version: 66.04
glider: 144
mission: 15
dive: 473
start: 11 16 109 21 11 59
data:
$ID,144
$MISSION,15
$DIVE,473
$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,-70926.914
$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,33
$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
$GPS1,210231,5016.840,-14436.602,53,2.4,72,18.6
$_CALLS,1
$_XMS_NAKs,34
$_XMS_TOUTs,2
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-52.1
$GPS2,211106,5016.798,-14436.532,13,1.7,15,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.132,0.103
$KALMAN_X,-94506.8,37.4,-76.5,134775.8,-334.1
$KALMAN_Y,17260.0,61.4,2.9,-25069.7,650.7
$MHEAD_RNG_PITCHd_Wd,33.5,11113,-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,13,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,60,0.00,0.00,-41.28,0.000,2,0.000,0.000,99,2305,2581
$GC,64,-0.68,-117.3,3.4,-4.6,4,99,7.32,2.35,-21.92,0.000,4,0.242,0.063,1846,890,3412
$GC,325,-0.68,-117.3,32.9,-11.0,27,329,0.00,2.25,0.00,0.000,6,0.000,0.039,1839,2301,3414
$GC,653,-0.62,-117.3,71.7,-11.1,57,658,0.10,2.28,0.00,0.000,4,0.137,0.038,1866,886,3414
$GC,699,-0.64,-117.3,76.4,-9.2,60,705,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2307,3414
$GC,1016,-0.66,-117.3,102.5,-8.5,78,1020,0.00,2.25,0.00,0.000,4,0.000,0.051,1853,3708,3415
$GC,1057,-0.71,-117.3,105.7,-7.5,80,1061,0.00,2.20,0.00,0.000,6,0.000,0.029,1853,2286,3414
$GC,1391,-0.74,-117.3,130.2,-6.9,96,1395,0.00,2.20,0.00,0.000,4,0.000,0.041,1853,892,3415
$GC,1505,-0.80,-117.3,138.3,-7.1,101,1510,0.10,2.22,0.00,0.000,6,0.067,0.038,1775,2305,3415
$GC,1841,-0.70,-117.3,175.6,-11.4,114,1846,0.20,2.28,0.00,0.000,4,0.123,0.043,1842,889,3415
$GC,1908,-0.74,-117.3,181.8,-8.2,116,1912,0.00,2.25,0.00,0.000,6,0.000,0.041,1836,2301,3415
$GC,2238,-0.76,-117.3,208.0,-7.8,127,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2301,3415
$GC,2544,-0.79,-117.3,230.4,-7.3,137,2548,0.00,2.28,0.00,0.000,4,0.000,0.051,1827,3709,3414
$GC,2578,-0.81,-117.3,233.0,-7.9,138,2582,0.00,2.20,0.00,0.000,6,0.000,0.030,1827,2292,3414
$GC,2908,-0.81,-117.3,257.7,-7.5,149,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2291,3414
$GC,3214,-0.81,-117.3,279.8,-7.1,159,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2291,3414
$GC,3521,-0.81,-117.3,300.6,-6.9,169,3525,0.00,2.22,0.00,0.000,4,0.000,0.043,1826,896,3413
$GC,3583,-0.81,-117.3,305.6,-7.9,169,3589,0.00,2.25,0.00,0.000,6,0.000,0.038,1821,2302,3413
$GC,3893,-0.81,-117.3,330.9,-8.3,175,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2302,3413
$GC,4196,-0.81,-117.3,355.0,-7.9,180,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2302,3413
$GC,4500,-0.81,-117.3,376.8,-7.1,185,4504,0.00,2.28,0.00,0.000,4,0.000,0.044,1821,896,3412
$GC,4533,-0.81,-117.3,379.3,-7.0,185,4537,0.00,2.25,0.00,0.000,6,0.000,0.039,1812,2311,3412
$GC,4867,-0.81,-117.3,402.9,-7.2,191,4871,0.00,2.28,0.00,0.000,4,0.000,0.043,1812,895,3412
$GC,4906,-0.81,-117.3,406.0,-7.9,191,4910,0.00,2.25,0.00,0.000,6,0.000,0.046,1803,2308,3412
$GC,5233,-0.79,-117.3,431.2,-7.8,197,5235,0.10,0.00,0.00,0.000,6,0.134,0.000,1831,2307,3411
$GC,5536,-0.83,-117.3,452.2,-6.9,202,5540,0.00,2.28,0.00,0.000,4,0.000,0.045,1831,892,3411
$GC,5570,-0.87,-117.3,454.9,-7.8,202,5574,0.00,2.25,0.00,0.000,6,0.000,0.038,1825,2312,3412
$GC,5905,-0.89,-117.3,479.2,-7.3,208,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2312,3411
$GC,6205,-0.93,-117.3,499.6,-6.7,213,6207,0.10,0.00,0.00,0.000,6,0.066,0.000,1751,2312,3411
$GC,6509,-0.82,-117.3,529.9,-10.1,218,6513,0.20,2.30,0.00,0.000,4,0.126,0.051,1817,900,3410
$GC,6588,-0.84,-117.3,535.8,-7.3,219,6592,0.00,2.25,0.00,0.000,6,0.000,0.040,1810,2304,3410
$GC,6937,-0.84,-117.3,558.1,-6.4,225,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3410
$GC,7240,-0.84,-117.3,577.7,-6.5,230,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2304,3410
$GC,7543,-0.84,-117.3,598.6,-7.0,235,7547,0.00,2.28,0.00,0.000,4,0.000,0.045,1810,898,3410
$GC,7581,-0.84,-117.3,601.5,-7.4,235,7586,0.00,2.28,0.00,0.000,6,0.000,0.048,1808,2309,3410
$GC,7904,-0.84,-117.3,623.8,-6.9,241,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2310,3409
$GC,8206,-0.84,-117.3,643.2,-6.4,246,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2310,3409
$GC,8509,-0.84,-117.3,661.5,-6.0,251,8513,0.00,2.30,0.00,0.000,4,0.000,0.049,1808,901,3409
$GC,8542,-0.84,-117.3,663.6,-6.5,251,8546,0.00,2.28,0.00,0.000,6,0.000,0.043,1799,2312,3409
$GC,8869,-0.84,-117.3,685.1,-6.7,257,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2313,3409
$GC,9171,-0.84,-117.3,706.2,-7.0,262,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2313,3409
$GC,9475,-0.84,-117.3,729.1,-7.6,267,9476,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2313,3409
$GC,9778,-0.84,-117.3,752.9,-7.8,272,9782,0.00,2.30,0.00,0.000,4,0.000,0.048,1798,901,3408
$GC,9852,-0.84,-117.3,759.1,-8.8,273,9857,0.10,2.28,0.00,0.000,6,0.134,0.047,1822,2304,3408
$GC,10207,-0.89,-117.3,783.3,-6.6,279,10211,0.00,2.30,0.00,0.000,4,0.000,0.052,1814,3713,3408
$GC,10235,-0.93,-117.3,785.3,-7.5,279,10240,0.00,2.25,0.00,0.000,6,0.000,0.034,1814,2297,3407
$GC,10569,-0.97,-117.3,806.6,-6.4,285,10571,0.10,0.00,0.00,0.000,6,0.074,0.000,1752,2296,3408
$GC,10871,-0.88,-117.3,832.8,-8.8,290,10876,0.20,2.28,0.00,0.000,4,0.123,0.044,1819,898,3407
$GC,10927,-0.93,-117.3,836.4,-5.8,290,10934,0.00,2.28,0.00,0.000,6,0.000,0.045,1810,2303,3408
$GC,11239,-0.96,-117.3,850.8,-4.6,296,11240,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2303,3407
$GC,11541,-0.98,-117.3,863.6,-4.2,301,11543,0.10,0.00,0.00,0.000,6,0.075,0.000,1754,2303,3407
$GC,11844,-0.90,-117.3,885.4,-7.4,306,11849,0.17,2.30,0.00,0.000,4,0.125,0.045,1806,900,3407
$GC,11895,-0.93,-117.3,888.5,-5.4,306,11899,0.00,2.28,0.00,0.000,6,0.000,0.042,1805,2307,3407
$GC,12206,-0.93,-117.3,905.3,-5.5,311,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2307,3407
$GC,12509,-0.93,-117.3,923.3,-6.1,316,12513,0.00,2.30,0.00,0.000,4,0.000,0.051,1805,895,3407
$GC,12543,-0.93,-117.3,925.9,-7.4,316,12547,0.00,2.25,0.00,0.000,6,0.000,0.041,1795,2301,3407
$GC,12877,-0.93,-117.3,948.5,-6.8,322,12878,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2301,3407
$GC,13178,-0.93,-117.3,968.9,-6.7,327,13179,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2301,3407
$GC,13481,-0.93,-117.3,988.0,-6.3,332,13485,0.00,2.28,0.00,0.000,4,0.000,0.051,1795,899,3407
$STATE,13511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13511,begin apogee
$GC,13520,-0.22,0.0,990.2,6.6,332,13622,0.47,0.00,98.03,1.294,6,0.115,0.000,1950,2304,2931
$STATE,13622,end apogee,CONTROL_FINISHED_OK
$STATE,13622,begin climb
$GC,13626,0.68,117.3,992.2,0.0,334,13738,0.55,2.58,103.78,1.266,4,0.071,0.052,2147,3707,2451
$GC,13763,0.53,117.3,987.8,6.8,336,13768,0.17,2.40,0.00,0.000,6,0.166,0.035,2118,2308,2447
$GC,14119,0.48,117.3,965.7,6.2,342,14123,0.00,2.35,0.00,0.000,4,0.000,0.051,2127,888,2441
$GC,14169,0.43,117.3,962.4,6.7,342,14174,0.15,2.30,0.00,0.000,6,0.142,0.044,2088,2305,2439
$GC,14479,0.45,133.1,946.8,5.0,347,14504,0.00,2.33,14.80,1.002,4,0.000,0.054,2088,3710,2388
$GC,14566,0.45,133.1,942.0,5.7,348,14571,0.00,2.28,0.00,0.000,6,0.000,0.038,2096,2298,2386
$GC,14905,0.47,150.8,925.2,4.9,354,14928,0.00,2.33,16.75,1.160,4,0.000,0.049,2096,3710,2314
$GC,14952,0.45,150.8,922.4,5.6,354,14957,0.00,2.28,0.00,0.000,6,0.000,0.034,2106,2303,2313
$GC,15269,0.45,151.0,905.1,5.5,360,15270,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2303,2311
$GC,15571,0.46,155.1,888.7,5.4,365,15580,0.00,2.33,4.78,0.837,4,0.000,0.050,2107,3711,2297
$GC,15605,0.43,155.1,886.5,6.4,365,15609,0.10,2.28,0.00,0.000,6,0.161,0.035,2094,2293,2297
$GC,15938,0.47,173.7,870.3,4.9,371,15962,0.00,2.38,17.62,1.141,4,0.000,0.054,2093,3705,2222
$GC,15980,0.51,185.0,867.8,5.1,371,15996,0.00,2.28,11.52,1.068,6,0.000,0.035,2101,2295,2176
$GC,16301,0.53,185.0,849.3,5.8,376,16302,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2295,2171
$GC,16604,0.56,185.0,832.4,5.6,381,16608,0.00,2.33,0.00,0.000,4,0.000,0.053,2101,3716,2171
$GC,16632,0.56,185.0,830.5,7.0,381,16637,0.00,2.25,0.00,0.000,6,0.000,0.033,2112,2291,2170
$GC,16965,0.56,187.2,812.3,5.4,387,16967,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2290,2170
$GC,17268,0.57,193.2,796.2,5.3,392,17282,0.00,2.35,7.88,0.971,4,0.000,0.052,2112,3712,2142
$GC,17318,0.55,193.2,793.2,6.3,392,17322,0.00,2.22,0.00,0.000,6,0.000,0.033,2122,2302,2142
$GC,17634,0.55,193.2,775.5,5.7,398,17635,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2301,2141
$GC,17937,0.55,193.2,758.6,5.6,403,17941,0.00,2.30,0.00,0.000,4,0.000,0.048,2122,3719,2141
$GC,17971,0.51,193.2,756.4,6.2,403,17975,0.10,2.25,0.00,0.000,6,0.153,0.033,2108,2296,2140
$GC,18298,0.54,203.1,739.5,5.2,409,18310,0.00,0.00,10.30,0.996,6,0.000,0.000,2108,2296,2102
$GC,18601,0.58,215.8,724.2,5.1,414,18615,0.00,0.00,12.45,1.015,6,0.000,0.000,2109,2297,2051
$GC,18905,0.64,228.9,708.7,5.1,419,18920,0.12,0.00,13.18,1.009,6,0.057,0.000,2181,2296,1996
$GC,19207,0.53,228.9,680.5,9.7,424,19212,0.22,2.35,0.00,0.000,4,0.139,0.048,2112,3721,1993
$GC,19235,0.50,228.9,677.9,8.4,424,19239,0.00,2.25,0.00,0.000,6,0.000,0.033,2121,2304,1993
$GC,19573,0.52,228.9,655.5,6.7,430,19575,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2304,1992
$GC,19877,0.54,228.9,634.4,7.0,435,19881,0.00,2.30,0.00,0.000,4,0.000,0.048,2121,3716,1992
$GC,19904,0.54,228.9,632.2,7.2,435,19908,0.00,2.25,0.00,0.000,6,0.000,0.033,2131,2297,1992
$GC,20237,0.54,228.9,608.5,7.0,441,20241,0.00,2.30,0.00,0.000,4,0.000,0.048,2131,3720,1992
$GC,20265,0.52,228.9,606.3,7.9,441,20270,0.12,2.25,0.00,0.000,6,0.138,0.032,2108,2295,1992
$GC,20605,0.59,238.9,587.9,5.2,447,20616,0.00,0.00,9.77,0.905,6,0.000,0.000,2108,2294,1956
$GC,20908,0.67,260.7,573.5,4.8,452,20931,0.12,0.00,20.30,0.968,6,0.057,0.000,2187,2293,1868
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$STATE,28845,end climb,SURFACE_DEPTH_REACHED
$STATE,28845,begin surface coast
$FINISH,1.1,1.025097
$STATE,28857,end surface coast,CONTROL_FINISHED_OK
$STATE,28857,begin surface
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$HUMID,1706
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$XPDR_PINGS,73
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$10V_AH,10.5,59.421
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41190,717
$CAP_FILE_SIZE,179997,0
$CFSIZE,260165632,221872128
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$GPS,171109,051602,5018.633,-14431.978,68,1.8,69,18.7