version: 66.04
glider: 144
mission: 15
dive: 78
start: 7 7 109 20 36 50
data:
$ID,144
$MISSION,15
$DIVE,78
$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,-62454.551
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,203036,5007.036,-14448.936,40,1.3,41,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-61.8
$GPS2,203556,5007.030,-14448.937,14,1.3,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,0.047
$KALMAN_X,-40020.4,488.9,159.1,53544.2,-2347.2
$KALMAN_Y,21946.2,-192.2,-145.7,-8015.9,2230.1
$MHEAD_RNG_PITCHd_Wd,55.2,34349,-12.3,-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,-0.68,-117.3,0.0,0.0,0,56,0.00,0.00,-36.78,0.000,2,0.000,0.000,100,2306,2714
$GC,59,-0.68,-117.3,3.5,-5.0,4,93,7.00,2.35,-16.92,0.000,4,0.245,0.071,1847,893,3413
$GC,296,-0.56,-117.3,32.9,-12.0,25,301,0.15,2.25,0.00,0.000,6,0.133,0.045,1882,2301,3415
$GC,622,-0.56,-117.3,62.5,-8.7,55,626,0.00,2.28,0.00,0.000,4,0.000,0.055,1875,3717,3415
$GC,651,-0.61,-117.3,65.0,-8.9,57,655,0.00,2.20,0.00,0.000,6,0.000,0.036,1875,2297,3415
$GC,982,-0.61,-117.3,92.5,-7.9,81,986,0.00,2.22,0.00,0.000,4,0.000,0.049,1875,886,3416
$GC,1038,-0.65,-117.3,97.4,-8.3,83,1044,0.00,2.22,0.00,0.000,6,0.000,0.043,1867,2307,3416
$GC,1354,-0.65,-117.3,125.1,-9.0,99,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2307,3417
$GC,1663,-0.65,-117.3,151.3,-7.8,114,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2307,3416
$GC,1969,-0.71,-117.3,172.4,-6.5,124,1974,0.08,2.22,0.00,0.000,4,0.084,0.049,1811,887,3417
$GC,2052,-0.58,-117.3,180.6,-10.1,126,2057,0.25,2.22,0.00,0.000,6,0.125,0.051,1880,2313,3416
$GC,2371,-0.73,-117.3,198.0,-5.2,137,2375,0.12,2.25,0.00,0.000,4,0.060,0.048,1811,887,3416
$GC,2403,-0.60,-117.3,200.8,-9.2,138,2408,0.22,2.22,0.00,0.000,6,0.125,0.047,1872,2307,3416
$GC,2732,-0.73,-117.3,220.2,-5.8,149,2734,0.12,0.00,0.00,0.000,6,0.063,0.000,1804,2307,3416
$GC,3039,-0.59,-117.3,249.3,-9.5,159,3043,0.20,2.25,0.00,0.000,4,0.124,0.050,1870,886,3416
$GC,3094,-0.73,-117.3,253.1,-6.2,160,3101,0.08,2.22,0.00,0.000,6,0.086,0.045,1808,2308,3416
$GC,3407,-0.61,-117.3,277.9,-8.0,171,3409,0.20,0.00,0.00,0.000,6,0.125,0.000,1869,2309,3415
$GC,3713,-0.74,-117.3,293.2,-5.0,181,3718,0.12,2.22,0.00,0.000,4,0.062,0.050,1799,895,3415
$GC,3746,-0.61,-117.3,295.9,-9.2,182,3751,0.25,2.20,0.00,0.000,6,0.128,0.052,1871,2303,3415
$GC,4073,-0.75,-117.3,313.6,-5.3,189,4075,0.12,0.00,0.00,0.000,6,0.062,0.000,1802,2304,3414
$GC,4376,-0.62,-117.3,340.3,-9.0,194,4378,0.20,0.00,0.00,0.000,6,0.124,0.000,1864,2304,3414
$GC,4679,-0.74,-117.3,358.3,-5.8,199,4683,0.10,2.22,0.00,0.000,4,0.072,0.050,1808,888,3414
$GC,4741,-0.65,-117.3,363.8,-9.4,200,4746,0.20,2.22,0.00,0.000,6,0.126,0.047,1859,2313,3413
$GC,5107,-0.76,-117.3,386.7,-6.1,206,5112,0.10,2.22,0.00,0.000,4,0.071,0.052,1805,894,3413
$GC,5170,-0.66,-117.3,391.9,-9.1,207,5174,0.20,2.20,0.00,0.000,6,0.124,0.048,1857,2306,3413
$GC,5535,-0.77,-117.3,412.7,-5.4,213,5540,0.10,2.22,0.00,0.000,4,0.073,0.057,1794,3712,3413
$GC,5562,-0.69,-117.3,414.5,-7.5,213,5567,0.20,2.17,0.00,0.000,6,0.128,0.040,1854,2293,3413
$GC,5894,-0.79,-117.3,431.0,-4.8,219,5899,0.10,2.20,0.00,0.000,4,0.074,0.053,1800,891,3412
$GC,5938,-0.67,-117.3,434.3,-8.1,219,5943,0.20,2.22,0.00,0.000,6,0.130,0.046,1854,2309,3412
$GC,6254,-0.78,-117.3,451.9,-5.5,225,6256,0.10,0.00,0.00,0.000,6,0.074,0.000,1800,2310,3412
$GC,6556,-0.66,-117.3,477.9,-8.7,230,6558,0.20,0.00,0.00,0.000,6,0.125,0.000,1860,2310,3412
$GC,6860,-0.80,-117.3,495.1,-5.5,235,6862,0.12,0.00,0.00,0.000,6,0.061,0.000,1790,2310,3411
$GC,7163,-0.65,-117.3,521.4,-8.8,240,7165,0.22,0.00,0.00,0.000,6,0.125,0.000,1859,2310,3411
$GC,7466,-0.79,-117.3,538.0,-5.3,245,7468,0.12,0.00,0.00,0.000,6,0.063,0.000,1791,2310,3411
$GC,7769,-0.65,-117.3,565.2,-9.2,250,7774,0.20,2.25,0.00,0.000,4,0.125,0.052,1856,892,3411
$GC,7824,-0.78,-117.3,569.3,-6.6,250,7831,0.00,2.22,0.00,0.000,6,0.000,0.049,1850,2313,3410
$GC,8134,-0.89,-117.3,588.5,-6.2,256,8136,0.15,0.00,0.00,0.000,6,0.059,0.000,1770,2313,3410
$GC,8437,-0.69,-117.3,619.0,-10.3,261,8439,0.28,0.00,0.00,0.000,6,0.130,0.000,1855,2313,3410
$GC,8741,-0.83,-117.3,636.1,-5.4,266,8745,0.12,2.22,0.00,0.000,4,0.067,0.058,1781,3716,3410
$GC,8773,-0.69,-117.3,638.6,-8.9,266,8778,0.22,2.17,0.00,0.000,6,0.129,0.044,1850,2300,3410
$GC,9099,-0.80,-117.3,657.2,-5.6,272,9101,0.10,0.00,0.00,0.000,6,0.079,0.000,1801,2299,3410
$GC,9403,-0.73,-117.3,681.0,-8.0,277,9407,0.15,2.22,0.00,0.000,4,0.125,0.053,1846,892,3409
$GC,9435,-0.81,-117.3,683.4,-6.5,277,9440,0.00,2.22,0.00,0.000,6,0.000,0.047,1838,2309,3409
$GC,9762,-0.89,-117.3,703.6,-6.1,283,9764,0.12,0.00,0.00,0.000,6,0.074,0.000,1780,2309,3409
$GC,10065,-0.73,-117.3,730.2,-8.9,288,10070,0.20,2.25,0.00,0.000,4,0.133,0.058,1845,894,3409
$GC,10109,-0.83,-117.3,733.4,-6.4,288,10113,0.00,2.22,0.00,0.000,6,0.000,0.051,1837,2311,3409
$GC,10425,-0.91,-117.3,751.5,-5.7,294,10426,0.12,0.00,0.00,0.000,6,0.076,0.000,1781,2311,3409
$GC,10728,-0.75,-117.3,776.5,-8.4,299,10730,0.20,0.00,0.00,0.000,6,0.130,0.000,1841,2311,3409
$GC,11032,-0.85,-117.3,793.0,-5.3,304,11036,0.10,2.25,0.00,0.000,4,0.084,0.054,1798,897,3409
$GC,11076,-0.76,-117.3,796.3,-7.7,304,11081,0.17,2.22,0.00,0.000,6,0.136,0.052,1840,2313,3408
$GC,11391,-0.86,-117.3,813.8,-5.5,310,11393,0.10,0.00,0.00,0.000,6,0.087,0.000,1800,2314,3408
$GC,11694,-0.79,-117.3,836.6,-7.7,315,11698,0.10,2.28,0.00,0.000,4,0.137,0.054,1826,887,3408
$GC,11726,-0.79,-117.3,839.3,-7.4,315,11730,0.00,2.25,0.00,0.000,6,0.000,0.055,1821,2312,3408
$GC,12058,-0.79,-117.3,862.0,-6.9,321,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2312,3408
$GC,12361,-0.79,-117.3,882.2,-6.7,326,12365,0.00,2.25,0.00,0.000,4,0.000,0.060,1821,899,3408
$GC,12405,-0.79,-117.3,885.3,-6.9,326,12409,0.00,2.22,0.00,0.000,6,0.000,0.049,1812,2310,3408
$GC,12726,-0.79,-117.3,906.2,-6.5,332,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2310,3408
$GC,13029,-0.79,-117.3,925.2,-6.2,337,13033,0.00,2.25,0.00,0.000,4,0.000,0.058,1812,900,3408
$GC,13073,-0.79,-117.3,928.2,-7.4,337,13078,0.10,2.22,0.00,0.000,6,0.155,0.056,1832,2307,3408
$GC,13395,-0.86,-117.3,944.2,-4.9,343,13396,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2307,3408
$GC,13698,-0.94,-117.3,959.0,-4.9,348,13700,0.12,0.00,0.00,0.000,6,0.085,0.000,1785,2307,3407
$GC,14001,-0.83,-117.3,981.1,-7.4,353,14005,0.12,2.25,0.00,0.000,4,0.149,0.063,1818,897,3407
$GC,14033,-0.83,-117.3,983.6,-7.1,353,14037,0.00,2.22,0.00,0.000,6,0.000,0.050,1810,2310,3407
$STATE,14183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14183,begin apogee
$GC,14188,-0.22,0.0,994.2,7.2,356,14284,0.45,0.00,92.65,1.358,6,0.133,0.000,1952,2311,2931
$STATE,14284,end apogee,CONTROL_FINISHED_OK
$STATE,14284,begin climb
$GC,14287,0.68,117.3,995.8,0.0,357,14393,0.60,2.53,97.88,1.328,4,0.086,0.059,2151,3713,2450
$GC,14417,0.27,117.3,992.9,6.4,359,14423,0.40,2.35,0.00,0.000,6,0.185,0.046,2059,2309,2447
$GC,14728,0.41,178.3,981.7,3.4,364,14783,0.10,0.00,50.97,1.303,6,0.085,0.000,2096,2309,2203
$GC,15093,0.43,198.4,964.1,4.8,370,15117,0.00,2.45,17.12,1.228,4,0.000,0.064,2106,892,2121
$GC,15135,0.48,235.3,961.9,4.3,370,15175,0.00,2.35,33.38,1.269,6,0.000,0.053,2106,2310,1970
$GC,15526,0.48,235.3,938.6,6.2,377,15527,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2310,1961
$GC,15829,0.48,235.3,918.3,6.7,382,15833,0.00,2.33,0.00,0.000,4,0.000,0.058,2115,892,1960
$GC,15852,0.48,235.3,916.7,6.6,382,15856,0.00,2.28,0.00,0.000,6,0.000,0.053,2115,2304,1959
$GC,16189,0.48,235.3,891.7,7.4,388,16190,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2304,1958
$GC,16492,0.48,235.3,869.6,7.3,393,16496,0.00,2.30,0.00,0.000,4,0.000,0.060,2122,890,1958
$GC,16524,0.48,235.3,867.1,7.7,393,16529,0.00,2.28,0.00,0.000,6,0.000,0.053,2121,2312,1957
$GC,16857,0.41,235.3,841.5,7.8,399,16859,0.12,0.00,0.00,0.000,6,0.160,0.000,2089,2312,1957
$GC,17160,0.53,242.0,825.0,5.3,404,17168,0.10,0.00,4.68,0.859,6,0.081,0.000,2134,2312,1944
$GC,17464,0.41,242.0,800.9,8.1,409,17468,0.17,2.30,0.00,0.000,4,0.145,0.060,2094,891,1944
$GC,17497,0.54,244.0,798.7,5.4,409,17501,0.08,2.25,0.00,0.000,6,0.097,0.046,2133,2310,1943
$GC,17829,0.43,244.0,772.8,8.1,415,17834,0.15,2.25,0.00,0.000,4,0.149,0.058,2093,3711,1943
$GC,17861,0.43,244.0,770.3,6.9,415,17865,0.00,2.22,0.00,0.000,6,0.000,0.041,2100,2307,1942
$GC,18196,0.49,244.0,749.8,6.2,421,18197,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2307,1942
$GC,18497,0.56,244.0,730.0,6.5,426,18498,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2307,1942
$GC,18800,0.62,244.0,710.7,6.4,431,18802,0.12,0.00,0.00,0.000,6,0.069,0.000,2158,2307,1942
$GC,19104,0.41,244.0,678.6,10.8,436,19106,0.25,0.00,0.00,0.000,6,0.150,0.000,2086,2306,1942
$GC,19406,0.56,244.0,659.2,6.2,441,19408,0.12,0.00,0.00,0.000,6,0.063,0.000,2148,2306,1941
$GC,19709,0.40,244.0,631.1,9.5,446,19711,0.22,0.00,0.00,0.000,6,0.141,0.000,2082,2307,1941
$GC,20013,0.73,244.0,613.6,5.8,451,20017,0.20,2.25,0.00,0.000,4,0.065,0.054,2169,891,1941
$GC,20046,0.78,244.0,611.2,7.3,451,20050,0.00,2.20,0.00,0.000,6,0.000,0.047,2169,2305,1941
$GC,20378,0.54,244.0,579.4,9.9,457,20383,0.17,2.25,0.00,0.000,4,0.158,0.062,2117,3719,1941
$GC,20450,0.50,244.0,573.5,7.3,458,20454,0.00,2.20,0.00,0.000,6,0.000,0.040,2126,2297,1941
$GC,20806,0.45,244.0,549.4,6.8,464,20807,0.12,0.00,0.00,0.000,6,0.149,0.000,2091,2297,1941
$GC,21108,0.61,263.1,534.4,4.9,469,21130,0.15,0.00,19.10,1.006,6,0.058,0.000,2169,2296,1858
$GC,21411,0.39,263.1,506.1,9.6,474,21416,0.28,2.30,0.00,0.000,4,0.146,0.061,2084,3717,1854
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$STATE,28791,end climb,SURFACE_DEPTH_REACHED
$STATE,28791,begin surface coast
$FINISH,1.2,1.016521
$STATE,28824,end surface coast,CONTROL_FINISHED_OK
$STATE,28825,begin surface
$SM_CCo,28839,22.27,0.657,0,0,1707,300.00
$SM_GC,2.53,0.00,0.00,22.27,0.000,0.000,0.657,100,2302,1707,-8.74,-0.03,300.00
$IRIDIUM_FIX,4946.36,-14448.39,011098,131311
$TT8_MAMPS,0.029146
$HUMID,1598
$INTERNAL_PRESSURE,7.42216
$TCM_TEMP,16.60
$XPDR_PINGS,58
$24V_AH,23.5,14.351
$10V_AH,10.7,10.275
$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
$DEVICE_SECS,25.300,188.150,325.125,22.275,0.000,30.745,28.495,139.854,14.500,0.000,0.000,16.189,1701.224,24236.217,489.864,2182.950,566.024,33.368,1566.449,0.000,2183.646,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,543.596,611.413,791.167,1317.559,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44346,767
$CAP_FILE_SIZE,183149,0
$CFSIZE,260165632,252850176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080709,043907,5008.523,-14444.969,35,1.4,35,18.6