version: 66.04
glider: 144
mission: 15
dive: 62
start: 7 2 109 11 46 26
data:
$ID,144
$MISSION,15
$DIVE,62
$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,-62161.742
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,113857,5018.511,-14508.953,34,2.2,53,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-57.0
$GPS2,114532,5018.525,-14509.055,10,1.5,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.050,-0.160
$KALMAN_X,-35562.9,115.3,342.5,25319.0,-2287.3
$KALMAN_Y,9872.9,252.0,168.4,24571.0,-874.9
$MHEAD_RNG_PITCHd_Wd,144.3,45531,-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,16,-0.68,-117.3,0.0,0.0,0,61,0.00,0.00,-42.25,0.000,2,0.000,0.000,99,2313,2784
$GC,63,-0.68,-117.3,3.8,-6.5,4,90,6.95,2.35,-14.68,0.000,4,0.245,0.073,1845,883,3413
$GC,165,-0.50,-117.3,18.5,-13.8,13,170,0.20,2.28,0.00,0.000,6,0.136,0.050,1894,2301,3414
$GC,490,-0.56,-117.3,47.8,-7.7,43,494,0.00,2.25,0.00,0.000,4,0.000,0.051,1894,891,3415
$GC,545,-0.68,-117.3,52.2,-8.4,47,552,0.12,2.25,0.00,0.000,6,0.062,0.045,1823,2314,3415
$GC,870,-0.48,-117.3,91.0,-12.1,74,874,0.20,2.28,0.00,0.000,4,0.135,0.051,1888,887,3416
$GC,919,-0.58,-117.3,96.1,-8.2,76,923,0.00,2.25,0.00,0.000,6,0.000,0.047,1888,2309,3416
$GC,1235,-0.65,-117.3,120.0,-7.7,91,1240,0.12,2.25,0.00,0.000,4,0.064,0.050,1823,891,3416
$GC,1275,-0.49,-117.3,124.1,-11.0,92,1282,0.28,2.22,0.00,0.000,6,0.132,0.046,1898,2305,3416
$GC,1592,-0.66,-117.3,145.0,-6.4,108,1597,0.15,2.25,0.00,0.000,4,0.056,0.050,1818,884,3417
$GC,1642,-0.54,-117.3,149.8,-10.1,110,1647,0.25,2.22,0.00,0.000,6,0.128,0.044,1884,2304,3416
$GC,1955,-0.70,-117.3,167.0,-5.2,120,1960,0.12,2.25,0.00,0.000,4,0.061,0.050,1819,880,3416
$GC,1982,-0.70,-117.3,169.1,-8.4,120,1989,0.10,2.28,0.00,0.000,6,0.127,0.045,1845,2306,3417
$GC,2295,-0.70,-117.3,192.6,-7.5,131,2299,0.00,2.22,0.00,0.000,4,0.000,0.051,1845,887,3416
$GC,2339,-0.70,-117.3,196.3,-8.3,132,2343,0.00,2.22,0.00,0.000,6,0.000,0.046,1839,2305,3416
$GC,2662,-0.70,-117.3,221.8,-7.8,143,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2306,3416
$GC,2968,-0.70,-117.3,243.8,-6.8,153,2972,0.00,2.22,0.00,0.000,4,0.000,0.053,1839,891,3415
$GC,3023,-0.70,-117.3,248.0,-7.5,154,3027,0.00,2.22,0.00,0.000,6,0.000,0.049,1837,2303,3415
$GC,3342,-0.70,-117.3,269.8,-7.0,165,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2303,3415
$GC,3648,-0.70,-117.3,290.2,-6.7,175,3652,0.00,2.22,0.00,0.000,4,0.000,0.053,1836,882,3415
$GC,3687,-0.70,-117.3,293.0,-7.2,176,3691,0.00,2.25,0.00,0.000,6,0.000,0.049,1836,2309,3415
$GC,4045,-0.70,-117.3,317.6,-7.0,184,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2310,3415
$GC,4348,-0.70,-117.3,340.5,-7.7,189,4352,0.00,2.25,0.00,0.000,4,0.000,0.054,1836,886,3414
$GC,4397,-0.70,-117.3,344.8,-8.6,189,4401,0.00,2.22,0.00,0.000,6,0.000,0.051,1835,2304,3414
$GC,4713,-0.70,-117.3,370.0,-8.0,195,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2305,3414
$GC,5015,-0.70,-117.3,394.1,-7.9,200,5019,0.00,2.25,0.00,0.000,4,0.000,0.054,1835,884,3413
$GC,5048,-0.70,-117.3,396.8,-7.9,200,5052,0.00,2.25,0.00,0.000,6,0.000,0.050,1832,2310,3413
$GC,5380,-0.70,-117.3,422.6,-7.7,206,5384,0.00,2.25,0.00,0.000,4,0.000,0.054,1832,887,3413
$GC,5419,-0.70,-117.3,425.7,-8.1,206,5423,0.10,2.22,0.00,0.000,6,0.143,0.051,1852,2304,3413
$GC,5746,-0.79,-117.3,444.9,-5.8,212,5750,0.10,2.25,0.00,0.000,4,0.077,0.052,1801,879,3413
$GC,5808,-0.68,-117.3,450.0,-8.8,213,5813,0.20,2.25,0.00,0.000,6,0.136,0.054,1853,2311,3413
$GC,6173,-0.79,-117.3,471.0,-5.6,219,6178,0.10,2.25,0.00,0.000,4,0.076,0.052,1802,891,3412
$GC,6262,-0.69,-117.3,478.9,-9.6,220,6267,0.20,2.22,0.00,0.000,6,0.133,0.051,1854,2306,3412
$GC,6599,-0.81,-117.3,500.1,-6.3,226,6604,0.12,2.25,0.00,0.000,4,0.068,0.055,1792,887,3412
$GC,6643,-0.68,-117.3,504.3,-10.4,226,6648,0.25,2.22,0.00,0.000,6,0.130,0.051,1857,2304,3412
$GC,6958,-0.81,-117.3,525.8,-6.7,232,6960,0.12,0.00,0.00,0.000,6,0.066,0.000,1794,2305,3412
$GC,7261,-0.68,-117.3,555.3,-9.9,237,7266,0.20,2.25,0.00,0.000,4,0.129,0.054,1860,889,3412
$GC,7288,-0.75,-117.3,557.6,-8.0,237,7293,0.00,2.22,0.00,0.000,6,0.000,0.049,1855,2305,3411
$GC,7620,-0.88,-117.3,577.7,-5.9,243,7622,0.15,0.00,0.00,0.000,6,0.064,0.000,1780,2306,3411
$GC,7924,-0.71,-117.3,604.2,-8.9,248,7926,0.22,0.00,0.00,0.000,6,0.132,0.000,1848,2306,3411
$GC,8227,-0.81,-117.3,618.6,-4.5,253,8232,0.10,2.25,0.00,0.000,4,0.077,0.056,1798,887,3411
$GC,8260,-0.71,-117.3,620.7,-7.5,253,8265,0.20,2.22,0.00,0.000,6,0.137,0.049,1850,2303,3411
$GC,8592,-0.83,-117.3,635.5,-4.4,259,8594,0.12,0.00,0.00,0.000,6,0.072,0.000,1793,2303,3411
$GC,8895,-0.72,-117.3,657.2,-7.3,264,8900,0.17,2.25,0.00,0.000,4,0.132,0.055,1851,886,3410
$GC,8928,-0.82,-117.3,659.3,-5.3,264,8933,0.10,2.22,0.00,0.000,6,0.082,0.053,1803,2302,3410
$GC,9254,-0.76,-117.3,682.3,-7.2,270,9256,0.12,0.00,0.00,0.000,6,0.137,0.000,1839,2301,3410
$GC,9557,-0.84,-117.3,699.7,-5.7,275,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2301,3410
$GC,9861,-0.93,-117.3,716.8,-5.6,280,9865,0.15,2.25,0.00,0.000,4,0.072,0.061,1778,893,3410
$GC,9905,-0.74,-117.3,720.8,-10.1,280,9910,0.25,2.22,0.00,0.000,6,0.140,0.050,1842,2301,3410
$GC,10220,-0.85,-117.3,738.4,-5.5,286,10222,0.10,0.00,0.00,0.000,6,0.087,0.000,1802,2301,3410
$GC,10523,-0.78,-117.3,759.9,-7.3,291,10528,0.12,2.25,0.00,0.000,4,0.137,0.061,1836,893,3410
$GC,10561,-0.86,-117.3,762.5,-6.2,291,10565,0.00,2.22,0.00,0.000,6,0.000,0.052,1836,2304,3410
$GC,10888,-0.93,-117.3,780.9,-5.6,297,10890,0.12,0.00,0.00,0.000,6,0.084,0.000,1784,2304,3410
$GC,11191,-0.79,-117.3,804.8,-8.0,302,11196,0.17,2.25,0.00,0.000,4,0.138,0.061,1833,893,3409
$GC,11235,-0.86,-117.3,807.7,-5.5,302,11239,0.00,2.22,0.00,0.000,6,0.000,0.051,1830,2304,3409
$GC,11556,-0.91,-117.3,825.6,-5.6,308,11561,0.10,2.25,0.00,0.000,4,0.089,0.060,1790,892,3409
$GC,11589,-0.78,-117.3,828.1,-7.6,308,11594,0.17,2.22,0.00,0.000,6,0.149,0.050,1829,2303,3409
$GC,11915,-0.84,-117.3,845.7,-5.3,314,11919,0.00,2.25,0.00,0.000,4,0.000,0.060,1829,883,3409
$GC,11954,-0.89,-117.3,848.2,-5.9,314,11958,0.00,2.25,0.00,0.000,6,0.000,0.055,1823,2308,3409
$GC,12274,-0.89,-117.3,866.7,-5.8,320,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2307,3409
$GC,12578,-0.89,-117.3,884.9,-6.0,325,12582,0.00,2.28,0.00,0.000,4,0.000,0.065,1823,884,3409
$GC,12633,-0.89,-117.3,888.7,-6.2,325,12639,0.00,2.28,0.00,0.000,6,0.000,0.057,1815,2302,3409
$GC,12943,-0.89,-117.3,908.7,-6.5,331,12944,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2302,3409
$GC,13246,-0.89,-117.3,927.8,-6.3,336,13250,0.00,2.28,0.00,0.000,4,0.000,0.061,1815,884,3408
$GC,13295,-0.89,-117.3,931.3,-6.5,336,13299,0.00,2.25,0.00,0.000,6,0.000,0.051,1807,2305,3409
$GC,13610,-0.89,-117.3,951.5,-6.4,342,13614,0.00,2.28,0.00,0.000,4,0.000,0.061,1807,887,3409
$GC,13649,-0.89,-117.3,954.2,-7.3,342,13653,0.00,2.25,0.00,0.000,6,0.000,0.058,1799,2308,3409
$GC,13976,-0.82,-117.3,975.8,-6.6,348,13981,0.10,2.28,0.00,0.000,4,0.165,0.061,1827,887,3408
$GC,14026,-0.87,-117.3,979.0,-6.1,348,14029,0.00,2.25,0.00,0.000,6,0.000,0.055,1821,2307,3408
$STATE,14278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14278,begin apogee
$GC,14283,-0.22,0.0,993.1,5.6,353,14379,0.43,0.00,93.07,1.351,6,0.137,0.000,1954,2308,2931
$STATE,14380,end apogee,CONTROL_FINISHED_OK
$STATE,14380,begin climb
$GC,14383,0.68,117.3,994.1,0.0,354,14489,0.57,2.55,97.80,1.325,4,0.094,0.064,2147,3716,2450
$GC,14528,0.26,117.3,988.6,8.1,356,14534,0.40,2.35,0.00,0.000,6,0.189,0.049,2057,2298,2447
$GC,14872,0.39,163.8,974.5,3.9,362,14914,0.10,0.00,38.78,1.293,6,0.089,0.000,2093,2298,2263
$GC,15175,0.39,163.8,958.0,5.5,367,15176,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2298,2256
$GC,15478,0.39,166.1,941.6,5.4,372,15479,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2297,2254
$GC,15781,0.39,166.1,923.7,6.0,377,15785,0.00,2.33,0.00,0.000,4,0.000,0.062,2093,3710,2254
$GC,15808,0.32,166.1,921.7,7.1,377,15813,0.15,2.25,0.00,0.000,6,0.169,0.048,2065,2298,2253
$GC,16140,0.43,170.9,903.8,5.3,383,16152,0.10,2.30,6.07,1.000,4,0.084,0.065,2115,890,2233
$GC,16180,0.38,170.9,901.0,7.8,383,16184,0.12,2.30,0.00,0.000,6,0.150,0.050,2082,2314,2232
$GC,16500,0.42,170.9,881.5,6.0,389,16504,0.00,2.28,0.00,0.000,4,0.000,0.061,2082,3715,2231
$GC,16544,0.42,170.9,878.2,6.8,389,16548,0.00,2.22,0.00,0.000,6,0.000,0.045,2090,2303,2230
$GC,16866,0.42,170.9,857.6,6.4,395,16867,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2303,2230
$GC,17168,0.42,170.9,838.9,6.1,400,17172,0.00,2.28,0.00,0.000,4,0.000,0.061,2090,3711,2230
$GC,17202,0.37,170.9,836.5,6.7,400,17205,0.00,2.22,0.00,0.000,6,0.000,0.043,2100,2296,2229
$GC,17533,0.37,170.9,815.1,6.5,406,17537,0.00,2.30,0.00,0.000,4,0.000,0.061,2100,3718,2230
$GC,17563,0.28,170.9,813.0,7.3,406,17567,0.20,2.22,0.00,0.000,6,0.166,0.049,2057,2301,2229
$GC,17894,0.58,170.9,794.9,5.6,412,17899,0.17,2.28,0.00,0.000,4,0.077,0.063,2131,880,2228
$GC,18006,0.47,170.9,787.1,6.8,413,18010,0.12,2.28,0.00,0.000,6,0.154,0.050,2099,2312,2229
$GC,18320,0.47,170.9,767.2,6.3,419,18324,0.00,2.25,0.00,0.000,4,0.000,0.064,2099,3719,2229
$GC,18359,0.39,170.9,764.4,7.8,419,18364,0.10,2.22,0.00,0.000,6,0.179,0.044,2084,2297,2228
$GC,18686,0.45,182.1,747.2,5.1,425,18701,0.00,2.28,10.23,1.071,4,0.000,0.065,2092,890,2187
$GC,18718,0.54,195.9,745.5,5.0,425,18738,0.10,2.28,13.32,1.091,6,0.081,0.051,2137,2314,2131
$GC,19048,0.38,195.9,719.8,7.9,431,19053,0.20,2.28,0.00,0.000,4,0.156,0.064,2078,3712,2126
$GC,19075,0.38,195.9,717.9,6.2,431,19079,0.00,2.25,0.00,0.000,6,0.000,0.048,2087,2293,2126
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$STATE,29116,end climb,SURFACE_DEPTH_REACHED
$STATE,29116,begin surface coast
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$STATE,29129,end surface coast,CONTROL_FINISHED_OK
$STATE,29129,begin surface
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