version: 66.04
glider: 144
mission: 15
dive: 192
start: 8 14 109 19 43 39
data:
$ID,144
$MISSION,15
$DIVE,192
$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,-64707.305
$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,33
$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
$GPS1,193707,5020.021,-14509.913,33,1.0,33,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-64.1
$GPS2,194243,5019.998,-14509.891,13,1.3,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.033,0.085
$KALMAN_X,-90092.5,-136.7,127.3,79334.8,-1254.5
$KALMAN_Y,65978.7,12.4,112.0,-28500.7,-1195.3
$MHEAD_RNG_PITCHd_Wd,320.3,3065,-27.4,-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,15,-1.23,-29.7,0.0,0.0,0,49,0.00,0.00,-32.20,0.000,2,0.000,0.000,100,2311,2582
$GC,51,-1.23,-29.7,3.4,-6.3,3,76,6.68,2.35,-11.40,0.000,4,0.247,0.058,1731,888,3055
$GC,261,-1.17,-29.7,42.3,-17.4,21,268,0.10,2.25,0.00,0.000,6,0.206,0.038,1742,2312,3057
$GC,594,-1.17,-29.7,93.5,-15.6,49,597,0.00,2.22,0.00,0.000,4,0.000,0.047,1734,3709,3058
$GC,640,-1.17,-29.7,101.3,-17.9,51,644,0.00,2.20,0.00,0.000,6,0.000,0.031,1735,2298,3059
$GC,966,-1.17,-29.7,153.0,-14.6,67,970,0.00,2.22,0.00,0.000,4,0.000,0.044,1735,895,3059
$GC,1069,-1.22,-29.7,167.2,-13.0,70,1073,0.00,2.22,0.00,0.000,6,0.000,0.040,1727,2305,3060
$GC,1404,-1.22,-29.7,208.6,-11.8,81,1408,0.00,2.25,0.00,0.000,4,0.000,0.048,1727,895,3060
$GC,1453,-1.22,-29.7,214.3,-11.1,82,1457,0.00,2.22,0.00,0.000,6,0.000,0.038,1717,2309,3059
$GC,1772,-1.22,-29.7,251.2,-11.8,93,1776,0.00,2.25,0.00,0.000,4,0.000,0.043,1717,894,3059
$GC,1861,-1.22,-29.7,262.4,-12.3,95,1868,0.12,2.22,0.00,0.000,6,0.174,0.043,1735,2309,3059
$GC,2174,-1.30,-29.7,296.5,-10.9,106,2178,0.00,2.25,0.00,0.000,4,0.000,0.045,1735,896,3058
$GC,2218,-1.37,-29.7,301.7,-11.9,107,2223,0.10,2.22,0.00,0.000,6,0.077,0.044,1684,2312,3058
$GC,2540,-1.27,-29.7,344.4,-13.4,113,2544,0.15,2.28,0.00,0.000,4,0.185,0.047,1720,887,3058
$GC,2601,-1.27,-29.7,352.3,-12.0,114,2606,0.00,2.22,0.00,0.000,6,0.000,0.042,1711,2302,3058
$GC,2968,-1.27,-29.7,397.2,-12.3,120,2972,0.00,2.25,0.00,0.000,4,0.000,0.048,1712,897,3057
$GC,3040,-1.27,-29.7,406.7,-12.7,121,3044,0.10,2.22,0.00,0.000,6,0.180,0.040,1723,2305,3057
$GC,3400,-1.32,-29.7,446.3,-10.8,127,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2306,3056
$GC,3703,-1.36,-29.7,478.2,-10.5,132,3707,0.00,2.25,0.00,0.000,4,0.000,0.048,1723,894,3056
$GC,3787,-1.42,-29.7,487.5,-10.5,133,3791,0.08,2.22,0.00,0.000,6,0.089,0.044,1677,2307,3055
$GC,4130,-1.32,-29.7,529.0,-12.2,139,4132,0.15,0.00,0.00,0.000,6,0.184,0.000,1713,2307,3055
$GC,4432,-1.32,-29.7,560.2,-10.2,144,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2307,3054
$GC,4736,-1.37,-29.7,590.1,-9.9,149,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2307,3054
$GC,5038,-1.37,-29.7,617.9,-9.2,154,5042,0.00,2.25,0.00,0.000,4,0.000,0.047,1714,894,3054
$GC,5088,-1.37,-29.7,623.0,-9.8,154,5092,0.00,2.22,0.00,0.000,6,0.000,0.044,1705,2304,3053
$GC,5403,-1.37,-29.7,653.8,-9.8,160,5407,0.00,2.25,0.00,0.000,4,0.000,0.051,1695,3710,3053
$GC,5454,-1.28,-29.7,659.3,-11.4,160,5458,0.10,2.20,0.00,0.000,6,0.186,0.037,1716,2302,3053
$GC,5763,-1.34,-29.7,688.2,-9.2,165,5767,0.00,2.25,0.00,0.000,4,0.000,0.050,1719,895,3053
$GC,5897,-1.34,-29.7,701.2,-9.5,167,5901,0.00,2.22,0.00,0.000,6,0.000,0.044,1710,2304,3052
$GC,6263,-1.34,-29.7,737.3,-9.9,173,6267,0.00,2.25,0.00,0.000,4,0.000,0.051,1700,3716,3051
$GC,6297,-1.28,-29.7,740.8,-10.6,173,6301,0.10,2.20,0.00,0.000,6,0.179,0.035,1721,2294,3051
$GC,6635,-1.36,-29.7,772.2,-9.2,179,6639,0.00,2.25,0.00,0.000,4,0.000,0.051,1721,890,3051
$GC,6735,-1.41,-29.7,781.9,-9.5,180,6739,0.00,2.25,0.00,0.000,6,0.000,0.041,1712,2307,3052
$GC,7068,-1.46,-29.7,813.3,-9.5,186,7072,0.10,2.25,0.00,0.000,4,0.081,0.054,1659,3716,3051
$GC,7130,-1.28,-29.7,820.4,-12.3,187,7135,0.25,2.20,0.00,0.000,6,0.186,0.041,1722,2305,3051
$GC,7496,-1.38,-29.7,853.7,-8.8,193,7500,0.00,2.25,0.00,0.000,4,0.000,0.048,1723,892,3051
$GC,7596,-1.45,-29.7,863.0,-9.2,194,7601,0.10,2.22,0.00,0.000,6,0.084,0.044,1673,2304,3050
$GC,7923,-1.36,-29.7,896.5,-10.3,200,7927,0.12,2.25,0.00,0.000,4,0.187,0.052,1694,3709,3051
$GC,7978,-1.29,-29.7,902.2,-9.9,200,7985,0.10,2.20,0.00,0.000,6,0.188,0.038,1716,2300,3050
$GC,8288,-1.37,-29.7,927.7,-8.1,206,8292,0.00,2.25,0.00,0.000,4,0.000,0.049,1716,893,3050
$GC,8329,-1.42,-29.7,931.1,-9.2,206,8333,0.00,2.25,0.00,0.000,6,0.000,0.046,1707,2313,3050
$GC,8650,-1.47,-29.7,957.1,-8.0,212,8652,0.10,0.00,0.00,0.000,6,0.092,0.000,1668,2313,3050
$GC,8953,-1.38,-29.7,984.3,-9.0,217,8958,0.12,2.28,0.00,0.000,4,0.196,0.051,1697,897,3050
$STATE,9017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9017,begin apogee
$GC,9025,-0.22,0.0,990.2,8.3,218,9054,0.88,0.00,24.70,1.287,6,0.169,0.000,1946,2304,2931
$STATE,9055,end apogee,CONTROL_FINISHED_OK
$STATE,9055,begin climb
$GC,9057,1.23,29.7,991.4,0.0,218,9088,0.90,2.35,24.88,1.257,4,0.083,0.053,2260,3712,2810
$GC,9268,1.23,29.7,981.6,34308.3,221,9272,0.00,2.25,0.00,0.000,6,0.000,0.035,2268,2308,2808
$GC,9589,1.23,29.7,969.1,34308.3,227,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2308,2808
$GC,9892,1.23,29.7,957.5,34308.3,232,9896,0.00,2.33,0.00,0.000,4,0.000,0.057,2279,884,2807
$GC,10149,1.23,29.7,948.7,34308.3,235,10155,0.00,2.30,0.00,0.000,6,0.000,0.046,2273,2310,2807
$GC,10459,1.23,29.7,937.6,34308.3,241,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2310,2807
$GC,10762,1.23,29.7,926.6,34308.3,246,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2310,2807
$GC,11065,1.23,29.7,915.6,34308.3,251,11069,0.00,2.28,0.00,0.000,4,0.000,0.058,2273,3722,2807
$GC,11240,1.23,29.7,909.1,34308.3,253,11244,0.00,2.25,0.00,0.000,6,0.000,0.041,2282,2294,2806
$GC,11561,1.23,29.7,898.6,34308.3,259,11565,0.00,2.30,0.00,0.000,4,0.000,0.054,2273,3718,2807
$GC,11655,1.23,29.7,895.5,34308.3,260,11659,0.00,2.22,0.00,0.000,6,0.000,0.036,2282,2299,2806
$GC,11987,1.23,29.7,886.6,34308.3,266,11988,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2299,2806
$GC,12290,1.23,29.7,879.7,34308.3,271,12294,0.00,2.28,0.00,0.000,4,0.000,0.057,2273,3712,2806
$GC,12548,1.23,29.7,874.2,34308.3,274,12554,0.00,2.25,0.00,0.000,6,0.000,0.041,2282,2306,2806
$GC,12857,1.23,29.7,869.7,34308.3,280,12861,0.00,2.28,0.00,0.000,4,0.000,0.051,2292,886,2806
$GC,13116,1.23,29.7,866.7,34308.3,283,13120,0.00,2.25,0.00,0.000,6,0.000,0.043,2289,2305,2806
$GC,13425,1.23,29.7,863.9,34308.3,288,13427,0.10,0.00,0.00,0.000,6,0.222,0.000,2268,2305,2806
$GC,13729,1.23,29.7,861.3,34308.3,293,13733,0.00,2.28,0.00,0.000,4,0.000,0.054,2276,888,2806
$GC,13987,1.23,29.7,858.6,34308.3,296,13993,0.00,2.25,0.00,0.000,6,0.000,0.045,2273,2304,2806
$GC,14296,1.23,29.7,855.1,34308.3,302,14300,0.00,2.28,0.00,0.000,4,0.000,0.051,2282,888,2806
$GC,14468,1.23,29.7,852.8,34308.3,304,14472,0.00,2.25,0.00,0.000,6,0.000,0.044,2274,2308,2806
$GC,14794,1.23,29.7,848.5,34308.3,310,14799,0.00,2.28,0.00,0.000,4,0.000,0.054,2273,3720,2805
$GC,14886,1.23,29.7,847.2,34308.3,311,14890,0.00,2.25,0.00,0.000,6,0.000,0.035,2282,2293,2805
$GC,15224,1.23,29.7,843.0,34308.3,317,15228,0.00,2.30,0.00,0.000,4,0.000,0.051,2274,3717,2805
$GC,15481,1.23,29.7,840.1,34308.3,320,15487,0.00,2.22,0.00,0.000,6,0.000,0.037,2282,2304,2805
$GC,15792,1.23,29.7,837.3,34308.3,326,15796,0.00,2.28,0.00,0.000,4,0.000,0.051,2273,3719,2805
$GC,16050,1.23,29.7,835.6,34308.3,329,16056,0.00,2.20,0.00,0.000,6,0.000,0.035,2283,2305,2805
$GC,16360,1.23,29.7,834.0,34308.3,335,16364,0.00,2.25,0.00,0.000,4,0.000,0.053,2273,3710,2805
$GC,16617,1.23,29.7,832.9,34308.3,338,16624,0.00,2.22,0.00,0.000,6,0.000,0.035,2282,2299,2805
$GC,16928,1.23,29.7,832.1,34308.3,344,16932,0.00,2.28,0.00,0.000,4,0.000,0.057,2274,3715,2805
$GC,17186,1.23,29.7,831.3,34308.3,347,17192,0.00,2.22,0.00,0.000,6,0.000,0.036,2282,2293,2805
$GC,17496,1.23,29.7,830.8,34308.3,353,17500,0.00,2.28,0.00,0.000,4,0.000,0.052,2273,3710,2805
$GC,17754,1.23,29.7,830.9,34308.3,356,17761,0.00,2.20,0.00,0.000,6,0.000,0.035,2282,2299,2805
$GC,18064,1.23,29.7,831.6,34308.3,362,18068,0.00,2.28,0.00,0.000,4,0.000,0.057,2274,3713,2805
$GC,18322,1.23,29.7,832.6,34308.3,365,18328,0.00,2.25,0.00,0.000,6,0.000,0.041,2282,2303,2805
$GC,18631,1.23,29.7,834.1,34308.3,371,18635,0.00,2.25,0.00,0.000,4,0.000,0.056,2274,3710,2805
$GC,18890,1.23,29.7,835.0,34308.3,374,18896,0.00,2.22,0.00,0.000,6,0.000,0.039,2283,2293,2805
$GC,19200,1.23,29.7,836.0,34308.3,380,19204,0.00,2.30,0.00,0.000,4,0.000,0.051,2274,3719,2805
$GC,19458,1.23,29.7,836.5,34308.3,383,19465,0.00,2.22,0.00,0.000,6,0.000,0.035,2283,2293,2805
$GC,19768,1.23,29.7,837.2,34308.3,389,19772,0.00,2.22,0.00,0.000,4,0.000,0.050,2293,895,2805
$GC,20026,1.23,29.7,837.4,34308.3,392,20030,0.00,2.25,0.00,0.000,6,0.000,0.046,2289,2313,2805
$GC,20336,1.23,29.7,837.3,34308.3,397,20341,0.10,2.28,0.00,0.000,4,0.228,0.052,2277,894,2805
$GC,20595,1.23,29.7,836.9,34308.3,400,20601,0.00,2.25,0.00,0.000,6,0.000,0.042,2273,2308,2805
$GC,20904,1.23,29.7,836.4,34308.3,406,20908,0.00,2.25,0.00,0.000,4,0.000,0.051,2273,3714,2805
$GC,21163,1.23,29.7,836.0,34308.3,409,21169,0.00,2.25,0.00,0.000,6,0.000,0.036,2282,2298,2805
$GC,21472,1.23,29.7,836.2,34308.3,415,21476,0.00,2.28,0.00,0.000,4,0.000,0.053,2274,3712,2805
$GC,21731,1.23,29.7,836.3,34308.3,418,21737,0.00,2.22,0.00,0.000,6,0.000,0.038,2282,2299,2805
$GC,22041,1.23,29.7,836.6,34308.3,424,22045,0.00,2.28,0.00,0.000,4,0.000,0.051,2274,3711,2805
$GC,22299,1.23,29.7,836.9,34308.3,427,22305,0.00,2.22,0.00,0.000,6,0.000,0.035,2283,2300,2805
$GC,22609,1.23,29.7,837.3,34308.3,433,22613,0.00,2.28,0.00,0.000,4,0.000,0.054,2274,3712,2805
$GC,22866,1.23,29.7,837.7,34308.3,436,22873,0.00,2.25,0.00,0.000,6,0.000,0.038,2283,2305,2805
$GC,23176,1.23,29.7,838.1,34308.3,442,23180,0.00,2.28,0.00,0.000,4,0.000,0.057,2274,3715,2805
$GC,23434,1.23,29.7,838.3,34308.3,445,23440,0.00,2.22,0.00,0.000,6,0.000,0.040,2283,2305,2805
$GC,23744,1.23,29.7,838.8,34308.3,451,23748,0.00,2.28,0.00,0.000,4,0.000,0.051,2274,3715,2805
$RESTART_TIME,Sat Aug 15 02:34:25 2009