version: 66.04
glider: 144
mission: 15
dive: 771
start: 2 25 110 11 56 34
data:
$ID,144
$MISSION,15
$DIVE,771
$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,-77309.312
$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,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
$GPS1,114638,4915.921,-13510.627,36,1.3,37,19.6
$_CALLS,1
$_XMS_NAKs,30
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-58.3
$GPS2,115538,4915.982,-13510.553,13,1.2,13,19.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.160,-0.051
$KALMAN_X,-57181.7,-67.6,9.4,766335.0,613.8
$KALMAN_Y,67073.6,-75.7,-309.8,-187055.0,2178.0
$MHEAD_RNG_PITCHd_Wd,88.2,36958,-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,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-39.83,0.000,2,0.000,0.000,97,2292,2602
$GC,64,-0.68,-117.3,3.6,-5.8,2,98,7.28,2.42,-20.33,0.000,4,0.236,0.061,1841,3704,3413
$GC,265,-0.65,-117.3,25.8,-10.4,11,269,0.00,2.20,0.00,0.000,6,0.000,0.029,1840,2301,3414
$GC,594,-0.60,-117.3,59.9,-10.6,27,599,0.12,2.25,0.00,0.000,4,0.130,0.039,1875,897,3414
$GC,659,-0.66,-117.3,66.4,-9.4,30,663,0.00,2.25,0.00,0.000,6,0.000,0.038,1875,2311,3415
$GC,983,-0.69,-117.3,95.1,-9.3,53,990,0.10,0.00,0.00,0.000,6,0.063,0.000,1795,2311,3415
$GC,1314,-0.60,-117.3,133.5,-11.5,84,1319,0.20,2.33,0.00,0.000,4,0.123,0.039,1862,898,3415
$GC,1380,-0.66,-117.3,139.7,-8.0,89,1385,0.00,2.28,0.00,0.000,6,0.000,0.038,1862,2305,3415
$GC,1701,-0.72,-117.3,159.9,-6.1,109,1705,0.00,2.33,0.00,0.000,4,0.000,0.049,1853,3714,3415
$GC,1754,-0.79,-117.3,163.6,-6.6,110,1759,0.10,2.20,0.00,0.000,6,0.062,0.028,1779,2300,3414
$GC,2074,-0.69,-117.3,197.6,-11.1,121,2079,0.20,2.28,0.00,0.000,4,0.120,0.040,1845,889,3415
$GC,2165,-0.74,-117.3,205.0,-8.0,123,2171,0.00,2.28,0.00,0.000,6,0.000,0.039,1838,2313,3415
$GC,2480,-0.77,-117.3,226.4,-6.6,134,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2313,3415
$GC,2786,-0.79,-117.3,247.0,-6.7,144,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2313,3415
$GC,3092,-0.82,-117.3,266.8,-6.4,154,3096,0.00,2.30,0.00,0.000,4,0.000,0.044,1838,899,3415
$GC,3132,-0.86,-117.3,269.9,-7.7,155,3137,0.10,2.25,0.00,0.000,6,0.066,0.038,1767,2305,3415
$GC,3463,-0.75,-117.3,307.8,-12.1,165,3465,0.22,0.00,0.00,0.000,6,0.125,0.000,1834,2305,3415
$GC,3765,-0.78,-117.3,332.9,-8.1,170,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2305,3415
$GC,4068,-0.82,-117.3,357.4,-8.1,175,4072,0.00,2.28,0.00,0.000,4,0.000,0.048,1834,890,3414
$GC,4110,-0.86,-117.3,360.7,-8.1,175,4114,0.00,2.30,0.00,0.000,6,0.000,0.039,1834,2312,3414
$GC,4438,-0.89,-117.3,384.5,-7.1,181,4440,0.12,0.00,0.00,0.000,6,0.057,0.000,1755,2312,3414
$GC,4741,-0.77,-117.3,418.0,-11.3,186,4745,0.22,2.30,0.00,0.000,4,0.126,0.043,1828,900,3413
$GC,4788,-0.81,-117.3,422.4,-8.3,186,4792,0.00,2.28,0.00,0.000,6,0.000,0.038,1824,2307,3413
$GC,5115,-0.81,-117.3,448.0,-7.8,192,5119,0.00,2.28,0.00,0.000,4,0.000,0.049,1823,901,3413
$GC,5180,-0.84,-117.3,452.9,-7.7,193,5184,0.00,2.30,0.00,0.000,6,0.000,0.044,1821,2311,3413
$GC,5548,-0.84,-117.3,477.7,-6.6,199,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2311,3413
$GC,5850,-0.84,-117.3,495.4,-5.8,204,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2311,3412
$GC,6153,-0.84,-117.3,512.9,-5.9,209,6157,0.00,2.30,0.00,0.000,4,0.000,0.044,1821,893,3412
$GC,6182,-0.84,-117.3,515.0,-7.6,209,6186,0.00,2.30,0.00,0.000,6,0.000,0.041,1812,2311,3412
$GC,6520,-0.84,-117.3,537.0,-6.5,215,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2311,3411
$GC,6824,-0.84,-117.3,557.1,-6.6,220,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2311,3411
$GC,7127,-0.84,-117.3,577.5,-6.8,225,7131,0.00,2.35,0.00,0.000,4,0.000,0.049,1813,896,3410
$GC,7167,-0.84,-117.3,580.6,-7.8,225,7171,0.00,2.33,0.00,0.000,6,0.000,0.045,1808,2303,3410
$GC,7490,-0.84,-117.3,604.8,-7.5,231,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3410
$GC,7794,-0.84,-117.3,626.7,-7.2,236,7798,0.00,2.35,0.00,0.000,4,0.000,0.054,1799,3714,3410
$GC,7822,-0.84,-117.3,629.0,-8.1,236,7827,0.00,2.25,0.00,0.000,6,0.000,0.037,1798,2305,3410
$GC,8161,-0.84,-117.3,654.9,-7.6,242,8165,0.00,2.30,0.00,0.000,4,0.000,0.048,1799,896,3409
$GC,8198,-0.84,-117.3,657.7,-7.9,242,8202,0.10,2.30,0.00,0.000,6,0.130,0.039,1821,2309,3410
$GC,8526,-0.86,-117.3,679.7,-6.6,248,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2309,3410
$GC,8828,-0.90,-117.3,701.1,-7.2,253,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2309,3409
$GC,9131,-0.93,-117.3,724.8,-7.9,258,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2309,3409
$GC,9434,-0.96,-117.3,746.2,-7.0,263,9436,0.12,0.00,0.00,0.000,6,0.058,0.000,1751,2309,3409
$GC,9738,-0.86,-117.3,775.8,-9.9,268,9743,0.20,2.35,0.00,0.000,4,0.126,0.043,1814,892,3409
$GC,9796,-0.89,-117.3,780.1,-6.6,268,9802,0.00,2.30,0.00,0.000,6,0.000,0.039,1809,2302,3408
$GC,10106,-0.89,-117.3,799.4,-6.2,274,10110,0.00,2.33,0.00,0.000,4,0.000,0.046,1809,887,3408
$GC,10136,-0.89,-117.3,801.6,-7.6,274,10140,0.00,2.33,0.00,0.000,6,0.000,0.040,1808,2303,3408
$GC,10469,-0.89,-117.3,823.8,-6.7,280,10473,0.00,2.35,0.00,0.000,4,0.000,0.056,1798,3711,3408
$GC,10504,-0.89,-117.3,826.3,-7.8,280,10508,0.00,2.28,0.00,0.000,6,0.000,0.036,1798,2294,3407
$GC,10832,-0.89,-117.3,849.7,-7.2,286,10836,0.00,2.28,0.00,0.000,4,0.000,0.051,1798,892,3407
$GC,10867,-0.89,-117.3,852.5,-8.0,286,10871,0.00,2.33,0.00,0.000,6,0.000,0.038,1794,2308,3408
$GC,11200,-0.89,-117.3,875.6,-6.9,292,11204,0.00,2.33,0.00,0.000,4,0.000,0.051,1785,3717,3407
$GC,11251,-0.89,-117.3,879.2,-7.1,292,11255,0.00,2.25,0.00,0.000,6,0.000,0.033,1785,2300,3407
$GC,11574,-0.86,-117.3,901.4,-6.9,298,11578,0.10,2.30,0.00,0.000,4,0.129,0.052,1813,897,3407
$GC,11602,-0.86,-117.3,903.3,-5.9,298,11606,0.00,2.33,0.00,0.000,6,0.000,0.043,1809,2313,3407
$GC,11941,-0.86,-117.3,922.9,-5.8,304,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2313,3407
$GC,12245,-0.88,-117.3,940.7,-5.8,309,12249,0.00,2.35,0.00,0.000,4,0.000,0.048,1809,889,3407
$GC,12275,-0.91,-117.3,942.5,-5.8,309,12279,0.00,2.33,0.00,0.000,6,0.000,0.040,1808,2301,3407
$GC,12608,-0.91,-117.3,961.5,-5.7,315,12609,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3406
$GC,12911,-0.93,-117.3,978.6,-5.6,320,12915,0.00,2.38,0.00,0.000,4,0.000,0.047,1808,893,3406
$GC,12946,-0.95,-117.3,980.8,-5.8,320,12950,0.00,2.35,0.00,0.000,6,0.000,0.044,1806,2305,3406
$STATE,13148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13149,begin apogee
$GC,13159,-0.22,0.0,992.6,5.7,324,13260,0.45,0.00,98.00,1.277,6,0.109,0.000,1951,2305,2931
$STATE,13260,end apogee,CONTROL_FINISHED_OK
$STATE,13261,begin climb
$GC,13265,0.68,117.3,993.9,0.0,325,13377,0.57,2.58,103.62,1.249,4,0.069,0.056,2152,3700,2451
$GC,13431,0.50,117.3,989.7,7.6,328,13436,0.22,2.38,0.00,0.000,6,0.157,0.035,2107,2298,2446
$GC,13765,0.50,139.4,973.3,4.8,334,13789,0.00,2.35,18.73,1.167,4,0.000,0.054,2117,897,2361
$GC,13820,0.53,163.6,970.5,4.7,334,13849,0.00,2.30,22.23,1.175,6,0.000,0.038,2117,2309,2264
$GC,14202,0.54,172.1,950.6,5.2,341,14216,0.00,2.33,8.30,1.023,4,0.000,0.056,2117,3710,2228
$GC,14252,0.48,172.1,947.6,5.8,341,14257,0.10,2.22,0.00,0.000,6,0.159,0.039,2103,2301,2227
$GC,14570,0.54,203.9,933.4,4.4,347,14601,0.00,0.00,29.35,1.187,6,0.000,0.000,2103,2301,2098
$GC,14872,0.62,229.5,919.5,4.6,352,14898,0.10,0.00,23.58,1.162,6,0.073,0.000,2155,2300,1994
$GC,15174,0.55,229.5,895.1,8.3,357,15179,0.15,2.33,0.00,0.000,4,0.139,0.051,2111,3715,1990
$GC,15204,0.55,229.5,892.7,7.7,357,15208,0.00,2.25,0.00,0.000,6,0.000,0.041,2120,2300,1989
$GC,15537,0.57,229.5,870.9,6.5,363,15538,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2301,1989
$GC,15840,0.59,229.5,851.1,6.5,368,15841,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2301,1988
$GC,16143,0.62,229.5,831.8,6.5,373,16147,0.00,2.35,0.00,0.000,4,0.000,0.055,2120,3715,1987
$GC,16172,0.62,229.5,829.4,7.6,373,16176,0.00,2.25,0.00,0.000,6,0.000,0.032,2130,2300,1987
$GC,16511,0.62,229.5,804.2,7.5,379,16512,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2301,1987
$GC,16814,0.62,229.5,780.1,8.0,384,16815,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2301,1986
$GC,17117,0.62,229.5,756.9,7.6,389,17119,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2301,1986
$GC,17421,0.62,229.5,735.2,7.1,394,17425,0.00,2.35,0.00,0.000,4,0.000,0.048,2130,3709,1986
$GC,17452,0.62,229.5,732.9,8.4,394,17456,0.00,2.25,0.00,0.000,6,0.000,0.032,2140,2294,1985
$GC,17785,0.62,229.5,707.9,7.4,400,17789,0.00,2.35,0.00,0.000,4,0.000,0.053,2140,3714,1986
$GC,17814,0.58,229.5,705.4,8.5,400,17819,0.10,2.28,0.00,0.000,6,0.138,0.034,2125,2294,1985
$GC,18148,0.60,229.5,684.1,6.4,406,18152,0.00,2.30,0.00,0.000,4,0.000,0.047,2134,885,1985
$GC,18178,0.64,229.5,681.9,6.1,406,18182,0.00,2.30,0.00,0.000,6,0.000,0.039,2133,2307,1985
$GC,18516,0.64,229.5,659.0,6.7,412,18520,0.00,2.28,0.00,0.000,4,0.000,0.048,2133,3707,1985
$GC,18551,0.61,229.5,656.4,7.3,412,18555,0.00,2.25,0.00,0.000,6,0.000,0.033,2144,2297,1984
$GC,18885,0.59,229.5,634.2,6.5,418,18886,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2297,1985
$GC,19188,0.59,229.5,615.8,6.0,423,19192,0.00,2.35,0.00,0.000,4,0.000,0.050,2144,3708,1985
$GC,19234,0.53,229.5,612.4,7.3,423,19239,0.15,2.25,0.00,0.000,6,0.132,0.032,2113,2292,1985
$GC,19552,0.60,249.1,597.0,4.8,429,19575,0.00,2.38,16.95,0.952,4,0.000,0.047,2122,895,1914
$GC,19595,0.68,249.2,594.6,5.5,429,19600,0.10,2.30,0.00,0.000,6,0.066,0.042,2195,2315,1912
$GC,19918,0.55,249.2,562.3,10.3,435,19922,0.22,2.30,0.00,0.000,4,0.137,0.054,2124,3718,1912
$GC,19982,0.55,249.2,557.1,7.4,436,19986,0.00,2.25,0.00,0.000,6,0.000,0.032,2131,2292,1910
$GC,20349,0.57,249.2,535.4,5.7,442,20353,0.00,2.25,0.00,0.000,4,0.000,0.047,2142,894,1910
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$STATE,28210,end climb,SURFACE_DEPTH_REACHED
$STATE,28210,begin surface coast
$FINISH,1.5,1.025387
$STATE,28230,end surface coast,CONTROL_FINISHED_OK
$STATE,28230,begin surface
$SM_CCo,28252,7.90,0.518,0,0,1707,300.00
$SM_GC,3.29,0.00,0.00,7.90,0.000,0.000,0.518,98,2293,1707,-8.75,-0.28,300.00
$IRIDIUM_FIX,4859.98,-13513.99,220599,040444
$TT8_MAMPS,0.028379
$HUMID,1761
$INTERNAL_PRESSURE,7.41239
$TCM_TEMP,16.30
$XPDR_PINGS,73
$24V_AH,21.9,111.110
$10V_AH,10.3,94.300
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$DEVICE_SECS,18.975,224.375,357.900,7.900,0.000,25.919,35.516,297.221,18.250,0.000,0.000,14.589,1649.694,23425.582,517.815,2114.658,1085.965,33.386,1650.040,0.000,2089.981,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,514.924,594.302,756.079,801.777,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44469,732
$CAP_FILE_SIZE,181890,0
$CFSIZE,260165632,198688768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250210,194924,4915.289,-13505.017,43,1.6,61,19.6