version: 66.04
glider: 144
mission: 15
dive: 728
start: 2 10 110 21 26 44
data:
$ID,144
$MISSION,15
$DIVE,728
$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,-76487.477
$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,37
$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
$GPS1,211910,4933.124,-13851.264,58,1.6,62,19.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-50.4
$GPS2,212550,4933.134,-13851.287,12,1.5,12,19.3
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.168,-0.008
$KALMAN_X,-65598.3,-204.3,-89.0,514122.6,1587.7
$KALMAN_Y,47573.2,-42.7,-149.1,-135981.7,1203.5
$MHEAD_RNG_PITCHd_Wd,73.5,13651,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.68,-117.3,0.0,0.0,0,63,0.00,0.00,-40.90,0.000,2,0.000,0.000,99,2309,2601
$GC,68,-0.68,-117.3,3.3,-4.5,2,103,7.18,2.35,-21.45,0.000,4,0.232,0.061,1845,909,3412
$GC,135,-0.64,-117.3,11.1,-11.2,5,139,0.10,2.22,0.00,0.000,6,0.133,0.041,1862,2302,3413
$GC,468,-0.64,-117.3,41.7,-8.8,21,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2302,3413
$GC,778,-0.64,-117.3,68.7,-8.6,36,782,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,897,3413
$GC,836,-0.66,-117.3,74.2,-9.5,38,842,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2307,3413
$GC,1160,-0.66,-117.3,103.0,-9.1,66,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2306,3413
$GC,1480,-0.71,-117.3,126.9,-7.1,96,1484,0.00,2.25,0.00,0.000,4,0.000,0.041,1862,896,3413
$GC,1539,-0.77,-117.3,131.4,-7.0,101,1543,0.10,2.25,0.00,0.000,6,0.064,0.039,1787,2306,3414
$GC,1870,-0.69,-117.3,166.5,-10.3,122,1872,0.22,0.00,0.00,0.000,6,0.120,0.000,1855,2306,3413
$GC,2177,-0.74,-117.3,184.7,-5.7,132,2181,0.00,2.25,0.00,0.000,4,0.000,0.041,1855,896,3414
$GC,2234,-0.82,-117.3,188.5,-6.5,133,2239,0.10,2.25,0.00,0.000,6,0.064,0.040,1773,2311,3414
$GC,2549,-0.72,-117.3,222.5,-11.1,143,2554,0.20,2.28,0.00,0.000,4,0.119,0.047,1831,3707,3414
$GC,2580,-0.72,-117.3,225.3,-8.9,144,2583,0.00,2.20,0.00,0.000,6,0.000,0.031,1831,2294,3414
$GC,2922,-0.74,-117.3,249.5,-6.8,155,2926,0.00,2.22,0.00,0.000,4,0.000,0.042,1831,897,3414
$GC,2959,-0.77,-117.3,252.1,-7.1,156,2963,0.00,2.22,0.00,0.000,6,0.000,0.036,1823,2312,3414
$GC,3296,-0.77,-117.3,277.0,-7.4,167,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2313,3413
$GC,3601,-0.77,-117.3,300.4,-7.7,177,3606,0.00,2.28,0.00,0.000,4,0.000,0.042,1823,891,3413
$GC,3642,-0.77,-117.3,303.8,-7.9,177,3646,0.00,2.25,0.00,0.000,6,0.000,0.037,1814,2303,3413
$GC,3963,-0.77,-117.3,327.6,-7.3,183,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2303,3413
$GC,4267,-0.77,-117.3,348.2,-6.8,188,4271,0.00,2.28,0.00,0.000,4,0.000,0.049,1814,898,3412
$GC,4358,-0.77,-117.3,355.3,-8.1,189,4363,0.10,2.25,0.00,0.000,6,0.124,0.043,1833,2300,3413
$GC,4697,-0.80,-117.3,376.1,-6.1,195,4701,0.00,2.30,0.00,0.000,4,0.000,0.047,1833,888,3412
$GC,4744,-0.85,-117.3,379.3,-7.0,195,4748,0.00,2.30,0.00,0.000,6,0.000,0.041,1828,2314,3412
$GC,5061,-0.87,-117.3,400.2,-6.6,201,5065,0.00,2.28,0.00,0.000,4,0.000,0.042,1827,892,3411
$GC,5095,-0.90,-117.3,402.8,-7.6,201,5100,0.00,2.28,0.00,0.000,6,0.000,0.038,1823,2307,3412
$GC,5429,-0.90,-117.3,426.6,-7.2,207,5433,0.00,2.30,0.00,0.000,4,0.000,0.044,1823,891,3412
$GC,5475,-0.92,-117.3,430.3,-7.9,207,5480,0.00,2.28,0.00,0.000,6,0.000,0.044,1817,2312,3412
$GC,5803,-0.92,-117.3,454.3,-7.3,213,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2311,3411
$GC,6106,-0.92,-117.3,474.5,-6.6,218,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2312,3411
$GC,6410,-0.92,-117.3,495.5,-7.0,223,6414,0.00,2.30,0.00,0.000,4,0.000,0.044,1817,894,3411
$GC,6444,-0.92,-117.3,498.1,-7.7,223,6448,0.00,2.28,0.00,0.000,6,0.000,0.044,1810,2305,3411
$GC,6771,-0.92,-117.3,521.0,-7.0,229,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3411
$GC,7074,-0.92,-117.3,542.1,-7.0,234,7078,0.00,2.28,0.00,0.000,4,0.000,0.049,1809,895,3411
$GC,7115,-0.92,-117.3,545.2,-7.6,234,7119,0.00,2.28,0.00,0.000,6,0.000,0.045,1801,2306,3410
$GC,7437,-0.92,-117.3,569.3,-7.5,240,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2306,3410
$GC,7740,-0.92,-117.3,593.6,-8.2,245,7744,0.00,2.28,0.00,0.000,4,0.000,0.049,1801,895,3410
$GC,7768,-0.92,-117.3,596.2,-9.3,245,7773,0.00,2.28,0.00,0.000,6,0.000,0.045,1794,2309,3410
$GC,8103,-0.89,-117.3,626.8,-9.3,251,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3410
$GC,8405,-0.86,-117.3,655.8,-9.6,256,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3410
$GC,8709,-0.84,-117.3,683.5,-9.1,261,8711,0.10,0.00,0.00,0.000,6,0.134,0.000,1822,2309,3410
$GC,9012,-0.88,-117.3,705.6,-7.2,266,9015,0.00,2.33,0.00,0.000,4,0.000,0.051,1822,892,3409
$GC,9053,-0.92,-117.3,708.6,-7.8,266,9057,0.00,2.30,0.00,0.000,6,0.000,0.043,1822,2311,3409
$GC,9380,-0.95,-117.3,731.3,-6.9,272,9382,0.10,0.00,0.00,0.000,6,0.066,0.000,1753,2311,3409
$GC,9683,-0.86,-117.3,762.4,-10.4,277,9688,0.17,2.33,0.00,0.000,4,0.125,0.048,1812,897,3409
$GC,9748,-0.88,-117.3,767.7,-8.5,278,9752,0.00,2.28,0.00,0.000,6,0.000,0.046,1809,2308,3409
$GC,10120,-0.88,-117.3,793.0,-6.8,284,10121,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2308,3409
$GC,10423,-0.88,-117.3,812.3,-6.3,289,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3408
$GC,10726,-0.88,-117.3,831.0,-6.2,294,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3408
$GC,11030,-0.88,-117.3,849.6,-6.1,299,11034,0.00,2.30,0.00,0.000,4,0.000,0.046,1809,900,3408
$GC,11065,-0.88,-117.3,851.8,-6.6,299,11069,0.00,2.30,0.00,0.000,6,0.000,0.044,1807,2311,3408
$GC,11399,-0.88,-117.3,871.0,-5.7,305,11400,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2311,3408
$GC,11701,-0.88,-117.3,886.9,-5.2,310,11705,0.00,2.33,0.00,0.000,4,0.000,0.048,1808,894,3408
$GC,11736,-0.88,-117.3,888.8,-6.1,310,11740,0.00,2.30,0.00,0.000,6,0.000,0.046,1806,2310,3408
$GC,12063,-0.88,-117.3,906.6,-5.5,316,12065,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2311,3407
$GC,12366,-0.88,-117.3,924.4,-6.0,321,12370,0.00,2.33,0.00,0.000,4,0.000,0.048,1806,891,3407
$GC,12394,-0.88,-117.3,926.3,-6.7,321,12398,0.00,2.30,0.00,0.000,6,0.000,0.045,1796,2309,3407
$GC,12728,-0.88,-117.3,948.5,-6.7,327,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2309,3407
$GC,13030,-0.88,-117.3,969.1,-6.8,332,13034,0.00,2.33,0.00,0.000,4,0.000,0.053,1797,898,3407
$GC,13087,-0.88,-117.3,973.2,-7.2,332,13093,0.00,2.30,0.00,0.000,6,0.000,0.048,1794,2313,3407
$STATE,13333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13333,begin apogee
$GC,13342,-0.22,0.0,990.2,6.8,337,13444,0.50,0.00,98.35,1.279,6,0.109,0.000,1955,2313,2931
$STATE,13444,end apogee,CONTROL_FINISHED_OK
$STATE,13444,begin climb
$GC,13449,0.68,117.3,991.6,0.0,338,13561,0.57,2.53,103.78,1.252,4,0.068,0.056,2153,3702,2451
$GC,13603,0.49,117.3,988.7,6.6,341,13608,0.22,2.33,0.00,0.000,6,0.157,0.040,2109,2311,2447
$GC,13949,0.48,135.6,971.4,4.9,347,13966,0.00,0.00,15.57,1.151,6,0.000,0.000,2110,2311,2377
$GC,14251,0.49,160.0,957.0,4.7,352,14280,0.00,2.40,22.12,1.183,4,0.000,0.056,2118,886,2277
$GC,14299,0.53,191.1,954.7,4.4,352,14333,0.00,2.30,28.90,1.191,6,0.000,0.042,2118,2315,2150
$GC,14686,0.55,208.7,935.8,4.9,359,14706,0.00,2.28,15.27,1.134,4,0.000,0.053,2118,3710,2081
$GC,14736,0.53,208.7,932.8,7.2,359,14740,0.00,2.25,0.00,0.000,6,0.000,0.034,2128,2295,2080
$GC,15046,0.53,208.7,915.0,5.7,364,15048,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2295,2078
$GC,15350,0.53,208.7,896.5,6.2,369,15352,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2295,2077
$GC,15652,0.53,208.7,875.7,6.9,374,15656,0.00,2.28,0.00,0.000,4,0.000,0.051,2128,3707,2076
$GC,15699,0.48,208.7,871.8,8.5,374,15703,0.15,2.20,0.00,0.000,6,0.147,0.033,2098,2297,2075
$GC,16027,0.53,208.7,852.1,6.0,380,16031,0.00,2.28,0.00,0.000,4,0.000,0.048,2107,891,2075
$GC,16061,0.59,208.7,849.8,6.5,380,16066,0.08,2.25,0.00,0.000,6,0.087,0.041,2154,2305,2075
$GC,16395,0.53,208.7,820.5,9.1,386,16400,0.15,2.30,0.00,0.000,4,0.136,0.049,2112,3714,2075
$GC,16435,0.53,208.7,816.9,8.0,386,16439,0.00,2.22,0.00,0.000,6,0.000,0.034,2120,2304,2074
$GC,16757,0.53,208.7,794.9,6.8,392,16758,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2304,2074
$GC,17059,0.53,208.7,773.3,7.2,397,17063,0.00,2.28,0.00,0.000,4,0.000,0.051,2120,3708,2074
$GC,17082,0.53,208.7,771.3,7.8,397,17086,0.00,2.22,0.00,0.000,6,0.000,0.032,2130,2293,2074
$GC,17427,0.53,208.7,746.0,7.3,403,17428,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2293,2074
$GC,17731,0.53,208.7,724.2,7.2,408,17735,0.00,2.30,0.00,0.000,4,0.000,0.049,2130,3708,2074
$GC,17760,0.49,208.7,721.6,8.3,408,17765,0.12,2.20,0.00,0.000,6,0.139,0.032,2107,2299,2074
$GC,18093,0.54,208.7,701.6,5.8,414,18097,0.00,2.28,0.00,0.000,4,0.000,0.048,2116,892,2074
$GC,18128,0.59,208.7,699.5,6.4,414,18132,0.00,2.25,0.00,0.000,6,0.000,0.039,2116,2307,2073
$GC,18455,0.62,208.7,681.0,5.6,420,18459,0.00,2.28,0.00,0.000,4,0.000,0.054,2116,3708,2073
$GC,18490,0.62,208.7,678.8,7.0,420,18494,0.00,2.20,0.00,0.000,6,0.000,0.032,2126,2301,2073
$GC,18819,0.62,208.7,660.1,5.7,426,18820,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2301,2073
$GC,19121,0.63,210.8,643.5,5.4,431,19125,0.00,2.33,0.00,0.000,4,0.000,0.048,2126,3708,2073
$GC,19144,0.63,210.8,642.0,5.5,431,19148,0.00,2.22,0.00,0.000,6,0.000,0.032,2136,2294,2073
$GC,19482,0.63,210.8,621.8,6.0,437,19483,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2294,2073
$GC,19785,0.63,210.8,602.9,6.3,442,19789,0.00,2.30,0.00,0.000,4,0.000,0.053,2136,3708,2073
$GC,19827,0.57,210.8,599.9,7.3,442,19832,0.10,2.20,0.00,0.000,6,0.150,0.032,2122,2303,2073
$GC,20149,0.57,212.1,581.9,5.5,448,20153,0.00,2.28,0.00,0.000,4,0.000,0.051,2130,887,2074
$GC,20172,0.60,212.1,580.5,5.6,448,20176,0.00,2.25,0.00,0.000,6,0.000,0.041,2130,2304,2073
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$STATE,29128,end climb,SURFACE_DEPTH_REACHED
$STATE,29128,begin surface coast
$FINISH,1.3,1.014052
$STATE,29150,end surface coast,CONTROL_FINISHED_OK
$STATE,29150,begin surface
$SM_CCo,29231,0.00,0.000,0,0,1512,348.33
$SM_GC,2.28,5.50,0.00,0.00,0.038,0.000,0.000,98,2305,1512,-8.62,0.03,348.33
$IRIDIUM_FIX,4913.15,-13859.46,070599,131312
$TT8_MAMPS,0.028379
$HUMID,1766
$INTERNAL_PRESSURE,7.36356
$TCM_TEMP,15.90
$XPDR_PINGS,81
$24V_AH,21.8,104.777
$10V_AH,10.3,89.429
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$DEVICE_SECS,18.150,258.150,408.275,0.000,0.000,30.427,27.056,166.606,20.250,0.000,0.000,14.232,1701.113,24221.584,543.403,2187.818,961.978,33.389,1742.611,0.000,2163.149,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,529.666,611.571,777.248,813.708,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44311,750
$CAP_FILE_SIZE,189298,0
$CFSIZE,260165632,202002432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110210,053519,4933.401,-13846.141,38,1.0,41,19.3