version: 66.04
glider: 144
mission: 15
dive: 28
start: 6 21 109 1 14 46
data:
$ID,144
$MISSION,15
$DIVE,28
$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,150
$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,-61438.949
$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,26
$R_STBD_OVSHOOT,27
$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
$GPS1,010506,4956.774,-14510.027,39,1.2,39,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-62.9
$GPS2,011350,4956.780,-14509.980,13,1.6,13,18.4
$SPEED_LIMITS,0.055,0.182
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.131,0.126
$KALMAN_X,-15377.5,-368.3,134.3,4752.0,-384.1
$KALMAN_Y,3567.4,85.3,-11.0,-9040.6,-746.9
$MHEAD_RNG_PITCHd_Wd,27.7,30145,-10.5,-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,-0.64,-146.6,0.0,0.0,0,59,0.00,0.00,-42.03,0.000,2,0.000,0.000,100,2294,2750
$GC,62,-0.64,-146.6,3.5,-5.2,4,96,7.03,2.33,-18.35,0.000,4,0.252,0.077,1859,889,3532
$GC,349,-0.57,-146.6,36.5,-9.8,29,356,0.10,2.25,0.00,0.000,6,0.149,0.049,1876,2305,3533
$GC,675,-0.57,-146.6,63.2,-8.2,60,679,0.00,2.28,0.00,0.000,4,0.000,0.054,1876,882,3534
$GC,719,-0.57,-146.6,67.2,-8.9,63,726,0.00,2.28,0.00,0.000,6,0.000,0.049,1876,2294,3534
$GC,1040,-0.57,-146.6,94.0,-8.5,86,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,2294,3534
$GC,1349,-0.57,-146.6,121.6,-8.3,101,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,2295,3534
$GC,1658,-0.57,-146.6,143.4,-6.5,116,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,2294,3534
$GC,1966,-0.64,-146.6,160.4,-5.1,128,1970,0.00,2.25,0.00,0.000,4,0.000,0.055,1876,886,3534
$GC,2001,-0.76,-146.6,162.3,-6.0,129,2005,0.12,2.25,0.00,0.000,6,0.067,0.056,1807,2310,3534
$GC,2341,-0.57,-146.6,196.2,-10.5,140,2345,0.20,2.25,0.00,0.000,4,0.137,0.062,1863,3717,3534
$GC,2380,-0.68,-146.6,199.7,-8.1,141,2384,0.00,2.20,0.00,0.000,6,0.000,0.042,1863,2299,3534
$GC,2709,-0.75,-146.6,222.7,-6.6,152,2714,0.10,2.22,0.00,0.000,4,0.080,0.054,1807,887,3534
$GC,2737,-0.64,-146.6,225.2,-9.6,152,2744,0.22,2.25,0.00,0.000,6,0.138,0.053,1864,2312,3534
$GC,3050,-0.72,-146.6,244.0,-5.8,163,3054,0.00,2.25,0.00,0.000,4,0.000,0.055,1864,891,3533
$GC,3084,-0.82,-146.6,246.0,-6.4,164,3089,0.15,2.22,0.00,0.000,6,0.064,0.051,1790,2307,3533
$GC,3425,-0.60,-146.6,278.3,-9.4,175,3430,0.22,2.25,0.00,0.000,4,0.139,0.067,1861,3710,3533
$GC,3470,-0.74,-146.6,281.1,-5.1,176,3474,0.00,2.17,0.00,0.000,6,0.000,0.047,1861,2300,3532
$GC,3794,-0.83,-146.6,299.2,-5.9,187,3798,0.12,2.22,0.00,0.000,4,0.074,0.054,1796,887,3532
$GC,3820,-0.71,-146.6,301.5,-9.5,187,3828,0.17,2.22,0.00,0.000,6,0.150,0.058,1842,2301,3532
$GC,4130,-0.71,-146.6,324.7,-7.4,193,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2301,3532
$GC,4433,-0.71,-146.6,346.5,-7.2,198,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2302,3532
$GC,4736,-0.71,-146.6,367.4,-6.8,203,4740,0.00,2.22,0.00,0.000,4,0.000,0.056,1842,895,3531
$GC,4768,-0.71,-146.6,369.5,-6.9,203,4772,0.00,2.22,0.00,0.000,6,0.000,0.053,1837,2306,3531
$GC,5100,-0.71,-146.6,391.3,-6.6,209,5104,0.00,2.22,0.00,0.000,4,0.000,0.057,1837,897,3530
$GC,5127,-0.71,-146.6,393.3,-7.6,209,5131,0.00,2.22,0.00,0.000,6,0.000,0.052,1836,2308,3531
$GC,5465,-0.71,-146.6,415.6,-6.6,215,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2308,3530
$GC,5768,-0.71,-146.6,435.5,-6.6,220,5772,0.00,2.25,0.00,0.000,4,0.000,0.057,1836,890,3530
$GC,5795,-0.71,-146.6,437.4,-7.5,220,5799,0.00,2.25,0.00,0.000,6,0.000,0.052,1836,2313,3530
$GC,6133,-0.71,-146.6,458.3,-6.1,226,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2313,3529
$GC,6436,-0.71,-146.6,475.7,-5.7,231,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2313,3529
$GC,6740,-0.71,-146.6,492.9,-5.7,236,6744,0.00,2.25,0.00,0.000,4,0.000,0.060,1836,896,3529
$GC,6780,-0.71,-146.6,495.5,-6.7,236,6784,0.00,2.22,0.00,0.000,6,0.000,0.054,1836,2307,3529
$GC,7100,-0.71,-146.6,515.1,-6.2,242,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2308,3529
$GC,7403,-0.71,-146.6,535.5,-6.8,247,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2308,3528
$GC,7706,-0.71,-146.6,556.8,-7.1,252,7710,0.00,2.25,0.00,0.000,4,0.000,0.058,1836,899,3528
$GC,7738,-0.71,-146.6,559.3,-7.9,252,7742,0.00,2.22,0.00,0.000,6,0.000,0.054,1836,2306,3528
$GC,8071,-0.71,-146.6,581.3,-6.5,258,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2306,3528
$GC,8373,-0.71,-146.6,599.3,-5.9,263,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2306,3528
$GC,8677,-0.71,-146.6,616.4,-5.6,268,8681,0.00,2.25,0.00,0.000,4,0.000,0.063,1836,894,3528
$GC,8726,-0.76,-146.6,619.4,-6.1,268,8730,0.00,2.22,0.00,0.000,6,0.000,0.058,1836,2304,3528
$GC,9042,-0.76,-146.6,637.1,-5.7,274,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2304,3528
$GC,9344,-0.76,-146.6,655.8,-6.2,279,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2304,3528
$GC,9647,-0.76,-146.6,675.4,-6.4,284,9651,0.00,2.25,0.00,0.000,4,0.000,0.063,1836,895,3527
$GC,9680,-0.81,-146.6,677.7,-6.8,284,9684,0.00,2.22,0.00,0.000,6,0.000,0.053,1836,2303,3527
$GC,10007,-0.81,-146.6,697.6,-6.0,290,10008,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2304,3527
$GC,10310,-0.81,-146.6,714.8,-5.6,295,10314,0.00,2.25,0.00,0.000,4,0.000,0.061,1836,896,3527
$GC,10343,-0.85,-146.6,716.9,-6.4,295,10347,0.00,2.22,0.00,0.000,6,0.000,0.055,1835,2305,3527
$GC,10675,-0.85,-146.6,735.7,-5.8,301,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2305,3527
$GC,10978,-0.85,-146.6,754.0,-6.1,306,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2305,3527
$GC,11281,-0.85,-146.6,772.7,-6.2,311,11285,0.00,2.25,0.00,0.000,4,0.000,0.061,1836,898,3527
$GC,11314,-0.91,-146.6,775.1,-6.7,311,11319,0.10,2.22,0.00,0.000,6,0.092,0.059,1790,2313,3526
$GC,11646,-0.77,-146.6,802.5,-8.4,317,11651,0.15,2.25,0.00,0.000,4,0.153,0.069,1822,3716,3527
$GC,11696,-0.82,-146.6,806.2,-6.5,317,11700,0.00,2.20,0.00,0.000,6,0.000,0.050,1822,2300,3527
$GC,12005,-0.82,-146.6,825.3,-6.1,322,12009,0.00,2.25,0.00,0.000,4,0.000,0.065,1822,887,3527
$GC,12037,-0.82,-146.6,827.4,-6.4,322,12041,0.00,2.25,0.00,0.000,6,0.000,0.060,1819,2305,3527
$GC,12369,-0.82,-146.6,848.1,-6.3,328,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2305,3526
$GC,12672,-0.82,-146.6,867.3,-6.4,333,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2305,3526
$GC,12976,-0.82,-146.6,887.6,-6.7,338,12980,0.00,2.28,0.00,0.000,4,0.000,0.067,1819,884,3526
$GC,13031,-0.82,-146.6,891.8,-7.4,338,13038,0.00,2.28,0.00,0.000,6,0.000,0.054,1810,2300,3526
$GC,13342,-0.76,-146.6,914.0,-7.2,344,13343,0.10,0.00,0.00,0.000,6,0.172,0.000,1834,2300,3526
$GC,13644,-0.81,-146.6,931.7,-5.8,349,13645,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2300,3526
$GC,13948,-0.87,-146.6,948.3,-5.5,354,13949,0.10,0.00,0.00,0.000,6,0.107,0.000,1801,2300,3526
$GC,14251,-0.80,-146.6,969.0,-7.0,359,14252,0.10,0.00,0.00,0.000,6,0.163,0.000,1826,2301,3526
$GC,14554,-0.80,-146.6,985.8,-5.5,364,14558,0.00,2.28,0.00,0.000,4,0.000,0.071,1827,889,3525
$GC,14592,-0.84,-146.6,988.2,-5.9,364,14596,0.00,2.28,0.00,0.000,6,0.000,0.058,1821,2317,3525
$STATE,14668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14668,begin apogee
$GC,14674,-0.22,0.0,992.5,5.6,366,14793,0.43,0.00,116.82,1.342,6,0.147,0.000,1951,2317,2931
$STATE,14794,end apogee,CONTROL_FINISHED_OK
$STATE,14794,begin climb
$GC,14797,0.64,146.6,995.5,0.0,368,14926,0.57,2.55,122.15,1.315,4,0.112,0.069,2145,896,2331
$GC,14944,0.44,146.6,989.5,6.6,370,14949,0.20,2.45,0.00,0.000,6,0.173,0.060,2095,2302,2328
$GC,15282,0.32,146.6,968.2,6.4,376,15286,0.10,2.38,0.00,0.000,4,0.179,0.068,2070,3713,2321
$GC,15331,0.25,146.6,964.9,6.3,376,15336,0.10,2.28,0.00,0.000,6,0.182,0.050,2056,2306,2320
$GC,15641,0.43,146.6,947.2,5.9,381,15646,0.12,2.35,0.00,0.000,4,0.103,0.071,2096,3714,2319
$GC,15730,0.22,146.6,940.8,6.7,382,15735,0.22,2.28,0.00,0.000,6,0.178,0.048,2046,2303,2318
$GC,16068,0.48,146.6,921.3,6.0,388,16073,0.20,2.35,0.00,0.000,4,0.101,0.071,2118,3724,2317
$GC,16162,0.17,146.6,913.9,8.5,389,16167,0.32,2.28,0.00,0.000,6,0.180,0.048,2040,2302,2317
$GC,16494,0.44,146.6,896.4,5.5,395,16499,0.20,2.30,0.00,0.000,4,0.099,0.063,2113,887,2317
$GC,16611,0.31,146.6,889.2,6.2,396,16616,0.17,2.28,0.00,0.000,6,0.156,0.054,2065,2309,2316
$GC,16926,0.44,158.7,873.2,5.2,402,16941,0.12,2.33,8.62,1.091,4,0.094,0.068,2110,3703,2283
$GC,17115,0.19,158.7,859.7,6.9,404,17120,0.30,2.25,0.00,0.000,6,0.180,0.048,2038,2297,2282
$GC,17425,0.53,196.2,846.4,4.5,409,17465,0.20,2.40,32.67,1.219,4,0.099,0.063,2121,897,2130
$GC,17569,0.43,196.2,838.1,5.9,411,17574,0.12,2.33,0.00,0.000,6,0.154,0.051,2090,2309,2126
$GC,17923,0.47,230.3,821.6,4.6,417,17957,0.00,2.40,29.27,1.189,4,0.000,0.070,2089,3713,1990
$GC,17997,0.47,230.3,817.7,6.0,418,18001,0.00,2.33,0.00,0.000,6,0.000,0.050,2097,2298,1989
$GC,18358,0.49,249.4,799.8,5.0,424,18377,0.00,0.00,16.73,1.132,6,0.000,0.000,2097,2298,1914
$GC,18661,0.50,253.6,783.7,5.4,429,18667,0.00,0.00,4.25,0.775,6,0.000,0.000,2097,2298,1897
$GC,18964,0.50,253.6,765.5,6.0,434,18968,0.00,2.35,0.00,0.000,4,0.000,0.064,2097,3720,1896
$GC,18985,0.50,253.6,764.0,5.9,434,18989,0.00,2.28,0.00,0.000,6,0.000,0.047,2105,2305,1895
$GC,19328,0.50,253.6,739.8,7.2,440,19333,0.00,2.33,0.00,0.000,4,0.000,0.067,2104,3721,1894
$GC,19350,0.45,253.6,737.9,7.4,440,19354,0.00,2.28,0.00,0.000,6,0.000,0.048,2115,2294,1894
$GC,19688,0.38,253.6,710.9,8.0,446,19693,0.12,2.33,0.00,0.000,4,0.168,0.067,2083,3715,1894
$GC,19715,0.38,253.6,708.8,6.8,446,19719,0.00,2.25,0.00,0.000,6,0.000,0.051,2091,2298,1894
$GC,20053,0.44,253.6,688.2,6.0,452,20054,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2298,1894
$GC,20356,0.50,253.6,670.8,5.6,457,20357,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2298,1893
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