version: 66.04
glider: 144
mission: 15
dive: 830
start: 3 17 110 8 16 50
data:
$ID,144
$MISSION,15
$DIVE,830
$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,-78575.477
$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,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
$GPS1,080807,4852.673,-13010.162,37,1.3,37,19.5
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-52.0
$GPS2,081556,4852.708,-13010.222,13,1.9,13,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P8
$TGT_LATLONG,4849.000,-12840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,-0.049
$KALMAN_X,-32353.3,61.8,-171.3,1096463.5,3780.3
$KALMAN_Y,80195.4,-395.7,-269.9,-242992.3,1151.5
$MHEAD_RNG_PITCHd_Wd,87.5,110238,-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,-39.85,0.000,2,0.000,0.000,98,2299,2422
$GC,64,-0.68,-117.3,3.6,-4.0,2,108,7.03,2.35,-29.17,0.000,4,0.225,0.068,1840,3709,3411
$GC,246,-0.63,-117.3,22.0,-14.4,10,251,0.10,2.22,0.00,0.000,6,0.123,0.034,1866,2299,3411
$GC,575,-0.63,-117.3,58.5,-9.9,26,579,0.00,2.28,0.00,0.000,4,0.000,0.040,1865,895,3411
$GC,666,-0.63,-117.3,68.9,-10.7,30,670,0.00,2.28,0.00,0.000,6,0.000,0.035,1863,2301,3411
$GC,995,-0.66,-117.3,93.8,-7.8,55,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2301,3411
$GC,1323,-0.71,-117.3,117.0,-6.2,86,1327,0.00,2.25,0.00,0.000,4,0.000,0.039,1863,896,3411
$GC,1371,-0.78,-117.3,120.5,-7.4,90,1376,0.12,2.28,0.00,0.000,6,0.054,0.036,1777,2309,3411
$GC,1706,-0.67,-117.3,158.1,-11.4,117,1708,0.28,0.00,0.00,0.000,6,0.120,0.000,1858,2309,3411
$GC,2007,-0.73,-117.3,178.7,-6.2,127,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2309,3411
$GC,2313,-0.78,-117.3,197.8,-6.3,137,2318,0.10,2.28,0.00,0.000,4,0.062,0.038,1777,897,3411
$GC,2361,-0.69,-117.3,202.2,-10.6,138,2366,0.28,2.28,0.00,0.000,6,0.109,0.035,1851,2312,3411
$GC,2687,-0.74,-117.3,223.5,-6.5,149,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2312,3410
$GC,2993,-0.79,-117.3,242.2,-5.9,159,2995,0.10,0.00,0.00,0.000,6,0.064,0.000,1776,2312,3411
$GC,3300,-0.70,-117.3,273.4,-10.5,169,3305,0.20,2.33,0.00,0.000,4,0.118,0.039,1844,889,3411
$GC,3347,-0.75,-117.3,277.6,-7.6,170,3351,0.00,2.33,0.00,0.000,6,0.000,0.040,1837,2307,3411
$GC,3673,-0.78,-117.3,301.7,-7.5,181,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2307,3411
$GC,3977,-0.81,-117.3,325.0,-7.7,186,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2307,3411
$GC,4279,-0.84,-117.3,346.4,-7.0,191,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2307,3410
$GC,4582,-0.87,-117.3,364.9,-6.1,196,4587,0.10,2.28,0.00,0.000,4,0.064,0.041,1764,895,3410
$GC,4617,-0.77,-117.3,368.1,-10.7,196,4622,0.28,2.30,0.00,0.000,6,0.113,0.039,1835,2301,3410
$GC,4951,-0.80,-117.3,389.3,-6.2,202,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2301,3410
$GC,5255,-0.84,-117.3,410.0,-7.0,207,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2301,3410
$GC,5556,-0.88,-117.3,432.2,-7.4,212,5561,0.10,2.30,0.00,0.000,4,0.064,0.048,1770,901,3408
$GC,5603,-0.79,-117.3,436.7,-10.6,212,5608,0.25,2.33,0.00,0.000,6,0.111,0.041,1833,2311,3409
$GC,5920,-0.82,-117.3,459.9,-7.0,218,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2311,3409
$GC,6223,-0.86,-117.3,481.8,-7.3,223,6227,0.00,2.35,0.00,0.000,4,0.000,0.044,1833,899,3409
$GC,6259,-0.90,-117.3,484.5,-7.8,223,6264,0.12,2.33,0.00,0.000,6,0.055,0.038,1760,2303,3408
$GC,6588,-0.80,-117.3,518.8,-10.6,229,6593,0.20,2.35,0.00,0.000,4,0.121,0.046,1826,899,3408
$GC,6634,-0.84,-117.3,522.6,-6.6,229,6638,0.00,2.33,0.00,0.000,6,0.000,0.038,1821,2303,3408
$GC,6950,-0.84,-117.3,542.9,-6.4,235,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3407
$GC,7254,-0.84,-117.3,564.2,-7.1,240,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3407
$GC,7557,-0.86,-117.3,586.4,-7.3,245,7561,0.00,2.35,0.00,0.000,4,0.000,0.049,1821,897,3407
$GC,7598,-0.89,-117.3,589.7,-8.3,245,7602,0.00,2.33,0.00,0.000,6,0.000,0.039,1814,2306,3407
$GC,7920,-0.89,-117.3,613.8,-7.5,251,7924,0.00,2.35,0.00,0.000,4,0.000,0.049,1814,895,3407
$GC,7962,-0.89,-117.3,617.0,-7.8,251,7966,0.00,2.30,0.00,0.000,6,0.000,0.039,1808,2301,3407
$GC,8284,-0.89,-117.3,642.0,-7.7,257,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3407
$GC,8587,-0.89,-117.3,667.0,-8.4,262,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3406
$GC,8890,-0.89,-117.3,692.4,-8.4,267,8894,0.00,2.33,0.00,0.000,4,0.000,0.044,1808,896,3406
$GC,8931,-0.89,-117.3,695.9,-9.0,267,8935,0.00,2.33,0.00,0.000,6,0.000,0.045,1806,2305,3406
$GC,9258,-0.89,-117.3,721.2,-7.6,273,9262,0.00,2.30,0.00,0.000,4,0.000,0.047,1806,900,3406
$GC,9309,-0.89,-117.3,725.1,-7.9,273,9313,0.00,2.33,0.00,0.000,6,0.000,0.041,1796,2304,3406
$GC,9631,-0.89,-117.3,748.0,-7.1,279,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2305,3406
$GC,9935,-0.89,-117.3,769.6,-7.2,284,9939,0.00,2.35,0.00,0.000,4,0.000,0.049,1796,890,3405
$GC,9975,-0.89,-117.3,772.9,-8.3,284,9979,0.00,2.33,0.00,0.000,6,0.000,0.040,1794,2302,3405
$GC,10297,-0.89,-117.3,797.3,-7.6,290,10301,0.00,2.40,0.00,0.000,4,0.000,0.049,1785,3710,3405
$GC,10326,-0.86,-117.3,799.8,-8.3,290,10331,0.10,2.30,0.00,0.000,6,0.116,0.034,1813,2296,3405
$GC,10661,-0.89,-117.3,820.3,-6.1,296,10665,0.00,2.28,0.00,0.000,4,0.000,0.048,1812,900,3405
$GC,10696,-0.92,-117.3,822.6,-5.5,296,10700,0.00,2.30,0.00,0.000,6,0.000,0.038,1809,2302,3405
$GC,11030,-0.92,-117.3,841.5,-5.6,302,11034,0.00,2.38,0.00,0.000,4,0.000,0.050,1800,3709,3404
$GC,11071,-0.92,-117.3,843.9,-5.6,302,11075,0.00,2.28,0.00,0.000,6,0.000,0.038,1799,2302,3404
$GC,11404,-0.92,-117.3,864.2,-6.1,308,11408,0.00,2.35,0.00,0.000,4,0.000,0.050,1800,891,3404
$GC,11444,-0.92,-117.3,866.9,-6.7,308,11448,0.00,2.33,0.00,0.000,6,0.000,0.043,1794,2301,3404
$GC,11766,-0.92,-117.3,888.4,-6.7,314,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2301,3404
$GC,12070,-0.92,-117.3,910.7,-7.5,319,12071,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2301,3404
$GC,12372,-0.92,-117.3,933.6,-7.5,324,12376,0.00,2.38,0.00,0.000,4,0.000,0.048,1794,888,3403
$GC,12431,-0.92,-117.3,938.2,-8.2,324,12435,0.00,2.35,0.00,0.000,6,0.000,0.041,1793,2303,3403
$GC,12742,-0.92,-117.3,960.6,-7.1,329,12743,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2303,3403
$GC,13046,-0.92,-117.3,981.8,-7.1,334,13047,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2303,3403
$STATE,13162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13162,begin apogee
$GC,13172,-0.22,0.0,990.4,7.1,336,13272,0.50,0.00,97.07,1.269,6,0.107,0.000,1953,2303,2931
$STATE,13272,end apogee,CONTROL_FINISHED_OK
$STATE,13272,begin climb
$GC,13277,0.68,117.3,992.2,0.0,337,13389,0.60,2.65,103.15,1.245,4,0.067,0.053,2157,3711,2450
$GC,13431,0.48,117.3,990.7,6.4,340,13436,0.25,2.42,0.00,0.000,6,0.153,0.035,2108,2302,2446
$GC,13777,0.50,157.0,975.9,4.2,346,13812,0.00,0.00,33.60,1.209,6,0.000,0.000,2109,2302,2291
$GC,14080,0.54,189.2,962.6,4.4,351,14114,0.00,2.40,28.40,1.195,4,0.000,0.056,2108,3707,2158
$GC,14134,0.55,199.7,959.9,5.1,351,14150,0.00,2.28,10.88,1.073,6,0.000,0.035,2117,2299,2116
$GC,14512,0.57,213.6,940.7,5.0,358,14527,0.00,0.00,12.93,1.111,6,0.000,0.000,2117,2299,2060
$GC,14816,0.57,215.8,924.3,5.4,363,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2299,2056
$GC,15118,0.57,215.8,906.7,5.9,368,15119,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2299,2055
$GC,15421,0.57,215.8,887.9,6.2,373,15425,0.00,2.35,0.00,0.000,4,0.000,0.051,2117,3710,2054
$GC,15467,0.57,215.8,884.7,7.8,373,15471,0.00,2.28,0.00,0.000,6,0.000,0.037,2127,2294,2054
$GC,15794,0.57,215.8,864.3,6.1,379,15799,0.00,2.35,0.00,0.000,4,0.000,0.054,2127,3714,2053
$GC,15853,0.53,215.8,860.3,7.3,379,15859,0.00,2.25,0.00,0.000,6,0.000,0.039,2137,2302,2053
$GC,16165,0.50,215.8,840.2,6.4,385,16169,0.12,2.35,0.00,0.000,4,0.146,0.054,2104,3717,2053
$GC,16199,0.50,215.8,838.1,5.5,385,16203,0.00,2.25,0.00,0.000,6,0.000,0.038,2112,2299,2053
$GC,16528,0.53,222.3,820.8,5.3,391,16539,0.00,0.00,8.32,0.979,6,0.000,0.000,2112,2299,2024
$GC,16830,0.57,222.3,801.7,6.4,396,16831,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2299,2022
$GC,17134,0.60,222.3,782.2,6.4,401,17135,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2299,2021
$GC,17436,0.64,222.3,763.4,6.2,406,17438,0.10,0.00,0.00,0.000,6,0.065,0.000,2170,2299,2021
$GC,17741,0.54,222.3,736.3,9.1,411,17745,0.20,2.38,0.00,0.000,4,0.129,0.051,2108,3714,2021
$GC,17792,0.56,222.3,732.2,6.8,411,17796,0.00,2.22,0.00,0.000,6,0.000,0.031,2116,2298,2020
$GC,18106,0.61,233.8,716.1,5.1,416,18122,0.00,2.28,11.35,0.976,4,0.000,0.044,2126,890,1977
$GC,18148,0.69,254.5,713.9,4.8,416,18173,0.08,2.28,19.73,1.026,6,0.076,0.038,2183,2309,1893
$GC,18544,0.58,254.5,678.9,9.2,423,18549,0.20,2.28,0.00,0.000,4,0.133,0.050,2122,3707,1887
$GC,18597,0.58,254.5,674.3,7.5,423,18601,0.00,2.20,0.00,0.000,6,0.000,0.037,2130,2304,1887
$GC,18913,0.58,254.5,654.8,6.2,429,18917,0.00,2.28,0.00,0.000,4,0.000,0.045,2141,887,1887
$GC,18943,0.61,254.5,652.8,6.8,429,18947,0.00,2.28,0.00,0.000,6,0.000,0.037,2142,2306,1885
$GC,19277,0.61,254.5,630.1,6.8,435,19281,0.00,2.30,0.00,0.000,4,0.000,0.047,2141,3707,1885
$GC,19341,0.59,254.5,625.3,8.0,436,19346,0.10,2.20,0.00,0.000,6,0.136,0.032,2126,2298,1885
$GC,19709,0.66,281.8,607.4,4.6,442,19738,0.00,2.30,24.25,0.978,4,0.000,0.048,2134,897,1781
$GC,19759,0.82,357.5,605.3,2.9,442,19840,0.15,2.28,70.43,0.969,6,0.051,0.043,2225,2311,1472
$GC,20203,0.66,357.5,547.5,13.9,450,20208,0.25,2.28,0.00,0.000,4,0.142,0.049,2147,3707,1464
$GC,20273,0.71,357.5,541.0,7.4,451,20276,0.00,2.20,0.00,0.000,6,0.000,0.031,2154,2303,1463
$GC,20640,0.75,357.5,516.8,6.7,457,20644,0.00,2.33,0.00,0.000,4,0.000,0.045,2164,890,1461
$GC,20669,0.80,357.5,514.6,6.5,457,20673,0.00,2.25,0.00,0.000,6,0.000,0.035,2164,2304,1460
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$STATE,27064,end climb,SURFACE_DEPTH_REACHED
$STATE,27065,begin surface coast
$FINISH,2.0,1.025233
$STATE,27086,end surface coast,CONTROL_FINISHED_OK
$STATE,27086,begin surface
$SM_CCo,27167,0.00,0.000,0,0,1411,372.61
$SM_GC,2.81,5.65,0.00,0.00,0.038,0.000,0.000,100,2290,1411,-8.60,-0.37,372.61
$IRIDIUM_FIX,4833.79,-13019.75,110699,000034
$TT8_MAMPS,0.029146
$HUMID,1779
$INTERNAL_PRESSURE,7.39286
$TCM_TEMP,16.30
$XPDR_PINGS,67
$24V_AH,21.8,119.779
$10V_AH,10.3,101.003
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$DEVICE_SECS,18.725,220.500,431.000,0.000,0.000,28.434,24.355,223.355,16.750,0.000,0.000,15.217,1582.610,22392.543,563.317,2058.016,1022.258,33.392,1675.878,0.000,2035.983,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,488.126,575.912,718.993,758.574,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41109,697
$CAP_FILE_SIZE,174773,0
$CFSIZE,260165632,194117632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,170310,155101,4851.300,-13003.443,38,1.2,39,19.5