version: 66.04
glider: 144
mission: 15
dive: 318
start: 9 25 109 2 14 44
data:
$ID,144
$MISSION,15
$DIVE,318
$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,-67398.164
$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,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
$GPS1,020606,5007.211,-14448.479,44,1.5,44,18.5
$_CALLS,1
$_XMS_NAKs,32
$_XMS_TOUTs,1
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-50.6
$GPS2,021350,5007.220,-14448.472,10,1.6,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.006,0.055
$KALMAN_X,-46705.4,245.9,125.6,72446.7,-2727.4
$KALMAN_Y,18231.3,192.2,-49.4,-43861.8,-516.9
$MHEAD_RNG_PITCHd_Wd,335.0,2919,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.86,-13.1,0.0,0.0,0,69,0.00,0.00,-51.53,0.000,2,0.000,0.000,100,2314,2784
$GC,72,-1.87,-17.0,3.5,-4.4,5,88,6.15,2.30,-5.28,0.000,4,0.241,0.055,1595,893,3001
$GC,341,-1.96,-17.0,69.2,-21.3,28,347,0.00,2.25,0.00,0.000,6,0.000,0.037,1587,2308,3004
$GC,669,-2.04,-17.0,142.6,-22.9,47,674,0.10,2.25,0.00,0.000,4,0.086,0.040,1554,886,3005
$GC,927,-2.11,-17.0,196.3,-18.5,55,933,0.00,2.25,0.00,0.000,6,0.000,0.038,1546,2313,3005
$GC,1240,-2.16,-17.0,253.6,-18.0,66,1244,0.00,2.22,0.00,0.000,4,0.000,0.041,1546,893,3005
$GC,1497,-2.21,-17.0,301.0,-18.2,73,1501,0.00,2.22,0.00,0.000,6,0.000,0.037,1537,2312,3005
$GC,1813,-2.26,-17.0,358.8,-18.2,79,1818,0.10,2.25,0.00,0.000,4,0.080,0.044,1494,891,3004
$GC,2070,-2.26,-17.0,408.0,-18.5,82,2077,0.08,2.25,0.00,0.000,6,0.211,0.038,1504,2305,3004
$GC,2380,-2.26,-17.0,462.0,-17.3,88,2384,0.00,2.25,0.00,0.000,4,0.000,0.045,1514,893,3004
$GC,2638,-2.28,-17.0,506.4,-16.6,91,2642,0.00,2.25,0.00,0.000,6,0.000,0.043,1505,2310,3003
$GC,2948,-2.28,-17.0,556.6,-16.2,96,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,1505,2310,3002
$GC,3251,-2.28,-17.0,603.2,-15.4,101,3255,0.00,2.25,0.00,0.000,4,0.000,0.045,1506,896,3002
$GC,3335,-2.28,-17.0,616.2,-14.6,102,3339,0.00,2.22,0.00,0.000,6,0.000,0.039,1498,2305,3001
$GC,3678,-2.28,-17.0,665.0,-14.0,108,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,1498,2305,3001
$GC,3981,-2.28,-17.0,708.0,-14.3,113,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,1498,2305,3000
$GC,4284,-2.28,-17.0,749.3,-13.6,118,4288,0.00,2.28,0.00,0.000,4,0.000,0.044,1504,889,3000
$GC,4335,-2.28,-17.0,756.4,-13.2,118,4339,0.00,2.25,0.00,0.000,6,0.000,0.039,1496,2311,3000
$GC,4644,-2.28,-17.0,798.0,-13.4,123,4648,0.00,2.28,0.00,0.000,4,0.000,0.044,1496,887,2999
$GC,4665,-2.28,-17.0,801.1,-14.1,123,4669,0.00,2.25,0.00,0.000,6,0.000,0.042,1485,2305,2999
$GC,5008,-2.28,-17.0,848.3,-13.8,129,5012,0.00,2.25,0.00,0.000,4,0.000,0.048,1474,3711,2999
$GC,5036,-2.23,-17.0,852.4,-15.4,129,5041,0.15,2.17,0.00,0.000,6,0.224,0.038,1510,2306,2998
$GC,5368,-2.26,-17.0,893.9,-12.4,135,5372,0.00,2.25,0.00,0.000,4,0.000,0.048,1519,888,2998
$GC,5452,-2.29,-17.0,904.3,-13.0,136,5456,0.00,2.25,0.00,0.000,6,0.000,0.042,1510,2308,2998
$GC,5795,-2.31,-17.0,945.4,-11.9,142,5799,0.00,2.25,0.00,0.000,4,0.000,0.048,1513,893,2998
$GC,5964,-2.34,-17.0,965.6,-12.6,144,5968,0.00,2.22,0.00,0.000,6,0.000,0.047,1505,2302,2997
$STATE,6228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6228,begin apogee
$GC,6234,-0.22,0.0,996.2,11.5,149,6253,1.70,0.00,15.40,1.218,6,0.203,0.000,1948,2302,2931
$STATE,6254,end apogee,CONTROL_FINISHED_OK
$STATE,6254,begin climb
$GC,6256,1.87,17.0,996.2,0.0,149,6280,1.27,2.35,15.48,1.193,4,0.074,0.051,2409,3708,2860
$GC,6460,1.82,43.6,994.2,-2.0,152,6490,0.12,2.22,22.55,1.239,6,0.253,0.041,2397,2300,2753
$GC,6823,1.84,43.6,971.4,8.1,158,6827,0.00,2.28,0.00,0.000,4,0.000,0.048,2405,892,2751
$GC,6918,1.87,43.6,963.4,8.4,159,6922,0.00,2.25,0.00,0.000,6,0.000,0.041,2398,2301,2751
$GC,7250,1.90,43.6,936.9,7.9,165,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2301,2750
$GC,7553,1.92,43.6,913.6,7.7,170,7557,0.00,2.28,0.00,0.000,4,0.000,0.055,2397,3712,2750
$GC,7569,1.92,43.6,912.2,7.8,170,7573,0.00,2.22,0.00,0.000,6,0.000,0.041,2405,2300,2750
$GC,7919,1.92,43.6,887.6,6.9,176,7923,0.00,2.25,0.00,0.000,4,0.000,0.048,2416,896,2750
$GC,8154,1.92,43.6,872.2,5.9,179,8158,0.00,2.25,0.00,0.000,6,0.000,0.044,2410,2307,2750
$GC,8487,1.92,43.6,852.8,5.8,185,8491,0.00,2.28,0.00,0.000,4,0.000,0.047,2419,888,2750
$GC,8693,1.92,43.9,841.4,5.4,188,8698,0.00,2.28,0.00,0.000,6,0.000,0.041,2410,2320,2750
$GC,9054,1.92,47.0,824.4,4.6,194,9063,0.00,2.25,3.85,0.718,4,0.000,0.054,2410,3705,2739
$GC,9257,1.86,47.0,813.3,5.7,197,9261,0.00,2.20,0.00,0.000,6,0.000,0.035,2419,2295,2739
$GC,9629,1.86,48.4,794.2,5.1,203,9633,0.00,2.30,0.00,0.000,4,0.000,0.054,2410,3717,2739
$GC,9746,1.79,48.4,787.8,5.7,204,9751,0.15,2.22,0.00,0.000,6,0.248,0.035,2390,2293,2738
$GC,10057,1.83,51.9,773.6,4.5,209,10067,0.00,2.30,5.85,0.890,4,0.000,0.053,2382,3718,2718
$GC,10182,1.81,51.9,766.3,6.5,210,10188,0.00,2.22,0.00,0.000,6,0.000,0.034,2390,2297,2717
$GC,10492,1.85,51.9,748.1,5.8,216,10496,0.00,2.28,0.00,0.000,4,0.000,0.055,2382,3709,2718
$GC,10676,1.82,51.9,736.7,6.0,218,10680,0.00,2.22,0.00,0.000,6,0.000,0.041,2391,2293,2717
$GC,10986,1.86,52.7,720.1,5.3,223,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2293,2717
$GC,11290,1.90,53.4,704.0,5.3,228,11295,0.08,2.30,0.00,0.000,4,0.114,0.051,2410,3718,2717
$GC,11433,1.84,53.4,695.7,6.4,230,11437,0.00,2.20,0.00,0.000,6,0.000,0.034,2418,2301,2717
$GC,11788,1.84,53.4,676.1,5.5,236,11789,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2300,2717
$GC,12091,1.84,54.3,660.0,5.3,241,12095,0.00,2.25,0.00,0.000,4,0.000,0.048,2410,3712,2718
$GC,12327,1.78,55.6,647.3,5.1,244,12337,0.15,2.20,4.53,0.732,6,0.252,0.034,2390,2295,2703
$GC,12664,1.82,56.4,630.0,5.3,250,12668,0.00,2.28,0.00,0.000,4,0.000,0.048,2380,3717,2704
$GC,12922,1.82,56.4,615.7,5.6,253,12926,0.00,2.20,0.00,0.000,6,0.000,0.034,2388,2305,2703
$GC,13238,1.87,58.5,600.3,4.9,259,13247,0.00,2.28,4.07,0.673,4,0.000,0.048,2381,3712,2692
$GC,13266,1.87,58.8,598.8,5.4,259,13270,0.00,2.20,0.00,0.000,6,0.000,0.034,2388,2301,2692
$GC,13604,1.91,59.5,581.2,5.3,265,13608,0.10,2.28,0.00,0.000,4,0.098,0.048,2422,3719,2692
$GC,13653,1.84,59.5,577.9,6.6,265,13658,0.15,2.20,0.00,0.000,6,0.251,0.034,2402,2303,2691
$GC,13964,1.87,60.2,561.3,5.3,270,13965,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2303,2692
$GC,14266,1.90,63.4,547.3,4.6,275,14277,0.00,2.28,5.65,0.775,4,0.000,0.047,2392,3717,2671
$GC,14299,1.90,65.4,545.6,4.9,275,14303,0.00,2.22,0.00,0.000,6,0.000,0.034,2401,2296,2671
$GC,14632,1.94,66.3,527.8,5.3,281,14638,0.00,0.00,3.97,0.634,6,0.000,0.000,2401,2296,2660
$GC,14935,1.98,66.3,509.5,6.1,286,14936,0.10,0.00,0.00,0.000,6,0.100,0.000,2435,2296,2659
$GC,15237,1.98,66.3,489.6,6.5,291,15241,0.00,2.28,0.00,0.000,4,0.000,0.048,2426,3716,2659
$GC,15427,1.91,66.3,476.5,7.1,293,15433,0.00,2.20,0.00,0.000,6,0.000,0.034,2436,2305,2660
$GC,15736,1.91,66.3,455.6,6.8,299,15740,0.00,2.22,0.00,0.000,4,0.000,0.045,2446,893,2660
$GC,15994,1.91,66.3,438.5,6.2,302,16001,0.08,2.25,0.00,0.000,6,0.225,0.038,2418,2308,2660
$GC,16304,1.91,67.8,422.3,5.1,308,16308,0.00,2.25,0.00,0.000,4,0.000,0.045,2427,889,2660
$GC,16561,1.92,74.8,411.2,3.5,311,16576,0.00,2.22,8.32,0.797,6,0.000,0.038,2423,2305,2624
$GC,16937,1.92,74.8,391.5,5.5,318,16938,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2305,2623
$GC,17241,1.92,75.5,375.5,5.3,323,17244,0.00,2.22,0.00,0.000,4,0.000,0.048,2413,3709,2624
$GC,17411,1.87,75.5,365.3,5.6,325,17415,0.00,2.17,0.00,0.000,6,0.000,0.032,2421,2300,2623
$GC,17749,1.87,76.2,347.2,5.3,331,17752,0.00,2.25,0.00,0.000,4,0.000,0.046,2414,3713,2624
$GC,17833,1.83,76.2,342.5,6.2,332,17837,0.12,2.17,0.00,0.000,6,0.240,0.033,2398,2304,2624
$GC,18187,1.88,78.9,325.6,4.7,338,18194,0.00,0.00,4.65,0.617,6,0.000,0.000,2398,2305,2609
$GC,18491,1.94,78.9,307.2,6.2,343,18495,0.10,2.22,0.00,0.000,4,0.092,0.043,2444,895,2608
$GC,18501,1.99,78.9,306.5,6.0,343,18505,0.00,2.20,0.00,0.000,6,0.000,0.037,2436,2306,2608
$GC,18821,1.99,78.9,288.0,5.5,351,18825,0.00,2.22,0.00,0.000,4,0.000,0.047,2430,3714,2609
$GC,19078,1.93,78.9,273.9,5.6,358,19082,0.00,2.20,0.00,0.000,6,0.000,0.032,2439,2290,2609
$GC,19397,1.94,85.3,260.8,3.7,369,19410,0.00,2.33,6.62,0.682,4,0.000,0.044,2437,3722,2582
$GC,19666,1.87,85.3,242.7,7.2,377,19671,0.17,2.20,0.00,0.000,6,0.233,0.032,2408,2298,2582
$GC,20002,1.92,85.3,221.3,6.1,388,20005,0.00,2.25,0.00,0.000,4,0.000,0.044,2399,3722,2582
$GC,20041,1.92,85.3,218.9,5.9,389,20044,0.00,2.20,0.00,0.000,6,0.000,0.032,2407,2301,2582
$GC,20377,1.97,87.3,201.5,4.9,400,20380,0.00,2.22,0.00,0.000,4,0.000,0.044,2417,886,2582
$GC,20636,2.02,95.3,191.4,3.2,407,20651,0.12,2.22,9.32,0.695,6,0.084,0.037,2455,2315,2541
$GC,20987,2.02,95.3,168.1,6.3,419,20990,0.00,2.25,0.00,0.000,4,0.000,0.042,2466,889,2540
$GC,21244,2.03,99.8,155.6,4.2,426,21256,0.00,2.22,4.90,0.559,6,0.000,0.037,2463,2316,2524
$GC,21564,2.04,107.5,140.9,3.3,440,21578,0.00,2.30,7.65,0.635,4,0.000,0.042,2472,892,2491
$GC,21833,2.05,118.0,131.5,2.5,452,21847,0.00,2.20,9.57,0.657,6,0.000,0.036,2465,2305,2449
$GC,22164,2.07,129.0,118.6,2.4,468,22179,0.00,2.25,9.82,0.649,4,0.000,0.043,2474,888,2404
$GC,22434,2.09,129.0,105.6,6.0,480,22438,0.00,2.22,0.00,0.000,6,0.000,0.036,2474,2312,2402
$GC,22762,2.09,133.7,90.0,4.2,496,22772,0.00,2.25,5.40,0.548,4,0.000,0.041,2484,886,2384
$GC,23026,2.10,137.6,77.8,4.4,510,23039,0.10,2.22,4.72,0.514,6,0.229,0.036,2461,2305,2368
$GC,23356,2.14,138.5,58.9,5.3,541,23360,0.00,2.25,0.00,0.000,4,0.000,0.044,2449,3717,2367
$GC,23613,2.17,157.1,50.5,0.2,563,23634,0.00,2.20,16.55,0.640,6,0.000,0.031,2459,2294,2290
$GC,23960,2.29,179.0,48.8,-0.7,596,23985,0.12,2.30,18.40,0.634,4,0.081,0.041,2520,887,2199
$GC,24237,2.29,179.0,35.5,9.6,620,24244,0.00,2.28,0.00,0.000,6,0.000,0.035,2519,2299,2195
$STATE,24549,end climb,SURFACE_DEPTH_REACHED
$STATE,24552,begin surface coast
$FINISH,0.9,1.024767
$STATE,24561,end surface coast,CONTROL_FINISHED_OK
$STATE,24561,begin surface
$SM_CCo,24577,93.22,0.607,0,0,1707,300.00
$SM_GC,2.03,0.00,0.00,93.22,0.000,0.000,0.607,101,2300,1707,-8.74,-0.08,300.00
$IRIDIUM_FIX,4946.36,-14503.23,191298,171712
$TT8_MAMPS,0.029146
$HUMID,1691
$INTERNAL_PRESSURE,7.46122
$TCM_TEMP,16.70
$XPDR_PINGS,38
$24V_AH,23.9,47.088
$10V_AH,10.6,39.711
$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,17.700,188.425,187.300,93.225,0.000,28.690,25.791,281.828,9.500,0.000,0.000,14.118,1684.456,19177.041,418.960,3106.022,740.476,33.374,1848.184,0.000,3079.154,0.000,0.528,0.000
$DEVICE_MAMPS,253.110,55.224,1238.705,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,456.618,524.618,675.701,1117.393,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38018,651
$CAP_FILE_SIZE,183570,0
$CFSIZE,260165632,233930752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250909,090706,5008.104,-14449.555,30,1.4,31,18.5