version: 66.04
glider: 144
mission: 15
dive: 412
start: 10 27 109 4 11 20
data:
$ID,144
$MISSION,15
$DIVE,412
$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,-69439.922
$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,33
$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
$GPS1,040414,5017.918,-14509.309,41,4.5,60,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-59.6
$GPS2,041025,5017.901,-14509.181,13,1.5,30,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.004,-0.168
$KALMAN_X,-83448.0,314.3,15.1,84752.0,-650.1
$KALMAN_Y,19199.8,111.2,87.6,-25101.6,-893.9
$MHEAD_RNG_PITCHd_Wd,160.2,44367,-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,-117.3,0.0,0.0,0,49,0.00,0.00,-31.65,0.000,2,0.000,0.000,100,2301,2525
$GC,52,-0.68,-117.3,3.3,-5.6,3,87,7.35,2.35,-22.80,0.000,4,0.245,0.067,1841,3703,3412
$GC,215,-0.66,-117.3,21.6,-15.5,17,219,0.00,2.17,0.00,0.000,6,0.000,0.030,1840,2298,3414
$GC,542,-0.62,-117.3,61.2,-10.9,47,547,0.10,2.22,0.00,0.000,4,0.133,0.041,1867,892,3414
$GC,571,-0.62,-117.3,64.0,-9.3,49,575,0.00,2.20,0.00,0.000,6,0.000,0.037,1863,2302,3415
$GC,893,-0.62,-117.3,90.8,-8.5,73,897,0.00,2.22,0.00,0.000,4,0.000,0.048,1852,3708,3416
$GC,920,-0.62,-117.3,93.5,-8.9,74,924,0.00,2.15,0.00,0.000,6,0.000,0.029,1853,2302,3415
$GC,1248,-0.62,-117.3,120.8,-8.0,90,1252,0.00,2.20,0.00,0.000,4,0.000,0.041,1852,891,3416
$GC,1304,-0.67,-117.3,125.3,-7.6,92,1308,0.00,2.22,0.00,0.000,6,0.000,0.038,1850,2308,3416
$GC,1622,-0.69,-117.3,149.0,-7.4,107,1626,0.00,2.22,0.00,0.000,4,0.000,0.042,1849,888,3416
$GC,1679,-0.73,-117.3,153.4,-7.3,109,1683,0.00,2.22,0.00,0.000,6,0.000,0.044,1850,2304,3416
$GC,1992,-0.77,-117.3,175.7,-7.0,119,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2304,3416
$GC,2298,-0.82,-117.3,197.0,-6.8,129,2302,0.10,2.22,0.00,0.000,4,0.066,0.041,1778,893,3416
$GC,2320,-0.78,-117.3,198.9,-8.4,129,2325,0.22,2.22,0.00,0.000,6,0.125,0.039,1834,2305,3415
$GC,2633,-0.78,-117.3,221.8,-7.0,139,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2305,3415
$GC,2940,-0.81,-117.3,242.8,-6.9,149,2944,0.00,2.22,0.00,0.000,4,0.000,0.043,1834,893,3415
$GC,2968,-0.83,-117.3,244.9,-7.1,149,2975,0.00,2.22,0.00,0.000,6,0.000,0.039,1828,2309,3415
$GC,3281,-0.83,-117.3,267.2,-7.1,160,3285,0.00,2.22,0.00,0.000,4,0.000,0.043,1828,888,3414
$GC,3308,-0.83,-117.3,269.4,-7.5,160,3314,0.00,2.22,0.00,0.000,6,0.000,0.040,1821,2305,3414
$GC,3621,-0.83,-117.3,291.9,-7.2,171,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3414
$GC,3926,-0.83,-117.3,313.3,-7.1,178,3929,0.00,2.22,0.00,0.000,4,0.000,0.044,1820,895,3413
$GC,4004,-0.83,-117.3,319.5,-8.1,179,4007,0.00,2.22,0.00,0.000,6,0.000,0.041,1811,2308,3413
$GC,4364,-0.83,-117.3,348.0,-7.9,185,4368,0.00,2.25,0.00,0.000,4,0.000,0.047,1811,891,3413
$GC,4392,-0.83,-117.3,350.4,-8.8,185,4395,0.00,2.25,0.00,0.000,6,0.000,0.040,1803,2313,3413
$GC,4731,-0.80,-117.3,377.4,-7.9,191,4732,0.10,0.00,0.00,0.000,6,0.137,0.000,1830,2313,3412
$GC,5033,-0.83,-117.3,395.6,-5.9,196,5037,0.00,2.28,0.00,0.000,4,0.000,0.050,1830,888,3412
$GC,5072,-0.87,-117.3,398.3,-6.6,196,5077,0.00,2.22,0.00,0.000,6,0.000,0.046,1823,2300,3412
$GC,5394,-0.87,-117.3,419.8,-6.7,202,5397,0.00,2.22,0.00,0.000,4,0.000,0.044,1823,897,3411
$GC,5421,-0.87,-117.3,422.1,-7.8,202,5425,0.00,2.25,0.00,0.000,6,0.000,0.041,1821,2314,3411
$GC,5759,-0.87,-117.3,445.8,-7.1,208,5763,0.00,2.25,0.00,0.000,4,0.000,0.045,1820,900,3411
$GC,5787,-0.87,-117.3,448.1,-7.8,208,5791,0.00,2.22,0.00,0.000,6,0.000,0.044,1811,2306,3411
$GC,6131,-0.87,-117.3,473.7,-7.4,214,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2307,3411
$GC,6433,-0.87,-117.3,496.1,-7.4,219,6437,0.00,2.28,0.00,0.000,4,0.000,0.045,1811,890,3410
$GC,6497,-0.87,-117.3,500.9,-7.4,220,6501,0.00,2.25,0.00,0.000,6,0.000,0.048,1807,2303,3410
$GC,6863,-0.87,-117.3,527.8,-7.2,226,6867,0.00,2.25,0.00,0.000,4,0.000,0.050,1806,897,3410
$GC,6891,-0.87,-117.3,529.9,-7.8,226,6894,0.00,2.25,0.00,0.000,6,0.000,0.041,1797,2316,3410
$GC,7235,-0.85,-117.3,555.5,-7.5,232,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2317,3410
$GC,7538,-0.82,-117.3,576.8,-7.0,237,7543,0.10,2.28,0.00,0.000,4,0.137,0.048,1825,893,3410
$GC,7572,-0.86,-117.3,578.9,-5.9,237,7576,0.00,2.25,0.00,0.000,6,0.000,0.042,1822,2308,3409
$GC,7906,-0.89,-117.3,598.2,-5.7,243,7910,0.00,2.28,0.00,0.000,4,0.000,0.055,1814,3716,3409
$GC,7934,-0.92,-117.3,600.0,-6.2,243,7938,0.00,2.20,0.00,0.000,6,0.000,0.032,1814,2302,3409
$GC,8266,-0.92,-117.3,618.8,-5.6,249,8270,0.00,2.25,0.00,0.000,4,0.000,0.051,1813,894,3409
$GC,8299,-0.92,-117.3,621.0,-6.4,249,8303,0.00,2.25,0.00,0.000,6,0.000,0.044,1809,2309,3409
$GC,8626,-0.92,-117.3,641.7,-6.4,255,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3408
$GC,8930,-0.92,-117.3,661.7,-6.7,260,8934,0.00,2.28,0.00,0.000,4,0.000,0.051,1809,891,3408
$GC,8969,-0.92,-117.3,664.7,-7.3,260,8973,0.00,2.25,0.00,0.000,6,0.000,0.040,1807,2305,3408
$GC,9289,-0.92,-117.3,687.2,-7.1,266,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3408
$GC,9593,-0.92,-117.3,708.8,-7.1,271,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3408
$GC,9896,-0.92,-117.3,729.5,-6.8,276,9900,0.00,2.25,0.00,0.000,4,0.000,0.048,1807,899,3408
$GC,9929,-0.92,-117.3,732.0,-7.3,276,9933,0.00,2.22,0.00,0.000,6,0.000,0.044,1798,2309,3408
$GC,10262,-0.92,-117.3,754.5,-6.7,282,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2309,3408
$GC,10564,-0.92,-117.3,774.6,-6.6,287,10568,0.00,2.25,0.00,0.000,4,0.000,0.049,1797,900,3408
$GC,10608,-0.92,-117.3,777.9,-8.3,287,10612,0.00,2.25,0.00,0.000,6,0.000,0.042,1794,2311,3408
$GC,10929,-0.92,-117.3,801.6,-7.5,293,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2312,3407
$GC,11231,-0.92,-117.3,824.5,-7.6,298,11232,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2312,3408
$GC,11535,-0.92,-117.3,846.5,-7.3,303,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2312,3407
$GC,11837,-0.92,-117.3,868.5,-7.2,308,11839,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2312,3407
$GC,12140,-0.92,-117.3,890.3,-7.2,313,12144,0.00,2.28,0.00,0.000,4,0.000,0.048,1794,900,3407
$GC,12163,-0.92,-117.3,892.0,-7.7,313,12167,0.00,2.25,0.00,0.000,6,0.000,0.043,1784,2306,3406
$GC,12501,-0.89,-117.3,916.8,-7.3,319,12505,0.00,2.28,0.00,0.000,4,0.000,0.048,1785,896,3406
$GC,12540,-0.86,-117.3,920.0,-7.7,319,12544,0.12,2.25,0.00,0.000,6,0.135,0.044,1816,2304,3406
$GC,12861,-0.91,-117.3,938.6,-5.8,325,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2304,3406
$GC,13164,-0.95,-117.3,956.3,-5.9,330,13168,0.00,2.30,0.00,0.000,4,0.000,0.054,1816,893,3406
$GC,13197,-0.99,-117.3,958.7,-7.1,330,13202,0.10,2.28,0.00,0.000,6,0.077,0.043,1766,2310,3406
$GC,13524,-0.93,-117.3,986.5,-8.8,336,13529,0.12,2.30,0.00,0.000,4,0.133,0.058,1792,3709,3406
$STATE,13565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13565,begin apogee
$GC,13575,-0.22,0.0,990.2,7.7,336,13675,0.47,0.00,97.53,1.298,6,0.116,0.000,1950,2303,2931
$STATE,13676,end apogee,CONTROL_FINISHED_OK
$STATE,13676,begin climb
$GC,13679,0.68,117.3,993.4,0.0,338,13790,0.57,2.58,103.40,1.269,4,0.077,0.057,2149,3708,2450
$GC,13824,0.49,117.3,991.3,5.7,340,13829,0.22,2.40,0.00,0.000,6,0.166,0.036,2106,2308,2447
$GC,14173,0.52,160.2,976.9,4.1,346,14212,0.00,0.00,36.92,1.238,6,0.000,0.000,2107,2308,2277
$GC,14477,0.55,184.2,962.9,4.7,351,14501,0.00,0.00,21.80,1.199,6,0.000,0.000,2106,2308,2179
$GC,14779,0.56,197.2,947.7,5.1,356,14793,0.00,0.00,12.18,1.122,6,0.000,0.000,2106,2308,2127
$GC,15083,0.56,199.5,931.3,5.4,361,15084,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2308,2123
$GC,15386,0.60,208.6,915.4,5.2,366,15399,0.10,0.00,11.40,1.104,6,0.071,0.000,2150,2308,2080
$GC,15689,0.52,208.6,891.7,8.0,371,15694,0.15,2.33,0.00,0.000,4,0.143,0.053,2110,3713,2076
$GC,15717,0.49,208.6,889.5,7.4,371,15721,0.00,2.25,0.00,0.000,6,0.000,0.035,2119,2301,2076
$GC,16049,0.49,208.6,869.6,5.9,377,16050,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2301,2075
$GC,16352,0.49,208.6,851.9,5.8,382,16356,0.00,2.30,0.00,0.000,4,0.000,0.056,2119,3711,2075
$GC,16380,0.47,208.6,850.1,6.6,382,16385,0.12,2.22,0.00,0.000,6,0.147,0.041,2097,2300,2074
$GC,16713,0.56,242.1,835.0,4.4,388,16749,0.10,2.33,30.40,1.162,4,0.068,0.054,2159,890,1942
$GC,16767,0.52,242.1,831.5,7.0,388,16774,0.17,2.30,0.00,0.000,6,0.128,0.045,2111,2310,1940
$GC,17078,0.58,252.7,815.2,5.1,394,17092,0.00,2.28,10.10,1.029,4,0.000,0.055,2111,3710,1899
$GC,17121,0.61,252.7,812.6,6.3,394,17125,0.00,2.22,0.00,0.000,6,0.000,0.039,2119,2303,1898
$GC,17437,0.64,252.7,794.3,5.8,400,17438,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2303,1897
$GC,17740,0.67,252.7,776.3,6.1,405,17741,0.10,0.00,0.00,0.000,6,0.067,0.000,2175,2303,1896
$GC,18043,0.57,252.7,746.5,10.0,410,18048,0.17,2.33,0.00,0.000,4,0.140,0.052,2122,3720,1896
$GC,18071,0.54,252.7,743.8,8.9,410,18075,0.00,2.22,0.00,0.000,6,0.000,0.033,2130,2304,1896
$GC,18409,0.54,252.7,720.9,6.7,416,18410,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2303,1895
$GC,18711,0.54,252.7,701.7,6.3,421,18712,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2303,1894
$GC,19014,0.54,252.7,682.8,6.3,426,19018,0.00,2.28,0.00,0.000,4,0.000,0.049,2130,3710,1895
$GC,19042,0.54,252.7,680.8,7.3,426,19046,0.10,2.22,0.00,0.000,6,0.143,0.034,2114,2292,1894
$GC,19380,0.59,252.7,661.7,5.7,432,19384,0.00,2.22,0.00,0.000,4,0.000,0.048,2122,894,1894
$GC,19408,0.66,264.1,659.9,5.1,432,19424,0.00,2.22,10.80,0.962,6,0.000,0.041,2123,2308,1854
$GC,19746,0.71,264.1,638.9,6.2,438,19750,0.10,2.25,0.00,0.000,4,0.068,0.050,2197,3708,1851
$GC,19774,0.61,264.1,636.0,11.3,438,19779,0.28,2.20,0.00,0.000,6,0.153,0.041,2131,2304,1851
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$STATE,28964,end climb,SURFACE_DEPTH_REACHED
$STATE,28965,begin surface coast
$FINISH,1.5,1.024914
$STATE,28988,end surface coast,CONTROL_FINISHED_OK
$STATE,28988,begin surface
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$10V_AH,10.5,51.682
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$DATA_FILE_SIZE,44409,747
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