version: 66.04
glider: 144
mission: 15
dive: 836
start: 3 19 110 9 13 19
data:
$ID,144
$MISSION,15
$DIVE,836
$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,-78696.992
$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,35
$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
$GPS1,090230,4851.127,-12934.209,36,2.0,41,19.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-65.2
$GPS2,091225,4851.133,-12934.338,13,1.5,13,19.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P8
$TGT_LATLONG,4849.000,-12840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.168,0.009
$KALMAN_X,-26224.2,31.9,-278.2,1132890.1,1592.6
$KALMAN_Y,75534.8,-136.9,234.3,-242035.3,-798.4
$MHEAD_RNG_PITCHd_Wd,67.4,66381,-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,12,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-39.80,0.000,2,0.000,0.000,101,2298,2585
$GC,64,-0.68,-117.3,3.9,-6.1,2,96,7.15,2.30,-19.67,0.000,4,0.232,0.055,1846,893,3411
$GC,214,-0.65,-117.3,20.9,-11.0,8,221,0.00,2.28,0.00,0.000,6,0.000,0.041,1837,2305,3413
$GC,533,-0.59,-117.3,56.9,-10.9,24,538,0.12,2.28,0.00,0.000,4,0.130,0.039,1873,895,3412
$GC,581,-0.63,-117.3,61.5,-8.9,26,585,0.00,2.25,0.00,0.000,6,0.000,0.035,1865,2308,3412
$GC,902,-0.63,-117.3,87.5,-7.8,45,906,0.00,2.28,0.00,0.000,4,0.000,0.040,1865,892,3412
$GC,921,-0.63,-117.3,88.9,-7.7,46,925,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2303,3412
$GC,1260,-0.66,-117.3,113.1,-7.4,77,1264,0.00,2.30,0.00,0.000,4,0.000,0.047,1853,3715,3413
$GC,1306,-0.71,-117.3,117.5,-8.7,80,1312,0.00,2.20,0.00,0.000,6,0.000,0.028,1853,2295,3412
$GC,1638,-0.75,-117.3,143.2,-8.1,111,1642,0.00,2.25,0.00,0.000,4,0.000,0.039,1853,901,3413
$GC,1740,-0.80,-117.3,152.1,-8.3,119,1745,0.10,2.28,0.00,0.000,6,0.064,0.037,1781,2310,3412
$GC,2072,-0.70,-117.3,189.4,-11.0,130,2077,0.20,2.35,0.00,0.000,4,0.120,0.045,1836,3713,3412
$GC,2102,-0.70,-117.3,192.3,-8.3,131,2106,0.00,2.25,0.00,0.000,6,0.000,0.034,1836,2302,3413
$GC,2440,-0.70,-117.3,215.0,-6.5,142,2443,0.00,2.25,0.00,0.000,4,0.000,0.040,1836,895,3413
$GC,2521,-0.73,-117.3,220.6,-7.0,144,2525,0.00,2.30,0.00,0.000,6,0.000,0.044,1829,2310,3413
$GC,2848,-0.73,-117.3,243.6,-7.4,155,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2310,3412
$GC,3153,-0.73,-117.3,265.7,-7.1,165,3157,0.00,2.28,0.00,0.000,4,0.000,0.040,1828,901,3412
$GC,3188,-0.73,-117.3,268.6,-8.0,166,3192,0.00,2.28,0.00,0.000,6,0.000,0.038,1822,2303,3413
$GC,3520,-0.73,-117.3,293.5,-7.6,177,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3412
$GC,3853,-0.73,-117.3,318.4,-7.5,184,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3412
$GC,4156,-0.73,-117.3,341.2,-7.5,189,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3412
$GC,4459,-0.73,-117.3,364.5,-7.7,194,4463,0.00,2.33,0.00,0.000,4,0.000,0.042,1821,903,3412
$GC,4500,-0.73,-117.3,367.9,-8.4,194,4505,0.12,2.30,0.00,0.000,6,0.115,0.038,1848,2311,3412
$GC,4822,-0.79,-117.3,387.4,-6.0,200,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2310,3412
$GC,5125,-0.85,-117.3,405.9,-6.1,205,5127,0.12,0.00,0.00,0.000,6,0.054,0.000,1766,2311,3412
$GC,5429,-0.75,-117.3,437.2,-10.5,210,5434,0.20,2.35,0.00,0.000,4,0.119,0.048,1832,899,3411
$GC,5470,-0.80,-117.3,440.7,-6.8,210,5474,0.00,2.30,0.00,0.000,6,0.000,0.037,1825,2307,3411
$GC,5792,-0.80,-117.3,462.5,-6.8,216,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2308,3411
$GC,6095,-0.82,-117.3,482.0,-6.4,221,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2307,3410
$GC,6400,-0.82,-117.3,500.3,-6.1,226,6404,0.00,2.33,0.00,0.000,4,0.000,0.049,1825,905,3410
$GC,6440,-0.84,-117.3,503.2,-6.6,226,6444,0.00,2.28,0.00,0.000,6,0.000,0.038,1821,2303,3410
$GC,6763,-0.84,-117.3,521.5,-5.6,232,6767,0.00,2.30,0.00,0.000,4,0.000,0.043,1821,902,3410
$GC,6798,-0.84,-117.3,523.7,-6.4,232,6802,0.00,2.30,0.00,0.000,6,0.000,0.041,1812,2304,3410
$GC,7127,-0.84,-117.3,543.4,-6.0,238,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2305,3409
$GC,7428,-0.84,-117.3,562.0,-6.2,243,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2305,3409
$GC,7732,-0.84,-117.3,580.5,-6.1,248,7736,0.00,2.35,0.00,0.000,4,0.000,0.044,1813,898,3408
$GC,7772,-0.84,-117.3,583.2,-6.6,248,7776,0.00,2.30,0.00,0.000,6,0.000,0.040,1808,2303,3408
$GC,8100,-0.84,-117.3,603.3,-6.1,254,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3409
$GC,8402,-0.84,-117.3,622.3,-6.2,259,8406,0.00,2.35,0.00,0.000,4,0.000,0.044,1808,893,3408
$GC,8437,-0.84,-117.3,624.8,-7.2,259,8441,0.00,2.33,0.00,0.000,6,0.000,0.044,1799,2308,3408
$GC,8764,-0.84,-117.3,647.2,-6.8,265,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2308,3407
$GC,9068,-0.84,-117.3,667.8,-6.8,270,9073,0.00,2.38,0.00,0.000,4,0.000,0.054,1791,3710,3408
$GC,9098,-0.82,-117.3,670.1,-8.3,270,9103,0.12,2.28,0.00,0.000,6,0.110,0.031,1827,2299,3407
$GC,9432,-0.86,-117.3,689.9,-5.9,276,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2299,3407
$GC,9735,-0.91,-117.3,707.7,-5.9,281,9740,0.10,2.33,0.00,0.000,4,0.069,0.046,1764,901,3407
$GC,9817,-0.84,-117.3,715.0,-9.7,282,9822,0.22,2.33,0.00,0.000,6,0.117,0.042,1820,2303,3407
$GC,10168,-0.87,-117.3,737.8,-6.3,288,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2303,3407
$GC,10471,-0.90,-117.3,756.2,-6.0,293,10475,0.00,2.38,0.00,0.000,4,0.000,0.050,1812,3709,3407
$GC,10501,-0.93,-117.3,758.2,-6.8,293,10505,0.00,2.25,0.00,0.000,6,0.000,0.031,1812,2304,3406
$GC,10835,-0.95,-117.3,778.9,-6.2,299,10839,0.00,2.35,0.00,0.000,4,0.000,0.044,1812,888,3406
$GC,10875,-0.95,-117.3,781.6,-7.1,299,10879,0.00,2.35,0.00,0.000,6,0.000,0.038,1809,2306,3406
$GC,11198,-0.95,-117.3,802.4,-6.4,305,11199,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2306,3406
$GC,11500,-0.95,-117.3,819.4,-5.6,310,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2306,3406
$GC,11804,-0.95,-117.3,835.3,-5.2,315,11808,0.00,2.40,0.00,0.000,4,0.000,0.050,1799,3714,3405
$GC,11833,-0.95,-117.3,837.1,-6.1,315,11837,0.00,2.28,0.00,0.000,6,0.000,0.031,1800,2304,3405
$GC,12173,-0.95,-117.3,856.9,-5.9,321,12177,0.00,2.33,0.00,0.000,4,0.000,0.048,1799,895,3405
$GC,12202,-0.95,-117.3,858.9,-6.5,321,12206,0.00,2.33,0.00,0.000,6,0.000,0.042,1794,2311,3405
$GC,12535,-0.95,-117.3,880.8,-6.7,327,12539,0.00,2.38,0.00,0.000,4,0.000,0.049,1785,3714,3405
$GC,12575,-0.95,-117.3,883.7,-6.3,327,12579,0.00,2.28,0.00,0.000,6,0.000,0.031,1785,2304,3405
$GC,12898,-0.92,-117.3,907.1,-7.3,333,12900,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2304,3405
$GC,13200,-0.90,-117.3,930.7,-7.9,338,13204,0.00,2.40,0.00,0.000,4,0.000,0.056,1781,3713,3405
$GC,13236,-0.87,-117.3,933.7,-8.8,338,13241,0.12,2.25,0.00,0.000,6,0.114,0.038,1816,2304,3404
$GC,13565,-0.90,-117.3,954.7,-6.3,344,13569,0.00,2.35,0.00,0.000,4,0.000,0.052,1816,890,3404
$GC,13600,-0.94,-117.3,956.9,-6.3,344,13604,0.00,2.33,0.00,0.000,6,0.000,0.041,1810,2302,3405
$GC,13928,-0.96,-117.3,978.0,-6.4,350,13929,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2302,3404
$STATE,14166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14166,begin apogee
$GC,14177,-0.22,0.0,992.2,5.9,354,14277,0.45,0.00,97.30,1.271,6,0.106,0.000,1954,2302,2931
$STATE,14277,end apogee,CONTROL_FINISHED_OK
$STATE,14277,begin climb
$GC,14282,0.68,117.3,993.6,0.0,355,14394,0.55,2.60,103.53,1.245,4,0.066,0.055,2149,3700,2450
$GC,14441,0.49,117.3,990.5,6.9,358,14446,0.22,2.38,0.00,0.000,6,0.151,0.039,2106,2308,2446
$GC,14782,0.50,139.7,974.1,4.7,364,14806,0.00,2.38,18.73,1.168,4,0.000,0.049,2116,886,2361
$GC,14831,0.52,162.0,971.6,4.7,364,14856,0.00,2.30,20.73,1.169,6,0.000,0.044,2115,2306,2270
$GC,15215,0.53,170.3,951.4,5.2,371,15229,0.00,2.35,8.02,1.015,4,0.000,0.051,2116,3707,2236
$GC,15283,0.49,170.3,947.0,6.3,372,15287,0.00,2.22,0.00,0.000,6,0.000,0.035,2126,2298,2234
$GC,15656,0.45,170.3,923.9,6.3,378,15660,0.12,2.33,0.00,0.000,4,0.151,0.053,2093,3717,2232
$GC,15691,0.45,170.3,921.7,6.1,378,15695,0.00,2.22,0.00,0.000,6,0.000,0.038,2101,2302,2232
$GC,16025,0.45,170.3,902.9,5.7,384,16026,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2302,2232
$GC,16328,0.47,170.3,886.1,5.5,389,16332,0.00,2.35,0.00,0.000,4,0.000,0.051,2101,3716,2230
$GC,16363,0.47,170.3,883.8,6.3,389,16367,0.00,2.25,0.00,0.000,6,0.000,0.040,2111,2301,2231
$GC,16691,0.47,170.3,865.6,5.6,395,16693,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2300,2230
$GC,16994,0.49,181.0,850.0,5.1,400,17008,0.00,2.35,9.93,1.033,4,0.000,0.049,2111,3716,2193
$GC,17055,0.45,181.0,846.0,7.9,400,17063,0.08,2.28,0.00,0.000,6,0.135,0.033,2097,2300,2191
$GC,17369,0.51,193.0,830.0,5.1,406,17382,0.00,0.00,11.90,1.047,6,0.000,0.000,2098,2300,2144
$GC,17671,0.57,206.7,814.7,5.0,411,17691,0.10,2.38,13.50,1.052,4,0.068,0.051,2154,3704,2087
$GC,17710,0.48,206.7,811.6,7.6,411,17714,0.22,2.22,0.00,0.000,6,0.137,0.032,2102,2303,2086
$GC,18039,0.53,206.7,792.8,5.6,417,18043,0.00,2.30,0.00,0.000,4,0.000,0.050,2111,886,2084
$GC,18068,0.59,206.7,791.0,5.9,417,18072,0.00,2.28,0.00,0.000,6,0.000,0.040,2111,2306,2084
$GC,18401,0.62,206.7,771.5,5.9,423,18406,0.08,2.33,0.00,0.000,4,0.084,0.048,2164,3711,2083
$GC,18449,0.49,206.7,767.5,9.5,423,18454,0.25,2.22,0.00,0.000,6,0.138,0.033,2108,2306,2083
$GC,18765,0.53,206.7,748.9,5.6,429,18766,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2306,2083
$GC,19068,0.56,206.7,732.2,5.5,434,19072,0.00,2.33,0.00,0.000,4,0.000,0.048,2117,890,2083
$GC,19099,0.61,206.7,730.5,6.3,434,19103,0.00,2.30,0.00,0.000,6,0.000,0.038,2117,2303,2083
$GC,19433,0.64,206.7,711.7,5.6,440,19437,0.00,2.33,0.00,0.000,4,0.000,0.054,2117,3707,2082
$GC,19490,0.64,206.7,708.0,6.6,440,19496,0.00,2.22,0.00,0.000,6,0.000,0.031,2126,2292,2082
$GC,19801,0.64,206.7,689.9,5.8,446,19803,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2292,2082
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$STATE,29881,end climb,SURFACE_DEPTH_REACHED
$STATE,29881,begin surface coast
$FINISH,1.8,1.025262
$STATE,29903,end surface coast,CONTROL_FINISHED_OK
$STATE,29903,begin surface
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$10V_AH,10.2,101.692
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