version: 66.04
glider: 144
mission: 15
dive: 855
start: 3 25 110 18 47 20
data:
$ID,144
$MISSION,15
$DIVE,855
$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,-79004.117
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,183524,4848.615,-12818.457,42,1.4,42,19.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-61.7
$GPS2,184626,4848.699,-12818.329,11,1.8,11,19.3
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P4
$TGT_LATLONG,4839.000,-12640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.007,-0.168
$KALMAN_X,-32743.2,74.7,-322.1,1229257.1,-3674.5
$KALMAN_Y,107014.4,-386.5,-262.6,-277244.8,6576.6
$MHEAD_RNG_PITCHd_Wd,158.3,121643,-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,-117.3,0.0,0.0,0,45,0.00,0.00,-25.80,0.000,2,0.000,0.000,98,2292,2314
$GC,50,-0.68,-117.3,3.1,-3.3,2,97,6.97,2.35,-33.97,0.000,4,0.222,0.059,1836,3714,3412
$GC,133,-0.59,-117.3,9.1,-11.0,5,140,0.12,2.25,0.00,0.000,6,0.122,0.033,1871,2290,3413
$GC,451,-0.59,-117.3,38.6,-8.5,21,455,0.00,2.22,0.00,0.000,4,0.000,0.040,1871,900,3412
$GC,503,-0.62,-117.3,43.2,-8.3,23,507,0.00,2.25,0.00,0.000,6,0.000,0.040,1863,2302,3413
$GC,826,-0.62,-117.3,70.4,-8.1,39,827,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2302,3413
$GC,1142,-0.64,-117.3,94.4,-7.6,62,1146,0.00,2.30,0.00,0.000,4,0.000,0.045,1853,3714,3412
$GC,1216,-0.68,-117.3,100.5,-7.6,68,1223,0.00,2.20,0.00,0.000,6,0.000,0.028,1853,2291,3413
$GC,1550,-0.71,-117.3,124.4,-6.5,99,1554,0.00,2.30,0.00,0.000,4,0.000,0.044,1853,889,3413
$GC,1585,-0.74,-117.3,127.3,-6.9,101,1592,0.00,2.28,0.00,0.000,6,0.000,0.035,1850,2294,3413
$GC,1917,-0.74,-117.3,148.5,-6.2,132,1921,0.00,2.33,0.00,0.000,4,0.000,0.053,1843,3707,3413
$GC,1959,-0.78,-117.3,152.0,-7.1,134,1963,0.00,2.17,0.00,0.000,6,0.000,0.028,1843,2302,3413
$GC,2291,-0.78,-117.3,177.7,-7.8,145,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2302,3413
$GC,2599,-0.80,-117.3,200.5,-7.1,155,2602,0.00,2.22,0.00,0.000,4,0.000,0.040,1843,895,3413
$GC,2639,-0.83,-117.3,203.7,-7.3,156,2643,0.00,2.22,0.00,0.000,6,0.000,0.034,1837,2306,3413
$GC,2977,-0.83,-117.3,228.0,-7.3,167,2981,0.00,2.35,0.00,0.000,4,0.000,0.048,1828,3709,3413
$GC,3011,-0.83,-117.3,230.8,-7.6,168,3015,0.00,2.17,0.00,0.000,6,0.000,0.028,1828,2302,3413
$GC,3350,-0.83,-117.3,256.4,-7.5,179,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2302,3413
$GC,3655,-0.83,-117.3,278.9,-7.4,189,3659,0.00,2.28,0.00,0.000,4,0.000,0.046,1828,895,3413
$GC,3690,-0.83,-117.3,281.7,-8.0,190,3694,0.00,2.30,0.00,0.000,6,0.000,0.038,1822,2313,3413
$GC,4051,-0.83,-117.3,310.8,-8.2,200,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2313,3413
$GC,4353,-0.83,-117.3,337.2,-8.8,205,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2313,3413
$GC,4656,-0.83,-117.3,364.8,-9.1,210,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2313,3413
$GC,4959,-0.83,-117.3,389.8,-8.2,215,4963,0.00,2.28,0.00,0.000,4,0.000,0.042,1822,902,3412
$GC,4988,-0.83,-117.3,392.3,-8.7,215,4993,0.00,2.30,0.00,0.000,6,0.000,0.036,1813,2305,3412
$GC,5330,-0.83,-117.3,420.2,-8.3,221,5334,0.00,2.30,0.00,0.000,4,0.000,0.046,1813,893,3412
$GC,5415,-0.83,-117.3,427.8,-9.0,222,5419,0.00,2.25,0.00,0.000,6,0.000,0.036,1807,2306,3412
$GC,5765,-0.81,-117.3,455.8,-8.0,228,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3412
$GC,6069,-0.79,-117.3,480.9,-8.3,233,6074,0.10,2.38,0.00,0.000,4,0.130,0.048,1828,3714,3411
$GC,6100,-0.81,-117.3,483.4,-7.7,233,6104,0.00,2.22,0.00,0.000,6,0.000,0.031,1828,2306,3411
$GC,6434,-0.84,-117.3,507.8,-7.3,239,6438,0.00,2.30,0.00,0.000,4,0.000,0.045,1828,898,3410
$GC,6482,-0.87,-117.3,511.5,-8.0,239,6486,0.00,2.28,0.00,0.000,6,0.000,0.041,1823,2299,3410
$GC,6798,-0.87,-117.3,535.9,-7.7,245,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2299,3410
$GC,7101,-0.87,-117.3,558.5,-7.4,250,7105,0.00,2.33,0.00,0.000,4,0.000,0.042,1823,893,3410
$GC,7136,-0.90,-117.3,561.4,-8.2,250,7140,0.00,2.35,0.00,0.000,6,0.000,0.042,1821,2305,3409
$GC,7465,-0.90,-117.3,586.7,-7.8,256,7469,0.00,2.35,0.00,0.000,4,0.000,0.042,1821,889,3409
$GC,7522,-0.92,-117.3,591.4,-7.7,256,7526,0.00,2.33,0.00,0.000,6,0.000,0.037,1812,2306,3409
$GC,7839,-0.92,-117.3,616.2,-7.8,262,7843,0.00,2.35,0.00,0.000,4,0.000,0.046,1812,886,3408
$GC,7908,-0.92,-117.3,622.1,-8.9,263,7913,0.00,2.35,0.00,0.000,6,0.000,0.038,1809,2307,3408
$GC,8277,-0.92,-117.3,649.3,-7.4,269,8281,0.00,2.35,0.00,0.000,4,0.000,0.042,1809,889,3408
$GC,8322,-0.92,-117.3,653.0,-7.5,269,8326,0.00,2.35,0.00,0.000,6,0.000,0.044,1807,2311,3408
$GC,8639,-0.92,-117.3,674.6,-6.7,275,8643,0.00,2.35,0.00,0.000,4,0.000,0.054,1796,3710,3408
$GC,8675,-0.92,-117.3,677.2,-7.8,275,8679,0.00,2.28,0.00,0.000,6,0.000,0.031,1796,2290,3407
$GC,9003,-0.90,-117.3,699.5,-6.7,281,9007,0.00,2.25,0.00,0.000,4,0.000,0.049,1797,900,3407
$GC,9050,-0.90,-117.3,702.8,-7.0,281,9054,0.00,2.28,0.00,0.000,6,0.000,0.038,1787,2304,3407
$GC,9379,-0.86,-117.3,727.2,-7.5,287,9381,0.10,0.00,0.00,0.000,6,0.131,0.000,1817,2304,3406
$GC,9681,-0.89,-117.3,747.4,-6.7,292,9685,0.00,2.30,0.00,0.000,4,0.000,0.048,1817,891,3407
$GC,9710,-0.91,-117.3,749.5,-7.3,292,9714,0.00,2.33,0.00,0.000,6,0.000,0.041,1809,2307,3406
$GC,10049,-0.91,-117.3,772.8,-6.9,298,10050,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3406
$GC,10353,-0.91,-117.3,794.8,-7.3,303,10357,0.00,2.35,0.00,0.000,4,0.000,0.044,1810,892,3405
$GC,10387,-0.91,-117.3,797.3,-7.1,303,10391,0.00,2.35,0.00,0.000,6,0.000,0.038,1808,2303,3405
$GC,10715,-0.91,-117.3,820.2,-6.9,309,10719,0.00,2.38,0.00,0.000,4,0.000,0.047,1808,895,3405
$GC,10749,-0.91,-117.3,822.6,-6.9,309,10754,0.00,2.35,0.00,0.000,6,0.000,0.038,1805,2306,3405
$GC,11079,-0.91,-117.3,843.5,-6.3,315,11083,0.00,2.38,0.00,0.000,4,0.000,0.048,1806,891,3405
$GC,11113,-0.91,-117.3,845.9,-6.8,315,11117,0.00,2.35,0.00,0.000,6,0.000,0.038,1795,2304,3405
$GC,11448,-0.91,-117.3,869.1,-6.8,321,11449,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2304,3405
$GC,11750,-0.91,-117.3,888.6,-6.3,326,11751,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2304,3404
$GC,12055,-0.91,-117.3,906.0,-5.7,331,12059,0.00,2.38,0.00,0.000,4,0.000,0.053,1792,3709,3404
$GC,12084,-0.91,-117.3,908.0,-6.9,331,12088,0.00,2.28,0.00,0.000,6,0.000,0.035,1791,2306,3403
$GC,12417,-0.91,-117.3,928.5,-6.2,337,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2306,3403
$GC,12720,-0.91,-117.3,946.8,-6.0,342,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2306,3403
$GC,13024,-0.91,-117.3,965.4,-6.2,347,13025,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2306,3403
$GC,13326,-0.91,-117.3,984.9,-6.4,352,13330,0.00,2.42,0.00,0.000,4,0.000,0.056,1782,3710,3403
$GC,13361,-0.89,-117.3,987.3,-6.5,352,13366,0.10,2.33,0.00,0.000,6,0.119,0.038,1808,2300,3402
$STATE,13447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13447,begin apogee
$GC,13457,-0.22,0.0,992.7,5.6,354,13557,0.45,0.00,97.12,1.269,6,0.102,0.000,1955,2299,2931
$STATE,13558,end apogee,CONTROL_FINISHED_OK
$STATE,13558,begin climb
$GC,13564,0.68,117.3,994.1,0.0,355,13675,0.55,2.62,102.90,1.244,4,0.067,0.054,2151,3698,2450
$GC,13707,0.50,117.3,992.4,6.9,358,13712,0.22,2.45,0.00,0.000,6,0.156,0.032,2110,2304,2447
$GC,14065,0.47,119.2,973.3,5.4,364,14069,0.00,2.35,0.00,0.000,4,0.000,0.055,2110,3708,2441
$GC,14094,0.40,119.2,971.4,6.6,364,14099,0.12,2.28,0.00,0.000,6,0.159,0.035,2088,2297,2440
$GC,14428,0.43,144.8,955.7,4.6,370,14452,0.00,0.00,22.77,1.181,6,0.000,0.000,2088,2297,2340
$GC,14732,0.51,147.2,939.7,5.4,375,14737,0.08,2.35,0.00,0.000,4,0.089,0.051,2128,3710,2336
$GC,14896,0.40,147.2,927.9,7.5,377,14901,0.20,2.25,0.00,0.000,6,0.148,0.037,2085,2301,2334
$GC,15237,0.49,188.6,913.5,4.1,383,15278,0.08,0.00,38.38,1.191,6,0.084,0.000,2129,2300,2161
$GC,15539,0.47,188.6,896.0,5.9,388,15543,0.12,2.33,0.00,0.000,4,0.131,0.049,2095,3710,2155
$GC,15584,0.47,188.6,893.3,5.6,388,15589,0.00,2.25,0.00,0.000,6,0.000,0.032,2104,2292,2155
$GC,15903,0.51,199.5,877.4,5.1,394,15915,0.00,0.00,10.05,1.035,6,0.000,0.000,2104,2293,2117
$GC,16205,0.54,199.5,860.3,5.7,399,16209,0.00,2.35,0.00,0.000,4,0.000,0.054,2104,3713,2113
$GC,16251,0.54,199.5,857.2,6.9,399,16255,0.00,2.25,0.00,0.000,6,0.000,0.031,2114,2294,2113
$GC,16569,0.54,203.6,839.8,5.4,405,16575,0.00,0.00,4.68,0.785,6,0.000,0.000,2114,2294,2100
$GC,16871,0.58,229.8,825.5,4.6,410,16900,0.00,2.42,24.27,1.113,4,0.000,0.054,2114,3713,1994
$GC,16942,0.58,229.8,821.7,6.0,411,16946,0.00,2.25,0.00,0.000,6,0.000,0.031,2124,2304,1992
$GC,17310,0.58,229.8,800.8,5.9,417,17311,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2304,1990
$GC,17612,0.58,229.8,782.8,6.0,422,17613,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2304,1989
$GC,17915,0.58,229.8,765.5,5.7,427,17919,0.00,2.35,0.00,0.000,4,0.000,0.049,2124,3714,1988
$GC,17961,0.58,229.8,762.2,7.1,427,17965,0.00,2.30,0.00,0.000,6,0.000,0.038,2134,2295,1988
$GC,18277,0.58,229.8,743.6,5.8,433,18279,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2295,1988
$GC,18582,0.58,229.8,725.8,5.9,438,18583,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2295,1987
$GC,18883,0.58,229.8,707.4,6.1,443,18887,0.00,2.38,0.00,0.000,4,0.000,0.050,2134,3707,1987
$GC,18913,0.55,229.8,705.4,6.4,443,18918,0.10,2.25,0.00,0.000,6,0.139,0.038,2120,2305,1987
$GC,19254,0.58,229.8,685.9,5.7,449,19258,0.00,2.30,0.00,0.000,4,0.000,0.045,2129,886,1987
$GC,19278,0.62,229.8,684.4,5.8,449,19282,0.00,2.30,0.00,0.000,6,0.000,0.037,2129,2306,1987
$GC,19622,0.62,229.8,664.4,5.8,455,19626,0.00,2.30,0.00,0.000,4,0.000,0.053,2129,3706,1987
$GC,19709,0.60,229.8,658.5,7.2,456,19714,0.00,2.22,0.00,0.000,6,0.000,0.031,2139,2301,1986
$GC,20060,0.60,229.8,637.1,6.1,462,20061,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2301,1986
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$GC,21642,0.58,229.8,539.8,6.7,488,21647,0.10,2.33,0.00,0.000,4,0.133,0.054,2123,3708,1986
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$STATE,29609,end climb,SURFACE_DEPTH_REACHED
$STATE,29609,begin surface coast
$FINISH,1.8,1.013155
$STATE,29631,end surface coast,CONTROL_FINISHED_OK
$STATE,29631,begin surface
$SM_CCo,29713,0.00,0.000,0,0,1323,394.69
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$IRIDIUM_FIX,4830.54,-12817.14,190699,181810
$TT8_MAMPS,0.029146
$HUMID,1752
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$TCM_TEMP,16.90
$XPDR_PINGS,78
$24V_AH,21.7,123.289
$10V_AH,10.3,103.841
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$DEVICE_SECS,16.975,239.325,441.200,0.000,0.000,52.020,50.925,299.656,19.500,0.000,0.000,12.554,1719.230,24593.465,566.400,2231.448,1246.794,33.385,1776.644,0.000,2220.835,0.000,0.530,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,538.636,642.858,800.825,840.366,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44432,770
$CAP_FILE_SIZE,187820,0
$CFSIZE,260165632,192184320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,260310,030405,4847.000,-12817.278,42,1.8,46,19.3