version: 66.04
glider: 144
mission: 15
dive: 506
start: 11 28 109 1 39 30
data:
$ID,144
$MISSION,15
$DIVE,506
$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,-71728.164
$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,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
$GPS1,013045,4954.435,-14514.154,48,2.1,68,18.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-55.2
$GPS2,013837,4954.458,-14514.233,15,1.3,33,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.060,-0.007
$KALMAN_X,-91434.4,-134.9,-150.2,87413.4,538.7
$KALMAN_Y,17351.2,54.3,238.6,-66766.7,-562.6
$MHEAD_RNG_PITCHd_Wd,78.5,2854,-39.8,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.75,-14.7,0.0,0.0,0,51,0.00,0.00,-30.98,0.000,2,0.000,0.000,98,2307,2514
$GC,55,-1.75,-18.9,3.2,-4.5,3,81,6.15,2.30,-13.93,0.000,4,0.230,0.061,1602,3701,3010
$GC,318,-1.77,-18.9,69.2,-27.8,26,325,0.00,2.20,0.00,0.000,6,0.000,0.034,1605,2296,3011
$GC,637,-1.86,-18.9,135.2,-17.1,44,641,0.00,2.25,0.00,0.000,4,0.000,0.045,1614,895,3012
$GC,896,-1.96,-18.9,177.9,-15.9,53,903,0.12,2.22,0.00,0.000,6,0.075,0.038,1554,2308,3012
$GC,1210,-1.98,-18.9,233.1,-17.5,64,1213,0.00,2.22,0.00,0.000,4,0.000,0.045,1543,3712,3012
$GC,1245,-1.96,-18.9,239.8,-18.8,65,1250,0.12,2.20,0.00,0.000,6,0.207,0.031,1571,2299,3012
$GC,1582,-2.02,-18.9,297.2,-16.6,76,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2299,3012
$GC,1916,-2.07,-18.9,351.4,-16.0,82,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2298,3012
$GC,2218,-2.13,-18.9,400.5,-16.2,87,2223,0.12,2.28,0.00,0.000,4,0.074,0.047,1526,888,3012
$GC,2319,-2.13,-18.9,418.5,-17.2,88,2323,0.00,2.25,0.00,0.000,6,0.000,0.038,1518,2305,3012
$GC,2646,-2.13,-18.9,475.7,-17.5,94,2650,0.00,2.28,0.00,0.000,4,0.000,0.048,1518,889,3012
$GC,2709,-2.13,-18.9,486.6,-16.6,95,2713,0.12,2.25,0.00,0.000,6,0.207,0.044,1537,2309,3012
$GC,3074,-2.13,-18.9,547.9,-16.7,101,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,2308,3012
$GC,3379,-2.13,-18.9,596.2,-15.9,106,3383,0.00,2.30,0.00,0.000,4,0.000,0.044,1545,887,3011
$GC,3480,-2.13,-18.9,611.8,-14.6,107,3484,0.00,2.28,0.00,0.000,6,0.000,0.042,1537,2301,3011
$GC,3807,-2.13,-18.9,659.1,-14.4,113,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,2302,3011
$GC,4110,-2.13,-18.9,701.8,-14.1,118,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,2302,3010
$GC,4413,-2.13,-18.9,742.8,-13.5,123,4417,0.00,2.30,0.00,0.000,4,0.000,0.048,1537,886,3010
$GC,4447,-2.13,-18.9,747.6,-13.5,123,4451,0.00,2.28,0.00,0.000,6,0.000,0.041,1526,2305,3010
$GC,4774,-2.13,-18.9,791.7,-13.4,129,4778,0.00,2.28,0.00,0.000,4,0.000,0.054,1515,3709,3010
$GC,4841,-2.08,-18.9,801.6,-14.5,130,4846,0.12,2.22,0.00,0.000,6,0.212,0.033,1543,2298,3010
$GC,5203,-2.11,-18.9,847.8,-12.7,136,5207,0.00,2.28,0.00,0.000,4,0.000,0.052,1546,895,3009
$GC,5270,-2.13,-18.9,856.6,-12.2,137,5274,0.00,2.28,0.00,0.000,6,0.000,0.045,1537,2310,3009
$GC,5632,-2.15,-18.9,902.0,-12.7,143,5636,0.00,2.30,0.00,0.000,4,0.000,0.046,1537,886,3009
$GC,5659,-2.15,-18.9,905.9,-13.6,143,5663,0.00,2.28,0.00,0.000,6,0.000,0.041,1526,2308,3008
$GC,5992,-2.15,-18.9,948.2,-12.7,149,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,2308,3008
$GC,6295,-2.15,-18.9,986.4,-12.8,154,6299,0.00,2.28,0.00,0.000,4,0.000,0.050,1528,895,3008
$STATE,6319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6319,begin apogee
$GC,6329,-0.22,0.0,990.0,12.9,154,6353,1.58,0.00,17.55,1.216,6,0.195,0.000,1942,2310,2931
$STATE,6353,end apogee,CONTROL_FINISHED_OK
$STATE,6353,begin climb
$GC,6357,1.75,18.9,992.1,0.0,154,6378,1.23,0.00,17.48,1.190,6,0.071,0.000,2386,2311,2854
$GC,6667,1.79,53.2,997.0,-3.1,160,6702,0.00,2.38,29.77,1.248,4,0.000,0.050,2396,892,2713
$GC,6955,1.79,53.2,982.9,7.4,164,6959,0.00,2.28,0.00,0.000,6,0.000,0.043,2396,2305,2711
$GC,7304,1.79,53.2,956.6,7.4,170,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2305,2710
$GC,7608,1.79,53.2,934.0,7.4,175,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2305,2711
$GC,7911,1.79,53.2,912.6,7.0,180,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2305,2710
$GC,8213,1.79,53.2,891.5,7.0,185,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2304,2710
$GC,8516,1.79,53.2,870.0,7.1,190,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2304,2709
$GC,8820,1.79,53.2,848.1,7.2,195,8824,0.00,2.28,0.00,0.000,4,0.000,0.046,2406,886,2710
$GC,8893,1.79,53.2,842.7,7.6,196,8897,0.00,2.30,0.00,0.000,6,0.000,0.044,2398,2314,2709
$GC,9248,1.79,53.2,817.7,7.1,202,9252,0.00,2.28,0.00,0.000,4,0.000,0.045,2406,893,2709
$GC,9311,1.79,53.2,813.1,7.5,203,9315,0.00,2.28,0.00,0.000,6,0.000,0.046,2398,2314,2709
$GC,9678,1.79,53.2,787.2,7.0,209,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2314,2709
$GC,9980,1.79,53.2,767.3,6.6,214,9984,0.00,2.28,0.00,0.000,4,0.000,0.048,2387,3716,2708
$GC,10114,1.73,53.2,758.4,6.5,216,10119,0.00,2.25,0.00,0.000,6,0.000,0.033,2396,2297,2708
$GC,10476,1.73,53.2,737.2,5.9,222,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2297,2709
$GC,10778,1.73,54.4,721.3,5.2,227,10782,0.00,2.30,0.00,0.000,4,0.000,0.051,2388,3708,2709
$GC,11038,1.66,57.3,707.6,4.8,230,11049,0.17,2.22,4.32,0.721,6,0.242,0.033,2360,2293,2696
$GC,11418,1.70,61.1,690.3,4.5,237,11428,0.00,2.33,4.88,0.765,4,0.000,0.048,2353,3722,2681
$GC,11491,1.70,61.1,686.1,5.8,238,11495,0.00,2.25,0.00,0.000,6,0.000,0.040,2361,2298,2681
$GC,11846,1.74,62.3,667.7,5.2,244,11850,0.00,2.28,0.00,0.000,4,0.000,0.048,2353,3713,2681
$GC,12088,1.74,62.3,653.8,5.7,247,12092,0.00,2.22,0.00,0.000,6,0.000,0.034,2362,2304,2681
$GC,12409,1.79,64.1,637.5,5.0,253,12416,0.10,0.00,4.28,0.687,6,0.097,0.000,2397,2305,2669
$GC,12712,1.79,64.1,619.8,6.0,258,12716,0.00,2.28,0.00,0.000,4,0.000,0.048,2388,3715,2669
$GC,12797,1.72,64.1,614.3,6.6,259,12802,0.12,2.22,0.00,0.000,6,0.245,0.033,2373,2304,2669
$GC,13141,1.75,64.4,595.1,5.4,265,13145,0.00,2.28,0.00,0.000,4,0.000,0.046,2382,887,2669
$GC,13289,1.77,64.4,587.2,5.6,267,13293,0.00,2.25,0.00,0.000,6,0.000,0.040,2382,2305,2668
$GC,13639,1.78,65.2,568.4,5.3,273,13640,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2305,2668
$GC,13941,1.78,67.7,553.5,4.9,278,13950,0.00,2.30,4.45,0.678,4,0.000,0.049,2375,3710,2655
$GC,13975,1.74,68.3,551.6,5.4,278,13979,0.00,2.25,0.00,0.000,6,0.000,0.033,2383,2292,2654
$GC,14308,1.74,70.0,534.5,5.1,284,14317,0.00,2.35,3.92,0.613,4,0.000,0.048,2375,3714,2645
$GC,14341,1.71,70.7,532.6,5.3,284,14345,0.00,2.25,0.00,0.000,6,0.000,0.033,2383,2295,2644
$GC,14673,1.71,70.7,513.8,5.6,290,14677,0.00,2.30,0.00,0.000,4,0.000,0.048,2375,3710,2644
$GC,14808,1.67,70.7,505.4,6.7,292,14812,0.00,2.22,0.00,0.000,6,0.000,0.033,2383,2303,2644
$GC,15170,1.67,71.2,485.7,5.4,298,15174,0.00,2.28,0.00,0.000,4,0.000,0.048,2375,3715,2644
$GC,15342,1.63,72.4,475.9,5.2,300,15347,0.15,2.22,0.00,0.000,6,0.235,0.033,2353,2294,2644
$GC,15670,1.69,75.4,460.3,4.7,306,15681,0.00,2.28,6.10,0.739,4,0.000,0.047,2343,3711,2622
$GC,15699,1.72,76.6,458.7,5.2,306,15704,0.08,2.20,0.00,0.000,6,0.100,0.032,2379,2303,2622
$GC,16032,1.75,76.6,438.8,6.0,312,16033,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2303,2622
$GC,16335,1.78,76.6,420.8,5.9,317,16339,0.00,2.28,0.00,0.000,4,0.000,0.047,2371,3721,2622
$GC,16593,1.75,76.6,404.4,6.4,320,16599,0.00,2.25,0.00,0.000,6,0.000,0.033,2380,2300,2622
$GC,16903,1.78,76.6,385.9,6.0,326,16907,0.00,2.28,0.00,0.000,4,0.000,0.047,2380,3720,2622
$GC,17111,1.74,77.1,373.4,5.4,329,17115,0.00,2.22,0.00,0.000,6,0.000,0.032,2390,2295,2622
$GC,17466,1.74,78.6,355.3,5.1,335,17475,0.00,2.28,4.12,0.573,4,0.000,0.045,2401,895,2610
$GC,17729,1.74,80.8,341.4,4.9,338,17738,0.00,2.25,3.67,0.521,6,0.000,0.038,2398,2304,2601
$GC,18040,1.74,80.8,324.6,5.6,344,18041,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2304,2600
$GC,18343,1.74,83.2,309.3,4.9,349,18348,0.00,0.00,3.70,0.511,6,0.000,0.000,2397,2304,2591
$GC,18647,1.75,85.4,294.3,5.0,355,18653,0.00,0.00,3.72,0.513,6,0.000,0.000,2397,2304,2581
$GC,18952,1.75,85.4,277.8,5.5,365,18956,0.00,2.28,0.00,0.000,4,0.000,0.044,2405,883,2581
$GC,18988,1.75,88.9,276.0,4.6,366,18997,0.00,2.25,4.38,0.562,6,0.000,0.038,2401,2310,2568
$GC,19329,1.75,88.9,256.0,5.6,377,19333,0.00,2.30,0.00,0.000,4,0.000,0.043,2410,883,2567
$GC,19412,1.75,88.9,250.9,6.4,379,19417,0.12,2.25,0.00,0.000,6,0.220,0.038,2384,2304,2567
$GC,19726,1.79,90.1,233.9,5.2,389,19728,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2304,2567
$GC,20033,1.84,97.4,221.1,3.7,399,20047,0.00,2.30,8.48,0.678,4,0.000,0.047,2382,3714,2532
$GC,20181,1.82,97.4,212.6,6.2,403,20185,0.00,2.22,0.00,0.000,6,0.000,0.031,2391,2292,2531
$GC,20507,1.86,97.4,191.3,6.9,414,20511,0.00,2.20,0.00,0.000,4,0.000,0.044,2401,895,2531
$GC,20602,1.91,97.4,184.2,7.2,416,20609,0.00,2.22,0.00,0.000,6,0.000,0.037,2397,2308,2531
$GC,20916,1.94,102.5,167.1,4.2,427,20927,0.10,2.22,5.38,0.568,4,0.083,0.044,2436,3709,2513
$GC,21182,1.87,112.3,153.9,3.1,435,21196,0.17,2.22,9.48,0.651,6,0.219,0.031,2406,2292,2473
$GC,21518,1.92,118.7,139.6,3.9,449,21531,0.00,2.35,6.47,0.591,4,0.000,0.044,2396,3712,2446
$GC,21787,1.92,121.7,127.4,4.7,461,21796,0.00,2.22,4.12,0.487,6,0.000,0.031,2404,2290,2434
$GC,22120,1.99,134.4,116.5,2.3,477,22142,0.10,2.35,11.82,0.644,4,0.080,0.044,2449,3715,2381
$GC,22395,1.94,138.2,99.2,4.5,489,22405,0.15,2.20,4.53,0.496,6,0.214,0.031,2426,2304,2366
$GC,22725,2.03,160.1,95.4,-0.0,505,22746,0.00,0.00,19.25,0.653,6,0.000,0.000,2425,2304,2277
$GC,23052,2.10,160.1,79.5,7.2,521,23057,0.12,2.25,0.00,0.000,4,0.068,0.042,2490,896,2273
$GC,23220,2.10,160.1,66.3,9.4,535,23228,0.10,2.25,0.00,0.000,6,0.202,0.036,2462,2308,2272
$GC,23546,2.10,160.1,25.5,12.9,566,23550,0.00,2.25,0.00,0.000,4,0.000,0.041,2471,889,2272
$GC,23636,2.10,160.1,14.0,13.9,573,23642,0.00,2.22,0.00,0.000,6,0.000,0.036,2463,2305,2272
$STATE,23756,end climb,SURFACE_DEPTH_REACHED
$STATE,23756,begin surface coast
$FINISH,1.4,1.025461
$STATE,23789,end surface coast,CONTROL_FINISHED_OK
$STATE,23790,begin surface
$SM_CCo,23809,110.62,0.606,0,0,1707,300.00
$SM_GC,1.73,0.00,0.00,110.62,0.000,0.000,0.606,97,2307,1707,-8.75,0.11,300.00
$IRIDIUM_FIX,4936.36,-14510.89,210299,181818
$TT8_MAMPS,0.029146
$HUMID,1682
$INTERNAL_PRESSURE,7.39286
$TCM_TEMP,15.80
$XPDR_PINGS,53
$24V_AH,23.4,73.568
$10V_AH,10.5,63.659
$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,18.100,167.525,181.875,110.625,0.000,33.061,30.051,239.359,13.250,0.000,0.000,35.314,1476.780,19187.793,414.241,2525.374,780.829,33.370,1594.146,0.000,2479.770,0.000,0.527,0.000
$DEVICE_MAMPS,244.673,61.360,1247.909,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,415.563,477.903,608.353,1009.134,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34947,588
$CAP_FILE_SIZE,162689,0
$CFSIZE,260165632,219299840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,281109,081936,4954.420,-14512.046,37,1.7,43,18.4