version: 66.04
glider: 144
mission: 15
dive: 158
start: 8 3 109 9 6 46
data:
$ID,144
$MISSION,15
$DIVE,158
$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,-64013.996
$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,34
$R_STBD_OVSHOOT,32
$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
$GPS1,090003,4959.821,-14510.188,41,2.0,41,18.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-66.6
$GPS2,090550,4959.833,-14510.196,12,1.3,12,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.042,-0.162
$KALMAN_X,-76094.2,-381.8,-57.1,65400.8,440.0
$KALMAN_Y,65264.9,-8.8,27.7,-65027.2,248.9
$MHEAD_RNG_PITCHd_Wd,176.2,10983,-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,-117.3,0.0,0.0,0,49,0.00,0.00,-32.15,0.000,2,0.000,0.000,101,2305,2607
$GC,51,-0.68,-117.3,3.3,-6.1,3,84,7.10,0.00,-18.08,0.000,6,0.245,0.000,1844,2305,3411
$GC,404,-0.54,-117.3,51.0,-11.7,36,408,0.15,2.28,0.00,0.000,4,0.133,0.044,1891,885,3414
$GC,447,-0.65,-117.3,55.6,-8.7,39,454,0.10,2.25,0.00,0.000,6,0.071,0.039,1825,2310,3414
$GC,782,-0.46,-117.3,94.3,-11.3,65,786,0.22,2.25,0.00,0.000,4,0.132,0.042,1898,894,3416
$GC,831,-0.60,-117.3,98.8,-7.5,67,835,0.00,2.22,0.00,0.000,6,0.000,0.038,1890,2313,3415
$GC,1153,-0.68,-117.3,121.3,-6.8,83,1157,0.12,2.25,0.00,0.000,4,0.059,0.041,1809,890,3415
$GC,1260,-0.53,-117.3,133.4,-11.5,88,1265,0.28,2.22,0.00,0.000,6,0.124,0.044,1883,2304,3416
$GC,1586,-0.67,-117.3,154.7,-5.8,103,1588,0.12,0.00,0.00,0.000,6,0.059,0.000,1806,2304,3416
$GC,1893,-0.52,-117.3,183.7,-9.7,113,1895,0.28,0.00,0.00,0.000,6,0.120,0.000,1891,2304,3415
$GC,2199,-0.72,-117.3,200.0,-4.8,123,2201,0.17,0.00,0.00,0.000,6,0.048,0.000,1787,2304,3415
$GC,2505,-0.52,-117.3,229.6,-10.0,133,2509,0.30,2.22,0.00,0.000,4,0.128,0.044,1885,890,3414
$GC,2554,-0.74,-117.3,233.0,-6.1,134,2559,0.12,2.22,0.00,0.000,6,0.064,0.043,1801,2308,3414
$GC,2872,-0.61,-117.3,264.4,-10.4,145,2874,0.22,0.00,0.00,0.000,6,0.123,0.000,1869,2308,3414
$GC,3178,-0.74,-117.3,283.0,-5.6,155,3183,0.12,2.22,0.00,0.000,4,0.058,0.044,1794,888,3413
$GC,3223,-0.56,-117.3,286.8,-10.0,156,3228,0.30,2.22,0.00,0.000,6,0.123,0.041,1877,2309,3413
$GC,3577,-0.74,-117.3,303.8,-4.5,167,3578,0.12,0.00,0.00,0.000,6,0.060,0.000,1800,2309,3412
$GC,3880,-0.60,-117.3,330.3,-9.0,172,3882,0.22,0.00,0.00,0.000,6,0.122,0.000,1868,2309,3412
$GC,4183,-0.74,-117.3,347.3,-5.5,177,4187,0.12,2.25,0.00,0.000,4,0.059,0.051,1796,889,3411
$GC,4221,-0.58,-117.3,350.6,-9.2,177,4226,0.30,2.22,0.00,0.000,6,0.123,0.041,1878,2304,3411
$GC,4543,-0.77,-117.3,366.1,-4.6,183,4544,0.15,0.00,0.00,0.000,6,0.054,0.000,1793,2304,3411
$GC,4845,-0.63,-117.3,392.8,-9.1,188,4847,0.25,0.00,0.00,0.000,6,0.121,0.000,1869,2304,3410
$GC,5148,-0.79,-117.3,406.6,-4.3,193,5150,0.15,0.00,0.00,0.000,6,0.054,0.000,1785,2304,3410
$GC,5451,-0.62,-117.3,432.6,-8.8,198,5456,0.22,2.25,0.00,0.000,4,0.127,0.046,1858,887,3409
$GC,5491,-0.75,-117.3,435.5,-6.0,198,5495,0.00,2.22,0.00,0.000,6,0.000,0.042,1850,2301,3409
$GC,5812,-0.85,-117.3,453.3,-5.6,204,5814,0.12,0.00,0.00,0.000,6,0.065,0.000,1775,2301,3409
$GC,6115,-0.65,-117.3,482.4,-9.8,209,6119,0.25,2.22,0.00,0.000,4,0.130,0.050,1855,896,3408
$GC,6177,-0.78,-117.3,486.8,-5.6,210,6181,0.00,2.20,0.00,0.000,6,0.000,0.044,1850,2305,3409
$GC,6549,-0.88,-117.3,509.7,-6.3,216,6554,0.12,2.25,0.00,0.000,4,0.061,0.050,1777,885,3408
$GC,6576,-0.75,-117.3,512.3,-10.3,216,6581,0.25,2.22,0.00,0.000,6,0.132,0.047,1842,2303,3408
$GC,6908,-0.82,-117.3,535.8,-7.0,222,6911,0.00,2.22,0.00,0.000,4,0.000,0.047,1842,895,3407
$GC,6947,-0.90,-117.3,539.0,-7.5,222,6951,0.12,2.22,0.00,0.000,6,0.059,0.043,1766,2313,3408
$GC,7273,-0.68,-117.3,576.1,-11.7,228,7275,0.30,0.00,0.00,0.000,6,0.131,0.000,1857,2312,3408
$GC,7576,-0.82,-117.3,596.5,-6.5,233,7578,0.12,0.00,0.00,0.000,6,0.060,0.000,1782,2313,3407
$GC,7879,-0.66,-117.3,626.5,-10.1,238,7881,0.25,0.00,0.00,0.000,6,0.124,0.000,1859,2312,3407
$GC,8182,-0.82,-117.3,644.8,-5.8,243,8186,0.12,2.28,0.00,0.000,4,0.061,0.046,1787,888,3407
$GC,8209,-0.75,-117.3,647.0,-8.8,243,8214,0.20,2.25,0.00,0.000,6,0.130,0.041,1838,2309,3406
$GC,8541,-0.83,-117.3,668.2,-6.2,249,8545,0.00,2.25,0.00,0.000,4,0.000,0.048,1838,893,3406
$GC,8586,-0.92,-117.3,671.1,-6.2,249,8590,0.12,2.22,0.00,0.000,6,0.064,0.048,1770,2304,3406
$GC,8907,-0.73,-117.3,700.8,-9.5,255,8911,0.20,2.22,0.00,0.000,4,0.136,0.057,1827,3712,3405
$GC,8928,-0.67,-117.3,702.6,-8.3,255,8933,0.10,2.17,0.00,0.000,6,0.117,0.035,1856,2295,3406
$GC,9272,-0.82,-117.3,719.7,-4.8,261,9277,0.12,2.20,0.00,0.000,4,0.070,0.047,1794,899,3406
$GC,9299,-0.78,-117.3,721.4,-7.2,261,9304,0.17,2.22,0.00,0.000,6,0.130,0.048,1834,2314,3405
$GC,9631,-0.86,-117.3,739.7,-5.5,267,9635,0.00,2.25,0.00,0.000,4,0.000,0.049,1834,894,3406
$GC,9659,-0.93,-117.3,741.5,-6.8,267,9664,0.12,2.22,0.00,0.000,6,0.068,0.044,1775,2305,3406
$GC,9991,-0.76,-117.3,767.5,-7.8,273,9995,0.17,2.25,0.00,0.000,4,0.137,0.058,1823,3712,3405
$GC,10035,-0.83,-117.3,770.1,-5.3,273,10039,0.00,2.17,0.00,0.000,6,0.000,0.038,1823,2304,3405
$GC,10350,-0.83,-117.3,784.1,-4.4,279,10354,0.00,2.22,0.00,0.000,4,0.000,0.048,1823,892,3405
$GC,10389,-0.83,-117.3,786.1,-5.3,279,10393,0.00,2.22,0.00,0.000,6,0.000,0.048,1813,2315,3405
$GC,10721,-0.83,-117.3,802.8,-5.1,285,10725,0.00,2.25,0.00,0.000,4,0.000,0.049,1813,897,3405
$GC,10747,-0.83,-117.3,804.5,-6.5,285,10751,0.00,2.22,0.00,0.000,6,0.000,0.044,1804,2305,3405
$GC,11086,-0.79,-117.3,826.1,-6.6,291,11090,0.10,2.25,0.00,0.000,4,0.144,0.052,1831,893,3405
$GC,11135,-0.85,-117.3,829.4,-6.7,291,11139,0.00,2.22,0.00,0.000,6,0.000,0.041,1823,2303,3405
$GC,11445,-0.85,-117.3,848.5,-6.2,296,11449,0.00,2.25,0.00,0.000,4,0.000,0.054,1823,889,3405
$GC,11472,-0.85,-117.3,850.6,-7.1,296,11476,0.00,2.25,0.00,0.000,6,0.000,0.044,1820,2308,3405
$GC,11816,-0.85,-117.3,873.6,-6.8,302,11820,0.00,2.25,0.00,0.000,4,0.000,0.054,1820,897,3404
$GC,11848,-0.85,-117.3,876.0,-7.1,302,11852,0.00,2.22,0.00,0.000,6,0.000,0.044,1811,2304,3404
$GC,12180,-0.85,-117.3,898.4,-6.7,308,12182,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2304,3404
$GC,12483,-0.85,-117.3,918.1,-6.5,313,12487,0.00,2.25,0.00,0.000,4,0.000,0.054,1811,894,3404
$GC,12550,-0.85,-117.3,923.0,-7.6,314,12554,0.00,2.25,0.00,0.000,6,0.000,0.048,1805,2312,3404
$GC,12916,-0.85,-117.3,948.4,-6.9,320,12920,0.00,2.28,0.00,0.000,4,0.000,0.051,1805,889,3404
$GC,12943,-0.81,-117.3,950.5,-8.0,320,12948,0.12,2.25,0.00,0.000,6,0.146,0.045,1828,2309,3404
$GC,13275,-0.89,-117.3,969.7,-5.8,326,13279,0.00,2.25,0.00,0.000,4,0.000,0.051,1828,900,3403
$GC,13308,-0.95,-117.3,971.7,-5.8,326,13312,0.10,2.22,0.00,0.000,6,0.084,0.048,1781,2304,3403
$STATE,13571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13571,begin apogee
$GC,13576,-0.22,0.0,992.1,7.7,331,13672,0.55,0.00,93.12,1.332,6,0.132,0.000,1953,2305,2931
$STATE,13673,end apogee,CONTROL_FINISHED_OK
$STATE,13673,begin climb
$GC,13676,0.68,117.3,993.4,0.0,332,13778,0.60,0.00,99.35,1.303,6,0.076,0.000,2156,2304,2452
$GC,14057,0.37,117.3,970.8,7.6,339,14061,0.25,2.35,0.00,0.000,4,0.164,0.054,2084,3710,2442
$GC,14089,0.25,117.3,968.5,5.8,339,14094,0.15,2.28,0.00,0.000,6,0.168,0.038,2056,2311,2441
$GC,14422,0.48,153.7,954.8,4.3,345,14458,0.15,2.40,29.90,1.257,4,0.069,0.052,2126,885,2303
$GC,14556,0.37,153.7,946.9,7.0,347,14561,0.17,2.35,0.00,0.000,6,0.146,0.049,2079,2314,2298
$GC,14917,0.40,178.8,929.7,4.7,353,14945,0.00,2.40,21.65,1.223,4,0.000,0.056,2079,3719,2201
$GC,14990,0.40,178.8,925.5,6.0,354,14994,0.00,2.33,0.00,0.000,6,0.000,0.041,2087,2301,2199
$GC,15351,0.40,181.8,906.1,5.4,360,15355,0.00,2.30,0.00,0.000,4,0.000,0.056,2087,3711,2196
$GC,15379,0.40,181.8,904.4,6.1,360,15383,0.00,2.25,0.00,0.000,6,0.000,0.040,2098,2294,2196
$GC,15710,0.40,181.8,884.2,6.1,366,15715,0.00,2.30,0.00,0.000,4,0.000,0.054,2097,3712,2195
$GC,15744,0.33,181.8,881.8,7.0,366,15748,0.15,2.22,0.00,0.000,6,0.163,0.036,2069,2295,2195
$GC,16076,0.58,181.8,863.8,5.6,372,16081,0.17,2.30,0.00,0.000,4,0.067,0.053,2138,3719,2194
$GC,16161,0.32,181.8,856.6,9.3,373,16166,0.28,2.22,0.00,0.000,6,0.162,0.044,2071,2305,2193
$GC,16505,0.46,197.8,839.0,5.0,379,16524,0.10,0.00,16.58,1.164,6,0.076,0.000,2117,2304,2124
$GC,16808,0.40,197.8,817.1,7.3,384,16812,0.12,2.30,0.00,0.000,4,0.145,0.057,2094,891,2120
$GC,16835,0.46,197.8,815.2,7.2,384,16839,0.00,2.25,0.00,0.000,6,0.000,0.042,2093,2305,2120
$GC,17173,0.51,197.8,793.9,6.4,390,17177,0.00,2.28,0.00,0.000,4,0.000,0.060,2093,3713,2119
$GC,17213,0.51,197.8,790.7,8.2,390,17218,0.00,2.22,0.00,0.000,6,0.000,0.038,2103,2299,2119
$GC,17534,0.51,197.8,766.8,7.5,396,17538,0.00,2.28,0.00,0.000,4,0.000,0.052,2103,3712,2119
$GC,17556,0.51,197.8,764.9,9.1,396,17560,0.00,2.22,0.00,0.000,6,0.000,0.039,2113,2292,2118
$GC,17900,0.47,197.8,738.7,7.5,402,17901,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2292,2118
$GC,18203,0.43,197.8,717.8,6.8,407,18207,0.00,2.28,0.00,0.000,4,0.000,0.058,2113,3710,2118
$GC,18230,0.35,197.8,715.7,7.3,407,18235,0.17,2.20,0.00,0.000,6,0.146,0.041,2074,2301,2118
$GC,18562,0.61,201.3,698.2,5.4,413,18567,0.17,2.22,0.00,0.000,4,0.062,0.048,2157,895,2118
$GC,18606,0.48,201.3,694.8,7.8,413,18611,0.20,2.22,0.00,0.000,6,0.145,0.046,2100,2308,2118
$GC,18921,0.48,201.3,676.4,5.8,419,18924,0.00,2.22,0.00,0.000,4,0.000,0.052,2101,3710,2117
$GC,18982,0.43,201.3,671.9,7.4,419,18989,0.00,2.20,0.00,0.000,6,0.000,0.037,2109,2310,2118
$GC,19291,0.43,201.3,652.0,6.5,425,19293,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2309,2118
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$STATE,29034,begin surface coast
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$STATE,29057,begin surface
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$DATA_FILE_SIZE,44403,743
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