version: 66.04
glider: 144
mission: 15
dive: 298
start: 9 18 109 5 27 12
data:
$ID,144
$MISSION,15
$DIVE,298
$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,-66985.227
$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,34
$R_STBD_OVSHOOT,34
$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
$GPS1,052006,5004.275,-14452.462,24,1.2,24,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-60.6
$GPS2,052619,5004.313,-14452.469,12,1.2,29,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.078,0.126
$KALMAN_X,-34624.2,116.4,214.2,55677.6,-933.2
$KALMAN_Y,19485.6,-111.5,-168.8,-50063.2,1383.7
$MHEAD_RNG_PITCHd_Wd,13.3,6211,-15.1,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-85.7,0.0,0.0,0,61,0.00,0.00,-42.12,0.000,2,0.000,0.000,98,2293,2613
$GC,64,-0.78,-99.4,3.4,-4.9,4,98,7.15,2.33,-17.45,0.000,4,0.242,0.063,1822,892,3340
$GC,339,-0.78,-99.4,46.0,-12.7,28,346,0.00,2.25,0.00,0.000,6,0.000,0.038,1815,2312,3342
$GC,664,-0.72,-99.4,85.3,-11.7,57,668,0.12,2.28,0.00,0.000,4,0.150,0.041,1847,894,3343
$GC,696,-0.72,-99.4,89.0,-10.1,58,703,0.00,2.25,0.00,0.000,6,0.000,0.037,1840,2301,3343
$GC,1012,-0.72,-99.4,120.3,-9.9,74,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2301,3344
$GC,1322,-0.75,-99.4,149.9,-9.2,89,1326,0.00,2.25,0.00,0.000,4,0.000,0.043,1840,891,3344
$GC,1462,-0.79,-99.4,162.5,-8.6,94,1466,0.00,2.25,0.00,0.000,6,0.000,0.041,1836,2305,3344
$GC,1786,-0.83,-99.4,187.9,-7.2,105,1790,0.00,2.28,0.00,0.000,4,0.000,0.042,1836,888,3343
$GC,1842,-0.88,-99.4,192.2,-7.3,106,1848,0.00,2.28,0.00,0.000,6,0.000,0.038,1827,2304,3343
$GC,2155,-0.91,-99.4,215.5,-7.6,117,2156,0.10,0.00,0.00,0.000,6,0.067,0.000,1763,2304,3343
$GC,2461,-0.83,-99.4,249.5,-10.9,127,2466,0.17,2.28,0.00,0.000,4,0.140,0.049,1818,890,3342
$GC,2499,-0.85,-99.4,253.2,-8.5,128,2503,0.00,2.25,0.00,0.000,6,0.000,0.043,1810,2305,3342
$GC,2823,-0.85,-99.4,278.5,-7.8,139,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2305,3342
$GC,3129,-0.85,-99.4,302.3,-8.0,149,3133,0.00,2.25,0.00,0.000,4,0.000,0.045,1809,893,3341
$GC,3213,-0.85,-99.4,309.9,-9.3,150,3217,0.00,2.25,0.00,0.000,6,0.000,0.039,1806,2307,3341
$GC,3561,-0.85,-99.4,339.6,-8.7,156,3565,0.00,2.25,0.00,0.000,4,0.000,0.047,1806,895,3340
$GC,3600,-0.85,-99.4,343.3,-9.2,156,3603,0.00,2.25,0.00,0.000,6,0.000,0.039,1796,2309,3340
$GC,3926,-0.85,-99.4,372.4,-8.9,162,3930,0.00,2.25,0.00,0.000,4,0.000,0.047,1796,896,3339
$GC,3959,-0.85,-99.4,375.4,-9.0,162,3964,0.10,2.25,0.00,0.000,6,0.146,0.041,1819,2305,3339
$GC,4291,-0.88,-99.4,399.7,-7.2,168,4295,0.00,2.25,0.00,0.000,4,0.000,0.050,1819,890,3339
$GC,4346,-0.92,-99.4,403.9,-8.0,168,4353,0.00,2.25,0.00,0.000,6,0.000,0.039,1812,2301,3339
$GC,4656,-0.94,-99.4,425.2,-6.8,174,4660,0.00,2.28,0.00,0.000,4,0.000,0.052,1802,3712,3338
$GC,4684,-0.94,-99.4,427.1,-7.1,174,4688,0.00,2.20,0.00,0.000,6,0.000,0.036,1802,2300,3338
$GC,5016,-0.94,-99.4,450.0,-6.9,180,5020,0.00,2.25,0.00,0.000,4,0.000,0.050,1802,889,3338
$GC,5116,-0.94,-99.4,457.8,-8.4,181,5120,0.00,2.25,0.00,0.000,6,0.000,0.042,1794,2306,3338
$GC,5442,-0.94,-99.4,483.8,-8.2,187,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3337
$GC,5744,-0.94,-99.4,510.5,-8.9,192,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2307,3337
$GC,6048,-0.94,-99.4,537.7,-8.9,197,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2307,3337
$GC,6351,-0.94,-99.4,564.4,-8.8,202,6355,0.00,2.28,0.00,0.000,4,0.000,0.046,1794,893,3336
$GC,6400,-0.94,-99.4,569.0,-8.8,202,6405,0.00,2.25,0.00,0.000,6,0.000,0.039,1784,2306,3336
$GC,6710,-0.92,-99.4,596.2,-8.7,207,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2306,3336
$GC,7014,-0.90,-99.4,620.1,-7.8,212,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2306,3335
$GC,7316,-0.90,-99.4,642.6,-7.4,217,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2306,3335
$GC,7620,-0.90,-99.4,666.5,-7.9,222,7624,0.00,2.28,0.00,0.000,4,0.000,0.048,1784,896,3335
$GC,7682,-0.90,-99.4,671.9,-8.8,223,7687,0.10,2.25,0.00,0.000,6,0.145,0.041,1806,2299,3335
$GC,8048,-0.93,-99.4,698.4,-7.3,229,8052,0.00,2.28,0.00,0.000,4,0.000,0.051,1806,891,3334
$GC,8092,-0.96,-99.4,701.9,-8.2,229,8096,0.00,2.28,0.00,0.000,6,0.000,0.041,1806,2310,3334
$GC,8407,-1.00,-99.4,725.9,-7.7,235,8409,0.08,0.00,0.00,0.000,6,0.084,0.000,1754,2311,3334
$GC,8710,-0.93,-99.4,757.0,-10.4,240,8712,0.15,0.00,0.00,0.000,6,0.139,0.000,1797,2311,3334
$GC,9013,-0.93,-99.4,781.2,-7.8,245,9017,0.00,2.30,0.00,0.000,4,0.000,0.048,1796,890,3334
$GC,9075,-0.93,-99.4,786.5,-8.3,246,9079,0.00,2.28,0.00,0.000,6,0.000,0.048,1794,2311,3333
$GC,9441,-0.93,-99.4,816.2,-8.1,252,9445,0.00,2.30,0.00,0.000,4,0.000,0.049,1794,890,3334
$GC,9474,-0.93,-99.4,819.1,-8.7,252,9478,0.00,2.28,0.00,0.000,6,0.000,0.042,1791,2307,3334
$GC,9800,-0.93,-99.4,845.1,-7.9,258,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2308,3333
$GC,10103,-0.93,-99.4,868.9,-7.8,263,10104,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2308,3333
$GC,10406,-0.93,-99.4,892.4,-7.7,268,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2308,3333
$GC,10709,-0.93,-99.4,915.2,-7.5,273,10710,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2308,3333
$GC,11012,-0.93,-99.4,937.0,-7.2,278,11016,0.00,2.30,0.00,0.000,4,0.000,0.051,1791,900,3332
$GC,11085,-0.93,-99.4,942.5,-7.1,279,11089,0.00,2.28,0.00,0.000,6,0.000,0.041,1781,2312,3333
$GC,11440,-0.93,-99.4,967.1,-6.8,285,11444,0.00,2.28,0.00,0.000,4,0.000,0.054,1781,3706,3332
$GC,11495,-0.93,-99.4,970.9,-6.7,285,11502,0.00,2.25,0.00,0.000,6,0.000,0.038,1781,2306,3332
$GC,11805,-0.93,-99.4,989.8,-6.1,291,11806,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2306,3332
$STATE,11863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11863,begin apogee
$GC,11869,-0.22,0.0,993.5,6.1,292,11953,0.55,0.00,81.28,1.312,6,0.126,0.000,1953,2306,2931
$STATE,11953,end apogee,CONTROL_FINISHED_OK
$STATE,11954,begin climb
$GC,11956,0.78,99.4,994.1,0.0,293,12048,0.62,2.53,85.55,1.282,4,0.075,0.055,2171,3710,2524
$GC,12073,0.60,99.4,989.3,8.0,294,12080,0.22,2.42,0.00,0.000,6,0.183,0.038,2132,2307,2520
$GC,12383,0.55,99.4,968.2,6.7,300,12387,0.00,2.38,0.00,0.000,4,0.000,0.051,2141,887,2514
$GC,12404,0.50,99.4,966.7,6.0,300,12409,0.15,2.35,0.00,0.000,6,0.154,0.041,2104,2312,2513
$GC,12742,0.52,113.3,949.8,4.9,306,12758,0.00,2.30,10.98,1.127,4,0.000,0.058,2104,3712,2468
$GC,12825,0.49,113.3,944.9,6.4,307,12830,0.00,2.28,0.00,0.000,6,0.000,0.038,2113,2292,2466
$GC,13169,0.50,120.4,927.3,5.2,313,13183,0.00,2.40,7.53,1.033,4,0.000,0.051,2113,3722,2439
$GC,13218,0.45,120.4,924.1,6.1,313,13223,0.12,2.28,0.00,0.000,6,0.172,0.038,2094,2297,2437
$GC,13533,0.51,136.5,909.0,4.8,319,13552,0.00,0.00,14.90,1.161,6,0.000,0.000,2094,2297,2373
$GC,13905,0.58,148.4,890.5,5.0,325,13919,0.12,0.00,11.48,1.111,6,0.066,0.000,2150,2296,2325
$GC,14207,0.53,148.4,868.3,7.4,330,14212,0.15,2.35,0.00,0.000,4,0.154,0.054,2110,3716,2322
$GC,14262,0.53,148.4,864.4,6.6,330,14268,0.00,2.30,0.00,0.000,6,0.000,0.035,2119,2300,2321
$GC,14572,0.53,148.4,846.5,5.8,336,14576,0.00,2.33,0.00,0.000,4,0.000,0.051,2118,3720,2321
$GC,14617,0.49,148.4,843.3,7.1,336,14622,0.10,2.25,0.00,0.000,6,0.170,0.038,2107,2303,2321
$GC,14934,0.53,154.3,826.9,5.2,342,14942,0.00,0.00,6.20,0.937,6,0.000,0.000,2107,2303,2301
$GC,15236,0.58,154.3,810.0,5.6,347,15240,0.00,2.33,0.00,0.000,4,0.000,0.055,2107,3719,2300
$GC,15268,0.58,154.3,807.7,7.1,347,15272,0.00,2.28,0.00,0.000,6,0.000,0.037,2115,2309,2299
$GC,15602,0.60,154.3,787.3,6.3,353,15606,0.00,2.30,0.00,0.000,4,0.000,0.051,2126,889,2299
$GC,15624,0.62,154.3,785.6,6.4,353,15629,0.00,2.28,0.00,0.000,6,0.000,0.041,2126,2309,2298
$GC,15962,0.62,154.3,763.6,6.5,359,15966,0.00,2.28,0.00,0.000,4,0.000,0.054,2126,3717,2298
$GC,15996,0.58,154.3,761.0,7.4,359,16000,0.00,2.22,0.00,0.000,6,0.000,0.038,2136,2301,2297
$GC,16322,0.56,154.3,738.7,6.9,365,16323,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2301,2298
$GC,16626,0.54,154.3,718.8,6.5,370,16630,0.00,2.30,0.00,0.000,4,0.000,0.051,2136,3710,2297
$GC,16688,0.48,154.3,713.9,8.1,371,16693,0.17,2.25,0.00,0.000,6,0.156,0.038,2101,2298,2297
$GC,17054,0.55,165.8,695.1,5.0,377,17067,0.00,0.00,11.02,1.002,6,0.000,0.000,2101,2298,2254
$GC,17358,0.64,181.0,680.3,4.8,382,17375,0.12,0.00,14.35,1.025,6,0.058,0.000,2166,2298,2193
$GC,17660,0.58,181.0,656.5,8.0,387,17665,0.15,2.33,0.00,0.000,4,0.148,0.050,2127,3715,2190
$GC,17704,0.58,181.0,653.2,7.8,387,17709,0.00,2.25,0.00,0.000,6,0.000,0.040,2135,2300,2189
$GC,18020,0.58,181.0,634.1,5.9,393,18024,0.00,2.30,0.00,0.000,4,0.000,0.051,2135,3710,2189
$GC,18058,0.55,181.0,631.3,7.8,393,18063,0.12,2.25,0.00,0.000,6,0.152,0.035,2116,2294,2188
$GC,18379,0.62,200.4,616.4,4.6,399,18398,0.00,0.00,17.67,1.008,6,0.000,0.000,2116,2294,2114
$GC,18683,0.71,218.3,602.2,4.7,404,18707,0.12,2.38,16.67,0.985,4,0.058,0.053,2194,888,2040
$GC,18724,0.65,218.3,599.0,8.7,404,18729,0.20,2.30,0.00,0.000,6,0.145,0.040,2141,2306,2039
$GC,19045,0.65,218.3,577.4,6.7,410,19049,0.00,2.28,0.00,0.000,4,0.000,0.051,2141,3709,2036
$GC,19112,0.65,218.3,571.8,8.3,411,19116,0.00,2.25,0.00,0.000,6,0.000,0.033,2149,2297,2036
$GC,19472,0.65,218.3,543.2,7.9,417,19473,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2297,2035
$GC,19775,0.65,218.3,519.4,7.8,422,19779,0.00,2.30,0.00,0.000,4,0.000,0.048,2149,3715,2035
$GC,19803,0.62,218.3,516.9,8.6,422,19807,0.10,2.22,0.00,0.000,6,0.159,0.033,2135,2301,2035
$GC,20135,0.66,218.3,495.6,6.3,428,20137,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2301,2035
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$GC,21169,0.75,218.3,426.1,7.1,445,21173,0.00,2.28,0.00,0.000,4,0.000,0.049,2154,3718,2034
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$GC,25365,0.85,239.1,132.7,6.5,557,25369,0.12,2.30,0.00,0.000,4,0.056,0.048,2231,3712,1951
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$GC,27017,1.12,295.7,31.3,5.2,671,27030,0.12,2.28,6.20,0.537,6,0.056,0.037,2285,2312,1724
$STATE,27313,end climb,SURFACE_DEPTH_REACHED
$STATE,27313,begin surface coast
$FINISH,0.7,1.024619
$STATE,27337,end surface coast,CONTROL_FINISHED_OK
$STATE,27337,begin surface
$SM_CCo,27352,3.03,0.346,0,0,1707,300.00
$SM_GC,2.25,0.00,0.00,3.03,0.000,0.000,0.346,101,2313,1707,-8.74,0.28,300.00
$IRIDIUM_FIX,4933.03,-14521.24,121298,202053
$TT8_MAMPS,0.029146
$HUMID,1712
$INTERNAL_PRESSURE,7.44169
$TCM_TEMP,16.60
$XPDR_PINGS,75
$24V_AH,22.6,44.296
$10V_AH,10.6,37.164
$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,18.850,222.825,344.150,3.025,0.000,29.615,28.021,169.420,18.750,0.000,0.000,31.166,1610.714,22731.439,506.044,2244.217,628.758,33.362,1631.128,0.000,2222.600,0.000,0.528,0.000
$DEVICE_MAMPS,242.372,62.894,1311.570,345.917,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,495.452,566.672,725.085,1203.027,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41146,701
$CAP_FILE_SIZE,178820,0
$CFSIZE,260165632,235483136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,130436,5007.393,-14451.187,46,1.9,46,18.5