version: 66.04
glider: 144
mission: 15
dive: 470
start: 11 15 109 20 22 32
data:
$ID,144
$MISSION,15
$DIVE,470
$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,-70878.828
$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,32
$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
$GPS1,201536,5009.254,-14447.598,59,1.8,69,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-60.0
$GPS2,202138,5009.263,-14447.571,12,1.4,12,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.118,0.119
$KALMAN_X,-94040.7,-129.6,-27.6,121377.4,42.3
$KALMAN_Y,15243.8,-3.4,90.0,-37034.3,142.1
$MHEAD_RNG_PITCHd_Wd,26.1,30210,-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,15,begin dive
$GC,18,-0.68,-117.3,0.0,0.0,0,71,0.00,0.00,-50.88,0.000,2,0.000,0.000,98,2309,2599
$GC,75,-0.68,-117.3,3.4,-3.2,5,109,7.25,2.33,-20.75,0.000,4,0.236,0.058,1845,889,3411
$GC,362,-0.66,-117.3,36.4,-9.6,30,369,0.00,2.25,0.00,0.000,6,0.000,0.037,1837,2310,3412
$GC,691,-0.59,-117.3,71.9,-10.7,61,696,0.12,2.28,0.00,0.000,4,0.135,0.041,1872,884,3412
$GC,758,-0.62,-117.3,78.8,-8.6,66,764,0.00,2.22,0.00,0.000,6,0.000,0.037,1864,2303,3412
$GC,1086,-0.65,-117.3,106.0,-8.2,83,1089,0.00,2.22,0.00,0.000,4,0.000,0.041,1864,893,3413
$GC,1155,-0.68,-117.3,111.7,-8.2,86,1159,0.00,2.22,0.00,0.000,6,0.000,0.038,1859,2304,3413
$GC,1483,-0.71,-117.3,135.9,-6.9,102,1487,0.00,2.25,0.00,0.000,4,0.000,0.051,1849,3709,3413
$GC,1527,-0.73,-117.3,138.9,-6.9,104,1532,0.00,2.20,0.00,0.000,6,0.000,0.029,1849,2289,3413
$GC,1849,-0.78,-117.3,159.6,-6.8,118,1853,0.00,2.28,0.00,0.000,4,0.000,0.048,1841,3706,3413
$GC,1889,-0.83,-117.3,162.5,-6.9,119,1892,0.00,2.17,0.00,0.000,6,0.000,0.030,1841,2302,3413
$GC,2219,-0.86,-117.3,184.5,-6.7,130,2224,0.10,2.22,0.00,0.000,4,0.064,0.042,1761,889,3413
$GC,2343,-0.75,-117.3,198.9,-12.4,133,2351,0.30,2.25,0.00,0.000,6,0.121,0.038,1842,2305,3413
$GC,2657,-0.78,-117.3,220.9,-6.9,144,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2306,3413
$GC,2964,-0.82,-117.3,242.2,-7.0,154,2968,0.00,2.25,0.00,0.000,4,0.000,0.044,1842,901,3413
$GC,2992,-0.87,-117.3,244.4,-7.2,154,2999,0.10,2.22,0.00,0.000,6,0.064,0.038,1763,2311,3412
$GC,3305,-0.76,-117.3,279.8,-11.6,165,3307,0.25,0.00,0.00,0.000,6,0.120,0.000,1840,2311,3412
$GC,3612,-0.80,-117.3,301.0,-6.4,175,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2311,3412
$GC,3915,-0.85,-117.3,319.5,-6.1,180,3920,0.10,2.30,0.00,0.000,4,0.066,0.042,1767,889,3411
$GC,3988,-0.75,-117.3,327.1,-11.3,181,3993,0.28,2.25,0.00,0.000,6,0.116,0.043,1839,2301,3411
$GC,4344,-0.80,-117.3,350.6,-6.4,187,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2301,3411
$GC,4646,-0.84,-117.3,369.5,-6.3,192,4650,0.10,2.28,0.00,0.000,4,0.067,0.042,1772,888,3411
$GC,4679,-0.77,-117.3,372.6,-9.4,192,4684,0.22,2.28,0.00,0.000,6,0.119,0.045,1831,2307,3411
$GC,5007,-0.80,-117.3,392.9,-5.9,198,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2308,3410
$GC,5309,-0.84,-117.3,409.7,-5.5,203,5313,0.00,2.25,0.00,0.000,4,0.000,0.048,1831,902,3410
$GC,5342,-0.88,-117.3,411.8,-6.2,203,5346,0.00,2.25,0.00,0.000,6,0.000,0.044,1825,2312,3410
$GC,5669,-0.90,-117.3,431.8,-6.2,209,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2312,3410
$GC,5973,-0.93,-117.3,451.9,-6.7,214,5977,0.10,2.25,0.00,0.000,4,0.064,0.043,1754,891,3409
$GC,6011,-0.81,-117.3,455.8,-11.2,214,6016,0.28,2.28,0.00,0.000,6,0.123,0.039,1826,2311,3410
$GC,6338,-0.85,-117.3,478.8,-6.9,220,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2311,3409
$GC,6642,-0.88,-117.3,498.9,-6.6,225,6643,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2311,3409
$GC,6945,-0.91,-117.3,518.3,-6.4,230,6947,0.10,0.00,0.00,0.000,6,0.069,0.000,1763,2311,3409
$GC,7247,-0.82,-117.3,547.9,-9.9,235,7252,0.20,2.30,0.00,0.000,4,0.122,0.051,1829,902,3409
$GC,7331,-0.87,-117.3,554.5,-7.4,236,7335,0.00,2.25,0.00,0.000,6,0.000,0.043,1823,2303,3408
$GC,7676,-0.90,-117.3,577.9,-6.8,242,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2303,3408
$GC,7979,-0.93,-117.3,598.5,-6.8,247,7981,0.10,0.00,0.00,0.000,6,0.067,0.000,1752,2304,3408
$GC,8282,-0.82,-117.3,630.6,-10.8,252,8287,0.20,2.33,0.00,0.000,4,0.125,0.047,1818,895,3408
$GC,8333,-0.86,-117.3,635.1,-8.2,252,8337,0.00,2.28,0.00,0.000,6,0.000,0.040,1810,2305,3408
$GC,8643,-0.86,-117.3,657.4,-7.1,257,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2306,3408
$GC,8946,-0.86,-117.3,677.9,-6.8,262,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2306,3407
$GC,9249,-0.86,-117.3,698.6,-6.8,267,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2306,3407
$GC,9552,-0.86,-117.3,719.1,-6.7,272,9556,0.00,2.28,0.00,0.000,4,0.000,0.046,1810,900,3407
$GC,9593,-0.86,-117.3,721.8,-7.3,272,9597,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2313,3407
$GC,9914,-0.86,-117.3,744.0,-6.9,278,9918,0.00,2.28,0.00,0.000,4,0.000,0.048,1809,902,3407
$GC,9948,-0.86,-117.3,746.6,-7.4,278,9952,0.00,2.25,0.00,0.000,6,0.000,0.045,1808,2305,3406
$GC,10281,-0.86,-117.3,769.5,-6.9,284,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3406
$GC,10583,-0.86,-117.3,789.1,-6.5,289,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3406
$GC,10886,-0.86,-117.3,808.1,-6.2,294,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3407
$GC,11190,-0.86,-117.3,827.2,-6.3,299,11194,0.00,2.30,0.00,0.000,4,0.000,0.048,1807,902,3406
$GC,11223,-0.86,-117.3,829.6,-7.1,299,11227,0.00,2.28,0.00,0.000,6,0.000,0.041,1805,2308,3406
$GC,11557,-0.86,-117.3,850.7,-6.4,305,11558,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2307,3406
$GC,11858,-0.86,-117.3,870.2,-6.5,310,11859,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2308,3406
$GC,12161,-0.86,-117.3,890.4,-6.7,315,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2308,3406
$GC,12464,-0.86,-117.3,911.1,-6.9,320,12465,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2308,3406
$GC,12767,-0.86,-117.3,932.1,-6.9,325,12768,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2308,3406
$GC,13072,-0.88,-117.3,952.3,-6.7,330,13076,0.00,2.30,0.00,0.000,4,0.000,0.051,1805,902,3405
$GC,13105,-0.88,-117.3,954.9,-6.5,330,13109,0.00,2.28,0.00,0.000,6,0.000,0.048,1796,2310,3405
$GC,13438,-0.88,-117.3,976.3,-6.4,336,13439,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2310,3405
$STATE,13678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13678,begin apogee
$GC,13686,-0.22,0.0,991.2,6.2,340,13787,0.50,0.00,98.32,1.297,6,0.111,0.000,1957,2310,2931
$STATE,13788,end apogee,CONTROL_FINISHED_OK
$STATE,13788,begin climb
$GC,13791,0.68,117.3,992.3,0.0,341,13904,0.57,2.53,104.18,1.267,4,0.067,0.051,2156,3705,2450
$GC,13929,0.51,117.3,989.1,7.9,344,13934,0.22,2.42,0.00,0.000,6,0.166,0.035,2115,2305,2446
$GC,14291,0.46,117.3,967.5,5.9,350,14292,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2305,2440
$GC,14593,0.41,117.3,950.8,5.5,355,14595,0.10,0.00,0.00,0.000,6,0.164,0.000,2089,2305,2438
$GC,14896,0.46,157.5,937.9,4.1,360,14936,0.00,2.40,33.22,1.221,4,0.000,0.057,2089,3711,2288
$GC,14961,0.48,172.7,935.1,5.0,361,14980,0.00,2.33,14.65,1.135,6,0.000,0.038,2097,2294,2227
$GC,15332,0.54,206.6,918.7,4.4,367,15364,0.00,0.00,30.58,1.201,6,0.000,0.000,2097,2294,2088
$GC,15634,0.63,242.7,905.6,4.3,372,15669,0.12,0.00,32.55,1.192,6,0.062,0.000,2155,2295,1941
$GC,15938,0.56,242.7,883.8,7.4,377,15943,0.12,2.35,0.00,0.000,4,0.142,0.050,2124,3712,1934
$GC,15973,0.56,242.7,881.2,6.8,377,15977,0.00,2.28,0.00,0.000,6,0.000,0.040,2131,2299,1933
$GC,16300,0.56,242.7,860.9,6.3,383,16301,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2299,1932
$GC,16603,0.56,242.7,839.9,7.0,388,16607,0.00,2.33,0.00,0.000,4,0.000,0.051,2131,3713,1931
$GC,16636,0.53,242.7,837.2,7.3,388,16641,0.12,2.25,0.00,0.000,6,0.145,0.034,2109,2296,1931
$GC,16963,0.58,242.7,818.5,5.6,394,16967,0.00,2.28,0.00,0.000,4,0.000,0.048,2118,890,1931
$GC,16998,0.65,242.7,816.2,6.4,394,17002,0.08,2.25,0.00,0.000,6,0.084,0.039,2163,2304,1930
$GC,17330,0.57,242.7,786.4,9.2,400,17335,0.15,2.28,0.00,0.000,4,0.140,0.055,2122,3716,1930
$GC,17380,0.57,242.7,781.9,8.3,400,17384,0.00,2.22,0.00,0.000,6,0.000,0.035,2130,2293,1930
$GC,17690,0.57,242.7,761.1,6.8,405,17691,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2293,1930
$GC,17994,0.57,242.7,739.7,7.1,410,17998,0.00,2.28,0.00,0.000,4,0.000,0.049,2131,3710,1929
$GC,18045,0.54,242.7,735.2,8.1,410,18049,0.10,2.20,0.00,0.000,6,0.146,0.033,2116,2293,1929
$GC,18361,0.58,242.7,714.0,6.7,416,18364,0.00,2.22,0.00,0.000,4,0.000,0.048,2124,895,1929
$GC,18395,0.64,242.7,711.4,7.6,416,18399,0.00,2.20,0.00,0.000,6,0.000,0.038,2124,2311,1928
$GC,18733,0.64,242.7,687.5,7.1,422,18737,0.00,2.25,0.00,0.000,4,0.000,0.050,2124,3716,1928
$GC,18766,0.64,242.7,684.9,7.9,422,18770,0.00,2.17,0.00,0.000,6,0.000,0.033,2134,2302,1928
$GC,19098,0.64,242.7,660.5,7.3,428,19099,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2302,1928
$GC,19402,0.64,242.7,638.9,7.2,433,19406,0.00,2.28,0.00,0.000,4,0.000,0.048,2134,3718,1928
$GC,19430,0.61,242.7,636.6,7.9,433,19434,0.00,2.20,0.00,0.000,6,0.000,0.033,2144,2298,1928
$GC,19764,0.59,242.7,612.2,7.3,439,19767,0.00,2.28,0.00,0.000,4,0.000,0.048,2144,3718,1928
$GC,19821,0.52,242.7,607.6,7.5,439,19825,0.15,2.20,0.00,0.000,6,0.138,0.032,2114,2298,1928
$GC,20131,0.57,242.7,590.3,5.5,444,20135,0.00,2.28,0.00,0.000,4,0.000,0.047,2122,888,1928
$GC,20165,0.64,242.7,588.2,6.0,444,20169,0.00,2.25,0.00,0.000,6,0.000,0.040,2122,2304,1928
$GC,20492,0.78,242.7,567.5,6.5,450,20496,0.15,2.28,0.00,0.000,4,0.058,0.044,2201,887,1928
$GC,20646,0.69,242.7,553.6,9.6,452,20651,0.20,2.25,0.00,0.000,6,0.140,0.038,2145,2307,1928
$GC,20995,0.69,242.7,527.5,7.3,458,20998,0.00,2.25,0.00,0.000,4,0.000,0.048,2145,3709,1928
$GC,21057,0.65,242.7,522.2,8.5,458,21064,0.00,2.20,0.00,0.000,6,0.000,0.033,2153,2300,1928
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$STATE,29175,end climb,SURFACE_DEPTH_REACHED
$STATE,29175,begin surface coast
$FINISH,1.1,1.025337
$STATE,29197,end surface coast,CONTROL_FINISHED_OK
$STATE,29198,begin surface
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$HUMID,1686
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$TCM_TEMP,16.30
$XPDR_PINGS,58
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$10V_AH,10.5,59.044
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$DEVICE_SECS,20.000,230.425,432.350,0.000,0.000,28.994,33.509,156.205,14.500,0.000,0.000,14.259,1713.163,24252.375,573.944,2331.646,755.580,33.384,1762.569,0.000,2328.329,0.000,0.527,0.000
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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,44366,765
$CAP_FILE_SIZE,186934,0
$CFSIZE,260165632,222093312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,161109,043139,5011.626,-14444.008,31,1.4,31,18.6