.000,6,0.054,0.041,1771,2306,3413
$GC,2820,-0.74,-117.3,240.8,-10.5,153,2822,0.25,0.00,0.00,0.000,6,0.119,0.000,1846,2306,3413
$GC,3125,-0.78,-117.3,259.3,-6.0,163,3129,0.00,2.30,0.00,0.000,4,0.000,0.041,1846,890,3412
$GC,3154,-0.83,-117.3,261.2,-6.8,163,3161,0.00,2.33,0.00,0.000,6,0.000,0.036,1840,2307,3413
$GC,3470,-0.87,-117.3,281.8,-6.5,174,3472,0.10,0.00,0.00,0.000,6,0.064,0.000,1763,2307,3413
$GC,3775,-0.75,-117.3,313.7,-10.5,182,3780,0.22,2.30,0.00,0.000,4,0.119,0.039,1836,901,3412
$GC,3866,-0.80,-117.3,320.4,-6.3,183,3870,0.00,2.33,0.00,0.000,6,0.000,0.038,1836,2312,3413
$GC,4206,-0.83,-117.3,341.5,-6.2,189,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2313,3413
$GC,4508,-0.86,-117.3,361.6,-6.6,194,4512,0.08,2.30,0.00,0.000,4,0.079,0.039,1772,900,3412
$GC,4537,-0.80,-117.3,364.2,-9.9,194,4542,0.22,2.30,0.00,0.000,6,0.114,0.044,1827,2305,3413
$GC,4870,-0.80,-117.3,386.5,-6.5,200,4874,0.00,2.28,0.00,0.000,4,0.000,0.041,1827,902,3412
$GC,4911,-0.83,-117.3,389.2,-6.7,200,4915,0.00,2.30,0.00,0.000,6,0.000,0.037,1822,2308,3411
$GC,5234,-0.83,-117.3,411.5,-7.0,206,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3412
$GC,5537,-0.83,-117.3,433.3,-7.2,211,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3412
$GC,5841,-0.83,-117.3,454.7,-7.1,216,5845,0.00,2.30,0.00,0.000,4,0.000,0.046,1821,905,3411
$GC,5888,-0.83,-117.3,458.4,-8.0,216,5892,0.00,2.30,0.00,0.000,6,0.000,0.040,1813,2303,3411
$GC,6204,-0.83,-117.3,482.5,-7.5,222,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2302,3411
$GC,6507,-0.83,-117.3,505.0,-7.4,227,6511,0.00,2.35,0.00,0.000,4,0.000,0.042,1813,897,3411
$GC,6559,-0.83,-117.3,509.3,-9.0,227,6563,0.00,2.33,0.00,0.000,6,0.000,0.038,1808,2306,3410
$GC,6871,-0.83,-117.3,533.5,-7.8,232,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3410
$GC,7173,-0.83,-117.3,558.2,-8.2,237,7177,0.00,2.35,0.00,0.000,4,0.000,0.042,1808,895,3410
$GC,7213,-0.83,-117.3,561.6,-8.3,237,7217,0.00,2.35,0.00,0.000,6,0.000,0.038,1799,2304,3410
$GC,7541,-0.80,-117.3,587.6,-7.8,243,7545,0.10,2.30,0.00,0.000,4,0.131,0.044,1828,904,3410
$GC,7582,-0.85,-117.3,590.7,-6.9,243,7586,0.00,2.28,0.00,0.000,6,0.000,0.041,1823,2303,3410
$GC,7916,-0.88,-117.3,612.3,-6.4,249,7920,0.00,2.35,0.00,0.000,4,0.000,0.055,1815,3710,3409
$GC,7963,-0.91,-117.3,615.4,-6.7,249,7967,0.00,2.28,0.00,0.000,6,0.000,0.033,1815,2297,3409
$GC,8280,-0.93,-117.3,635.2,-6.3,255,8284,0.00,2.30,0.00,0.000,4,0.000,0.050,1815,900,3409
$GC,8332,-0.93,-117.3,638.9,-7.0,255,8336,0.00,2.33,0.00,0.000,6,0.000,0.038,1808,2305,3408
$GC,8643,-0.93,-117.3,659.2,-6.6,260,8647,0.00,2.33,0.00,0.000,4,0.000,0.049,1809,893,3409
$GC,8684,-0.93,-117.3,662.1,-6.9,260,8688,0.00,2.33,0.00,0.000,6,0.000,0.041,1808,2307,3408
$GC,9007,-0.93,-117.3,683.5,-6.6,266,9011,0.00,2.38,0.00,0.000,4,0.000,0.051,1797,3709,3409
$GC,9052,-0.93,-117.3,686.7,-7.5,266,9056,0.00,2.28,0.00,0.000,6,0.000,0.036,1797,2296,3408
$GC,9380,-0.93,-117.3,707.8,-6.3,272,9384,0.00,2.33,0.00,0.000,4,0.000,0.046,1797,900,3408
$GC,9433,-0.93,-117.3,711.1,-6.5,272,9437,0.00,2.30,0.00,0.000,6,0.000,0.038,1794,2306,3408
$GC,9744,-0.91,-117.3,730.6,-6.3,277,9748,0.00,2.33,0.00,0.000,4,0.000,0.048,1785,3709,3408
$GC,9774,-0.89,-117.3,732.7,-7.1,277,9778,0.00,2.25,0.00,0.000,6,0.000,0.038,1785,2304,3408
$GC,10107,-0.85,-117.3,756.4,-7.2,283,10112,0.12,2.35,0.00,0.000,4,0.115,0.048,1824,891,3407
$GC,10143,-0.90,-117.3,758.8,-6.2,283,10148,0.00,2.33,0.00,0.000,6,0.000,0.038,1823,2306,3407
$GC,10472,-0.94,-117.3,776.6,-5.4,289,10474,0.10,0.00,0.00,0.000,6,0.067,0.000,1758,2306,3407
$GC,10775,-0.86,-117.3,802.6,-8.8,294,10780,0.17,2.35,0.00,0.000,4,0.120,0.044,1818,894,3407
$GC,10816,-0.90,-117.3,805.6,-6.1,294,10820,0.00,2.33,0.00,0.000,6,0.000,0.038,1810,2303,3407
$GC,11139,-0.92,-117.3,825.6,-6.2,300,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2303,3407
$GC,11442,-0.92,-117.3,844.3,-6.2,305,11443,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2303,3407
$GC,11746,-0.94,-117.3,862.9,-6.2,310,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2303,3407
$GC,12049,-0.96,-117.3,881.7,-6.2,315,12050,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2303,3406
$GC,12351,-0.99,-117.3,900.0,-6.1,320,12353,0.10,0.00,0.00,0.000,6,0.074,0.000,1756,2303,3406
$GC,12654,-0.90,-117.3,926.2,-8.8,325,12659,0.17,2.45,0.00,0.000,4,0.123,0.055,1805,3713,3406
$GC,12702,-0.94,-117.3,929.5,-6.5,325,12706,0.00,2.30,0.00,0.000,6,0.000,0.034,1805,2302,3405
$GC,13018,-0.94,-117.3,948.6,-6.0,331,13022,0.00,2.33,0.00,0.000,4,0.000,0.046,1805,898,3405
$GC,13053,-0.94,-117.3,951.0,-6.7,331,13057,0.00,2.38,0.00,0.000,6,0.000,0.038,1795,2310,3405
$GC,13387,-0.94,-117.3,973.5,-6.8,337,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2309,3405
$STATE,13625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13625,begin apogee
$GC,13635,-0.22,0.0,990.1,6.9,341,13735,0.50,0.00,97.55,1.270,6,0.107,0.000,1954,2310,2931
$STATE,13736,end apogee,CONTROL_FINISHED_OK
$STATE,13736,begin climb
$GC,13740,0.68,117.3,991.7,0.0,342,13847,0.55,0.00,103.68,1.243,6,0.067,0.000,2149,2309,2452
$GC,14107,0.58,117.3,977.2,5.7,348,14108,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2310,2443
$GC,14411,0.47,117.3,959.9,5.8,353,14413,0.17,0.00,0.00,0.000,6,0.143,0.000,2101,2309,2441
$GC,14713,0.52,156.8,946.9,4.2,358,14752,0.00,2.42,32.97,1.200,4,0.000,0.055,2101,3707,2290
$GC,14779,0.55,182.8,943.7,4.6,359,14808,0.00,2.30,24.23,1.167,6,0.000,0.034,2109,2295,2185
$GC,15150,0.55,182.8,923.2,5.6,365,15154,0.00,2.33,0.00,0.000,4,0.000,0.051,2109,3708,2178
$GC,15196,0.53,182.8,920.2,7.0,365,15200,0.00,2.25,0.00,0.000,6,0.000,0.032,2119,2291,2177
$GC,15524,0.53,182.8,900.2,6.2,371,15528,0.00,2.35,0.00,0.000,4,0.000,0.049,2119,3716,2177
$GC,15582,0.48,182.8,896.0,8.2,371,15589,0.12,2.22,0.00,0.000,6,0.144,0.032,2099,2304,2176
$GC,15894,0.52,186.9,878.8,5.4,377,15895,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2304,2176
$GC,16197,0.55,186.9,861.6,5.7,382,16201,0.00,2.35,0.00,0.000,4,0.000,0.054,2099,3707,2175
$GC,16238,0.55,186.9,858.8,7.1,382,16242,0.00,2.28,0.00,0.000,6,0.000,0.035,2107,2302,2175
$GC,16560,0.55,186.9,839.6,5.9,388,16561,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2302,2175
$GC,16863,0.55,186.9,822.6,5.5,393,16867,0.00,2.33,0.00,0.000,4,0.000,0.054,2107,3708,2174
$GC,16920,0.55,186.9,818.9,6.8,393,16926,0.00,2.25,0.00,0.000,6,0.000,0.035,2118,2302,2174
$GC,17232,0.55,186.9,799.6,6.2,399,17233,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2302,2174
$GC,17534,0.55,186.9,781.1,6.0,404,17538,0.00,2.35,0.00,0.000,4,0.000,0.048,2118,3708,2173
$GC,17586,0.51,186.9,777.7,6.6,404,17590,0.00,2.25,0.00,0.000,6,0.000,0.031,2128,2298,2174
$GC,17897,0.51,186.9,759.9,5.6,409,17901,0.00,2.35,0.00,0.000,4,0.000,0.054,2128,3708,2173
$GC,17938,0.45,186.9,757.2,6.2,409,17943,0.15,2.28,0.00,0.000,6,0.137,0.035,2098,2295,2173
$GC,18261,0.55,229.0,743.7,4.1,415,18302,0.00,0.00,39.65,1.088,6,0.000,0.000,2098,2294,1997
$GC,18564,0.70,231.5,728.0,5.4,420,18569,0.17,2.30,0.00,0.000,4,0.056,0.051,2188,895,1991
$GC,18667,0.61,231.5,720.1,9.8,421,18672,0.20,2.28,0.00,0.000,6,0.135,0.039,2133,2309,1991
$GC,18995,0.61,231.5,700.0,6.0,427,18999,0.00,2.30,0.00,0.000,4,0.000,0.048,2133,3713,1990
$GC,19070,0.58,231.5,694.2,8.4,428,19074,0.00,2.25,0.00,0.000,6,0.000,0.031,2141,2293,1990
$GC,19431,0.55,231.5,668.5,7.1,434,19436,0.00,2.35,0.00,0.000,4,0.000,0.053,2141,3705,1990
$GC,19467,0.50,231.5,665.6,8.8,434,19472,0.17,2.22,0.00,0.000,6,0.127,0.031,2103,2303,1989
$GC,19796,0.60,259.9,649.9,4.5,440,19831,0.10,2.40,27.33,1.007,4,0.067,0.051,2180,886,1870
$GC,19863,0.56,259.9,645.1,8.5,441,19868,0.22,2.30,0.00,0.000,6,0.127,0.038,2117,2304,1867
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$STATE,28501,end climb,SURFACE_DEPTH_REACHED
$STATE,28501,begin surface coast
$FINISH,1.6,1.025207
$STATE,28523,end surface coast,CONTROL_FINISHED_OK
$STATE,28523,begin surface
$SM_CCo,28605,0.00,0.000,0,0,1606,325.02
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$IRIDIUM_FIX,4840.32,-13035.72,090699,232312
$TT8_MAMPS,0.028379
$HUMID,1776
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$TCM_TEMP,14.70
$XPDR_PINGS,73
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$10V_AH,10.2,100.664
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$DEVICE_SECS,20.025,244.175,387.200,0.000,0.000,29.600,27.688,186.041,18.250,0.000,0.000,23.587,1665.893,23623.926,554.551,2146.098,1039.818,33.386,1705.334,0.000,2119.298,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,506.549,604.308,753.355,787.667,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44410,725
$CAP_FILE_SIZE,187419,0
$CFSIZE,260165632,194338816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160310,154706,4855.550,-13023.903,44,1.3,44,19.5