version: 66.04
glider: 144
mission: 15
dive: 313
start: 9 23 109 8 56 3
data:
$ID,144
$MISSION,15
$DIVE,313
$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,-67321.117
$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
$GPS1,084930,4954.178,-14429.172,41,1.6,42,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-54.9
$GPS2,085507,4954.195,-14429.173,10,2.0,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.093,0.140
$KALMAN_X,-39964.8,50.2,198.4,88637.5,-824.5
$KALMAN_Y,19354.5,-97.6,252.4,-69114.9,-1023.1
$MHEAD_RNG_PITCHd_Wd,307.9,35677,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,49,0.00,0.00,-31.75,0.000,2,0.000,0.000,99,2309,2593
$GC,52,-0.68,-117.3,3.2,-4.9,3,87,7.22,2.33,-21.40,0.000,4,0.243,0.058,1852,892,3411
$GC,247,-0.63,-117.3,28.1,-12.1,20,251,0.00,2.28,0.00,0.000,6,0.000,0.036,1849,2314,3413
$GC,574,-0.61,-117.3,64.4,-7.7,50,577,0.00,2.28,0.00,0.000,4,0.000,0.040,1849,892,3414
$GC,641,-0.61,-117.3,70.3,-8.1,55,647,0.00,2.25,0.00,0.000,6,0.000,0.038,1848,2310,3414
$GC,970,-0.58,-117.3,97.7,-8.4,77,975,0.10,2.25,0.00,0.000,4,0.143,0.041,1875,900,3415
$GC,1021,-0.63,-117.3,101.5,-7.2,79,1025,0.00,2.22,0.00,0.000,6,0.000,0.044,1875,2302,3416
$GC,1342,-0.67,-117.3,126.8,-7.7,95,1346,0.00,2.22,0.00,0.000,4,0.000,0.041,1875,896,3416
$GC,1381,-0.73,-117.3,130.0,-7.8,96,1388,0.12,2.22,0.00,0.000,6,0.058,0.037,1793,2307,3416
$GC,1696,-0.64,-117.3,163.4,-10.0,110,1701,0.20,2.22,0.00,0.000,4,0.123,0.041,1858,896,3416
$GC,1764,-0.70,-117.3,168.1,-6.0,112,1768,0.00,2.22,0.00,0.000,6,0.000,0.037,1851,2313,3415
$GC,2100,-0.73,-117.3,189.8,-6.9,123,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2313,3414
$GC,2406,-0.77,-117.3,211.4,-7.1,133,2410,0.00,2.25,0.00,0.000,4,0.000,0.047,1851,899,3414
$GC,2434,-0.81,-117.3,213.7,-7.9,133,2441,0.10,2.25,0.00,0.000,6,0.070,0.044,1781,2312,3414
$GC,2747,-0.72,-117.3,246.2,-10.6,144,2751,0.20,2.25,0.00,0.000,4,0.123,0.041,1845,891,3414
$GC,2808,-0.75,-117.3,251.3,-7.2,145,2814,0.00,2.22,0.00,0.000,6,0.000,0.040,1837,2305,3413
$GC,3120,-0.75,-117.3,273.2,-7.0,156,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2305,3413
$GC,3426,-0.75,-117.3,295.1,-7.2,166,3430,0.00,2.25,0.00,0.000,4,0.000,0.043,1838,889,3412
$GC,3477,-0.78,-117.3,299.1,-7.7,167,3481,0.00,2.25,0.00,0.000,6,0.000,0.042,1836,2307,3412
$GC,3822,-0.78,-117.3,324.9,-7.5,174,3826,0.00,2.25,0.00,0.000,4,0.000,0.050,1837,896,3412
$GC,3866,-0.81,-117.3,328.5,-8.3,174,3870,0.00,2.25,0.00,0.000,6,0.000,0.040,1836,2311,3412
$GC,4181,-0.83,-117.3,351.7,-7.4,180,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2312,3411
$GC,4484,-0.85,-117.3,372.9,-7.0,185,4488,0.00,2.25,0.00,0.000,4,0.000,0.050,1836,898,3410
$GC,4540,-0.88,-117.3,377.0,-7.7,185,4545,0.10,2.25,0.00,0.000,6,0.069,0.044,1770,2315,3410
$GC,4850,-0.78,-117.3,407.7,-10.1,190,4855,0.17,2.28,0.00,0.000,4,0.125,0.043,1827,896,3410
$GC,4900,-0.81,-117.3,411.8,-7.0,190,4904,0.00,2.22,0.00,0.000,6,0.000,0.038,1822,2300,3410
$GC,5209,-0.81,-117.3,432.0,-6.5,195,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2301,3409
$GC,5513,-0.81,-117.3,451.1,-6.3,200,5517,0.00,2.25,0.00,0.000,4,0.000,0.050,1822,889,3408
$GC,5557,-0.81,-117.3,454.1,-6.9,200,5561,0.00,2.25,0.00,0.000,6,0.000,0.043,1819,2304,3409
$GC,5872,-0.81,-117.3,475.2,-6.7,206,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2304,3408
$GC,6175,-0.81,-117.3,496.1,-6.9,211,6179,0.00,2.25,0.00,0.000,4,0.000,0.051,1819,899,3408
$GC,6219,-0.81,-117.3,499.4,-7.4,211,6223,0.00,2.25,0.00,0.000,6,0.000,0.042,1810,2307,3407
$GC,6534,-0.81,-117.3,521.4,-6.9,217,6538,0.00,2.28,0.00,0.000,4,0.000,0.050,1810,889,3408
$GC,6573,-0.81,-117.3,524.2,-7.3,217,6577,0.00,2.28,0.00,0.000,6,0.000,0.042,1808,2313,3408
$GC,6893,-0.81,-117.3,546.1,-6.9,223,6897,0.00,2.28,0.00,0.000,4,0.000,0.045,1807,898,3407
$GC,6937,-0.81,-117.3,549.4,-7.2,223,6941,0.10,2.25,0.00,0.000,6,0.136,0.040,1829,2303,3407
$GC,7258,-0.84,-117.3,568.8,-6.0,229,7262,0.00,2.25,0.00,0.000,4,0.000,0.050,1829,898,3407
$GC,7290,-0.87,-117.3,571.0,-6.8,229,7294,0.00,2.25,0.00,0.000,6,0.000,0.040,1823,2308,3407
$GC,7617,-0.87,-117.3,591.9,-6.4,235,7621,0.00,2.28,0.00,0.000,4,0.000,0.044,1823,895,3407
$GC,7656,-0.89,-117.3,594.6,-7.1,235,7660,0.00,2.25,0.00,0.000,6,0.000,0.041,1822,2303,3406
$GC,7977,-0.89,-117.3,614.1,-6.1,241,7981,0.00,2.25,0.00,0.000,4,0.000,0.047,1821,899,3406
$GC,8017,-0.91,-117.3,616.7,-6.7,241,8021,0.00,2.25,0.00,0.000,6,0.000,0.044,1821,2306,3406
$GC,8344,-0.91,-117.3,635.3,-5.6,247,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3406
$GC,8647,-0.91,-117.3,652.4,-5.7,252,8651,0.00,2.28,0.00,0.000,4,0.000,0.051,1821,893,3406
$GC,8692,-0.94,-117.3,655.1,-6.4,252,8696,0.10,2.25,0.00,0.000,6,0.071,0.041,1762,2304,3406
$GC,9007,-0.85,-117.3,682.0,-8.8,258,9009,0.20,0.00,0.00,0.000,6,0.126,0.000,1821,2305,3405
$GC,9309,-0.88,-117.3,701.4,-6.3,263,9313,0.00,2.28,0.00,0.000,4,0.000,0.045,1822,894,3405
$GC,9360,-0.91,-117.3,705.1,-7.0,263,9364,0.00,2.28,0.00,0.000,6,0.000,0.041,1822,2314,3405
$GC,9670,-0.94,-117.3,724.5,-6.2,268,9671,0.10,0.00,0.00,0.000,6,0.070,0.000,1760,2315,3405
$GC,9973,-0.84,-117.3,752.0,-9.2,273,9978,0.20,2.30,0.00,0.000,4,0.125,0.047,1824,897,3405
$GC,10018,-0.89,-117.3,755.5,-7.1,273,10022,0.00,2.28,0.00,0.000,6,0.000,0.041,1823,2312,3405
$GC,10335,-0.92,-117.3,775.7,-6.5,279,10339,0.08,2.28,0.00,0.000,4,0.085,0.047,1773,899,3405
$GC,10390,-0.85,-117.3,780.8,-9.4,279,10397,0.17,2.25,0.00,0.000,6,0.130,0.048,1818,2305,3405
$GC,10701,-0.88,-117.3,801.5,-6.6,285,10705,0.00,2.25,0.00,0.000,4,0.000,0.050,1818,899,3405
$GC,10741,-0.91,-117.3,804.1,-6.9,285,10745,0.00,2.25,0.00,0.000,6,0.000,0.039,1811,2308,3404
$GC,11062,-0.91,-117.3,824.6,-6.3,291,11066,0.00,2.28,0.00,0.000,4,0.000,0.052,1811,892,3404
$GC,11106,-0.91,-117.3,827.6,-6.6,291,11110,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2310,3404
$GC,11421,-0.91,-117.3,845.8,-5.7,297,11425,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,892,3404
$GC,11460,-0.91,-117.3,848.2,-6.5,297,11464,0.00,2.28,0.00,0.000,6,0.000,0.042,1805,2310,3404
$GC,11786,-0.91,-117.3,866.3,-5.6,303,11790,0.00,2.28,0.00,0.000,4,0.000,0.049,1805,896,3404
$GC,11851,-0.91,-117.3,870.2,-5.8,304,11855,0.00,2.25,0.00,0.000,6,0.000,0.045,1795,2305,3404
$GC,12216,-0.91,-117.3,892.9,-6.2,310,12220,0.00,2.25,0.00,0.000,4,0.000,0.054,1795,899,3404
$GC,12249,-0.91,-117.3,895.1,-7.1,310,12253,0.00,2.25,0.00,0.000,6,0.000,0.048,1794,2303,3404
$GC,12586,-0.91,-117.3,916.0,-6.2,316,12590,0.00,2.28,0.00,0.000,4,0.000,0.050,1794,892,3404
$GC,12625,-0.91,-117.3,918.8,-7.2,316,12630,0.00,2.28,0.00,0.000,6,0.000,0.044,1792,2312,3403
$GC,12946,-0.88,-117.3,939.6,-6.6,322,12950,0.00,2.30,0.00,0.000,4,0.000,0.051,1792,891,3403
$GC,13002,-0.86,-117.3,943.7,-7.1,322,13009,0.08,2.30,0.00,0.000,6,0.126,0.048,1824,2304,3403
$GC,13313,-0.91,-117.3,959.7,-5.1,328,13314,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2304,3404
$GC,13615,-0.96,-117.3,974.4,-4.8,333,13620,0.12,2.30,0.00,0.000,4,0.079,0.047,1774,895,3403
$GC,13659,-0.90,-117.3,977.5,-7.4,333,13664,0.15,2.28,0.00,0.000,6,0.143,0.044,1809,2303,3402
$STATE,13911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13911,begin apogee
$GC,13917,-0.22,0.0,992.2,5.7,338,14015,0.45,0.00,95.22,1.310,6,0.118,0.000,1954,2303,2931
$STATE,14016,end apogee,CONTROL_FINISHED_OK
$STATE,14016,begin climb
$GC,14019,0.68,117.3,993.2,0.0,339,14127,0.55,2.55,101.62,1.282,4,0.074,0.055,2148,3713,2451
$GC,14155,0.50,117.3,989.7,7.0,341,14160,0.22,2.40,0.00,0.000,6,0.169,0.040,2106,2314,2447
$GC,14505,0.46,122.3,970.7,5.3,347,14506,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2314,2440
$GC,14807,0.42,123.0,954.2,5.5,352,14813,0.00,0.00,4.15,0.784,6,0.000,0.000,2106,2314,2429
$GC,15112,0.38,126.1,937.6,5.4,357,15121,0.10,2.33,4.32,0.811,4,0.168,0.057,2080,3717,2416
$GC,15143,0.39,132.9,935.6,5.3,357,15158,0.00,2.28,7.75,1.035,6,0.000,0.035,2089,2293,2389
$GC,15480,0.41,148.2,918.9,5.0,363,15497,0.00,0.00,14.62,1.161,6,0.000,0.000,2089,2293,2326
$GC,15784,0.42,157.5,903.2,5.2,368,15798,0.00,2.38,9.48,1.081,4,0.000,0.058,2089,3720,2287
$GC,15837,0.42,157.5,899.7,6.5,368,15841,0.00,2.30,0.00,0.000,6,0.000,0.034,2099,2299,2285
$GC,16153,0.42,157.5,881.8,5.7,374,16154,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2299,2284
$GC,16456,0.42,157.5,864.2,5.8,379,16460,0.00,2.33,0.00,0.000,4,0.000,0.051,2099,3722,2284
$GC,16495,0.39,157.5,861.6,7.0,379,16500,0.10,2.25,0.00,0.000,6,0.162,0.039,2086,2301,2283
$GC,16816,0.42,165.9,844.7,5.2,385,16826,0.00,0.00,8.38,1.029,6,0.000,0.000,2086,2301,2254
$GC,17119,0.48,181.5,829.5,5.0,390,17139,0.00,2.33,14.73,1.121,4,0.000,0.051,2086,3718,2190
$GC,17162,0.54,206.3,827.3,4.7,390,17193,0.08,2.28,23.20,1.143,6,0.077,0.034,2138,2299,2089
$GC,17550,0.50,206.3,799.0,7.4,397,17555,0.12,2.30,0.00,0.000,4,0.141,0.048,2114,893,2084
$GC,17585,0.55,221.2,796.7,5.0,397,17605,0.00,2.28,13.70,1.078,6,0.000,0.039,2114,2307,2029
$GC,17915,0.55,221.2,776.2,6.2,403,17919,0.00,2.30,0.00,0.000,4,0.000,0.051,2115,3719,2024
$GC,17948,0.55,221.2,773.7,7.8,403,17952,0.00,2.25,0.00,0.000,6,0.000,0.033,2124,2303,2024
$GC,18281,0.55,221.2,749.8,7.3,409,18285,0.00,2.30,0.00,0.000,4,0.000,0.051,2124,3712,2023
$GC,18325,0.52,221.2,746.1,8.0,409,18329,0.00,2.22,0.00,0.000,6,0.000,0.038,2134,2303,2022
$GC,18641,0.48,221.2,721.3,7.9,415,18645,0.12,2.30,0.00,0.000,4,0.148,0.051,2101,3712,2023
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$GC,25198,0.64,238.4,306.1,5.8,522,25202,0.00,2.25,0.00,0.000,4,0.000,0.048,2128,891,1956
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$STATE,30138,end climb,SURFACE_DEPTH_REACHED
$STATE,30138,begin surface coast
$FINISH,1.0,1.017327
$STATE,30171,end surface coast,CONTROL_FINISHED_OK
$STATE,30172,begin surface
$SM_CCo,30187,18.45,0.607,0,0,1708,300.00
$SM_GC,2.72,0.00,0.00,18.45,0.000,0.000,0.607,102,2291,1708,-8.73,-0.34,300.00
$IRIDIUM_FIX,4939.69,-14418.02,181298,010122
$TT8_MAMPS,0.029146
$HUMID,1701
$INTERNAL_PRESSURE,7.44169
$TCM_TEMP,15.30
$XPDR_PINGS,80
$24V_AH,22.3,46.411
$10V_AH,10.6,39.078
$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,18.100,244.350,347.100,18.450,0.000,24.449,25.860,162.365,20.000,0.000,0.000,12.069,1779.452,25202.984,517.726,2383.356,654.240,33.373,1718.733,0.000,2385.240,0.000,0.529,0.000
$DEVICE_MAMPS,243.139,58.292,1310.036,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,553.180,633.781,813.044,1348.971,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47419,786
$CAP_FILE_SIZE,194048,0
$CFSIZE,260165632,234295296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230909,172037,4956.534,-14433.362,27,1.7,27,18.5