version: 66.04
glider: 144
mission: 15
dive: 12
start: 6 16 109 13 1 40
data:
$ID,144
$MISSION,15
$DIVE,12
$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,440
$T_MISSION,480
$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,150
$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,-61070.223
$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,0.039999999
$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,22
$R_STBD_OVSHOOT,27
$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
$GPS1,125425,5006.711,-14450.455,36,1.4,36,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-59.7
$GPS2,130045,5006.730,-14450.359,29,2.5,48,18.5
$SPEED_LIMITS,0.075,0.210
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.074,0.014
$KALMAN_X,-5098.9,-152.8,376.2,17359.8,-1158.8
$KALMAN_Y,6491.7,-262.3,43.8,6763.1,1336.7
$MHEAD_RNG_PITCHd_Wd,61.1,1574,-42.9,-7.500
$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,-1.89,-20.7,0.0,0.0,0,59,0.00,0.00,-41.80,0.000,2,0.000,0.000,104,2306,2817
$GC,62,-1.89,-22.9,3.7,-7.0,4,78,6.15,2.33,-4.95,0.000,4,0.260,0.074,1570,3716,3026
$GC,331,-1.95,-22.9,77.0,-25.5,27,337,0.00,2.25,0.00,0.000,6,0.000,0.048,1570,2297,3027
$GC,657,-2.10,-22.9,151.8,-20.6,44,662,0.10,2.30,0.00,0.000,4,0.093,0.060,1522,3715,3028
$GC,706,-2.10,-22.9,162.3,-21.8,45,711,0.10,2.22,0.00,0.000,6,0.221,0.046,1540,2297,3028
$GC,1025,-2.18,-22.9,225.7,-20.2,56,1029,0.00,2.30,0.00,0.000,4,0.000,0.060,1532,3722,3028
$GC,1096,-2.18,-22.9,241.1,-21.4,58,1100,0.00,2.25,0.00,0.000,6,0.000,0.047,1532,2297,3028
$GC,1457,-2.27,-22.9,312.5,-19.8,69,1461,0.10,2.25,0.00,0.000,4,0.092,0.065,1493,893,3028
$GC,1714,-2.27,-22.9,367.0,-21.1,72,1721,0.10,2.28,0.00,0.000,6,0.224,0.053,1501,2322,3028
$GC,2023,-2.27,-22.9,427.9,-19.6,78,2027,0.00,2.30,0.00,0.000,4,0.000,0.059,1502,887,3029
$GC,2280,-2.27,-22.9,476.7,-18.4,81,2287,0.00,2.28,0.00,0.000,6,0.000,0.053,1494,2299,3028
$GC,2590,-2.27,-22.9,529.8,-17.0,87,2594,0.00,2.25,0.00,0.000,4,0.000,0.061,1493,891,3028
$GC,2770,-2.27,-22.9,560.4,-16.5,89,2774,0.10,2.22,0.00,0.000,6,0.223,0.057,1502,2302,3027
$GC,3090,-2.27,-22.9,611.9,-16.1,95,3094,0.00,2.25,0.00,0.000,4,0.000,0.060,1502,893,3027
$GC,3128,-2.27,-22.9,618.5,-16.6,95,3132,0.00,2.25,0.00,0.000,6,0.000,0.056,1493,2308,3028
$GC,3455,-2.27,-22.9,672.6,-16.6,101,3459,0.00,2.28,0.00,0.000,4,0.000,0.063,1493,888,3027
$GC,3635,-2.27,-22.9,703.7,-17.5,103,3640,0.10,2.25,0.00,0.000,6,0.232,0.056,1503,2305,3027
$GC,3949,-2.27,-22.9,755.0,-16.2,109,3953,0.00,2.28,0.00,0.000,4,0.000,0.063,1506,887,3027
$GC,3982,-2.27,-22.9,760.5,-16.1,109,3986,0.00,2.28,0.00,0.000,6,0.000,0.055,1497,2296,3026
$GC,4315,-2.27,-22.9,812.0,-15.5,115,4319,0.00,2.28,0.00,0.000,4,0.000,0.070,1505,882,3026
$GC,4364,-2.27,-22.9,819.9,-15.7,115,4368,0.00,2.28,0.00,0.000,6,0.000,0.061,1496,2308,3027
$GC,4680,-2.27,-22.9,867.1,-15.1,121,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,1496,2308,3026
$GC,4983,-2.27,-22.9,913.8,-15.5,126,4987,0.00,2.28,0.00,0.000,4,0.000,0.067,1485,3725,3026
$GC,4999,-2.23,-22.9,916.6,-15.3,126,5004,0.10,2.22,0.00,0.000,6,0.247,0.052,1511,2301,3026
$GC,5347,-2.23,-22.9,967.3,-14.4,132,5351,0.00,2.28,0.00,0.000,4,0.000,0.067,1518,881,3026
$GC,5396,-2.23,-22.9,974.6,-14.1,132,5400,0.00,2.28,0.00,0.000,6,0.000,0.058,1508,2305,3026
$STATE,5527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5527,begin apogee
$GC,5533,-0.22,0.0,993.6,14.4,135,5556,1.77,0.00,19.88,1.291,6,0.259,0.000,1949,2306,2930
$STATE,5557,end apogee,CONTROL_FINISHED_OK
$STATE,5557,begin climb
$GC,5559,1.89,22.9,993.6,0.0,135,5586,1.40,2.40,19.58,1.253,4,0.131,0.075,2395,3720,2836
$GC,5839,1.76,57.5,991.2,-0.9,139,5873,0.00,2.30,28.73,1.292,6,0.000,0.061,2404,2298,2696
$GC,6189,1.76,57.5,962.0,10.2,145,6193,0.00,2.38,0.00,0.000,4,0.000,0.073,2396,3717,2692
$GC,6387,1.64,57.5,939.9,11.2,148,6392,0.20,2.28,0.00,0.000,6,0.261,0.057,2363,2306,2692
$GC,6753,1.76,57.5,903.3,9.9,154,6757,0.00,2.33,0.00,0.000,4,0.000,0.074,2372,887,2691
$GC,6785,1.88,57.5,900.0,9.7,154,6790,0.17,2.33,0.00,0.000,6,0.123,0.062,2417,2313,2691
$GC,7111,1.88,57.5,865.2,10.7,160,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2313,2691
$GC,7414,1.88,57.5,833.6,10.3,165,7418,0.00,2.28,0.00,0.000,4,0.000,0.069,2411,3716,2691
$GC,7627,1.74,57.5,810.9,10.6,168,7632,0.17,2.28,0.00,0.000,6,0.262,0.056,2384,2293,2690
$GC,7976,1.81,57.5,781.5,8.1,174,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2293,2690
$GC,8279,1.88,59.9,759.9,6.9,179,8284,0.10,2.33,0.00,0.000,4,0.118,0.072,2411,3718,2690
$GC,8306,1.77,59.9,757.8,7.6,179,8311,0.15,2.28,0.00,0.000,6,0.260,0.058,2390,2293,2690
$GC,8638,1.83,64.5,736.6,6.4,185,8649,0.00,2.33,6.12,0.932,4,0.000,0.068,2380,3716,2668
$GC,8779,1.78,64.5,725.5,8.2,187,8784,0.00,2.28,0.00,0.000,6,0.000,0.057,2389,2293,2667
$GC,9134,1.84,64.5,697.4,8.1,193,9138,0.00,2.33,0.00,0.000,4,0.000,0.069,2381,3720,2667
$GC,9321,1.79,64.5,680.5,9.7,195,9325,0.00,2.28,0.00,0.000,6,0.000,0.054,2389,2291,2667
$GC,9631,1.85,64.5,653.6,8.7,200,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2292,2667
$GC,9933,1.91,64.5,626.9,8.8,205,9935,0.10,0.00,0.00,0.000,6,0.115,0.000,2422,2292,2667
$GC,10236,1.91,64.5,600.4,8.7,210,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2291,2667
$GC,10539,1.91,64.5,575.7,8.1,215,10541,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2291,2666
$GC,10842,1.91,65.8,553.7,7.2,220,10846,0.00,2.30,0.00,0.000,4,0.000,0.065,2421,3717,2667
$GC,11100,1.76,68.3,535.7,6.9,223,11111,0.22,2.22,4.65,0.748,6,0.258,0.052,2384,2304,2651
$GC,11479,1.85,72.3,511.4,6.5,230,11488,0.00,2.30,4.47,0.723,4,0.000,0.064,2376,3718,2636
$GC,11742,1.85,72.3,490.9,7.6,233,11749,0.00,2.28,0.00,0.000,6,0.000,0.052,2385,2305,2636
$GC,12052,1.93,73.4,468.6,7.2,239,12057,0.12,2.30,0.00,0.000,4,0.104,0.064,2423,3726,2636
$GC,12310,1.78,73.4,446.0,8.5,242,12317,0.20,2.25,0.00,0.000,6,0.255,0.052,2389,2301,2636
$GC,12620,1.86,73.4,422.6,7.5,248,12624,0.00,2.28,0.00,0.000,4,0.000,0.065,2398,880,2636
$GC,12727,1.94,77.4,415.2,6.5,249,12738,0.10,2.28,5.65,0.762,6,0.121,0.054,2428,2310,2615
$GC,13048,1.94,77.4,390.4,7.7,255,13049,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2310,2615
$GC,13351,1.94,79.5,368.7,7.0,260,13355,0.00,2.25,0.00,0.000,4,0.000,0.064,2423,3713,2615
$GC,13457,1.81,82.3,361.0,6.8,261,13468,0.17,2.22,5.47,0.729,6,0.255,0.051,2396,2303,2595
$GC,13778,1.89,85.7,339.3,6.7,267,13787,0.00,2.30,4.47,0.648,4,0.000,0.064,2386,3717,2580
$GC,14041,1.89,85.7,317.0,8.6,270,14048,0.00,2.28,0.00,0.000,6,0.000,0.054,2395,2304,2580
$GC,14352,1.98,89.0,295.5,6.7,277,14362,0.12,2.33,4.18,0.605,4,0.107,0.064,2429,3713,2568
$GC,14615,1.83,89.0,273.1,8.8,284,14622,0.17,2.25,0.00,0.000,6,0.248,0.051,2401,2291,2567
$GC,14928,1.91,90.6,249.9,7.1,295,14932,0.00,2.30,0.00,0.000,4,0.000,0.063,2391,3723,2567
$GC,15185,1.86,90.6,229.2,8.5,302,15189,0.00,2.25,0.00,0.000,6,0.000,0.051,2400,2304,2567
$GC,15504,1.96,95.3,208.2,6.4,313,15517,0.10,2.33,6.47,0.693,4,0.111,0.063,2425,3716,2541
$GC,15591,1.85,95.3,200.8,8.9,315,15595,0.15,2.25,0.00,0.000,6,0.245,0.051,2403,2296,2540
$GC,15904,1.95,99.6,178.9,6.4,325,15913,0.00,2.28,5.15,0.634,4,0.000,0.063,2411,884,2523
$GC,16022,2.05,101.8,171.1,7.0,328,16026,0.12,2.28,0.00,0.000,6,0.106,0.054,2452,2309,2523
$GC,16335,2.05,105.1,149.4,6.7,338,16345,0.00,2.30,5.68,0.638,4,0.000,0.061,2463,879,2501
$GC,16401,2.07,117.4,146.0,4.5,341,16418,0.00,2.28,10.82,0.718,6,0.000,0.053,2463,2304,2452
$GC,16727,2.09,135.3,130.3,3.1,357,16749,0.00,2.30,15.10,0.728,4,0.000,0.063,2463,3713,2378
$GC,16760,2.06,149.3,129.0,4.1,358,16781,0.12,2.25,12.65,0.700,6,0.258,0.049,2449,2299,2321
$GC,17104,2.14,149.3,99.9,9.6,375,17108,0.00,2.30,0.00,0.000,4,0.000,0.061,2458,880,2316
$GC,17362,2.24,149.3,75.8,9.0,388,17369,0.12,2.30,0.00,0.000,6,0.101,0.051,2493,2314,2315
$GC,17687,2.24,149.3,45.6,9.1,419,17691,0.00,2.30,0.00,0.000,4,0.000,0.060,2504,884,2314
$GC,17804,2.24,149.4,35.4,7.5,429,17810,0.00,2.25,0.00,0.000,6,0.000,0.051,2504,2305,2314
$GC,18131,2.26,162.8,12.5,4.3,460,18147,0.00,2.30,10.82,0.634,4,0.000,0.060,2514,887,2266
$GC,18182,2.27,174.4,10.2,4.7,464,18197,0.00,2.28,10.57,0.619,6,0.000,0.050,2514,2313,2220
$STATE,18287,end climb,SURFACE_DEPTH_REACHED
$STATE,18287,begin surface coast
$FINISH,0.9,1.025385
$STATE,18298,end surface coast,CONTROL_FINISHED_OK
$STATE,18298,begin surface
$SM_CCo,18314,94.70,0.645,0,0,1708,300.00
$SM_GC,1.71,0.00,0.00,94.70,0.000,0.000,0.645,101,2313,1708,-8.74,0.28,300.00
$IRIDIUM_FIX,4946.36,-14448.39,100998,070759
$TT8_MAMPS,0.029146
$HUMID,1564
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,15.70
$XPDR_PINGS,32
$24V_AH,24.2,4.946
$10V_AH,10.7,2.271
$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,19.225,155.100,180.475,94.700,0.000,25.220,24.987,188.258,8.000,0.000,0.000,50.596,1254.008,14380.107,392.942,2261.780,503.735,33.342,1448.823,0.000,2197.252,0.000,0.527,0.000
$DEVICE_MAMPS,262.314,75.166,1291.628,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,335.224,378.898,489.014,815.680,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28570,475
$CAP_FILE_SIZE,141585,0
$CFSIZE,260165632,258043904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,160609,180957,5006.677,-14449.744,29,2.3,48,18.5