version: 66.04
glider: 144
mission: 15
dive: 229
start: 8 25 109 23 42 56
data:
$ID,144
$MISSION,15
$DIVE,229
$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,-65395.652
$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,0.039999999
$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,32
$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
$GPS1,233636,4956.049,-14434.229,46,1.5,47,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-61.6
$GPS2,234202,4956.090,-14434.173,14,2.0,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.120,0.117
$KALMAN_X,-4756.1,-226.8,-129.5,48139.0,759.3
$KALMAN_Y,7439.9,127.4,120.7,-53791.3,-390.4
$MHEAD_RNG_PITCHd_Wd,295.7,29004,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,61,0.00,0.00,-42.15,0.000,2,0.000,0.000,100,2301,2819
$GC,63,-0.68,-117.3,4.0,-8.1,4,88,7.00,2.33,-12.07,0.000,4,0.238,0.062,1847,888,3413
$GC,340,-0.58,-117.3,43.8,-10.7,28,347,0.12,2.25,0.00,0.000,6,0.130,0.038,1873,2315,3416
$GC,667,-0.58,-117.3,69.1,-8.8,59,671,0.00,2.25,0.00,0.000,4,0.000,0.046,1873,895,3417
$GC,779,-0.58,-117.3,79.7,-9.5,68,785,0.00,2.25,0.00,0.000,6,0.000,0.036,1865,2306,3418
$GC,1095,-0.58,-117.3,108.5,-8.9,84,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2306,3418
$GC,1404,-0.58,-117.3,133.1,-7.2,99,1408,0.00,2.25,0.00,0.000,4,0.000,0.042,1865,888,3418
$GC,1443,-0.63,-117.3,136.3,-8.7,100,1449,0.00,2.22,0.00,0.000,6,0.000,0.046,1863,2301,3418
$GC,1779,-0.70,-117.3,159.2,-6.7,115,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2301,3418
$GC,2085,-0.78,-117.3,180.0,-6.7,125,2090,0.12,2.22,0.00,0.000,4,0.058,0.048,1784,895,3418
$GC,2123,-0.57,-117.3,183.9,-10.8,126,2128,0.32,2.22,0.00,0.000,6,0.126,0.046,1879,2307,3418
$GC,2448,-0.73,-117.3,201.8,-5.1,137,2450,0.12,0.00,0.00,0.000,6,0.058,0.000,1794,2308,3417
$GC,2754,-0.57,-117.3,231.8,-10.3,147,2758,0.22,2.25,0.00,0.000,4,0.123,0.044,1869,887,3416
$GC,2803,-0.72,-117.3,235.8,-6.9,148,2807,0.00,2.22,0.00,0.000,6,0.000,0.038,1864,2304,3416
$GC,3116,-0.84,-117.3,254.8,-5.8,158,3121,0.15,2.25,0.00,0.000,4,0.051,0.050,1766,3715,3416
$GC,3145,-0.67,-117.3,257.3,-10.1,159,3150,0.30,2.17,0.00,0.000,6,0.127,0.037,1857,2297,3415
$GC,3480,-0.76,-117.3,279.5,-6.4,170,3484,0.10,2.20,0.00,0.000,4,0.073,0.045,1794,894,3415
$GC,3563,-0.62,-117.3,287.8,-10.6,172,3568,0.28,2.20,0.00,0.000,6,0.120,0.040,1868,2305,3415
$GC,3906,-0.77,-117.3,307.8,-5.6,181,3907,0.12,0.00,0.00,0.000,6,0.060,0.000,1791,2305,3414
$GC,4209,-0.62,-117.3,336.4,-9.7,186,4213,0.22,2.22,0.00,0.000,4,0.122,0.044,1865,898,3414
$GC,4247,-0.77,-117.3,339.2,-6.0,186,4252,0.12,2.20,0.00,0.000,6,0.058,0.042,1787,2301,3414
$GC,4568,-0.61,-117.3,369.5,-9.7,192,4570,0.28,0.00,0.00,0.000,6,0.120,0.000,1872,2301,3414
$GC,4871,-0.79,-117.3,384.7,-4.8,197,4876,0.15,2.22,0.00,0.000,4,0.052,0.044,1781,892,3413
$GC,4910,-0.59,-117.3,388.0,-9.6,197,4915,0.32,2.22,0.00,0.000,6,0.124,0.044,1869,2307,3413
$GC,5231,-0.75,-117.3,403.5,-4.6,203,5235,0.12,2.22,0.00,0.000,4,0.060,0.048,1794,895,3413
$GC,5274,-0.62,-117.3,406.9,-8.4,203,5279,0.28,2.22,0.00,0.000,6,0.121,0.039,1868,2313,3413
$GC,5590,-0.79,-117.3,420.2,-4.0,209,5592,0.15,0.00,0.00,0.000,6,0.054,0.000,1781,2314,3412
$GC,5893,-0.62,-117.3,445.6,-8.7,214,5898,0.25,2.25,0.00,0.000,4,0.121,0.044,1863,896,3412
$GC,5948,-0.80,-117.3,449.1,-5.0,214,5955,0.12,2.22,0.00,0.000,6,0.058,0.041,1784,2310,3412
$GC,6259,-0.65,-117.3,476.5,-9.1,220,6261,0.25,0.00,0.00,0.000,6,0.123,0.000,1860,2310,3411
$GC,6561,-0.80,-117.3,494.7,-5.9,225,6563,0.12,0.00,0.00,0.000,6,0.058,0.000,1779,2311,3411
$GC,6864,-0.63,-117.3,525.5,-10.4,230,6869,0.25,2.25,0.00,0.000,4,0.121,0.044,1861,897,3411
$GC,6908,-0.81,-117.3,529.0,-6.9,230,6913,0.12,2.22,0.00,0.000,6,0.059,0.046,1783,2305,3411
$GC,7224,-0.67,-117.3,558.2,-9.5,236,7225,0.25,0.00,0.00,0.000,6,0.122,0.000,1859,2305,3411
$GC,7527,-0.83,-117.3,575.2,-5.5,241,7531,0.15,2.25,0.00,0.000,4,0.054,0.048,1771,891,3410
$GC,7554,-0.72,-117.3,577.6,-9.9,241,7558,0.28,2.25,0.00,0.000,6,0.130,0.041,1845,2311,3410
$GC,7886,-0.83,-117.3,597.1,-5.7,247,7887,0.10,0.00,0.00,0.000,6,0.072,0.000,1782,2312,3410
$GC,8188,-0.69,-117.3,622.8,-8.7,252,8193,0.20,2.25,0.00,0.000,4,0.124,0.051,1848,896,3410
$GC,8238,-0.83,-117.3,626.2,-6.3,252,8243,0.10,2.22,0.00,0.000,6,0.071,0.046,1784,2308,3410
$GC,8548,-0.70,-117.3,651.3,-8.2,257,8550,0.22,0.00,0.00,0.000,6,0.130,0.000,1849,2308,3410
$GC,8851,-0.84,-117.3,666.2,-4.7,262,8853,0.12,0.00,0.00,0.000,6,0.064,0.000,1773,2308,3409
$GC,9154,-0.67,-117.3,690.7,-8.3,267,9159,0.22,2.22,0.00,0.000,4,0.125,0.051,1848,899,3409
$GC,9210,-0.82,-117.3,694.0,-4.7,267,9217,0.08,2.25,0.00,0.000,6,0.054,0.043,1786,2304,3409
$GC,9519,-0.71,-117.3,716.8,-7.6,273,9524,0.17,2.25,0.00,0.000,4,0.125,0.055,1837,3707,3409
$GC,9558,-0.84,-117.3,719.1,-5.6,273,9562,0.00,2.17,0.00,0.000,6,0.000,0.034,1836,2291,3409
$GC,9880,-0.95,-117.3,736.3,-5.4,279,9881,0.15,0.00,0.00,0.000,6,0.058,0.000,1757,2291,3409
$GC,10182,-0.73,-117.3,765.6,-9.9,284,10186,0.25,2.22,0.00,0.000,4,0.133,0.047,1836,898,3408
$GC,10214,-0.81,-117.3,768.2,-6.8,284,10218,0.00,2.22,0.00,0.000,6,0.000,0.047,1836,2303,3408
$GC,10541,-0.91,-117.3,787.7,-6.0,290,10546,0.12,2.25,0.00,0.000,4,0.067,0.051,1772,892,3408
$GC,10586,-0.73,-117.3,791.6,-9.6,290,10590,0.28,2.25,0.00,0.000,6,0.128,0.041,1844,2312,3408
$GC,10902,-0.87,-117.3,808.3,-5.1,296,10904,0.12,0.00,0.00,0.000,6,0.069,0.000,1785,2312,3408
$GC,11204,-0.77,-117.3,830.9,-7.6,301,11209,0.17,2.28,0.00,0.000,4,0.125,0.047,1843,891,3407
$GC,11267,-0.91,-117.3,834.6,-5.1,302,11271,0.12,2.25,0.00,0.000,6,0.067,0.048,1779,2311,3407
$GC,11632,-0.78,-117.3,862.7,-7.8,308,11634,0.17,0.00,0.00,0.000,6,0.127,0.000,1831,2311,3407
$GC,11935,-0.87,-117.3,879.8,-5.5,313,11939,0.00,2.25,0.00,0.000,4,0.000,0.053,1831,901,3407
$GC,11985,-0.98,-117.3,882.8,-5.8,313,11989,0.12,2.22,0.00,0.000,6,0.066,0.041,1768,2305,3407
$GC,12295,-0.81,-117.3,908.9,-8.6,318,12297,0.20,0.00,0.00,0.000,6,0.132,0.000,1826,2305,3407
$GC,12598,-0.89,-117.3,925.7,-5.4,323,12602,0.00,2.28,0.00,0.000,4,0.000,0.054,1826,892,3407
$GC,12637,-0.97,-117.3,928.1,-6.4,323,12642,0.12,2.25,0.00,0.000,6,0.071,0.044,1769,2306,3407
$GC,12958,-0.81,-117.3,953.2,-8.0,329,12960,0.20,0.00,0.00,0.000,6,0.133,0.000,1827,2306,3407
$GC,13261,-0.89,-117.3,970.6,-5.7,334,13262,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2307,3407
$GC,13564,-0.97,-117.3,987.7,-5.6,339,13568,0.15,2.28,0.00,0.000,4,0.074,0.049,1768,895,3407
$STATE,13594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13594,begin apogee
$GC,13602,-0.22,0.0,990.4,8.8,339,13699,0.60,0.00,94.62,1.320,6,0.137,0.000,1947,2306,2931
$STATE,13700,end apogee,CONTROL_FINISHED_OK
$STATE,13700,begin climb
$GC,13703,0.68,117.3,992.7,0.0,341,13811,0.62,2.58,100.68,1.292,4,0.078,0.055,2157,3710,2450
$GC,13828,0.32,117.3,989.0,6.7,343,13833,0.40,2.38,0.00,0.000,6,0.179,0.041,2072,2309,2448
$GC,14177,0.37,156.3,974.0,4.2,349,14212,0.00,0.00,33.17,1.250,6,0.000,0.000,2072,2309,2293
$GC,14480,0.60,160.2,958.2,5.4,354,14485,0.17,2.35,0.00,0.000,4,0.068,0.053,2147,3714,2286
$GC,14623,0.30,160.2,946.0,9.3,356,14628,0.35,2.28,0.00,0.000,6,0.162,0.036,2062,2295,2284
$GC,14978,0.57,170.6,927.8,5.1,362,14998,0.17,2.35,12.35,1.150,4,0.070,0.051,2146,892,2235
$GC,15117,0.42,170.6,917.9,8.1,364,15122,0.20,2.30,0.00,0.000,6,0.143,0.045,2092,2314,2232
$GC,15478,0.46,195.6,900.4,4.7,370,15507,0.00,2.35,22.25,1.203,4,0.000,0.058,2092,3710,2132
$GC,15547,0.47,205.2,896.6,5.2,371,15561,0.00,2.25,9.93,1.081,6,0.000,0.040,2099,2302,2094
$GC,15912,0.47,209.2,877.4,5.4,377,15918,0.00,0.00,4.25,0.788,6,0.000,0.000,2099,2302,2078
$GC,16215,0.52,209.2,860.5,5.6,382,16219,0.00,2.30,0.00,0.000,4,0.000,0.054,2099,3713,2076
$GC,16259,0.52,209.2,857.6,6.9,382,16263,0.00,2.22,0.00,0.000,6,0.000,0.041,2109,2302,2076
$GC,16580,0.52,209.2,838.3,6.0,388,16581,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2302,2075
$GC,16883,0.52,209.2,821.1,5.6,393,16884,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2302,2075
$GC,17186,0.52,209.2,803.9,5.7,398,17190,0.00,2.28,0.00,0.000,4,0.000,0.054,2109,3710,2074
$GC,17241,0.46,209.2,800.0,6.8,398,17248,0.00,2.25,0.00,0.000,6,0.000,0.041,2119,2293,2074
$GC,17551,0.46,209.2,781.0,6.1,404,17555,0.00,2.30,0.00,0.000,4,0.000,0.053,2119,3717,2074
$GC,17583,0.36,209.2,778.6,6.6,404,17588,0.20,2.20,0.00,0.000,6,0.147,0.041,2075,2306,2074
$GC,17910,0.68,217.4,762.5,5.2,410,17925,0.20,2.30,8.38,1.001,4,0.062,0.051,2168,891,2043
$GC,18034,0.51,217.4,753.1,8.4,411,18038,0.20,2.25,0.00,0.000,6,0.141,0.046,2113,2311,2042
$GC,18348,0.51,217.4,733.9,6.0,417,18351,0.00,2.25,0.00,0.000,4,0.000,0.051,2113,3713,2042
$GC,18398,0.46,217.4,730.3,6.9,417,18403,0.10,2.20,0.00,0.000,6,0.155,0.034,2097,2298,2041
$GC,18713,0.54,217.4,712.7,5.5,423,18714,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2297,2041
$GC,19016,0.63,219.1,696.1,5.4,428,19018,0.12,0.00,0.00,0.000,6,0.059,0.000,2163,2297,2041
$GC,19319,0.42,219.1,667.8,9.6,433,19324,0.22,2.30,0.00,0.000,4,0.139,0.057,2094,3718,2041
$GC,19369,0.46,219.1,663.8,7.2,433,19373,0.00,2.20,0.00,0.000,6,0.000,0.033,2102,2296,2040
$GC,19679,0.53,219.1,645.7,5.8,438,19680,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2296,2040
$GC,19983,0.61,224.1,629.5,5.3,443,19997,0.10,2.33,6.90,0.887,4,0.070,0.051,2169,3711,2017
$GC,20014,0.37,224.1,626.8,8.7,443,20019,0.35,2.20,0.00,0.000,6,0.151,0.034,2080,2299,2016
$GC,20346,0.73,224.1,609.1,5.5,449,20350,0.20,2.30,0.00,0.000,4,0.061,0.054,2164,3722,2015
$GC,20424,0.46,224.1,602.5,9.2,450,20429,0.28,2.20,0.00,0.000,6,0.146,0.033,2094,2305,2014
$GC,20773,0.61,253.6,586.0,4.5,456,20807,0.12,2.35,26.38,1.020,4,0.055,0.049,2182,893,1895
$GC,20824,0.43,253.6,582.2,8.9,456,20829,0.32,2.28,0.00,0.000,6,0.130,0.040,2087,2308,1892
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$GC,27379,0.91,306.9,78.2,9.9,621,27386,0.15,2.20,0.00,0.000,6,0.127,0.038,2197,2305,1676
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$STATE,28318,end climb,SURFACE_DEPTH_REACHED
$STATE,28318,begin surface coast
$FINISH,0.8,1.024580
$STATE,28331,end surface coast,CONTROL_FINISHED_OK
$STATE,28331,begin surface
$SM_CCo,28407,0.00,0.000,0,0,1655,313.00
$SM_GC,1.55,5.82,0.00,0.00,0.042,0.000,0.000,100,2302,1655,-8.59,-0.03,313.00
$IRIDIUM_FIX,4933.03,-14429.29,191198,161638
$TT8_MAMPS,0.029146
$HUMID,1714
$INTERNAL_PRESSURE,7.43193
$TCM_TEMP,16.40
$XPDR_PINGS,77
$24V_AH,22.7,34.753
$10V_AH,10.7,28.540
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.550,233.800,374.525,0.000,0.000,30.715,32.702,139.530,19.250,0.000,0.000,16.102,1703.790,23592.410,548.957,2303.010,578.106,33.369,1709.420,0.000,2279.747,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,500.260,572.256,730.196,1218.860,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41226,710
$CAP_FILE_SIZE,200326,0
$CFSIZE,260165632,240955392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260809,073737,4957.615,-14439.212,36,1.1,36,18.5