version: 66.04
glider: 144
mission: 15
dive: 283
start: 9 13 109 2 23 42
data:
$ID,144
$MISSION,15
$DIVE,283
$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,-66658.938
$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,28
$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
$GPS1,021707,5020.292,-14509.864,28,1.8,28,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-60.9
$GPS2,022249,5020.338,-14509.824,15,1.8,33,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.035,0.042
$KALMAN_X,-30584.7,149.7,1.4,31319.7,-1629.9
$KALMAN_Y,13004.0,57.7,-117.7,-14134.4,182.7
$MHEAD_RNG_PITCHd_Wd,302.0,2796,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.86,-13.1,0.0,0.0,0,65,0.00,0.00,-46.35,0.000,2,0.000,0.000,99,2302,2756
$GC,68,-1.87,-17.6,3.6,-4.2,5,85,6.30,2.28,-5.85,0.000,4,0.251,0.054,1595,893,3004
$GC,338,-1.96,-17.6,73.2,-22.3,28,344,0.00,2.25,0.00,0.000,6,0.000,0.037,1587,2308,3007
$GC,665,-2.04,-17.6,141.0,-19.1,46,669,0.10,2.22,0.00,0.000,4,0.082,0.046,1545,896,3007
$GC,901,-2.08,-17.6,185.5,-18.8,54,905,0.00,2.22,0.00,0.000,6,0.000,0.037,1537,2310,3008
$GC,1237,-2.12,-17.6,247.8,-18.3,65,1241,0.00,2.25,0.00,0.000,4,0.000,0.048,1536,893,3008
$GC,1354,-2.15,-17.6,270.2,-19.5,68,1358,0.00,2.22,0.00,0.000,6,0.000,0.038,1526,2304,3008
$GC,1667,-2.18,-17.6,328.7,-19.0,76,1671,0.00,2.25,0.00,0.000,4,0.000,0.047,1530,889,3007
$GC,1837,-2.22,-17.6,361.0,-19.2,78,1841,0.00,2.25,0.00,0.000,6,0.000,0.040,1522,2305,3008
$GC,2169,-2.24,-17.6,423.1,-18.5,84,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,2306,3007
$GC,2473,-2.27,-17.6,477.3,-17.8,89,2477,0.00,2.25,0.00,0.000,4,0.000,0.049,1522,889,3006
$GC,2500,-2.30,-17.6,482.4,-18.0,89,2504,0.00,2.25,0.00,0.000,6,0.000,0.039,1511,2307,3006
$GC,2832,-2.30,-17.6,537.9,-16.5,95,2836,0.00,2.25,0.00,0.000,4,0.000,0.051,1514,892,3006
$GC,2955,-2.30,-17.6,558.0,-16.4,96,2962,0.00,2.28,0.00,0.000,6,0.000,0.043,1505,2298,3005
$GC,3265,-2.30,-17.6,604.8,-15.0,102,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,1505,2298,3005
$GC,3568,-2.30,-17.6,649.2,-14.6,107,3572,0.00,2.25,0.00,0.000,4,0.000,0.048,1495,3707,3005
$GC,3630,-2.25,-17.6,659.0,-15.8,108,3634,0.00,2.20,0.00,0.000,6,0.000,0.035,1495,2299,3004
$GC,4002,-2.25,-17.6,713.2,-14.5,114,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2299,3004
$GC,4305,-2.25,-17.6,757.1,-14.4,119,4309,0.00,2.28,0.00,0.000,4,0.000,0.050,1484,3713,3003
$GC,4354,-2.19,-17.6,764.8,-15.2,119,4359,0.17,2.20,0.00,0.000,6,0.220,0.033,1523,2295,3003
$GC,4665,-2.23,-17.6,805.7,-13.1,124,4668,0.00,2.22,0.00,0.000,4,0.000,0.045,1528,895,3003
$GC,4734,-2.26,-17.6,815.0,-12.8,125,4738,0.00,2.25,0.00,0.000,6,0.000,0.044,1519,2313,3003
$GC,5099,-2.30,-17.6,863.8,-13.4,131,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,2313,3002
$GC,5403,-2.34,-17.6,902.6,-12.7,136,5404,0.10,0.00,0.00,0.000,6,0.084,0.000,1477,2314,3002
$GC,5706,-2.34,-17.6,944.0,-13.6,141,5710,0.00,2.28,0.00,0.000,4,0.000,0.048,1477,892,3001
$GC,5836,-2.31,-17.6,962.1,-14.1,143,5840,0.12,2.25,0.00,0.000,6,0.229,0.040,1493,2311,3001
$STATE,6077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6077,begin apogee
$GC,6083,-0.22,0.0,993.6,12.8,147,6103,1.77,0.00,15.88,1.228,6,0.212,0.000,1951,2311,2931
$STATE,6103,end apogee,CONTROL_FINISHED_OK
$STATE,6104,begin climb
$GC,6106,1.87,17.6,993.6,0.0,147,6126,1.27,0.00,15.80,1.199,6,0.075,0.000,2412,2311,2859
$GC,6476,1.91,46.4,998.1,-2.6,153,6505,0.00,0.00,24.38,1.258,6,0.000,0.000,2412,2311,2741
$GC,6844,1.91,46.4,975.7,8.1,159,6848,0.00,2.33,0.00,0.000,4,0.000,0.051,2422,896,2739
$GC,6917,1.91,46.4,970.0,7.7,160,6921,0.00,2.30,0.00,0.000,6,0.000,0.046,2423,2311,2739
$GC,7271,1.91,46.4,941.6,8.0,166,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2310,2738
$GC,7574,1.91,46.4,917.2,8.1,171,7578,0.00,2.30,0.00,0.000,4,0.000,0.047,2432,893,2739
$GC,7618,1.91,46.4,913.5,8.4,171,7622,0.00,2.28,0.00,0.000,6,0.000,0.042,2423,2309,2738
$GC,7935,1.91,46.4,888.2,8.0,177,7936,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2309,2738
$GC,8236,1.91,46.4,864.8,7.6,182,8240,0.00,2.28,0.00,0.000,4,0.000,0.057,2423,3719,2738
$GC,8494,1.82,46.4,843.8,7.7,185,8501,0.17,2.25,0.00,0.000,6,0.250,0.041,2397,2294,2737
$GC,8804,1.84,46.4,822.5,7.0,191,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2294,2738
$GC,9107,1.87,46.4,800.8,7.1,196,9111,0.00,2.25,0.00,0.000,4,0.000,0.048,2405,890,2738
$GC,9202,1.89,46.4,794.0,7.0,197,9207,0.00,2.28,0.00,0.000,6,0.000,0.041,2398,2315,2737
$GC,9541,1.91,46.4,770.5,6.9,203,9545,0.00,2.25,0.00,0.000,4,0.000,0.056,2391,3719,2737
$GC,9671,1.87,46.4,761.2,7.0,205,9675,0.00,2.22,0.00,0.000,6,0.000,0.038,2399,2294,2737
$GC,10036,1.87,46.4,738.9,6.1,211,10040,0.00,2.28,0.00,0.000,4,0.000,0.050,2391,3712,2737
$GC,10109,1.83,46.4,734.3,6.9,212,10113,0.00,2.20,0.00,0.000,6,0.000,0.037,2399,2304,2737
$GC,10464,1.83,46.9,715.4,5.3,218,10465,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2304,2737
$GC,10766,1.83,49.9,701.1,4.7,223,10775,0.00,2.28,3.80,0.674,4,0.000,0.048,2410,893,2727
$GC,10843,1.84,52.6,697.5,4.7,224,10852,0.00,2.25,3.85,0.673,6,0.000,0.044,2410,2306,2716
$GC,11203,1.84,52.6,677.4,5.8,230,11204,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2306,2716
$GC,11505,1.84,52.6,660.6,5.5,235,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2306,2716
$GC,11808,1.84,54.8,645.6,4.9,240,11814,0.00,0.00,3.78,0.653,6,0.000,0.000,2410,2305,2707
$GC,12112,1.84,55.4,629.8,5.3,245,12115,0.00,2.25,0.00,0.000,4,0.000,0.046,2418,894,2706
$GC,12287,1.84,59.3,620.4,4.4,247,12297,0.00,2.25,5.07,0.774,6,0.000,0.039,2411,2309,2689
$GC,12612,1.84,59.3,599.7,6.6,253,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2309,2689
$GC,12915,1.84,59.3,582.2,5.7,258,12919,0.00,2.25,0.00,0.000,4,0.000,0.051,2410,3710,2688
$GC,13173,1.78,59.7,566.2,5.4,261,13178,0.15,2.20,0.00,0.000,6,0.250,0.034,2390,2302,2689
$GC,13483,1.82,60.8,549.8,5.2,266,13487,0.00,2.28,0.00,0.000,4,0.000,0.049,2379,3710,2688
$GC,13713,1.83,62.6,537.3,5.0,269,13722,0.00,2.20,4.50,0.691,6,0.000,0.034,2387,2302,2675
$GC,14051,1.87,63.8,520.4,5.2,275,14055,0.00,2.28,0.00,0.000,4,0.000,0.050,2379,3710,2675
$GC,14309,1.87,63.8,505.8,6.1,278,14316,0.00,2.22,0.00,0.000,6,0.000,0.034,2387,2304,2675
$GC,14620,1.92,66.5,490.9,4.7,284,14630,0.10,2.25,4.88,0.706,4,0.106,0.050,2412,3710,2659
$GC,14884,1.86,66.5,473.7,6.9,288,14888,0.00,2.17,0.00,0.000,6,0.000,0.034,2421,2303,2658
$GC,15256,1.86,66.5,452.5,5.7,294,15260,0.00,2.25,0.00,0.000,4,0.000,0.054,2412,3710,2658
$GC,15513,1.81,66.5,436.6,6.2,297,15520,0.10,2.22,0.00,0.000,6,0.238,0.034,2397,2301,2658
$GC,15824,1.85,68.4,420.9,5.0,303,15825,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2301,2658
$GC,16126,1.89,71.1,406.2,4.7,308,16136,0.00,2.22,5.20,0.692,4,0.000,0.045,2406,891,2640
$GC,16388,1.93,71.1,391.6,6.1,311,16395,0.00,2.28,0.00,0.000,6,0.000,0.038,2398,2304,2640
$GC,16698,1.98,71.8,375.0,5.3,317,16703,0.12,2.25,0.00,0.000,4,0.094,0.044,2452,894,2640
$GC,16753,1.98,72.0,372.0,5.4,317,16760,0.00,2.22,0.00,0.000,6,0.000,0.039,2449,2305,2640
$GC,17064,1.96,73.1,356.3,5.2,323,17069,0.10,2.25,0.00,0.000,4,0.237,0.044,2438,894,2640
$GC,17322,1.96,76.2,343.6,4.6,326,17332,0.00,2.22,5.50,0.680,6,0.000,0.038,2436,2303,2620
$GC,17700,1.96,76.2,321.2,6.1,333,17703,0.00,2.22,0.00,0.000,4,0.000,0.047,2425,3709,2619
$GC,17721,1.92,76.2,319.8,6.2,333,17725,0.00,2.17,0.00,0.000,6,0.000,0.032,2434,2303,2619
$GC,18071,1.93,77.9,301.7,5.0,339,18075,0.00,2.25,0.00,0.000,4,0.000,0.046,2426,3710,2619
$GC,18329,1.87,83.1,290.3,4.0,345,18342,0.15,2.20,6.93,0.706,6,0.240,0.033,2405,2298,2592
$GC,18674,1.91,84.4,273.3,5.1,357,18678,0.00,2.28,0.00,0.000,4,0.000,0.045,2395,3722,2591
$GC,18820,1.91,85.8,265.0,5.1,361,18829,0.00,2.22,3.83,0.531,6,0.000,0.032,2403,2296,2580
$GC,19144,1.96,85.8,247.2,5.6,372,19146,0.08,0.00,0.00,0.000,6,0.103,0.000,2434,2296,2580
$GC,19449,1.96,85.8,229.0,6.0,382,19450,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2296,2580
$GC,19755,1.96,85.8,211.0,5.7,392,19759,0.00,2.28,0.00,0.000,4,0.000,0.045,2425,3710,2580
$GC,20013,1.91,85.8,194.4,7.3,399,20019,0.00,2.20,0.00,0.000,6,0.000,0.032,2434,2300,2579
$GC,20326,1.92,91.2,178.7,4.0,410,20336,0.00,2.25,5.85,0.620,4,0.000,0.044,2427,3710,2559
$GC,20592,1.87,91.2,165.1,6.2,418,20597,0.12,2.20,0.00,0.000,6,0.235,0.031,2412,2291,2558
$GC,20928,1.93,98.1,151.9,3.5,429,20941,0.00,2.28,7.12,0.637,4,0.000,0.043,2420,886,2529
$GC,21111,1.98,101.6,143.4,4.5,436,21120,0.00,2.22,4.25,0.517,6,0.000,0.036,2412,2307,2516
$GC,21439,2.05,109.8,131.3,3.2,452,21454,0.12,2.28,7.75,0.634,4,0.081,0.043,2470,893,2482
$GC,21708,2.06,119.7,120.1,2.7,464,21722,0.00,2.22,9.27,0.648,6,0.000,0.036,2466,2302,2442
$GC,22039,2.07,129.3,109.7,2.8,480,22054,0.00,2.30,8.90,0.634,4,0.000,0.043,2474,889,2403
$GC,22099,2.08,138.9,108.5,2.8,482,22114,0.00,2.25,9.27,0.630,6,0.000,0.037,2474,2309,2363
$GC,22437,2.10,138.9,89.2,6.9,499,22441,0.00,2.22,0.00,0.000,4,0.000,0.044,2465,3707,2360
$GC,22663,2.07,138.9,70.8,7.9,514,22668,0.12,2.20,0.00,0.000,6,0.238,0.031,2449,2292,2359
$GC,22988,2.13,140.5,49.9,5.0,544,22992,0.00,2.28,0.00,0.000,4,0.000,0.044,2439,3709,2359
$GC,23246,2.15,161.4,46.4,-0.4,566,23269,0.00,2.20,18.27,0.639,6,0.000,0.031,2448,2291,2273
$GC,23588,2.27,177.0,42.5,1.1,598,23612,0.15,2.28,13.68,0.617,4,0.074,0.041,2518,893,2207
$GC,23864,2.27,177.0,24.4,9.9,622,23871,0.08,2.28,0.00,0.000,6,0.206,0.036,2498,2305,2204
$STATE,24113,end climb,SURFACE_DEPTH_REACHED
$STATE,24113,begin surface coast
$FINISH,1.1,1.024678
$STATE,24127,end surface coast,CONTROL_FINISHED_OK
$STATE,24127,begin surface
$SM_CCo,24143,94.43,0.608,0,0,1707,300.00
$SM_GC,1.73,0.00,0.00,94.43,0.000,0.000,0.608,99,2305,1707,-8.74,0.06,300.00
$IRIDIUM_FIX,4959.75,-14505.72,071298,181823
$TT8_MAMPS,0.029146
$HUMID,1668
$INTERNAL_PRESSURE,7.46122
$TCM_TEMP,16.80
$XPDR_PINGS,38
$24V_AH,24.1,42.249
$10V_AH,10.6,35.283
$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,17.875,166.175,187.750,94.425,0.000,27.592,29.660,140.244,9.500,0.000,0.000,35.262,1619.173,19083.225,407.501,2899.926,562.498,33.363,1732.799,0.000,2848.762,0.000,0.528,0.000
$DEVICE_MAMPS,250.809,56.758,1257.880,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,454.080,519.289,669.285,1110.508,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38020,647
$CAP_FILE_SIZE,171132,0
$CFSIZE,260165632,236654592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130909,090906,5021.030,-14511.673,40,1.4,46,18.5