version: 66.04
glider: 144
mission: 15
dive: 133
start: 7 26 109 4 15 10
data:
$ID,144
$MISSION,15
$DIVE,133
$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,-63502.734
$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,37
$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
$GPS1,040801,5011.439,-14425.623,38,2.0,38,18.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-55.9
$GPS2,041416,5011.425,-14425.631,15,2.2,34,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.047,-0.161
$KALMAN_X,-65332.5,-234.8,87.6,107402.6,920.5
$KALMAN_Y,67324.3,-87.9,-249.9,-45258.6,939.2
$MHEAD_RNG_PITCHd_Wd,177.5,32637,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.75,0.000,2,0.000,0.000,100,2294,2698
$GC,62,-0.68,-117.3,3.4,-5.2,4,95,6.88,2.30,-16.62,0.000,4,0.237,0.065,1847,896,3414
$GC,164,-0.46,-117.3,18.4,-13.6,13,169,0.22,2.22,0.00,0.000,6,0.133,0.041,1904,2301,3415
$GC,490,-0.57,-117.3,45.3,-6.9,43,494,0.10,2.25,0.00,0.000,4,0.064,0.051,1829,3712,3416
$GC,518,-0.49,-117.3,47.8,-9.0,45,523,0.22,2.17,0.00,0.000,6,0.122,0.032,1897,2299,3416
$GC,845,-0.59,-117.3,69.7,-6.7,75,849,0.10,2.20,0.00,0.000,4,0.066,0.044,1833,896,3418
$GC,883,-0.45,-117.3,73.6,-10.6,78,890,0.28,2.20,0.00,0.000,6,0.124,0.039,1908,2309,3418
$GC,1212,-0.60,-117.3,94.8,-6.4,99,1217,0.12,2.22,0.00,0.000,4,0.057,0.044,1832,893,3418
$GC,1246,-0.48,-117.3,98.0,-10.5,100,1250,0.25,2.20,0.00,0.000,6,0.123,0.039,1899,2315,3418
$GC,1567,-0.61,-117.3,120.5,-6.4,116,1568,0.12,0.00,0.00,0.000,6,0.057,0.000,1823,2315,3418
$GC,1876,-0.50,-117.3,151.7,-9.9,131,1881,0.22,2.25,0.00,0.000,4,0.121,0.052,1897,894,3418
$GC,1972,-0.69,-117.3,158.1,-6.4,134,1977,0.15,2.20,0.00,0.000,6,0.055,0.041,1800,2304,3418
$GC,2307,-0.52,-117.3,191.4,-10.1,145,2309,0.30,0.00,0.00,0.000,6,0.124,0.000,1894,2304,3418
$GC,2614,-0.72,-117.3,206.5,-4.7,155,2616,0.17,0.00,0.00,0.000,6,0.049,0.000,1789,2304,3417
$GC,2920,-0.53,-117.3,237.9,-10.5,165,2924,0.28,2.22,0.00,0.000,4,0.124,0.050,1880,893,3416
$GC,2969,-0.72,-117.3,241.6,-6.4,166,2974,0.12,2.22,0.00,0.000,6,0.059,0.048,1795,2308,3417
$GC,3287,-0.56,-117.3,272.9,-10.1,177,3289,0.28,0.00,0.00,0.000,6,0.120,0.000,1881,2308,3416
$GC,3593,-0.74,-117.3,289.3,-4.9,187,3598,0.15,2.22,0.00,0.000,4,0.055,0.052,1791,893,3415
$GC,3661,-0.58,-117.3,295.7,-10.3,189,3666,0.30,2.20,0.00,0.000,6,0.126,0.048,1874,2303,3415
$GC,3994,-0.74,-117.3,315.2,-5.7,196,3999,0.12,2.22,0.00,0.000,4,0.058,0.051,1796,891,3414
$GC,4027,-0.58,-117.3,318.2,-9.8,196,4031,0.30,2.22,0.00,0.000,6,0.126,0.049,1879,2309,3415
$GC,4359,-0.77,-117.3,337.3,-5.6,202,4360,0.15,0.00,0.00,0.000,6,0.056,0.000,1790,2310,3414
$GC,4662,-0.60,-117.3,367.0,-10.0,207,4664,0.25,0.00,0.00,0.000,6,0.125,0.000,1867,2310,3414
$GC,4964,-0.74,-117.3,385.0,-5.8,212,4969,0.10,2.22,0.00,0.000,4,0.069,0.047,1801,896,3413
$GC,4991,-0.68,-117.3,387.4,-8.4,212,4996,0.20,2.20,0.00,0.000,6,0.127,0.044,1852,2303,3413
$GC,5323,-0.77,-117.3,409.1,-6.4,218,5327,0.00,2.22,0.00,0.000,4,0.000,0.048,1852,891,3412
$GC,5362,-0.88,-117.3,411.8,-7.1,218,5367,0.15,2.22,0.00,0.000,6,0.054,0.048,1769,2310,3412
$GC,5688,-0.65,-117.3,447.3,-11.2,224,5693,0.28,2.22,0.00,0.000,4,0.133,0.047,1859,897,3412
$GC,5715,-0.65,-117.3,449.6,-7.8,224,5719,0.00,2.20,0.00,0.000,6,0.000,0.048,1851,2304,3412
$GC,6053,-0.74,-117.3,470.7,-6.2,230,6057,0.00,2.22,0.00,0.000,4,0.000,0.049,1851,890,3411
$GC,6080,-0.85,-117.3,472.5,-6.8,230,6085,0.12,2.22,0.00,0.000,6,0.062,0.042,1778,2312,3411
$GC,6418,-0.66,-117.3,504.9,-9.7,236,6420,0.25,0.00,0.00,0.000,6,0.127,0.000,1854,2313,3411
$GC,6721,-0.78,-117.3,522.6,-5.7,241,6726,0.10,2.22,0.00,0.000,4,0.070,0.049,1792,896,3410
$GC,6753,-0.66,-117.3,525.4,-9.1,241,6758,0.25,2.20,0.00,0.000,6,0.128,0.043,1857,2304,3411
$GC,7080,-0.80,-117.3,545.0,-5.9,247,7082,0.12,0.00,0.00,0.000,6,0.060,0.000,1783,2305,3410
$GC,7383,-0.64,-117.3,572.7,-9.3,252,7387,0.22,2.22,0.00,0.000,4,0.128,0.050,1857,897,3410
$GC,7438,-0.80,-117.3,576.7,-5.7,252,7445,0.05,2.22,0.00,0.000,6,0.065,0.048,1799,2300,3410
$GC,7747,-0.71,-117.3,601.1,-8.0,258,7749,0.17,0.00,0.00,0.000,6,0.127,0.000,1852,2300,3409
$GC,8051,-0.84,-117.3,617.3,-5.2,263,8053,0.12,0.00,0.00,0.000,6,0.062,0.000,1781,2301,3409
$GC,8354,-0.68,-117.3,642.8,-8.5,268,8356,0.22,0.00,0.00,0.000,6,0.124,0.000,1850,2300,3409
$GC,8657,-0.81,-117.3,658.4,-5.1,273,8659,0.10,0.00,0.00,0.000,6,0.071,0.000,1789,2301,3409
$GC,8960,-0.69,-117.3,682.8,-8.2,278,8965,0.20,2.22,0.00,0.000,4,0.122,0.051,1856,894,3408
$GC,8998,-0.85,-117.3,685.5,-5.8,278,9003,0.12,2.22,0.00,0.000,6,0.067,0.047,1782,2310,3408
$GC,9319,-0.70,-117.3,712.8,-8.7,284,9321,0.22,0.00,0.00,0.000,6,0.126,0.000,1851,2311,3409
$GC,9622,-0.84,-117.3,729.2,-5.3,289,9624,0.12,0.00,0.00,0.000,6,0.070,0.000,1792,2311,3408
$GC,9925,-0.75,-117.3,753.7,-8.2,294,9927,0.15,0.00,0.00,0.000,6,0.128,0.000,1837,2311,3408
$GC,10228,-0.83,-117.3,772.7,-6.2,299,10232,0.00,2.25,0.00,0.000,4,0.000,0.056,1837,896,3408
$GC,10260,-0.93,-117.3,775.0,-6.7,299,10265,0.12,2.22,0.00,0.000,6,0.071,0.046,1779,2310,3408
$GC,10587,-0.77,-117.3,805.1,-9.5,305,10589,0.17,0.00,0.00,0.000,6,0.134,0.000,1830,2310,3408
$GC,10890,-0.84,-117.3,825.3,-6.5,310,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2310,3407
$GC,11193,-0.91,-117.3,843.0,-5.7,315,11194,0.10,0.00,0.00,0.000,6,0.081,0.000,1787,2310,3407
$GC,11497,-0.79,-117.3,864.9,-7.3,320,11498,0.15,0.00,0.00,0.000,6,0.133,0.000,1829,2310,3407
$GC,11799,-0.86,-117.3,880.8,-5.1,325,11803,0.00,2.25,0.00,0.000,4,0.000,0.053,1829,901,3406
$GC,11838,-0.92,-117.3,883.2,-6.0,325,11843,0.10,2.22,0.00,0.000,6,0.079,0.048,1778,2312,3407
$GC,12164,-0.78,-117.3,908.1,-7.8,331,12166,0.17,0.00,0.00,0.000,6,0.139,0.000,1828,2313,3407
$GC,12468,-0.85,-117.3,925.0,-5.5,336,12472,0.00,2.25,0.00,0.000,4,0.000,0.051,1828,896,3407
$GC,12507,-0.92,-117.3,927.4,-5.4,336,12511,0.00,2.22,0.00,0.000,6,0.000,0.047,1822,2311,3407
$GC,12827,-0.92,-117.3,945.7,-5.7,342,12831,0.00,2.25,0.00,0.000,4,0.000,0.055,1822,894,3407
$GC,12876,-0.92,-117.3,948.9,-6.0,342,12880,0.00,2.22,0.00,0.000,6,0.000,0.051,1813,2308,3406
$GC,13192,-0.92,-117.3,968.6,-6.3,348,13193,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2308,3406
$GC,13495,-0.92,-117.3,988.3,-6.5,353,13499,0.00,2.25,0.00,0.000,4,0.000,0.058,1813,903,3406
$STATE,13519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13520,begin apogee
$GC,13528,-0.22,0.0,990.2,6.2,353,13623,0.43,0.00,92.85,1.335,6,0.130,0.000,1947,2309,2931
$STATE,13624,end apogee,CONTROL_FINISHED_OK
$STATE,13624,begin climb
$GC,13627,0.68,117.3,992.8,0.0,355,13733,0.57,2.53,97.90,1.307,4,0.084,0.059,2147,3708,2451
$GC,13758,0.31,117.3,988.2,7.7,357,13763,0.35,2.33,0.00,0.000,6,0.183,0.042,2072,2314,2447
$GC,14118,0.36,156.7,972.9,4.2,363,14153,0.00,0.00,32.75,1.266,6,0.000,0.000,2071,2314,2292
$GC,14421,0.47,193.3,960.1,4.3,368,14460,0.12,2.42,31.65,1.256,4,0.074,0.061,2120,3708,2142
$GC,14485,0.32,193.3,955.9,6.9,369,14490,0.25,2.30,0.00,0.000,6,0.163,0.041,2065,2298,2141
$GC,14851,0.65,195.8,936.8,5.4,375,14855,0.20,2.33,0.00,0.000,4,0.072,0.059,2143,3709,2135
$GC,14934,0.38,195.8,929.7,9.8,376,14939,0.28,2.25,0.00,0.000,6,0.164,0.039,2080,2296,2134
$GC,15278,0.51,221.5,913.0,4.6,382,15307,0.12,2.35,24.33,1.232,4,0.070,0.059,2138,886,2027
$GC,15324,0.42,221.5,909.7,8.0,382,15329,0.17,2.33,0.00,0.000,6,0.140,0.044,2091,2305,2024
$GC,15640,0.52,233.2,893.3,5.1,388,15656,0.08,2.30,10.40,1.114,4,0.084,0.061,2131,3713,1982
$GC,15690,0.38,233.2,889.2,9.0,388,15694,0.22,2.25,0.00,0.000,6,0.159,0.043,2080,2304,1980
$GC,16000,0.55,254.5,874.0,4.8,393,16025,0.12,0.00,20.05,1.191,6,0.068,0.000,2136,2302,1892
$GC,16370,0.45,254.5,843.6,8.4,399,16371,0.15,0.00,0.00,0.000,6,0.149,0.000,2096,2302,1886
$GC,16672,0.55,254.5,825.8,5.7,404,16677,0.10,2.30,0.00,0.000,4,0.071,0.058,2144,3713,1884
$GC,16700,0.46,254.5,823.4,9.9,404,16705,0.20,2.22,0.00,0.000,6,0.156,0.038,2101,2305,1884
$GC,17032,0.54,254.5,801.8,6.3,410,17035,0.00,2.28,0.00,0.000,4,0.000,0.058,2110,893,1884
$GC,17054,0.65,254.5,800.2,6.4,410,17058,0.10,2.22,0.00,0.000,6,0.077,0.042,2159,2305,1883
$GC,17403,0.45,254.5,763.8,10.7,416,17408,0.20,2.25,0.00,0.000,4,0.149,0.053,2098,3710,1883
$GC,17452,0.50,254.5,759.3,7.3,416,17456,0.00,2.20,0.00,0.000,6,0.000,0.039,2106,2299,1883
$GC,17768,0.55,254.5,738.3,6.6,422,17772,0.00,2.25,0.00,0.000,4,0.000,0.052,2116,891,1882
$GC,17790,0.62,254.5,736.7,6.0,422,17794,0.00,2.22,0.00,0.000,6,0.000,0.042,2117,2310,1882
$GC,18138,0.62,254.5,713.1,6.8,428,18142,0.00,2.25,0.00,0.000,4,0.000,0.054,2117,3715,1882
$GC,18167,0.62,254.5,710.9,7.2,428,18171,0.00,2.20,0.00,0.000,6,0.000,0.036,2126,2302,1882
$GC,18505,0.57,254.5,686.1,7.2,434,18506,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2302,1882
$GC,18807,0.57,254.5,664.2,7.2,439,18811,0.00,2.28,0.00,0.000,4,0.000,0.053,2126,3714,1882
$GC,18835,0.51,254.5,661.9,8.1,439,18839,0.10,2.20,0.00,0.000,6,0.154,0.042,2111,2302,1882
$GC,19172,0.55,254.5,641.3,6.1,445,19176,0.00,2.25,0.00,0.000,4,0.000,0.051,2119,888,1882
$GC,19206,0.64,254.5,639.1,6.2,445,19210,0.00,2.22,0.00,0.000,6,0.000,0.041,2119,2308,1881
$GC,19537,0.64,254.5,617.5,6.6,451,19541,0.00,2.22,0.00,0.000,4,0.000,0.054,2119,3708,1881
$GC,19587,0.60,254.5,613.5,8.6,451,19591,0.00,2.17,0.00,0.000,6,0.000,0.036,2129,2300,1881
$GC,19908,0.56,254.5,589.9,7.4,457,19911,0.00,2.22,0.00,0.000,4,0.000,0.051,2139,896,1881
$GC,19935,0.56,254.5,587.6,7.8,457,19939,0.00,2.20,0.00,0.000,6,0.000,0.046,2139,2304,1881
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$STATE,28383,end climb,SURFACE_DEPTH_REACHED
$STATE,28383,begin surface coast
$FINISH,1.2,1.011396
$STATE,28393,end surface coast,CONTROL_FINISHED_OK
$STATE,28393,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1677
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$TCM_TEMP,16.30
$XPDR_PINGS,71
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$10V_AH,10.7,17.120
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$DEVICE_SECS,27.275,210.200,339.000,9.050,0.000,29.382,24.954,176.004,17.750,0.000,0.000,38.399,1714.401,23745.178,480.348,2236.287,608.912,33.377,1592.484,0.000,2212.444,0.000,0.528,0.000
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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,44309,760
$CAP_FILE_SIZE,190380,0
$CFSIZE,260165632,248385536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
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