version: 66.04
glider: 144
mission: 15
dive: 304
start: 9 20 109 6 45 26
data:
$ID,144
$MISSION,15
$DIVE,304
$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,-67133.883
$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,34
$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
$GPS1,063358,5017.731,-14433.046,56,2.7,75,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-55.4
$GPS2,064432,5017.799,-14432.809,11,1.5,11,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.117,0.120
$KALMAN_X,-38595.1,138.1,37.6,83045.3,-1072.2
$KALMAN_Y,22353.3,-73.9,-176.1,-27988.4,952.9
$MHEAD_RNG_PITCHd_Wd,25.5,6906,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.40,0.000,2,0.000,0.000,100,2299,2735
$GC,61,-0.68,-117.3,3.7,-5.8,4,89,7.28,2.30,-14.88,0.000,4,0.244,0.065,1853,896,3410
$GC,95,-0.23,-117.3,10.4,-17.4,6,102,0.35,2.25,0.00,0.000,6,0.143,0.041,1948,2311,3411
$GC,422,-0.35,-117.3,32.1,-5.7,37,426,0.10,2.25,0.00,0.000,4,0.064,0.045,1891,3717,3413
$GC,674,-0.46,-117.3,47.8,-5.3,59,680,0.00,2.20,0.00,0.000,6,0.000,0.028,1891,2286,3413
$GC,1001,-0.53,-117.3,68.1,-7.0,90,1005,0.00,2.20,0.00,0.000,4,0.000,0.040,1891,891,3414
$GC,1041,-0.61,-117.3,71.0,-7.3,93,1045,0.00,2.22,0.00,0.000,6,0.000,0.036,1890,2306,3414
$GC,1360,-0.66,-117.3,92.2,-6.7,114,1362,0.12,0.00,0.00,0.000,6,0.056,0.000,1810,2306,3414
$GC,1670,-0.58,-117.3,126.2,-10.4,129,1675,0.20,2.25,0.00,0.000,4,0.123,0.040,1875,890,3414
$GC,1761,-0.65,-117.3,132.9,-6.5,133,1765,0.00,2.25,0.00,0.000,6,0.000,0.042,1875,2305,3415
$GC,2078,-0.72,-117.3,152.8,-6.2,148,2079,0.10,0.00,0.00,0.000,6,0.065,0.000,1801,2306,3414
$GC,2383,-0.65,-117.3,181.1,-9.3,158,2388,0.17,2.25,0.00,0.000,4,0.123,0.041,1859,892,3413
$GC,2438,-0.71,-117.3,185.4,-6.8,159,2445,0.00,2.25,0.00,0.000,6,0.000,0.037,1852,2309,3413
$GC,2752,-0.74,-117.3,206.0,-6.7,170,2756,0.00,2.25,0.00,0.000,4,0.000,0.049,1852,892,3413
$GC,2801,-0.79,-117.3,209.5,-7.1,171,2806,0.08,2.22,0.00,0.000,6,0.084,0.044,1794,2305,3413
$GC,3114,-0.72,-117.3,238.4,-9.5,181,3119,0.17,2.22,0.00,0.000,4,0.127,0.043,1851,898,3412
$GC,3155,-0.77,-117.3,241.6,-7.0,182,3159,0.00,2.22,0.00,0.000,6,0.000,0.044,1850,2306,3412
$GC,3484,-0.81,-117.3,262.0,-6.0,193,3486,0.10,0.00,0.00,0.000,6,0.066,0.000,1782,2306,3411
$GC,3791,-0.72,-117.3,291.7,-10.0,203,3795,0.17,2.22,0.00,0.000,4,0.125,0.043,1839,892,3411
$GC,3841,-0.75,-117.3,295.6,-7.3,204,3845,0.00,2.25,0.00,0.000,6,0.000,0.041,1837,2312,3410
$GC,4156,-0.75,-117.3,314.8,-6.1,211,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2313,3411
$GC,4460,-0.77,-117.3,333.7,-6.3,216,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2313,3410
$GC,4763,-0.80,-117.3,353.5,-6.5,221,4767,0.00,2.25,0.00,0.000,4,0.000,0.044,1837,901,3409
$GC,4831,-0.82,-117.3,358.6,-7.8,222,4835,0.00,2.25,0.00,0.000,6,0.000,0.040,1835,2314,3408
$GC,5191,-0.85,-117.3,384.2,-7.2,228,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2314,3409
$GC,5494,-0.87,-117.3,405.6,-7.0,233,5499,0.10,2.22,0.00,0.000,4,0.069,0.043,1772,901,3407
$GC,5561,-0.78,-117.3,412.4,-10.8,234,5566,0.22,2.22,0.00,0.000,6,0.129,0.044,1829,2315,3407
$GC,5926,-0.78,-117.3,439.1,-7.2,240,5930,0.00,2.28,0.00,0.000,4,0.000,0.047,1829,898,3407
$GC,5964,-0.80,-117.3,442.1,-7.8,240,5968,0.00,2.25,0.00,0.000,6,0.000,0.041,1823,2308,3407
$GC,6285,-0.80,-117.3,464.8,-7.1,246,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2308,3406
$GC,6587,-0.80,-117.3,486.1,-7.1,251,6591,0.00,2.25,0.00,0.000,4,0.000,0.047,1823,899,3406
$GC,6631,-0.80,-117.3,489.5,-7.8,251,6634,0.00,2.25,0.00,0.000,6,0.000,0.041,1819,2309,3406
$GC,6952,-0.80,-117.3,512.9,-7.3,257,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2309,3406
$GC,7255,-0.80,-117.3,533.2,-6.6,262,7259,0.00,2.25,0.00,0.000,4,0.000,0.047,1820,900,3405
$GC,7310,-0.80,-117.3,536.8,-6.6,262,7317,0.00,2.25,0.00,0.000,6,0.000,0.041,1810,2300,3405
$GC,7619,-0.80,-117.3,555.1,-5.8,268,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2300,3405
$GC,7922,-0.80,-117.3,573.3,-6.1,273,7926,0.00,2.25,0.00,0.000,4,0.000,0.051,1810,893,3405
$GC,7961,-0.80,-117.3,576.1,-7.2,273,7966,0.00,2.25,0.00,0.000,6,0.000,0.044,1807,2306,3405
$GC,8282,-0.80,-117.3,598.3,-7.1,279,8286,0.00,2.25,0.00,0.000,4,0.000,0.051,1807,896,3405
$GC,8314,-0.80,-117.3,600.9,-7.8,279,8319,0.10,2.25,0.00,0.000,6,0.136,0.040,1824,2315,3404
$GC,8647,-0.83,-117.3,623.2,-6.8,285,8651,0.00,2.25,0.00,0.000,4,0.000,0.045,1824,902,3404
$GC,8674,-0.86,-117.3,625.3,-7.5,285,8678,0.00,2.22,0.00,0.000,6,0.000,0.044,1822,2303,3404
$GC,9007,-0.88,-117.3,648.3,-6.9,291,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2304,3404
$GC,9310,-0.90,-117.3,669.0,-6.9,296,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2304,3404
$GC,9614,-0.92,-117.3,689.4,-6.6,301,9615,0.08,0.00,0.00,0.000,6,0.084,0.000,1767,2303,3404
$GC,9916,-0.84,-117.3,716.2,-9.0,306,9921,0.17,2.28,0.00,0.000,4,0.128,0.051,1825,902,3403
$GC,9954,-0.87,-117.3,719.0,-7.2,306,9958,0.00,2.25,0.00,0.000,6,0.000,0.041,1823,2309,3404
$GC,10275,-0.90,-117.3,737.6,-5.8,312,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2309,3404
$GC,10578,-0.93,-117.3,755.3,-5.9,317,10583,0.10,2.28,0.00,0.000,4,0.068,0.047,1763,894,3403
$GC,10661,-0.84,-117.3,763.0,-9.4,318,10666,0.22,2.28,0.00,0.000,6,0.128,0.044,1820,2313,3403
$GC,11005,-0.87,-117.3,783.9,-6.0,324,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2313,3403
$GC,11308,-0.89,-117.3,803.0,-6.3,329,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2313,3403
$GC,11611,-0.92,-117.3,821.9,-6.2,334,11615,0.00,2.28,0.00,0.000,4,0.000,0.046,1821,903,3403
$GC,11638,-0.94,-117.3,823.7,-6.6,334,11643,0.10,2.25,0.00,0.000,6,0.076,0.042,1771,2307,3402
$GC,11970,-0.87,-117.3,850.2,-8.0,340,11975,0.15,2.30,0.00,0.000,4,0.136,0.057,1806,3719,3402
$GC,12008,-0.87,-117.3,852.8,-6.5,340,12012,0.00,2.22,0.00,0.000,6,0.000,0.038,1805,2302,3402
$GC,12335,-0.87,-117.3,872.9,-6.1,346,12336,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2302,3402
$GC,12638,-0.87,-117.3,890.4,-5.7,351,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2302,3402
$GC,12942,-0.87,-117.3,907.1,-5.5,356,12943,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2302,3402
$GC,13244,-0.87,-117.3,923.9,-5.5,361,13246,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2302,3401
$GC,13547,-0.87,-117.3,941.1,-5.7,366,13548,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2302,3401
$GC,13850,-0.87,-117.3,959.5,-6.1,371,13851,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2302,3401
$GC,14154,-0.87,-117.3,978.1,-6.2,376,14158,0.00,2.30,0.00,0.000,4,0.000,0.051,1806,890,3401
$GC,14203,-0.87,-117.3,981.5,-6.7,376,14207,0.00,2.28,0.00,0.000,6,0.000,0.042,1796,2303,3401
$STATE,14334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14334,begin apogee
$GC,14340,-0.22,0.0,990.5,7.0,379,14438,0.50,0.00,95.07,1.306,6,0.124,0.000,1953,2303,2930
$STATE,14438,end apogee,CONTROL_FINISHED_OK
$STATE,14438,begin climb
$GC,14441,0.68,117.3,992.0,0.0,380,14546,0.60,0.00,102.10,1.277,6,0.073,0.000,2158,2303,2451
$GC,14879,0.53,117.3,970.5,6.4,388,14884,0.17,2.35,0.00,0.000,4,0.157,0.052,2108,3713,2441
$GC,14912,0.44,117.3,968.3,5.5,388,14916,0.00,2.28,0.00,0.000,6,0.000,0.041,2117,2298,2440
$GC,15239,0.40,139.6,952.7,4.7,394,15264,0.12,2.35,18.23,1.189,4,0.160,0.051,2086,3700,2361
$GC,15286,0.43,161.0,950.5,4.8,394,15312,0.00,2.25,20.20,1.186,6,0.000,0.035,2094,2301,2273
$GC,15673,0.45,181.9,932.5,4.8,401,15694,0.00,0.00,18.73,1.180,6,0.000,0.000,2094,2300,2189
$GC,15978,0.49,191.8,916.8,5.2,406,15992,0.00,2.35,9.68,1.077,4,0.000,0.051,2094,3713,2149
$GC,16014,0.49,191.8,914.3,6.4,406,16019,0.00,2.28,0.00,0.000,6,0.000,0.038,2104,2295,2148
$GC,16347,0.49,191.8,895.1,5.8,412,16348,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2295,2145
$GC,16650,0.49,191.8,877.3,5.9,417,16654,0.00,2.30,0.00,0.000,4,0.000,0.052,2103,3708,2145
$GC,16683,0.49,191.8,874.8,7.0,417,16687,0.00,2.22,0.00,0.000,6,0.000,0.038,2114,2296,2144
$GC,17009,0.49,191.8,854.0,6.4,423,17013,0.00,2.30,0.00,0.000,4,0.000,0.053,2114,3714,2144
$GC,17031,0.46,191.8,852.3,7.7,423,17035,0.10,2.22,0.00,0.000,6,0.164,0.039,2101,2298,2144
$GC,17368,0.48,191.8,832.5,5.8,429,17369,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2298,2144
$GC,17671,0.51,191.8,815.5,5.6,434,17672,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2298,2143
$GC,17974,0.53,191.8,798.6,5.5,439,17978,0.00,2.30,0.00,0.000,4,0.000,0.051,2101,3719,2143
$GC,18002,0.54,199.9,796.8,5.2,439,18016,0.00,2.22,7.85,0.979,6,0.000,0.033,2109,2301,2116
$GC,18338,0.54,199.9,776.4,6.1,445,18342,0.00,2.28,0.00,0.000,4,0.000,0.050,2110,3710,2114
$GC,18360,0.54,199.9,774.7,8.2,445,18364,0.00,2.20,0.00,0.000,6,0.000,0.036,2120,2303,2114
$GC,18703,0.54,199.9,753.0,6.3,451,18704,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2303,2114
$GC,19006,0.54,199.9,734.0,6.2,456,19007,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2303,2113
$GC,19310,0.54,199.9,715.7,6.1,461,19314,0.00,2.28,0.00,0.000,4,0.000,0.054,2120,3713,2114
$GC,19350,0.49,199.9,712.9,6.9,461,19355,0.10,2.22,0.00,0.000,6,0.157,0.034,2105,2295,2113
$GC,19671,0.52,203.5,695.4,5.4,467,19680,0.00,2.25,4.62,0.761,4,0.000,0.047,2114,887,2100
$GC,19699,0.55,203.5,693.8,5.9,467,19703,0.00,2.25,0.00,0.000,6,0.000,0.041,2115,2307,2100
$GC,20036,0.55,203.5,674.5,5.8,473,20040,0.00,2.25,0.00,0.000,4,0.000,0.054,2115,3710,2100
$GC,20081,0.52,203.5,671.5,6.5,473,20085,0.00,2.20,0.00,0.000,6,0.000,0.038,2124,2302,2099
$GC,20402,0.52,203.5,652.7,5.8,479,20403,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2302,2099
$GC,20705,0.52,208.6,636.4,5.3,484,20716,0.00,2.28,6.25,0.844,4,0.000,0.054,2124,3715,2079
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$STATE,29749,end climb,SURFACE_DEPTH_REACHED
$STATE,29749,begin surface coast
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$STATE,29772,end surface coast,CONTROL_FINISHED_OK
$STATE,29774,begin surface
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