version: 66.04
glider: 144
mission: 15
dive: 331
start: 9 29 109 9 40 19
data:
$ID,144
$MISSION,15
$DIVE,331
$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,-67713.141
$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,32
$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
$GPS1,092846,5004.080,-14510.294,43,1.2,47,18.4
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-56.5
$GPS2,093925,5004.112,-14510.186,15,1.9,15,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.030,-0.165
$KALMAN_X,-52285.3,-313.5,109.2,52948.5,285.8
$KALMAN_Y,16781.4,173.5,207.2,-48410.3,-1064.0
$MHEAD_RNG_PITCHd_Wd,171.8,18824,-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,13,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.10,0.000,2,0.000,0.000,98,2305,2614
$GC,62,-0.68,-117.3,3.7,-4.5,4,96,7.10,2.35,-18.67,0.000,4,0.233,0.064,1840,3708,3412
$GC,194,-0.61,-117.3,20.8,-12.0,15,201,0.12,2.22,0.00,0.000,6,0.131,0.035,1873,2293,3413
$GC,521,-0.64,-117.3,54.6,-9.4,46,525,0.00,2.22,0.00,0.000,4,0.000,0.041,1872,893,3414
$GC,549,-0.67,-117.3,57.0,-8.1,48,555,0.00,2.22,0.00,0.000,6,0.000,0.035,1865,2304,3413
$GC,873,-0.67,-117.3,82.3,-8.0,78,877,0.00,2.22,0.00,0.000,4,0.000,0.041,1865,896,3415
$GC,920,-0.70,-117.3,86.1,-8.4,80,924,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2305,3415
$GC,1246,-0.70,-117.3,114.0,-8.5,96,1250,0.00,2.25,0.00,0.000,4,0.000,0.050,1853,3708,3415
$GC,1286,-0.70,-117.3,117.2,-8.5,98,1290,0.00,2.17,0.00,0.000,6,0.000,0.029,1853,2299,3415
$GC,1620,-0.73,-117.3,141.8,-7.6,114,1624,0.00,2.20,0.00,0.000,4,0.000,0.041,1853,891,3415
$GC,1666,-0.77,-117.3,145.4,-8.2,116,1670,0.00,2.25,0.00,0.000,6,0.000,0.044,1850,2306,3415
$GC,1990,-0.80,-117.3,167.3,-6.4,128,1995,0.08,2.22,0.00,0.000,4,0.081,0.039,1782,896,3414
$GC,2046,-0.71,-117.3,173.0,-11.0,129,2053,0.20,2.25,0.00,0.000,6,0.116,0.038,1851,2305,3414
$GC,2359,-0.75,-117.3,195.5,-7.0,140,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2305,3414
$GC,2665,-0.79,-117.3,216.2,-6.7,150,2667,0.10,0.00,0.00,0.000,6,0.067,0.000,1781,2305,3413
$GC,2972,-0.70,-117.3,247.9,-10.3,160,2977,0.20,2.25,0.00,0.000,4,0.121,0.041,1847,891,3413
$GC,3027,-0.75,-117.3,252.2,-6.6,161,3033,0.00,2.25,0.00,0.000,6,0.000,0.039,1846,2309,3412
$GC,3340,-0.79,-117.3,270.2,-5.8,172,3344,0.00,2.22,0.00,0.000,4,0.000,0.042,1845,898,3412
$GC,3375,-0.83,-117.3,272.4,-6.8,173,3379,0.00,2.22,0.00,0.000,6,0.000,0.045,1837,2304,3412
$GC,3710,-0.86,-117.3,294.7,-7.0,184,3715,0.08,2.28,0.00,0.000,4,0.080,0.049,1758,3719,3411
$GC,3739,-0.77,-117.3,297.4,-10.5,185,3743,0.25,2.20,0.00,0.000,6,0.125,0.037,1833,2301,3411
$GC,4071,-0.79,-117.3,322.0,-7.1,191,4074,0.00,2.22,0.00,0.000,4,0.000,0.049,1832,895,3410
$GC,4110,-0.82,-117.3,325.2,-7.7,191,4114,0.00,2.25,0.00,0.000,6,0.000,0.045,1827,2312,3411
$GC,4436,-0.82,-117.3,349.1,-7.4,197,4440,0.00,2.25,0.00,0.000,4,0.000,0.043,1827,893,3409
$GC,4463,-0.82,-117.3,351.5,-8.1,197,4467,0.00,2.25,0.00,0.000,6,0.000,0.039,1821,2306,3409
$GC,4807,-0.82,-117.3,377.6,-7.6,203,4811,0.00,2.25,0.00,0.000,4,0.000,0.048,1820,895,3409
$GC,4834,-0.82,-117.3,379.9,-8.2,203,4838,0.00,2.22,0.00,0.000,6,0.000,0.038,1811,2308,3409
$GC,5178,-0.82,-117.3,407.9,-8.2,209,5182,0.00,2.25,0.00,0.000,4,0.000,0.046,1811,898,3409
$GC,5228,-0.82,-117.3,412.3,-8.8,209,5232,0.00,2.22,0.00,0.000,6,0.000,0.040,1807,2302,3409
$GC,5538,-0.80,-117.3,437.8,-8.3,214,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2302,3408
$GC,5841,-0.77,-117.3,462.8,-8.2,219,5845,0.10,2.28,0.00,0.000,4,0.139,0.043,1835,892,3408
$GC,5874,-0.81,-117.3,465.5,-7.4,219,5878,0.00,2.28,0.00,0.000,6,0.000,0.045,1834,2310,3408
$GC,6201,-0.86,-117.3,486.9,-6.4,225,6205,0.00,2.28,0.00,0.000,4,0.000,0.045,1834,892,3407
$GC,6242,-0.90,-117.3,489.8,-7.0,225,6246,0.12,2.28,0.00,0.000,6,0.060,0.040,1761,2314,3407
$GC,6563,-0.80,-117.3,520.7,-9.8,231,6567,0.17,2.28,0.00,0.000,4,0.131,0.053,1810,3717,3407
$GC,6601,-0.80,-117.3,523.8,-7.4,231,6605,0.00,2.22,0.00,0.000,6,0.000,0.033,1810,2298,3406
$GC,6922,-0.80,-117.3,544.2,-6.4,237,6926,0.00,2.22,0.00,0.000,4,0.000,0.051,1810,899,3406
$GC,6967,-0.80,-117.3,547.3,-7.2,237,6971,0.00,2.25,0.00,0.000,6,0.000,0.046,1807,2306,3406
$GC,7287,-0.80,-117.3,568.9,-6.8,243,7291,0.00,2.25,0.00,0.000,4,0.000,0.044,1807,899,3406
$GC,7315,-0.80,-117.3,570.9,-7.4,243,7320,0.10,2.25,0.00,0.000,6,0.131,0.047,1826,2313,3406
$GC,7647,-0.84,-117.3,591.5,-6.2,249,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2314,3406
$GC,7950,-0.87,-117.3,612.1,-6.9,254,7954,0.00,2.28,0.00,0.000,4,0.000,0.046,1826,893,3405
$GC,7978,-0.90,-117.3,614.3,-8.1,254,7982,0.00,2.25,0.00,0.000,6,0.000,0.039,1823,2302,3405
$GC,8311,-0.93,-117.3,637.6,-7.0,260,8313,0.10,0.00,0.00,0.000,6,0.065,0.000,1760,2303,3405
$GC,8614,-0.83,-117.3,666.9,-9.8,265,8616,0.20,0.00,0.00,0.000,6,0.127,0.000,1819,2303,3405
$GC,8917,-0.86,-117.3,687.1,-6.5,270,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2303,3405
$GC,9220,-0.89,-117.3,706.8,-6.5,275,9224,0.00,2.28,0.00,0.000,4,0.000,0.049,1820,892,3405
$GC,9254,-0.92,-117.3,709.2,-7.0,275,9258,0.00,2.28,0.00,0.000,6,0.000,0.043,1819,2308,3404
$GC,9580,-0.95,-117.3,730.1,-6.4,281,9585,0.10,2.28,0.00,0.000,4,0.067,0.044,1759,899,3404
$GC,9613,-0.85,-117.3,733.0,-9.9,281,9618,0.20,2.25,0.00,0.000,6,0.130,0.041,1813,2302,3404
$GC,9939,-0.85,-117.3,754.7,-6.5,287,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2302,3404
$GC,10242,-0.85,-117.3,773.2,-6.1,292,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2302,3404
$GC,10546,-0.88,-117.3,791.1,-5.9,297,10550,0.00,2.30,0.00,0.000,4,0.000,0.048,1813,893,3404
$GC,10587,-0.88,-117.3,793.7,-7.2,297,10591,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2304,3404
$GC,10908,-0.88,-117.3,812.7,-5.8,303,10912,0.00,2.30,0.00,0.000,4,0.000,0.054,1801,3717,3404
$GC,10935,-0.88,-117.3,814.5,-6.7,303,10939,0.00,2.22,0.00,0.000,6,0.000,0.037,1801,2307,3403
$GC,11273,-0.88,-117.3,835.3,-6.0,309,11277,0.00,2.30,0.00,0.000,4,0.000,0.051,1800,887,3403
$GC,11317,-0.88,-117.3,838.2,-6.7,309,11321,0.00,2.30,0.00,0.000,6,0.000,0.047,1795,2306,3403
$GC,11639,-0.88,-117.3,858.6,-6.4,315,11640,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3403
$GC,11941,-0.88,-117.3,877.5,-6.2,320,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2307,3403
$GC,12245,-0.88,-117.3,896.3,-6.3,325,12249,0.00,2.30,0.00,0.000,4,0.000,0.048,1794,891,3402
$GC,12289,-0.88,-117.3,899.4,-6.9,325,12293,0.00,2.28,0.00,0.000,6,0.000,0.047,1794,2303,3402
$GC,12606,-0.88,-117.3,919.0,-6.2,331,12607,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3402
$GC,12907,-0.88,-117.3,937.9,-6.2,336,12911,0.00,2.30,0.00,0.000,4,0.000,0.048,1794,893,3402
$GC,12970,-0.88,-117.3,942.1,-6.7,337,12974,0.00,2.28,0.00,0.000,6,0.000,0.043,1791,2314,3402
$GC,13342,-0.86,-117.3,967.6,-7.0,343,13347,0.10,2.30,0.00,0.000,4,0.145,0.054,1817,897,3402
$GC,13386,-0.90,-117.3,970.7,-6.5,343,13390,0.00,2.28,0.00,0.000,6,0.000,0.047,1811,2312,3402
$STATE,13698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13698,begin apogee
$GC,13705,-0.22,0.0,990.5,6.3,349,13803,0.45,0.00,95.70,1.303,6,0.114,0.000,1955,2312,2931
$STATE,13804,end apogee,CONTROL_FINISHED_OK
$STATE,13804,begin climb
$GC,13806,0.68,117.3,992.1,0.0,350,13917,0.55,2.53,101.95,1.275,4,0.074,0.051,2147,3709,2450
$GC,13957,0.49,117.3,989.5,7.4,352,13962,0.22,2.40,0.00,0.000,6,0.161,0.037,2105,2307,2446
$GC,14295,0.49,148.2,974.0,4.5,358,14323,0.00,0.00,26.42,1.220,6,0.000,0.000,2105,2307,2326
$GC,14598,0.49,149.9,957.7,5.4,363,14599,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2307,2320
$GC,14901,0.49,149.9,940.8,5.7,368,14905,0.00,2.33,0.00,0.000,4,0.000,0.058,2104,3712,2318
$GC,14929,0.44,149.9,938.9,6.5,368,14933,0.00,2.28,0.00,0.000,6,0.000,0.038,2113,2297,2317
$GC,15261,0.41,149.9,918.0,6.2,374,15263,0.10,0.00,0.00,0.000,6,0.159,0.000,2089,2297,2317
$GC,15564,0.42,161.2,902.3,5.1,379,15580,0.00,2.33,11.30,1.111,4,0.000,0.056,2089,3710,2272
$GC,15619,0.42,161.2,899.0,5.8,379,15626,0.00,2.25,0.00,0.000,6,0.000,0.035,2098,2301,2271
$GC,15929,0.43,165.8,882.4,5.3,385,15936,0.00,0.00,5.22,0.883,6,0.000,0.000,2097,2301,2255
$GC,16232,0.44,176.6,866.8,5.1,390,16248,0.00,2.33,10.88,1.083,4,0.000,0.054,2097,3714,2211
$GC,16282,0.44,176.6,864.0,6.0,390,16286,0.00,2.28,0.00,0.000,6,0.000,0.035,2108,2294,2210
$GC,16592,0.44,178.6,847.1,5.4,395,16596,0.00,2.33,0.00,0.000,4,0.000,0.051,2108,3713,2208
$GC,16625,0.41,182.1,844.9,5.4,395,16636,0.12,2.25,6.30,0.936,6,0.153,0.040,2086,2300,2188
$GC,16953,0.48,205.5,829.5,4.7,401,16981,0.00,2.38,21.58,1.143,4,0.000,0.051,2095,890,2092
$GC,17000,0.60,241.5,827.1,4.3,401,17040,0.12,2.30,32.78,1.152,6,0.068,0.041,2154,2305,1946
$GC,17386,0.52,241.5,794.4,8.6,408,17391,0.17,2.33,0.00,0.000,4,0.140,0.051,2107,3720,1938
$GC,17436,0.55,241.5,790.6,6.6,408,17440,0.00,2.28,0.00,0.000,6,0.000,0.033,2116,2296,1937
$GC,17746,0.55,241.5,773.2,5.6,413,17747,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2296,1935
$GC,18049,0.55,242.9,756.5,5.5,418,18053,0.00,2.30,0.00,0.000,4,0.000,0.051,2116,3711,1936
$GC,18071,0.55,242.9,755.0,6.0,418,18075,0.00,2.22,0.00,0.000,6,0.000,0.033,2125,2298,1935
$GC,18411,0.55,242.9,732.6,6.7,424,18414,0.00,2.25,0.00,0.000,4,0.000,0.048,2136,896,1934
$GC,18438,0.55,242.9,730.6,7.0,424,18442,0.00,2.25,0.00,0.000,6,0.000,0.044,2136,2305,1934
$GC,18782,0.53,242.9,703.6,8.0,430,18786,0.00,2.25,0.00,0.000,4,0.000,0.050,2136,3709,1934
$GC,18827,0.49,242.9,699.4,9.1,430,18831,0.15,2.20,0.00,0.000,6,0.138,0.035,2105,2303,1934
$GC,19142,0.54,242.9,677.9,6.8,436,19145,0.00,2.25,0.00,0.000,4,0.000,0.055,2114,896,1934
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$STATE,28911,end climb,SURFACE_DEPTH_REACHED
$STATE,28911,begin surface coast
$FINISH,1.2,1.019788
$STATE,28933,end surface coast,CONTROL_FINISHED_OK
$STATE,28935,begin surface
$SM_CCo,29010,0.00,0.000,0,0,1453,362.55
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$TT8_MAMPS,0.029146
$HUMID,1725
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$TCM_TEMP,16.20
$XPDR_PINGS,79
$24V_AH,22.3,48.928
$10V_AH,10.6,41.349
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$DEVICE_SECS,19.675,284.525,414.050,0.000,0.000,49.937,54.651,336.402,19.750,0.000,0.000,18.799,1744.187,24044.289,559.830,2386.841,904.087,33.377,1806.470,0.000,2374.251,0.000,0.529,0.000
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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,44438,747
$CAP_FILE_SIZE,204739,0
$CFSIZE,260165632,232886272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290909,174526,5000.493,-14511.050,59,1.2,59,18.4