version: 66.04
glider: 144
mission: 15
dive: 321
start: 9 26 109 0 28 9
data:
$ID,144
$MISSION,15
$DIVE,321
$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,-67483.656
$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,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
$GPS1,001814,5010.007,-14452.568,41,2.7,60,18.5
$_CALLS,1
$_XMS_NAKs,41
$_XMS_TOUTs,4
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-54.8
$GPS2,002716,5009.984,-14452.509,11,2.5,30,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.089,0.142
$KALMAN_X,-48773.9,232.8,113.0,69762.6,-1983.6
$KALMAN_Y,17901.5,145.4,15.2,-38426.6,-506.5
$MHEAD_RNG_PITCHd_Wd,309.5,30730,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,49,0.00,0.00,-30.52,0.000,2,0.000,0.000,99,2302,2333
$GC,51,-0.68,-117.3,3.1,-5.5,3,100,7.07,2.33,-35.47,0.000,4,0.232,0.063,1843,894,3412
$GC,198,-0.60,-117.3,14.5,-11.7,16,203,0.12,2.28,0.00,0.000,6,0.143,0.038,1868,2309,3414
$GC,524,-0.56,-117.3,47.3,-10.6,46,528,0.00,2.28,0.00,0.000,4,0.000,0.041,1868,887,3414
$GC,576,-0.61,-117.3,52.4,-9.6,50,580,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2306,3414
$GC,900,-0.61,-117.3,79.9,-8.5,80,904,0.00,2.25,0.00,0.000,4,0.000,0.052,1854,3711,3415
$GC,927,-0.61,-117.3,82.5,-9.3,81,931,0.00,2.20,0.00,0.000,6,0.000,0.029,1853,2291,3415
$GC,1249,-0.61,-117.3,109.7,-8.4,97,1253,0.00,2.20,0.00,0.000,4,0.000,0.041,1853,898,3415
$GC,1304,-0.61,-117.3,114.5,-8.4,99,1308,0.00,2.22,0.00,0.000,6,0.000,0.037,1850,2309,3416
$GC,1626,-0.61,-117.3,140.4,-7.8,115,1630,0.00,2.25,0.00,0.000,4,0.000,0.041,1849,890,3415
$GC,1688,-0.61,-117.3,145.4,-7.8,118,1692,0.00,2.25,0.00,0.000,6,0.000,0.041,1849,2303,3416
$GC,2012,-0.61,-117.3,168.4,-6.8,130,2015,0.00,2.22,0.00,0.000,4,0.000,0.044,1849,901,3415
$GC,2090,-0.64,-117.3,174.0,-7.5,132,2094,0.00,2.22,0.00,0.000,6,0.000,0.042,1849,2303,3415
$GC,2414,-0.67,-117.3,195.7,-6.8,143,2417,0.00,2.25,0.00,0.000,4,0.000,0.054,1840,3708,3414
$GC,2449,-0.70,-117.3,198.1,-7.2,144,2452,0.00,2.17,0.00,0.000,6,0.000,0.035,1840,2302,3414
$GC,2790,-0.70,-117.3,221.0,-6.6,155,2793,0.00,2.22,0.00,0.000,4,0.000,0.042,1840,888,3414
$GC,2846,-0.73,-117.3,225.2,-7.4,156,2850,0.00,2.25,0.00,0.000,6,0.000,0.044,1836,2309,3414
$GC,3158,-0.73,-117.3,247.0,-7.1,166,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2309,3413
$GC,3464,-0.73,-117.3,269.9,-7.4,176,3468,0.00,2.22,0.00,0.000,4,0.000,0.043,1837,893,3413
$GC,3503,-0.75,-117.3,273.1,-7.8,177,3507,0.00,2.22,0.00,0.000,6,0.000,0.041,1836,2304,3413
$GC,3839,-0.75,-117.3,296.1,-6.6,188,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2304,3412
$GC,4142,-0.75,-117.3,315.8,-6.5,194,4146,0.00,2.25,0.00,0.000,4,0.000,0.048,1836,889,3411
$GC,4180,-0.77,-117.3,318.4,-7.1,194,4184,0.00,2.25,0.00,0.000,6,0.000,0.039,1834,2315,3411
$GC,4501,-0.77,-117.3,339.4,-6.5,200,4505,0.00,2.28,0.00,0.000,4,0.000,0.051,1834,888,3411
$GC,4567,-0.80,-117.3,344.1,-7.0,201,4571,0.00,2.25,0.00,0.000,6,0.000,0.041,1825,2309,3411
$GC,4927,-0.80,-117.3,368.5,-6.8,207,4931,0.00,2.25,0.00,0.000,4,0.000,0.046,1825,898,3410
$GC,4990,-0.80,-117.3,373.2,-7.9,208,4994,0.00,2.25,0.00,0.000,6,0.000,0.046,1822,2311,3410
$GC,5355,-0.80,-117.3,399.7,-7.2,214,5359,0.00,2.25,0.00,0.000,4,0.000,0.054,1812,3709,3409
$GC,5388,-0.80,-117.3,402.4,-8.4,214,5391,0.00,2.20,0.00,0.000,6,0.000,0.037,1812,2299,3409
$GC,5720,-0.80,-117.3,428.9,-8.0,220,5724,0.00,2.25,0.00,0.000,4,0.000,0.051,1812,888,3409
$GC,5758,-0.80,-117.3,432.2,-8.7,220,5762,0.00,2.22,0.00,0.000,6,0.000,0.040,1808,2304,3409
$GC,6084,-0.78,-117.3,458.8,-8.2,226,6086,0.10,0.00,0.00,0.000,6,0.140,0.000,1836,2303,3408
$GC,6388,-0.81,-117.3,477.3,-5.9,231,6392,0.00,2.25,0.00,0.000,4,0.000,0.051,1836,894,3408
$GC,6433,-0.86,-117.3,480.3,-6.5,231,6437,0.10,2.25,0.00,0.000,6,0.068,0.046,1772,2314,3408
$GC,6749,-0.78,-117.3,508.9,-9.3,237,6751,0.20,0.00,0.00,0.000,6,0.124,0.000,1831,2315,3408
$GC,7051,-0.81,-117.3,527.4,-6.0,242,7055,0.00,2.28,0.00,0.000,4,0.000,0.047,1831,893,3407
$GC,7118,-0.86,-117.3,531.7,-6.5,243,7122,0.00,2.22,0.00,0.000,6,0.000,0.039,1826,2306,3408
$GC,7483,-0.89,-117.3,554.4,-6.3,249,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2306,3407
$GC,7787,-0.91,-117.3,574.0,-6.5,254,7788,0.10,0.00,0.00,0.000,6,0.068,0.000,1756,2306,3407
$GC,8090,-0.81,-117.3,603.8,-10.0,259,8095,0.20,2.30,0.00,0.000,4,0.127,0.047,1820,889,3406
$GC,8152,-0.81,-117.3,608.9,-7.8,260,8157,0.00,2.28,0.00,0.000,6,0.000,0.043,1812,2313,3406
$GC,8518,-0.81,-117.3,635.6,-7.4,266,8522,0.00,2.28,0.00,0.000,4,0.000,0.045,1812,892,3406
$GC,8573,-0.81,-117.3,640.1,-8.4,266,8579,0.00,2.25,0.00,0.000,6,0.000,0.040,1809,2305,3406
$GC,8883,-0.81,-117.3,663.2,-7.5,272,8887,0.00,2.25,0.00,0.000,4,0.000,0.044,1808,896,3406
$GC,8915,-0.81,-117.3,666.0,-8.2,272,8920,0.00,2.28,0.00,0.000,6,0.000,0.046,1808,2304,3406
$GC,9248,-0.81,-117.3,689.5,-7.0,278,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3406
$GC,9551,-0.81,-117.3,709.3,-6.5,283,9555,0.00,2.28,0.00,0.000,4,0.000,0.050,1807,889,3405
$GC,9579,-0.81,-117.3,711.3,-7.4,283,9583,0.10,2.28,0.00,0.000,6,0.130,0.041,1826,2314,3405
$GC,9911,-0.85,-117.3,729.1,-5.4,289,9915,0.00,2.28,0.00,0.000,4,0.000,0.046,1826,895,3405
$GC,9939,-0.89,-117.3,730.7,-5.9,289,9943,0.00,2.25,0.00,0.000,6,0.000,0.044,1823,2306,3404
$GC,10272,-0.92,-117.3,749.3,-5.6,295,10273,0.10,0.00,0.00,0.000,6,0.068,0.000,1764,2307,3405
$GC,10574,-0.84,-117.3,775.0,-8.6,300,10579,0.17,2.30,0.00,0.000,4,0.124,0.048,1823,890,3404
$GC,10619,-0.88,-117.3,778.2,-6.7,300,10623,0.00,2.28,0.00,0.000,6,0.000,0.041,1823,2305,3404
$GC,10935,-0.92,-117.3,796.4,-5.8,306,10937,0.10,0.00,0.00,0.000,6,0.073,0.000,1768,2306,3404
$GC,11237,-0.85,-117.3,821.4,-8.4,311,11239,0.17,0.00,0.00,0.000,6,0.122,0.000,1820,2306,3404
$GC,11540,-0.89,-117.3,839.8,-5.9,316,11541,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3404
$GC,11843,-0.93,-117.3,857.0,-5.6,321,11848,0.00,2.30,0.00,0.000,4,0.000,0.048,1821,892,3404
$GC,11872,-0.96,-117.3,858.6,-5.9,321,11876,0.12,2.30,0.00,0.000,6,0.068,0.041,1765,2313,3404
$GC,12203,-0.89,-117.3,885.8,-8.3,327,12208,0.15,2.28,0.00,0.000,4,0.133,0.054,1799,3708,3404
$GC,12247,-0.89,-117.3,889.0,-6.7,327,12251,0.00,2.20,0.00,0.000,6,0.000,0.039,1798,2306,3403
$GC,12568,-0.89,-117.3,908.2,-5.9,333,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2306,3403
$GC,12870,-0.89,-117.3,926.7,-6.2,338,12874,0.00,2.30,0.00,0.000,4,0.000,0.053,1799,889,3403
$GC,12914,-0.89,-117.3,929.9,-7.0,338,12918,0.00,2.28,0.00,0.000,6,0.000,0.043,1795,2303,3403
$GC,13235,-0.89,-117.3,951.5,-6.8,344,13236,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3403
$GC,13539,-0.89,-117.3,972.3,-6.8,349,13543,0.00,2.30,0.00,0.000,4,0.000,0.052,1795,892,3403
$GC,13577,-0.89,-117.3,975.4,-7.8,349,13581,0.00,2.30,0.00,0.000,6,0.000,0.043,1794,2306,3403
$STATE,13841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13841,begin apogee
$GC,13847,-0.22,0.0,994.0,7.0,354,13945,0.50,0.00,95.43,1.312,6,0.122,0.000,1952,2307,2931
$STATE,13946,end apogee,CONTROL_FINISHED_OK
$STATE,13946,begin climb
$GC,13949,0.68,117.3,995.6,0.0,355,14059,0.60,2.58,101.62,1.279,4,0.074,0.054,2155,3706,2451
$GC,14083,0.50,117.3,993.8,6.8,357,14090,0.25,2.38,0.00,0.000,6,0.175,0.041,2107,2309,2447
$GC,14393,0.48,141.8,979.2,4.7,363,14419,0.00,2.38,21.10,1.205,4,0.000,0.056,2117,893,2350
$GC,14443,0.46,149.3,976.6,5.2,363,14455,0.00,2.35,7.85,1.027,6,0.000,0.041,2117,2313,2322
$GC,14758,0.42,149.3,959.2,5.6,369,14762,0.12,2.30,0.00,0.000,4,0.146,0.052,2085,3714,2317
$GC,14790,0.42,149.3,957.0,5.8,369,14794,0.00,2.30,0.00,0.000,6,0.000,0.035,2093,2300,2316
$GC,15125,0.44,164.4,941.0,5.0,375,15140,0.00,0.00,13.88,1.157,6,0.000,0.000,2093,2300,2260
$GC,15426,0.45,174.5,925.3,5.2,380,15438,0.00,0.00,9.93,1.094,6,0.000,0.000,2093,2300,2219
$GC,15730,0.48,180.1,909.2,5.3,385,15743,0.00,2.38,6.47,0.979,4,0.000,0.054,2093,3714,2195
$GC,15761,0.50,198.8,907.2,4.9,385,15785,0.00,2.25,17.88,1.166,6,0.000,0.038,2102,2302,2119
$GC,16096,0.50,198.8,888.4,5.6,391,16097,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2302,2115
$GC,16399,0.50,198.8,871.3,5.6,396,16403,0.00,2.30,0.00,0.000,4,0.000,0.055,2103,3712,2114
$GC,16426,0.50,198.8,869.5,6.4,396,16430,0.00,2.25,0.00,0.000,6,0.000,0.037,2113,2297,2113
$GC,16764,0.50,198.8,850.1,5.7,402,16765,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2297,2113
$GC,17067,0.50,198.8,833.2,5.6,407,17071,0.00,2.30,0.00,0.000,4,0.000,0.050,2113,3715,2113
$GC,17094,0.47,198.8,831.4,6.5,407,17098,0.00,2.22,0.00,0.000,6,0.000,0.041,2124,2303,2113
$GC,17427,0.47,198.8,810.5,6.3,413,17431,0.00,2.30,0.00,0.000,4,0.000,0.051,2124,3719,2112
$GC,17454,0.42,198.8,808.5,8.2,413,17459,0.17,2.25,0.00,0.000,6,0.146,0.040,2087,2295,2112
$GC,17786,0.51,221.3,792.7,4.7,419,17812,0.10,2.28,19.92,1.125,4,0.074,0.048,2153,896,2028
$GC,17823,0.46,221.3,790.0,6.5,419,17828,0.20,2.28,0.00,0.000,6,0.132,0.043,2097,2305,2026
$GC,18144,0.51,221.3,771.9,5.6,425,18148,0.00,2.28,0.00,0.000,4,0.000,0.054,2097,3712,2023
$GC,18172,0.55,221.3,770.0,6.6,425,18176,0.00,2.22,0.00,0.000,6,0.000,0.037,2104,2302,2023
$GC,18504,0.59,221.3,750.2,6.0,431,18509,0.08,2.28,0.00,0.000,4,0.083,0.051,2166,885,2022
$GC,18531,0.56,221.3,748.1,7.9,431,18536,0.17,2.28,0.00,0.000,6,0.136,0.042,2118,2313,2022
$GC,18862,0.56,221.3,726.8,6.3,437,18866,0.00,2.25,0.00,0.000,4,0.000,0.053,2118,3710,2022
$GC,18907,0.53,221.3,723.6,8.0,437,18911,0.00,2.22,0.00,0.000,6,0.000,0.036,2126,2297,2021
$GC,19222,0.53,221.3,704.0,6.1,443,19226,0.00,2.25,0.00,0.000,4,0.000,0.048,2137,886,2021
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$STATE,29449,end climb,SURFACE_DEPTH_REACHED
$STATE,29449,begin surface coast
$FINISH,1.5,1.024699
$STATE,29460,end surface coast,CONTROL_FINISHED_OK
$STATE,29460,begin surface
$SM_CCo,29535,0.00,0.000,0,0,1451,362.80
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$IRIDIUM_FIX,4949.70,-14453.88,201298,161634
$TT8_MAMPS,0.029146
$HUMID,1714
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$TCM_TEMP,16.10
$XPDR_PINGS,77
$24V_AH,22.3,47.475
$10V_AH,10.6,40.093
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$DEVICE_SECS,19.250,244.375,415.600,0.000,0.000,25.474,31.711,335.185,19.250,0.000,0.000,32.944,1725.619,24637.348,562.054,2326.593,814.634,33.373,1745.672,0.000,2305.114,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,535.691,618.551,786.637,1307.725,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44289,762
$CAP_FILE_SIZE,194033,0
$CFSIZE,260165632,233672704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260909,084201,5013.182,-14456.585,59,0.9,59,18.5