version: 66.04
glider: 144
mission: 15
dive: 489
start: 11 22 109 8 28 1
data:
$ID,144
$MISSION,15
$DIVE,489
$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,-71330.367
$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,32
$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
$GPS1,082107,5007.612,-14448.281,38,1.4,38,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-59.4
$GPS2,082707,5007.640,-14448.232,8,1.5,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.051,-0.020
$KALMAN_X,-97094.3,180.9,97.1,123205.7,-1927.1
$KALMAN_Y,20941.8,-69.6,283.2,-45866.2,233.2
$MHEAD_RNG_PITCHd_Wd,230.2,3163,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.86,-13.1,0.0,0.0,0,61,0.00,0.00,-40.67,0.000,2,0.000,0.000,101,2302,2662
$GC,64,-1.87,-17.1,3.6,-4.4,4,88,6.07,2.35,-9.18,0.000,4,0.231,0.058,1593,900,3004
$GC,169,-1.95,-17.1,26.7,-25.9,13,172,0.00,2.25,0.00,0.000,6,0.000,0.037,1585,2305,3005
$GC,507,-2.04,-17.1,111.0,-21.5,39,512,0.10,2.30,0.00,0.000,4,0.090,0.042,1546,888,3005
$GC,526,-2.11,-17.1,115.0,-21.3,40,530,0.00,2.25,0.00,0.000,6,0.000,0.038,1538,2303,3005
$GC,848,-2.16,-17.1,184.7,-19.9,53,852,0.00,2.28,0.00,0.000,4,0.000,0.044,1542,893,3006
$GC,1107,-2.22,-17.1,235.6,-19.2,60,1113,0.00,2.25,0.00,0.000,6,0.000,0.038,1534,2314,3006
$GC,1421,-2.27,-17.1,293.1,-18.3,71,1425,0.10,2.25,0.00,0.000,4,0.081,0.042,1499,889,3006
$GC,1455,-2.27,-17.1,299.7,-19.6,72,1459,0.00,2.25,0.00,0.000,6,0.000,0.038,1490,2315,3006
$GC,1793,-2.27,-17.1,363.1,-18.7,78,1797,0.00,2.30,0.00,0.000,4,0.000,0.049,1494,887,3006
$GC,2011,-2.27,-17.1,402.2,-17.6,81,2015,0.00,2.28,0.00,0.000,6,0.000,0.042,1485,2304,3006
$GC,2354,-2.27,-17.1,463.0,-17.6,87,2358,0.00,2.28,0.00,0.000,4,0.000,0.049,1489,891,3006
$GC,2573,-2.27,-17.1,503.3,-17.9,90,2577,0.12,2.28,0.00,0.000,6,0.219,0.041,1506,2304,3006
$GC,2916,-2.30,-17.1,560.8,-16.8,96,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,1506,2304,3006
$GC,3219,-2.33,-17.1,611.2,-16.5,101,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,1506,2304,3005
$GC,3523,-2.35,-17.1,659.7,-16.0,106,3527,0.00,2.30,0.00,0.000,4,0.000,0.048,1517,891,3005
$GC,3545,-2.38,-17.1,663.6,-16.2,106,3550,0.10,2.28,0.00,0.000,6,0.084,0.043,1466,2304,3005
$GC,3883,-2.35,-17.1,721.0,-17.1,112,3888,0.10,2.30,0.00,0.000,4,0.223,0.044,1496,891,3005
$GC,3911,-2.35,-17.1,725.8,-16.8,112,3915,0.00,2.28,0.00,0.000,6,0.000,0.044,1487,2307,3004
$GC,4244,-2.35,-17.1,778.9,-15.9,118,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,1488,2307,3004
$GC,4547,-2.35,-17.1,824.6,-14.9,123,4551,0.00,2.30,0.00,0.000,4,0.000,0.050,1493,895,3004
$GC,4592,-2.35,-17.1,831.5,-15.1,123,4596,0.00,2.28,0.00,0.000,6,0.000,0.044,1485,2311,3004
$GC,4907,-2.35,-17.1,875.7,-13.9,129,4911,0.00,2.28,0.00,0.000,4,0.000,0.049,1488,895,3003
$GC,4952,-2.35,-17.1,882.2,-14.2,129,4956,0.00,2.25,0.00,0.000,6,0.000,0.044,1480,2304,3003
$GC,5267,-2.35,-17.1,924.0,-13.3,135,5271,0.00,2.28,0.00,0.000,4,0.000,0.045,1480,892,3003
$GC,5295,-2.35,-17.1,927.7,-13.3,135,5299,0.00,2.25,0.00,0.000,6,0.000,0.041,1469,2307,3003
$GC,5627,-2.35,-17.1,969.7,-12.7,141,5631,0.00,2.28,0.00,0.000,4,0.000,0.044,1468,892,3002
$GC,5671,-2.35,-17.1,975.5,-12.7,141,5676,0.12,2.28,0.00,0.000,6,0.222,0.040,1483,2307,3003
$STATE,5801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5801,begin apogee
$GC,5809,-0.22,0.0,991.1,11.8,144,5830,1.73,0.00,16.62,1.213,6,0.193,0.000,1945,2307,2931
$STATE,5830,end apogee,CONTROL_FINISHED_OK
$STATE,5831,begin climb
$GC,5834,1.87,17.1,991.1,0.0,144,5858,1.27,2.40,15.85,1.180,4,0.067,0.053,2421,899,2861
$GC,6049,1.91,50.1,992.0,-3.8,147,6084,0.00,2.28,28.50,1.243,6,0.000,0.047,2421,2303,2726
$GC,6402,1.91,50.1,969.6,8.8,153,6406,0.00,2.30,0.00,0.000,4,0.000,0.049,2412,3712,2724
$GC,6661,1.86,50.1,943.9,9.8,156,6667,0.00,2.28,0.00,0.000,6,0.000,0.038,2420,2309,2723
$GC,6971,1.86,50.1,916.7,8.8,162,6975,0.00,2.28,0.00,0.000,4,0.000,0.052,2412,3709,2723
$GC,7229,1.81,50.1,892.7,9.0,165,7236,0.12,2.22,0.00,0.000,6,0.246,0.034,2397,2297,2722
$GC,7540,1.84,50.1,869.0,7.6,171,7544,0.00,2.30,0.00,0.000,4,0.000,0.054,2397,3717,2722
$GC,7798,1.82,50.1,848.6,7.7,174,7804,0.00,2.22,0.00,0.000,6,0.000,0.034,2405,2293,2722
$GC,8109,1.84,50.1,826.7,7.1,180,8114,0.00,2.30,0.00,0.000,4,0.000,0.051,2397,3719,2722
$GC,8368,1.81,50.1,808.3,6.3,183,8374,0.00,2.22,0.00,0.000,6,0.000,0.034,2405,2295,2722
$GC,8679,1.83,50.1,790.9,5.5,189,8684,0.00,2.28,0.00,0.000,4,0.000,0.048,2397,3718,2722
$GC,8743,1.80,50.1,787.2,6.4,190,8747,0.00,2.20,0.00,0.000,6,0.000,0.034,2405,2302,2721
$GC,9116,1.83,54.0,769.7,4.4,196,9124,0.00,2.30,3.95,0.703,4,0.000,0.046,2416,892,2711
$GC,9379,1.87,56.5,757.3,4.8,199,9389,0.00,2.22,4.12,0.717,6,0.000,0.040,2410,2304,2699
$GC,9757,1.89,56.5,735.4,5.9,206,9758,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2304,2699
$GC,10060,1.92,56.5,717.4,5.8,211,10064,0.00,2.30,0.00,0.000,4,0.000,0.057,2410,3714,2699
$GC,10319,1.87,56.5,701.1,6.4,214,10326,0.00,2.28,0.00,0.000,6,0.000,0.034,2418,2296,2699
$GC,10629,1.87,56.5,683.8,5.6,220,10633,0.00,2.28,0.00,0.000,4,0.000,0.048,2410,3709,2699
$GC,10887,1.83,56.5,668.1,6.2,223,10894,0.00,2.22,0.00,0.000,6,0.000,0.034,2418,2300,2699
$GC,11198,1.83,58.1,652.1,5.1,229,11202,0.00,2.28,0.00,0.000,4,0.000,0.047,2410,3710,2699
$GC,11383,1.78,58.1,641.8,5.7,231,11388,0.15,2.20,0.00,0.000,6,0.242,0.033,2389,2305,2699
$GC,11695,1.84,60.4,626.8,4.8,236,11702,0.00,0.00,4.90,0.748,6,0.000,0.000,2389,2305,2683
$GC,11997,1.90,60.4,610.4,5.5,241,12002,0.10,2.28,0.00,0.000,4,0.095,0.044,2433,885,2683
$GC,12151,1.90,60.4,601.6,6.0,243,12155,0.00,2.25,0.00,0.000,6,0.000,0.039,2425,2310,2684
$GC,12495,1.90,61.3,583.4,5.2,249,12499,0.00,2.28,0.00,0.000,4,0.000,0.044,2434,890,2683
$GC,12540,1.90,62.7,581.1,5.1,249,12544,0.00,2.25,0.00,0.000,6,0.000,0.039,2425,2313,2684
$GC,12857,1.90,66.5,566.6,4.4,255,12870,0.00,2.35,6.50,0.808,4,0.000,0.045,2434,885,2659
$GC,13125,1.90,66.5,550.9,5.7,259,13129,0.00,2.22,0.00,0.000,6,0.000,0.040,2425,2304,2659
$GC,13497,1.90,66.5,528.3,6.0,265,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2304,2659
$GC,13800,1.90,66.7,511.7,5.4,270,13804,0.00,2.25,0.00,0.000,4,0.000,0.048,2415,3717,2659
$GC,14060,1.86,67.2,497.2,5.4,273,14064,0.00,2.20,0.00,0.000,6,0.000,0.033,2423,2303,2659
$GC,14376,1.86,68.8,481.1,5.1,279,14382,0.00,0.00,3.65,0.567,6,0.000,0.000,2423,2303,2650
$GC,14679,1.86,68.8,464.2,5.8,284,14683,0.00,2.25,0.00,0.000,4,0.000,0.045,2434,885,2649
$GC,14937,1.87,72.0,449.7,4.6,287,14949,0.10,2.25,4.45,0.640,6,0.222,0.039,2407,2305,2636
$GC,15253,1.91,72.0,431.9,5.7,293,15254,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2305,2636
$GC,15556,1.96,73.6,416.2,5.0,298,15559,0.00,2.25,0.00,0.000,4,0.000,0.048,2397,3708,2636
$GC,15680,1.96,74.4,409.5,5.3,299,15692,0.00,2.22,3.45,0.517,6,0.000,0.032,2405,2297,2628
$GC,15997,2.00,75.8,393.6,5.1,305,16002,0.10,2.30,0.00,0.000,4,0.094,0.045,2434,3715,2628
$GC,16255,1.95,78.0,379.7,4.9,308,16265,0.00,2.22,5.00,0.647,6,0.000,0.032,2443,2302,2611
$GC,16633,1.95,79.8,360.8,5.0,315,16637,0.00,2.28,0.00,0.000,4,0.000,0.046,2434,3718,2611
$GC,16891,1.90,81.4,347.0,5.0,318,16902,0.15,2.22,4.40,0.594,6,0.234,0.032,2412,2299,2597
$GC,17272,1.95,81.4,326.6,5.6,325,17275,0.00,2.25,0.00,0.000,4,0.000,0.045,2402,3707,2597
$GC,17529,1.95,81.4,310.4,6.1,328,17533,0.00,2.22,0.00,0.000,6,0.000,0.032,2410,2299,2597
$GC,17842,2.00,81.6,293.0,5.5,335,17846,0.08,2.25,0.00,0.000,4,0.098,0.045,2435,3714,2597
$GC,18063,1.95,81.6,279.6,5.5,341,18067,0.00,2.20,0.00,0.000,6,0.000,0.031,2443,2302,2597
$GC,18383,1.95,85.9,263.7,4.3,352,18392,0.00,2.25,4.93,0.597,4,0.000,0.045,2436,3709,2581
$GC,18595,1.90,86.1,252.3,5.4,358,18600,0.12,2.20,0.00,0.000,6,0.227,0.031,2419,2296,2581
$GC,18921,1.95,89.2,237.1,4.6,369,18930,0.00,2.28,4.60,0.564,4,0.000,0.044,2409,3710,2566
$GC,19184,1.95,90.5,222.7,5.1,376,19191,0.00,2.25,0.00,0.000,6,0.000,0.031,2417,2299,2566
$GC,19499,2.00,91.0,206.0,5.4,387,19502,0.00,2.25,0.00,0.000,4,0.000,0.044,2410,3711,2566
$GC,19757,2.00,94.2,193.4,4.6,394,19769,0.00,2.20,5.47,0.591,6,0.000,0.031,2418,2302,2547
$GC,20076,2.06,96.2,177.4,4.9,405,20086,0.10,2.28,3.40,0.438,4,0.082,0.044,2452,3715,2538
$GC,20339,2.01,101.8,163.0,3.9,412,20350,0.12,2.20,6.05,0.597,6,0.233,0.031,2436,2300,2516
$GC,20689,2.07,115.5,152.5,1.6,424,20708,0.00,2.33,12.23,0.675,4,0.000,0.044,2436,3709,2458
$GC,20962,2.08,121.2,138.6,3.9,435,20973,0.00,2.22,5.85,0.577,6,0.000,0.031,2444,2293,2436
$GC,21285,2.13,125.4,124.9,4.3,450,21295,0.00,2.25,5.22,0.545,4,0.000,0.041,2455,893,2418
$GC,21551,2.20,136.8,116.5,2.3,462,21567,0.10,2.22,10.50,0.640,6,0.084,0.036,2493,2311,2373
$GC,21878,2.20,136.8,100.5,5.7,477,21882,0.00,2.28,0.00,0.000,4,0.000,0.042,2503,886,2370
$GC,21896,2.20,136.8,99.4,5.8,478,21900,0.12,2.22,0.00,0.000,6,0.225,0.036,2479,2308,2370
$GC,22230,2.25,146.3,84.1,2.8,494,22244,0.00,2.28,9.02,0.604,4,0.000,0.044,2467,3702,2333
$GC,22498,2.27,162.5,80.6,0.9,506,22521,0.00,2.22,14.52,0.637,6,0.000,0.031,2476,2292,2267
$GC,22839,2.32,162.5,56.3,8.9,536,22844,0.10,2.28,0.00,0.000,4,0.084,0.043,2517,3706,2264
$GC,23097,2.23,162.5,26.6,14.1,558,23104,0.17,2.20,0.00,0.000,6,0.220,0.031,2487,2296,2262
$STATE,23356,end climb,SURFACE_DEPTH_REACHED
$STATE,23356,begin surface coast
$FINISH,1.5,1.025423
$STATE,23368,end surface coast,CONTROL_FINISHED_OK
$STATE,23368,begin surface
$SM_CCo,23387,108.00,0.611,0,0,1707,300.00
$SM_GC,1.86,0.00,0.00,108.00,0.000,0.000,0.611,99,2294,1707,-8.74,-0.25,300.00
$IRIDIUM_FIX,4946.36,-14443.72,160299,000049
$TT8_MAMPS,0.029146
$HUMID,1705
$INTERNAL_PRESSURE,7.39286
$TCM_TEMP,15.70
$XPDR_PINGS,50
$24V_AH,23.4,71.182
$10V_AH,10.5,61.475
$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,17.950,185.375,183.200,108.000,0.000,22.786,31.530,156.020,12.500,0.000,0.000,14.935,1597.803,18042.629,428.120,3074.976,702.628,33.371,1850.329,0.000,3028.866,0.000,0.527,0.000
$DEVICE_MAMPS,246.207,57.525,1243.307,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,412.181,471.293,603.814,1002.274,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34983,584
$CAP_FILE_SIZE,177814,0
$CFSIZE,260165632,220622848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,221109,150058,5006.571,-14449.223,38,1.8,39,18.5