version: 66.04
glider: 144
mission: 15
dive: 333
start: 9 30 109 2 12 28
data:
$ID,144
$MISSION,15
$DIVE,333
$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,-67749.039
$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,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
$GPS1,015731,4957.594,-14510.715,41,1.4,41,18.4
$_CALLS,3
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-57.6
$GPS2,021132,4957.556,-14510.577,16,1.2,16,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.041,-0.163
$KALMAN_X,-51888.4,137.7,101.1,51638.2,-0.7
$KALMAN_Y,16847.4,233.5,0.5,-60467.0,-233.2
$MHEAD_RNG_PITCHd_Wd,175.9,6765,-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,13,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.50,0.000,2,0.000,0.000,100,2296,2552
$GC,62,-0.68,-117.3,3.1,-3.4,4,97,7.22,2.38,-21.88,0.000,4,0.242,0.063,1837,3712,3412
$GC,166,-0.60,-117.3,16.5,-13.4,13,171,0.12,2.25,0.00,0.000,6,0.127,0.036,1870,2291,3413
$GC,491,-0.60,-117.3,50.1,-9.0,43,495,0.00,2.22,0.00,0.000,4,0.000,0.041,1871,888,3413
$GC,542,-0.65,-117.3,54.0,-7.2,47,546,0.00,2.22,0.00,0.000,6,0.000,0.036,1864,2304,3413
$GC,868,-0.65,-117.3,80.5,-8.6,77,871,0.00,2.22,0.00,0.000,4,0.000,0.041,1863,892,3414
$GC,929,-0.65,-117.3,86.0,-9.0,79,935,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2299,3415
$GC,1245,-0.65,-117.3,111.9,-7.7,95,1248,0.00,2.22,0.00,0.000,4,0.000,0.041,1862,890,3414
$GC,1269,-0.69,-117.3,113.7,-7.6,96,1273,0.00,2.25,0.00,0.000,6,0.000,0.042,1862,2318,3415
$GC,1601,-0.72,-117.3,136.8,-6.8,112,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2318,3414
$GC,1930,-0.77,-117.3,159.2,-7.0,126,1934,0.10,2.28,0.00,0.000,4,0.065,0.041,1792,890,3414
$GC,2053,-0.70,-117.3,173.0,-11.5,129,2060,0.22,2.22,0.00,0.000,6,0.118,0.037,1849,2303,3413
$GC,2366,-0.74,-117.3,196.4,-7.0,140,2370,0.00,2.20,0.00,0.000,4,0.000,0.041,1849,896,3413
$GC,2400,-0.78,-117.3,198.8,-7.2,141,2404,0.00,2.20,0.00,0.000,6,0.000,0.038,1849,2303,3413
$GC,2741,-0.82,-117.3,220.6,-6.5,152,2743,0.10,0.00,0.00,0.000,6,0.066,0.000,1780,2304,3412
$GC,3047,-0.73,-117.3,251.3,-10.2,162,3051,0.17,2.22,0.00,0.000,4,0.123,0.042,1836,898,3411
$GC,3102,-0.76,-117.3,255.9,-7.7,163,3107,0.00,2.22,0.00,0.000,6,0.000,0.046,1836,2302,3411
$GC,3415,-0.76,-117.3,276.8,-6.5,173,3418,0.00,2.22,0.00,0.000,4,0.000,0.048,1836,897,3411
$GC,3442,-0.76,-117.3,278.8,-7.3,173,3449,0.00,2.22,0.00,0.000,6,0.000,0.038,1828,2294,3411
$GC,3755,-0.76,-117.3,300.5,-7.0,184,3758,0.00,2.25,0.00,0.000,4,0.000,0.047,1828,892,3410
$GC,3788,-0.76,-117.3,303.1,-7.5,184,3792,0.00,2.25,0.00,0.000,6,0.000,0.041,1822,2302,3409
$GC,4120,-0.76,-117.3,327.3,-7.3,190,4124,0.00,2.25,0.00,0.000,4,0.000,0.049,1822,894,3409
$GC,4164,-0.76,-117.3,330.8,-7.4,190,4168,0.00,2.25,0.00,0.000,6,0.000,0.044,1814,2311,3409
$GC,4485,-0.76,-117.3,355.6,-7.7,196,4489,0.00,2.25,0.00,0.000,4,0.000,0.047,1814,897,3408
$GC,4540,-0.76,-117.3,360.3,-8.6,196,4548,0.08,2.25,0.00,0.000,6,0.122,0.041,1835,2293,3408
$GC,4850,-0.80,-117.3,380.7,-6.5,202,4854,0.00,2.22,0.00,0.000,4,0.000,0.044,1834,899,3408
$GC,4884,-0.83,-117.3,383.1,-7.2,202,4888,0.00,2.25,0.00,0.000,6,0.000,0.047,1835,2305,3408
$GC,5216,-0.86,-117.3,404.3,-6.4,208,5221,0.08,2.25,0.00,0.000,4,0.081,0.047,1778,896,3407
$GC,5260,-0.78,-117.3,408.4,-10.6,208,5265,0.22,2.25,0.00,0.000,6,0.123,0.044,1835,2312,3407
$GC,5575,-0.82,-117.3,429.8,-6.7,214,5579,0.00,2.25,0.00,0.000,4,0.000,0.044,1835,898,3407
$GC,5615,-0.86,-117.3,432.8,-7.8,214,5619,0.10,2.25,0.00,0.000,6,0.067,0.041,1769,2309,3407
$GC,5935,-0.77,-117.3,466.2,-10.6,220,5937,0.22,0.00,0.00,0.000,6,0.122,0.000,1837,2309,3406
$GC,6238,-0.82,-117.3,485.4,-6.0,225,6242,0.00,2.28,0.00,0.000,4,0.000,0.044,1837,889,3406
$GC,6267,-0.87,-117.3,487.4,-7.0,225,6271,0.10,2.28,0.00,0.000,6,0.067,0.040,1773,2312,3406
$GC,6599,-0.79,-117.3,518.8,-9.6,231,6601,0.20,0.00,0.00,0.000,6,0.121,0.000,1834,2312,3406
$GC,6902,-0.84,-117.3,538.6,-6.4,236,6906,0.00,2.28,0.00,0.000,4,0.000,0.049,1834,893,3405
$GC,6930,-0.88,-117.3,540.5,-7.2,236,6934,0.10,2.28,0.00,0.000,6,0.067,0.041,1771,2311,3405
$GC,7262,-0.81,-117.3,572.4,-9.8,242,7267,0.20,2.28,0.00,0.000,4,0.123,0.049,1836,891,3405
$GC,7306,-0.87,-117.3,576.0,-7.2,242,7311,0.10,2.28,0.00,0.000,6,0.068,0.045,1771,2314,3405
$GC,7622,-0.79,-117.3,606.1,-9.7,248,7624,0.20,0.00,0.00,0.000,6,0.121,0.000,1831,2314,3404
$GC,7924,-0.84,-117.3,625.8,-6.3,253,7928,0.00,2.28,0.00,0.000,4,0.000,0.046,1831,896,3404
$GC,7945,-0.88,-117.3,627.3,-6.8,253,7949,0.00,2.25,0.00,0.000,6,0.000,0.039,1825,2311,3404
$GC,8289,-0.91,-117.3,649.4,-6.4,259,8291,0.08,0.00,0.00,0.000,6,0.081,0.000,1764,2312,3404
$GC,8593,-0.82,-117.3,677.9,-9.6,264,8597,0.20,2.30,0.00,0.000,4,0.124,0.044,1830,893,3404
$GC,8636,-0.88,-117.3,681.4,-6.9,264,8641,0.00,2.28,0.00,0.000,6,0.000,0.044,1823,2310,3403
$GC,8952,-0.91,-117.3,702.6,-6.8,270,8956,0.00,2.28,0.00,0.000,4,0.000,0.051,1823,893,3403
$GC,8981,-0.94,-117.3,704.9,-7.7,270,8985,0.10,2.28,0.00,0.000,6,0.071,0.044,1762,2311,3403
$GC,9312,-0.85,-117.3,736.7,-9.7,276,9314,0.17,0.00,0.00,0.000,6,0.128,0.000,1814,2311,3403
$GC,9616,-0.87,-117.3,756.5,-6.4,281,9620,0.00,2.28,0.00,0.000,4,0.000,0.045,1814,896,3403
$GC,9656,-0.89,-117.3,759.2,-6.9,281,9661,0.00,2.25,0.00,0.000,6,0.000,0.041,1810,2302,3402
$GC,9977,-0.89,-117.3,780.3,-6.6,287,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2302,3402
$GC,10280,-0.89,-117.3,799.4,-6.3,292,10284,0.00,2.28,0.00,0.000,4,0.000,0.045,1809,895,3402
$GC,10323,-0.89,-117.3,802.3,-6.9,292,10327,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2305,3402
$GC,10645,-0.89,-117.3,822.0,-6.1,298,10646,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3402
$GC,10948,-0.89,-117.3,840.1,-5.9,303,10952,0.00,2.28,0.00,0.000,4,0.000,0.046,1808,896,3401
$GC,10986,-0.89,-117.3,842.6,-6.3,303,10990,0.00,2.28,0.00,0.000,6,0.000,0.045,1805,2306,3402
$GC,11313,-0.89,-117.3,862.5,-6.1,309,11317,0.00,2.28,0.00,0.000,4,0.000,0.050,1805,897,3401
$GC,11352,-0.89,-117.3,865.3,-7.1,309,11356,0.00,2.25,0.00,0.000,6,0.000,0.041,1795,2306,3401
$GC,11672,-0.89,-117.3,886.7,-6.7,315,11673,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2307,3401
$GC,11975,-0.89,-117.3,907.6,-6.9,320,11979,0.00,2.28,0.00,0.000,4,0.000,0.054,1795,900,3401
$GC,12025,-0.89,-117.3,911.4,-7.3,320,12029,0.00,2.25,0.00,0.000,6,0.000,0.042,1794,2303,3401
$GC,12341,-0.89,-117.3,933.9,-7.2,326,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3401
$GC,12643,-0.89,-117.3,956.1,-7.4,331,12647,0.00,2.28,0.00,0.000,4,0.000,0.051,1794,899,3401
$GC,12693,-0.89,-117.3,960.2,-7.7,331,12697,0.00,2.28,0.00,0.000,6,0.000,0.045,1791,2308,3401
$GC,13008,-0.89,-117.3,984.4,-7.8,337,13010,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,2308,3401
$STATE,13127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13127,begin apogee
$GC,13134,-0.22,0.0,993.6,7.6,339,13232,0.52,0.00,95.25,1.306,6,0.120,0.000,1957,2309,2931
$STATE,13232,end apogee,CONTROL_FINISHED_OK
$STATE,13232,begin climb
$GC,13235,0.68,117.3,995.2,0.0,340,13345,0.57,2.58,101.82,1.279,4,0.072,0.056,2153,3706,2451
$GC,13377,0.48,117.3,993.0,6.4,343,13382,0.25,2.40,0.00,0.000,6,0.166,0.034,2104,2312,2447
$GC,13743,0.47,141.5,975.6,4.7,349,13766,0.00,0.00,20.65,1.203,6,0.000,0.000,2104,2313,2354
$GC,14046,0.47,158.0,960.7,4.9,354,14063,0.00,0.00,15.27,1.168,6,0.000,0.000,2104,2312,2286
$GC,14350,0.50,176.3,945.9,4.9,359,14368,0.00,0.00,17.00,1.175,6,0.000,0.000,2104,2312,2212
$GC,14652,0.51,184.5,930.4,5.2,364,14662,0.00,0.00,8.18,1.043,6,0.000,0.000,2104,2312,2178
$GC,14955,0.52,192.5,914.5,5.2,369,14969,0.00,2.33,8.38,1.045,4,0.000,0.056,2104,3704,2145
$GC,14986,0.55,216.0,912.5,4.7,369,15018,0.00,2.28,22.40,1.182,6,0.000,0.037,2112,2293,2049
$GC,15322,0.55,216.0,892.8,5.9,375,15323,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2293,2044
$GC,15624,0.55,216.0,874.6,6.1,380,15628,0.00,2.33,0.00,0.000,4,0.000,0.058,2113,3710,2043
$GC,15656,0.55,216.0,872.3,6.8,380,15660,0.00,2.25,0.00,0.000,6,0.000,0.035,2123,2300,2043
$GC,15988,0.55,216.0,849.6,6.9,386,15990,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2300,2043
$GC,16292,0.52,216.0,828.5,7.0,391,16296,0.00,2.30,0.00,0.000,4,0.000,0.051,2122,3715,2042
$GC,16326,0.49,216.0,825.7,8.6,391,16330,0.12,2.25,0.00,0.000,6,0.147,0.038,2100,2299,2041
$GC,16652,0.53,216.0,807.0,5.6,397,16655,0.00,2.28,0.00,0.000,4,0.000,0.053,2109,887,2041
$GC,16686,0.59,216.0,804.9,6.2,397,16690,0.00,2.25,0.00,0.000,6,0.000,0.039,2109,2306,2040
$GC,17018,0.61,216.0,784.9,6.0,403,17023,0.08,2.28,0.00,0.000,4,0.087,0.051,2160,3719,2040
$GC,17056,0.49,216.0,781.4,9.3,403,17061,0.25,2.22,0.00,0.000,6,0.146,0.039,2101,2303,2041
$GC,17378,0.54,217.3,763.1,5.5,409,17381,0.00,2.25,0.00,0.000,4,0.000,0.048,2110,894,2040
$GC,17400,0.59,217.3,761.7,5.7,409,17404,0.00,2.25,0.00,0.000,6,0.000,0.041,2110,2312,2040
$GC,17744,0.62,219.9,743.0,5.4,415,17748,0.08,2.25,0.00,0.000,4,0.085,0.055,2165,3713,2040
$GC,17788,0.49,219.9,739.2,9.1,415,17793,0.25,2.22,0.00,0.000,6,0.145,0.034,2105,2290,2040
$GC,18104,0.56,244.4,723.6,4.7,421,18133,0.00,2.28,24.27,1.089,4,0.000,0.054,2114,896,1933
$GC,18156,0.66,271.9,720.9,4.6,421,18187,0.10,2.28,25.52,1.074,6,0.072,0.038,2170,2315,1822
$GC,18534,0.58,271.9,688.4,9.0,428,18539,0.17,2.28,0.00,0.000,4,0.138,0.054,2115,3713,1814
$GC,18589,0.61,271.9,683.9,7.6,428,18596,0.00,2.22,0.00,0.000,6,0.000,0.033,2122,2302,1814
$GC,18900,0.64,271.9,665.5,5.9,434,18901,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2301,1813
$GC,19202,0.67,271.9,646.5,6.3,439,19206,0.00,2.28,0.00,0.000,4,0.000,0.050,2123,3708,1812
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$GC,27855,1.10,325.2,45.8,5.3,690,27868,0.17,2.30,7.35,0.574,4,0.055,0.044,2269,886,1604
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$STATE,28428,end climb,SURFACE_DEPTH_REACHED
$STATE,28428,begin surface coast
$FINISH,1.1,1.024792
$STATE,28451,end surface coast,CONTROL_FINISHED_OK
$STATE,28451,begin surface
$SM_CCo,28526,0.00,0.000,0,0,1599,326.74
$SM_GC,1.77,5.57,0.00,0.00,0.041,0.000,0.000,99,2300,1599,-8.61,-0.08,326.74
$IRIDIUM_FIX,4939.69,-14510.89,251298,020250
$TT8_MAMPS,0.028379
$HUMID,1710
$INTERNAL_PRESSURE,7.43193
$TCM_TEMP,14.80
$XPDR_PINGS,71
$24V_AH,22.3,49.233
$10V_AH,10.6,41.609
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$DEVICE_SECS,20.250,243.900,388.200,0.000,0.000,84.887,130.186,361.257,17.750,0.000,0.000,17.537,1695.252,23845.047,547.117,2246.887,1021.975,33.388,1696.668,0.000,2242.508,0.000,0.530,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,523.308,602.119,770.094,1276.916,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44382,744
$CAP_FILE_SIZE,195532,0
$CFSIZE,260165632,232730624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,300909,100910,4954.094,-14511.902,33,1.3,37,18.4