version: 66.04
glider: 144
mission: 15
dive: 679
start: 1 25 110 5 44 20
data:
$ID,144
$MISSION,15
$DIVE,679
$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,-75393.188
$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
$GPS1,052937,4959.749,-14317.275,40,1.2,40,18.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-52.2
$GPS2,054326,4959.664,-14317.277,11,1.3,11,18.8
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.163,-0.039
$KALMAN_X,-91436.9,-105.0,-138.8,225574.9,142.6
$KALMAN_Y,33467.8,-104.0,-263.2,-72564.4,526.5
$MHEAD_RNG_PITCHd_Wd,84.6,336422,-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,17,begin dive
$GC,21,-0.68,-117.3,0.0,0.0,0,79,0.00,0.00,-56.08,0.000,2,0.000,0.000,97,2313,2889
$GC,83,-0.68,-117.3,4.6,-6.4,3,106,7.12,2.40,-10.65,0.000,4,0.228,0.058,1846,888,3413
$GC,298,-0.66,-117.3,34.4,-11.6,12,302,0.00,2.28,0.00,0.000,6,0.000,0.038,1838,2309,3415
$GC,616,-0.61,-117.3,70.3,-12.2,27,620,0.12,2.30,0.00,0.000,4,0.133,0.041,1873,888,3414
$GC,672,-0.66,-117.3,76.4,-9.0,29,677,0.00,2.28,0.00,0.000,6,0.000,0.041,1866,2309,3414
$GC,998,-0.66,-117.3,106.2,-8.3,57,1002,0.00,2.28,0.00,0.000,4,0.000,0.041,1866,887,3414
$GC,1074,-0.70,-117.3,112.2,-8.7,63,1078,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2313,3415
$GC,1404,-0.74,-117.3,137.5,-7.3,93,1410,0.10,0.00,0.00,0.000,6,0.064,0.000,1781,2314,3415
$GC,1733,-0.65,-117.3,173.4,-10.7,111,1738,0.22,2.30,0.00,0.000,4,0.117,0.041,1854,884,3415
$GC,1773,-0.71,-117.3,176.8,-7.0,112,1777,0.00,2.25,0.00,0.000,6,0.000,0.044,1850,2301,3414
$GC,2099,-0.76,-117.3,197.7,-6.7,123,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2301,3415
$GC,2404,-0.80,-117.3,219.0,-7.2,133,2409,0.10,2.28,0.00,0.000,4,0.065,0.048,1777,889,3415
$GC,2455,-0.71,-117.3,224.7,-11.8,134,2460,0.25,2.25,0.00,0.000,6,0.118,0.037,1843,2314,3414
$GC,2775,-0.75,-117.3,248.6,-7.2,145,2779,0.00,2.28,0.00,0.000,4,0.000,0.050,1843,898,3414
$GC,2821,-0.81,-117.3,252.4,-7.8,146,2825,0.00,2.22,0.00,0.000,6,0.000,0.038,1837,2309,3415
$GC,3147,-0.83,-117.3,277.3,-7.7,157,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2310,3414
$GC,3453,-0.86,-117.3,300.9,-7.6,167,3455,0.10,0.00,0.00,0.000,6,0.066,0.000,1762,2310,3414
$GC,3755,-0.75,-117.3,335.0,-11.5,172,3760,0.22,2.30,0.00,0.000,4,0.120,0.044,1839,898,3413
$GC,3836,-0.79,-117.3,341.8,-7.7,173,3840,0.00,2.25,0.00,0.000,6,0.000,0.039,1836,2304,3414
$GC,4186,-0.82,-117.3,366.9,-7.2,179,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2304,3414
$GC,4488,-0.86,-117.3,387.4,-6.7,184,4493,0.08,2.30,0.00,0.000,4,0.080,0.042,1769,886,3413
$GC,4528,-0.77,-117.3,391.2,-10.5,184,4533,0.25,2.30,0.00,0.000,6,0.117,0.046,1833,2312,3413
$GC,4850,-0.80,-117.3,411.0,-5.8,190,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2312,3413
$GC,5154,-0.84,-117.3,428.2,-5.7,195,5158,0.00,2.33,0.00,0.000,4,0.000,0.050,1833,892,3413
$GC,5188,-0.88,-117.3,430.1,-5.8,195,5192,0.00,2.28,0.00,0.000,6,0.000,0.043,1827,2304,3412
$GC,5515,-0.91,-117.3,449.0,-5.7,201,5520,0.10,2.25,0.00,0.000,4,0.066,0.043,1755,893,3412
$GC,5545,-0.83,-117.3,451.5,-9.1,201,5550,0.28,2.25,0.00,0.000,6,0.120,0.041,1823,2303,3413
$GC,5883,-0.86,-117.3,472.3,-6.0,207,5887,0.00,2.28,0.00,0.000,4,0.000,0.051,1824,891,3412
$GC,5924,-0.88,-117.3,475.0,-6.8,207,5928,0.00,2.28,0.00,0.000,6,0.000,0.044,1819,2310,3412
$GC,6252,-0.88,-117.3,495.9,-6.4,213,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2310,3412
$GC,6554,-0.88,-117.3,516.1,-6.8,218,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2310,3412
$GC,6857,-0.88,-117.3,536.9,-6.9,223,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2310,3412
$GC,7160,-0.88,-117.3,556.4,-6.4,228,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2310,3411
$GC,7464,-0.90,-117.3,575.6,-6.3,233,7468,0.00,2.33,0.00,0.000,4,0.000,0.051,1819,897,3411
$GC,7516,-0.93,-117.3,579.2,-6.8,233,7520,0.00,2.30,0.00,0.000,6,0.000,0.045,1810,2312,3412
$GC,7826,-0.93,-117.3,601.8,-7.3,238,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2313,3411
$GC,8129,-0.93,-117.3,625.0,-7.7,243,8134,0.00,2.33,0.00,0.000,4,0.000,0.045,1810,891,3411
$GC,8158,-0.93,-117.3,627.5,-8.9,243,8162,0.00,2.28,0.00,0.000,6,0.000,0.041,1806,2308,3411
$GC,8497,-0.93,-117.3,653.7,-7.7,249,8501,0.00,2.30,0.00,0.000,4,0.000,0.046,1807,891,3411
$GC,8547,-0.93,-117.3,658.1,-8.4,249,8551,0.00,2.28,0.00,0.000,6,0.000,0.045,1797,2306,3411
$GC,8858,-0.93,-117.3,683.7,-8.3,254,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2306,3411
$GC,9161,-0.93,-117.3,708.9,-8.2,259,9165,0.00,2.30,0.00,0.000,4,0.000,0.044,1797,888,3411
$GC,9201,-0.93,-117.3,712.5,-8.8,259,9205,0.00,2.30,0.00,0.000,6,0.000,0.044,1794,2303,3410
$GC,9529,-0.93,-117.3,740.1,-8.4,265,9532,0.00,2.30,0.00,0.000,4,0.000,0.044,1794,895,3410
$GC,9557,-0.93,-117.3,742.6,-9.2,265,9561,0.00,2.28,0.00,0.000,6,0.000,0.039,1785,2305,3410
$GC,9897,-0.90,-117.3,770.5,-8.2,271,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2305,3410
$GC,10199,-0.86,-117.3,794.0,-7.8,276,10203,0.10,2.30,0.00,0.000,4,0.137,0.044,1813,896,3410
$GC,10233,-0.89,-117.3,796.5,-7.1,276,10237,0.00,2.30,0.00,0.000,6,0.000,0.043,1809,2315,3410
$GC,10565,-0.89,-117.3,817.1,-6.1,282,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2316,3410
$GC,10869,-0.89,-117.3,835.3,-6.0,287,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2316,3410
$GC,11171,-0.89,-117.3,853.9,-6.2,292,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2316,3410
$GC,11474,-0.89,-117.3,872.9,-6.3,297,11478,0.00,2.33,0.00,0.000,4,0.000,0.051,1809,888,3410
$GC,11515,-0.91,-117.3,875.7,-7.1,297,11519,0.00,2.30,0.00,0.000,6,0.000,0.047,1808,2305,3409
$GC,11843,-0.91,-117.3,897.3,-6.6,303,11844,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3409
$GC,12145,-0.93,-117.3,917.6,-6.7,308,12147,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3409
$GC,12448,-0.95,-117.3,937.2,-6.4,313,12450,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3409
$GC,12752,-0.97,-117.3,956.6,-6.4,318,12756,0.00,2.33,0.00,0.000,4,0.000,0.048,1808,890,3409
$GC,12787,-0.97,-117.3,959.1,-7.7,318,12791,0.00,2.30,0.00,0.000,6,0.000,0.043,1806,2304,3408
$GC,13120,-0.99,-117.3,981.1,-6.6,324,13122,0.08,0.00,0.00,0.000,6,0.092,0.000,1768,2304,3409
$STATE,13237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13237,begin apogee
$GC,13246,-0.22,0.0,991.1,7.4,326,13348,0.57,0.00,99.32,1.279,6,0.114,0.000,1951,2305,2931
$STATE,13349,end apogee,CONTROL_FINISHED_OK
$STATE,13349,begin climb
$GC,13353,0.68,117.3,992.9,0.0,327,13464,0.60,2.55,104.93,1.249,4,0.069,0.052,2157,3715,2451
$GC,13483,0.53,117.3,992.1,6.2,330,13489,0.22,2.40,0.00,0.000,6,0.160,0.036,2115,2308,2448
$GC,13845,0.52,140.0,975.0,4.7,336,13867,0.00,0.00,19.42,1.174,6,0.000,0.000,2115,2308,2360
$GC,14149,0.49,140.0,958.6,5.5,341,14150,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2308,2355
$GC,14452,0.46,140.0,941.0,5.8,346,14453,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2308,2355
$GC,14754,0.44,140.0,923.2,5.9,351,14755,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2308,2353
$GC,15058,0.41,141.1,906.1,5.5,356,15062,0.10,2.33,0.00,0.000,4,0.165,0.052,2084,3712,2353
$GC,15092,0.41,141.1,904.1,5.5,356,15096,0.00,2.25,0.00,0.000,6,0.000,0.035,2093,2291,2352
$GC,15420,0.45,176.3,889.8,4.3,362,15454,0.00,0.00,32.08,1.177,6,0.000,0.000,2093,2291,2212
$GC,15723,0.57,196.8,875.6,4.8,367,15748,0.10,2.40,19.02,1.125,4,0.072,0.051,2148,3718,2127
$GC,15924,0.47,196.8,860.4,7.9,370,15929,0.22,2.25,0.00,0.000,6,0.143,0.034,2097,2297,2124
$GC,16297,0.57,236.1,844.3,4.2,376,16338,0.10,2.35,35.72,1.149,4,0.067,0.053,2164,886,1967
$GC,16363,0.53,236.1,840.0,6.7,377,16368,0.20,2.30,0.00,0.000,6,0.130,0.041,2110,2304,1964
$GC,16724,0.60,254.7,822.1,4.9,383,16749,0.08,2.38,17.12,1.081,4,0.076,0.052,2156,3718,1891
$GC,16785,0.53,254.7,817.1,9.3,383,16792,0.20,2.25,0.00,0.000,6,0.140,0.035,2112,2303,1890
$GC,17096,0.58,254.7,798.8,5.8,389,17100,0.00,2.25,0.00,0.000,4,0.000,0.047,2121,895,1886
$GC,17124,0.65,254.7,796.9,6.5,389,17128,0.00,2.25,0.00,0.000,6,0.000,0.044,2121,2306,1885
$GC,17458,0.68,254.7,775.1,6.5,395,17463,0.10,2.28,0.00,0.000,4,0.067,0.051,2183,3712,1885
$GC,17504,0.55,254.7,770.3,11.3,395,17509,0.28,2.20,0.00,0.000,6,0.143,0.033,2116,2303,1885
$GC,17820,0.60,254.7,750.0,6.1,401,17824,0.00,2.25,0.00,0.000,4,0.000,0.047,2125,894,1884
$GC,17855,0.66,254.7,747.7,7.2,401,17859,0.00,2.25,0.00,0.000,6,0.000,0.038,2125,2306,1883
$GC,18188,0.69,254.7,727.1,6.2,407,18192,0.08,2.30,0.00,0.000,4,0.084,0.049,2184,3717,1883
$GC,18250,0.55,254.7,720.8,12.1,407,18257,0.28,2.22,0.00,0.000,6,0.143,0.033,2117,2303,1883
$GC,18562,0.60,255.9,702.7,5.5,413,18566,0.00,2.30,0.00,0.000,4,0.000,0.047,2126,884,1883
$GC,18597,0.66,255.9,700.5,5.9,413,18601,0.00,2.28,0.00,0.000,6,0.000,0.043,2126,2304,1882
$GC,18925,0.69,255.9,681.7,5.8,419,18930,0.08,2.30,0.00,0.000,4,0.081,0.054,2187,3717,1883
$GC,18990,0.54,255.9,675.3,11.2,420,18994,0.30,2.22,0.00,0.000,6,0.141,0.033,2113,2304,1882
$GC,19363,0.62,266.1,654.7,5.2,426,19378,0.00,2.30,10.45,0.933,4,0.000,0.046,2121,895,1845
$GC,19407,0.71,266.1,652.0,6.0,426,19412,0.10,2.25,0.00,0.000,6,0.067,0.037,2195,2307,1843
$GC,19724,0.58,266.1,617.8,11.2,432,19729,0.22,2.28,0.00,0.000,4,0.139,0.053,2125,3715,1843
$GC,19791,0.58,266.1,611.5,7.7,433,19795,0.00,2.20,0.00,0.000,6,0.000,0.038,2134,2300,1843
$GC,20159,0.58,266.1,585.3,7.2,439,20160,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2300,1842
$GC,20461,0.58,266.1,563.5,7.3,444,20465,0.00,2.30,0.00,0.000,4,0.000,0.048,2134,3709,1842
$GC,20500,0.58,266.1,560.2,8.5,444,20504,0.00,2.22,0.00,0.000,6,0.000,0.032,2144,2295,1842
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$STATE,28906,end climb,SURFACE_DEPTH_REACHED
$STATE,28906,begin surface coast
$FINISH,1.4,1.025524
$STATE,28926,end surface coast,CONTROL_FINISHED_OK
$STATE,28926,begin surface
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$HUMID,1739
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$TCM_TEMP,15.40
$XPDR_PINGS,65
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$10V_AH,10.4,83.899
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$DEVICE_SECS,21.050,214.300,401.600,0.000,0.000,83.002,89.696,356.635,16.250,0.000,0.000,13.202,1671.986,24252.877,557.188,2136.387,1201.917,33.384,1683.618,0.000,2117.240,0.000,0.527,0.000
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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,44307,738
$CAP_FILE_SIZE,189259,0
$CFSIZE,260165632,205799424
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