version: 66.04
glider: 144
mission: 15
dive: 314
start: 9 23 109 17 29 37
data:
$ID,144
$MISSION,15
$DIVE,314
$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,-67338.266
$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,37
$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
$GPS1,172037,4956.534,-14433.362,27,1.7,27,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-62.4
$GPS2,172843,4956.481,-14433.341,13,1.7,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.095,0.138
$KALMAN_X,-41116.2,-114.5,-101.1,85338.2,-1018.0
$KALMAN_Y,18874.2,55.6,-203.0,-64098.9,-583.1
$MHEAD_RNG_PITCHd_Wd,306.8,29177,-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,-31.38,0.000,2,0.000,0.000,102,2291,2569
$GC,51,-0.68,-117.3,3.3,-6.0,3,86,7.18,2.25,-20.35,0.000,4,0.236,0.064,1844,896,3412
$GC,233,-0.61,-117.3,26.9,-12.0,19,238,0.12,2.25,0.00,0.000,6,0.145,0.037,1868,2308,3414
$GC,558,-0.61,-117.3,55.4,-7.5,49,562,0.00,2.25,0.00,0.000,4,0.000,0.041,1868,893,3414
$GC,610,-0.63,-117.3,59.7,-8.3,53,614,0.00,2.22,0.00,0.000,6,0.000,0.035,1863,2306,3414
$GC,942,-0.63,-117.3,88.9,-8.4,79,946,0.00,2.22,0.00,0.000,4,0.000,0.041,1863,898,3415
$GC,970,-0.63,-117.3,91.5,-9.0,80,974,0.00,2.25,0.00,0.000,6,0.000,0.040,1862,2310,3416
$GC,1291,-0.63,-117.3,117.8,-8.3,96,1295,0.00,2.25,0.00,0.000,4,0.000,0.045,1862,893,3416
$GC,1324,-0.65,-117.3,120.6,-8.0,97,1330,0.00,2.22,0.00,0.000,6,0.000,0.044,1853,2307,3416
$GC,1640,-0.65,-117.3,146.7,-7.6,113,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2307,3416
$GC,1947,-0.68,-117.3,167.7,-6.6,124,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2307,3415
$GC,2253,-0.72,-117.3,187.0,-6.2,134,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2307,3415
$GC,2559,-0.76,-117.3,206.5,-6.2,144,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2307,3414
$GC,2866,-0.80,-117.3,226.0,-6.4,154,2870,0.10,2.25,0.00,0.000,4,0.067,0.048,1780,895,3414
$GC,2949,-0.72,-117.3,235.0,-11.5,156,2954,0.25,2.25,0.00,0.000,6,0.123,0.039,1843,2313,3414
$GC,3262,-0.75,-117.3,258.2,-7.3,166,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2314,3414
$GC,3568,-0.78,-117.3,279.2,-6.7,176,3572,0.00,2.25,0.00,0.000,4,0.000,0.043,1843,893,3413
$GC,3617,-0.83,-117.3,282.9,-7.3,177,3621,0.00,2.25,0.00,0.000,6,0.000,0.045,1837,2307,3412
$GC,3935,-0.85,-117.3,305.6,-7.3,187,3939,0.00,2.25,0.00,0.000,4,0.000,0.055,1833,3708,3412
$GC,3969,-0.88,-117.3,308.1,-7.7,187,3973,0.10,2.17,0.00,0.000,6,0.063,0.031,1767,2293,3411
$GC,4295,-0.78,-117.3,344.2,-11.3,193,4300,0.17,2.22,0.00,0.000,4,0.130,0.043,1826,890,3412
$GC,4367,-0.78,-117.3,351.0,-8.9,194,4371,0.00,2.22,0.00,0.000,6,0.000,0.041,1821,2300,3412
$GC,4726,-0.78,-117.3,380.7,-8.3,200,4730,0.00,2.25,0.00,0.000,4,0.000,0.044,1821,889,3410
$GC,4765,-0.78,-117.3,384.2,-9.2,200,4769,0.00,2.25,0.00,0.000,6,0.000,0.041,1811,2308,3411
$GC,5092,-0.78,-117.3,410.6,-8.0,206,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2308,3410
$GC,5395,-0.78,-117.3,433.8,-7.6,211,5399,0.00,2.25,0.00,0.000,4,0.000,0.048,1811,896,3409
$GC,5438,-0.78,-117.3,437.4,-8.3,211,5443,0.10,2.25,0.00,0.000,6,0.140,0.040,1834,2308,3409
$GC,5760,-0.81,-117.3,458.7,-6.7,217,5764,0.00,2.25,0.00,0.000,4,0.000,0.048,1834,897,3409
$GC,5799,-0.85,-117.3,461.4,-7.1,217,5803,0.00,2.25,0.00,0.000,6,0.000,0.046,1834,2313,3409
$GC,6120,-0.89,-117.3,483.4,-6.9,223,6122,0.10,0.00,0.00,0.000,6,0.069,0.000,1770,2313,3409
$GC,6423,-0.80,-117.3,514.3,-10.4,228,6427,0.17,2.25,0.00,0.000,4,0.127,0.048,1827,899,3408
$GC,6496,-0.83,-117.3,520.3,-7.6,229,6500,0.00,2.22,0.00,0.000,6,0.000,0.043,1822,2302,3408
$GC,6851,-0.83,-117.3,546.1,-7.2,235,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2302,3408
$GC,7154,-0.83,-117.3,568.5,-7.4,240,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2302,3408
$GC,7457,-0.83,-117.3,590.2,-7.1,245,7461,0.00,2.25,0.00,0.000,4,0.000,0.052,1822,894,3408
$GC,7502,-0.85,-117.3,593.9,-8.0,245,7506,0.00,2.25,0.00,0.000,6,0.000,0.044,1821,2303,3407
$GC,7819,-0.85,-117.3,617.5,-7.5,251,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2304,3408
$GC,8120,-0.85,-117.3,640.2,-7.5,256,8124,0.00,2.25,0.00,0.000,4,0.000,0.049,1821,896,3407
$GC,8164,-0.85,-117.3,643.7,-8.0,256,8168,0.00,2.25,0.00,0.000,6,0.000,0.039,1811,2305,3407
$GC,8486,-0.85,-117.3,668.6,-7.8,262,8490,0.00,2.28,0.00,0.000,4,0.000,0.045,1811,894,3407
$GC,8518,-0.85,-117.3,671.4,-8.1,262,8522,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2306,3407
$GC,8851,-0.85,-117.3,697.4,-7.8,268,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3407
$GC,9153,-0.85,-117.3,720.0,-7.4,273,9158,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,889,3406
$GC,9192,-0.85,-117.3,723.1,-7.3,273,9196,0.00,2.28,0.00,0.000,6,0.000,0.041,1807,2310,3407
$GC,9513,-0.85,-117.3,746.9,-7.4,279,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2311,3406
$GC,9816,-0.85,-117.3,768.4,-7.1,284,9820,0.00,2.28,0.00,0.000,4,0.000,0.045,1807,899,3406
$GC,9859,-0.85,-117.3,771.8,-7.3,284,9863,0.00,2.28,0.00,0.000,6,0.000,0.041,1804,2313,3406
$GC,10181,-0.85,-117.3,794.7,-7.1,290,10185,0.00,2.28,0.00,0.000,4,0.000,0.051,1804,900,3405
$GC,10219,-0.85,-117.3,797.7,-7.6,290,10223,0.00,2.25,0.00,0.000,6,0.000,0.040,1795,2307,3405
$GC,10546,-0.83,-117.3,822.6,-7.7,296,10550,0.10,2.28,0.00,0.000,4,0.137,0.045,1823,900,3405
$GC,10578,-0.87,-117.3,825.1,-7.1,296,10582,0.00,2.25,0.00,0.000,6,0.000,0.041,1822,2302,3405
$GC,10905,-0.90,-117.3,847.3,-6.9,302,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2303,3405
$GC,11208,-0.94,-117.3,867.9,-6.8,307,11209,0.10,0.00,0.00,0.000,6,0.078,0.000,1773,2303,3405
$GC,11511,-0.88,-117.3,895.0,-9.0,312,11516,0.15,2.28,0.00,0.000,4,0.126,0.047,1816,899,3404
$GC,11544,-0.90,-117.3,897.9,-7.6,312,11549,0.00,2.28,0.00,0.000,6,0.000,0.048,1809,2312,3404
$GC,11877,-0.90,-117.3,920.7,-6.8,318,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2312,3404
$GC,12179,-0.90,-117.3,940.2,-6.4,323,12183,0.00,2.30,0.00,0.000,4,0.000,0.050,1810,900,3404
$GC,12242,-0.90,-117.3,944.5,-6.5,324,12246,0.00,2.28,0.00,0.000,6,0.000,0.042,1808,2306,3404
$GC,12607,-0.90,-117.3,967.3,-6.3,330,12609,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3405
$GC,12910,-0.90,-117.3,986.4,-6.3,335,12914,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,893,3404
$GC,12959,-0.90,-117.3,989.7,-6.5,335,12963,0.00,2.30,0.00,0.000,6,0.000,0.045,1806,2313,3404
$STATE,12969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12969,begin apogee
$GC,12975,-0.22,0.0,990.3,5.8,336,13073,0.47,0.00,95.65,1.308,6,0.118,0.000,1957,2313,2931
$STATE,13074,end apogee,CONTROL_FINISHED_OK
$STATE,13074,begin climb
$GC,13077,0.68,117.3,991.7,0.0,337,13182,0.57,0.00,102.07,1.278,6,0.073,0.000,2153,2313,2452
$GC,13515,0.55,117.3,967.0,7.4,345,13519,0.15,2.33,0.00,0.000,4,0.155,0.058,2116,3710,2442
$GC,13559,0.45,117.3,963.7,6.7,345,13564,0.12,2.28,0.00,0.000,6,0.166,0.035,2094,2301,2441
$GC,13874,0.47,135.3,948.0,4.9,351,13891,0.00,0.00,14.95,1.165,6,0.000,0.000,2094,2300,2379
$GC,14178,0.49,145.0,932.4,5.2,356,14192,0.00,2.35,9.68,1.091,4,0.000,0.053,2094,3719,2338
$GC,14209,0.51,163.0,930.6,4.9,356,14233,0.00,2.28,16.88,1.167,6,0.000,0.035,2102,2296,2266
$GC,14543,0.51,163.0,911.7,5.6,362,14547,0.00,2.33,0.00,0.000,4,0.000,0.051,2102,3710,2262
$GC,14582,0.47,163.0,909.2,6.7,362,14586,0.00,2.25,0.00,0.000,6,0.000,0.039,2112,2299,2261
$GC,14903,0.44,163.0,890.3,5.9,368,14907,0.00,2.30,0.00,0.000,4,0.000,0.053,2112,3710,2260
$GC,14932,0.39,163.0,888.4,6.3,368,14937,0.15,2.25,0.00,0.000,6,0.157,0.035,2084,2297,2260
$GC,15264,0.45,188.0,872.7,4.7,374,15288,0.00,0.00,22.27,1.179,6,0.000,0.000,2084,2297,2164
$GC,15568,0.52,205.0,857.8,4.9,379,15586,0.10,0.00,15.95,1.134,6,0.077,0.000,2135,2296,2095
$GC,15870,0.48,205.0,835.4,7.6,384,15875,0.12,2.33,0.00,0.000,4,0.139,0.056,2102,3710,2091
$GC,15908,0.48,205.0,832.5,6.9,384,15912,0.00,2.25,0.00,0.000,6,0.000,0.036,2110,2302,2090
$GC,16229,0.48,205.0,813.8,5.8,390,16233,0.00,2.30,0.00,0.000,4,0.000,0.052,2110,3710,2090
$GC,16251,0.48,205.0,812.2,6.2,390,16256,0.00,2.25,0.00,0.000,6,0.000,0.035,2121,2292,2089
$GC,16589,0.48,205.0,793.2,5.5,396,16593,0.00,2.30,0.00,0.000,4,0.000,0.050,2121,3710,2089
$GC,16633,0.44,205.0,790.3,6.4,396,16638,0.15,2.22,0.00,0.000,6,0.148,0.037,2091,2302,2089
$GC,16948,0.56,256.5,778.0,3.8,402,17008,0.12,0.00,47.35,1.114,6,0.062,0.000,2156,2301,1884
$GC,17311,0.49,256.5,748.3,8.6,408,17316,0.17,2.33,0.00,0.000,4,0.137,0.049,2102,3710,1877
$GC,17338,0.49,256.5,745.9,7.5,408,17342,0.00,2.28,0.00,0.000,6,0.000,0.035,2110,2286,1877
$GC,17677,0.54,256.5,725.8,6.0,414,17678,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2286,1875
$GC,17979,0.58,256.5,707.3,6.1,419,17983,0.00,2.35,0.00,0.000,4,0.000,0.051,2110,3719,1875
$GC,18003,0.62,256.5,705.7,6.6,419,18007,0.00,2.25,0.00,0.000,6,0.000,0.034,2118,2300,1875
$GC,18340,0.65,256.5,684.4,6.2,425,18342,0.08,0.00,0.00,0.000,6,0.081,0.000,2174,2300,1874
$GC,18644,0.56,256.5,656.7,9.3,430,18649,0.17,2.30,0.00,0.000,4,0.140,0.048,2119,3717,1874
$GC,18676,0.56,256.5,654.0,6.3,430,18680,0.00,2.25,0.00,0.000,6,0.000,0.035,2128,2297,1874
$GC,19009,0.56,256.5,635.4,5.6,436,19010,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2297,1874
$GC,19312,0.56,256.5,617.7,5.8,441,19316,0.00,2.30,0.00,0.000,4,0.000,0.048,2128,3713,1873
$GC,19344,0.56,256.5,615.3,6.3,441,19348,0.00,2.22,0.00,0.000,6,0.000,0.032,2137,2302,1873
$GC,19676,0.56,256.5,592.9,6.8,447,19678,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2302,1873
$GC,19980,0.56,256.5,570.2,7.6,452,19984,0.00,2.30,0.00,0.000,4,0.000,0.049,2138,3722,1873
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$STATE,28755,begin surface coast
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$STATE,28778,end surface coast,CONTROL_FINISHED_OK
$STATE,28778,begin surface
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