version: 66.04
glider: 144
mission: 15
dive: 854
start: 3 25 110 10 38 20
data:
$ID,144
$MISSION,15
$DIVE,854
$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,-78990.93
$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,32
$R_STBD_OVSHOOT,34
$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
$GPS1,103030,4847.350,-12819.697,37,1.6,38,19.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-62.2
$GPS2,103726,4847.413,-12819.825,13,1.5,13,19.3
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P4
$TGT_LATLONG,4839.000,-12640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.165,-0.031
$KALMAN_X,-28418.6,-487.0,321.8,1223031.0,383.7
$KALMAN_Y,103864.6,-372.0,-436.1,-276328.4,6793.9
$MHEAD_RNG_PITCHd_Wd,81.5,123129,-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,-117.3,0.0,0.0,0,69,0.00,0.00,-45.42,0.000,2,0.000,0.000,98,2307,2577
$GC,74,-0.68,-117.3,3.7,-3.3,3,106,7.07,2.38,-19.67,0.000,4,0.226,0.066,1841,3711,3411
$GC,192,-0.64,-117.3,18.2,-11.8,8,196,0.00,2.25,0.00,0.000,6,0.000,0.035,1842,2290,3411
$GC,510,-0.58,-117.3,55.6,-11.6,23,515,0.12,2.25,0.00,0.000,4,0.127,0.039,1880,899,3412
$GC,586,-0.62,-117.3,62.8,-8.3,26,590,0.00,2.25,0.00,0.000,6,0.000,0.035,1876,2308,3412
$GC,911,-0.66,-117.3,85.6,-6.9,45,915,0.00,2.25,0.00,0.000,4,0.000,0.038,1876,898,3412
$GC,957,-0.72,-117.3,89.2,-7.5,48,964,0.10,2.22,0.00,0.000,6,0.062,0.035,1793,2306,3412
$GC,1291,-0.63,-117.3,124.8,-10.0,79,1296,0.20,2.30,0.00,0.000,4,0.125,0.038,1857,891,3412
$GC,1355,-0.68,-117.3,130.3,-6.8,84,1359,0.00,2.25,0.00,0.000,6,0.000,0.036,1850,2299,3412
$GC,1698,-0.70,-117.3,152.2,-7.0,113,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2299,3412
$GC,1998,-0.73,-117.3,174.9,-7.4,123,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2299,3412
$GC,2304,-0.76,-117.3,200.1,-8.4,133,2308,0.00,2.28,0.00,0.000,4,0.000,0.038,1850,896,3412
$GC,2341,-0.81,-117.3,203.2,-8.7,134,2346,0.10,2.30,0.00,0.000,6,0.064,0.038,1777,2310,3412
$GC,2672,-0.70,-117.3,242.7,-12.1,145,2674,0.25,0.00,0.00,0.000,6,0.117,0.000,1853,2310,3412
$GC,2978,-0.76,-117.3,263.7,-6.3,155,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2311,3412
$GC,3286,-0.81,-117.3,283.3,-6.4,165,3287,0.12,0.00,0.00,0.000,6,0.055,0.000,1763,2310,3412
$GC,3619,-0.69,-117.3,320.5,-11.1,173,3624,0.25,2.35,0.00,0.000,4,0.120,0.047,1845,903,3412
$GC,3693,-0.75,-117.3,326.3,-7.0,174,3697,0.00,2.30,0.00,0.000,6,0.000,0.036,1838,2306,3412
$GC,4051,-0.78,-117.3,349.7,-6.6,180,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2307,3412
$GC,4353,-0.81,-117.3,369.8,-6.6,185,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2307,3412
$GC,4656,-0.84,-117.3,389.1,-6.4,190,4660,0.00,2.28,0.00,0.000,4,0.000,0.044,1838,903,3411
$GC,4691,-0.89,-117.3,391.5,-6.9,190,4696,0.10,2.28,0.00,0.000,6,0.064,0.041,1767,2302,3411
$GC,5020,-0.79,-117.3,425.2,-10.6,196,5025,0.17,2.38,0.00,0.000,4,0.123,0.053,1818,3706,3411
$GC,5066,-0.81,-117.3,429.9,-8.8,196,5071,0.00,2.25,0.00,0.000,6,0.000,0.028,1818,2304,3411
$GC,5383,-0.81,-117.3,456.3,-8.4,202,5387,0.00,2.25,0.00,0.000,4,0.000,0.044,1817,903,3411
$GC,5430,-0.81,-117.3,460.5,-8.5,202,5434,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2303,3411
$GC,5754,-0.81,-117.3,488.2,-8.5,208,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3410
$GC,6056,-0.81,-117.3,512.8,-8.1,213,6060,0.00,2.38,0.00,0.000,4,0.000,0.048,1799,3705,3410
$GC,6096,-0.81,-117.3,516.2,-7.8,213,6101,0.10,2.28,0.00,0.000,6,0.114,0.028,1827,2294,3409
$GC,6420,-0.84,-117.3,538.7,-6.9,219,6424,0.00,2.28,0.00,0.000,4,0.000,0.048,1827,901,3409
$GC,6461,-0.88,-117.3,542.0,-7.8,219,6465,0.00,2.30,0.00,0.000,6,0.000,0.041,1823,2303,3409
$GC,6789,-0.88,-117.3,566.6,-7.5,225,6792,0.00,2.33,0.00,0.000,4,0.000,0.055,1813,3706,3408
$GC,6831,-0.90,-117.3,569.8,-7.7,225,6835,0.00,2.22,0.00,0.000,6,0.000,0.030,1813,2302,3408
$GC,7165,-0.90,-117.3,593.9,-7.2,231,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2302,3408
$GC,7468,-0.90,-117.3,615.1,-7.0,236,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2302,3408
$GC,7771,-0.90,-117.3,636.5,-7.1,241,7775,0.00,2.33,0.00,0.000,4,0.000,0.047,1813,901,3408
$GC,7863,-0.90,-117.3,643.6,-8.1,242,7867,0.00,2.30,0.00,0.000,6,0.000,0.042,1809,2308,3408
$GC,8207,-0.90,-117.3,668.8,-7.3,248,8211,0.00,2.33,0.00,0.000,4,0.000,0.045,1809,900,3406
$GC,8253,-0.90,-117.3,672.4,-8.2,248,8257,0.00,2.30,0.00,0.000,6,0.000,0.039,1808,2308,3406
$GC,8569,-0.90,-117.3,697.9,-8.2,254,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3407
$GC,8874,-0.90,-117.3,722.2,-8.0,259,8877,0.00,2.33,0.00,0.000,4,0.000,0.043,1808,901,3406
$GC,8908,-0.90,-117.3,725.3,-8.8,259,8913,0.00,2.33,0.00,0.000,6,0.000,0.044,1799,2305,3406
$GC,9242,-0.90,-117.3,752.7,-8.1,265,9246,0.00,2.38,0.00,0.000,4,0.000,0.056,1794,3710,3405
$GC,9271,-0.90,-117.3,755.2,-8.7,265,9275,0.00,2.28,0.00,0.000,6,0.000,0.030,1794,2300,3405
$GC,9612,-0.90,-117.3,783.1,-8.1,271,9616,0.00,2.33,0.00,0.000,4,0.000,0.048,1794,899,3405
$GC,9676,-0.90,-117.3,788.7,-8.6,272,9680,0.00,2.30,0.00,0.000,6,0.000,0.038,1784,2302,3405
$GC,10043,-0.86,-117.3,819.6,-8.4,278,10048,0.10,2.38,0.00,0.000,4,0.131,0.047,1813,896,3405
$GC,10096,-0.89,-117.3,823.3,-6.5,278,10101,0.00,2.33,0.00,0.000,6,0.000,0.044,1809,2305,3405
$GC,10407,-0.89,-117.3,843.2,-6.3,283,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2305,3405
$GC,10710,-0.89,-117.3,861.3,-5.9,288,10714,0.00,2.33,0.00,0.000,4,0.000,0.051,1809,899,3404
$GC,10769,-0.92,-117.3,864.6,-6.1,288,10775,0.00,2.33,0.00,0.000,6,0.000,0.039,1809,2311,3404
$GC,11081,-0.92,-117.3,881.1,-5.3,294,11085,0.00,2.35,0.00,0.000,4,0.000,0.044,1809,898,3404
$GC,11121,-0.92,-117.3,883.6,-6.4,294,11125,0.00,2.35,0.00,0.000,6,0.000,0.041,1808,2313,3404
$GC,11443,-0.92,-117.3,902.3,-5.8,300,11447,0.00,2.35,0.00,0.000,4,0.000,0.048,1808,898,3403
$GC,11478,-0.92,-117.3,904.8,-7.4,300,11482,0.00,2.35,0.00,0.000,6,0.000,0.043,1808,2309,3403
$GC,11807,-0.92,-117.3,925.7,-6.5,306,11811,0.00,2.38,0.00,0.000,4,0.000,0.047,1808,890,3403
$GC,11853,-0.92,-117.3,929.3,-7.8,306,11857,0.00,2.35,0.00,0.000,6,0.000,0.039,1808,2309,3403
$GC,12182,-0.92,-117.3,952.4,-7.1,312,12183,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3402
$GC,12484,-0.92,-117.3,974.2,-7.2,317,12488,0.00,2.35,0.00,0.000,4,0.000,0.048,1808,899,3402
$GC,12530,-0.95,-117.3,977.5,-7.6,317,12534,0.00,2.35,0.00,0.000,6,0.000,0.044,1808,2309,3402
$STATE,12733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12733,begin apogee
$GC,12743,-0.22,0.0,991.5,6.7,321,12842,0.45,0.00,96.50,1.269,6,0.107,0.000,1952,2309,2931
$STATE,12843,end apogee,CONTROL_FINISHED_OK
$STATE,12843,begin climb
$GC,12849,0.68,117.3,993.4,0.0,322,12956,0.55,0.00,103.75,1.242,6,0.068,0.000,2148,2309,2452
$GC,13221,0.58,117.3,979.0,6.0,329,13222,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2309,2443
$GC,13524,0.47,117.3,959.5,6.5,334,13526,0.17,0.00,0.00,0.000,6,0.143,0.000,2101,2309,2441
$GC,13827,0.50,140.6,945.1,4.7,339,13851,0.00,2.35,19.00,1.161,4,0.000,0.054,2101,3713,2356
$GC,13883,0.47,140.6,942.0,5.5,339,13887,0.00,2.28,0.00,0.000,6,0.000,0.039,2109,2305,2354
$GC,14194,0.47,146.2,925.4,5.3,344,14202,0.00,0.00,5.97,0.916,6,0.000,0.000,2109,2305,2334
$GC,14497,0.49,161.0,910.1,5.0,349,14516,0.00,2.35,14.02,1.108,4,0.000,0.051,2108,3730,2273
$GC,14543,0.47,161.0,907.7,5.8,349,14547,0.00,2.30,0.00,0.000,6,0.000,0.038,2119,2293,2272
$GC,14866,0.47,163.6,890.6,5.4,355,14870,0.00,2.30,0.00,0.000,4,0.000,0.048,2130,886,2270
$GC,14900,0.47,163.6,888.5,5.6,355,14905,0.12,2.30,0.00,0.000,6,0.128,0.038,2097,2310,2270
$GC,15230,0.53,187.1,873.0,4.7,361,15259,0.00,2.35,23.12,1.137,4,0.000,0.052,2097,3706,2167
$GC,15301,0.53,187.1,868.8,6.1,362,15305,0.00,2.25,0.00,0.000,6,0.000,0.037,2105,2294,2166
$GC,15664,0.56,192.5,849.5,5.3,368,15671,0.00,0.00,5.82,0.874,6,0.000,0.000,2105,2294,2146
$GC,15968,0.62,209.5,834.2,4.9,373,15987,0.10,0.00,16.42,1.083,6,0.068,0.000,2160,2294,2076
$GC,16270,0.53,209.5,810.4,8.1,378,16274,0.17,2.33,0.00,0.000,4,0.136,0.048,2111,3707,2072
$GC,16315,0.53,209.5,806.9,7.0,378,16320,0.00,2.22,0.00,0.000,6,0.000,0.031,2119,2289,2072
$GC,16633,0.53,209.5,788.3,5.9,384,16637,0.00,2.28,0.00,0.000,4,0.000,0.051,2130,894,2072
$GC,16657,0.53,209.5,786.7,6.3,384,16661,0.00,2.28,0.00,0.000,6,0.000,0.037,2130,2306,2071
$GC,16996,0.53,209.5,765.3,6.2,390,17000,0.00,2.35,0.00,0.000,4,0.000,0.053,2130,3713,2070
$GC,17020,0.58,209.5,763.6,5.7,390,17024,0.00,2.22,0.00,0.000,6,0.000,0.031,2139,2301,2070
$GC,17360,0.64,209.5,741.8,6.3,396,17364,0.00,2.38,0.00,0.000,4,0.000,0.050,2139,3709,2070
$GC,17401,0.62,209.5,739.0,6.8,396,17405,0.00,2.22,0.00,0.000,6,0.000,0.031,2149,2297,2069
$GC,17730,0.67,209.5,717.8,6.5,402,17734,0.00,2.33,0.00,0.000,4,0.000,0.054,2150,3707,2070
$GC,17852,0.60,209.5,708.9,6.9,403,17857,0.12,2.20,0.00,0.000,6,0.139,0.030,2132,2302,2070
$GC,18169,0.69,209.5,688.1,6.6,409,18173,0.00,2.35,0.00,0.000,4,0.000,0.053,2132,3713,2069
$GC,18302,0.67,209.5,678.6,8.5,411,18306,0.00,2.20,0.00,0.000,6,0.000,0.030,2140,2303,2069
$GC,18675,0.73,209.5,651.5,7.3,417,18679,0.00,2.35,0.00,0.000,4,0.000,0.048,2139,3707,2069
$GC,18755,0.68,209.5,645.0,8.4,418,18759,0.00,2.22,0.00,0.000,6,0.000,0.036,2149,2305,2069
$GC,19106,0.72,209.5,619.3,7.2,424,19110,0.00,2.28,0.00,0.000,4,0.000,0.044,2160,896,2069
$GC,19237,0.72,209.5,609.4,7.9,425,19243,0.00,2.30,0.00,0.000,6,0.000,0.038,2160,2310,2069
$GC,19550,0.76,209.5,586.4,7.3,431,19554,0.00,2.30,0.00,0.000,4,0.000,0.046,2169,898,2069
$GC,19601,0.74,209.5,582.3,7.2,431,19605,0.00,2.28,0.00,0.000,6,0.000,0.042,2170,2303,2069
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$STATE,28407,end climb,SURFACE_DEPTH_REACHED
$STATE,28407,begin surface coast
$FINISH,1.6,1.025005
$STATE,28451,end surface coast,CONTROL_FINISHED_OK
$STATE,28451,begin surface
$SM_CCo,28536,0.00,0.000,0,0,1615,322.81
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$IRIDIUM_FIX,4830.54,-12828.88,190699,020213
$TT8_MAMPS,0.029146
$HUMID,1767
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$TCM_TEMP,19.00
$XPDR_PINGS,82
$24V_AH,22.3,123.133
$10V_AH,10.3,103.721
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$DEVICE_SECS,19.000,248.125,386.175,0.000,0.000,27.461,26.220,172.474,20.500,0.000,0.000,15.232,1695.070,23333.162,561.620,2310.390,1034.491,33.382,1767.111,0.000,2279.084,0.000,0.530,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,501.218,593.885,742.305,773.305,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44385,716
$CAP_FILE_SIZE,189762,0
$CFSIZE,260165632,192253952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250310,183524,4848.615,-12818.457,42,1.4,42,19.3