version: 66.04
glider: 144
mission: 15
dive: 344
start: 10 3 109 22 3 50
data:
$ID,144
$MISSION,15
$DIVE,344
$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,-67993.312
$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,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
$GPS1,215707,5015.975,-14436.008,37,1.1,37,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-59.6
$GPS2,220256,5015.971,-14435.993,14,1.5,14,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.128,0.109
$KALMAN_X,-57015.6,67.9,-142.6,97957.6,-937.2
$KALMAN_Y,21412.9,-200.8,46.2,-30528.9,754.6
$MHEAD_RNG_PITCHd_Wd,30.9,11834,-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,-117.3,0.0,0.0,0,61,0.00,0.00,-41.70,0.000,2,0.000,0.000,99,2311,2604
$GC,64,-0.68,-117.3,3.5,-5.0,4,98,7.25,2.33,-19.85,0.000,4,0.244,0.059,1846,886,3413
$GC,351,-0.63,-117.3,38.6,-12.1,29,358,0.10,2.25,0.00,0.000,6,0.139,0.038,1863,2309,3415
$GC,678,-0.63,-117.3,68.4,-8.0,60,682,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,889,3415
$GC,779,-0.65,-117.3,77.3,-8.4,68,785,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2308,3416
$GC,1106,-0.65,-117.3,104.4,-8.3,86,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2308,3416
$GC,1416,-0.65,-117.3,128.9,-7.6,101,1420,0.00,2.22,0.00,0.000,4,0.000,0.041,1863,893,3416
$GC,1471,-0.69,-117.3,133.2,-7.4,103,1475,0.00,2.22,0.00,0.000,6,0.000,0.042,1862,2302,3417
$GC,1786,-0.73,-117.3,153.8,-5.7,117,1790,0.00,2.22,0.00,0.000,4,0.000,0.043,1862,891,3415
$GC,1855,-0.80,-117.3,158.0,-6.2,119,1860,0.10,2.22,0.00,0.000,6,0.064,0.036,1778,2308,3416
$GC,2190,-0.69,-117.3,192.7,-10.4,130,2195,0.22,2.25,0.00,0.000,4,0.127,0.042,1849,891,3415
$GC,2234,-0.74,-117.3,196.2,-6.7,131,2238,0.00,2.25,0.00,0.000,6,0.000,0.038,1849,2311,3415
$GC,2553,-0.78,-117.3,214.9,-5.8,142,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2311,3415
$GC,2859,-0.83,-117.3,234.2,-6.5,152,2861,0.10,0.00,0.00,0.000,6,0.066,0.000,1777,2311,3414
$GC,3165,-0.73,-117.3,265.9,-10.7,162,3170,0.17,2.25,0.00,0.000,4,0.123,0.042,1837,889,3414
$GC,3204,-0.76,-117.3,269.2,-7.0,163,3208,0.00,2.25,0.00,0.000,6,0.000,0.045,1836,2306,3414
$GC,3528,-0.79,-117.3,290.5,-6.4,174,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2306,3413
$GC,3863,-0.81,-117.3,310.9,-5.9,182,3867,0.00,2.25,0.00,0.000,4,0.000,0.043,1836,884,3413
$GC,3902,-0.84,-117.3,313.6,-6.6,182,3906,0.00,2.25,0.00,0.000,6,0.000,0.039,1829,2308,3413
$GC,4222,-0.84,-117.3,334.2,-6.5,188,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2308,3412
$GC,4525,-0.84,-117.3,354.1,-6.6,193,4529,0.00,2.25,0.00,0.000,4,0.000,0.047,1829,898,3412
$GC,4574,-0.84,-117.3,357.9,-7.5,193,4578,0.00,2.22,0.00,0.000,6,0.000,0.041,1822,2302,3411
$GC,4890,-0.84,-117.3,380.8,-7.3,199,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2302,3412
$GC,5193,-0.84,-117.3,401.5,-6.7,204,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2302,3411
$GC,5496,-0.84,-117.3,419.7,-5.9,209,5500,0.00,2.28,0.00,0.000,4,0.000,0.050,1822,889,3410
$GC,5528,-0.84,-117.3,421.8,-6.2,209,5532,0.00,2.28,0.00,0.000,6,0.000,0.039,1814,2304,3410
$GC,5863,-0.84,-117.3,442.7,-6.3,215,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2303,3410
$GC,6163,-0.84,-117.3,462.9,-6.7,220,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2303,3409
$GC,6467,-0.84,-117.3,484.4,-7.1,225,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2303,3409
$GC,6770,-0.84,-117.3,506.3,-7.2,230,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2303,3409
$GC,7073,-0.84,-117.3,528.4,-7.3,235,7077,0.00,2.28,0.00,0.000,4,0.000,0.051,1814,886,3408
$GC,7111,-0.84,-117.3,531.5,-7.9,235,7115,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2312,3409
$GC,7432,-0.84,-117.3,556.1,-7.7,241,7436,0.00,2.28,0.00,0.000,4,0.000,0.048,1808,888,3409
$GC,7464,-0.84,-117.3,559.0,-8.9,241,7469,0.00,2.28,0.00,0.000,6,0.000,0.042,1799,2300,3408
$GC,7799,-0.81,-117.3,585.9,-8.2,247,7801,0.10,0.00,0.00,0.000,6,0.140,0.000,1827,2300,3408
$GC,8100,-0.85,-117.3,605.5,-6.3,252,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2300,3408
$GC,8403,-0.88,-117.3,622.7,-5.6,257,8407,0.00,2.25,0.00,0.000,4,0.000,0.049,1827,895,3408
$GC,8437,-0.92,-117.3,624.7,-5.6,257,8441,0.08,2.25,0.00,0.000,6,0.081,0.044,1763,2305,3407
$GC,8763,-0.84,-117.3,651.2,-8.2,263,8765,0.20,0.00,0.00,0.000,6,0.127,0.000,1823,2306,3407
$GC,9066,-0.87,-117.3,665.9,-4.7,268,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2305,3407
$GC,9370,-0.90,-117.3,681.6,-5.3,273,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2306,3407
$GC,9672,-0.94,-117.3,698.9,-5.8,278,9677,0.10,2.28,0.00,0.000,4,0.067,0.049,1763,889,3406
$GC,9711,-0.84,-117.3,702.3,-9.2,278,9716,0.22,2.28,0.00,0.000,6,0.127,0.042,1821,2312,3406
$GC,10032,-0.88,-117.3,723.0,-6.4,284,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2312,3407
$GC,10335,-0.91,-117.3,742.0,-6.3,289,10339,0.00,2.30,0.00,0.000,4,0.000,0.047,1821,889,3407
$GC,10374,-0.95,-117.3,744.6,-6.3,289,10379,0.10,2.28,0.00,0.000,6,0.070,0.040,1762,2310,3406
$GC,10695,-0.86,-117.3,773.4,-9.1,295,10700,0.17,2.28,0.00,0.000,4,0.127,0.050,1811,3712,3406
$GC,10722,-0.86,-117.3,775.5,-7.4,295,10725,0.00,2.20,0.00,0.000,6,0.000,0.038,1811,2301,3405
$GC,11060,-0.86,-117.3,796.3,-6.2,301,11064,0.00,2.25,0.00,0.000,4,0.000,0.050,1811,894,3405
$GC,11092,-0.86,-117.3,798.6,-7.2,301,11096,0.00,2.25,0.00,0.000,6,0.000,0.042,1808,2301,3406
$GC,11425,-0.86,-117.3,818.6,-6.0,307,11426,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3405
$GC,11727,-0.86,-117.3,837.3,-6.2,312,11729,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2302,3405
$GC,12031,-0.86,-117.3,857.4,-6.6,317,12033,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3405
$GC,12334,-0.86,-117.3,877.6,-6.6,322,12338,0.00,2.30,0.00,0.000,4,0.000,0.047,1808,887,3405
$GC,12361,-0.86,-117.3,879.6,-7.3,322,12365,0.00,2.28,0.00,0.000,6,0.000,0.044,1806,2303,3405
$GC,12693,-0.86,-117.3,901.6,-6.6,328,12695,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2303,3405
$GC,12997,-0.86,-117.3,921.3,-6.5,333,13001,0.00,2.28,0.00,0.000,4,0.000,0.053,1806,896,3405
$GC,13035,-0.86,-117.3,924.0,-6.8,333,13039,0.00,2.28,0.00,0.000,6,0.000,0.041,1797,2313,3405
$GC,13362,-0.86,-117.3,944.7,-6.2,339,13363,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2314,3404
$GC,13665,-0.86,-117.3,961.9,-5.7,344,13669,0.00,2.30,0.00,0.000,4,0.000,0.048,1797,889,3405
$GC,13720,-0.86,-117.3,965.3,-6.1,344,13727,0.00,2.30,0.00,0.000,6,0.000,0.043,1794,2300,3404
$GC,14030,-0.86,-117.3,982.4,-5.5,350,14031,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2300,3404
$STATE,14209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14209,begin apogee
$GC,14215,-0.22,0.0,992.4,5.6,353,14314,0.50,0.00,96.47,1.302,6,0.120,0.000,1952,2300,2930
$STATE,14315,end apogee,CONTROL_FINISHED_OK
$STATE,14315,begin climb
$GC,14318,0.68,117.3,993.0,0.0,354,14427,0.60,2.58,102.10,1.272,4,0.074,0.059,2155,3705,2451
$GC,14463,0.47,117.3,987.5,8.1,357,14468,0.28,2.38,0.00,0.000,6,0.172,0.035,2100,2308,2447
$GC,14823,0.45,117.3,966.7,5.5,363,14824,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2308,2440
$GC,15127,0.43,127.8,951.1,5.1,368,15137,0.00,0.00,8.07,1.045,6,0.000,0.000,2101,2307,2410
$GC,15430,0.43,146.0,936.2,4.9,373,15449,0.00,0.00,17.45,1.175,6,0.000,0.000,2100,2308,2335
$GC,15733,0.46,168.4,921.8,4.7,378,15755,0.00,0.00,20.58,1.183,6,0.000,0.000,2100,2307,2243
$GC,16036,0.49,193.3,907.8,4.7,383,16065,0.00,2.40,22.25,1.180,4,0.000,0.053,2101,3720,2143
$GC,16083,0.51,204.8,905.2,5.1,383,16101,0.00,2.30,11.85,1.089,6,0.000,0.039,2108,2299,2096
$GC,16403,0.53,221.7,889.4,4.9,389,16421,0.00,0.00,15.93,1.135,6,0.000,0.000,2109,2299,2027
$GC,16707,0.56,229.4,873.5,5.2,394,16721,0.00,2.38,7.88,1.005,4,0.000,0.057,2108,3712,1994
$GC,16739,0.58,229.4,871.5,6.0,394,16743,0.00,2.25,0.00,0.000,6,0.000,0.038,2118,2302,1994
$GC,17070,0.58,229.4,851.7,6.0,400,17072,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2302,1992
$GC,17373,0.58,229.4,833.1,6.2,405,17375,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2302,1991
$GC,17677,0.58,229.4,813.4,6.6,410,17681,0.00,2.30,0.00,0.000,4,0.000,0.051,2118,3715,1990
$GC,17704,0.58,229.4,811.0,9.1,410,17709,0.00,2.25,0.00,0.000,6,0.000,0.034,2129,2294,1990
$GC,18042,0.58,229.4,785.3,7.7,416,18044,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2294,1990
$GC,18346,0.56,229.4,762.3,7.5,421,18350,0.00,2.33,0.00,0.000,4,0.000,0.049,2129,3722,1989
$GC,18380,0.52,229.4,759.5,8.1,421,18384,0.12,2.22,0.00,0.000,6,0.149,0.033,2107,2295,1989
$GC,18712,0.56,230.7,740.9,5.5,427,18716,0.00,2.28,0.00,0.000,4,0.000,0.054,2116,887,1989
$GC,18753,0.62,230.7,738.6,6.8,427,18757,0.00,2.28,0.00,0.000,6,0.000,0.041,2116,2312,1989
$GC,19075,0.65,241.2,721.9,5.1,433,19093,0.10,0.00,11.02,1.006,6,0.071,0.000,2179,2312,1947
$GC,19377,0.54,241.2,695.1,9.0,438,19382,0.20,2.28,0.00,0.000,4,0.143,0.054,2119,3709,1945
$GC,19415,0.54,241.2,692.2,5.9,438,19419,0.00,2.22,0.00,0.000,6,0.000,0.033,2127,2298,1944
$GC,19737,0.54,244.3,675.0,5.4,444,19743,0.00,0.00,3.88,0.661,6,0.000,0.000,2126,2298,1935
$GC,20039,0.54,244.3,658.1,5.6,449,20043,0.00,2.28,0.00,0.000,4,0.000,0.048,2126,3710,1934
$GC,20080,0.52,244.3,655.3,7.3,449,20085,0.10,2.20,0.00,0.000,6,0.147,0.033,2114,2303,1933
$GC,20401,0.56,244.3,636.8,5.7,455,20405,0.00,2.25,0.00,0.000,4,0.000,0.054,2122,898,1934
$GC,20435,0.62,244.3,634.5,6.5,455,20439,0.00,2.22,0.00,0.000,6,0.000,0.043,2122,2315,1933
$GC,20773,0.62,244.3,613.0,6.4,461,20777,0.00,2.25,0.00,0.000,4,0.000,0.055,2122,3717,1933
$GC,20806,0.62,244.3,610.6,7.4,461,20810,0.00,2.22,0.00,0.000,6,0.000,0.033,2132,2306,1933
$GC,21140,0.62,244.3,588.8,6.5,467,21141,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2306,1933
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$STATE,30098,end climb,SURFACE_DEPTH_REACHED
$STATE,30098,begin surface coast
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$STATE,30129,end surface coast,CONTROL_FINISHED_OK
$STATE,30130,begin surface
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$XPDR_PINGS,58
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$10V_AH,10.6,43.005
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$DEVICE_SECS,18.700,221.000,404.625,0.000,0.000,28.049,40.105,149.694,14.500,0.000,0.000,16.200,1730.377,25350.559,560.683,2256.154,647.476,33.373,1689.583,0.000,2246.852,0.000,0.528,0.000
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$DATA_FILE_SIZE,47447,784
$CAP_FILE_SIZE,184597,0
$CFSIZE,260165632,231890944
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