version: 66.04
glider: 144
mission: 15
dive: 332
start: 9 29 109 17 52 33
data:
$ID,144
$MISSION,15
$DIVE,332
$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,-67730.867
$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,34
$R_STBD_OVSHOOT,32
$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
$GPS1,174526,5000.493,-14511.050,59,1.2,59,18.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-56.3
$GPS2,175137,5000.483,-14511.073,9,1.4,15,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.005,-0.168
$KALMAN_X,-52550.3,207.2,-145.2,51900.5,-352.0
$KALMAN_Y,16569.2,-127.8,-27.7,-54374.0,-291.3
$MHEAD_RNG_PITCHd_Wd,163.4,12031,-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,12,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-41.88,0.000,2,0.000,0.000,99,2298,2609
$GC,62,-0.68,-117.3,3.4,-4.6,4,96,7.15,2.33,-19.12,0.000,4,0.238,0.070,1838,3699,3413
$GC,233,-0.60,-117.3,28.1,-12.5,19,237,0.12,2.20,0.00,0.000,6,0.127,0.030,1872,2300,3414
$GC,560,-0.63,-117.3,58.7,-7.7,49,564,0.00,2.25,0.00,0.000,4,0.000,0.041,1872,886,3415
$GC,645,-0.68,-117.3,66.1,-8.9,56,649,0.00,2.25,0.00,0.000,6,0.000,0.036,1866,2308,3416
$GC,975,-0.68,-117.3,94.8,-8.3,79,979,0.00,2.25,0.00,0.000,4,0.000,0.048,1857,3708,3416
$GC,1016,-0.70,-117.3,98.2,-8.8,80,1023,0.00,2.20,0.00,0.000,6,0.000,0.029,1857,2289,3416
$GC,1332,-0.70,-117.3,124.7,-8.3,96,1336,0.00,2.17,0.00,0.000,4,0.000,0.041,1856,898,3416
$GC,1382,-0.73,-117.3,129.3,-8.8,98,1386,0.00,2.22,0.00,0.000,6,0.000,0.040,1850,2301,3417
$GC,1702,-0.73,-117.3,156.0,-8.0,113,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2301,3417
$GC,2008,-0.76,-117.3,177.5,-6.7,123,2012,0.00,2.30,0.00,0.000,4,0.000,0.052,1845,3714,3416
$GC,2038,-0.80,-117.3,179.5,-7.1,124,2042,0.00,2.20,0.00,0.000,6,0.000,0.030,1845,2297,3416
$GC,2374,-0.83,-117.3,202.1,-6.6,135,2375,0.10,0.00,0.00,0.000,6,0.064,0.000,1768,2296,3416
$GC,2679,-0.71,-117.3,237.3,-11.6,145,2681,0.28,0.00,0.00,0.000,6,0.123,0.000,1851,2296,3415
$GC,2986,-0.76,-117.3,258.7,-6.6,155,2990,0.00,2.22,0.00,0.000,4,0.000,0.043,1850,899,3415
$GC,3044,-0.83,-117.3,262.9,-7.6,156,3049,0.10,2.25,0.00,0.000,6,0.069,0.041,1783,2310,3415
$GC,3357,-0.74,-117.3,294.8,-10.6,166,3359,0.20,0.00,0.00,0.000,6,0.123,0.000,1843,2310,3414
$GC,3692,-0.78,-117.3,319.2,-7.1,173,3696,0.00,2.25,0.00,0.000,4,0.000,0.044,1843,901,3414
$GC,3755,-0.83,-117.3,324.0,-7.8,174,3759,0.00,2.25,0.00,0.000,6,0.000,0.040,1837,2309,3414
$GC,4121,-0.86,-117.3,350.7,-7.2,180,4126,0.10,2.28,0.00,0.000,4,0.066,0.042,1768,891,3414
$GC,4143,-0.82,-117.3,352.8,-9.3,180,4148,0.22,2.28,0.00,0.000,6,0.124,0.040,1824,2311,3413
$GC,4481,-0.82,-117.3,377.4,-7.2,186,4485,0.00,2.28,0.00,0.000,4,0.000,0.044,1824,890,3413
$GC,4545,-0.82,-117.3,382.2,-7.6,187,4549,0.00,2.25,0.00,0.000,6,0.000,0.042,1822,2300,3412
$GC,4910,-0.82,-117.3,409.0,-7.3,193,4914,0.00,2.25,0.00,0.000,4,0.000,0.044,1822,890,3412
$GC,4973,-0.82,-117.3,413.8,-7.6,194,4977,0.00,2.28,0.00,0.000,6,0.000,0.040,1813,2316,3412
$GC,5338,-0.82,-117.3,441.5,-7.5,200,5342,0.00,2.28,0.00,0.000,4,0.000,0.048,1813,900,3411
$GC,5382,-0.82,-117.3,445.1,-8.4,200,5386,0.00,2.25,0.00,0.000,6,0.000,0.047,1808,2311,3411
$GC,5704,-0.82,-117.3,468.9,-7.4,206,5708,0.00,2.28,0.00,0.000,4,0.000,0.044,1808,891,3411
$GC,5759,-0.82,-117.3,473.3,-7.8,206,5766,0.05,2.30,0.00,0.000,6,0.129,0.046,1819,2308,3411
$GC,6068,-0.82,-117.3,494.1,-6.7,212,6072,0.00,2.25,0.00,0.000,4,0.000,0.048,1819,896,3411
$GC,6124,-0.82,-117.3,498.2,-7.3,212,6128,0.00,2.25,0.00,0.000,6,0.000,0.039,1812,2305,3410
$GC,6440,-0.82,-117.3,520.4,-7.0,218,6444,0.00,2.25,0.00,0.000,4,0.000,0.045,1813,897,3410
$GC,6489,-0.82,-117.3,524.2,-7.4,218,6493,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2308,3410
$GC,6805,-0.82,-117.3,547.1,-7.2,224,6809,0.00,2.25,0.00,0.000,4,0.000,0.048,1808,899,3410
$GC,6855,-0.82,-117.3,551.0,-8.0,224,6859,0.10,2.25,0.00,0.000,6,0.132,0.040,1826,2312,3410
$GC,7177,-0.85,-117.3,571.3,-6.3,230,7181,0.00,2.25,0.00,0.000,4,0.000,0.051,1827,902,3410
$GC,7227,-0.90,-117.3,574.9,-6.9,230,7231,0.00,2.22,0.00,0.000,6,0.000,0.040,1822,2302,3410
$GC,7536,-0.92,-117.3,594.5,-6.3,235,7540,0.00,2.25,0.00,0.000,4,0.000,0.051,1822,893,3409
$GC,7559,-0.94,-117.3,595.9,-5.9,235,7564,0.10,2.25,0.00,0.000,6,0.069,0.041,1760,2308,3409
$GC,7902,-0.84,-117.3,627.4,-9.4,241,7907,0.17,2.28,0.00,0.000,4,0.133,0.044,1817,893,3409
$GC,7951,-0.86,-117.3,631.3,-6.6,241,7956,0.00,2.25,0.00,0.000,6,0.000,0.040,1810,2311,3409
$GC,8262,-0.86,-117.3,652.6,-6.9,246,8266,0.00,2.28,0.00,0.000,4,0.000,0.046,1810,900,3409
$GC,8301,-0.86,-117.3,655.7,-8.0,246,8305,0.00,2.25,0.00,0.000,6,0.000,0.042,1808,2308,3409
$GC,8623,-0.86,-117.3,679.0,-7.3,252,8627,0.00,2.28,0.00,0.000,4,0.000,0.046,1807,901,3408
$GC,8667,-0.86,-117.3,682.6,-7.6,252,8671,0.00,2.25,0.00,0.000,6,0.000,0.044,1799,2305,3408
$GC,8983,-0.86,-117.3,707.2,-7.8,258,8987,0.00,2.28,0.00,0.000,4,0.000,0.048,1799,897,3408
$GC,9032,-0.86,-117.3,711.4,-8.3,258,9036,0.00,2.25,0.00,0.000,6,0.000,0.044,1794,2301,3408
$GC,9348,-0.84,-117.3,737.1,-8.2,264,9350,0.10,0.00,0.00,0.000,6,0.137,0.000,1822,2301,3408
$GC,9652,-0.88,-117.3,757.8,-6.9,269,9656,0.00,2.28,0.00,0.000,4,0.000,0.050,1822,891,3408
$GC,9702,-0.92,-117.3,761.6,-7.4,269,9706,0.08,2.28,0.00,0.000,6,0.086,0.040,1771,2306,3408
$GC,10012,-0.86,-117.3,790.0,-9.4,274,10017,0.15,2.30,0.00,0.000,4,0.128,0.055,1807,3716,3408
$GC,10051,-0.88,-117.3,793.3,-7.7,274,10055,0.00,2.22,0.00,0.000,6,0.000,0.033,1806,2303,3407
$GC,10372,-0.88,-117.3,816.9,-7.3,280,10376,0.00,2.28,0.00,0.000,4,0.000,0.053,1807,895,3407
$GC,10399,-0.88,-117.3,819.1,-7.7,280,10403,0.00,2.28,0.00,0.000,6,0.000,0.040,1797,2306,3407
$GC,10737,-0.88,-117.3,844.7,-7.5,286,10741,0.00,2.28,0.00,0.000,4,0.000,0.046,1797,898,3407
$GC,10764,-0.88,-117.3,846.8,-7.8,286,10768,0.00,2.28,0.00,0.000,6,0.000,0.044,1794,2310,3407
$GC,11095,-0.88,-117.3,870.4,-7.1,292,11096,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2310,3407
$GC,11398,-0.88,-117.3,891.3,-6.8,297,11402,0.00,2.28,0.00,0.000,4,0.000,0.051,1794,899,3407
$GC,11448,-0.88,-117.3,894.9,-7.3,297,11452,0.10,2.28,0.00,0.000,6,0.139,0.045,1810,2311,3406
$GC,11764,-0.90,-117.3,913.9,-6.0,303,11768,0.00,2.30,0.00,0.000,4,0.000,0.051,1810,895,3406
$GC,11809,-0.93,-117.3,916.8,-6.9,303,11813,0.00,2.28,0.00,0.000,6,0.000,0.042,1809,2308,3407
$GC,12124,-0.93,-117.3,936.2,-6.2,309,12128,0.00,2.30,0.00,0.000,4,0.000,0.051,1809,893,3406
$GC,12179,-0.93,-117.3,940.1,-6.4,309,12186,0.00,2.30,0.00,0.000,6,0.000,0.042,1807,2297,3406
$GC,12488,-0.93,-117.3,960.0,-6.4,315,12492,0.00,2.30,0.00,0.000,4,0.000,0.054,1807,889,3406
$GC,12533,-0.93,-117.3,963.2,-7.9,315,12536,0.00,2.30,0.00,0.000,6,0.000,0.048,1805,2310,3406
$GC,12854,-0.93,-117.3,984.4,-6.6,321,12858,0.00,2.30,0.00,0.000,4,0.000,0.049,1805,900,3406
$GC,12892,-0.93,-117.3,987.2,-6.8,321,12897,0.00,2.28,0.00,0.000,6,0.000,0.041,1796,2305,3406
$STATE,12968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12968,begin apogee
$GC,12974,-0.22,0.0,992.2,6.6,323,13073,0.50,0.00,96.50,1.303,6,0.120,0.000,1954,2305,2931
$STATE,13074,end apogee,CONTROL_FINISHED_OK
$STATE,13074,begin climb
$GC,13077,0.68,117.3,993.6,0.0,324,13183,0.55,0.00,101.95,1.274,6,0.075,0.000,2148,2305,2452
$GC,13508,0.55,117.3,970.7,7.1,331,13512,0.12,2.35,0.00,0.000,4,0.153,0.055,2118,3711,2441
$GC,13563,0.45,117.3,966.5,7.7,331,13570,0.10,2.30,0.00,0.000,6,0.155,0.038,2097,2316,2439
$GC,13873,0.45,142.0,951.8,4.7,337,13896,0.00,0.00,20.35,1.198,6,0.000,0.000,2097,2315,2352
$GC,14176,0.47,156.4,936.7,5.0,342,14195,0.00,2.35,13.55,1.143,4,0.000,0.055,2097,3710,2291
$GC,14242,0.44,156.4,932.9,5.7,343,14246,0.00,2.28,0.00,0.000,6,0.000,0.035,2105,2295,2290
$GC,14614,0.44,156.4,911.5,5.8,349,14618,0.00,2.33,0.00,0.000,4,0.000,0.051,2105,3716,2288
$GC,14647,0.39,156.4,909.2,6.7,349,14651,0.12,2.25,0.00,0.000,6,0.155,0.036,2084,2302,2288
$GC,14973,0.43,166.0,892.2,5.2,355,14988,0.00,2.33,9.15,1.065,4,0.000,0.052,2085,3706,2253
$GC,15017,0.43,166.0,889.5,6.4,355,15021,0.00,2.25,0.00,0.000,6,0.000,0.034,2093,2294,2252
$GC,15337,0.43,166.0,870.6,6.0,361,15341,0.00,2.30,0.00,0.000,4,0.000,0.053,2094,3712,2250
$GC,15375,0.43,166.0,867.8,7.3,361,15379,0.00,2.25,0.00,0.000,6,0.000,0.041,2104,2298,2250
$GC,15702,0.43,166.0,846.7,6.6,367,15706,0.00,2.30,0.00,0.000,4,0.000,0.057,2103,3716,2250
$GC,15746,0.39,166.0,843.2,8.0,367,15751,0.12,2.22,0.00,0.000,6,0.153,0.037,2082,2306,2250
$GC,16062,0.44,171.0,826.1,5.3,373,16070,0.00,0.00,5.82,0.907,6,0.000,0.000,2082,2306,2233
$GC,16365,0.49,177.2,810.1,5.3,378,16379,0.10,2.35,6.85,0.947,4,0.069,0.058,2138,3712,2208
$GC,16413,0.38,177.2,806.2,8.6,378,16418,0.25,2.25,0.00,0.000,6,0.146,0.039,2080,2301,2206
$GC,16729,0.48,177.8,788.6,5.5,384,16733,0.10,2.30,0.00,0.000,4,0.074,0.051,2125,3715,2205
$GC,16761,0.48,177.8,786.2,6.6,384,16766,0.12,2.25,0.00,0.000,6,0.149,0.034,2103,2292,2205
$GC,17088,0.48,177.8,767.1,5.9,390,17089,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2291,2205
$GC,17390,0.48,177.8,749.5,5.8,395,17394,0.00,2.33,0.00,0.000,4,0.000,0.057,2103,3716,2205
$GC,17418,0.48,177.8,747.4,7.1,395,17422,0.00,2.25,0.00,0.000,6,0.000,0.033,2111,2294,2204
$GC,17750,0.48,177.8,727.8,5.9,401,17754,0.00,2.33,0.00,0.000,4,0.000,0.050,2112,3720,2205
$GC,17778,0.44,177.8,725.9,5.9,401,17783,0.12,2.25,0.00,0.000,6,0.143,0.033,2089,2291,2204
$GC,18110,0.52,206.6,710.5,4.5,407,18139,0.10,0.00,26.52,1.086,6,0.067,0.000,2150,2291,2088
$GC,18414,0.45,206.6,687.5,7.8,412,18418,0.20,2.35,0.00,0.000,4,0.130,0.052,2090,3712,2083
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$STATE,28935,end climb,SURFACE_DEPTH_REACHED
$STATE,28935,begin surface coast
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$STATE,28942,end surface coast,CONTROL_FINISHED_OK
$STATE,28943,begin surface
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