version: 66.04
glider: 144
mission: 15
dive: 598
start: 12 28 109 22 15 56
data:
$ID,144
$MISSION,15
$DIVE,598
$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,-73790.797
$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,33
$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
$GPS1,220727,5006.958,-14451.120,37,2.1,56,18.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-55.0
$GPS2,221500,5007.016,-14451.162,21,1.7,25,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.154,0.067
$KALMAN_X,-93208.4,-6.8,22.4,116135.2,-907.4
$KALMAN_Y,41330.4,-37.5,-84.2,-67062.1,2331.7
$MHEAD_RNG_PITCHd_Wd,47.9,36151,-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,16,-0.68,-117.3,0.0,0.0,0,69,0.00,0.00,-51.12,0.000,2,0.000,0.000,98,2295,3082
$GC,73,-0.68,-117.3,5.0,-6.0,3,95,7.20,2.35,-6.40,0.000,4,0.233,0.055,1837,3700,3414
$GC,222,-0.66,-117.3,32.5,-10.6,9,227,0.00,2.22,0.00,0.000,6,0.000,0.030,1837,2290,3415
$GC,540,-0.60,-117.3,67.0,-9.2,24,544,0.12,2.25,0.00,0.000,4,0.126,0.041,1872,890,3415
$GC,596,-0.65,-117.3,71.7,-7.0,26,600,0.00,2.25,0.00,0.000,6,0.000,0.036,1865,2302,3416
$GC,918,-0.65,-117.3,96.6,-8.5,50,919,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2301,3416
$GC,1238,-0.69,-117.3,124.0,-8.4,80,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2302,3416
$GC,1555,-0.75,-117.3,146.5,-6.5,110,1560,0.10,2.28,0.00,0.000,4,0.064,0.040,1789,890,3416
$GC,1606,-0.66,-117.3,151.4,-10.3,114,1611,0.28,2.25,0.00,0.000,6,0.117,0.037,1858,2308,3416
$GC,1926,-0.72,-117.3,172.4,-6.5,125,1930,0.00,2.30,0.00,0.000,4,0.000,0.048,1849,3717,3416
$GC,1960,-0.78,-117.3,175.0,-7.2,126,1964,0.00,2.22,0.00,0.000,6,0.000,0.033,1850,2299,3416
$GC,2291,-0.83,-117.3,198.3,-7.0,137,2296,0.10,2.28,0.00,0.000,4,0.067,0.041,1772,890,3416
$GC,2389,-0.74,-117.3,209.0,-11.4,140,2394,0.28,2.28,0.00,0.000,6,0.116,0.039,1846,2311,3416
$GC,2725,-0.78,-117.3,233.4,-6.9,151,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2311,3416
$GC,3032,-0.83,-117.3,255.4,-7.2,161,3036,0.10,2.30,0.00,0.000,4,0.065,0.053,1764,3714,3416
$GC,3065,-0.73,-117.3,259.0,-11.4,162,3070,0.25,2.20,0.00,0.000,6,0.118,0.031,1841,2305,3416
$GC,3396,-0.77,-117.3,282.0,-6.4,173,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2305,3416
$GC,3703,-0.81,-117.3,301.5,-6.4,183,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2305,3416
$GC,4005,-0.85,-117.3,322.1,-6.9,188,4009,0.10,2.28,0.00,0.000,4,0.067,0.043,1770,894,3416
$GC,4072,-0.77,-117.3,329.2,-11.5,189,4077,0.25,2.28,0.00,0.000,6,0.118,0.041,1836,2312,3416
$GC,4433,-0.80,-117.3,356.4,-7.4,195,4438,0.00,2.33,0.00,0.000,4,0.000,0.047,1836,887,3415
$GC,4479,-0.85,-117.3,360.2,-8.0,195,4483,0.00,2.30,0.00,0.000,6,0.000,0.041,1836,2312,3415
$GC,4795,-0.89,-117.3,385.2,-8.1,201,4800,0.10,2.30,0.00,0.000,4,0.064,0.047,1766,897,3415
$GC,4835,-0.79,-117.3,389.5,-12.1,201,4840,0.25,2.28,0.00,0.000,6,0.117,0.039,1830,2307,3415
$GC,5156,-0.82,-117.3,415.2,-7.7,207,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2306,3415
$GC,5459,-0.85,-117.3,436.7,-7.1,212,5463,0.00,2.30,0.00,0.000,4,0.000,0.048,1830,896,3414
$GC,5495,-0.89,-117.3,439.2,-7.5,212,5499,0.00,2.28,0.00,0.000,6,0.000,0.040,1823,2304,3414
$GC,5822,-0.89,-117.3,462.2,-6.9,218,5826,0.00,2.30,0.00,0.000,4,0.000,0.057,1813,3708,3414
$GC,5867,-0.89,-117.3,465.6,-7.1,218,5871,0.00,2.22,0.00,0.000,6,0.000,0.038,1813,2297,3414
$GC,6182,-0.89,-117.3,487.4,-6.9,224,6186,0.00,2.28,0.00,0.000,4,0.000,0.051,1813,900,3414
$GC,6228,-0.89,-117.3,490.8,-7.9,224,6232,0.00,2.28,0.00,0.000,6,0.000,0.045,1804,2311,3414
$GC,6544,-0.89,-117.3,514.8,-7.6,230,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2312,3414
$GC,6847,-0.89,-117.3,537.2,-7.4,235,6851,0.00,2.33,0.00,0.000,4,0.000,0.044,1804,890,3413
$GC,6886,-0.89,-117.3,540.2,-8.3,235,6890,0.00,2.30,0.00,0.000,6,0.000,0.042,1794,2312,3414
$GC,7209,-0.86,-117.3,565.1,-7.8,241,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2312,3413
$GC,7512,-0.83,-117.3,589.8,-8.2,246,7516,0.10,2.33,0.00,0.000,4,0.139,0.044,1822,900,3413
$GC,7546,-0.87,-117.3,592.6,-7.4,246,7550,0.00,2.28,0.00,0.000,6,0.000,0.045,1821,2308,3413
$GC,7879,-0.90,-117.3,615.6,-7.0,252,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2308,3413
$GC,8181,-0.92,-117.3,637.1,-7.1,257,8183,0.08,0.00,0.00,0.000,6,0.081,0.000,1758,2308,3413
$GC,8485,-0.83,-117.3,667.2,-10.1,262,8487,0.20,0.00,0.00,0.000,6,0.122,0.000,1819,2308,3413
$GC,8788,-0.87,-117.3,686.5,-6.1,267,8792,0.00,2.33,0.00,0.000,4,0.000,0.045,1819,899,3413
$GC,8824,-0.90,-117.3,688.7,-6.2,267,8829,0.00,2.30,0.00,0.000,6,0.000,0.041,1813,2310,3412
$GC,9152,-0.92,-117.3,708.5,-5.9,273,9156,0.00,2.30,0.00,0.000,4,0.000,0.057,1803,3718,3412
$GC,9180,-0.92,-117.3,710.4,-6.8,273,9184,0.00,2.25,0.00,0.000,6,0.000,0.033,1802,2304,3412
$GC,9512,-0.92,-117.3,731.1,-6.2,279,9516,0.00,2.28,0.00,0.000,4,0.000,0.048,1803,898,3412
$GC,9569,-0.92,-117.3,735.1,-7.6,279,9575,0.00,2.28,0.00,0.000,6,0.000,0.044,1795,2305,3412
$GC,9879,-0.92,-117.3,756.8,-7.0,285,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2305,3412
$GC,10182,-0.92,-117.3,778.1,-7.1,290,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2305,3412
$GC,10485,-0.92,-117.3,800.5,-7.4,295,10489,0.00,2.30,0.00,0.000,4,0.000,0.045,1795,889,3411
$GC,10525,-0.92,-117.3,803.6,-7.2,295,10529,0.00,2.28,0.00,0.000,6,0.000,0.041,1786,2303,3412
$GC,10853,-0.90,-117.3,828.7,-7.7,301,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,2304,3411
$GC,11155,-0.87,-117.3,852.4,-7.8,306,11160,0.10,2.28,0.00,0.000,4,0.141,0.045,1813,897,3411
$GC,11202,-0.91,-117.3,855.7,-6.7,306,11206,0.00,2.28,0.00,0.000,6,0.000,0.047,1809,2305,3411
$GC,11529,-0.93,-117.3,878.1,-6.8,312,11530,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3411
$GC,11832,-0.96,-117.3,896.8,-6.2,317,11836,0.00,2.35,0.00,0.000,4,0.000,0.048,1809,892,3411
$GC,11866,-0.98,-117.3,899.1,-6.4,317,11871,0.00,2.30,0.00,0.000,6,0.000,0.044,1808,2302,3411
$GC,12201,-1.00,-117.3,917.2,-5.4,323,12202,0.10,0.00,0.00,0.000,6,0.077,0.000,1761,2302,3411
$GC,12503,-0.93,-117.3,940.5,-7.8,328,12504,0.12,0.00,0.00,0.000,6,0.130,0.000,1796,2302,3411
$GC,12805,-0.93,-117.3,959.3,-6.1,333,12809,0.00,2.33,0.00,0.000,4,0.000,0.051,1796,896,3411
$GC,12845,-0.93,-117.3,962.0,-6.6,333,12850,0.00,2.30,0.00,0.000,6,0.000,0.048,1794,2307,3411
$GC,13167,-0.93,-117.3,983.6,-6.8,339,13168,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3410
$STATE,13285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13285,begin apogee
$GC,13293,-0.22,0.0,992.0,6.9,341,13396,0.50,0.00,99.93,1.286,6,0.114,0.000,1954,2306,2931
$STATE,13397,end apogee,CONTROL_FINISHED_OK
$STATE,13397,begin climb
$GC,13400,0.68,117.3,993.6,0.0,342,13512,0.60,2.58,104.20,1.261,4,0.071,0.052,2158,3711,2451
$GC,13542,0.48,117.3,992.3,6.4,345,13547,0.28,2.42,0.00,0.000,6,0.169,0.038,2104,2309,2448
$GC,13898,0.50,149.4,976.6,4.4,351,13927,0.00,0.00,27.70,1.212,6,0.000,0.000,2103,2308,2321
$GC,14201,0.51,158.1,961.0,5.2,356,14212,0.00,0.00,8.60,1.045,6,0.000,0.000,2103,2308,2286
$GC,14503,0.52,160.4,944.8,5.4,361,14505,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2308,2283
$GC,14807,0.52,161.3,928.2,5.5,366,14813,0.00,0.00,4.00,0.747,6,0.000,0.000,2104,2308,2273
$GC,15110,0.53,172.7,912.6,5.1,371,15123,0.00,0.00,11.82,1.101,6,0.000,0.000,2103,2308,2226
$GC,15414,0.56,197.3,898.1,4.7,376,15439,0.00,0.00,23.20,1.170,6,0.000,0.000,2103,2308,2126
$GC,15716,0.64,234.0,885.0,4.3,381,15762,0.12,2.40,35.40,1.123,4,0.061,0.058,2159,3709,1978
$GC,15786,0.54,234.0,880.1,8.3,382,15791,0.20,2.30,0.00,0.000,6,0.144,0.034,2117,2300,1976
$GC,16142,0.61,260.5,863.2,4.6,388,16181,0.00,2.40,26.50,1.076,4,0.000,0.051,2126,894,1867
$GC,16206,0.70,285.1,860.1,4.7,389,16243,0.10,2.30,25.73,1.059,6,0.077,0.039,2174,2304,1768
$GC,16571,0.62,285.1,827.8,9.2,395,16576,0.15,2.30,0.00,0.000,4,0.139,0.049,2133,3718,1761
$GC,16616,0.62,285.1,823.9,8.8,395,16620,0.00,2.22,0.00,0.000,6,0.000,0.033,2142,2293,1760
$GC,16943,0.62,285.1,799.8,7.5,401,16944,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2293,1759
$GC,17247,0.62,285.1,774.7,8.3,406,17251,0.00,2.33,0.00,0.000,4,0.000,0.048,2142,3721,1758
$GC,17275,0.62,285.1,771.9,9.6,406,17279,0.00,2.22,0.00,0.000,6,0.000,0.032,2151,2304,1757
$GC,17613,0.60,285.1,741.1,9.1,412,17615,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2304,1757
$GC,17916,0.58,285.1,713.3,9.2,417,17921,0.12,2.33,0.00,0.000,4,0.137,0.048,2117,3712,1756
$GC,17945,0.60,285.1,710.8,9.8,417,17950,0.00,2.25,0.00,0.000,6,0.000,0.032,2125,2294,1756
$GC,18278,0.65,285.1,687.9,6.7,423,18280,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2294,1756
$GC,18581,0.70,285.1,669.0,6.2,428,18586,0.10,2.33,0.00,0.000,4,0.067,0.053,2199,3719,1755
$GC,18611,0.61,285.1,666.4,9.6,428,18615,0.28,2.22,0.00,0.000,6,0.146,0.033,2133,2306,1755
$GC,18949,0.65,285.1,644.8,5.9,434,18953,0.00,2.28,0.00,0.000,4,0.000,0.048,2141,891,1755
$GC,18977,0.70,285.1,642.9,5.5,434,18982,0.00,2.22,0.00,0.000,6,0.000,0.037,2141,2309,1754
$GC,19316,0.70,285.1,622.9,5.9,440,19320,0.00,2.28,0.00,0.000,4,0.000,0.055,2141,3714,1754
$GC,19356,0.70,285.1,620.1,7.1,440,19360,0.00,2.22,0.00,0.000,6,0.000,0.033,2151,2290,1754
$GC,19677,0.70,285.1,598.0,7.0,446,19678,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2290,1754
$GC,19980,0.70,285.1,576.4,7.2,451,19985,0.00,2.35,0.00,0.000,4,0.000,0.050,2151,3707,1754
$GC,20022,0.67,285.1,573.0,8.8,451,20026,0.00,2.25,0.00,0.000,6,0.000,0.038,2161,2302,1754
$GC,20343,0.63,285.1,545.7,8.6,457,20345,0.10,0.00,0.00,0.000,6,0.144,0.000,2135,2302,1754
$GC,20646,0.66,285.1,525.0,6.7,462,20650,0.00,2.30,0.00,0.000,4,0.000,0.048,2136,3715,1754
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$STATE,27915,end climb,SURFACE_DEPTH_REACHED
$STATE,27915,begin surface coast
$FINISH,1.4,1.025545
$STATE,27920,end surface coast,CONTROL_FINISHED_OK
$STATE,27920,begin surface
$SM_CCo,27998,0.00,0.000,0,0,1505,349.80
$SM_GC,2.20,5.65,0.00,0.00,0.034,0.000,0.000,98,2312,1505,-8.61,0.23,349.80
$IRIDIUM_FIX,4946.36,-14451.14,240399,141423
$TT8_MAMPS,0.029146
$HUMID,1741
$INTERNAL_PRESSURE,7.3538
$TCM_TEMP,15.70
$XPDR_PINGS,52
$24V_AH,21.8,86.384
$10V_AH,10.4,74.769
$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
$DEVICE_SECS,19.675,218.775,420.150,0.000,0.000,30.653,30.359,218.417,13.000,0.000,0.000,27.471,1631.345,23304.348,559.512,2070.156,877.001,33.376,1665.032,0.000,2038.878,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,510.939,592.989,751.823,792.507,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41130,725
$CAP_FILE_SIZE,180138,0
$CFSIZE,260165632,212119552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$GPS,291209,060400,5008.474,-14445.328,39,1.2,44,18.6