version: 66.04
glider: 144
mission: 15
dive: 280
start: 9 12 109 1 26 43
data:
$ID,144
$MISSION,15
$DIVE,280
$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,-66551.727
$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,36
$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
$GPS1,011707,5012.421,-14458.428,39,1.1,39,18.5
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-60.6
$GPS2,012549,5012.335,-14458.313,9,1.3,9,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.083,0.146
$KALMAN_X,-28246.7,212.1,303.8,42213.8,-1805.1
$KALMAN_Y,12343.7,93.1,-66.8,-28374.4,-468.3
$MHEAD_RNG_PITCHd_Wd,311.8,22748,-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,-117.3,0.0,0.0,0,61,0.00,0.00,-41.95,0.000,2,0.000,0.000,99,2298,2635
$GC,64,-0.68,-117.3,3.3,-4.0,4,98,7.32,2.33,-18.17,0.000,4,0.247,0.061,1847,895,3412
$GC,261,-0.61,-117.3,28.7,-12.6,21,268,0.10,2.25,0.00,0.000,6,0.152,0.041,1865,2307,3414
$GC,588,-0.61,-117.3,60.0,-9.6,52,592,0.00,2.25,0.00,0.000,4,0.000,0.041,1865,891,3415
$GC,637,-0.61,-117.3,64.8,-8.3,56,644,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2294,3415
$GC,959,-0.61,-117.3,94.4,-9.4,80,962,0.00,2.22,0.00,0.000,4,0.000,0.046,1862,898,3416
$GC,991,-0.61,-117.3,97.6,-9.1,81,995,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2311,3416
$GC,1313,-0.61,-117.3,124.4,-7.2,97,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2311,3416
$GC,1623,-0.65,-117.3,145.6,-6.7,112,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2311,3416
$GC,1950,-0.70,-117.3,167.5,-6.6,124,1954,0.00,2.25,0.00,0.000,4,0.000,0.042,1863,893,3415
$GC,1985,-0.76,-117.3,170.0,-6.9,125,1990,0.10,2.25,0.00,0.000,6,0.068,0.044,1798,2312,3415
$GC,2320,-0.69,-117.3,202.9,-10.0,136,2325,0.17,2.25,0.00,0.000,4,0.126,0.042,1849,896,3415
$GC,2358,-0.73,-117.3,206.1,-6.8,137,2363,0.00,2.22,0.00,0.000,6,0.000,0.038,1849,2306,3416
$GC,2682,-0.76,-117.3,228.0,-6.7,148,2686,0.00,2.25,0.00,0.000,4,0.000,0.048,1849,887,3414
$GC,2716,-0.79,-117.3,230.5,-7.1,149,2720,0.00,2.25,0.00,0.000,6,0.000,0.042,1849,2304,3414
$GC,3045,-0.82,-117.3,252.0,-6.7,160,3050,0.10,2.22,0.00,0.000,4,0.069,0.042,1785,895,3413
$GC,3134,-0.74,-117.3,261.0,-10.1,162,3141,0.20,2.25,0.00,0.000,6,0.137,0.045,1838,2312,3414
$GC,3447,-0.76,-117.3,282.7,-6.7,173,3451,0.00,2.25,0.00,0.000,4,0.000,0.044,1839,893,3413
$GC,3492,-0.79,-117.3,286.0,-7.3,174,3496,0.00,2.25,0.00,0.000,6,0.000,0.043,1836,2311,3413
$GC,3845,-0.79,-117.3,309.7,-6.6,184,3849,0.00,2.25,0.00,0.000,4,0.000,0.044,1837,893,3412
$GC,3884,-0.82,-117.3,312.6,-7.5,184,3888,0.00,2.25,0.00,0.000,6,0.000,0.041,1836,2308,3412
$GC,4204,-0.82,-117.3,334.8,-6.9,190,4208,0.00,2.25,0.00,0.000,4,0.000,0.048,1836,890,3412
$GC,4242,-0.84,-117.3,337.6,-7.7,190,4246,0.00,2.25,0.00,0.000,6,0.000,0.047,1836,2307,3412
$GC,4563,-0.84,-117.3,359.7,-6.9,196,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2307,3411
$GC,4866,-0.84,-117.3,379.1,-6.4,201,4869,0.00,2.25,0.00,0.000,4,0.000,0.044,1836,897,3410
$GC,4904,-0.87,-117.3,382.0,-7.2,201,4909,0.10,2.25,0.00,0.000,6,0.067,0.044,1773,2311,3410
$GC,5231,-0.78,-117.3,414.0,-10.1,207,5233,0.20,0.00,0.00,0.000,6,0.129,0.000,1831,2311,3410
$GC,5534,-0.80,-117.3,435.6,-7.0,212,5538,0.00,2.28,0.00,0.000,4,0.000,0.044,1831,888,3409
$GC,5589,-0.83,-117.3,439.9,-7.6,212,5596,0.00,2.28,0.00,0.000,6,0.000,0.045,1825,2301,3409
$GC,5899,-0.83,-117.3,462.0,-7.1,218,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2301,3409
$GC,6202,-0.83,-117.3,482.9,-6.8,223,6206,0.00,2.25,0.00,0.000,4,0.000,0.050,1825,890,3409
$GC,6241,-0.83,-117.3,485.8,-7.4,223,6245,0.00,2.25,0.00,0.000,6,0.000,0.047,1823,2305,3408
$GC,6561,-0.83,-117.3,507.5,-6.8,229,6565,0.00,2.28,0.00,0.000,4,0.000,0.048,1823,888,3408
$GC,6588,-0.83,-117.3,509.5,-7.4,229,6592,0.00,2.28,0.00,0.000,6,0.000,0.041,1821,2313,3408
$GC,6926,-0.83,-117.3,532.1,-6.7,235,6930,0.00,2.28,0.00,0.000,4,0.000,0.044,1822,889,3408
$GC,6970,-0.83,-117.3,535.4,-8.0,235,6974,0.00,2.25,0.00,0.000,6,0.000,0.043,1812,2305,3407
$GC,7285,-0.83,-117.3,557.1,-6.9,241,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2305,3408
$GC,7587,-0.83,-117.3,577.6,-6.8,246,7591,0.00,2.25,0.00,0.000,4,0.000,0.045,1812,893,3407
$GC,7637,-0.83,-117.3,581.5,-8.1,246,7641,0.00,2.25,0.00,0.000,6,0.000,0.040,1809,2304,3407
$GC,7959,-0.83,-117.3,605.1,-7.5,252,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3407
$GC,8261,-0.83,-117.3,627.3,-7.3,257,8265,0.00,2.25,0.00,0.000,4,0.000,0.051,1809,892,3407
$GC,8293,-0.83,-117.3,630.0,-7.9,257,8297,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2302,3406
$GC,8626,-0.83,-117.3,653.7,-7.1,263,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3406
$GC,8929,-0.83,-117.3,673.4,-6.4,268,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3406
$GC,9232,-0.83,-117.3,690.9,-5.7,273,9236,0.00,2.25,0.00,0.000,4,0.000,0.045,1808,895,3406
$GC,9276,-0.83,-117.3,693.9,-6.6,273,9280,0.00,2.25,0.00,0.000,6,0.000,0.041,1807,2301,3406
$GC,9591,-0.83,-117.3,712.5,-5.9,279,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2301,3406
$GC,9894,-0.83,-117.3,732.4,-6.7,284,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2301,3406
$GC,10197,-0.83,-117.3,753.5,-6.9,289,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2301,3406
$GC,10500,-0.83,-117.3,776.3,-7.5,294,10504,0.00,2.25,0.00,0.000,4,0.000,0.048,1808,896,3405
$GC,10544,-0.83,-117.3,780.1,-8.4,294,10548,0.00,2.25,0.00,0.000,6,0.000,0.046,1805,2305,3405
$GC,10865,-0.83,-117.3,805.5,-8.0,300,10869,0.00,2.28,0.00,0.000,4,0.000,0.051,1805,893,3404
$GC,10897,-0.83,-117.3,808.3,-9.0,300,10902,0.10,2.25,0.00,0.000,6,0.137,0.040,1822,2304,3405
$GC,11230,-0.86,-117.3,831.8,-7.0,306,11231,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3405
$GC,11533,-0.90,-117.3,851.8,-6.6,311,11534,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2304,3404
$GC,11837,-0.94,-117.3,870.1,-6.0,316,11842,0.10,2.28,0.00,0.000,4,0.081,0.052,1778,899,3404
$GC,11886,-0.88,-117.3,874.2,-8.5,316,11891,0.15,2.25,0.00,0.000,6,0.137,0.046,1810,2304,3404
$GC,12196,-0.88,-117.3,892.3,-5.7,321,12197,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3404
$GC,12500,-0.88,-117.3,909.2,-5.5,326,12501,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3404
$GC,12802,-0.88,-117.3,925.9,-5.5,331,12806,0.00,2.28,0.00,0.000,4,0.000,0.052,1810,893,3404
$GC,12834,-0.88,-117.3,927.8,-5.5,331,12838,0.00,2.28,0.00,0.000,6,0.000,0.042,1809,2306,3403
$GC,13166,-0.88,-117.3,946.5,-5.7,337,13168,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3403
$GC,13469,-0.88,-117.3,964.4,-5.9,342,13473,0.00,2.28,0.00,0.000,4,0.000,0.052,1809,898,3403
$GC,13503,-0.88,-117.3,966.6,-6.9,342,13507,0.00,2.28,0.00,0.000,6,0.000,0.047,1808,2312,3403
$GC,13829,-0.88,-117.3,986.5,-6.1,348,13830,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2312,3403
$STATE,13887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13888,begin apogee
$GC,13893,-0.22,0.0,990.2,6.1,349,13991,0.45,0.00,95.22,1.314,6,0.120,0.000,1950,2312,2931
$STATE,13992,end apogee,CONTROL_FINISHED_OK
$STATE,13992,begin climb
$GC,13995,0.68,117.3,991.4,0.0,350,14103,0.57,2.53,101.15,1.285,4,0.076,0.057,2151,3706,2451
$GC,14131,0.48,117.3,988.1,7.7,352,14136,0.22,2.38,0.00,0.000,6,0.175,0.038,2110,2313,2447
$GC,14481,0.43,119.4,969.0,5.4,358,14482,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2313,2441
$GC,14783,0.39,127.6,953.0,5.2,363,14794,0.10,0.00,8.25,1.063,6,0.170,0.000,2085,2313,2410
$GC,15087,0.44,165.5,939.8,4.2,368,15126,0.00,2.40,33.58,1.239,4,0.000,0.055,2084,3712,2255
$GC,15151,0.47,193.0,936.9,4.6,369,15181,0.00,2.33,25.17,1.203,6,0.000,0.035,2092,2297,2144
$GC,15514,0.52,201.8,918.1,5.2,375,15524,0.00,0.00,8.27,1.044,6,0.000,0.000,2092,2297,2108
$GC,15818,0.57,213.9,902.4,5.1,380,15837,0.10,2.40,11.88,1.121,4,0.075,0.054,2140,3719,2059
$GC,15854,0.49,213.9,899.6,8.9,380,15859,0.17,2.30,0.00,0.000,6,0.159,0.038,2106,2300,2058
$GC,16181,0.51,213.9,881.2,5.5,386,16185,0.00,2.30,0.00,0.000,4,0.000,0.049,2115,889,2055
$GC,16203,0.55,226.3,879.9,5.1,386,16221,0.00,2.28,12.00,1.113,6,0.000,0.044,2115,2313,2008
$GC,16544,0.55,226.3,859.3,6.1,392,16545,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2313,2003
$GC,16847,0.55,226.3,840.8,6.1,397,16851,0.00,2.28,0.00,0.000,4,0.000,0.051,2116,3710,2003
$GC,16868,0.55,226.3,839.2,6.6,397,16872,0.00,2.25,0.00,0.000,6,0.000,0.038,2125,2300,2002
$GC,17211,0.55,226.3,816.6,6.6,403,17213,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2300,2002
$GC,17515,0.55,226.3,796.6,6.7,408,17519,0.00,2.30,0.00,0.000,4,0.000,0.050,2125,3713,2002
$GC,17542,0.52,226.3,794.3,7.0,408,17547,0.10,2.25,0.00,0.000,6,0.160,0.035,2112,2294,2002
$GC,17874,0.55,226.3,774.4,5.9,414,17878,0.00,2.28,0.00,0.000,4,0.000,0.054,2120,886,2001
$GC,17896,0.58,226.3,772.8,6.1,414,17900,0.00,2.28,0.00,0.000,6,0.000,0.039,2121,2307,2001
$GC,18233,0.58,226.3,750.9,6.5,420,18237,0.00,2.28,0.00,0.000,4,0.000,0.054,2121,3720,2001
$GC,18283,0.55,226.3,747.1,7.8,420,18287,0.00,2.25,0.00,0.000,6,0.000,0.034,2130,2293,2001
$GC,18593,0.52,226.3,724.2,7.4,425,18597,0.00,2.30,0.00,0.000,4,0.000,0.049,2130,3712,2000
$GC,18614,0.48,226.3,722.3,7.6,425,18619,0.15,2.20,0.00,0.000,6,0.146,0.035,2100,2301,2000
$GC,18958,0.54,229.6,703.4,5.4,431,18959,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2301,2001
$GC,19260,0.70,229.6,685.2,6.0,436,19265,0.17,2.28,0.00,0.000,4,0.061,0.049,2176,889,2000
$GC,19393,0.62,229.6,674.9,8.1,438,19397,0.15,2.28,0.00,0.000,6,0.135,0.042,2136,2312,2000
$GC,19758,0.58,229.6,649.6,6.8,444,19762,0.00,2.25,0.00,0.000,4,0.000,0.054,2136,3712,2000
$GC,19797,0.53,229.6,646.4,7.9,444,19801,0.12,2.20,0.00,0.000,6,0.150,0.038,2113,2302,2000
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$STATE,29134,end climb,SURFACE_DEPTH_REACHED
$STATE,29134,begin surface coast
$FINISH,1.2,1.024990
$STATE,29167,end surface coast,CONTROL_FINISHED_OK
$STATE,29167,begin surface
$SM_CCo,29183,3.10,0.354,0,0,1707,300.00
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$IRIDIUM_FIX,4956.40,-14500.20,071298,010147
$TT8_MAMPS,0.028379
$HUMID,1699
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$TCM_TEMP,15.10
$XPDR_PINGS,89
$24V_AH,22.4,41.883
$10V_AH,10.6,34.911
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$DEVICE_SECS,18.625,239.500,359.325,3.100,0.000,55.821,51.115,227.447,22.250,0.000,0.000,11.089,1705.062,24426.826,518.664,2291.887,761.575,33.368,1687.583,0.000,2294.805,0.000,0.529,0.000
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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,44428,756
$CAP_FILE_SIZE,189667,0
$CFSIZE,260165632,236859392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,120909,093431,5015.324,-14502.018,40,1.7,40,18.5