version: 66.04
glider: 144
mission: 15
dive: 213
start: 8 20 109 19 27 33
data:
$ID,144
$MISSION,15
$DIVE,213
$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,-65083.18
$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,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
$GPS1,191812,5009.118,-14445.896,48,1.7,59,18.6
$_CALLS,1
$_XMS_NAKs,36
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-51.5
$GPS2,192640,5009.039,-14445.951,15,2.1,34,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.147,0.081
$KALMAN_X,-4236.3,398.2,23.8,32915.7,-2347.9
$KALMAN_Y,7116.4,-217.1,3.0,-29011.4,487.0
$MHEAD_RNG_PITCHd_Wd,42.4,29228,-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,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.95,0.000,2,0.000,0.000,98,2307,2863
$GC,61,-0.68,-117.3,3.8,-6.0,4,86,6.93,2.30,-11.35,0.000,4,0.229,0.062,1853,896,3412
$GC,271,-0.49,-117.3,38.4,-10.4,22,278,0.17,2.22,0.00,0.000,6,0.143,0.044,1893,2309,3415
$GC,598,-0.59,-117.3,63.6,-7.0,53,602,0.00,2.22,0.00,0.000,4,0.000,0.048,1890,3713,3416
$GC,637,-0.72,-117.3,66.7,-7.4,56,644,0.15,2.17,0.00,0.000,6,0.049,0.028,1794,2286,3415
$GC,956,-0.43,-117.3,110.1,-14.3,77,960,0.35,2.17,0.00,0.000,4,0.171,0.041,1907,897,3417
$GC,1046,-0.67,-117.3,117.8,-6.9,81,1051,0.17,2.22,0.00,0.000,6,0.049,0.040,1814,2315,3417
$GC,1383,-0.52,-117.3,154.1,-9.8,97,1388,0.20,2.25,0.00,0.000,4,0.127,0.043,1880,892,3416
$GC,1438,-0.68,-117.3,158.2,-6.6,98,1445,0.10,2.22,0.00,0.000,6,0.066,0.038,1808,2314,3417
$GC,1751,-0.54,-117.3,188.2,-9.6,109,1753,0.25,0.00,0.00,0.000,6,0.118,0.000,1885,2313,3416
$GC,2058,-0.72,-117.3,202.7,-4.2,119,2062,0.15,2.22,0.00,0.000,4,0.051,0.041,1792,895,3416
$GC,2102,-0.53,-117.3,206.4,-9.7,120,2107,0.35,2.22,0.00,0.000,6,0.122,0.041,1890,2313,3416
$GC,2420,-0.73,-117.3,221.7,-4.9,131,2425,0.15,2.22,0.00,0.000,4,0.053,0.044,1794,900,3415
$GC,2449,-0.65,-117.3,223.8,-8.6,132,2454,0.25,2.20,0.00,0.000,6,0.122,0.038,1860,2307,3415
$GC,2784,-0.74,-117.3,243.5,-5.4,143,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2308,3414
$GC,3090,-0.83,-117.3,261.0,-6.2,153,3094,0.15,2.22,0.00,0.000,4,0.054,0.042,1778,895,3414
$GC,3134,-0.61,-117.3,265.5,-10.9,154,3139,0.32,2.22,0.00,0.000,6,0.126,0.041,1867,2311,3413
$GC,3452,-0.74,-117.3,285.8,-6.0,165,3454,0.10,0.00,0.00,0.000,6,0.069,0.000,1800,2311,3412
$GC,3757,-0.61,-117.3,314.1,-9.5,173,3761,0.20,2.25,0.00,0.000,4,0.120,0.047,1867,896,3412
$GC,3823,-0.77,-117.3,319.0,-6.9,174,3828,0.12,2.22,0.00,0.000,6,0.058,0.044,1789,2309,3412
$GC,4183,-0.61,-117.3,356.8,-10.8,180,4188,0.25,2.25,0.00,0.000,4,0.124,0.056,1861,3713,3411
$GC,4222,-0.79,-117.3,359.8,-6.4,180,4226,0.12,2.17,0.00,0.000,6,0.061,0.037,1783,2298,3411
$GC,4542,-0.59,-117.3,392.4,-10.3,186,4547,0.25,2.22,0.00,0.000,4,0.126,0.049,1866,889,3410
$GC,4598,-0.76,-117.3,396.4,-6.0,186,4605,0.10,2.22,0.00,0.000,6,0.067,0.040,1797,2307,3410
$GC,4908,-0.64,-117.3,422.6,-8.6,192,4912,0.17,2.25,0.00,0.000,4,0.126,0.051,1855,889,3410
$GC,4952,-0.76,-117.3,425.4,-5.8,192,4956,0.00,2.22,0.00,0.000,6,0.000,0.040,1850,2304,3410
$GC,5267,-0.85,-117.3,442.1,-5.3,198,5272,0.12,2.22,0.00,0.000,4,0.058,0.043,1778,892,3409
$GC,5403,-0.66,-117.3,454.8,-9.9,200,5407,0.30,2.22,0.00,0.000,6,0.123,0.044,1860,2306,3409
$GC,5763,-0.89,-117.3,475.2,-5.7,206,5768,0.17,2.25,0.00,0.000,4,0.054,0.051,1778,3716,3408
$GC,5807,-0.72,-117.3,478.7,-8.4,206,5811,0.22,2.17,0.00,0.000,6,0.127,0.038,1844,2300,3408
$GC,6122,-0.80,-117.3,496.6,-5.6,212,6126,0.00,2.22,0.00,0.000,4,0.000,0.045,1844,889,3408
$GC,6218,-0.88,-117.3,502.4,-6.1,213,6222,0.10,2.22,0.00,0.000,6,0.066,0.046,1772,2306,3408
$GC,6555,-0.67,-117.3,532.1,-9.0,219,6560,0.25,2.25,0.00,0.000,4,0.132,0.050,1853,889,3408
$GC,6639,-0.80,-117.3,537.8,-6.9,220,6643,0.10,2.22,0.00,0.000,6,0.071,0.040,1788,2304,3408
$GC,6981,-0.65,-117.3,568.3,-9.2,226,6986,0.20,2.22,0.00,0.000,4,0.127,0.046,1853,901,3407
$GC,7059,-0.79,-117.3,574.0,-6.6,227,7063,0.00,2.22,0.00,0.000,6,0.000,0.041,1850,2314,3407
$GC,7408,-1.08,-117.3,597.3,-6.8,233,7413,0.22,2.25,0.00,0.000,4,0.052,0.044,1739,891,3407
$GC,7665,-0.76,-117.3,627.7,-12.5,236,7672,0.35,2.25,0.00,0.000,6,0.138,0.041,1832,2312,3407
$GC,7976,-0.82,-117.3,648.3,-6.4,242,7980,0.00,2.25,0.00,0.000,4,0.000,0.048,1832,895,3406
$GC,8082,-0.88,-117.3,655.5,-6.6,243,8086,0.00,2.22,0.00,0.000,6,0.000,0.044,1825,2304,3406
$GC,8402,-0.88,-117.3,675.1,-6.0,249,8406,0.00,2.22,0.00,0.000,4,0.000,0.050,1825,899,3405
$GC,8441,-0.88,-117.3,677.7,-7.0,249,8445,0.00,2.20,0.00,0.000,6,0.000,0.044,1822,2302,3406
$GC,8767,-0.88,-117.3,695.9,-5.6,255,8771,0.00,2.22,0.00,0.000,4,0.000,0.046,1823,897,3406
$GC,8822,-0.88,-117.3,699.2,-7.0,255,8829,0.00,2.25,0.00,0.000,6,0.000,0.048,1820,2298,3405
$GC,9133,-0.88,-117.3,715.8,-5.4,261,9136,0.00,2.22,0.00,0.000,4,0.000,0.048,1819,898,3405
$GC,9216,-0.88,-117.3,720.9,-6.0,262,9220,0.00,2.22,0.00,0.000,6,0.000,0.047,1809,2305,3405
$GC,9571,-0.88,-117.3,742.2,-6.1,268,9574,0.00,2.25,0.00,0.000,4,0.000,0.049,1809,892,3405
$GC,9654,-0.88,-117.3,748.1,-6.7,269,9658,0.00,2.22,0.00,0.000,6,0.000,0.041,1800,2304,3405
$GC,10010,-0.80,-117.3,774.1,-7.5,275,10014,0.10,2.25,0.00,0.000,4,0.142,0.051,1826,901,3404
$GC,10098,-0.85,-117.3,780.6,-7.6,276,10102,0.00,2.22,0.00,0.000,6,0.000,0.043,1823,2307,3404
$GC,10436,-0.85,-117.3,803.1,-6.8,282,10440,0.00,2.25,0.00,0.000,4,0.000,0.053,1823,892,3404
$GC,10474,-0.85,-117.3,806.1,-7.4,282,10478,0.00,2.25,0.00,0.000,6,0.000,0.048,1817,2309,3404
$GC,10801,-0.85,-117.3,828.8,-7.0,288,10805,0.00,2.25,0.00,0.000,4,0.000,0.047,1817,896,3404
$GC,10873,-0.85,-117.3,834.6,-8.1,289,10877,0.00,2.22,0.00,0.000,6,0.000,0.045,1809,2302,3404
$GC,11233,-0.85,-117.3,860.9,-7.4,295,11237,0.00,2.25,0.00,0.000,4,0.000,0.052,1808,895,3404
$GC,11339,-0.85,-117.3,869.4,-8.1,296,11343,0.00,2.25,0.00,0.000,6,0.000,0.044,1804,2311,3404
$GC,11672,-0.80,-117.3,893.5,-7.3,302,11677,0.10,2.25,0.00,0.000,4,0.143,0.048,1830,900,3403
$GC,11744,-0.88,-117.3,898.6,-7.0,303,11748,0.00,2.22,0.00,0.000,6,0.000,0.044,1823,2304,3403
$GC,12098,-0.92,-117.3,919.3,-5.8,309,12103,0.10,2.25,0.00,0.000,4,0.083,0.051,1777,901,3403
$GC,12148,-0.75,-117.3,923.3,-9.0,309,12153,0.25,2.22,0.00,0.000,6,0.134,0.044,1840,2301,3402
$GC,12459,-0.94,-117.3,938.3,-4.7,314,12463,0.15,2.28,0.00,0.000,4,0.078,0.054,1782,3710,3403
$GC,12503,-0.84,-117.3,941.1,-6.5,314,12508,0.12,2.17,0.00,0.000,6,0.134,0.034,1816,2306,3403
$GC,12818,-0.84,-117.3,958.5,-5.5,320,12822,0.00,2.25,0.00,0.000,4,0.000,0.054,1815,897,3403
$GC,12924,-0.84,-117.3,965.1,-6.0,321,12928,0.00,2.25,0.00,0.000,6,0.000,0.043,1808,2309,3402
$GC,13256,-0.84,-117.3,984.7,-6.0,327,13260,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,898,3403
$STATE,13332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13332,begin apogee
$GC,13340,-0.22,0.0,990.1,6.2,328,13437,0.47,0.00,93.30,1.326,6,0.127,0.000,1951,2308,2931
$STATE,13437,end apogee,CONTROL_FINISHED_OK
$STATE,13438,begin climb
$GC,13440,0.68,117.3,991.7,0.0,329,13543,0.60,0.00,100.50,1.301,6,0.078,0.000,2153,2308,2452
$GC,13816,0.38,117.3,972.8,6.9,336,13821,0.25,2.35,0.00,0.000,4,0.159,0.058,2084,3711,2442
$GC,13872,0.30,142.0,969.4,4.7,336,13898,0.12,2.28,20.83,1.223,6,0.167,0.036,2063,2306,2351
$GC,14245,0.56,157.7,951.8,5.0,343,14264,0.17,2.35,14.25,1.177,4,0.067,0.055,2149,889,2287
$GC,14393,0.38,157.7,940.7,7.9,345,14398,0.25,2.33,0.00,0.000,6,0.146,0.042,2082,2312,2283
$GC,14742,0.51,157.7,921.1,5.7,351,14747,0.12,2.28,0.00,0.000,4,0.067,0.058,2135,3711,2281
$GC,14805,0.21,157.7,916.0,8.7,352,14810,0.38,2.22,0.00,0.000,6,0.167,0.038,2042,2303,2280
$GC,15171,0.60,157.7,894.7,6.0,358,15175,0.22,2.28,0.00,0.000,4,0.071,0.052,2133,892,2280
$GC,15234,0.51,157.7,890.4,6.9,359,15238,0.00,2.25,0.00,0.000,6,0.000,0.044,2133,2305,2280
$GC,15599,0.34,157.7,862.3,7.7,365,15604,0.20,2.28,0.00,0.000,4,0.147,0.054,2072,3713,2280
$GC,15649,0.35,161.1,859.2,5.4,365,15652,0.00,2.22,0.00,0.000,6,0.000,0.035,2079,2293,2279
$GC,15965,0.43,190.7,844.7,4.5,371,15999,0.00,2.38,27.90,1.199,4,0.000,0.058,2079,3707,2152
$GC,16022,0.54,218.6,841.9,4.6,371,16053,0.10,2.25,25.60,1.169,6,0.067,0.041,2133,2295,2039
$GC,16392,0.43,218.6,817.1,6.8,378,16397,0.15,2.28,0.00,0.000,4,0.143,0.054,2102,896,2031
$GC,16431,0.60,254.8,815.1,4.3,378,16467,0.10,2.28,31.00,1.164,6,0.075,0.045,2149,2313,1893
$GC,16819,0.46,254.8,784.8,8.1,385,16824,0.17,2.28,0.00,0.000,4,0.141,0.051,2095,3709,1884
$GC,16882,0.55,254.8,780.4,6.0,386,16886,0.00,2.22,0.00,0.000,6,0.000,0.041,2103,2301,1884
$GC,17248,0.64,259.1,760.9,5.4,392,17257,0.12,2.33,3.80,0.693,4,0.061,0.053,2163,3707,1874
$GC,17280,0.45,259.1,758.0,8.9,392,17285,0.28,2.20,0.00,0.000,6,0.150,0.041,2098,2307,1874
$GC,17612,0.59,275.0,740.7,5.0,398,17634,0.12,2.30,15.85,1.083,4,0.060,0.054,2172,893,1808
$GC,17651,0.46,275.0,737.6,8.4,398,17656,0.25,2.28,0.00,0.000,6,0.133,0.047,2101,2307,1805
$GC,17972,0.61,286.2,720.5,5.1,404,17988,0.12,2.30,10.35,1.012,4,0.060,0.056,2169,3720,1763
$GC,18021,0.40,286.2,716.0,10.8,404,18026,0.32,2.25,0.00,0.000,6,0.141,0.036,2087,2300,1762
$GC,18332,0.93,286.2,696.8,6.5,409,18337,0.32,2.30,0.00,0.000,4,0.089,0.051,2201,3712,1758
$GC,18382,0.78,286.2,692.1,8.4,409,18386,0.15,2.22,0.00,0.000,6,0.163,0.039,2172,2299,1758
$GC,18691,0.60,286.2,661.6,9.9,414,18696,0.15,2.30,0.00,0.000,4,0.153,0.049,2131,3722,1758
$GC,18724,0.55,286.2,658.5,8.9,414,18729,0.00,2.22,0.00,0.000,6,0.000,0.034,2139,2294,1758
$GC,19051,0.55,286.2,633.7,7.6,420,19055,0.00,2.30,0.00,0.000,4,0.000,0.051,2139,3720,1758
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$STATE,27252,end climb,SURFACE_DEPTH_REACHED
$STATE,27252,begin surface coast
$FINISH,0.9,1.024390
$STATE,27282,end surface coast,CONTROL_FINISHED_OK
$STATE,27283,begin surface
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$HUMID,1664
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$TCM_TEMP,17.70
$XPDR_PINGS,106
$24V_AH,23.1,32.520
$10V_AH,10.7,26.606
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$DEVICE_SECS,29.450,268.950,400.175,0.000,0.000,24.117,26.247,310.093,26.500,0.000,0.000,37.248,1800.317,21994.936,552.049,2738.722,768.144,33.361,1904.987,0.000,2693.610,0.000,0.529,0.000
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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,44348,730
$CAP_FILE_SIZE,215341,0
$CFSIZE,260165632,242204672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210809,030443,5010.708,-14442.753,29,1.4,36,18.6