version: 66.04
glider: 144
mission: 15
dive: 812
start: 3 11 110 7 34 14
data:
$ID,144
$MISSION,15
$DIVE,812
$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,-78129.375
$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,27
$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
$GPS1,072439,4903.123,-13146.088,71,1.6,71,19.5
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-52.7
$GPS2,073320,4903.137,-13146.093,13,1.9,13,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.158,-0.056
$KALMAN_X,-43149.9,175.2,288.0,993383.3,351.5
$KALMAN_Y,70670.4,-61.0,-101.0,-214671.8,1299.1
$MHEAD_RNG_PITCHd_Wd,89.9,80871,-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,17,-0.68,-117.1,0.0,0.0,0,55,0.00,0.00,-35.47,0.000,2,0.000,0.000,97,2307,2511
$GC,60,-0.68,-117.3,3.2,-3.1,2,96,6.93,2.33,-24.30,0.000,4,0.219,0.060,1837,3716,3411
$GC,235,-0.64,-117.3,21.6,-11.0,9,240,0.10,2.25,0.00,0.000,6,0.125,0.032,1863,2289,3412
$GC,564,-0.64,-117.3,52.6,-9.0,25,568,0.00,2.22,0.00,0.000,4,0.000,0.041,1863,892,3413
$GC,644,-0.66,-117.3,61.4,-10.2,28,648,0.00,2.28,0.00,0.000,6,0.000,0.038,1863,2311,3412
$GC,966,-0.66,-117.3,92.1,-9.9,49,970,0.00,2.28,0.00,0.000,4,0.000,0.040,1862,886,3413
$GC,1070,-0.70,-117.3,99.5,-6.6,57,1076,0.00,2.28,0.00,0.000,6,0.000,0.037,1857,2316,3413
$GC,1402,-0.70,-117.3,126.2,-6.5,88,1406,0.00,2.28,0.00,0.000,4,0.000,0.039,1857,893,3413
$GC,1428,-0.73,-117.3,128.2,-6.3,89,1434,0.00,2.25,0.00,0.000,6,0.000,0.035,1850,2309,3413
$GC,1768,-0.76,-117.3,153.1,-7.8,119,1772,0.00,2.33,0.00,0.000,4,0.000,0.055,1847,3707,3413
$GC,1848,-0.81,-117.3,160.0,-8.2,121,1853,0.10,2.20,0.00,0.000,6,0.061,0.036,1777,2302,3413
$GC,2169,-0.71,-117.3,195.4,-10.8,132,2174,0.20,2.28,0.00,0.000,4,0.181,0.039,1842,897,3413
$GC,2309,-0.74,-117.3,206.8,-8.1,136,2313,0.00,2.25,0.00,0.000,6,0.000,0.035,1836,2302,3413
$GC,2647,-0.74,-117.3,234.6,-8.5,147,2651,0.00,2.33,0.00,0.000,4,0.000,0.050,1831,3709,3413
$GC,2676,-0.77,-117.3,237.5,-9.8,147,2683,0.00,2.22,0.00,0.000,6,0.000,0.029,1832,2302,3413
$GC,2991,-0.77,-117.3,265.1,-8.8,158,2995,0.00,2.28,0.00,0.000,4,0.000,0.041,1832,886,3413
$GC,3038,-0.80,-117.3,269.6,-9.9,159,3042,0.00,2.30,0.00,0.000,6,0.000,0.040,1823,2309,3413
$GC,3358,-0.80,-117.3,298.8,-9.0,170,3362,0.00,2.28,0.00,0.000,4,0.000,0.041,1823,894,3413
$GC,3398,-0.80,-117.3,302.7,-9.0,171,3402,0.00,2.28,0.00,0.000,6,0.000,0.038,1817,2304,3413
$GC,3720,-0.80,-117.3,330.0,-8.4,177,3724,0.00,2.28,0.00,0.000,4,0.000,0.041,1817,890,3413
$GC,3789,-0.80,-117.3,336.0,-8.6,178,3793,0.00,2.30,0.00,0.000,6,0.000,0.041,1809,2311,3413
$GC,4156,-0.77,-117.3,367.7,-8.6,184,4161,0.10,2.28,0.00,0.000,4,0.130,0.041,1839,895,3413
$GC,4208,-0.82,-117.3,372.0,-7.3,184,4212,0.00,2.30,0.00,0.000,6,0.000,0.038,1836,2312,3412
$GC,4520,-0.86,-117.3,391.8,-6.2,189,4525,0.08,2.33,0.00,0.000,4,0.080,0.042,1770,892,3412
$GC,4560,-0.77,-117.3,395.2,-9.5,189,4565,0.25,2.30,0.00,0.000,6,0.114,0.044,1834,2312,3411
$GC,4883,-0.81,-117.3,412.3,-5.1,195,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2312,3412
$GC,5187,-0.84,-117.3,429.3,-5.7,200,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2312,3411
$GC,5489,-0.88,-117.3,447.9,-6.2,205,5490,0.10,0.00,0.00,0.000,6,0.066,0.000,1767,2312,3411
$GC,5794,-0.79,-117.3,479.8,-10.8,210,5799,0.20,2.38,0.00,0.000,4,0.115,0.044,1833,898,3410
$GC,5874,-0.83,-117.3,487.2,-8.5,211,5879,0.00,2.28,0.00,0.000,6,0.000,0.041,1827,2300,3410
$GC,6231,-0.86,-117.3,514.3,-7.5,217,6235,0.00,2.28,0.00,0.000,4,0.000,0.042,1826,898,3410
$GC,6283,-0.89,-117.3,518.3,-7.6,217,6287,0.00,2.33,0.00,0.000,6,0.000,0.044,1822,2312,3410
$GC,6594,-0.89,-117.3,541.2,-7.3,222,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2313,3410
$GC,6898,-0.91,-117.3,562.2,-6.9,227,6902,0.00,2.35,0.00,0.000,4,0.000,0.048,1822,899,3409
$GC,6929,-0.93,-117.3,564.2,-7.0,227,6934,0.10,2.35,0.00,0.000,6,0.067,0.041,1760,2312,3409
$GC,7262,-0.84,-117.3,596.5,-9.8,233,7264,0.20,0.00,0.00,0.000,6,0.119,0.000,1821,2312,3409
$GC,7566,-0.87,-117.3,614.3,-5.7,238,7570,0.00,2.33,0.00,0.000,4,0.000,0.045,1821,897,3409
$GC,7618,-0.90,-117.3,617.5,-6.0,238,7622,0.00,2.33,0.00,0.000,6,0.000,0.040,1822,2307,3409
$GC,7929,-0.93,-117.3,633.8,-5.2,243,7931,0.10,0.00,0.00,0.000,6,0.067,0.000,1758,2309,3409
$GC,8233,-0.84,-117.3,661.3,-9.4,248,8238,0.20,2.35,0.00,0.000,4,0.116,0.046,1825,899,3408
$GC,8279,-0.89,-117.3,665.0,-7.0,248,8283,0.00,2.30,0.00,0.000,6,0.000,0.040,1823,2312,3408
$GC,8607,-0.92,-117.3,686.2,-6.4,254,8611,0.08,2.35,0.00,0.000,4,0.081,0.048,1763,890,3408
$GC,8642,-0.85,-117.3,689.3,-9.8,254,8646,0.22,2.33,0.00,0.000,6,0.118,0.041,1820,2306,3408
$GC,8971,-0.88,-117.3,711.0,-6.4,260,8975,0.00,2.33,0.00,0.000,4,0.000,0.046,1820,898,3408
$GC,9005,-0.92,-117.3,713.4,-7.2,260,9009,0.00,2.30,0.00,0.000,6,0.000,0.040,1820,2304,3408
$GC,9334,-0.95,-117.3,734.6,-6.4,266,9339,0.10,2.28,0.00,0.000,4,0.067,0.048,1757,900,3408
$GC,9364,-0.89,-117.3,737.2,-9.3,266,9369,0.20,2.33,0.00,0.000,6,0.123,0.042,1811,2304,3408
$GC,9703,-0.89,-117.3,761.1,-6.9,272,9707,0.00,2.33,0.00,0.000,4,0.000,0.047,1811,890,3407
$GC,9738,-0.91,-117.3,763.7,-8.0,272,9742,0.00,2.35,0.00,0.000,6,0.000,0.041,1809,2314,3407
$GC,10072,-0.91,-117.3,785.4,-6.4,278,10073,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2314,3407
$GC,10374,-0.91,-117.3,803.7,-6.0,283,10378,0.00,2.33,0.00,0.000,4,0.000,0.044,1809,900,3406
$GC,10408,-0.91,-117.3,806.0,-7.0,283,10413,0.00,2.33,0.00,0.000,6,0.000,0.041,1808,2307,3407
$GC,10736,-0.91,-117.3,825.9,-6.0,289,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3406
$GC,11040,-0.91,-117.3,844.8,-6.2,294,11044,0.00,2.35,0.00,0.000,4,0.000,0.047,1808,895,3406
$GC,11097,-0.91,-117.3,848.8,-7.3,294,11103,0.00,2.33,0.00,0.000,6,0.000,0.043,1808,2309,3406
$GC,11408,-0.91,-117.3,870.1,-7.0,300,11409,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3406
$GC,11711,-0.91,-117.3,891.3,-6.9,305,11715,0.00,2.35,0.00,0.000,4,0.000,0.044,1808,895,3406
$GC,11763,-0.91,-117.3,895.1,-6.8,305,11767,0.00,2.35,0.00,0.000,6,0.000,0.044,1808,2306,3406
$GC,12074,-0.91,-117.3,914.7,-6.3,310,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3405
$GC,12377,-0.91,-117.3,933.1,-6.0,315,12381,0.00,2.38,0.00,0.000,4,0.000,0.045,1808,903,3405
$GC,12411,-0.91,-117.3,935.3,-6.4,315,12415,0.00,2.33,0.00,0.000,6,0.000,0.047,1808,2307,3405
$GC,12747,-0.93,-117.3,954.0,-5.5,321,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3405
$GC,13049,-0.93,-117.3,970.2,-5.3,326,13053,0.00,2.38,0.00,0.000,4,0.000,0.048,1808,896,3405
$GC,13085,-0.93,-117.3,972.1,-5.4,326,13089,0.00,2.35,0.00,0.000,6,0.000,0.041,1807,2303,3405
$GC,13414,-0.95,-117.3,987.6,-4.7,332,13415,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2303,3405
$STATE,13469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13469,begin apogee
$GC,13478,-0.22,0.0,990.5,4.7,333,13578,0.45,0.00,97.28,1.277,6,0.104,0.000,1953,2303,2931
$STATE,13579,end apogee,CONTROL_FINISHED_OK
$STATE,13579,begin climb
$GC,13583,0.68,117.3,991.1,0.0,334,13694,0.57,2.62,103.50,1.249,4,0.067,0.055,2154,3704,2451
$GC,13748,0.49,117.3,985.3,8.2,336,13753,0.25,2.40,0.00,0.000,6,0.157,0.032,2104,2306,2446
$GC,14076,0.48,135.1,968.4,4.9,342,14093,0.00,0.00,14.95,1.141,6,0.000,0.000,2104,2306,2380
$GC,14379,0.51,155.5,953.9,4.8,347,14400,0.00,0.00,18.60,1.162,6,0.000,0.000,2104,2306,2297
$GC,14683,0.53,169.6,938.6,5.0,352,14699,0.00,0.00,13.50,1.119,6,0.000,0.000,2105,2306,2238
$GC,14985,0.56,195.1,924.2,4.6,357,15014,0.00,2.40,23.02,1.169,4,0.000,0.052,2104,3707,2135
$GC,15034,0.57,202.6,921.7,5.2,357,15051,0.00,2.28,7.90,0.992,6,0.000,0.033,2113,2292,2106
$GC,15357,0.60,226.0,906.5,4.7,363,15381,0.00,0.00,22.08,1.157,6,0.000,0.000,2113,2292,2009
$GC,15659,0.68,265.2,893.8,4.2,368,15709,0.12,2.40,37.70,1.124,4,0.061,0.051,2170,3704,1849
$GC,15733,0.57,265.2,888.6,8.5,369,15738,0.22,2.25,0.00,0.000,6,0.142,0.033,2120,2303,1847
$GC,16091,0.64,283.4,871.1,4.9,375,16114,0.00,2.33,16.67,1.108,4,0.000,0.054,2129,885,1773
$GC,16134,0.72,294.4,868.7,5.1,375,16159,0.10,2.30,13.32,0.907,6,0.077,0.038,2178,2309,1729
$GC,16532,0.64,294.4,832.3,9.6,382,16536,0.15,2.28,0.00,0.000,4,0.132,0.054,2137,3708,1725
$GC,16622,0.64,294.4,824.0,8.1,383,16626,0.00,2.22,0.00,0.000,6,0.000,0.040,2145,2299,1724
$GC,16961,0.64,294.4,798.5,7.6,389,16962,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2299,1723
$GC,17265,0.64,294.4,773.8,8.2,394,17269,0.00,2.33,0.00,0.000,4,0.000,0.048,2145,3707,1723
$GC,17305,0.64,294.4,769.8,10.1,394,17309,0.00,2.22,0.00,0.000,6,0.000,0.033,2155,2305,1723
$GC,17627,0.62,294.4,740.5,9.2,400,17628,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2305,1722
$GC,17930,0.59,294.4,713.8,8.7,405,17935,0.10,2.33,0.00,0.000,4,0.137,0.052,2128,3707,1722
$GC,17966,0.61,294.4,711.0,7.1,405,17970,0.00,2.22,0.00,0.000,6,0.000,0.032,2137,2291,1722
$GC,18294,0.64,294.4,689.8,6.2,411,18295,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2291,1722
$GC,18597,0.67,294.4,672.2,5.7,416,18601,0.00,2.38,0.00,0.000,4,0.000,0.048,2137,3714,1721
$GC,18649,0.67,294.4,668.6,7.9,416,18653,0.00,2.22,0.00,0.000,6,0.000,0.032,2146,2305,1721
$GC,18960,0.67,294.4,647.9,6.6,421,18962,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2305,1721
$GC,19264,0.67,294.4,628.9,6.2,426,19265,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2305,1721
$GC,19567,0.67,296.4,612.1,5.4,431,19568,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2305,1721
$GC,19870,0.67,296.4,594.8,5.7,436,19871,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2305,1721
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$STATE,27832,end climb,SURFACE_DEPTH_REACHED
$STATE,27833,begin surface coast
$FINISH,1.5,1.025267
$STATE,27878,end surface coast,CONTROL_FINISHED_OK
$STATE,27879,begin surface
$SM_CCo,27961,0.00,0.000,0,0,1169,432.22
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$IRIDIUM_FIX,4843.59,-13151.91,040699,232307
$TT8_MAMPS,0.028379
$HUMID,1772
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$TCM_TEMP,16.40
$XPDR_PINGS,63
$24V_AH,21.8,117.108
$10V_AH,10.3,98.965
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$DEVICE_SECS,18.075,229.925,482.925,0.000,0.000,33.291,48.355,249.382,15.750,0.000,0.000,14.633,1624.021,23006.350,608.267,2119.682,1109.211,33.387,1768.927,0.000,2105.231,0.000,0.528,0.000
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$SENSOR_SECS,499.965,584.806,740.998,770.492,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41173,713
$CAP_FILE_SIZE,181021,0
$CFSIZE,260165632,195506176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,110310,152230,4902.265,-13140.754,78,1.9,90,19.5