version: 66.04
glider: 144
mission: 15
dive: 306
start: 9 20 109 23 21 36
data:
$ID,144
$MISSION,15
$DIVE,306
$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,-67202.375
$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,32
$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
$GPS1,231401,5017.417,-14428.426,37,1.5,37,18.7
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-56.2
$GPS2,232043,5017.410,-14428.348,14,1.7,32,18.7
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.029,-0.165
$KALMAN_X,-38659.6,299.3,164.2,88090.2,-1264.1
$KALMAN_Y,22980.3,-180.5,21.6,-29426.0,814.0
$MHEAD_RNG_PITCHd_Wd,151.2,43370,-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,-41.60,0.000,2,0.000,0.000,98,2292,2644
$GC,62,-0.68,-117.3,3.3,-4.8,4,96,7.15,2.35,-18.73,0.000,4,0.239,0.067,1838,3707,3413
$GC,158,-0.58,-117.3,15.8,-13.9,12,165,0.12,2.22,0.00,0.000,6,0.133,0.034,1871,2291,3414
$GC,485,-0.55,-117.3,53.9,-12.0,43,489,0.00,2.20,0.00,0.000,4,0.000,0.041,1871,893,3414
$GC,524,-0.59,-117.3,57.8,-8.6,46,530,0.00,2.22,0.00,0.000,6,0.000,0.036,1864,2306,3415
$GC,847,-0.59,-117.3,83.7,-8.0,75,851,0.00,2.25,0.00,0.000,4,0.000,0.051,1854,3712,3416
$GC,880,-0.59,-117.3,86.6,-8.5,76,887,0.00,2.17,0.00,0.000,6,0.000,0.029,1854,2294,3416
$GC,1196,-0.59,-117.3,112.7,-8.4,92,1200,0.00,2.17,0.00,0.000,4,0.000,0.041,1854,899,3417
$GC,1246,-0.59,-117.3,117.4,-9.1,94,1250,0.10,2.22,0.00,0.000,6,0.145,0.038,1875,2305,3417
$GC,1573,-0.65,-117.3,143.0,-7.7,110,1577,0.00,2.22,0.00,0.000,4,0.000,0.044,1875,899,3417
$GC,1589,-0.73,-117.3,144.3,-7.3,110,1596,0.12,2.22,0.00,0.000,6,0.057,0.038,1793,2307,3417
$GC,1903,-0.64,-117.3,179.4,-11.0,122,1908,0.20,2.22,0.00,0.000,4,0.122,0.046,1857,901,3416
$GC,1993,-0.69,-117.3,186.6,-7.1,124,1999,0.00,2.22,0.00,0.000,6,0.000,0.041,1849,2313,3417
$GC,2306,-0.73,-117.3,207.9,-6.7,135,2309,0.00,2.22,0.00,0.000,4,0.000,0.041,1850,892,3416
$GC,2333,-0.76,-117.3,210.1,-7.4,135,2340,0.00,2.22,0.00,0.000,6,0.000,0.039,1850,2301,3416
$GC,2646,-0.80,-117.3,231.3,-6.9,146,2648,0.08,0.00,0.00,0.000,6,0.083,0.000,1790,2301,3416
$GC,2952,-0.72,-117.3,261.0,-9.7,156,2957,0.20,2.22,0.00,0.000,4,0.123,0.043,1853,905,3415
$GC,3024,-0.78,-117.3,266.1,-6.3,158,3028,0.00,2.22,0.00,0.000,6,0.000,0.041,1850,2308,3415
$GC,3354,-0.82,-117.3,285.6,-5.8,169,3355,0.10,0.00,0.00,0.000,6,0.066,0.000,1781,2308,3415
$GC,3660,-0.73,-117.3,314.1,-9.4,177,3664,0.17,2.25,0.00,0.000,4,0.123,0.047,1839,902,3414
$GC,3715,-0.77,-117.3,318.5,-7.0,177,3721,0.00,2.25,0.00,0.000,6,0.000,0.046,1837,2312,3414
$GC,4025,-0.79,-117.3,338.5,-6.5,183,4029,0.00,2.25,0.00,0.000,4,0.000,0.044,1837,899,3413
$GC,4080,-0.82,-117.3,342.6,-7.6,183,4087,0.00,2.25,0.00,0.000,6,0.000,0.044,1836,2315,3413
$GC,4390,-0.84,-117.3,362.9,-6.5,189,4394,0.00,2.25,0.00,0.000,4,0.000,0.045,1835,905,3412
$GC,4423,-0.87,-117.3,365.3,-7.1,189,4428,0.10,2.22,0.00,0.000,6,0.069,0.047,1771,2306,3412
$GC,4756,-0.77,-117.3,398.7,-10.3,195,4758,0.22,0.00,0.00,0.000,6,0.123,0.000,1839,2306,3412
$GC,5058,-0.80,-117.3,417.9,-6.1,200,5062,0.00,2.25,0.00,0.000,4,0.000,0.046,1839,902,3412
$GC,5091,-0.85,-117.3,420.2,-6.5,200,5095,0.00,2.22,0.00,0.000,6,0.000,0.041,1837,2302,3412
$GC,5419,-0.88,-117.3,439.8,-6.0,206,5424,0.10,2.25,0.00,0.000,4,0.067,0.047,1774,898,3411
$GC,5446,-0.82,-117.3,442.1,-8.7,206,5451,0.20,2.22,0.00,0.000,6,0.129,0.047,1824,2301,3411
$GC,5777,-0.82,-117.3,463.7,-6.4,212,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2301,3410
$GC,6081,-0.82,-117.3,483.8,-6.7,217,6085,0.00,2.25,0.00,0.000,4,0.000,0.049,1823,901,3410
$GC,6108,-0.82,-117.3,486.0,-7.9,217,6112,0.00,2.25,0.00,0.000,6,0.000,0.041,1823,2305,3410
$GC,6452,-0.82,-117.3,510.3,-7.1,223,6456,0.00,2.25,0.00,0.000,4,0.000,0.051,1823,898,3410
$GC,6490,-0.82,-117.3,513.4,-7.9,223,6494,0.00,2.25,0.00,0.000,6,0.000,0.041,1821,2305,3410
$GC,6817,-0.82,-117.3,536.8,-7.2,229,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3409
$GC,7120,-0.82,-117.3,558.3,-7.0,234,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3409
$GC,7423,-0.82,-117.3,579.1,-6.9,239,7427,0.00,2.25,0.00,0.000,4,0.000,0.045,1821,900,3409
$GC,7461,-0.82,-117.3,581.8,-7.0,239,7465,0.00,2.25,0.00,0.000,6,0.000,0.042,1812,2294,3409
$GC,7788,-0.82,-117.3,604.8,-7.1,245,7792,0.00,2.22,0.00,0.000,4,0.000,0.046,1812,902,3409
$GC,7821,-0.82,-117.3,607.4,-8.3,245,7825,0.00,2.25,0.00,0.000,6,0.000,0.046,1808,2313,3408
$GC,8159,-0.82,-117.3,631.2,-7.0,251,8163,0.00,2.28,0.00,0.000,4,0.000,0.044,1808,893,3408
$GC,8225,-0.82,-117.3,636.0,-6.8,252,8230,0.10,2.25,0.00,0.000,6,0.139,0.040,1825,2304,3408
$GC,8592,-0.85,-117.3,655.1,-5.1,258,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2304,3408
$GC,8895,-0.88,-117.3,670.0,-4.9,263,8899,0.00,2.28,0.00,0.000,4,0.000,0.048,1825,899,3407
$GC,8939,-0.91,-117.3,672.5,-5.3,263,8943,0.00,2.25,0.00,0.000,6,0.000,0.041,1822,2305,3407
$GC,9255,-0.94,-117.3,688.6,-5.1,269,9257,0.10,0.00,0.00,0.000,6,0.068,0.000,1764,2306,3407
$GC,9557,-0.85,-117.3,712.7,-8.1,274,9559,0.17,0.00,0.00,0.000,6,0.127,0.000,1816,2305,3407
$GC,9860,-0.85,-117.3,730.8,-6.0,279,9864,0.00,2.28,0.00,0.000,4,0.000,0.051,1816,899,3407
$GC,9904,-0.85,-117.3,734.1,-7.7,279,9908,0.00,2.25,0.00,0.000,6,0.000,0.041,1809,2305,3406
$GC,10218,-0.85,-117.3,755.6,-7.0,285,10222,0.00,2.25,0.00,0.000,4,0.000,0.045,1810,902,3406
$GC,10251,-0.85,-117.3,757.9,-7.3,285,10255,0.00,2.25,0.00,0.000,6,0.000,0.043,1808,2306,3406
$GC,10583,-0.85,-117.3,781.7,-7.1,291,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3406
$GC,10887,-0.85,-117.3,803.9,-7.4,296,10891,0.00,2.28,0.00,0.000,4,0.000,0.048,1808,902,3406
$GC,10936,-0.85,-117.3,807.9,-7.8,296,10940,0.00,2.25,0.00,0.000,6,0.000,0.046,1805,2303,3406
$GC,11251,-0.85,-117.3,830.3,-7.1,302,11255,0.00,2.28,0.00,0.000,4,0.000,0.049,1805,895,3406
$GC,11289,-0.85,-117.3,833.3,-7.7,302,11293,0.00,2.28,0.00,0.000,6,0.000,0.045,1795,2309,3406
$GC,11616,-0.82,-117.3,856.7,-7.2,308,11618,0.10,0.00,0.00,0.000,6,0.138,0.000,1822,2309,3405
$GC,11920,-0.86,-117.3,874.5,-5.8,313,11924,0.00,2.30,0.00,0.000,4,0.000,0.048,1822,896,3406
$GC,11969,-0.91,-117.3,877.8,-6.8,313,11973,0.00,2.28,0.00,0.000,6,0.000,0.046,1822,2309,3406
$GC,12280,-0.94,-117.3,896.1,-5.9,318,12282,0.10,0.00,0.00,0.000,6,0.081,0.000,1777,2310,3405
$GC,12582,-0.89,-117.3,921.3,-8.5,323,12584,0.12,0.00,0.00,0.000,6,0.130,0.000,1811,2310,3405
$GC,12885,-0.91,-117.3,942.2,-6.8,328,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2310,3405
$GC,13188,-0.91,-117.3,962.8,-6.8,333,13192,0.00,2.28,0.00,0.000,4,0.000,0.051,1811,905,3405
$GC,13233,-0.93,-117.3,966.0,-7.7,333,13237,0.00,2.25,0.00,0.000,6,0.000,0.048,1809,2304,3405
$GC,13549,-0.93,-117.3,987.4,-6.7,339,13551,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3405
$STATE,13606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13606,begin apogee
$GC,13612,-0.22,0.0,991.5,6.7,340,13710,0.45,0.00,95.85,1.309,6,0.119,0.000,1952,2304,2931
$STATE,13711,end apogee,CONTROL_FINISHED_OK
$STATE,13711,begin climb
$GC,13713,0.68,117.3,993.3,0.0,341,13824,0.60,2.60,101.50,1.281,4,0.074,0.058,2156,3712,2450
$GC,13842,0.51,117.3,991.6,6.2,343,13848,0.25,2.38,0.00,0.000,6,0.177,0.035,2110,2316,2447
$GC,14153,0.49,140.5,976.5,4.7,348,14174,0.00,0.00,19.70,1.202,6,0.000,0.000,2110,2316,2358
$GC,14457,0.46,147.8,960.8,5.3,353,14466,0.00,0.00,7.32,1.025,6,0.000,0.000,2110,2316,2328
$GC,14759,0.42,147.8,944.1,5.5,358,14760,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2316,2325
$GC,15061,0.39,147.8,926.7,5.8,363,15063,0.10,0.00,0.00,0.000,6,0.163,0.000,2084,2316,2324
$GC,15365,0.44,168.6,912.1,4.8,368,15386,0.00,0.00,18.95,1.186,6,0.000,0.000,2084,2316,2243
$GC,15669,0.54,168.6,895.4,5.7,373,15673,0.12,2.33,0.00,0.000,4,0.072,0.052,2146,889,2239
$GC,15741,0.47,168.6,890.4,7.2,374,15745,0.17,2.30,0.00,0.000,6,0.141,0.044,2098,2313,2237
$GC,16096,0.47,171.3,871.3,5.4,380,16100,0.00,2.28,0.00,0.000,4,0.000,0.051,2098,3715,2237
$GC,16136,0.45,171.3,868.7,6.2,380,16140,0.00,2.25,0.00,0.000,6,0.000,0.038,2106,2293,2237
$GC,16457,0.45,172.1,850.9,5.5,386,16458,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2293,2237
$GC,16759,0.45,172.1,834.2,5.5,391,16763,0.00,2.33,0.00,0.000,4,0.000,0.054,2106,3718,2236
$GC,16798,0.40,172.1,831.5,6.7,391,16802,0.12,2.25,0.00,0.000,6,0.155,0.041,2085,2297,2236
$GC,17118,0.46,185.1,815.1,5.1,397,17138,0.00,2.33,14.55,1.108,4,0.000,0.052,2094,897,2175
$GC,17155,0.55,212.0,813.0,4.6,397,17186,0.08,2.28,24.98,1.137,6,0.085,0.041,2140,2313,2066
$GC,17554,0.50,212.0,783.0,7.5,404,17559,0.12,2.28,0.00,0.000,4,0.141,0.055,2107,3710,2059
$GC,17581,0.50,212.0,780.8,7.1,404,17585,0.00,2.25,0.00,0.000,6,0.000,0.039,2115,2297,2059
$GC,17919,0.50,212.0,761.4,5.7,410,17923,0.00,2.30,0.00,0.000,4,0.000,0.052,2125,886,2058
$GC,17941,0.51,220.8,760.1,5.2,410,17955,0.00,2.28,7.85,0.958,6,0.000,0.044,2125,2314,2031
$GC,18282,0.51,220.8,740.5,5.7,416,18286,0.00,2.25,0.00,0.000,4,0.000,0.056,2126,3710,2028
$GC,18304,0.48,220.8,739.1,5.8,416,18309,0.12,2.22,0.00,0.000,6,0.147,0.041,2103,2298,2028
$GC,18648,0.56,251.6,723.4,4.5,422,18682,0.00,2.33,27.75,1.095,4,0.000,0.050,2111,900,1903
$GC,18701,0.68,287.9,720.9,4.3,422,18741,0.12,2.28,32.92,1.082,6,0.062,0.043,2176,2308,1757
$GC,19081,0.59,287.9,684.6,10.0,429,19086,0.17,2.28,0.00,0.000,4,0.139,0.055,2123,3712,1749
$GC,19138,0.61,287.9,679.7,6.6,429,19142,0.00,2.22,0.00,0.000,6,0.000,0.039,2131,2306,1749
$GC,19448,0.63,287.9,659.4,6.5,434,19452,0.00,2.28,0.00,0.000,4,0.000,0.054,2141,895,1747
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$STATE,28687,end climb,SURFACE_DEPTH_REACHED
$STATE,28687,begin surface coast
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$STATE,28711,end surface coast,CONTROL_FINISHED_OK
$STATE,28711,begin surface
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$10V_AH,10.6,38.182
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$DATA_FILE_SIZE,44354,743
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