version: 66.04
glider: 144
mission: 15
dive: 835
start: 3 19 110 0 47 35
data:
$ID,144
$MISSION,15
$DIVE,835
$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,-78681.117
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,003908,4850.704,-12940.175,37,1.0,39,19.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-67.2
$GPS2,004637,4850.691,-12940.087,13,1.9,13,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P8
$TGT_LATLONG,4849.000,-12840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.163,0.037
$KALMAN_X,-26688.5,-455.6,-143.3,1126917.6,2427.7
$KALMAN_Y,75712.9,234.2,149.5,-243315.8,-1715.8
$MHEAD_RNG_PITCHd_Wd,57.6,73342,-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,-117.2,0.0,0.0,0,59,0.00,0.00,-40.10,0.000,2,0.000,0.000,99,2300,2662
$GC,64,-0.68,-117.2,4.3,-7.2,2,94,6.95,2.33,-16.92,0.000,4,0.221,0.062,1848,902,3412
$GC,349,-0.66,-117.2,36.3,-10.7,14,356,0.00,2.25,0.00,0.000,6,0.000,0.043,1843,2309,3413
$GC,667,-0.61,-117.2,71.1,-9.9,30,672,0.10,2.30,0.00,0.000,4,0.139,0.038,1870,886,3413
$GC,720,-0.65,-117.2,76.1,-8.3,32,724,0.00,2.28,0.00,0.000,6,0.000,0.035,1863,2306,3413
$GC,1055,-0.68,-117.2,104.7,-7.9,61,1059,0.00,2.28,0.00,0.000,4,0.000,0.047,1854,3707,3413
$GC,1108,-0.75,-117.2,109.2,-7.9,65,1114,0.00,2.20,0.00,0.000,6,0.000,0.028,1854,2290,3413
$GC,1439,-0.78,-117.2,131.0,-6.7,96,1443,0.10,2.20,0.00,0.000,4,0.066,0.039,1775,900,3413
$GC,1569,-0.67,-117.2,146.7,-13.0,107,1576,0.30,2.25,0.00,0.000,6,0.114,0.036,1855,2311,3413
$GC,1885,-0.71,-117.2,168.9,-6.5,120,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2311,3413
$GC,2192,-0.76,-117.2,188.4,-6.9,130,2196,0.00,2.28,0.00,0.000,4,0.000,0.039,1855,898,3413
$GC,2224,-0.82,-117.2,190.6,-7.6,131,2229,0.10,2.28,0.00,0.000,6,0.063,0.035,1778,2306,3413
$GC,2561,-0.72,-117.2,227.1,-11.0,142,2563,0.22,0.00,0.00,0.000,6,0.118,0.000,1846,2306,3413
$GC,2867,-0.77,-117.2,248.0,-6.6,152,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2306,3414
$GC,3174,-0.81,-117.2,268.0,-6.5,162,3176,0.10,0.00,0.00,0.000,6,0.065,0.000,1767,2306,3414
$GC,3479,-0.70,-117.2,300.9,-11.0,172,3484,0.22,2.30,0.00,0.000,4,0.119,0.044,1842,905,3413
$GC,3520,-0.75,-117.2,304.8,-8.3,172,3525,0.00,2.28,0.00,0.000,6,0.000,0.036,1837,2305,3413
$GC,3850,-0.78,-117.2,330.3,-7.8,178,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2305,3413
$GC,4152,-0.81,-117.2,352.9,-7.4,183,4155,0.00,2.28,0.00,0.000,4,0.000,0.048,1837,906,3413
$GC,4198,-0.85,-117.2,356.1,-6.5,183,4202,0.00,2.28,0.00,0.000,6,0.000,0.044,1837,2305,3412
$GC,4520,-0.89,-117.2,376.1,-6.2,189,4525,0.10,2.35,0.00,0.000,4,0.064,0.050,1757,3713,3412
$GC,4545,-0.84,-117.2,378.2,-8.4,189,4550,0.22,2.20,0.00,0.000,6,0.117,0.029,1823,2305,3412
$GC,4883,-0.84,-117.2,401.8,-6.7,195,4887,0.00,2.30,0.00,0.000,4,0.000,0.049,1823,899,3412
$GC,4924,-0.86,-117.2,404.7,-6.6,195,4928,0.00,2.30,0.00,0.000,6,0.000,0.043,1821,2303,3412
$GC,5248,-0.86,-117.2,426.8,-7.0,201,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3411
$GC,5551,-0.86,-117.2,447.7,-6.9,206,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3411
$GC,5853,-0.86,-117.2,468.5,-6.8,211,5857,0.00,2.30,0.00,0.000,4,0.000,0.047,1821,901,3411
$GC,5911,-0.89,-117.2,472.6,-7.1,211,5917,0.00,2.30,0.00,0.000,6,0.000,0.038,1812,2303,3411
$GC,6223,-0.89,-117.2,494.1,-6.8,217,6227,0.00,2.35,0.00,0.000,4,0.000,0.048,1803,3708,3411
$GC,6252,-0.89,-117.2,496.2,-7.4,217,6256,0.00,2.22,0.00,0.000,6,0.000,0.038,1802,2303,3411
$GC,6586,-0.86,-117.2,520.3,-7.3,223,6590,0.00,2.30,0.00,0.000,4,0.000,0.045,1802,889,3410
$GC,6638,-0.86,-117.2,524.6,-8.1,223,6642,0.00,2.30,0.00,0.000,6,0.000,0.039,1794,2304,3410
$GC,6950,-0.82,-117.2,550.5,-8.4,228,6955,0.10,2.38,0.00,0.000,4,0.133,0.051,1814,3709,3410
$GC,6984,-0.82,-117.2,553.4,-7.8,228,6988,0.00,2.25,0.00,0.000,6,0.000,0.037,1814,2301,3410
$GC,7311,-0.82,-117.2,576.4,-7.0,234,7315,0.00,2.30,0.00,0.000,4,0.000,0.049,1813,898,3410
$GC,7347,-0.82,-117.2,578.9,-7.0,234,7351,0.00,2.30,0.00,0.000,6,0.000,0.041,1808,2303,3409
$GC,7675,-0.82,-117.2,601.3,-6.8,240,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3409
$GC,7978,-0.82,-117.2,621.3,-6.5,245,7982,0.00,2.35,0.00,0.000,4,0.000,0.046,1808,898,3409
$GC,8029,-0.82,-117.2,624.8,-6.9,245,8034,0.08,2.30,0.00,0.000,6,0.133,0.038,1820,2306,3409
$GC,8342,-0.85,-117.2,643.8,-6.1,250,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2306,3408
$GC,8644,-0.88,-117.2,662.3,-6.0,255,8648,0.00,2.35,0.00,0.000,4,0.000,0.044,1821,898,3408
$GC,8690,-0.93,-117.2,665.2,-6.5,255,8694,0.00,2.30,0.00,0.000,6,0.000,0.044,1820,2303,3408
$GC,9009,-0.95,-117.2,683.1,-5.6,261,9011,0.10,0.00,0.00,0.000,6,0.064,0.000,1758,2304,3408
$GC,9311,-0.86,-117.2,708.0,-8.4,266,9313,0.20,0.00,0.00,0.000,6,0.118,0.000,1819,2304,3408
$GC,9614,-0.89,-117.3,722.1,-4.5,271,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2304,3407
$GC,9917,-0.93,-117.3,735.8,-4.5,276,9921,0.00,2.35,0.00,0.000,4,0.000,0.049,1819,890,3407
$GC,9954,-0.97,-117.3,737.7,-4.9,276,9959,0.10,2.35,0.00,0.000,6,0.064,0.038,1752,2313,3407
$GC,10282,-0.87,-117.3,765.4,-8.8,282,10284,0.20,0.00,0.00,0.000,6,0.119,0.000,1813,2313,3407
$GC,10585,-0.89,-117.3,783.8,-5.9,287,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2313,3407
$GC,10889,-0.92,-117.3,802.1,-6.1,292,10893,0.00,2.40,0.00,0.000,4,0.000,0.043,1813,892,3406
$GC,10946,-0.95,-117.3,805.9,-6.5,292,10952,0.00,2.38,0.00,0.000,6,0.000,0.043,1809,2310,3406
$GC,11257,-0.95,-117.3,824.4,-5.9,298,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3406
$GC,11560,-0.95,-117.3,842.5,-6.0,303,11564,0.00,2.35,0.00,0.000,4,0.000,0.044,1809,895,3406
$GC,11608,-0.97,-117.3,845.2,-5.7,303,11612,0.00,2.33,0.00,0.000,6,0.000,0.038,1808,2309,3406
$GC,11924,-0.97,-117.3,862.7,-5.5,309,11926,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3406
$GC,12227,-0.97,-117.3,878.5,-5.2,314,12231,0.00,2.35,0.00,0.000,4,0.000,0.044,1808,898,3406
$GC,12273,-0.97,-117.3,881.4,-5.9,314,12278,0.00,2.35,0.00,0.000,6,0.000,0.039,1808,2307,3406
$GC,12591,-0.97,-117.3,898.5,-5.4,320,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3405
$GC,12894,-0.99,-117.3,916.1,-5.9,325,12898,0.10,2.35,0.00,0.000,4,0.074,0.050,1760,898,3405
$GC,12934,-0.91,-117.3,919.6,-10.0,325,12939,0.17,2.35,0.00,0.000,6,0.127,0.044,1803,2304,3405
$GC,13263,-0.91,-117.3,943.1,-7.2,331,13267,0.00,2.35,0.00,0.000,4,0.000,0.045,1803,899,3405
$GC,13300,-0.91,-117.3,946.0,-7.7,331,13304,0.00,2.33,0.00,0.000,6,0.000,0.039,1795,2308,3405
$GC,13628,-0.91,-117.3,972.2,-7.9,337,13632,0.00,2.38,0.00,0.000,4,0.000,0.048,1795,899,3405
$GC,13679,-0.91,-117.3,976.8,-8.8,337,13684,0.00,2.35,0.00,0.000,6,0.000,0.043,1794,2301,3405
$STATE,13865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13865,begin apogee
$GC,13876,-0.22,0.0,992.3,8.3,340,13976,0.50,0.00,97.53,1.276,6,0.109,0.000,1953,2301,2931
$STATE,13977,end apogee,CONTROL_FINISHED_OK
$STATE,13977,begin climb
$GC,13981,0.68,117.3,994.7,0.0,341,14092,0.57,2.62,103.70,1.249,4,0.067,0.054,2155,3707,2451
$GC,14129,0.49,117.3,995.5,5.6,344,14134,0.25,2.40,0.00,0.000,6,0.153,0.039,2106,2309,2447
$GC,14480,0.51,157.5,981.6,4.1,350,14516,0.00,0.00,34.33,1.219,6,0.000,0.000,2106,2309,2288
$GC,14783,0.52,164.0,965.8,5.3,355,14791,0.00,0.00,6.30,0.946,6,0.000,0.000,2106,2309,2262
$GC,15086,0.52,164.0,948.7,5.6,360,15088,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2309,2259
$GC,15390,0.52,164.0,931.2,5.8,365,15394,0.00,2.33,0.00,0.000,4,0.000,0.056,2105,3718,2259
$GC,15421,0.50,164.0,929.0,7.6,365,15425,0.00,2.25,0.00,0.000,6,0.000,0.038,2114,2299,2258
$GC,15755,0.50,164.0,909.5,5.7,371,15756,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2299,2257
$GC,16059,0.50,164.3,892.7,5.5,376,16063,0.00,2.35,0.00,0.000,4,0.000,0.055,2115,3716,2257
$GC,16099,0.44,164.3,889.9,6.5,376,16104,0.12,2.25,0.00,0.000,6,0.149,0.038,2095,2304,2256
$GC,16422,0.52,196.9,875.6,4.4,382,16453,0.00,0.00,29.33,1.165,6,0.000,0.000,2095,2304,2127
$GC,16726,0.65,201.8,860.1,5.3,387,16737,0.15,2.30,5.22,0.840,4,0.060,0.052,2162,3714,2109
$GC,16868,0.52,201.8,848.5,9.4,389,16873,0.22,2.25,0.00,0.000,6,0.141,0.034,2111,2293,2107
$GC,17231,0.56,206.7,828.1,5.3,395,17238,0.00,0.00,6.00,0.884,6,0.000,0.000,2111,2293,2088
$GC,17533,0.59,210.7,811.7,5.4,400,17539,0.00,0.00,5.00,0.805,6,0.000,0.000,2111,2293,2072
$GC,17836,0.63,218.2,795.8,5.2,405,17847,0.10,0.00,8.65,0.969,6,0.064,0.000,2166,2292,2041
$GC,18140,0.53,218.2,770.8,8.5,410,18144,0.20,2.35,0.00,0.000,4,0.130,0.050,2106,3714,2039
$GC,18191,0.56,218.2,767.0,7.3,410,18195,0.00,2.22,0.00,0.000,6,0.000,0.031,2114,2292,2038
$GC,18503,0.59,218.2,749.9,5.5,415,18504,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2291,2037
$GC,18807,0.63,219.7,733.5,5.4,420,18812,0.08,2.35,0.00,0.000,4,0.080,0.054,2171,3711,2037
$GC,18842,0.50,219.7,730.5,11.1,420,18847,0.28,2.20,0.00,0.000,6,0.138,0.032,2106,2304,2037
$GC,19171,0.58,235.9,713.5,5.0,426,19189,0.00,0.00,16.42,1.016,6,0.000,0.000,2106,2304,1969
$GC,19475,0.71,235.9,696.6,5.8,431,19479,0.15,2.28,0.00,0.000,4,0.058,0.044,2185,892,1965
$GC,19571,0.63,235.9,688.7,8.3,432,19576,0.17,2.28,0.00,0.000,6,0.133,0.043,2139,2307,1965
$GC,19904,0.63,235.9,665.7,6.9,438,19908,0.00,2.33,0.00,0.000,4,0.000,0.053,2138,3717,1965
$GC,19980,0.59,235.9,659.4,9.1,439,19984,0.00,2.25,0.00,0.000,6,0.000,0.033,2147,2294,1965
$GC,20336,0.56,235.9,631.5,7.8,445,20338,0.10,0.00,0.00,0.000,6,0.140,0.000,2121,2294,1965
$GC,20639,0.60,235.9,613.9,5.6,450,20643,0.00,2.35,0.00,0.000,4,0.000,0.054,2121,3717,1964
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$STATE,29504,end climb,SURFACE_DEPTH_REACHED
$STATE,29504,begin surface coast
$FINISH,1.9,1.024940
$STATE,29526,end surface coast,CONTROL_FINISHED_OK
$STATE,29526,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1778
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$TCM_TEMP,16.20
$XPDR_PINGS,67
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$10V_AH,10.2,101.575
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44310,737
$CAP_FILE_SIZE,190342,0
$CFSIZE,260165632,193716224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190310,090230,4851.127,-12934.209,36,2.0,41,19.5