version: 66.04
glider: 144
mission: 15
dive: 339
start: 10 2 109 4 17 51
data:
$ID,144
$MISSION,15
$DIVE,339
$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,-67918.094
$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,32
$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
$GPS1,041046,5005.235,-14454.226,25,1.7,35,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-64.4
$GPS2,041658,5005.232,-14454.214,11,2.9,30,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.148,0.079
$KALMAN_X,-54817.5,203.3,178.1,73763.5,-1490.3
$KALMAN_Y,19635.0,-94.5,-284.4,-48415.4,1292.8
$MHEAD_RNG_PITCHd_Wd,43.6,5777,-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,16,-0.68,-117.3,0.0,0.0,0,50,0.00,0.00,-31.35,0.000,2,0.000,0.000,99,2304,2451
$GC,53,-0.68,-117.3,3.1,-4.4,3,91,7.25,2.30,-25.30,0.000,4,0.240,0.057,1844,882,3411
$GC,343,-0.62,-117.3,38.6,-12.2,28,350,0.12,2.28,0.00,0.000,6,0.141,0.036,1869,2311,3414
$GC,671,-0.64,-117.3,65.7,-7.7,59,675,0.00,2.28,0.00,0.000,4,0.000,0.041,1869,882,3414
$GC,745,-0.68,-117.3,71.7,-8.5,65,749,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2304,3415
$GC,1074,-0.68,-117.3,99.4,-8.3,85,1078,0.00,2.25,0.00,0.000,4,0.000,0.047,1863,888,3416
$GC,1101,-0.68,-117.3,101.7,-8.1,86,1105,0.00,2.25,0.00,0.000,6,0.000,0.038,1862,2311,3415
$GC,1417,-0.71,-117.3,126.5,-7.6,101,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2311,3416
$GC,1727,-0.75,-117.3,149.0,-7.0,116,1731,0.10,2.25,0.00,0.000,4,0.067,0.042,1792,889,3416
$GC,1839,-0.67,-117.3,160.6,-10.1,120,1843,0.25,2.25,0.00,0.000,6,0.120,0.037,1857,2314,3415
$GC,2157,-0.72,-117.3,181.4,-6.5,131,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2314,3415
$GC,2463,-0.77,-117.3,201.4,-6.3,141,2468,0.10,2.22,0.00,0.000,4,0.066,0.055,1779,3708,3414
$GC,2485,-0.74,-117.3,203.2,-7.6,141,2490,0.20,2.20,0.00,0.000,6,0.124,0.031,1838,2288,3414
$GC,2797,-0.74,-117.3,224.7,-6.8,151,2801,0.00,2.22,0.00,0.000,4,0.000,0.043,1838,890,3414
$GC,2836,-0.78,-117.3,227.7,-7.7,152,2840,0.00,2.22,0.00,0.000,6,0.000,0.038,1836,2302,3414
$GC,3171,-0.78,-117.3,250.4,-6.8,163,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2302,3413
$GC,3477,-0.78,-117.3,270.1,-6.3,173,3481,0.00,2.25,0.00,0.000,4,0.000,0.043,1836,889,3413
$GC,3538,-0.81,-117.3,274.3,-6.8,174,3544,0.00,2.25,0.00,0.000,6,0.000,0.038,1834,2309,3413
$GC,3851,-0.83,-117.3,295.3,-7.0,185,3855,0.00,2.28,0.00,0.000,4,0.000,0.052,1823,3718,3413
$GC,3886,-0.83,-117.3,297.9,-7.9,186,3890,0.00,2.22,0.00,0.000,6,0.000,0.037,1823,2296,3412
$GC,4224,-0.83,-117.3,322.4,-7.2,192,4227,0.00,2.22,0.00,0.000,4,0.000,0.043,1822,899,3412
$GC,4279,-0.83,-117.3,326.5,-7.3,192,4283,0.00,2.25,0.00,0.000,6,0.000,0.042,1815,2309,3412
$GC,4595,-0.83,-117.3,348.8,-7.0,198,4599,0.00,2.25,0.00,0.000,4,0.000,0.043,1815,893,3411
$GC,4633,-0.83,-117.3,351.7,-7.6,198,4637,0.00,2.25,0.00,0.000,6,0.000,0.040,1808,2314,3411
$GC,4960,-0.80,-117.3,374.7,-7.0,204,4964,0.00,2.28,0.00,0.000,4,0.000,0.048,1808,896,3411
$GC,4993,-0.78,-117.3,377.2,-7.2,204,4998,0.12,2.25,0.00,0.000,6,0.127,0.041,1833,2309,3411
$GC,5320,-0.81,-117.3,395.5,-5.6,210,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2309,3410
$GC,5623,-0.85,-117.3,413.2,-5.9,215,5627,0.00,2.25,0.00,0.000,4,0.000,0.044,1833,902,3410
$GC,5667,-0.89,-117.3,416.1,-6.9,215,5671,0.00,2.25,0.00,0.000,6,0.000,0.044,1827,2312,3410
$GC,5983,-0.89,-117.3,435.9,-6.3,221,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2312,3410
$GC,6285,-0.89,-117.3,455.0,-6.3,226,6289,0.00,2.28,0.00,0.000,4,0.000,0.044,1827,892,3409
$GC,6318,-0.89,-117.3,457.3,-6.8,226,6322,0.00,2.28,0.00,0.000,6,0.000,0.044,1823,2312,3409
$GC,6650,-0.89,-117.3,478.7,-6.5,232,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2312,3409
$GC,6954,-0.89,-117.3,498.4,-6.5,237,6958,0.00,2.28,0.00,0.000,4,0.000,0.045,1823,898,3409
$GC,6997,-0.89,-117.3,501.5,-6.6,237,7001,0.00,2.25,0.00,0.000,6,0.000,0.040,1821,2305,3409
$GC,7318,-0.89,-117.3,522.6,-6.5,243,7322,0.00,2.25,0.00,0.000,4,0.000,0.044,1821,890,3408
$GC,7357,-0.89,-117.3,525.3,-7.2,243,7361,0.00,2.28,0.00,0.000,6,0.000,0.039,1812,2309,3408
$GC,7684,-0.89,-117.3,546.8,-6.6,249,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2309,3408
$GC,7987,-0.89,-117.3,567.5,-6.9,254,7991,0.00,2.28,0.00,0.000,4,0.000,0.050,1812,893,3408
$GC,8031,-0.89,-117.3,571.0,-7.9,254,8035,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2302,3408
$GC,8352,-0.89,-117.3,594.4,-7.4,260,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3408
$GC,8655,-0.89,-117.3,618.7,-8.0,265,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3408
$GC,8958,-0.89,-117.3,642.7,-7.9,270,8962,0.00,2.25,0.00,0.000,4,0.000,0.048,1809,899,3408
$GC,9002,-0.89,-117.3,646.5,-8.9,270,9006,0.00,2.25,0.00,0.000,6,0.000,0.042,1807,2305,3407
$GC,9317,-0.89,-117.3,669.7,-7.3,276,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3407
$GC,9621,-0.89,-117.3,690.7,-6.9,281,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3407
$GC,9923,-0.89,-117.3,710.7,-6.6,286,9927,0.00,2.28,0.00,0.000,4,0.000,0.051,1807,891,3407
$GC,9966,-0.89,-117.3,713.9,-7.4,286,9970,0.00,2.28,0.00,0.000,6,0.000,0.042,1805,2311,3407
$GC,10287,-0.89,-117.3,736.8,-7.2,292,10289,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2311,3407
$GC,10591,-0.89,-117.3,759.1,-7.4,297,10595,0.00,2.28,0.00,0.000,4,0.000,0.049,1805,899,3407
$GC,10629,-0.89,-117.3,762.3,-8.0,297,10633,0.00,2.25,0.00,0.000,6,0.000,0.040,1796,2305,3406
$GC,10956,-0.89,-117.3,787.8,-7.9,303,10957,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2305,3406
$GC,11259,-0.89,-117.3,812.1,-8.0,308,11260,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2305,3406
$GC,11562,-0.89,-117.3,835.7,-7.8,313,11566,0.00,2.30,0.00,0.000,4,0.000,0.050,1796,893,3406
$GC,11602,-0.89,-117.3,839.0,-8.8,313,11606,0.00,2.28,0.00,0.000,6,0.000,0.044,1794,2305,3406
$GC,11922,-0.89,-117.3,864.2,-7.8,319,11926,0.00,2.30,0.00,0.000,4,0.000,0.051,1786,3721,3406
$GC,11951,-0.86,-117.3,866.5,-7.8,319,11956,0.10,2.22,0.00,0.000,6,0.124,0.039,1813,2306,3405
$GC,12283,-0.89,-117.3,888.1,-6.4,325,12287,0.00,2.28,0.00,0.000,4,0.000,0.048,1813,895,3406
$GC,12334,-0.93,-117.3,891.7,-6.8,325,12338,0.00,2.28,0.00,0.000,6,0.000,0.044,1810,2314,3406
$GC,12643,-0.93,-117.3,911.6,-6.4,330,12647,0.00,2.28,0.00,0.000,4,0.000,0.054,1801,3717,3406
$GC,12670,-0.93,-117.3,913.5,-7.2,330,12674,0.00,2.22,0.00,0.000,6,0.000,0.039,1801,2297,3405
$GC,13001,-0.93,-117.3,935.4,-6.7,336,13006,0.00,2.25,0.00,0.000,4,0.000,0.049,1801,899,3405
$GC,13040,-0.93,-117.3,938.2,-6.9,336,13044,0.00,2.28,0.00,0.000,6,0.000,0.042,1795,2313,3405
$GC,13367,-0.93,-117.3,959.3,-6.4,342,13368,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2314,3405
$GC,13670,-0.93,-117.3,978.2,-6.1,347,13674,0.00,2.30,0.00,0.000,4,0.000,0.049,1794,890,3405
$GC,13719,-0.93,-117.3,981.7,-6.8,347,13723,0.00,2.28,0.00,0.000,6,0.000,0.049,1794,2303,3405
$STATE,13850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13850,begin apogee
$GC,13856,-0.22,0.0,990.3,6.5,350,13955,0.50,0.00,96.53,1.302,6,0.120,0.000,1952,2303,2931
$STATE,13956,end apogee,CONTROL_FINISHED_OK
$STATE,13956,begin climb
$GC,13959,0.68,117.3,991.4,0.0,351,14065,0.60,0.00,102.82,1.272,6,0.074,0.000,2154,2303,2452
$GC,14337,0.55,117.3,972.9,6.7,358,14339,0.15,0.00,0.00,0.000,6,0.160,0.000,2119,2303,2442
$GC,14640,0.50,126.0,957.0,5.2,363,14653,0.00,2.40,6.93,1.000,4,0.000,0.053,2119,3718,2416
$GC,14677,0.41,126.0,954.8,6.5,363,14682,0.15,2.28,0.00,0.000,6,0.165,0.036,2090,2308,2416
$GC,15004,0.44,157.0,940.4,4.5,369,15034,0.00,0.00,28.10,1.216,6,0.000,0.000,2090,2308,2291
$GC,15307,0.46,167.2,924.8,5.2,374,15318,0.00,0.00,9.90,1.082,6,0.000,0.000,2090,2308,2249
$GC,15610,0.49,175.4,909.0,5.2,379,15621,0.00,0.00,8.68,1.048,6,0.000,0.000,2090,2308,2215
$GC,15914,0.54,187.3,893.4,5.1,384,15928,0.10,0.00,11.80,1.105,6,0.071,0.000,2136,2307,2167
$GC,16216,0.49,187.3,871.7,7.3,389,16221,0.12,2.33,0.00,0.000,4,0.140,0.051,2104,3717,2164
$GC,16248,0.49,187.3,869.1,7.0,389,16253,0.00,2.30,0.00,0.000,6,0.000,0.037,2112,2296,2163
$GC,16583,0.49,187.3,849.3,6.0,395,16584,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2296,2163
$GC,16884,0.49,187.3,830.5,6.2,400,16888,0.00,2.33,0.00,0.000,4,0.000,0.051,2112,3720,2162
$GC,16940,0.45,187.3,826.3,7.5,400,16946,0.12,2.25,0.00,0.000,6,0.153,0.038,2091,2302,2162
$GC,17250,0.50,199.6,810.4,5.1,406,17264,0.00,0.00,11.70,1.066,6,0.000,0.000,2091,2302,2117
$GC,17553,0.63,199.6,793.6,5.7,411,17558,0.15,2.28,0.00,0.000,4,0.064,0.046,2156,892,2114
$GC,17636,0.57,199.6,787.7,7.4,412,17641,0.12,2.28,0.00,0.000,6,0.140,0.041,2124,2312,2114
$GC,17985,0.57,199.6,765.8,6.2,418,17988,0.00,2.25,0.00,0.000,4,0.000,0.053,2125,3711,2113
$GC,18046,0.52,199.6,761.1,8.5,418,18053,0.00,2.20,0.00,0.000,6,0.000,0.034,2133,2302,2112
$GC,18356,0.48,199.6,739.5,7.0,424,18361,0.12,2.30,0.00,0.000,4,0.146,0.054,2099,3720,2113
$GC,18383,0.48,199.6,737.6,6.2,424,18387,0.00,2.22,0.00,0.000,6,0.000,0.038,2108,2302,2112
$GC,18716,0.48,199.6,718.5,5.7,430,18718,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2302,2112
$GC,19019,0.50,199.6,701.6,5.7,435,19023,0.00,2.28,0.00,0.000,4,0.000,0.049,2108,3712,2112
$GC,19062,0.50,199.6,698.6,6.2,435,19066,0.00,2.20,0.00,0.000,6,0.000,0.034,2118,2302,2112
$GC,19383,0.50,199.6,679.9,5.8,441,19387,0.00,2.30,0.00,0.000,4,0.000,0.054,2118,3720,2112
$GC,19405,0.50,199.6,678.5,6.1,441,19409,0.00,2.22,0.00,0.000,6,0.000,0.033,2128,2293,2112
$GC,19749,0.48,199.6,656.6,6.4,447,19754,0.10,2.30,0.00,0.000,4,0.153,0.054,2102,3712,2112
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$STATE,29857,begin surface coast
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$STATE,29876,end surface coast,CONTROL_FINISHED_OK
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