version: 66.04
glider: 144
mission: 15
dive: 335
start: 9 30 109 18 43 32
data:
$ID,144
$MISSION,15
$DIVE,335
$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,-67814.852
$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,36
$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
$GPS1,183327,4956.972,-14509.062,38,3.0,57,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-63.2
$GPS2,184238,4956.920,-14509.001,11,1.9,11,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.126,0.111
$KALMAN_X,-51929.1,31.9,-277.9,54039.9,180.9
$KALMAN_Y,17044.1,-42.8,142.7,-61707.9,334.8
$MHEAD_RNG_PITCHd_Wd,30.3,29105,-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,-117.3,0.0,0.0,0,49,0.00,0.00,-31.58,0.000,2,0.000,0.000,100,2303,2497
$GC,52,-0.68,-117.3,3.0,-4.3,3,87,6.82,2.35,-23.17,0.000,4,0.219,0.062,1841,892,3413
$GC,340,-0.61,-117.3,42.6,-12.3,28,347,0.12,2.25,0.00,0.000,6,0.140,0.037,1866,2312,3414
$GC,667,-0.61,-117.3,70.2,-8.8,59,671,0.00,2.28,0.00,0.000,4,0.000,0.041,1866,888,3415
$GC,722,-0.64,-117.3,75.3,-8.8,63,729,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2302,3415
$GC,1050,-0.64,-117.3,102.5,-8.0,82,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2302,3416
$GC,1359,-0.64,-117.3,125.7,-7.2,97,1363,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,894,3416
$GC,1426,-0.68,-117.3,130.9,-7.8,100,1430,0.00,2.25,0.00,0.000,6,0.000,0.039,1863,2304,3416
$GC,1768,-0.73,-117.3,154.3,-6.6,116,1772,0.08,2.22,0.00,0.000,4,0.081,0.041,1801,895,3416
$GC,1796,-0.69,-117.3,156.8,-9.5,117,1801,0.20,2.22,0.00,0.000,6,0.127,0.037,1852,2306,3415
$GC,2132,-0.73,-117.3,181.7,-6.9,128,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2305,3415
$GC,2437,-0.78,-117.3,202.2,-6.7,138,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2306,3415
$GC,2744,-0.83,-117.3,222.7,-6.6,148,2748,0.12,2.25,0.00,0.000,4,0.060,0.041,1778,894,3414
$GC,2782,-0.73,-117.3,226.4,-10.8,149,2787,0.25,2.25,0.00,0.000,6,0.122,0.044,1843,2303,3414
$GC,3106,-0.76,-117.3,248.6,-6.4,160,3110,0.00,2.25,0.00,0.000,4,0.000,0.044,1843,892,3414
$GC,3139,-0.80,-117.3,250.8,-7.0,161,3143,0.00,2.25,0.00,0.000,6,0.000,0.038,1837,2306,3414
$GC,3469,-0.82,-117.3,271.4,-6.4,172,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2306,3413
$GC,3775,-0.84,-117.3,291.0,-6.3,182,3778,0.00,2.25,0.00,0.000,4,0.000,0.044,1836,901,3413
$GC,3843,-0.87,-117.3,295.7,-6.5,184,3848,0.10,2.25,0.00,0.000,6,0.069,0.041,1771,2307,3413
$GC,4206,-0.77,-117.3,333.0,-10.5,191,4208,0.20,0.00,0.00,0.000,6,0.125,0.000,1830,2307,3412
$GC,4509,-0.79,-117.3,354.1,-6.8,196,4513,0.00,2.25,0.00,0.000,4,0.000,0.044,1830,893,3411
$GC,4553,-0.82,-117.3,357.4,-7.2,196,4557,0.00,2.25,0.00,0.000,6,0.000,0.044,1823,2302,3412
$GC,4869,-0.82,-117.3,378.6,-6.7,202,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2302,3411
$GC,5173,-0.82,-117.3,398.9,-6.6,207,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2302,3410
$GC,5475,-0.82,-117.3,420.2,-7.0,212,5479,0.00,2.25,0.00,0.000,4,0.000,0.048,1823,898,3410
$GC,5507,-0.82,-117.3,422.8,-7.8,212,5511,0.00,2.25,0.00,0.000,6,0.000,0.046,1821,2304,3410
$GC,5840,-0.82,-117.3,446.2,-7.1,218,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2304,3410
$GC,6143,-0.82,-117.3,468.0,-7.1,223,6147,0.00,2.25,0.00,0.000,4,0.000,0.051,1821,896,3409
$GC,6170,-0.82,-117.3,470.1,-8.2,223,6174,0.00,2.25,0.00,0.000,6,0.000,0.040,1812,2307,3409
$GC,6508,-0.82,-117.3,495.7,-7.7,229,6512,0.00,2.25,0.00,0.000,4,0.000,0.050,1812,896,3409
$GC,6547,-0.82,-117.3,499.1,-8.5,229,6551,0.00,2.25,0.00,0.000,6,0.000,0.045,1808,2306,3408
$GC,6867,-0.82,-117.3,523.6,-7.6,235,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3409
$GC,7170,-0.82,-117.3,546.3,-7.6,240,7174,0.00,2.28,0.00,0.000,4,0.000,0.049,1808,893,3408
$GC,7209,-0.82,-117.3,549.5,-8.3,240,7213,0.00,2.28,0.00,0.000,6,0.000,0.042,1806,2306,3408
$GC,7535,-0.82,-117.3,574.6,-7.7,246,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2306,3408
$GC,7839,-0.82,-117.3,597.4,-7.5,251,7843,0.00,2.28,0.00,0.000,4,0.000,0.051,1806,896,3407
$GC,7872,-0.82,-117.3,600.1,-8.0,251,7876,0.10,2.28,0.00,0.000,6,0.132,0.044,1824,2309,3407
$GC,8204,-0.85,-117.3,622.1,-6.7,257,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2310,3407
$GC,8507,-0.88,-117.3,642.9,-6.9,262,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2310,3407
$GC,8810,-0.92,-117.3,663.3,-6.7,267,8815,0.10,2.28,0.00,0.000,4,0.071,0.044,1766,898,3407
$GC,8854,-0.83,-117.3,667.4,-9.6,267,8859,0.22,2.25,0.00,0.000,6,0.124,0.039,1822,2305,3407
$GC,9171,-0.86,-117.3,688.9,-6.7,273,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2305,3406
$GC,9473,-0.90,-117.3,709.0,-6.6,278,9474,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2305,3406
$GC,9776,-0.93,-117.3,728.2,-6.3,283,9778,0.10,0.00,0.00,0.000,6,0.069,0.000,1764,2305,3406
$GC,10079,-0.85,-117.3,754.8,-8.9,288,10084,0.17,2.28,0.00,0.000,4,0.126,0.048,1816,895,3406
$GC,10120,-0.87,-117.3,757.8,-6.6,288,10124,0.00,2.28,0.00,0.000,6,0.000,0.044,1809,2311,3406
$GC,10440,-0.87,-117.3,777.5,-6.1,294,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3406
$GC,10743,-0.87,-117.3,795.4,-5.9,299,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3406
$GC,11046,-0.87,-117.3,813.0,-5.8,304,11047,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2311,3406
$GC,11350,-0.87,-117.3,830.7,-5.8,309,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2311,3406
$GC,11653,-0.87,-117.3,848.9,-6.0,314,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3405
$GC,11955,-0.87,-117.3,867.2,-6.1,319,11957,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3405
$GC,12259,-0.87,-117.3,886.0,-6.2,324,12263,0.00,2.30,0.00,0.000,4,0.000,0.048,1810,900,3405
$GC,12308,-0.87,-117.3,889.5,-6.8,324,12312,0.00,2.28,0.00,0.000,6,0.000,0.046,1809,2302,3405
$GC,12624,-0.87,-117.3,909.1,-6.2,330,12625,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3405
$GC,12926,-0.87,-117.3,927.2,-6.0,335,12928,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3405
$GC,13230,-0.87,-117.3,945.7,-6.1,340,13231,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3405
$GC,13533,-0.87,-117.3,963.7,-5.9,345,13534,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3405
$GC,13836,-0.87,-117.3,981.2,-5.8,350,13840,0.00,2.30,0.00,0.000,4,0.000,0.055,1808,894,3405
$GC,13864,-0.87,-117.3,982.9,-6.2,350,13868,0.00,2.30,0.00,0.000,6,0.000,0.050,1808,2313,3405
$STATE,14011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14011,begin apogee
$GC,14017,-0.22,0.0,991.6,5.8,353,14116,0.45,0.00,96.25,1.305,6,0.116,0.000,1952,2313,2931
$STATE,14116,end apogee,CONTROL_FINISHED_OK
$STATE,14116,begin climb
$GC,14119,0.68,117.3,992.7,0.0,354,14229,0.60,2.55,102.20,1.272,4,0.075,0.053,2154,3699,2450
$GC,14253,0.51,117.3,989.8,6.6,356,14261,0.22,2.42,0.00,0.000,6,0.168,0.035,2112,2304,2447
$GC,14564,0.46,117.3,972.2,5.6,362,14565,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2305,2441
$GC,14866,0.41,117.3,955.0,5.6,367,14868,0.10,0.00,0.00,0.000,6,0.166,0.000,2088,2305,2439
$GC,15170,0.44,145.0,941.1,4.6,372,15199,0.00,2.38,22.92,1.203,4,0.000,0.053,2088,3710,2338
$GC,15228,0.44,148.1,937.9,5.4,372,15239,0.00,2.30,4.00,0.742,6,0.000,0.035,2095,2295,2327
$GC,15605,0.46,157.5,918.4,5.2,379,15617,0.00,0.00,9.75,1.080,6,0.000,0.000,2095,2296,2288
$GC,15909,0.47,166.7,902.9,5.2,384,15923,0.00,2.33,9.23,1.060,4,0.000,0.053,2096,3713,2250
$GC,15958,0.45,166.7,899.8,7.0,384,15962,0.00,2.28,0.00,0.000,6,0.000,0.039,2105,2300,2249
$GC,16273,0.45,166.7,881.4,5.8,390,16274,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2300,2248
$GC,16576,0.45,166.7,862.9,6.1,395,16580,0.00,2.30,0.00,0.000,4,0.000,0.057,2106,3712,2248
$GC,16614,0.40,166.7,859.9,7.0,395,16619,0.12,2.25,0.00,0.000,6,0.147,0.041,2085,2295,2247
$GC,16935,0.45,172.2,842.8,5.3,401,16943,0.00,0.00,5.85,0.908,6,0.000,0.000,2084,2294,2229
$GC,17239,0.51,184.1,827.2,5.1,406,17258,0.10,2.33,12.00,1.075,4,0.070,0.049,2147,895,2179
$GC,17275,0.44,184.1,824.7,6.5,406,17280,0.20,2.28,0.00,0.000,6,0.136,0.040,2092,2307,2178
$GC,17602,0.50,204.2,808.7,4.8,412,17626,0.00,2.33,18.77,1.116,4,0.000,0.054,2092,3703,2097
$GC,17650,0.56,221.4,806.1,4.9,412,17672,0.08,2.25,16.85,1.087,6,0.078,0.035,2143,2293,2028
$GC,18035,0.50,221.4,778.9,7.1,419,18037,0.12,0.00,0.00,0.000,6,0.140,0.000,2110,2293,2021
$GC,18336,0.55,234.9,763.2,5.0,424,18350,0.00,0.00,12.25,1.039,6,0.000,0.000,2110,2293,1973
$GC,18640,0.60,242.2,747.2,5.3,429,18654,0.00,2.33,7.60,0.937,4,0.000,0.050,2119,894,1942
$GC,18678,0.67,253.3,744.8,5.1,429,18697,0.10,2.28,11.48,1.012,6,0.070,0.042,2175,2314,1898
$GC,19008,0.56,253.3,713.5,9.8,435,19013,0.17,2.28,0.00,0.000,4,0.140,0.054,2122,3716,1894
$GC,19046,0.56,253.3,710.1,6.8,435,19050,0.00,2.22,0.00,0.000,6,0.000,0.033,2130,2305,1893
$GC,19373,0.56,253.3,688.8,6.5,441,19374,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2304,1892
$GC,19676,0.56,253.3,668.9,6.6,446,19680,0.00,2.28,0.00,0.000,4,0.000,0.051,2130,3711,1892
$GC,19709,0.56,253.3,666.3,7.2,446,19713,0.00,2.22,0.00,0.000,6,0.000,0.033,2140,2297,1891
$GC,20035,0.54,253.3,642.4,7.4,452,20037,0.10,0.00,0.00,0.000,6,0.146,0.000,2115,2297,1891
$GC,20339,0.60,261.5,626.1,5.2,457,20348,0.00,0.00,7.65,0.884,6,0.000,0.000,2115,2297,1865
$GC,20642,0.65,266.8,610.1,5.3,462,20656,0.10,2.33,6.45,0.835,4,0.067,0.048,2192,891,1842
$GC,20679,0.57,266.8,606.9,9.4,462,20684,0.25,2.28,0.00,0.000,6,0.132,0.040,2120,2315,1842
$GC,21005,0.61,266.8,586.7,6.0,468,21009,0.00,2.25,0.00,0.000,4,0.000,0.054,2120,3714,1840
$GC,21039,0.64,266.8,584.2,6.7,468,21043,0.00,2.22,0.00,0.000,6,0.000,0.032,2128,2291,1840
$GC,21365,0.64,266.8,561.7,6.9,474,21366,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2291,1839
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$STATE,29097,end climb,SURFACE_DEPTH_REACHED
$STATE,29097,begin surface coast
$FINISH,1.0,1.012854
$STATE,29122,end surface coast,CONTROL_FINISHED_OK
$STATE,29122,begin surface
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$10V_AH,10.6,41.863
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