version: 66.04
glider: 144
mission: 15
dive: 867
start: 3 29 110 20 38 55
data:
$ID,144
$MISSION,15
$DIVE,867
$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,-79246.023
$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,35
$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
$GPS1,203054,4831.841,-12816.097,49,1.9,50,19.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-53.7
$GPS2,203801,4831.833,-12816.120,11,1.9,11,19.2
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P4
$TGT_LATLONG,4839.000,-12640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.140,-0.092
$KALMAN_X,-65405.3,523.0,282.9,1263443.9,-8064.3
$KALMAN_Y,132512.5,-66.6,-62.6,-334514.7,2975.9
$MHEAD_RNG_PITCHd_Wd,104.2,118353,-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,-39.80,0.000,2,0.000,0.000,98,2297,2394
$GC,68,-0.68,-117.3,3.2,-5.1,2,112,7.07,2.40,-30.27,0.000,4,0.229,0.061,1837,3713,3410
$GC,268,-0.60,-117.3,23.9,-17.6,10,274,0.12,2.22,0.00,0.000,6,0.112,0.036,1871,2299,3411
$GC,585,-0.60,-117.3,56.1,-9.4,26,589,0.00,2.28,0.00,0.000,4,0.000,0.040,1871,889,3411
$GC,683,-0.62,-117.3,65.2,-10.4,30,688,0.00,2.28,0.00,0.000,6,0.000,0.035,1863,2301,3411
$GC,1012,-0.64,-117.3,93.4,-6.8,54,1016,0.00,2.28,0.00,0.000,4,0.000,0.038,1864,885,3411
$GC,1077,-0.69,-117.3,98.2,-6.9,59,1081,0.00,2.28,0.00,0.000,6,0.000,0.035,1863,2306,3411
$GC,1411,-0.73,-117.3,122.4,-7.6,89,1416,0.00,2.30,0.00,0.000,4,0.000,0.038,1863,889,3411
$GC,1443,-0.77,-117.3,125.3,-7.8,91,1447,0.10,2.30,0.00,0.000,6,0.064,0.036,1787,2314,3411
$GC,1792,-0.67,-117.3,163.8,-11.1,115,1797,0.20,2.35,0.00,0.000,4,0.123,0.038,1853,887,3411
$GC,1849,-0.72,-117.3,169.1,-6.5,116,1856,0.00,2.30,0.00,0.000,6,0.000,0.038,1850,2297,3412
$GC,2165,-0.75,-117.3,187.6,-5.7,127,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2297,3411
$GC,2471,-0.79,-117.3,207.8,-6.9,137,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2298,3411
$GC,2777,-0.83,-117.3,230.0,-7.4,147,2781,0.10,2.28,0.00,0.000,4,0.064,0.044,1767,894,3411
$GC,2823,-0.71,-117.3,235.0,-11.6,148,2828,0.30,2.28,0.00,0.000,6,0.111,0.035,1844,2313,3412
$GC,3150,-0.75,-117.3,258.1,-6.3,159,3154,0.00,2.28,0.00,0.000,4,0.000,0.040,1845,893,3411
$GC,3191,-0.80,-117.3,260.8,-6.3,160,3195,0.00,2.30,0.00,0.000,6,0.000,0.035,1838,2303,3411
$GC,3530,-0.82,-117.3,281.2,-6.1,171,3534,0.00,2.28,0.00,0.000,4,0.000,0.041,1838,896,3410
$GC,3560,-0.85,-117.3,283.2,-6.1,171,3567,0.00,2.30,0.00,0.000,6,0.000,0.037,1837,2295,3411
$GC,3906,-0.87,-117.3,305.9,-6.8,182,3908,0.10,0.00,0.00,0.000,6,0.062,0.000,1764,2295,3410
$GC,4208,-0.75,-117.3,339.7,-11.4,187,4212,0.20,2.33,0.00,0.000,4,0.119,0.045,1831,895,3410
$GC,4272,-0.78,-117.3,345.3,-7.8,187,4278,0.00,2.30,0.00,0.000,6,0.000,0.041,1824,2310,3410
$GC,4583,-0.78,-117.3,368.7,-7.5,193,4587,0.00,2.30,0.00,0.000,4,0.000,0.040,1824,895,3410
$GC,4619,-0.78,-117.3,371.5,-8.3,193,4623,0.00,2.33,0.00,0.000,6,0.000,0.040,1818,2314,3410
$GC,4948,-0.78,-117.3,397.3,-7.9,199,4952,0.00,2.30,0.00,0.000,4,0.000,0.041,1818,895,3410
$GC,4989,-0.78,-117.3,400.9,-9.1,199,4993,0.00,2.30,0.00,0.000,6,0.000,0.038,1809,2306,3410
$GC,5311,-0.76,-117.3,427.0,-8.1,205,5313,0.10,0.00,0.00,0.000,6,0.131,0.000,1837,2307,3409
$GC,5614,-0.80,-117.3,445.1,-5.9,210,5618,0.00,2.33,0.00,0.000,4,0.000,0.048,1838,897,3409
$GC,5661,-0.85,-117.3,448.1,-6.5,210,5665,0.00,2.30,0.00,0.000,6,0.000,0.043,1837,2303,3409
$GC,5979,-0.89,-117.3,467.6,-6.2,216,5981,0.10,0.00,0.00,0.000,6,0.064,0.000,1763,2303,3409
$GC,6282,-0.79,-117.3,499.6,-10.8,221,6287,0.20,2.40,0.00,0.000,4,0.118,0.043,1828,895,3408
$GC,6324,-0.82,-117.3,503.2,-7.8,221,6328,0.00,2.38,0.00,0.000,6,0.000,0.041,1823,2310,3408
$GC,6646,-0.82,-117.3,526.2,-7.2,227,6650,0.00,2.33,0.00,0.000,4,0.000,0.041,1823,892,3407
$GC,6704,-0.85,-117.3,530.2,-7.4,227,6710,0.00,2.35,0.00,0.000,6,0.000,0.041,1821,2309,3407
$GC,7015,-0.85,-117.3,551.2,-6.7,233,7019,0.00,2.33,0.00,0.000,4,0.000,0.048,1821,891,3407
$GC,7056,-0.85,-117.3,554.1,-6.7,233,7060,0.00,2.30,0.00,0.000,6,0.000,0.037,1812,2310,3407
$GC,7390,-0.85,-117.3,576.6,-6.6,239,7394,0.00,2.33,0.00,0.000,4,0.000,0.042,1811,897,3407
$GC,7425,-0.85,-117.3,579.1,-7.4,239,7429,0.00,2.30,0.00,0.000,6,0.000,0.041,1808,2304,3407
$GC,7753,-0.85,-117.3,602.2,-7.1,245,7757,0.00,2.33,0.00,0.000,4,0.000,0.044,1808,898,3406
$GC,7805,-0.85,-117.3,606.2,-7.8,245,7809,0.00,2.30,0.00,0.000,6,0.000,0.039,1799,2303,3406
$GC,8117,-0.82,-117.3,629.5,-7.5,250,8122,0.10,2.38,0.00,0.000,4,0.131,0.047,1828,896,3406
$GC,8146,-0.85,-117.3,631.6,-6.6,250,8150,0.00,2.35,0.00,0.000,6,0.000,0.044,1823,2310,3406
$GC,8481,-0.89,-117.3,651.9,-6.1,256,8485,0.00,2.35,0.00,0.000,4,0.000,0.045,1823,893,3406
$GC,8517,-0.93,-117.3,654.2,-6.7,256,8521,0.10,2.35,0.00,0.000,6,0.066,0.040,1756,2311,3406
$GC,8850,-0.83,-117.3,686.2,-9.8,262,8855,0.20,2.38,0.00,0.000,4,0.123,0.046,1822,898,3406
$GC,8892,-0.87,-117.3,689.5,-7.0,262,8896,0.00,2.30,0.00,0.000,6,0.000,0.042,1822,2306,3405
$GC,9220,-0.90,-117.3,708.8,-5.9,268,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2307,3405
$GC,9523,-0.92,-117.3,726.6,-5.9,273,9525,0.08,0.00,0.00,0.000,6,0.081,0.000,1762,2307,3405
$GC,9826,-0.84,-117.3,752.9,-8.8,278,9831,0.20,2.38,0.00,0.000,4,0.113,0.041,1830,892,3404
$GC,9896,-0.90,-117.3,757.9,-6.9,279,9900,0.00,2.35,0.00,0.000,6,0.000,0.039,1823,2307,3405
$GC,10263,-0.94,-117.3,781.4,-6.5,285,10268,0.10,2.38,0.00,0.000,4,0.069,0.045,1751,890,3404
$GC,10283,-0.92,-117.3,782.9,-6.4,285,10288,0.22,2.35,0.00,0.000,6,0.121,0.044,1805,2306,3404
$GC,10629,-0.92,-117.3,806.9,-6.9,291,10633,0.00,2.40,0.00,0.000,4,0.000,0.051,1797,3717,3404
$GC,10665,-0.92,-117.3,809.6,-7.3,291,10669,0.00,2.30,0.00,0.000,6,0.000,0.031,1797,2293,3403
$GC,10993,-0.92,-117.3,832.6,-6.9,297,10997,0.00,2.35,0.00,0.000,4,0.000,0.050,1797,890,3403
$GC,11029,-0.92,-117.3,835.2,-7.4,297,11033,0.00,2.38,0.00,0.000,6,0.000,0.041,1794,2310,3403
$GC,11357,-0.92,-117.3,858.4,-7.0,303,11358,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2310,3403
$GC,11660,-0.92,-117.3,880.1,-7.2,308,11661,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2310,3403
$GC,11963,-0.92,-117.3,901.5,-7.1,313,11964,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2310,3403
$GC,12267,-0.92,-117.3,922.9,-7.1,318,12271,0.00,2.38,0.00,0.000,4,0.000,0.050,1785,3707,3402
$GC,12318,-0.92,-117.3,926.9,-7.7,318,12322,0.00,2.28,0.00,0.000,6,0.000,0.031,1785,2293,3402
$GC,12641,-0.89,-117.3,950.7,-7.4,324,12643,0.08,0.00,0.00,0.000,6,0.136,0.000,1806,2293,3402
$GC,12944,-0.91,-117.3,969.2,-6.0,329,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2293,3402
$GC,13248,-0.94,-117.3,987.8,-6.2,334,13250,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2293,3402
$STATE,13303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13303,begin apogee
$GC,13313,-0.22,0.0,991.7,6.3,335,13413,0.45,0.00,96.72,1.267,6,0.106,0.000,1952,2293,2931
$STATE,13413,end apogee,CONTROL_FINISHED_OK
$STATE,13413,begin climb
$GC,13418,0.68,117.3,993.5,0.0,336,13530,0.60,2.70,104.43,1.242,4,0.066,0.054,2156,3698,2450
$GC,13551,0.53,117.3,993.2,5.6,339,13556,0.22,2.47,0.00,0.000,6,0.159,0.035,2117,2310,2448
$GC,13919,0.51,140.0,975.7,4.7,345,13943,0.00,2.38,18.88,1.165,4,0.000,0.052,2116,3706,2359
$GC,13952,0.48,144.5,973.8,5.3,345,13963,0.00,2.30,5.70,0.890,6,0.000,0.033,2125,2290,2341
$GC,14288,0.43,144.5,954.5,5.9,351,14292,0.12,2.35,0.00,0.000,4,0.156,0.053,2094,3716,2336
$GC,14351,0.43,144.5,950.3,5.7,352,14356,0.00,2.25,0.00,0.000,6,0.000,0.038,2102,2293,2336
$GC,14720,0.43,145.4,930.1,5.5,358,14721,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2294,2335
$GC,15022,0.44,154.0,914.2,5.2,363,15036,0.00,2.38,8.70,1.027,4,0.000,0.051,2102,3710,2302
$GC,15084,0.40,154.0,910.4,5.9,363,15090,0.12,2.25,0.00,0.000,6,0.150,0.036,2082,2298,2301
$GC,15397,0.51,160.7,894.6,5.3,369,15411,0.10,2.35,7.22,0.975,4,0.076,0.046,2143,889,2275
$GC,15492,0.46,160.7,888.1,6.9,370,15497,0.17,2.30,0.00,0.000,6,0.135,0.043,2097,2310,2273
$GC,15832,0.50,166.9,870.0,5.3,376,15845,0.00,2.35,6.88,0.948,4,0.000,0.054,2097,3717,2249
$GC,15895,0.50,166.9,866.2,6.5,376,15901,0.00,2.25,0.00,0.000,6,0.000,0.035,2105,2298,2248
$GC,16206,0.50,171.8,849.4,5.3,382,16214,0.00,0.00,5.85,0.883,6,0.000,0.000,2105,2298,2230
$GC,16509,0.50,171.8,832.8,5.5,387,16513,0.00,2.35,0.00,0.000,4,0.000,0.054,2105,3713,2228
$GC,16556,0.48,171.8,829.9,6.6,387,16560,0.00,2.22,0.00,0.000,6,0.000,0.031,2116,2296,2228
$GC,16872,0.48,171.8,811.9,5.6,393,16876,0.00,2.38,0.00,0.000,4,0.000,0.048,2116,3716,2228
$GC,16907,0.43,171.8,809.7,6.6,393,16912,0.12,2.22,0.00,0.000,6,0.146,0.031,2095,2301,2227
$GC,17236,0.50,194.0,793.7,4.8,399,17258,0.00,0.00,20.23,1.086,6,0.000,0.000,2095,2301,2140
$GC,17538,0.63,194.0,775.4,6.3,404,17543,0.15,2.33,0.00,0.000,4,0.056,0.054,2170,3712,2136
$GC,17708,0.46,194.0,758.5,10.9,406,17713,0.30,2.20,0.00,0.000,6,0.146,0.032,2100,2305,2135
$GC,18043,0.52,207.0,740.5,5.1,412,18062,0.00,2.40,12.23,1.000,4,0.000,0.050,2109,889,2087
$GC,18082,0.62,234.7,738.5,4.6,412,18113,0.10,2.30,25.33,1.052,6,0.067,0.038,2171,2306,1974
$GC,18487,0.52,234.7,704.7,8.7,419,18491,0.17,2.33,0.00,0.000,4,0.132,0.050,2116,3713,1968
$GC,18550,0.52,234.7,699.8,6.2,420,18554,0.00,2.22,0.00,0.000,6,0.000,0.031,2123,2298,1967
$GC,18924,0.56,245.1,680.0,5.2,426,18939,0.00,2.33,9.68,0.920,4,0.000,0.046,2133,898,1931
$GC,18971,0.61,245.1,677.5,5.9,426,18975,0.00,2.28,0.00,0.000,6,0.000,0.043,2133,2310,1929
$GC,19293,0.61,245.1,659.4,5.7,432,19297,0.00,2.30,0.00,0.000,4,0.000,0.053,2133,3711,1928
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$STATE,29023,end climb,SURFACE_DEPTH_REACHED
$STATE,29023,begin surface coast
$FINISH,1.5,1.025068
$STATE,29027,end surface coast,CONTROL_FINISHED_OK
$STATE,29027,begin surface
$SM_CCo,29110,0.00,0.000,0,0,1362,384.88
$SM_GC,2.39,5.95,0.00,0.00,0.040,0.000,0.000,97,2314,1362,-8.62,0.31,384.88
$IRIDIUM_FIX,4814.30,-12807.61,230699,131338
$TT8_MAMPS,0.029146
$HUMID,1780
$INTERNAL_PRESSURE,7.42216
$TCM_TEMP,18.90
$XPDR_PINGS,82
$24V_AH,21.6,125.061
$10V_AH,9.7,105.224
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$DEVICE_SECS,20.900,272.800,446.975,0.000,0.000,29.591,25.588,178.744,20.500,0.000,0.000,13.012,1742.656,23723.807,616.625,2335.571,1102.068,33.382,1885.728,0.000,2307.517,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,514.203,615.256,762.344,797.172,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44444,735
$CAP_FILE_SIZE,201330,0
$CFSIZE,260165632,191213568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,300310,044553,4830.401,-12813.573,43,2.8,62,19.2