version: 66.04
glider: 144
mission: 15
dive: 755
start: 2 20 110 1 18 8
data:
$ID,144
$MISSION,15
$DIVE,755
$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,-77059.141
$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,36
$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
$GPS1,011027,4920.903,-13634.658,32,2.1,51,19.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-64.9
$GPS2,011714,4920.935,-13634.649,12,1.8,12,19.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.168,0.001
$KALMAN_X,-63274.4,321.7,-38.8,672693.1,-1310.1
$KALMAN_Y,56570.1,155.1,40.2,-167965.0,-284.7
$MHEAD_RNG_PITCHd_Wd,70.3,138698,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.68,-117.3,0.0,0.0,0,63,0.00,0.00,-40.60,0.000,2,0.000,0.000,98,2303,2694
$GC,67,-0.68,-117.3,4.1,-7.1,2,98,7.50,2.33,-16.40,0.000,4,0.248,0.061,1838,3707,3412
$GC,181,-0.65,-117.3,18.3,-11.1,7,185,0.00,2.20,0.00,0.000,6,0.000,0.034,1838,2295,3413
$GC,510,-0.60,-117.3,55.2,-11.2,23,515,0.12,2.22,0.00,0.000,4,0.130,0.039,1874,898,3413
$GC,601,-0.64,-117.3,64.0,-9.1,27,605,0.00,2.22,0.00,0.000,6,0.000,0.035,1867,2303,3414
$GC,924,-0.64,-117.3,94.1,-9.1,49,927,0.00,2.25,0.00,0.000,4,0.000,0.040,1867,897,3414
$GC,960,-0.66,-117.3,97.6,-9.8,52,964,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2300,3414
$GC,1293,-0.70,-117.3,124.4,-7.3,82,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2300,3414
$GC,1620,-0.76,-117.3,146.6,-5.8,113,1624,0.10,2.33,0.00,0.000,4,0.063,0.049,1771,3716,3414
$GC,1657,-0.67,-117.3,149.7,-10.2,116,1662,0.28,2.22,0.00,0.000,6,0.114,0.029,1854,2294,3414
$GC,1971,-0.72,-117.3,169.3,-6.1,126,1975,0.00,2.22,0.00,0.000,4,0.000,0.041,1853,899,3415
$GC,1995,-0.78,-117.3,170.9,-6.6,126,1999,0.00,2.22,0.00,0.000,6,0.000,0.035,1850,2304,3414
$GC,2311,-0.83,-117.3,191.5,-6.6,136,2312,0.10,0.00,0.00,0.000,6,0.064,0.000,1773,2305,3414
$GC,2616,-0.73,-117.3,223.7,-10.6,146,2618,0.22,0.00,0.00,0.000,6,0.122,0.000,1842,2305,3414
$GC,2922,-0.77,-117.3,245.7,-7.1,156,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2305,3414
$GC,3228,-0.82,-117.3,267.7,-7.4,166,3232,0.00,2.28,0.00,0.000,4,0.000,0.041,1842,900,3414
$GC,3280,-0.87,-117.3,271.8,-8.1,167,3285,0.10,2.28,0.00,0.000,6,0.063,0.037,1767,2310,3414
$GC,3599,-0.77,-117.3,307.4,-11.2,177,3604,0.20,2.33,0.00,0.000,4,0.127,0.042,1832,896,3414
$GC,3646,-0.81,-117.3,311.5,-7.4,177,3650,0.00,2.28,0.00,0.000,6,0.000,0.038,1826,2303,3414
$GC,3962,-0.81,-117.3,334.6,-7.3,183,3966,0.00,2.28,0.00,0.000,4,0.000,0.042,1825,890,3413
$GC,4001,-0.81,-117.3,337.7,-7.5,183,4006,0.00,2.28,0.00,0.000,6,0.000,0.041,1822,2301,3413
$GC,4323,-0.81,-117.3,361.7,-7.5,189,4327,0.00,2.25,0.00,0.000,4,0.000,0.041,1822,898,3413
$GC,4353,-0.81,-117.3,364.1,-8.5,189,4357,0.00,2.28,0.00,0.000,6,0.000,0.039,1814,2311,3413
$GC,4692,-0.81,-117.3,391.2,-8.0,195,4696,0.00,2.28,0.00,0.000,4,0.000,0.042,1814,889,3412
$GC,4726,-0.81,-117.3,394.1,-8.6,195,4730,0.00,2.28,0.00,0.000,6,0.000,0.038,1807,2302,3412
$GC,5053,-0.81,-117.3,422.0,-8.7,201,5057,0.00,2.28,0.00,0.000,4,0.000,0.045,1808,890,3412
$GC,5106,-0.81,-117.3,426.6,-8.5,201,5110,0.10,2.25,0.00,0.000,6,0.122,0.038,1824,2307,3412
$GC,5427,-0.83,-117.3,450.4,-7.3,207,5431,0.00,2.28,0.00,0.000,4,0.000,0.043,1824,900,3412
$GC,5462,-0.86,-117.3,453.2,-7.4,207,5467,0.00,2.28,0.00,0.000,6,0.000,0.039,1822,2310,3412
$GC,5797,-0.86,-117.3,476.8,-7.0,213,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2311,3412
$GC,6099,-0.86,-117.3,496.4,-6.5,218,6103,0.00,2.28,0.00,0.000,4,0.000,0.047,1822,898,3411
$GC,6151,-0.89,-117.3,500.2,-7.5,218,6155,0.00,2.30,0.00,0.000,6,0.000,0.042,1821,2310,3411
$GC,6461,-0.89,-117.3,521.4,-6.8,223,6465,0.00,2.30,0.00,0.000,4,0.000,0.046,1820,893,3411
$GC,6491,-0.89,-117.3,523.5,-7.1,223,6495,0.00,2.28,0.00,0.000,6,0.000,0.042,1812,2303,3411
$GC,6824,-0.89,-117.3,547.9,-7.4,229,6828,0.00,2.28,0.00,0.000,4,0.000,0.044,1812,896,3410
$GC,6864,-0.89,-117.3,551.2,-8.0,229,6868,0.00,2.30,0.00,0.000,6,0.000,0.044,1808,2309,3410
$GC,7185,-0.89,-117.3,576.7,-8.0,235,7189,0.00,2.33,0.00,0.000,4,0.000,0.054,1798,3710,3410
$GC,7221,-0.89,-117.3,579.6,-8.2,235,7225,0.00,2.22,0.00,0.000,6,0.000,0.034,1798,2305,3410
$GC,7548,-0.89,-117.3,606.7,-8.4,241,7552,0.00,2.30,0.00,0.000,4,0.000,0.044,1798,899,3410
$GC,7633,-0.89,-117.3,614.1,-8.7,242,7637,0.00,2.28,0.00,0.000,6,0.000,0.044,1794,2303,3410
$GC,7984,-0.86,-117.3,643.2,-8.3,248,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2303,3410
$GC,8286,-0.84,-117.3,666.8,-7.8,253,8291,0.10,2.28,0.00,0.000,4,0.137,0.048,1823,900,3409
$GC,8346,-0.88,-117.3,670.9,-6.1,253,8350,0.00,2.30,0.00,0.000,6,0.000,0.043,1823,2309,3410
$GC,8657,-0.92,-117.3,689.1,-5.7,258,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2309,3409
$GC,8961,-0.95,-117.3,706.3,-5.7,263,8963,0.10,0.00,0.00,0.000,6,0.066,0.000,1752,2309,3409
$GC,9263,-0.86,-117.3,734.9,-9.7,268,9268,0.17,2.33,0.00,0.000,4,0.130,0.048,1811,890,3409
$GC,9297,-0.86,-117.3,737.9,-7.3,268,9301,0.00,2.33,0.00,0.000,6,0.000,0.044,1809,2310,3408
$GC,9625,-0.86,-117.3,759.1,-6.5,274,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2310,3409
$GC,9927,-0.86,-117.3,777.9,-6.2,279,9931,0.00,2.33,0.00,0.000,4,0.000,0.044,1809,888,3408
$GC,9972,-0.86,-117.3,780.9,-6.2,279,9976,0.00,2.30,0.00,0.000,6,0.000,0.040,1808,2305,3408
$GC,10289,-0.86,-117.3,800.2,-6.1,285,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3408
$GC,10592,-0.86,-117.3,818.2,-6.0,290,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3408
$GC,10898,-0.86,-117.3,837.9,-6.5,295,10902,0.00,2.33,0.00,0.000,4,0.000,0.049,1808,899,3408
$GC,10966,-0.86,-117.3,843.1,-6.4,296,10970,0.00,2.30,0.00,0.000,6,0.000,0.044,1808,2306,3408
$GC,11327,-0.86,-117.3,866.7,-6.5,302,11328,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3408
$GC,11632,-0.88,-117.3,885.9,-6.3,307,11636,0.00,2.33,0.00,0.000,4,0.000,0.045,1807,899,3408
$GC,11672,-0.90,-117.3,888.7,-6.7,307,11676,0.00,2.30,0.00,0.000,6,0.000,0.041,1807,2306,3407
$GC,11993,-0.90,-117.3,909.6,-6.6,313,11995,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2306,3407
$GC,12296,-0.90,-117.3,929.5,-6.6,318,12301,0.00,2.33,0.00,0.000,4,0.000,0.049,1806,894,3407
$GC,12349,-0.90,-117.3,933.3,-7.4,318,12353,0.00,2.33,0.00,0.000,6,0.000,0.046,1804,2313,3407
$GC,12660,-0.90,-117.3,954.3,-6.8,323,12664,0.00,2.33,0.00,0.000,4,0.000,0.051,1805,900,3406
$GC,12700,-0.90,-117.3,957.3,-8.1,323,12704,0.00,2.30,0.00,0.000,6,0.000,0.040,1795,2307,3407
$GC,13022,-0.90,-117.3,980.4,-7.2,329,13026,0.00,2.33,0.00,0.000,4,0.000,0.048,1795,898,3407
$GC,13069,-0.90,-117.3,984.0,-7.4,329,13073,0.00,2.30,0.00,0.000,6,0.000,0.045,1794,2309,3407
$STATE,13199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13199,begin apogee
$GC,13208,-0.22,0.0,993.5,7.1,332,13309,0.50,0.00,97.93,1.280,6,0.110,0.000,1955,2309,2931
$STATE,13309,end apogee,CONTROL_FINISHED_OK
$STATE,13310,begin climb
$GC,13314,0.68,117.3,995.2,0.0,333,13426,0.57,2.58,103.70,1.253,4,0.069,0.051,2153,3708,2450
$GC,13462,0.49,117.3,993.2,6.9,336,13467,0.22,2.38,0.00,0.000,6,0.155,0.038,2108,2302,2447
$GC,13818,0.48,139.1,976.1,4.8,342,13838,0.00,0.00,18.35,1.170,6,0.000,0.000,2108,2302,2364
$GC,14122,0.49,143.2,960.0,5.4,347,14128,0.00,0.00,4.75,0.831,6,0.000,0.000,2108,2302,2347
$GC,14424,0.49,143.2,942.8,5.7,352,14428,0.00,2.30,0.00,0.000,4,0.000,0.054,2107,3713,2345
$GC,14453,0.44,143.2,940.9,6.4,352,14457,0.00,2.22,0.00,0.000,6,0.000,0.040,2117,2296,2344
$GC,14787,0.41,143.2,921.2,5.8,358,14792,0.12,2.33,0.00,0.000,4,0.155,0.049,2084,3718,2344
$GC,14821,0.44,166.6,919.2,4.7,358,14848,0.00,2.22,21.52,1.167,6,0.000,0.038,2093,2300,2251
$GC,15153,0.50,190.6,903.4,4.7,364,15182,0.00,2.38,21.92,1.154,4,0.000,0.056,2093,3718,2152
$GC,15203,0.54,199.3,900.9,5.2,364,15219,0.00,2.25,9.30,1.021,6,0.000,0.033,2102,2294,2118
$GC,15524,0.60,212.1,884.6,5.1,370,15539,0.10,0.00,12.45,1.077,6,0.068,0.000,2156,2294,2066
$GC,15827,0.52,212.1,861.3,7.9,375,15832,0.17,2.33,0.00,0.000,4,0.133,0.054,2107,3712,2063
$GC,15857,0.52,212.1,859.0,7.1,375,15861,0.00,2.22,0.00,0.000,6,0.000,0.033,2115,2296,2062
$GC,16191,0.54,212.1,839.6,5.8,381,16192,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2296,2061
$GC,16494,0.56,212.1,821.7,5.9,386,16498,0.00,2.33,0.00,0.000,4,0.000,0.052,2115,3717,2060
$GC,16522,0.56,212.1,819.6,7.1,386,16526,0.00,2.22,0.00,0.000,6,0.000,0.039,2125,2304,2060
$GC,16857,0.56,212.1,798.8,6.2,392,16858,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2303,2060
$GC,17159,0.56,212.1,780.7,5.9,397,17163,0.00,2.30,0.00,0.000,4,0.000,0.051,2125,3712,2060
$GC,17195,0.53,212.1,778.6,7.6,397,17199,0.00,2.20,0.00,0.000,6,0.000,0.032,2135,2297,2060
$GC,17523,0.53,212.1,758.5,6.0,403,17527,0.00,2.33,0.00,0.000,4,0.000,0.048,2135,3717,2060
$GC,17553,0.48,212.1,756.6,7.4,403,17558,0.17,2.20,0.00,0.000,6,0.133,0.032,2098,2301,2059
$GC,17886,0.57,231.9,740.4,4.8,409,17911,0.10,2.33,17.88,1.047,4,0.071,0.046,2170,896,1985
$GC,17936,0.51,231.9,736.9,7.7,409,17941,0.22,2.28,0.00,0.000,6,0.133,0.041,2108,2313,1983
$GC,18253,0.58,240.8,719.9,5.2,415,18267,0.00,2.33,8.95,0.937,4,0.000,0.049,2108,3708,1948
$GC,18314,0.62,240.8,716.0,6.1,415,18321,0.00,2.25,0.00,0.000,6,0.000,0.035,2114,2304,1947
$GC,18626,0.67,240.8,698.1,5.7,421,18630,0.10,2.22,0.00,0.000,4,0.070,0.045,2193,895,1947
$GC,18649,0.65,240.8,696.2,7.7,421,18654,0.20,2.25,0.00,0.000,6,0.142,0.039,2139,2304,1946
$GC,18993,0.65,240.8,672.5,6.8,427,18997,0.00,2.30,0.00,0.000,4,0.000,0.048,2138,3715,1946
$GC,19063,0.60,240.8,667.0,7.8,428,19067,0.00,2.22,0.00,0.000,6,0.000,0.037,2147,2304,1945
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$STATE,29312,end climb,SURFACE_DEPTH_REACHED
$STATE,29312,begin surface coast
$FINISH,1.6,1.024910
$STATE,29342,end surface coast,CONTROL_FINISHED_OK
$STATE,29343,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1766
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$TCM_TEMP,16.10
$XPDR_PINGS,81
$24V_AH,21.9,108.742
$10V_AH,10.3,92.496
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$DEVICE_SECS,19.125,268.475,365.825,6.350,0.000,29.449,40.104,158.459,20.250,0.000,0.000,14.449,1741.579,24245.922,529.235,2249.508,1002.268,33.382,1749.188,0.000,2225.539,0.000,0.528,0.000
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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,44323,746
$CAP_FILE_SIZE,194429,0
$CFSIZE,260165632,199913472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200210,092900,4921.065,-13629.865,33,1.5,33,19.5