version: 66.04
glider: 144
mission: 15
dive: 211
start: 8 20 109 3 27 15
data:
$ID,144
$MISSION,15
$DIVE,211
$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,-65027.469
$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,0.039999999
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,032035,5006.348,-14451.834,72,1.8,77,18.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-59.5
$GPS2,032619,5006.271,-14451.822,10,1.4,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.109,0.024
$KALMAN_X,-2940.0,332.4,41.3,24726.1,-2814.0
$KALMAN_Y,7275.0,-165.9,-227.0,-34114.9,1437.3
$MHEAD_RNG_PITCHd_Wd,59.3,2548,-22.1,-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,-1.01,-44.5,0.0,0.0,0,49,0.00,0.00,-31.85,0.000,2,0.000,0.000,98,2308,2599
$GC,51,-1.01,-44.5,3.3,-7.1,3,76,6.62,2.33,-12.15,0.000,4,0.231,0.064,1774,891,3115
$GC,328,-0.94,-44.5,50.5,-13.9,27,335,0.12,2.22,0.00,0.000,6,0.168,0.038,1795,2311,3118
$GC,662,-0.94,-44.5,92.1,-13.1,55,665,0.00,2.22,0.00,0.000,4,0.000,0.042,1798,893,3120
$GC,920,-0.98,-44.5,127.4,-13.1,66,923,0.00,2.22,0.00,0.000,6,0.000,0.038,1790,2311,3120
$GC,1240,-1.03,-44.5,163.4,-10.4,80,1244,0.00,2.22,0.00,0.000,4,0.000,0.041,1790,892,3121
$GC,1309,-1.09,-44.5,170.3,-10.6,82,1313,0.00,2.22,0.00,0.000,6,0.000,0.038,1781,2312,3120
$GC,1644,-1.13,-44.5,202.4,-9.2,93,1648,0.10,2.22,0.00,0.000,4,0.076,0.044,1734,891,3120
$GC,1710,-1.01,-44.5,210.0,-11.2,95,1715,0.22,2.20,0.00,0.000,6,0.163,0.039,1783,2305,3120
$GC,2045,-1.08,-44.5,241.4,-9.4,106,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2305,3120
$GC,2351,-1.15,-44.5,271.0,-9.7,116,2353,0.12,0.00,0.00,0.000,6,0.071,0.000,1727,2305,3120
$GC,2657,-1.02,-44.5,308.8,-12.3,125,2662,0.17,2.25,0.00,0.000,4,0.163,0.044,1777,885,3118
$GC,2723,-1.09,-44.5,315.9,-10.1,126,2728,0.00,2.22,0.00,0.000,6,0.000,0.040,1769,2305,3119
$GC,3084,-1.09,-44.5,349.7,-9.4,132,3088,0.00,2.22,0.00,0.000,4,0.000,0.051,1759,3711,3118
$GC,3105,-1.09,-44.5,352.1,-10.3,132,3109,0.00,2.17,0.00,0.000,6,0.000,0.035,1759,2290,3118
$GC,3449,-1.09,-44.5,386.5,-10.0,138,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,2289,3118
$GC,3752,-1.09,-44.5,417.2,-10.1,143,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,2289,3117
$GC,4055,-1.09,-44.5,448.5,-10.4,148,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,2289,3116
$GC,4358,-1.09,-44.5,481.4,-10.8,153,4362,0.00,2.20,0.00,0.000,4,0.000,0.048,1758,890,3115
$GC,4464,-1.09,-44.5,493.7,-11.5,154,4468,0.00,2.22,0.00,0.000,6,0.000,0.043,1749,2310,3115
$GC,4796,-1.09,-44.5,528.7,-10.4,160,4800,0.00,2.22,0.00,0.000,4,0.000,0.047,1749,896,3114
$GC,4858,-1.09,-44.5,534.9,-10.6,161,4863,0.10,2.20,0.00,0.000,6,0.170,0.040,1762,2304,3115
$GC,5223,-1.09,-44.5,567.0,-8.6,167,5227,0.00,2.22,0.00,0.000,4,0.000,0.047,1762,892,3115
$GC,5374,-1.09,-44.5,580.7,-8.4,169,5378,0.00,2.22,0.00,0.000,6,0.000,0.046,1754,2311,3114
$GC,5724,-1.09,-44.5,610.0,-8.2,175,5727,0.00,2.22,0.00,0.000,4,0.000,0.056,1744,3711,3113
$GC,5757,-1.02,-44.5,613.1,-9.6,175,5761,0.15,2.15,0.00,0.000,6,0.163,0.038,1782,2296,3113
$GC,6094,-1.13,-44.5,636.6,-6.8,181,6099,0.10,2.20,0.00,0.000,4,0.080,0.048,1737,895,3113
$GC,6139,-1.06,-44.5,640.8,-9.6,181,6144,0.17,2.20,0.00,0.000,6,0.160,0.044,1771,2304,3113
$GC,6455,-1.14,-44.5,665.3,-7.8,187,6459,0.00,2.25,0.00,0.000,4,0.000,0.055,1763,3720,3113
$GC,6505,-1.18,-44.5,669.9,-9.1,187,6509,0.00,2.17,0.00,0.000,6,0.000,0.037,1763,2301,3112
$GC,6815,-1.23,-44.5,695.9,-8.3,192,6819,0.12,2.22,0.00,0.000,4,0.068,0.047,1708,889,3113
$GC,6877,-1.06,-44.5,702.4,-10.9,193,6882,0.28,2.22,0.00,0.000,6,0.162,0.041,1772,2307,3113
$GC,7243,-1.15,-44.5,731.5,-7.8,199,7247,0.10,2.22,0.00,0.000,4,0.079,0.045,1728,898,3112
$GC,7287,-1.05,-44.5,735.8,-10.5,199,7291,0.20,2.20,0.00,0.000,6,0.160,0.046,1770,2304,3112
$GC,7601,-1.14,-44.5,760.0,-7.6,205,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,2304,3112
$GC,7904,-1.23,-44.5,782.4,-7.4,210,7909,0.12,2.22,0.00,0.000,4,0.073,0.051,1717,896,3111
$GC,7954,-1.10,-44.5,787.3,-10.4,210,7959,0.20,2.22,0.00,0.000,6,0.163,0.046,1757,2313,3111
$GC,8264,-1.14,-44.5,812.2,-7.9,215,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,2314,3111
$GC,8567,-1.19,-44.5,836.3,-7.9,220,8571,0.00,2.25,0.00,0.000,4,0.000,0.052,1758,892,3111
$GC,8633,-1.19,-44.5,841.9,-9.1,221,8637,0.00,2.20,0.00,0.000,6,0.000,0.041,1750,2304,3111
$GC,8999,-1.19,-44.5,871.2,-8.0,227,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,2303,3111
$GC,9302,-1.19,-44.5,894.2,-7.5,232,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,2304,3110
$GC,9605,-1.19,-44.5,915.2,-6.9,237,9609,0.00,2.25,0.00,0.000,4,0.000,0.058,1740,3712,3110
$GC,9639,-1.14,-44.5,917.6,-8.6,237,9643,0.00,2.15,0.00,0.000,6,0.000,0.035,1740,2305,3110
$GC,9972,-1.14,-44.5,941.6,-7.3,243,9976,0.00,2.22,0.00,0.000,4,0.000,0.050,1740,897,3109
$GC,10044,-1.10,-44.5,947.7,-8.2,244,10049,0.12,2.22,0.00,0.000,6,0.171,0.046,1758,2307,3110
$GC,10399,-1.17,-44.5,972.1,-6.9,250,10403,0.00,2.25,0.00,0.000,4,0.000,0.050,1758,896,3110
$GC,10494,-1.22,-44.5,979.6,-8.0,251,10498,0.00,2.22,0.00,0.000,6,0.000,0.044,1751,2306,3110
$STATE,10641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10641,begin apogee
$GC,10647,-0.22,0.0,991.0,7.6,254,10686,0.68,0.00,36.35,1.308,6,0.146,0.000,1953,2306,2931
$STATE,10687,end apogee,CONTROL_FINISHED_OK
$STATE,10687,begin climb
$GC,10690,1.01,44.5,991.0,0.0,254,10731,0.80,0.00,37.78,1.282,6,0.079,0.000,2229,2306,2749
$GC,11007,0.73,50.0,977.6,5.0,260,11018,0.25,2.30,5.55,0.953,4,0.190,0.054,2162,3710,2726
$GC,11058,0.56,53.3,975.0,5.2,260,11071,0.20,2.22,4.68,0.868,6,0.196,0.038,2124,2307,2713
$GC,11374,0.69,79.7,964.7,3.3,266,11399,0.10,0.00,22.85,1.246,6,0.081,0.000,2160,2306,2606
$GC,11676,0.69,79.7,947.2,6.1,271,11677,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2306,2601
$GC,11978,0.69,79.7,927.4,6.6,276,11982,0.00,2.30,0.00,0.000,4,0.000,0.060,2161,3717,2600
$GC,12057,0.58,79.7,921.4,8.0,277,12062,0.20,2.22,0.00,0.000,6,0.186,0.039,2123,2300,2600
$GC,12406,0.73,79.7,901.7,5.6,283,12411,0.12,2.30,0.00,0.000,4,0.072,0.053,2170,3719,2599
$GC,12478,0.57,79.7,895.8,8.3,284,12483,0.22,2.22,0.00,0.000,6,0.188,0.035,2126,2296,2600
$GC,12833,0.71,79.7,874.8,5.8,290,12837,0.10,2.28,0.00,0.000,4,0.080,0.058,2164,3712,2599
$GC,12895,0.58,79.7,869.8,8.3,291,12900,0.20,2.20,0.00,0.000,6,0.183,0.041,2125,2301,2599
$GC,13261,0.73,79.7,847.9,5.9,297,13266,0.12,2.28,0.00,0.000,4,0.074,0.051,2172,3710,2599
$GC,13361,0.56,79.7,839.9,7.8,298,13366,0.25,2.20,0.00,0.000,6,0.183,0.038,2120,2296,2599
$GC,13688,0.73,82.2,821.9,5.3,304,13693,0.12,2.28,0.00,0.000,4,0.071,0.051,2169,3709,2598
$GC,13743,0.59,82.2,817.9,7.9,304,13750,0.15,2.22,0.00,0.000,6,0.176,0.040,2136,2300,2598
$GC,14053,0.71,86.2,801.6,5.2,310,14061,0.00,0.00,5.85,0.922,6,0.000,0.000,2136,2300,2579
$GC,14357,0.83,92.3,786.4,5.0,315,14371,0.15,2.33,6.80,0.960,4,0.067,0.053,2193,3712,2553
$GC,14428,0.62,92.3,780.8,8.7,316,14432,0.28,2.20,0.00,0.000,6,0.186,0.038,2132,2302,2552
$GC,14788,0.77,103.2,763.7,4.6,322,14804,0.12,2.28,10.40,1.048,4,0.071,0.051,2182,3710,2509
$GC,14832,0.61,103.2,760.4,7.5,322,14837,0.22,2.20,0.00,0.000,6,0.179,0.040,2136,2302,2508
$GC,15147,0.76,108.0,744.0,5.1,328,15158,0.10,2.28,5.53,0.864,4,0.074,0.051,2178,3712,2489
$GC,15231,0.62,108.0,737.3,8.2,329,15236,0.22,2.22,0.00,0.000,6,0.176,0.036,2132,2292,2488
$GC,15575,0.78,108.1,718.3,5.5,335,15579,0.12,2.30,0.00,0.000,4,0.067,0.054,2184,3717,2487
$GC,15638,0.62,108.1,713.2,8.7,336,15642,0.22,2.20,0.00,0.000,6,0.179,0.042,2139,2302,2487
$GC,16003,0.76,108.1,690.1,6.2,342,16008,0.10,2.28,0.00,0.000,4,0.075,0.050,2181,3714,2487
$GC,16047,0.63,108.1,686.2,9.6,342,16052,0.22,2.20,0.00,0.000,6,0.176,0.036,2134,2302,2486
$GC,16362,0.79,108.1,666.6,6.1,348,16367,0.12,2.28,0.00,0.000,4,0.065,0.050,2189,3719,2487
$GC,16425,0.61,108.1,661.1,10.1,349,16430,0.25,2.20,0.00,0.000,6,0.179,0.039,2135,2301,2486
$GC,16791,0.77,108.1,637.7,6.2,355,16796,0.12,2.28,0.00,0.000,4,0.066,0.051,2188,3714,2486
$GC,16880,0.59,108.1,629.6,8.7,356,16884,0.28,2.20,0.00,0.000,6,0.178,0.034,2128,2293,2486
$GC,17217,0.77,108.1,609.7,5.7,362,17222,0.15,2.28,0.00,0.000,4,0.061,0.054,2193,3710,2486
$GC,17261,0.59,108.1,605.8,9.4,362,17266,0.30,2.17,0.00,0.000,6,0.180,0.041,2127,2304,2486
$GC,17577,0.79,108.7,588.1,5.5,368,17579,0.15,0.00,0.00,0.000,6,0.061,0.000,2192,2303,2486
$GC,17880,0.73,108.7,565.6,7.5,373,17884,0.15,2.28,0.00,0.000,4,0.170,0.051,2154,3719,2486
$GC,17923,0.73,108.7,562.4,6.2,373,17927,0.00,2.20,0.00,0.000,6,0.000,0.035,2163,2294,2486
$GC,18245,0.78,109.0,544.5,5.5,379,18249,0.00,2.28,0.00,0.000,4,0.000,0.050,2163,3715,2486
$GC,18277,0.72,109.0,542.4,6.3,379,18281,0.00,2.17,0.00,0.000,6,0.000,0.035,2173,2305,2486
$GC,18610,0.72,110.7,524.4,5.4,385,18614,0.00,2.25,0.00,0.000,4,0.000,0.051,2173,3710,2486
$GC,18704,0.63,110.7,518.2,6.1,386,18709,0.17,2.17,0.00,0.000,6,0.175,0.035,2140,2300,2485
$GC,19036,0.80,122.4,503.3,4.5,392,19056,0.12,2.33,12.40,0.923,4,0.068,0.054,2195,3717,2431
$GC,19165,0.62,122.4,492.6,8.7,393,19172,0.28,2.20,0.00,0.000,6,0.176,0.035,2134,2300,2429
$GC,19475,0.81,125.6,475.9,5.2,399,19482,0.15,0.00,4.15,0.645,6,0.060,0.000,2200,2299,2418
$GC,19778,0.77,125.6,452.6,7.8,404,19783,0.12,2.28,0.00,0.000,4,0.169,0.050,2164,3717,2417
$GC,19828,0.77,125.6,448.3,8.4,404,19832,0.00,2.20,0.00,0.000,6,0.000,0.038,2172,2305,2417
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$GC,25609,1.06,173.2,82.0,5.4,574,25614,0.12,2.22,0.00,0.000,4,0.064,0.048,2263,3713,2226
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$GC,26037,1.08,180.1,57.9,4.9,611,26047,0.17,0.00,7.72,0.604,6,0.053,0.000,2268,2302,2195
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$GC,26926,1.23,227.7,9.7,4.2,693,26941,0.00,0.00,13.35,0.608,6,0.000,0.000,2287,2303,2002
$STATE,27072,end climb,SURFACE_DEPTH_REACHED
$STATE,27073,begin surface coast
$FINISH,0.8,1.005775
$STATE,27095,end surface coast,CONTROL_FINISHED_OK
$STATE,27096,begin surface
$SM_CCo,27111,56.00,0.627,0,0,1707,300.00
$SM_GC,1.39,0.00,0.00,56.00,0.000,0.000,0.627,98,2302,1707,-8.74,-0.03,300.00
$IRIDIUM_FIX,4946.36,-14457.73,131198,191916
$TT8_MAMPS,0.028379
$HUMID,1688
$INTERNAL_PRESSURE,7.46122
$TCM_TEMP,15.40
$XPDR_PINGS,74
$24V_AH,24.1,32.219
$10V_AH,10.7,26.346
$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,25.900,231.525,239.425,56.000,0.000,29.277,24.624,169.511,18.500,0.000,0.000,11.946,1743.149,22079.521,456.753,2620.888,608.222,33.358,1724.872,0.000,2605.059,0.000,0.528,0.000
$DEVICE_MAMPS,230.867,63.661,1307.735,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,501.311,567.340,731.739,1217.069,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41316,709
$CAP_FILE_SIZE,198897,0
$CFSIZE,260165632,242388992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200809,110127,5006.925,-14449.076,23,2.5,43,18.5