version: 66.04
glider: 144
mission: 15
dive: 861
start: 3 27 110 19 53 6
data:
$ID,144
$MISSION,15
$DIVE,861
$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,-79133.727
$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,34
$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
$GPS1,194436,4838.973,-12821.154,31,1.0,31,19.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-50.3
$GPS2,195208,4839.042,-12821.240,11,1.2,11,19.3
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P4
$TGT_LATLONG,4839.000,-12640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.095,-0.138
$KALMAN_X,-45271.6,188.4,48.1,1237847.6,-5898.0
$KALMAN_Y,122776.1,-167.9,-321.5,-311053.8,4979.2
$MHEAD_RNG_PITCHd_Wd,126.2,123871,-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,-117.2,0.0,0.0,0,79,0.00,0.00,-59.47,0.000,2,0.000,0.000,96,2298,2730
$GC,84,-0.68,-117.3,4.4,-5.2,3,111,7.00,2.40,-14.32,0.000,4,0.225,0.062,1843,3709,3411
$GC,126,-0.45,-117.3,13.0,-19.8,5,131,0.20,2.25,0.00,0.000,6,0.128,0.033,1899,2287,3411
$GC,455,-0.49,-117.3,42.3,-7.5,21,459,0.00,2.25,0.00,0.000,4,0.000,0.040,1899,897,3411
$GC,503,-0.58,-117.3,47.7,-10.7,23,507,0.00,2.25,0.00,0.000,6,0.000,0.035,1893,2303,3412
$GC,827,-0.62,-117.3,72.4,-8.0,39,832,0.10,2.30,0.00,0.000,4,0.061,0.042,1803,3707,3412
$GC,862,-0.50,-117.3,76.2,-12.3,40,869,0.30,2.17,0.00,0.000,6,0.112,0.028,1893,2306,3411
$GC,1193,-0.59,-117.3,95.9,-5.0,69,1198,0.10,2.28,0.00,0.000,4,0.064,0.038,1808,895,3411
$GC,1239,-0.53,-117.3,100.4,-10.6,72,1246,0.30,2.28,0.00,0.000,6,0.110,0.035,1888,2313,3411
$GC,1573,-0.63,-117.3,119.4,-6.1,103,1578,0.10,2.28,0.00,0.000,4,0.061,0.037,1803,890,3411
$GC,1608,-0.57,-117.3,123.1,-10.5,105,1615,0.20,2.30,0.00,0.000,6,0.100,0.034,1875,2305,3411
$GC,1935,-0.65,-117.3,148.6,-7.1,136,1939,0.00,2.25,0.00,0.000,4,0.000,0.038,1875,901,3411
$GC,1976,-0.74,-117.3,151.7,-7.4,139,1981,0.12,2.25,0.00,0.000,6,0.053,0.036,1781,2305,3411
$GC,2308,-0.64,-117.3,187.9,-10.5,150,2313,0.25,2.38,0.00,0.000,4,0.188,0.044,1849,3706,3411
$GC,2395,-0.70,-117.3,194.0,-6.1,152,2399,0.00,2.17,0.00,0.000,6,0.000,0.027,1848,2301,3411
$GC,2716,-0.74,-117.3,212.5,-5.7,163,2720,0.00,2.25,0.00,0.000,4,0.000,0.038,1849,894,3411
$GC,2746,-0.78,-117.3,214.5,-6.4,163,2752,0.00,2.28,0.00,0.000,6,0.000,0.035,1840,2300,3411
$GC,3062,-0.80,-117.3,235.7,-6.9,174,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2300,3411
$GC,3367,-0.83,-117.3,256.5,-6.6,184,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2300,3411
$GC,3673,-0.85,-117.3,276.9,-6.7,194,3678,0.10,2.38,0.00,0.000,4,0.064,0.050,1756,3709,3411
$GC,3715,-0.70,-117.3,281.0,-10.8,195,3719,0.30,2.17,0.00,0.000,6,0.113,0.028,1846,2302,3411
$GC,4046,-0.74,-117.3,301.6,-5.7,206,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2302,3411
$GC,4349,-0.78,-117.3,320.0,-6.1,211,4353,0.00,2.38,0.00,0.000,4,0.000,0.048,1840,3706,3410
$GC,4391,-0.82,-117.3,322.8,-6.8,211,4395,0.00,2.25,0.00,0.000,6,0.000,0.033,1839,2300,3410
$GC,4713,-0.85,-117.3,344.8,-6.7,217,4715,0.08,0.00,0.00,0.000,6,0.078,0.000,1767,2299,3410
$GC,5017,-0.73,-117.3,376.2,-10.6,222,5021,0.20,2.40,0.00,0.000,4,0.116,0.049,1827,3706,3410
$GC,5052,-0.73,-117.3,379.2,-6.8,222,5056,0.00,2.25,0.00,0.000,6,0.000,0.029,1827,2304,3410
$GC,5381,-0.73,-117.3,402.3,-7.1,228,5385,0.00,2.28,0.00,0.000,4,0.000,0.041,1827,889,3409
$GC,5416,-0.76,-117.3,405.2,-8.0,228,5420,0.00,2.28,0.00,0.000,6,0.000,0.041,1821,2300,3408
$GC,5743,-0.76,-117.3,432.0,-8.2,234,5747,0.00,2.35,0.00,0.000,4,0.000,0.052,1811,3708,3409
$GC,5785,-0.76,-117.3,435.6,-8.5,234,5790,0.10,2.25,0.00,0.000,6,0.108,0.030,1839,2298,3409
$GC,6107,-0.80,-117.3,457.3,-6.6,240,6111,0.00,2.30,0.00,0.000,4,0.000,0.047,1839,894,3408
$GC,6143,-0.86,-117.3,459.6,-7.1,240,6148,0.10,2.33,0.00,0.000,6,0.063,0.043,1768,2316,3408
$GC,6472,-0.76,-117.3,492.7,-10.3,246,6477,0.20,2.33,0.00,0.000,4,0.117,0.050,1824,3707,3408
$GC,6525,-0.81,-117.3,497.3,-7.9,246,6529,0.00,2.22,0.00,0.000,6,0.000,0.035,1825,2305,3408
$GC,6847,-0.83,-117.3,519.7,-6.9,252,6851,0.00,2.30,0.00,0.000,4,0.000,0.043,1824,890,3407
$GC,6895,-0.87,-117.3,523.1,-7.4,252,6899,0.00,2.28,0.00,0.000,6,0.000,0.044,1822,2306,3407
$GC,7223,-0.87,-117.3,545.0,-6.6,258,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2306,3407
$GC,7526,-0.87,-117.3,563.5,-6.1,263,7527,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2306,3407
$GC,7829,-0.87,-117.3,582.9,-6.4,268,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2306,3406
$GC,8132,-0.89,-117.3,602.8,-6.5,273,8136,0.00,2.33,0.00,0.000,4,0.000,0.043,1822,902,3406
$GC,8174,-0.92,-117.3,605.8,-7.8,273,8178,0.00,2.33,0.00,0.000,6,0.000,0.038,1821,2309,3405
$GC,8497,-0.92,-117.3,628.2,-7.0,279,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2309,3406
$GC,8800,-0.92,-117.3,649.5,-7.0,284,8804,0.00,2.35,0.00,0.000,4,0.000,0.044,1821,901,3405
$GC,8831,-0.94,-117.3,651.8,-8.5,284,8835,0.00,2.33,0.00,0.000,6,0.000,0.044,1811,2305,3405
$GC,9170,-0.94,-117.3,676.2,-7.2,290,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2305,3405
$GC,9474,-0.94,-117.3,698.2,-7.3,295,9478,0.00,2.33,0.00,0.000,4,0.000,0.042,1811,901,3405
$GC,9504,-0.94,-117.3,700.6,-8.2,295,9508,0.00,2.33,0.00,0.000,6,0.000,0.044,1809,2309,3405
$GC,9844,-0.94,-117.3,724.2,-6.9,301,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3404
$GC,10147,-0.94,-117.3,742.4,-6.0,306,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3404
$GC,10451,-0.94,-117.3,760.5,-5.9,311,10452,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3404
$GC,10753,-0.94,-117.3,778.4,-5.9,316,10754,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3404
$GC,11056,-0.94,-117.3,796.6,-6.0,321,11057,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3403
$GC,11360,-0.94,-117.3,815.2,-6.2,326,11364,0.00,2.40,0.00,0.000,4,0.000,0.056,1799,3713,3403
$GC,11388,-0.94,-117.3,817.2,-6.6,326,11393,0.00,2.28,0.00,0.000,6,0.000,0.036,1799,2307,3403
$GC,11728,-0.94,-117.3,838.9,-6.5,332,11729,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2307,3403
$GC,12031,-0.94,-117.3,860.1,-7.0,337,12035,0.00,2.42,0.00,0.000,4,0.000,0.051,1790,3716,3402
$GC,12061,-0.94,-117.3,862.2,-7.7,337,12065,0.00,2.30,0.00,0.000,6,0.000,0.033,1790,2300,3401
$GC,12394,-0.94,-117.3,885.9,-7.1,343,12395,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,2300,3401
$GC,12697,-0.94,-117.3,906.5,-6.7,348,12701,0.00,2.42,0.00,0.000,4,0.000,0.049,1781,3713,3401
$GC,12744,-0.92,-117.3,909.8,-7.6,348,12748,0.00,2.30,0.00,0.000,6,0.000,0.031,1781,2296,3401
$GC,13062,-0.88,-117.3,931.3,-6.7,354,13066,0.10,2.42,0.00,0.000,4,0.123,0.053,1801,3707,3401
$GC,13096,-0.88,-117.3,933.6,-6.2,354,13100,0.00,2.28,0.00,0.000,6,0.000,0.038,1801,2302,3401
$GC,13424,-0.88,-117.3,951.7,-5.6,360,13425,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2301,3401
$GC,13728,-0.88,-117.3,969.6,-5.9,365,13732,0.00,2.40,0.00,0.000,4,0.000,0.054,1792,3709,3401
$GC,13785,-0.88,-117.3,973.4,-6.7,365,13792,0.00,2.28,0.00,0.000,6,0.000,0.039,1792,2299,3401
$STATE,14092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14092,begin apogee
$GC,14102,-0.22,0.0,992.5,6.1,371,14201,0.50,0.00,96.05,1.270,6,0.106,0.000,1952,2299,2931
$STATE,14202,end apogee,CONTROL_FINISHED_OK
$STATE,14202,begin climb
$GC,14207,0.68,117.3,993.6,0.0,372,14319,0.60,2.62,103.57,1.241,4,0.067,0.050,2156,3705,2451
$GC,14362,0.48,117.3,989.6,7.4,375,14368,0.28,2.45,0.00,0.000,6,0.160,0.036,2103,2299,2447
$GC,14708,0.50,136.2,972.3,4.9,381,14726,0.00,0.00,15.85,1.144,6,0.000,0.000,2104,2300,2375
$GC,15012,0.51,144.0,956.6,5.2,386,15026,0.00,2.38,7.65,1.003,4,0.000,0.049,2104,3709,2343
$GC,15051,0.48,144.0,954.1,6.3,386,15056,0.00,2.25,0.00,0.000,6,0.000,0.038,2112,2295,2342
$GC,15380,0.45,144.0,933.8,6.3,392,15384,0.00,2.33,0.00,0.000,4,0.000,0.051,2112,3710,2341
$GC,15422,0.39,144.0,930.7,7.1,392,15426,0.15,2.22,0.00,0.000,6,0.153,0.035,2085,2302,2340
$GC,15744,0.44,158.3,913.9,5.0,398,15759,0.00,0.00,13.45,1.108,6,0.000,0.000,2085,2303,2285
$GC,16047,0.54,158.3,896.9,5.7,403,16052,0.12,2.35,0.00,0.000,4,0.068,0.049,2145,3714,2281
$GC,16139,0.41,158.3,889.9,8.1,404,16144,0.25,2.25,0.00,0.000,6,0.151,0.039,2089,2296,2280
$GC,16479,0.47,176.5,872.7,4.9,410,16497,0.00,0.00,16.52,1.113,6,0.000,0.000,2089,2297,2211
$GC,16783,0.59,186.6,857.7,5.2,415,16798,0.12,2.28,10.07,1.029,4,0.066,0.048,2165,888,2169
$GC,16879,0.52,186.6,850.9,8.1,416,16884,0.20,2.28,0.00,0.000,6,0.139,0.038,2110,2306,2167
$GC,17218,0.52,186.6,831.9,5.6,422,17222,0.00,2.30,0.00,0.000,4,0.000,0.048,2111,3713,2165
$GC,17282,0.52,186.6,827.5,7.3,422,17288,0.00,2.25,0.00,0.000,6,0.000,0.039,2119,2302,2165
$GC,17593,0.52,186.6,807.2,6.5,428,17597,0.00,2.35,0.00,0.000,4,0.000,0.054,2119,3717,2164
$GC,17628,0.49,186.6,804.5,7.0,428,17633,0.10,2.28,0.00,0.000,6,0.145,0.035,2106,2293,2164
$GC,17958,0.52,187.2,786.0,5.5,434,17959,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2293,2164
$GC,18259,0.56,195.8,770.3,5.2,439,18273,0.00,2.30,8.75,0.956,4,0.000,0.046,2114,897,2132
$GC,18294,0.63,221.4,768.5,4.6,439,18326,0.08,2.28,23.90,1.071,6,0.078,0.039,2165,2304,2027
$GC,18632,0.55,221.4,739.1,9.0,445,18637,0.17,2.30,0.00,0.000,4,0.130,0.048,2110,3714,2022
$GC,18706,0.55,221.4,733.2,7.1,446,18710,0.00,2.22,0.00,0.000,6,0.000,0.033,2119,2299,2021
$GC,19062,0.58,221.4,710.0,6.5,452,19063,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2299,2020
$GC,19366,0.60,221.4,690.1,6.5,457,19367,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2299,2020
$GC,19668,0.63,221.4,672.1,5.8,462,19669,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2299,2020
$GC,19971,0.67,224.9,655.7,5.4,467,19973,0.10,0.00,0.00,0.000,6,0.062,0.000,2184,2299,2020
$GC,20274,0.55,224.9,628.5,9.2,472,20276,0.22,0.00,0.00,0.000,6,0.133,0.000,2120,2299,2020
$GC,20579,0.59,228.6,611.4,5.4,477,20587,0.00,0.00,6.18,0.788,6,0.000,0.000,2120,2299,1999
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$STATE,29167,end climb,SURFACE_DEPTH_REACHED
$STATE,29167,begin surface coast
$FINISH,1.5,1.005360
$STATE,29189,end surface coast,CONTROL_FINISHED_OK
$STATE,29189,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1776
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$TCM_TEMP,17.00
$XPDR_PINGS,84
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$10V_AH,10.2,104.531
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$DEVICE_SECS,20.475,229.150,406.825,0.000,0.000,28.449,27.661,203.026,21.000,0.000,0.000,13.451,1685.490,24264.795,576.477,2087.917,1091.007,33.390,1709.699,0.000,2074.999,0.000,0.530,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44289,749
$CAP_FILE_SIZE,187046,0
$CFSIZE,260165632,191700992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280310,040231,4836.933,-12819.793,49,1.3,49,19.3