version: 66.04
glider: 144
mission: 15
dive: 29
start: 6 21 109 9 38 9
data:
$ID,144
$MISSION,15
$DIVE,29
$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,-61470.473
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,092706,4959.254,-14507.600,45,1.3,51,18.4
$_CALLS,1
$_XMS_NAKs,65
$_XMS_TOUTs,1
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-62.2
$GPS2,093715,4959.241,-14507.564,9,3.5,28,18.4
$SPEED_LIMITS,0.055,0.182
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.144,0.112
$KALMAN_X,-17118.7,-1.5,-455.8,9593.1,-949.3
$KALMAN_Y,3448.6,50.1,196.6,-4544.1,-759.1
$MHEAD_RNG_PITCHd_Wd,33.7,25030,-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,-41.58,0.000,2,0.000,0.000,100,2303,2686
$GC,62,-0.64,-146.6,3.4,-4.7,4,97,7.10,2.33,-20.65,0.000,4,0.253,0.074,1851,3709,3531
$GC,281,-0.53,-146.6,30.1,-10.9,23,288,0.12,2.22,0.00,0.000,6,0.133,0.041,1885,2294,3532
$GC,608,-0.53,-146.6,56.0,-7.8,54,611,0.00,2.25,0.00,0.000,4,0.000,0.054,1885,893,3532
$GC,669,-0.59,-146.6,61.3,-8.7,59,675,0.00,2.25,0.00,0.000,6,0.000,0.048,1878,2309,3532
$GC,1001,-0.59,-146.6,88.4,-8.1,86,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,2309,3533
$GC,1311,-0.59,-146.6,111.6,-7.5,101,1315,0.00,2.28,0.00,0.000,4,0.000,0.053,1878,890,3533
$GC,1338,-0.59,-146.6,113.8,-8.0,102,1342,0.00,2.25,0.00,0.000,6,0.000,0.050,1877,2303,3534
$GC,1660,-0.64,-146.6,137.1,-7.3,118,1664,0.00,2.25,0.00,0.000,4,0.000,0.058,1876,896,3534
$GC,1693,-0.71,-146.6,139.8,-7.7,119,1700,0.12,2.25,0.00,0.000,6,0.067,0.049,1808,2313,3534
$GC,2017,-0.52,-146.6,172.5,-9.8,132,2021,0.22,2.22,0.00,0.000,4,0.137,0.061,1873,3710,3534
$GC,2055,-0.67,-146.6,175.5,-5.8,133,2059,0.00,2.20,0.00,0.000,6,0.000,0.041,1873,2293,3533
$GC,2379,-0.78,-146.6,192.6,-5.0,144,2384,0.15,2.22,0.00,0.000,4,0.064,0.054,1798,889,3533
$GC,2451,-0.59,-146.6,199.0,-9.0,146,2456,0.28,2.25,0.00,0.000,6,0.140,0.053,1876,2306,3533
$GC,2776,-0.70,-146.6,215.9,-5.2,157,2780,0.12,2.25,0.00,0.000,4,0.069,0.067,1807,3711,3533
$GC,2804,-0.63,-146.6,218.0,-8.1,158,2809,0.20,2.20,0.00,0.000,6,0.128,0.042,1868,2294,3533
$GC,3140,-0.72,-146.6,237.8,-5.5,169,3144,0.10,2.22,0.00,0.000,4,0.077,0.055,1813,890,3532
$GC,3168,-0.66,-146.6,239.8,-7.7,170,3173,0.17,2.25,0.00,0.000,6,0.140,0.056,1858,2312,3532
$GC,3504,-0.72,-146.6,259.2,-5.6,181,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2312,3532
$GC,3810,-0.77,-146.6,276.8,-5.9,191,3815,0.10,2.28,0.00,0.000,4,0.077,0.057,1807,886,3531
$GC,3842,-0.64,-146.6,279.6,-9.2,192,3847,0.20,2.25,0.00,0.000,6,0.140,0.058,1860,2308,3531
$GC,4172,-0.71,-146.6,298.6,-5.5,203,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2308,3531
$GC,4506,-0.79,-146.6,316.8,-5.5,209,4507,0.12,0.00,0.00,0.000,6,0.068,0.000,1796,2308,3531
$GC,4809,-0.60,-146.6,346.4,-10.0,214,4814,0.20,2.25,0.00,0.000,4,0.134,0.059,1862,887,3530
$GC,4858,-0.72,-146.6,350.4,-6.9,214,4862,0.00,2.25,0.00,0.000,6,0.000,0.052,1862,2309,3530
$GC,5169,-0.81,-146.6,367.5,-5.4,219,5173,0.12,2.25,0.00,0.000,4,0.068,0.064,1794,3712,3530
$GC,5207,-0.65,-146.6,370.5,-8.6,219,5212,0.22,2.20,0.00,0.000,6,0.131,0.048,1862,2293,3529
$GC,5528,-0.75,-146.6,385.6,-4.5,225,5530,0.10,0.00,0.00,0.000,6,0.079,0.000,1808,2292,3529
$GC,5831,-0.63,-146.6,408.5,-7.8,230,5835,0.17,2.22,0.00,0.000,4,0.132,0.057,1866,891,3529
$GC,5875,-0.78,-146.6,411.2,-5.4,230,5879,0.12,2.25,0.00,0.000,6,0.074,0.052,1807,2314,3529
$GC,6189,-0.66,-146.6,435.1,-7.8,236,6191,0.17,0.00,0.00,0.000,6,0.136,0.000,1858,2314,3529
$GC,6493,-0.76,-146.6,450.9,-5.1,241,6498,0.10,2.28,0.00,0.000,4,0.080,0.056,1806,887,3528
$GC,6520,-0.69,-146.6,453.1,-7.8,241,6525,0.17,2.25,0.00,0.000,6,0.141,0.054,1847,2308,3528
$GC,6852,-0.75,-146.6,473.5,-6.2,247,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2308,3528
$GC,7155,-0.81,-146.6,491.4,-5.9,252,7156,0.10,0.00,0.00,0.000,6,0.081,0.000,1798,2308,3528
$GC,7458,-0.68,-146.6,515.9,-8.2,257,7463,0.20,2.25,0.00,0.000,4,0.134,0.057,1864,894,3528
$GC,7491,-0.80,-146.6,518.1,-5.5,257,7496,0.12,2.22,0.00,0.000,6,0.081,0.054,1812,2305,3528
$GC,7823,-0.72,-146.6,541.3,-7.2,263,7827,0.12,2.28,0.00,0.000,4,0.141,0.069,1847,3720,3527
$GC,7855,-0.82,-146.6,543.4,-6.4,263,7860,0.10,2.20,0.00,0.000,6,0.091,0.051,1806,2302,3527
$GC,8182,-0.72,-146.6,569.5,-8.2,269,8186,0.15,2.25,0.00,0.000,4,0.140,0.059,1849,886,3527
$GC,8226,-0.81,-146.6,572.7,-6.5,269,8230,0.10,2.25,0.00,0.000,6,0.087,0.056,1807,2309,3527
$GC,8542,-0.73,-146.6,598.5,-8.3,275,8547,0.12,2.25,0.00,0.000,4,0.142,0.064,1835,3713,3527
$GC,8586,-0.80,-146.6,602.0,-7.4,275,8590,0.00,2.20,0.00,0.000,6,0.000,0.044,1835,2295,3527
$GC,8901,-0.80,-146.6,623.0,-6.7,281,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2296,3527
$GC,9205,-0.80,-146.6,644.2,-7.1,286,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2296,3526
$GC,9507,-0.80,-146.6,664.9,-6.8,291,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2296,3527
$GC,9810,-0.80,-146.6,683.9,-6.2,296,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2296,3527
$GC,10114,-0.84,-146.6,702.2,-5.9,301,10115,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2296,3527
$GC,10417,-0.88,-146.6,720.0,-5.9,306,10419,0.10,0.00,0.00,0.000,6,0.100,0.000,1794,2296,3527
$GC,10720,-0.75,-146.6,743.6,-7.8,311,10722,0.15,0.00,0.00,0.000,6,0.150,0.000,1835,2296,3526
$GC,11024,-0.80,-146.6,760.4,-5.4,316,11025,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2296,3526
$GC,11326,-0.85,-146.6,777.4,-5.7,321,11327,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2296,3525
$GC,11630,-0.91,-146.6,794.0,-5.5,326,11632,0.12,0.00,0.00,0.000,6,0.093,0.000,1791,2296,3526
$GC,11933,-0.76,-146.6,817.8,-8.0,331,11938,0.17,2.25,0.00,0.000,4,0.154,0.062,1845,892,3526
$GC,11972,-0.86,-146.6,820.4,-6.0,331,11977,0.10,2.25,0.00,0.000,6,0.105,0.062,1799,2308,3526
$GC,12293,-0.76,-146.6,843.7,-7.3,337,12298,0.12,2.28,0.00,0.000,4,0.157,0.067,1823,3722,3525
$GC,12327,-0.76,-146.6,846.0,-6.6,337,12331,0.00,2.22,0.00,0.000,6,0.000,0.048,1823,2297,3525
$GC,12653,-0.76,-146.6,865.2,-5.8,343,12657,0.00,2.25,0.00,0.000,4,0.000,0.066,1823,891,3525
$GC,12685,-0.76,-146.6,867.4,-6.5,343,12689,0.00,2.28,0.00,0.000,6,0.000,0.061,1817,2301,3525
$GC,13018,-0.76,-146.6,888.6,-6.4,349,13019,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2301,3525
$GC,13320,-0.76,-146.6,909.1,-6.8,354,13321,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2301,3525
$GC,13623,-0.76,-146.6,930.1,-7.0,359,13627,0.00,2.28,0.00,0.000,4,0.000,0.067,1817,894,3525
$GC,13662,-0.76,-146.6,933.0,-7.9,359,13666,0.10,2.25,0.00,0.000,6,0.175,0.056,1832,2304,3524
$GC,13988,-0.82,-146.6,952.5,-6.0,365,13992,0.00,2.28,0.00,0.000,4,0.000,0.074,1823,3713,3525
$GC,14016,-0.86,-146.6,954.4,-6.1,365,14020,0.00,2.20,0.00,0.000,6,0.000,0.053,1823,2305,3525
$GC,14353,-0.86,-146.6,975.6,-6.3,371,14357,0.00,2.28,0.00,0.000,4,0.000,0.071,1826,891,3525
$GC,14403,-0.90,-146.6,979.0,-6.6,371,14407,0.00,2.25,0.00,0.000,6,0.000,0.063,1820,2302,3525
$STATE,14589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14589,begin apogee
$GC,14595,-0.22,0.0,990.4,6.1,374,14714,0.43,0.00,116.65,1.341,6,0.151,0.000,1949,2302,2931
$STATE,14715,end apogee,CONTROL_FINISHED_OK
$STATE,14715,begin climb
$GC,14718,0.64,146.6,993.4,0.0,376,14844,0.62,0.00,123.20,1.309,6,0.112,0.000,2143,2302,2333
$GC,15136,0.33,146.6,964.5,8.7,383,15141,0.25,2.40,0.00,0.000,4,0.182,0.064,2083,887,2323
$GC,15163,0.24,146.6,962.4,6.8,383,15168,0.12,2.35,0.00,0.000,6,0.150,0.058,2052,2302,2321
$GC,15501,0.45,146.6,943.9,5.7,389,15506,0.15,2.35,0.00,0.000,4,0.097,0.069,2098,3714,2320
$GC,15522,0.45,146.6,942.4,6.0,389,15526,0.00,2.28,0.00,0.000,6,0.000,0.048,2105,2305,2319
$GC,15866,0.29,146.6,920.3,6.5,395,15871,0.17,2.35,0.00,0.000,4,0.176,0.066,2054,3719,2319
$GC,16045,0.32,175.7,910.8,4.7,397,16075,0.00,2.28,23.30,1.230,6,0.000,0.051,2063,2299,2213
$GC,16431,0.58,189.5,891.1,5.1,404,16451,0.17,2.40,12.43,1.150,4,0.098,0.069,2129,3710,2157
$GC,16597,0.29,189.5,877.9,8.5,406,16602,0.30,2.30,0.00,0.000,6,0.180,0.048,2060,2294,2155
$GC,16929,0.57,210.6,862.3,4.9,412,16954,0.17,2.40,18.85,1.188,4,0.099,0.070,2133,876,2072
$GC,17057,0.44,210.6,854.3,6.2,413,17064,0.15,2.35,0.00,0.000,6,0.158,0.058,2096,2305,2069
$GC,17366,0.44,210.6,837.0,5.5,419,17370,0.00,2.33,0.00,0.000,4,0.000,0.067,2095,3713,2068
$GC,17411,0.35,210.6,833.9,7.4,419,17415,0.12,2.28,0.00,0.000,6,0.170,0.052,2073,2300,2067
$GC,17726,0.60,210.6,814.4,6.5,425,17730,0.17,2.35,0.00,0.000,4,0.096,0.069,2137,3724,2066
$GC,17809,0.31,210.6,806.9,10.1,426,17814,0.30,2.28,0.00,0.000,6,0.176,0.049,2063,2303,2066
$GC,18152,0.63,210.6,785.4,6.5,432,18157,0.20,2.30,0.00,0.000,4,0.094,0.066,2138,888,2065
$GC,18241,0.48,210.6,778.8,6.9,433,18246,0.15,2.28,0.00,0.000,6,0.159,0.054,2099,2306,2065
$GC,18578,0.48,210.6,758.5,5.9,439,18582,0.00,2.28,0.00,0.000,4,0.000,0.068,2099,3712,2065
$GC,18628,0.39,210.6,755.0,6.3,439,18632,0.00,2.22,0.00,0.000,6,0.000,0.054,2106,2301,2065
$GC,18939,0.34,210.6,737.3,5.7,444,18940,0.12,0.00,0.00,0.000,6,0.170,0.000,2074,2301,2065
$GC,19241,0.60,224.5,722.3,5.1,449,19261,0.17,2.35,12.23,1.069,4,0.087,0.064,2152,893,2014
$GC,19318,0.41,224.5,717.2,6.6,450,19323,0.22,2.28,0.00,0.000,6,0.159,0.053,2091,2303,2012
$GC,19672,0.45,258.4,700.7,4.6,456,19706,0.00,2.38,29.20,1.117,4,0.000,0.066,2091,3711,1876
$GC,19741,0.50,258.4,696.9,6.9,457,19745,0.00,2.30,0.00,0.000,6,0.000,0.052,2096,2297,1874
$GC,20102,0.81,258.4,674.5,6.4,463,20107,0.22,2.30,0.00,0.000,4,0.084,0.060,2183,889,1870
$GC,20234,0.56,258.4,663.0,10.0,465,20238,0.22,2.30,0.00,0.000,6,0.165,0.054,2125,2308,1869
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$STATE,28775,begin surface coast
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