version: 66.04
glider: 144
mission: 15
dive: 490
start: 11 22 109 15 8 18
data:
$ID,144
$MISSION,15
$DIVE,490
$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,-71363.766
$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,37
$R_STBD_OVSHOOT,36
$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
$GPS1,150058,5006.571,-14449.223,38,1.8,39,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-53.3
$GPS2,150725,5006.593,-14449.246,31,1.8,31,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.022,0.050
$KALMAN_X,-96552.1,342.6,166.7,121229.9,-1219.1
$KALMAN_Y,20240.8,-37.7,-324.5,-46512.3,92.8
$MHEAD_RNG_PITCHd_Wd,317.7,2586,-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,18,-1.86,-13.1,0.0,0.0,0,51,0.00,0.00,-31.02,0.000,2,0.000,0.000,99,2294,2511
$GC,54,-1.87,-20.0,3.0,-3.5,3,81,6.07,2.33,-14.50,0.000,4,0.235,0.060,1591,902,3016
$GC,336,-1.97,-20.0,70.9,-24.3,28,340,0.00,2.20,0.00,0.000,6,0.000,0.038,1583,2301,3017
$GC,664,-2.07,-20.0,140.7,-17.5,45,668,0.12,2.25,0.00,0.000,4,0.074,0.046,1533,893,3017
$GC,922,-2.11,-20.0,189.3,-18.9,53,926,0.00,2.22,0.00,0.000,6,0.000,0.036,1524,2304,3018
$GC,1236,-2.16,-20.0,251.4,-20.0,63,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,2304,3018
$GC,1542,-2.21,-20.0,311.9,-19.6,72,1546,0.00,2.25,0.00,0.000,4,0.000,0.048,1528,896,3018
$GC,1597,-2.26,-20.0,323.2,-19.7,72,1604,0.00,2.22,0.00,0.000,6,0.000,0.037,1520,2314,3017
$GC,1908,-2.31,-20.0,381.9,-18.9,78,1910,0.08,0.00,0.00,0.000,6,0.094,0.000,1482,2314,3018
$GC,2211,-2.31,-20.0,438.9,-18.7,83,2215,0.00,2.30,0.00,0.000,4,0.000,0.044,1482,886,3018
$GC,2446,-2.31,-20.0,481.7,-17.5,86,2451,0.12,2.25,0.00,0.000,6,0.216,0.045,1497,2304,3018
$GC,2774,-2.34,-20.0,534.7,-16.0,92,2778,0.00,2.25,0.00,0.000,4,0.000,0.044,1506,890,3017
$GC,2892,-2.37,-20.0,554.7,-16.7,93,2896,0.00,2.25,0.00,0.000,6,0.000,0.039,1497,2306,3017
$GC,3202,-2.39,-20.0,604.1,-15.9,98,3206,0.00,2.28,0.00,0.000,4,0.000,0.048,1505,888,3016
$GC,3287,-2.43,-20.0,617.8,-15.9,99,3292,0.10,2.25,0.00,0.000,6,0.081,0.045,1455,2304,3016
$GC,3631,-2.40,-20.0,675.4,-16.8,105,3632,0.10,0.00,0.00,0.000,6,0.221,0.000,1475,2304,3016
$GC,3933,-2.40,-20.0,724.2,-16.1,110,3937,0.00,2.28,0.00,0.000,4,0.000,0.051,1466,3709,3016
$GC,3998,-2.34,-20.0,735.0,-16.5,111,4002,0.00,2.22,0.00,0.000,6,0.000,0.034,1472,2299,3016
$GC,4364,-2.34,-20.0,794.0,-16.0,117,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,2298,3015
$GC,4667,-2.34,-20.0,842.0,-15.8,122,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,2299,3015
$GC,4970,-2.34,-20.0,887.1,-14.8,127,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,2298,3015
$GC,5274,-2.34,-20.0,929.7,-14.0,132,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,2298,3014
$GC,5576,-2.34,-20.0,970.8,-13.5,137,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,2298,3014
$STATE,5755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5755,begin apogee
$GC,5762,-0.22,0.0,994.9,13.3,140,5785,1.85,0.00,18.95,1.228,6,0.206,0.000,1950,2298,2931
$STATE,5786,end apogee,CONTROL_FINISHED_OK
$STATE,5786,begin climb
$GC,5789,1.87,20.0,994.9,0.0,140,5811,1.30,0.00,18.33,1.197,6,0.071,0.000,2413,2298,2849
$GC,6062,1.90,40.8,996.0,-0.4,145,6086,0.00,2.40,18.38,1.210,4,0.000,0.049,2424,895,2764
$GC,6195,1.90,41.8,994.0,5.2,147,6200,0.00,2.30,0.00,0.000,6,0.000,0.048,2424,2305,2763
$GC,6562,1.90,41.8,969.1,7.0,153,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2305,2763
$GC,6865,1.90,41.8,949.0,6.6,158,6869,0.00,2.30,0.00,0.000,4,0.000,0.055,2423,3719,2762
$GC,7052,1.82,41.8,936.0,7.2,160,7057,0.15,2.22,0.00,0.000,6,0.233,0.034,2401,2304,2762
$GC,7364,1.85,41.8,918.0,5.7,165,7368,0.00,2.30,0.00,0.000,4,0.000,0.049,2397,3721,2762
$GC,7404,1.80,42.5,915.6,5.3,165,7408,0.00,2.22,0.00,0.000,6,0.000,0.034,2406,2304,2762
$GC,7725,1.80,43.3,898.6,5.3,171,7729,0.00,2.28,0.00,0.000,4,0.000,0.048,2397,3711,2762
$GC,7857,1.76,43.3,891.4,5.8,173,7861,0.00,2.22,0.00,0.000,6,0.000,0.034,2406,2293,2762
$GC,8229,1.79,46.5,873.8,4.6,179,8239,0.00,2.30,5.78,0.912,4,0.000,0.051,2398,3715,2742
$GC,8389,1.75,46.5,865.1,6.1,181,8393,0.12,2.22,0.00,0.000,6,0.245,0.034,2383,2292,2741
$GC,8733,1.81,48.8,848.0,4.8,187,8739,0.00,0.00,4.12,0.749,6,0.000,0.000,2383,2292,2731
$GC,9036,1.87,50.1,832.6,5.1,192,9041,0.10,2.30,0.00,0.000,4,0.092,0.051,2427,888,2730
$GC,9148,1.87,52.4,826.6,4.8,193,9157,0.00,2.28,4.50,0.787,6,0.000,0.040,2423,2314,2717
$GC,9469,1.87,52.4,806.9,6.3,199,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2315,2717
$GC,9773,1.87,52.4,787.8,6.4,204,9777,0.00,2.28,0.00,0.000,4,0.000,0.045,2432,886,2716
$GC,9909,1.87,52.4,779.4,6.6,206,9914,0.00,2.28,0.00,0.000,6,0.000,0.041,2424,2307,2716
$GC,10276,1.87,52.4,758.1,5.8,212,10280,0.00,2.28,0.00,0.000,4,0.000,0.054,2423,3717,2716
$GC,10315,1.80,52.4,755.5,6.0,212,10320,0.17,2.22,0.00,0.000,6,0.234,0.033,2395,2295,2716
$GC,10638,1.84,52.5,738.0,5.5,218,10642,0.00,2.28,0.00,0.000,4,0.000,0.047,2385,3714,2716
$GC,10693,1.84,52.5,734.4,5.6,218,10700,0.00,2.20,0.00,0.000,6,0.000,0.034,2393,2306,2716
$GC,11005,1.89,53.1,718.0,5.3,224,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2306,2716
$GC,11308,1.94,55.0,702.8,5.0,229,11318,0.10,2.30,3.97,0.679,4,0.093,0.048,2423,3707,2706
$GC,11464,1.87,55.0,693.5,6.0,231,11469,0.12,2.20,0.00,0.000,6,0.239,0.034,2408,2295,2706
$GC,11814,1.90,56.2,675.2,5.2,237,11819,0.00,2.28,0.00,0.000,4,0.000,0.047,2398,3709,2705
$GC,11890,1.87,58.2,671.3,4.9,238,11899,0.00,2.20,4.28,0.706,6,0.000,0.034,2406,2305,2692
$GC,12251,1.91,59.0,652.5,5.3,244,12252,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2305,2693
$GC,12553,1.94,61.5,637.5,4.8,249,12559,0.00,0.00,4.38,0.700,6,0.000,0.000,2406,2305,2680
$GC,12856,1.98,61.5,620.5,5.8,254,12861,0.08,2.28,0.00,0.000,4,0.104,0.049,2428,3709,2680
$GC,12942,1.91,61.5,614.9,6.5,255,12946,0.00,2.20,0.00,0.000,6,0.000,0.034,2437,2304,2679
$GC,13292,1.91,61.5,594.1,5.8,261,13296,0.00,2.28,0.00,0.000,4,0.000,0.048,2428,3714,2679
$GC,13534,1.85,61.5,579.3,5.8,264,13539,0.15,2.22,0.00,0.000,6,0.235,0.034,2406,2300,2679
$GC,13855,1.89,62.9,562.6,5.1,270,13857,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2300,2679
$GC,14159,1.92,64.9,547.6,4.9,275,14165,0.00,0.00,4.60,0.689,6,0.000,0.000,2406,2300,2666
$GC,14462,1.96,64.9,530.7,5.8,280,14466,0.00,2.30,0.00,0.000,4,0.000,0.046,2415,888,2665
$GC,14558,2.01,64.9,525.4,5.7,281,14563,0.10,2.25,0.00,0.000,6,0.099,0.038,2444,2303,2665
$GC,14890,2.01,65.9,508.0,5.2,287,14894,0.00,2.30,0.00,0.000,4,0.000,0.044,2454,886,2665
$GC,14941,2.01,67.2,505.7,5.1,287,14945,0.00,2.28,0.00,0.000,6,0.000,0.039,2450,2305,2665
$GC,15251,2.01,72.1,492.5,4.1,292,15265,0.00,2.35,7.32,0.800,4,0.000,0.044,2458,892,2636
$GC,15328,2.01,72.7,488.8,5.3,293,15332,0.00,2.25,0.00,0.000,6,0.000,0.038,2450,2303,2636
$GC,15683,2.01,72.7,466.4,6.5,299,15687,0.00,2.28,0.00,0.000,4,0.000,0.045,2459,886,2636
$GC,15747,2.01,72.7,462.5,5.6,300,15751,0.00,2.25,0.00,0.000,6,0.000,0.039,2451,2304,2636
$GC,16114,2.01,72.7,439.9,6.1,306,16115,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2304,2635
$GC,16416,2.01,72.7,421.5,6.0,311,16420,0.00,2.25,0.00,0.000,4,0.000,0.048,2440,3714,2635
$GC,16674,1.94,72.7,406.2,5.7,314,16679,0.12,2.22,0.00,0.000,6,0.235,0.032,2424,2292,2635
$GC,16985,1.97,76.7,392.1,4.4,319,16995,0.00,2.28,5.40,0.673,4,0.000,0.045,2413,3715,2617
$GC,17154,1.94,76.9,383.3,5.4,321,17158,0.00,2.22,0.00,0.000,6,0.000,0.032,2422,2292,2617
$GC,17482,1.97,78.4,366.4,5.1,327,17486,0.00,2.30,0.00,0.000,4,0.000,0.046,2414,3711,2617
$GC,17585,1.95,82.8,360.9,4.3,328,17596,0.00,2.22,6.35,0.700,6,0.000,0.032,2422,2294,2593
$GC,17912,1.98,82.8,341.5,6.3,334,17916,0.00,2.30,0.00,0.000,4,0.000,0.046,2413,3719,2593
$GC,18043,1.96,82.8,332.5,7.7,336,18047,0.00,2.22,0.00,0.000,6,0.000,0.032,2422,2305,2592
$GC,18415,1.99,82.8,308.8,6.5,342,18419,0.00,2.25,0.00,0.000,4,0.000,0.045,2414,3712,2592
$GC,18605,1.97,82.8,295.7,7.2,345,18609,0.00,2.20,0.00,0.000,6,0.000,0.032,2422,2300,2593
$GC,18931,2.00,82.8,275.4,6.1,356,18935,0.00,2.25,0.00,0.000,4,0.000,0.045,2422,3714,2592
$GC,18982,1.97,82.8,272.1,6.0,357,18986,0.00,2.20,0.00,0.000,6,0.000,0.032,2431,2296,2593
$GC,19307,1.99,86.2,256.0,4.6,368,19314,0.00,0.00,4.53,0.568,6,0.000,0.000,2431,2296,2579
$GC,19613,2.02,88.1,240.6,5.0,378,19617,0.00,2.25,0.00,0.000,4,0.000,0.044,2441,892,2578
$GC,19860,2.05,92.3,230.2,4.3,385,19871,0.00,2.25,6.45,0.644,6,0.000,0.037,2436,2315,2554
$GC,20185,2.08,92.3,212.6,5.8,396,20189,0.00,2.28,0.00,0.000,4,0.000,0.043,2444,890,2553
$GC,20249,2.11,92.3,208.9,6.2,398,20254,0.10,2.22,0.00,0.000,6,0.086,0.037,2475,2306,2553
$GC,20585,2.11,92.3,187.1,6.4,409,20588,0.00,2.22,0.00,0.000,4,0.000,0.044,2467,3712,2553
$GC,20844,2.04,92.3,171.0,5.5,416,20848,0.15,2.20,0.00,0.000,6,0.233,0.031,2444,2290,2552
$GC,21158,2.07,102.8,159.3,2.5,426,21172,0.00,2.30,9.57,0.659,4,0.000,0.044,2434,3708,2511
$GC,21427,2.05,109.4,148.2,3.6,435,21441,0.00,2.22,6.68,0.601,6,0.000,0.031,2443,2290,2485
$GC,21759,2.11,120.3,137.7,2.4,451,21774,0.00,2.28,10.27,0.653,4,0.000,0.044,2434,3709,2438
$GC,22028,2.11,126.7,126.2,3.7,462,22039,0.00,2.22,6.35,0.581,6,0.000,0.031,2443,2299,2413
$GC,22351,2.19,141.8,119.0,1.2,477,22374,0.12,2.30,13.75,0.657,4,0.077,0.042,2507,892,2351
$GC,22476,2.19,141.8,113.5,6.4,482,22480,0.10,2.25,0.00,0.000,6,0.229,0.036,2481,2312,2349
$GC,22794,2.25,149.4,95.0,3.4,497,22807,0.00,2.35,7.25,0.581,4,0.000,0.041,2489,895,2321
$GC,23064,2.29,156.2,87.3,3.6,509,23077,0.00,2.22,6.93,0.570,6,0.000,0.035,2483,2306,2294
$GC,23403,2.34,156.2,64.2,8.3,534,23408,0.10,2.28,0.00,0.000,4,0.083,0.041,2535,885,2293
$GC,23662,2.31,156.2,41.2,10.9,556,23670,0.12,2.22,0.00,0.000,6,0.217,0.036,2503,2307,2292
$GC,23988,2.32,159.9,15.5,4.5,587,24000,0.00,2.30,4.55,0.459,4,0.000,0.043,2512,891,2278
$STATE,24148,end climb,SURFACE_DEPTH_REACHED
$STATE,24148,begin surface coast
$FINISH,1.2,1.025397
$STATE,24159,end surface coast,CONTROL_FINISHED_OK
$STATE,24159,begin surface
$SM_CCo,24179,111.43,0.609,0,0,1707,300.00
$SM_GC,1.65,0.00,0.00,111.43,0.000,0.000,0.609,98,2293,1707,-8.75,-0.28,300.00
$IRIDIUM_FIX,4946.36,-14451.14,160299,080814
$TT8_MAMPS,0.028379
$HUMID,1683
$INTERNAL_PRESSURE,7.40263
$TCM_TEMP,14.50
$XPDR_PINGS,65
$24V_AH,23.6,71.260
$10V_AH,10.5,61.591
$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,18.100,176.250,182.675,111.425,0.000,27.299,33.175,162.998,16.250,0.000,0.000,32.765,1562.223,19304.291,425.089,2688.403,690.003,33.374,1667.202,0.000,2639.444,0.000,0.528,0.000
$DEVICE_MAMPS,245.440,59.826,1227.967,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,424.011,489.638,620.625,1033.166,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34857,602
$CAP_FILE_SIZE,171946,0
$CFSIZE,260165632,220557312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,221109,215433,5008.097,-14449.933,41,1.5,41,18.5