version: 66.04
glider: 144
mission: 15
dive: 368
start: 10 12 109 0 56 20
data:
$ID,144
$MISSION,15
$DIVE,368
$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,-68508.258
$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
$GPS1,004831,5021.269,-14510.292,39,1.2,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-66.9
$GPS2,005526,5021.277,-14510.260,12,1.6,12,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.015,-0.053
$KALMAN_X,-70216.1,411.6,42.8,70120.9,-1752.7
$KALMAN_Y,20181.9,-211.3,-61.3,-19360.2,291.9
$MHEAD_RNG_PITCHd_Wd,177.5,2052,-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,17,-1.86,-13.1,0.0,0.0,0,51,0.00,0.00,-31.33,0.000,2,0.000,0.000,99,2300,2553
$GC,54,-1.87,-14.1,3.1,-5.2,3,78,6.05,2.30,-11.48,0.000,4,0.234,0.058,1584,889,2990
$GC,263,-1.95,-14.1,58.8,-27.6,21,270,0.00,2.25,0.00,0.000,6,0.000,0.040,1576,2306,2992
$GC,583,-2.02,-14.1,126.8,-21.0,42,584,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2306,2994
$GC,890,-2.11,-14.1,181.1,-15.9,54,895,0.12,2.28,0.00,0.000,4,0.069,0.044,1519,892,2994
$GC,945,-2.11,-14.1,191.6,-19.0,55,952,0.10,2.25,0.00,0.000,6,0.200,0.036,1536,2297,2994
$GC,1258,-2.15,-14.1,250.1,-19.4,66,1262,0.00,2.25,0.00,0.000,4,0.000,0.049,1545,896,2994
$GC,1365,-2.20,-14.1,269.8,-18.6,69,1369,0.00,2.22,0.00,0.000,6,0.000,0.043,1537,2303,2995
$GC,1688,-2.24,-14.1,325.6,-17.1,78,1692,0.10,2.25,0.00,0.000,4,0.079,0.048,1500,893,2994
$GC,1929,-2.24,-14.1,368.8,-18.0,81,1933,0.00,2.25,0.00,0.000,6,0.000,0.041,1492,2304,2994
$GC,2250,-2.24,-14.1,425.3,-17.6,87,2254,0.00,2.28,0.00,0.000,4,0.000,0.051,1494,894,2993
$GC,2402,-2.24,-14.1,452.6,-17.4,89,2407,0.12,2.25,0.00,0.000,6,0.212,0.044,1511,2305,2993
$GC,2745,-2.27,-14.1,509.3,-16.3,95,2749,0.00,2.28,0.00,0.000,4,0.000,0.048,1519,888,2992
$GC,3002,-2.30,-14.1,551.1,-15.3,98,3010,0.00,2.25,0.00,0.000,6,0.000,0.038,1510,2311,2991
$GC,3312,-2.30,-14.1,598.7,-15.3,104,3316,0.00,2.25,0.00,0.000,4,0.000,0.054,1499,3719,2991
$GC,3357,-2.26,-14.1,606.0,-16.1,104,3361,0.00,2.22,0.00,0.000,6,0.000,0.035,1505,2300,2990
$GC,3673,-2.26,-14.1,654.0,-15.1,110,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,1504,2300,2990
$GC,3976,-2.26,-14.1,698.6,-14.7,115,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,1504,2300,2989
$GC,4279,-2.26,-14.1,739.5,-13.4,120,4283,0.00,2.28,0.00,0.000,4,0.000,0.046,1506,893,2989
$GC,4409,-2.26,-14.1,756.7,-13.0,122,4413,0.00,2.25,0.00,0.000,6,0.000,0.039,1497,2304,2989
$GC,4775,-2.26,-14.1,801.3,-12.0,128,4779,0.00,2.28,0.00,0.000,4,0.000,0.048,1500,887,2988
$GC,4858,-2.26,-14.1,811.9,-12.6,129,4862,0.00,2.28,0.00,0.000,6,0.000,0.040,1491,2312,2988
$GC,5208,-2.26,-14.1,854.7,-12.3,135,5211,0.00,2.22,0.00,0.000,4,0.000,0.052,1481,3708,2987
$GC,5241,-2.21,-14.1,859.2,-14.5,135,5246,0.17,2.20,0.00,0.000,6,0.213,0.039,1520,2304,2987
$GC,5573,-2.25,-14.1,896.4,-11.2,141,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,2304,2987
$GC,5876,-2.30,-14.1,931.1,-11.5,146,5880,0.00,2.25,0.00,0.000,4,0.000,0.049,1531,895,2986
$GC,5972,-2.35,-14.1,942.5,-12.4,147,5977,0.12,2.25,0.00,0.000,6,0.081,0.041,1472,2309,2986
$GC,6304,-2.35,-14.1,984.3,-12.5,153,6308,0.00,2.25,0.00,0.000,4,0.000,0.052,1461,3711,2986
$GC,6327,-2.30,-14.1,987.2,-12.9,153,6332,0.15,2.22,0.00,0.000,6,0.219,0.040,1496,2294,2985
$STATE,6346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6346,begin apogee
$GC,6353,-0.22,0.0,990.2,13.6,153,6370,1.67,0.00,13.07,1.187,6,0.201,0.000,1944,2293,2931
$STATE,6370,end apogee,CONTROL_FINISHED_OK
$STATE,6370,begin climb
$GC,6373,1.87,14.1,991.5,0.0,154,6390,1.33,0.00,13.32,1.166,6,0.075,0.000,2416,2293,2873
$GC,6668,1.90,45.0,996.8,-3.2,159,6699,0.00,2.33,26.23,1.253,4,0.000,0.049,2427,891,2747
$GC,6951,1.90,45.0,983.6,7.7,163,6956,0.00,2.28,0.00,0.000,6,0.000,0.042,2423,2305,2745
$GC,7300,1.90,45.0,957.2,7.6,169,7304,0.00,2.28,0.00,0.000,4,0.000,0.052,2431,896,2745
$GC,7558,1.90,45.0,938.9,6.6,172,7565,0.00,2.28,0.00,0.000,6,0.000,0.043,2423,2309,2745
$GC,7868,1.90,45.0,918.6,6.5,178,7872,0.00,2.30,0.00,0.000,4,0.000,0.047,2432,893,2745
$GC,8126,1.90,45.0,902.3,6.2,181,8132,0.00,2.28,0.00,0.000,6,0.000,0.041,2423,2309,2744
$GC,8436,1.90,45.0,883.1,6.2,187,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2309,2744
$GC,8739,1.90,45.0,863.8,6.4,192,8743,0.00,2.28,0.00,0.000,4,0.000,0.051,2423,3719,2743
$GC,8857,1.82,45.0,855.4,7.5,193,8861,0.17,2.22,0.00,0.000,6,0.239,0.039,2397,2299,2743
$GC,9167,1.85,45.0,836.8,5.9,198,9171,0.00,2.30,0.00,0.000,4,0.000,0.054,2397,3719,2743
$GC,9425,1.81,45.0,820.3,6.8,201,9431,0.00,2.22,0.00,0.000,6,0.000,0.034,2405,2301,2743
$GC,9736,1.81,45.0,802.5,5.8,207,9740,0.00,2.28,0.00,0.000,4,0.000,0.051,2397,3709,2742
$GC,9994,1.77,45.2,787.6,5.4,210,10000,0.00,2.22,0.00,0.000,6,0.000,0.034,2405,2300,2743
$GC,10304,1.77,48.0,773.1,4.7,216,10308,0.00,2.30,0.00,0.000,4,0.000,0.050,2397,3716,2742
$GC,10562,1.74,51.7,760.9,4.5,219,10573,0.10,2.25,6.32,0.901,6,0.236,0.035,2382,2312,2719
$GC,10936,1.79,51.7,740.7,5.6,226,10940,0.00,2.28,0.00,0.000,4,0.000,0.055,2372,3715,2719
$GC,11194,1.79,51.7,725.2,6.1,229,11201,0.00,2.22,0.00,0.000,6,0.000,0.035,2381,2298,2719
$GC,11505,1.85,51.9,708.5,5.4,235,11509,0.08,2.30,0.00,0.000,4,0.105,0.048,2409,3720,2719
$GC,11672,1.80,51.9,697.7,6.3,237,11677,0.12,2.22,0.00,0.000,6,0.248,0.035,2395,2301,2719
$GC,11999,1.83,52.6,680.4,5.3,243,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2300,2719
$GC,12303,1.88,55.8,666.3,4.6,248,12313,0.00,2.25,5.15,0.791,4,0.000,0.046,2404,895,2702
$GC,12375,1.92,56.6,662.7,5.3,249,12379,0.00,2.25,0.00,0.000,6,0.000,0.039,2398,2315,2702
$GC,12731,1.95,57.4,643.5,5.3,255,12736,0.10,2.28,0.00,0.000,4,0.099,0.044,2442,892,2702
$GC,12775,1.95,57.4,640.9,5.5,255,12779,0.00,2.28,0.00,0.000,6,0.000,0.041,2437,2313,2701
$GC,13090,1.96,60.6,625.9,4.6,261,13100,0.00,2.25,5.32,0.781,4,0.000,0.044,2445,893,2683
$GC,13168,1.96,61.7,621.8,5.2,262,13172,0.00,2.25,0.00,0.000,6,0.000,0.040,2437,2314,2683
$GC,13517,1.96,62.9,603.4,5.2,268,13527,0.00,2.28,3.72,0.619,4,0.000,0.049,2433,3710,2673
$GC,13781,1.88,62.9,588.0,6.3,271,13788,0.10,2.25,0.00,0.000,6,0.235,0.035,2418,2300,2673
$GC,14091,1.89,66.1,573.4,4.6,277,14100,0.00,2.28,4.32,0.680,4,0.000,0.048,2410,3712,2660
$GC,14293,1.85,66.1,561.9,5.6,280,14297,0.00,2.22,0.00,0.000,6,0.000,0.034,2418,2302,2660
$GC,14665,1.85,67.8,542.8,5.0,286,14669,0.00,2.25,0.00,0.000,4,0.000,0.046,2429,889,2661
$GC,14923,1.85,69.4,528.8,5.1,289,14935,0.00,2.28,4.30,0.662,6,0.000,0.039,2423,2312,2648
$GC,15238,1.85,69.4,509.2,6.4,295,15242,0.00,2.30,0.00,0.000,4,0.000,0.045,2432,888,2647
$GC,15495,1.85,69.4,491.9,6.7,298,15502,0.00,2.25,0.00,0.000,6,0.000,0.039,2423,2306,2647
$GC,15805,1.85,69.4,472.1,6.4,304,15809,0.00,2.25,0.00,0.000,4,0.000,0.045,2432,895,2647
$GC,16063,1.85,69.4,456.0,6.1,307,16067,0.00,2.25,0.00,0.000,6,0.000,0.039,2424,2313,2648
$GC,16373,1.85,69.4,438.0,5.8,312,16377,0.00,2.30,0.00,0.000,4,0.000,0.044,2432,884,2647
$GC,16580,1.85,72.8,427.2,4.5,315,16589,0.00,2.25,4.47,0.640,6,0.000,0.038,2424,2303,2634
$GC,16940,1.85,72.8,406.5,5.9,321,16944,0.00,2.25,0.00,0.000,4,0.000,0.048,2423,3709,2634
$GC,17199,1.80,72.8,390.3,6.3,324,17204,0.17,2.22,0.00,0.000,6,0.231,0.033,2394,2298,2633
$GC,17509,1.87,75.6,375.2,4.7,329,17519,0.00,2.30,4.10,0.587,4,0.000,0.046,2386,3709,2621
$GC,17739,1.87,76.6,362.4,5.2,332,17743,0.00,2.22,0.00,0.000,6,0.000,0.033,2394,2292,2621
$GC,18077,1.93,77.5,344.7,5.2,338,18079,0.10,0.00,0.00,0.000,6,0.086,0.000,2433,2292,2621
$GC,18380,1.93,77.8,328.3,5.4,343,18384,0.00,2.28,0.00,0.000,4,0.000,0.046,2425,3715,2621
$GC,18638,1.89,82.2,314.8,4.2,346,18650,0.08,2.22,6.78,0.704,6,0.231,0.033,2415,2308,2595
$GC,18984,1.93,82.4,296.8,5.4,353,18985,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2307,2594
$GC,19287,1.98,86.0,282.1,4.5,363,19294,0.00,0.00,4.57,0.589,6,0.000,0.000,2415,2308,2579
$GC,19593,2.03,86.0,265.2,5.8,373,19598,0.10,2.25,0.00,0.000,4,0.085,0.045,2445,3710,2579
$GC,19628,1.96,86.0,263.1,6.0,374,19633,0.12,2.22,0.00,0.000,6,0.235,0.033,2429,2290,2579
$GC,19969,1.99,86.0,243.2,5.9,385,19970,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2290,2579
$GC,20275,2.02,86.8,227.1,5.3,395,20279,0.00,2.28,0.00,0.000,4,0.000,0.045,2419,3711,2579
$GC,20528,1.99,88.2,214.3,5.1,402,20532,0.00,2.20,0.00,0.000,6,0.000,0.032,2427,2300,2579
$GC,20852,2.02,93.8,201.4,3.9,413,20867,0.00,2.30,7.68,0.667,4,0.000,0.044,2418,3713,2547
$GC,21123,2.00,95.1,185.6,5.1,421,21127,0.00,2.22,0.00,0.000,6,0.000,0.031,2427,2301,2547
$GC,21460,2.04,99.8,170.8,4.2,432,21471,0.00,2.28,6.35,0.616,4,0.000,0.043,2423,3719,2523
$GC,21725,2.01,99.8,154.6,6.9,440,21729,0.00,2.22,0.00,0.000,6,0.000,0.031,2432,2293,2522
$GC,22048,2.06,111.6,143.1,2.2,454,22064,0.00,2.28,10.77,0.664,4,0.000,0.044,2423,3712,2474
$GC,22317,2.07,115.1,131.0,4.5,465,22326,0.00,2.20,3.95,0.483,6,0.000,0.031,2432,2303,2461
$GC,22644,2.14,130.7,123.3,1.1,481,22666,0.12,2.28,13.75,0.668,4,0.075,0.044,2477,3705,2396
$GC,22714,2.07,131.3,120.8,5.3,484,22719,0.15,2.20,0.00,0.000,6,0.230,0.031,2454,2297,2394
$GC,23041,2.12,133.9,103.3,4.8,500,23050,0.00,2.28,3.75,0.456,4,0.000,0.043,2464,891,2385
$GC,23305,2.18,135.8,86.8,4.9,511,23312,0.00,2.25,0.00,0.000,6,0.000,0.036,2458,2304,2384
$GC,23625,2.23,141.3,75.0,4.0,533,23639,0.10,2.30,7.78,0.591,4,0.083,0.044,2490,3719,2353
$GC,23892,2.17,141.3,52.5,8.2,556,23899,0.08,2.25,0.00,0.000,6,0.222,0.031,2480,2308,2351
$GC,24217,2.25,166.0,53.7,-1.5,587,24243,0.00,2.30,20.65,0.643,4,0.000,0.043,2489,903,2253
$GC,24499,2.32,175.4,47.0,2.9,612,24515,0.10,2.20,8.68,0.578,6,0.083,0.035,2522,2304,2215
$GC,24841,2.32,175.4,26.2,8.0,644,24842,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2303,2212
$STATE,25104,end climb,SURFACE_DEPTH_REACHED
$STATE,25104,begin surface coast
$FINISH,0.9,1.012574
$STATE,25129,end surface coast,CONTROL_FINISHED_OK
$STATE,25129,begin surface
$SM_CCo,25145,96.93,0.604,0,0,1708,300.00
$SM_GC,1.60,0.00,0.00,96.93,0.000,0.000,0.604,98,2305,1708,-8.75,0.06,300.00
$IRIDIUM_FIX,4959.75,-14508.49,050199,171705
$TT8_MAMPS,0.029146
$HUMID,1691
$INTERNAL_PRESSURE,7.46122
$TCM_TEMP,16.80
$XPDR_PINGS,41
$24V_AH,23.8,53.937
$10V_AH,10.6,46.025
$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,18.175,189.575,185.050,96.925,0.000,47.905,24.744,210.789,10.250,0.000,0.000,13.785,1761.974,19436.395,417.928,3321.299,713.575,33.367,1934.429,0.000,3274.796,0.000,0.530,0.000
$DEVICE_MAMPS,247.741,57.525,1252.511,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,471.469,534.277,691.527,1151.689,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41242,671
$CAP_FILE_SIZE,191296,0
$CFSIZE,260165632,230047744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121009,075827,5020.266,-14511.107,43,1.4,44,18.5