version: 66.04
glider: 144
mission: 15
dive: 98
start: 7 14 109 13 42 50
data:
$ID,144
$MISSION,15
$DIVE,98
$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,-62828.008
$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,0.039999999
$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,30
$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
$GPS1,133634,4956.064,-14434.560,43,4.8,62,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-67.5
$GPS2,134156,4956.066,-14434.562,11,1.2,11,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.105,0.131
$KALMAN_X,-48703.8,-94.5,-101.9,80198.5,-354.9
$KALMAN_Y,58017.8,140.0,-107.8,-64770.2,-178.5
$MHEAD_RNG_PITCHd_Wd,302.6,28722,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-32.15,0.000,2,0.000,0.000,100,2305,2594
$GC,53,-0.68,-117.3,3.4,-6.9,3,88,6.90,2.28,-19.67,0.000,4,0.242,0.074,1832,3712,3413
$GC,284,-0.49,-117.3,35.0,-12.7,23,291,0.22,2.20,0.00,0.000,6,0.128,0.035,1899,2298,3415
$GC,611,-0.59,-117.3,60.2,-7.8,54,615,0.10,2.22,0.00,0.000,4,0.071,0.046,1839,893,3416
$GC,729,-0.48,-117.3,73.3,-11.2,64,734,0.22,2.22,0.00,0.000,6,0.130,0.042,1899,2309,3416
$GC,1047,-0.60,-117.3,97.2,-7.4,83,1049,0.10,0.00,0.00,0.000,6,0.068,0.000,1839,2309,3417
$GC,1357,-0.49,-117.3,129.6,-10.3,98,1361,0.17,2.22,0.00,0.000,4,0.125,0.047,1896,896,3417
$GC,1412,-0.67,-117.3,133.9,-7.5,100,1417,0.12,2.22,0.00,0.000,6,0.061,0.042,1816,2315,3417
$GC,1737,-0.53,-117.3,167.5,-10.0,113,1741,0.20,2.25,0.00,0.000,4,0.125,0.051,1882,887,3418
$GC,1771,-0.65,-117.3,170.1,-6.5,114,1775,0.00,2.22,0.00,0.000,6,0.000,0.047,1877,2311,3417
$GC,2112,-0.79,-117.3,191.3,-6.4,125,2114,0.15,0.00,0.00,0.000,6,0.055,0.000,1788,2311,3417
$GC,2418,-0.58,-117.3,225.0,-10.8,135,2423,0.25,2.25,0.00,0.000,4,0.132,0.054,1870,887,3416
$GC,2473,-0.70,-117.3,229.4,-6.9,136,2477,0.00,2.22,0.00,0.000,6,0.000,0.043,1863,2312,3416
$GC,2792,-0.80,-117.3,247.5,-5.4,147,2797,0.12,2.22,0.00,0.000,4,0.061,0.048,1789,895,3416
$GC,2842,-0.60,-117.3,252.0,-9.6,148,2847,0.30,2.20,0.00,0.000,6,0.130,0.048,1873,2303,3416
$GC,3161,-0.75,-117.3,268.0,-5.0,159,3163,0.12,0.00,0.00,0.000,6,0.061,0.000,1800,2303,3415
$GC,3467,-0.60,-117.3,298.4,-10.5,169,3469,0.22,0.00,0.00,0.000,6,0.124,0.000,1869,2303,3415
$GC,3801,-0.74,-117.3,320.2,-6.3,175,3802,0.12,0.00,0.00,0.000,6,0.061,0.000,1796,2303,3415
$GC,4103,-0.58,-117.3,347.5,-9.1,180,4108,0.22,2.22,0.00,0.000,4,0.127,0.052,1870,895,3414
$GC,4159,-0.74,-117.3,350.8,-5.2,180,4166,0.05,2.22,0.00,0.000,6,0.067,0.048,1812,2298,3414
$GC,4469,-0.66,-117.3,373.8,-7.6,186,4471,0.15,0.00,0.00,0.000,6,0.132,0.000,1855,2298,3414
$GC,4772,-0.75,-117.3,391.1,-5.7,191,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2298,3414
$GC,5075,-0.85,-117.3,408.5,-5.8,196,5080,0.15,2.22,0.00,0.000,4,0.057,0.051,1778,887,3413
$GC,5170,-0.66,-117.3,418.0,-10.4,197,5175,0.30,2.22,0.00,0.000,6,0.129,0.045,1862,2306,3413
$GC,5502,-0.79,-117.3,435.8,-5.1,203,5504,0.12,0.00,0.00,0.000,6,0.062,0.000,1792,2307,3412
$GC,5805,-0.64,-117.3,461.9,-8.8,208,5810,0.20,2.25,0.00,0.000,4,0.130,0.054,1857,889,3412
$GC,5868,-0.77,-117.3,465.8,-5.6,209,5872,0.00,2.22,0.00,0.000,6,0.000,0.050,1850,2309,3412
$GC,6234,-0.87,-117.3,486.3,-5.6,215,6238,0.12,2.22,0.00,0.000,4,0.064,0.059,1769,3715,3411
$GC,6261,-0.72,-117.3,488.6,-9.2,215,6265,0.25,2.17,0.00,0.000,6,0.133,0.041,1843,2296,3411
$GC,6592,-0.79,-117.3,508.3,-5.8,221,6596,0.00,2.20,0.00,0.000,4,0.000,0.051,1843,896,3411
$GC,6637,-0.87,-117.3,511.2,-6.8,221,6641,0.10,2.20,0.00,0.000,6,0.071,0.048,1776,2303,3411
$GC,6957,-0.67,-117.3,541.3,-9.6,227,6962,0.22,2.25,0.00,0.000,4,0.133,0.058,1845,3718,3411
$GC,6990,-0.76,-117.3,543.9,-6.9,227,6994,0.00,2.17,0.00,0.000,6,0.000,0.036,1845,2297,3411
$GC,7316,-0.86,-117.3,563.6,-6.0,233,7321,0.10,2.20,0.00,0.000,4,0.072,0.049,1785,891,3411
$GC,7411,-0.71,-117.3,572.5,-9.1,234,7416,0.25,2.22,0.00,0.000,6,0.129,0.044,1851,2311,3411
$GC,7743,-0.83,-117.3,590.8,-5.3,240,7745,0.12,0.00,0.00,0.000,6,0.064,0.000,1785,2311,3410
$GC,8046,-0.68,-117.3,615.9,-8.4,245,8047,0.22,0.00,0.00,0.000,6,0.127,0.000,1853,2311,3410
$GC,8350,-0.82,-117.3,631.3,-5.0,250,8351,0.12,0.00,0.00,0.000,6,0.063,0.000,1784,2312,3410
$GC,8652,-0.66,-117.3,658.3,-9.2,255,8656,0.20,2.25,0.00,0.000,4,0.129,0.054,1851,894,3410
$GC,8690,-0.80,-117.3,661.1,-6.9,255,8694,0.10,2.22,0.00,0.000,6,0.074,0.051,1796,2309,3410
$GC,9010,-0.70,-117.3,688.0,-8.5,261,9012,0.17,0.00,0.00,0.000,6,0.128,0.000,1847,2309,3410
$GC,9313,-0.82,-117.3,706.7,-6.1,266,9315,0.10,0.00,0.00,0.000,6,0.077,0.000,1798,2309,3410
$GC,9617,-0.73,-117.3,731.0,-8.1,271,9619,0.15,0.00,0.00,0.000,6,0.126,0.000,1842,2309,3409
$GC,9919,-0.83,-117.3,748.6,-5.7,276,9924,0.10,2.25,0.00,0.000,4,0.080,0.058,1798,897,3409
$GC,9963,-0.73,-117.3,752.1,-8.4,276,9968,0.17,2.22,0.00,0.000,6,0.133,0.047,1839,2313,3409
$GC,10278,-0.83,-117.3,771.6,-6.2,282,10282,0.00,2.25,0.00,0.000,4,0.000,0.059,1839,891,3409
$GC,10312,-0.91,-117.3,774.0,-7.4,282,10317,0.12,2.22,0.00,0.000,6,0.074,0.047,1781,2305,3409
$GC,10638,-0.76,-117.3,803.8,-9.3,288,10640,0.20,0.00,0.00,0.000,6,0.133,0.000,1841,2305,3409
$GC,10941,-0.86,-117.3,823.7,-6.4,293,10943,0.10,0.00,0.00,0.000,6,0.084,0.000,1798,2305,3409
$GC,11244,-0.80,-117.3,849.1,-8.5,298,11249,0.12,2.25,0.00,0.000,4,0.133,0.054,1832,891,3408
$GC,11283,-0.87,-117.3,852.2,-7.5,298,11287,0.00,2.22,0.00,0.000,6,0.000,0.053,1825,2303,3408
$GC,11603,-0.87,-117.3,873.7,-6.7,304,11607,0.00,2.22,0.00,0.000,4,0.000,0.053,1825,897,3408
$GC,11658,-0.87,-117.3,877.7,-7.0,304,11662,0.00,2.22,0.00,0.000,6,0.000,0.052,1822,2311,3408
$GC,11974,-0.87,-117.3,897.5,-6.2,310,11978,0.00,2.25,0.00,0.000,4,0.000,0.054,1822,894,3408
$GC,12029,-0.87,-117.3,901.3,-6.5,310,12036,0.00,2.25,0.00,0.000,6,0.000,0.051,1813,2302,3408
$GC,12339,-0.87,-117.3,921.3,-6.5,316,12340,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2303,3408
$GC,12642,-0.87,-117.3,940.8,-6.4,321,12646,0.00,2.25,0.00,0.000,4,0.000,0.057,1813,893,3408
$GC,12705,-0.87,-117.3,944.9,-7.2,322,12709,0.00,2.22,0.00,0.000,6,0.000,0.052,1807,2303,3408
$GC,13070,-0.87,-117.3,968.8,-6.5,328,13074,0.00,2.25,0.00,0.000,4,0.000,0.060,1797,3713,3407
$GC,13109,-0.82,-117.3,971.6,-7.1,328,13114,0.10,2.17,0.00,0.000,6,0.141,0.045,1823,2307,3407
$GC,13436,-0.86,-117.3,989.7,-5.5,334,13439,0.00,2.25,0.00,0.000,6,0.000,0.061,1826,891,3407
$STATE,13440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13440,begin apogee
$GC,13448,-0.22,0.0,990.0,5.5,334,13544,0.38,0.00,92.50,1.340,6,0.125,0.000,1948,2301,2931
$STATE,13544,end apogee,CONTROL_FINISHED_OK
$STATE,13544,begin climb
$GC,13547,0.68,117.3,991.3,0.0,335,13653,0.57,2.55,97.72,1.311,4,0.083,0.065,2147,3713,2450
$GC,13700,0.25,117.3,984.9,8.8,337,13705,0.40,2.35,0.00,0.000,6,0.180,0.044,2056,2299,2446
$GC,14038,0.40,152.2,969.8,4.3,343,14069,0.12,0.00,28.92,1.264,6,0.077,0.000,2105,2299,2311
$GC,14341,0.49,152.2,951.7,6.0,348,14345,0.00,2.33,0.00,0.000,4,0.000,0.062,2115,886,2304
$GC,14367,0.49,152.2,950.1,5.9,348,14372,0.00,2.35,0.00,0.000,6,0.000,0.047,2114,2307,2303
$GC,14706,0.37,152.2,928.9,6.4,354,14711,0.15,2.30,0.00,0.000,4,0.157,0.059,2074,3722,2303
$GC,14750,0.37,152.2,926.1,6.3,354,14754,0.00,2.25,0.00,0.000,6,0.000,0.044,2082,2300,2301
$GC,15071,0.39,165.3,910.0,5.1,360,15084,0.00,0.00,11.12,1.147,6,0.000,0.000,2082,2300,2257
$GC,15374,0.39,170.4,894.0,5.3,365,15385,0.00,2.33,6.00,0.981,4,0.000,0.056,2082,3715,2235
$GC,15412,0.39,170.4,891.5,6.3,365,15416,0.00,2.25,0.00,0.000,6,0.000,0.046,2092,2299,2235
$GC,15739,0.39,170.4,871.7,6.1,371,15743,0.00,2.28,0.00,0.000,4,0.000,0.056,2103,889,2234
$GC,15760,0.39,170.4,870.4,6.0,371,15764,0.00,2.30,0.00,0.000,6,0.000,0.047,2103,2307,2233
$GC,16104,0.35,170.4,848.1,6.5,377,16109,0.12,2.28,0.00,0.000,4,0.158,0.054,2070,3719,2233
$GC,16125,0.35,170.4,846.7,6.2,377,16129,0.00,2.22,0.00,0.000,6,0.000,0.042,2079,2302,2232
$GC,16469,0.42,179.6,828.9,5.2,383,16480,0.00,0.00,9.12,1.078,6,0.000,0.000,2079,2302,2198
$GC,16773,0.50,192.6,813.3,5.1,388,16792,0.10,2.35,12.50,1.121,4,0.078,0.059,2128,3719,2144
$GC,16826,0.30,192.6,809.2,8.2,388,16831,0.28,2.28,0.00,0.000,6,0.161,0.044,2063,2296,2143
$GC,17136,0.61,192.6,792.4,5.5,393,17141,0.20,2.28,0.00,0.000,4,0.067,0.053,2144,887,2141
$GC,17231,0.47,192.6,785.4,8.2,394,17236,0.15,2.28,0.00,0.000,6,0.148,0.047,2105,2309,2141
$GC,17562,0.47,192.6,764.2,6.4,400,17566,0.00,2.25,0.00,0.000,4,0.000,0.060,2105,3712,2140
$GC,17607,0.40,192.6,760.7,7.7,400,17612,0.12,2.22,0.00,0.000,6,0.159,0.042,2081,2295,2139
$GC,17922,0.49,192.6,743.2,5.5,406,17924,0.10,0.00,0.00,0.000,6,0.071,0.000,2132,2294,2139
$GC,18225,0.34,192.6,720.0,7.8,411,18230,0.17,2.30,0.00,0.000,4,0.149,0.060,2077,3720,2139
$GC,18251,0.34,192.6,718.1,5.9,411,18255,0.00,2.22,0.00,0.000,6,0.000,0.043,2085,2296,2139
$GC,18590,0.42,196.6,700.2,5.4,417,18596,0.00,0.00,4.03,0.725,6,0.000,0.000,2085,2296,2129
$GC,18893,0.50,196.6,682.9,5.8,422,18898,0.08,2.28,0.00,0.000,4,0.089,0.055,2135,3714,2128
$GC,18937,0.28,196.6,678.8,8.8,422,18942,0.30,2.20,0.00,0.000,6,0.157,0.041,2059,2305,2128
$GC,19253,0.64,196.6,658.8,6.5,428,19258,0.20,2.25,0.00,0.000,4,0.063,0.052,2149,887,2128
$GC,19348,0.50,196.6,651.2,8.6,429,19353,0.15,2.25,0.00,0.000,6,0.144,0.051,2109,2313,2128
$GC,19679,0.50,196.6,628.9,6.6,435,19683,0.00,2.22,0.00,0.000,4,0.000,0.061,2109,3713,2128
$GC,19729,0.41,196.6,625.2,6.6,435,19734,0.12,2.20,0.00,0.000,6,0.155,0.038,2084,2293,2128
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$STATE,28380,end climb,SURFACE_DEPTH_REACHED
$STATE,28380,begin surface coast
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$STATE,28399,end surface coast,CONTROL_FINISHED_OK
$STATE,28399,begin surface
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$10V_AH,10.7,12.808
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$DATA_FILE_SIZE,44378,735
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