version: 66.04
glider: 144
mission: 15
dive: 397
start: 10 21 109 23 43 31
data:
$ID,144
$MISSION,15
$DIVE,397
$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,-69092.414
$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,35
$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
$GPS1,233531,4959.020,-14429.929,45,1.3,45,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-61.0
$GPS2,234237,4958.953,-14429.827,15,1.2,15,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.011,-0.112
$KALMAN_X,-74439.5,-92.9,-35.8,122728.4,378.6
$KALMAN_Y,24349.0,-107.8,55.3,-65084.8,578.7
$MHEAD_RNG_PITCHd_Wd,166.9,9152,-21.7,-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,-1.00,-45.7,0.0,0.0,0,51,0.00,0.00,-31.27,0.000,2,0.000,0.000,99,2294,2561
$GC,54,-1.00,-45.7,3.1,-5.6,3,81,6.80,2.38,-14.23,0.000,4,0.229,0.058,1762,3708,3120
$GC,160,-0.93,-45.7,23.3,-19.1,12,167,0.15,2.20,0.00,0.000,6,0.162,0.030,1798,2304,3122
$GC,488,-0.96,-45.7,72.2,-10.7,43,492,0.00,2.28,0.00,0.000,4,0.000,0.047,1790,3714,3123
$GC,628,-0.99,-45.7,89.1,-11.4,52,632,0.00,2.22,0.00,0.000,6,0.000,0.030,1790,2294,3123
$GC,950,-1.01,-45.7,124.4,-10.5,68,953,0.00,2.22,0.00,0.000,4,0.000,0.041,1790,896,3124
$GC,1160,-1.06,-45.7,147.9,-11.8,77,1164,0.00,2.22,0.00,0.000,6,0.000,0.036,1781,2308,3125
$GC,1498,-1.10,-45.7,182.0,-9.7,89,1502,0.00,2.25,0.00,0.000,4,0.000,0.042,1780,900,3124
$GC,1555,-1.14,-45.7,187.6,-9.7,90,1559,0.00,2.22,0.00,0.000,6,0.000,0.038,1771,2311,3124
$GC,1868,-1.17,-45.7,216.4,-9.2,100,1873,0.10,2.28,0.00,0.000,4,0.073,0.046,1723,895,3124
$GC,1936,-1.10,-45.7,224.4,-12.1,102,1941,0.17,2.22,0.00,0.000,6,0.164,0.044,1757,2302,3124
$GC,2271,-1.10,-45.7,259.9,-10.3,113,2275,0.00,2.25,0.00,0.000,4,0.000,0.042,1757,888,3124
$GC,2344,-1.10,-45.7,267.9,-11.1,115,2348,0.00,2.25,0.00,0.000,6,0.000,0.045,1749,2305,3123
$GC,2667,-1.10,-45.7,300.8,-9.9,126,2671,0.00,2.28,0.00,0.000,4,0.000,0.043,1750,890,3123
$GC,2735,-1.10,-45.7,307.9,-10.3,127,2739,0.00,2.22,0.00,0.000,6,0.000,0.043,1740,2299,3123
$GC,3100,-1.10,-45.7,344.8,-10.0,133,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,2299,3122
$GC,3403,-1.10,-45.7,375.2,-10.0,138,3407,0.00,2.25,0.00,0.000,4,0.000,0.051,1740,897,3121
$GC,3504,-1.10,-45.7,386.4,-11.8,139,3509,0.12,2.25,0.00,0.000,6,0.160,0.041,1759,2311,3121
$GC,3831,-1.13,-45.7,416.0,-9.0,145,3835,0.00,2.28,0.00,0.000,4,0.000,0.044,1760,889,3121
$GC,3876,-1.16,-45.7,420.3,-9.7,145,3880,0.00,2.25,0.00,0.000,6,0.000,0.040,1752,2305,3121
$GC,4191,-1.16,-45.7,448.6,-8.8,151,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,2305,3120
$GC,4495,-1.16,-45.7,474.9,-8.6,156,4499,0.00,2.30,0.00,0.000,4,0.000,0.046,1753,890,3120
$GC,4591,-1.16,-45.7,483.8,-9.0,157,4595,0.00,2.28,0.00,0.000,6,0.000,0.039,1742,2313,3120
$GC,4924,-1.16,-45.7,513.4,-8.8,163,4928,0.00,2.28,0.00,0.000,4,0.000,0.051,1742,895,3120
$GC,4968,-1.16,-45.7,517.6,-9.3,163,4972,0.00,2.25,0.00,0.000,6,0.000,0.048,1732,2306,3119
$GC,5283,-1.14,-45.7,546.4,-9.1,169,5287,0.00,2.28,0.00,0.000,4,0.000,0.049,1722,3711,3119
$GC,5305,-1.10,-45.7,548.6,-9.4,169,5309,0.15,2.22,0.00,0.000,6,0.163,0.035,1758,2297,3118
$GC,5643,-1.13,-45.7,575.6,-7.9,175,5647,0.00,2.28,0.00,0.000,4,0.000,0.050,1758,893,3118
$GC,5681,-1.16,-45.7,579.1,-8.6,175,5686,0.00,2.25,0.00,0.000,6,0.000,0.046,1752,2304,3118
$GC,6003,-1.18,-45.7,605.7,-8.3,181,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,2304,3118
$GC,6306,-1.21,-45.7,630.9,-8.4,186,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,2304,3118
$GC,6609,-1.23,-45.7,656.5,-8.5,191,6613,0.00,2.28,0.00,0.000,4,0.000,0.048,1753,894,3118
$GC,6660,-1.25,-45.7,661.1,-9.0,191,6664,0.00,2.25,0.00,0.000,6,0.000,0.047,1742,2305,3118
$GC,6969,-1.25,-45.7,688.5,-8.9,196,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,2305,3117
$GC,7273,-1.25,-45.7,714.9,-8.7,201,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,2305,3117
$GC,7575,-1.25,-45.7,740.3,-8.3,206,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,2305,3117
$GC,7879,-1.25,-45.7,764.4,-7.9,211,7883,0.00,2.28,0.00,0.000,4,0.000,0.049,1742,892,3116
$GC,7951,-1.25,-45.7,770.6,-8.5,212,7955,0.00,2.28,0.00,0.000,6,0.000,0.041,1733,2310,3116
$GC,8306,-1.25,-45.7,797.8,-7.6,218,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,2310,3116
$GC,8608,-1.25,-45.7,820.7,-7.5,223,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,2311,3116
$GC,8911,-1.25,-45.7,843.7,-7.7,228,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,2311,3116
$GC,9214,-1.25,-45.7,867.5,-7.9,233,9218,0.00,2.33,0.00,0.000,4,0.000,0.048,1733,892,3115
$GC,9270,-1.25,-45.7,872.4,-8.3,233,9277,0.00,2.30,0.00,0.000,6,0.000,0.045,1723,2302,3115
$GC,9580,-1.25,-45.7,898.5,-8.5,239,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,2302,3115
$GC,9883,-1.25,-45.7,924.3,-8.5,244,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,2302,3115
$GC,10186,-1.25,-45.7,949.5,-8.3,249,10190,0.00,2.30,0.00,0.000,4,0.000,0.050,1723,896,3115
$GC,10225,-1.22,-45.7,953.0,-9.3,249,10230,0.00,2.28,0.00,0.000,6,0.000,0.047,1714,2306,3115
$GC,10548,-1.19,-45.7,979.6,-8.2,255,10549,0.12,0.00,0.00,0.000,6,0.171,0.000,1743,2306,3115
$STATE,10725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10725,begin apogee
$GC,10732,-0.22,0.0,993.1,7.6,258,10774,0.68,0.00,38.88,1.278,6,0.135,0.000,1951,2306,2931
$STATE,10774,end apogee,CONTROL_FINISHED_OK
$STATE,10774,begin climb
$GC,10777,1.00,45.7,993.1,0.0,258,10820,0.77,0.00,39.78,1.256,6,0.076,0.000,2220,2306,2744
$GC,11093,0.90,58.0,981.5,4.5,264,11109,0.12,2.35,11.12,1.128,4,0.187,0.053,2193,3718,2694
$GC,11138,0.78,61.7,979.1,5.2,264,11149,0.15,2.30,4.95,0.867,6,0.197,0.034,2168,2304,2679
$GC,11454,0.79,68.4,963.7,4.9,269,11468,0.00,2.35,7.07,1.016,4,0.000,0.053,2167,3710,2651
$GC,11497,0.72,68.4,961.2,6.4,269,11501,0.00,2.25,0.00,0.000,6,0.000,0.040,2177,2303,2651
$GC,11818,0.72,70.7,944.0,5.3,275,11822,0.00,2.33,0.00,0.000,4,0.000,0.057,2175,3716,2650
$GC,11847,0.65,70.7,942.2,7.0,275,11852,0.17,2.28,0.00,0.000,6,0.186,0.035,2145,2296,2650
$GC,12180,0.71,80.5,926.5,4.7,281,12193,0.00,0.00,11.52,1.122,6,0.000,0.000,2145,2296,2602
$GC,12483,0.76,81.2,910.4,5.4,286,12487,0.00,2.33,0.00,0.000,4,0.000,0.053,2145,3713,2599
$GC,12549,0.76,81.2,906.1,6.3,287,12553,0.00,2.25,0.00,0.000,6,0.000,0.040,2153,2301,2599
$GC,12916,0.80,81.2,884.9,5.8,293,12917,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2301,2599
$GC,13219,0.83,81.2,867.8,5.6,298,13223,0.10,2.30,0.00,0.000,4,0.080,0.054,2192,3718,2599
$GC,13314,0.74,81.2,860.8,8.1,299,13319,0.17,2.25,0.00,0.000,6,0.185,0.038,2158,2298,2599
$GC,13646,0.77,84.0,842.9,5.3,305,13652,0.00,0.00,4.00,0.739,6,0.000,0.000,2158,2298,2588
$GC,13949,0.80,84.0,826.0,5.6,310,13950,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2298,2588
$GC,14252,0.83,84.1,809.5,5.5,315,14257,0.08,2.30,0.00,0.000,4,0.086,0.050,2192,3712,2587
$GC,14359,0.74,84.1,801.7,7.1,316,14364,0.15,2.22,0.00,0.000,6,0.187,0.034,2165,2294,2587
$GC,14680,0.74,84.7,783.8,5.5,322,14684,0.00,2.30,0.00,0.000,4,0.000,0.051,2165,3716,2587
$GC,14730,0.71,84.7,780.6,6.7,322,14734,0.00,2.22,0.00,0.000,6,0.000,0.038,2174,2301,2587
$GC,15041,0.71,85.9,763.8,5.4,327,15045,0.00,2.28,0.00,0.000,4,0.000,0.051,2173,3713,2587
$GC,15086,0.65,85.9,761.0,6.3,327,15091,0.17,2.20,0.00,0.000,6,0.173,0.033,2141,2300,2587
$GC,15404,0.74,104.4,747.9,4.0,333,15428,0.00,2.33,18.38,1.077,4,0.000,0.055,2140,3705,2504
$GC,15469,0.78,104.4,744.6,6.1,334,15473,0.00,2.20,0.00,0.000,6,0.000,0.034,2149,2305,2503
$GC,15842,0.85,111.4,726.4,4.9,340,15856,0.12,2.30,6.97,0.905,4,0.065,0.051,2203,3717,2475
$GC,15910,0.76,111.4,721.1,9.0,341,15915,0.20,2.25,0.00,0.000,6,0.178,0.036,2164,2296,2474
$GC,16276,0.80,111.4,698.0,6.2,347,16280,0.00,2.30,0.00,0.000,4,0.000,0.051,2164,3718,2474
$GC,16315,0.80,111.4,695.2,7.6,347,16319,0.00,2.22,0.00,0.000,6,0.000,0.034,2173,2297,2473
$GC,16636,0.83,111.4,673.9,6.6,353,16640,0.00,2.30,0.00,0.000,4,0.000,0.055,2172,3714,2473
$GC,16680,0.80,111.4,670.2,9.1,353,16684,0.00,2.22,0.00,0.000,6,0.000,0.033,2183,2300,2473
$GC,16996,0.80,111.4,647.6,7.2,359,17000,0.00,2.28,0.00,0.000,4,0.000,0.051,2184,3712,2473
$GC,17030,0.76,111.4,644.8,8.2,359,17035,0.12,2.22,0.00,0.000,6,0.177,0.038,2165,2297,2472
$GC,17356,0.80,111.4,623.4,6.4,365,17360,0.00,2.28,0.00,0.000,4,0.000,0.048,2165,3716,2473
$GC,17429,0.80,111.4,617.7,8.2,366,17433,0.00,2.22,0.00,0.000,6,0.000,0.034,2174,2291,2473
$GC,17796,0.83,111.4,593.2,6.6,372,17800,0.00,2.30,0.00,0.000,4,0.000,0.050,2174,3715,2473
$GC,17936,0.79,111.4,582.7,6.2,374,17940,0.00,2.22,0.00,0.000,6,0.000,0.038,2184,2297,2473
$GC,18291,0.79,111.4,561.0,6.1,380,18295,0.00,2.28,0.00,0.000,4,0.000,0.054,2185,3712,2472
$GC,18354,0.75,111.4,556.5,6.7,381,18359,0.15,2.20,0.00,0.000,6,0.173,0.033,2158,2303,2472
$GC,18720,0.81,119.7,538.6,4.8,387,18731,0.00,0.00,8.27,0.852,6,0.000,0.000,2158,2303,2441
$GC,19024,0.88,120.3,522.2,5.5,392,19029,0.12,2.30,0.00,0.000,4,0.063,0.048,2214,3720,2440
$GC,19063,0.78,120.3,519.0,7.6,392,19068,0.22,2.25,0.00,0.000,6,0.182,0.033,2167,2293,2439
$GC,19385,0.82,120.3,498.4,6.3,398,19389,0.00,2.30,0.00,0.000,4,0.000,0.048,2167,3711,2439
$GC,19426,0.82,120.3,495.4,7.8,398,19430,0.00,2.22,0.00,0.000,6,0.000,0.033,2176,2300,2439
$GC,19747,0.85,120.3,472.5,7.1,404,19751,0.00,2.30,0.00,0.000,4,0.000,0.049,2176,3712,2439
$GC,19781,0.83,120.3,469.6,8.1,404,19785,0.00,2.22,0.00,0.000,6,0.000,0.033,2187,2300,2440
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$GC,26713,1.22,225.5,55.0,1.4,633,26758,0.00,2.25,39.38,0.649,6,0.000,0.037,2245,2307,2011
$GC,27077,1.30,232.0,36.3,5.0,667,27090,0.12,2.28,5.28,0.499,4,0.058,0.044,2323,894,1987
$GC,27242,1.26,232.0,23.2,8.5,681,27249,0.20,2.22,0.00,0.000,6,0.162,0.038,2269,2302,1984
$STATE,27500,end climb,SURFACE_DEPTH_REACHED
$STATE,27500,begin surface coast
$FINISH,0.9,1.024758
$STATE,27512,end surface coast,CONTROL_FINISHED_OK
$STATE,27512,begin surface
$SM_CCo,27528,54.50,0.602,0,0,1707,300.00
$SM_GC,1.74,0.00,0.00,54.50,0.000,0.000,0.602,99,2303,1707,-8.74,0.00,300.00
$IRIDIUM_FIX,4946.36,-14421.51,150199,151525
$TT8_MAMPS,0.028379
$HUMID,1717
$INTERNAL_PRESSURE,7.44169
$TCM_TEMP,16.80
$XPDR_PINGS,59
$24V_AH,23.4,58.091
$10V_AH,10.5,49.735
$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
$DEVICE_SECS,18.375,221.800,249.075,54.500,0.000,27.722,25.230,235.083,14.750,0.000,0.000,16.868,1694.878,22596.461,453.801,2507.409,749.226,33.373,1671.684,0.000,2486.912,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,499.136,572.300,729.759,1213.698,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41175,707
$CAP_FILE_SIZE,188001,0
$CFSIZE,260165632,227794944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,221009,072438,4956.960,-14429.406,40,1.6,41,18.5