version: 66.04
glider: 144
mission: 15
dive: 244
start: 8 30 109 23 25 34
data:
$ID,144
$MISSION,15
$DIVE,244
$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,-65672.812
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,231406,5009.410,-14509.639,48,1.1,60,18.5
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-61.6
$GPS2,232438,5009.444,-14509.646,10,1.3,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.038,-0.163
$KALMAN_X,-9878.8,34.3,31.1,10906.6,874.7
$KALMAN_Y,5085.0,79.1,-51.9,-26476.7,655.8
$MHEAD_RNG_PITCHd_Wd,174.6,28713,-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,-32.05,0.000,2,0.000,0.000,99,2294,2545
$GC,52,-0.68,-117.3,3.2,-5.2,3,86,6.95,2.33,-20.88,0.000,4,0.229,0.062,1834,3715,3411
$GC,224,-0.44,-117.3,28.6,-15.5,18,229,0.25,2.20,0.00,0.000,6,0.127,0.030,1907,2299,3412
$GC,550,-0.59,-117.3,53.1,-8.0,48,554,0.12,2.20,0.00,0.000,4,0.058,0.038,1820,888,3413
$GC,633,-0.43,-117.3,63.5,-13.7,55,640,0.32,2.22,0.00,0.000,6,0.124,0.037,1908,2308,3414
$GC,957,-0.58,-117.3,86.9,-6.4,81,959,0.12,0.00,0.00,0.000,6,0.058,0.000,1824,2308,3415
$GC,1264,-0.42,-117.3,119.4,-10.3,96,1269,0.25,2.25,0.00,0.000,4,0.123,0.041,1905,890,3415
$GC,1315,-0.63,-117.3,123.1,-6.6,98,1319,0.15,2.22,0.00,0.000,6,0.051,0.038,1810,2304,3415
$GC,1651,-0.49,-117.3,157.7,-9.9,113,1655,0.25,2.22,0.00,0.000,4,0.122,0.048,1884,3706,3415
$GC,1706,-0.73,-117.3,161.5,-6.0,114,1713,0.10,2.20,0.00,0.000,6,0.046,0.037,1806,2294,3415
$GC,2019,-0.61,-117.3,190.6,-9.5,125,2023,0.17,2.17,0.00,0.000,4,0.123,0.041,1864,904,3414
$GC,2074,-0.74,-117.3,194.8,-7.1,126,2081,0.05,2.22,0.00,0.000,6,0.064,0.038,1806,2299,3414
$GC,2387,-0.62,-117.3,223.7,-9.5,137,2392,0.17,2.22,0.00,0.000,4,0.128,0.048,1863,897,3414
$GC,2425,-0.76,-117.3,226.8,-6.5,138,2430,0.10,2.22,0.00,0.000,6,0.068,0.038,1795,2304,3414
$GC,2749,-0.60,-117.3,258.1,-9.8,149,2754,0.20,2.20,0.00,0.000,4,0.127,0.045,1861,904,3413
$GC,2778,-0.65,-117.3,260.3,-7.4,150,2782,0.00,2.22,0.00,0.000,6,0.000,0.046,1861,2313,3413
$GC,3113,-0.77,-117.3,280.5,-6.1,161,3115,0.10,0.00,0.00,0.000,6,0.068,0.000,1793,2313,3412
$GC,3448,-0.62,-117.3,312.0,-9.4,170,3453,0.20,2.25,0.00,0.000,4,0.124,0.044,1859,901,3411
$GC,3528,-0.77,-117.3,317.0,-5.9,171,3532,0.00,2.22,0.00,0.000,6,0.000,0.043,1852,2310,3411
$GC,3877,-0.86,-117.3,336.9,-5.7,177,3882,0.12,2.25,0.00,0.000,4,0.061,0.056,1760,3710,3410
$GC,3910,-0.62,-117.3,340.1,-10.7,177,3915,0.35,2.17,0.00,0.000,6,0.128,0.031,1866,2304,3410
$GC,4237,-0.77,-117.3,357.5,-5.1,183,4241,0.12,2.25,0.00,0.000,4,0.063,0.046,1787,891,3410
$GC,4258,-0.77,-117.3,359.2,-7.3,183,4262,0.17,2.25,0.00,0.000,6,0.133,0.040,1831,2306,3410
$GC,4601,-0.77,-117.3,381.9,-6.5,189,4605,0.00,2.25,0.00,0.000,4,0.000,0.050,1831,891,3409
$GC,4639,-0.77,-117.3,384.7,-7.3,189,4643,0.00,2.25,0.00,0.000,6,0.000,0.043,1824,2316,3409
$GC,4965,-0.77,-117.3,407.8,-7.1,195,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2316,3409
$GC,5268,-0.77,-117.3,429.0,-7.1,200,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2316,3408
$GC,5572,-0.77,-117.3,449.5,-6.8,205,5576,0.00,2.28,0.00,0.000,4,0.000,0.046,1824,891,3407
$GC,5621,-0.77,-117.3,453.2,-7.5,205,5625,0.00,2.25,0.00,0.000,6,0.000,0.040,1821,2306,3408
$GC,5931,-0.77,-117.3,475.5,-7.2,210,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2307,3407
$GC,6234,-0.77,-117.3,496.8,-7.0,215,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3406
$GC,6537,-0.77,-117.3,518.2,-7.0,220,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2306,3406
$GC,6840,-0.77,-117.3,540.7,-7.5,225,6844,0.00,2.25,0.00,0.000,4,0.000,0.044,1821,901,3406
$GC,6879,-0.77,-117.3,543.9,-8.4,225,6883,0.08,2.25,0.00,0.000,6,0.142,0.041,1832,2313,3406
$GC,7205,-0.83,-117.3,566.8,-7.0,231,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2313,3405
$GC,7508,-0.89,-117.3,587.2,-6.7,236,7513,0.10,2.28,0.00,0.000,4,0.071,0.050,1777,893,3405
$GC,7552,-0.72,-117.3,591.3,-10.1,236,7557,0.25,2.25,0.00,0.000,6,0.124,0.041,1843,2308,3405
$GC,7867,-0.82,-117.3,610.0,-5.7,242,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2308,3405
$GC,8171,-0.93,-117.3,626.4,-5.4,247,8173,0.15,0.00,0.00,0.000,6,0.057,0.000,1765,2309,3404
$GC,8474,-0.72,-117.3,653.7,-9.2,252,8476,0.28,0.00,0.00,0.000,6,0.129,0.000,1848,2309,3404
$GC,8777,-0.85,-117.3,668.8,-4.7,257,8779,0.12,0.00,0.00,0.000,6,0.060,0.000,1773,2309,3404
$GC,9080,-0.69,-117.3,693.7,-8.4,262,9084,0.22,2.25,0.00,0.000,4,0.126,0.051,1847,902,3404
$GC,9124,-0.84,-117.3,696.4,-4.9,262,9129,0.12,2.25,0.00,0.000,6,0.061,0.044,1777,2313,3404
$GC,9439,-0.70,-117.3,722.2,-8.4,268,9444,0.20,2.28,0.00,0.000,4,0.125,0.048,1842,895,3404
$GC,9472,-0.81,-117.3,724.5,-6.3,268,9476,0.00,2.25,0.00,0.000,6,0.000,0.044,1837,2310,3403
$GC,9799,-0.90,-117.3,742.2,-5.5,274,9801,0.12,0.00,0.00,0.000,6,0.064,0.000,1767,2310,3403
$GC,10101,-0.72,-117.3,769.1,-9.1,279,10103,0.25,0.00,0.00,0.000,6,0.126,0.000,1843,2310,3403
$GC,10405,-0.85,-117.3,786.7,-5.7,284,10407,0.10,0.00,0.00,0.000,6,0.077,0.000,1792,2311,3403
$GC,10708,-0.77,-117.3,810.9,-8.1,289,10710,0.15,0.00,0.00,0.000,6,0.126,0.000,1837,2311,3403
$GC,11011,-0.88,-117.3,829.5,-6.1,294,11016,0.10,2.28,0.00,0.000,4,0.079,0.051,1790,896,3403
$GC,11055,-0.79,-117.3,833.2,-8.7,294,11060,0.17,2.25,0.00,0.000,6,0.130,0.041,1831,2306,3403
$GC,11370,-0.88,-117.3,853.3,-6.3,300,11372,0.10,0.00,0.00,0.000,6,0.082,0.000,1788,2306,3403
$GC,11674,-0.79,-117.3,876.8,-7.8,305,11676,0.15,0.00,0.00,0.000,6,0.128,0.000,1831,2306,3402
$GC,11977,-0.88,-117.3,894.1,-5.6,310,11979,0.10,0.00,0.00,0.000,6,0.084,0.000,1789,2306,3403
$GC,12280,-0.80,-117.3,916.7,-7.6,315,12282,0.15,0.00,0.00,0.000,6,0.129,0.000,1831,2306,3402
$GC,12583,-0.89,-117.3,933.3,-5.4,320,12585,0.10,0.00,0.00,0.000,6,0.085,0.000,1790,2307,3402
$GC,12886,-0.82,-117.3,954.1,-6.9,325,12891,0.12,2.28,0.00,0.000,4,0.134,0.051,1826,901,3401
$GC,12919,-0.87,-117.3,956.5,-6.8,325,12923,0.00,2.25,0.00,0.000,6,0.000,0.047,1819,2311,3401
$GC,13252,-0.87,-117.3,974.6,-5.4,331,13256,0.00,2.28,0.00,0.000,4,0.000,0.051,1819,902,3401
$GC,13278,-0.87,-117.3,976.3,-6.7,331,13282,0.00,2.25,0.00,0.000,6,0.000,0.048,1810,2310,3401
$STATE,13553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13553,begin apogee
$GC,13559,-0.22,0.0,992.1,5.7,336,13656,0.45,0.00,93.95,1.322,6,0.126,0.000,1950,2311,2931
$STATE,13656,end apogee,CONTROL_FINISHED_OK
$STATE,13656,begin climb
$GC,13659,0.68,117.3,993.0,0.0,337,13766,0.57,2.53,100.15,1.292,4,0.079,0.058,2149,3710,2452
$GC,13799,0.27,117.3,988.0,7.6,339,13805,0.40,2.38,0.00,0.000,6,0.178,0.041,2063,2308,2447
$GC,14143,0.39,151.2,972.6,4.4,345,14175,0.10,0.00,28.80,1.240,6,0.080,0.000,2101,2308,2314
$GC,14447,0.39,152.0,955.9,5.5,350,14448,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2308,2308
$GC,14749,0.39,152.0,938.8,5.6,355,14750,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2307,2307
$GC,15052,0.39,153.4,922.2,5.5,360,15056,0.00,2.30,0.00,0.000,4,0.000,0.058,2101,3712,2307
$GC,15097,0.27,153.4,919.2,6.9,360,15102,0.20,2.25,0.00,0.000,6,0.155,0.041,2059,2293,2305
$GC,15412,0.54,174.9,904.6,4.8,366,15438,0.17,2.30,20.45,1.202,4,0.071,0.050,2143,889,2215
$GC,15506,0.40,174.9,898.4,6.8,367,15511,0.20,2.30,0.00,0.000,6,0.143,0.041,2088,2305,2213
$GC,15838,0.47,191.0,881.7,5.0,373,15858,0.00,2.33,14.45,1.151,4,0.000,0.059,2088,3719,2152
$GC,15905,0.47,191.0,877.9,5.9,374,15909,0.00,2.25,0.00,0.000,6,0.000,0.040,2097,2302,2150
$GC,16277,0.48,191.7,857.5,5.5,380,16278,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2302,2148
$GC,16580,0.48,195.0,841.1,5.4,385,16586,0.00,0.00,4.47,0.811,6,0.000,0.000,2096,2302,2136
$GC,16883,0.51,215.7,826.4,4.8,390,16907,0.00,2.30,19.60,1.155,4,0.000,0.051,2106,896,2050
$GC,16925,0.65,256.5,824.3,4.1,390,16967,0.12,2.28,36.50,1.173,6,0.065,0.039,2161,2306,1884
$GC,17313,0.47,256.5,788.4,9.7,397,17318,0.20,2.30,0.00,0.000,4,0.143,0.051,2101,3711,1877
$GC,17369,0.55,256.5,784.0,6.7,397,17375,0.00,2.25,0.00,0.000,6,0.000,0.041,2109,2297,1876
$GC,17679,0.62,256.5,765.6,5.9,403,17684,0.10,2.33,0.00,0.000,4,0.069,0.050,2160,3713,1874
$GC,17701,0.54,256.5,763.8,7.9,403,17706,0.20,2.25,0.00,0.000,6,0.150,0.039,2117,2301,1875
$GC,18038,0.54,256.5,742.2,6.3,409,18039,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2301,1874
$GC,18341,0.54,256.5,723.0,6.3,414,18342,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2301,1873
$GC,18645,0.54,256.5,703.7,6.4,419,18649,0.00,2.30,0.00,0.000,4,0.000,0.053,2117,3716,1873
$GC,18672,0.54,256.5,701.7,6.5,419,18676,0.00,2.22,0.00,0.000,6,0.000,0.039,2124,2296,1872
$GC,19009,0.54,256.5,677.3,7.3,425,19013,0.00,2.25,0.00,0.000,4,0.000,0.048,2135,891,1873
$GC,19031,0.54,256.5,675.6,7.0,425,19035,0.00,2.28,0.00,0.000,6,0.000,0.039,2135,2305,1871
$GC,19381,0.50,256.5,647.3,8.3,431,19385,0.12,2.28,0.00,0.000,4,0.136,0.054,2101,3718,1872
$GC,19419,0.58,256.5,644.2,7.3,431,19423,0.00,2.20,0.00,0.000,6,0.000,0.035,2108,2304,1871
$GC,19740,0.67,256.5,622.2,6.9,437,19745,0.12,2.25,0.00,0.000,4,0.059,0.054,2190,897,1871
$GC,19767,0.56,256.5,619.4,9.5,437,19772,0.25,2.22,0.00,0.000,6,0.135,0.044,2119,2312,1871
$GC,20105,0.61,256.5,593.3,7.6,443,20109,0.00,2.25,0.00,0.000,4,0.000,0.051,2119,3713,1871
$GC,20150,0.61,256.5,589.4,9.0,443,20154,0.00,2.20,0.00,0.000,6,0.000,0.035,2126,2300,1871
$GC,20471,0.61,256.5,564.3,7.8,449,20475,0.00,2.25,0.00,0.000,4,0.000,0.048,2136,893,1871
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$STATE,27774,end climb,SURFACE_DEPTH_REACHED
$STATE,27774,begin surface coast
$FINISH,0.9,1.019528
$STATE,27828,end surface coast,CONTROL_FINISHED_OK
$STATE,27828,begin surface
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$HUMID,1683
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$TCM_TEMP,16.90
$XPDR_PINGS,76
$24V_AH,22.6,36.863
$10V_AH,10.7,30.402
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$DEVICE_SECS,27.675,216.150,359.800,0.000,0.000,86.685,82.903,204.849,19.000,0.000,0.000,11.562,1663.205,23364.227,498.836,2211.425,787.868,33.364,1619.457,0.000,2213.482,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41284,713
$CAP_FILE_SIZE,192275,0
$CFSIZE,260165632,239751168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310809,071154,5006.188,-14511.387,38,1.6,38,18.4