version: 66.04
glider: 144
mission: 15
dive: 305
start: 9 20 109 15 11 14
data:
$ID,144
$MISSION,15
$DIVE,305
$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,-67167.188
$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,0.02
$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,34
$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
$GPS1,150407,5020.492,-14429.311,33,1.8,33,18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-54.7
$GPS2,151019,5020.490,-14429.318,31,2.0,31,18.7
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.026,-0.162
$KALMAN_X,-38811.4,-35.5,393.1,87202.5,-1005.5
$KALMAN_Y,22871.4,33.8,-169.9,-23638.7,1027.2
$MHEAD_RNG_PITCHd_Wd,152.1,49043,-12.8,-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,-0.69,-110.8,0.0,0.0,0,69,0.00,0.00,-51.95,0.000,2,0.000,0.000,98,2306,2534
$GC,72,-0.70,-117.3,3.2,-3.3,5,107,6.97,2.38,-22.52,0.000,4,0.228,0.069,1829,3713,3413
$GC,153,-0.62,-117.3,15.9,-18.6,12,158,0.12,2.22,0.00,0.000,6,0.127,0.033,1864,2303,3413
$GC,479,-0.59,-117.3,51.8,-9.1,42,483,0.00,2.25,0.00,0.000,4,0.000,0.041,1864,890,3414
$GC,613,-0.62,-117.3,62.6,-7.7,53,619,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2301,3415
$GC,935,-0.62,-117.3,89.9,-8.9,79,939,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,889,3416
$GC,991,-0.64,-117.3,95.1,-9.0,81,997,0.00,2.25,0.00,0.000,6,0.000,0.038,1861,2300,3416
$GC,1306,-0.64,-117.3,121.2,-7.8,97,1310,0.00,2.22,0.00,0.000,4,0.000,0.041,1861,893,3416
$GC,1384,-0.68,-117.3,127.6,-7.8,100,1388,0.00,2.25,0.00,0.000,6,0.000,0.036,1852,2312,3417
$GC,1701,-0.70,-117.3,151.0,-7.2,115,1704,0.00,2.25,0.00,0.000,4,0.000,0.048,1851,895,3416
$GC,1745,-0.74,-117.3,154.5,-7.3,116,1749,0.00,2.22,0.00,0.000,6,0.000,0.039,1850,2302,3416
$GC,2069,-0.78,-117.3,177.3,-7.3,127,2073,0.00,2.25,0.00,0.000,4,0.000,0.048,1850,886,3415
$GC,2103,-0.82,-117.3,179.8,-7.3,128,2108,0.10,2.25,0.00,0.000,6,0.070,0.041,1783,2309,3416
$GC,2432,-0.74,-117.3,213.9,-10.6,139,2434,0.20,0.00,0.00,0.000,6,0.127,0.000,1841,2309,3415
$GC,2739,-0.77,-117.3,235.8,-7.0,149,2742,0.00,2.25,0.00,0.000,4,0.000,0.046,1841,894,3415
$GC,2789,-0.82,-117.3,239.6,-7.4,150,2793,0.00,2.25,0.00,0.000,6,0.000,0.042,1837,2313,3414
$GC,3107,-0.84,-117.3,263.6,-7.8,161,3111,0.00,2.28,0.00,0.000,4,0.000,0.047,1837,888,3414
$GC,3135,-0.87,-117.3,265.9,-8.1,162,3140,0.10,2.25,0.00,0.000,6,0.069,0.040,1771,2304,3413
$GC,3501,-0.77,-117.3,306.9,-11.1,173,3505,0.20,2.25,0.00,0.000,4,0.130,0.049,1833,894,3413
$GC,3556,-0.80,-117.3,311.8,-7.7,173,3562,0.00,2.25,0.00,0.000,6,0.000,0.044,1827,2316,3413
$GC,3866,-0.80,-117.3,333.0,-6.8,179,3870,0.00,2.28,0.00,0.000,4,0.000,0.045,1827,886,3412
$GC,3910,-0.80,-117.3,336.3,-7.8,179,3915,0.00,2.25,0.00,0.000,6,0.000,0.041,1821,2304,3412
$GC,4225,-0.80,-117.3,360.0,-7.5,185,4229,0.00,2.25,0.00,0.000,4,0.000,0.044,1821,889,3412
$GC,4281,-0.80,-117.3,364.8,-8.7,185,4288,0.00,2.28,0.00,0.000,6,0.000,0.040,1811,2301,3411
$GC,4590,-0.80,-117.3,391.1,-8.6,191,4594,0.00,2.28,0.00,0.000,4,0.000,0.048,1812,885,3411
$GC,4629,-0.80,-117.3,394.7,-9.2,191,4633,0.00,2.28,0.00,0.000,6,0.000,0.039,1807,2312,3411
$GC,4951,-0.78,-117.3,422.6,-8.7,197,4955,0.10,2.30,0.00,0.000,4,0.145,0.047,1834,886,3410
$GC,4991,-0.83,-117.3,425.7,-7.4,197,4995,0.00,2.28,0.00,0.000,6,0.000,0.041,1835,2311,3410
$GC,5313,-0.87,-117.3,447.6,-6.8,203,5317,0.10,2.25,0.00,0.000,4,0.067,0.048,1771,896,3409
$GC,5357,-0.78,-117.3,452.1,-11.1,203,5362,0.22,2.25,0.00,0.000,6,0.129,0.042,1830,2310,3409
$GC,5673,-0.82,-117.3,473.4,-6.6,209,5677,0.00,2.28,0.00,0.000,4,0.000,0.051,1831,893,3409
$GC,5707,-0.87,-117.3,476.0,-7.2,209,5711,0.00,2.22,0.00,0.000,6,0.000,0.038,1824,2304,3409
$GC,6040,-0.89,-117.3,499.2,-7.0,215,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2305,3408
$GC,6342,-0.92,-117.3,520.0,-6.8,220,6346,0.10,2.25,0.00,0.000,4,0.066,0.048,1760,895,3408
$GC,6431,-0.82,-117.3,529.2,-11.0,221,6436,0.22,2.25,0.00,0.000,6,0.130,0.041,1820,2302,3408
$GC,6769,-0.84,-117.3,552.2,-6.7,227,6773,0.00,2.25,0.00,0.000,4,0.000,0.048,1821,890,3408
$GC,6836,-0.87,-117.3,557.2,-7.6,228,6840,0.00,2.25,0.00,0.000,6,0.000,0.041,1820,2305,3408
$GC,7196,-0.89,-117.3,580.4,-6.5,234,7200,0.00,2.25,0.00,0.000,4,0.000,0.045,1821,893,3408
$GC,7241,-0.92,-117.3,583.4,-6.9,234,7245,0.00,2.25,0.00,0.000,6,0.000,0.044,1811,2312,3407
$GC,7556,-0.92,-117.3,605.6,-7.1,240,7560,0.00,2.25,0.00,0.000,4,0.000,0.050,1811,898,3407
$GC,7583,-0.92,-117.3,607.7,-7.8,240,7587,0.00,2.25,0.00,0.000,6,0.000,0.046,1807,2308,3407
$GC,7915,-0.92,-117.3,631.4,-7.1,246,7919,0.00,2.28,0.00,0.000,4,0.000,0.050,1807,883,3406
$GC,7958,-0.92,-117.3,634.9,-8.1,246,7962,0.00,2.28,0.00,0.000,6,0.000,0.046,1798,2311,3406
$GC,8280,-0.92,-117.3,659.8,-7.8,252,8284,0.00,2.28,0.00,0.000,4,0.000,0.044,1798,893,3406
$GC,8319,-0.90,-117.3,663.1,-8.3,252,8323,0.00,2.25,0.00,0.000,6,0.000,0.045,1794,2310,3406
$GC,8646,-0.87,-117.3,689.8,-8.2,258,8650,0.00,2.28,0.00,0.000,4,0.000,0.048,1794,890,3405
$GC,8679,-0.85,-117.3,692.7,-8.8,258,8683,0.00,2.28,0.00,0.000,6,0.000,0.041,1793,2313,3406
$GC,9006,-0.83,-117.3,718.1,-7.7,264,9010,0.10,2.28,0.00,0.000,4,0.143,0.045,1820,894,3405
$GC,9038,-0.86,-117.3,720.5,-7.4,264,9042,0.00,2.25,0.00,0.000,6,0.000,0.044,1820,2305,3405
$GC,9365,-0.90,-117.3,740.3,-6.1,270,9369,0.00,2.28,0.00,0.000,4,0.000,0.046,1820,891,3405
$GC,9392,-0.93,-117.3,742.2,-7.0,270,9396,0.00,2.28,0.00,0.000,6,0.000,0.039,1818,2314,3406
$GC,9724,-0.97,-117.3,763.5,-6.5,276,9729,0.10,2.28,0.00,0.000,4,0.071,0.045,1763,892,3405
$GC,9768,-0.88,-117.3,767.5,-10.3,276,9773,0.20,2.25,0.00,0.000,6,0.127,0.042,1813,2305,3405
$GC,10084,-0.91,-117.3,788.3,-6.5,282,10088,0.00,2.28,0.00,0.000,4,0.000,0.045,1813,892,3405
$GC,10117,-0.94,-117.3,790.7,-7.4,282,10121,0.00,2.25,0.00,0.000,6,0.000,0.040,1809,2303,3405
$GC,10450,-0.94,-117.3,813.1,-6.8,288,10452,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3405
$GC,10752,-0.94,-117.3,834.2,-7.0,293,10756,0.00,2.28,0.00,0.000,4,0.000,0.052,1809,888,3405
$GC,10796,-0.94,-117.3,837.7,-7.7,293,10800,0.00,2.28,0.00,0.000,6,0.000,0.047,1808,2311,3404
$GC,11111,-0.94,-117.3,859.3,-6.9,299,11115,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,895,3404
$GC,11151,-0.94,-117.3,862.2,-7.2,299,11155,0.00,2.28,0.00,0.000,6,0.000,0.044,1805,2309,3404
$GC,11472,-0.94,-117.3,883.7,-6.6,305,11476,0.00,2.28,0.00,0.000,4,0.000,0.046,1805,896,3404
$GC,11517,-0.94,-117.3,887.0,-7.0,305,11521,0.00,2.25,0.00,0.000,6,0.000,0.040,1795,2303,3404
$GC,11832,-0.94,-117.3,908.7,-6.9,311,11836,0.00,2.28,0.00,0.000,4,0.000,0.049,1795,892,3404
$GC,11876,-0.94,-117.3,912.0,-7.9,311,11880,0.00,2.28,0.00,0.000,6,0.000,0.047,1794,2308,3404
$GC,12196,-0.94,-117.3,933.2,-6.6,317,12198,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2308,3404
$GC,12500,-0.94,-117.3,952.8,-6.4,322,12504,0.00,2.30,0.00,0.000,4,0.000,0.051,1794,893,3403
$GC,12545,-0.94,-117.3,956.0,-7.1,322,12548,0.00,2.28,0.00,0.000,6,0.000,0.049,1794,2305,3403
$GC,12866,-0.94,-117.3,976.0,-6.3,328,12867,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2305,3403
$STATE,13107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13107,begin apogee
$GC,13113,-0.22,0.0,991.1,6.2,332,13212,0.50,0.00,95.53,1.306,6,0.124,0.000,1951,2305,2931
$STATE,13212,end apogee,CONTROL_FINISHED_OK
$STATE,13213,begin climb
$GC,13215,0.70,117.3,992.3,0.0,333,13323,0.57,2.53,101.32,1.276,4,0.074,0.057,2152,3707,2453
$GC,13362,0.51,117.3,987.6,8.3,335,13367,0.22,2.38,0.00,0.000,6,0.168,0.035,2110,2306,2448
$GC,13706,0.47,117.3,968.5,5.6,341,13710,0.00,2.35,0.00,0.000,4,0.000,0.050,2119,890,2442
$GC,13747,0.44,117.3,966.2,5.6,341,13751,0.10,2.33,0.00,0.000,6,0.143,0.042,2095,2313,2441
$GC,14067,0.47,142.1,951.0,4.6,347,14093,0.00,2.33,20.80,1.203,4,0.000,0.051,2095,3713,2349
$GC,14128,0.43,142.1,947.5,6.2,348,14133,0.00,2.28,0.00,0.000,6,0.000,0.037,2103,2299,2347
$GC,14494,0.43,142.1,927.5,5.5,354,14495,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2299,2345
$GC,14797,0.44,144.9,911.1,5.4,359,14801,0.00,2.33,0.00,0.000,4,0.000,0.054,2103,3717,2344
$GC,14831,0.39,144.9,908.8,7.4,359,14836,0.12,2.25,0.00,0.000,6,0.158,0.038,2083,2301,2344
$GC,15157,0.45,170.7,893.7,4.6,365,15187,0.00,2.33,24.35,1.197,4,0.000,0.050,2092,897,2235
$GC,15205,0.53,183.6,891.2,5.0,365,15223,0.08,2.30,12.73,1.111,6,0.087,0.043,2132,2309,2181
$GC,15525,0.48,183.6,868.8,7.2,371,15530,0.12,2.30,0.00,0.000,4,0.144,0.056,2097,3719,2176
$GC,15574,0.48,183.6,865.3,7.0,371,15578,0.00,2.25,0.00,0.000,6,0.000,0.040,2106,2296,2175
$GC,15890,0.48,183.6,847.0,5.8,377,15891,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2296,2174
$GC,16193,0.48,183.6,829.8,5.7,382,16197,0.00,2.33,0.00,0.000,4,0.000,0.050,2106,3718,2174
$GC,16231,0.46,183.6,827.1,7.2,382,16235,0.00,2.25,0.00,0.000,6,0.000,0.033,2116,2296,2174
$GC,16552,0.46,183.6,807.2,6.3,388,16556,0.00,2.30,0.00,0.000,4,0.000,0.051,2116,3711,2173
$GC,16585,0.42,183.6,804.7,7.5,388,16590,0.15,2.20,0.00,0.000,6,0.151,0.033,2087,2303,2173
$GC,16917,0.48,188.8,786.9,5.3,394,16926,0.00,2.30,4.75,0.814,4,0.000,0.054,2096,887,2161
$GC,16956,0.55,188.8,784.6,5.9,394,16961,0.08,2.28,0.00,0.000,6,0.086,0.040,2142,2307,2160
$GC,17282,0.49,188.8,758.7,8.2,400,17287,0.15,2.28,0.00,0.000,4,0.143,0.054,2100,3715,2159
$GC,17354,0.49,188.8,753.1,7.2,401,17358,0.00,2.22,0.00,0.000,6,0.000,0.034,2108,2302,2159
$GC,17714,0.49,188.8,730.7,6.2,407,17715,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2302,2159
$GC,18018,0.49,188.8,712.2,6.1,412,18022,0.00,2.28,0.00,0.000,4,0.000,0.053,2108,3709,2159
$GC,18044,0.49,188.8,710.2,7.3,412,18049,0.00,2.20,0.00,0.000,6,0.000,0.033,2118,2294,2158
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$STATE,28805,end climb,SURFACE_DEPTH_REACHED
$STATE,28805,begin surface coast
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$STATE,28817,end surface coast,CONTROL_FINISHED_OK
$STATE,28817,begin surface
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