version: 66.04
glider: 144
mission: 15
dive: 763
start: 2 22 110 19 1 24
data:
$ID,144
$MISSION,15
$DIVE,763
$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,-77186.984
$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,37
$R_STBD_OVSHOOT,34
$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
$GPS1,185331,4920.115,-13553.833,49,1.1,49,19.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-53.2
$GPS2,190026,4920.132,-13553.893,15,1.6,15,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.167,-0.020
$KALMAN_X,-62372.2,13.8,-199.8,720427.1,306.9
$KALMAN_Y,59619.9,130.7,85.2,-172522.1,317.0
$MHEAD_RNG_PITCHd_Wd,77.5,89457,-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,12,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.62,0.000,2,0.000,0.000,97,2303,2652
$GC,64,-0.68,-117.3,3.7,-5.5,2,91,7.32,0.00,-17.88,0.000,6,0.240,0.000,1847,2302,3412
$GC,397,-0.64,-117.3,42.0,-10.9,18,401,0.00,2.28,0.00,0.000,4,0.000,0.042,1847,890,3414
$GC,426,-0.61,-117.3,45.3,-11.2,19,431,0.12,2.25,0.00,0.000,6,0.130,0.035,1872,2310,3414
$GC,743,-0.61,-117.3,72.4,-10.7,34,747,0.00,2.22,0.00,0.000,4,0.000,0.046,1864,3707,3414
$GC,779,-0.64,-117.3,75.7,-8.6,35,783,0.00,2.17,0.00,0.000,6,0.000,0.028,1864,2297,3414
$GC,1111,-0.64,-117.3,106.8,-10.1,64,1114,0.00,2.22,0.00,0.000,4,0.000,0.040,1863,890,3414
$GC,1238,-0.68,-117.3,117.4,-7.7,75,1242,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2310,3414
$GC,1568,-0.71,-117.3,141.6,-7.6,105,1572,0.00,2.22,0.00,0.000,4,0.000,0.040,1863,900,3414
$GC,1597,-0.76,-117.3,144.1,-8.2,107,1604,0.10,2.22,0.00,0.000,6,0.065,0.037,1787,2305,3414
$GC,1936,-0.67,-117.3,180.0,-10.7,122,1938,0.22,0.00,0.00,0.000,6,0.128,0.000,1854,2304,3414
$GC,2241,-0.72,-117.3,199.1,-5.8,132,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2305,3414
$GC,2547,-0.78,-117.3,218.6,-7.0,142,2549,0.10,0.00,0.00,0.000,6,0.063,0.000,1770,2305,3414
$GC,2854,-0.68,-117.3,256.3,-12.2,152,2858,0.25,2.30,0.00,0.000,4,0.124,0.041,1851,896,3414
$GC,2928,-0.74,-117.3,263.0,-7.8,154,2932,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2301,3414
$GC,3259,-0.79,-117.3,285.3,-6.5,165,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2301,3414
$GC,3565,-0.84,-117.3,304.2,-6.1,174,3567,0.12,0.00,0.00,0.000,6,0.056,0.000,1758,2302,3414
$GC,3867,-0.72,-117.3,337.0,-11.1,179,3872,0.25,2.28,0.00,0.000,4,0.127,0.041,1838,900,3414
$GC,3907,-0.77,-117.3,340.4,-6.5,179,3912,0.00,2.28,0.00,0.000,6,0.000,0.044,1837,2305,3413
$GC,4236,-0.80,-117.3,362.4,-6.8,185,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2306,3413
$GC,4538,-0.84,-117.3,383.5,-7.0,190,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2306,3413
$GC,4841,-0.88,-117.3,403.7,-6.6,195,4846,0.10,2.33,0.00,0.000,4,0.064,0.045,1764,899,3412
$GC,4870,-0.81,-117.3,406.3,-9.5,195,4875,0.25,2.28,0.00,0.000,6,0.125,0.044,1824,2305,3412
$GC,5211,-0.83,-117.3,429.1,-6.5,201,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2305,3412
$GC,5512,-0.83,-117.3,447.6,-6.1,206,5516,0.00,2.33,0.00,0.000,4,0.000,0.048,1824,903,3412
$GC,5577,-0.86,-117.3,451.6,-6.3,207,5581,0.00,2.30,0.00,0.000,6,0.000,0.040,1822,2307,3412
$GC,5944,-0.86,-117.3,474.6,-6.4,213,5948,0.00,2.30,0.00,0.000,4,0.000,0.044,1822,899,3411
$GC,5973,-0.88,-117.3,476.7,-7.2,213,5977,0.00,2.30,0.00,0.000,6,0.000,0.039,1821,2305,3411
$GC,6305,-0.88,-117.3,500.0,-7.1,219,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2304,3411
$GC,6609,-0.88,-117.3,522.1,-7.3,224,6613,0.00,2.35,0.00,0.000,4,0.000,0.044,1821,893,3410
$GC,6638,-0.88,-117.3,524.6,-8.7,224,6642,0.00,2.30,0.00,0.000,6,0.000,0.038,1812,2304,3410
$GC,6971,-0.88,-117.3,549.7,-7.5,230,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2304,3410
$GC,7274,-0.88,-117.3,572.2,-7.4,235,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2304,3410
$GC,7578,-0.88,-117.3,594.0,-7.1,240,7582,0.00,2.33,0.00,0.000,4,0.000,0.048,1812,905,3410
$GC,7619,-0.88,-117.3,597.2,-7.8,240,7623,0.00,2.33,0.00,0.000,6,0.000,0.043,1808,2307,3410
$GC,7941,-0.88,-117.3,620.4,-7.2,246,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3410
$GC,8244,-0.88,-117.3,641.7,-6.9,251,8248,0.00,2.33,0.00,0.000,4,0.000,0.046,1808,902,3409
$GC,8301,-0.88,-117.3,646.0,-7.3,251,8307,0.00,2.30,0.00,0.000,6,0.000,0.046,1807,2311,3409
$GC,8613,-0.88,-117.3,665.9,-6.4,257,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2311,3409
$GC,8915,-0.88,-117.3,685.7,-6.6,262,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2311,3409
$GC,9218,-0.88,-117.3,706.4,-6.9,267,9222,0.00,2.30,0.00,0.000,4,0.000,0.044,1807,904,3409
$GC,9275,-0.88,-117.3,710.6,-7.6,267,9279,0.00,2.28,0.00,0.000,6,0.000,0.046,1798,2306,3409
$GC,9592,-0.88,-117.3,733.3,-7.3,273,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2306,3408
$GC,9895,-0.88,-117.3,754.3,-7.0,278,9896,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2306,3408
$GC,10198,-0.88,-117.3,774.0,-6.5,283,10202,0.00,2.33,0.00,0.000,4,0.000,0.048,1798,903,3408
$GC,10238,-0.88,-117.3,776.8,-6.9,283,10242,0.00,2.33,0.00,0.000,6,0.000,0.041,1795,2313,3408
$GC,10562,-0.86,-117.3,798.5,-6.8,289,10563,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2313,3408
$GC,10863,-0.86,-117.3,821.1,-7.6,294,10867,0.00,2.33,0.00,0.000,4,0.000,0.050,1794,905,3407
$GC,10922,-0.86,-117.3,826.0,-8.5,294,10926,0.00,2.30,0.00,0.000,6,0.000,0.041,1793,2305,3407
$GC,11233,-0.86,-117.3,851.0,-8.0,299,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2305,3407
$GC,11537,-0.86,-117.3,874.5,-7.8,304,11541,0.00,2.33,0.00,0.000,4,0.000,0.046,1793,904,3407
$GC,11577,-0.86,-117.3,877.7,-8.1,304,11582,0.12,2.30,0.00,0.000,6,0.123,0.042,1818,2307,3407
$GC,11899,-0.90,-117.3,896.2,-5.6,310,11900,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2307,3407
$GC,12204,-0.95,-117.3,911.4,-5.0,315,12206,0.10,0.00,0.00,0.000,6,0.074,0.000,1769,2307,3407
$GC,12506,-0.89,-117.3,931.4,-6.7,320,12508,0.15,0.00,0.00,0.000,6,0.127,0.000,1813,2308,3407
$GC,12810,-0.92,-117.3,945.1,-4.4,325,12814,0.00,2.33,0.00,0.000,4,0.000,0.051,1813,899,3406
$GC,12846,-0.95,-117.3,946.9,-5.2,325,12850,0.00,2.30,0.00,0.000,6,0.000,0.043,1810,2306,3406
$GC,13181,-0.97,-117.3,963.6,-5.1,331,13185,0.00,2.35,0.00,0.000,4,0.000,0.048,1810,898,3406
$GC,13210,-0.99,-117.3,965.5,-5.9,331,13215,0.10,2.33,0.00,0.000,6,0.077,0.041,1765,2303,3406
$STATE,13538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13539,begin apogee
$GC,13548,-0.22,0.0,991.3,8.0,337,13649,0.60,0.00,97.95,1.276,6,0.122,0.000,1951,2303,2931
$STATE,13649,end apogee,CONTROL_FINISHED_OK
$STATE,13650,begin climb
$GC,13655,0.68,117.3,993.0,0.0,338,13766,0.55,2.55,103.72,1.247,4,0.073,0.054,2156,915,2451
$GC,13788,0.60,130.9,992.4,5.0,340,13808,0.12,2.42,13.57,1.110,6,0.140,0.046,2128,2302,2397
$GC,14155,0.54,130.9,971.9,5.7,346,14159,0.00,2.33,0.00,0.000,4,0.000,0.057,2128,3720,2389
$GC,14228,0.44,130.9,966.7,7.5,347,14233,0.17,2.22,0.00,0.000,6,0.158,0.034,2091,2311,2387
$GC,14590,0.48,164.0,950.6,4.4,353,14624,0.00,2.40,28.23,1.196,4,0.000,0.054,2100,897,2262
$GC,14639,0.57,204.3,948.4,4.1,353,14683,0.08,2.30,37.05,1.197,6,0.093,0.043,2141,2308,2097
$GC,15028,0.52,204.3,920.2,7.5,360,15033,0.12,2.30,0.00,0.000,4,0.137,0.052,2108,3711,2090
$GC,15058,0.52,204.3,917.6,7.4,360,15062,0.00,2.25,0.00,0.000,6,0.000,0.041,2116,2302,2089
$GC,15391,0.52,204.3,896.4,6.3,366,15392,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2302,2088
$GC,15694,0.52,204.3,878.4,5.8,371,15698,0.00,2.35,0.00,0.000,4,0.000,0.050,2116,3715,2088
$GC,15723,0.52,204.3,876.5,6.7,371,15727,0.00,2.28,0.00,0.000,6,0.000,0.035,2126,2296,2087
$GC,16057,0.52,204.3,856.5,6.0,377,16058,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2296,2087
$GC,16359,0.52,204.3,838.6,5.9,382,16363,0.00,2.33,0.00,0.000,4,0.000,0.050,2126,3710,2086
$GC,16399,0.49,204.3,835.7,7.7,382,16404,0.12,2.25,0.00,0.000,6,0.146,0.038,2104,2299,2086
$GC,16723,0.56,228.4,820.4,4.7,388,16757,0.00,2.38,22.67,1.027,4,0.000,0.054,2113,893,1998
$GC,16776,0.65,252.8,817.6,4.7,388,16806,0.10,2.30,23.62,1.100,6,0.074,0.042,2168,2313,1899
$GC,17158,0.57,252.8,784.3,9.0,395,17163,0.17,2.28,0.00,0.000,4,0.134,0.049,2119,3710,1893
$GC,17210,0.60,252.8,780.0,8.3,395,17214,0.00,2.22,0.00,0.000,6,0.000,0.032,2128,2298,1892
$GC,17521,0.62,252.8,760.4,6.3,400,17525,0.00,2.28,0.00,0.000,4,0.000,0.047,2137,887,1891
$GC,17550,0.66,252.8,758.4,6.3,400,17555,0.00,2.25,0.00,0.000,6,0.000,0.041,2137,2305,1891
$GC,17896,0.66,252.8,736.0,6.5,406,17900,0.00,2.28,0.00,0.000,4,0.000,0.048,2137,3708,1890
$GC,17936,0.66,252.8,732.9,7.4,406,17941,0.00,2.22,0.00,0.000,6,0.000,0.038,2147,2298,1891
$GC,18259,0.63,252.8,709.7,7.2,412,18260,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2298,1890
$GC,18563,0.61,252.8,687.5,7.4,417,18567,0.00,2.30,0.00,0.000,4,0.000,0.054,2147,3707,1890
$GC,18603,0.57,252.8,684.0,8.9,417,18608,0.12,2.20,0.00,0.000,6,0.137,0.032,2124,2302,1890
$GC,18925,0.61,252.8,664.2,6.1,423,18928,0.00,2.28,0.00,0.000,4,0.000,0.047,2132,892,1890
$GC,18960,0.67,252.8,661.9,7.1,423,18964,0.00,2.28,0.00,0.000,6,0.000,0.043,2132,2313,1888
$GC,19294,0.69,252.8,638.9,6.9,429,19298,0.00,2.28,0.00,0.000,4,0.000,0.056,2132,3708,1889
$GC,19334,0.69,252.8,635.7,7.4,429,19339,0.00,2.25,0.00,0.000,6,0.000,0.032,2142,2290,1889
$GC,19656,0.69,252.8,614.0,6.7,435,19658,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2291,1888
$GC,19960,0.69,252.8,594.1,6.6,440,19962,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2291,1888
$GC,20262,0.69,252.8,575.0,6.2,445,20267,0.00,2.35,0.00,0.000,4,0.000,0.048,2142,3714,1888
$GC,20291,0.69,252.8,572.9,7.7,445,20295,0.00,2.22,0.00,0.000,6,0.000,0.032,2152,2300,1888
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$STATE,28845,end climb,SURFACE_DEPTH_REACHED
$STATE,28845,begin surface coast
$FINISH,1.4,1.025331
$STATE,28868,end surface coast,CONTROL_FINISHED_OK
$STATE,28868,begin surface
$SM_CCo,28950,0.00,0.000,0,0,1533,342.93
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$TT8_MAMPS,0.029146
$HUMID,1767
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$TCM_TEMP,14.70
$XPDR_PINGS,65
$24V_AH,21.9,109.919
$10V_AH,10.3,93.400
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$DEVICE_SECS,19.350,223.925,406.250,0.000,0.000,29.419,26.515,173.322,16.250,0.000,0.000,16.730,1668.919,24077.189,528.335,2103.912,974.788,33.387,1668.114,0.000,2087.344,0.000,0.528,0.000
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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,44228,747
$CAP_FILE_SIZE,181800,0
$CFSIZE,260165632,199307264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230210,030507,4920.230,-13547.812,29,1.2,29,19.5