version: 66.04
glider: 144
mission: 15
dive: 804
start: 3 8 110 14 50 43
data:
$ID,144
$MISSION,15
$DIVE,804
$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,-77947.312
$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,35
$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
$GPS1,143936,4908.299,-13229.033,38,1.1,43,19.6
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-60.1
$GPS2,144945,4908.340,-13228.979,10,1.3,10,19.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.166,-0.021
$KALMAN_X,-47278.6,-55.0,-72.9,947440.2,581.1
$KALMAN_Y,65398.9,229.3,129.2,-200300.8,-213.0
$MHEAD_RNG_PITCHd_Wd,77.5,133816,-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,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.15,0.000,2,0.000,0.000,99,2297,2656
$GC,64,-0.68,-117.3,4.0,-7.0,2,94,7.05,2.38,-17.58,0.000,4,0.226,0.066,1840,3706,3413
$GC,299,-0.64,-117.3,28.0,-11.9,12,303,0.00,2.22,0.00,0.000,6,0.000,0.029,1840,2290,3413
$GC,617,-0.59,-117.3,63.1,-11.9,27,622,0.12,2.28,0.00,0.000,4,0.126,0.041,1878,891,3414
$GC,704,-0.63,-117.3,71.5,-9.0,31,708,0.00,2.25,0.00,0.000,6,0.000,0.036,1872,2303,3414
$GC,1030,-0.66,-117.3,98.8,-8.2,57,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,2303,3414
$GC,1357,-0.71,-117.3,122.8,-6.2,88,1362,0.10,2.25,0.00,0.000,4,0.064,0.038,1788,899,3414
$GC,1394,-0.63,-117.3,126.5,-11.6,90,1401,0.28,2.25,0.00,0.000,6,0.114,0.036,1862,2308,3415
$GC,1721,-0.68,-117.3,149.0,-6.0,121,1725,0.00,2.30,0.00,0.000,4,0.000,0.048,1854,3708,3414
$GC,1779,-0.74,-117.3,152.7,-6.5,124,1783,0.00,2.17,0.00,0.000,6,0.000,0.028,1854,2302,3415
$GC,2099,-0.79,-117.3,171.1,-5.9,135,2104,0.10,2.28,0.00,0.000,4,0.065,0.038,1777,887,3415
$GC,2257,-0.70,-117.3,188.5,-11.8,139,2262,0.28,2.28,0.00,0.000,6,0.113,0.035,1851,2309,3415
$GC,2571,-0.75,-117.3,212.2,-6.7,149,2575,0.00,2.25,0.00,0.000,4,0.000,0.040,1851,900,3414
$GC,2624,-0.81,-117.3,215.8,-6.6,150,2628,0.10,2.28,0.00,0.000,6,0.064,0.043,1777,2303,3415
$GC,2945,-0.72,-117.3,247.1,-10.3,161,2949,0.20,2.35,0.00,0.000,4,0.123,0.052,1835,3716,3414
$GC,2968,-0.69,-117.3,249.5,-9.3,161,2972,0.00,2.20,0.00,0.000,6,0.000,0.029,1835,2304,3414
$GC,3283,-0.72,-117.3,270.3,-6.7,171,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2304,3414
$GC,3590,-0.76,-117.3,292.0,-7.3,181,3594,0.00,2.28,0.00,0.000,4,0.000,0.042,1835,890,3414
$GC,3619,-0.78,-117.3,294.5,-8.3,181,3625,0.00,2.30,0.00,0.000,6,0.000,0.037,1827,2307,3414
$GC,3961,-0.78,-117.3,321.3,-7.8,189,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2307,3414
$GC,4264,-0.78,-117.3,342.5,-6.9,194,4268,0.00,2.33,0.00,0.000,4,0.000,0.043,1826,896,3413
$GC,4355,-0.78,-117.3,349.3,-7.8,195,4360,0.00,2.30,0.00,0.000,6,0.000,0.041,1822,2301,3413
$GC,4695,-0.78,-117.3,373.8,-7.3,201,4699,0.00,2.25,0.00,0.000,4,0.000,0.047,1822,903,3413
$GC,4758,-0.78,-117.3,378.6,-7.6,201,4764,0.00,2.30,0.00,0.000,6,0.000,0.042,1813,2314,3413
$GC,5069,-0.78,-117.3,400.8,-7.1,207,5073,0.00,2.30,0.00,0.000,4,0.000,0.042,1813,891,3413
$GC,5126,-0.78,-117.3,405.1,-7.6,207,5134,0.00,2.33,0.00,0.000,6,0.000,0.044,1808,2310,3413
$GC,5437,-0.78,-117.3,428.2,-7.4,213,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2310,3412
$GC,5740,-0.78,-117.3,451.5,-7.7,218,5744,0.00,2.33,0.00,0.000,4,0.000,0.050,1808,896,3412
$GC,5781,-0.78,-117.3,454.9,-8.7,218,5785,0.12,2.30,0.00,0.000,6,0.114,0.041,1833,2307,3411
$GC,6104,-0.83,-117.3,476.1,-6.5,224,6108,0.00,2.30,0.00,0.000,4,0.000,0.046,1834,897,3411
$GC,6138,-0.87,-117.3,478.7,-7.3,224,6143,0.10,2.30,0.00,0.000,6,0.066,0.045,1768,2301,3411
$GC,6466,-0.78,-117.3,512.5,-10.6,230,6468,0.20,0.00,0.00,0.000,6,0.120,0.000,1829,2301,3411
$GC,6770,-0.82,-117.3,534.1,-7.0,235,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2301,3411
$GC,7072,-0.86,-117.3,554.3,-6.6,240,7076,0.00,2.30,0.00,0.000,4,0.000,0.050,1829,900,3410
$GC,7124,-0.91,-117.3,557.9,-7.4,240,7128,0.00,2.33,0.00,0.000,6,0.000,0.041,1823,2306,3410
$GC,7437,-0.94,-117.3,576.8,-6.0,245,7441,0.10,2.33,0.00,0.000,4,0.067,0.050,1742,3708,3410
$GC,7472,-0.82,-117.3,579.8,-10.0,245,7477,0.28,2.25,0.00,0.000,6,0.120,0.037,1823,2297,3410
$GC,7800,-0.85,-117.3,596.2,-4.7,251,7804,0.00,2.28,0.00,0.000,4,0.000,0.045,1823,897,3409
$GC,7859,-0.89,-117.3,599.4,-5.5,251,7865,0.00,2.33,0.00,0.000,6,0.000,0.039,1822,2311,3409
$GC,8170,-0.92,-117.3,616.4,-5.5,257,8172,0.10,0.00,0.00,0.000,6,0.064,0.000,1753,2311,3409
$GC,8474,-0.82,-117.3,646.6,-10.3,262,8475,0.22,0.00,0.00,0.000,6,0.118,0.000,1822,2311,3409
$GC,8777,-0.85,-117.3,669.1,-7.3,267,8781,0.00,2.33,0.00,0.000,4,0.000,0.048,1822,899,3409
$GC,8841,-0.90,-117.3,674.2,-8.3,267,8847,0.00,2.30,0.00,0.000,6,0.000,0.041,1822,2305,3409
$GC,9153,-0.94,-117.3,697.6,-7.5,273,9157,0.10,2.35,0.00,0.000,4,0.067,0.053,1744,3710,3409
$GC,9183,-0.86,-117.3,700.6,-11.1,273,9188,0.25,2.25,0.00,0.000,6,0.119,0.031,1818,2299,3408
$GC,9518,-0.89,-117.3,726.6,-7.5,279,9522,0.00,2.30,0.00,0.000,4,0.000,0.047,1818,890,3408
$GC,9552,-0.92,-117.3,729.4,-8.1,279,9557,0.00,2.33,0.00,0.000,6,0.000,0.038,1811,2305,3408
$GC,9880,-0.92,-117.3,753.0,-7.2,285,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2306,3407
$GC,10183,-0.92,-117.3,775.3,-7.4,290,10187,0.00,2.33,0.00,0.000,4,0.000,0.044,1811,897,3408
$GC,10225,-0.92,-117.3,778.8,-8.5,290,10229,0.00,2.33,0.00,0.000,6,0.000,0.045,1809,2305,3407
$GC,10547,-0.92,-117.3,802.9,-7.3,296,10551,0.00,2.33,0.00,0.000,4,0.000,0.044,1809,899,3407
$GC,10576,-0.92,-117.3,805.0,-7.1,296,10580,0.00,2.30,0.00,0.000,6,0.000,0.045,1808,2299,3407
$GC,10915,-0.92,-117.3,825.4,-6.0,302,10919,0.00,2.35,0.00,0.000,4,0.000,0.044,1808,890,3407
$GC,10951,-0.95,-117.3,827.8,-6.3,302,10955,0.00,2.35,0.00,0.000,6,0.000,0.044,1807,2305,3407
$GC,11284,-0.95,-117.3,849.1,-6.5,308,11288,0.00,2.38,0.00,0.000,4,0.000,0.052,1797,3710,3407
$GC,11318,-0.95,-117.3,851.5,-7.3,308,11322,0.00,2.25,0.00,0.000,6,0.000,0.037,1797,2306,3406
$GC,11655,-0.95,-117.3,877.0,-7.8,314,11659,0.00,2.35,0.00,0.000,4,0.000,0.051,1798,891,3407
$GC,11684,-0.95,-117.3,879.9,-9.2,314,11688,0.00,2.35,0.00,0.000,6,0.000,0.040,1794,2305,3407
$GC,12023,-0.95,-117.3,909.4,-8.8,320,12027,0.00,2.35,0.00,0.000,4,0.000,0.048,1794,897,3407
$GC,12064,-0.95,-117.3,913.2,-9.8,320,12068,0.00,2.35,0.00,0.000,6,0.000,0.044,1788,2311,3406
$GC,12388,-0.92,-117.3,942.1,-9.0,326,12392,0.00,2.40,0.00,0.000,4,0.000,0.051,1787,896,3406
$GC,12439,-0.92,-117.3,947.3,-9.8,326,12443,0.00,2.38,0.00,0.000,6,0.000,0.040,1781,2306,3406
$GC,12751,-0.89,-117.3,974.2,-8.6,331,12755,0.10,2.38,0.00,0.000,4,0.140,0.051,1800,3709,3406
$GC,12780,-0.89,-117.3,976.5,-7.4,331,12784,0.00,2.28,0.00,0.000,6,0.000,0.039,1801,2295,3406
$STATE,12988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12988,begin apogee
$GC,12998,-0.22,0.0,991.0,6.8,335,13098,0.47,0.00,97.55,1.277,6,0.104,0.000,1954,2295,2931
$STATE,13099,end apogee,CONTROL_FINISHED_OK
$STATE,13099,begin climb
$GC,13103,0.68,117.3,992.6,0.0,336,13211,0.55,0.00,103.90,1.248,6,0.071,0.000,2148,2295,2452
$GC,13471,0.58,117.3,975.6,6.8,342,13473,0.10,0.00,0.00,0.000,6,0.149,0.000,2125,2296,2443
$GC,13773,0.52,117.3,954.7,6.9,347,13777,0.00,2.35,0.00,0.000,4,0.000,0.055,2125,3720,2440
$GC,13814,0.41,117.3,951.3,8.9,347,13819,0.17,2.25,0.00,0.000,6,0.155,0.038,2088,2304,2440
$GC,14137,0.41,117.3,930.6,6.4,353,14138,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2304,2439
$GC,14439,0.41,117.3,913.0,5.7,358,14440,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2304,2438
$GC,14742,0.45,154.3,899.5,4.3,363,14775,0.00,0.00,30.77,1.180,6,0.000,0.000,2088,2304,2301
$GC,15046,0.59,189.5,886.5,4.3,368,15083,0.15,2.42,31.20,1.167,4,0.062,0.052,2156,3720,2157
$GC,15265,0.47,189.5,870.6,8.2,371,15270,0.25,2.30,0.00,0.000,6,0.143,0.034,2098,2296,2153
$GC,15611,0.60,261.8,859.2,3.1,377,15679,0.12,0.00,64.55,1.173,6,0.061,0.000,2159,2296,1863
$GC,15973,0.54,261.8,832.9,7.7,383,15975,0.17,0.00,0.00,0.000,6,0.133,0.000,2111,2295,1854
$GC,16277,0.63,285.1,818.1,4.7,388,16311,0.10,2.42,22.08,1.014,4,0.069,0.054,2169,3710,1767
$GC,16326,0.56,285.1,814.3,8.9,388,16330,0.22,2.28,0.00,0.000,6,0.137,0.033,2117,2301,1766
$GC,16642,0.63,285.1,795.1,5.9,394,16646,0.00,2.30,0.00,0.000,4,0.000,0.047,2126,886,1763
$GC,16677,0.71,285.1,792.9,6.1,394,16681,0.10,2.30,0.00,0.000,6,0.073,0.038,2177,2316,1761
$GC,17005,0.63,285.1,759.1,10.6,400,17010,0.15,2.28,0.00,0.000,4,0.135,0.048,2136,3711,1761
$GC,17062,0.63,285.1,753.7,7.8,400,17069,0.00,2.22,0.00,0.000,6,0.000,0.033,2144,2293,1761
$GC,17373,0.63,285.1,732.3,6.8,406,17375,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2293,1761
$GC,17676,0.63,285.1,711.3,7.0,411,17681,0.00,2.35,0.00,0.000,4,0.000,0.048,2144,3718,1760
$GC,17707,0.63,285.1,708.8,8.4,411,17711,0.00,2.22,0.00,0.000,6,0.000,0.032,2154,2296,1760
$GC,18040,0.61,285.1,683.0,7.7,417,18042,0.10,0.00,0.00,0.000,6,0.140,0.000,2129,2296,1760
$GC,18344,0.66,292.4,666.9,5.3,422,18357,0.00,2.40,6.80,0.848,4,0.000,0.048,2128,3721,1738
$GC,18378,0.71,294.4,665.1,5.4,422,18383,0.00,2.25,0.00,0.000,6,0.000,0.035,2134,2295,1738
$GC,18712,0.74,294.4,645.9,5.7,428,18714,0.10,0.00,0.00,0.000,6,0.065,0.000,2203,2295,1736
$GC,19015,0.61,294.4,614.6,10.7,433,19020,0.22,2.35,0.00,0.000,4,0.140,0.048,2134,3714,1736
$GC,19062,0.61,294.4,610.5,6.6,433,19066,0.00,2.20,0.00,0.000,6,0.000,0.031,2142,2304,1736
$GC,19378,0.61,294.4,589.1,6.9,439,19382,0.00,2.30,0.00,0.000,4,0.000,0.048,2153,895,1736
$GC,19407,0.64,294.4,586.7,8.0,439,19411,0.00,2.25,0.00,0.000,6,0.000,0.038,2152,2305,1735
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$GC,26335,1.02,359.6,61.6,5.4,663,26345,0.00,2.22,4.88,0.481,6,0.000,0.035,2222,2305,1465
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$STATE,27110,end climb,SURFACE_DEPTH_REACHED
$STATE,27111,begin surface coast
$FINISH,1.6,1.004592
$STATE,27132,end surface coast,CONTROL_FINISHED_OK
$STATE,27133,begin surface
$SM_CCo,27215,0.00,0.000,0,0,1461,360.35
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$TT8_MAMPS,0.029146
$HUMID,1771
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$TCM_TEMP,16.40
$XPDR_PINGS,63
$24V_AH,22.3,115.893
$10V_AH,10.3,98.054
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$DEVICE_SECS,19.975,247.550,422.800,0.000,0.000,30.832,28.464,365.874,15.750,0.000,0.000,11.949,1625.461,22282.230,597.658,2109.281,1198.139,33.390,1736.785,0.000,2097.401,0.000,0.529,0.000
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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,41186,702
$CAP_FILE_SIZE,186191,0
$CFSIZE,260165632,196120576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,080310,222537,4907.924,-13223.354,34,1.3,34,19.6