version: 66.04
glider: 144
mission: 15
dive: 231
start: 8 26 109 15 22 2
data:
$ID,144
$MISSION,15
$DIVE,231
$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,-65425.215
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,151437,5000.162,-14441.796,50,1.6,51,18.5
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-67.1
$GPS2,152108,5000.173,-14441.807,13,1.3,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.079,0.148
$KALMAN_X,-7060.7,164.3,58.6,40830.6,-1034.3
$KALMAN_Y,5901.6,69.4,-164.8,-44339.6,-414.7
$MHEAD_RNG_PITCHd_Wd,313.4,17347,-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,13,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.60,0.000,2,0.000,0.000,98,2305,2693
$GC,62,-0.68,-117.3,3.3,-5.4,4,92,7.12,2.35,-17.05,0.000,4,0.238,0.068,1834,3713,3413
$GC,150,-0.42,-117.3,16.8,-15.9,12,155,0.25,2.22,0.00,0.000,6,0.127,0.031,1908,2297,3414
$GC,475,-0.57,-117.3,44.4,-7.3,42,480,0.12,2.22,0.00,0.000,4,0.056,0.039,1821,891,3415
$GC,683,-0.40,-117.3,68.2,-12.7,60,688,0.32,2.22,0.00,0.000,6,0.123,0.036,1910,2306,3416
$GC,1017,-0.58,-117.3,88.3,-5.7,84,1019,0.12,0.00,0.00,0.000,6,0.057,0.000,1823,2306,3417
$GC,1324,-0.40,-117.3,123.6,-11.4,99,1329,0.25,2.25,0.00,0.000,4,0.122,0.045,1906,892,3417
$GC,1357,-0.58,-117.3,126.3,-6.5,100,1364,0.12,2.22,0.00,0.000,6,0.057,0.038,1823,2306,3417
$GC,1693,-0.48,-117.3,156.2,-8.5,116,1695,0.25,0.00,0.00,0.000,6,0.121,0.000,1899,2306,3417
$GC,2000,-0.75,-117.3,171.5,-5.3,126,2001,0.20,0.00,0.00,0.000,6,0.056,0.000,1818,2306,3417
$GC,2306,-0.91,-117.3,194.8,-7.5,136,2310,0.00,2.22,0.00,0.000,4,0.000,0.048,1818,897,3416
$GC,2509,-0.85,-117.3,213.8,-9.8,142,2513,0.00,2.22,0.00,0.000,6,0.000,0.041,1808,2307,3416
$GC,2844,-0.73,-117.3,245.0,-9.4,153,2846,0.12,0.00,0.00,0.000,6,0.136,0.000,1843,2307,3415
$GC,3149,-0.73,-117.3,267.1,-7.0,163,3153,0.00,2.25,0.00,0.000,4,0.000,0.049,1843,891,3415
$GC,3222,-0.79,-117.3,272.6,-7.6,165,3226,0.00,2.22,0.00,0.000,6,0.000,0.041,1837,2304,3415
$GC,3546,-0.79,-117.3,296.3,-7.4,176,3549,0.00,2.22,0.00,0.000,4,0.000,0.051,1837,897,3414
$GC,3590,-0.79,-117.3,300.1,-9.1,177,3594,0.00,2.22,0.00,0.000,6,0.000,0.040,1836,2307,3414
$GC,3916,-0.79,-117.3,326.7,-8.3,183,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2307,3413
$GC,4220,-0.79,-117.3,350.8,-7.8,188,4223,0.00,2.22,0.00,0.000,4,0.000,0.051,1836,899,3412
$GC,4264,-0.79,-117.3,354.4,-8.1,188,4268,0.00,2.22,0.00,0.000,6,0.000,0.047,1827,2309,3412
$GC,4591,-0.79,-117.3,377.8,-7.1,194,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2309,3412
$GC,4893,-0.79,-117.3,397.3,-6.4,199,4897,0.00,2.25,0.00,0.000,4,0.000,0.050,1827,891,3411
$GC,4960,-0.79,-117.3,401.8,-6.4,200,4964,0.00,2.25,0.00,0.000,6,0.000,0.041,1822,2294,3411
$GC,5326,-0.79,-117.3,425.4,-6.5,206,5330,0.00,2.22,0.00,0.000,4,0.000,0.047,1822,891,3411
$GC,5364,-0.79,-117.3,428.2,-7.4,206,5368,0.00,2.22,0.00,0.000,6,0.000,0.044,1814,2302,3410
$GC,5697,-0.74,-117.3,452.0,-7.2,212,5699,0.10,0.00,0.00,0.000,6,0.140,0.000,1841,2302,3411
$GC,6000,-0.80,-117.3,470.5,-6.1,217,6004,0.00,2.22,0.00,0.000,4,0.000,0.049,1841,896,3410
$GC,6050,-0.89,-117.3,473.8,-6.4,217,6055,0.12,2.22,0.00,0.000,6,0.060,0.045,1766,2307,3409
$GC,6365,-0.67,-117.3,506.2,-10.6,223,6367,0.30,0.00,0.00,0.000,6,0.129,0.000,1858,2306,3409
$GC,6668,-0.81,-117.3,523.7,-5.6,228,6673,0.12,2.25,0.00,0.000,4,0.058,0.045,1780,895,3409
$GC,6701,-0.65,-117.3,526.5,-10.0,228,6706,0.30,2.22,0.00,0.000,6,0.124,0.039,1861,2303,3409
$GC,7028,-0.82,-117.3,544.8,-5.5,234,7030,0.12,0.00,0.00,0.000,6,0.059,0.000,1786,2303,3409
$GC,7330,-0.68,-117.3,573.3,-9.6,239,7332,0.22,0.00,0.00,0.000,6,0.124,0.000,1853,2303,3409
$GC,7634,-0.81,-117.3,592.3,-6.1,244,7636,0.12,0.00,0.00,0.000,6,0.061,0.000,1779,2303,3408
$GC,7937,-0.65,-117.3,622.0,-10.0,249,7941,0.22,2.25,0.00,0.000,4,0.126,0.052,1853,898,3407
$GC,7992,-0.81,-117.3,626.3,-7.0,249,7999,0.10,2.22,0.00,0.000,6,0.068,0.041,1788,2304,3407
$GC,8302,-0.69,-117.3,653.0,-8.8,255,8307,0.20,2.28,0.00,0.000,4,0.125,0.054,1844,3712,3407
$GC,8335,-0.82,-117.3,655.4,-6.9,255,8339,0.00,2.17,0.00,0.000,6,0.000,0.035,1844,2299,3407
$GC,8669,-0.95,-117.3,673.1,-5.2,261,8674,0.15,2.22,0.00,0.000,4,0.056,0.045,1764,894,3407
$GC,8707,-0.73,-117.3,676.5,-10.3,261,8712,0.30,2.22,0.00,0.000,6,0.128,0.040,1844,2301,3407
$GC,9034,-0.85,-117.3,692.9,-4.8,267,9036,0.12,0.00,0.00,0.000,6,0.060,0.000,1771,2302,3407
$GC,9337,-0.66,-117.3,716.7,-8.1,272,9339,0.28,0.00,0.00,0.000,6,0.123,0.000,1855,2302,3406
$GC,9640,-0.83,-117.3,728.0,-3.6,277,9642,0.12,0.00,0.00,0.000,6,0.063,0.000,1782,2302,3406
$GC,9943,-0.69,-117.3,748.8,-7.1,282,9945,0.22,0.00,0.00,0.000,6,0.122,0.000,1850,2302,3406
$GC,10247,-0.85,-117.3,761.8,-4.2,287,10248,0.12,0.00,0.00,0.000,6,0.067,0.000,1783,2302,3406
$GC,10549,-0.72,-117.3,784.4,-7.6,292,10551,0.20,0.00,0.00,0.000,6,0.123,0.000,1844,2302,3406
$GC,10853,-0.86,-117.3,800.3,-5.1,297,10855,0.12,0.00,0.00,0.000,6,0.069,0.000,1783,2301,3405
$GC,11155,-0.73,-117.3,825.3,-8.4,302,11160,0.20,2.28,0.00,0.000,4,0.123,0.046,1847,894,3405
$GC,11195,-0.89,-117.3,828.0,-5.8,302,11200,0.15,2.25,0.00,0.000,6,0.064,0.041,1782,2304,3406
$GC,11517,-0.76,-117.3,855.1,-8.6,308,11518,0.17,0.00,0.00,0.000,6,0.127,0.000,1833,2303,3405
$GC,11820,-0.86,-117.3,873.7,-6.0,313,11821,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2304,3405
$GC,12122,-0.96,-117.3,892.1,-6.1,318,12127,0.15,2.28,0.00,0.000,4,0.068,0.050,1769,892,3405
$GC,12149,-0.86,-117.3,894.5,-8.3,318,12154,0.20,2.25,0.00,0.000,6,0.139,0.048,1815,2304,3405
$GC,12481,-0.86,-117.3,917.9,-6.9,324,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2304,3405
$GC,12784,-0.86,-117.3,938.2,-6.7,329,12788,0.00,2.28,0.00,0.000,4,0.000,0.048,1815,893,3405
$GC,12816,-0.86,-117.3,940.6,-7.9,329,12820,0.00,2.25,0.00,0.000,6,0.000,0.044,1808,2304,3405
$GC,13149,-0.86,-117.3,963.0,-6.7,335,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3405
$GC,13452,-0.86,-117.3,982.0,-6.2,340,13456,0.00,2.28,0.00,0.000,4,0.000,0.050,1808,893,3404
$GC,13506,-0.86,-117.3,985.7,-7.0,340,13513,0.00,2.28,0.00,0.000,6,0.000,0.044,1799,2301,3404
$STATE,13632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13632,begin apogee
$GC,13638,-0.22,0.0,993.5,6.3,343,13735,0.50,0.00,94.32,1.328,6,0.127,0.000,1956,2301,2931
$STATE,13736,end apogee,CONTROL_FINISHED_OK
$STATE,13736,begin climb
$GC,13739,0.68,117.3,994.3,0.0,344,13842,0.57,0.00,100.72,1.297,6,0.075,0.000,2151,2301,2452
$GC,14118,0.41,117.3,968.9,8.4,351,14120,0.25,0.00,0.00,0.000,6,0.153,0.000,2086,2301,2442
$GC,14421,0.41,117.3,951.3,5.6,356,14425,0.00,2.33,0.00,0.000,4,0.000,0.054,2086,3709,2440
$GC,14454,0.32,117.3,949.1,6.3,356,14459,0.10,2.25,0.00,0.000,6,0.179,0.035,2071,2302,2439
$GC,14780,0.35,136.0,932.9,4.9,362,14797,0.00,0.00,14.93,1.186,6,0.000,0.000,2071,2302,2376
$GC,15085,0.44,159.1,918.4,4.7,367,15111,0.10,2.35,20.77,1.211,4,0.078,0.057,2115,3717,2282
$GC,15139,0.26,159.1,914.8,7.4,367,15146,0.25,2.28,0.00,0.000,6,0.160,0.037,2059,2304,2279
$GC,15450,0.56,175.4,899.8,4.9,373,15470,0.17,2.33,15.07,1.167,4,0.070,0.055,2137,892,2214
$GC,15573,0.46,175.4,891.4,6.9,374,15580,0.15,2.30,0.00,0.000,6,0.140,0.045,2098,2309,2211
$GC,15883,0.47,185.3,875.0,5.2,380,15897,0.00,2.30,9.35,1.079,4,0.000,0.055,2098,3712,2175
$GC,15952,0.42,185.3,870.8,6.3,381,15956,0.00,2.25,0.00,0.000,6,0.000,0.035,2106,2295,2173
$GC,16317,0.42,185.3,850.1,5.6,387,16319,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2295,2172
$GC,16620,0.42,185.3,832.9,5.6,392,16625,0.00,2.30,0.00,0.000,4,0.000,0.052,2106,3711,2171
$GC,16654,0.35,185.3,830.6,6.7,392,16658,0.15,2.20,0.00,0.000,6,0.155,0.035,2077,2302,2171
$GC,16986,0.62,193.6,814.0,5.2,398,17001,0.20,2.33,8.32,1.029,4,0.061,0.055,2159,3709,2140
$GC,17115,0.31,193.6,802.1,10.4,399,17122,0.38,2.22,0.00,0.000,6,0.156,0.038,2065,2300,2139
$GC,17425,0.65,204.1,786.1,5.1,405,17441,0.20,2.25,10.52,1.060,4,0.064,0.048,2156,891,2097
$GC,17539,0.51,204.1,778.2,7.1,406,17543,0.17,2.28,0.00,0.000,6,0.140,0.041,2109,2309,2095
$GC,17853,0.52,213.2,761.4,5.2,412,17868,0.00,2.30,9.05,1.018,4,0.000,0.058,2109,3707,2061
$GC,17914,0.53,217.5,757.7,5.4,412,17924,0.00,2.22,5.47,0.862,6,0.000,0.034,2117,2308,2044
$GC,18291,0.53,217.5,735.4,5.9,419,18292,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2308,2040
$GC,18594,0.53,217.5,717.7,5.8,424,18595,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2308,2040
$GC,18897,0.53,217.5,700.0,5.8,429,18901,0.00,2.28,0.00,0.000,4,0.000,0.055,2117,3714,2040
$GC,18938,0.46,217.5,697.2,9.0,429,18943,0.12,2.22,0.00,0.000,6,0.146,0.039,2093,2295,2039
$GC,19259,0.59,239.4,681.6,4.8,435,19284,0.12,2.28,19.65,1.075,4,0.059,0.049,2173,892,1953
$GC,19307,0.43,239.4,677.8,8.1,435,19312,0.28,2.28,0.00,0.000,6,0.131,0.041,2094,2308,1951
$GC,19623,0.63,250.7,661.4,5.1,441,19639,0.15,2.30,10.57,0.987,4,0.066,0.051,2152,3720,1907
$GC,19661,0.68,250.7,658.5,7.6,441,19665,0.00,2.25,0.00,0.000,6,0.000,0.034,2162,2294,1906
$GC,19982,0.49,250.7,628.0,9.7,447,19986,0.20,2.33,0.00,0.000,4,0.145,0.049,2101,3719,1904
$GC,20014,0.49,250.7,625.3,6.7,447,20018,0.00,2.25,0.00,0.000,6,0.000,0.036,2110,2295,1904
$GC,20347,0.56,250.7,606.3,5.7,453,20348,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2295,1904
$GC,20650,0.64,250.7,589.3,5.6,458,20651,0.10,0.00,0.00,0.000,6,0.067,0.000,2176,2295,1903
$GC,20954,0.41,250.7,558.6,10.5,463,20959,0.28,2.30,0.00,0.000,4,0.139,0.053,2091,3710,1903
$GC,21003,0.53,250.7,554.6,6.4,463,21007,0.00,2.20,0.00,0.000,6,0.000,0.032,2099,2302,1903
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$STATE,29338,end climb,SURFACE_DEPTH_REACHED
$STATE,29338,begin surface coast
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$STATE,29382,end surface coast,CONTROL_FINISHED_OK
$STATE,29382,begin surface
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