version: 66.04
glider: 144
mission: 15
dive: 539
start: 12 9 109 2 19 14
data:
$ID,144
$MISSION,15
$DIVE,539
$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,-72480.57
$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,35
$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
$GPS1,021207,5017.295,-14505.833,28,1.4,28,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-53.2
$GPS2,021820,5017.282,-14505.895,13,1.4,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.114,0.123
$KALMAN_X,-99352.2,106.3,-19.4,104796.7,-904.5
$KALMAN_Y,27002.5,-78.7,-166.7,-33602.8,405.5
$MHEAD_RNG_PITCHd_Wd,298.7,9938,-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,-31.27,0.000,2,0.000,0.000,98,2289,2435
$GC,56,-0.68,-117.3,3.1,-3.8,3,100,7.22,2.38,-27.17,0.000,4,0.234,0.067,1836,3704,3412
$GC,253,-0.65,-117.3,24.5,-12.0,20,260,0.10,2.17,0.00,0.000,6,0.123,0.030,1863,2301,3413
$GC,581,-0.65,-117.3,56.8,-9.8,51,585,0.00,2.25,0.00,0.000,4,0.000,0.043,1863,898,3413
$GC,660,-0.67,-117.3,64.7,-9.7,57,666,0.00,2.22,0.00,0.000,6,0.000,0.038,1857,2303,3414
$GC,991,-0.67,-117.3,96.7,-9.6,81,993,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2303,3413
$GC,1302,-0.67,-117.3,123.6,-7.8,96,1306,0.00,2.25,0.00,0.000,4,0.000,0.042,1857,897,3414
$GC,1335,-0.71,-117.3,126.5,-8.0,97,1342,0.00,2.22,0.00,0.000,6,0.000,0.036,1850,2301,3414
$GC,1652,-0.74,-117.3,151.4,-8.0,113,1656,0.00,2.28,0.00,0.000,4,0.000,0.051,1841,3708,3414
$GC,1691,-0.78,-117.3,154.8,-8.6,114,1695,0.00,2.17,0.00,0.000,6,0.000,0.029,1841,2301,3414
$GC,2022,-0.81,-117.3,179.8,-7.3,125,2025,0.00,2.22,0.00,0.000,4,0.000,0.043,1840,898,3414
$GC,2067,-0.85,-117.3,183.5,-8.0,126,2071,0.00,2.25,0.00,0.000,6,0.000,0.039,1836,2306,3414
$GC,2393,-0.88,-117.3,206.8,-7.0,137,2398,0.10,2.25,0.00,0.000,4,0.064,0.047,1754,3708,3414
$GC,2449,-0.76,-117.3,213.1,-12.1,138,2456,0.28,2.17,0.00,0.000,6,0.120,0.031,1838,2300,3414
$GC,2763,-0.79,-117.3,237.2,-7.4,149,2766,0.00,2.22,0.00,0.000,4,0.000,0.043,1837,893,3414
$GC,2833,-0.84,-117.3,242.7,-8.0,151,2837,0.00,2.28,0.00,0.000,6,0.000,0.043,1837,2313,3414
$GC,3169,-0.86,-117.3,266.6,-7.0,162,3174,0.10,2.25,0.00,0.000,4,0.064,0.042,1767,899,3414
$GC,3232,-0.77,-117.3,273.1,-11.1,164,3237,0.25,2.22,0.00,0.000,6,0.119,0.038,1831,2305,3414
$GC,3569,-0.79,-117.3,297.5,-7.0,175,3573,0.00,2.28,0.00,0.000,4,0.000,0.044,1831,893,3414
$GC,3620,-0.83,-117.3,301.4,-7.7,176,3624,0.00,2.28,0.00,0.000,6,0.000,0.042,1825,2311,3414
$GC,3931,-0.83,-117.3,323.8,-7.3,181,3935,0.00,2.30,0.00,0.000,4,0.000,0.053,1815,3714,3414
$GC,3965,-0.83,-117.3,326.5,-8.1,181,3969,0.00,2.20,0.00,0.000,6,0.000,0.031,1815,2298,3414
$GC,4299,-0.83,-117.3,352.3,-7.9,187,4303,0.00,2.25,0.00,0.000,4,0.000,0.044,1815,899,3413
$GC,4338,-0.83,-117.3,355.7,-8.7,187,4342,0.00,2.25,0.00,0.000,6,0.000,0.041,1806,2303,3413
$GC,4672,-0.83,-117.3,383.4,-8.4,193,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2303,3413
$GC,4974,-0.83,-117.3,409.2,-8.4,198,4978,0.00,2.25,0.00,0.000,4,0.000,0.044,1806,898,3413
$GC,5053,-0.83,-117.3,416.2,-9.1,199,5058,0.10,2.28,0.00,0.000,6,0.126,0.041,1824,2312,3413
$GC,5408,-0.86,-117.3,441.2,-7.0,205,5412,0.00,2.30,0.00,0.000,4,0.000,0.044,1823,895,3412
$GC,5442,-0.89,-117.3,443.9,-7.1,205,5446,0.00,2.28,0.00,0.000,6,0.000,0.045,1821,2310,3412
$GC,5769,-0.89,-117.3,467.5,-7.1,211,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2310,3412
$GC,6073,-0.89,-117.3,488.5,-6.9,216,6077,0.00,2.28,0.00,0.000,4,0.000,0.048,1821,898,3412
$GC,6123,-0.92,-117.3,492.5,-7.7,216,6127,0.00,2.28,0.00,0.000,6,0.000,0.044,1812,2316,3412
$GC,6434,-0.92,-117.3,515.8,-7.5,221,6438,0.00,2.30,0.00,0.000,4,0.000,0.051,1813,899,3411
$GC,6473,-0.92,-117.3,519.2,-8.7,221,6478,0.00,2.28,0.00,0.000,6,0.000,0.046,1807,2311,3412
$GC,6795,-0.92,-117.3,544.2,-7.8,227,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2311,3411
$GC,7098,-0.92,-117.3,566.4,-7.3,232,7102,0.00,2.33,0.00,0.000,4,0.000,0.051,1808,889,3411
$GC,7162,-0.92,-117.3,571.1,-7.9,233,7166,0.00,2.30,0.00,0.000,6,0.000,0.045,1798,2309,3411
$GC,7528,-0.92,-117.3,596.9,-7.0,239,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2309,3411
$GC,7831,-0.92,-117.3,618.3,-7.0,244,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2309,3411
$GC,8134,-0.92,-117.3,639.2,-6.9,249,8138,0.00,2.33,0.00,0.000,4,0.000,0.049,1798,892,3411
$GC,8168,-0.92,-117.3,641.7,-7.4,249,8172,0.00,2.30,0.00,0.000,6,0.000,0.046,1790,2310,3411
$GC,8495,-0.89,-117.3,666.1,-7.5,255,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,2310,3411
$GC,8798,-0.86,-117.3,690.6,-8.1,260,8800,0.10,0.00,0.00,0.000,6,0.137,0.000,1818,2310,3410
$GC,9102,-0.89,-117.3,712.4,-7.2,265,9106,0.00,2.33,0.00,0.000,4,0.000,0.051,1818,890,3410
$GC,9147,-0.93,-117.3,715.9,-7.7,265,9151,0.00,2.30,0.00,0.000,6,0.000,0.039,1812,2312,3410
$GC,9464,-0.96,-117.3,738.5,-7.1,271,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2312,3410
$GC,9766,-0.98,-117.3,758.8,-6.7,276,9768,0.10,0.00,0.00,0.000,6,0.067,0.000,1742,2312,3410
$GC,10070,-0.86,-117.3,789.4,-10.3,281,10075,0.22,2.33,0.00,0.000,4,0.128,0.050,1812,895,3409
$GC,10137,-0.89,-117.3,794.6,-7.0,282,10142,0.00,2.28,0.00,0.000,6,0.000,0.040,1809,2305,3410
$GC,10498,-0.89,-117.3,817.3,-6.3,288,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2306,3409
$GC,10803,-0.92,-117.3,836.2,-6.2,293,10807,0.00,2.30,0.00,0.000,4,0.000,0.046,1809,892,3409
$GC,10848,-0.94,-117.3,839.4,-6.4,293,10852,0.00,2.30,0.00,0.000,6,0.000,0.045,1808,2312,3409
$GC,11164,-0.96,-117.3,857.9,-5.8,299,11165,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2312,3409
$GC,11467,-0.98,-117.3,875.9,-5.9,304,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2312,3409
$GC,11770,-1.01,-117.3,894.1,-6.0,309,11774,0.10,2.33,0.00,0.000,4,0.073,0.048,1757,898,3409
$GC,11833,-0.94,-117.3,899.7,-9.3,310,11838,0.15,2.28,0.00,0.000,6,0.137,0.042,1796,2302,3409
$GC,12201,-0.94,-117.3,924.9,-6.7,316,12202,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3408
$GC,12503,-0.94,-117.3,945.1,-6.6,321,12507,0.00,2.30,0.00,0.000,4,0.000,0.052,1796,900,3408
$GC,12536,-0.94,-117.3,947.5,-6.9,321,12540,0.00,2.28,0.00,0.000,6,0.000,0.044,1795,2306,3408
$GC,12869,-0.94,-117.3,969.9,-6.7,327,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2306,3408
$STATE,13168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13168,begin apogee
$GC,13177,-0.22,0.0,990.3,6.7,332,13279,0.50,0.00,99.12,1.289,6,0.114,0.000,1955,2306,2931
$STATE,13279,end apogee,CONTROL_FINISHED_OK
$STATE,13279,begin climb
$GC,13283,0.68,117.3,991.7,0.0,333,13394,0.55,2.58,104.07,1.264,4,0.074,0.056,2148,3698,2451
$GC,13451,0.50,117.3,987.9,7.6,335,13457,0.20,2.35,0.00,0.000,6,0.156,0.039,2110,2312,2446
$GC,13774,0.49,137.6,972.2,4.8,341,13793,0.00,0.00,17.27,1.174,6,0.000,0.000,2110,2312,2370
$GC,14077,0.47,148.0,956.7,5.1,346,14093,0.00,2.35,10.60,1.097,4,0.000,0.051,2110,3718,2326
$GC,14122,0.42,148.0,953.9,6.5,346,14127,0.12,2.28,0.00,0.000,6,0.157,0.035,2087,2301,2324
$GC,14439,0.48,181.5,939.9,4.4,352,14470,0.00,0.00,30.10,1.208,6,0.000,0.000,2087,2301,2191
$GC,14742,0.60,185.8,924.3,5.4,357,14752,0.15,2.33,5.03,0.857,4,0.065,0.049,2158,893,2172
$GC,14833,0.54,185.8,917.9,7.3,358,14838,0.15,2.30,0.00,0.000,6,0.139,0.046,2119,2304,2170
$GC,15171,0.54,185.8,898.2,5.8,364,15175,0.00,2.30,0.00,0.000,4,0.000,0.058,2119,3709,2169
$GC,15222,0.49,185.8,894.7,6.6,364,15226,0.00,2.25,0.00,0.000,6,0.000,0.038,2127,2294,2169
$GC,15534,0.47,185.8,874.6,6.6,369,15539,0.12,2.33,0.00,0.000,4,0.147,0.054,2094,3710,2169
$GC,15568,0.47,185.8,872.1,6.0,369,15572,0.00,2.22,0.00,0.000,6,0.000,0.035,2102,2301,2169
$GC,15896,0.49,185.8,854.0,5.6,375,15897,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2301,2168
$GC,16199,0.51,185.8,836.5,5.8,380,16203,0.00,2.30,0.00,0.000,4,0.000,0.050,2102,3711,2167
$GC,16226,0.51,185.8,834.6,6.9,380,16230,0.00,2.22,0.00,0.000,6,0.000,0.033,2112,2297,2167
$GC,16559,0.51,185.8,813.9,6.3,386,16560,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2297,2167
$GC,16862,0.51,185.8,794.8,6.3,391,16866,0.00,2.30,0.00,0.000,4,0.000,0.048,2113,3715,2167
$GC,16913,0.48,185.8,791.0,7.2,391,16917,0.00,2.22,0.00,0.000,6,0.000,0.033,2122,2304,2166
$GC,17224,0.48,185.8,770.6,6.5,396,17225,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2304,2167
$GC,17527,0.48,185.8,752.3,6.0,401,17531,0.00,2.30,0.00,0.000,4,0.000,0.055,2123,3713,2166
$GC,17566,0.42,185.8,749.6,7.3,401,17571,0.17,2.22,0.00,0.000,6,0.143,0.033,2085,2300,2166
$GC,17889,0.59,214.9,735.4,4.5,407,17920,0.15,2.33,26.02,1.085,4,0.059,0.048,2164,890,2054
$GC,18023,0.54,214.9,727.5,6.2,409,18028,0.17,2.30,0.00,0.000,6,0.135,0.038,2116,2317,2050
$GC,18390,0.62,258.3,711.8,4.0,415,18435,0.00,2.35,38.85,1.082,4,0.000,0.049,2116,3702,1876
$GC,18464,0.65,258.3,708.2,5.7,416,18468,0.00,2.28,0.00,0.000,6,0.000,0.037,2123,2300,1875
$GC,18820,0.70,267.4,690.2,5.2,422,18835,0.10,2.35,8.57,0.918,4,0.066,0.049,2192,3706,1840
$GC,18853,0.57,267.4,687.2,9.9,422,18858,0.30,2.22,0.00,0.000,6,0.148,0.034,2120,2306,1839
$GC,19186,0.62,267.4,667.2,5.8,428,19190,0.00,2.28,0.00,0.000,4,0.000,0.048,2128,889,1836
$GC,19215,0.68,267.4,665.3,6.7,428,19219,0.00,2.28,0.00,0.000,6,0.000,0.044,2128,2312,1835
$GC,19547,0.72,267.4,643.2,6.8,434,19552,0.10,2.28,0.00,0.000,4,0.070,0.048,2201,3712,1835
$GC,19611,0.55,267.4,635.6,16.3,435,19616,0.32,2.25,0.00,0.000,6,0.151,0.035,2121,2294,1835
$GC,19978,0.59,267.4,611.5,6.0,441,19980,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2294,1834
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$STATE,28810,end climb,SURFACE_DEPTH_REACHED
$STATE,28810,begin surface coast
$FINISH,1.5,1.012887
$STATE,28857,end surface coast,CONTROL_FINISHED_OK
$STATE,28857,begin surface
$SM_CCo,28935,0.00,0.000,0,0,1449,363.53
$SM_GC,2.24,5.45,0.00,0.00,0.036,0.000,0.000,97,2308,1449,-8.61,0.14,363.53
$IRIDIUM_FIX,4956.40,-14529.14,040399,181844
$TT8_MAMPS,0.028379
$HUMID,1722
$INTERNAL_PRESSURE,7.3538
$TCM_TEMP,15.70
$XPDR_PINGS,70
$24V_AH,21.9,78.163
$10V_AH,10.5,67.850
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$DEVICE_SECS,19.325,222.650,424.350,0.000,0.000,27.615,33.155,157.468,17.500,0.000,0.000,15.253,1667.690,23976.756,568.321,2279.630,802.970,33.379,1722.265,0.000,2281.988,0.000,0.527,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,513.437,592.271,755.872,1249.588,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41249,728
$CAP_FILE_SIZE,184403,0
$CFSIZE,260165632,216698880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,091209,102323,5019.534,-14509.592,54,1.5,71,18.5