version: 66.04
glider: 144
mission: 15
dive: 570
start: 12 19 109 11 3 20
data:
$ID,144
$MISSION,15
$DIVE,570
$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,-73202.086
$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,30
$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
$GPS1,105607,4954.980,-14431.242,36,1.6,37,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-63.9
$GPS2,110226,4955.003,-14431.308,10,1.6,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.041,-0.036
$KALMAN_X,-88326.5,-15.0,-288.3,135045.9,689.2
$KALMAN_Y,34580.0,94.1,259.9,-83054.6,-911.4
$MHEAD_RNG_PITCHd_Wd,112.7,2542,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.86,-13.1,0.0,0.0,0,60,0.00,0.00,-38.90,0.000,2,0.000,0.000,98,2295,2761
$GC,64,-1.86,-13.1,4.2,-7.7,2,85,6.05,2.38,-5.57,0.000,4,0.229,0.058,1597,898,2988
$GC,103,-1.91,-13.1,12.5,-21.2,3,110,0.00,2.25,0.00,0.000,6,0.000,0.037,1589,2311,2989
$GC,421,-1.99,-13.1,92.6,-25.6,21,425,0.00,2.28,0.00,0.000,4,0.000,0.044,1589,894,2989
$GC,502,-2.10,-13.1,111.0,-19.6,28,507,0.12,2.25,0.00,0.000,6,0.072,0.038,1526,2305,2988
$GC,823,-2.14,-13.1,179.0,-18.5,48,827,0.00,2.25,0.00,0.000,4,0.000,0.050,1515,3708,2989
$GC,946,-2.14,-13.1,205.4,-20.9,51,952,0.00,2.20,0.00,0.000,6,0.000,0.033,1515,2303,2989
$GC,1260,-2.17,-13.1,266.8,-19.0,62,1264,0.00,2.22,0.00,0.000,4,0.000,0.043,1516,890,2990
$GC,1519,-2.21,-13.1,317.3,-18.4,68,1523,0.00,2.25,0.00,0.000,6,0.000,0.038,1507,2309,2990
$GC,1830,-2.24,-13.1,373.9,-18.2,73,1834,0.00,2.28,0.00,0.000,4,0.000,0.051,1510,892,2990
$GC,1966,-2.27,-13.1,397.6,-16.6,75,1970,0.00,2.25,0.00,0.000,6,0.000,0.038,1501,2307,2990
$GC,2333,-2.29,-13.1,460.4,-17.1,81,2337,0.00,2.28,0.00,0.000,4,0.000,0.045,1505,883,2990
$GC,2407,-2.32,-13.1,472.8,-16.4,82,2411,0.00,2.28,0.00,0.000,6,0.000,0.041,1497,2308,2990
$GC,2767,-2.32,-13.1,529.8,-15.7,88,2771,0.00,2.33,0.00,0.000,4,0.000,0.048,1497,883,2989
$GC,2802,-2.32,-13.1,535.0,-15.2,88,2806,0.00,2.30,0.00,0.000,6,0.000,0.046,1486,2308,2989
$GC,3130,-2.30,-13.1,582.9,-14.5,94,3134,0.00,2.28,0.00,0.000,4,0.000,0.048,1476,3712,2988
$GC,3147,-2.26,-13.1,585.7,-14.1,94,3152,0.15,2.22,0.00,0.000,6,0.223,0.037,1506,2299,2988
$GC,3490,-2.26,-13.1,633.0,-13.6,100,3494,0.00,2.30,0.00,0.000,4,0.000,0.049,1497,3709,2988
$GC,3749,-2.21,-13.1,671.5,-14.6,103,3755,0.00,2.22,0.00,0.000,6,0.000,0.033,1505,2296,2988
$GC,4059,-2.21,-13.1,713.2,-13.4,109,4063,0.00,2.35,0.00,0.000,4,0.000,0.047,1497,3714,2988
$GC,4317,-2.17,-13.1,751.6,-15.0,112,4324,0.12,2.25,0.00,0.000,6,0.211,0.033,1520,2293,2988
$GC,4627,-2.22,-13.1,795.6,-14.2,118,4631,0.00,2.33,0.00,0.000,4,0.000,0.047,1511,3711,2987
$GC,4816,-2.22,-13.1,823.4,-14.4,120,4820,0.00,2.22,0.00,0.000,6,0.000,0.036,1519,2306,2988
$GC,5127,-2.27,-13.1,865.2,-13.2,125,5131,0.00,2.33,0.00,0.000,4,0.000,0.051,1519,883,2987
$GC,5206,-2.30,-13.1,876.2,-13.9,126,5210,0.00,2.30,0.00,0.000,6,0.000,0.039,1510,2306,2987
$GC,5556,-2.34,-13.1,921.1,-12.8,132,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,2306,2987
$GC,5859,-2.37,-13.1,957.6,-11.9,137,5860,0.10,0.00,0.00,0.000,6,0.085,0.000,1467,2306,2986
$STATE,6158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6158,begin apogee
$GC,6166,-0.22,0.0,993.6,11.7,142,6183,1.88,0.00,13.40,1.184,6,0.203,0.000,1946,2306,2931
$STATE,6184,end apogee,CONTROL_FINISHED_OK
$STATE,6184,begin climb
$GC,6188,1.86,13.1,993.6,0.0,142,6206,1.27,0.00,12.65,1.148,6,0.069,0.000,2406,2306,2877
$GC,6557,1.90,45.7,1001.2,-3.7,148,6587,0.00,0.00,27.95,1.247,6,0.000,0.000,2406,2305,2744
$GC,6921,1.93,45.7,979.2,8.3,154,6925,0.00,2.35,0.00,0.000,4,0.000,0.051,2417,894,2742
$GC,7179,1.96,45.7,958.8,7.9,157,7185,0.00,2.30,0.00,0.000,6,0.000,0.044,2410,2311,2743
$GC,7490,1.98,45.7,937.2,6.9,163,7494,0.00,2.30,0.00,0.000,4,0.000,0.050,2410,3711,2742
$GC,7750,1.92,45.7,919.2,7.0,166,7754,0.00,2.25,0.00,0.000,6,0.000,0.035,2419,2300,2742
$GC,8060,1.92,45.7,901.2,5.7,171,8064,0.00,2.33,0.00,0.000,4,0.000,0.048,2410,3722,2742
$GC,8085,1.88,45.7,899.8,6.3,171,8089,0.00,2.25,0.00,0.000,6,0.000,0.033,2419,2291,2741
$GC,8423,1.88,46.8,881.7,5.2,177,8427,0.00,2.30,0.00,0.000,4,0.000,0.048,2410,3712,2742
$GC,8682,1.82,46.8,866.6,5.8,180,8689,0.12,2.22,0.00,0.000,6,0.246,0.033,2396,2300,2741
$GC,8994,1.86,49.6,851.8,4.7,186,9000,0.00,0.00,4.57,0.805,6,0.000,0.000,2396,2300,2728
$GC,9296,1.91,49.6,834.4,5.9,191,9300,0.00,2.28,0.00,0.000,4,0.000,0.045,2404,894,2728
$GC,9325,1.95,49.6,832.6,5.9,191,9330,0.10,2.28,0.00,0.000,6,0.110,0.038,2428,2314,2728
$GC,9658,1.95,49.6,812.6,6.0,197,9662,0.00,2.30,0.00,0.000,4,0.000,0.045,2439,883,2727
$GC,9686,1.95,49.6,810.8,5.6,197,9690,0.00,2.28,0.00,0.000,6,0.000,0.039,2433,2311,2728
$GC,10018,1.95,49.6,792.5,5.6,203,10022,0.00,2.25,0.00,0.000,4,0.000,0.048,2423,3708,2728
$GC,10277,1.88,50.8,777.3,5.2,206,10283,0.12,2.22,0.00,0.000,6,0.249,0.033,2409,2291,2727
$GC,10587,1.91,53.6,762.6,4.7,212,10594,0.00,0.00,4.90,0.795,6,0.000,0.000,2409,2291,2712
$GC,10891,1.93,53.6,746.1,5.5,217,10894,0.00,2.28,0.00,0.000,4,0.000,0.045,2417,897,2712
$GC,10953,1.97,53.6,742.4,5.5,217,10959,0.00,2.28,0.00,0.000,6,0.000,0.038,2410,2312,2712
$GC,11264,1.99,53.9,725.6,5.4,223,11268,0.10,2.30,0.00,0.000,4,0.100,0.049,2435,3716,2712
$GC,11516,1.91,53.9,711.4,5.6,226,11521,0.15,2.25,0.00,0.000,6,0.246,0.033,2415,2296,2711
$GC,11827,1.91,58.5,698.2,4.2,231,11838,0.00,2.33,5.75,0.830,4,0.000,0.047,2410,3715,2691
$GC,11941,1.86,58.5,691.8,6.3,232,11946,0.00,2.25,0.00,0.000,6,0.000,0.033,2418,2297,2691
$GC,12257,1.86,59.0,674.6,5.3,238,12258,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2297,2691
$GC,12560,1.86,59.0,657.6,5.7,243,12564,0.00,2.30,0.00,0.000,4,0.000,0.047,2410,3717,2691
$GC,12819,1.81,59.0,642.3,6.3,246,12825,0.12,2.22,0.00,0.000,6,0.249,0.034,2396,2298,2691
$GC,13129,1.86,61.1,626.9,4.9,252,13138,0.00,2.35,3.83,0.636,4,0.000,0.051,2386,3702,2681
$GC,13393,1.86,61.9,611.9,5.3,255,13399,0.00,2.22,0.00,0.000,6,0.000,0.034,2394,2302,2681
$GC,13704,1.92,65.3,597.6,4.5,261,13714,0.08,2.30,5.03,0.736,4,0.104,0.047,2421,3711,2664
$GC,13772,1.86,65.3,593.8,6.3,262,13777,0.12,2.25,0.00,0.000,6,0.245,0.033,2407,2296,2664
$GC,14138,1.90,65.3,572.9,5.7,268,14142,0.00,2.33,0.00,0.000,4,0.000,0.047,2397,3709,2665
$GC,14396,1.87,65.3,557.0,6.4,271,14402,0.00,2.25,0.00,0.000,6,0.000,0.033,2405,2293,2664
$GC,14706,1.91,65.3,538.8,5.9,277,14710,0.00,2.30,0.00,0.000,4,0.000,0.047,2397,3711,2664
$GC,14892,1.89,65.3,528.1,6.0,279,14896,0.00,2.25,0.00,0.000,6,0.000,0.033,2405,2297,2664
$GC,15202,1.93,67.9,513.0,4.8,284,15208,0.00,0.00,3.97,0.616,6,0.000,0.000,2405,2297,2654
$GC,15506,1.97,67.9,496.7,5.5,289,15510,0.08,2.30,0.00,0.000,4,0.104,0.044,2445,885,2653
$GC,15724,1.97,67.9,483.8,5.5,292,15728,0.00,2.28,0.00,0.000,6,0.000,0.038,2437,2304,2654
$GC,16067,1.97,69.0,466.3,5.2,298,16068,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2304,2653
$GC,16370,1.98,73.5,453.1,4.2,303,16381,0.00,2.28,6.30,0.740,4,0.000,0.052,2426,3709,2631
$GC,16635,1.92,73.5,438.6,5.9,307,16640,0.00,2.25,0.00,0.000,6,0.000,0.032,2435,2296,2630
$GC,17003,1.92,76.0,420.6,4.8,313,17012,0.00,2.33,3.80,0.559,4,0.000,0.047,2426,3705,2620
$GC,17157,1.87,76.0,412.2,6.5,315,17161,0.12,2.22,0.00,0.000,6,0.235,0.033,2411,2298,2620
$GC,17508,1.91,76.7,393.6,5.3,321,17509,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2298,2620
$GC,17810,1.96,77.3,377.6,5.3,326,17814,0.00,2.28,0.00,0.000,4,0.000,0.047,2410,3709,2620
$GC,18069,1.93,78.9,363.0,5.0,329,18080,0.00,2.25,4.20,0.581,6,0.000,0.032,2418,2290,2608
$GC,18384,1.97,81.5,348.0,4.8,335,18393,0.00,2.35,3.72,0.528,4,0.000,0.045,2410,3704,2597
$GC,18648,1.95,82.4,333.4,5.3,338,18654,0.00,2.20,0.00,0.000,6,0.000,0.031,2419,2304,2598
$GC,18959,1.99,87.5,320.1,4.0,344,18970,0.00,2.33,6.45,0.683,4,0.000,0.045,2411,3721,2574
$GC,19225,1.97,87.5,305.4,6.5,348,19229,0.00,2.22,0.00,0.000,6,0.000,0.032,2419,2299,2573
$GC,19564,2.02,89.2,288.4,5.0,357,19568,0.00,2.28,0.00,0.000,4,0.000,0.045,2411,3715,2573
$GC,19822,2.02,89.2,271.7,6.6,364,19828,0.00,2.22,0.00,0.000,6,0.000,0.031,2419,2300,2573
$GC,20136,2.06,89.2,253.5,5.6,375,20140,0.10,2.28,0.00,0.000,4,0.084,0.044,2451,3712,2573
$GC,20198,2.00,91.7,250.1,4.8,376,20209,0.12,2.20,4.78,0.578,6,0.242,0.031,2436,2305,2558
$GC,20549,2.03,93.4,232.0,5.0,388,20553,0.00,2.25,0.00,0.000,4,0.000,0.044,2445,884,2557
$GC,20642,2.06,97.1,227.2,4.4,390,20655,0.00,2.25,6.07,0.624,6,0.000,0.037,2436,2311,2535
$GC,20961,2.10,97.1,207.3,6.9,401,20965,0.00,2.22,0.00,0.000,4,0.000,0.045,2425,3719,2534
$GC,21220,2.07,97.1,189.0,7.3,408,21224,0.00,2.20,0.00,0.000,6,0.000,0.031,2434,2290,2534
$GC,21540,2.10,99.2,173.5,4.9,419,21549,0.08,2.30,3.47,0.449,4,0.098,0.043,2479,889,2526
$GC,21708,2.11,107.4,167.1,3.2,424,21723,0.00,2.25,8.27,0.641,6,0.000,0.036,2472,2312,2490
$GC,22049,2.12,111.1,151.5,4.5,435,22058,0.00,2.28,4.07,0.492,4,0.000,0.044,2462,3708,2478
$GC,22313,2.07,116.3,138.4,4.0,456,22324,0.00,2.17,6.03,0.580,6,0.000,0.031,2470,2300,2456
$GC,22650,2.09,135.2,130.3,0.1,488,22673,0.00,2.22,16.42,0.676,4,0.000,0.042,2482,894,2378
$GC,22927,2.12,135.2,116.7,6.4,512,22934,0.00,2.28,0.00,0.000,6,0.000,0.036,2478,2304,2376
$GC,23256,2.17,151.1,109.4,1.0,543,23279,0.00,2.30,13.82,0.653,4,0.000,0.041,2486,893,2313
$GC,23320,2.22,157.3,107.6,3.7,548,23331,0.00,2.22,6.60,0.565,6,0.000,0.035,2478,2305,2289
$GC,23652,2.27,157.3,85.9,8.1,579,23656,0.00,2.25,0.00,0.000,4,0.000,0.044,2479,3705,2286
$GC,23910,2.25,157.3,62.0,10.5,593,23916,0.00,2.17,0.00,0.000,6,0.000,0.031,2487,2303,2285
$GC,24227,2.29,157.3,29.4,11.0,609,24231,0.00,2.25,0.00,0.000,4,0.000,0.044,2487,3708,2285
$GC,24418,2.25,157.3,6.7,10.8,617,24424,0.00,2.22,0.00,0.000,6,0.000,0.031,2497,2308,2284
$STATE,24464,end climb,SURFACE_DEPTH_REACHED
$STATE,24465,begin surface coast
$FINISH,1.6,1.002625
$STATE,24485,end surface coast,CONTROL_FINISHED_OK
$STATE,24485,begin surface
$SM_CCo,24504,113.35,0.610,0,0,1708,300.00
$SM_GC,2.55,0.00,0.00,113.35,0.000,0.000,0.610,97,2306,1708,-8.75,0.08,300.00
$IRIDIUM_FIX,4939.69,-14432.79,150399,030317
$TT8_MAMPS,0.028379
$HUMID,1705
$INTERNAL_PRESSURE,7.37333
$TCM_TEMP,15.60
$XPDR_PINGS,40
$24V_AH,23.4,82.448
$10V_AH,10.4,71.642
$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,17.500,195.025,176.075,113.350,0.000,29.400,31.372,162.987,10.000,0.000,0.000,12.211,1658.809,19098.447,448.707,3008.756,775.584,33.371,1882.877,0.000,2953.636,0.000,0.527,0.000
$DEVICE_MAMPS,249.275,58.292,1247.142,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,434.907,504.013,641.086,676.109,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38023,621
$CAP_FILE_SIZE,184778,0
$CFSIZE,260165632,214294528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,191209,175501,4953.975,-14430.132,38,1.4,39,18.5