version: 66.04
glider: 144
mission: 15
dive: 31
start: 6 22 109 2 32 20
data:
$ID,144
$MISSION,15
$DIVE,31
$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,-61518.426
$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,29
$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
$GPS1,021906,5003.167,-14500.915,31,1.1,31,18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-60.1
$GPS2,023126,5003.214,-14500.979,14,1.2,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.150,0.074
$KALMAN_X,-20515.4,-124.2,423.5,20060.9,-2184.8
$KALMAN_Y,2862.7,203.0,77.3,3364.9,-537.5
$MHEAD_RNG_PITCHd_Wd,45.2,14382,-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,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.72,0.000,2,0.000,0.000,102,2306,2707
$GC,62,-0.68,-117.3,3.4,-4.9,4,96,7.07,2.38,-17.23,0.000,4,0.253,0.078,1837,3719,3412
$GC,234,-0.48,-117.3,26.2,-13.6,19,239,0.20,2.25,0.00,0.000,6,0.139,0.041,1894,2298,3414
$GC,561,-0.54,-117.3,50.3,-6.8,49,565,0.00,2.25,0.00,0.000,4,0.000,0.053,1894,891,3414
$GC,599,-0.64,-117.3,53.3,-7.6,52,606,0.10,2.25,0.00,0.000,6,0.072,0.047,1832,2312,3415
$GC,934,-0.46,-117.3,90.6,-11.6,80,939,0.20,2.28,0.00,0.000,4,0.146,0.053,1895,892,3415
$GC,978,-0.57,-117.3,95.0,-8.3,82,982,0.00,2.25,0.00,0.000,6,0.000,0.048,1890,2309,3416
$GC,1300,-0.64,-117.3,118.5,-6.2,98,1302,0.10,0.00,0.00,0.000,6,0.074,0.000,1836,2309,3415
$GC,1610,-0.57,-117.3,147.3,-9.5,113,1614,0.15,2.25,0.00,0.000,4,0.136,0.061,1872,3710,3416
$GC,1642,-0.65,-117.3,149.7,-7.1,114,1649,0.00,2.20,0.00,0.000,6,0.000,0.041,1872,2293,3415
$GC,1955,-0.75,-117.3,169.3,-6.1,125,1959,0.12,2.20,0.00,0.000,4,0.064,0.053,1808,893,3415
$GC,2033,-0.60,-117.3,176.8,-10.1,127,2037,0.25,2.22,0.00,0.000,6,0.142,0.054,1874,2303,3415
$GC,2357,-0.72,-117.3,194.8,-4.9,138,2358,0.12,0.00,0.00,0.000,6,0.066,0.000,1810,2304,3415
$GC,2662,-0.59,-117.3,221.7,-9.4,148,2664,0.20,0.00,0.00,0.000,6,0.136,0.000,1868,2304,3414
$GC,2969,-0.71,-117.3,242.3,-6.6,158,2973,0.10,2.25,0.00,0.000,4,0.076,0.067,1809,3712,3414
$GC,3001,-0.62,-117.3,245.2,-9.8,159,3006,0.20,2.17,0.00,0.000,6,0.133,0.044,1868,2304,3414
$GC,3331,-0.74,-117.3,267.3,-6.7,170,3336,0.12,2.22,0.00,0.000,4,0.071,0.055,1809,897,3414
$GC,3360,-0.67,-117.3,269.6,-9.3,171,3364,0.20,2.22,0.00,0.000,6,0.146,0.051,1858,2308,3414
$GC,3694,-0.76,-117.3,293.7,-6.9,182,3699,0.10,2.25,0.00,0.000,4,0.081,0.054,1810,891,3413
$GC,3723,-0.70,-117.3,296.2,-9.4,183,3728,0.17,2.22,0.00,0.000,6,0.147,0.054,1852,2302,3413
$GC,4086,-0.76,-117.3,320.7,-6.5,190,4090,0.00,2.22,0.00,0.000,4,0.000,0.056,1852,897,3412
$GC,4119,-0.83,-117.3,323.1,-6.7,190,4123,0.10,2.20,0.00,0.000,6,0.080,0.051,1797,2302,3412
$GC,4451,-0.68,-117.3,352.9,-9.1,196,4453,0.20,0.00,0.00,0.000,6,0.145,0.000,1855,2302,3412
$GC,4754,-0.77,-117.3,369.4,-5.2,201,4758,0.10,2.25,0.00,0.000,4,0.081,0.057,1807,889,3412
$GC,4781,-0.71,-117.3,371.3,-7.2,201,4786,0.17,2.25,0.00,0.000,6,0.146,0.053,1849,2313,3411
$GC,5113,-0.77,-117.3,390.7,-5.8,207,5117,0.00,2.25,0.00,0.000,4,0.000,0.058,1849,897,3411
$GC,5151,-0.84,-117.3,393.3,-6.7,207,5156,0.12,2.22,0.00,0.000,6,0.071,0.053,1788,2306,3410
$GC,5472,-0.67,-117.3,424.5,-10.0,213,5474,0.22,0.00,0.00,0.000,6,0.146,0.000,1853,2306,3410
$GC,5775,-0.77,-117.3,444.6,-6.5,218,5779,0.00,2.25,0.00,0.000,4,0.000,0.058,1853,893,3410
$GC,5808,-0.89,-117.3,447.1,-7.1,218,5813,0.15,2.22,0.00,0.000,6,0.066,0.055,1779,2305,3410
$GC,6134,-0.68,-117.3,481.5,-10.8,224,6136,0.25,0.00,0.00,0.000,6,0.147,0.000,1852,2305,3410
$GC,6437,-0.78,-117.3,502.2,-6.7,229,6442,0.10,2.25,0.00,0.000,4,0.084,0.056,1807,898,3410
$GC,6470,-0.70,-117.3,505.2,-9.3,229,6474,0.17,2.22,0.00,0.000,6,0.144,0.053,1847,2306,3409
$GC,6796,-0.79,-117.3,525.8,-6.2,235,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2306,3409
$GC,7099,-0.89,-117.3,544.5,-6.1,240,7101,0.15,0.00,0.00,0.000,6,0.073,0.000,1785,2307,3409
$GC,7402,-0.72,-117.3,574.2,-10.0,245,7404,0.20,0.00,0.00,0.000,6,0.143,0.000,1843,2306,3409
$GC,7705,-0.79,-117.3,594.9,-6.6,250,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2306,3409
$GC,8008,-0.87,-117.3,613.1,-5.9,255,8013,0.12,2.25,0.00,0.000,4,0.081,0.061,1793,895,3408
$GC,8041,-0.74,-117.3,615.8,-8.4,255,8045,0.20,2.22,0.00,0.000,6,0.146,0.055,1841,2303,3408
$GC,8367,-0.82,-117.3,634.2,-5.5,261,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2304,3408
$GC,8670,-0.90,-117.3,650.0,-5.2,266,8672,0.12,0.00,0.00,0.000,6,0.084,0.000,1793,2303,3408
$GC,8973,-0.77,-117.3,671.9,-7.3,271,8975,0.15,0.00,0.00,0.000,6,0.148,0.000,1834,2304,3408
$GC,9276,-0.83,-117.3,688.1,-5.2,276,9280,0.00,2.25,0.00,0.000,4,0.000,0.060,1834,893,3408
$GC,9315,-0.88,-117.3,690.5,-6.4,276,9320,0.10,2.25,0.00,0.000,6,0.090,0.054,1793,2313,3408
$GC,9636,-0.75,-117.3,715.4,-7.9,282,9641,0.17,2.25,0.00,0.000,4,0.155,0.068,1839,3715,3407
$GC,9663,-0.75,-117.3,717.3,-6.8,282,9667,0.00,2.20,0.00,0.000,6,0.000,0.051,1838,2289,3407
$GC,10001,-0.83,-117.3,737.1,-5.8,288,10004,0.00,2.22,0.00,0.000,4,0.000,0.062,1838,893,3407
$GC,10041,-0.89,-117.3,739.6,-6.7,288,10046,0.12,2.25,0.00,0.000,6,0.086,0.056,1787,2311,3407
$GC,10367,-0.75,-117.3,766.5,-8.3,294,10372,0.17,2.25,0.00,0.000,4,0.154,0.065,1833,3712,3407
$GC,10430,-0.84,-117.3,770.7,-7.2,295,10434,0.00,2.20,0.00,0.000,6,0.000,0.051,1833,2294,3407
$GC,10796,-0.90,-117.3,791.5,-5.6,301,10797,0.10,0.00,0.00,0.000,6,0.100,0.000,1794,2294,3407
$GC,11099,-0.79,-117.3,813.1,-7.2,306,11101,0.12,0.00,0.00,0.000,6,0.153,0.000,1827,2294,3407
$GC,11402,-0.79,-117.3,829.8,-5.5,311,11403,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2294,3407
$GC,11705,-0.83,-117.3,846.2,-5.4,316,11709,0.00,2.25,0.00,0.000,4,0.000,0.064,1827,887,3407
$GC,11754,-0.83,-117.3,849.1,-6.0,316,11758,0.00,2.25,0.00,0.000,6,0.000,0.058,1820,2302,3407
$GC,12070,-0.83,-117.3,868.4,-6.3,322,12071,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2302,3406
$GC,12372,-0.83,-117.3,888.4,-6.6,327,12376,0.00,2.28,0.00,0.000,4,0.000,0.065,1820,886,3406
$GC,12405,-0.83,-117.3,890.9,-7.2,327,12409,0.00,2.25,0.00,0.000,6,0.000,0.061,1811,2302,3406
$GC,12737,-0.83,-117.3,915.0,-7.3,333,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2302,3406
$GC,13041,-0.83,-117.3,936.4,-7.0,338,13045,0.00,2.28,0.00,0.000,4,0.000,0.069,1815,887,3406
$GC,13073,-0.83,-117.3,938.8,-7.8,338,13078,0.00,2.28,0.00,0.000,6,0.000,0.062,1807,2298,3406
$GC,13406,-0.79,-117.3,961.3,-6.7,344,13408,0.08,0.00,0.00,0.000,6,0.189,0.000,1824,2299,3406
$GC,13709,-0.83,-117.3,978.6,-5.6,349,13713,0.00,2.28,0.00,0.000,4,0.000,0.066,1827,896,3406
$GC,13747,-0.88,-117.3,980.9,-5.6,349,13751,0.00,2.25,0.00,0.000,6,0.000,0.061,1821,2306,3406
$STATE,13944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13944,begin apogee
$GC,13950,-0.22,0.0,992.6,5.9,353,14046,0.43,0.00,93.22,1.344,6,0.153,0.000,1949,2306,2931
$STATE,14046,end apogee,CONTROL_FINISHED_OK
$STATE,14046,begin climb
$GC,14049,0.68,117.3,993.9,0.0,354,14154,0.65,2.50,98.43,1.316,4,0.117,0.073,2150,3710,2450
$GC,14184,0.25,117.3,989.2,8.2,356,14191,0.43,2.38,0.00,0.000,6,0.198,0.048,2056,2304,2446
$GC,14494,0.43,137.2,973.8,4.8,362,14513,0.12,0.00,16.35,1.217,6,0.100,0.000,2096,2304,2371
$GC,14798,0.54,137.2,955.0,6.3,367,14802,0.00,2.38,0.00,0.000,4,0.000,0.064,2102,880,2366
$GC,14942,0.54,137.2,945.6,6.0,369,14946,0.00,2.35,0.00,0.000,6,0.000,0.054,2104,2309,2365
$GC,15297,0.45,137.2,921.5,6.9,375,15301,0.00,2.33,0.00,0.000,4,0.000,0.067,2103,3717,2364
$GC,15331,0.27,137.2,918.9,7.8,375,15336,0.20,2.28,0.00,0.000,6,0.172,0.051,2061,2299,2363
$GC,15657,0.44,137.2,900.9,5.5,381,15662,0.12,2.30,0.00,0.000,4,0.096,0.067,2105,893,2362
$GC,15695,0.44,137.2,898.6,6.1,381,15699,0.00,2.30,0.00,0.000,6,0.000,0.055,2105,2310,2362
$GC,16022,0.34,137.2,878.9,6.1,387,16027,0.12,2.30,0.00,0.000,4,0.170,0.065,2072,3717,2362
$GC,16077,0.34,140.2,875.7,5.4,387,16084,0.00,2.28,0.00,0.000,6,0.000,0.048,2081,2303,2361
$GC,16387,0.38,167.7,861.3,4.6,393,16414,0.00,0.00,25.35,1.223,6,0.000,0.000,2081,2303,2247
$GC,16691,0.45,187.8,846.7,4.8,398,16715,0.00,2.42,17.85,1.176,4,0.000,0.071,2081,3709,2164
$GC,16732,0.45,187.8,844.2,5.6,398,16736,0.00,2.30,0.00,0.000,6,0.000,0.051,2090,2305,2162
$GC,17059,0.50,187.8,826.0,5.6,404,17060,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2304,2159
$GC,17362,0.54,187.8,808.5,5.8,409,17364,0.10,0.00,0.00,0.000,6,0.095,0.000,2130,2304,2159
$GC,17665,0.39,187.8,784.5,8.0,414,17670,0.17,2.33,0.00,0.000,4,0.164,0.070,2078,3713,2158
$GC,17692,0.39,187.8,782.4,6.7,414,17696,0.00,2.30,0.00,0.000,6,0.000,0.049,2085,2298,2158
$GC,18031,0.46,187.8,761.7,6.2,420,18035,0.00,2.33,0.00,0.000,4,0.000,0.067,2085,3716,2158
$GC,18052,0.46,187.8,760.0,6.5,420,18056,0.00,2.25,0.00,0.000,6,0.000,0.048,2096,2303,2157
$GC,18395,0.46,187.8,736.5,6.9,426,18399,0.00,2.30,0.00,0.000,4,0.000,0.064,2096,3713,2157
$GC,18417,0.46,187.8,734.8,7.8,426,18421,0.00,2.25,0.00,0.000,6,0.000,0.047,2106,2296,2157
$GC,18761,0.46,187.8,710.4,7.0,432,18765,0.00,2.30,0.00,0.000,4,0.000,0.065,2106,3713,2157
$GC,18782,0.40,187.8,708.7,7.5,432,18787,0.12,2.22,0.00,0.000,6,0.171,0.046,2085,2304,2156
$GC,19120,0.48,187.8,689.4,5.7,438,19121,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2304,2156
$GC,19423,0.58,198.3,673.7,5.1,443,19438,0.15,2.30,9.12,0.998,4,0.074,0.063,2156,893,2121
$GC,19455,0.42,198.3,671.4,8.2,443,19460,0.25,2.28,0.00,0.000,6,0.159,0.058,2087,2305,2121
$GC,19787,0.53,218.5,655.0,4.8,449,19812,0.10,2.38,18.23,1.068,4,0.080,0.071,2132,3713,2039
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$STATE,29588,begin surface coast
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