version: 66.04
glider: 144
mission: 15
dive: 513
start: 11 30 109 9 20 12
data:
$ID,144
$MISSION,15
$DIVE,513
$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,-71875.445
$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,33
$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
$GPS1,091231,5006.374,-14449.972,38,1.4,38,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-58.9
$GPS2,091919,5006.371,-14449.939,29,1.1,29,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.016,0.053
$KALMAN_X,-94689.3,140.0,36.4,118891.0,-655.4
$KALMAN_Y,22262.4,98.5,-268.2,-49132.0,611.2
$MHEAD_RNG_PITCHd_Wd,324.3,2391,-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,15,begin dive
$GC,18,-1.86,-13.1,0.0,0.0,0,51,0.00,0.00,-30.73,0.000,2,0.000,0.000,100,2302,2520
$GC,55,-1.87,-18.6,3.3,-3.9,3,81,6.12,2.38,-13.70,0.000,4,0.235,0.060,1594,895,3009
$GC,337,-1.94,-18.6,73.1,-25.3,28,341,0.00,2.25,0.00,0.000,6,0.000,0.038,1586,2307,3011
$GC,654,-2.04,-18.6,147.1,-22.2,44,659,0.10,2.28,0.00,0.000,4,0.087,0.044,1532,3716,3011
$GC,673,-2.12,-18.6,150.9,-20.1,45,677,0.00,2.22,0.00,0.000,6,0.000,0.032,1536,2295,3010
$GC,986,-2.17,-18.6,212.0,-19.2,55,990,0.00,2.25,0.00,0.000,4,0.000,0.047,1543,895,3011
$GC,1184,-2.23,-18.6,250.0,-18.9,61,1188,0.00,2.25,0.00,0.000,6,0.000,0.039,1534,2307,3012
$GC,1519,-2.29,-18.6,311.6,-18.1,71,1524,0.12,2.28,0.00,0.000,4,0.073,0.041,1489,895,3011
$GC,1597,-2.29,-18.6,327.0,-19.8,72,1601,0.00,2.25,0.00,0.000,6,0.000,0.038,1481,2305,3011
$GC,1953,-2.29,-18.6,395.1,-19.0,78,1958,0.10,2.30,0.00,0.000,4,0.230,0.043,1510,892,3012
$GC,1998,-2.32,-18.6,404.0,-19.4,78,2002,0.00,2.28,0.00,0.000,6,0.000,0.042,1502,2307,3012
$GC,2314,-2.34,-18.6,462.1,-18.3,84,2318,0.00,2.28,0.00,0.000,4,0.000,0.046,1505,892,3011
$GC,2377,-2.37,-18.6,474.0,-18.3,84,2383,0.00,2.25,0.00,0.000,6,0.000,0.039,1497,2304,3011
$GC,2688,-2.39,-18.6,530.4,-18.1,90,2691,0.00,2.25,0.00,0.000,4,0.000,0.044,1504,894,3010
$GC,2757,-2.42,-18.6,542.9,-17.3,91,2762,0.08,2.28,0.00,0.000,6,0.094,0.040,1461,2316,3010
$GC,3124,-2.40,-18.6,610.5,-18.2,97,3128,0.00,2.28,0.00,0.000,4,0.000,0.044,1465,895,3010
$GC,3213,-2.40,-18.6,627.1,-17.6,98,3218,0.10,2.25,0.00,0.000,6,0.224,0.043,1476,2306,3010
$GC,3551,-2.40,-18.6,683.0,-16.4,104,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,1476,2306,3010
$GC,3855,-2.40,-18.6,728.4,-14.8,109,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,1476,2306,3010
$GC,4157,-2.40,-18.6,771.6,-14.2,114,4161,0.00,2.28,0.00,0.000,4,0.000,0.050,1467,3709,3009
$GC,4186,-2.35,-18.6,775.8,-14.9,114,4190,0.00,2.20,0.00,0.000,6,0.000,0.032,1472,2302,3009
$GC,4524,-2.35,-18.6,821.4,-13.4,120,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,2302,3009
$GC,4828,-2.35,-18.6,862.4,-13.5,125,4832,0.00,2.28,0.00,0.000,4,0.000,0.046,1478,889,3009
$GC,4906,-2.35,-18.6,873.5,-13.6,126,4910,0.00,2.28,0.00,0.000,6,0.000,0.044,1470,2305,3008
$GC,5255,-2.35,-18.6,920.0,-13.3,132,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,2306,3008
$GC,5558,-2.35,-18.6,960.4,-13.4,137,5562,0.00,2.30,0.00,0.000,4,0.000,0.049,1458,3712,3007
$GC,5610,-2.29,-18.6,967.8,-14.4,137,5615,0.17,2.22,0.00,0.000,6,0.219,0.035,1501,2307,3007
$STATE,5796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5796,begin apogee
$GC,5803,-0.22,0.0,991.5,12.6,140,5824,1.70,0.00,17.65,1.217,6,0.198,0.000,1948,2305,2931
$STATE,5825,end apogee,CONTROL_FINISHED_OK
$STATE,5825,begin climb
$GC,5828,1.87,18.6,991.5,0.0,140,5853,1.27,2.40,17.15,1.186,4,0.075,0.057,2397,3711,2855
$GC,6045,1.86,52.5,993.3,-4.1,143,6079,0.00,2.25,29.08,1.241,6,0.000,0.038,2406,2299,2717
$GC,6397,1.89,52.5,971.5,8.6,149,6401,0.00,2.30,0.00,0.000,4,0.000,0.048,2416,895,2715
$GC,6487,1.92,52.5,963.4,8.3,150,6491,0.00,2.28,0.00,0.000,6,0.000,0.042,2410,2303,2715
$GC,6826,1.94,52.5,934.5,8.4,156,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2303,2714
$GC,7129,1.97,52.5,909.1,8.3,161,7133,0.00,2.30,0.00,0.000,4,0.000,0.051,2410,3715,2713
$GC,7265,1.92,52.5,896.6,9.8,163,7269,0.00,2.20,0.00,0.000,6,0.000,0.033,2418,2302,2714
$GC,7632,1.92,52.5,866.7,8.0,169,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2302,2713
$GC,7935,1.92,52.5,843.8,7.5,174,7939,0.00,2.30,0.00,0.000,4,0.000,0.048,2410,3711,2713
$GC,8009,1.88,52.5,837.7,8.1,175,8013,0.00,2.25,0.00,0.000,6,0.000,0.035,2419,2293,2713
$GC,8364,1.88,52.5,813.0,6.9,181,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2293,2713
$GC,8667,1.88,52.5,793.0,6.6,186,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2293,2713
$GC,8970,1.88,52.5,773.0,6.6,191,8974,0.00,2.30,0.00,0.000,4,0.000,0.048,2411,3712,2713
$GC,9168,1.83,52.5,760.1,6.2,194,9172,0.00,2.20,0.00,0.000,6,0.000,0.034,2419,2303,2712
$GC,9541,1.83,53.4,740.0,5.2,200,9542,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2302,2712
$GC,9844,1.83,57.1,726.4,4.5,205,9854,0.00,2.25,4.85,0.779,4,0.000,0.048,2410,3710,2698
$GC,10056,1.79,57.1,714.7,5.9,208,10061,0.15,2.20,0.00,0.000,6,0.246,0.033,2390,2293,2697
$GC,10418,1.84,59.6,697.3,4.8,214,10424,0.00,0.00,3.90,0.668,6,0.000,0.000,2390,2293,2687
$GC,10721,1.90,60.0,681.2,5.4,219,10723,0.10,0.00,0.00,0.000,6,0.097,0.000,2424,2292,2686
$GC,11023,1.90,60.0,664.2,5.7,224,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2292,2686
$GC,11326,1.90,60.0,647.1,5.7,229,11328,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2292,2686
$GC,11630,1.90,60.5,630.9,5.3,234,11631,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2292,2686
$GC,11932,1.90,61.2,615.0,5.3,239,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2292,2686
$GC,12235,1.90,62.4,599.3,5.2,244,12241,0.00,0.00,4.12,0.659,6,0.000,0.000,2423,2292,2676
$GC,12539,1.90,62.4,582.6,5.6,249,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2292,2675
$GC,12842,1.90,63.8,567.2,5.1,254,12846,0.00,2.25,0.00,0.000,4,0.000,0.046,2434,889,2676
$GC,13073,1.91,67.3,555.4,4.5,257,13083,0.00,2.25,5.57,0.756,6,0.000,0.040,2429,2311,2656
$GC,13411,1.91,67.3,535.9,6.0,263,13415,0.00,2.28,0.00,0.000,4,0.000,0.045,2437,886,2655
$GC,13483,1.91,67.3,531.5,6.1,264,13487,0.00,2.25,0.00,0.000,6,0.000,0.040,2431,2307,2655
$GC,13839,1.91,67.3,510.8,5.9,270,13840,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2307,2656
$GC,14143,1.91,67.3,492.4,6.1,275,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2307,2655
$GC,14445,1.91,67.3,474.8,5.8,280,14448,0.00,2.25,0.00,0.000,4,0.000,0.049,2421,3707,2655
$GC,14703,1.85,67.3,459.5,5.6,283,14707,0.12,2.17,0.00,0.000,6,0.227,0.033,2405,2302,2655
$GC,15014,1.90,70.1,444.9,4.7,288,15023,0.00,2.28,3.97,0.591,4,0.000,0.045,2413,901,2644
$GC,15070,1.95,72.8,442.3,4.7,288,15082,0.00,2.22,3.65,0.547,6,0.000,0.038,2410,2312,2635
$GC,15387,1.99,74.2,426.1,5.1,294,15389,0.08,0.00,0.00,0.000,6,0.110,0.000,2438,2313,2635
$GC,15689,2.00,77.7,412.0,4.5,299,15700,0.00,2.25,6.05,0.714,4,0.000,0.046,2429,3723,2613
$GC,15815,1.95,77.7,404.5,7.5,300,15821,0.00,2.22,0.00,0.000,6,0.000,0.033,2439,2292,2612
$GC,16126,1.95,77.7,386.6,5.7,306,16130,0.00,2.22,0.00,0.000,4,0.000,0.044,2449,889,2612
$GC,16243,1.95,77.7,379.3,6.4,307,16248,0.12,2.25,0.00,0.000,6,0.227,0.038,2422,2317,2612
$GC,16565,1.97,77.7,359.9,6.2,313,16568,0.00,2.25,0.00,0.000,4,0.000,0.046,2416,3711,2612
$GC,16702,1.94,77.7,351.6,6.1,315,16706,0.00,2.22,0.00,0.000,6,0.000,0.032,2425,2291,2612
$GC,17069,1.97,79.6,333.1,5.0,321,17070,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2290,2612
$GC,17372,2.00,82.0,318.6,4.8,326,17378,0.00,0.00,5.10,0.629,6,0.000,0.000,2424,2291,2596
$GC,17676,2.03,83.1,302.9,5.2,331,17677,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2290,2595
$GC,17980,2.07,86.0,288.3,4.7,340,17990,0.08,2.35,4.82,0.598,4,0.097,0.045,2450,3715,2580
$GC,18245,2.00,86.0,272.9,5.7,348,18249,0.12,2.22,0.00,0.000,6,0.242,0.031,2434,2298,2579
$GC,18586,2.03,86.9,254.4,5.3,359,18590,0.00,2.30,0.00,0.000,4,0.000,0.044,2424,3709,2579
$GC,18747,1.99,89.3,246.2,4.8,363,18759,0.00,2.22,4.28,0.550,6,0.000,0.031,2433,2299,2566
$GC,19066,2.02,89.4,229.3,5.5,374,19070,0.00,2.25,0.00,0.000,4,0.000,0.044,2426,3711,2566
$GC,19108,1.98,89.4,226.8,5.8,375,19112,0.00,2.20,0.00,0.000,6,0.000,0.031,2434,2304,2566
$GC,19439,2.01,92.2,209.9,4.7,386,19448,0.00,2.25,4.35,0.535,4,0.000,0.045,2434,3709,2553
$GC,19703,1.97,93.3,194.3,5.2,393,19710,0.00,2.25,0.00,0.000,6,0.000,0.031,2444,2297,2553
$GC,20017,1.98,98.3,180.3,4.1,404,20028,0.00,2.33,6.45,0.614,4,0.000,0.044,2436,3711,2529
$GC,20282,1.94,98.3,164.9,6.6,412,20287,0.10,2.20,0.00,0.000,6,0.230,0.031,2426,2304,2528
$GC,20619,2.00,106.0,151.9,3.3,423,20633,0.00,2.30,7.55,0.624,4,0.000,0.044,2416,3712,2497
$GC,20888,2.01,111.7,141.6,3.9,434,20899,0.00,2.20,6.05,0.578,6,0.000,0.031,2424,2296,2475
$GC,21219,2.09,121.8,128.8,2.6,450,21234,0.10,2.28,9.48,0.630,4,0.082,0.043,2479,892,2433
$GC,21489,2.10,130.9,121.3,2.9,462,21503,0.00,2.25,8.88,0.618,6,0.000,0.036,2474,2310,2396
$GC,21823,2.13,135.8,105.9,4.1,478,21833,0.00,2.28,5.55,0.542,4,0.000,0.041,2483,893,2376
$GC,21948,2.17,135.8,99.6,6.0,483,21955,0.00,2.22,0.00,0.000,6,0.000,0.035,2475,2305,2374
$GC,22266,2.23,152.7,95.6,0.7,499,22288,0.00,2.25,15.00,0.644,4,0.000,0.044,2465,3715,2306
$GC,22541,2.23,152.7,80.4,8.3,511,22545,0.00,2.20,0.00,0.000,6,0.000,0.031,2474,2305,2304
$GC,22872,2.28,152.7,56.5,7.5,542,22873,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2303,2304
$GC,23194,2.32,152.7,32.2,7.0,572,23200,0.10,0.00,0.00,0.000,6,0.081,0.000,2516,2303,2304
$STATE,23519,end climb,SURFACE_DEPTH_REACHED
$STATE,23519,begin surface coast
$FINISH,1.6,1.025516
$STATE,23561,end surface coast,CONTROL_FINISHED_OK
$STATE,23561,begin surface
$SM_CCo,23581,115.72,0.607,0,0,1707,300.00
$SM_GC,2.53,0.00,0.00,115.72,0.000,0.000,0.607,97,2302,1707,-8.76,-0.03,300.00
$IRIDIUM_FIX,4946.36,-14451.14,240299,010135
$TT8_MAMPS,0.029146
$HUMID,1681
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,15.70
$XPDR_PINGS,42
$24V_AH,23.4,74.502
$10V_AH,10.5,64.545
$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,18.300,149.000,173.500,115.725,0.000,30.560,37.290,168.818,10.500,0.000,0.000,31.028,1490.164,18999.055,404.781,2488.732,712.254,33.373,1552.813,0.000,2452.649,0.000,0.527,0.000
$DEVICE_MAMPS,246.207,59.826,1241.006,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,429.145,491.002,626.839,1041.854,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34852,607
$CAP_FILE_SIZE,157235,0
$CFSIZE,260165632,218755072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,301109,155631,5007.463,-14451.080,38,1.6,38,18.5