version: 66.04
glider: 144
mission: 15
dive: 112
start: 7 19 109 6 25 20
data:
$ID,144
$MISSION,15
$DIVE,112
$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,-63079.309
$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,32
$R_STBD_OVSHOOT,31
$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
$GPS1,061906,5009.008,-14507.786,26,1.0,26,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-58.5
$GPS2,062426,5009.000,-14507.729,10,1.7,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.030,-0.165
$KALMAN_X,-56640.8,205.3,-81.3,48321.8,72.0
$KALMAN_Y,57251.4,-52.5,-44.9,-39915.1,383.0
$MHEAD_RNG_PITCHd_Wd,171.8,28212,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,66,0.00,0.00,-46.97,0.000,2,0.000,0.000,100,2300,2824
$GC,69,-0.68,-117.3,3.9,-5.1,5,91,7.03,0.00,-12.27,0.000,6,0.245,0.000,1846,2300,3412
$GC,410,-0.49,-117.3,51.9,-12.8,37,415,0.17,2.25,0.00,0.000,4,0.140,0.046,1907,890,3415
$GC,476,-0.65,-117.3,57.8,-7.0,42,483,0.15,2.22,0.00,0.000,6,0.054,0.041,1819,2305,3415
$GC,798,-0.44,-117.3,95.4,-11.9,67,803,0.25,2.25,0.00,0.000,4,0.133,0.051,1891,3712,3416
$GC,816,-0.32,-117.3,97.3,-11.6,68,820,0.15,2.17,0.00,0.000,6,0.105,0.033,1938,2298,3416
$GC,1148,-0.96,-117.3,119.5,-7.7,84,1153,0.40,2.20,0.00,0.000,4,0.064,0.045,1787,893,3417
$GC,1165,-1.41,-117.3,121.1,-8.4,85,1170,0.28,2.22,0.00,0.000,6,0.046,0.044,1662,2312,3416
$GC,1490,-0.72,-117.3,190.3,-21.0,98,1495,0.60,2.22,0.00,0.000,4,0.170,0.046,1840,898,3417
$GC,1579,-0.72,-117.3,200.0,-8.5,100,1586,0.00,2.20,0.00,0.000,6,0.000,0.042,1836,2304,3417
$GC,1892,-0.72,-117.3,225.6,-8.3,111,1895,0.00,2.22,0.00,0.000,4,0.000,0.048,1835,891,3416
$GC,1936,-0.72,-117.3,229.7,-9.1,112,1940,0.00,2.22,0.00,0.000,6,0.000,0.041,1827,2311,3417
$GC,2266,-0.66,-117.3,258.2,-8.4,123,2268,0.12,0.00,0.00,0.000,6,0.135,0.000,1863,2311,3416
$GC,2572,-0.76,-117.3,278.9,-6.7,133,2577,0.12,2.25,0.00,0.000,4,0.062,0.048,1792,890,3415
$GC,2634,-0.61,-117.3,285.1,-11.0,135,2639,0.28,2.22,0.00,0.000,6,0.126,0.046,1866,2306,3415
$GC,3000,-0.73,-117.3,308.0,-6.0,145,3002,0.10,0.00,0.00,0.000,6,0.070,0.000,1800,2307,3415
$GC,3301,-0.60,-117.3,335.1,-9.1,150,3303,0.22,0.00,0.00,0.000,6,0.124,0.000,1868,2307,3414
$GC,3605,-0.75,-117.3,350.6,-4.9,155,3607,0.12,0.00,0.00,0.000,6,0.059,0.000,1794,2307,3413
$GC,3908,-0.59,-117.3,376.7,-8.8,160,3913,0.22,2.22,0.00,0.000,4,0.127,0.048,1867,889,3413
$GC,3948,-0.74,-117.3,379.3,-5.3,160,3953,0.10,2.22,0.00,0.000,6,0.070,0.043,1798,2307,3412
$GC,4269,-0.62,-117.3,406.9,-8.8,166,4271,0.22,0.00,0.00,0.000,6,0.126,0.000,1867,2307,3412
$GC,4572,-0.78,-117.3,423.8,-5.4,171,4577,0.12,2.22,0.00,0.000,4,0.063,0.047,1794,894,3412
$GC,4595,-0.78,-117.3,425.7,-7.6,171,4599,0.17,2.22,0.00,0.000,6,0.133,0.047,1833,2316,3411
$GC,4932,-0.78,-117.3,449.6,-7.0,177,4936,0.00,2.25,0.00,0.000,4,0.000,0.050,1834,893,3411
$GC,4964,-0.78,-117.3,451.9,-6.7,177,4968,0.00,2.22,0.00,0.000,6,0.000,0.043,1828,2313,3411
$GC,5297,-0.78,-117.3,473.4,-6.4,183,5301,0.00,2.22,0.00,0.000,4,0.000,0.049,1827,897,3411
$GC,5330,-0.78,-117.3,475.7,-7.1,183,5334,0.00,2.22,0.00,0.000,6,0.000,0.049,1822,2300,3411
$GC,5668,-0.78,-117.3,496.9,-6.3,189,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2300,3410
$GC,5971,-0.78,-117.3,516.8,-6.6,194,5974,0.00,2.22,0.00,0.000,4,0.000,0.049,1822,889,3409
$GC,6026,-0.78,-117.3,521.0,-7.8,194,6030,0.00,2.22,0.00,0.000,6,0.000,0.046,1816,2307,3410
$GC,6341,-0.78,-117.3,543.1,-7.1,200,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2307,3409
$GC,6644,-0.78,-117.3,565.4,-7.4,205,6648,0.00,2.22,0.00,0.000,4,0.000,0.055,1816,893,3409
$GC,6694,-0.78,-117.3,569.5,-8.2,205,6698,0.10,2.22,0.00,0.000,6,0.140,0.044,1835,2308,3409
$GC,7015,-0.83,-117.3,591.2,-6.8,211,7018,0.00,2.22,0.00,0.000,4,0.000,0.054,1835,893,3409
$GC,7059,-0.89,-117.3,594.7,-7.5,211,7064,0.10,2.22,0.00,0.000,6,0.074,0.044,1777,2315,3408
$GC,7380,-0.72,-117.3,626.1,-10.0,217,7382,0.22,0.00,0.00,0.000,6,0.133,0.000,1844,2315,3408
$GC,7684,-0.82,-117.3,644.9,-6.0,222,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2315,3408
$GC,7987,-0.92,-117.3,663.5,-6.2,227,7991,0.15,2.22,0.00,0.000,4,0.056,0.048,1767,899,3408
$GC,8014,-0.78,-117.3,666.0,-9.9,227,8018,0.25,2.20,0.00,0.000,6,0.137,0.044,1830,2308,3407
$GC,8346,-0.83,-117.3,688.7,-6.7,233,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2308,3407
$GC,8649,-0.89,-117.3,708.9,-6.7,238,8653,0.10,2.25,0.00,0.000,4,0.075,0.051,1778,890,3407
$GC,8715,-0.73,-117.3,715.1,-10.2,239,8720,0.25,2.22,0.00,0.000,6,0.129,0.044,1844,2305,3407
$GC,9075,-0.84,-117.3,737.6,-6.2,245,9080,0.10,2.22,0.00,0.000,4,0.074,0.053,1794,900,3407
$GC,9102,-0.78,-117.3,739.9,-8.7,245,9107,0.17,2.22,0.00,0.000,6,0.130,0.048,1835,2316,3407
$GC,9434,-0.87,-117.3,761.3,-6.4,251,9439,0.10,2.25,0.00,0.000,4,0.078,0.051,1790,893,3407
$GC,9461,-0.79,-117.3,763.6,-8.7,251,9466,0.17,2.22,0.00,0.000,6,0.133,0.051,1832,2309,3407
$GC,9793,-0.86,-117.3,785.2,-6.5,257,9796,0.00,2.22,0.00,0.000,4,0.000,0.056,1831,900,3407
$GC,9826,-0.93,-117.3,787.5,-6.9,257,9831,0.10,2.22,0.00,0.000,6,0.077,0.051,1776,2317,3406
$GC,10158,-0.77,-117.3,817.9,-9.3,263,10160,0.20,0.00,0.00,0.000,6,0.137,0.000,1834,2317,3406
$GC,10461,-0.86,-117.3,837.3,-6.2,268,10463,0.10,0.00,0.00,0.000,6,0.080,0.000,1792,2317,3406
$GC,10764,-0.77,-117.3,861.1,-7.9,273,10769,0.15,2.25,0.00,0.000,4,0.135,0.058,1834,901,3406
$GC,10797,-0.84,-117.3,863.5,-6.8,273,10801,0.00,2.22,0.00,0.000,6,0.000,0.052,1833,2312,3406
$GC,11123,-0.92,-117.3,882.6,-5.9,279,11128,0.12,2.25,0.00,0.000,4,0.077,0.054,1780,901,3406
$GC,11167,-0.76,-117.3,886.2,-8.9,279,11172,0.22,2.22,0.00,0.000,6,0.140,0.051,1835,2313,3406
$GC,11483,-0.86,-117.3,904.0,-5.5,285,11485,0.10,0.00,0.00,0.000,6,0.086,0.000,1796,2313,3405
$GC,11786,-0.80,-117.3,925.7,-7.3,290,11790,0.12,2.25,0.00,0.000,4,0.136,0.058,1829,901,3406
$GC,11841,-0.86,-117.3,929.4,-5.5,290,11847,0.00,2.22,0.00,0.000,6,0.000,0.048,1822,2310,3405
$GC,12151,-0.86,-117.3,948.8,-6.2,296,12155,0.00,2.25,0.00,0.000,4,0.000,0.058,1822,903,3406
$GC,12183,-0.86,-117.3,951.0,-6.6,296,12187,0.00,2.25,0.00,0.000,6,0.000,0.049,1813,2306,3405
$GC,12515,-0.86,-117.3,973.2,-6.7,302,12519,0.00,2.25,0.00,0.000,4,0.000,0.058,1813,895,3405
$GC,12548,-0.86,-117.3,975.8,-7.1,302,12552,0.00,2.25,0.00,0.000,6,0.000,0.052,1806,2301,3406
$STATE,12762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12763,begin apogee
$GC,12768,-0.22,0.0,990.9,7.0,306,12864,0.47,0.00,92.70,1.341,6,0.129,0.000,1957,2301,2931
$STATE,12864,end apogee,CONTROL_FINISHED_OK
$STATE,12865,begin climb
$GC,12867,0.68,117.3,992.2,0.0,307,12973,0.55,2.55,97.65,1.314,4,0.078,0.062,2149,3715,2450
$GC,13024,0.25,117.3,986.4,8.6,309,13030,0.40,2.33,0.00,0.000,6,0.182,0.042,2058,2315,2445
$GC,13357,0.38,162.8,972.7,4.0,315,13402,0.08,2.47,37.45,1.275,4,0.093,0.061,2100,895,2266
$GC,13424,0.39,173.3,969.1,5.1,316,13439,0.00,2.35,10.50,1.125,6,0.000,0.050,2100,2301,2224
$GC,13783,0.39,173.3,947.5,6.0,322,13787,0.00,2.33,0.00,0.000,4,0.000,0.062,2100,3716,2217
$GC,13816,0.29,173.3,945.2,6.6,322,13821,0.17,2.25,0.00,0.000,6,0.161,0.039,2064,2300,2217
$GC,14149,0.51,185.0,928.5,5.1,328,14164,0.15,2.30,10.35,1.137,4,0.075,0.058,2131,894,2175
$GC,14221,0.40,185.0,923.5,7.2,329,14226,0.17,2.30,0.00,0.000,6,0.147,0.051,2084,2312,2173
$GC,14576,0.46,187.2,904.0,5.4,335,14580,0.00,2.28,0.00,0.000,4,0.000,0.058,2084,3718,2171
$GC,14614,0.46,187.2,901.4,6.7,335,14618,0.00,2.25,0.00,0.000,6,0.000,0.043,2092,2298,2172
$GC,14941,0.46,187.2,882.5,5.7,341,14945,0.00,2.30,0.00,0.000,4,0.000,0.056,2092,3714,2171
$GC,14968,0.46,187.2,880.6,6.0,341,14972,0.00,2.22,0.00,0.000,6,0.000,0.042,2102,2300,2171
$GC,15306,0.46,187.2,859.7,6.2,347,15307,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2300,2171
$GC,15609,0.46,187.2,840.1,6.5,352,15613,0.00,2.28,0.00,0.000,4,0.000,0.054,2102,3712,2170
$GC,15647,0.37,187.2,837.1,8.0,352,15652,0.15,2.22,0.00,0.000,6,0.161,0.038,2073,2294,2170
$GC,15968,0.49,196.8,820.2,5.2,358,15984,0.12,2.28,10.82,1.108,4,0.067,0.056,2137,887,2127
$GC,16018,0.39,196.8,816.4,7.9,358,16023,0.20,2.28,0.00,0.000,6,0.143,0.045,2081,2309,2126
$GC,16329,0.48,198.8,799.2,5.4,363,16333,0.10,2.25,0.00,0.000,4,0.067,0.055,2130,3717,2124
$GC,16361,0.31,198.8,796.3,9.1,363,16366,0.28,2.22,0.00,0.000,6,0.160,0.038,2064,2292,2124
$GC,16693,0.64,198.8,776.8,6.2,369,16698,0.20,2.25,0.00,0.000,4,0.065,0.054,2149,884,2123
$GC,16793,0.50,198.8,768.7,9.1,370,16798,0.15,2.25,0.00,0.000,6,0.146,0.047,2110,2305,2123
$GC,17120,0.50,198.8,747.2,6.6,376,17124,0.00,2.25,0.00,0.000,4,0.000,0.055,2110,3717,2123
$GC,17164,0.41,198.8,743.7,8.0,376,17169,0.12,2.20,0.00,0.000,6,0.156,0.038,2085,2302,2123
$GC,17479,0.50,206.5,726.9,5.2,382,17494,0.10,2.28,9.27,1.025,4,0.072,0.058,2150,888,2088
$GC,17522,0.37,206.5,723.7,8.1,382,17527,0.25,2.25,0.00,0.000,6,0.142,0.044,2078,2306,2087
$GC,17843,0.50,217.5,707.0,5.1,388,17859,0.12,2.28,10.82,1.036,4,0.061,0.054,2145,3714,2043
$GC,17887,0.26,217.5,703.2,8.9,388,17892,0.35,2.22,0.00,0.000,6,0.152,0.038,2055,2301,2042
$GC,18202,0.71,217.5,683.8,6.4,394,18207,0.28,2.28,0.00,0.000,4,0.070,0.056,2153,3710,2039
$GC,18212,1.17,217.5,682.9,6.8,394,18217,0.28,2.20,0.00,0.000,6,0.045,0.042,2278,2299,2039
$GC,18562,0.50,217.5,621.7,18.6,400,18567,0.57,2.28,0.00,0.000,4,0.186,0.058,2111,3713,2039
$GC,18617,0.45,217.5,615.1,7.9,400,18624,0.10,2.20,0.00,0.000,6,0.158,0.037,2095,2298,2039
$GC,18928,0.55,231.0,598.8,5.0,406,18947,0.10,2.33,12.23,0.991,4,0.066,0.059,2169,891,1988
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$STATE,27571,end climb,SURFACE_DEPTH_REACHED
$STATE,27571,begin surface coast
$FINISH,1.3,1.024663
$STATE,27583,end surface coast,CONTROL_FINISHED_OK
$STATE,27583,begin surface
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$XPDR_PINGS,90
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$10V_AH,10.7,14.552
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$DEVICE_SECS,30.300,264.875,376.300,0.000,0.000,24.661,28.224,145.078,22.500,0.000,0.000,12.298,1693.686,22869.494,529.213,2302.733,572.380,33.375,1730.620,0.000,2289.250,0.000,0.528,0.000
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$DATA_FILE_SIZE,41239,702
$CAP_FILE_SIZE,202096,0
$CFSIZE,260165632,250056704
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