version: 66.04
glider: 144
mission: 15
dive: 720
start: 2 8 110 4 27 8
data:
$ID,144
$MISSION,15
$DIVE,720
$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,-76297.797
$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,36
$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
$GPS1,041607,4936.703,-13934.176,32,1.2,32,19.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-64.6
$GPS2,042614,4936.627,-13934.069,11,1.4,11,19.2
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.163,-0.040
$KALMAN_X,-69477.7,-118.4,-220.3,467492.5,2213.5
$KALMAN_Y,41359.3,-172.2,-245.4,-123067.2,827.9
$MHEAD_RNG_PITCHd_Wd,84.6,65127,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,60,0.00,0.00,-40.78,0.000,2,0.000,0.000,99,2311,2805
$GC,64,-0.68,-117.3,4.5,-10.0,2,90,7.22,2.35,-12.85,0.000,4,0.234,0.058,1845,888,3412
$GC,312,-0.68,-117.3,34.0,-10.3,13,316,0.00,2.28,0.00,0.000,6,0.000,0.038,1837,2306,3414
$GC,641,-0.63,-117.3,69.9,-11.1,29,645,0.10,2.25,0.00,0.000,4,0.139,0.040,1865,895,3414
$GC,709,-0.65,-117.3,76.5,-8.9,32,713,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2305,3415
$GC,1044,-0.67,-117.3,100.2,-7.3,61,1047,0.00,2.25,0.00,0.000,4,0.000,0.041,1862,894,3414
$GC,1147,-0.72,-117.3,108.9,-8.9,70,1151,0.00,2.25,0.00,0.000,6,0.000,0.038,1862,2311,3415
$GC,1479,-0.76,-117.3,131.3,-5.6,100,1485,0.10,0.00,0.00,0.000,6,0.063,0.000,1781,2311,3415
$GC,1810,-0.66,-117.3,168.8,-11.8,122,1815,0.22,2.30,0.00,0.000,4,0.117,0.040,1856,889,3415
$GC,1855,-0.73,-117.3,173.1,-7.7,123,1860,0.00,2.25,0.00,0.000,6,0.000,0.041,1850,2302,3415
$GC,2176,-0.77,-117.3,194.7,-6.4,134,2181,0.00,2.30,0.00,0.000,4,0.000,0.052,1846,3710,3415
$GC,2217,-0.83,-117.3,197.4,-6.7,135,2222,0.10,2.20,0.00,0.000,6,0.062,0.029,1773,2288,3414
$GC,2542,-0.73,-117.3,232.5,-11.3,146,2547,0.20,2.22,0.00,0.000,4,0.117,0.048,1839,904,3414
$GC,2617,-0.77,-117.3,239.1,-8.0,148,2621,0.00,2.25,0.00,0.000,6,0.000,0.041,1836,2309,3414
$GC,2943,-0.79,-117.3,263.5,-7.4,159,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2309,3414
$GC,3249,-0.82,-117.3,285.5,-6.8,169,3253,0.00,2.30,0.00,0.000,4,0.000,0.041,1837,901,3414
$GC,3307,-0.86,-117.3,289.6,-7.0,170,3314,0.10,2.25,0.00,0.000,6,0.064,0.042,1765,2301,3414
$GC,3619,-0.75,-117.3,323.9,-11.4,178,3621,0.25,0.00,0.00,0.000,6,0.117,0.000,1842,2301,3414
$GC,3922,-0.80,-117.3,344.4,-6.4,183,3926,0.00,2.25,0.00,0.000,4,0.000,0.042,1841,900,3414
$GC,3969,-0.86,-117.3,347.6,-7.4,183,3973,0.10,2.25,0.00,0.000,6,0.064,0.041,1767,2311,3414
$GC,4296,-0.76,-117.3,382.3,-10.9,189,4298,0.22,0.00,0.00,0.000,6,0.117,0.000,1835,2311,3413
$GC,4599,-0.80,-117.3,401.3,-6.0,194,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2311,3413
$GC,4903,-0.84,-117.3,418.8,-5.8,199,4907,0.00,2.30,0.00,0.000,4,0.000,0.046,1835,899,3413
$GC,4948,-0.89,-117.3,421.8,-6.4,199,4953,0.12,2.28,0.00,0.000,6,0.056,0.038,1755,2309,3412
$GC,5264,-0.78,-117.3,454.2,-10.6,205,5266,0.25,0.00,0.00,0.000,6,0.119,0.000,1831,2309,3412
$GC,5568,-0.82,-117.3,474.1,-6.4,210,5572,0.00,2.30,0.00,0.000,4,0.000,0.046,1831,903,3412
$GC,5598,-0.86,-117.3,476.2,-8.1,210,5602,0.00,2.25,0.00,0.000,6,0.000,0.038,1826,2303,3412
$GC,5932,-0.89,-117.3,499.1,-7.0,216,5936,0.00,2.30,0.00,0.000,4,0.000,0.056,1816,3707,3412
$GC,5955,-0.92,-117.3,500.9,-7.2,216,5959,0.00,2.22,0.00,0.000,6,0.000,0.035,1816,2303,3412
$GC,6300,-0.92,-117.3,525.5,-7.1,222,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2303,3412
$GC,6602,-0.92,-117.3,546.0,-6.7,227,6606,0.00,2.28,0.00,0.000,4,0.000,0.046,1816,898,3412
$GC,6659,-0.92,-117.3,550.0,-7.2,227,6665,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2303,3412
$GC,6969,-0.92,-117.3,571.3,-6.9,233,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3412
$GC,7273,-0.92,-117.3,593.2,-7.3,238,7277,0.00,2.30,0.00,0.000,4,0.000,0.046,1809,899,3411
$GC,7324,-0.92,-117.3,597.5,-8.6,238,7329,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2304,3411
$GC,7635,-0.92,-117.3,621.7,-7.9,243,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2304,3411
$GC,7938,-0.92,-117.3,645.9,-8.1,248,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3411
$GC,8242,-0.92,-117.3,669.3,-7.7,253,8246,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,894,3411
$GC,8281,-0.92,-117.3,672.6,-8.3,253,8285,0.00,2.28,0.00,0.000,6,0.000,0.041,1798,2305,3411
$GC,8603,-0.92,-117.3,697.3,-7.7,259,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2306,3411
$GC,8906,-0.92,-117.3,720.1,-7.5,264,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2306,3411
$GC,9209,-0.92,-117.3,740.3,-6.6,269,9213,0.00,2.30,0.00,0.000,4,0.000,0.045,1798,895,3411
$GC,9246,-0.92,-117.3,742.7,-7.2,269,9250,0.00,2.28,0.00,0.000,6,0.000,0.043,1795,2304,3411
$GC,9573,-0.92,-117.3,765.8,-7.1,275,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2304,3411
$GC,9876,-0.92,-117.3,787.9,-7.3,280,9880,0.00,2.28,0.00,0.000,4,0.000,0.051,1794,898,3410
$GC,9921,-0.92,-117.3,791.8,-8.7,280,9925,0.00,2.30,0.00,0.000,6,0.000,0.046,1788,2315,3410
$GC,10239,-0.89,-117.3,817.9,-8.3,286,10240,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2314,3410
$GC,10541,-0.86,-117.3,842.5,-8.0,291,10546,0.10,2.30,0.00,0.000,4,0.134,0.055,1808,3708,3410
$GC,10569,-0.86,-117.3,844.7,-7.6,291,10573,0.00,2.22,0.00,0.000,6,0.000,0.032,1808,2298,3410
$GC,10909,-0.89,-117.3,865.6,-6.1,297,10913,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,899,3410
$GC,10961,-0.91,-117.3,869.1,-6.6,297,10965,0.00,2.28,0.00,0.000,6,0.000,0.042,1808,2303,3410
$GC,11271,-0.91,-117.3,887.1,-5.7,302,11276,0.00,2.35,0.00,0.000,4,0.000,0.051,1797,3714,3410
$GC,11300,-0.91,-117.3,888.9,-6.6,302,11304,0.00,2.28,0.00,0.000,6,0.000,0.038,1798,2297,3410
$GC,11634,-0.91,-117.3,909.2,-6.1,308,11635,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2297,3410
$GC,11936,-0.91,-117.3,927.1,-5.9,313,11937,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2297,3410
$GC,12239,-0.91,-117.3,946.6,-6.5,318,12243,0.00,2.33,0.00,0.000,4,0.000,0.052,1798,888,3409
$GC,12298,-0.91,-117.3,950.9,-7.4,318,12302,0.00,2.30,0.00,0.000,6,0.000,0.043,1795,2301,3409
$GC,12609,-0.91,-117.3,972.5,-7.0,323,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2302,3409
$STATE,12908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12908,begin apogee
$GC,12917,-0.22,0.0,993.8,7.0,328,13018,0.50,0.00,98.93,1.283,6,0.111,0.000,1955,2301,2931
$STATE,13019,end apogee,CONTROL_FINISHED_OK
$STATE,13019,begin climb
$GC,13023,0.68,117.3,995.3,0.0,329,13136,0.57,2.60,104.47,1.256,4,0.069,0.048,2162,909,2451
$GC,13153,0.61,144.6,995.2,4.6,331,13185,0.12,2.45,26.12,1.189,6,0.142,0.041,2135,2301,2341
$GC,13528,0.55,144.6,972.7,6.1,338,13532,0.00,2.30,0.00,0.000,4,0.000,0.053,2135,3714,2332
$GC,13621,0.43,144.6,965.7,7.9,339,13626,0.20,2.25,0.00,0.000,6,0.153,0.034,2090,2306,2331
$GC,13960,0.49,173.8,950.0,4.5,345,13987,0.00,0.00,25.20,1.196,6,0.000,0.000,2090,2306,2222
$GC,14263,0.60,174.7,933.8,5.5,350,14268,0.15,2.33,0.00,0.000,4,0.062,0.052,2159,893,2217
$GC,14329,0.52,174.7,929.5,7.3,351,14334,0.17,2.30,0.00,0.000,6,0.141,0.040,2113,2317,2216
$GC,14696,0.53,181.6,909.3,5.3,357,14710,0.00,2.35,7.50,0.995,4,0.000,0.054,2113,3714,2189
$GC,14766,0.51,181.6,904.9,6.9,358,14770,0.00,2.25,0.00,0.000,6,0.000,0.033,2121,2294,2188
$GC,15138,0.51,181.6,882.7,6.0,364,15142,0.00,2.33,0.00,0.000,4,0.000,0.055,2121,3715,2187
$GC,15189,0.45,181.6,879.0,7.5,364,15194,0.15,2.25,0.00,0.000,6,0.144,0.033,2092,2293,2187
$GC,15501,0.55,187.8,862.6,5.3,369,15516,0.10,2.38,6.90,0.956,4,0.074,0.052,2146,3715,2164
$GC,15551,0.44,187.8,858.7,7.8,369,15556,0.22,2.22,0.00,0.000,6,0.143,0.033,2094,2305,2163
$GC,15869,0.49,191.3,841.5,5.4,375,15878,0.00,2.33,4.60,0.790,4,0.000,0.047,2104,896,2151
$GC,15897,0.56,206.8,839.8,5.0,375,15918,0.00,2.25,15.65,1.092,6,0.000,0.040,2103,2306,2087
$GC,16235,0.68,206.8,818.2,6.5,381,16239,0.15,2.30,0.00,0.000,4,0.065,0.045,2174,892,2083
$GC,16338,0.60,206.8,809.9,8.1,382,16342,0.17,2.25,0.00,0.000,6,0.137,0.040,2128,2307,2083
$GC,16676,0.60,206.8,788.6,6.0,388,16680,0.00,2.30,0.00,0.000,4,0.000,0.054,2128,3713,2083
$GC,16733,0.56,206.8,784.4,7.2,388,16739,0.00,2.22,0.00,0.000,6,0.000,0.033,2136,2301,2082
$GC,17045,0.56,206.8,764.7,6.3,394,17046,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2301,2082
$GC,17347,0.56,206.8,746.3,6.0,399,17348,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2301,2082
$GC,17650,0.54,206.8,727.3,6.3,404,17651,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2301,2082
$GC,17953,0.54,206.8,707.2,6.6,409,17957,0.00,2.30,0.00,0.000,4,0.000,0.048,2136,3708,2082
$GC,18010,0.47,206.8,702.9,8.7,409,18017,0.17,2.25,0.00,0.000,6,0.133,0.033,2097,2300,2081
$GC,18322,0.60,224.4,687.4,4.9,415,18343,0.12,2.33,16.20,1.014,4,0.061,0.052,2177,885,2015
$GC,18391,0.52,224.4,682.8,7.5,416,18396,0.22,2.28,0.00,0.000,6,0.134,0.039,2114,2305,2014
$GC,18753,0.60,255.2,666.0,4.5,422,18788,0.00,2.35,28.27,1.032,4,0.000,0.050,2114,3702,1889
$GC,18829,0.64,255.2,661.9,5.6,423,18833,0.00,2.25,0.00,0.000,6,0.000,0.033,2120,2294,1888
$GC,19186,0.70,262.2,643.4,5.3,429,19200,0.12,2.35,7.30,0.853,4,0.055,0.051,2209,890,1861
$GC,19224,0.59,262.2,640.1,10.5,429,19229,0.28,2.28,0.00,0.000,6,0.139,0.042,2131,2312,1860
$GC,19552,0.62,262.2,619.9,6.0,435,19556,0.00,2.28,0.00,0.000,4,0.000,0.048,2130,3709,1858
$GC,19604,0.62,262.2,616.0,7.0,435,19608,0.00,2.22,0.00,0.000,6,0.000,0.031,2138,2301,1858
$GC,19914,0.62,262.2,594.0,7.1,440,19918,0.00,2.28,0.00,0.000,4,0.000,0.054,2148,896,1857
$GC,19960,0.65,262.2,590.5,6.6,440,19964,0.00,2.25,0.00,0.000,6,0.000,0.040,2148,2303,1856
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$STATE,28887,end climb,SURFACE_DEPTH_REACHED
$STATE,28887,begin surface coast
$FINISH,1.6,1.012376
$STATE,28909,end surface coast,CONTROL_FINISHED_OK
$STATE,28909,begin surface
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$IRIDIUM_FIX,4916.46,-13932.56,050599,040436
$TT8_MAMPS,0.028379
$HUMID,1760
$INTERNAL_PRESSURE,7.36356
$TCM_TEMP,15.70
$XPDR_PINGS,74
$24V_AH,21.7,103.595
$10V_AH,10.3,88.525
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$DEVICE_SECS,19.575,254.675,410.250,0.000,0.000,52.747,69.110,248.757,18.500,0.000,0.000,12.809,1727.899,23899.645,555.433,2296.567,1104.736,33.388,1789.208,0.000,2272.877,0.000,0.528,0.000
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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,44365,754
$CAP_FILE_SIZE,193997,0
$CFSIZE,260165632,202616832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080210,123137,4936.480,-13928.372,35,1.5,35,19.3