version: 66.04
glider: 144
mission: 15
dive: 776
start: 2 27 110 4 33 1
data:
$ID,144
$MISSION,15
$DIVE,776
$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,-77392.789
$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,35
$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
$GPS1,042506,4916.133,-13443.105,25,1.5,25,19.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-53.3
$GPS2,043207,4916.163,-13443.084,14,1.5,14,19.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.068,0.020
$KALMAN_X,-54431.5,-24.1,-96.5,796095.9,1191.9
$KALMAN_Y,69837.9,-220.7,46.0,-189692.8,821.1
$MHEAD_RNG_PITCHd_Wd,54.1,4035,-34.7,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-1.53,-19.0,0.0,0.0,0,82,0.00,0.00,-60.20,0.000,6,0.000,0.000,97,2294,3011
$GC,87,-1.53,-19.0,5.1,-6.8,3,98,6.43,2.28,0.00,0.000,4,0.233,0.037,1649,3711,3013
$GC,174,-1.51,-19.0,30.8,-26.5,7,179,0.00,2.20,0.00,0.000,6,0.000,0.032,1653,2305,3014
$GC,496,-1.54,-19.0,104.8,-19.0,27,500,0.00,2.25,0.00,0.000,4,0.000,0.041,1654,885,3014
$GC,680,-1.59,-19.0,138.7,-17.9,42,686,0.00,2.25,0.00,0.000,6,0.000,0.035,1645,2302,3014
$GC,997,-1.63,-19.0,192.5,-16.8,57,1001,0.00,2.28,0.00,0.000,4,0.000,0.040,1645,885,3014
$GC,1032,-1.67,-19.0,198.6,-16.3,58,1036,0.00,2.28,0.00,0.000,6,0.000,0.036,1635,2305,3014
$GC,1365,-1.71,-19.0,252.4,-16.0,69,1369,0.00,2.33,0.00,0.000,4,0.000,0.048,1634,888,3014
$GC,1569,-1.75,-19.0,284.6,-15.2,75,1573,0.00,2.28,0.00,0.000,6,0.000,0.042,1625,2306,3015
$GC,1934,-1.77,-19.0,341.7,-15.3,83,1938,0.00,2.30,0.00,0.000,4,0.000,0.041,1626,882,3014
$GC,2054,-1.80,-19.0,361.2,-15.7,84,2058,0.00,2.30,0.00,0.000,6,0.000,0.038,1614,2309,3015
$GC,2364,-1.80,-19.0,407.6,-14.9,89,2368,0.00,2.30,0.00,0.000,4,0.000,0.042,1614,893,3014
$GC,2625,-1.80,-19.0,447.3,-14.6,92,2631,0.00,2.28,0.00,0.000,6,0.000,0.038,1604,2307,3014
$GC,2936,-1.80,-19.0,492.7,-14.5,98,2940,0.00,2.33,0.00,0.000,4,0.000,0.048,1593,3715,3014
$GC,3028,-1.76,-19.0,506.9,-15.7,99,3032,0.12,2.25,0.00,0.000,6,0.193,0.035,1618,2304,3013
$GC,3372,-1.78,-19.0,554.3,-13.4,105,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2304,3013
$GC,3675,-1.80,-19.0,595.5,-13.7,110,3679,0.00,2.33,0.00,0.000,4,0.000,0.048,1624,884,3013
$GC,3807,-1.85,-19.0,614.8,-14.6,112,3811,0.00,2.28,0.00,0.000,6,0.000,0.038,1616,2301,3013
$GC,4179,-1.85,-19.0,668.7,-14.5,118,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2302,3012
$GC,4482,-1.85,-19.0,710.6,-13.7,123,4486,0.00,2.33,0.00,0.000,4,0.000,0.054,1605,3714,3012
$GC,4528,-1.81,-19.0,717.0,-14.3,123,4532,0.00,2.28,0.00,0.000,6,0.000,0.036,1604,2295,3011
$GC,4845,-1.81,-19.0,757.9,-12.8,129,4849,0.00,2.33,0.00,0.000,4,0.000,0.045,1604,895,3010
$GC,4885,-1.81,-19.0,763.3,-12.7,129,4889,0.00,2.30,0.00,0.000,6,0.000,0.038,1594,2310,3010
$GC,5207,-1.81,-19.0,803.2,-12.3,135,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2310,3010
$GC,5510,-1.81,-19.0,838.9,-11.7,140,5514,0.00,2.35,0.00,0.000,4,0.000,0.048,1594,886,3010
$GC,5534,-1.81,-19.0,841.9,-12.5,140,5538,0.10,2.30,0.00,0.000,6,0.206,0.041,1602,2305,3010
$GC,5872,-1.81,-19.0,879.8,-10.9,146,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2305,3009
$GC,6177,-1.81,-19.0,913.1,-11.0,151,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2305,3009
$GC,6479,-1.81,-19.0,948.1,-11.6,156,6483,0.00,2.33,0.00,0.000,4,0.000,0.053,1594,3714,3008
$GC,6516,-1.77,-19.0,952.7,-12.8,156,6520,0.00,2.22,0.00,0.000,6,0.000,0.039,1598,2305,3008
$STATE,6839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6839,begin apogee
$GC,6848,-0.22,0.0,992.6,12.1,162,6870,1.33,0.00,17.75,1.199,6,0.176,0.000,1951,2304,2931
$STATE,6870,end apogee,CONTROL_FINISHED_OK
$STATE,6870,begin climb
$GC,6875,1.53,19.0,992.6,0.0,162,6899,1.08,2.38,17.42,1.177,4,0.070,0.050,2346,897,2853
$GC,7156,1.57,77.4,1003.6,-5.9,166,7210,0.00,2.30,49.10,1.257,6,0.000,0.040,2342,2313,2615
$GC,7583,1.57,77.4,975.0,9.2,173,7587,0.00,2.33,0.00,0.000,4,0.000,0.052,2351,895,2610
$GC,7842,1.57,77.4,950.2,9.0,176,7848,0.00,2.30,0.00,0.000,6,0.000,0.041,2342,2309,2609
$GC,8153,1.57,77.4,921.1,9.4,182,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2309,2609
$GC,8455,1.57,77.4,892.9,9.3,187,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2309,2609
$GC,8758,1.57,77.4,865.8,9.0,192,8762,0.00,2.30,0.00,0.000,4,0.000,0.056,2342,3713,2608
$GC,8867,1.48,77.4,855.0,9.8,193,8871,0.15,2.22,0.00,0.000,6,0.231,0.032,2323,2304,2608
$GC,9189,1.48,77.4,828.0,8.4,199,9193,0.00,2.30,0.00,0.000,4,0.000,0.048,2315,3708,2608
$GC,9218,1.45,77.4,825.2,9.7,199,9222,0.00,2.22,0.00,0.000,6,0.000,0.035,2324,2304,2607
$GC,9551,1.45,77.4,797.7,8.1,205,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2304,2607
$GC,9855,1.45,77.4,774.0,7.8,210,9859,0.00,2.33,0.00,0.000,4,0.000,0.048,2315,3717,2607
$GC,9924,1.40,77.4,768.4,8.6,211,9928,0.00,2.22,0.00,0.000,6,0.000,0.033,2324,2296,2607
$GC,10285,1.40,77.4,739.3,8.1,217,10289,0.00,2.30,0.00,0.000,4,0.000,0.047,2315,3717,2607
$GC,10349,1.35,77.4,733.9,9.3,217,10356,0.15,2.22,0.00,0.000,6,0.230,0.033,2294,2307,2607
$GC,10660,1.41,77.4,710.4,7.4,223,10664,0.00,2.30,0.00,0.000,4,0.000,0.053,2304,887,2607
$GC,10689,1.47,77.4,708.2,6.9,223,10693,0.00,2.28,0.00,0.000,6,0.000,0.041,2302,2309,2607
$GC,11028,1.52,77.4,683.2,7.3,229,11032,0.10,2.33,0.00,0.000,4,0.095,0.048,2330,3720,2607
$GC,11185,1.46,77.4,670.1,8.9,231,11189,0.00,2.22,0.00,0.000,6,0.000,0.032,2339,2301,2607
$GC,11529,1.46,77.4,643.5,7.5,237,11534,0.10,2.28,0.00,0.000,4,0.233,0.044,2329,890,2607
$GC,11639,1.48,77.4,635.6,7.5,238,11643,0.00,2.28,0.00,0.000,6,0.000,0.038,2329,2314,2607
$GC,11972,1.48,77.4,613.3,6.7,244,11976,0.00,2.30,0.00,0.000,4,0.000,0.054,2329,3708,2607
$GC,12012,1.41,77.4,610.3,7.6,244,12017,0.15,2.22,0.00,0.000,6,0.231,0.032,2306,2291,2607
$GC,12335,1.45,77.4,588.0,6.8,250,12339,0.00,2.35,0.00,0.000,4,0.000,0.051,2301,3713,2607
$GC,12595,1.42,77.4,568.7,6.9,253,12601,0.00,2.22,0.00,0.000,6,0.000,0.032,2310,2296,2607
$GC,12906,1.45,77.4,550.2,5.8,259,12910,0.00,2.33,0.00,0.000,4,0.000,0.051,2302,3709,2607
$GC,13009,1.43,77.4,544.1,6.4,260,13013,0.00,2.22,0.00,0.000,6,0.000,0.032,2310,2295,2607
$GC,13338,1.46,77.6,526.0,5.5,266,13339,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2295,2607
$GC,13640,1.50,81.0,511.1,4.8,271,13641,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2294,2607
$GC,13944,1.53,84.4,496.6,4.8,276,13952,0.08,0.00,6.05,0.735,6,0.099,0.000,2342,2295,2586
$GC,14246,1.53,84.4,478.0,6.3,281,14250,0.00,2.35,0.00,0.000,4,0.000,0.047,2342,3708,2585
$GC,14502,1.45,84.4,458.2,7.2,284,14507,0.15,2.25,0.00,0.000,6,0.225,0.031,2318,2300,2585
$GC,14813,1.48,84.4,437.7,6.6,289,14818,0.00,2.33,0.00,0.000,4,0.000,0.044,2329,886,2585
$GC,15024,1.51,84.9,425.6,5.4,292,15028,0.00,2.28,0.00,0.000,6,0.000,0.038,2329,2303,2585
$GC,15380,1.52,88.7,408.1,4.8,298,15390,0.00,2.30,5.25,0.659,4,0.000,0.046,2329,3713,2568
$GC,15646,1.46,88.7,392.7,6.1,302,15650,0.00,2.22,0.00,0.000,6,0.000,0.031,2338,2290,2568
$GC,16014,1.46,90.0,373.3,5.2,308,16018,0.00,2.30,0.00,0.000,4,0.000,0.045,2330,3710,2568
$GC,16273,1.41,90.0,356.9,6.0,311,16279,0.15,2.22,0.00,0.000,6,0.217,0.031,2305,2298,2567
$GC,16585,1.47,93.3,341.4,4.9,317,16595,0.00,2.33,5.47,0.640,4,0.000,0.044,2296,3718,2549
$GC,16851,1.47,93.3,326.2,5.7,321,16855,0.00,2.22,0.00,0.000,6,0.000,0.031,2305,2295,2548
$GC,17219,1.53,98.4,309.7,4.5,327,17230,0.10,2.33,5.60,0.630,4,0.080,0.044,2341,3711,2529
$GC,17487,1.47,98.4,293.0,6.3,332,17492,0.15,2.25,0.00,0.000,6,0.217,0.031,2318,2295,2529
$GC,17824,1.52,102.7,275.7,4.7,343,17834,0.00,2.33,5.12,0.594,4,0.000,0.044,2314,3710,2511
$GC,18090,1.52,102.7,258.4,6.1,351,18094,0.00,2.20,0.00,0.000,6,0.000,0.031,2324,2301,2511
$GC,18433,1.56,103.7,239.5,5.3,362,18437,0.00,2.28,0.00,0.000,4,0.000,0.045,2324,3711,2510
$GC,18504,1.53,103.7,235.1,6.4,364,18507,0.00,2.20,0.00,0.000,6,0.000,0.030,2334,2301,2510
$GC,18847,1.56,106.4,216.6,5.0,375,18856,0.00,2.30,4.55,0.537,4,0.000,0.043,2344,900,2496
$GC,18937,1.60,106.6,211.4,5.4,377,18941,0.00,2.25,0.00,0.000,6,0.000,0.036,2342,2315,2496
$GC,19253,1.62,106.6,191.9,6.1,387,19257,0.00,2.28,0.00,0.000,4,0.000,0.042,2350,893,2496
$GC,19360,1.65,106.6,185.2,6.3,390,19364,0.00,2.25,0.00,0.000,6,0.000,0.035,2350,2304,2495
$GC,19693,1.65,107.8,166.6,5.3,401,19697,0.00,2.30,0.00,0.000,4,0.000,0.041,2359,889,2496
$GC,19757,1.65,111.6,163.3,4.8,403,19768,0.00,2.25,5.80,0.569,6,0.000,0.035,2355,2304,2475
$GC,20086,1.66,115.2,146.5,4.8,417,20098,0.00,2.30,4.43,0.500,4,0.000,0.044,2355,3702,2461
$GC,20354,1.61,122.4,133.0,4.1,440,20365,0.00,2.22,7.25,0.579,6,0.000,0.030,2363,2302,2432
$GC,20687,1.62,132.9,118.7,3.5,471,20702,0.00,2.30,9.82,0.611,4,0.000,0.041,2373,897,2389
$GC,20738,1.66,146.4,117.1,2.9,475,20756,0.00,2.25,12.40,0.623,6,0.000,0.035,2371,2313,2333
$GC,21076,1.72,156.4,100.6,3.5,507,21092,0.00,2.30,9.32,0.587,4,0.000,0.044,2370,3708,2292
$GC,21349,1.72,162.7,90.8,4.3,531,21361,0.00,2.20,6.62,0.543,6,0.000,0.030,2379,2292,2267
$GC,21681,1.77,162.7,71.8,6.4,556,21685,0.00,2.30,0.00,0.000,4,0.000,0.044,2379,3715,2265
$GC,21695,1.80,162.7,70.8,6.3,556,21701,0.00,2.20,0.00,0.000,6,0.000,0.029,2389,2300,2264
$GC,22014,1.83,162.7,48.8,7.3,572,22018,0.00,2.25,0.00,0.000,4,0.000,0.041,2400,896,2264
$GC,22273,1.86,162.7,28.7,7.8,583,22277,0.00,2.22,0.00,0.000,6,0.000,0.035,2399,2303,2264
$GC,22591,1.86,162.7,2.8,8.3,598,22595,0.00,2.25,0.00,0.000,4,0.000,0.038,2407,886,2263
$STATE,22599,end climb,SURFACE_DEPTH_REACHED
$STATE,22599,begin surface coast
$FINISH,1.5,1.025349
$STATE,22623,end surface coast,CONTROL_FINISHED_OK
$STATE,22623,begin surface
$SM_CCo,22647,109.65,0.582,0,0,1708,300.00
$SM_GC,2.05,0.00,0.00,109.65,0.000,0.000,0.582,98,2303,1708,-8.75,0.00,300.00
$IRIDIUM_FIX,4856.69,-13427.39,230599,202051
$TT8_MAMPS,0.028379
$HUMID,1740
$INTERNAL_PRESSURE,7.41239
$TCM_TEMP,18.40
$XPDR_PINGS,47
$24V_AH,23.2,111.760
$10V_AH,10.3,94.852
$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,16.625,186.800,171.975,109.650,0.000,23.770,27.295,187.369,11.750,0.000,0.000,16.406,1520.442,17764.855,428.731,2569.974,883.420,33.380,1669.200,0.000,2528.831,0.000,0.528,0.000
$DEVICE_MAMPS,233.168,55.991,1257.113,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,420.208,485.856,621.280,683.151,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34966,599
$CAP_FILE_SIZE,164534,0
$CFSIZE,260165632,198336512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270210,105336,4917.967,-13441.634,29,1.4,29,19.6