version: 66.04
glider: 144
mission: 15
dive: 47
start: 6 27 109 11 47 50
data:
$ID,144
$MISSION,15
$DIVE,47
$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,-61860.723
$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,0.039999999
$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,26
$R_STBD_OVSHOOT,27
$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
$GPS1,114130,4958.824,-14428.972,40,1.8,45,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-44.9
$GPS2,114656,4958.814,-14428.958,14,1.8,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.031,-0.165
$KALMAN_X,-25181.9,-95.5,2.6,63246.3,500.0
$KALMAN_Y,11431.3,-222.7,-125.0,-12713.6,659.8
$MHEAD_RNG_PITCHd_Wd,172.2,8956,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,71,0.00,0.00,-52.22,0.000,2,0.000,0.000,101,2305,2624
$GC,74,-0.68,-117.3,3.1,-3.1,5,109,7.07,2.30,-20.65,0.000,4,0.252,0.074,1837,3709,3411
$GC,237,-0.53,-117.3,26.5,-13.8,19,244,0.17,2.22,0.00,0.000,6,0.133,0.039,1887,2294,3412
$GC,563,-0.53,-117.3,55.1,-7.9,50,567,0.00,2.25,0.00,0.000,4,0.000,0.052,1888,883,3413
$GC,654,-0.61,-117.3,62.1,-7.2,58,658,0.00,2.28,0.00,0.000,6,0.000,0.045,1881,2316,3413
$GC,986,-0.61,-117.3,88.7,-8.5,84,990,0.00,2.28,0.00,0.000,4,0.000,0.051,1881,887,3413
$GC,1028,-0.65,-117.3,92.2,-8.8,86,1032,0.00,2.25,0.00,0.000,6,0.000,0.051,1876,2306,3414
$GC,1354,-0.65,-117.3,121.2,-8.9,102,1358,0.00,2.25,0.00,0.000,4,0.000,0.051,1877,886,3414
$GC,1395,-0.70,-117.3,124.7,-8.3,104,1400,0.10,2.25,0.00,0.000,6,0.078,0.051,1823,2308,3415
$GC,1731,-0.58,-117.3,160.5,-10.6,119,1736,0.17,2.25,0.00,0.000,4,0.133,0.058,1865,3714,3414
$GC,1780,-0.71,-117.3,164.7,-7.3,120,1784,0.00,2.20,0.00,0.000,6,0.000,0.040,1865,2295,3414
$GC,2099,-0.78,-117.3,185.0,-6.1,131,2101,0.12,0.00,0.00,0.000,6,0.064,0.000,1803,2294,3414
$GC,2405,-0.62,-117.3,215.6,-10.2,141,2410,0.17,2.22,0.00,0.000,4,0.137,0.054,1860,890,3414
$GC,2467,-0.71,-117.3,220.8,-7.9,143,2471,0.00,2.22,0.00,0.000,6,0.000,0.050,1853,2304,3414
$GC,2803,-0.71,-117.3,244.4,-6.9,154,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2304,3413
$GC,3109,-0.76,-117.3,264.4,-6.5,164,3113,0.00,2.22,0.00,0.000,4,0.000,0.054,1853,896,3414
$GC,3154,-0.82,-117.3,267.4,-6.3,165,3158,0.10,2.22,0.00,0.000,6,0.079,0.048,1797,2307,3413
$GC,3478,-0.66,-117.3,297.4,-9.5,176,3479,0.20,0.00,0.00,0.000,6,0.137,0.000,1856,2307,3413
$GC,3781,-0.73,-117.3,317.3,-6.4,182,3785,0.00,2.25,0.00,0.000,4,0.000,0.060,1856,886,3412
$GC,3819,-0.81,-117.3,320.2,-7.4,182,3824,0.10,2.25,0.00,0.000,6,0.074,0.051,1796,2315,3412
$GC,4139,-0.66,-117.3,351.2,-9.9,188,4141,0.22,0.00,0.00,0.000,6,0.136,0.000,1862,2315,3412
$GC,4443,-0.77,-117.3,368.5,-5.5,193,4447,0.12,2.28,0.00,0.000,4,0.070,0.054,1801,890,3411
$GC,4475,-0.64,-117.3,371.2,-8.6,193,4480,0.22,2.22,0.00,0.000,6,0.139,0.049,1859,2303,3411
$GC,4802,-0.75,-117.3,389.4,-5.5,199,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2303,3411
$GC,5105,-0.85,-117.3,405.3,-5.2,204,5107,0.15,0.00,0.00,0.000,6,0.064,0.000,1787,2303,3411
$GC,5407,-0.67,-117.3,432.2,-9.1,209,5412,0.20,2.25,0.00,0.000,4,0.140,0.055,1849,891,3411
$GC,5485,-0.75,-117.3,437.4,-6.3,210,5489,0.00,2.22,0.00,0.000,6,0.000,0.051,1849,2303,3410
$GC,5835,-0.82,-117.3,456.7,-5.6,216,5836,0.10,0.00,0.00,0.000,6,0.077,0.000,1797,2303,3410
$GC,6138,-0.66,-117.3,483.2,-8.9,221,6142,0.17,2.22,0.00,0.000,4,0.137,0.060,1854,897,3409
$GC,6209,-0.77,-117.3,488.5,-6.6,222,6213,0.00,2.22,0.00,0.000,6,0.000,0.054,1850,2312,3409
$GC,6570,-0.85,-117.3,511.4,-6.4,228,6572,0.12,0.00,0.00,0.000,6,0.068,0.000,1787,2313,3409
$GC,6873,-0.67,-117.3,540.5,-9.8,233,6878,0.20,2.25,0.00,0.000,4,0.137,0.059,1851,893,3409
$GC,6912,-0.77,-117.3,543.6,-7.0,233,6916,0.00,2.22,0.00,0.000,6,0.000,0.050,1850,2304,3409
$GC,7233,-0.86,-117.3,563.6,-6.2,239,7238,0.12,2.25,0.00,0.000,4,0.071,0.064,1781,3715,3409
$GC,7266,-0.69,-117.3,566.5,-9.6,239,7271,0.25,2.17,0.00,0.000,6,0.137,0.046,1856,2295,3409
$GC,7598,-0.81,-117.3,586.0,-5.7,245,7602,0.12,2.20,0.00,0.000,4,0.072,0.061,1799,898,3408
$GC,7625,-0.75,-117.3,588.2,-8.3,245,7630,0.15,2.22,0.00,0.000,6,0.147,0.055,1835,2311,3408
$GC,7956,-0.75,-117.3,608.3,-6.0,251,7960,0.00,2.25,0.00,0.000,4,0.000,0.057,1835,891,3408
$GC,7995,-0.75,-117.3,610.8,-6.0,251,7999,0.00,2.25,0.00,0.000,6,0.000,0.056,1835,2314,3408
$GC,8322,-0.75,-117.3,627.9,-5.1,257,8326,0.00,2.25,0.00,0.000,4,0.000,0.061,1835,894,3408
$GC,8355,-0.75,-117.3,629.8,-5.5,257,8358,0.00,2.22,0.00,0.000,6,0.000,0.053,1835,2305,3408
$GC,8687,-0.75,-117.3,647.6,-5.4,263,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2306,3408
$GC,8990,-0.79,-117.3,667.0,-6.5,268,8994,0.00,2.25,0.00,0.000,4,0.000,0.060,1835,894,3408
$GC,9035,-0.83,-117.3,670.2,-7.3,268,9039,0.00,2.25,0.00,0.000,6,0.000,0.051,1835,2316,3408
$GC,9352,-0.88,-117.3,692.0,-6.9,274,9354,0.10,0.00,0.00,0.000,6,0.087,0.000,1793,2315,3408
$GC,9654,-0.76,-117.3,718.7,-8.8,279,9656,0.15,0.00,0.00,0.000,6,0.143,0.000,1835,2315,3408
$GC,9957,-0.81,-117.3,738.5,-6.3,284,9961,0.00,2.28,0.00,0.000,4,0.000,0.065,1835,892,3407
$GC,9990,-0.86,-117.3,740.8,-6.4,284,9994,0.00,2.25,0.00,0.000,6,0.000,0.052,1835,2307,3407
$GC,10323,-0.91,-117.3,760.4,-5.9,290,10327,0.12,2.25,0.00,0.000,4,0.085,0.062,1786,897,3408
$GC,10355,-0.77,-117.3,763.0,-8.3,290,10360,0.20,2.22,0.00,0.000,6,0.149,0.050,1836,2305,3407
$GC,10682,-0.83,-117.3,781.8,-5.7,296,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2305,3407
$GC,10984,-0.90,-117.3,799.1,-5.7,301,10986,0.12,0.00,0.00,0.000,6,0.089,0.000,1790,2305,3407
$GC,11288,-0.77,-117.3,823.8,-8.3,306,11290,0.15,0.00,0.00,0.000,6,0.148,0.000,1831,2305,3407
$GC,11591,-0.82,-117.3,843.5,-6.4,311,11595,0.00,2.25,0.00,0.000,4,0.000,0.062,1831,899,3407
$GC,11646,-0.88,-117.3,847.3,-6.4,311,11652,0.00,2.22,0.00,0.000,6,0.000,0.056,1825,2305,3407
$GC,11955,-0.88,-117.3,868.2,-6.8,317,11959,0.00,2.25,0.00,0.000,4,0.000,0.060,1825,897,3407
$GC,11984,-0.88,-117.3,870.2,-7.4,317,11988,0.00,2.22,0.00,0.000,6,0.000,0.051,1821,2303,3407
$GC,12321,-0.88,-117.3,892.7,-6.6,323,12323,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3406
$GC,12624,-0.88,-117.3,911.8,-6.3,328,12625,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2304,3406
$GC,12928,-0.88,-117.3,929.9,-5.9,333,12932,0.00,2.28,0.00,0.000,4,0.000,0.061,1821,893,3406
$GC,12977,-0.88,-117.3,933.3,-7.2,333,12981,0.00,2.25,0.00,0.000,6,0.000,0.054,1813,2311,3406
$GC,13293,-0.88,-117.3,952.5,-6.1,339,13297,0.00,2.28,0.00,0.000,4,0.000,0.061,1814,893,3406
$GC,13337,-0.88,-117.3,955.5,-6.7,339,13341,0.00,2.25,0.00,0.000,6,0.000,0.055,1807,2309,3406
$GC,13652,-0.83,-117.3,976.3,-6.7,345,13653,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2309,3406
$STATE,13891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13892,begin apogee
$GC,13897,-0.22,0.0,993.1,6.9,349,13993,0.47,0.00,93.00,1.351,6,0.152,0.000,1951,2309,2931
$STATE,13994,end apogee,CONTROL_FINISHED_OK
$STATE,13994,begin climb
$GC,13996,0.68,117.3,994.4,0.0,350,14103,0.60,2.53,98.12,1.321,4,0.107,0.069,2145,3707,2450
$GC,14142,0.27,117.3,989.8,7.6,352,14147,0.40,2.33,0.00,0.000,6,0.189,0.050,2055,2307,2446
$GC,14491,0.46,181.7,977.6,3.3,358,14551,0.15,0.00,53.55,1.298,6,0.084,0.000,2109,2306,2189
$GC,14855,0.60,181.8,957.9,5.5,364,14859,0.00,2.38,0.00,0.000,4,0.000,0.064,2109,3719,2182
$GC,14985,0.47,181.8,949.0,7.4,366,14989,0.00,2.30,0.00,0.000,6,0.000,0.051,2117,2295,2180
$GC,15356,0.38,181.8,925.8,6.3,372,15360,0.15,2.30,0.00,0.000,4,0.170,0.065,2088,890,2179
$GC,15419,0.52,208.8,922.6,4.6,373,15448,0.10,2.30,22.67,1.243,6,0.095,0.054,2126,2313,2079
$GC,15787,0.41,208.8,894.9,7.8,379,15792,0.15,2.30,0.00,0.000,4,0.160,0.066,2084,3712,2073
$GC,15825,0.46,208.8,892.0,7.3,379,15829,0.00,2.28,0.00,0.000,6,0.000,0.047,2092,2291,2073
$GC,16152,0.52,208.8,872.0,6.1,385,16153,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2291,2072
$GC,16455,0.58,208.8,852.5,6.5,390,16457,0.12,0.00,0.00,0.000,6,0.083,0.000,2143,2291,2072
$GC,16759,0.41,208.8,825.2,9.2,395,16760,0.20,0.00,0.00,0.000,6,0.156,0.000,2088,2291,2071
$GC,17062,0.51,215.8,808.4,5.3,400,17073,0.08,2.35,6.40,0.980,4,0.098,0.067,2132,886,2050
$GC,17090,0.51,215.8,806.4,7.4,400,17094,0.10,2.30,0.00,0.000,6,0.155,0.052,2108,2310,2049
$GC,17427,0.51,215.8,784.9,6.4,406,17431,0.00,2.28,0.00,0.000,4,0.000,0.063,2108,3711,2048
$GC,17454,0.51,215.8,782.7,7.8,406,17458,0.00,2.22,0.00,0.000,6,0.000,0.044,2117,2302,2047
$GC,17792,0.51,215.8,758.2,7.3,412,17793,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2303,2048
$GC,18095,0.51,215.8,736.0,7.3,417,18096,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2303,2047
$GC,18398,0.51,215.8,714.4,7.2,422,18399,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2302,2048
$GC,18701,0.51,215.8,692.6,7.2,427,18702,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2303,2047
$GC,19004,0.51,215.8,670.4,7.3,432,19008,0.00,2.30,0.00,0.000,4,0.000,0.064,2117,3721,2046
$GC,19026,0.46,215.8,668.6,8.2,432,19031,0.12,2.25,0.00,0.000,6,0.168,0.045,2095,2292,2047
$GC,19364,0.54,215.8,647.8,6.1,438,19368,0.08,2.25,0.00,0.000,4,0.090,0.058,2146,887,2046
$GC,19407,0.44,215.8,644.5,7.9,438,19412,0.17,2.25,0.00,0.000,6,0.153,0.054,2098,2307,2046
$GC,19723,0.52,215.8,625.3,6.1,444,19727,0.00,2.25,0.00,0.000,4,0.000,0.060,2097,3713,2046
$GC,19744,0.56,215.8,623.8,6.1,444,19748,0.00,2.22,0.00,0.000,6,0.000,0.044,2105,2291,2046
$GC,20088,0.60,215.8,603.3,5.9,450,20093,0.08,2.22,0.00,0.000,4,0.091,0.058,2159,893,2046
$GC,20121,0.48,215.8,600.7,8.7,450,20125,0.20,2.25,0.00,0.000,6,0.154,0.052,2104,2316,2046
$GC,20447,0.54,218.0,582.7,5.4,456,20451,0.00,2.22,0.00,0.000,4,0.000,0.058,2104,3714,2046
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$STATE,29269,end climb,SURFACE_DEPTH_REACHED
$STATE,29269,begin surface coast
$FINISH,1.4,1.025414
$STATE,29292,end surface coast,CONTROL_FINISHED_OK
$STATE,29293,begin surface
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$HUMID,1592
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$TCM_TEMP,14.90
$XPDR_PINGS,66
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$10V_AH,10.7,6.405
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$DEVICE_SECS,23.875,247.850,355.625,0.000,0.000,29.175,24.511,150.810,16.500,0.000,0.000,15.808,1784.548,24352.688,539.981,2416.798,591.494,33.367,1757.886,0.000,2409.829,0.000,0.528,0.000
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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,47470,779
$CAP_FILE_SIZE,198677,0
$CFSIZE,260165632,255320064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270609,195844,4955.150,-14429.740,39,1.7,46,18.5