version: 66.04
glider: 144
mission: 15
dive: 32
start: 6 22 109 10 58 34
data:
$ID,144
$MISSION,15
$DIVE,32
$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,-61536.414
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,104831,5005.005,-14457.766,37,2.0,37,18.5
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-57.1
$GPS2,105738,5004.929,-14457.716,15,2.0,15,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.154,0.067
$KALMAN_X,-22138.3,226.6,192.8,25445.3,-3144.5
$KALMAN_Y,3155.0,228.4,306.3,5996.0,-1002.9
$MHEAD_RNG_PITCHd_Wd,48.0,9410,-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,14,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-42.33,0.000,2,0.000,0.000,100,2302,2703
$GC,62,-0.68,-117.3,3.3,-4.5,4,96,7.10,2.38,-16.70,0.000,4,0.253,0.077,1847,893,3412
$GC,348,-0.57,-117.3,41.5,-11.8,29,355,0.15,2.25,0.00,0.000,6,0.143,0.047,1879,2306,3414
$GC,675,-0.57,-117.3,70.1,-8.8,60,678,0.00,2.28,0.00,0.000,4,0.000,0.052,1878,887,3415
$GC,726,-0.63,-117.3,74.9,-8.6,64,730,0.00,2.25,0.00,0.000,6,0.000,0.047,1876,2304,3415
$GC,1053,-0.63,-117.3,102.8,-8.1,82,1057,0.00,2.25,0.00,0.000,4,0.000,0.052,1877,888,3415
$GC,1080,-0.63,-117.3,105.0,-8.6,83,1084,0.00,2.25,0.00,0.000,6,0.000,0.048,1876,2309,3415
$GC,1402,-0.63,-117.3,128.5,-7.4,99,1406,0.00,2.25,0.00,0.000,4,0.000,0.051,1876,889,3415
$GC,1479,-0.69,-117.3,134.9,-8.0,102,1487,0.08,2.28,0.00,0.000,6,0.059,0.048,1822,2308,3415
$GC,1804,-0.60,-117.3,166.9,-9.7,116,1809,0.17,2.25,0.00,0.000,4,0.138,0.065,1872,3712,3415
$GC,1859,-0.75,-117.3,171.1,-6.9,117,1867,0.12,2.20,0.00,0.000,6,0.065,0.042,1813,2291,3415
$GC,2172,-0.63,-117.3,199.9,-9.6,128,2177,0.17,2.20,0.00,0.000,4,0.140,0.053,1869,896,3415
$GC,2233,-0.73,-117.3,204.8,-6.7,129,2240,0.08,2.22,0.00,0.000,6,0.091,0.051,1816,2310,3415
$GC,2546,-0.64,-117.3,233.3,-9.1,140,2548,0.15,0.00,0.00,0.000,6,0.141,0.000,1858,2310,3414
$GC,2853,-0.71,-117.3,253.8,-6.6,150,2857,0.00,2.25,0.00,0.000,4,0.000,0.053,1858,887,3414
$GC,2908,-0.81,-117.3,258.0,-7.6,151,2913,0.10,2.25,0.00,0.000,6,0.079,0.053,1797,2314,3414
$GC,3221,-0.66,-117.3,288.2,-9.9,161,3226,0.17,2.22,0.00,0.000,4,0.143,0.060,1847,3712,3414
$GC,3259,-0.74,-117.3,291.4,-7.5,162,3263,0.00,2.17,0.00,0.000,6,0.000,0.040,1848,2299,3413
$GC,3587,-0.79,-117.3,313.5,-6.7,170,3591,0.00,2.22,0.00,0.000,4,0.000,0.061,1848,890,3413
$GC,3620,-0.84,-117.3,315.9,-7.5,170,3625,0.10,2.22,0.00,0.000,6,0.078,0.055,1790,2304,3413
$GC,3947,-0.67,-117.3,348.0,-10.1,176,3949,0.22,0.00,0.00,0.000,6,0.146,0.000,1855,2304,3412
$GC,4249,-0.76,-117.3,367.5,-6.2,181,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2305,3412
$GC,4553,-0.85,-117.3,384.3,-5.4,186,4558,0.15,2.25,0.00,0.000,4,0.065,0.054,1787,893,3412
$GC,4591,-0.66,-117.3,387.4,-8.9,186,4596,0.25,2.22,0.00,0.000,6,0.146,0.052,1854,2304,3411
$GC,4912,-0.75,-117.3,403.9,-5.0,192,4916,0.00,2.22,0.00,0.000,4,0.000,0.054,1854,897,3411
$GC,4945,-0.86,-117.3,405.9,-6.3,192,4949,0.12,2.22,0.00,0.000,6,0.072,0.051,1786,2314,3411
$GC,5271,-0.69,-117.3,436.4,-9.7,198,5273,0.22,0.00,0.00,0.000,6,0.143,0.000,1852,2314,3410
$GC,5574,-0.78,-117.3,456.7,-6.6,203,5578,0.00,2.28,0.00,0.000,4,0.000,0.055,1852,887,3410
$GC,5613,-0.88,-117.3,459.6,-7.3,203,5617,0.15,2.25,0.00,0.000,6,0.066,0.057,1779,2313,3410
$GC,5933,-0.69,-117.3,492.2,-10.3,209,5938,0.20,2.22,0.00,0.000,4,0.144,0.066,1836,3710,3410
$GC,5988,-0.76,-117.3,496.5,-7.0,209,5995,0.00,2.20,0.00,0.000,6,0.000,0.049,1835,2309,3410
$GC,6298,-0.80,-117.3,517.5,-6.7,215,6302,0.00,2.25,0.00,0.000,4,0.000,0.057,1836,886,3409
$GC,6347,-0.80,-117.3,521.3,-8.1,215,6351,0.00,2.25,0.00,0.000,6,0.000,0.058,1830,2309,3409
$GC,6662,-0.80,-117.3,544.1,-7.3,221,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2309,3409
$GC,6965,-0.80,-117.3,565.8,-7.1,226,6969,0.00,2.25,0.00,0.000,4,0.000,0.067,1821,3716,3409
$GC,6992,-0.80,-117.3,567.9,-7.9,226,6996,0.00,2.20,0.00,0.000,6,0.000,0.044,1821,2299,3409
$GC,7330,-0.80,-117.3,593.9,-7.8,232,7334,0.00,2.22,0.00,0.000,4,0.000,0.058,1822,896,3409
$GC,7373,-0.80,-117.3,597.5,-8.1,232,7377,0.00,2.22,0.00,0.000,6,0.000,0.054,1812,2304,3409
$GC,7695,-0.74,-117.3,623.8,-8.2,238,7697,0.10,0.00,0.00,0.000,6,0.154,0.000,1838,2304,3408
$GC,7998,-0.81,-117.3,644.6,-6.8,243,8002,0.00,2.25,0.00,0.000,4,0.000,0.063,1838,893,3408
$GC,8036,-0.88,-117.3,647.4,-7.3,243,8041,0.10,2.25,0.00,0.000,6,0.087,0.054,1794,2313,3408
$GC,8357,-0.77,-117.3,674.0,-8.3,249,8361,0.15,2.25,0.00,0.000,4,0.152,0.067,1826,3720,3408
$GC,8412,-0.83,-117.3,678.0,-6.9,249,8419,0.00,2.22,0.00,0.000,6,0.000,0.044,1826,2306,3408
$GC,8721,-0.83,-117.3,697.6,-6.3,255,8725,0.00,2.25,0.00,0.000,4,0.000,0.062,1826,890,3408
$GC,8754,-0.83,-117.3,699.9,-7.0,255,8758,0.00,2.25,0.00,0.000,6,0.000,0.054,1821,2309,3408
$GC,9086,-0.83,-117.3,720.7,-6.3,261,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2309,3407
$GC,9389,-0.83,-117.3,739.4,-6.2,266,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2309,3408
$GC,9693,-0.83,-117.3,758.5,-6.3,271,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2309,3408
$GC,9995,-0.83,-117.3,778.9,-6.7,276,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2309,3407
$GC,10298,-0.83,-117.3,799.7,-6.9,281,10302,0.00,2.30,0.00,0.000,4,0.000,0.062,1821,885,3407
$GC,10337,-0.83,-117.3,802.8,-8.0,281,10341,0.00,2.28,0.00,0.000,6,0.000,0.061,1814,2312,3407
$GC,10663,-0.83,-117.3,826.3,-7.2,287,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2312,3407
$GC,10967,-0.83,-117.3,848.0,-7.2,292,10971,0.00,2.30,0.00,0.000,4,0.000,0.067,1814,887,3407
$GC,11006,-0.83,-117.3,850.9,-7.4,292,11011,0.00,2.28,0.00,0.000,6,0.000,0.055,1805,2313,3407
$GC,11328,-0.78,-117.3,875.6,-7.6,298,11330,0.10,0.00,0.00,0.000,6,0.176,0.000,1830,2314,3407
$GC,11630,-0.83,-117.3,895.1,-6.4,303,11635,0.00,2.30,0.00,0.000,4,0.000,0.069,1830,884,3406
$GC,11664,-0.88,-117.3,897.4,-6.4,303,11668,0.00,2.28,0.00,0.000,6,0.000,0.058,1823,2314,3407
$GC,11990,-0.88,-117.3,918.4,-6.5,309,11994,0.00,2.28,0.00,0.000,4,0.000,0.067,1823,896,3406
$GC,12022,-0.88,-117.3,920.8,-7.8,309,12027,0.00,2.28,0.00,0.000,6,0.000,0.059,1816,2305,3406
$GC,12355,-0.88,-117.3,942.8,-6.6,315,12356,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2304,3406
$GC,12658,-0.88,-117.3,961.4,-6.1,320,12662,0.00,2.28,0.00,0.000,4,0.000,0.070,1816,893,3407
$GC,12707,-0.88,-117.3,964.8,-6.9,320,12711,0.00,2.25,0.00,0.000,6,0.000,0.058,1808,2305,3406
$GC,13023,-0.88,-117.3,984.6,-6.3,326,13024,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3406
$STATE,13141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13141,begin apogee
$GC,13147,-0.22,0.0,992.3,6.3,328,13243,0.47,0.00,93.18,1.342,6,0.159,0.000,1951,2305,2931
$STATE,13243,end apogee,CONTROL_FINISHED_OK
$STATE,13244,begin climb
$GC,13246,0.68,117.3,993.3,0.0,329,13351,0.65,2.50,98.32,1.312,4,0.115,0.067,2152,3707,2451
$GC,13369,0.34,117.3,989.6,5.9,331,13375,0.35,2.38,0.00,0.000,6,0.201,0.047,2077,2304,2448
$GC,13684,0.37,141.2,974.4,4.7,337,13706,0.00,0.00,19.80,1.233,6,0.000,0.000,2077,2305,2355
$GC,13988,0.40,161.3,959.7,4.8,342,14008,0.00,0.00,17.92,1.219,6,0.000,0.000,2077,2305,2273
$GC,14291,0.49,185.3,945.4,4.7,347,14315,0.12,0.00,21.45,1.231,6,0.092,0.000,2120,2305,2175
$GC,14594,0.40,185.3,924.5,7.0,352,14599,0.15,2.38,0.00,0.000,4,0.160,0.064,2091,887,2169
$GC,14621,0.40,185.3,922.7,6.0,352,14625,0.00,2.35,0.00,0.000,6,0.000,0.055,2091,2296,2169
$GC,14959,0.44,185.3,903.5,5.8,358,14963,0.00,2.35,0.00,0.000,4,0.000,0.069,2092,3719,2168
$GC,14991,0.44,185.3,901.0,6.7,358,14996,0.00,2.30,0.00,0.000,6,0.000,0.052,2102,2306,2168
$GC,15324,0.44,185.3,878.8,6.7,364,15325,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2306,2167
$GC,15627,0.44,185.3,858.0,6.9,369,15631,0.00,2.33,0.00,0.000,4,0.000,0.071,2102,3714,2166
$GC,15654,0.38,185.3,855.7,8.1,369,15659,0.12,2.25,0.00,0.000,6,0.171,0.051,2081,2300,2166
$GC,15986,0.46,185.3,836.8,5.6,375,15990,0.00,2.30,0.00,0.000,4,0.000,0.062,2090,887,2166
$GC,16015,0.57,185.3,835.0,6.3,375,16020,0.12,2.28,0.00,0.000,6,0.093,0.058,2138,2307,2165
$GC,16347,0.41,185.3,809.4,7.7,381,16352,0.20,2.28,0.00,0.000,4,0.168,0.066,2080,3712,2166
$GC,16370,0.34,185.3,807.8,6.6,381,16374,0.00,2.22,0.00,0.000,6,0.000,0.048,2088,2304,2165
$GC,16708,0.43,213.4,792.2,4.6,387,16733,0.00,0.00,23.73,1.173,6,0.000,0.000,2087,2304,2060
$GC,17011,0.54,233.0,777.6,4.8,392,17036,0.10,2.42,17.33,1.128,4,0.096,0.071,2129,3717,1980
$GC,17059,0.43,233.0,774.1,8.8,392,17064,0.20,2.33,0.00,0.000,6,0.170,0.052,2088,2300,1979
$GC,17374,0.56,242.9,757.4,5.2,398,17389,0.12,2.35,9.52,1.033,4,0.084,0.067,2147,891,1939
$GC,17411,0.50,242.9,754.5,7.7,398,17416,0.15,2.33,0.00,0.000,6,0.155,0.053,2109,2308,1938
$GC,17737,0.50,242.9,734.3,6.1,404,17741,0.00,2.30,0.00,0.000,4,0.000,0.065,2109,3712,1936
$GC,17775,0.50,242.9,731.7,7.9,404,17779,0.00,2.28,0.00,0.000,6,0.000,0.047,2116,2293,1936
$GC,18101,0.50,242.9,709.2,7.0,410,18106,0.00,2.33,0.00,0.000,4,0.000,0.069,2117,3713,1935
$GC,18129,0.46,242.9,706.8,7.5,410,18134,0.12,2.25,0.00,0.000,6,0.173,0.051,2096,2301,1935
$GC,18461,0.57,242.9,686.5,6.1,416,18466,0.10,2.28,0.00,0.000,4,0.087,0.065,2148,888,1934
$GC,18488,0.57,242.9,684.3,8.6,416,18493,0.10,2.28,0.00,0.000,6,0.160,0.052,2125,2306,1934
$GC,18819,0.57,242.9,657.1,8.3,422,18823,0.00,2.28,0.00,0.000,4,0.000,0.066,2125,3713,1934
$GC,18875,0.50,242.9,651.7,9.4,422,18882,0.10,2.22,0.00,0.000,6,0.180,0.046,2110,2303,1934
$GC,19185,0.56,242.9,630.0,6.9,428,19189,0.00,2.28,0.00,0.000,4,0.000,0.061,2118,892,1934
$GC,19206,0.62,242.9,628.3,7.3,428,19210,0.00,2.28,0.00,0.000,6,0.000,0.051,2119,2317,1933
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$GC,19903,0.53,242.9,580.3,6.6,440,19907,0.00,2.28,0.00,0.000,4,0.000,0.062,2128,3710,1933
$GC,19930,0.44,242.9,578.1,7.3,440,19935,0.17,2.22,0.00,0.000,6,0.158,0.045,2091,2293,1933
$GC,20262,0.63,277.1,563.3,4.3,446,20297,0.15,2.35,28.88,1.033,4,0.071,0.062,2167,895,1800
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$STATE,28190,end climb,SURFACE_DEPTH_REACHED
$STATE,28190,begin surface coast
$FINISH,1.0,1.012934
$STATE,28213,end surface coast,CONTROL_FINISHED_OK
$STATE,28213,begin surface
$SM_CCo,28288,0.00,0.000,0,0,1508,349.06
$SM_GC,1.85,5.62,0.00,0.00,0.051,0.000,0.000,102,2297,1508,-8.63,-0.14,349.06
$IRIDIUM_FIX,4949.70,-14455.81,160998,111109
$TT8_MAMPS,0.028379
$HUMID,1604
$INTERNAL_PRESSURE,7.39286
$TCM_TEMP,16.20
$XPDR_PINGS,66
$24V_AH,23.5,8.149
$10V_AH,10.7,4.529
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$DEVICE_SECS,22.550,253.750,387.225,0.000,0.000,53.577,54.086,249.136,16.500,0.000,0.000,17.360,1683.328,23617.844,565.212,2243.699,717.438,33.355,1711.868,0.000,2223.937,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,516.522,584.835,752.378,1258.855,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44320,733
$CAP_FILE_SIZE,194992,0
$CFSIZE,260165632,256528384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,220609,185106,5006.750,-14453.100,26,1.1,26,18.5