version: 66.04
glider: 144
mission: 15
dive: 69
start: 7 4 109 21 0 38
data:
$ID,144
$MISSION,15
$DIVE,69
$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,-62282.613
$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,0.039999999
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,205307,4958.064,-14510.348,26,1.2,26,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-67.2
$GPS2,205945,4958.097,-14510.337,10,2.4,29,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.040,-0.163
$KALMAN_X,-33940.9,62.6,-17.9,22601.7,353.2
$KALMAN_Y,14197.1,-283.0,-115.1,-16758.2,1592.9
$MHEAD_RNG_PITCHd_Wd,175.3,7805,-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,14,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,50,0.00,0.00,-31.62,0.000,2,0.000,0.000,102,2306,2566
$GC,53,-0.68,-117.3,3.3,-5.3,3,88,7.03,2.38,-22.27,0.000,4,0.249,0.073,1845,886,3413
$GC,192,-0.51,-117.3,19.2,-12.9,15,196,0.17,2.28,0.00,0.000,6,0.140,0.045,1885,2312,3415
$GC,524,-0.56,-117.3,47.9,-7.8,46,528,0.00,2.22,0.00,0.000,4,0.000,0.054,1877,3712,3415
$GC,573,-0.62,-117.3,52.2,-7.9,50,580,0.00,2.20,0.00,0.000,6,0.000,0.037,1877,2294,3415
$GC,898,-0.62,-117.3,78.8,-8.3,81,902,0.00,2.22,0.00,0.000,4,0.000,0.049,1877,886,3416
$GC,940,-0.67,-117.3,82.1,-8.6,83,944,0.00,2.25,0.00,0.000,6,0.000,0.045,1876,2309,3416
$GC,1267,-0.67,-117.3,110.2,-8.7,99,1271,0.00,2.25,0.00,0.000,4,0.000,0.049,1876,885,3417
$GC,1299,-0.67,-117.3,113.2,-9.1,100,1306,0.00,2.25,0.00,0.000,6,0.000,0.044,1875,2298,3417
$GC,1616,-0.74,-117.3,136.2,-6.7,116,1618,0.12,0.00,0.00,0.000,6,0.065,0.000,1808,2298,3417
$GC,1944,-0.59,-117.3,171.1,-10.7,129,1948,0.17,2.22,0.00,0.000,4,0.130,0.049,1867,896,3417
$GC,1993,-0.70,-117.3,175.5,-8.1,130,1997,0.00,2.20,0.00,0.000,6,0.000,0.044,1863,2303,3417
$GC,2312,-0.77,-117.3,197.8,-6.9,141,2314,0.12,0.00,0.00,0.000,6,0.064,0.000,1795,2303,3417
$GC,2618,-0.59,-117.3,230.9,-11.1,151,2622,0.22,2.22,0.00,0.000,4,0.130,0.049,1869,893,3416
$GC,2673,-0.72,-117.3,235.7,-7.6,152,2679,0.00,2.20,0.00,0.000,6,0.000,0.048,1864,2301,3416
$GC,2986,-0.81,-117.3,256.6,-6.6,163,2988,0.15,0.00,0.00,0.000,6,0.059,0.000,1785,2301,3416
$GC,3292,-0.61,-117.3,288.7,-10.6,173,3294,0.28,0.00,0.00,0.000,6,0.131,0.000,1869,2301,3416
$GC,3598,-0.75,-117.3,308.4,-6.3,181,3603,0.12,2.22,0.00,0.000,4,0.065,0.051,1804,894,3415
$GC,3637,-0.61,-117.3,312.0,-9.8,181,3641,0.25,2.20,0.00,0.000,6,0.130,0.045,1870,2303,3415
$GC,3963,-0.76,-117.3,333.6,-6.5,187,3965,0.12,0.00,0.00,0.000,6,0.064,0.000,1805,2303,3415
$GC,4266,-0.65,-117.3,363.1,-9.9,192,4268,0.20,0.00,0.00,0.000,6,0.128,0.000,1865,2303,3414
$GC,4569,-0.78,-117.3,382.1,-6.1,197,4574,0.12,2.25,0.00,0.000,4,0.067,0.056,1802,887,3414
$GC,4607,-0.63,-117.3,385.4,-9.4,197,4612,0.25,2.22,0.00,0.000,6,0.133,0.046,1869,2302,3414
$GC,4928,-0.78,-117.3,404.0,-5.7,203,4930,0.12,0.00,0.00,0.000,6,0.064,0.000,1805,2302,3414
$GC,5231,-0.68,-117.3,430.7,-8.9,208,5233,0.17,0.00,0.00,0.000,6,0.129,0.000,1857,2303,3413
$GC,5534,-0.79,-117.3,448.8,-5.8,213,5536,0.10,0.00,0.00,0.000,6,0.076,0.000,1805,2303,3413
$GC,5837,-0.70,-117.3,473.1,-8.1,218,5842,0.15,2.22,0.00,0.000,4,0.131,0.052,1848,897,3413
$GC,5870,-0.76,-117.3,475.3,-6.6,218,5874,0.00,2.22,0.00,0.000,6,0.000,0.053,1848,2312,3412
$GC,6197,-0.84,-117.3,493.4,-5.6,224,6201,0.12,2.25,0.00,0.000,4,0.067,0.051,1783,892,3412
$GC,6224,-0.72,-117.3,495.6,-8.9,224,6228,0.22,2.22,0.00,0.000,6,0.140,0.054,1846,2302,3412
$GC,6556,-0.79,-117.3,515.6,-5.9,230,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2301,3412
$GC,6859,-0.88,-117.3,534.7,-6.4,235,6861,0.12,0.00,0.00,0.000,6,0.069,0.000,1784,2302,3411
$GC,7162,-0.72,-117.3,563.7,-9.7,240,7163,0.20,0.00,0.00,0.000,6,0.131,0.000,1843,2301,3411
$GC,7465,-0.79,-117.3,583.6,-6.5,245,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2302,3411
$GC,7768,-0.87,-117.3,603.2,-6.4,250,7770,0.12,0.00,0.00,0.000,6,0.068,0.000,1780,2302,3411
$GC,8071,-0.71,-117.3,631.6,-9.4,255,8073,0.22,0.00,0.00,0.000,6,0.130,0.000,1849,2302,3411
$GC,8374,-0.82,-117.3,648.5,-5.4,260,8376,0.10,0.00,0.00,0.000,6,0.077,0.000,1800,2302,3411
$GC,8677,-0.74,-117.3,671.4,-7.7,265,8682,0.15,2.25,0.00,0.000,4,0.130,0.059,1843,890,3411
$GC,8704,-0.79,-117.3,673.2,-6.6,265,8709,0.00,2.22,0.00,0.000,6,0.000,0.048,1837,2304,3411
$GC,9043,-0.85,-117.3,692.1,-5.6,271,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2304,3411
$GC,9345,-0.91,-117.3,708.9,-5.6,276,9347,0.12,0.00,0.00,0.000,6,0.074,0.000,1780,2305,3410
$GC,9649,-0.75,-117.3,733.4,-8.2,281,9651,0.20,0.00,0.00,0.000,6,0.136,0.000,1839,2305,3410
$GC,9952,-0.84,-117.3,748.9,-5.0,286,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2305,3410
$GC,10255,-0.93,-117.3,764.0,-4.9,291,10257,0.15,0.00,0.00,0.000,6,0.074,0.000,1778,2305,3410
$GC,10558,-0.77,-117.3,785.9,-7.3,296,10560,0.20,0.00,0.00,0.000,6,0.139,0.000,1837,2304,3410
$GC,10862,-0.86,-117.3,799.4,-4.3,301,10864,0.10,0.00,0.00,0.000,6,0.087,0.000,1797,2305,3410
$GC,11164,-0.77,-117.3,818.5,-6.4,306,11166,0.12,0.00,0.00,0.000,6,0.140,0.000,1831,2305,3409
$GC,11467,-0.83,-117.3,833.7,-5.0,311,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2305,3409
$GC,11771,-0.89,-117.3,848.4,-4.9,316,11773,0.10,0.00,0.00,0.000,6,0.091,0.000,1793,2305,3409
$GC,12073,-0.79,-117.3,868.9,-6.8,321,12075,0.12,0.00,0.00,0.000,6,0.145,0.000,1826,2305,3409
$GC,12376,-0.79,-117.3,885.5,-5.4,326,12380,0.00,2.25,0.00,0.000,4,0.000,0.059,1827,899,3409
$GC,12404,-0.84,-117.3,887.2,-6.5,326,12407,0.00,2.22,0.00,0.000,6,0.000,0.056,1821,2304,3409
$GC,12741,-0.84,-117.3,907.0,-6.0,332,12743,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2304,3409
$GC,13044,-0.84,-117.3,925.1,-5.9,337,13048,0.00,2.25,0.00,0.000,4,0.000,0.059,1821,897,3409
$GC,13077,-0.84,-117.3,927.1,-6.0,337,13081,0.00,2.22,0.00,0.000,6,0.000,0.056,1812,2306,3409
$GC,13409,-0.84,-117.3,947.0,-5.9,343,13413,0.00,2.25,0.00,0.000,4,0.000,0.064,1814,899,3409
$GC,13453,-0.84,-117.3,949.7,-5.7,343,13457,0.00,2.22,0.00,0.000,6,0.000,0.056,1807,2305,3409
$GC,13774,-0.84,-117.3,969.8,-6.4,349,13775,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3409
$GC,14077,-0.84,-117.3,989.6,-6.5,354,14081,0.00,2.25,0.00,0.000,4,0.000,0.060,1807,900,3408
$STATE,14086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14086,begin apogee
$GC,14093,-0.22,0.0,990.3,6.6,354,14189,0.45,0.00,92.80,1.351,6,0.144,0.000,1944,2305,2931
$STATE,14190,end apogee,CONTROL_FINISHED_OK
$STATE,14190,begin climb
$GC,14193,0.68,117.3,991.9,0.0,355,14299,0.60,2.50,97.97,1.322,4,0.097,0.067,2145,3697,2450
$GC,14327,0.27,117.3,987.7,7.6,357,14332,0.38,2.33,0.00,0.000,6,0.186,0.048,2061,2308,2446
$GC,14682,0.39,170.3,974.0,3.7,363,14732,0.10,2.47,43.97,1.293,4,0.087,0.061,2108,887,2236
$GC,14754,0.40,180.7,970.1,5.2,364,14769,0.00,2.40,10.00,1.123,6,0.000,0.054,2108,2306,2194
$GC,15113,0.34,180.7,948.6,6.0,370,15115,0.15,0.00,0.00,0.000,6,0.157,0.000,2069,2306,2187
$GC,15416,0.50,220.3,936.0,4.2,375,15456,0.15,2.42,34.08,1.272,4,0.074,0.061,2134,893,2031
$GC,15480,0.43,220.3,931.7,7.3,376,15485,0.17,2.35,0.00,0.000,6,0.146,0.051,2088,2302,2028
$GC,15846,0.51,220.3,911.4,5.5,382,15848,0.10,0.00,0.00,0.000,6,0.078,0.000,2129,2302,2024
$GC,16149,0.39,220.3,886.5,8.4,387,16154,0.17,2.30,0.00,0.000,4,0.154,0.060,2071,3712,2022
$GC,16170,0.39,220.3,884.7,7.5,387,16174,0.00,2.25,0.00,0.000,6,0.000,0.045,2078,2298,2022
$GC,16514,0.53,234.2,867.2,5.0,393,16533,0.12,2.38,11.70,1.147,4,0.078,0.064,2136,886,1975
$GC,16550,0.46,234.2,864.6,7.8,393,16554,0.15,2.30,0.00,0.000,6,0.150,0.049,2097,2305,1974
$GC,16876,0.53,240.0,846.8,5.3,399,16887,0.00,2.30,6.32,0.985,4,0.000,0.064,2097,3712,1951
$GC,16926,0.53,240.0,843.6,6.2,399,16930,0.00,2.25,0.00,0.000,6,0.000,0.044,2104,2302,1950
$GC,17241,0.53,240.0,825.0,5.9,405,17245,0.00,2.30,0.00,0.000,4,0.000,0.061,2104,3713,1949
$GC,17268,0.53,240.0,823.1,5.9,405,17272,0.00,2.25,0.00,0.000,6,0.000,0.048,2114,2295,1948
$GC,17600,0.53,240.0,801.0,6.8,411,17601,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2294,1949
$GC,17902,0.53,240.0,779.6,7.1,416,17906,0.00,2.30,0.00,0.000,4,0.000,0.059,2114,3713,1949
$GC,17947,0.47,240.0,775.9,8.5,416,17951,0.10,2.22,0.00,0.000,6,0.174,0.044,2101,2302,1948
$GC,18262,0.52,240.0,756.2,6.2,422,18266,0.00,2.28,0.00,0.000,4,0.000,0.064,2110,887,1948
$GC,18283,0.59,240.0,754.7,6.0,422,18287,0.00,2.28,0.00,0.000,6,0.000,0.051,2110,2317,1947
$GC,18626,0.59,240.0,732.5,6.5,428,18630,0.00,2.25,0.00,0.000,4,0.000,0.058,2110,3724,1947
$GC,18659,0.59,240.0,730.0,7.7,428,18663,0.00,2.22,0.00,0.000,6,0.000,0.047,2120,2301,1947
$GC,18992,0.55,240.0,706.2,7.2,434,18993,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2301,1947
$GC,19295,0.51,240.0,685.2,6.9,439,19299,0.00,2.28,0.00,0.000,4,0.000,0.059,2119,3716,1947
$GC,19322,0.44,240.0,683.1,7.6,439,19327,0.15,2.22,0.00,0.000,6,0.156,0.041,2089,2295,1947
$GC,19654,0.59,258.9,666.5,4.9,445,19678,0.12,2.35,16.90,1.078,4,0.067,0.057,2159,886,1874
$GC,19701,0.50,258.9,662.9,7.6,445,19706,0.20,2.30,0.00,0.000,6,0.144,0.050,2103,2317,1871
$GC,20016,0.58,258.9,644.6,5.7,451,20020,0.00,2.25,0.00,0.000,4,0.000,0.060,2103,3714,1870
$GC,20070,0.58,258.9,640.7,7.5,451,20077,0.00,2.25,0.00,0.000,6,0.000,0.040,2111,2302,1869
$GC,20381,0.58,258.9,621.3,6.3,457,20382,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2302,1869
$GC,20683,0.58,258.9,601.2,6.7,462,20684,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2302,1869
$GC,20987,0.62,258.9,579.4,7.2,467,20991,0.08,2.28,0.00,0.000,4,0.089,0.056,2159,3715,1868
$GC,21019,0.43,258.9,575.9,10.5,467,21024,0.28,2.22,0.00,0.000,6,0.159,0.041,2092,2295,1868
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$STATE,29138,end climb,SURFACE_DEPTH_REACHED
$STATE,29138,begin surface coast
$FINISH,1.1,1.000489
$STATE,29171,end surface coast,CONTROL_FINISHED_OK
$STATE,29171,begin surface
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$HUMID,1610
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$TCM_TEMP,14.40
$XPDR_PINGS,62
$24V_AH,23.5,13.179
$10V_AH,10.7,9.156
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$DEVICE_SECS,25.250,216.125,328.975,21.575,0.000,23.493,30.025,206.757,15.500,0.000,0.000,31.814,1721.450,24546.535,481.998,2229.501,618.769,33.374,1602.384,0.000,2202.529,0.000,0.527,0.000
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$DATA_FILE_SIZE,44358,764
$CAP_FILE_SIZE,191948,0
$CFSIZE,260165632,253554688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050709,050842,4955.305,-14511.369,35,1.7,35,18.4