version: 66.04
glider: 144
mission: 15
dive: 289
start: 9 15 109 2 38 55
data:
$ID,144
$MISSION,15
$DIVE,289
$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,-66743.875
$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,36
$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
$GPS1,023231,5005.820,-14509.926,35,1.8,35,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-66.2
$GPS2,023801,5005.854,-14509.919,11,1.3,11,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.023,-0.166
$KALMAN_X,-29733.0,-40.3,63.4,30483.0,175.3
$KALMAN_Y,14039.7,192.3,96.2,-42343.5,165.0
$MHEAD_RNG_PITCHd_Wd,169.2,22064,-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,-117.3,0.0,0.0,0,51,0.00,0.00,-31.98,0.000,2,0.000,0.000,99,2292,2544
$GC,53,-0.68,-117.3,3.2,-6.7,3,88,7.22,2.25,-21.20,0.000,4,0.241,0.061,1844,893,3411
$GC,247,-0.60,-117.3,28.7,-12.6,20,251,0.12,2.25,0.00,0.000,6,0.147,0.041,1869,2302,3413
$GC,578,-0.60,-117.3,59.5,-8.2,51,582,0.00,2.25,0.00,0.000,4,0.000,0.048,1861,3711,3414
$GC,602,-0.60,-117.3,61.5,-8.5,53,607,0.00,2.17,0.00,0.000,6,0.000,0.028,1861,2298,3414
$GC,924,-0.60,-117.3,89.7,-9.0,78,928,0.00,2.20,0.00,0.000,4,0.000,0.041,1860,890,3415
$GC,979,-0.60,-117.3,94.8,-9.5,80,983,0.00,2.22,0.00,0.000,6,0.000,0.037,1851,2309,3415
$GC,1300,-0.60,-117.3,123.1,-8.7,96,1304,0.00,2.25,0.00,0.000,4,0.000,0.054,1848,3709,3416
$GC,1328,-0.60,-117.3,125.6,-8.5,97,1332,0.00,2.17,0.00,0.000,6,0.000,0.030,1848,2304,3416
$GC,1659,-0.60,-117.3,152.4,-7.2,113,1663,0.00,2.22,0.00,0.000,4,0.000,0.042,1847,888,3416
$GC,1762,-0.63,-117.3,160.3,-7.5,116,1766,0.10,2.22,0.00,0.000,6,0.131,0.039,1865,2299,3416
$GC,2102,-0.69,-117.3,181.8,-6.1,127,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2299,3415
$GC,2408,-0.76,-117.3,199.1,-5.6,137,2410,0.12,0.00,0.00,0.000,6,0.058,0.000,1789,2299,3415
$GC,2715,-0.67,-117.3,229.7,-10.4,147,2719,0.17,2.22,0.00,0.000,4,0.127,0.049,1848,896,3414
$GC,2792,-0.72,-117.3,236.2,-8.0,149,2797,0.00,2.25,0.00,0.000,6,0.000,0.044,1848,2308,3414
$GC,3117,-0.75,-117.3,258.9,-6.8,160,3121,0.00,2.28,0.00,0.000,4,0.000,0.054,1848,3719,3414
$GC,3149,-0.81,-117.3,261.2,-7.1,161,3154,0.10,2.20,0.00,0.000,6,0.066,0.035,1784,2298,3413
$GC,3479,-0.72,-117.3,294.0,-10.1,172,3483,0.17,2.25,0.00,0.000,4,0.129,0.042,1841,891,3412
$GC,3512,-0.74,-117.3,296.9,-7.6,173,3516,0.00,2.25,0.00,0.000,6,0.000,0.038,1837,2303,3413
$GC,3869,-0.74,-117.3,323.2,-7.4,180,3872,0.00,2.22,0.00,0.000,4,0.000,0.043,1837,901,3412
$GC,3896,-0.74,-117.3,325.5,-8.9,180,3900,0.00,2.25,0.00,0.000,6,0.000,0.041,1836,2305,3412
$GC,4239,-0.74,-117.3,351.1,-7.5,186,4243,0.00,2.25,0.00,0.000,4,0.000,0.051,1836,896,3412
$GC,4284,-0.77,-117.3,354.5,-7.7,186,4288,0.00,2.25,0.00,0.000,6,0.000,0.046,1836,2307,3412
$GC,4600,-0.79,-117.3,376.4,-6.9,192,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2307,3411
$GC,4903,-0.81,-117.3,395.8,-6.3,197,4906,0.00,2.25,0.00,0.000,4,0.000,0.050,1836,901,3411
$GC,4953,-0.84,-117.3,399.1,-7.0,197,4957,0.00,2.25,0.00,0.000,6,0.000,0.045,1833,2311,3410
$GC,5268,-0.84,-117.3,418.2,-6.1,203,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2311,3410
$GC,5572,-0.86,-117.3,436.7,-6.1,208,5576,0.00,2.28,0.00,0.000,4,0.000,0.048,1833,898,3410
$GC,5605,-0.89,-117.3,439.0,-6.9,208,5609,0.00,2.25,0.00,0.000,6,0.000,0.041,1824,2312,3410
$GC,5932,-0.89,-117.3,460.9,-6.8,214,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2312,3409
$GC,6234,-0.89,-117.3,481.4,-6.7,219,6238,0.00,2.25,0.00,0.000,4,0.000,0.045,1824,902,3409
$GC,6272,-0.89,-117.3,484.6,-8.4,219,6276,0.00,2.25,0.00,0.000,6,0.000,0.041,1821,2313,3408
$GC,6605,-0.89,-117.3,508.0,-7.1,225,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2314,3409
$GC,6909,-0.89,-117.3,529.4,-7.1,230,6913,0.00,2.25,0.00,0.000,4,0.000,0.051,1822,901,3408
$GC,6936,-0.89,-117.3,531.5,-7.8,230,6940,0.00,2.25,0.00,0.000,6,0.000,0.044,1820,2312,3408
$GC,7274,-0.89,-117.3,553.9,-6.5,236,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2312,3408
$GC,7577,-0.89,-117.3,573.0,-6.3,241,7581,0.00,2.28,0.00,0.000,4,0.000,0.047,1821,898,3408
$GC,7615,-0.89,-117.3,575.7,-7.3,241,7619,0.00,2.22,0.00,0.000,6,0.000,0.044,1811,2306,3407
$GC,7941,-0.89,-117.3,598.2,-7.0,247,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2306,3407
$GC,8245,-0.89,-117.3,618.1,-6.5,252,8249,0.00,2.25,0.00,0.000,4,0.000,0.045,1811,899,3407
$GC,8277,-0.89,-117.3,620.5,-7.1,252,8281,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2301,3407
$GC,8611,-0.89,-117.3,643.7,-7.1,258,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2301,3407
$GC,8912,-0.89,-117.3,666.9,-7.7,263,8916,0.00,2.25,0.00,0.000,4,0.000,0.050,1808,901,3406
$GC,8962,-0.89,-117.3,671.2,-8.2,263,8966,0.00,2.25,0.00,0.000,6,0.000,0.044,1807,2302,3406
$GC,9277,-0.89,-117.3,695.8,-7.8,269,9281,0.00,2.25,0.00,0.000,4,0.000,0.048,1807,897,3406
$GC,9310,-0.89,-117.3,698.5,-7.4,269,9314,0.00,2.25,0.00,0.000,6,0.000,0.046,1799,2305,3407
$GC,9638,-0.86,-117.3,722.9,-7.4,275,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2306,3406
$GC,9940,-0.83,-117.3,744.6,-7.0,280,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2306,3406
$GC,10243,-0.81,-117.3,765.3,-6.8,285,10245,0.10,0.00,0.00,0.000,6,0.145,0.000,1825,2306,3406
$GC,10548,-0.85,-117.3,781.7,-5.4,290,10552,0.00,2.28,0.00,0.000,4,0.000,0.047,1826,902,3406
$GC,10588,-0.89,-117.3,784.1,-5.7,290,10592,0.00,2.28,0.00,0.000,6,0.000,0.044,1823,2311,3405
$GC,10909,-0.92,-117.3,801.4,-5.4,296,10911,0.10,0.00,0.00,0.000,6,0.074,0.000,1770,2312,3405
$GC,11212,-0.85,-117.3,825.5,-8.1,301,11214,0.17,0.00,0.00,0.000,6,0.130,0.000,1821,2312,3405
$GC,11515,-0.88,-117.3,843.1,-5.7,306,11519,0.00,2.30,0.00,0.000,4,0.000,0.047,1821,893,3405
$GC,11542,-0.91,-117.3,844.9,-6.8,306,11546,0.00,2.28,0.00,0.000,6,0.000,0.046,1821,2304,3405
$GC,11875,-0.95,-117.3,864.7,-6.0,312,11877,0.10,0.00,0.00,0.000,6,0.081,0.000,1775,2305,3405
$GC,12178,-0.89,-117.3,888.7,-8.0,317,12182,0.12,2.28,0.00,0.000,4,0.135,0.046,1809,899,3405
$GC,12210,-0.89,-117.3,891.3,-7.1,317,12214,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2307,3405
$GC,12548,-0.89,-117.3,912.3,-6.1,323,12549,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3405
$GC,12851,-0.89,-117.3,931.8,-6.5,328,12855,0.00,2.28,0.00,0.000,4,0.000,0.047,1808,903,3405
$GC,12890,-0.89,-117.3,934.6,-6.5,328,12894,0.00,2.28,0.00,0.000,6,0.000,0.043,1805,2308,3405
$GC,13216,-0.89,-117.3,957.4,-7.0,334,13220,0.00,2.28,0.00,0.000,4,0.000,0.052,1805,902,3404
$GC,13237,-0.89,-117.3,958.9,-7.4,334,13241,0.00,2.25,0.00,0.000,6,0.000,0.043,1796,2304,3404
$GC,13581,-0.86,-117.3,985.7,-7.9,340,13585,0.00,2.28,0.00,0.000,4,0.000,0.048,1796,904,3404
$GC,13614,-0.84,-117.3,988.5,-9.0,340,13618,0.10,2.28,0.00,0.000,6,0.156,0.045,1818,2309,3404
$STATE,13634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13634,begin apogee
$GC,13640,-0.22,0.0,990.3,8.7,341,13738,0.43,0.00,95.43,1.310,6,0.120,0.000,1954,2309,2931
$STATE,13739,end apogee,CONTROL_FINISHED_OK
$STATE,13739,begin climb
$GC,13742,0.68,117.3,992.2,0.0,342,13851,0.60,2.58,101.90,1.281,4,0.074,0.058,2158,3706,2451
$GC,13862,0.55,135.3,992.2,4.9,344,13887,0.22,2.40,17.12,1.174,6,0.176,0.034,2118,2314,2378
$GC,14250,0.49,136.1,971.8,5.5,351,14254,0.00,2.38,0.00,0.000,4,0.000,0.052,2127,889,2370
$GC,14289,0.45,136.1,969.4,6.1,351,14294,0.12,2.33,0.00,0.000,6,0.146,0.044,2097,2307,2369
$GC,14610,0.48,163.0,954.8,4.6,357,14639,0.00,2.38,23.30,1.219,4,0.000,0.054,2097,3709,2266
$GC,14685,0.45,163.0,950.6,6.1,358,14689,0.00,2.28,0.00,0.000,6,0.000,0.035,2104,2300,2264
$GC,15044,0.45,163.0,931.0,5.5,364,15046,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2300,2261
$GC,15348,0.45,163.0,914.1,5.6,369,15352,0.00,2.30,0.00,0.000,4,0.000,0.056,2104,3709,2260
$GC,15393,0.41,163.0,911.1,7.3,369,15398,0.12,2.25,0.00,0.000,6,0.158,0.035,2084,2291,2260
$GC,15709,0.47,191.8,896.6,4.5,375,15736,0.00,0.00,25.50,1.204,6,0.000,0.000,2084,2291,2149
$GC,16011,0.55,217.7,882.6,4.6,380,16038,0.12,0.00,23.95,1.183,6,0.070,0.000,2139,2290,2043
$GC,16314,0.50,217.7,860.2,7.6,385,16319,0.12,2.35,0.00,0.000,4,0.146,0.053,2107,3717,2038
$GC,16342,0.47,217.7,858.0,7.4,385,16346,0.00,2.25,0.00,0.000,6,0.000,0.034,2116,2295,2037
$GC,16679,0.47,217.7,836.9,6.2,391,16681,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2294,2036
$GC,16982,0.47,217.7,817.1,6.5,396,16986,0.00,2.33,0.00,0.000,4,0.000,0.050,2116,3712,2035
$GC,17009,0.47,217.7,815.1,6.5,396,17014,0.10,2.22,0.00,0.000,6,0.154,0.035,2102,2303,2035
$GC,17341,0.51,217.7,795.7,5.8,402,17345,0.00,2.28,0.00,0.000,4,0.000,0.054,2110,893,2035
$GC,17364,0.57,234.2,794.4,4.9,402,17383,0.00,2.25,14.45,1.091,6,0.000,0.042,2111,2306,1976
$GC,17711,0.59,234.2,773.8,5.9,408,17715,0.00,2.28,0.00,0.000,4,0.000,0.055,2111,3712,1972
$GC,17750,0.59,234.2,771.1,7.2,408,17754,0.00,2.22,0.00,0.000,6,0.000,0.034,2120,2303,1972
$GC,18076,0.59,234.2,751.3,6.0,414,18078,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2303,1971
$GC,18379,0.59,234.2,733.1,6.0,419,18381,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2303,1971
$GC,18682,0.59,234.2,715.0,6.0,424,18686,0.00,2.28,0.00,0.000,4,0.000,0.055,2120,3710,1970
$GC,18712,0.59,234.2,712.9,6.8,424,18716,0.00,2.22,0.00,0.000,6,0.000,0.035,2130,2294,1970
$GC,19044,0.57,234.2,688.1,7.5,430,19046,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2294,1970
$GC,19347,0.54,234.2,665.3,7.5,435,19351,0.00,2.30,0.00,0.000,4,0.000,0.050,2131,3720,1970
$GC,19386,0.50,234.2,661.8,9.0,435,19390,0.12,2.22,0.00,0.000,6,0.144,0.037,2108,2302,1969
$GC,19707,0.54,234.2,642.6,5.9,441,19710,0.00,2.25,0.00,0.000,4,0.000,0.047,2116,893,1969
$GC,19734,0.61,247.5,640.8,5.1,441,19753,0.00,2.25,12.07,0.986,6,0.000,0.042,2117,2314,1922
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$GC,28819,0.98,292.5,38.1,5.1,710,28835,0.08,2.22,11.38,0.616,4,0.077,0.044,2246,893,1737
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$STATE,29452,end climb,SURFACE_DEPTH_REACHED
$STATE,29452,begin surface coast
$FINISH,0.9,1.024545
$STATE,29485,end surface coast,CONTROL_FINISHED_OK
$STATE,29487,begin surface
$SM_CCo,29562,0.00,0.000,0,0,1701,301.72
$SM_GC,1.82,5.50,0.00,0.00,0.036,0.000,0.000,99,2300,1701,-8.59,-0.08,301.72
$IRIDIUM_FIX,4953.05,-14513.41,091298,181804
$TT8_MAMPS,0.029146
$HUMID,1681
$INTERNAL_PRESSURE,7.45146
$TCM_TEMP,16.90
$XPDR_PINGS,83
$24V_AH,22.4,43.091
$10V_AH,10.6,36.039
$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,17.650,243.475,364.450,0.000,0.000,26.186,26.063,151.615,20.750,0.000,0.000,13.022,1740.967,24699.600,514.823,2295.432,630.822,33.369,1669.482,0.000,2296.962,0.000,0.528,0.000
$DEVICE_MAMPS,240.838,61.360,1310.036,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,543.622,624.395,796.417,1321.520,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44370,770
$CAP_FILE_SIZE,187514,0
$CFSIZE,260165632,236163072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150909,105254,5002.878,-14511.326,39,1.6,39,18.4