version: 66.04
glider: 144
mission: 15
dive: 695
start: 1 30 110 16 49 20
data:
$ID,144
$MISSION,15
$DIVE,695
$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,-75747.25
$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
$GPS1,164130,4951.281,-14153.296,44,2.0,58,19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-65.1
$GPS2,164826,4951.279,-14153.257,15,1.0,15,19.0
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.167,-0.020
$KALMAN_X,-87200.2,-154.1,-11.0,320550.6,931.9
$KALMAN_Y,33413.7,13.3,-50.6,-88374.3,-269.1
$MHEAD_RNG_PITCHd_Wd,77.7,234324,-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,16,begin dive
$GC,20,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-40.33,0.000,2,0.000,0.000,99,2302,2783
$GC,66,-0.68,-117.3,4.1,-6.5,2,93,7.22,2.38,-14.00,0.000,4,0.230,0.066,1839,3715,3410
$GC,193,-0.66,-117.3,21.2,-9.9,7,199,0.00,2.22,0.00,0.000,6,0.000,0.030,1839,2298,3411
$GC,511,-0.61,-117.3,57.0,-11.3,23,515,0.12,2.30,0.00,0.000,4,0.127,0.041,1880,897,3411
$GC,585,-0.66,-117.3,63.8,-8.4,26,589,0.00,2.22,0.00,0.000,6,0.000,0.036,1876,2301,3412
$GC,906,-0.71,-117.3,91.3,-8.1,47,911,0.12,2.30,0.00,0.000,4,0.054,0.047,1780,3713,3412
$GC,932,-0.67,-117.3,93.7,-9.7,49,937,0.25,2.22,0.00,0.000,6,0.116,0.030,1855,2295,3412
$GC,1259,-0.71,-117.3,119.6,-6.7,79,1263,0.00,2.28,0.00,0.000,4,0.000,0.041,1855,895,3412
$GC,1317,-0.76,-117.3,123.8,-6.7,84,1321,0.00,2.25,0.00,0.000,6,0.000,0.036,1850,2315,3412
$GC,1650,-0.79,-117.3,145.6,-6.7,114,1656,0.08,0.00,0.00,0.000,6,0.081,0.000,1771,2315,3412
$GC,1976,-0.68,-117.3,183.9,-12.0,128,1981,0.22,2.33,0.00,0.000,4,0.118,0.048,1846,902,3412
$GC,2074,-0.73,-117.3,192.1,-7.5,131,2078,0.00,2.25,0.00,0.000,6,0.000,0.037,1839,2315,3412
$GC,2411,-0.75,-117.3,216.6,-7.2,142,2415,0.00,2.28,0.00,0.000,4,0.000,0.041,1839,897,3412
$GC,2457,-0.79,-117.3,220.2,-7.5,143,2461,0.00,2.25,0.00,0.000,6,0.000,0.038,1836,2300,3412
$GC,2778,-0.82,-117.3,242.4,-7.0,154,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2300,3412
$GC,3083,-0.84,-117.3,263.8,-6.8,164,3087,0.00,2.28,0.00,0.000,4,0.000,0.041,1836,892,3412
$GC,3113,-0.87,-117.3,265.9,-7.0,165,3118,0.10,2.28,0.00,0.000,6,0.066,0.040,1765,2304,3412
$GC,3451,-0.77,-117.3,302.0,-10.9,176,3455,0.22,2.33,0.00,0.000,4,0.119,0.041,1840,889,3412
$GC,3496,-0.83,-117.3,306.1,-7.2,176,3500,0.00,2.30,0.00,0.000,6,0.000,0.044,1837,2308,3412
$GC,3812,-0.86,-117.3,326.5,-6.4,182,3814,0.08,0.00,0.00,0.000,6,0.078,0.000,1768,2309,3412
$GC,4115,-0.76,-117.3,357.1,-10.3,187,4117,0.22,0.00,0.00,0.000,6,0.116,0.000,1837,2308,3411
$GC,4419,-0.80,-117.3,375.5,-5.8,192,4423,0.00,2.30,0.00,0.000,4,0.000,0.043,1837,898,3411
$GC,4470,-0.86,-117.3,378.7,-5.7,192,4475,0.10,2.25,0.00,0.000,6,0.064,0.038,1771,2310,3411
$GC,4792,-0.77,-117.3,408.7,-9.6,198,4794,0.22,0.00,0.00,0.000,6,0.116,0.000,1840,2310,3411
$GC,5096,-0.82,-117.3,428.1,-6.2,203,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2310,3411
$GC,5398,-0.87,-117.3,448.4,-6.7,208,5402,0.12,2.35,0.00,0.000,4,0.057,0.047,1758,891,3410
$GC,5426,-0.80,-117.3,451.2,-10.7,208,5431,0.28,2.28,0.00,0.000,6,0.121,0.045,1827,2301,3411
$GC,5766,-0.83,-117.3,474.9,-6.8,214,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2301,3410
$GC,6068,-0.86,-117.3,493.5,-6.0,219,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2301,3410
$GC,6371,-0.89,-117.3,511.1,-5.8,224,6375,0.00,2.30,0.00,0.000,4,0.000,0.044,1827,902,3410
$GC,6406,-0.93,-117.3,513.4,-6.6,224,6410,0.10,2.30,0.00,0.000,6,0.065,0.039,1757,2313,3410
$GC,6734,-0.83,-117.3,545.9,-10.2,230,6736,0.22,0.00,0.00,0.000,6,0.120,0.000,1825,2313,3410
$GC,7036,-0.86,-117.3,566.3,-6.6,235,7040,0.00,2.33,0.00,0.000,4,0.000,0.044,1825,894,3410
$GC,7087,-0.90,-117.3,570.1,-7.3,235,7091,0.00,2.30,0.00,0.000,6,0.000,0.038,1822,2307,3409
$GC,7399,-0.93,-117.3,591.0,-6.7,240,7401,0.10,0.00,0.00,0.000,6,0.065,0.000,1755,2308,3409
$GC,7701,-0.83,-117.3,620.4,-9.9,245,7703,0.22,0.00,0.00,0.000,6,0.120,0.000,1823,2308,3409
$GC,8004,-0.87,-117.3,637.3,-5.3,250,8008,0.00,2.33,0.00,0.000,4,0.000,0.044,1823,900,3409
$GC,8034,-0.91,-117.3,639.0,-5.5,250,8038,0.00,2.30,0.00,0.000,6,0.000,0.039,1822,2313,3408
$GC,8368,-0.94,-117.3,656.8,-5.4,256,8370,0.10,0.00,0.00,0.000,6,0.064,0.000,1755,2313,3409
$GC,8670,-0.85,-117.3,684.6,-9.5,261,8675,0.20,2.35,0.00,0.000,4,0.119,0.048,1820,902,3409
$GC,8716,-0.89,-117.3,688.4,-7.5,261,8720,0.00,2.28,0.00,0.000,6,0.000,0.040,1816,2306,3409
$GC,9033,-0.91,-117.3,709.3,-6.6,267,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2306,3408
$GC,9335,-0.94,-117.3,730.1,-6.9,272,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2306,3408
$GC,9638,-0.96,-117.3,750.5,-6.7,277,9640,0.10,0.00,0.00,0.000,6,0.067,0.000,1748,2306,3408
$GC,9941,-0.86,-117.3,781.0,-10.2,282,9946,0.20,2.33,0.00,0.000,4,0.124,0.048,1814,899,3408
$GC,10016,-0.89,-117.3,786.4,-6.5,283,10020,0.00,2.28,0.00,0.000,6,0.000,0.046,1809,2309,3408
$GC,10376,-0.89,-117.3,806.8,-5.6,289,10380,0.00,2.33,0.00,0.000,4,0.000,0.051,1799,3707,3408
$GC,10405,-0.89,-117.3,808.4,-5.5,289,10410,0.00,2.25,0.00,0.000,6,0.000,0.032,1799,2298,3408
$GC,10739,-0.89,-117.3,827.1,-5.6,295,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2298,3408
$GC,11041,-0.89,-117.3,844.9,-5.9,300,11045,0.00,2.30,0.00,0.000,4,0.000,0.050,1799,891,3407
$GC,11070,-0.89,-117.3,846.7,-7.1,300,11074,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2307,3407
$GC,11403,-0.89,-117.3,869.0,-6.7,306,11404,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2308,3407
$GC,11707,-0.89,-117.3,889.8,-6.9,311,11708,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2307,3407
$GC,12009,-0.89,-117.3,911.1,-7.0,316,12013,0.00,2.33,0.00,0.000,4,0.000,0.047,1794,899,3407
$GC,12044,-0.89,-117.3,913.7,-7.2,316,12048,0.10,2.28,0.00,0.000,6,0.130,0.042,1812,2304,3407
$GC,12377,-0.92,-117.3,932.7,-5.6,322,12379,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2304,3407
$GC,12680,-0.96,-117.3,949.1,-5.4,327,12681,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2304,3407
$GC,12983,-0.99,-117.3,965.8,-5.5,332,12987,0.10,2.35,0.00,0.000,4,0.077,0.052,1756,3711,3407
$GC,13022,-0.91,-117.3,968.9,-8.2,332,13027,0.17,2.28,0.00,0.000,6,0.126,0.035,1805,2299,3406
$GC,13345,-0.93,-117.3,988.4,-5.9,338,13349,0.00,2.33,0.00,0.000,4,0.000,0.054,1805,898,3407
$STATE,13370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13370,begin apogee
$GC,13381,-0.22,0.0,990.4,7.3,338,13483,0.43,0.00,98.53,1.283,6,0.112,0.000,1947,2302,2931
$STATE,13484,end apogee,CONTROL_FINISHED_OK
$STATE,13484,begin climb
$GC,13488,0.68,117.3,993.3,0.0,340,13596,0.60,0.00,105.07,1.254,6,0.069,0.000,2153,2301,2452
$GC,13900,0.56,117.3,973.8,6.3,347,13902,0.12,0.00,0.00,0.000,6,0.151,0.000,2123,2301,2443
$GC,14202,0.52,131.4,958.2,5.0,352,14220,0.00,2.40,11.65,1.107,4,0.000,0.055,2123,3712,2394
$GC,14258,0.42,131.4,955.1,6.1,352,14262,0.15,2.25,0.00,0.000,6,0.157,0.036,2093,2306,2393
$GC,14568,0.47,166.1,941.3,4.3,357,14602,0.00,0.00,31.80,1.200,6,0.000,0.000,2093,2306,2253
$GC,14872,0.53,186.8,927.0,4.8,362,14893,0.00,0.00,19.05,1.154,6,0.000,0.000,2093,2306,2169
$GC,15176,0.59,197.6,911.5,5.1,367,15190,0.12,0.00,10.77,1.071,6,0.062,0.000,2149,2306,2125
$GC,15479,0.52,197.6,887.4,8.1,372,15481,0.15,0.00,0.00,0.000,6,0.134,0.000,2107,2305,2122
$GC,15781,0.55,197.6,869.5,5.8,377,15782,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2305,2121
$GC,16084,0.59,207.5,853.8,5.2,382,16096,0.00,0.00,9.77,1.033,6,0.000,0.000,2107,2305,2085
$GC,16388,0.65,228.9,839.2,4.8,387,16414,0.12,2.35,20.30,1.117,4,0.060,0.054,2165,3707,1998
$GC,16438,0.55,228.9,835.4,8.0,387,16443,0.22,2.28,0.00,0.000,6,0.144,0.035,2115,2304,1997
$GC,16749,0.59,237.3,818.5,5.2,392,16763,0.00,2.35,9.02,0.992,4,0.000,0.048,2124,900,1963
$GC,16789,0.64,237.3,816.3,6.0,392,16793,0.00,2.25,0.00,0.000,6,0.000,0.040,2124,2306,1961
$GC,17117,0.64,237.3,796.4,6.1,398,17121,0.00,2.28,0.00,0.000,4,0.000,0.049,2124,3710,1960
$GC,17145,0.64,237.3,794.3,7.9,398,17149,0.00,2.20,0.00,0.000,6,0.000,0.032,2133,2297,1959
$GC,17484,0.64,237.3,771.2,6.8,404,17485,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2297,1959
$GC,17786,0.64,237.3,748.8,7.5,409,17790,0.00,2.25,0.00,0.000,4,0.000,0.047,2144,894,1958
$GC,17815,0.64,237.3,746.6,7.2,409,17819,0.00,2.25,0.00,0.000,6,0.000,0.041,2144,2309,1958
$GC,18154,0.61,237.3,718.7,8.4,415,18158,0.00,2.28,0.00,0.000,4,0.000,0.049,2144,3718,1958
$GC,18219,0.56,237.3,712.7,10.0,416,18224,0.15,2.22,0.00,0.000,6,0.134,0.038,2113,2297,1958
$GC,18586,0.60,237.3,690.4,5.8,422,18590,0.00,2.25,0.00,0.000,4,0.000,0.047,2122,890,1957
$GC,18637,0.67,238.9,687.3,5.4,422,18642,0.08,2.22,0.00,0.000,6,0.074,0.041,2178,2301,1957
$GC,18960,0.56,238.9,658.1,9.3,428,18964,0.17,2.30,0.00,0.000,4,0.139,0.051,2124,3716,1957
$GC,19022,0.56,238.9,653.3,6.1,428,19028,0.00,2.20,0.00,0.000,6,0.000,0.032,2132,2299,1956
$GC,19332,0.56,238.9,635.7,5.7,434,19333,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2299,1957
$GC,19636,0.56,238.9,618.0,5.8,439,19640,0.00,2.28,0.00,0.000,4,0.000,0.047,2143,888,1956
$GC,19664,0.57,245.9,616.3,5.3,439,19679,0.00,2.28,8.25,0.874,6,0.000,0.038,2143,2314,1928
$GC,20007,0.57,245.9,594.9,6.3,445,20011,0.00,2.28,0.00,0.000,4,0.000,0.048,2143,3714,1926
$GC,20052,0.53,245.9,591.5,9.0,445,20057,0.15,2.22,0.00,0.000,6,0.130,0.032,2111,2303,1926
$GC,20381,0.61,262.7,575.1,4.9,451,20403,0.00,2.35,16.48,0.943,4,0.000,0.047,2120,895,1859
$GC,20432,0.69,262.7,572.2,5.6,451,20437,0.10,2.25,0.00,0.000,6,0.065,0.043,2191,2305,1857
$GC,20744,0.57,262.7,540.9,10.5,456,20749,0.20,2.30,0.00,0.000,4,0.140,0.053,2128,3717,1856
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$STATE,28201,end climb,SURFACE_DEPTH_REACHED
$STATE,28201,begin surface coast
$FINISH,1.5,1.014447
$STATE,28223,end surface coast,CONTROL_FINISHED_OK
$STATE,28223,begin surface
$SM_CCo,28304,0.00,0.000,0,0,1417,371.38
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$IRIDIUM_FIX,4933.03,-14153.75,260499,090907
$TT8_MAMPS,0.029146
$HUMID,1740
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$TCM_TEMP,15.60
$XPDR_PINGS,56
$24V_AH,21.7,99.955
$10V_AH,10.3,85.697
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$DEVICE_SECS,21.075,214.325,442.650,0.000,0.000,33.009,26.244,181.954,14.000,0.000,0.000,16.633,1633.975,23561.238,579.222,2015.705,915.654,33.383,1669.321,0.000,2003.866,0.000,0.528,0.000
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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,41186,726
$CAP_FILE_SIZE,181284,0
$CFSIZE,260165632,204574720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310110,004225,4951.293,-14147.977,37,2.0,37,19.0