version: 66.04
glider: 144
mission: 15
dive: 353
start: 10 7 109 1 8 55
data:
$ID,144
$MISSION,15
$DIVE,353
$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,-68163.797
$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,31
$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
$GPS1,010207,4957.437,-14430.724,27,1.4,27,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-65.1
$GPS2,010801,4957.462,-14430.723,14,1.4,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.045,-0.162
$KALMAN_X,-57933.4,18.4,-150.9,105166.7,-603.9
$KALMAN_Y,20540.0,-1.5,21.7,-64114.6,-411.6
$MHEAD_RNG_PITCHd_Wd,145.9,6479,-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,-117.3,0.0,0.0,0,51,0.00,0.00,-31.77,0.000,2,0.000,0.000,98,2310,2459
$GC,54,-0.68,-117.3,3.3,-5.2,3,89,7.10,0.00,-25.00,0.000,6,0.230,0.000,1846,2311,3411
$GC,407,-0.60,-117.3,46.6,-12.9,36,412,0.10,2.28,0.00,0.000,4,0.146,0.041,1874,896,3414
$GC,492,-0.60,-117.3,55.7,-9.2,43,496,0.00,2.25,0.00,0.000,6,0.000,0.037,1866,2316,3414
$GC,828,-0.60,-117.3,82.2,-8.3,73,832,0.00,2.28,0.00,0.000,4,0.000,0.041,1866,889,3415
$GC,919,-0.63,-117.3,90.0,-8.4,77,924,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2311,3415
$GC,1247,-0.63,-117.3,114.6,-7.4,93,1250,0.00,2.25,0.00,0.000,4,0.000,0.041,1862,895,3416
$GC,1280,-0.65,-117.3,117.4,-7.9,94,1284,0.00,2.25,0.00,0.000,6,0.000,0.038,1861,2309,3416
$GC,1596,-0.69,-117.3,140.6,-6.8,109,1600,0.00,2.25,0.00,0.000,4,0.000,0.048,1850,3715,3416
$GC,1623,-0.72,-117.3,142.5,-7.2,110,1627,0.00,2.20,0.00,0.000,6,0.000,0.029,1850,2292,3416
$GC,1944,-0.74,-117.3,162.6,-6.3,123,1947,0.00,2.20,0.00,0.000,4,0.000,0.041,1850,899,3415
$GC,1983,-0.79,-117.3,165.3,-6.7,124,1987,0.00,2.25,0.00,0.000,6,0.000,0.045,1849,2312,3415
$GC,2313,-0.82,-117.3,188.0,-6.9,135,2318,0.10,2.25,0.00,0.000,4,0.065,0.040,1777,900,3415
$GC,2342,-0.75,-117.3,190.8,-10.7,136,2346,0.25,2.22,0.00,0.000,6,0.123,0.038,1842,2306,3415
$GC,2677,-0.78,-117.3,214.5,-6.4,147,2681,0.00,2.25,0.00,0.000,4,0.000,0.042,1843,894,3414
$GC,2710,-0.81,-117.3,216.9,-7.3,148,2714,0.00,2.25,0.00,0.000,6,0.000,0.038,1837,2306,3414
$GC,3040,-0.81,-117.3,240.0,-7.0,159,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2305,3414
$GC,3346,-0.83,-117.3,259.5,-6.2,169,3350,0.00,2.25,0.00,0.000,4,0.000,0.042,1836,893,3413
$GC,3381,-0.85,-117.3,261.6,-6.0,170,3385,0.00,2.28,0.00,0.000,6,0.000,0.039,1836,2312,3413
$GC,3717,-0.85,-117.3,282.5,-6.3,181,3721,0.00,2.25,0.00,0.000,4,0.000,0.042,1836,895,3413
$GC,3746,-0.87,-117.3,284.4,-6.6,182,3750,0.00,2.25,0.00,0.000,6,0.000,0.044,1829,2309,3413
$GC,4111,-0.87,-117.3,308.1,-6.4,192,4115,0.00,2.22,0.00,0.000,4,0.000,0.043,1829,900,3412
$GC,4162,-0.87,-117.3,311.7,-6.8,192,4166,0.00,2.22,0.00,0.000,6,0.000,0.041,1822,2303,3412
$GC,4477,-0.87,-117.3,334.0,-7.1,198,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3412
$GC,4780,-0.87,-117.3,356.2,-7.3,203,4784,0.00,2.22,0.00,0.000,4,0.000,0.048,1822,902,3411
$GC,4825,-0.87,-117.3,359.7,-7.6,203,4829,0.00,2.22,0.00,0.000,6,0.000,0.041,1813,2305,3411
$GC,5146,-0.87,-117.3,384.7,-7.9,209,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2305,3410
$GC,5448,-0.87,-117.3,410.0,-8.3,214,5452,0.00,2.25,0.00,0.000,4,0.000,0.049,1813,894,3410
$GC,5487,-0.87,-117.3,413.5,-9.2,214,5491,0.00,2.25,0.00,0.000,6,0.000,0.044,1808,2308,3410
$GC,5813,-0.87,-117.3,439.6,-8.0,220,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3410
$GC,6117,-0.87,-117.3,462.1,-7.4,225,6121,0.00,2.25,0.00,0.000,4,0.000,0.047,1808,896,3409
$GC,6166,-0.87,-117.3,466.1,-7.6,225,6170,0.00,2.28,0.00,0.000,6,0.000,0.039,1799,2314,3409
$GC,6482,-0.84,-117.3,490.2,-7.7,231,6486,0.00,2.28,0.00,0.000,4,0.000,0.050,1799,893,3409
$GC,6546,-0.82,-117.3,495.4,-8.5,232,6551,0.12,2.25,0.00,0.000,6,0.130,0.048,1829,2305,3409
$GC,6912,-0.85,-117.3,519.9,-6.7,238,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2305,3408
$GC,7215,-0.89,-117.3,540.5,-6.8,243,7219,0.10,2.25,0.00,0.000,4,0.067,0.051,1767,899,3408
$GC,7293,-0.80,-117.3,548.4,-10.8,244,7298,0.22,2.22,0.00,0.000,6,0.120,0.040,1824,2305,3408
$GC,7647,-0.83,-117.3,573.4,-6.9,250,7651,0.00,2.25,0.00,0.000,4,0.000,0.051,1824,902,3408
$GC,7692,-0.86,-117.3,576.7,-7.8,250,7696,0.00,2.25,0.00,0.000,6,0.000,0.041,1822,2306,3408
$GC,8008,-0.89,-117.3,597.3,-6.5,256,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2306,3408
$GC,8310,-0.91,-117.3,615.9,-6.2,261,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2306,3407
$GC,8613,-0.94,-117.3,633.5,-5.7,266,8618,0.10,2.25,0.00,0.000,4,0.067,0.050,1760,903,3407
$GC,8676,-0.84,-117.3,638.7,-9.3,267,8681,0.22,2.25,0.00,0.000,6,0.125,0.045,1821,2305,3407
$GC,9042,-0.87,-117.3,658.4,-5.2,273,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3407
$GC,9345,-0.90,-117.3,674.8,-5.4,278,9349,0.00,2.28,0.00,0.000,4,0.000,0.052,1821,899,3407
$GC,9379,-0.94,-117.3,676.9,-6.8,278,9383,0.10,2.25,0.00,0.000,6,0.069,0.047,1761,2308,3407
$GC,9711,-0.85,-117.3,705.4,-8.8,284,9713,0.20,0.00,0.00,0.000,6,0.125,0.000,1821,2308,3407
$GC,10013,-0.88,-117.3,723.3,-5.8,289,10018,0.00,2.28,0.00,0.000,4,0.000,0.046,1822,899,3406
$GC,10042,-0.92,-117.3,725.2,-6.7,289,10046,0.00,2.28,0.00,0.000,6,0.000,0.043,1822,2313,3407
$GC,10375,-0.95,-117.3,744.9,-6.0,295,10377,0.10,0.00,0.00,0.000,6,0.068,0.000,1760,2313,3406
$GC,10677,-0.87,-117.3,771.7,-9.0,300,10682,0.17,2.30,0.00,0.000,4,0.127,0.045,1818,893,3406
$GC,10721,-0.91,-117.3,775.0,-6.1,300,10725,0.00,2.28,0.00,0.000,6,0.000,0.041,1810,2307,3406
$GC,11036,-0.91,-117.3,794.7,-6.3,306,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2307,3406
$GC,11339,-0.91,-117.3,814.3,-6.5,311,11340,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2307,3405
$GC,11642,-0.91,-117.3,833.6,-6.3,316,11646,0.00,2.28,0.00,0.000,4,0.000,0.053,1810,903,3405
$GC,11680,-0.91,-117.3,836.4,-6.2,316,11684,0.00,2.28,0.00,0.000,6,0.000,0.042,1808,2309,3405
$GC,12007,-0.91,-117.3,858.1,-6.6,322,12011,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,893,3406
$GC,12035,-0.91,-117.3,860.1,-7.1,322,12038,0.00,2.30,0.00,0.000,6,0.000,0.044,1806,2312,3405
$GC,12372,-0.91,-117.3,882.8,-6.8,328,12374,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2312,3406
$GC,12676,-0.91,-117.3,903.4,-6.8,333,12677,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2312,3405
$GC,12979,-0.91,-117.3,923.7,-6.6,338,12984,0.00,2.30,0.00,0.000,4,0.000,0.051,1806,897,3405
$GC,13024,-0.91,-117.3,927.0,-7.1,338,13028,0.00,2.28,0.00,0.000,6,0.000,0.041,1796,2310,3405
$GC,13338,-0.91,-117.3,949.0,-7.0,344,13340,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2311,3405
$GC,13642,-0.91,-117.3,970.7,-7.1,349,13646,0.00,2.33,0.00,0.000,4,0.000,0.051,1796,894,3405
$GC,13697,-0.91,-117.3,974.9,-7.5,349,13704,0.00,2.28,0.00,0.000,6,0.000,0.044,1794,2302,3405
$STATE,13943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13944,begin apogee
$GC,13949,-0.22,0.0,992.0,6.9,354,14049,0.50,0.00,96.55,1.303,6,0.120,0.000,1953,2303,2931
$STATE,14050,end apogee,CONTROL_FINISHED_OK
$STATE,14050,begin climb
$GC,14052,0.68,117.3,993.3,0.0,355,14161,0.60,2.58,102.28,1.276,4,0.073,0.055,2156,3713,2451
$GC,14181,0.53,117.3,991.3,5.8,357,14186,0.22,2.42,0.00,0.000,6,0.172,0.035,2116,2312,2447
$GC,14491,0.48,124.8,974.7,5.2,362,14499,0.00,0.00,6.12,0.959,6,0.000,0.000,2116,2312,2422
$GC,14795,0.43,133.1,958.9,5.2,367,14806,0.00,0.00,8.75,1.069,6,0.000,0.000,2116,2312,2388
$GC,15098,0.40,137.4,942.7,5.4,372,15105,0.12,0.00,5.12,0.884,6,0.158,0.000,2082,2311,2371
$GC,15400,0.46,170.1,929.3,4.4,377,15432,0.00,0.00,29.90,1.220,6,0.000,0.000,2082,2312,2237
$GC,15703,0.57,170.1,912.5,5.7,382,15708,0.15,2.35,0.00,0.000,4,0.064,0.055,2144,3720,2231
$GC,15839,0.45,170.1,901.0,9.5,384,15844,0.22,2.28,0.00,0.000,6,0.151,0.038,2095,2300,2230
$GC,16205,0.48,176.0,881.1,5.3,390,16213,0.00,0.00,5.55,0.908,6,0.000,0.000,2094,2299,2213
$GC,16509,0.51,176.0,863.6,5.8,395,16513,0.00,2.33,0.00,0.000,4,0.000,0.055,2094,3723,2212
$GC,16530,0.51,176.0,862.1,6.4,395,16534,0.00,2.28,0.00,0.000,6,0.000,0.034,2103,2294,2211
$GC,16874,0.51,176.0,840.3,6.4,401,16878,0.00,2.33,0.00,0.000,4,0.000,0.050,2103,3722,2211
$GC,16907,0.48,176.0,837.8,7.7,401,16911,0.00,2.25,0.00,0.000,6,0.000,0.037,2114,2297,2211
$GC,17233,0.48,176.0,815.8,6.7,407,17237,0.00,2.30,0.00,0.000,4,0.000,0.051,2113,3716,2211
$GC,17272,0.43,176.0,812.6,8.7,407,17277,0.12,2.22,0.00,0.000,6,0.154,0.036,2092,2301,2210
$GC,17593,0.46,176.0,794.4,5.6,413,17595,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2302,2210
$GC,17897,0.51,189.4,778.9,5.0,418,17912,0.00,0.00,12.98,1.066,6,0.000,0.000,2092,2302,2158
$GC,18199,0.60,222.1,765.3,4.4,423,18235,0.12,2.38,29.67,1.119,4,0.059,0.056,2154,3718,2024
$GC,18252,0.51,222.1,761.6,6.9,423,18259,0.20,2.30,0.00,0.000,6,0.144,0.035,2112,2298,2023
$GC,18563,0.56,244.5,746.4,4.7,429,18588,0.00,2.33,20.20,1.078,4,0.000,0.052,2122,889,1933
$GC,18610,0.65,269.0,743.9,4.7,429,18640,0.00,2.33,23.08,1.075,6,0.000,0.039,2121,2306,1833
$GC,18992,0.69,269.0,723.2,5.5,436,18997,0.10,2.30,0.00,0.000,4,0.069,0.048,2184,3718,1826
$GC,19019,0.61,269.0,720.6,9.6,436,19024,0.25,2.25,0.00,0.000,6,0.147,0.033,2129,2300,1826
$GC,19357,0.61,269.0,697.7,6.6,442,19358,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2300,1825
$GC,19659,0.61,269.0,677.7,6.6,447,19663,0.00,2.30,0.00,0.000,4,0.000,0.051,2129,3710,1824
$GC,19681,0.61,269.0,676.0,7.0,447,19685,0.00,2.22,0.00,0.000,6,0.000,0.033,2137,2301,1824
$GC,20025,0.61,269.0,651.3,7.3,453,20026,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2301,1824
$GC,20328,0.61,269.0,629.2,7.3,458,20332,0.00,2.30,0.00,0.000,4,0.000,0.052,2137,3719,1824
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$STATE,29461,end climb,SURFACE_DEPTH_REACHED
$STATE,29461,begin surface coast
$FINISH,1.2,1.023395
$STATE,29503,end surface coast,CONTROL_FINISHED_OK
$STATE,29503,begin surface
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$HUMID,1704
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$TCM_TEMP,16.90
$XPDR_PINGS,56
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$10V_AH,10.6,44.144
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$DEVICE_SECS,18.975,235.025,379.975,0.000,0.000,31.326,27.955,160.922,14.000,0.000,0.000,15.905,1751.388,24650.363,526.885,2332.783,660.014,33.376,1692.974,0.000,2322.192,0.000,0.528,0.000
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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,47392,782
$CAP_FILE_SIZE,189071,0
$CFSIZE,260165632,231202816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,071009,092307,4954.396,-14429.390,34,1.1,34,18.5