version: 66.04
glider: 144
mission: 15
dive: 533
start: 12 7 109 2 44 26
data:
$ID,144
$MISSION,15
$DIVE,533
$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,-72333.641
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,023330,5005.067,-14446.858,57,1.4,57,18.5
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-46.3
$GPS2,024332,5005.068,-14446.994,11,1.4,11,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.050,0.111
$KALMAN_X,-97791.5,298.3,269.0,125084.0,-2785.0
$KALMAN_Y,26661.2,47.3,14.0,-56191.2,522.9
$MHEAD_RNG_PITCHd_Wd,317.1,6468,-19.7,-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,19,-0.93,-54.4,0.0,0.0,0,52,0.00,0.00,-31.23,0.000,2,0.000,0.000,98,2290,2406
$GC,55,-0.93,-54.4,3.6,-6.3,3,93,7.20,2.28,-25.25,0.000,4,0.242,0.059,1790,889,3156
$GC,346,-0.90,-54.4,42.5,-16.3,28,354,0.05,2.28,0.00,0.000,6,0.150,0.038,1800,2298,3157
$GC,684,-0.90,-54.4,85.5,-13.0,58,688,0.00,2.25,0.00,0.000,4,0.000,0.042,1799,886,3157
$GC,942,-0.94,-54.4,118.8,-12.4,69,946,0.00,2.28,0.00,0.000,6,0.000,0.040,1791,2302,3157
$GC,1268,-0.94,-54.4,153.8,-9.8,84,1273,0.00,2.28,0.00,0.000,4,0.000,0.042,1791,892,3158
$GC,1359,-0.96,-54.4,162.7,-9.6,86,1366,0.00,2.25,0.00,0.000,6,0.000,0.041,1781,2300,3158
$GC,1673,-0.96,-54.4,192.3,-9.8,97,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2301,3158
$GC,1979,-0.96,-54.4,222.2,-9.9,107,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2301,3158
$GC,2285,-0.96,-54.4,250.5,-8.9,117,2289,0.00,2.25,0.00,0.000,4,0.000,0.045,1781,888,3158
$GC,2388,-0.99,-54.4,259.9,-9.2,120,2392,0.00,2.28,0.00,0.000,6,0.000,0.045,1772,2307,3158
$GC,2723,-0.99,-54.4,291.5,-9.2,131,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,2307,3158
$GC,3057,-0.99,-54.4,324.0,-9.8,138,3061,0.00,2.28,0.00,0.000,4,0.000,0.044,1772,885,3158
$GC,3189,-1.02,-54.4,338.1,-11.0,140,3194,0.00,2.30,0.00,0.000,6,0.000,0.044,1762,2306,3158
$GC,3556,-1.02,-54.4,378.1,-10.9,146,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,2306,3157
$GC,3859,-1.02,-54.4,409.6,-10.3,151,3863,0.00,2.30,0.00,0.000,4,0.000,0.051,1761,889,3157
$GC,3938,-1.02,-54.4,417.6,-10.0,152,3943,0.10,2.28,0.00,0.000,6,0.150,0.041,1777,2308,3157
$GC,4293,-1.05,-54.4,447.3,-8.3,158,4297,0.00,2.30,0.00,0.000,4,0.000,0.051,1777,886,3156
$GC,4339,-1.09,-54.4,451.4,-8.8,158,4343,0.00,2.28,0.00,0.000,6,0.000,0.044,1769,2311,3156
$GC,4656,-1.09,-54.4,477.4,-8.1,164,4660,0.00,2.30,0.00,0.000,4,0.000,0.051,1768,895,3156
$GC,4729,-1.11,-54.4,484.0,-8.8,165,4733,0.00,2.28,0.00,0.000,6,0.000,0.041,1759,2312,3156
$GC,5090,-1.11,-54.4,516.7,-9.2,171,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,2312,3156
$GC,5393,-1.11,-54.4,545.2,-9.5,176,5397,0.00,2.30,0.00,0.000,4,0.000,0.044,1759,889,3155
$GC,5500,-1.11,-54.4,556.4,-10.3,177,5504,0.00,2.28,0.00,0.000,6,0.000,0.041,1750,2302,3155
$GC,5821,-1.11,-54.4,588.2,-9.9,183,5825,0.00,2.28,0.00,0.000,4,0.000,0.049,1750,890,3155
$GC,5871,-1.11,-54.4,593.4,-10.3,183,5875,0.00,2.28,0.00,0.000,6,0.000,0.039,1741,2307,3155
$GC,6182,-1.08,-54.4,624.4,-9.9,188,6187,0.10,2.28,0.00,0.000,4,0.162,0.054,1757,3708,3155
$GC,6221,-1.08,-54.4,628.3,-9.9,188,6226,0.00,2.20,0.00,0.000,6,0.000,0.032,1757,2297,3155
$GC,6543,-1.08,-54.4,655.7,-8.4,194,6547,0.00,2.22,0.00,0.000,4,0.000,0.045,1757,902,3155
$GC,6577,-1.08,-54.4,658.7,-9.0,194,6581,0.00,2.22,0.00,0.000,6,0.000,0.039,1748,2314,3155
$GC,6916,-1.08,-54.4,687.2,-8.3,200,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,2314,3154
$GC,7219,-1.08,-54.4,711.5,-8.0,205,7223,0.00,2.28,0.00,0.000,4,0.000,0.045,1748,897,3154
$GC,7269,-1.08,-54.4,715.9,-8.0,205,7274,0.10,2.28,0.00,0.000,6,0.154,0.041,1763,2312,3154
$GC,7582,-1.11,-54.4,737.6,-6.8,210,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,2313,3154
$GC,7883,-1.14,-54.4,758.1,-6.7,215,7887,0.00,2.33,0.00,0.000,4,0.000,0.048,1763,892,3153
$GC,7928,-1.16,-54.4,761.5,-7.6,215,7932,0.00,2.28,0.00,0.000,6,0.000,0.044,1755,2301,3154
$GC,8243,-1.16,-54.4,785.2,-7.5,221,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,2301,3153
$GC,8547,-1.16,-54.4,808.6,-7.7,226,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,2301,3153
$GC,8850,-1.16,-54.4,832.8,-7.9,231,8854,0.00,2.30,0.00,0.000,4,0.000,0.048,1755,896,3153
$GC,8891,-1.16,-54.4,836.2,-8.2,231,8895,0.00,2.28,0.00,0.000,6,0.000,0.044,1746,2304,3153
$GC,9212,-1.16,-54.4,863.9,-8.6,237,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,2305,3152
$GC,9516,-1.16,-54.4,890.4,-8.7,242,9520,0.00,2.30,0.00,0.000,4,0.000,0.048,1746,900,3153
$GC,9572,-1.16,-54.4,895.7,-9.4,242,9578,0.00,2.28,0.00,0.000,6,0.000,0.044,1741,2303,3152
$GC,9882,-1.16,-54.4,922.1,-8.5,248,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,2303,3152
$GC,10185,-1.16,-54.4,946.6,-8.1,253,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,2303,3152
$GC,10489,-1.16,-54.4,969.8,-7.6,258,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,2303,3152
$STATE,10788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10788,begin apogee
$GC,10796,-0.22,0.0,992.4,7.5,263,10850,0.68,0.00,46.67,1.279,6,0.126,0.000,1952,2303,2931
$STATE,10851,end apogee,CONTROL_FINISHED_OK
$STATE,10851,begin climb
$GC,10854,0.93,54.4,993.3,0.0,264,10909,0.70,2.47,47.58,1.259,4,0.074,0.059,2202,3708,2708
$GC,10939,0.74,64.7,990.7,4.8,265,10955,0.22,2.33,10.35,1.091,6,0.189,0.040,2160,2305,2667
$GC,11283,0.72,68.2,973.0,5.3,271,11292,0.00,2.33,3.88,0.737,4,0.000,0.051,2160,3703,2652
$GC,11352,0.63,68.2,969.0,6.2,272,11357,0.12,2.25,0.00,0.000,6,0.179,0.034,2140,2301,2651
$GC,11719,0.65,81.8,951.6,4.6,278,11738,0.00,2.35,12.98,1.147,4,0.000,0.051,2140,3702,2595
$GC,11767,0.62,81.8,948.9,5.6,278,11771,0.00,2.25,0.00,0.000,6,0.000,0.038,2148,2302,2595
$GC,12084,0.62,87.1,932.6,5.1,284,12095,0.00,2.33,5.80,0.933,4,0.000,0.054,2149,3715,2575
$GC,12135,0.57,87.1,929.6,6.1,284,12139,0.15,2.25,0.00,0.000,6,0.173,0.035,2123,2296,2574
$GC,12446,0.66,104.5,916.2,4.3,289,12470,0.00,2.42,16.65,1.158,4,0.000,0.057,2122,3718,2502
$GC,12495,0.71,115.3,913.8,4.7,289,12513,0.08,2.28,10.68,1.077,6,0.082,0.040,2166,2304,2460
$GC,12815,0.71,115.3,891.9,6.9,295,12816,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2303,2456
$GC,13118,0.71,115.3,870.0,7.2,300,13122,0.00,2.33,0.00,0.000,4,0.000,0.053,2166,3711,2455
$GC,13146,0.67,115.3,867.7,7.4,300,13151,0.12,2.25,0.00,0.000,6,0.173,0.039,2145,2299,2454
$GC,13479,0.71,115.3,846.1,6.4,306,13481,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2298,2454
$GC,13782,0.75,115.3,827.2,6.2,311,13786,0.00,2.30,0.00,0.000,4,0.000,0.051,2145,3712,2454
$GC,13826,0.75,115.3,824.1,7.1,311,13830,0.00,2.22,0.00,0.000,6,0.000,0.034,2153,2293,2453
$GC,14142,0.78,115.3,804.4,6.3,317,14146,0.00,2.30,0.00,0.000,4,0.000,0.050,2154,3712,2453
$GC,14188,0.75,115.3,801.0,7.0,317,14191,0.00,2.20,0.00,0.000,6,0.000,0.033,2164,2300,2452
$GC,14509,0.75,115.3,780.2,6.4,323,14513,0.00,2.33,0.00,0.000,4,0.000,0.050,2165,3718,2453
$GC,14582,0.71,115.3,774.9,7.3,324,14587,0.00,2.22,0.00,0.000,6,0.000,0.033,2175,2304,2452
$GC,14938,0.71,115.3,751.5,6.5,330,14942,0.00,2.30,0.00,0.000,4,0.000,0.048,2175,3715,2452
$GC,15011,0.64,115.3,745.7,8.2,331,15016,0.17,2.22,0.00,0.000,6,0.163,0.034,2141,2293,2452
$GC,15367,0.70,118.7,726.7,5.3,337,15371,0.00,2.30,0.00,0.000,4,0.000,0.048,2141,3712,2451
$GC,15394,0.70,118.7,724.8,5.6,337,15398,0.00,2.20,0.00,0.000,6,0.000,0.033,2149,2302,2452
$GC,15733,0.74,118.7,705.8,5.6,343,15737,0.00,2.28,0.00,0.000,4,0.000,0.048,2149,3712,2452
$GC,15784,0.74,118.7,702.5,6.5,343,15787,0.00,2.20,0.00,0.000,6,0.000,0.033,2160,2301,2451
$GC,16100,0.74,119.7,684.9,5.4,349,16109,0.00,2.35,3.70,0.636,4,0.000,0.048,2159,3711,2443
$GC,16144,0.70,119.7,682.2,5.8,349,16148,0.00,2.22,0.00,0.000,6,0.000,0.033,2170,2292,2443
$GC,16466,0.70,119.7,663.8,5.7,355,16470,0.00,2.33,0.00,0.000,4,0.000,0.049,2170,3719,2443
$GC,16511,0.64,119.7,660.6,6.1,355,16516,0.17,2.25,0.00,0.000,6,0.159,0.035,2136,2293,2442
$GC,16827,0.73,135.0,646.3,4.4,361,16844,0.08,0.00,15.12,0.995,6,0.077,0.000,2181,2292,2380
$GC,17131,0.73,135.0,625.4,7.2,366,17135,0.10,2.33,0.00,0.000,4,0.163,0.049,2157,3712,2377
$GC,17187,0.73,135.0,620.9,7.8,366,17193,0.00,2.22,0.00,0.000,6,0.000,0.033,2166,2303,2376
$GC,17498,0.75,135.0,599.5,6.9,372,17502,0.00,2.30,0.00,0.000,4,0.000,0.052,2166,3711,2376
$GC,17543,0.72,135.0,595.8,8.4,372,17547,0.00,2.22,0.00,0.000,6,0.000,0.033,2176,2303,2375
$GC,17860,0.72,135.0,571.7,7.6,378,17864,0.00,2.33,0.00,0.000,4,0.000,0.052,2176,3717,2376
$GC,17894,0.66,135.0,568.8,8.1,378,17898,0.17,2.25,0.00,0.000,6,0.162,0.033,2142,2296,2376
$GC,18226,0.73,135.0,549.5,5.7,384,18228,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2296,2375
$GC,18530,0.81,137.1,533.1,5.4,389,18535,0.12,2.33,0.00,0.000,4,0.058,0.048,2201,3719,2375
$GC,18593,0.70,137.1,527.8,9.7,390,18598,0.22,2.22,0.00,0.000,6,0.169,0.034,2153,2305,2375
$GC,18966,0.76,140.2,507.6,5.3,396,18973,0.00,0.00,5.38,0.726,6,0.000,0.000,2153,2304,2359
$GC,19269,0.81,140.2,490.9,5.5,401,19274,0.10,2.30,0.00,0.000,4,0.064,0.048,2202,3721,2359
$GC,19342,0.71,140.2,484.5,9.1,402,19347,0.22,2.25,0.00,0.000,6,0.164,0.034,2154,2290,2358
$GC,19704,0.76,140.2,462.7,6.0,408,19708,0.00,2.30,0.00,0.000,4,0.000,0.048,2154,3714,2358
$GC,19767,0.76,140.2,458.0,7.5,409,19771,0.00,2.20,0.00,0.000,6,0.000,0.033,2163,2302,2357
$GC,20139,0.80,140.2,432.0,6.9,415,20143,0.00,2.30,0.00,0.000,4,0.000,0.048,2163,3719,2358
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$STATE,27124,end climb,SURFACE_DEPTH_REACHED
$STATE,27124,begin surface coast
$FINISH,1.6,1.020843
$STATE,27157,end surface coast,CONTROL_FINISHED_OK
$STATE,27157,begin surface
$SM_CCo,27175,71.20,0.609,0,0,1707,300.00
$SM_GC,2.31,0.00,0.00,71.20,0.000,0.000,0.609,98,2293,1707,-8.75,-0.28,300.00
$IRIDIUM_FIX,4946.36,-14532.08,030399,020250
$TT8_MAMPS,0.029146
$HUMID,1700
$INTERNAL_PRESSURE,7.39286
$TCM_TEMP,14.00
$XPDR_PINGS,65
$24V_AH,22.8,77.306
$10V_AH,10.5,67.094
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$DEVICE_SECS,17.575,213.725,244.000,71.200,0.000,55.242,75.776,255.017,16.250,0.000,0.000,12.781,1646.145,22388.352,462.890,2419.759,921.303,33.373,1644.836,0.000,2400.581,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,496.999,563.155,723.849,1208.603,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41231,704
$CAP_FILE_SIZE,180222,0
$CFSIZE,260165632,217169920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,071209,102015,5007.284,-14448.538,38,2.2,57,18.5