version: 66.04
glider: 144
mission: 15
dive: 170
start: 8 7 109 9 11 56
data:
$ID,144
$MISSION,15
$DIVE,170
$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,-64284.656
$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,32
$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
$GPS1,090512,5013.144,-14438.826,59,1.3,70,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-60.2
$GPS2,091102,5013.167,-14438.780,10,2.0,10,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.144,0.087
$KALMAN_X,-84080.2,194.2,140.1,110020.1,-1861.4
$KALMAN_Y,70349.7,-272.2,-63.4,-45061.5,1387.1
$MHEAD_RNG_PITCHd_Wd,40.3,17963,-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,-42.15,0.000,2,0.000,0.000,99,2313,2822
$GC,64,-0.68,-117.3,3.8,-6.4,4,88,6.97,2.33,-11.95,0.000,4,0.236,0.069,1841,3716,3414
$GC,340,-0.54,-117.3,45.2,-12.3,28,348,0.15,2.20,0.00,0.000,6,0.126,0.031,1884,2293,3417
$GC,667,-0.54,-117.3,71.9,-8.3,59,671,0.00,2.20,0.00,0.000,4,0.000,0.044,1884,894,3418
$GC,723,-0.63,-117.3,76.8,-8.8,63,729,0.00,2.20,0.00,0.000,6,0.000,0.037,1877,2308,3419
$GC,1040,-0.63,-117.3,103.6,-7.9,81,1044,0.00,2.22,0.00,0.000,4,0.000,0.042,1877,893,3419
$GC,1079,-0.67,-117.3,106.7,-7.5,82,1086,0.08,2.20,0.00,0.000,6,0.085,0.041,1820,2301,3419
$GC,1395,-0.51,-117.3,137.7,-9.6,98,1397,0.22,0.00,0.00,0.000,6,0.125,0.000,1888,2302,3418
$GC,1714,-0.66,-117.3,155.7,-5.3,112,1718,0.12,2.22,0.00,0.000,4,0.056,0.042,1804,893,3419
$GC,1825,-0.51,-117.3,166.9,-10.4,115,1830,0.30,2.22,0.00,0.000,6,0.121,0.039,1887,2311,3418
$GC,2144,-0.69,-117.3,185.3,-5.4,126,2145,0.12,0.00,0.00,0.000,6,0.058,0.000,1806,2311,3418
$GC,2450,-0.55,-117.3,214.4,-9.8,136,2454,0.22,2.25,0.00,0.000,4,0.122,0.048,1881,891,3418
$GC,2494,-0.74,-117.3,217.6,-6.0,137,2498,0.12,2.22,0.00,0.000,6,0.059,0.040,1799,2314,3418
$GC,2817,-0.57,-117.3,247.7,-9.3,148,2819,0.25,0.00,0.00,0.000,6,0.125,0.000,1875,2314,3417
$GC,3124,-0.71,-117.3,263.9,-5.2,158,3128,0.12,2.22,0.00,0.000,4,0.058,0.044,1794,896,3416
$GC,3173,-0.54,-117.3,268.4,-9.7,159,3178,0.32,2.22,0.00,0.000,6,0.120,0.043,1886,2316,3416
$GC,3492,-0.73,-117.3,285.4,-5.3,170,3496,0.15,2.22,0.00,0.000,4,0.053,0.047,1794,897,3416
$GC,3519,-0.64,-117.3,287.8,-9.5,170,3526,0.25,2.20,0.00,0.000,6,0.123,0.044,1859,2305,3416
$GC,3830,-0.73,-117.3,309.1,-6.7,179,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2305,3415
$GC,4133,-0.83,-117.3,328.6,-6.4,184,4138,0.12,2.25,0.00,0.000,4,0.060,0.048,1789,890,3415
$GC,4206,-0.65,-117.3,335.6,-9.9,185,4211,0.25,2.22,0.00,0.000,6,0.125,0.040,1857,2300,3415
$GC,4560,-0.74,-117.3,356.4,-5.7,191,4564,0.00,2.22,0.00,0.000,4,0.000,0.048,1857,895,3413
$GC,4610,-0.86,-117.3,359.5,-6.3,191,4615,0.12,2.22,0.00,0.000,6,0.058,0.046,1778,2317,3414
$GC,4925,-0.65,-117.3,390.1,-9.9,197,4927,0.28,0.00,0.00,0.000,6,0.132,0.000,1861,2317,3413
$GC,5228,-0.77,-117.3,406.9,-5.4,202,5233,0.10,2.25,0.00,0.000,4,0.067,0.051,1801,898,3412
$GC,5255,-0.70,-117.3,409.1,-8.4,202,5260,0.20,2.20,0.00,0.000,6,0.125,0.044,1853,2301,3412
$GC,5588,-0.79,-117.3,427.3,-5.2,208,5590,0.10,0.00,0.00,0.000,6,0.073,0.000,1793,2301,3413
$GC,5891,-0.64,-117.3,453.1,-8.8,213,5893,0.22,0.00,0.00,0.000,6,0.125,0.000,1861,2301,3412
$GC,6194,-0.78,-117.3,468.9,-5.0,218,6196,0.12,0.00,0.00,0.000,6,0.058,0.000,1787,2301,3412
$GC,6497,-0.61,-117.3,494.9,-8.8,223,6501,0.22,2.22,0.00,0.000,4,0.125,0.054,1861,898,3411
$GC,6552,-0.76,-117.3,498.5,-5.9,223,6559,0.08,2.25,0.00,0.000,6,0.053,0.044,1794,2305,3410
$GC,6862,-0.64,-117.3,522.7,-8.0,229,6866,0.20,2.25,0.00,0.000,4,0.128,0.051,1853,3716,3411
$GC,6895,-0.76,-117.3,525.0,-5.9,229,6898,0.00,2.17,0.00,0.000,6,0.000,0.033,1852,2302,3411
$GC,7222,-0.89,-117.3,539.9,-4.6,235,7226,0.15,2.22,0.00,0.000,4,0.059,0.047,1769,891,3410
$GC,7254,-0.69,-117.3,542.6,-9.4,235,7259,0.30,2.22,0.00,0.000,6,0.129,0.042,1851,2311,3410
$GC,7587,-0.79,-117.3,560.8,-5.4,241,7592,0.10,2.25,0.00,0.000,4,0.075,0.046,1793,894,3410
$GC,7631,-0.66,-117.3,564.5,-9.5,241,7636,0.25,2.22,0.00,0.000,6,0.120,0.041,1859,2313,3410
$GC,7948,-0.81,-117.3,583.3,-5.9,247,7952,0.12,2.25,0.00,0.000,4,0.060,0.048,1785,891,3410
$GC,7986,-0.64,-117.3,587.0,-9.9,247,7991,0.28,2.20,0.00,0.000,6,0.123,0.048,1866,2299,3410
$GC,8312,-0.82,-117.3,605.7,-5.6,253,8314,0.15,0.00,0.00,0.000,6,0.058,0.000,1782,2300,3410
$GC,8615,-0.65,-117.3,633.5,-9.3,258,8617,0.25,0.00,0.00,0.000,6,0.123,0.000,1858,2301,3410
$GC,8919,-0.81,-117.3,648.1,-4.6,263,8924,0.12,2.25,0.00,0.000,4,0.061,0.045,1783,890,3409
$GC,8963,-0.65,-117.3,651.5,-8.4,263,8968,0.28,2.22,0.00,0.000,6,0.124,0.044,1858,2305,3409
$GC,9278,-0.81,-117.3,664.8,-4.1,269,9280,0.12,0.00,0.00,0.000,6,0.062,0.000,1785,2306,3409
$GC,9581,-0.66,-117.3,688.6,-8.0,274,9583,0.22,0.00,0.00,0.000,6,0.127,0.000,1852,2306,3408
$GC,9884,-0.80,-117.3,705.0,-5.4,279,9889,0.10,2.25,0.00,0.000,4,0.074,0.048,1794,893,3408
$GC,9934,-0.69,-117.3,709.2,-8.8,279,9939,0.22,2.22,0.00,0.000,6,0.123,0.041,1852,2305,3408
$GC,10244,-0.83,-117.3,726.6,-5.5,284,10246,0.12,0.00,0.00,0.000,6,0.070,0.000,1790,2305,3408
$GC,10547,-0.71,-117.3,750.7,-8.1,289,10552,0.20,2.25,0.00,0.000,4,0.125,0.047,1856,897,3408
$GC,10596,-0.89,-117.3,753.9,-5.7,289,10601,0.15,2.22,0.00,0.000,6,0.063,0.044,1779,2310,3408
$GC,10907,-0.73,-117.3,778.7,-8.1,294,10908,0.22,0.00,0.00,0.000,6,0.129,0.000,1846,2310,3408
$GC,11210,-0.86,-117.3,793.7,-4.8,299,11212,0.12,0.00,0.00,0.000,6,0.071,0.000,1786,2310,3408
$GC,11512,-0.74,-117.3,817.1,-7.9,304,11517,0.17,2.28,0.00,0.000,4,0.128,0.051,1844,891,3408
$GC,11568,-0.86,-117.3,820.7,-5.6,304,11575,0.10,2.22,0.00,0.000,6,0.077,0.041,1788,2302,3408
$GC,11878,-0.74,-117.3,845.4,-8.1,310,11880,0.17,0.00,0.00,0.000,6,0.132,0.000,1839,2302,3408
$GC,12181,-0.85,-117.3,863.4,-5.9,315,12182,0.10,0.00,0.00,0.000,6,0.084,0.000,1795,2302,3407
$GC,12484,-0.77,-117.3,888.1,-8.2,320,12488,0.15,2.25,0.00,0.000,4,0.132,0.050,1838,900,3407
$GC,12522,-0.88,-117.3,891.0,-6.9,320,12527,0.10,2.22,0.00,0.000,6,0.081,0.048,1793,2304,3407
$GC,12843,-0.79,-117.3,917.1,-8.2,326,12847,0.12,2.25,0.00,0.000,4,0.141,0.053,1827,897,3407
$GC,12887,-0.85,-117.3,920.6,-7.0,326,12891,0.00,2.22,0.00,0.000,6,0.000,0.048,1821,2302,3407
$GC,13202,-0.85,-117.3,942.1,-6.8,332,13206,0.00,2.25,0.00,0.000,4,0.000,0.051,1820,894,3406
$GC,13240,-0.85,-117.3,944.9,-6.7,332,13244,0.00,2.22,0.00,0.000,6,0.000,0.046,1812,2304,3407
$GC,13567,-0.85,-117.3,966.6,-6.6,338,13568,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2304,3407
$GC,13870,-0.85,-117.3,985.3,-6.1,343,13874,0.00,2.28,0.00,0.000,4,0.000,0.058,1813,894,3407
$GC,13913,-0.85,-117.3,988.2,-6.4,343,13917,0.00,2.25,0.00,0.000,6,0.000,0.044,1807,2310,3406
$STATE,13989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13990,begin apogee
$GC,13995,-0.22,0.0,993.2,6.5,345,14092,0.47,0.00,93.68,1.330,6,0.127,0.000,1956,2310,2931
$STATE,14092,end apogee,CONTROL_FINISHED_OK
$STATE,14092,begin climb
$GC,14095,0.68,117.3,994.5,0.0,346,14201,0.57,2.53,99.28,1.301,4,0.077,0.058,2150,3710,2450
$GC,14218,0.35,117.3,991.4,6.4,348,14224,0.35,2.38,0.00,0.000,6,0.184,0.041,2078,2310,2448
$GC,14534,0.37,134.3,975.6,4.9,354,14550,0.00,0.00,14.25,1.187,6,0.000,0.000,2078,2311,2383
$GC,14837,0.38,142.0,960.0,5.2,359,14851,0.00,2.38,7.55,1.053,4,0.000,0.054,2078,3716,2352
$GC,14879,0.38,142.0,957.1,6.6,359,14884,0.00,2.30,0.00,0.000,6,0.000,0.039,2086,2292,2350
$GC,15200,0.38,142.0,938.6,5.7,365,15204,0.00,2.33,0.00,0.000,4,0.000,0.053,2086,3712,2349
$GC,15228,0.31,142.0,936.7,7.5,365,15233,0.12,2.25,0.00,0.000,6,0.166,0.041,2066,2295,2348
$GC,15561,0.40,147.5,919.1,5.3,371,15569,0.08,0.00,5.88,0.967,6,0.090,0.000,2102,2294,2329
$GC,15863,0.35,147.5,899.2,6.7,376,15865,0.12,0.00,0.00,0.000,6,0.149,0.000,2070,2294,2327
$GC,16166,0.50,158.9,883.5,5.1,381,16183,0.12,2.33,11.18,1.129,4,0.076,0.057,2122,3716,2282
$GC,16240,0.26,158.9,878.2,7.9,382,16245,0.28,2.25,0.00,0.000,6,0.165,0.040,2058,2298,2280
$GC,16594,0.59,187.1,862.3,4.5,388,16625,0.17,2.33,24.85,1.204,4,0.071,0.054,2144,889,2167
$GC,16743,0.45,187.1,852.7,5.9,390,16747,0.17,2.30,0.00,0.000,6,0.146,0.045,2098,2312,2163
$GC,17085,0.47,202.1,835.5,5.0,396,17105,0.00,2.33,13.82,1.131,4,0.000,0.058,2098,3709,2105
$GC,17122,0.47,202.1,833.3,6.3,396,17126,0.00,2.25,0.00,0.000,6,0.000,0.036,2105,2298,2104
$GC,17449,0.47,202.1,813.8,6.1,402,17453,0.00,2.30,0.00,0.000,4,0.000,0.053,2115,885,2102
$GC,17482,0.47,202.1,811.7,7.0,402,17486,0.00,2.28,0.00,0.000,6,0.000,0.041,2115,2305,2101
$GC,17809,0.41,202.1,788.7,7.2,408,17813,0.12,2.28,0.00,0.000,4,0.149,0.054,2082,3716,2101
$GC,17853,0.46,202.1,785.7,6.6,408,17857,0.00,2.22,0.00,0.000,6,0.000,0.038,2090,2300,2100
$GC,18169,0.52,202.6,768.3,5.5,414,18170,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2299,2100
$GC,18471,0.58,202.6,751.5,5.7,419,18476,0.12,2.28,0.00,0.000,4,0.064,0.052,2152,3711,2100
$GC,18493,0.46,202.6,749.8,7.8,419,18498,0.22,2.22,0.00,0.000,6,0.160,0.035,2102,2294,2099
$GC,18830,0.46,202.6,728.4,6.2,425,18831,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2293,2099
$GC,19134,0.46,202.6,709.7,6.2,430,19138,0.00,2.28,0.00,0.000,4,0.000,0.051,2101,3710,2099
$GC,19161,0.46,202.6,707.5,7.4,430,19164,0.00,2.20,0.00,0.000,6,0.000,0.035,2109,2303,2099
$GC,19499,0.46,202.6,684.9,6.7,436,19503,0.00,2.25,0.00,0.000,4,0.000,0.054,2119,891,2098
$GC,19525,0.46,202.6,683.0,6.4,436,19529,0.00,2.22,0.00,0.000,6,0.000,0.047,2119,2305,2098
$GC,19864,0.40,202.6,659.1,7.1,442,19868,0.12,2.25,0.00,0.000,4,0.144,0.051,2086,3715,2098
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$STATE,30347,end climb,SURFACE_DEPTH_REACHED
$STATE,30347,begin surface coast
$FINISH,0.9,1.009333
$STATE,30508,end surface coast,CONTROL_FINISHED_OK
$STATE,30508,begin surface
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