version: 66.04
glider: 144
mission: 15
dive: 425
start: 10 31 109 14 50 49
data:
$ID,144
$MISSION,15
$DIVE,425
$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,-69761.523
$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
$GPS1,144245,5005.928,-14451.405,33,1.5,33,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-57.5
$GPS2,144954,5005.951,-14451.238,32,1.1,49,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.046,0.046
$KALMAN_X,-85734.1,104.1,204.4,108263.5,-1234.9
$KALMAN_Y,20638.3,-126.6,-190.7,-48145.5,1206.6
$MHEAD_RNG_PITCHd_Wd,26.3,2916,-37.2,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.64,-16.7,0.0,0.0,0,49,0.00,0.00,-31.50,0.000,2,0.000,0.000,98,2299,2481
$GC,52,-1.64,-16.7,3.3,-6.8,3,78,6.30,2.33,-14.65,0.000,4,0.235,0.062,1644,890,3002
$GC,332,-1.64,-16.7,69.1,-23.3,28,336,0.00,2.22,0.00,0.000,6,0.000,0.037,1635,2304,3005
$GC,661,-1.69,-16.7,131.7,-17.7,46,665,0.00,2.25,0.00,0.000,4,0.000,0.042,1639,896,3005
$GC,920,-1.76,-16.7,177.0,-16.4,55,924,0.00,2.22,0.00,0.000,6,0.000,0.044,1631,2303,3006
$GC,1234,-1.84,-16.7,225.7,-15.2,65,1238,0.12,2.25,0.00,0.000,4,0.077,0.044,1584,894,3006
$GC,1491,-1.84,-16.7,270.3,-17.1,72,1496,0.10,2.20,0.00,0.000,6,0.212,0.037,1595,2305,3006
$GC,1803,-1.87,-16.7,320.5,-16.0,80,1807,0.00,2.25,0.00,0.000,4,0.000,0.043,1605,899,3006
$GC,2062,-1.92,-16.7,361.6,-15.0,83,2066,0.00,2.20,0.00,0.000,6,0.000,0.038,1597,2301,3005
$GC,2372,-1.96,-16.7,408.9,-15.2,88,2377,0.10,2.25,0.00,0.000,4,0.084,0.048,1556,893,3004
$GC,2630,-1.94,-16.7,452.4,-17.1,91,2637,0.12,2.22,0.00,0.000,6,0.210,0.038,1573,2311,3004
$GC,2941,-1.94,-16.7,500.9,-15.5,97,2945,0.00,2.28,0.00,0.000,4,0.000,0.049,1575,887,3003
$GC,3199,-1.94,-16.7,542.4,-15.7,100,3205,0.00,2.22,0.00,0.000,6,0.000,0.038,1567,2308,3003
$GC,3509,-1.94,-16.7,590.0,-15.4,106,3513,0.00,2.25,0.00,0.000,4,0.000,0.051,1566,892,3002
$GC,3768,-1.94,-16.7,628.5,-14.1,109,3772,0.00,2.22,0.00,0.000,6,0.000,0.042,1558,2306,3002
$GC,4078,-1.94,-16.7,671.0,-13.6,114,4082,0.00,2.25,0.00,0.000,4,0.000,0.045,1558,892,3002
$GC,4335,-1.94,-16.7,706.5,-14.0,117,4342,0.10,2.28,0.00,0.000,6,0.198,0.047,1574,2307,3001
$GC,4645,-1.96,-16.7,745.2,-12.6,123,4649,0.00,2.25,0.00,0.000,4,0.000,0.050,1574,896,3001
$GC,4902,-1.96,-16.7,778.9,-13.0,126,4909,0.00,2.25,0.00,0.000,6,0.000,0.046,1566,2299,3001
$GC,5212,-1.96,-16.7,818.5,-12.9,132,5216,0.00,2.25,0.00,0.000,4,0.000,0.048,1566,894,3000
$GC,5469,-1.96,-16.7,852.9,-13.3,135,5476,0.00,2.22,0.00,0.000,6,0.000,0.040,1557,2306,3000
$GC,5779,-1.96,-16.7,892.7,-12.9,141,5783,0.00,2.28,0.00,0.000,4,0.000,0.045,1557,892,3000
$GC,6036,-1.96,-16.7,926.1,-13.3,144,6043,0.12,2.25,0.00,0.000,6,0.210,0.047,1571,2305,2999
$GC,6347,-1.99,-16.7,962.0,-11.5,150,6351,0.00,2.25,0.00,0.000,4,0.000,0.053,1571,897,2999
$STATE,6585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6585,begin apogee
$GC,6594,-0.22,0.0,990.2,10.8,153,6613,1.38,0.00,15.57,1.208,6,0.186,0.000,1942,2306,2931
$STATE,6614,end apogee,CONTROL_FINISHED_OK
$STATE,6614,begin climb
$GC,6617,1.64,16.7,991.8,0.0,153,6639,1.15,2.30,15.62,1.182,4,0.074,0.057,2355,3706,2862
$GC,6892,1.59,61.4,994.6,-4.4,158,6936,0.00,2.22,37.62,1.265,6,0.000,0.041,2364,2308,2679
$GC,7254,1.59,61.4,968.7,9.7,164,7258,0.00,2.30,0.00,0.000,4,0.000,0.054,2355,3708,2677
$GC,7360,1.51,61.4,957.4,10.2,165,7365,0.17,2.25,0.00,0.000,6,0.239,0.036,2328,2297,2676
$GC,7681,1.55,61.4,930.0,8.5,171,7685,0.00,2.30,0.00,0.000,4,0.000,0.056,2323,3715,2676
$GC,7771,1.53,61.4,921.4,9.5,172,7775,0.00,2.25,0.00,0.000,6,0.000,0.038,2332,2293,2676
$GC,8109,1.56,61.4,892.8,8.5,178,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2292,2676
$GC,8412,1.59,61.4,867.3,8.4,183,8416,0.00,2.30,0.00,0.000,4,0.000,0.051,2329,3710,2675
$GC,8491,1.56,61.4,859.8,9.5,184,8495,0.00,2.22,0.00,0.000,6,0.000,0.033,2338,2293,2675
$GC,8846,1.58,61.4,831.0,8.0,190,8850,0.00,2.30,0.00,0.000,4,0.000,0.049,2329,3711,2674
$GC,8981,1.55,61.4,819.6,8.1,192,8985,0.00,2.22,0.00,0.000,6,0.000,0.034,2338,2298,2674
$GC,9343,1.57,61.4,792.6,7.5,198,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2298,2674
$GC,9646,1.60,61.4,771.3,6.9,203,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2298,2674
$GC,9948,1.63,61.4,750.4,6.9,208,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2298,2673
$GC,10252,1.66,61.4,730.7,6.5,213,10257,0.08,2.30,0.00,0.000,4,0.114,0.052,2359,3709,2674
$GC,10319,1.58,61.4,725.6,7.4,214,10324,0.12,2.22,0.00,0.000,6,0.240,0.034,2342,2302,2673
$GC,10679,1.58,61.4,701.7,6.6,220,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2302,2674
$GC,10983,1.60,61.4,682.4,6.3,225,10987,0.00,2.28,0.00,0.000,4,0.000,0.048,2342,3711,2674
$GC,11038,1.55,61.4,678.2,6.9,225,11045,0.00,2.22,0.00,0.000,6,0.000,0.034,2351,2296,2673
$GC,11348,1.55,61.4,658.6,6.3,231,11352,0.00,2.28,0.00,0.000,4,0.000,0.048,2342,3714,2674
$GC,11456,1.50,61.4,651.0,7.4,232,11460,0.12,2.22,0.00,0.000,6,0.234,0.034,2326,2304,2673
$GC,11776,1.54,61.4,631.3,6.1,238,11780,0.00,2.28,0.00,0.000,4,0.000,0.049,2316,3712,2674
$GC,11916,1.54,61.4,622.3,6.0,240,11920,0.00,2.20,0.00,0.000,6,0.000,0.034,2324,2304,2673
$GC,12272,1.58,61.4,602.5,5.5,246,12273,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2305,2674
$GC,12575,1.63,62.9,586.8,5.2,251,12580,0.10,2.28,0.00,0.000,4,0.088,0.048,2354,3718,2673
$GC,12712,1.56,64.0,579.0,5.2,253,12717,0.12,2.20,0.00,0.000,6,0.238,0.033,2338,2305,2673
$GC,13079,1.59,67.9,561.2,4.7,259,13089,0.00,2.28,5.90,0.780,4,0.000,0.048,2328,3713,2653
$GC,13174,1.56,67.9,555.8,5.8,260,13178,0.00,2.22,0.00,0.000,6,0.000,0.033,2337,2294,2653
$GC,13507,1.59,68.4,537.8,5.4,266,13508,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2294,2652
$GC,13809,1.62,69.0,521.6,5.4,271,13813,0.00,2.30,0.00,0.000,4,0.000,0.048,2329,3717,2653
$GC,13831,1.62,69.0,520.3,5.7,271,13835,0.00,2.22,0.00,0.000,6,0.000,0.034,2338,2303,2653
$GC,14176,1.65,69.5,501.7,5.4,277,14181,0.08,2.28,0.00,0.000,4,0.100,0.048,2361,3717,2653
$GC,14337,1.58,69.5,492.4,6.2,279,14342,0.12,2.22,0.00,0.000,6,0.237,0.034,2345,2301,2653
$GC,14681,1.58,74.4,476.6,4.4,285,14689,0.00,0.00,6.82,0.777,6,0.000,0.000,2345,2301,2627
$GC,15052,1.61,76.0,457.8,5.1,291,15056,0.00,2.28,0.00,0.000,4,0.000,0.047,2354,893,2626
$GC,15185,1.64,78.6,451.3,4.9,293,15195,0.00,2.25,4.97,0.679,6,0.000,0.039,2354,2310,2610
$GC,15550,1.64,78.6,430.1,6.0,299,15552,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2310,2609
$GC,15853,1.64,78.6,410.1,6.6,304,15857,0.00,2.30,0.00,0.000,4,0.000,0.044,2363,886,2609
$GC,15892,1.64,78.6,407.5,6.8,304,15896,0.00,2.25,0.00,0.000,6,0.000,0.038,2356,2306,2609
$GC,16213,1.64,78.6,385.9,6.7,310,16215,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2306,2609
$GC,16516,1.64,78.6,368.7,5.6,315,16519,0.00,2.25,0.00,0.000,4,0.000,0.048,2355,3713,2609
$GC,16775,1.59,79.9,354.2,5.2,318,16779,0.00,2.22,0.00,0.000,6,0.000,0.032,2363,2290,2609
$GC,17085,1.59,82.5,339.0,4.9,323,17091,0.00,0.00,4.75,0.620,6,0.000,0.000,2364,2290,2594
$GC,17388,1.59,82.8,323.0,5.4,328,17392,0.00,2.25,0.00,0.000,4,0.000,0.046,2374,894,2594
$GC,17450,1.60,84.5,319.7,5.1,328,17456,0.00,2.22,0.00,0.000,6,0.000,0.038,2367,2302,2594
$GC,17761,1.60,87.1,304.4,4.9,334,17771,0.00,2.28,5.47,0.646,4,0.000,0.047,2367,3717,2575
$GC,17892,1.54,87.1,296.6,5.8,336,17897,0.17,2.22,0.00,0.000,6,0.227,0.032,2337,2305,2574
$GC,18228,1.59,87.1,277.5,5.6,347,18229,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2305,2574
$GC,18534,1.65,88.4,261.2,5.2,357,18538,0.00,2.25,0.00,0.000,4,0.000,0.044,2347,893,2574
$GC,18607,1.70,88.4,257.3,5.8,359,18612,0.10,2.22,0.00,0.000,6,0.089,0.037,2379,2303,2574
$GC,18931,1.71,94.3,242.6,4.2,370,18945,0.00,2.33,7.30,0.674,4,0.000,0.044,2390,885,2545
$GC,19034,1.71,94.3,237.4,5.8,373,19038,0.00,2.25,0.00,0.000,6,0.000,0.038,2386,2309,2545
$GC,19369,1.71,94.3,216.0,6.4,384,19372,0.00,2.25,0.00,0.000,4,0.000,0.043,2395,890,2544
$GC,19425,1.71,94.3,212.5,5.9,385,19429,0.10,2.25,0.00,0.000,6,0.221,0.038,2376,2312,2544
$GC,19738,1.71,95.2,194.9,5.3,395,19741,0.00,2.22,0.00,0.000,4,0.000,0.046,2366,3709,2544
$GC,19996,1.67,96.0,179.6,5.3,402,20001,0.00,2.22,0.00,0.000,6,0.000,0.031,2374,2294,2544
$GC,20310,1.68,102.5,165.4,4.0,412,20324,0.00,2.33,7.85,0.642,4,0.000,0.045,2371,3708,2512
$GC,20516,1.64,105.8,154.2,4.8,418,20526,0.10,2.20,4.22,0.508,6,0.235,0.031,2361,2306,2498
$GC,20845,1.70,116.2,142.6,3.2,432,20860,0.00,2.25,9.73,0.651,4,0.000,0.046,2354,3712,2457
$GC,21115,1.71,124.2,131.5,3.7,444,21129,0.00,2.20,7.72,0.619,6,0.000,0.031,2364,2290,2423
$GC,21448,1.79,134.5,117.9,3.2,460,21463,0.10,2.30,9.70,0.634,4,0.081,0.045,2408,3711,2382
$GC,21719,1.73,138.0,104.7,4.7,472,21728,0.17,2.20,4.12,0.479,6,0.209,0.031,2379,2304,2368
$GC,22053,1.80,145.6,90.7,3.8,488,22068,0.00,2.28,8.02,0.597,4,0.000,0.044,2369,3708,2335
$GC,22323,1.80,145.8,73.7,5.5,504,22327,0.00,2.17,0.00,0.000,6,0.000,0.031,2378,2303,2333
$GC,22657,1.90,162.8,65.5,1.7,535,22680,0.12,2.28,15.00,0.633,4,0.070,0.043,2446,894,2266
$GC,22932,1.92,179.8,56.3,1.7,559,22953,0.00,2.22,14.80,0.621,6,0.000,0.035,2438,2301,2196
$GC,23279,1.94,179.8,33.2,8.0,592,23283,0.00,2.22,0.00,0.000,4,0.000,0.041,2446,896,2193
$GC,23539,1.94,179.8,9.9,8.6,615,23544,0.12,2.20,0.00,0.000,6,0.194,0.036,2419,2308,2192
$STATE,23628,end climb,SURFACE_DEPTH_REACHED
$STATE,23628,begin surface coast
$FINISH,1.2,1.024952
$STATE,23651,end surface coast,CONTROL_FINISHED_OK
$STATE,23651,begin surface
$SM_CCo,23668,94.30,0.603,0,0,1708,300.00
$SM_GC,1.65,0.00,0.00,94.30,0.000,0.000,0.603,98,2308,1708,-8.75,0.14,300.00
$IRIDIUM_FIX,4946.36,-14453.06,250199,060631
$TT8_MAMPS,0.028379
$HUMID,1699
$INTERNAL_PRESSURE,7.44169
$TCM_TEMP,16.60
$XPDR_PINGS,35
$24V_AH,23.5,62.134
$10V_AH,10.5,53.336
$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,17.600,180.000,185.225,94.300,0.000,30.403,31.196,189.151,8.750,0.000,0.000,50.795,1632.503,18427.828,395.942,3069.025,657.304,33.380,1788.735,0.000,2975.993,0.000,0.529,0.000
$DEVICE_MAMPS,240.071,62.127,1264.783,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,441.269,496.140,639.708,1072.453,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38108,625
$CAP_FILE_SIZE,175822,0
$CFSIZE,260165632,225599488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,311009,212826,5006.977,-14452.248,33,2.4,52,18.5