version: 66.04
glider: 144
mission: 15
dive: 510
start: 11 29 109 8 54 25
data:
$ID,144
$MISSION,15
$DIVE,510
$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,-71813.938
$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,34
$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
$GPS1,084725,5002.260,-14502.042,41,1.5,41,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-48.4
$GPS2,085331,5002.251,-14502.008,10,1.2,15,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,0.047
$KALMAN_X,-93787.2,59.4,44.7,103813.8,-1142.7
$KALMAN_Y,21382.3,93.6,-132.3,-56030.4,1772.9
$MHEAD_RNG_PITCHd_Wd,55.3,16405,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.68,-117.3,0.0,0.0,0,81,0.00,0.00,-60.50,0.000,2,0.000,0.000,99,2301,2659
$GC,85,-0.68,-117.3,3.6,-3.2,6,119,7.15,2.33,-19.30,0.000,4,0.234,0.061,1850,885,3412
$GC,126,-0.49,-117.3,8.9,-10.9,9,132,0.17,2.30,0.00,0.000,6,0.126,0.045,1895,2302,3413
$GC,454,-0.56,-117.3,40.1,-7.9,40,458,0.00,2.28,0.00,0.000,4,0.000,0.043,1895,896,3413
$GC,603,-0.64,-117.3,49.2,-5.0,53,608,0.10,2.25,0.00,0.000,6,0.062,0.036,1819,2314,3413
$GC,930,-0.56,-117.3,87.9,-12.3,80,935,0.20,2.30,0.00,0.000,4,0.127,0.041,1883,885,3413
$GC,964,-0.60,-117.3,91.8,-8.8,81,970,0.00,2.25,0.00,0.000,6,0.000,0.037,1877,2310,3414
$GC,1281,-0.66,-117.3,113.5,-7.2,97,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2310,3414
$GC,1590,-0.72,-117.3,134.6,-6.5,112,1595,0.12,2.28,0.00,0.000,4,0.057,0.041,1784,889,3415
$GC,1757,-0.62,-117.3,153.4,-11.4,120,1762,0.30,2.25,0.00,0.000,6,0.118,0.044,1865,2303,3414
$GC,2093,-0.69,-117.3,177.4,-6.3,131,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2303,3414
$GC,2400,-0.76,-117.3,194.7,-5.1,141,2402,0.12,0.00,0.00,0.000,6,0.057,0.000,1776,2302,3414
$GC,2705,-0.67,-117.3,223.3,-9.9,151,2710,0.22,2.28,0.00,0.000,4,0.117,0.042,1853,890,3414
$GC,2750,-0.74,-117.3,226.8,-6.4,152,2754,0.00,2.22,0.00,0.000,6,0.000,0.038,1850,2300,3414
$GC,3075,-0.79,-117.3,247.1,-6.5,163,3077,0.08,0.00,0.00,0.000,6,0.081,0.000,1777,2301,3413
$GC,3381,-0.70,-117.3,279.2,-10.6,173,3385,0.20,2.28,0.00,0.000,4,0.119,0.047,1845,891,3413
$GC,3425,-0.77,-117.3,283.0,-7.5,174,3429,0.00,2.25,0.00,0.000,6,0.000,0.038,1837,2312,3413
$GC,3751,-0.80,-117.3,304.2,-6.2,184,3755,0.00,2.28,0.00,0.000,4,0.000,0.043,1837,885,3413
$GC,3779,-0.83,-117.3,306.2,-6.9,184,3783,0.00,2.25,0.00,0.000,6,0.000,0.040,1837,2304,3413
$GC,4117,-0.87,-117.3,327.6,-6.4,190,4119,0.10,0.00,0.00,0.000,6,0.067,0.000,1766,2304,3412
$GC,4421,-0.76,-117.3,357.8,-10.1,195,4425,0.20,2.28,0.00,0.000,4,0.123,0.045,1833,892,3412
$GC,4460,-0.80,-117.3,361.1,-6.9,195,4464,0.00,2.25,0.00,0.000,6,0.000,0.041,1825,2307,3412
$GC,4781,-0.80,-117.3,382.5,-6.7,201,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2306,3412
$GC,5084,-0.80,-117.3,404.2,-7.2,206,5088,0.00,2.28,0.00,0.000,4,0.000,0.048,1825,889,3412
$GC,5112,-0.82,-117.3,406.4,-7.6,206,5117,0.00,2.25,0.00,0.000,6,0.000,0.041,1821,2301,3412
$GC,5445,-0.82,-117.3,431.0,-7.4,212,5449,0.00,2.28,0.00,0.000,4,0.000,0.046,1821,886,3411
$GC,5484,-0.82,-117.3,434.2,-7.8,212,5488,0.00,2.28,0.00,0.000,6,0.000,0.039,1812,2310,3412
$GC,5805,-0.82,-117.3,459.3,-7.8,218,5809,0.00,2.28,0.00,0.000,4,0.000,0.043,1812,889,3411
$GC,5839,-0.82,-117.3,462.0,-7.9,218,5843,0.00,2.28,0.00,0.000,6,0.000,0.044,1807,2302,3411
$GC,6166,-0.82,-117.3,486.5,-7.4,224,6170,0.00,2.28,0.00,0.000,4,0.000,0.044,1806,896,3411
$GC,6216,-0.82,-117.3,490.5,-8.4,224,6221,0.10,2.28,0.00,0.000,6,0.126,0.043,1825,2309,3410
$GC,6529,-0.85,-117.3,510.8,-6.5,229,6533,0.00,2.30,0.00,0.000,4,0.000,0.044,1825,891,3410
$GC,6562,-0.88,-117.3,513.5,-7.3,229,6566,0.00,2.28,0.00,0.000,6,0.000,0.046,1823,2307,3411
$GC,6895,-0.91,-117.3,536.5,-7.0,235,6899,0.00,2.28,0.00,0.000,4,0.000,0.044,1823,889,3410
$GC,6936,-0.94,-117.3,539.4,-7.6,235,6940,0.10,2.28,0.00,0.000,6,0.068,0.044,1759,2304,3410
$GC,7258,-0.84,-117.3,571.7,-10.1,241,7260,0.20,0.00,0.00,0.000,6,0.126,0.000,1818,2304,3410
$GC,7560,-0.86,-117.3,591.2,-6.2,246,7564,0.00,2.28,0.00,0.000,4,0.000,0.045,1819,892,3410
$GC,7623,-0.89,-117.3,595.3,-7.1,247,7628,0.00,2.28,0.00,0.000,6,0.000,0.039,1812,2316,3410
$GC,7990,-0.89,-117.3,617.3,-5.9,253,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2317,3409
$GC,8293,-0.89,-117.3,635.1,-5.9,258,8297,0.00,2.33,0.00,0.000,4,0.000,0.045,1812,896,3409
$GC,8344,-0.89,-117.3,638.5,-6.7,258,8348,0.00,2.28,0.00,0.000,6,0.000,0.044,1809,2302,3409
$GC,8654,-0.89,-117.3,658.4,-6.4,263,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3409
$GC,8957,-0.89,-117.3,678.4,-6.6,268,8961,0.00,2.30,0.00,0.000,4,0.000,0.044,1809,886,3409
$GC,8990,-0.89,-117.3,680.7,-7.5,268,8994,0.00,2.28,0.00,0.000,6,0.000,0.042,1808,2304,3409
$GC,9324,-0.89,-117.3,703.4,-6.9,274,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3409
$GC,9625,-0.89,-117.3,724.9,-7.1,279,9629,0.00,2.30,0.00,0.000,4,0.000,0.049,1808,890,3409
$GC,9681,-0.89,-117.3,729.2,-7.8,279,9688,0.00,2.30,0.00,0.000,6,0.000,0.041,1806,2312,3408
$GC,9992,-0.89,-117.3,751.7,-7.3,285,9996,0.00,2.30,0.00,0.000,4,0.000,0.046,1806,892,3408
$GC,10025,-0.89,-117.3,754.5,-7.9,285,10029,0.00,2.25,0.00,0.000,6,0.000,0.040,1796,2305,3409
$GC,10359,-0.89,-117.3,779.7,-7.6,291,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2305,3408
$GC,10660,-0.89,-117.3,802.4,-7.5,296,10664,0.00,2.30,0.00,0.000,4,0.000,0.048,1796,895,3408
$GC,10723,-0.89,-117.3,807.4,-7.9,297,10727,0.00,2.28,0.00,0.000,6,0.000,0.042,1794,2312,3408
$GC,11094,-0.89,-117.3,834.5,-7.2,303,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2313,3408
$GC,11398,-0.89,-117.3,855.2,-6.7,308,11402,0.00,2.33,0.00,0.000,4,0.000,0.051,1794,888,3408
$GC,11443,-0.89,-117.3,858.5,-7.1,308,11448,0.08,2.30,0.00,0.000,6,0.140,0.045,1805,2314,3408
$GC,11759,-0.89,-117.3,875.6,-5.4,314,11760,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2314,3408
$GC,12062,-0.89,-117.3,890.9,-5.0,319,12066,0.00,2.30,0.00,0.000,4,0.000,0.050,1806,895,3408
$GC,12113,-0.89,-117.3,893.8,-5.5,319,12117,0.00,2.28,0.00,0.000,6,0.000,0.041,1806,2304,3407
$GC,12424,-0.89,-117.3,910.0,-5.2,324,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2304,3407
$GC,12726,-0.89,-117.3,927.6,-5.9,329,12730,0.00,2.33,0.00,0.000,4,0.000,0.048,1805,890,3407
$GC,12759,-0.89,-117.3,929.8,-6.5,329,12763,0.00,2.30,0.00,0.000,6,0.000,0.048,1802,2310,3407
$GC,13087,-0.89,-117.3,950.3,-6.3,335,13088,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2310,3407
$GC,13388,-0.89,-117.3,970.3,-6.6,340,13392,0.00,2.33,0.00,0.000,4,0.000,0.047,1802,892,3407
$GC,13439,-0.89,-117.3,973.9,-7.9,340,13443,0.00,2.28,0.00,0.000,6,0.000,0.041,1796,2301,3407
$STATE,13685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13685,begin apogee
$GC,13693,-0.22,0.0,990.7,6.8,344,13795,0.50,0.00,99.10,1.292,6,0.110,0.000,1957,2301,2931
$STATE,13796,end apogee,CONTROL_FINISHED_OK
$STATE,13796,begin climb
$GC,13799,0.68,117.3,992.3,0.0,345,13911,0.55,2.58,104.65,1.261,4,0.067,0.056,2155,3714,2451
$GC,13937,0.52,117.3,990.7,5.7,347,13942,0.22,2.42,0.00,0.000,6,0.163,0.037,2112,2310,2448
$GC,14293,0.49,130.9,972.5,5.0,353,14307,0.00,0.00,11.62,1.114,6,0.000,0.000,2112,2310,2397
$GC,14596,0.47,141.4,957.0,5.1,358,14611,0.00,2.33,10.48,1.092,4,0.000,0.051,2112,3711,2353
$GC,14635,0.42,141.4,954.6,5.7,358,14640,0.12,2.28,0.00,0.000,6,0.159,0.036,2090,2299,2352
$GC,14956,0.45,170.1,940.1,4.5,364,14984,0.00,0.00,26.15,1.200,6,0.000,0.000,2090,2299,2237
$GC,15260,0.56,170.1,923.8,5.5,369,15264,0.12,2.33,0.00,0.000,4,0.067,0.048,2147,885,2231
$GC,15311,0.51,170.1,920.4,6.6,369,15316,0.15,2.30,0.00,0.000,6,0.140,0.041,2108,2305,2231
$GC,15623,0.51,171.5,903.3,5.5,374,15627,0.00,2.28,0.00,0.000,4,0.000,0.050,2108,3711,2230
$GC,15686,0.48,171.5,899.2,6.6,375,15690,0.00,2.25,0.00,0.000,6,0.000,0.034,2116,2291,2229
$GC,16053,0.49,173.9,879.0,5.4,381,16057,0.00,2.33,0.00,0.000,4,0.000,0.052,2116,3720,2229
$GC,16092,0.43,173.9,876.4,7.2,381,16097,0.15,2.25,0.00,0.000,6,0.151,0.037,2087,2291,2228
$GC,16413,0.55,196.1,861.4,4.7,387,16443,0.12,2.38,22.83,1.152,4,0.067,0.054,2145,3709,2130
$GC,16543,0.44,196.1,851.7,8.2,388,16550,0.22,2.25,0.00,0.000,6,0.144,0.036,2095,2299,2127
$GC,16854,0.50,206.9,835.4,5.1,394,16866,0.00,0.00,10.52,1.042,6,0.000,0.000,2095,2299,2087
$GC,17157,0.57,206.9,817.4,6.0,399,17159,0.10,0.00,0.00,0.000,6,0.072,0.000,2140,2297,2084
$GC,17460,0.65,206.9,794.7,7.5,404,17464,0.00,2.28,0.00,0.000,4,0.000,0.047,2144,883,2083
$GC,17584,0.63,206.9,784.8,7.0,405,17591,0.00,2.28,0.00,0.000,6,0.000,0.040,2143,2315,2082
$GC,17895,0.59,206.9,760.0,8.0,411,17898,0.00,2.25,0.00,0.000,4,0.000,0.051,2144,3715,2083
$GC,17946,0.51,206.9,755.4,8.5,411,17951,0.17,2.22,0.00,0.000,6,0.139,0.040,2106,2298,2082
$GC,18262,0.54,206.9,737.2,5.5,417,18263,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2298,2082
$GC,18566,0.60,220.3,721.7,5.0,422,18581,0.10,0.00,13.00,1.016,6,0.064,0.000,2169,2297,2032
$GC,18869,0.49,220.3,697.5,8.2,427,18874,0.20,2.33,0.00,0.000,4,0.137,0.053,2108,3719,2029
$GC,18914,0.49,224.5,694.4,5.4,427,18924,0.00,2.22,4.82,0.762,6,0.000,0.032,2116,2302,2015
$GC,19230,0.56,254.8,680.0,4.5,432,19260,0.00,0.00,28.02,1.047,6,0.000,0.000,2116,2302,1891
$GC,19534,0.62,273.7,665.3,4.9,437,19554,0.00,0.00,17.55,1.001,6,0.000,0.000,2116,2302,1815
$GC,19837,0.69,279.9,649.3,5.3,442,19850,0.12,2.33,6.60,0.832,4,0.058,0.050,2196,3716,1789
$GC,19885,0.54,279.9,644.2,11.8,442,19890,0.32,2.25,0.00,0.000,6,0.146,0.033,2114,2303,1788
$GC,20202,0.60,279.9,624.8,5.8,448,20206,0.00,2.28,0.00,0.000,4,0.000,0.048,2123,889,1786
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$STATE,28667,end climb,SURFACE_DEPTH_REACHED
$STATE,28667,begin surface coast
$FINISH,1.4,1.025465
$STATE,28693,end surface coast,CONTROL_FINISHED_OK
$STATE,28693,begin surface
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$HUMID,1708
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$TCM_TEMP,15.80
$XPDR_PINGS,85
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$10V_AH,10.5,64.178
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$DEVICE_SECS,20.100,232.025,374.800,0.000,0.000,24.229,32.025,156.542,21.250,0.000,0.000,17.486,1683.477,23837.910,550.507,2279.458,770.909,33.379,1695.708,0.000,2268.291,0.000,0.527,0.000
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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,44309,728
$CAP_FILE_SIZE,186430,0
$CFSIZE,260165632,218947584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,291109,165507,5003.382,-14457.296,31,1.3,31,18.5