version: 66.04
glider: 144
mission: 15
dive: 853
start: 3 25 110 2 42 7
data:
$ID,144
$MISSION,15
$DIVE,853
$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,-78975.062
$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,37
$R_STBD_OVSHOOT,35
$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
$GPS1,023418,4848.437,-12822.558,45,1.4,46,19.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-62.1
$GPS2,024113,4848.500,-12822.499,11,1.4,11,19.3
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P4
$TGT_LATLONG,4839.000,-12640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.086,-0.144
$KALMAN_X,-28906.9,422.5,-296.7,1220093.8,-2769.1
$KALMAN_Y,100132.2,51.1,-198.9,-271256.9,5137.2
$MHEAD_RNG_PITCHd_Wd,129.8,126640,-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,-117.3,0.0,0.0,0,63,0.00,0.00,-39.97,0.000,2,0.000,0.000,98,2314,2652
$GC,68,-0.68,-117.3,4.0,-7.1,2,98,7.07,2.33,-17.23,0.000,4,0.228,0.054,1847,900,3412
$GC,140,-0.65,-117.3,14.0,-11.0,5,144,0.00,2.28,0.00,0.000,6,0.000,0.041,1840,2312,3413
$GC,463,-0.58,-117.3,52.1,-12.1,21,468,0.12,2.30,0.00,0.000,4,0.133,0.038,1874,896,3413
$GC,521,-0.62,-117.3,58.4,-9.7,23,525,0.00,2.25,0.00,0.000,6,0.000,0.035,1868,2304,3413
$GC,843,-0.62,-117.3,91.2,-10.6,43,847,0.00,2.25,0.00,0.000,4,0.000,0.039,1868,896,3414
$GC,872,-0.62,-117.3,94.2,-9.6,45,878,0.00,2.25,0.00,0.000,6,0.000,0.035,1863,2309,3414
$GC,1204,-0.65,-117.3,119.4,-6.1,76,1208,0.00,2.33,0.00,0.000,4,0.000,0.052,1854,3713,3414
$GC,1267,-0.70,-117.3,123.7,-5.9,81,1273,0.00,2.20,0.00,0.000,6,0.000,0.027,1854,2296,3414
$GC,1598,-0.73,-117.3,145.3,-6.6,112,1602,0.00,2.28,0.00,0.000,4,0.000,0.044,1854,902,3414
$GC,1653,-0.78,-117.3,149.4,-7.1,116,1657,0.00,2.28,0.00,0.000,6,0.000,0.036,1850,2312,3414
$GC,1968,-0.81,-117.3,171.9,-7.1,126,1973,0.10,2.28,0.00,0.000,4,0.064,0.044,1764,3714,3414
$GC,2005,-0.70,-117.3,175.5,-11.8,127,2009,0.30,2.17,0.00,0.000,6,0.158,0.028,1851,2304,3414
$GC,2348,-0.74,-117.3,200.5,-6.9,138,2352,0.00,2.28,0.00,0.000,4,0.000,0.043,1851,905,3414
$GC,2405,-0.80,-117.3,204.6,-6.7,139,2410,0.08,2.28,0.00,0.000,6,0.078,0.035,1782,2303,3414
$GC,2722,-0.71,-117.3,233.8,-9.2,149,2723,0.22,0.00,0.00,0.000,6,0.114,0.000,1851,2303,3414
$GC,3027,-0.76,-117.3,250.9,-5.6,159,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2303,3414
$GC,3333,-0.82,-117.3,268.0,-5.5,169,3337,0.12,2.30,0.00,0.000,4,0.055,0.044,1762,896,3414
$GC,3379,-0.70,-117.3,272.4,-11.1,170,3384,0.32,2.30,0.00,0.000,6,0.111,0.035,1848,2308,3414
$GC,3706,-0.75,-117.3,291.3,-5.6,181,3710,0.00,2.28,0.00,0.000,4,0.000,0.040,1848,892,3414
$GC,3730,-0.81,-117.3,292.8,-5.7,181,3735,0.10,2.30,0.00,0.000,6,0.064,0.036,1779,2303,3413
$GC,4073,-0.72,-117.3,327.0,-10.4,188,4078,0.17,2.28,0.00,0.000,4,0.116,0.039,1840,904,3413
$GC,4132,-0.77,-117.3,331.9,-7.3,188,4138,0.00,2.28,0.00,0.000,6,0.000,0.037,1837,2303,3413
$GC,4443,-0.80,-117.3,352.2,-6.4,194,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2303,3413
$GC,4746,-0.83,-117.3,370.7,-6.2,199,4750,0.00,2.30,0.00,0.000,4,0.000,0.041,1837,897,3413
$GC,4812,-0.88,-117.3,375.0,-6.5,200,4816,0.10,2.35,0.00,0.000,6,0.064,0.036,1768,2310,3413
$GC,5186,-0.78,-117.3,412.9,-10.6,206,5188,0.22,0.00,0.00,0.000,6,0.116,0.000,1835,2310,3412
$GC,5488,-0.82,-117.3,432.4,-6.1,211,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2310,3412
$GC,5793,-0.86,-117.3,449.6,-5.6,216,5797,0.00,2.33,0.00,0.000,4,0.000,0.047,1835,907,3412
$GC,5850,-0.91,-117.3,453.3,-6.0,216,5857,0.12,2.28,0.00,0.000,6,0.056,0.041,1762,2302,3412
$GC,6162,-0.81,-117.3,483.3,-10.0,222,6164,0.22,0.00,0.00,0.000,6,0.117,0.000,1832,2302,3411
$GC,6466,-0.85,-117.3,502.7,-6.1,227,6470,0.00,2.35,0.00,0.000,4,0.000,0.049,1832,905,3411
$GC,6518,-0.90,-117.3,506.3,-6.4,227,6522,0.00,2.28,0.00,0.000,6,0.000,0.044,1825,2303,3410
$GC,6830,-0.93,-117.3,527.8,-7.1,232,6835,0.10,2.33,0.00,0.000,4,0.067,0.048,1753,906,3410
$GC,6882,-0.82,-117.3,533.2,-11.2,232,6886,0.28,2.28,0.00,0.000,6,0.117,0.040,1822,2303,3410
$GC,7194,-0.82,-117.3,555.7,-7.0,237,7198,0.00,2.33,0.00,0.000,4,0.000,0.045,1822,904,3410
$GC,7245,-0.85,-117.3,559.7,-7.6,237,7249,0.00,2.28,0.00,0.000,6,0.000,0.039,1822,2302,3410
$GC,7557,-0.85,-117.3,581.9,-7.1,242,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3409
$GC,7861,-0.87,-117.3,602.8,-6.8,247,7865,0.00,2.33,0.00,0.000,4,0.000,0.046,1822,906,3408
$GC,7885,-0.90,-117.3,604.6,-7.2,247,7889,0.00,2.30,0.00,0.000,6,0.000,0.041,1821,2304,3409
$GC,8229,-0.90,-117.3,627.1,-6.4,253,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3408
$GC,8533,-0.92,-117.3,644.7,-5.8,258,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2305,3408
$GC,8837,-0.95,-117.3,661.9,-5.7,263,8842,0.10,2.33,0.00,0.000,4,0.067,0.050,1758,894,3408
$GC,8922,-0.86,-117.3,669.5,-9.9,264,8927,0.22,2.30,0.00,0.000,6,0.117,0.039,1819,2302,3408
$GC,9273,-0.88,-117.3,693.1,-6.7,270,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2302,3407
$GC,9579,-0.92,-117.3,715.2,-7.4,275,9583,0.00,2.33,0.00,0.000,4,0.000,0.046,1819,900,3406
$GC,9637,-0.96,-117.3,720.3,-8.7,275,9643,0.00,2.33,0.00,0.000,6,0.000,0.042,1812,2309,3406
$GC,9948,-0.96,-117.3,746.3,-8.4,281,9952,0.00,2.38,0.00,0.000,4,0.000,0.054,1805,3713,3406
$GC,9982,-0.96,-117.3,749.3,-9.0,281,9987,0.00,2.25,0.00,0.000,6,0.000,0.031,1804,2308,3406
$GC,10311,-0.96,-117.3,775.9,-7.9,287,10315,0.00,2.35,0.00,0.000,4,0.000,0.046,1805,896,3406
$GC,10369,-0.96,-117.3,780.6,-8.1,287,10375,0.00,2.33,0.00,0.000,6,0.000,0.044,1794,2303,3406
$GC,10680,-0.96,-117.3,803.5,-7.4,293,10684,0.00,2.38,0.00,0.000,4,0.000,0.051,1792,3707,3405
$GC,10704,-0.96,-117.3,805.3,-7.8,293,10708,0.00,2.28,0.00,0.000,6,0.000,0.031,1792,2297,3405
$GC,11043,-0.96,-117.3,829.9,-7.3,299,11047,0.00,2.33,0.00,0.000,4,0.000,0.050,1792,897,3405
$GC,11072,-0.96,-117.3,832.2,-8.3,299,11076,0.00,2.33,0.00,0.000,6,0.000,0.039,1782,2310,3405
$GC,11405,-0.92,-117.3,857.9,-7.8,305,11407,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,2310,3405
$GC,11710,-0.88,-117.3,881.7,-7.8,310,11714,0.10,2.40,0.00,0.000,4,0.130,0.044,1811,900,3404
$GC,11738,-0.88,-117.3,884.0,-8.0,310,11743,0.00,2.35,0.00,0.000,6,0.000,0.038,1809,2310,3404
$GC,12073,-0.90,-117.3,905.9,-6.5,316,12077,0.00,2.38,0.00,0.000,4,0.000,0.055,1800,3709,3404
$GC,12103,-0.90,-117.3,907.9,-6.8,316,12107,0.00,2.30,0.00,0.000,6,0.000,0.031,1799,2295,3404
$GC,12442,-0.90,-117.3,927.3,-5.5,322,12446,0.00,2.40,0.00,0.000,4,0.000,0.056,1792,3711,3404
$GC,12471,-0.90,-117.3,929.1,-6.5,322,12475,0.00,2.28,0.00,0.000,6,0.000,0.033,1792,2304,3404
$GC,12810,-0.90,-117.3,949.7,-6.2,328,12814,0.00,2.30,0.00,0.000,4,0.000,0.051,1792,899,3404
$GC,12874,-0.90,-117.3,954.3,-7.8,328,12881,0.10,2.30,0.00,0.000,6,0.124,0.040,1807,2306,3404
$GC,13186,-0.93,-117.3,973.0,-5.9,334,13187,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3404
$STATE,13484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13484,begin apogee
$GC,13494,-0.22,0.0,992.1,6.3,339,13594,0.45,0.00,96.93,1.269,6,0.102,0.000,1955,2306,2931
$STATE,13594,end apogee,CONTROL_FINISHED_OK
$STATE,13594,begin climb
$GC,13600,0.68,117.3,993.5,0.0,340,13712,0.55,2.65,102.88,1.245,4,0.066,0.054,2150,3707,2450
$GC,13821,0.50,117.3,986.6,6.7,343,13826,0.20,2.35,0.00,0.000,6,0.153,0.039,2112,2308,2445
$GC,14167,0.50,141.0,970.2,4.7,349,14189,0.00,0.00,19.75,1.172,6,0.000,0.000,2112,2308,2356
$GC,14469,0.51,150.3,954.6,5.2,354,14483,0.00,2.35,9.07,1.048,4,0.000,0.052,2121,890,2318
$GC,14502,0.53,168.2,952.7,4.9,354,14526,0.00,2.28,17.12,1.144,6,0.000,0.040,2121,2304,2245
$GC,14840,0.51,168.2,931.7,6.3,360,14844,0.00,2.33,0.00,0.000,4,0.000,0.051,2121,3719,2240
$GC,14869,0.46,168.2,929.5,6.1,360,14874,0.15,2.25,0.00,0.000,6,0.150,0.032,2094,2292,2239
$GC,15209,0.49,168.2,910.8,5.6,366,15213,0.00,2.35,0.00,0.000,4,0.000,0.052,2094,3714,2238
$GC,15233,0.49,168.2,909.2,6.4,366,15237,0.00,2.22,0.00,0.000,6,0.000,0.035,2103,2304,2237
$GC,15578,0.50,178.7,891.0,5.1,372,15593,0.00,2.33,9.52,1.038,4,0.000,0.052,2102,3716,2202
$GC,15623,0.52,197.8,888.6,4.9,372,15648,0.00,2.22,18.27,1.124,6,0.000,0.035,2113,2304,2123
$GC,16018,0.56,229.6,870.5,4.4,379,16052,0.00,2.38,28.62,1.148,4,0.000,0.052,2113,3708,1994
$GC,16100,0.56,229.6,865.8,6.2,380,16104,0.00,2.25,0.00,0.000,6,0.000,0.032,2123,2299,1991
$GC,16452,0.59,233.3,847.6,5.4,386,16461,0.00,2.38,4.10,0.719,4,0.000,0.048,2123,3728,1979
$GC,16492,0.59,233.3,844.7,7.3,386,16496,0.00,2.28,0.00,0.000,6,0.000,0.033,2133,2304,1978
$GC,16820,0.59,233.3,823.2,6.6,392,16821,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2304,1977
$GC,17123,0.59,233.3,803.4,6.5,397,17127,0.00,2.35,0.00,0.000,4,0.000,0.053,2133,3709,1977
$GC,17159,0.56,233.3,800.8,7.0,397,17163,0.00,2.25,0.00,0.000,6,0.000,0.031,2143,2294,1976
$GC,17487,0.53,233.3,777.9,6.9,403,17492,0.12,2.38,0.00,0.000,4,0.140,0.051,2109,3712,1976
$GC,17516,0.53,233.3,775.9,5.8,403,17520,0.00,2.22,0.00,0.000,6,0.000,0.031,2117,2299,1975
$GC,17851,0.57,235.1,757.7,5.4,409,17855,0.00,2.30,0.00,0.000,4,0.000,0.045,2128,900,1975
$GC,17875,0.61,235.1,756.1,5.6,409,17879,0.00,2.28,0.00,0.000,6,0.000,0.041,2128,2303,1974
$GC,18220,0.61,235.1,735.2,6.1,415,18224,0.00,2.33,0.00,0.000,4,0.000,0.051,2128,3714,1975
$GC,18279,0.61,235.1,731.0,7.7,415,18283,0.00,2.25,0.00,0.000,6,0.000,0.031,2137,2302,1974
$GC,18591,0.61,235.1,708.9,7.1,420,18592,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2302,1974
$GC,18893,0.61,235.1,689.3,6.3,425,18897,0.00,2.38,0.00,0.000,4,0.000,0.054,2137,3717,1974
$GC,18944,0.57,235.1,685.4,7.3,425,18949,0.10,2.25,0.00,0.000,6,0.140,0.031,2123,2296,1974
$GC,19257,0.62,242.4,668.7,5.3,430,19272,0.00,2.33,9.02,0.905,4,0.000,0.053,2131,894,1942
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$STATE,27929,end climb,SURFACE_DEPTH_REACHED
$STATE,27929,begin surface coast
$FINISH,1.5,1.025080
$STATE,27935,end surface coast,CONTROL_FINISHED_OK
$STATE,27935,begin surface
$SM_CCo,28019,0.00,0.000,0,0,1368,383.40
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$IRIDIUM_FIX,4830.54,-12826.32,180699,181817
$TT8_MAMPS,0.028379
$HUMID,1785
$INTERNAL_PRESSURE,7.42216
$TCM_TEMP,18.90
$XPDR_PINGS,96
$24V_AH,21.7,123.000
$10V_AH,10.3,103.608
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$DEVICE_SECS,19.450,270.925,446.050,0.000,0.000,33.006,26.935,165.072,24.000,0.000,0.000,12.968,1640.489,22929.773,583.340,2212.078,1052.060,33.381,1814.112,0.000,2182.952,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,477.760,573.549,709.853,720.029,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41392,684
$CAP_FILE_SIZE,192728,0
$CFSIZE,260165632,192327680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,250310,103030,4847.350,-12819.697,37,1.6,38,19.3