version: 66.04
glider: 144
mission: 15
dive: 645
start: 1 13 110 17 50 57
data:
$ID,144
$MISSION,15
$DIVE,645
$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,-74708.992
$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,37
$R_STBD_OVSHOOT,34
$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
$GPS1,174336,5016.040,-14434.777,27,1.7,27,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-61.6
$GPS2,175003,5016.036,-14434.741,14,1.7,14,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.085,0.144
$KALMAN_X,-88757.4,-102.0,-75.3,131283.4,714.7
$KALMAN_Y,40668.4,-128.5,-285.6,-49397.4,820.9
$MHEAD_RNG_PITCHd_Wd,12.0,10884,-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,19,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-40.72,0.000,2,0.000,0.000,99,2305,2637
$GC,66,-0.68,-117.3,3.6,-5.7,2,101,7.38,2.38,-20.08,0.000,4,0.237,0.061,1838,3714,3412
$GC,316,-0.68,-117.3,31.0,-9.4,13,320,0.00,2.22,0.00,0.000,6,0.000,0.030,1838,2302,3413
$GC,638,-0.64,-117.3,66.1,-10.9,29,643,0.10,2.28,0.00,0.000,4,0.130,0.041,1867,898,3413
$GC,746,-0.67,-117.3,75.8,-8.3,33,753,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2299,3413
$GC,1070,-0.67,-117.3,103.6,-8.6,61,1074,0.00,2.22,0.00,0.000,4,0.000,0.041,1862,894,3413
$GC,1134,-0.69,-117.3,108.9,-8.0,66,1140,0.00,2.25,0.00,0.000,6,0.000,0.037,1856,2308,3414
$GC,1463,-0.72,-117.3,133.4,-7.0,97,1467,0.00,2.28,0.00,0.000,4,0.000,0.041,1856,897,3414
$GC,1532,-0.77,-117.3,138.6,-7.1,102,1538,0.00,2.25,0.00,0.000,6,0.000,0.037,1850,2308,3414
$GC,1873,-0.80,-117.3,163.7,-7.2,123,1877,0.10,2.28,0.00,0.000,4,0.064,0.051,1757,3707,3414
$GC,1940,-0.68,-117.3,171.4,-11.8,125,1945,0.32,2.20,0.00,0.000,6,0.120,0.030,1856,2292,3414
$GC,2272,-0.74,-117.3,193.3,-6.3,136,2275,0.00,2.25,0.00,0.000,4,0.000,0.042,1855,898,3414
$GC,2329,-0.81,-117.3,197.1,-6.4,137,2333,0.10,2.25,0.00,0.000,6,0.064,0.037,1770,2312,3414
$GC,2643,-0.71,-117.3,231.5,-11.4,147,2645,0.25,0.00,0.00,0.000,6,0.120,0.000,1846,2313,3414
$GC,2949,-0.76,-117.3,251.2,-6.1,157,2953,0.00,2.28,0.00,0.000,4,0.000,0.043,1847,894,3414
$GC,2989,-0.82,-117.3,253.7,-6.0,158,2993,0.10,2.28,0.00,0.000,6,0.064,0.043,1773,2311,3414
$GC,3325,-0.72,-117.3,286.8,-9.9,169,3329,0.20,2.28,0.00,0.000,4,0.121,0.042,1839,899,3413
$GC,3371,-0.77,-117.3,290.3,-6.8,170,3375,0.00,2.25,0.00,0.000,6,0.000,0.040,1837,2307,3414
$GC,3724,-0.80,-117.3,312.4,-6.3,179,3728,0.00,2.28,0.00,0.000,4,0.000,0.044,1837,898,3413
$GC,3781,-0.85,-117.3,316.4,-7.1,179,3787,0.00,2.28,0.00,0.000,6,0.000,0.046,1836,2310,3413
$GC,4093,-0.88,-117.3,335.8,-6.2,185,4097,0.10,2.28,0.00,0.000,4,0.067,0.050,1767,894,3412
$GC,4149,-0.79,-117.3,341.2,-10.8,185,4156,0.17,2.28,0.00,0.000,6,0.114,0.038,1830,2306,3413
$GC,4460,-0.82,-117.3,360.7,-6.1,191,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2307,3413
$GC,4764,-0.85,-117.3,380.5,-6.6,196,4768,0.00,2.28,0.00,0.000,4,0.000,0.049,1830,899,3413
$GC,4809,-0.88,-117.3,384.0,-7.8,196,4813,0.00,2.25,0.00,0.000,6,0.000,0.045,1823,2306,3413
$GC,5125,-0.88,-117.3,406.8,-7.2,202,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2306,3412
$GC,5429,-0.88,-117.3,428.8,-7.2,207,5433,0.00,2.30,0.00,0.000,4,0.000,0.051,1823,891,3412
$GC,5470,-0.91,-117.3,431.8,-7.3,207,5474,0.00,2.28,0.00,0.000,6,0.000,0.038,1815,2307,3412
$GC,5791,-0.91,-117.3,455.8,-7.5,213,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2307,3412
$GC,6094,-0.91,-117.3,477.2,-7.0,218,6098,0.00,2.28,0.00,0.000,4,0.000,0.044,1815,901,3412
$GC,6172,-0.91,-117.3,483.0,-7.5,219,6176,0.00,2.25,0.00,0.000,6,0.000,0.042,1807,2302,3412
$GC,6523,-0.91,-117.3,507.1,-6.9,225,6527,0.00,2.28,0.00,0.000,4,0.000,0.048,1808,898,3412
$GC,6596,-0.91,-117.3,512.7,-7.8,226,6600,0.00,2.22,0.00,0.000,6,0.000,0.038,1798,2301,3411
$GC,6956,-0.91,-117.3,538.6,-7.3,232,6960,0.00,2.28,0.00,0.000,4,0.000,0.047,1798,901,3411
$GC,7021,-0.91,-117.3,543.4,-8.1,233,7025,0.00,2.25,0.00,0.000,6,0.000,0.047,1790,2305,3411
$GC,7387,-0.87,-117.3,571.4,-7.7,239,7391,0.00,2.28,0.00,0.000,4,0.000,0.051,1790,899,3411
$GC,7433,-0.85,-117.3,575.3,-8.7,239,7438,0.12,2.25,0.00,0.000,6,0.126,0.041,1816,2305,3411
$GC,7750,-0.87,-117.3,596.1,-6.5,245,7754,0.00,2.30,0.00,0.000,4,0.000,0.048,1817,899,3411
$GC,7801,-0.90,-117.3,599.9,-7.4,245,7805,0.00,2.28,0.00,0.000,6,0.000,0.045,1809,2312,3411
$GC,8111,-0.90,-117.3,620.7,-6.7,250,8114,0.00,2.28,0.00,0.000,4,0.000,0.046,1809,902,3411
$GC,8151,-0.90,-117.3,623.6,-6.9,250,8155,0.00,2.25,0.00,0.000,6,0.000,0.047,1807,2302,3411
$GC,8478,-0.90,-117.3,645.5,-6.6,256,8482,0.00,2.28,0.00,0.000,4,0.000,0.047,1807,896,3410
$GC,8523,-0.90,-117.3,648.7,-6.9,256,8527,0.00,2.25,0.00,0.000,6,0.000,0.046,1798,2305,3410
$GC,8850,-0.90,-117.3,673.1,-7.6,262,8854,0.00,2.30,0.00,0.000,4,0.000,0.048,1798,891,3410
$GC,8901,-0.90,-117.3,677.4,-8.0,262,8905,0.00,2.28,0.00,0.000,6,0.000,0.046,1794,2307,3410
$GC,9211,-0.90,-117.3,701.7,-7.9,267,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2307,3410
$GC,9514,-0.90,-117.3,725.9,-8.0,272,9518,0.00,2.28,0.00,0.000,4,0.000,0.048,1794,896,3410
$GC,9583,-0.90,-117.3,731.8,-8.9,273,9587,0.00,2.28,0.00,0.000,6,0.000,0.047,1794,2310,3410
$GC,9950,-0.90,-117.3,759.4,-7.4,279,9954,0.00,2.30,0.00,0.000,4,0.000,0.048,1794,901,3409
$GC,9996,-0.90,-117.3,763.1,-8.1,279,10000,0.00,2.28,0.00,0.000,6,0.000,0.044,1784,2309,3409
$GC,10312,-0.86,-117.3,787.8,-7.8,285,10317,0.10,2.30,0.00,0.000,4,0.134,0.046,1813,896,3409
$GC,10369,-0.89,-117.3,792.0,-7.5,285,10376,0.00,2.28,0.00,0.000,6,0.000,0.041,1810,2311,3409
$GC,10680,-0.89,-117.3,811.6,-6.2,291,10684,0.00,2.30,0.00,0.000,4,0.000,0.045,1810,897,3409
$GC,10713,-0.89,-117.3,813.9,-6.8,291,10717,0.00,2.28,0.00,0.000,6,0.000,0.043,1808,2310,3409
$GC,11040,-0.89,-117.3,834.0,-6.2,297,11044,0.00,2.30,0.00,0.000,4,0.000,0.050,1808,900,3409
$GC,11086,-0.89,-117.3,837.2,-6.9,297,11090,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2307,3409
$GC,11402,-0.89,-117.3,856.3,-6.0,303,11403,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3409
$GC,11705,-0.89,-117.3,874.0,-5.9,308,11709,0.00,2.33,0.00,0.000,4,0.000,0.052,1808,900,3409
$GC,11757,-0.89,-117.3,877.2,-6.3,308,11761,0.00,2.28,0.00,0.000,6,0.000,0.043,1805,2305,3408
$GC,12067,-0.89,-117.3,896.3,-6.1,313,12071,0.00,2.33,0.00,0.000,4,0.000,0.051,1805,895,3408
$GC,12107,-0.89,-117.3,899.1,-7.2,313,12111,0.00,2.30,0.00,0.000,6,0.000,0.047,1796,2313,3409
$GC,12429,-0.89,-117.3,920.8,-6.8,319,12433,0.00,2.33,0.00,0.000,4,0.000,0.049,1796,903,3408
$GC,12475,-0.89,-117.3,924.3,-7.4,319,12479,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2308,3408
$GC,12791,-0.89,-117.3,945.7,-6.7,325,12792,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2308,3408
$GC,13094,-0.89,-117.3,966.1,-6.7,330,13098,0.00,2.33,0.00,0.000,4,0.000,0.048,1794,901,3408
$GC,13167,-0.89,-117.3,971.5,-7.0,331,13171,0.00,2.28,0.00,0.000,6,0.000,0.047,1787,2305,3408
$STATE,13463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13463,begin apogee
$GC,13472,-0.22,0.0,991.8,6.8,336,13575,0.52,0.00,99.50,1.283,6,0.113,0.000,1955,2305,2931
$STATE,13575,end apogee,CONTROL_FINISHED_OK
$STATE,13576,begin climb
$GC,13579,0.68,117.3,993.1,0.0,337,13690,0.55,2.55,104.60,1.256,4,0.067,0.053,2151,3709,2451
$GC,13742,0.49,117.3,988.7,7.6,339,13747,0.22,2.35,0.00,0.000,6,0.159,0.038,2105,2315,2447
$GC,14070,0.49,131.9,972.0,5.0,345,14084,0.00,0.00,12.45,1.122,6,0.000,0.000,2106,2315,2393
$GC,14372,0.49,137.5,956.0,5.3,350,14380,0.00,0.00,6.30,0.952,6,0.000,0.000,2106,2315,2370
$GC,14676,0.50,141.9,940.1,5.3,355,14683,0.00,0.00,5.25,0.880,6,0.000,0.000,2105,2315,2353
$GC,14978,0.50,141.9,923.3,5.5,360,14979,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2315,2351
$GC,15283,0.50,143.7,906.8,5.4,365,15287,0.00,2.30,0.00,0.000,4,0.000,0.051,2106,3711,2350
$GC,15311,0.46,143.7,905.1,6.0,365,15316,0.00,2.28,0.00,0.000,6,0.000,0.035,2115,2291,2349
$GC,15651,0.43,143.7,886.2,5.6,371,15656,0.00,2.35,0.00,0.000,4,0.000,0.054,2115,3718,2349
$GC,15686,0.36,143.7,883.8,6.6,371,15691,0.17,2.25,0.00,0.000,6,0.151,0.034,2079,2304,2349
$GC,16013,0.47,161.8,868.0,4.9,377,16038,0.10,2.35,18.40,1.138,4,0.072,0.052,2133,3712,2271
$GC,16138,0.37,161.8,859.5,7.8,378,16143,0.25,2.25,0.00,0.000,6,0.148,0.033,2075,2301,2268
$GC,16449,0.51,178.8,844.1,4.9,383,16471,0.12,2.33,16.08,1.105,4,0.065,0.050,2138,895,2202
$GC,16536,0.47,178.8,838.9,5.8,384,16541,0.15,2.28,0.00,0.000,6,0.133,0.041,2098,2312,2199
$GC,16880,0.56,216.6,823.8,4.2,390,16921,0.08,2.33,34.45,1.141,4,0.080,0.051,2144,3721,2047
$GC,16968,0.48,216.6,817.8,7.9,391,16972,0.20,2.25,0.00,0.000,6,0.137,0.033,2100,2304,2045
$GC,17317,0.59,256.5,802.6,4.2,397,17359,0.10,2.33,35.92,1.127,4,0.067,0.053,2165,896,1885
$GC,17383,0.56,256.5,798.4,6.3,398,17388,0.17,2.30,0.00,0.000,6,0.128,0.041,2118,2314,1881
$GC,17744,0.61,260.4,779.0,5.4,404,17748,0.00,2.28,0.00,0.000,4,0.000,0.055,2118,3721,1878
$GC,17796,0.63,260.4,775.4,6.6,404,17800,0.00,2.22,0.00,0.000,6,0.000,0.033,2125,2299,1877
$GC,18107,0.63,260.4,755.9,6.3,409,18108,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2300,1876
$GC,18409,0.65,260.4,736.9,6.3,414,18413,0.00,2.25,0.00,0.000,4,0.000,0.048,2126,3711,1876
$GC,18438,0.65,260.4,734.8,6.5,414,18442,0.00,2.22,0.00,0.000,6,0.000,0.040,2135,2301,1875
$GC,18776,0.65,260.4,711.7,6.8,420,18780,0.00,2.28,0.00,0.000,4,0.000,0.048,2135,3719,1875
$GC,18800,0.65,260.4,709.8,7.6,420,18804,0.00,2.22,0.00,0.000,6,0.000,0.032,2145,2303,1875
$GC,19145,0.63,260.4,682.6,7.9,426,19149,0.00,2.30,0.00,0.000,4,0.000,0.048,2144,3720,1875
$GC,19179,0.59,260.4,679.6,8.3,426,19183,0.12,2.25,0.00,0.000,6,0.133,0.032,2122,2295,1875
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$STATE,29858,end climb,SURFACE_DEPTH_REACHED
$STATE,29859,begin surface coast
$FINISH,1.3,1.013056
$STATE,29880,end surface coast,CONTROL_FINISHED_OK
$STATE,29880,begin surface
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$10V_AH,10.4,80.074
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$DATA_FILE_SIZE,44336,765
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