version: 66.04
glider: 144
mission: 15
dive: 662
start: 1 19 110 10 7 27
data:
$ID,144
$MISSION,15
$DIVE,662
$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,-75020.234
$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,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
$GPS1,095937,5007.864,-14438.558,36,1.2,36,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-64.1
$GPS2,100631,5007.913,-14438.551,15,1.2,33,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.165,0.028
$KALMAN_X,-88900.1,435.6,294.6,126011.7,-1811.4
$KALMAN_Y,28325.0,469.1,318.0,-53321.0,-1635.6
$MHEAD_RNG_PITCHd_Wd,61.7,435224,-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,16,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.95,0.000,2,0.000,0.000,99,2306,2701
$GC,63,-0.68,-117.3,3.5,-5.9,2,94,7.35,2.30,-18.00,0.000,4,0.239,0.070,1839,3710,3412
$GC,304,-0.68,-117.3,28.9,-9.8,13,308,0.00,2.20,0.00,0.000,6,0.000,0.030,1839,2292,3412
$GC,638,-0.64,-117.3,64.2,-10.9,29,642,0.10,2.25,0.00,0.000,4,0.130,0.041,1867,897,3413
$GC,723,-0.67,-117.3,72.6,-9.5,32,729,0.00,2.22,0.00,0.000,6,0.000,0.036,1863,2302,3413
$GC,1047,-0.67,-117.3,102.8,-8.7,59,1051,0.00,2.30,0.00,0.000,4,0.000,0.041,1863,888,3413
$GC,1076,-0.69,-117.3,105.4,-8.7,61,1082,0.00,2.28,0.00,0.000,6,0.000,0.038,1858,2304,3413
$GC,1406,-0.72,-117.3,131.7,-7.8,92,1410,0.00,2.28,0.00,0.000,4,0.000,0.048,1849,3710,3413
$GC,1442,-0.75,-117.3,135.0,-8.3,95,1446,0.00,2.20,0.00,0.000,6,0.000,0.029,1849,2300,3413
$GC,1786,-0.79,-117.3,158.7,-6.7,119,1790,0.00,2.25,0.00,0.000,4,0.000,0.041,1849,898,3413
$GC,1884,-0.84,-117.3,166.0,-7.3,122,1889,0.10,2.25,0.00,0.000,6,0.062,0.043,1768,2306,3413
$GC,2221,-0.73,-117.3,204.8,-11.8,133,2226,0.22,2.28,0.00,0.000,4,0.123,0.041,1842,899,3414
$GC,2272,-0.78,-117.3,209.5,-7.8,134,2276,0.00,2.22,0.00,0.000,6,0.000,0.041,1837,2306,3413
$GC,2591,-0.80,-117.3,232.8,-7.1,145,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2306,3414
$GC,2898,-0.82,-117.3,254.5,-7.3,155,2902,0.00,2.28,0.00,0.000,4,0.000,0.042,1836,888,3413
$GC,2938,-0.86,-117.3,257.7,-8.0,156,2943,0.08,2.28,0.00,0.000,6,0.082,0.039,1769,2306,3413
$GC,3263,-0.76,-117.3,292.3,-10.7,167,3265,0.22,0.00,0.00,0.000,6,0.120,0.000,1838,2307,3413
$GC,3568,-0.80,-117.3,312.0,-6.2,174,3572,0.00,2.28,0.00,0.000,4,0.000,0.043,1838,895,3413
$GC,3619,-0.85,-117.3,315.7,-7.2,174,3623,0.00,2.28,0.00,0.000,6,0.000,0.045,1837,2312,3413
$GC,3930,-0.88,-117.3,335.7,-6.5,179,3931,0.10,0.00,0.00,0.000,6,0.064,0.000,1766,2312,3413
$GC,4233,-0.78,-117.3,367.3,-10.7,184,4237,0.20,2.28,0.00,0.000,4,0.119,0.046,1832,902,3413
$GC,4341,-0.82,-117.3,375.6,-7.1,185,4345,0.00,2.22,0.00,0.000,6,0.000,0.038,1824,2307,3412
$GC,4674,-0.82,-117.3,398.9,-7.0,191,4678,0.00,2.30,0.00,0.000,4,0.000,0.044,1824,894,3413
$GC,4743,-0.85,-117.3,404.1,-7.5,192,4747,0.00,2.28,0.00,0.000,6,0.000,0.041,1816,2313,3413
$GC,5103,-0.85,-117.3,431.7,-7.7,198,5108,0.00,2.30,0.00,0.000,4,0.000,0.047,1816,895,3412
$GC,5155,-0.85,-117.3,436.0,-8.0,198,5159,0.00,2.25,0.00,0.000,6,0.000,0.044,1808,2302,3412
$GC,5465,-0.85,-117.3,460.2,-7.9,203,5469,0.00,2.30,0.00,0.000,4,0.000,0.044,1808,894,3412
$GC,5505,-0.85,-117.3,463.8,-9.1,203,5509,0.00,2.28,0.00,0.000,6,0.000,0.044,1798,2306,3412
$GC,5827,-0.82,-117.3,490.5,-8.3,209,5829,0.10,0.00,0.00,0.000,6,0.136,0.000,1827,2306,3411
$GC,6130,-0.85,-117.3,508.9,-5.9,214,6134,0.00,2.28,0.00,0.000,4,0.000,0.049,1826,901,3411
$GC,6166,-0.90,-117.3,511.2,-6.6,214,6170,0.00,2.25,0.00,0.000,6,0.000,0.039,1822,2304,3411
$GC,6494,-0.92,-117.3,530.7,-5.9,220,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2305,3411
$GC,6797,-0.94,-117.3,548.9,-6.0,225,6802,0.10,2.30,0.00,0.000,4,0.065,0.049,1753,889,3411
$GC,6865,-0.84,-117.3,555.4,-10.3,226,6870,0.25,2.28,0.00,0.000,6,0.120,0.038,1816,2309,3410
$GC,7226,-0.84,-117.3,579.2,-6.4,232,7230,0.00,2.30,0.00,0.000,4,0.000,0.050,1816,894,3411
$GC,7272,-0.86,-117.3,582.5,-6.9,232,7276,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2313,3410
$GC,7587,-0.86,-117.3,604.5,-7.0,238,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2313,3411
$GC,7891,-0.86,-117.3,626.8,-7.3,243,7895,0.00,2.30,0.00,0.000,4,0.000,0.047,1809,889,3411
$GC,7942,-0.86,-117.3,631.0,-7.8,243,7946,0.00,2.28,0.00,0.000,6,0.000,0.042,1807,2303,3410
$GC,8252,-0.86,-117.3,655.1,-7.8,248,8256,0.00,2.28,0.00,0.000,4,0.000,0.051,1807,894,3410
$GC,8288,-0.86,-117.3,657.9,-8.1,248,8292,0.00,2.28,0.00,0.000,6,0.000,0.038,1798,2307,3410
$GC,8616,-0.86,-117.3,683.7,-7.8,254,8620,0.00,2.30,0.00,0.000,4,0.000,0.044,1798,892,3410
$GC,8656,-0.86,-117.3,687.0,-8.6,254,8660,0.00,2.28,0.00,0.000,6,0.000,0.039,1794,2301,3410
$GC,8977,-0.84,-117.3,711.2,-7.5,260,8982,0.10,2.30,0.00,0.000,4,0.133,0.047,1823,891,3409
$GC,9029,-0.89,-117.3,714.5,-6.6,260,9033,0.00,2.30,0.00,0.000,6,0.000,0.038,1822,2307,3409
$GC,9340,-0.93,-117.3,731.1,-5.3,265,9345,0.10,2.30,0.00,0.000,4,0.067,0.044,1754,897,3409
$GC,9386,-0.84,-117.3,734.8,-9.4,265,9390,0.25,2.28,0.00,0.000,6,0.116,0.042,1818,2306,3409
$GC,9703,-0.87,-117.3,751.8,-5.2,271,9707,0.00,2.28,0.00,0.000,4,0.000,0.050,1818,892,3409
$GC,9754,-0.92,-117.3,755.1,-6.4,271,9758,0.00,2.28,0.00,0.000,6,0.000,0.039,1812,2309,3409
$GC,10075,-0.94,-117.3,775.1,-6.4,277,10077,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2309,3409
$GC,10378,-0.97,-117.3,794.8,-6.5,282,10383,0.00,2.33,0.00,0.000,4,0.000,0.046,1811,895,3409
$GC,10447,-1.00,-117.3,799.7,-7.7,283,10452,0.10,2.30,0.00,0.000,6,0.072,0.046,1754,2307,3409
$GC,10814,-0.91,-117.3,833.4,-9.3,289,10819,0.17,2.33,0.00,0.000,4,0.126,0.056,1804,3713,3408
$GC,10843,-0.91,-117.3,835.6,-6.5,289,10847,0.00,2.25,0.00,0.000,6,0.000,0.036,1804,2303,3408
$GC,11175,-0.91,-117.3,856.4,-6.2,295,11179,0.00,2.33,0.00,0.000,4,0.000,0.052,1804,889,3408
$GC,11242,-0.91,-117.3,861.1,-7.3,296,11246,0.00,2.30,0.00,0.000,6,0.000,0.045,1794,2312,3408
$GC,11604,-0.91,-117.3,883.9,-6.3,302,11608,0.00,2.33,0.00,0.000,4,0.000,0.050,1795,893,3408
$GC,11655,-0.91,-117.3,887.6,-7.5,302,11659,0.00,2.30,0.00,0.000,6,0.000,0.040,1784,2314,3408
$GC,11977,-0.88,-117.3,909.8,-7.0,308,11981,0.10,2.35,0.00,0.000,4,0.136,0.047,1813,895,3408
$GC,12016,-0.92,-117.3,912.4,-6.8,308,12020,0.00,2.28,0.00,0.000,6,0.000,0.042,1809,2303,3408
$GC,12345,-0.94,-117.3,931.0,-5.6,314,12349,0.00,2.30,0.00,0.000,4,0.000,0.054,1809,896,3408
$GC,12390,-0.97,-117.3,933.9,-6.2,314,12394,0.00,2.30,0.00,0.000,6,0.000,0.043,1808,2312,3408
$GC,12706,-0.99,-117.3,953.1,-6.1,320,12711,0.10,2.33,0.00,0.000,4,0.079,0.050,1764,892,3408
$GC,12758,-0.92,-117.3,957.5,-9.0,320,12763,0.17,2.28,0.00,0.000,6,0.126,0.040,1805,2302,3408
$GC,13069,-0.95,-117.3,979.1,-6.7,325,13073,0.00,2.33,0.00,0.000,4,0.000,0.050,1805,894,3408
$GC,13103,-0.95,-117.3,981.6,-7.4,325,13107,0.00,2.30,0.00,0.000,6,0.000,0.044,1800,2311,3408
$STATE,13244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13244,begin apogee
$GC,13254,-0.22,0.0,991.3,6.6,328,13356,0.47,0.00,99.18,1.280,6,0.110,0.000,1953,2311,2931
$STATE,13356,end apogee,CONTROL_FINISHED_OK
$STATE,13357,begin climb
$GC,13360,0.68,117.3,993.0,0.0,329,13473,0.60,2.53,104.53,1.253,4,0.069,0.053,2159,3698,2451
$GC,13508,0.48,117.3,991.1,7.2,332,13513,0.28,2.35,0.00,0.000,6,0.160,0.040,2102,2306,2448
$GC,13858,0.51,141.9,974.5,4.7,338,13881,0.00,0.00,21.33,1.183,6,0.000,0.000,2102,2307,2352
$GC,14161,0.53,158.6,959.6,4.9,343,14181,0.00,2.35,15.52,1.145,4,0.000,0.054,2102,3717,2283
$GC,14217,0.50,158.6,956.3,6.5,343,14223,0.00,2.30,0.00,0.000,6,0.000,0.038,2111,2291,2281
$GC,14528,0.50,158.6,936.7,6.3,349,14532,0.00,2.33,0.00,0.000,4,0.000,0.050,2111,3709,2279
$GC,14557,0.45,158.6,934.6,7.1,349,14561,0.10,2.25,0.00,0.000,6,0.163,0.035,2098,2295,2278
$GC,14889,0.45,158.6,914.4,6.0,355,14890,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2295,2278
$GC,15193,0.45,158.6,896.1,6.0,360,15197,0.00,2.33,0.00,0.000,4,0.000,0.054,2097,3715,2277
$GC,15232,0.45,158.6,893.1,7.5,360,15236,0.00,2.25,0.00,0.000,6,0.000,0.038,2106,2300,2276
$GC,15553,0.45,158.6,872.9,6.3,366,15555,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2300,2277
$GC,15856,0.45,158.6,854.7,6.0,371,15860,0.00,2.30,0.00,0.000,4,0.000,0.053,2106,3711,2276
$GC,15909,0.41,158.6,851.1,7.1,371,15913,0.12,2.20,0.00,0.000,6,0.152,0.033,2088,2302,2276
$GC,16220,0.47,171.3,834.9,5.1,376,16234,0.00,0.00,11.65,1.056,6,0.000,0.000,2088,2302,2232
$GC,16523,0.57,178.7,819.3,5.2,381,16538,0.12,2.30,7.93,0.967,4,0.063,0.048,2161,900,2202
$GC,16592,0.49,178.7,814.8,7.3,382,16596,0.20,2.25,0.00,0.000,6,0.140,0.040,2107,2304,2201
$GC,16964,0.51,193.5,795.7,5.0,388,16983,0.00,2.33,14.32,1.056,4,0.000,0.050,2107,3715,2141
$GC,17036,0.51,193.5,791.6,6.2,389,17040,0.00,2.22,0.00,0.000,6,0.000,0.032,2116,2302,2140
$GC,17403,0.52,204.7,772.8,5.1,395,17418,0.00,2.30,11.05,1.009,4,0.000,0.048,2115,3712,2096
$GC,17436,0.53,210.7,770.7,5.3,395,17450,0.00,2.25,7.50,0.916,6,0.000,0.032,2126,2297,2071
$GC,17770,0.53,215.6,752.8,5.3,401,17777,0.00,0.00,5.40,0.815,6,0.000,0.000,2125,2297,2052
$GC,18072,0.55,227.9,737.5,5.1,406,18096,0.00,2.33,14.38,0.887,4,0.000,0.048,2125,3714,2001
$GC,18138,0.53,227.9,733.7,6.7,407,18142,0.00,2.25,0.00,0.000,6,0.000,0.033,2136,2299,2000
$GC,18506,0.53,227.9,713.2,5.6,413,18510,0.00,2.30,0.00,0.000,4,0.000,0.048,2136,3710,1999
$GC,18535,0.49,227.9,711.2,6.9,413,18539,0.15,2.22,0.00,0.000,6,0.136,0.032,2105,2301,1999
$GC,18868,0.58,255.0,695.9,4.6,419,18898,0.00,2.33,25.35,1.043,4,0.000,0.051,2114,894,1890
$GC,18923,0.70,281.3,693.1,4.6,419,18962,0.12,2.28,27.05,0.966,6,0.058,0.038,2185,2310,1783
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$STATE,28385,end climb,SURFACE_DEPTH_REACHED
$STATE,28385,begin surface coast
$FINISH,1.2,1.013152
$STATE,28427,end surface coast,CONTROL_FINISHED_OK
$STATE,28427,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1746
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$TCM_TEMP,15.60
$XPDR_PINGS,77
$24V_AH,21.7,95.176
$10V_AH,10.4,81.970
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$DEVICE_SECS,20.150,277.875,439.000,0.000,0.000,24.559,33.328,170.884,19.250,0.000,0.000,34.953,1712.829,23323.359,594.093,2360.151,919.432,33.379,1872.381,0.000,2307.911,0.000,0.528,0.000
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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,41138,718
$CAP_FILE_SIZE,199290,0
$CFSIZE,260165632,207130624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,3,0
$GPS,190110,180400,5008.197,-14433.876,45,1.5,45,18.6