version: 66.04
glider: 144
mission: 15
dive: 484
start: 11 20 109 15 10 31
data:
$ID,144
$MISSION,15
$DIVE,484
$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,-71196.656
$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,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
$GPS1,150354,4953.625,-14429.698,41,1.5,42,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-60.5
$GPS2,150937,4953.608,-14429.730,11,1.5,11,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.108,0.128
$KALMAN_X,-90887.9,-300.8,148.0,139307.2,425.7
$KALMAN_Y,20204.7,273.3,-86.0,-71078.1,-1054.1
$MHEAD_RNG_PITCHd_Wd,301.4,35972,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.68,-117.3,0.0,0.0,0,52,0.00,0.00,-31.35,0.000,2,0.000,0.000,100,2288,2518
$GC,55,-0.68,-117.3,3.1,-3.7,3,94,7.38,2.33,-25.62,0.000,4,0.245,0.061,1847,889,3411
$GC,152,-0.68,-117.3,11.9,-9.4,11,156,0.00,2.30,0.00,0.000,6,0.000,0.041,1840,2311,3413
$GC,480,-0.64,-117.3,46.3,-10.6,41,484,0.00,2.28,0.00,0.000,4,0.000,0.041,1840,894,3413
$GC,544,-0.61,-117.3,53.1,-10.8,46,548,0.12,2.22,0.00,0.000,6,0.133,0.038,1870,2305,3413
$GC,886,-0.65,-117.3,83.8,-8.7,76,890,0.00,2.28,0.00,0.000,4,0.000,0.048,1863,3714,3414
$GC,920,-0.69,-117.3,86.9,-8.4,77,927,0.00,2.22,0.00,0.000,6,0.000,0.029,1862,2300,3413
$GC,1238,-0.72,-117.3,111.6,-7.3,93,1241,0.00,2.22,0.00,0.000,4,0.000,0.041,1862,892,3414
$GC,1307,-0.78,-117.3,116.7,-6.9,96,1311,0.12,2.22,0.00,0.000,6,0.056,0.038,1773,2306,3414
$GC,1624,-0.67,-117.3,153.4,-10.9,111,1629,0.25,2.25,0.00,0.000,4,0.123,0.044,1853,899,3415
$GC,1702,-0.72,-117.3,159.1,-6.4,113,1706,0.00,2.22,0.00,0.000,6,0.000,0.043,1850,2308,3414
$GC,2022,-0.76,-117.3,179.6,-6.9,124,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2309,3415
$GC,2329,-0.81,-117.3,200.1,-6.6,134,2333,0.10,2.22,0.00,0.000,4,0.064,0.048,1759,3708,3414
$GC,2351,-0.77,-117.3,202.2,-8.5,134,2358,0.25,2.20,0.00,0.000,6,0.121,0.031,1834,2296,3414
$GC,2664,-0.77,-117.3,223.7,-6.4,145,2667,0.00,2.22,0.00,0.000,4,0.000,0.043,1833,894,3414
$GC,2743,-0.80,-117.3,229.3,-7.0,147,2747,0.00,2.22,0.00,0.000,6,0.000,0.037,1828,2306,3414
$GC,3068,-0.80,-117.3,251.5,-6.9,158,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2306,3414
$GC,3374,-0.80,-117.3,272.7,-6.9,168,3377,0.00,2.25,0.00,0.000,4,0.000,0.043,1828,898,3413
$GC,3409,-0.82,-117.3,275.2,-7.6,169,3413,0.00,2.22,0.00,0.000,6,0.000,0.045,1820,2303,3413
$GC,3745,-0.82,-117.3,300.6,-7.7,180,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2304,3413
$GC,4048,-0.82,-117.3,323.8,-7.7,185,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2304,3413
$GC,4351,-0.82,-117.3,346.2,-7.4,190,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2304,3413
$GC,4654,-0.82,-117.3,367.6,-7.0,195,4658,0.00,2.28,0.00,0.000,4,0.000,0.044,1820,892,3412
$GC,4717,-0.82,-117.3,372.1,-7.3,196,4721,0.00,2.22,0.00,0.000,6,0.000,0.038,1810,2306,3412
$GC,5089,-0.82,-117.3,397.2,-6.6,202,5093,0.00,2.25,0.00,0.000,4,0.000,0.044,1810,901,3412
$GC,5145,-0.82,-117.3,401.2,-7.8,202,5151,0.00,2.25,0.00,0.000,6,0.000,0.039,1801,2303,3412
$GC,5456,-0.80,-117.3,422.0,-6.7,208,5458,0.10,0.00,0.00,0.000,6,0.137,0.000,1829,2303,3411
$GC,5758,-0.83,-117.3,438.2,-5.3,213,5762,0.00,2.25,0.00,0.000,4,0.000,0.044,1829,894,3411
$GC,5822,-0.88,-117.3,442.3,-6.7,214,5826,0.00,2.25,0.00,0.000,6,0.000,0.041,1823,2310,3411
$GC,6190,-0.90,-117.3,466.3,-6.6,220,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2310,3411
$GC,6492,-0.93,-117.3,487.0,-6.9,225,6494,0.10,0.00,0.00,0.000,6,0.067,0.000,1751,2310,3411
$GC,6795,-0.82,-117.3,519.8,-11.0,230,6800,0.20,2.30,0.00,0.000,4,0.129,0.047,1818,891,3410
$GC,6869,-0.82,-117.3,526.0,-7.6,231,6873,0.00,2.25,0.00,0.000,6,0.000,0.039,1810,2304,3410
$GC,7224,-0.82,-117.3,553.6,-7.8,237,7228,0.00,2.25,0.00,0.000,4,0.000,0.046,1810,898,3410
$GC,7274,-0.82,-117.3,557.6,-8.3,237,7278,0.00,2.25,0.00,0.000,6,0.000,0.041,1802,2312,3410
$GC,7584,-0.82,-117.3,581.6,-7.8,242,7588,0.00,2.28,0.00,0.000,4,0.000,0.051,1802,892,3410
$GC,7652,-0.82,-117.3,587.1,-7.9,243,7657,0.10,2.25,0.00,0.000,6,0.133,0.039,1821,2304,3410
$GC,8013,-0.85,-117.3,609.8,-6.2,249,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2304,3410
$GC,8316,-0.89,-117.3,629.0,-6.3,254,8319,0.00,2.25,0.00,0.000,4,0.000,0.048,1821,900,3409
$GC,8350,-0.93,-117.3,631.4,-7.2,254,8355,0.10,2.25,0.00,0.000,6,0.069,0.046,1756,2311,3410
$GC,8683,-0.85,-117.3,663.3,-9.8,260,8685,0.20,0.00,0.00,0.000,6,0.124,0.000,1817,2311,3409
$GC,8986,-0.88,-117.3,683.5,-6.5,265,8990,0.00,2.30,0.00,0.000,4,0.000,0.046,1816,891,3409
$GC,9037,-0.92,-117.3,687.1,-6.8,265,9041,0.00,2.28,0.00,0.000,6,0.000,0.041,1810,2311,3409
$GC,9347,-0.92,-117.3,708.2,-6.8,270,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2311,3409
$GC,9650,-0.92,-117.3,728.2,-6.5,275,9654,0.00,2.30,0.00,0.000,4,0.000,0.051,1810,890,3409
$GC,9689,-0.92,-117.3,731.0,-7.2,275,9693,0.00,2.28,0.00,0.000,6,0.000,0.047,1809,2307,3409
$GC,10011,-0.92,-117.3,752.7,-6.8,281,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2308,3409
$GC,10313,-0.92,-117.3,773.9,-7.0,286,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2308,3409
$GC,10616,-0.92,-117.3,795.2,-7.0,291,10620,0.00,2.30,0.00,0.000,4,0.000,0.048,1809,901,3408
$GC,10661,-0.94,-117.3,798.7,-7.6,291,10665,0.00,2.28,0.00,0.000,6,0.000,0.047,1807,2307,3408
$GC,10978,-0.94,-117.3,819.7,-6.7,297,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2307,3408
$GC,11280,-0.94,-117.3,838.9,-6.4,302,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3408
$GC,11584,-0.94,-117.3,858.3,-6.4,307,11588,0.00,2.33,0.00,0.000,4,0.000,0.049,1807,892,3408
$GC,11640,-0.96,-117.3,862.3,-6.9,307,11646,0.00,2.30,0.00,0.000,6,0.000,0.044,1805,2309,3408
$GC,11951,-0.96,-117.3,882.5,-6.5,313,11952,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2310,3408
$GC,12253,-0.96,-117.3,901.7,-6.3,318,12254,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2310,3408
$GC,12556,-0.96,-117.3,920.3,-6.1,323,12560,0.00,2.33,0.00,0.000,4,0.000,0.051,1805,902,3408
$GC,12595,-0.96,-117.3,922.9,-6.9,323,12599,0.00,2.28,0.00,0.000,6,0.000,0.046,1795,2303,3408
$GC,12917,-0.96,-117.3,943.2,-6.3,329,12918,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3408
$GC,13219,-0.96,-117.3,962.5,-6.4,334,13223,0.00,2.28,0.00,0.000,4,0.000,0.049,1795,904,3407
$GC,13275,-0.96,-117.3,966.5,-6.8,334,13279,0.00,2.28,0.00,0.000,6,0.000,0.046,1794,2307,3408
$GC,13585,-0.96,-117.3,985.7,-6.2,339,13587,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2307,3407
$STATE,13703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13704,begin apogee
$GC,13711,-0.22,0.0,992.9,5.9,341,13813,0.50,0.00,98.65,1.292,6,0.116,0.000,1954,2307,2931
$STATE,13813,end apogee,CONTROL_FINISHED_OK
$STATE,13814,begin climb
$GC,13817,0.68,117.3,994.0,0.0,342,13928,0.55,2.58,103.90,1.265,4,0.072,0.058,2147,3704,2450
$GC,13962,0.50,117.3,990.1,7.2,344,13967,0.20,2.38,0.00,0.000,6,0.161,0.040,2110,2315,2447
$GC,14312,0.47,126.4,971.6,5.2,350,14322,0.00,0.00,7.60,1.022,6,0.000,0.000,2110,2315,2415
$GC,14615,0.46,144.5,956.9,4.9,355,14634,0.00,0.00,17.27,1.174,6,0.000,0.000,2111,2315,2341
$GC,14918,0.47,163.5,942.2,4.9,360,14938,0.00,0.00,17.80,1.170,6,0.000,0.000,2110,2314,2264
$GC,15222,0.49,183.5,927.5,4.8,365,15242,0.00,0.00,18.52,1.167,6,0.000,0.000,2110,2315,2182
$GC,15525,0.51,196.7,912.2,5.1,370,15540,0.00,0.00,12.85,1.114,6,0.000,0.000,2110,2314,2128
$GC,15827,0.52,209.4,896.7,5.1,375,15841,0.00,0.00,12.50,1.104,6,0.000,0.000,2110,2315,2077
$GC,16131,0.56,221.3,881.3,5.1,380,16145,0.00,0.00,12.15,1.092,6,0.000,0.000,2110,2315,2028
$GC,16434,0.60,227.4,865.3,5.3,385,16445,0.00,2.38,6.35,0.934,4,0.000,0.051,2119,885,2004
$GC,16468,0.67,242.6,863.1,5.0,385,16497,0.10,2.30,17.48,1.006,6,0.074,0.044,2168,2310,1941
$GC,16800,0.57,242.6,832.6,9.5,391,16805,0.17,2.30,0.00,0.000,4,0.143,0.050,2120,3715,1937
$GC,16856,0.57,242.6,827.5,8.8,391,16862,0.00,2.25,0.00,0.000,6,0.000,0.034,2129,2293,1937
$GC,17166,0.57,242.6,805.4,7.1,397,17170,0.00,2.33,0.00,0.000,4,0.000,0.053,2129,3716,1935
$GC,17188,0.57,242.6,803.6,7.2,397,17192,0.00,2.25,0.00,0.000,6,0.000,0.033,2139,2293,1936
$GC,17527,0.55,242.6,777.1,7.9,403,17531,0.00,2.30,0.00,0.000,4,0.000,0.049,2140,3719,1935
$GC,17566,0.50,242.6,773.6,9.4,403,17571,0.17,2.22,0.00,0.000,6,0.137,0.034,2101,2302,1935
$GC,17893,0.57,243.5,755.2,5.5,409,17897,0.00,2.25,0.00,0.000,4,0.000,0.048,2110,893,1934
$GC,17933,0.66,255.3,752.8,5.1,409,17961,0.12,2.25,13.32,0.887,6,0.061,0.039,2178,2316,1891
$GC,18265,0.56,255.3,719.9,10.2,415,18269,0.17,2.25,0.00,0.000,4,0.141,0.049,2124,3709,1889
$GC,18328,0.56,255.3,714.6,6.9,416,18332,0.00,2.20,0.00,0.000,6,0.000,0.033,2132,2301,1889
$GC,18700,0.56,255.3,688.8,6.8,422,18704,0.00,2.28,0.00,0.000,4,0.000,0.054,2132,3706,1888
$GC,18723,0.56,255.3,687.0,7.3,422,18727,0.00,2.22,0.00,0.000,6,0.000,0.037,2142,2297,1888
$GC,19062,0.56,255.3,662.4,7.2,428,19063,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2297,1887
$GC,19365,0.56,255.3,640.8,7.1,433,19369,0.00,2.28,0.00,0.000,4,0.000,0.048,2143,3716,1887
$GC,19388,0.53,255.3,639.0,7.8,433,19393,0.15,2.22,0.00,0.000,6,0.134,0.033,2111,2294,1886
$GC,19726,0.60,256.2,620.3,5.5,439,19730,0.00,2.22,0.00,0.000,4,0.000,0.047,2120,895,1886
$GC,19766,0.68,256.2,617.9,5.5,439,19771,0.10,2.22,0.00,0.000,6,0.067,0.038,2188,2308,1886
$GC,20093,0.56,256.2,585.5,10.3,445,20098,0.20,2.25,0.00,0.000,4,0.140,0.051,2125,3711,1886
$GC,20156,0.56,256.2,580.4,6.8,446,20160,0.00,2.20,0.00,0.000,6,0.000,0.033,2133,2305,1886
$GC,20523,0.56,256.2,556.2,6.7,452,20524,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2306,1885
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$STATE,27697,end climb,SURFACE_DEPTH_REACHED
$STATE,27697,begin surface coast
$FINISH,1.3,1.025374
$STATE,27722,end surface coast,CONTROL_FINISHED_OK
$STATE,27722,begin surface
$SM_CCo,27800,0.00,0.000,0,0,1619,321.83
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$IRIDIUM_FIX,4939.69,-14434.73,140299,070710
$TT8_MAMPS,0.028379
$HUMID,1717
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,15.90
$XPDR_PINGS,77
$24V_AH,21.9,70.533
$10V_AH,10.5,60.845
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$DEVICE_SECS,18.925,230.000,398.225,0.000,0.000,22.547,26.491,147.958,19.250,0.000,0.000,13.036,1624.786,23027.283,555.475,2194.787,728.110,33.378,1675.713,0.000,2190.442,0.000,0.527,0.000
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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,41164,711
$CAP_FILE_SIZE,178862,0
$CFSIZE,260165632,220991488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,201109,225506,4956.229,-14434.532,34,1.6,34,18.5