version: 66.04
glider: 144
mission: 15
dive: 347
start: 10 4 109 22 55 20
data:
$ID,144
$MISSION,15
$DIVE,347
$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,-68055.5
$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,33
$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
$GPS1,224854,5017.960,-14429.441,24,1.2,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-63.8
$GPS2,225426,5017.973,-14429.427,11,1.3,11,18.7
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.010,-0.164
$KALMAN_X,-57699.2,105.5,109.3,106102.3,-424.0
$KALMAN_Y,22949.6,-208.3,86.7,-28393.9,988.9
$MHEAD_RNG_PITCHd_Wd,157.7,44379,-12.7,-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,-0.69,-111.6,0.0,0.0,0,51,0.00,0.00,-31.77,0.000,2,0.000,0.000,100,2291,2488
$GC,54,-0.70,-117.3,3.2,-5.1,3,91,7.18,2.35,-24.33,0.000,4,0.238,0.066,1831,3706,3411
$GC,190,-0.63,-117.3,19.5,-13.3,15,195,0.12,2.22,0.00,0.000,6,0.130,0.031,1865,2292,3413
$GC,515,-0.63,-117.3,55.5,-9.7,45,519,0.00,2.22,0.00,0.000,4,0.000,0.041,1865,886,3414
$GC,605,-0.68,-117.3,63.5,-8.7,52,612,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2302,3414
$GC,927,-0.68,-117.3,91.1,-8.5,77,928,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2302,3415
$GC,1236,-0.68,-117.3,116.3,-8.1,92,1239,0.00,2.25,0.00,0.000,4,0.000,0.041,1862,887,3415
$GC,1269,-0.71,-117.3,119.1,-9.0,93,1273,0.00,2.28,0.00,0.000,6,0.000,0.038,1859,2308,3416
$GC,1585,-0.74,-117.3,142.3,-7.0,108,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2309,3416
$GC,1893,-0.79,-117.3,163.1,-6.7,120,1897,0.12,2.25,0.00,0.000,4,0.054,0.040,1777,896,3416
$GC,1933,-0.70,-117.3,167.0,-11.5,121,1938,0.28,2.22,0.00,0.000,6,0.123,0.038,1850,2303,3415
$GC,2263,-0.74,-117.3,189.1,-6.5,132,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2304,3416
$GC,2569,-0.80,-117.3,209.8,-6.9,142,2573,0.10,2.22,0.00,0.000,4,0.068,0.040,1781,895,3414
$GC,2614,-0.73,-117.3,214.5,-11.8,143,2618,0.25,2.22,0.00,0.000,6,0.120,0.042,1846,2304,3415
$GC,2937,-0.77,-117.3,236.4,-6.0,154,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2303,3414
$GC,3244,-0.83,-117.3,253.2,-5.5,164,3248,0.10,2.22,0.00,0.000,4,0.067,0.041,1779,893,3414
$GC,3288,-0.75,-117.3,257.3,-9.8,165,3293,0.22,2.20,0.00,0.000,6,0.121,0.038,1836,2303,3413
$GC,3612,-0.78,-117.3,279.7,-7.0,176,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2303,3413
$GC,3919,-0.82,-117.3,300.7,-6.7,186,3923,0.00,2.20,0.00,0.000,4,0.000,0.043,1836,896,3413
$GC,3952,-0.86,-117.3,303.2,-7.1,186,3957,0.10,2.22,0.00,0.000,6,0.067,0.040,1767,2302,3413
$GC,4284,-0.76,-117.3,337.4,-10.6,192,4289,0.20,2.28,0.00,0.000,4,0.130,0.043,1832,888,3412
$GC,4340,-0.80,-117.3,341.8,-6.7,192,4346,0.00,2.25,0.00,0.000,6,0.000,0.038,1824,2296,3412
$GC,4649,-0.80,-117.3,361.6,-6.3,198,4653,0.00,2.25,0.00,0.000,4,0.000,0.045,1824,890,3411
$GC,4670,-0.80,-117.3,363.3,-7.2,198,4674,0.00,2.25,0.00,0.000,6,0.000,0.040,1821,2296,3411
$GC,5014,-0.80,-117.3,385.6,-6.6,204,5017,0.00,2.22,0.00,0.000,4,0.000,0.047,1821,899,3411
$GC,5070,-0.80,-117.3,389.6,-6.6,204,5074,0.00,2.22,0.00,0.000,6,0.000,0.046,1811,2303,3411
$GC,5379,-0.80,-117.3,411.7,-7.2,209,5383,0.00,2.22,0.00,0.000,4,0.000,0.048,1811,899,3411
$GC,5417,-0.80,-117.3,414.8,-7.9,209,5421,0.00,2.22,0.00,0.000,6,0.000,0.042,1808,2301,3411
$GC,5750,-0.80,-117.3,440.1,-7.6,215,5754,0.00,2.30,0.00,0.000,4,0.000,0.057,1798,3722,3410
$GC,5772,-0.80,-117.3,441.9,-7.9,215,5776,0.12,2.20,0.00,0.000,6,0.117,0.031,1833,2300,3410
$GC,6109,-0.85,-117.3,462.3,-5.9,221,6113,0.00,2.25,0.00,0.000,4,0.000,0.044,1834,894,3410
$GC,6153,-0.90,-117.3,464.9,-6.3,221,6158,0.12,2.25,0.00,0.000,6,0.060,0.043,1759,2306,3410
$GC,6469,-0.80,-117.3,494.9,-9.7,227,6473,0.20,2.28,0.00,0.000,4,0.131,0.050,1824,889,3409
$GC,6501,-0.82,-117.3,497.6,-7.2,227,6506,0.00,2.25,0.00,0.000,6,0.000,0.046,1821,2301,3409
$GC,6828,-0.84,-117.3,517.7,-6.2,233,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2301,3409
$GC,7132,-0.87,-117.3,535.9,-5.9,238,7135,0.00,2.25,0.00,0.000,4,0.000,0.047,1821,894,3409
$GC,7176,-0.90,-117.3,538.9,-6.7,238,7180,0.00,2.25,0.00,0.000,6,0.000,0.039,1812,2305,3409
$GC,7496,-0.90,-117.3,558.8,-6.2,244,7500,0.00,2.25,0.00,0.000,4,0.000,0.051,1812,893,3408
$GC,7535,-0.90,-117.3,561.3,-6.1,244,7538,0.00,2.25,0.00,0.000,6,0.000,0.040,1808,2304,3408
$GC,7867,-0.90,-117.3,582.3,-6.3,250,7871,0.00,2.25,0.00,0.000,4,0.000,0.050,1808,894,3408
$GC,7900,-0.90,-117.3,584.6,-6.7,250,7904,0.00,2.25,0.00,0.000,6,0.000,0.047,1805,2307,3408
$GC,8233,-0.90,-117.3,606.3,-6.6,256,8236,0.00,2.25,0.00,0.000,4,0.000,0.046,1804,893,3407
$GC,8271,-0.90,-117.3,609.3,-7.5,256,8275,0.00,2.25,0.00,0.000,6,0.000,0.041,1795,2313,3408
$GC,8606,-0.90,-117.3,634.6,-7.8,262,8610,0.00,2.28,0.00,0.000,4,0.000,0.051,1795,892,3408
$GC,8644,-0.90,-117.3,638.2,-8.3,262,8648,0.00,2.25,0.00,0.000,6,0.000,0.040,1786,2307,3407
$GC,8971,-0.86,-117.3,666.5,-8.8,268,8976,0.10,2.28,0.00,0.000,4,0.144,0.044,1813,895,3407
$GC,8998,-0.86,-117.3,668.9,-8.8,268,9002,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2305,3407
$GC,9329,-0.86,-117.3,694.3,-7.7,274,9331,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3407
$GC,9633,-0.86,-117.3,717.1,-7.5,279,9637,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,894,3407
$GC,9660,-0.86,-117.3,719.3,-8.0,279,9664,0.00,2.28,0.00,0.000,6,0.000,0.044,1807,2308,3407
$GC,9998,-0.86,-117.3,743.0,-6.9,285,10002,0.00,2.28,0.00,0.000,4,0.000,0.050,1807,891,3406
$GC,10025,-0.86,-117.3,745.0,-7.2,285,10029,0.00,2.28,0.00,0.000,6,0.000,0.040,1797,2309,3406
$GC,10362,-0.86,-117.3,768.2,-6.9,291,10366,0.00,2.28,0.00,0.000,4,0.000,0.051,1797,895,3406
$GC,10389,-0.86,-117.3,770.3,-7.8,291,10392,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2308,3407
$GC,10727,-0.86,-117.3,794.6,-7.2,297,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3406
$GC,11030,-0.86,-117.3,818.1,-7.9,302,11034,0.00,2.28,0.00,0.000,4,0.000,0.046,1794,900,3406
$GC,11062,-0.86,-117.3,820.9,-7.8,302,11067,0.10,2.28,0.00,0.000,6,0.137,0.047,1811,2313,3406
$GC,11395,-0.89,-117.3,843.2,-6.6,308,11399,0.00,2.28,0.00,0.000,4,0.000,0.046,1811,899,3406
$GC,11423,-0.92,-117.3,845.1,-6.7,308,11427,0.00,2.25,0.00,0.000,6,0.000,0.040,1808,2303,3406
$GC,11755,-0.94,-117.3,867.0,-6.5,314,11759,0.00,2.28,0.00,0.000,4,0.000,0.050,1808,899,3406
$GC,11788,-0.96,-117.3,869.3,-6.8,314,11792,0.00,2.25,0.00,0.000,6,0.000,0.048,1807,2303,3405
$GC,12115,-0.98,-117.3,889.9,-6.3,320,12119,0.00,2.28,0.00,0.000,4,0.000,0.050,1808,894,3406
$GC,12153,-1.01,-117.3,892.6,-7.1,320,12158,0.10,2.28,0.00,0.000,6,0.076,0.045,1760,2311,3405
$GC,12474,-0.94,-117.3,919.6,-8.5,326,12479,0.15,2.28,0.00,0.000,4,0.138,0.054,1793,3706,3405
$GC,12507,-0.94,-117.3,922.3,-7.5,326,12511,0.00,2.20,0.00,0.000,6,0.000,0.034,1793,2304,3405
$GC,12840,-0.94,-117.3,944.2,-6.6,332,12844,0.00,2.28,0.00,0.000,4,0.000,0.051,1794,890,3405
$GC,12867,-0.94,-117.3,946.3,-7.1,332,12871,0.00,2.28,0.00,0.000,6,0.000,0.042,1784,2306,3405
$GC,13205,-0.91,-117.3,970.4,-7.2,338,13210,0.00,2.28,0.00,0.000,4,0.000,0.053,1784,896,3405
$GC,13239,-0.88,-117.3,973.1,-8.4,338,13243,0.12,2.28,0.00,0.000,6,0.143,0.044,1814,2312,3405
$STATE,13562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13562,begin apogee
$GC,13568,-0.22,0.0,992.3,5.9,344,13667,0.43,0.00,96.65,1.303,6,0.114,0.000,1953,2312,2931
$STATE,13668,end apogee,CONTROL_FINISHED_OK
$STATE,13668,begin climb
$GC,13671,0.70,117.3,993.8,0.0,345,13782,0.57,2.58,102.15,1.276,4,0.074,0.057,2153,3707,2450
$GC,13829,0.51,117.3,990.4,7.3,347,13834,0.22,2.38,0.00,0.000,6,0.170,0.034,2111,2309,2446
$GC,14162,0.49,136.6,974.1,4.8,353,14180,0.00,0.00,16.35,1.177,6,0.000,0.000,2111,2309,2374
$GC,14465,0.48,145.6,958.4,5.2,358,14475,0.00,0.00,9.05,1.072,6,0.000,0.000,2111,2309,2337
$GC,14768,0.46,145.6,941.1,5.8,363,14769,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2309,2334
$GC,15070,0.46,145.6,922.2,6.3,368,15071,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2309,2333
$GC,15374,0.43,145.6,902.2,6.6,373,15375,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2309,2333
$GC,15676,0.43,145.6,883.3,6.2,378,15677,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2309,2332
$GC,15979,0.43,145.6,866.1,5.6,383,15983,0.00,2.30,0.00,0.000,4,0.000,0.055,2111,3715,2332
$GC,16012,0.38,145.6,864.0,5.8,383,16017,0.15,2.25,0.00,0.000,6,0.154,0.041,2081,2297,2331
$GC,16339,0.46,175.5,849.3,4.4,389,16367,0.00,0.00,26.40,1.172,6,0.000,0.000,2081,2297,2215
$GC,16641,0.60,175.5,832.4,5.7,394,16646,0.17,2.30,0.00,0.000,4,0.059,0.051,2163,890,2210
$GC,16742,0.52,175.5,824.7,7.9,395,16747,0.20,2.30,0.00,0.000,6,0.140,0.040,2108,2312,2209
$GC,17068,0.52,175.5,805.9,5.6,401,17072,0.00,2.28,0.00,0.000,4,0.000,0.057,2108,3715,2209
$GC,17113,0.50,175.5,802.9,6.9,401,17117,0.00,2.25,0.00,0.000,6,0.000,0.039,2117,2293,2208
$GC,17428,0.50,175.5,783.9,6.1,407,17429,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2293,2208
$GC,17731,0.50,175.5,766.1,5.9,412,17735,0.00,2.30,0.00,0.000,4,0.000,0.050,2117,3710,2208
$GC,17782,0.45,175.5,762.4,6.9,412,17786,0.12,2.22,0.00,0.000,6,0.149,0.038,2096,2296,2207
$GC,18092,0.52,194.9,747.3,4.8,417,18111,0.00,0.00,17.25,1.078,6,0.000,0.000,2095,2296,2136
$GC,18396,0.58,203.5,731.5,5.2,422,18407,0.12,0.00,8.80,0.965,6,0.057,0.000,2161,2296,2101
$GC,18698,0.49,203.5,705.7,8.7,427,18703,0.17,2.33,0.00,0.000,4,0.138,0.054,2107,3715,2098
$GC,18753,0.49,203.5,701.5,6.8,427,18759,0.00,2.25,0.00,0.000,6,0.000,0.033,2116,2288,2098
$GC,19063,0.49,203.5,682.6,6.0,433,19064,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2288,2097
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$STATE,29572,end climb,SURFACE_DEPTH_REACHED
$STATE,29572,begin surface coast
$FINISH,1.2,1.012143
$STATE,29605,end surface coast,CONTROL_FINISHED_OK
$STATE,29605,begin surface
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$HUMID,1697
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$TCM_TEMP,16.60
$XPDR_PINGS,70
$24V_AH,22.2,51.202
$10V_AH,10.6,43.384
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$DEVICE_SECS,19.225,252.625,364.275,0.000,0.000,29.202,24.602,146.827,17.500,0.000,0.000,12.986,1760.443,24723.600,528.418,2359.455,629.928,33.374,1716.797,0.000,2345.621,0.000,0.528,0.000
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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,44451,771
$CAP_FILE_SIZE,192715,0
$CFSIZE,260165632,231657472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051009,071106,5014.480,-14428.336,27,1.9,27,18.6