version: 66.04
glider: 144
mission: 15
dive: 276
start: 9 10 109 17 7 46
data:
$ID,144
$MISSION,15
$DIVE,276
$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,-66456.031
$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,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
$GPS1,164341,5003.332,-14442.870,34,2.0,38,18.5
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-50.2
$GPS2,170651,5003.059,-14442.269,130,5.2,149,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.100,0.135
$KALMAN_X,-25209.3,51.6,207.7,58393.5,-881.6
$KALMAN_Y,12597.8,118.7,50.1,-45967.2,-1202.1
$MHEAD_RNG_PITCHd_Wd,304.8,13142,-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,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-42.00,0.000,2,0.000,0.000,98,2311,2649
$GC,62,-0.68,-117.3,3.7,-6.4,4,96,6.78,2.33,-17.50,0.000,4,0.218,0.059,1842,893,3413
$GC,256,-0.63,-117.3,31.4,-14.8,21,260,0.10,2.22,0.00,0.000,6,0.149,0.038,1862,2300,3414
$GC,581,-0.63,-117.3,61.3,-8.7,51,584,0.00,2.22,0.00,0.000,4,0.000,0.041,1861,893,3414
$GC,660,-0.63,-117.3,68.9,-9.8,58,664,0.00,2.25,0.00,0.000,6,0.000,0.038,1862,2312,3415
$GC,980,-0.63,-117.3,96.6,-8.9,79,984,0.00,2.25,0.00,0.000,4,0.000,0.043,1862,892,3415
$GC,1007,-0.63,-117.3,99.2,-9.2,80,1011,0.00,2.25,0.00,0.000,6,0.000,0.045,1862,2312,3415
$GC,1328,-0.63,-117.3,125.9,-8.6,96,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2312,3415
$GC,1638,-0.63,-117.3,149.6,-6.9,111,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2312,3414
$GC,1965,-0.67,-117.3,170.9,-5.9,122,1969,0.00,2.25,0.00,0.000,4,0.000,0.041,1861,885,3413
$GC,2010,-0.72,-117.3,173.8,-6.2,123,2014,0.00,2.25,0.00,0.000,6,0.000,0.038,1854,2308,3413
$GC,2334,-0.75,-117.3,193.1,-6.0,134,2338,0.00,2.25,0.00,0.000,4,0.000,0.043,1854,888,3412
$GC,2396,-0.79,-117.3,197.2,-6.9,136,2400,0.00,2.22,0.00,0.000,6,0.000,0.044,1850,2302,3412
$GC,2732,-0.81,-117.3,219.5,-6.6,147,2736,0.10,2.28,0.00,0.000,4,0.068,0.044,1783,885,3411
$GC,2770,-0.73,-117.3,223.2,-10.6,148,2775,0.22,2.28,0.00,0.000,6,0.133,0.041,1846,2313,3411
$GC,3094,-0.75,-117.3,243.1,-6.1,159,3098,0.00,2.25,0.00,0.000,4,0.000,0.046,1846,893,3410
$GC,3149,-0.79,-117.3,247.1,-7.3,160,3156,0.00,2.25,0.00,0.000,6,0.000,0.042,1840,2300,3410
$GC,3462,-0.79,-117.3,270.5,-7.6,171,3466,0.00,2.28,0.00,0.000,4,0.000,0.054,1836,3713,3410
$GC,3501,-0.82,-117.3,273.6,-7.6,172,3505,0.00,2.20,0.00,0.000,6,0.000,0.038,1836,2288,3409
$GC,3824,-0.82,-117.3,298.2,-7.6,183,3828,0.00,2.20,0.00,0.000,4,0.000,0.048,1835,898,3408
$GC,3868,-0.82,-117.3,301.9,-8.2,184,3872,0.00,2.22,0.00,0.000,6,0.000,0.039,1827,2302,3408
$GC,4195,-0.82,-117.3,329.0,-8.3,190,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2302,3407
$GC,4498,-0.82,-117.3,354.2,-8.4,195,4502,0.00,2.25,0.00,0.000,4,0.000,0.044,1827,893,3407
$GC,4553,-0.82,-117.3,359.1,-8.9,195,4560,0.00,2.28,0.00,0.000,6,0.000,0.040,1823,2304,3406
$GC,4863,-0.82,-117.3,384.0,-8.0,201,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2304,3406
$GC,5165,-0.82,-117.3,407.4,-7.7,206,5169,0.00,2.25,0.00,0.000,4,0.000,0.051,1823,892,3405
$GC,5243,-0.82,-117.3,413.9,-8.1,207,5247,0.00,2.25,0.00,0.000,6,0.000,0.044,1822,2304,3405
$GC,5598,-0.82,-117.3,439.6,-7.2,213,5602,0.00,2.25,0.00,0.000,4,0.000,0.044,1822,890,3405
$GC,5653,-0.82,-117.3,443.9,-7.6,213,5660,0.00,2.28,0.00,0.000,6,0.000,0.048,1820,2302,3405
$GC,5963,-0.82,-117.3,467.6,-7.8,219,5967,0.00,2.25,0.00,0.000,4,0.000,0.044,1821,890,3404
$GC,6017,-0.82,-117.3,472.5,-8.7,219,6024,0.00,2.28,0.00,0.000,6,0.000,0.041,1811,2299,3404
$GC,6328,-0.82,-117.3,498.8,-8.5,225,6332,0.00,2.25,0.00,0.000,4,0.000,0.045,1811,892,3404
$GC,6360,-0.82,-117.3,501.8,-9.0,225,6364,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2299,3403
$GC,6694,-0.82,-117.3,528.0,-7.8,231,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2300,3403
$GC,6995,-0.82,-117.3,550.2,-7.3,236,6999,0.00,2.28,0.00,0.000,4,0.000,0.051,1809,889,3403
$GC,7074,-0.82,-117.3,556.3,-7.9,237,7078,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2308,3403
$GC,7422,-0.82,-117.3,581.5,-7.2,243,7426,0.00,2.25,0.00,0.000,4,0.000,0.047,1808,897,3402
$GC,7486,-0.82,-117.3,586.3,-7.6,244,7490,0.00,2.25,0.00,0.000,6,0.000,0.041,1806,2312,3402
$GC,7852,-0.82,-117.3,614.4,-7.6,250,7856,0.00,2.25,0.00,0.000,4,0.000,0.045,1807,898,3402
$GC,7891,-0.82,-117.3,617.6,-8.1,250,7895,0.00,2.25,0.00,0.000,6,0.000,0.046,1803,2311,3402
$GC,8218,-0.80,-117.3,643.6,-8.0,256,8220,0.10,0.00,0.00,0.000,6,0.143,0.000,1830,2312,3401
$GC,8521,-0.83,-117.3,664.9,-7.0,261,8525,0.00,2.28,0.00,0.000,4,0.000,0.045,1830,889,3401
$GC,8577,-0.87,-117.3,669.3,-7.5,261,8583,0.00,2.30,0.00,0.000,6,0.000,0.043,1824,2308,3401
$GC,8887,-0.89,-117.3,692.0,-7.3,267,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2309,3401
$GC,9190,-0.92,-117.3,713.0,-6.8,272,9194,0.08,2.28,0.00,0.000,4,0.084,0.049,1768,897,3400
$GC,9256,-0.84,-117.3,719.3,-10.2,273,9261,0.17,2.28,0.00,0.000,6,0.137,0.041,1816,2314,3401
$GC,9616,-0.84,-117.3,744.1,-6.7,279,9620,0.00,2.28,0.00,0.000,4,0.000,0.045,1816,898,3400
$GC,9660,-0.84,-117.3,747.4,-7.5,279,9664,0.00,2.25,0.00,0.000,6,0.000,0.045,1810,2304,3400
$GC,9981,-0.84,-117.3,768.2,-6.5,285,9985,0.00,2.28,0.00,0.000,4,0.000,0.051,1810,890,3399
$GC,10019,-0.84,-117.3,770.8,-6.6,285,10023,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2305,3400
$GC,10346,-0.84,-117.3,790.9,-6.1,291,10349,0.00,2.25,0.00,0.000,4,0.000,0.050,1809,900,3400
$GC,10384,-0.84,-117.3,793.6,-6.2,291,10388,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2302,3399
$GC,10717,-0.84,-117.3,814.2,-6.2,297,10721,0.00,2.25,0.00,0.000,4,0.000,0.049,1808,896,3399
$GC,10750,-0.84,-117.3,816.7,-8.2,297,10754,0.00,2.25,0.00,0.000,6,0.000,0.045,1808,2306,3399
$GC,11076,-0.84,-117.3,837.9,-6.6,303,11078,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3399
$GC,11379,-0.84,-117.3,859.0,-6.9,308,11383,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,890,3399
$GC,11417,-0.84,-117.3,862.0,-6.9,308,11421,0.00,2.28,0.00,0.000,6,0.000,0.044,1806,2312,3398
$GC,11738,-0.84,-117.3,884.0,-6.8,314,11742,0.00,2.28,0.00,0.000,4,0.000,0.048,1807,893,3399
$GC,11787,-0.84,-117.3,887.7,-7.1,314,11791,0.00,2.28,0.00,0.000,6,0.000,0.045,1806,2312,3398
$GC,12103,-0.84,-117.3,909.3,-6.9,320,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2312,3398
$GC,12406,-0.84,-117.3,930.5,-6.9,325,12410,0.00,2.30,0.00,0.000,4,0.000,0.048,1806,896,3398
$GC,12455,-0.84,-117.3,934.3,-6.9,325,12459,0.00,2.28,0.00,0.000,6,0.000,0.047,1796,2304,3398
$GC,12771,-0.84,-117.3,956.9,-7.2,331,12775,0.00,2.28,0.00,0.000,4,0.000,0.048,1796,902,3398
$GC,12821,-0.84,-117.3,960.8,-8.1,331,12825,0.10,2.28,0.00,0.000,6,0.153,0.043,1819,2313,3398
$GC,13130,-0.87,-117.3,979.8,-6.1,336,13134,0.00,2.30,0.00,0.000,4,0.000,0.053,1819,897,3398
$GC,13175,-0.90,-117.3,982.8,-6.8,336,13179,0.00,2.28,0.00,0.000,6,0.000,0.048,1818,2308,3398
$STATE,13305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13305,begin apogee
$GC,13311,-0.22,0.0,991.0,6.2,339,13408,0.43,0.00,94.03,1.312,6,0.120,0.000,1952,2309,2931
$STATE,13409,end apogee,CONTROL_FINISHED_OK
$STATE,13409,begin climb
$GC,13411,0.68,117.3,992.4,0.0,340,13519,0.60,2.53,101.20,1.285,4,0.077,0.052,2154,3715,2452
$GC,13536,0.52,117.3,990.3,5.7,342,13541,0.22,2.42,0.00,0.000,6,0.179,0.036,2114,2307,2448
$GC,13846,0.46,122.2,973.7,5.3,347,13852,0.00,0.00,4.22,0.791,6,0.000,0.000,2114,2307,2432
$GC,14149,0.40,122.2,957.0,5.5,352,14151,0.12,0.00,0.00,0.000,6,0.161,0.000,2082,2307,2430
$GC,14452,0.46,169.3,944.9,3.9,357,14498,0.00,2.40,41.05,1.248,4,0.000,0.053,2081,3709,2239
$GC,14520,0.49,193.3,941.7,4.7,358,14549,0.00,2.33,22.08,1.193,6,0.000,0.041,2089,2293,2142
$GC,14878,0.56,218.4,925.3,4.7,364,14903,0.12,0.00,22.85,1.197,6,0.070,0.000,2144,2293,2040
$GC,15181,0.50,218.4,902.3,7.8,369,15185,0.15,2.35,0.00,0.000,4,0.148,0.051,2105,3712,2033
$GC,15225,0.50,218.4,899.1,6.2,369,15229,0.00,2.28,0.00,0.000,6,0.000,0.035,2112,2294,2033
$GC,15540,0.50,218.4,881.3,5.5,375,15541,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2294,2032
$GC,15843,0.51,224.7,865.2,5.3,380,15853,0.00,2.33,5.82,0.923,4,0.000,0.051,2113,3722,2012
$GC,15870,0.51,224.7,863.6,5.6,380,15874,0.00,2.25,0.00,0.000,6,0.000,0.037,2123,2300,2012
$GC,16208,0.51,224.7,843.0,6.1,386,16212,0.00,2.30,0.00,0.000,4,0.000,0.054,2123,3713,2011
$GC,16241,0.47,224.7,840.6,7.2,386,16246,0.12,2.22,0.00,0.000,6,0.153,0.035,2101,2305,2011
$GC,16568,0.55,252.4,825.3,4.6,392,16595,0.00,0.00,25.42,1.163,6,0.000,0.000,2101,2305,1901
$GC,16871,0.64,273.5,810.8,4.8,397,16893,0.12,0.00,19.73,1.125,6,0.066,0.000,2159,2305,1815
$GC,17174,0.58,273.5,783.7,9.2,402,17175,0.12,0.00,0.00,0.000,6,0.139,0.000,2127,2305,1809
$GC,17476,0.58,273.5,760.9,7.4,407,17477,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2305,1808
$GC,17779,0.58,273.5,738.7,7.3,412,17783,0.00,2.30,0.00,0.000,4,0.000,0.051,2127,3712,1808
$GC,17806,0.58,273.5,736.4,8.0,412,17810,0.00,2.25,0.00,0.000,6,0.000,0.036,2135,2296,1807
$GC,18144,0.58,273.5,710.8,7.5,418,18145,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2296,1806
$GC,18447,0.58,273.5,689.0,7.2,423,18451,0.00,2.30,0.00,0.000,4,0.000,0.052,2134,3712,1807
$GC,18492,0.58,273.5,685.0,9.2,423,18496,0.00,2.22,0.00,0.000,6,0.000,0.035,2144,2302,1807
$GC,18807,0.55,273.5,658.6,8.4,429,18812,0.10,2.25,0.00,0.000,4,0.154,0.046,2128,887,1807
$GC,18828,0.55,273.5,657.0,8.1,429,18832,0.00,2.28,0.00,0.000,6,0.000,0.039,2127,2317,1806
$GC,19172,0.55,273.5,631.4,7.4,435,19175,0.00,2.25,0.00,0.000,4,0.000,0.054,2128,3711,1806
$GC,19199,0.55,273.5,629.0,7.8,435,19203,0.00,2.20,0.00,0.000,6,0.000,0.033,2136,2300,1806
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$GC,27782,1.01,342.7,31.8,3.2,712,27848,0.17,2.33,55.62,0.645,4,0.054,0.044,2249,898,1532
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$STATE,28266,end climb,SURFACE_DEPTH_REACHED
$STATE,28266,begin surface coast
$FINISH,0.8,1.024542
$STATE,28289,end surface coast,CONTROL_FINISHED_OK
$STATE,28289,begin surface
$SM_CCo,28364,0.00,0.000,0,0,1522,345.63
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$IRIDIUM_FIX,4933.03,-14108.94,051298,171737
$TT8_MAMPS,0.028379
$HUMID,1671
$INTERNAL_PRESSURE,7.42216
$TCM_TEMP,16.50
$XPDR_PINGS,83
$24V_AH,22.5,41.301
$10V_AH,10.6,34.415
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$DEVICE_SECS,16.475,239.875,392.025,0.000,0.000,152.386,283.866,436.907,20.750,0.000,0.000,151.592,1686.463,23771.361,563.322,2435.349,1288.009,33.372,1714.337,0.000,2293.774,0.000,0.529,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,535.432,607.969,783.206,1302.696,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44363,759
$CAP_FILE_SIZE,189741,0
$CFSIZE,260165632,237166592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110909,010157,5005.894,-14445.697,29,4.0,48,18.5