version: 66.04
glider: 144
mission: 15
dive: 825
start: 3 15 110 15 53 9
data:
$ID,144
$MISSION,15
$DIVE,825
$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,-78488.922
$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,37
$R_STBD_OVSHOOT,30
$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
$GPS1,154506,4858.796,-13041.147,40,1.3,40,19.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-64.4
$GPS2,155216,4858.800,-13041.135,10,2.2,29,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P8
$TGT_LATLONG,4849.000,-12840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.159,-0.053
$KALMAN_X,-42916.4,48.1,266.6,1070063.8,-635.3
$KALMAN_Y,77456.2,186.5,24.8,-229867.4,1278.1
$MHEAD_RNG_PITCHd_Wd,89.1,148833,-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,21,-0.68,-117.3,0.0,0.0,0,63,0.00,0.00,-39.97,0.000,2,0.000,0.000,98,2286,2625
$GC,68,-0.68,-117.3,3.8,-4.3,2,100,7.03,2.42,-19.45,0.000,4,0.224,0.067,1837,3713,3410
$GC,181,-0.64,-117.3,17.6,-11.3,7,185,0.10,2.22,0.00,0.000,6,0.123,0.029,1862,2301,3411
$GC,504,-0.64,-117.3,47.7,-9.2,23,508,0.00,2.28,0.00,0.000,4,0.000,0.040,1862,891,3412
$GC,591,-0.64,-117.3,56.0,-9.4,27,595,0.00,2.25,0.00,0.000,6,0.000,0.035,1855,2306,3412
$GC,913,-0.61,-117.3,89.1,-10.1,46,917,0.00,2.28,0.00,0.000,4,0.000,0.040,1855,895,3412
$GC,1004,-0.64,-117.3,97.5,-8.6,53,1010,0.00,2.30,0.00,0.000,6,0.000,0.041,1850,2308,3411
$GC,1332,-0.64,-117.3,122.2,-7.1,84,1336,0.00,2.28,0.00,0.000,4,0.000,0.039,1850,886,3412
$GC,1385,-0.68,-117.3,126.2,-7.8,88,1389,0.00,2.28,0.00,0.000,6,0.000,0.036,1850,2308,3412
$GC,1719,-0.71,-117.3,149.6,-7.0,118,1722,0.00,2.28,0.00,0.000,4,0.000,0.040,1849,896,3412
$GC,1765,-0.75,-117.3,153.8,-7.9,120,1769,0.00,2.28,0.00,0.000,6,0.000,0.041,1850,2299,3412
$GC,2091,-0.79,-117.3,176.7,-6.9,131,2093,0.08,0.00,0.00,0.000,6,0.079,0.000,1777,2300,3411
$GC,2398,-0.69,-117.3,210.1,-11.4,141,2403,0.20,2.30,0.00,0.000,4,0.119,0.039,1843,889,3412
$GC,2483,-0.74,-117.3,218.0,-8.4,143,2487,0.00,2.30,0.00,0.000,6,0.000,0.041,1837,2309,3412
$GC,2798,-0.74,-117.3,244.2,-8.4,153,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2309,3412
$GC,3105,-0.76,-117.3,269.7,-8.0,163,3109,0.00,2.25,0.00,0.000,4,0.000,0.041,1837,895,3411
$GC,3157,-0.80,-117.3,274.3,-8.6,164,3161,0.00,2.33,0.00,0.000,6,0.000,0.037,1837,2313,3412
$GC,3478,-0.82,-117.3,299.3,-7.6,175,3482,0.00,2.30,0.00,0.000,4,0.000,0.048,1836,892,3411
$GC,3515,-0.85,-117.3,302.2,-7.6,176,3519,0.00,2.28,0.00,0.000,6,0.000,0.040,1836,2301,3411
$GC,3854,-0.88,-117.3,327.9,-7.5,182,3856,0.10,0.00,0.00,0.000,6,0.067,0.000,1765,2302,3412
$GC,4157,-0.78,-117.3,362.0,-11.5,187,4162,0.20,2.30,0.00,0.000,4,0.120,0.042,1832,892,3411
$GC,4199,-0.81,-117.3,365.8,-8.2,187,4203,0.00,2.28,0.00,0.000,6,0.000,0.043,1825,2306,3411
$GC,4532,-0.81,-117.3,392.5,-8.1,193,4536,0.00,2.33,0.00,0.000,4,0.000,0.042,1825,891,3411
$GC,4573,-0.83,-117.3,396.1,-8.9,193,4577,0.00,2.30,0.00,0.000,6,0.000,0.038,1822,2303,3411
$GC,4895,-0.83,-117.3,423.1,-8.5,199,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3411
$GC,5199,-0.83,-117.3,449.1,-8.6,204,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3410
$GC,5501,-0.83,-117.3,472.2,-7.5,209,5505,0.00,2.30,0.00,0.000,4,0.000,0.044,1822,893,3410
$GC,5558,-0.83,-117.3,476.4,-7.4,209,5564,0.00,2.33,0.00,0.000,6,0.000,0.043,1813,2311,3410
$GC,5869,-0.83,-117.3,496.2,-6.3,215,5873,0.00,2.33,0.00,0.000,4,0.000,0.047,1814,892,3409
$GC,5916,-0.83,-117.3,499.1,-6.4,215,5920,0.00,2.35,0.00,0.000,6,0.000,0.041,1808,2309,3410
$GC,6232,-0.83,-117.3,517.9,-5.9,221,6236,0.00,2.35,0.00,0.000,4,0.000,0.044,1808,899,3410
$GC,6267,-0.83,-117.3,520.2,-6.6,221,6271,0.00,2.33,0.00,0.000,6,0.000,0.042,1799,2313,3409
$GC,6600,-0.80,-117.3,543.6,-7.2,227,6605,0.10,2.33,0.00,0.000,4,0.132,0.041,1827,896,3408
$GC,6636,-0.84,-117.3,546.1,-6.7,227,6640,0.00,2.30,0.00,0.000,6,0.000,0.041,1823,2303,3409
$GC,6970,-0.86,-117.3,568.1,-6.7,233,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2304,3408
$GC,7273,-0.89,-117.3,590.3,-7.4,238,7277,0.00,2.35,0.00,0.000,4,0.000,0.050,1823,892,3408
$GC,7310,-0.92,-117.3,593.2,-7.9,238,7314,0.00,2.33,0.00,0.000,6,0.000,0.041,1821,2303,3408
$GC,7638,-0.95,-117.3,619.0,-7.8,244,7640,0.10,0.00,0.00,0.000,6,0.064,0.000,1755,2304,3407
$GC,7941,-0.85,-117.3,651.3,-10.7,249,7946,0.17,2.38,0.00,0.000,4,0.123,0.046,1814,900,3407
$GC,7998,-0.87,-117.3,656.2,-8.3,249,8004,0.00,2.35,0.00,0.000,6,0.000,0.041,1809,2308,3407
$GC,8310,-0.87,-117.3,679.1,-7.4,255,8314,0.00,2.35,0.00,0.000,4,0.000,0.046,1809,897,3407
$GC,8356,-0.87,-117.3,682.9,-7.9,255,8360,0.00,2.33,0.00,0.000,6,0.000,0.044,1804,2306,3407
$GC,8673,-0.87,-117.3,707.8,-7.9,261,8677,0.00,2.35,0.00,0.000,4,0.000,0.044,1804,899,3406
$GC,8726,-0.87,-117.3,712.1,-8.4,261,8730,0.00,2.30,0.00,0.000,6,0.000,0.044,1794,2304,3406
$GC,9048,-0.87,-117.3,737.1,-7.7,267,9052,0.00,2.33,0.00,0.000,4,0.000,0.047,1795,896,3406
$GC,9088,-0.87,-117.3,740.4,-8.0,267,9093,0.10,2.35,0.00,0.000,6,0.129,0.044,1813,2310,3406
$GC,9416,-0.89,-117.3,760.0,-5.9,273,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2311,3406
$GC,9721,-0.92,-117.3,776.1,-5.2,278,9725,0.00,2.35,0.00,0.000,4,0.000,0.046,1813,900,3406
$GC,9767,-0.94,-117.3,778.8,-5.9,278,9771,0.00,2.33,0.00,0.000,6,0.000,0.039,1809,2309,3406
$GC,10083,-0.94,-117.3,796.8,-5.7,284,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3405
$GC,10386,-0.94,-117.3,814.5,-5.8,289,10390,0.00,2.35,0.00,0.000,4,0.000,0.044,1809,896,3405
$GC,10451,-0.97,-117.3,818.5,-6.5,290,10455,0.00,2.33,0.00,0.000,6,0.000,0.044,1807,2305,3405
$GC,10824,-0.97,-117.3,839.7,-5.6,296,10825,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3405
$GC,11127,-0.97,-117.3,857.0,-5.7,301,11128,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3405
$GC,11432,-0.97,-117.3,875.5,-6.2,306,11436,0.00,2.38,0.00,0.000,4,0.000,0.044,1808,900,3405
$GC,11468,-0.97,-117.3,878.1,-7.2,306,11472,0.00,2.35,0.00,0.000,6,0.000,0.041,1805,2305,3405
$GC,11795,-0.97,-117.3,900.4,-6.7,312,11800,0.00,2.33,0.00,0.000,4,0.000,0.048,1805,901,3404
$GC,11836,-0.97,-117.3,903.4,-7.1,312,11840,0.00,2.35,0.00,0.000,6,0.000,0.039,1795,2312,3405
$GC,12159,-0.97,-117.3,927.4,-7.5,318,12163,0.00,2.40,0.00,0.000,4,0.000,0.051,1795,897,3405
$GC,12204,-0.97,-117.3,931.5,-7.7,318,12209,0.00,2.38,0.00,0.000,6,0.000,0.045,1794,2310,3404
$GC,12521,-0.97,-117.3,955.4,-7.5,324,12525,0.00,2.38,0.00,0.000,4,0.000,0.048,1794,893,3404
$GC,12561,-0.97,-117.3,958.7,-7.5,324,12565,0.00,2.38,0.00,0.000,6,0.000,0.040,1792,2310,3404
$GC,12884,-0.97,-117.3,982.1,-7.3,330,12888,0.00,2.38,0.00,0.000,4,0.000,0.047,1792,895,3404
$GC,12918,-0.97,-117.3,985.0,-8.1,330,12923,0.00,2.33,0.00,0.000,6,0.000,0.039,1782,2302,3403
$STATE,12999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12999,begin apogee
$GC,13009,-0.22,0.0,991.2,7.6,332,13109,0.55,0.00,97.32,1.268,6,0.110,0.000,1956,2301,2931
$STATE,13110,end apogee,CONTROL_FINISHED_OK
$STATE,13110,begin climb
$GC,13116,0.68,117.3,992.5,0.0,333,13227,0.55,2.60,103.25,1.240,4,0.067,0.050,2151,3703,2451
$GC,13285,0.50,117.3,987.5,7.9,336,13290,0.22,2.38,0.00,0.000,6,0.152,0.036,2106,2312,2446
$GC,13614,0.47,117.3,968.5,5.8,342,13615,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2312,2441
$GC,13916,0.45,117.3,950.8,5.9,347,13920,0.00,2.33,0.00,0.000,4,0.000,0.048,2116,890,2439
$GC,13945,0.46,128.0,949.0,5.1,347,13959,0.00,2.30,8.45,1.025,6,0.000,0.038,2116,2312,2409
$GC,14284,0.42,128.0,928.4,6.0,353,14288,0.10,2.30,0.00,0.000,4,0.144,0.049,2091,3709,2406
$GC,14324,0.40,128.0,926.1,6.0,353,14329,0.00,2.25,0.00,0.000,6,0.000,0.039,2098,2298,2406
$GC,14652,0.43,155.4,910.8,4.6,359,14679,0.00,0.00,24.75,1.167,6,0.000,0.000,2099,2298,2297
$GC,14956,0.46,182.6,896.9,4.6,364,14985,0.00,2.38,24.38,1.151,4,0.000,0.054,2098,3711,2185
$GC,15011,0.50,210.7,894.0,4.6,364,15042,0.00,2.28,26.15,1.143,6,0.000,0.033,2108,2305,2072
$GC,15388,0.55,224.0,874.4,5.0,371,15408,0.00,2.38,12.48,1.068,4,0.000,0.051,2108,3715,2016
$GC,15429,0.58,228.3,872.2,5.4,371,15439,0.00,2.28,5.18,0.824,6,0.000,0.039,2117,2293,2000
$GC,15756,0.63,248.5,856.2,4.8,377,15777,0.00,0.00,19.30,1.108,6,0.000,0.000,2117,2293,1917
$GC,16059,0.70,278.5,842.3,4.5,382,16100,0.12,2.38,29.73,1.061,4,0.061,0.049,2176,3713,1794
$GC,16142,0.59,278.5,835.6,9.6,383,16147,0.22,2.25,0.00,0.000,6,0.146,0.033,2126,2305,1792
$GC,16488,0.65,291.5,817.5,5.1,389,16512,0.00,2.35,14.25,0.907,4,0.000,0.055,2135,892,1741
$GC,16533,0.73,308.8,815.2,4.9,389,16562,0.08,2.28,18.80,0.967,6,0.085,0.044,2180,2305,1672
$GC,16929,0.65,308.8,777.8,9.9,396,16933,0.15,2.30,0.00,0.000,4,0.131,0.048,2139,3707,1668
$GC,16992,0.65,308.8,771.7,8.1,396,16998,0.00,2.28,0.00,0.000,6,0.000,0.034,2146,2292,1667
$GC,17304,0.65,308.8,747.4,7.8,402,17305,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2291,1666
$GC,17606,0.65,308.8,723.1,8.0,407,17610,0.00,2.33,0.00,0.000,4,0.000,0.047,2146,3708,1665
$GC,17657,0.65,308.8,718.3,10.3,407,17662,0.00,2.25,0.00,0.000,6,0.000,0.033,2156,2299,1665
$GC,17980,0.65,308.8,691.2,8.4,413,17984,0.00,2.30,0.00,0.000,4,0.000,0.046,2166,893,1665
$GC,18010,0.65,308.8,688.8,7.6,413,18014,0.10,2.30,0.00,0.000,6,0.117,0.038,2141,2303,1664
$GC,18350,0.68,308.8,665.1,6.9,419,18354,0.00,2.33,0.00,0.000,4,0.000,0.048,2141,3707,1665
$GC,18414,0.68,308.8,659.8,8.2,420,18419,0.00,2.22,0.00,0.000,6,0.000,0.034,2148,2308,1664
$GC,18783,0.68,308.8,633.2,7.2,426,18784,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2308,1664
$GC,19085,0.68,308.8,612.7,6.7,431,19090,0.00,2.33,0.00,0.000,4,0.000,0.050,2148,3707,1664
$GC,19115,0.68,308.8,610.4,7.7,431,19119,0.00,2.22,0.00,0.000,6,0.000,0.031,2158,2299,1664
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$STATE,27647,end climb,SURFACE_DEPTH_REACHED
$STATE,27647,begin surface coast
$FINISH,1.9,1.025277
$STATE,27689,end surface coast,CONTROL_FINISHED_OK
$STATE,27689,begin surface
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$HUMID,1773
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$TCM_TEMP,16.40
$XPDR_PINGS,76
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$10V_AH,10.3,100.441
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$DEVICE_SECS,17.375,253.950,384.025,0.000,0.000,24.528,31.377,168.286,19.000,0.000,0.000,32.204,1640.249,22848.947,534.626,2148.118,1011.997,33.386,1697.060,0.000,2108.164,0.000,0.529,0.000
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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,41262,712
$CAP_FILE_SIZE,181916,0
$CFSIZE,260165632,194498560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,3,0
$GPS,150310,233725,4858.602,-13035.733,38,2.0,39,19.5