version: 66.04
glider: 144
mission: 15
dive: 239
start: 8 29 109 7 44 42
data:
$ID,144
$MISSION,15
$DIVE,239
$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,-65585.211
$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,38
$R_STBD_OVSHOOT,31
$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
$GPS1,073106,5019.454,-14508.675,54,1.1,54,18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-56.3
$GPS2,074349,5019.413,-14508.529,13,1.3,30,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.105,0.107
$KALMAN_X,-11844.7,-190.5,60.8,14385.2,-234.7
$KALMAN_Y,3368.4,-102.4,2.0,-6159.3,-894.2
$MHEAD_RNG_PITCHd_Wd,296.8,5002,-14.8,-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,15,-0.75,-88.4,0.0,0.0,0,59,0.00,0.00,-42.00,0.000,2,0.000,0.000,99,2297,2897
$GC,61,-0.75,-88.4,4.1,-7.0,4,85,7.00,2.30,-8.25,0.000,4,0.235,0.058,1831,893,3295
$GC,314,-0.65,-88.4,45.2,-10.6,26,321,0.12,2.22,0.00,0.000,6,0.140,0.037,1856,2305,3297
$GC,642,-0.65,-88.4,74.4,-9.4,57,646,0.00,2.25,0.00,0.000,4,0.000,0.041,1856,888,3299
$GC,737,-0.65,-88.4,84.1,-9.7,63,741,0.00,2.22,0.00,0.000,6,0.000,0.036,1850,2302,3299
$GC,1059,-0.65,-88.4,116.8,-9.9,79,1062,0.00,2.22,0.00,0.000,4,0.000,0.044,1849,898,3299
$GC,1108,-0.65,-88.4,121.8,-9.8,81,1112,0.00,2.22,0.00,0.000,6,0.000,0.038,1841,2309,3299
$GC,1436,-0.65,-88.4,149.0,-7.6,97,1440,0.00,2.25,0.00,0.000,4,0.000,0.044,1842,894,3299
$GC,1513,-0.71,-88.4,155.3,-7.8,100,1517,0.00,2.22,0.00,0.000,6,0.000,0.039,1836,2303,3299
$GC,1831,-0.71,-88.4,181.2,-8.5,111,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2303,3299
$GC,2138,-0.71,-88.4,207.0,-8.4,121,2141,0.00,2.25,0.00,0.000,4,0.000,0.049,1836,891,3298
$GC,2182,-0.77,-88.4,211.0,-8.5,122,2186,0.00,2.25,0.00,0.000,6,0.000,0.041,1826,2309,3298
$GC,2506,-0.77,-88.4,237.2,-8.0,133,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2309,3298
$GC,2812,-0.77,-88.4,260.6,-7.6,143,2816,0.00,2.25,0.00,0.000,4,0.000,0.045,1826,895,3297
$GC,2867,-0.77,-88.4,265.1,-8.4,144,2874,0.00,2.22,0.00,0.000,6,0.000,0.041,1821,2301,3297
$GC,3180,-0.77,-88.4,289.4,-7.7,155,3184,0.00,2.25,0.00,0.000,4,0.000,0.047,1821,890,3296
$GC,3223,-0.77,-88.4,293.1,-8.0,156,3228,0.08,2.25,0.00,0.000,6,0.145,0.044,1831,2306,3296
$GC,3576,-0.82,-88.4,318.1,-7.1,164,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2306,3295
$GC,3879,-0.87,-88.4,341.0,-7.6,169,3883,0.00,2.25,0.00,0.000,4,0.000,0.045,1832,898,3295
$GC,3945,-0.93,-88.4,346.7,-8.4,170,3950,0.10,2.22,0.00,0.000,6,0.065,0.045,1767,2303,3295
$GC,4306,-0.74,-88.4,387.5,-11.6,176,4310,0.22,2.25,0.00,0.000,4,0.134,0.045,1839,895,3294
$GC,4378,-0.84,-88.4,394.0,-7.8,177,4382,0.00,2.22,0.00,0.000,6,0.000,0.046,1836,2300,3294
$GC,4733,-0.92,-88.4,421.1,-7.7,183,4734,0.12,0.00,0.00,0.000,6,0.063,0.000,1766,2301,3293
$GC,5036,-0.74,-88.4,455.3,-11.5,188,5040,0.20,2.25,0.00,0.000,4,0.134,0.046,1831,896,3293
$GC,5080,-0.84,-88.4,459.6,-8.5,188,5084,0.00,2.25,0.00,0.000,6,0.000,0.040,1824,2315,3293
$GC,5395,-0.89,-88.4,484.3,-7.8,194,5399,0.00,2.25,0.00,0.000,4,0.000,0.046,1823,899,3292
$GC,5434,-0.94,-88.4,487.5,-8.3,194,5438,0.00,2.22,0.00,0.000,6,0.000,0.046,1815,2305,3292
$GC,5755,-0.94,-88.4,512.4,-7.7,200,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2306,3292
$GC,6058,-0.94,-88.4,534.6,-7.3,205,6062,0.00,2.25,0.00,0.000,4,0.000,0.052,1815,893,3291
$GC,6114,-0.94,-88.4,539.0,-8.2,205,6121,0.00,2.28,0.00,0.000,6,0.000,0.048,1807,2301,3291
$GC,6424,-0.94,-88.4,562.4,-7.6,211,6427,0.00,2.22,0.00,0.000,4,0.000,0.046,1807,900,3291
$GC,6473,-0.94,-88.4,566.5,-8.1,211,6477,0.00,2.22,0.00,0.000,6,0.000,0.041,1797,2305,3291
$GC,6795,-0.90,-88.4,591.1,-7.7,217,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2305,3290
$GC,7098,-0.90,-88.4,613.7,-7.5,222,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2305,3290
$GC,7401,-0.86,-88.4,635.7,-7.3,227,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2305,3290
$GC,7704,-0.86,-88.4,657.6,-7.3,232,7707,0.00,2.25,0.00,0.000,4,0.000,0.052,1797,897,3289
$GC,7772,-0.86,-88.4,662.8,-7.9,233,7776,0.00,2.25,0.00,0.000,6,0.000,0.047,1792,2308,3289
$GC,8143,-0.81,-88.4,691.1,-7.6,239,8145,0.12,0.00,0.00,0.000,6,0.138,0.000,1827,2309,3289
$GC,8446,-0.91,-88.4,709.2,-5.9,244,8451,0.10,2.25,0.00,0.000,4,0.074,0.046,1772,899,3289
$GC,8486,-0.77,-88.4,712.5,-8.6,244,8491,0.22,2.25,0.00,0.000,6,0.131,0.048,1830,2316,3289
$GC,8808,-0.89,-88.4,731.5,-5.8,250,8812,0.10,2.28,0.00,0.000,4,0.073,0.051,1775,893,3288
$GC,8852,-0.77,-88.4,735.3,-8.7,250,8857,0.22,2.25,0.00,0.000,6,0.130,0.045,1832,2311,3288
$GC,9168,-0.91,-88.4,753.8,-5.7,256,9173,0.12,2.28,0.00,0.000,4,0.067,0.045,1768,890,3288
$GC,9231,-0.78,-88.4,759.3,-9.9,257,9236,0.25,2.25,0.00,0.000,6,0.129,0.040,1832,2309,3288
$GC,9596,-0.92,-88.4,780.7,-5.7,263,9601,0.12,2.28,0.00,0.000,4,0.069,0.045,1771,892,3288
$GC,9635,-0.79,-88.4,783.9,-9.0,263,9639,0.22,2.25,0.00,0.000,6,0.131,0.041,1827,2306,3288
$GC,9956,-0.91,-88.4,803.0,-5.9,269,9957,0.10,0.00,0.00,0.000,6,0.080,0.000,1779,2306,3288
$GC,10258,-0.83,-88.4,827.2,-8.1,274,10260,0.15,0.00,0.00,0.000,6,0.135,0.000,1822,2306,3288
$GC,10561,-0.93,-88.4,845.7,-6.0,279,10566,0.10,2.28,0.00,0.000,4,0.080,0.050,1775,895,3287
$GC,10600,-0.82,-88.4,848.9,-8.4,279,10605,0.20,2.25,0.00,0.000,6,0.133,0.044,1823,2306,3287
$GC,10921,-0.94,-92.8,866.6,-5.3,285,10922,0.10,0.00,0.00,0.000,6,0.081,0.000,1779,2306,3287
$GC,11223,-0.87,-92.8,888.0,-7.2,290,11225,0.12,0.00,0.00,0.000,6,0.139,0.000,1812,2306,3287
$GC,11527,-0.94,-92.8,904.9,-5.5,295,11531,0.00,2.28,0.00,0.000,4,0.000,0.049,1812,896,3287
$GC,11583,-1.00,-92.8,908.3,-6.3,295,11590,0.10,2.25,0.00,0.000,6,0.076,0.044,1762,2305,3287
$GC,11893,-0.87,-92.8,932.4,-8.0,301,11898,0.17,2.30,0.00,0.000,4,0.146,0.056,1808,3718,3287
$GC,11960,-0.94,-92.8,936.8,-6.2,302,11964,0.00,2.20,0.00,0.000,6,0.000,0.040,1808,2306,3286
$GC,12320,-0.98,-92.8,956.9,-5.6,308,12321,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3286
$GC,12624,-1.04,-92.8,974.5,-5.8,313,12625,0.12,0.00,0.00,0.000,6,0.079,0.000,1757,2306,3286
$STATE,12863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12863,begin apogee
$GC,12869,-0.22,0.0,994.4,8.3,317,12943,0.65,0.00,71.15,1.320,6,0.140,0.000,1954,2306,2931
$STATE,12943,end apogee,CONTROL_FINISHED_OK
$STATE,12944,begin climb
$GC,12946,0.76,92.8,995.7,0.0,318,13032,0.60,2.50,79.10,1.292,4,0.078,0.060,2164,3696,2551
$GC,13062,0.36,92.8,991.6,6.4,319,13067,0.38,2.35,0.00,0.000,6,0.179,0.036,2081,2303,2547
$GC,13373,0.46,127.7,978.7,4.0,324,13404,0.00,0.00,29.42,1.249,6,0.000,0.000,2081,2302,2410
$GC,13675,0.60,148.1,964.8,4.6,329,13696,0.15,0.00,18.30,1.205,6,0.067,0.000,2139,2302,2327
$GC,13978,0.50,148.1,942.4,7.6,334,13983,0.12,2.35,0.00,0.000,4,0.159,0.056,2109,3716,2322
$GC,14006,0.45,148.1,940.1,7.5,334,14010,0.00,2.28,0.00,0.000,6,0.000,0.037,2118,2292,2321
$GC,14343,0.45,148.1,917.5,6.7,340,14347,0.00,2.33,0.00,0.000,4,0.000,0.052,2118,3708,2320
$GC,14370,0.38,148.1,915.3,7.3,340,14375,0.17,2.25,0.00,0.000,6,0.159,0.036,2083,2295,2319
$GC,14703,0.52,152.0,897.3,5.3,346,14704,0.10,0.00,0.00,0.000,6,0.076,0.000,2127,2293,2319
$GC,15005,0.47,152.0,876.8,6.7,351,15010,0.10,2.33,0.00,0.000,4,0.154,0.051,2099,3719,2319
$GC,15032,0.47,152.0,874.9,6.7,351,15036,0.00,2.25,0.00,0.000,6,0.000,0.036,2108,2293,2319
$GC,15370,0.47,152.4,856.1,5.5,357,15380,0.00,2.33,4.05,0.761,4,0.000,0.051,2108,3703,2309
$GC,15402,0.47,152.4,854.0,6.2,357,15406,0.00,2.20,0.00,0.000,6,0.000,0.037,2118,2302,2308
$GC,15740,0.47,152.4,833.7,6.0,363,15741,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2302,2308
$GC,16043,0.47,152.4,815.4,6.1,368,16044,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2302,2307
$GC,16347,0.47,152.4,797.2,6.0,373,16351,0.00,2.28,0.00,0.000,4,0.000,0.051,2118,3708,2307
$GC,16391,0.39,152.4,794.0,6.8,373,16396,0.17,2.22,0.00,0.000,6,0.153,0.035,2081,2292,2307
$GC,16708,0.58,187.2,781.0,4.0,379,16742,0.15,0.00,30.67,1.152,6,0.058,0.000,2150,2291,2168
$GC,17010,0.49,187.2,758.9,7.5,384,17015,0.17,2.35,0.00,0.000,4,0.148,0.051,2097,3712,2162
$GC,17049,0.57,187.2,756.3,6.5,384,17053,0.00,2.25,0.00,0.000,6,0.000,0.036,2106,2301,2162
$GC,17370,0.69,197.5,740.1,5.0,390,17382,0.15,0.00,9.82,1.012,6,0.055,0.000,2173,2301,2124
$GC,17673,0.51,197.5,712.1,9.6,395,17678,0.20,2.30,0.00,0.000,4,0.150,0.050,2115,3709,2122
$GC,17700,0.46,197.5,709.6,9.1,395,17704,0.00,2.22,0.00,0.000,6,0.000,0.038,2122,2298,2121
$GC,18039,0.52,197.5,686.8,6.7,401,18040,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2298,2121
$GC,18342,0.57,197.5,665.9,6.9,406,18346,0.00,2.30,0.00,0.000,4,0.000,0.051,2123,3717,2120
$GC,18374,0.57,197.5,663.2,7.8,406,18379,0.00,2.22,0.00,0.000,6,0.000,0.034,2132,2295,2120
$GC,18707,0.57,197.5,638.7,7.3,412,18711,0.00,2.30,0.00,0.000,4,0.000,0.052,2132,3714,2120
$GC,18735,0.57,197.5,636.3,8.1,412,18739,0.00,2.22,0.00,0.000,6,0.000,0.036,2143,2294,2120
$GC,19067,0.57,197.5,610.7,7.7,418,19070,0.00,2.22,0.00,0.000,4,0.000,0.049,2153,896,2120
$GC,19088,0.57,197.5,609.0,7.5,418,19093,0.12,2.25,0.00,0.000,6,0.133,0.046,2121,2314,2119
$GC,19438,0.65,197.5,587.3,6.0,424,19441,0.00,2.25,0.00,0.000,4,0.000,0.051,2121,3713,2119
$GC,19478,0.65,197.5,584.6,6.5,424,19482,0.00,2.20,0.00,0.000,6,0.000,0.033,2129,2297,2119
$GC,19804,0.65,197.5,563.5,6.4,430,19808,0.00,2.28,0.00,0.000,4,0.000,0.056,2129,3710,2119
$GC,19831,0.65,197.5,561.4,7.5,430,19835,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2302,2119
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$GC,25444,0.75,238.7,181.2,5.5,548,25446,0.12,0.00,0.00,0.000,6,0.057,0.000,2198,2310,1955
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$STATE,28080,end climb,SURFACE_DEPTH_REACHED
$STATE,28080,begin surface coast
$FINISH,0.9,1.024675
$STATE,28113,end surface coast,CONTROL_FINISHED_OK
$STATE,28113,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1684
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$TCM_TEMP,16.60
$XPDR_PINGS,73
$24V_AH,23.1,36.118
$10V_AH,10.7,29.785
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$DEVICE_SECS,24.250,234.250,332.500,0.000,0.000,84.858,103.591,294.539,18.250,0.000,0.000,32.317,1682.549,23608.566,504.124,2258.228,885.671,33.363,1624.912,0.000,2230.847,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,511.131,577.740,743.286,1239.346,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44418,722
$CAP_FILE_SIZE,192964,0
$CFSIZE,260165632,240148480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290809,153611,5021.491,-14512.088,62,1.8,62,18.5