version: 66.04
glider: 144
mission: 15
dive: 468
start: 11 15 109 5 27 38
data:
$ID,144
$MISSION,15
$DIVE,468
$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,-70833.281
$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,30
$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
$GPS1,052006,5006.304,-14451.304,26,1.7,26,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-48.1
$GPS2,052645,5006.249,-14451.232,33,2.3,52,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.031,0.045
$KALMAN_X,-93263.7,216.6,160.2,115730.7,-599.6
$KALMAN_Y,15614.0,-197.2,-45.1,-42651.7,848.2
$MHEAD_RNG_PITCHd_Wd,15.9,2371,-42.5,-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,-1.86,-13.1,0.0,0.0,0,81,0.00,0.00,-61.28,0.000,2,0.000,0.000,98,2301,2764
$GC,84,-1.87,-18.9,3.7,-3.9,6,107,6.03,2.40,-6.15,0.000,4,0.229,0.064,1595,885,3011
$GC,360,-1.93,-18.9,76.3,-25.8,30,366,0.00,2.28,0.00,0.000,6,0.000,0.039,1587,2308,3012
$GC,687,-2.03,-18.9,144.6,-20.0,47,692,0.10,2.30,0.00,0.000,4,0.255,0.041,1556,886,3013
$GC,784,-2.09,-18.9,165.1,-20.2,51,788,0.00,2.28,0.00,0.000,6,0.000,0.044,1547,2310,3013
$GC,1120,-2.15,-18.9,228.3,-18.4,62,1124,0.00,2.30,0.00,0.000,4,0.000,0.047,1547,885,3013
$GC,1377,-2.22,-18.9,275.8,-18.2,69,1384,0.00,2.25,0.00,0.000,6,0.000,0.038,1537,2307,3013
$GC,1720,-2.27,-18.9,338.7,-18.6,78,1724,0.12,2.30,0.00,0.000,4,0.176,0.042,1494,881,3013
$GC,1960,-2.27,-18.9,387.2,-19.8,81,1964,0.00,2.28,0.00,0.000,6,0.000,0.040,1485,2308,3013
$GC,2281,-2.27,-18.9,448.5,-19.2,87,2285,0.00,2.30,0.00,0.000,4,0.000,0.048,1487,888,3012
$GC,2539,-2.27,-18.9,496.5,-17.4,90,2546,0.12,2.28,0.00,0.000,6,0.222,0.038,1504,2314,3012
$GC,2850,-2.30,-18.9,548.4,-16.8,96,2854,0.00,2.30,0.00,0.000,4,0.000,0.044,1515,892,3012
$GC,3107,-2.34,-18.9,589.9,-16.2,99,3113,0.00,2.28,0.00,0.000,6,0.000,0.038,1506,2303,3011
$GC,3417,-2.37,-18.9,638.8,-15.8,105,3421,0.00,2.30,0.00,0.000,4,0.000,0.047,1507,885,3010
$GC,3648,-2.40,-18.9,675.6,-15.4,108,3652,0.00,2.28,0.00,0.000,6,0.000,0.042,1497,2305,3010
$GC,3981,-2.42,-18.9,726.9,-15.4,114,3985,0.10,2.30,0.00,0.000,4,0.082,0.049,1454,884,3010
$GC,4048,-2.38,-18.9,738.0,-16.3,115,4053,0.15,2.28,0.00,0.000,6,0.222,0.041,1477,2306,3010
$GC,4409,-2.38,-18.9,793.2,-15.2,121,4413,0.00,2.30,0.00,0.000,4,0.000,0.047,1480,880,3010
$GC,4471,-2.38,-18.9,803.1,-15.5,122,4475,0.00,2.28,0.00,0.000,6,0.000,0.040,1471,2300,3009
$GC,4838,-2.38,-18.9,859.2,-15.3,128,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,2301,3009
$GC,5140,-2.38,-18.9,904.9,-15.2,133,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,2301,3009
$GC,5444,-2.38,-18.9,950.2,-14.9,138,5448,0.00,2.33,0.00,0.000,4,0.000,0.048,1476,884,3008
$GC,5516,-2.38,-18.9,961.2,-14.7,139,5520,0.00,2.30,0.00,0.000,6,0.000,0.047,1467,2305,3008
$STATE,5746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5746,begin apogee
$GC,5754,-0.22,0.0,994.2,14.2,143,5776,1.85,0.00,17.80,1.223,6,0.202,0.000,1949,2305,2931
$STATE,5776,end apogee,CONTROL_FINISHED_OK
$STATE,5777,begin climb
$GC,5780,1.87,18.9,994.2,0.0,143,5804,1.27,2.40,17.15,1.192,4,0.067,0.054,2426,901,2854
$GC,6015,1.91,53.9,998.2,-4.4,146,6050,0.00,2.30,30.02,1.252,6,0.000,0.043,2423,2312,2711
$GC,6418,1.91,53.9,972.5,8.5,153,6422,0.00,2.30,0.00,0.000,4,0.000,0.053,2423,3714,2709
$GC,6636,1.85,53.9,951.7,10.0,156,6641,0.15,2.25,0.00,0.000,6,0.242,0.033,2402,2301,2708
$GC,6986,1.88,53.9,924.1,7.9,162,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2301,2708
$GC,7289,1.92,53.9,901.6,7.5,167,7293,0.00,2.33,0.00,0.000,4,0.000,0.050,2397,3719,2708
$GC,7363,1.89,53.9,895.9,7.1,168,7367,0.00,2.25,0.00,0.000,6,0.000,0.033,2406,2300,2707
$GC,7718,1.92,53.9,869.3,7.5,174,7722,0.00,2.30,0.00,0.000,4,0.000,0.049,2398,3714,2707
$GC,7976,1.89,53.9,848.2,8.3,177,7982,0.00,2.25,0.00,0.000,6,0.000,0.034,2406,2307,2707
$GC,8286,1.92,53.9,825.4,7.4,183,8290,0.00,2.28,0.00,0.000,4,0.000,0.054,2398,3716,2707
$GC,8349,1.89,53.9,820.4,8.2,184,8353,0.00,2.22,0.00,0.000,6,0.000,0.034,2406,2294,2706
$GC,8722,1.92,53.9,792.7,7.5,190,8726,0.00,2.30,0.00,0.000,4,0.000,0.053,2398,3716,2706
$GC,8806,1.89,53.9,786.0,7.4,191,8810,0.00,2.22,0.00,0.000,6,0.000,0.033,2406,2303,2706
$GC,9150,1.92,53.9,761.1,7.2,197,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2303,2706
$GC,9454,1.95,53.9,741.5,6.4,202,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2303,2706
$GC,9756,1.98,53.9,723.1,5.9,207,9757,0.08,0.00,0.00,0.000,6,0.109,0.000,2435,2303,2706
$GC,10058,1.98,53.9,706.0,5.6,212,10062,0.00,2.25,0.00,0.000,4,0.000,0.048,2426,3712,2706
$GC,10132,1.91,53.9,701.7,5.9,213,10136,0.00,2.20,0.00,0.000,6,0.000,0.033,2435,2304,2706
$GC,10492,1.91,56.8,684.2,4.7,219,10496,0.00,2.28,0.00,0.000,4,0.000,0.047,2426,3711,2706
$GC,10708,1.85,60.4,673.0,4.5,222,10720,0.15,2.22,6.22,0.845,6,0.246,0.033,2406,2305,2684
$GC,11059,1.88,60.4,652.3,6.1,228,11060,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2305,2683
$GC,11362,1.92,60.4,633.9,6.0,233,11366,0.00,2.30,0.00,0.000,4,0.000,0.047,2414,885,2683
$GC,11602,1.96,60.4,618.8,6.3,236,11606,0.00,2.28,0.00,0.000,6,0.000,0.039,2410,2304,2683
$GC,11924,1.99,60.4,599.6,6.0,242,11926,0.08,0.00,0.00,0.000,6,0.114,0.000,2437,2304,2683
$GC,12227,1.99,60.4,581.6,6.0,247,12228,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2304,2683
$GC,12531,1.99,61.1,565.3,5.3,252,12534,0.00,2.25,0.00,0.000,4,0.000,0.048,2429,3712,2683
$GC,12790,1.93,64.3,551.4,4.6,255,12802,0.00,2.22,4.82,0.705,6,0.000,0.034,2437,2296,2667
$GC,13106,1.93,65.3,535.5,5.2,261,13110,0.00,2.28,0.00,0.000,4,0.000,0.048,2428,3712,2667
$GC,13364,1.86,65.3,520.8,5.8,264,13369,0.15,2.22,0.00,0.000,6,0.237,0.034,2407,2305,2667
$GC,13676,1.90,69.6,507.4,4.3,269,13686,0.00,2.28,5.97,0.755,4,0.000,0.047,2397,3714,2646
$GC,13923,1.90,69.6,492.8,6.1,272,13927,0.00,2.22,0.00,0.000,6,0.000,0.033,2405,2295,2645
$GC,14239,1.95,70.6,476.1,5.2,278,14242,0.00,2.22,0.00,0.000,4,0.000,0.045,2415,894,2645
$GC,14497,1.99,72.2,461.6,5.1,281,14510,0.10,2.22,3.80,0.581,6,0.101,0.038,2443,2305,2636
$GC,14813,1.99,72.2,441.3,6.6,287,14817,0.00,2.28,0.00,0.000,4,0.000,0.048,2435,3717,2635
$GC,14943,1.92,72.2,432.3,6.9,289,14948,0.12,2.22,0.00,0.000,6,0.239,0.033,2419,2298,2636
$GC,15316,1.96,72.2,409.3,6.0,295,15320,0.00,2.25,0.00,0.000,4,0.000,0.044,2428,894,2636
$GC,15575,1.98,72.2,394.0,5.8,298,15581,0.00,2.28,0.00,0.000,6,0.000,0.038,2423,2306,2636
$GC,15885,2.01,73.2,377.4,5.2,304,15889,0.00,2.28,0.00,0.000,4,0.000,0.043,2432,891,2635
$GC,15936,2.04,74.7,374.7,5.1,304,15949,0.00,2.25,3.78,0.543,6,0.000,0.038,2424,2311,2625
$GC,16253,2.07,75.2,358.0,5.4,310,16255,0.10,0.00,0.00,0.000,6,0.092,0.000,2460,2311,2625
$GC,16555,2.04,75.5,341.6,5.4,315,16559,0.00,2.28,0.00,0.000,4,0.000,0.043,2472,892,2626
$GC,16814,2.02,77.7,327.9,4.9,318,16825,0.10,2.25,3.78,0.533,6,0.235,0.038,2443,2311,2616
$GC,17191,2.02,80.1,309.2,4.8,325,17200,0.00,2.30,4.15,0.558,4,0.000,0.044,2452,892,2603
$GC,17454,2.03,84.2,296.3,4.4,329,17464,0.00,2.25,5.03,0.614,6,0.000,0.038,2450,2305,2587
$GC,17802,2.03,86.1,279.6,5.0,341,17806,0.00,2.30,0.00,0.000,4,0.000,0.043,2458,885,2586
$GC,17920,2.03,88.2,273.4,4.9,344,17932,0.00,2.25,4.65,0.581,6,0.000,0.037,2449,2304,2571
$GC,18239,2.03,88.2,252.3,6.8,355,18240,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2304,2571
$GC,18544,2.03,88.2,232.3,6.6,365,18548,0.00,2.25,0.00,0.000,4,0.000,0.046,2450,3709,2571
$GC,18803,1.97,88.7,216.0,5.3,372,18807,0.15,2.22,0.00,0.000,6,0.235,0.031,2428,2289,2571
$GC,19121,2.01,94.1,201.9,4.0,383,19135,0.00,2.35,6.55,0.629,4,0.000,0.044,2417,3716,2546
$GC,19389,2.01,94.1,185.9,5.9,391,19393,0.00,2.22,0.00,0.000,6,0.000,0.031,2426,2300,2546
$GC,19731,2.05,96.9,167.6,4.7,402,19740,0.00,2.30,3.95,0.490,4,0.000,0.043,2437,890,2535
$GC,19994,2.10,101.2,156.7,4.3,409,20004,0.05,2.25,5.07,0.555,6,0.079,0.038,2463,2298,2517
$GC,20323,2.11,107.8,142.9,3.6,423,20336,0.00,2.33,6.82,0.607,4,0.000,0.043,2474,887,2490
$GC,20593,2.12,114.2,133.2,3.7,435,20606,0.00,2.25,6.55,0.591,6,0.000,0.037,2466,2310,2464
$GC,20925,2.13,128.5,123.4,1.5,451,20946,0.00,2.30,12.62,0.660,4,0.000,0.045,2465,3722,2405
$GC,21020,2.10,132.5,120.7,4.4,455,21029,0.00,2.22,4.82,0.515,6,0.000,0.031,2474,2294,2390
$GC,21342,2.13,141.4,110.5,3.0,470,21356,0.00,2.30,8.77,0.615,4,0.000,0.044,2466,3702,2352
$GC,21612,2.11,141.4,93.3,5.6,482,21615,0.00,2.17,0.00,0.000,6,0.000,0.030,2474,2303,2350
$GC,21946,2.18,156.8,80.9,1.2,498,21968,0.00,2.30,13.62,0.635,4,0.000,0.044,2466,3708,2289
$GC,22221,2.18,156.8,69.3,5.8,519,22227,0.00,2.20,0.00,0.000,6,0.000,0.031,2475,2302,2287
$GC,22550,2.23,156.8,46.1,8.4,550,22554,0.00,2.25,0.00,0.000,4,0.000,0.044,2467,3721,2286
$GC,22809,2.23,156.8,19.5,8.6,573,22813,0.00,2.22,0.00,0.000,6,0.000,0.031,2475,2294,2285
$STATE,23020,end climb,SURFACE_DEPTH_REACHED
$STATE,23020,begin surface coast
$FINISH,1.2,1.025115
$STATE,23045,end surface coast,CONTROL_FINISHED_OK
$STATE,23046,begin surface
$SM_CCo,23063,111.03,0.607,0,0,1708,300.00
$SM_GC,2.08,0.00,0.00,111.03,0.000,0.000,0.607,98,2292,1708,-8.75,-0.31,300.00
$IRIDIUM_FIX,4946.36,-14458.55,080299,212102
$TT8_MAMPS,0.029146
$HUMID,1680
$INTERNAL_PRESSURE,7.40263
$TCM_TEMP,16.10
$XPDR_PINGS,45
$24V_AH,23.2,68.252
$10V_AH,10.5,58.791
$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,17.500,168.050,175.975,111.025,0.000,29.143,26.157,158.932,11.250,0.000,0.000,54.514,1577.071,17802.578,435.740,3083.624,665.714,33.375,1832.898,0.000,3000.576,0.000,0.528,0.000
$DEVICE_MAMPS,255.411,63.661,1251.744,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,418.856,477.031,613.939,1021.241,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35000,595
$CAP_FILE_SIZE,170836,0
$CFSIZE,260165632,222273536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151109,115507,5006.834,-14451.139,31,1.2,31,18.5