version: 66.04
glider: 144
mission: 15
dive: 212
start: 8 20 109 11 12 44
data:
$ID,144
$MISSION,15
$DIVE,212
$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,-65045.301
$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,33
$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
$GPS1,110127,5006.925,-14449.076,23,2.5,43,18.5
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-58.3
$GPS2,111150,5006.946,-14448.951,15,1.7,15,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.122,0.115
$KALMAN_X,-2843.6,-268.3,163.7,28484.9,-477.7
$KALMAN_Y,7189.8,56.6,-36.5,-33191.9,389.0
$MHEAD_RNG_PITCHd_Wd,28.3,34478,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,49,0.00,0.00,-31.42,0.000,2,0.000,0.000,98,2301,2597
$GC,51,-0.68,-117.3,3.4,-7.0,3,86,6.95,2.30,-18.08,0.000,4,0.229,0.063,1841,891,3413
$GC,300,-0.45,-117.3,36.6,-10.6,25,305,0.25,2.25,0.00,0.000,6,0.130,0.039,1906,2313,3415
$GC,627,-0.60,-117.3,58.5,-6.1,55,629,0.12,0.00,0.00,0.000,6,0.057,0.000,1826,2313,3416
$GC,940,-0.42,-117.3,95.2,-12.2,79,945,0.25,2.22,0.00,0.000,4,0.120,0.047,1908,895,3417
$GC,1009,-0.62,-117.3,101.1,-7.4,82,1013,0.12,2.20,0.00,0.000,6,0.058,0.040,1822,2309,3417
$GC,1341,-0.49,-117.3,137.5,-10.1,98,1346,0.20,2.22,0.00,0.000,4,0.121,0.044,1889,885,3417
$GC,1409,-0.68,-117.3,142.2,-5.7,101,1414,0.12,2.22,0.00,0.000,6,0.057,0.045,1808,2314,3417
$GC,1730,-0.54,-117.3,170.8,-9.1,113,1732,0.25,0.00,0.00,0.000,6,0.121,0.000,1885,2314,3416
$GC,2037,-0.72,-117.3,186.6,-4.9,123,2038,0.15,0.00,0.00,0.000,6,0.050,0.000,1785,2313,3415
$GC,2342,-0.51,-117.3,218.0,-10.3,133,2344,0.35,0.00,0.00,0.000,6,0.123,0.000,1894,2313,3415
$GC,2648,-0.91,-117.3,233.4,-5.5,143,2653,0.25,2.20,0.00,0.000,4,0.052,0.050,1782,3711,3414
$GC,2743,-0.74,-117.3,242.1,-9.9,145,2750,0.20,2.15,0.00,0.000,6,0.123,0.031,1842,2296,3414
$GC,3056,-0.74,-117.3,265.3,-7.4,156,3059,0.00,2.17,0.00,0.000,4,0.000,0.044,1842,895,3413
$GC,3124,-0.79,-117.3,270.7,-7.6,158,3128,0.00,2.20,0.00,0.000,6,0.000,0.045,1836,2309,3413
$GC,3459,-0.79,-117.3,297.3,-7.9,169,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2309,3412
$GC,3764,-0.79,-117.3,320.4,-7.6,175,3768,0.00,2.22,0.00,0.000,4,0.000,0.046,1837,894,3412
$GC,3814,-0.79,-117.3,324.5,-7.8,175,3817,0.00,2.22,0.00,0.000,6,0.000,0.047,1836,2313,3411
$GC,4129,-0.79,-117.3,347.0,-7.2,181,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2314,3411
$GC,4432,-0.79,-117.3,370.0,-7.6,186,4436,0.00,2.22,0.00,0.000,4,0.000,0.048,1835,899,3410
$GC,4487,-0.79,-117.3,374.6,-8.3,186,4491,0.00,2.20,0.00,0.000,6,0.000,0.046,1826,2305,3410
$GC,4803,-0.79,-117.3,398.8,-7.7,192,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2306,3410
$GC,5106,-0.79,-117.3,420.3,-7.0,197,5110,0.00,2.22,0.00,0.000,4,0.000,0.050,1827,897,3409
$GC,5138,-0.79,-117.3,422.8,-7.5,197,5142,0.00,2.22,0.00,0.000,6,0.000,0.043,1823,2311,3409
$GC,5470,-0.79,-117.3,445.8,-7.0,203,5474,0.00,2.22,0.00,0.000,4,0.000,0.044,1823,898,3408
$GC,5503,-0.79,-117.3,448.4,-7.9,203,5507,0.00,2.20,0.00,0.000,6,0.000,0.047,1814,2303,3408
$GC,5836,-0.74,-117.3,474.2,-7.8,209,5838,0.10,0.00,0.00,0.000,6,0.139,0.000,1842,2304,3407
$GC,6139,-0.82,-117.3,493.2,-6.2,214,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2304,3408
$GC,6442,-0.89,-117.3,510.9,-5.7,219,6446,0.12,2.22,0.00,0.000,4,0.064,0.044,1774,900,3407
$GC,6508,-0.71,-117.3,516.8,-9.5,220,6513,0.28,2.20,0.00,0.000,6,0.127,0.047,1848,2302,3407
$GC,6869,-0.81,-117.3,535.1,-4.9,226,6870,0.10,0.00,0.00,0.000,6,0.073,0.000,1789,2303,3407
$GC,7171,-0.68,-117.3,559.8,-8.4,231,7173,0.20,0.00,0.00,0.000,6,0.122,0.000,1849,2303,3406
$GC,7474,-0.80,-117.3,577.5,-5.7,236,7476,0.10,0.00,0.00,0.000,6,0.071,0.000,1790,2304,3405
$GC,7778,-0.68,-117.3,604.7,-9.2,241,7782,0.20,2.22,0.00,0.000,4,0.120,0.045,1856,901,3406
$GC,7805,-0.77,-117.3,606.9,-7.5,241,7809,0.00,2.20,0.00,0.000,6,0.000,0.040,1850,2301,3405
$GC,8137,-0.89,-117.3,626.6,-5.9,247,8139,0.15,0.00,0.00,0.000,6,0.055,0.000,1765,2301,3405
$GC,8440,-0.68,-117.3,655.9,-9.9,252,8445,0.25,2.22,0.00,0.000,4,0.128,0.051,1847,892,3404
$GC,8503,-0.81,-117.3,660.3,-6.3,253,8507,0.10,2.22,0.00,0.000,6,0.070,0.048,1783,2304,3404
$GC,8868,-0.67,-117.3,690.2,-8.3,259,8870,0.25,0.00,0.00,0.000,6,0.120,0.000,1860,2304,3404
$GC,9172,-0.85,-117.3,703.4,-4.2,264,9174,0.15,0.00,0.00,0.000,6,0.054,0.000,1775,2303,3404
$GC,9474,-0.69,-117.3,728.3,-8.5,269,9476,0.25,0.00,0.00,0.000,6,0.123,0.000,1851,2304,3403
$GC,9778,-0.84,-117.3,742.1,-4.4,274,9780,0.12,0.00,0.00,0.000,6,0.067,0.000,1790,2303,3403
$GC,10081,-0.74,-117.3,763.6,-7.2,279,10083,0.17,0.00,0.00,0.000,6,0.123,0.000,1841,2304,3403
$GC,10384,-0.86,-117.3,777.8,-4.6,284,10389,0.12,2.25,0.00,0.000,4,0.071,0.046,1784,891,3403
$GC,10411,-0.79,-117.3,779.7,-7.6,284,10416,0.20,2.25,0.00,0.000,6,0.127,0.043,1832,2313,3403
$GC,10744,-0.88,-117.3,797.4,-5.3,290,10746,0.10,0.00,0.00,0.000,6,0.079,0.000,1786,2314,3403
$GC,11046,-0.76,-117.3,821.8,-8.2,295,11048,0.17,0.00,0.00,0.000,6,0.125,0.000,1838,2314,3403
$GC,11349,-0.87,-117.3,839.9,-5.9,300,11354,0.10,2.25,0.00,0.000,4,0.084,0.048,1794,902,3402
$GC,11393,-0.79,-117.3,843.5,-8.9,300,11398,0.17,2.22,0.00,0.000,6,0.127,0.042,1834,2313,3402
$GC,11708,-0.88,-117.3,863.5,-6.3,306,11710,0.10,0.00,0.00,0.000,6,0.082,0.000,1792,2313,3402
$GC,12011,-0.81,-117.3,889.6,-8.7,311,12013,0.12,0.00,0.00,0.000,6,0.129,0.000,1826,2313,3402
$GC,12314,-0.88,-117.3,910.2,-6.7,316,12318,0.00,2.25,0.00,0.000,4,0.000,0.050,1826,902,3402
$GC,12344,-0.94,-117.3,912.1,-6.7,316,12349,0.10,2.22,0.00,0.000,6,0.082,0.044,1779,2305,3401
$GC,12676,-0.81,-117.3,940.0,-8.4,322,12677,0.17,0.00,0.00,0.000,6,0.134,0.000,1829,2305,3402
$GC,12979,-0.89,-117.3,956.5,-5.3,327,12981,0.10,0.00,0.00,0.000,6,0.087,0.000,1789,2306,3402
$GC,13282,-0.80,-117.3,977.6,-7.1,332,13284,0.12,0.00,0.00,0.000,6,0.137,0.000,1823,2306,3401
$STATE,13523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13523,begin apogee
$GC,13529,-0.22,0.0,990.5,5.3,336,13624,0.40,0.00,92.90,1.329,6,0.124,0.000,1951,2305,2931
$STATE,13625,end apogee,CONTROL_FINISHED_OK
$STATE,13625,begin climb
$GC,13628,0.68,117.3,991.6,0.0,337,13734,0.57,2.55,99.20,1.300,4,0.081,0.056,2150,3707,2451
$GC,13764,0.27,117.3,987.2,8.1,339,13769,0.40,2.35,0.00,0.000,6,0.179,0.041,2063,2312,2447
$GC,14119,0.39,163.5,972.7,3.9,345,14161,0.08,0.00,39.17,1.268,6,0.091,0.000,2095,2313,2263
$GC,14422,0.39,163.5,956.2,5.5,350,14423,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2313,2257
$GC,14724,0.39,163.5,939.3,5.6,355,14728,0.00,2.30,0.00,0.000,4,0.000,0.052,2096,3713,2255
$GC,14752,0.33,163.5,937.3,6.5,355,14757,0.15,2.25,0.00,0.000,6,0.157,0.042,2068,2290,2255
$GC,15085,0.57,166.8,919.8,5.4,361,15090,0.17,2.25,0.00,0.000,4,0.068,0.050,2145,892,2254
$GC,15168,0.41,166.8,914.2,7.1,362,15173,0.20,2.25,0.00,0.000,6,0.149,0.044,2091,2301,2254
$GC,15516,0.42,177.9,896.1,5.1,368,15535,0.00,2.35,11.88,1.145,4,0.000,0.054,2091,3717,2205
$GC,15582,0.42,177.9,892.1,6.6,369,15586,0.00,2.22,0.00,0.000,6,0.000,0.037,2099,2297,2204
$GC,15953,0.42,177.9,870.2,5.8,375,15957,0.00,2.30,0.00,0.000,4,0.000,0.056,2099,3715,2203
$GC,15997,0.35,177.9,867.2,7.0,375,16001,0.15,2.22,0.00,0.000,6,0.153,0.038,2070,2298,2202
$GC,16312,0.59,198.1,852.0,4.8,381,16337,0.20,2.33,18.35,1.176,4,0.065,0.059,2152,3710,2122
$GC,16428,0.32,198.1,842.1,9.1,382,16433,0.35,2.22,0.00,0.000,6,0.155,0.041,2066,2303,2120
$GC,16744,0.67,212.7,826.5,5.0,388,16763,0.22,2.33,13.60,1.119,4,0.064,0.058,2166,896,2063
$GC,16848,0.50,212.7,818.7,7.8,389,16852,0.22,2.28,0.00,0.000,6,0.146,0.043,2106,2312,2061
$GC,17174,0.76,212.7,799.7,6.0,395,17179,0.20,2.30,0.00,0.000,4,0.057,0.050,2196,888,2059
$GC,17269,0.48,212.7,790.7,10.0,396,17274,0.32,2.28,0.00,0.000,6,0.148,0.041,2104,2314,2059
$GC,17600,0.48,212.7,768.6,6.5,402,17604,0.00,2.25,0.00,0.000,4,0.000,0.052,2105,3715,2058
$GC,17655,0.48,212.7,764.2,8.1,402,17662,0.00,2.22,0.00,0.000,6,0.000,0.039,2113,2306,2058
$GC,17964,0.48,212.7,740.6,7.7,408,17966,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2305,2058
$GC,18268,0.48,212.7,717.2,7.8,413,18272,0.00,2.28,0.00,0.000,4,0.000,0.058,2113,3717,2057
$GC,18301,0.43,212.7,714.2,8.7,413,18306,0.12,2.20,0.00,0.000,6,0.144,0.041,2090,2300,2057
$GC,18627,0.54,212.7,694.2,6.1,419,18632,0.10,2.22,0.00,0.000,4,0.069,0.047,2152,896,2057
$GC,18648,0.54,212.7,692.3,8.0,419,18653,0.15,2.22,0.00,0.000,6,0.139,0.043,2112,2308,2057
$GC,18991,0.54,212.7,670.1,6.4,425,18995,0.00,2.25,0.00,0.000,4,0.000,0.050,2112,3717,2056
$GC,19025,0.50,212.7,667.7,7.9,425,19029,0.00,2.20,0.00,0.000,6,0.000,0.036,2120,2298,2056
$GC,19351,0.50,212.7,646.0,6.6,431,19355,0.00,2.22,0.00,0.000,4,0.000,0.048,2131,890,2056
$GC,19372,0.50,212.7,644.5,6.9,431,19377,0.05,2.25,0.00,0.000,6,0.125,0.039,2112,2305,2056
$GC,19721,0.50,212.7,623.4,6.0,437,19725,0.00,2.25,0.00,0.000,4,0.000,0.051,2112,3717,2056
$GC,19784,0.45,212.7,618.9,7.1,438,19789,0.10,2.20,0.00,0.000,6,0.149,0.039,2095,2295,2056
$GC,20150,0.56,218.0,599.0,5.3,444,20157,0.10,0.00,5.12,0.784,6,0.067,0.000,2161,2294,2041
$GC,20453,0.35,218.0,571.9,9.2,449,20458,0.28,2.28,0.00,0.000,4,0.138,0.054,2071,3709,2041
$GC,20503,0.50,218.0,568.6,5.9,449,20507,0.10,2.17,0.00,0.000,6,0.067,0.041,2145,2302,2041
$GC,20813,0.36,218.0,545.0,7.8,454,20814,0.22,0.00,0.00,0.000,6,0.132,0.000,2079,2301,2040
$GC,21117,0.69,218.0,529.0,5.5,459,21121,0.17,2.22,0.00,0.000,4,0.061,0.044,2161,889,2040
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$GC,24601,0.53,224.8,291.5,6.3,517,24605,0.08,2.17,0.00,0.000,6,0.079,0.032,2153,2301,2012
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$STATE,28930,end climb,SURFACE_DEPTH_REACHED
$STATE,28930,begin surface coast
$FINISH,1.1,1.024422
$STATE,28953,end surface coast,CONTROL_FINISHED_OK
$STATE,28954,begin surface
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