OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links
version: 66.04
glider: 144
mission: 15
dive: 309
start: 9 22 109 0 2 20
data:
$ID,144
$MISSION,15
$DIVE,309
$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,-67249.516
$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,39
$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
$GPS1,235554,5007.071,-14428.478,41,1.4,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-65.0
$GPS2,000126,5007.081,-14428.526,12,1.5,12,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.007,-0.168
$KALMAN_X,-38283.9,84.6,-0.9,87893.1,-161.5
$KALMAN_Y,21374.5,-22.2,171.6,-47264.3,-423.1
$MHEAD_RNG_PITCHd_Wd,163.8,24254,-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,-117.3,0.0,0.0,0,56,0.00,0.00,-36.97,0.000,2,0.000,0.000,99,2289,2540
$GC,59,-0.68,-117.3,3.2,-4.6,4,96,7.20,2.35,-23.35,0.000,4,0.240,0.063,1841,3709,3412
$GC,254,-0.60,-117.3,27.2,-13.6,21,261,0.10,2.20,0.00,0.000,6,0.134,0.031,1867,2301,3414
$GC,580,-0.60,-117.3,58.8,-8.5,52,584,0.00,2.22,0.00,0.000,4,0.000,0.041,1867,888,3415
$GC,722,-0.63,-117.3,71.2,-9.0,64,727,0.00,2.22,0.00,0.000,6,0.000,0.036,1863,2302,3415
$GC,1041,-0.63,-117.3,96.6,-7.9,84,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2302,3416
$GC,1351,-0.63,-117.3,120.8,-7.8,99,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2302,3416
$GC,1660,-0.63,-117.3,144.1,-7.0,114,1663,0.00,2.25,0.00,0.000,4,0.000,0.044,1863,889,3416
$GC,1693,-0.66,-117.3,146.4,-6.5,115,1697,0.00,2.25,0.00,0.000,6,0.000,0.042,1862,2306,3416
$GC,2007,-0.71,-117.3,165.5,-6.4,126,2011,0.00,2.25,0.00,0.000,4,0.000,0.052,1856,3708,3416
$GC,2051,-0.76,-117.3,168.9,-7.2,127,2055,0.08,2.17,0.00,0.000,6,0.077,0.031,1795,2297,3415
$GC,2369,-0.68,-117.3,202.7,-10.6,138,2371,0.20,0.00,0.00,0.000,6,0.123,0.000,1854,2297,3415
$GC,2675,-0.73,-117.3,224.8,-7.1,148,2679,0.00,2.20,0.00,0.000,4,0.000,0.048,1854,902,3415
$GC,2720,-0.79,-117.3,228.1,-7.2,149,2724,0.00,2.22,0.00,0.000,6,0.000,0.044,1850,2311,3415
$GC,3044,-0.83,-117.3,249.4,-6.1,160,3048,0.10,2.25,0.00,0.000,4,0.066,0.054,1769,3708,3414
$GC,3073,-0.75,-117.3,251.7,-9.2,161,3078,0.22,2.17,0.00,0.000,6,0.123,0.038,1836,2305,3414
$GC,3407,-0.75,-117.3,272.8,-6.0,172,3411,0.00,2.25,0.00,0.000,4,0.000,0.049,1836,893,3413
$GC,3457,-0.77,-117.3,276.0,-6.5,173,3461,0.00,2.25,0.00,0.000,6,0.000,0.041,1836,2305,3414
$GC,3769,-0.77,-117.3,295.8,-6.4,183,3773,0.00,2.22,0.00,0.000,4,0.000,0.047,1836,900,3413
$GC,3796,-0.77,-117.3,297.8,-7.7,183,3803,0.00,2.25,0.00,0.000,6,0.000,0.039,1830,2301,3413
$GC,4137,-0.77,-117.3,321.7,-7.2,190,4140,0.00,2.22,0.00,0.000,4,0.000,0.050,1830,897,3412
$GC,4186,-0.77,-117.3,325.5,-8.1,190,4190,0.00,2.22,0.00,0.000,6,0.000,0.039,1823,2302,3412
$GC,4508,-0.77,-117.3,349.5,-7.6,196,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2302,3412
$GC,4810,-0.77,-117.3,372.7,-7.6,201,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2302,3411
$GC,5114,-0.77,-117.3,396.5,-7.9,206,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2302,3412
$GC,5417,-0.77,-117.3,419.4,-7.5,211,5421,0.00,2.28,0.00,0.000,4,0.000,0.044,1823,893,3411
$GC,5445,-0.77,-117.3,421.6,-8.1,211,5449,0.00,2.28,0.00,0.000,6,0.000,0.043,1820,2309,3410
$GC,5778,-0.77,-117.3,445.5,-7.2,217,5782,0.00,2.25,0.00,0.000,4,0.000,0.057,1809,3709,3410
$GC,5822,-0.77,-117.3,449.1,-8.2,217,5827,0.10,2.20,0.00,0.000,6,0.124,0.032,1836,2303,3410
$GC,6138,-0.81,-117.3,469.5,-6.5,223,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2302,3410
$GC,6442,-0.85,-117.3,489.9,-6.7,228,6446,0.00,2.25,0.00,0.000,4,0.000,0.046,1836,898,3409
$GC,6486,-0.90,-117.3,493.2,-7.1,228,6491,0.12,2.25,0.00,0.000,6,0.061,0.044,1765,2306,3409
$GC,6803,-0.79,-117.3,525.5,-10.4,234,6808,0.17,2.25,0.00,0.000,4,0.135,0.046,1822,896,3409
$GC,6843,-0.79,-117.3,529.2,-7.9,234,6847,0.00,2.25,0.00,0.000,6,0.000,0.043,1821,2306,3409
$GC,7164,-0.79,-117.3,551.9,-7.1,240,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3409
$GC,7466,-0.79,-117.3,572.3,-6.7,245,7470,0.00,2.28,0.00,0.000,4,0.000,0.044,1821,892,3408
$GC,7499,-0.79,-117.3,574.7,-7.0,245,7503,0.00,2.28,0.00,0.000,6,0.000,0.042,1812,2312,3408
$GC,7832,-0.79,-117.3,597.7,-7.0,251,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2312,3408
$GC,8134,-0.79,-117.3,619.2,-7.2,256,8138,0.00,2.30,0.00,0.000,4,0.000,0.048,1812,892,3408
$GC,8190,-0.79,-117.3,623.6,-8.2,256,8197,0.00,2.30,0.00,0.000,6,0.000,0.044,1808,2295,3408
$GC,8499,-0.79,-117.3,646.6,-7.5,262,8503,0.00,2.30,0.00,0.000,4,0.000,0.051,1799,3712,3407
$GC,8527,-0.79,-117.3,648.9,-9.3,262,8532,0.12,2.22,0.00,0.000,6,0.121,0.037,1835,2297,3407
$GC,8859,-0.84,-117.3,670.3,-6.4,268,8863,0.00,2.25,0.00,0.000,4,0.000,0.050,1835,895,3407
$GC,8886,-0.89,-117.3,672.1,-7.3,268,8891,0.12,2.28,0.00,0.000,6,0.061,0.043,1765,2308,3407
$GC,9218,-0.80,-117.3,704.5,-10.0,274,9223,0.20,2.28,0.00,0.000,4,0.129,0.057,1821,3709,3407
$GC,9262,-0.85,-117.3,708.0,-7.0,274,9266,0.00,2.20,0.00,0.000,6,0.000,0.034,1821,2301,3406
$GC,9577,-0.88,-117.3,729.1,-6.7,280,9581,0.00,2.25,0.00,0.000,4,0.000,0.052,1821,894,3406
$GC,9616,-0.90,-117.3,731.9,-7.1,280,9620,0.00,2.25,0.00,0.000,6,0.000,0.046,1820,2305,3406
$GC,9937,-0.93,-117.3,751.9,-6.2,286,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2305,3406
$GC,10240,-0.95,-117.3,769.2,-5.6,291,10242,0.10,0.00,0.00,0.000,6,0.072,0.000,1763,2305,3406
$GC,10543,-0.86,-117.3,793.9,-8.3,296,10547,0.17,2.28,0.00,0.000,4,0.130,0.048,1820,899,3406
$GC,10576,-0.88,-117.3,796.2,-6.6,296,10580,0.00,2.25,0.00,0.000,6,0.000,0.045,1820,2300,3406
$GC,10903,-0.91,-117.3,813.2,-5.2,302,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2301,3406
$GC,11206,-0.94,-117.3,828.9,-5.2,307,11211,0.10,2.30,0.00,0.000,4,0.075,0.051,1769,890,3406
$GC,11245,-0.86,-117.3,831.8,-8.5,307,11250,0.17,2.30,0.00,0.000,6,0.133,0.048,1815,2312,3406
$GC,11566,-0.89,-117.3,849.7,-5.5,313,11567,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2312,3406
$GC,11869,-0.91,-117.3,866.1,-5.4,318,11873,0.00,2.30,0.00,0.000,4,0.000,0.048,1815,892,3405
$GC,11897,-0.93,-117.3,867.7,-6.3,318,11901,0.00,2.28,0.00,0.000,6,0.000,0.040,1810,2305,3406
$GC,12229,-0.93,-117.3,886.6,-5.7,324,12230,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2305,3405
$GC,12532,-0.93,-117.3,904.6,-5.9,329,12536,0.00,2.30,0.00,0.000,4,0.000,0.048,1810,893,3405
$GC,12570,-0.93,-117.3,907.2,-6.3,329,12574,0.00,2.30,0.00,0.000,6,0.000,0.041,1808,2308,3405
$GC,12897,-0.93,-117.3,926.9,-6.1,335,12898,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3404
$GC,13200,-0.93,-117.3,946.3,-6.4,340,13204,0.00,2.30,0.00,0.000,4,0.000,0.054,1808,900,3404
$GC,13238,-0.93,-117.3,949.0,-7.3,340,13242,0.00,2.28,0.00,0.000,6,0.000,0.042,1805,2303,3405
$GC,13565,-0.93,-117.3,969.5,-6.3,346,13569,0.00,2.28,0.00,0.000,4,0.000,0.053,1805,901,3404
$GC,13592,-0.93,-117.3,971.5,-7.1,346,13596,0.00,2.25,0.00,0.000,6,0.000,0.043,1795,2302,3404
$STATE,13921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13921,begin apogee
$GC,13927,-0.22,0.0,993.5,6.7,352,14026,0.50,0.00,95.93,1.309,6,0.121,0.000,1953,2302,2931
$STATE,14026,end apogee,CONTROL_FINISHED_OK
$STATE,14026,begin climb
$GC,14029,0.68,117.3,995.1,0.0,353,14137,0.55,2.53,101.47,1.279,4,0.074,0.058,2147,3708,2452
$GC,14171,0.49,117.3,991.9,6.9,355,14176,0.22,2.40,0.00,0.000,6,0.168,0.036,2104,2306,2448
$GC,14514,0.47,132.5,974.6,5.0,361,14529,0.00,0.00,13.20,1.150,6,0.000,0.000,2104,2306,2390
$GC,14818,0.45,143.1,959.0,5.1,366,14833,0.00,2.35,10.48,1.109,4,0.000,0.054,2104,3716,2346
$GC,14856,0.40,143.1,956.6,5.9,366,14861,0.12,2.30,0.00,0.000,6,0.158,0.036,2083,2292,2344
$GC,15176,0.44,179.4,942.7,4.3,372,15210,0.00,0.00,32.42,1.231,6,0.000,0.000,2083,2291,2199
$GC,15480,0.57,188.6,927.6,5.2,377,15495,0.15,2.38,8.55,1.054,4,0.071,0.055,2143,3702,2161
$GC,15641,0.45,188.6,914.3,9.3,379,15646,0.22,2.25,0.00,0.000,6,0.155,0.035,2095,2297,2159
$GC,15979,0.51,207.8,897.6,4.9,385,16003,0.00,2.33,18.23,1.170,4,0.000,0.050,2104,903,2082
$GC,16022,0.58,222.0,895.2,5.0,385,16044,0.08,2.28,13.82,1.120,6,0.093,0.041,2142,2308,2026
$GC,16347,0.51,222.0,870.1,8.0,391,16352,0.12,2.30,0.00,0.000,4,0.148,0.050,2110,3720,2020
$GC,16396,0.51,222.0,866.2,7.2,391,16400,0.00,2.25,0.00,0.000,6,0.000,0.035,2118,2303,2020
$GC,16706,0.51,222.0,846.2,6.5,396,16710,0.00,2.30,0.00,0.000,4,0.000,0.050,2129,885,2019
$GC,16732,0.51,222.0,844.4,6.5,396,16736,0.00,2.28,0.00,0.000,6,0.000,0.043,2129,2303,2018
$GC,17071,0.51,222.0,820.5,7.1,402,17072,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2303,2018
$GC,17374,0.48,222.0,798.1,7.5,407,17376,0.10,0.00,0.00,0.000,6,0.148,0.000,2104,2303,2018
$GC,17677,0.53,222.0,780.8,5.6,412,17678,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2303,2017
$GC,17980,0.57,222.0,763.8,5.6,417,17984,0.00,2.28,0.00,0.000,4,0.000,0.056,2103,3720,2017
$GC,18003,0.60,222.0,762.4,5.8,417,18007,0.00,2.22,0.00,0.000,6,0.000,0.034,2111,2298,2017
$GC,18341,0.63,222.6,743.5,5.5,423,18346,0.08,2.25,0.00,0.000,4,0.081,0.049,2169,897,2017
$GC,18364,0.60,222.6,742.0,6.2,423,18369,0.15,2.25,0.00,0.000,6,0.139,0.039,2130,2312,2017
$GC,18702,0.60,222.6,721.7,5.8,429,18706,0.00,2.25,0.00,0.000,4,0.000,0.051,2130,3715,2016
$GC,18731,0.57,222.6,719.9,7.1,429,18735,0.00,2.20,0.00,0.000,6,0.000,0.033,2138,2301,2016
$GC,19063,0.53,222.6,699.3,6.2,435,19068,0.10,2.22,0.00,0.000,4,0.154,0.047,2121,897,2016
$GC,19090,0.53,222.6,697.6,6.0,435,19094,0.00,2.22,0.00,0.000,6,0.000,0.044,2121,2305,2015
$GC,19422,0.53,228.8,680.2,5.3,441,19430,0.00,0.00,5.75,0.842,6,0.000,0.000,2121,2305,1998
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$STATE,29941,begin surface coast
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$10V_AH,10.6,38.565
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