version: 66.04
glider: 144
mission: 15
dive: 243
start: 8 30 109 15 35 28
data:
$ID,144
$MISSION,15
$DIVE,243
$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,-65660.617
$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,36
$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
$GPS1,152601,5012.366,-14509.568,39,1.1,39,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-62.2
$GPS2,153432,5012.274,-14509.595,14,1.6,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.026,-0.166
$KALMAN_X,-10748.9,121.5,-75.2,11854.5,465.4
$KALMAN_Y,4558.0,-7.9,-178.6,-20486.4,403.8
$MHEAD_RNG_PITCHd_Wd,170.3,33939,-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,-42.00,0.000,2,0.000,0.000,100,2305,2776
$GC,61,-0.68,-117.3,3.8,-6.5,4,88,7.07,2.33,-13.77,0.000,4,0.235,0.064,1839,3702,3413
$GC,191,-0.47,-117.3,25.1,-14.7,15,198,0.20,2.17,0.00,0.000,6,0.127,0.034,1895,2308,3414
$GC,518,-0.58,-117.3,53.6,-6.4,46,522,0.10,2.25,0.00,0.000,4,0.066,0.040,1823,884,3416
$GC,681,-0.44,-117.3,71.0,-11.3,60,688,0.30,2.25,0.00,0.000,6,0.123,0.037,1904,2315,3416
$GC,1011,-0.59,-117.3,92.7,-6.1,82,1013,0.12,0.00,0.00,0.000,6,0.057,0.000,1822,2315,3417
$GC,1320,-0.45,-117.3,127.7,-11.6,97,1325,0.25,2.28,0.00,0.000,4,0.122,0.041,1903,889,3418
$GC,1360,-0.68,-117.3,131.0,-7.1,99,1365,0.17,2.22,0.00,0.000,6,0.048,0.041,1807,2304,3417
$GC,1701,-0.53,-117.3,167.2,-10.4,113,1706,0.22,2.28,0.00,0.000,4,0.126,0.051,1872,3714,3418
$GC,1730,-0.63,-117.3,169.4,-7.3,114,1734,0.00,2.20,0.00,0.000,6,0.000,0.037,1872,2291,3418
$GC,2065,-0.78,-117.3,189.9,-5.7,125,2070,0.15,2.20,0.00,0.000,4,0.054,0.044,1779,898,3417
$GC,2093,-0.64,-117.3,192.4,-9.6,126,2098,0.32,2.22,0.00,0.000,6,0.127,0.038,1866,2309,3417
$GC,2429,-0.75,-117.3,212.4,-5.7,137,2433,0.10,2.25,0.00,0.000,4,0.071,0.041,1801,888,3416
$GC,2457,-0.68,-117.3,214.8,-9.1,138,2462,0.20,2.25,0.00,0.000,6,0.129,0.044,1851,2311,3417
$GC,2792,-0.74,-117.3,237.5,-6.5,149,2796,0.00,2.25,0.00,0.000,4,0.000,0.043,1851,894,3416
$GC,2842,-0.83,-117.3,241.0,-6.7,150,2847,0.12,2.22,0.00,0.000,6,0.060,0.039,1777,2303,3415
$GC,3155,-0.61,-117.3,272.5,-10.4,160,3157,0.30,0.00,0.00,0.000,6,0.129,0.000,1868,2303,3414
$GC,3461,-0.75,-117.3,289.6,-5.5,170,3466,0.12,2.22,0.00,0.000,4,0.059,0.048,1793,899,3414
$GC,3529,-0.61,-117.3,295.7,-9.8,172,3534,0.28,2.22,0.00,0.000,6,0.121,0.041,1865,2307,3414
$GC,3863,-0.75,-117.3,314.1,-5.2,179,3864,0.10,0.00,0.00,0.000,6,0.070,0.000,1798,2307,3413
$GC,4165,-0.63,-117.3,340.5,-9.0,184,4170,0.20,2.25,0.00,0.000,4,0.122,0.044,1864,898,3413
$GC,4215,-0.79,-117.3,344.2,-6.1,184,4220,0.12,2.22,0.00,0.000,6,0.058,0.044,1785,2306,3413
$GC,4526,-0.62,-117.3,374.0,-9.9,189,4531,0.22,2.22,0.00,0.000,4,0.126,0.044,1860,899,3412
$GC,4581,-0.78,-117.3,378.2,-6.1,189,4588,0.08,2.22,0.00,0.000,6,0.082,0.040,1796,2308,3412
$GC,4892,-0.66,-117.3,404.2,-8.6,195,4897,0.17,2.25,0.00,0.000,4,0.123,0.044,1854,901,3411
$GC,4941,-0.80,-117.3,407.6,-5.8,195,4946,0.10,2.22,0.00,0.000,6,0.069,0.040,1785,2306,3412
$GC,5251,-0.64,-117.3,435.1,-9.1,200,5256,0.22,2.25,0.00,0.000,4,0.126,0.047,1858,900,3411
$GC,5284,-0.76,-117.3,437.5,-6.1,200,5288,0.00,2.22,0.00,0.000,6,0.000,0.042,1851,2304,3411
$GC,5611,-0.86,-117.3,456.6,-5.9,206,5616,0.12,2.22,0.00,0.000,4,0.062,0.042,1774,898,3410
$GC,5638,-0.74,-117.3,459.1,-9.4,206,5643,0.25,2.22,0.00,0.000,6,0.130,0.046,1838,2303,3410
$GC,5970,-0.80,-117.3,480.4,-6.3,212,5974,0.00,2.22,0.00,0.000,4,0.000,0.045,1838,900,3410
$GC,6026,-0.88,-117.3,484.2,-7.3,212,6030,0.10,2.22,0.00,0.000,6,0.070,0.042,1776,2308,3410
$GC,6336,-0.70,-117.3,513.9,-9.8,217,6341,0.20,2.25,0.00,0.000,4,0.133,0.049,1841,897,3410
$GC,6381,-0.81,-117.3,517.4,-7.3,217,6385,0.00,2.22,0.00,0.000,6,0.000,0.045,1837,2302,3410
$GC,6698,-0.86,-117.3,537.8,-6.5,223,6702,0.10,2.25,0.00,0.000,4,0.068,0.049,1777,889,3409
$GC,6742,-0.68,-117.3,542.1,-9.7,223,6747,0.30,2.25,0.00,0.000,6,0.123,0.044,1859,2308,3409
$GC,7058,-0.84,-117.3,559.7,-5.4,229,7063,0.15,2.25,0.00,0.000,4,0.055,0.048,1778,899,3409
$GC,7091,-0.68,-117.3,562.6,-9.4,229,7095,0.28,2.22,0.00,0.000,6,0.124,0.044,1851,2312,3408
$GC,7424,-0.81,-117.3,580.2,-5.1,235,7426,0.10,0.00,0.00,0.000,6,0.073,0.000,1791,2313,3408
$GC,7726,-0.70,-117.3,604.5,-8.2,240,7730,0.17,2.28,0.00,0.000,4,0.126,0.044,1848,895,3408
$GC,7788,-0.85,-117.3,608.7,-6.2,241,7793,0.12,2.25,0.00,0.000,6,0.061,0.044,1776,2310,3408
$GC,8154,-0.69,-117.3,642.6,-9.6,247,8158,0.22,2.28,0.00,0.000,4,0.131,0.050,1849,892,3407
$GC,8203,-0.84,-117.3,646.4,-6.6,247,8208,0.12,2.25,0.00,0.000,6,0.062,0.041,1776,2305,3408
$GC,8513,-0.69,-117.3,675.7,-9.7,252,8515,0.25,0.00,0.00,0.000,6,0.127,0.000,1851,2305,3408
$GC,8817,-0.84,-117.3,693.8,-5.9,257,8822,0.12,2.25,0.00,0.000,4,0.064,0.044,1778,899,3407
$GC,8850,-0.71,-117.3,696.9,-9.8,257,8855,0.28,2.22,0.00,0.000,6,0.125,0.045,1851,2306,3407
$GC,9182,-0.86,-117.3,716.5,-5.8,263,9184,0.12,0.00,0.00,0.000,6,0.065,0.000,1781,2306,3407
$GC,9485,-0.73,-117.3,742.2,-8.6,268,9490,0.17,2.25,0.00,0.000,4,0.129,0.051,1839,901,3407
$GC,9534,-0.85,-117.3,745.6,-6.2,268,9539,0.08,2.25,0.00,0.000,6,0.084,0.043,1789,2313,3407
$GC,9845,-0.76,-117.3,768.2,-7.3,273,9847,0.17,0.00,0.00,0.000,6,0.126,0.000,1840,2313,3406
$GC,10148,-0.88,-117.3,782.7,-4.7,278,10153,0.12,2.28,0.00,0.000,4,0.067,0.046,1778,900,3406
$GC,10171,-0.88,-117.3,784.4,-6.8,278,10176,0.15,2.25,0.00,0.000,6,0.135,0.041,1810,2312,3406
$GC,10508,-0.88,-117.3,805.2,-6.1,284,10512,0.00,2.28,0.00,0.000,4,0.000,0.049,1810,897,3406
$GC,10536,-0.88,-117.3,807.0,-6.2,284,10540,0.00,2.25,0.00,0.000,6,0.000,0.043,1806,2305,3406
$GC,10868,-0.88,-117.3,828.8,-6.6,290,10869,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3406
$GC,11170,-0.88,-117.3,850.3,-7.1,295,11174,0.00,2.25,0.00,0.000,4,0.000,0.053,1806,901,3406
$GC,11237,-0.88,-117.3,855.6,-7.4,296,11241,0.00,2.28,0.00,0.000,6,0.000,0.041,1797,2303,3406
$GC,11604,-0.82,-117.3,884.4,-7.9,302,11608,0.10,2.25,0.00,0.000,4,0.142,0.047,1824,895,3405
$GC,11653,-0.89,-117.3,888.2,-7.4,302,11657,0.00,2.25,0.00,0.000,6,0.000,0.046,1822,2305,3406
$GC,11964,-0.94,-117.3,908.2,-6.5,307,11968,0.10,2.28,0.00,0.000,4,0.083,0.048,1777,891,3405
$GC,11991,-0.85,-117.3,910.5,-9.4,307,11996,0.17,2.25,0.00,0.000,6,0.137,0.047,1816,2304,3406
$GC,12330,-0.89,-117.3,933.1,-6.6,313,12334,0.00,2.28,0.00,0.000,4,0.000,0.053,1816,896,3405
$GC,12362,-0.89,-117.3,935.6,-7.2,313,12367,0.00,2.28,0.00,0.000,6,0.000,0.042,1810,2302,3405
$GC,12697,-0.89,-117.3,958.0,-6.7,319,12701,0.00,2.25,0.00,0.000,4,0.000,0.051,1809,902,3405
$GC,12741,-0.89,-117.3,961.5,-7.7,319,12745,0.00,2.25,0.00,0.000,6,0.000,0.044,1800,2307,3405
$GC,13062,-0.89,-117.3,984.0,-7.0,325,13066,0.00,2.28,0.00,0.000,4,0.000,0.053,1800,899,3405
$GC,13134,-0.89,-117.3,989.7,-8.1,326,13138,0.00,2.25,0.00,0.000,6,0.000,0.048,1793,2304,3405
$STATE,13142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13142,begin apogee
$GC,13148,-0.22,0.0,990.4,7.8,326,13250,0.47,0.00,94.62,1.320,6,0.129,0.000,1947,2303,2929
$STATE,13251,end apogee,CONTROL_FINISHED_OK
$STATE,13251,begin climb
$GC,13253,0.68,117.3,993.4,0.0,328,13359,0.62,0.00,100.50,1.292,6,0.078,0.000,2157,2303,2451
$GC,13675,0.39,117.3,968.4,7.5,335,13677,0.28,0.00,0.00,0.000,6,0.156,0.000,2085,2303,2441
$GC,13979,0.43,149.5,954.7,4.4,340,14012,0.00,2.42,26.42,1.234,4,0.000,0.055,2085,3713,2320
$GC,14043,0.43,149.5,951.6,5.6,341,14047,0.00,2.28,0.00,0.000,6,0.000,0.042,2092,2310,2318
$GC,14409,0.47,180.5,935.0,4.5,347,14438,0.00,0.00,27.52,1.229,6,0.000,0.000,2092,2311,2194
$GC,14712,0.55,211.8,921.7,4.4,352,14747,0.10,2.38,27.67,1.220,4,0.074,0.057,2138,3709,2066
$GC,14770,0.38,211.8,917.6,8.0,352,14777,0.25,2.28,0.00,0.000,6,0.159,0.038,2083,2305,2065
$GC,15080,0.55,250.4,904.3,4.2,358,15120,0.12,2.42,33.72,1.223,4,0.068,0.058,2148,892,1910
$GC,15144,0.55,250.4,900.1,6.5,359,15149,0.12,2.33,0.00,0.000,6,0.132,0.047,2116,2303,1906
$GC,15509,0.55,250.4,876.9,6.4,365,15513,0.00,2.30,0.00,0.000,4,0.000,0.056,2116,3712,1901
$GC,15571,0.55,250.4,872.2,7.7,366,15575,0.00,2.22,0.00,0.000,6,0.000,0.040,2124,2298,1901
$GC,15942,0.55,250.4,844.5,7.5,372,15946,0.00,2.30,0.00,0.000,4,0.000,0.053,2124,3712,1901
$GC,15969,0.51,250.4,842.0,9.0,372,15974,0.10,2.22,0.00,0.000,6,0.166,0.038,2110,2304,1900
$GC,16301,0.55,250.4,819.2,6.9,378,16305,0.00,2.30,0.00,0.000,4,0.000,0.052,2110,3718,1899
$GC,16323,0.55,250.4,817.3,7.6,378,16327,0.00,2.22,0.00,0.000,6,0.000,0.041,2118,2303,1900
$GC,16666,0.55,250.4,792.3,7.4,384,16670,0.00,2.28,0.00,0.000,4,0.000,0.055,2118,3712,1899
$GC,16705,0.55,250.4,788.8,9.0,384,16709,0.00,2.22,0.00,0.000,6,0.000,0.039,2128,2293,1899
$GC,17026,0.55,250.4,762.0,8.4,390,17030,0.00,2.30,0.00,0.000,4,0.000,0.051,2128,3713,1899
$GC,17053,0.48,250.4,759.3,9.4,390,17058,0.12,2.22,0.00,0.000,6,0.150,0.035,2105,2295,1899
$GC,17385,0.57,250.4,737.4,6.4,396,17389,0.00,2.25,0.00,0.000,4,0.000,0.048,2114,887,1898
$GC,17414,0.68,250.4,735.4,6.0,396,17419,0.12,2.25,0.00,0.000,6,0.066,0.039,2175,2313,1898
$GC,17752,0.44,250.4,699.8,10.8,402,17756,0.25,2.25,0.00,0.000,4,0.144,0.055,2098,3716,1898
$GC,17807,0.54,250.4,695.4,5.8,402,17814,0.00,2.20,0.00,0.000,6,0.000,0.038,2106,2301,1898
$GC,18118,0.64,262.1,679.4,5.1,408,18133,0.12,2.25,9.62,0.986,4,0.061,0.049,2187,896,1862
$GC,18149,0.47,262.1,676.7,7.6,408,18154,0.30,2.22,0.00,0.000,6,0.135,0.040,2100,2305,1860
$GC,18482,0.64,276.9,659.7,5.0,414,18502,0.12,2.30,14.32,1.023,4,0.060,0.054,2171,3707,1801
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$STATE,27329,end climb,SURFACE_DEPTH_REACHED
$STATE,27329,begin surface coast
$FINISH,1.0,1.024622
$STATE,27341,end surface coast,CONTROL_FINISHED_OK
$STATE,27341,begin surface
$SM_CCo,27419,0.00,0.000,0,0,1647,314.97
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$IRIDIUM_FIX,4953.05,-14511.49,241198,151541
$TT8_MAMPS,0.028379
$HUMID,1685
$INTERNAL_PRESSURE,7.45146
$TCM_TEMP,16.80
$XPDR_PINGS,93
$24V_AH,22.6,36.718
$10V_AH,10.7,30.280
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$DEVICE_SECS,29.175,278.600,367.800,0.000,0.000,52.068,57.055,211.161,23.250,0.000,0.000,15.715,1740.608,22497.377,539.880,2395.687,749.477,33.403,1776.738,0.000,2388.355,0.000,0.528,0.000
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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,41214,712
$CAP_FILE_SIZE,209197,0
$CFSIZE,260165632,239816704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300809,231406,5009.410,-14509.639,48,1.1,60,18.5