version: 66.04
glider: 144
mission: 15
dive: 278
start: 9 11 109 9 22 56
data:
$ID,144
$MISSION,15
$DIVE,278
$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,-66506.961
$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,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
$GPS1,091637,5007.694,-14450.949,42,1.7,42,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-53.5
$GPS2,092202,5007.690,-14450.885,12,1.6,12,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.102,0.133
$KALMAN_X,-26199.2,-135.7,-194.3,49797.6,-414.4
$KALMAN_Y,13008.5,135.1,42.6,-37799.9,-722.7
$MHEAD_RNG_PITCHd_Wd,303.9,35040,-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,-117.3,0.0,0.0,0,61,0.00,0.00,-41.65,0.000,2,0.000,0.000,100,2292,2705
$GC,64,-0.68,-117.3,3.6,-5.7,4,93,7.18,2.25,-15.93,0.000,4,0.241,0.061,1844,889,3411
$GC,240,-0.60,-117.3,32.2,-13.3,20,245,0.12,2.28,0.00,0.000,6,0.146,0.037,1869,2312,3413
$GC,567,-0.60,-117.3,61.5,-8.5,50,571,0.00,2.25,0.00,0.000,4,0.000,0.041,1869,891,3414
$GC,634,-0.62,-117.3,67.3,-7.9,55,640,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2298,3414
$GC,953,-0.62,-117.3,94.7,-8.6,78,955,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2298,3415
$GC,1263,-0.62,-117.3,120.8,-8.6,93,1267,0.00,2.25,0.00,0.000,4,0.000,0.048,1863,889,3415
$GC,1318,-0.66,-117.3,125.6,-8.2,95,1323,0.00,2.28,0.00,0.000,6,0.000,0.039,1863,2311,3416
$GC,1634,-0.69,-117.3,148.5,-7.1,110,1638,0.00,2.25,0.00,0.000,4,0.000,0.050,1857,3711,3415
$GC,1679,-0.75,-117.3,151.5,-7.2,112,1683,0.00,2.17,0.00,0.000,6,0.000,0.029,1857,2301,3415
$GC,2003,-0.78,-117.3,171.6,-6.6,123,2008,0.10,2.22,0.00,0.000,4,0.068,0.047,1785,898,3415
$GC,2209,-0.70,-117.3,194.5,-10.6,129,2214,0.22,2.25,0.00,0.000,6,0.133,0.040,1846,2311,3415
$GC,2533,-0.72,-117.3,217.0,-6.9,140,2537,0.00,2.28,0.00,0.000,4,0.000,0.043,1846,890,3414
$GC,2572,-0.76,-117.3,220.0,-7.6,141,2576,0.00,2.25,0.00,0.000,6,0.000,0.044,1839,2306,3414
$GC,2896,-0.76,-117.3,244.9,-7.7,152,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2306,3414
$GC,3201,-0.76,-117.3,266.6,-6.9,162,3205,0.00,2.25,0.00,0.000,4,0.000,0.048,1839,899,3414
$GC,3246,-0.78,-117.3,270.0,-7.8,163,3250,0.00,2.25,0.00,0.000,6,0.000,0.041,1837,2309,3413
$GC,3564,-0.78,-117.3,291.9,-6.7,174,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2309,3413
$GC,3899,-0.78,-117.3,313.5,-6.4,182,3903,0.00,2.25,0.00,0.000,4,0.000,0.044,1837,898,3413
$GC,3949,-0.80,-117.3,317.1,-7.1,182,3953,0.00,2.25,0.00,0.000,6,0.000,0.044,1836,2312,3412
$GC,4258,-0.80,-117.3,338.0,-6.7,187,4262,0.00,2.28,0.00,0.000,4,0.000,0.047,1836,890,3412
$GC,4298,-0.83,-117.3,340.7,-7.2,187,4302,0.00,2.25,0.00,0.000,6,0.000,0.047,1836,2305,3412
$GC,4624,-0.83,-117.3,360.8,-6.1,193,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2306,3411
$GC,4928,-0.85,-117.3,378.5,-5.8,198,4932,0.00,2.28,0.00,0.000,4,0.000,0.049,1836,893,3411
$GC,4955,-0.87,-117.3,380.3,-6.2,198,4960,0.10,2.28,0.00,0.000,6,0.070,0.039,1773,2312,3411
$GC,5287,-0.78,-117.3,409.9,-9.1,204,5292,0.17,2.28,0.00,0.000,4,0.132,0.043,1830,891,3410
$GC,5343,-0.81,-117.3,413.9,-6.4,204,5349,0.00,2.30,0.00,0.000,6,0.000,0.040,1823,2308,3410
$GC,5652,-0.81,-117.3,433.7,-6.4,210,5656,0.00,2.28,0.00,0.000,4,0.000,0.048,1823,889,3410
$GC,5696,-0.81,-117.3,436.8,-7.0,210,5700,0.00,2.28,0.00,0.000,6,0.000,0.041,1820,2312,3410
$GC,6011,-0.81,-117.3,458.6,-7.0,216,6014,0.00,2.25,0.00,0.000,4,0.000,0.048,1820,898,3409
$GC,6043,-0.81,-117.3,461.2,-7.5,216,6047,0.00,2.28,0.00,0.000,6,0.000,0.041,1811,2306,3409
$GC,6382,-0.81,-117.3,486.4,-7.5,222,6386,0.00,2.25,0.00,0.000,4,0.000,0.044,1811,895,3409
$GC,6444,-0.81,-117.3,491.6,-8.8,223,6448,0.00,2.25,0.00,0.000,6,0.000,0.040,1809,2306,3409
$GC,6810,-0.78,-117.3,519.7,-7.7,229,6815,0.08,2.25,0.00,0.000,4,0.155,0.044,1829,898,3409
$GC,6860,-0.81,-117.3,523.6,-7.8,229,6864,0.00,2.25,0.00,0.000,6,0.000,0.046,1824,2313,3408
$GC,7170,-0.81,-117.3,544.3,-6.7,234,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2314,3408
$GC,7473,-0.81,-117.3,564.6,-6.7,239,7477,0.00,2.28,0.00,0.000,4,0.000,0.044,1823,892,3408
$GC,7528,-0.81,-117.3,568.7,-8.0,239,7535,0.00,2.30,0.00,0.000,6,0.000,0.041,1822,2307,3408
$GC,7838,-0.81,-117.3,591.0,-7.2,245,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2307,3408
$GC,8141,-0.81,-117.3,613.2,-7.4,250,8145,0.00,2.28,0.00,0.000,4,0.000,0.049,1822,892,3408
$GC,8173,-0.81,-117.3,615.9,-8.4,250,8177,0.00,2.28,0.00,0.000,6,0.000,0.041,1821,2304,3408
$GC,8506,-0.81,-117.3,640.2,-7.3,256,8509,0.00,2.25,0.00,0.000,4,0.000,0.045,1821,901,3407
$GC,8550,-0.84,-117.3,643.7,-7.7,256,8554,0.00,2.25,0.00,0.000,6,0.000,0.041,1819,2304,3407
$GC,8871,-0.84,-117.3,665.6,-6.8,262,8875,0.00,2.25,0.00,0.000,4,0.000,0.047,1819,899,3407
$GC,8909,-0.84,-117.3,668.4,-7.5,262,8913,0.00,2.25,0.00,0.000,6,0.000,0.043,1810,2307,3407
$GC,9236,-0.84,-117.3,691.0,-6.9,268,9240,0.00,2.28,0.00,0.000,4,0.000,0.048,1810,893,3407
$GC,9276,-0.84,-117.3,693.9,-7.7,268,9280,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2309,3407
$GC,9597,-0.84,-117.3,715.6,-6.7,274,9598,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3407
$GC,9899,-0.84,-117.3,735.3,-6.5,279,9903,0.00,2.28,0.00,0.000,4,0.000,0.045,1808,901,3407
$GC,9932,-0.84,-117.3,737.6,-6.9,279,9936,0.00,2.28,0.00,0.000,6,0.000,0.047,1807,2311,3407
$GC,10264,-0.84,-117.3,758.2,-6.2,285,10268,0.00,2.28,0.00,0.000,4,0.000,0.049,1807,894,3406
$GC,10298,-0.84,-117.3,760.8,-7.5,285,10302,0.00,2.28,0.00,0.000,6,0.000,0.044,1806,2313,3406
$GC,10624,-0.84,-117.3,782.5,-6.8,291,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2313,3406
$GC,10927,-0.84,-117.3,802.8,-6.7,296,10931,0.00,2.28,0.00,0.000,4,0.000,0.048,1807,898,3406
$GC,10982,-0.84,-117.3,806.9,-8.0,296,10989,0.00,2.25,0.00,0.000,6,0.000,0.047,1803,2305,3406
$GC,11292,-0.84,-117.3,828.1,-6.8,302,11293,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2305,3406
$GC,11595,-0.84,-117.3,848.4,-6.7,307,11599,0.00,2.28,0.00,0.000,4,0.000,0.049,1803,902,3406
$GC,11644,-0.84,-117.3,852.0,-8.0,307,11649,0.10,2.25,0.00,0.000,6,0.146,0.043,1820,2302,3406
$GC,11961,-0.87,-117.3,868.8,-5.3,313,11962,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2302,3405
$GC,12263,-0.90,-117.3,884.0,-5.0,318,12267,0.00,2.28,0.00,0.000,4,0.000,0.053,1821,900,3406
$GC,12290,-0.93,-117.3,885.6,-5.9,318,12295,0.10,2.28,0.00,0.000,6,0.078,0.044,1774,2309,3406
$GC,12622,-0.87,-117.3,910.1,-7.6,324,12624,0.15,0.00,0.00,0.000,6,0.136,0.000,1816,2309,3406
$GC,12925,-0.90,-117.3,928.1,-5.8,329,12929,0.00,2.28,0.00,0.000,4,0.000,0.050,1816,902,3405
$GC,12980,-0.92,-117.3,931.8,-6.8,329,12987,0.00,2.28,0.00,0.000,6,0.000,0.045,1810,2299,3405
$GC,13290,-0.92,-117.3,952.8,-6.9,335,13294,0.00,2.25,0.00,0.000,4,0.000,0.051,1810,903,3405
$GC,13323,-0.92,-117.3,955.3,-7.3,335,13327,0.00,2.25,0.00,0.000,6,0.000,0.044,1808,2305,3405
$GC,13649,-0.92,-117.3,978.9,-7.2,341,13650,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3404
$STATE,13828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13828,begin apogee
$GC,13834,-0.22,0.0,991.9,7.2,344,13932,0.45,0.00,95.50,1.315,6,0.120,0.000,1950,2305,2931
$STATE,13933,end apogee,CONTROL_FINISHED_OK
$STATE,13933,begin climb
$GC,13936,0.68,117.3,993.6,0.0,345,14044,0.57,2.53,101.15,1.284,4,0.078,0.057,2149,3706,2451
$GC,14094,0.49,117.3,989.9,7.4,347,14100,0.22,2.35,0.00,0.000,6,0.174,0.038,2108,2316,2447
$GC,14422,0.46,133.9,973.6,4.9,353,14438,0.00,0.00,14.38,1.168,6,0.000,0.000,2108,2316,2384
$GC,14724,0.42,133.9,956.8,5.6,358,14726,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2316,2380
$GC,15027,0.37,133.9,938.6,6.0,363,15029,0.10,0.00,0.00,0.000,6,0.168,0.000,2083,2315,2378
$GC,15330,0.38,140.6,922.6,5.3,368,15338,0.00,0.00,6.47,0.988,6,0.000,0.000,2083,2315,2357
$GC,15634,0.39,143.2,906.1,5.4,373,15635,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2315,2355
$GC,15936,0.41,143.2,889.4,5.5,378,15940,0.00,2.30,0.00,0.000,4,0.000,0.054,2082,3717,2354
$GC,15969,0.41,143.2,887.2,6.1,378,15973,0.00,2.28,0.00,0.000,6,0.000,0.037,2091,2291,2354
$GC,16301,0.41,143.2,868.7,5.5,384,16306,0.00,2.33,0.00,0.000,4,0.000,0.051,2091,3713,2353
$GC,16335,0.37,143.2,866.7,6.3,384,16339,0.00,2.25,0.00,0.000,6,0.000,0.035,2101,2293,2353
$GC,16662,0.35,143.2,847.9,5.7,390,16667,0.12,2.33,0.00,0.000,4,0.159,0.050,2069,3717,2353
$GC,16689,0.38,167.5,846.4,4.7,390,16722,0.00,2.25,23.70,1.175,6,0.000,0.041,2078,2293,2248
$GC,17026,0.46,194.5,830.9,4.6,396,17055,0.00,2.38,24.42,1.161,4,0.000,0.056,2078,3710,2136
$GC,17072,0.54,216.1,828.5,4.8,396,17098,0.12,2.28,20.40,1.128,6,0.061,0.035,2143,2300,2050
$GC,17456,0.48,216.1,799.4,7.8,403,17461,0.15,2.30,0.00,0.000,4,0.140,0.053,2111,890,2042
$GC,17477,0.48,216.1,797.6,6.8,403,17481,0.00,2.30,0.00,0.000,6,0.000,0.045,2110,2313,2041
$GC,17821,0.50,216.1,777.5,5.9,409,17823,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2313,2041
$GC,18124,0.50,216.1,760.1,5.7,414,18125,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2313,2040
$GC,18427,0.50,216.3,743.4,5.5,419,18431,0.00,2.28,0.00,0.000,4,0.000,0.056,2110,3710,2040
$GC,18470,0.50,216.3,740.5,7.2,419,18474,0.00,2.22,0.00,0.000,6,0.000,0.038,2120,2301,2039
$GC,18792,0.50,216.3,722.0,5.7,425,18796,0.00,2.33,0.00,0.000,4,0.000,0.057,2120,3718,2039
$GC,18836,0.47,216.3,719.1,7.3,425,18841,0.12,2.25,0.00,0.000,6,0.150,0.040,2098,2298,2039
$GC,19152,0.56,253.7,705.4,4.2,431,19191,0.10,2.38,31.90,1.100,4,0.071,0.051,2165,890,1894
$GC,19202,0.50,253.7,701.8,6.9,431,19207,0.20,2.33,0.00,0.000,6,0.133,0.040,2110,2313,1892
$GC,19513,0.56,263.5,685.5,5.2,436,19527,0.00,2.33,8.93,0.950,4,0.000,0.054,2110,3713,1856
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$STATE,28734,begin surface coast
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