version: 66.04
glider: 144
mission: 15
dive: 391
start: 10 19 109 21 50 50
data:
$ID,144
$MISSION,15
$DIVE,391
$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,-68952.023
$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,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
$GPS1,214253,5017.650,-14428.909,59,1.5,59,18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-57.6
$GPS2,214956,5017.689,-14428.815,16,1.2,16,18.7
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.008,-0.168
$KALMAN_X,-75527.1,-140.0,27.0,124978.8,87.2
$KALMAN_Y,22622.9,-64.0,331.6,-28979.5,-894.0
$MHEAD_RNG_PITCHd_Wd,163.9,43868,-12.2,-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,-117.3,0.0,0.0,0,51,0.00,0.00,-31.52,0.000,2,0.000,0.000,98,2291,2483
$GC,54,-0.68,-117.3,3.0,-5.1,3,92,7.12,2.30,-25.52,0.000,4,0.231,0.060,1841,896,3411
$GC,179,-0.61,-117.3,18.0,-12.5,13,186,0.12,2.22,0.00,0.000,6,0.136,0.035,1866,2307,3413
$GC,506,-0.61,-117.3,51.7,-9.1,44,510,0.00,2.25,0.00,0.000,4,0.000,0.047,1858,3718,3413
$GC,598,-0.64,-117.3,58.7,-7.7,52,602,0.00,2.20,0.00,0.000,6,0.000,0.028,1858,2300,3413
$GC,922,-0.64,-117.3,83.9,-8.6,80,925,0.00,2.25,0.00,0.000,4,0.000,0.041,1858,891,3415
$GC,995,-0.64,-117.3,90.7,-8.7,83,999,0.00,2.22,0.00,0.000,6,0.000,0.036,1850,2304,3415
$GC,1316,-0.64,-117.3,118.2,-8.2,99,1320,0.00,2.25,0.00,0.000,4,0.000,0.043,1850,891,3415
$GC,1371,-0.64,-117.3,123.0,-8.2,101,1378,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2297,3415
$GC,1687,-0.64,-117.3,147.8,-7.4,117,1691,0.00,2.25,0.00,0.000,4,0.000,0.041,1850,888,3415
$GC,1750,-0.67,-117.3,152.4,-7.6,120,1755,0.00,2.25,0.00,0.000,6,0.000,0.038,1849,2306,3415
$GC,2087,-0.71,-117.3,175.6,-7.0,131,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2306,3414
$GC,2392,-0.74,-117.3,196.7,-6.9,141,2396,0.00,2.28,0.00,0.000,4,0.000,0.041,1850,889,3414
$GC,2431,-0.79,-117.3,199.5,-7.3,142,2435,0.00,2.25,0.00,0.000,6,0.000,0.038,1849,2306,3414
$GC,2756,-0.84,-117.3,220.1,-6.0,153,2758,0.12,0.00,0.00,0.000,6,0.059,0.000,1766,2307,3413
$GC,3063,-0.72,-117.3,250.3,-9.9,163,3067,0.22,2.28,0.00,0.000,4,0.126,0.042,1839,894,3413
$GC,3141,-0.76,-117.3,256.0,-6.8,165,3145,0.00,2.25,0.00,0.000,6,0.000,0.038,1837,2308,3413
$GC,3460,-0.78,-117.3,275.3,-6.1,176,3464,0.00,2.28,0.00,0.000,4,0.000,0.047,1837,894,3412
$GC,3490,-0.81,-117.3,277.3,-7.4,177,3494,0.00,2.25,0.00,0.000,6,0.000,0.045,1836,2303,3412
$GC,3825,-0.84,-117.3,298.8,-6.5,188,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2303,3411
$GC,4159,-0.87,-117.3,322.7,-7.3,194,4163,0.10,2.25,0.00,0.000,4,0.067,0.041,1768,900,3411
$GC,4203,-0.77,-117.3,327.3,-11.2,194,4208,0.25,2.25,0.00,0.000,6,0.121,0.040,1832,2308,3412
$GC,4519,-0.80,-117.3,350.6,-7.2,200,4523,0.00,2.28,0.00,0.000,4,0.000,0.043,1833,893,3411
$GC,4569,-0.84,-117.3,354.4,-7.7,200,4573,0.00,2.25,0.00,0.000,6,0.000,0.041,1828,2304,3410
$GC,4880,-0.84,-117.3,375.1,-6.6,205,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2304,3410
$GC,5182,-0.86,-117.3,395.0,-6.6,210,5186,0.00,2.25,0.00,0.000,4,0.000,0.044,1827,896,3410
$GC,5210,-0.88,-117.3,397.0,-7.6,210,5215,0.00,2.25,0.00,0.000,6,0.000,0.046,1823,2305,3410
$GC,5549,-0.88,-117.3,419.1,-6.5,216,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2305,3409
$GC,5851,-0.88,-117.3,436.8,-5.7,221,5855,0.00,2.28,0.00,0.000,4,0.000,0.044,1823,893,3408
$GC,5884,-0.88,-117.3,438.8,-5.9,221,5888,0.00,2.28,0.00,0.000,6,0.000,0.046,1821,2311,3409
$GC,6217,-0.88,-117.3,456.6,-5.3,227,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2312,3408
$GC,6520,-0.88,-117.3,473.8,-5.7,232,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2312,3408
$GC,6824,-0.88,-117.3,493.5,-6.7,237,6828,0.00,2.28,0.00,0.000,4,0.000,0.045,1821,899,3408
$GC,6874,-0.90,-117.3,497.5,-7.9,237,6878,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2309,3407
$GC,7184,-0.90,-117.3,521.2,-7.8,242,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2309,3407
$GC,7487,-0.90,-117.3,545.2,-8.0,247,7491,0.00,2.28,0.00,0.000,4,0.000,0.051,1813,895,3407
$GC,7527,-0.90,-117.3,548.6,-8.7,247,7531,0.00,2.25,0.00,0.000,6,0.000,0.040,1809,2305,3407
$GC,7849,-0.90,-117.3,574.4,-8.0,253,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3407
$GC,8151,-0.90,-117.3,596.5,-7.2,258,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2306,3407
$GC,8454,-0.90,-117.3,616.6,-6.5,263,8458,0.00,2.30,0.00,0.000,4,0.000,0.052,1809,895,3406
$GC,8488,-0.90,-117.3,619.0,-7.2,263,8492,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2306,3406
$GC,8814,-0.90,-117.3,639.3,-6.2,269,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3406
$GC,9117,-0.90,-117.3,657.7,-6.0,274,9121,0.00,2.28,0.00,0.000,4,0.000,0.049,1808,899,3406
$GC,9144,-0.90,-117.3,659.7,-7.1,274,9148,0.00,2.25,0.00,0.000,6,0.000,0.042,1806,2305,3406
$GC,9482,-0.90,-117.3,682.7,-6.9,280,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3405
$GC,9785,-0.90,-117.3,703.8,-7.0,285,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3406
$GC,10088,-0.90,-117.3,724.5,-6.8,290,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3405
$GC,10391,-0.90,-117.3,744.3,-6.6,295,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3405
$GC,10694,-0.90,-117.3,764.8,-6.8,300,10695,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2305,3405
$GC,10998,-0.90,-117.3,785.3,-6.7,305,11002,0.00,2.30,0.00,0.000,4,0.000,0.048,1807,901,3405
$GC,11038,-0.90,-117.3,788.2,-7.6,305,11043,0.00,2.28,0.00,0.000,6,0.000,0.043,1804,2309,3405
$GC,11359,-0.90,-117.3,808.9,-6.4,311,11360,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2308,3405
$GC,11662,-0.90,-117.3,827.1,-5.9,316,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2309,3405
$GC,11966,-0.90,-117.3,843.8,-5.5,321,11970,0.00,2.30,0.00,0.000,4,0.000,0.053,1804,900,3405
$GC,12015,-0.90,-117.3,846.9,-6.0,321,12019,0.00,2.25,0.00,0.000,6,0.000,0.045,1795,2301,3404
$GC,12331,-0.90,-117.3,865.8,-6.1,327,12332,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2301,3404
$GC,12634,-0.90,-117.3,885.5,-6.5,332,12638,0.00,2.30,0.00,0.000,4,0.000,0.052,1795,894,3404
$GC,12667,-0.90,-117.3,888.0,-7.3,332,12671,0.00,2.28,0.00,0.000,6,0.000,0.043,1794,2302,3404
$GC,12994,-0.90,-117.3,911.7,-7.3,338,12995,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2302,3404
$GC,13297,-0.90,-117.3,934.8,-7.6,343,13298,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2302,3404
$GC,13600,-0.90,-117.3,957.1,-7.3,348,13602,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2302,3404
$GC,13904,-0.90,-117.3,978.6,-7.1,353,13905,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2302,3404
$STATE,14082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14082,begin apogee
$GC,14089,-0.22,0.0,990.8,6.8,356,14188,0.50,0.00,96.93,1.295,6,0.118,0.000,1953,2302,2931
$STATE,14189,end apogee,CONTROL_FINISHED_OK
$STATE,14189,begin climb
$GC,14192,0.68,117.3,992.1,0.0,357,14303,0.57,2.60,103.03,1.266,4,0.079,0.058,2148,3707,2450
$GC,14337,0.49,117.3,988.7,6.9,359,14342,0.22,2.42,0.00,0.000,6,0.169,0.035,2106,2308,2447
$GC,14681,0.46,126.8,970.9,5.2,365,14691,0.00,0.00,8.12,1.041,6,0.000,0.000,2107,2308,2413
$GC,14985,0.45,138.8,955.3,5.1,370,14999,0.00,0.00,11.73,1.121,6,0.000,0.000,2107,2308,2365
$GC,15288,0.45,157.9,940.3,4.9,375,15313,0.00,2.40,17.65,1.175,4,0.000,0.054,2116,900,2286
$GC,15330,0.52,220.1,938.2,3.4,375,15391,0.00,2.30,56.08,1.229,6,0.000,0.041,2116,2302,2032
$GC,15713,0.53,223.0,917.4,5.4,382,15717,0.00,2.33,0.00,0.000,4,0.000,0.051,2116,3711,2023
$GC,15734,0.53,223.0,915.9,5.7,382,15738,0.00,2.28,0.00,0.000,6,0.000,0.038,2126,2298,2023
$GC,16078,0.53,223.0,895.4,6.0,388,16082,0.00,2.30,0.00,0.000,4,0.000,0.055,2136,896,2022
$GC,16105,0.53,223.0,893.6,5.8,388,16108,0.00,2.28,0.00,0.000,6,0.000,0.042,2136,2303,2021
$GC,16444,0.49,223.0,870.2,7.0,394,16446,0.12,0.00,0.00,0.000,6,0.141,0.000,2103,2303,2020
$GC,16746,0.54,226.0,853.6,5.4,399,16756,0.00,2.35,4.25,0.769,4,0.000,0.051,2112,901,2009
$GC,16773,0.60,226.0,852.1,5.6,399,16777,0.00,2.28,0.00,0.000,6,0.000,0.039,2112,2310,2008
$GC,17111,0.63,226.0,832.4,5.8,405,17113,0.10,0.00,0.00,0.000,6,0.077,0.000,2164,2311,2008
$GC,17414,0.54,226.0,804.6,9.4,410,17418,0.17,2.30,0.00,0.000,4,0.141,0.048,2124,891,2007
$GC,17441,0.54,226.0,802.2,7.9,410,17444,0.00,2.28,0.00,0.000,6,0.000,0.044,2124,2310,2006
$GC,17779,0.54,226.0,780.4,6.4,416,17782,0.00,2.25,0.00,0.000,4,0.000,0.050,2125,3712,2007
$GC,17807,0.54,226.0,778.3,7.1,416,17811,0.00,2.20,0.00,0.000,6,0.000,0.035,2135,2303,2006
$GC,18144,0.54,226.0,755.4,6.7,422,18146,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2303,2006
$GC,18450,0.52,226.0,734.7,6.8,427,18454,0.10,2.28,0.00,0.000,4,0.154,0.048,2109,3710,2006
$GC,18483,0.52,226.0,732.3,7.2,427,18487,0.00,2.22,0.00,0.000,6,0.000,0.034,2117,2296,2006
$GC,18817,0.52,230.1,714.1,5.4,433,18824,0.00,0.00,4.95,0.791,6,0.000,0.000,2117,2296,1993
$GC,19119,0.56,246.7,699.1,4.9,438,19140,0.00,2.30,16.42,1.037,4,0.000,0.047,2128,890,1924
$GC,19164,0.65,284.0,696.8,4.2,438,19204,0.00,2.28,34.22,1.067,6,0.000,0.040,2128,2305,1772
$GC,19550,0.71,297.7,677.4,5.0,445,19570,0.10,2.35,12.75,0.982,4,0.071,0.053,2197,3710,1717
$GC,19610,0.56,297.7,671.3,11.4,445,19617,0.32,2.25,0.00,0.000,6,0.148,0.034,2118,2300,1716
$GC,19921,0.66,319.7,655.5,4.8,451,19948,0.10,2.33,20.90,1.019,4,0.066,0.048,2192,887,1625
$GC,19965,0.60,319.7,652.0,8.3,451,19969,0.22,2.30,0.00,0.000,6,0.123,0.042,2128,2303,1623
$GC,20281,0.67,319.7,632.3,6.1,457,20285,0.00,2.30,0.00,0.000,4,0.000,0.055,2128,3716,1621
$GC,20308,0.73,319.7,630.1,7.1,457,20313,0.10,2.22,0.00,0.000,6,0.064,0.033,2201,2300,1620
$GC,20646,0.61,319.7,586.5,13.5,463,20651,0.22,2.30,0.00,0.000,4,0.140,0.048,2141,893,1620
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$STATE,27801,end climb,SURFACE_DEPTH_REACHED
$STATE,27801,begin surface coast
$FINISH,0.8,1.021746
$STATE,27824,end surface coast,CONTROL_FINISHED_OK
$STATE,27824,begin surface
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$10V_AH,10.6,48.951
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