version: 66.04
glider: 144
mission: 15
dive: 612
start: 1 2 110 15 29 12
data:
$ID,144
$MISSION,15
$DIVE,612
$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,-74032
$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,45
$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
$GPS1,152206,4955.078,-14429.886,38,1.6,50,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-64.5
$GPS2,152819,4955.069,-14429.897,13,1.8,30,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.045,-0.032
$KALMAN_X,-86384.1,-449.1,7.0,134897.1,887.0
$KALMAN_Y,35105.5,133.5,204.7,-83443.4,-1376.7
$MHEAD_RNG_PITCHd_Wd,216.5,1960,-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,-13.1,0.0,0.0,0,66,0.00,0.00,-45.50,0.000,2,0.000,0.000,99,2291,2966
$GC,70,-1.86,-13.1,5.0,-6.3,3,83,6.12,2.35,-0.38,0.000,4,0.233,0.054,1598,900,2988
$GC,317,-1.96,-13.1,66.1,-24.0,14,321,0.00,2.22,0.00,0.000,6,0.000,0.037,1590,2303,2990
$GC,645,-2.06,-13.1,138.6,-17.7,42,650,0.12,2.30,0.00,0.000,4,0.081,0.043,1549,894,2990
$GC,753,-2.14,-13.1,160.2,-18.3,48,757,0.00,2.28,0.00,0.000,6,0.000,0.042,1540,2306,2990
$GC,1078,-2.19,-13.1,220.9,-18.5,59,1082,0.00,2.25,0.00,0.000,4,0.000,0.042,1545,900,2990
$GC,1303,-2.26,-13.1,264.0,-19.1,65,1308,0.10,2.30,0.00,0.000,6,0.082,0.044,1497,2314,2989
$GC,1615,-2.26,-13.1,323.8,-19.0,73,1619,0.00,2.30,0.00,0.000,4,0.000,0.043,1502,905,2990
$GC,1649,-2.26,-13.1,330.3,-19.0,73,1653,0.00,2.25,0.00,0.000,6,0.000,0.044,1494,2308,2989
$GC,1976,-2.26,-13.1,391.7,-18.9,79,1980,0.00,2.25,0.00,0.000,4,0.000,0.042,1494,906,2989
$GC,2038,-2.26,-13.1,404.2,-19.2,79,2045,0.10,2.22,0.00,0.000,6,0.214,0.038,1502,2303,2990
$GC,2348,-2.26,-13.1,461.4,-18.6,85,2352,0.00,2.28,0.00,0.000,4,0.000,0.044,1513,892,2989
$GC,2608,-2.29,-13.1,509.0,-18.2,88,2614,0.00,2.28,0.00,0.000,6,0.000,0.038,1504,2309,2990
$GC,2918,-2.29,-13.1,562.0,-17.0,94,2922,0.00,2.30,0.00,0.000,4,0.000,0.044,1505,906,2989
$GC,2970,-2.32,-13.1,570.9,-16.7,94,2974,0.00,2.25,0.00,0.000,6,0.000,0.040,1497,2307,2989
$GC,3280,-2.32,-13.1,621.6,-16.2,99,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,1498,2308,2989
$GC,3583,-2.32,-13.1,668.1,-15.2,104,3587,0.00,2.25,0.00,0.000,4,0.000,0.050,1503,908,2989
$GC,3616,-2.32,-13.1,673.4,-14.7,104,3620,0.00,2.25,0.00,0.000,6,0.000,0.045,1495,2308,2988
$GC,3950,-2.32,-13.1,722.2,-14.8,110,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2309,2988
$GC,4252,-2.32,-13.1,766.7,-14.6,115,4256,0.00,2.28,0.00,0.000,4,0.000,0.050,1484,3707,2987
$GC,4291,-2.27,-13.1,772.8,-15.5,115,4295,0.00,2.20,0.00,0.000,6,0.000,0.036,1488,2314,2987
$GC,4613,-2.27,-13.1,821.2,-15.2,121,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,1488,2314,2988
$GC,4917,-2.27,-13.1,864.8,-14.4,126,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,1488,2314,2988
$GC,5220,-2.27,-13.1,907.2,-13.9,131,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,1488,2314,2987
$GC,5522,-2.27,-13.1,948.4,-13.6,136,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,1487,2314,2987
$GC,5825,-2.27,-13.1,986.7,-12.5,141,5829,0.00,2.33,0.00,0.000,4,0.000,0.046,1490,891,2986
$STATE,5851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5851,begin apogee
$GC,5861,-0.22,0.0,990.6,13.5,141,5880,1.77,0.00,13.30,1.175,6,0.199,0.000,1950,2309,2931
$STATE,5881,end apogee,CONTROL_FINISHED_OK
$STATE,5881,begin climb
$GC,5886,1.86,13.1,992.6,0.0,141,5905,1.27,2.35,12.52,1.141,4,0.071,0.056,2410,3705,2877
$GC,5999,1.84,44.0,990.9,-3.2,143,6032,0.00,2.25,27.02,1.228,6,0.000,0.036,2419,2302,2751
$GC,6336,1.84,44.0,977.2,6.3,149,6340,0.00,2.33,0.00,0.000,4,0.000,0.048,2429,894,2750
$GC,6594,1.84,44.0,958.7,7.1,152,6600,0.10,2.28,0.00,0.000,6,0.241,0.041,2404,2302,2749
$GC,6905,1.87,44.0,939.5,6.0,158,6909,0.00,2.33,0.00,0.000,4,0.000,0.048,2413,893,2749
$GC,7057,1.90,44.0,930.9,5.8,160,7061,0.00,2.30,0.00,0.000,6,0.000,0.040,2410,2309,2749
$GC,7401,1.90,46.0,913.6,4.9,166,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2309,2748
$GC,7705,1.91,49.0,899.5,4.7,171,7715,0.00,2.28,5.40,0.890,4,0.000,0.050,2410,3710,2730
$GC,7969,1.85,49.0,883.2,5.9,175,7973,0.00,2.22,0.00,0.000,6,0.000,0.035,2419,2298,2730
$GC,8336,1.85,49.0,862.3,5.7,181,8340,0.00,2.33,0.00,0.000,4,0.000,0.051,2411,3712,2730
$GC,8595,1.80,49.0,845.9,6.7,184,8601,0.12,2.22,0.00,0.000,6,0.249,0.035,2396,2303,2729
$GC,8906,1.84,49.3,828.9,5.4,190,8910,0.00,2.30,0.00,0.000,4,0.000,0.048,2387,3712,2729
$GC,8997,1.82,49.8,823.6,5.3,191,9001,0.00,2.25,0.00,0.000,6,0.000,0.035,2395,2295,2730
$GC,9336,1.87,51.6,806.5,5.0,197,9345,0.00,2.35,3.80,0.670,4,0.000,0.048,2387,3703,2720
$GC,9485,1.87,51.7,798.0,5.5,199,9489,0.00,2.25,0.00,0.000,6,0.000,0.035,2395,2295,2720
$GC,9842,1.91,53.0,779.5,5.1,205,9846,0.00,2.30,0.00,0.000,4,0.000,0.052,2406,890,2720
$GC,9916,1.96,55.4,775.7,4.8,206,9926,0.10,2.28,4.70,0.785,6,0.108,0.039,2430,2312,2705
$GC,10276,1.96,55.4,755.2,5.7,212,10280,0.00,2.28,0.00,0.000,4,0.000,0.053,2423,3707,2704
$GC,10535,1.90,56.0,740.9,5.3,215,10541,0.00,2.28,0.00,0.000,6,0.000,0.035,2432,2305,2704
$GC,10846,1.90,59.9,726.9,4.4,221,10856,0.00,2.33,5.55,0.827,4,0.000,0.046,2423,3710,2686
$GC,11014,1.84,59.9,716.8,6.2,223,11019,0.15,2.25,0.00,0.000,6,0.248,0.035,2403,2300,2685
$GC,11341,1.88,59.9,698.1,5.6,229,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2299,2685
$GC,11645,1.92,59.9,680.9,5.7,234,11646,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2299,2686
$GC,11947,1.96,60.2,664.5,5.4,239,11949,0.10,0.00,0.00,0.000,6,0.095,0.000,2437,2299,2685
$GC,12250,1.96,63.3,650.2,4.6,244,12259,0.00,2.33,4.50,0.709,4,0.000,0.048,2428,3712,2672
$GC,12429,1.89,63.3,640.5,5.6,246,12434,0.12,2.25,0.00,0.000,6,0.249,0.035,2414,2291,2672
$GC,12756,1.92,66.7,625.4,4.5,252,12766,0.00,2.33,4.62,0.711,4,0.000,0.048,2410,3713,2658
$GC,13021,1.88,66.7,609.5,6.0,255,13027,0.00,2.22,0.00,0.000,6,0.000,0.035,2418,2301,2658
$GC,13332,1.91,66.7,591.6,5.9,261,13336,0.00,2.30,0.00,0.000,4,0.000,0.047,2410,3708,2657
$GC,13591,1.87,66.7,574.6,6.8,264,13597,0.00,2.25,0.00,0.000,6,0.000,0.035,2418,2300,2657
$GC,13901,1.89,66.7,556.1,5.9,270,13905,0.00,2.28,0.00,0.000,4,0.000,0.047,2410,3708,2657
$GC,13941,1.84,66.7,553.5,6.5,270,13945,0.00,2.22,0.00,0.000,6,0.000,0.034,2418,2294,2657
$GC,14270,1.87,66.7,534.0,5.9,276,14274,0.00,2.30,0.00,0.000,4,0.000,0.047,2411,3709,2657
$GC,14299,1.83,66.7,532.1,6.2,276,14303,0.00,2.22,0.00,0.000,6,0.000,0.034,2419,2297,2657
$GC,14638,1.85,66.7,513.1,5.5,282,14642,0.00,2.28,0.00,0.000,4,0.000,0.047,2411,3708,2657
$GC,14897,1.81,69.2,498.9,4.8,285,14905,0.08,2.25,3.75,0.578,6,0.239,0.035,2401,2303,2648
$GC,15208,1.87,72.4,484.6,4.6,291,15217,0.00,2.30,4.45,0.644,4,0.000,0.047,2391,3709,2634
$GC,15277,1.87,72.6,481.4,5.4,292,15281,0.00,2.20,0.00,0.000,6,0.000,0.034,2399,2303,2634
$GC,15649,1.93,76.2,464.2,4.5,298,15656,0.00,0.00,4.70,0.651,6,0.000,0.000,2400,2303,2620
$GC,15953,1.98,76.7,448.2,5.4,303,15958,0.10,2.28,0.00,0.000,4,0.090,0.044,2447,884,2620
$GC,16211,1.98,76.7,432.7,6.2,306,16217,0.00,2.25,0.00,0.000,6,0.000,0.039,2443,2305,2620
$GC,16522,1.98,76.7,413.4,6.3,312,16526,0.00,2.30,0.00,0.000,4,0.000,0.051,2451,893,2620
$GC,16589,1.98,76.7,409.1,6.1,313,16593,0.00,2.25,0.00,0.000,6,0.000,0.039,2450,2305,2620
$GC,16956,1.98,77.1,389.3,5.4,319,16957,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2305,2619
$GC,17259,1.99,79.5,374.3,4.8,324,17268,0.00,2.33,4.47,0.604,4,0.000,0.044,2458,889,2606
$GC,17432,1.99,79.5,365.1,5.5,326,17436,0.00,2.28,0.00,0.000,6,0.000,0.038,2450,2307,2606
$GC,17765,1.99,82.2,349.1,4.7,332,17774,0.00,2.30,3.97,0.555,4,0.000,0.046,2439,3709,2595
$GC,18029,1.93,82.2,333.5,6.0,335,18036,0.15,2.22,0.00,0.000,6,0.239,0.032,2418,2303,2594
$GC,18341,1.97,83.9,317.7,5.0,341,18345,0.00,2.28,0.00,0.000,4,0.000,0.044,2408,3710,2594
$GC,18560,1.98,87.7,306.7,4.4,344,18571,0.00,2.25,5.95,0.655,6,0.000,0.032,2417,2292,2573
$GC,18908,2.02,87.9,288.4,5.4,353,18913,0.08,2.30,0.00,0.000,4,0.098,0.044,2440,3709,2572
$GC,19167,1.97,87.9,272.3,6.7,360,19173,0.00,2.25,0.00,0.000,6,0.000,0.032,2448,2304,2572
$GC,19481,1.97,87.9,253.9,6.0,371,19485,0.00,2.30,0.00,0.000,4,0.000,0.044,2441,3711,2572
$GC,19544,1.91,87.9,250.0,6.2,373,19549,0.15,2.22,0.00,0.000,6,0.231,0.032,2419,2302,2572
$GC,19881,1.96,90.7,233.3,4.7,384,19887,0.00,0.00,4.07,0.521,6,0.000,0.000,2419,2302,2561
$GC,20188,2.01,92.7,218.1,4.9,394,20192,0.00,2.30,0.00,0.000,4,0.000,0.044,2428,882,2561
$GC,20239,2.07,97.2,215.8,4.2,395,20256,0.12,2.28,6.90,0.635,6,0.081,0.036,2467,2306,2534
$GC,20563,2.07,97.2,197.2,6.3,406,20567,0.00,2.28,0.00,0.000,4,0.000,0.044,2463,3710,2533
$GC,20822,2.00,97.2,179.5,6.9,413,20827,0.17,2.25,0.00,0.000,6,0.232,0.031,2434,2291,2532
$GC,21142,2.04,98.2,162.6,5.2,424,21146,0.00,2.30,0.00,0.000,4,0.000,0.044,2424,3712,2533
$GC,21389,2.04,110.5,151.8,2.0,431,21406,0.00,2.22,11.70,0.663,6,0.000,0.031,2433,2290,2479
$GC,21727,2.10,119.6,138.8,2.9,458,21743,0.08,2.38,8.45,0.618,4,0.097,0.043,2460,3715,2442
$GC,21763,2.07,125.8,137.6,3.7,461,21775,0.00,2.22,6.57,0.578,6,0.000,0.031,2469,2298,2417
$GC,22094,2.10,134.2,118.4,3.1,492,22104,0.00,0.00,8.32,0.604,6,0.000,0.000,2469,2298,2382
$GC,22428,2.14,141.1,103.8,3.6,523,22441,0.00,2.33,7.03,0.578,4,0.000,0.042,2479,890,2354
$GC,22695,2.20,155.4,100.0,1.5,546,22714,0.00,2.28,13.00,0.635,6,0.000,0.035,2479,2298,2296
$GC,23033,2.25,155.4,77.9,8.4,577,23037,0.00,2.28,0.00,0.000,4,0.000,0.044,2479,3718,2293
$GC,23292,2.23,155.4,53.4,8.8,588,23298,0.00,2.25,0.00,0.000,6,0.000,0.031,2487,2295,2292
$GC,23609,2.26,155.4,24.7,8.9,604,23613,0.00,2.30,0.00,0.000,4,0.000,0.043,2479,3719,2292
$STATE,23835,end climb,SURFACE_DEPTH_REACHED
$STATE,23835,begin surface coast
$FINISH,1.5,1.025551
$STATE,23842,end surface coast,CONTROL_FINISHED_OK
$STATE,23842,begin surface
$SM_CCo,23863,115.32,0.601,0,0,1707,300.00
$SM_GC,2.39,0.00,0.00,115.32,0.000,0.000,0.601,97,2297,1707,-8.75,-0.17,300.00
$IRIDIUM_FIX,4936.36,-14439.40,290399,080853
$TT8_MAMPS,0.028379
$HUMID,1697
$INTERNAL_PRESSURE,7.37333
$TCM_TEMP,17.90
$XPDR_PINGS,35
$24V_AH,23.3,88.280
$10V_AH,10.4,76.335
$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,17.275,186.700,174.775,115.325,0.000,24.034,25.232,146.956,8.750,0.000,0.000,32.180,1594.475,18733.762,429.957,2815.289,770.262,33.378,1772.118,0.000,2751.113,0.000,0.528,0.000
$DEVICE_MAMPS,249.275,55.991,1227.967,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,432.062,503.862,637.148,674.036,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38102,614
$CAP_FILE_SIZE,175546,0
$CFSIZE,260165632,211042304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,020110,221020,4954.568,-14431.402,44,1.3,44,18.5