version: 66.04
glider: 144
mission: 15
dive: 323
start: 9 26 109 17 20 43
data:
$ID,144
$MISSION,15
$DIVE,323
$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,-67511.875
$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,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
$GPS1,170906,5015.458,-14500.813,35,1.1,35,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-61.3
$GPS2,171949,5015.499,-14500.777,10,1.8,15,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.115,0.122
$KALMAN_X,-50933.4,83.4,71.2,62349.9,-1582.0
$KALMAN_Y,18848.1,-9.4,-16.0,-28969.5,36.9
$MHEAD_RNG_PITCHd_Wd,298.2,16682,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,61,0.00,0.00,-41.95,0.000,2,0.000,0.000,99,2308,2572
$GC,64,-0.68,-117.3,3.5,-4.3,4,99,7.05,2.30,-21.17,0.000,4,0.235,0.055,1845,885,3411
$GC,250,-0.62,-117.3,28.2,-11.7,20,257,0.08,2.28,0.00,0.000,6,0.135,0.037,1862,2295,3413
$GC,577,-0.62,-117.3,61.5,-7.7,51,581,0.00,2.25,0.00,0.000,4,0.000,0.041,1862,886,3414
$GC,617,-0.65,-117.3,64.6,-7.4,54,621,0.00,2.25,0.00,0.000,6,0.000,0.038,1861,2304,3414
$GC,954,-0.65,-117.3,93.0,-8.3,79,955,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2304,3415
$GC,1264,-0.65,-117.3,119.6,-8.4,94,1267,0.00,2.22,0.00,0.000,4,0.000,0.041,1861,896,3415
$GC,1302,-0.67,-117.3,123.0,-8.4,95,1309,0.00,2.25,0.00,0.000,6,0.000,0.039,1861,2308,3415
$GC,1618,-0.71,-117.3,146.1,-6.3,111,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2309,3415
$GC,1946,-0.76,-117.3,167.4,-6.9,123,1948,0.10,0.00,0.00,0.000,6,0.067,0.000,1789,2309,3414
$GC,2252,-0.67,-117.3,199.7,-10.4,133,2254,0.22,0.00,0.00,0.000,6,0.123,0.000,1857,2309,3414
$GC,2558,-0.72,-117.3,218.7,-5.7,143,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2309,3414
$GC,2864,-0.78,-117.3,236.3,-5.9,153,2866,0.10,0.00,0.00,0.000,6,0.064,0.000,1779,2309,3413
$GC,3171,-0.69,-117.3,268.1,-10.7,163,3173,0.25,0.00,0.00,0.000,6,0.123,0.000,1854,2309,3412
$GC,3477,-0.75,-117.3,287.9,-6.1,173,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2309,3412
$GC,3812,-0.81,-117.3,307.6,-5.9,182,3814,0.12,0.00,0.00,0.000,6,0.057,0.000,1770,2309,3411
$GC,4116,-0.70,-117.3,339.5,-10.8,187,4118,0.25,0.00,0.00,0.000,6,0.122,0.000,1845,2309,3410
$GC,4419,-0.75,-117.3,359.1,-6.2,192,4423,0.00,2.28,0.00,0.000,4,0.000,0.049,1845,894,3410
$GC,4459,-0.81,-117.3,361.7,-6.7,192,4463,0.00,2.25,0.00,0.000,6,0.000,0.038,1839,2311,3410
$GC,4780,-0.84,-117.3,382.8,-6.6,198,4785,0.08,2.28,0.00,0.000,4,0.080,0.051,1766,3713,3409
$GC,4858,-0.75,-117.3,390.9,-10.8,199,4863,0.25,2.20,0.00,0.000,6,0.120,0.031,1839,2299,3408
$GC,5207,-0.79,-117.3,415.0,-6.8,205,5211,0.00,2.22,0.00,0.000,4,0.000,0.044,1838,898,3408
$GC,5246,-0.84,-117.3,418.1,-7.7,205,5250,0.00,2.22,0.00,0.000,6,0.000,0.040,1837,2302,3408
$GC,5580,-0.87,-117.3,441.1,-6.9,211,5582,0.10,0.00,0.00,0.000,6,0.065,0.000,1767,2302,3408
$GC,5882,-0.78,-117.3,473.5,-10.9,216,5884,0.22,0.00,0.00,0.000,6,0.123,0.000,1835,2302,3407
$GC,6185,-0.82,-117.3,495.2,-7.0,221,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2302,3407
$GC,6488,-0.86,-117.3,514.9,-6.4,226,6490,0.10,0.00,0.00,0.000,6,0.067,0.000,1767,2302,3407
$GC,6791,-0.77,-117.3,544.0,-9.8,231,6793,0.22,0.00,0.00,0.000,6,0.123,0.000,1835,2302,3407
$GC,7094,-0.81,-117.3,562.0,-5.8,236,7098,0.00,2.25,0.00,0.000,4,0.000,0.051,1836,898,3406
$GC,7133,-0.86,-117.3,564.2,-5.7,236,7137,0.10,2.25,0.00,0.000,6,0.068,0.044,1768,2306,3406
$GC,7453,-0.78,-117.3,591.5,-8.6,242,7458,0.17,2.28,0.00,0.000,4,0.127,0.054,1818,3707,3405
$GC,7480,-0.78,-117.3,593.5,-7.2,242,7484,0.00,2.22,0.00,0.000,6,0.000,0.032,1818,2293,3405
$GC,7819,-0.78,-117.3,611.8,-5.4,248,7822,0.00,2.22,0.00,0.000,4,0.000,0.046,1818,898,3405
$GC,7857,-0.78,-117.3,614.2,-6.4,248,7861,0.10,2.25,0.00,0.000,6,0.132,0.045,1837,2305,3405
$GC,8190,-0.83,-117.3,629.3,-4.5,254,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2305,3405
$GC,8493,-0.89,-117.3,644.3,-5.0,259,8495,0.12,0.00,0.00,0.000,6,0.059,0.000,1764,2305,3405
$GC,8796,-0.80,-117.3,670.8,-9.0,264,8801,0.17,2.28,0.00,0.000,4,0.127,0.048,1823,899,3404
$GC,8846,-0.83,-117.3,674.6,-7.2,264,8850,0.00,2.25,0.00,0.000,6,0.000,0.040,1822,2301,3404
$GC,9156,-0.85,-117.3,693.0,-6.0,269,9160,0.00,2.25,0.00,0.000,4,0.000,0.047,1822,897,3404
$GC,9206,-0.89,-117.3,696.3,-6.6,269,9210,0.00,2.25,0.00,0.000,6,0.000,0.044,1821,2306,3404
$GC,9516,-0.91,-117.3,715.0,-6.1,274,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2307,3404
$GC,9819,-0.94,-117.3,734.9,-6.7,279,9824,0.10,2.28,0.00,0.000,4,0.069,0.045,1760,898,3403
$GC,9897,-0.85,-117.3,742.9,-10.7,280,9902,0.20,2.25,0.00,0.000,6,0.129,0.048,1813,2304,3403
$GC,10246,-0.85,-117.3,768.5,-7.2,286,10250,0.00,2.28,0.00,0.000,4,0.000,0.051,1813,892,3403
$GC,10278,-0.85,-117.3,771.1,-7.1,286,10282,0.00,2.28,0.00,0.000,6,0.000,0.041,1810,2312,3403
$GC,10611,-0.85,-117.3,794.2,-6.9,292,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2313,3403
$GC,10914,-0.85,-117.3,814.4,-6.7,297,10918,0.00,2.30,0.00,0.000,4,0.000,0.048,1810,893,3403
$GC,10941,-0.85,-117.3,816.6,-7.0,297,10945,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2303,3403
$GC,11279,-0.85,-117.3,839.7,-6.9,303,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3402
$GC,11582,-0.85,-117.3,860.6,-6.9,308,11586,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,894,3402
$GC,11626,-0.85,-117.3,863.8,-7.2,308,11629,0.00,2.28,0.00,0.000,6,0.000,0.048,1808,2304,3403
$GC,11946,-0.85,-117.3,884.2,-6.3,314,11947,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3402
$GC,12249,-0.85,-117.3,902.2,-5.8,319,12253,0.00,2.28,0.00,0.000,4,0.000,0.050,1807,893,3402
$GC,12287,-0.85,-117.3,904.7,-6.7,319,12291,0.00,2.28,0.00,0.000,6,0.000,0.041,1806,2306,3402
$GC,12608,-0.85,-117.3,922.0,-5.4,325,12609,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2306,3402
$GC,12911,-0.85,-117.3,938.1,-5.4,330,12915,0.00,2.30,0.00,0.000,4,0.000,0.053,1806,890,3402
$GC,12950,-0.85,-117.3,940.4,-5.9,330,12954,0.00,2.30,0.00,0.000,6,0.000,0.042,1804,2312,3402
$GC,13277,-0.85,-117.3,959.0,-5.7,336,13281,0.00,2.30,0.00,0.000,4,0.000,0.049,1804,900,3402
$GC,13320,-0.85,-117.3,961.7,-6.4,336,13324,0.00,2.28,0.00,0.000,6,0.000,0.046,1795,2307,3401
$GC,13641,-0.85,-117.3,983.1,-6.8,342,13645,0.00,2.28,0.00,0.000,4,0.000,0.053,1795,901,3402
$GC,13674,-0.85,-117.3,985.6,-7.9,342,13678,0.00,2.28,0.00,0.000,6,0.000,0.049,1794,2312,3401
$STATE,13761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13762,begin apogee
$GC,13768,-0.22,0.0,992.2,7.4,344,13866,0.50,0.00,95.55,1.305,6,0.121,0.000,1952,2312,2931
$STATE,13867,end apogee,CONTROL_FINISHED_OK
$STATE,13867,begin climb
$GC,13869,0.68,117.3,994.0,0.0,345,13979,0.60,2.55,101.70,1.275,4,0.075,0.054,2155,3703,2451
$GC,13998,0.52,117.3,992.5,6.7,347,14004,0.22,2.38,0.00,0.000,6,0.174,0.041,2114,2313,2448
$GC,14309,0.47,131.0,977.0,5.0,352,14327,0.00,2.45,11.73,1.128,4,0.000,0.056,2124,890,2395
$GC,14350,0.45,148.9,974.7,4.9,352,14373,0.10,2.35,17.08,1.174,6,0.143,0.041,2100,2308,2323
$GC,14676,0.46,156.3,957.9,5.3,358,14690,0.00,2.38,7.25,1.011,4,0.000,0.058,2100,3716,2292
$GC,14724,0.42,156.3,954.6,6.2,358,14729,0.00,2.28,0.00,0.000,6,0.000,0.041,2108,2300,2291
$GC,15040,0.40,156.3,935.5,6.1,364,15041,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2300,2290
$GC,15343,0.38,156.3,916.9,6.1,369,15348,0.12,2.30,0.00,0.000,4,0.154,0.051,2076,3710,2289
$GC,15387,0.38,156.3,914.1,6.5,369,15391,0.00,2.25,0.00,0.000,6,0.000,0.035,2085,2291,2288
$GC,15709,0.42,168.0,897.4,5.1,375,15722,0.00,0.00,11.15,1.106,6,0.000,0.000,2085,2291,2246
$GC,16012,0.48,185.4,882.4,4.9,380,16030,0.00,0.00,16.33,1.148,6,0.000,0.000,2085,2291,2175
$GC,16316,0.55,212.0,868.5,4.6,385,16345,0.12,2.38,24.52,1.171,4,0.065,0.052,2145,3710,2065
$GC,16373,0.46,212.0,864.1,8.3,385,16381,0.22,2.30,0.00,0.000,6,0.152,0.038,2095,2302,2063
$GC,16684,0.55,246.9,850.0,4.3,391,16723,0.10,2.42,31.33,1.170,4,0.067,0.052,2156,888,1922
$GC,16740,0.51,246.9,846.7,6.2,391,16747,0.17,2.35,0.00,0.000,6,0.132,0.045,2110,2312,1920
$GC,17050,0.58,280.5,832.8,4.4,397,17085,0.00,2.35,29.88,1.151,4,0.000,0.051,2109,3709,1786
$GC,17125,0.65,298.4,829.1,4.9,398,17150,0.10,2.28,17.40,1.095,6,0.066,0.033,2169,2297,1713
$GC,17478,0.58,298.4,798.6,8.9,404,17482,0.17,2.30,0.00,0.000,4,0.138,0.051,2130,895,1707
$GC,17511,0.62,298.4,796.3,5.9,404,17515,0.00,2.28,0.00,0.000,6,0.000,0.042,2130,2307,1706
$GC,17837,0.64,298.4,777.1,6.0,410,17841,0.00,2.28,0.00,0.000,4,0.000,0.049,2130,3709,1705
$GC,17869,0.64,298.4,774.7,7.2,410,17873,0.00,2.25,0.00,0.000,6,0.000,0.035,2139,2294,1704
$GC,18201,0.64,298.4,751.3,7.1,416,18205,0.00,2.28,0.00,0.000,4,0.000,0.048,2149,888,1704
$GC,18218,0.64,298.4,750.0,7.2,416,18222,0.00,2.28,0.00,0.000,6,0.000,0.041,2149,2312,1703
$GC,18567,0.62,298.4,723.9,7.5,422,18571,0.00,2.25,0.00,0.000,4,0.000,0.050,2149,3710,1703
$GC,18589,0.58,298.4,721.9,8.2,422,18594,0.12,2.20,0.00,0.000,6,0.143,0.033,2127,2303,1703
$GC,18933,0.62,298.4,701.4,5.9,428,18937,0.00,2.25,0.00,0.000,4,0.000,0.049,2135,894,1702
$GC,18966,0.68,298.4,699.3,5.5,428,18970,0.00,2.22,0.00,0.000,6,0.000,0.038,2135,2305,1702
$GC,19292,0.68,298.4,677.4,6.8,434,19295,0.00,2.25,0.00,0.000,4,0.000,0.051,2135,3710,1702
$GC,19324,0.68,298.4,674.7,8.6,434,19328,0.00,2.20,0.00,0.000,6,0.000,0.033,2144,2294,1701
$GC,19663,0.68,298.4,647.0,8.3,440,19664,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2294,1702
$GC,19965,0.68,298.4,622.3,8.1,445,19969,0.00,2.30,0.00,0.000,4,0.000,0.048,2144,3715,1701
$GC,20004,0.68,298.4,618.9,8.4,445,20008,0.00,2.22,0.00,0.000,6,0.000,0.032,2154,2300,1701
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$STATE,28446,begin surface coast
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$STATE,28469,end surface coast,CONTROL_FINISHED_OK
$STATE,28469,begin surface
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