version: 66.04
glider: 144
mission: 15
dive: 150
start: 7 31 109 17 34 28
data:
$ID,144
$MISSION,15
$DIVE,150
$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,-63872.422
$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,0.039999999
$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,30
$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
$GPS1,172736,5019.840,-14507.980,40,1.8,40,18.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-65.2
$GPS2,173332,5019.813,-14507.922,13,1.3,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.107,0.082
$KALMAN_X,-74343.1,45.9,88.2,65777.5,-917.9
$KALMAN_Y,63266.7,-38.5,28.6,-25998.2,-749.8
$MHEAD_RNG_PITCHd_Wd,289.0,5244,-17.3,-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,15,-0.83,-68.8,0.0,0.0,0,59,0.00,0.00,-42.30,0.000,2,0.000,0.000,100,2306,2745
$GC,62,-0.83,-68.8,3.8,-6.1,4,85,6.93,2.28,-10.20,0.000,4,0.247,0.066,1805,3717,3214
$GC,154,-0.50,-68.8,22.5,-18.2,12,159,0.30,2.22,0.00,0.000,6,0.137,0.032,1893,2295,3214
$GC,481,-0.68,-68.8,49.1,-7.1,42,486,0.15,2.22,0.00,0.000,4,0.057,0.042,1815,889,3216
$GC,611,-0.59,-68.8,63.8,-11.8,53,616,0.22,2.22,0.00,0.000,6,0.138,0.039,1870,2305,3218
$GC,934,-0.69,-68.8,90.5,-8.4,77,935,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2305,3218
$GC,1242,-0.80,-68.8,119.9,-9.6,92,1247,0.15,2.22,0.00,0.000,4,0.059,0.048,1794,892,3219
$GC,1320,-0.69,-68.8,130.7,-13.7,95,1327,0.22,2.20,0.00,0.000,6,0.140,0.038,1849,2305,3219
$GC,1636,-0.79,-68.8,156.6,-8.7,110,1640,0.00,2.22,0.00,0.000,4,0.000,0.057,1842,3708,3218
$GC,1664,-0.89,-68.8,159.3,-9.4,110,1671,0.12,2.17,0.00,0.000,6,0.061,0.031,1775,2291,3219
$GC,1977,-0.73,-68.8,196.0,-11.3,121,1981,0.20,2.20,0.00,0.000,4,0.143,0.044,1838,888,3218
$GC,2066,-0.82,-68.8,203.7,-8.2,123,2072,0.00,2.25,0.00,0.000,6,0.000,0.045,1832,2302,3218
$GC,2379,-0.88,-68.8,228.1,-8.0,134,2380,0.10,0.00,0.00,0.000,6,0.070,0.000,1776,2302,3218
$GC,2685,-0.75,-68.8,261.5,-11.2,144,2687,0.22,0.00,0.00,0.000,6,0.140,0.000,1842,2302,3217
$GC,2991,-0.88,-68.8,282.7,-6.5,154,2995,0.12,2.22,0.00,0.000,4,0.065,0.044,1778,893,3216
$GC,3063,-0.76,-68.8,289.5,-10.1,156,3068,0.22,2.22,0.00,0.000,6,0.143,0.046,1832,2310,3216
$GC,3415,-0.85,-68.8,314.2,-7.0,165,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2310,3216
$GC,3719,-0.96,-68.8,335.2,-6.9,170,3723,0.15,2.25,0.00,0.000,4,0.061,0.044,1762,888,3215
$GC,3809,-0.79,-68.8,344.5,-10.9,171,3814,0.25,2.22,0.00,0.000,6,0.147,0.041,1825,2304,3215
$GC,4146,-0.87,-68.8,368.4,-6.9,177,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2305,3214
$GC,4450,-0.95,-68.8,389.0,-6.9,182,4452,0.12,0.00,0.00,0.000,6,0.066,0.000,1764,2305,3214
$GC,4753,-0.79,-68.8,419.4,-10.2,187,4758,0.20,2.25,0.00,0.000,4,0.146,0.050,1825,888,3213
$GC,4802,-0.89,-68.8,423.6,-7.8,187,4806,0.00,2.22,0.00,0.000,6,0.000,0.045,1819,2304,3213
$GC,5113,-0.96,-68.8,446.0,-7.2,192,5117,0.10,2.22,0.00,0.000,4,0.073,0.051,1755,3709,3213
$GC,5179,-0.79,-68.8,452.7,-11.2,193,5184,0.25,2.17,0.00,0.000,6,0.147,0.038,1826,2293,3213
$GC,5539,-0.90,-68.8,475.8,-6.3,199,5542,0.00,2.20,0.00,0.000,4,0.000,0.051,1826,894,3212
$GC,5578,-1.00,-68.8,478.5,-6.6,199,5582,0.12,2.22,0.00,0.000,6,0.065,0.048,1760,2313,3212
$GC,5904,-0.85,-68.8,510.3,-10.1,205,5906,0.20,0.00,0.00,0.000,6,0.150,0.000,1816,2313,3212
$GC,6207,-0.93,-68.8,533.7,-7.7,210,6211,0.00,2.22,0.00,0.000,4,0.000,0.047,1816,899,3211
$GC,6303,-0.99,-68.8,541.7,-7.8,211,6307,0.10,2.20,0.00,0.000,6,0.073,0.044,1758,2304,3211
$GC,6640,-0.84,-68.8,575.3,-10.1,217,6642,0.20,0.00,0.00,0.000,6,0.148,0.000,1815,2304,3211
$GC,6943,-0.92,-68.8,595.9,-6.6,222,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2304,3211
$GC,7247,-1.00,-68.8,615.5,-6.4,227,7251,0.12,2.22,0.00,0.000,4,0.067,0.052,1756,893,3210
$GC,7313,-0.85,-68.8,621.8,-10.1,228,7318,0.22,2.22,0.00,0.000,6,0.150,0.046,1811,2312,3210
$GC,7673,-0.92,-68.8,646.9,-6.9,234,7677,0.00,2.22,0.00,0.000,4,0.000,0.047,1811,896,3210
$GC,7701,-0.98,-68.8,649.1,-8.1,234,7705,0.00,2.22,0.00,0.000,6,0.000,0.042,1804,2314,3210
$GC,8039,-1.02,-68.8,674.0,-7.4,240,8040,0.10,0.00,0.00,0.000,6,0.074,0.000,1755,2315,3210
$GC,8342,-0.87,-68.8,701.9,-9.4,245,8344,0.20,0.00,0.00,0.000,6,0.149,0.000,1811,2315,3210
$GC,8645,-0.96,-68.8,722.0,-6.5,250,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2315,3210
$GC,8948,-1.04,-68.8,740.9,-6.3,255,8950,0.12,0.00,0.00,0.000,6,0.071,0.000,1755,2315,3209
$GC,9251,-0.90,-68.8,767.0,-8.8,260,9256,0.17,2.25,0.00,0.000,4,0.149,0.053,1812,894,3209
$GC,9295,-0.99,-68.8,770.5,-7.1,260,9299,0.00,2.22,0.00,0.000,6,0.000,0.048,1804,2309,3209
$GC,9616,-1.04,-68.8,792.0,-6.7,266,9618,0.10,0.00,0.00,0.000,6,0.080,0.000,1758,2309,3209
$GC,9919,-0.91,-68.8,819.3,-9.1,271,9921,0.15,0.00,0.00,0.000,6,0.153,0.000,1798,2309,3209
$GC,10223,-0.96,-68.8,842.1,-7.4,276,10224,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2309,3208
$GC,10525,-1.01,-68.8,864.0,-7.2,281,10527,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2309,3208
$GC,10828,-1.05,-68.8,885.4,-7.0,286,10830,0.10,0.00,0.00,0.000,6,0.086,0.000,1759,2309,3208
$GC,11132,-0.94,-68.8,911.5,-8.8,291,11134,0.15,0.00,0.00,0.000,6,0.156,0.000,1799,2309,3208
$GC,11434,-0.99,-68.8,933.2,-7.1,296,11439,0.00,2.25,0.00,0.000,4,0.000,0.050,1799,901,3207
$GC,11462,-0.99,-68.8,935.5,-8.2,296,11466,0.00,2.22,0.00,0.000,6,0.000,0.046,1791,2306,3208
$GC,11794,-0.99,-68.8,959.6,-7.3,302,11798,0.00,2.25,0.00,0.000,4,0.000,0.056,1791,898,3208
$GC,11826,-0.99,-68.8,962.2,-7.1,302,11831,0.00,2.25,0.00,0.000,6,0.000,0.044,1781,2301,3208
$GC,12158,-0.99,-68.8,986.9,-7.5,308,12162,0.00,2.25,0.00,0.000,4,0.000,0.052,1781,891,3207
$STATE,12196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12196,begin apogee
$GC,12204,-0.22,0.0,990.1,8.0,308,12262,0.55,0.00,54.38,1.328,6,0.146,0.000,1945,2313,2932
$STATE,12263,end apogee,CONTROL_FINISHED_OK
$STATE,12263,begin climb
$GC,12265,0.83,68.8,991.4,0.0,309,12326,0.73,0.00,58.12,1.298,6,0.084,0.000,2189,2312,2650
$GC,12589,0.50,68.8,973.2,6.8,315,12591,0.30,0.00,0.00,0.000,6,0.177,0.000,2113,2312,2641
$GC,12893,0.52,81.0,958.2,4.8,320,12904,0.00,0.00,9.93,1.138,6,0.000,0.000,2112,2312,2600
$GC,13196,0.53,87.7,942.7,5.1,325,13209,0.00,2.35,6.93,1.036,4,0.000,0.060,2112,3715,2572
$GC,13233,0.45,87.7,940.4,5.7,325,13238,0.12,2.25,0.00,0.000,6,0.194,0.038,2093,2303,2572
$GC,13560,0.55,107.4,925.5,4.4,331,13580,0.10,0.00,17.70,1.215,6,0.082,0.000,2131,2301,2492
$GC,13862,0.49,107.4,906.3,6.4,336,13867,0.12,2.30,0.00,0.000,4,0.174,0.056,2098,3710,2488
$GC,13901,0.49,107.4,903.7,6.4,336,13905,0.00,2.25,0.00,0.000,6,0.000,0.041,2106,2292,2487
$GC,14222,0.54,110.3,886.5,5.3,342,14226,0.00,2.33,0.00,0.000,4,0.000,0.053,2106,3720,2487
$GC,14249,0.54,110.3,884.7,5.5,342,14253,0.00,2.25,0.00,0.000,6,0.000,0.037,2117,2298,2487
$GC,14587,0.54,111.0,866.1,5.5,348,14591,0.00,2.30,0.00,0.000,4,0.000,0.056,2117,3717,2486
$GC,14636,0.45,111.0,862.9,7.2,348,14641,0.12,2.22,0.00,0.000,6,0.186,0.042,2099,2301,2486
$GC,14947,0.55,126.0,848.3,4.7,353,14967,0.00,2.33,15.80,1.166,4,0.000,0.054,2098,3721,2416
$GC,14995,0.55,126.0,845.6,6.0,353,14999,0.00,2.25,0.00,0.000,6,0.000,0.036,2106,2302,2414
$GC,15311,0.62,127.4,828.7,5.4,359,15316,0.10,2.28,0.00,0.000,4,0.073,0.054,2149,3712,2413
$GC,15344,0.43,127.4,826.0,7.9,359,15349,0.25,2.22,0.00,0.000,6,0.180,0.037,2095,2302,2412
$GC,15671,0.57,133.6,808.9,5.1,365,15681,0.10,0.00,7.40,1.002,6,0.074,0.000,2139,2300,2386
$GC,15974,0.57,133.6,787.1,7.3,370,15975,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2301,2384
$GC,16276,0.57,133.6,765.8,7.0,375,16277,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2300,2384
$GC,16579,0.57,133.6,744.6,7.0,380,16583,0.00,2.28,0.00,0.000,4,0.000,0.055,2139,3713,2384
$GC,16657,0.42,133.6,738.1,7.3,381,16661,0.22,2.20,0.00,0.000,6,0.167,0.035,2090,2302,2383
$GC,17006,0.61,144.0,720.4,4.9,387,17021,0.15,2.30,9.82,1.024,4,0.060,0.054,2156,3723,2344
$GC,17043,0.42,144.0,717.4,7.6,387,17048,0.28,2.22,0.00,0.000,6,0.172,0.035,2093,2302,2342
$GC,17365,0.59,148.5,700.1,5.2,393,17375,0.12,2.28,5.40,0.849,4,0.061,0.056,2153,3713,2325
$GC,17392,0.52,148.5,697.7,7.8,393,17397,0.20,2.22,0.00,0.000,6,0.170,0.035,2112,2294,2324
$GC,17724,0.61,148.5,676.2,6.5,399,17725,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2293,2323
$GC,18027,0.71,148.5,656.1,6.6,404,18032,0.15,2.30,0.00,0.000,4,0.058,0.051,2176,3721,2323
$GC,18090,0.43,148.5,649.9,11.8,405,18095,0.35,2.22,0.00,0.000,6,0.176,0.035,2093,2298,2322
$GC,18456,0.63,151.8,629.3,5.3,411,18462,0.15,0.00,4.22,0.721,6,0.058,0.000,2162,2296,2312
$GC,18759,0.53,151.8,605.4,7.9,416,18761,0.17,0.00,0.00,0.000,6,0.156,0.000,2116,2296,2311
$GC,19062,0.64,154.0,588.7,5.4,421,19064,0.10,0.00,0.00,0.000,6,0.072,0.000,2164,2297,2311
$GC,19365,0.54,154.0,564.8,8.0,426,19369,0.17,2.28,0.00,0.000,4,0.156,0.054,2118,3713,2310
$GC,19392,0.54,154.0,562.6,7.2,426,19396,0.00,2.20,0.00,0.000,6,0.000,0.035,2126,2298,2310
$GC,19730,0.59,154.0,540.2,6.6,432,19734,0.00,2.28,0.00,0.000,4,0.000,0.056,2126,3716,2310
$GC,19763,0.54,154.0,537.6,8.5,432,19767,0.00,2.20,0.00,0.000,6,0.000,0.035,2136,2295,2309
$GC,20089,0.54,154.0,514.9,6.9,438,20090,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2295,2310
$GC,20392,0.54,154.0,494.7,6.7,443,20393,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2295,2309
$GC,20695,0.54,154.0,474.5,6.6,448,20697,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2295,2309
$GC,20998,0.54,154.0,454.0,6.8,453,20999,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2295,2310
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$STATE,27488,end climb,SURFACE_DEPTH_REACHED
$STATE,27488,begin surface coast
$FINISH,1.1,1.024167
$STATE,27497,end surface coast,CONTROL_FINISHED_OK
$STATE,27497,begin surface
$SM_CCo,27512,25.98,0.644,0,0,1708,300.00
$SM_GC,2.53,0.00,0.00,25.98,0.000,0.000,0.644,100,2303,1708,-8.74,0.03,300.00
$IRIDIUM_FIX,4959.75,-14505.72,251098,090937
$TT8_MAMPS,0.029146
$HUMID,1691
$INTERNAL_PRESSURE,7.44169
$TCM_TEMP,18.80
$XPDR_PINGS,55
$24V_AH,24.0,24.219
$10V_AH,10.7,19.157
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$DEVICE_SECS,25.975,188.150,288.275,25.975,0.000,24.039,30.358,177.808,13.750,0.000,0.000,14.536,1614.206,23142.934,467.442,2066.168,598.582,33.374,1489.068,0.000,2070.423,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,494.085,566.138,724.357,1203.595,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41166,701
$CAP_FILE_SIZE,181006,0
$CFSIZE,260165632,247062528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010809,011452,5021.543,-14511.659,44,1.6,44,18.5