version: 66.04
glider: 144
mission: 15
dive: 862
start: 3 28 110 4 12 34
data:
$ID,144
$MISSION,15
$DIVE,862
$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,-79154.93
$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,37
$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
$GPS1,040231,4836.933,-12819.793,49,1.3,49,19.3
$_CALLS,1
$_XMS_NAKs,33
$_XMS_TOUTs,1
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-47.7
$GPS2,041137,4837.093,-12819.881,10,1.5,15,19.3
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P4
$TGT_LATLONG,4839.000,-12640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.122,-0.116
$KALMAN_X,-46873.0,216.7,12.4,1241015.4,-3614.4
$KALMAN_Y,124152.1,-487.6,-228.2,-315808.0,4182.5
$MHEAD_RNG_PITCHd_Wd,114.2,122259,-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,-40.00,0.000,2,0.000,0.000,98,2299,2597
$GC,64,-0.68,-117.3,3.6,-5.5,2,99,7.07,2.35,-21.20,0.000,4,0.228,0.063,1838,3711,3413
$GC,146,-0.63,-117.3,15.8,-15.8,5,154,0.10,2.20,0.00,0.000,6,0.131,0.029,1863,2288,3413
$GC,465,-0.63,-117.3,47.5,-11.7,21,469,0.00,2.22,0.00,0.000,4,0.000,0.041,1863,893,3414
$GC,500,-0.63,-117.3,52.3,-12.4,22,505,0.00,2.25,0.00,0.000,6,0.000,0.037,1861,2307,3414
$GC,820,-0.63,-117.3,85.0,-7.2,40,824,0.00,2.30,0.00,0.000,4,0.000,0.050,1851,3710,3414
$GC,848,-0.66,-117.3,86.8,-7.3,42,852,0.00,2.17,0.00,0.000,6,0.000,0.028,1850,2301,3414
$GC,1181,-0.66,-117.3,110.1,-7.1,72,1184,0.00,2.22,0.00,0.000,4,0.000,0.039,1851,900,3414
$GC,1244,-0.69,-117.3,115.1,-7.9,77,1251,0.00,2.30,0.00,0.000,6,0.000,0.043,1849,2298,3414
$GC,1576,-0.71,-117.3,140.1,-8.6,108,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2298,3414
$GC,1906,-0.73,-117.3,166.6,-7.4,126,1909,0.00,2.22,0.00,0.000,4,0.000,0.039,1849,900,3414
$GC,1944,-0.77,-117.3,169.1,-6.6,127,1948,0.00,2.25,0.00,0.000,6,0.000,0.036,1849,2309,3414
$GC,2281,-0.80,-117.3,189.5,-5.6,138,2286,0.08,2.25,0.00,0.000,4,0.081,0.038,1780,900,3414
$GC,2322,-0.71,-117.3,193.1,-9.8,139,2327,0.28,2.28,0.00,0.000,6,0.108,0.035,1850,2309,3414
$GC,2649,-0.75,-117.3,213.4,-6.6,150,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2308,3414
$GC,2954,-0.80,-117.3,236.0,-7.6,160,2958,0.10,2.28,0.00,0.000,4,0.064,0.038,1780,903,3414
$GC,3000,-0.71,-117.3,241.3,-12.3,161,3004,0.28,2.25,0.00,0.000,6,0.106,0.040,1850,2306,3414
$GC,3326,-0.76,-117.3,266.5,-7.5,172,3330,0.00,2.25,0.00,0.000,4,0.000,0.040,1850,895,3414
$GC,3356,-0.82,-117.3,269.1,-8.5,172,3363,0.05,2.28,0.00,0.000,6,0.058,0.036,1777,2305,3414
$GC,3701,-0.72,-117.3,306.8,-10.9,183,3706,0.20,2.30,0.00,0.000,4,0.117,0.042,1844,897,3414
$GC,3742,-0.77,-117.3,310.5,-7.9,183,3747,0.00,2.28,0.00,0.000,6,0.000,0.038,1837,2309,3414
$GC,4065,-0.80,-117.3,332.3,-6.7,189,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2308,3414
$GC,4368,-0.83,-117.3,352.7,-6.8,194,4372,0.00,2.25,0.00,0.000,4,0.000,0.041,1836,902,3413
$GC,4411,-0.87,-117.3,355.7,-7.2,194,4415,0.10,2.28,0.00,0.000,6,0.064,0.037,1765,2303,3413
$GC,4738,-0.77,-117.3,391.5,-11.2,200,4743,0.20,2.33,0.00,0.000,4,0.120,0.048,1831,901,3413
$GC,4796,-0.80,-117.3,396.5,-7.3,200,4802,0.00,2.28,0.00,0.000,6,0.000,0.036,1824,2307,3413
$GC,5108,-0.80,-117.3,419.9,-7.5,206,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2308,3413
$GC,5410,-0.80,-117.3,443.0,-7.6,211,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2308,3412
$GC,5714,-0.80,-117.3,465.7,-7.5,216,5718,0.00,2.30,0.00,0.000,4,0.000,0.042,1824,895,3412
$GC,5760,-0.83,-117.3,469.5,-8.1,216,5764,0.00,2.30,0.00,0.000,6,0.000,0.044,1821,2308,3412
$GC,6077,-0.83,-117.3,494.4,-8.0,222,6081,0.00,2.30,0.00,0.000,4,0.000,0.045,1821,898,3411
$GC,6107,-0.83,-117.3,497.0,-8.8,222,6111,0.00,2.30,0.00,0.000,6,0.000,0.039,1812,2314,3411
$GC,6446,-0.83,-117.3,526.2,-8.7,228,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2314,3411
$GC,6749,-0.83,-117.3,552.0,-8.5,233,6753,0.00,2.30,0.00,0.000,4,0.000,0.047,1812,906,3411
$GC,6814,-0.83,-117.3,557.8,-8.8,233,6820,0.00,2.30,0.00,0.000,6,0.000,0.039,1808,2308,3410
$GC,7125,-0.83,-117.3,584.4,-8.6,239,7129,0.00,2.38,0.00,0.000,4,0.000,0.049,1798,3714,3410
$GC,7153,-0.83,-117.3,587.1,-9.6,239,7158,0.10,2.25,0.00,0.000,6,0.114,0.035,1825,2302,3409
$GC,7493,-0.86,-117.3,611.4,-7.1,245,7497,0.00,2.35,0.00,0.000,4,0.000,0.046,1826,898,3410
$GC,7535,-0.91,-117.3,614.6,-8.1,245,7539,0.00,2.33,0.00,0.000,6,0.000,0.037,1823,2305,3410
$GC,7857,-0.94,-117.3,638.1,-7.3,251,7862,0.10,2.35,0.00,0.000,4,0.064,0.054,1742,3709,3409
$GC,7909,-0.82,-117.3,643.7,-11.7,251,7914,0.28,2.25,0.00,0.000,6,0.117,0.031,1822,2304,3409
$GC,8222,-0.85,-117.3,666.4,-7.0,256,8226,0.00,2.33,0.00,0.000,4,0.000,0.043,1822,898,3409
$GC,8258,-0.89,-117.3,669.0,-6.9,256,8262,0.00,2.33,0.00,0.000,6,0.000,0.044,1822,2312,3408
$GC,8586,-0.92,-117.3,690.9,-6.6,262,8588,0.08,0.00,0.00,0.000,6,0.079,0.000,1761,2312,3408
$GC,8890,-0.83,-117.3,719.4,-9.5,267,8895,0.20,2.38,0.00,0.000,4,0.118,0.048,1826,904,3408
$GC,8936,-0.89,-117.3,723.0,-6.9,267,8941,0.00,2.35,0.00,0.000,6,0.000,0.038,1823,2307,3408
$GC,9254,-0.92,-117.3,742.1,-6.0,273,9258,0.08,2.38,0.00,0.000,4,0.080,0.042,1757,894,3408
$GC,9284,-0.86,-117.3,744.4,-9.3,273,9289,0.22,2.38,0.00,0.000,6,0.120,0.044,1818,2312,3408
$GC,9617,-0.89,-117.3,765.9,-6.3,279,9622,0.00,2.35,0.00,0.000,4,0.000,0.047,1818,902,3407
$GC,9653,-0.93,-117.3,768.3,-7.2,279,9657,0.00,2.33,0.00,0.000,6,0.000,0.041,1812,2316,3407
$GC,9981,-0.95,-117.3,790.8,-6.9,285,9985,0.00,2.35,0.00,0.000,4,0.000,0.049,1812,901,3407
$GC,10011,-0.97,-117.3,793.1,-8.0,285,10015,0.00,2.33,0.00,0.000,6,0.000,0.038,1808,2303,3407
$GC,10345,-0.97,-117.3,817.6,-7.3,291,10349,0.00,2.33,0.00,0.000,4,0.000,0.044,1809,891,3407
$GC,10396,-0.97,-117.3,821.7,-7.6,291,10400,0.00,2.33,0.00,0.000,6,0.000,0.039,1808,2307,3407
$GC,10720,-0.97,-117.3,845.3,-7.3,297,10724,0.00,2.35,0.00,0.000,4,0.000,0.044,1808,898,3406
$GC,10771,-0.97,-117.3,849.6,-7.9,297,10775,0.00,2.35,0.00,0.000,6,0.000,0.042,1808,2310,3406
$GC,11093,-0.97,-117.3,871.0,-6.6,303,11097,0.00,2.35,0.00,0.000,4,0.000,0.046,1808,901,3406
$GC,11139,-1.00,-117.3,874.2,-7.4,303,11144,0.10,2.33,0.00,0.000,6,0.071,0.046,1762,2304,3406
$GC,11468,-0.92,-117.3,902.5,-8.7,309,11473,0.15,2.40,0.00,0.000,4,0.128,0.047,1806,894,3405
$GC,11514,-0.92,-117.3,906.3,-7.5,309,11518,0.00,2.38,0.00,0.000,6,0.000,0.038,1804,2309,3405
$GC,11830,-0.92,-117.3,926.9,-6.6,315,11834,0.00,2.38,0.00,0.000,4,0.000,0.045,1804,892,3405
$GC,11888,-0.95,-117.3,931.0,-7.8,315,11895,0.00,2.38,0.00,0.000,6,0.000,0.038,1795,2310,3405
$GC,12200,-0.95,-117.3,951.5,-6.5,321,12204,0.00,2.33,0.00,0.000,4,0.000,0.047,1795,900,3405
$GC,12251,-0.95,-117.3,955.1,-6.9,321,12255,0.00,2.35,0.00,0.000,6,0.000,0.046,1792,2308,3405
$GC,12575,-0.95,-117.3,975.3,-6.2,327,12579,0.00,2.35,0.00,0.000,4,0.000,0.048,1792,901,3405
$GC,12634,-0.95,-117.3,979.2,-6.2,327,12638,0.00,2.35,0.00,0.000,6,0.000,0.045,1782,2306,3405
$STATE,12819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12819,begin apogee
$GC,12829,-0.22,0.0,991.5,6.5,330,12930,0.55,0.00,97.43,1.264,6,0.110,0.000,1955,2306,2931
$STATE,12931,end apogee,CONTROL_FINISHED_OK
$STATE,12931,begin climb
$GC,12935,0.68,117.3,992.7,0.0,331,13047,0.60,2.62,103.72,1.237,4,0.066,0.054,2158,3706,2450
$GC,13089,0.48,117.3,989.5,7.2,334,13095,0.28,2.45,0.00,0.000,6,0.156,0.032,2106,2307,2446
$GC,13435,0.49,150.0,973.6,4.4,340,13464,0.00,0.00,27.50,1.191,6,0.000,0.000,2106,2308,2318
$GC,13739,0.53,179.1,959.8,4.5,345,13770,0.00,2.35,25.80,1.182,4,0.000,0.053,2115,890,2198
$GC,13794,0.55,200.3,957.2,4.8,345,13819,0.00,2.33,19.50,1.148,6,0.000,0.044,2115,2307,2114
$GC,14171,0.55,200.3,936.8,5.5,352,14175,0.00,2.28,0.00,0.000,4,0.000,0.054,2115,3710,2107
$GC,14207,0.55,200.3,934.4,6.9,352,14211,0.00,2.22,0.00,0.000,6,0.000,0.040,2125,2292,2107
$GC,14535,0.55,200.3,913.2,6.5,358,14536,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2293,2106
$GC,14840,0.55,200.3,893.6,6.5,363,14844,0.00,2.35,0.00,0.000,4,0.000,0.055,2125,3711,2106
$GC,14864,0.52,200.3,891.8,7.1,363,14868,0.00,2.20,0.00,0.000,6,0.000,0.032,2135,2302,2105
$GC,15210,0.49,200.3,868.8,6.6,369,15212,0.12,0.00,0.00,0.000,6,0.149,0.000,2102,2303,2105
$GC,15512,0.56,216.2,853.4,5.0,374,15531,0.00,2.35,13.73,1.077,4,0.000,0.054,2102,3707,2049
$GC,15551,0.63,244.9,851.3,4.5,374,15585,0.10,2.22,26.83,1.123,6,0.062,0.036,2161,2302,1931
$GC,15953,0.56,244.9,818.8,8.3,381,15958,0.15,2.30,0.00,0.000,4,0.137,0.044,2129,887,1925
$GC,15988,0.60,250.7,816.1,5.3,381,15999,0.00,2.30,5.45,0.832,6,0.000,0.042,2129,2310,1908
$GC,16323,0.61,255.7,798.1,5.3,387,16333,0.00,2.30,6.12,0.866,4,0.000,0.051,2129,3718,1887
$GC,16363,0.61,255.7,795.3,6.6,387,16367,0.00,2.25,0.00,0.000,6,0.000,0.034,2138,2293,1886
$GC,16686,0.61,255.7,776.5,5.9,393,16690,0.00,2.28,0.00,0.000,4,0.000,0.047,2148,894,1885
$GC,16711,0.62,263.7,775.0,5.2,393,16725,0.00,2.28,8.70,0.950,6,0.000,0.040,2148,2308,1855
$GC,17054,0.59,263.7,751.3,7.0,399,17059,0.00,2.28,0.00,0.000,4,0.000,0.051,2148,3707,1852
$GC,17107,0.55,263.7,746.9,7.8,399,17111,0.15,2.20,0.00,0.000,6,0.129,0.031,2117,2302,1852
$GC,17432,0.61,266.5,729.2,5.4,405,17436,0.00,2.30,0.00,0.000,4,0.000,0.053,2126,890,1851
$GC,17478,0.68,266.5,726.2,6.4,405,17483,0.08,2.30,0.00,0.000,6,0.077,0.038,2181,2311,1850
$GC,17795,0.59,266.5,695.4,10.0,411,17800,0.20,2.35,0.00,0.000,4,0.133,0.048,2119,3717,1851
$GC,17848,0.61,266.5,691.1,6.5,411,17853,0.00,2.22,0.00,0.000,6,0.000,0.031,2128,2305,1851
$GC,18160,0.65,266.5,670.9,6.4,416,18165,0.00,2.35,0.00,0.000,4,0.000,0.046,2138,886,1851
$GC,18190,0.69,266.5,668.8,6.6,416,18194,0.00,2.33,0.00,0.000,6,0.000,0.042,2138,2312,1850
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$STATE,27918,end climb,SURFACE_DEPTH_REACHED
$STATE,27918,begin surface coast
$FINISH,1.8,1.025093
$STATE,27961,end surface coast,CONTROL_FINISHED_OK
$STATE,27961,begin surface
$SM_CCo,28043,0.00,0.000,0,0,1559,336.55
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$IRIDIUM_FIX,4820.79,-12820.77,210699,191930
$TT8_MAMPS,0.029146
$HUMID,1773
$INTERNAL_PRESSURE,7.44169
$TCM_TEMP,17.00
$XPDR_PINGS,110
$24V_AH,21.6,124.320
$10V_AH,10.2,104.647
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$DEVICE_SECS,19.825,276.200,397.625,0.000,0.000,27.838,26.760,296.541,27.500,0.000,0.000,20.568,1683.392,22966.561,557.177,2170.330,1196.085,33.389,1755.604,0.000,2140.768,0.000,0.530,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,515.013,608.124,764.095,826.562,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44318,737
$CAP_FILE_SIZE,194572,0
$CFSIZE,260165632,191614976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,280310,120107,4836.061,-12820.176,25,2.0,25,19.3