version: 66.04
glider: 144
mission: 15
dive: 452
start: 11 9 109 17 40 56
data:
$ID,144
$MISSION,15
$DIVE,452
$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,-70440.211
$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,36
$R_STBD_OVSHOOT,33
$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
$GPS1,172846,5017.499,-14504.664,48,1.7,48,18.5
$_CALLS,2
$_XMS_NAKs,31
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-56.7
$GPS2,174001,5017.469,-14504.482,16,1.9,27,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.104,0.131
$KALMAN_X,-93434.4,56.9,17.9,100548.4,-864.8
$KALMAN_Y,18000.7,61.3,285.7,-24849.4,-1293.6
$MHEAD_RNG_PITCHd_Wd,303.1,10988,-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,13,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,49,0.00,0.00,-30.92,0.000,2,0.000,0.000,96,2298,2527
$GC,52,-0.68,-117.3,3.2,-5.1,3,93,6.82,2.30,-25.70,0.000,4,0.214,0.058,1841,894,3412
$GC,155,-0.63,-117.3,13.4,-12.4,12,162,0.12,2.28,0.00,0.000,6,0.126,0.038,1870,2300,3413
$GC,483,-0.63,-117.3,52.7,-9.3,43,487,0.00,2.25,0.00,0.000,4,0.000,0.042,1870,888,3413
$GC,519,-0.66,-117.3,56.1,-8.9,46,523,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2306,3413
$GC,856,-0.68,-117.3,83.2,-7.4,75,860,0.00,2.28,0.00,0.000,4,0.000,0.041,1864,889,3414
$GC,912,-0.71,-117.3,88.1,-8.6,77,918,0.00,2.28,0.00,0.000,6,0.000,0.038,1861,2314,3414
$GC,1229,-0.74,-117.3,113.6,-7.7,93,1234,0.08,2.28,0.00,0.000,4,0.077,0.041,1792,894,3415
$GC,1269,-0.66,-117.3,117.9,-11.7,95,1274,0.25,2.22,0.00,0.000,6,0.184,0.037,1854,2303,3415
$GC,1597,-0.70,-117.3,141.2,-6.2,111,1601,0.00,2.22,0.00,0.000,4,0.000,0.048,1847,3706,3415
$GC,1631,-0.74,-117.3,143.3,-5.7,112,1635,0.00,2.17,0.00,0.000,6,0.000,0.029,1847,2298,3415
$GC,1961,-0.78,-117.3,162.5,-5.8,125,1965,0.00,2.28,0.00,0.000,4,0.000,0.048,1837,3706,3415
$GC,1995,-0.81,-117.3,164.6,-6.6,126,1999,0.00,2.20,0.00,0.000,6,0.000,0.030,1836,2291,3415
$GC,2325,-0.83,-117.3,186.4,-6.6,137,2329,0.00,2.22,0.00,0.000,4,0.000,0.042,1836,900,3415
$GC,2360,-0.86,-117.3,188.9,-7.2,138,2364,0.00,2.22,0.00,0.000,6,0.000,0.038,1829,2302,3415
$GC,2696,-0.86,-117.3,215.3,-8.0,149,2700,0.00,2.25,0.00,0.000,4,0.000,0.042,1829,891,3415
$GC,2741,-0.86,-117.3,219.3,-8.6,150,2745,0.00,2.25,0.00,0.000,6,0.000,0.044,1821,2302,3414
$GC,3064,-0.86,-117.3,247.8,-8.8,161,3068,0.00,2.25,0.00,0.000,4,0.000,0.045,1821,899,3414
$GC,3115,-0.86,-117.3,252.6,-9.3,162,3119,0.00,2.22,0.00,0.000,6,0.000,0.038,1812,2305,3415
$GC,3434,-0.86,-117.3,280.4,-8.5,173,3437,0.00,2.25,0.00,0.000,4,0.000,0.042,1812,898,3413
$GC,3484,-0.86,-117.3,284.9,-9.1,174,3488,0.00,2.22,0.00,0.000,6,0.000,0.042,1804,2297,3413
$GC,3801,-0.83,-117.3,310.7,-8.0,183,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2298,3413
$GC,4105,-0.80,-117.3,335.1,-8.1,188,4107,0.08,0.00,0.00,0.000,6,0.146,0.000,1825,2298,3413
$GC,4407,-0.80,-117.3,358.0,-7.6,193,4411,0.00,2.25,0.00,0.000,4,0.000,0.044,1825,891,3412
$GC,4448,-0.83,-117.3,361.4,-7.9,193,4452,0.00,2.25,0.00,0.000,6,0.000,0.039,1821,2307,3413
$GC,4770,-0.83,-117.3,386.5,-7.7,199,4774,0.00,2.25,0.00,0.000,4,0.000,0.044,1821,894,3412
$GC,4804,-0.83,-117.3,389.5,-8.0,199,4808,0.00,2.25,0.00,0.000,6,0.000,0.041,1813,2309,3412
$GC,5138,-0.83,-117.3,415.3,-7.8,205,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2310,3411
$GC,5439,-0.83,-117.3,437.6,-7.3,210,5443,0.00,2.28,0.00,0.000,4,0.000,0.044,1813,895,3411
$GC,5477,-0.83,-117.3,440.7,-8.1,210,5481,0.00,2.28,0.00,0.000,6,0.000,0.040,1806,2311,3411
$GC,5799,-0.83,-117.3,464.8,-7.5,216,5803,0.00,2.28,0.00,0.000,4,0.000,0.044,1806,898,3411
$GC,5832,-0.83,-117.3,467.5,-7.8,216,5837,0.10,2.25,0.00,0.000,6,0.126,0.041,1825,2308,3411
$GC,6159,-0.86,-117.3,488.2,-6.3,222,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2308,3410
$GC,6462,-0.89,-117.3,507.5,-6.4,227,6466,0.00,2.30,0.00,0.000,4,0.000,0.045,1824,890,3410
$GC,6502,-0.92,-117.3,510.4,-7.2,227,6506,0.10,2.28,0.00,0.000,6,0.067,0.040,1762,2308,3410
$GC,6823,-0.83,-117.3,541.5,-9.9,233,6825,0.20,0.00,0.00,0.000,6,0.122,0.000,1822,2308,3410
$GC,7126,-0.86,-117.3,562.0,-6.6,238,7130,0.00,2.28,0.00,0.000,4,0.000,0.044,1822,900,3410
$GC,7165,-0.89,-117.3,564.9,-7.6,238,7169,0.00,2.25,0.00,0.000,6,0.000,0.044,1822,2302,3410
$GC,7487,-0.92,-117.3,587.2,-7.0,244,7489,0.08,0.00,0.00,0.000,6,0.081,0.000,1764,2302,3410
$GC,7790,-0.84,-117.3,616.5,-9.8,249,7795,0.17,2.28,0.00,0.000,4,0.120,0.046,1823,900,3409
$GC,7841,-0.88,-117.3,620.7,-7.5,249,7845,0.00,2.25,0.00,0.000,6,0.000,0.041,1822,2301,3409
$GC,8151,-0.92,-117.3,640.7,-6.4,254,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2302,3409
$GC,8454,-0.95,-117.3,659.2,-6.1,259,8456,0.10,0.00,0.00,0.000,6,0.066,0.000,1756,2302,3409
$GC,8758,-0.86,-117.3,687.4,-9.5,264,8762,0.17,2.30,0.00,0.000,4,0.123,0.050,1814,895,3409
$GC,8797,-0.88,-117.3,690.6,-7.8,264,8801,0.00,2.28,0.00,0.000,6,0.000,0.043,1809,2308,3409
$GC,9118,-0.88,-117.3,711.2,-6.3,270,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2308,3409
$GC,9421,-0.88,-117.3,729.5,-6.1,275,9425,0.00,2.28,0.00,0.000,4,0.000,0.048,1809,900,3408
$GC,9460,-0.88,-117.3,732.2,-7.0,275,9464,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2314,3408
$GC,9781,-0.88,-117.3,752.5,-6.4,281,9785,0.00,2.30,0.00,0.000,4,0.000,0.047,1808,896,3408
$GC,9815,-0.88,-117.3,755.0,-7.1,281,9819,0.00,2.28,0.00,0.000,6,0.000,0.048,1806,2310,3408
$GC,10142,-0.88,-117.3,776.7,-6.7,287,10143,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2311,3408
$GC,10445,-0.88,-117.3,797.2,-6.8,292,10449,0.00,2.28,0.00,0.000,4,0.000,0.049,1806,901,3408
$GC,10502,-0.88,-117.3,801.2,-7.7,292,10506,0.00,2.28,0.00,0.000,6,0.000,0.046,1797,2314,3408
$GC,10812,-0.88,-117.3,821.3,-6.4,297,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2314,3408
$GC,11116,-0.88,-117.3,840.6,-6.3,302,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2314,3408
$GC,11419,-0.88,-117.3,859.7,-6.3,307,11423,0.00,2.33,0.00,0.000,4,0.000,0.054,1797,901,3408
$GC,11457,-0.88,-117.3,862.5,-7.6,307,11461,0.00,2.28,0.00,0.000,6,0.000,0.042,1794,2304,3407
$GC,11779,-0.88,-117.3,883.1,-6.4,313,11780,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3407
$GC,12081,-0.88,-117.3,902.1,-6.3,318,12085,0.00,2.28,0.00,0.000,4,0.000,0.047,1794,901,3407
$GC,12115,-0.88,-117.3,904.4,-6.4,318,12119,0.00,2.28,0.00,0.000,6,0.000,0.043,1793,2310,3407
$GC,12442,-0.88,-117.3,925.7,-6.6,324,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3406
$GC,12745,-0.88,-117.3,946.4,-6.9,329,12746,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2309,3407
$GC,13049,-0.88,-117.3,967.6,-7.0,334,13053,0.00,2.33,0.00,0.000,4,0.000,0.054,1793,895,3406
$GC,13083,-0.88,-117.3,970.2,-8.3,334,13087,0.00,2.30,0.00,0.000,6,0.000,0.043,1788,2310,3406
$STATE,13351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13352,begin apogee
$GC,13358,-0.22,0.0,990.8,7.6,339,13460,0.52,0.00,98.30,1.301,6,0.113,0.000,1957,2311,2931
$STATE,13460,end apogee,CONTROL_FINISHED_OK
$STATE,13460,begin climb
$GC,13463,0.68,117.3,992.6,0.0,340,13575,0.55,2.55,103.72,1.268,4,0.069,0.058,2153,3699,2451
$GC,13614,0.49,117.3,990.8,6.6,342,13619,0.22,2.40,0.00,0.000,6,0.163,0.038,2110,2307,2447
$GC,13953,0.50,152.3,976.2,4.3,348,13985,0.00,0.00,30.15,1.228,6,0.000,0.000,2110,2306,2310
$GC,14256,0.52,170.0,961.5,4.9,353,14274,0.00,0.00,16.48,1.174,6,0.000,0.000,2110,2306,2237
$GC,14560,0.53,176.1,945.5,5.3,358,14573,0.00,2.38,6.47,0.973,4,0.000,0.057,2111,3711,2211
$GC,14597,0.50,176.1,943.0,6.7,358,14601,0.00,2.28,0.00,0.000,6,0.000,0.037,2118,2300,2211
$GC,14923,0.50,176.1,923.7,6.0,364,14927,0.00,2.33,0.00,0.000,4,0.000,0.051,2118,3714,2209
$GC,14953,0.46,176.1,921.7,6.4,364,14958,0.12,2.28,0.00,0.000,6,0.153,0.040,2098,2293,2209
$GC,15286,0.50,190.9,904.6,5.0,370,15302,0.00,0.00,14.15,1.141,6,0.000,0.000,2097,2293,2152
$GC,15589,0.56,204.0,889.2,5.1,375,15604,0.10,0.00,12.90,1.118,6,0.072,0.000,2148,2293,2099
$GC,15893,0.50,204.0,867.0,7.5,380,15894,0.15,0.00,0.00,0.000,6,0.136,0.000,2107,2293,2095
$GC,16195,0.55,219.6,851.4,5.0,385,16212,0.00,0.00,15.12,1.118,6,0.000,0.000,2107,2293,2035
$GC,16498,0.62,247.8,837.4,4.5,390,16527,0.10,0.00,26.33,1.151,6,0.068,0.000,2160,2292,1920
$GC,16802,0.55,247.8,814.3,7.8,395,16807,0.15,2.35,0.00,0.000,4,0.137,0.050,2119,3710,1914
$GC,16846,0.55,247.8,811.0,6.6,395,16850,0.00,2.28,0.00,0.000,6,0.000,0.037,2128,2299,1913
$GC,17161,0.55,247.8,793.1,5.8,401,17165,0.00,2.30,0.00,0.000,4,0.000,0.056,2128,3711,1912
$GC,17183,0.55,247.8,791.3,6.8,401,17188,0.00,2.22,0.00,0.000,6,0.000,0.033,2138,2301,1912
$GC,17522,0.55,247.8,769.0,6.7,407,17523,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2301,1912
$GC,17825,0.55,247.8,748.8,6.6,412,17828,0.00,2.28,0.00,0.000,4,0.000,0.049,2138,3716,1911
$GC,17875,0.52,247.8,744.8,9.2,412,17880,0.15,2.22,0.00,0.000,6,0.136,0.034,2107,2299,1911
$GC,18192,0.60,261.0,728.6,5.1,418,18211,0.08,2.33,11.95,1.016,4,0.080,0.048,2173,894,1865
$GC,18240,0.56,261.0,724.9,7.6,418,18245,0.20,2.25,0.00,0.000,6,0.126,0.045,2116,2310,1864
$GC,18556,0.61,261.0,706.3,5.8,424,18560,0.00,2.25,0.00,0.000,4,0.000,0.055,2115,3712,1862
$GC,18601,0.65,261.0,703.1,7.8,424,18605,0.00,2.20,0.00,0.000,6,0.000,0.033,2123,2302,1862
$GC,18918,0.68,261.0,683.4,6.2,430,18922,0.10,2.25,0.00,0.000,4,0.067,0.045,2198,895,1862
$GC,18945,0.63,261.0,681.0,8.2,430,18950,0.22,2.20,0.00,0.000,6,0.133,0.038,2134,2304,1861
$GC,19284,0.63,261.0,658.4,6.5,436,19288,0.00,2.25,0.00,0.000,4,0.000,0.051,2134,3708,1861
$GC,19339,0.63,261.0,654.0,7.7,436,19346,0.00,2.20,0.00,0.000,6,0.000,0.033,2142,2295,1861
$GC,19650,0.63,261.0,632.6,6.9,442,19651,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2295,1861
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$STATE,28831,begin surface coast
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$STATE,28856,end surface coast,CONTROL_FINISHED_OK
$STATE,28856,begin surface
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