version: 66.04
glider: 144
mission: 15
dive: 772
start: 2 25 110 19 56 56
data:
$ID,144
$MISSION,15
$DIVE,772
$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,-77323.164
$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,38
$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
$GPS1,194924,4915.289,-13505.017,43,1.6,61,19.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-63.0
$GPS2,195602,4915.287,-13505.029,11,1.4,11,19.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.167,0.010
$KALMAN_X,-56147.8,-192.8,-124.4,772074.9,1885.8
$KALMAN_Y,67070.0,47.5,28.5,-188796.8,489.5
$MHEAD_RNG_PITCHd_Wd,67.0,30403,-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,-40.72,0.000,2,0.000,0.000,98,2292,2804
$GC,68,-0.68,-117.3,4.4,-8.8,2,93,7.22,2.35,-12.75,0.000,4,0.234,0.065,1840,3707,3412
$GC,136,-0.64,-117.3,15.7,-11.4,5,140,0.00,2.22,0.00,0.000,6,0.000,0.031,1840,2292,3413
$GC,465,-0.59,-117.3,51.3,-10.9,21,469,0.12,2.22,0.00,0.000,4,0.129,0.040,1875,897,3414
$GC,538,-0.63,-117.3,58.0,-8.0,24,542,0.00,2.22,0.00,0.000,6,0.000,0.036,1871,2306,3414
$GC,858,-0.63,-117.3,84.2,-8.5,41,862,0.00,2.25,0.00,0.000,4,0.000,0.040,1871,887,3413
$GC,892,-0.66,-117.3,87.4,-8.7,43,899,0.00,2.22,0.00,0.000,6,0.000,0.035,1863,2302,3414
$GC,1224,-0.69,-117.3,113.5,-7.7,74,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2302,3414
$GC,1551,-0.74,-117.3,138.1,-6.4,105,1556,0.10,2.28,0.00,0.000,4,0.064,0.039,1788,890,3414
$GC,1596,-0.66,-117.3,142.6,-11.1,108,1603,0.28,2.28,0.00,0.000,6,0.114,0.043,1860,2308,3415
$GC,1926,-0.71,-117.3,162.8,-5.5,126,1930,0.00,2.25,0.00,0.000,4,0.000,0.040,1861,896,3414
$GC,1961,-0.78,-117.3,165.1,-6.3,127,1966,0.12,2.25,0.00,0.000,6,0.054,0.037,1779,2306,3414
$GC,2294,-0.69,-117.3,199.7,-10.8,138,2298,0.22,2.33,0.00,0.000,4,0.123,0.049,1843,3710,3414
$GC,2324,-0.69,-117.3,202.7,-8.4,139,2328,0.00,2.20,0.00,0.000,6,0.000,0.029,1843,2292,3414
$GC,2661,-0.73,-117.3,225.3,-6.4,150,2665,0.00,2.22,0.00,0.000,4,0.000,0.041,1843,901,3414
$GC,2702,-0.78,-117.3,228.1,-6.4,151,2706,0.00,2.25,0.00,0.000,6,0.000,0.038,1837,2311,3414
$GC,3034,-0.78,-117.3,249.9,-6.5,162,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2311,3415
$GC,3340,-0.80,-117.3,269.5,-6.4,172,3344,0.00,2.30,0.00,0.000,4,0.000,0.041,1837,902,3414
$GC,3386,-0.84,-117.3,272.8,-6.7,173,3390,0.00,2.30,0.00,0.000,6,0.000,0.041,1837,2312,3414
$GC,3708,-0.86,-117.3,294.2,-7.0,184,3712,0.10,2.30,0.00,0.000,4,0.064,0.047,1755,3712,3414
$GC,3738,-0.77,-117.3,297.2,-10.7,185,3743,0.28,2.20,0.00,0.000,6,0.120,0.030,1837,2299,3414
$GC,4072,-0.80,-117.3,320.7,-6.7,191,4076,0.00,2.28,0.00,0.000,4,0.000,0.044,1837,896,3414
$GC,4136,-0.85,-117.3,325.0,-6.9,191,4142,0.00,2.28,0.00,0.000,6,0.000,0.044,1837,2309,3414
$GC,4447,-0.87,-117.3,345.5,-6.6,197,4449,0.10,0.00,0.00,0.000,6,0.064,0.000,1765,2310,3413
$GC,4750,-0.77,-117.3,379.4,-11.4,202,4755,0.20,2.33,0.00,0.000,4,0.123,0.043,1831,898,3413
$GC,4836,-0.81,-117.3,386.6,-7.4,203,4841,0.00,2.28,0.00,0.000,6,0.000,0.038,1824,2307,3413
$GC,5187,-0.81,-117.3,411.4,-7.1,209,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2307,3413
$GC,5490,-0.81,-117.3,432.1,-6.8,214,5494,0.00,2.30,0.00,0.000,4,0.000,0.043,1824,902,3412
$GC,5531,-0.81,-117.3,435.0,-7.5,214,5535,0.00,2.30,0.00,0.000,6,0.000,0.041,1821,2313,3412
$GC,5858,-0.81,-117.3,459.7,-7.6,220,5862,0.00,2.30,0.00,0.000,4,0.000,0.044,1821,899,3412
$GC,5899,-0.81,-117.3,463.0,-8.2,220,5903,0.00,2.28,0.00,0.000,6,0.000,0.039,1811,2303,3412
$GC,6227,-0.81,-117.3,485.7,-6.8,226,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2303,3412
$GC,6531,-0.81,-117.3,506.5,-6.9,231,6534,0.00,2.28,0.00,0.000,4,0.000,0.045,1811,898,3412
$GC,6576,-0.81,-117.3,510.0,-7.4,231,6580,0.00,2.25,0.00,0.000,6,0.000,0.038,1806,2312,3411
$GC,6904,-0.81,-117.3,535.0,-7.7,237,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2313,3411
$GC,7207,-0.81,-117.3,558.8,-7.8,242,7211,0.00,2.30,0.00,0.000,4,0.000,0.049,1806,902,3411
$GC,7235,-0.81,-117.3,561.0,-7.9,242,7240,0.10,2.30,0.00,0.000,6,0.124,0.042,1825,2314,3410
$GC,7575,-0.84,-117.3,582.7,-6.4,248,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2314,3410
$GC,7877,-0.87,-117.3,602.4,-6.5,253,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2314,3410
$GC,8180,-0.91,-117.3,621.5,-6.3,258,8182,0.10,0.00,0.00,0.000,6,0.066,0.000,1763,2314,3410
$GC,8484,-0.82,-117.3,650.9,-9.9,263,8489,0.17,2.38,0.00,0.000,4,0.123,0.045,1825,897,3410
$GC,8558,-0.86,-117.3,656.9,-7.9,264,8562,0.00,2.30,0.00,0.000,6,0.000,0.044,1823,2311,3409
$GC,8919,-0.89,-117.3,680.4,-6.4,270,8923,0.00,2.33,0.00,0.000,4,0.000,0.056,1814,3715,3409
$GC,8950,-0.92,-117.3,682.5,-7.0,270,8954,0.00,2.25,0.00,0.000,6,0.000,0.031,1813,2307,3409
$GC,9289,-0.95,-117.3,705.7,-6.9,276,9293,0.00,2.30,0.00,0.000,4,0.000,0.044,1813,896,3409
$GC,9330,-0.97,-117.3,709.0,-8.4,276,9334,0.00,2.30,0.00,0.000,6,0.000,0.039,1809,2312,3409
$GC,9653,-0.97,-117.3,733.4,-7.6,282,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2312,3408
$GC,9955,-0.97,-117.3,755.8,-7.4,287,9959,0.00,2.33,0.00,0.000,4,0.000,0.047,1808,900,3408
$GC,9990,-0.97,-117.3,758.4,-7.9,287,9994,0.00,2.30,0.00,0.000,6,0.000,0.044,1808,2303,3408
$GC,10323,-0.97,-117.3,781.5,-6.9,293,10327,0.00,2.33,0.00,0.000,4,0.000,0.051,1798,3710,3408
$GC,10351,-0.97,-117.3,783.7,-8.0,293,10356,0.00,2.28,0.00,0.000,6,0.000,0.038,1798,2294,3408
$GC,10691,-0.97,-117.3,808.8,-7.5,299,10695,0.00,2.28,0.00,0.000,4,0.000,0.052,1798,899,3408
$GC,10742,-0.97,-117.3,813.1,-8.2,299,10746,0.00,2.30,0.00,0.000,6,0.000,0.041,1795,2303,3408
$GC,11064,-0.97,-117.3,838.8,-8.0,305,11066,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3408
$GC,11368,-0.97,-117.3,863.4,-8.2,310,11370,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2304,3407
$GC,11670,-0.97,-117.3,887.6,-7.9,315,11675,0.00,2.35,0.00,0.000,4,0.000,0.049,1795,897,3407
$GC,11711,-0.97,-117.3,890.9,-7.9,315,11715,0.00,2.33,0.00,0.000,6,0.000,0.040,1794,2305,3407
$GC,12033,-0.97,-117.3,914.7,-7.3,321,12034,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2305,3407
$GC,12336,-0.97,-117.3,935.4,-6.7,326,12338,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3407
$GC,12640,-0.97,-117.3,955.6,-6.7,331,12641,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3407
$GC,12942,-0.97,-117.3,977.5,-7.3,336,12946,0.00,2.33,0.00,0.000,4,0.000,0.052,1794,901,3407
$GC,12982,-0.97,-117.3,980.9,-8.2,336,12987,0.00,2.33,0.00,0.000,6,0.000,0.041,1791,2309,3406
$STATE,13118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13118,begin apogee
$GC,13128,-0.22,0.0,991.0,7.2,339,13229,0.50,0.00,98.15,1.272,6,0.110,0.000,1951,2309,2931
$STATE,13230,end apogee,CONTROL_FINISHED_OK
$STATE,13230,begin climb
$GC,13235,0.68,117.3,992.5,0.0,340,13344,0.55,0.00,104.00,1.249,6,0.070,0.000,2147,2309,2452
$GC,13668,0.58,117.3,973.1,6.4,348,13669,0.10,0.00,0.00,0.000,6,0.150,0.000,2124,2309,2442
$GC,13971,0.52,117.3,955.8,5.7,353,13975,0.00,2.30,0.00,0.000,4,0.000,0.054,2124,3721,2441
$GC,14001,0.43,117.3,953.9,6.8,353,14006,0.15,2.22,0.00,0.000,6,0.154,0.035,2094,2308,2440
$GC,14334,0.47,155.2,939.3,4.2,359,14368,0.00,0.00,31.95,1.197,6,0.000,0.000,2094,2308,2298
$GC,14637,0.56,203.5,927.3,3.9,364,14683,0.10,0.00,43.40,1.199,6,0.069,0.000,2143,2307,2101
$GC,14941,0.51,203.5,909.2,6.1,369,14943,0.12,0.00,0.00,0.000,6,0.135,0.000,2110,2307,2094
$GC,15244,0.57,223.8,894.7,4.8,374,15268,0.00,2.40,18.25,1.127,4,0.000,0.051,2110,3712,2018
$GC,15287,0.63,253.2,892.2,4.5,374,15322,0.00,2.28,27.75,1.153,6,0.000,0.033,2117,2303,1898
$GC,15681,0.67,253.2,869.2,5.9,381,15683,0.10,0.00,0.00,0.000,6,0.071,0.000,2172,2303,1891
$GC,15983,0.58,253.2,839.9,9.9,386,15985,0.17,0.00,0.00,0.000,6,0.137,0.000,2124,2303,1890
$GC,16286,0.61,253.2,819.8,6.4,391,16287,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2302,1889
$GC,16590,0.64,253.2,802.4,5.7,396,16591,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2302,1888
$GC,16893,0.68,253.2,784.9,5.8,401,16897,0.10,2.35,0.00,0.000,4,0.064,0.049,2175,3715,1887
$GC,16921,0.60,253.2,782.5,10.1,401,16926,0.20,2.25,0.00,0.000,6,0.142,0.034,2132,2303,1887
$GC,17261,0.60,253.2,760.5,6.3,407,17265,0.00,2.30,0.00,0.000,4,0.000,0.047,2141,894,1887
$GC,17296,0.64,253.2,758.2,6.3,407,17300,0.00,2.28,0.00,0.000,6,0.000,0.037,2141,2306,1886
$GC,17623,0.64,253.2,736.0,6.9,413,17627,0.00,2.33,0.00,0.000,4,0.000,0.054,2141,3718,1886
$GC,17664,0.61,253.2,732.8,8.4,413,17668,0.00,2.25,0.00,0.000,6,0.000,0.038,2151,2303,1886
$GC,17986,0.58,253.2,707.9,7.8,419,17988,0.10,0.00,0.00,0.000,6,0.146,0.000,2125,2303,1886
$GC,18289,0.62,253.2,689.7,5.9,424,18293,0.00,2.35,0.00,0.000,4,0.000,0.054,2125,3718,1885
$GC,18312,0.64,253.2,688.3,6.2,424,18316,0.00,2.25,0.00,0.000,6,0.000,0.032,2133,2298,1885
$GC,18651,0.64,253.2,667.3,6.2,430,18656,0.00,2.33,0.00,0.000,4,0.000,0.048,2133,3717,1885
$GC,18675,0.64,253.2,665.7,6.2,430,18679,0.00,2.25,0.00,0.000,6,0.000,0.032,2142,2296,1885
$GC,19014,0.64,253.2,644.1,6.3,436,19015,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2297,1885
$GC,19317,0.64,253.2,625.2,6.3,441,19318,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2297,1885
$GC,19622,0.64,253.2,606.1,6.3,446,19623,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2297,1885
$GC,19923,0.64,253.2,587.4,6.1,451,19924,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2297,1885
$GC,20226,0.64,253.2,568.4,6.3,456,20230,0.00,2.35,0.00,0.000,4,0.000,0.048,2143,3720,1884
$GC,20250,0.64,253.2,566.5,7.1,456,20254,0.00,2.25,0.00,0.000,6,0.000,0.031,2153,2304,1885
$GC,20590,0.62,253.2,541.7,7.4,462,20594,0.00,2.30,0.00,0.000,4,0.000,0.046,2163,890,1885
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$STATE,28422,end climb,SURFACE_DEPTH_REACHED
$STATE,28423,begin surface coast
$FINISH,1.6,1.025373
$STATE,28444,end surface coast,CONTROL_FINISHED_OK
$STATE,28445,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1755
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$TCM_TEMP,16.20
$XPDR_PINGS,62
$24V_AH,21.9,111.250
$10V_AH,10.3,94.412
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$DEVICE_SECS,18.575,218.550,390.075,0.000,0.000,28.057,27.392,165.043,15.500,0.000,0.000,13.219,1663.982,23691.891,548.619,2058.813,946.835,33.384,1635.722,0.000,2050.586,0.000,0.530,0.000
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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,44223,759
$CAP_FILE_SIZE,176524,0
$CFSIZE,260165632,198615040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,260210,035356,4915.669,-13459.580,49,1.8,49,19.6