version: 66.04
glider: 144
mission: 15
dive: 415
start: 10 28 109 5 14 36
data:
$ID,144
$MISSION,15
$DIVE,415
$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,-69506.586
$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
$GPS1,050107,5007.834,-14508.921,29,1.4,29,18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-54.8
$GPS2,051343,5008.026,-14509.001,30,1.4,30,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.036,-0.164
$KALMAN_X,-81243.1,205.7,-53.2,82947.4,472.3
$KALMAN_Y,19071.8,40.6,27.7,-43131.5,-135.5
$MHEAD_RNG_PITCHd_Wd,173.7,26192,-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,-117.3,0.0,0.0,0,51,0.00,0.00,-31.58,0.000,2,0.000,0.000,98,2312,2416
$GC,54,-0.68,-117.3,3.0,-4.4,3,90,7.15,0.00,-26.35,0.000,6,0.230,0.000,1845,2313,3412
$GC,406,-0.61,-117.3,47.2,-12.2,36,407,0.08,0.00,0.00,0.000,6,0.156,0.000,1867,2313,3414
$GC,724,-0.61,-117.3,76.4,-6.7,66,728,0.00,2.28,0.00,0.000,4,0.000,0.043,1867,891,3415
$GC,792,-0.66,-117.3,81.4,-7.5,71,796,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2313,3415
$GC,1113,-0.66,-117.3,106.6,-8.0,87,1117,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,891,3416
$GC,1137,-0.66,-117.3,108.5,-8.3,88,1141,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2302,3416
$GC,1464,-0.69,-117.3,131.7,-6.6,104,1468,0.00,2.25,0.00,0.000,4,0.000,0.048,1853,3715,3416
$GC,1498,-0.73,-117.3,134.4,-7.7,105,1504,0.00,2.20,0.00,0.000,6,0.000,0.030,1853,2305,3416
$GC,1823,-0.77,-117.3,157.3,-6.6,120,1827,0.00,2.22,0.00,0.000,4,0.000,0.043,1853,890,3415
$GC,1863,-0.82,-117.3,160.4,-7.5,121,1868,0.10,2.22,0.00,0.000,6,0.066,0.038,1780,2310,3415
$GC,2193,-0.73,-117.3,194.6,-10.5,132,2197,0.17,2.22,0.00,0.000,4,0.128,0.041,1837,892,3415
$GC,2221,-0.73,-117.3,197.0,-8.1,133,2225,0.00,2.22,0.00,0.000,6,0.000,0.041,1836,2302,3415
$GC,2557,-0.73,-117.3,219.1,-6.8,144,2561,0.00,2.22,0.00,0.000,4,0.000,0.042,1836,888,3414
$GC,2592,-0.76,-117.3,221.7,-7.2,145,2597,0.00,2.22,0.00,0.000,6,0.000,0.044,1836,2301,3414
$GC,2928,-0.78,-117.3,245.4,-7.0,156,2932,0.00,2.28,0.00,0.000,4,0.000,0.049,1826,3715,3414
$GC,2973,-0.81,-117.3,248.7,-7.4,157,2977,0.00,2.17,0.00,0.000,6,0.000,0.030,1825,2303,3414
$GC,3297,-0.81,-117.3,270.8,-6.6,168,3301,0.00,2.22,0.00,0.000,4,0.000,0.047,1825,900,3413
$GC,3325,-0.81,-117.3,272.8,-7.5,168,3331,0.00,2.22,0.00,0.000,6,0.000,0.038,1817,2318,3413
$GC,3638,-0.81,-117.3,295.6,-7.5,179,3642,0.00,2.28,0.00,0.000,4,0.000,0.043,1817,889,3412
$GC,3688,-0.81,-117.3,299.7,-7.9,180,3692,0.00,2.25,0.00,0.000,6,0.000,0.038,1809,2311,3413
$GC,4004,-0.78,-117.3,325.5,-8.2,186,4006,0.08,0.00,0.00,0.000,6,0.149,0.000,1829,2311,3411
$GC,4308,-0.80,-117.3,346.8,-7.0,191,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2309,3411
$GC,4611,-0.83,-117.3,369.4,-7.4,196,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2311,3411
$GC,4914,-0.85,-117.3,391.3,-7.2,201,4918,0.00,2.28,0.00,0.000,4,0.000,0.052,1830,889,3410
$GC,4958,-0.89,-117.3,394.9,-8.2,201,4963,0.00,2.25,0.00,0.000,6,0.000,0.041,1823,2306,3410
$GC,5274,-0.89,-117.3,418.6,-7.5,207,5277,0.00,2.22,0.00,0.000,4,0.000,0.044,1823,897,3410
$GC,5308,-0.91,-117.3,421.4,-8.0,207,5312,0.00,2.25,0.00,0.000,6,0.000,0.041,1821,2313,3409
$GC,5640,-0.91,-117.3,445.3,-7.1,213,5644,0.00,2.25,0.00,0.000,4,0.000,0.044,1821,896,3409
$GC,5678,-0.91,-117.3,448.3,-7.8,213,5682,0.00,2.25,0.00,0.000,6,0.000,0.039,1812,2315,3409
$GC,6000,-0.91,-117.3,470.8,-7.1,219,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2315,3408
$GC,6302,-0.91,-117.3,490.7,-6.5,224,6306,0.00,2.28,0.00,0.000,4,0.000,0.045,1812,891,3408
$GC,6341,-0.91,-117.3,493.5,-7.0,224,6345,0.00,2.25,0.00,0.000,6,0.000,0.045,1808,2305,3408
$GC,6662,-0.91,-117.3,514.2,-6.4,230,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3408
$GC,6965,-0.91,-117.3,534.5,-6.7,235,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3407
$GC,7269,-0.91,-117.3,556.0,-7.2,240,7273,0.00,2.25,0.00,0.000,4,0.000,0.045,1808,897,3408
$GC,7319,-0.91,-117.3,560.1,-8.2,240,7323,0.00,2.25,0.00,0.000,6,0.000,0.042,1799,2314,3407
$GC,7635,-0.91,-117.3,584.5,-7.8,246,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2314,3407
$GC,7938,-0.91,-117.3,608.3,-7.9,251,7942,0.00,2.28,0.00,0.000,4,0.000,0.052,1799,889,3407
$GC,7988,-0.91,-117.3,612.2,-8.1,251,7992,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2312,3407
$GC,8299,-0.88,-117.3,636.0,-7.7,256,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2313,3406
$GC,8601,-0.85,-117.3,658.5,-7.4,261,8605,0.00,2.28,0.00,0.000,4,0.000,0.048,1794,890,3406
$GC,8645,-0.85,-117.3,661.9,-7.9,261,8650,0.12,2.25,0.00,0.000,6,0.126,0.045,1820,2306,3406
$GC,8961,-0.89,-117.3,679.3,-5.5,267,8965,0.00,2.28,0.00,0.000,4,0.000,0.054,1812,3716,3406
$GC,8989,-0.92,-117.3,680.9,-6.0,267,8993,0.00,2.20,0.00,0.000,6,0.000,0.033,1812,2300,3405
$GC,9322,-0.94,-117.3,699.0,-5.4,273,9326,0.00,2.25,0.00,0.000,4,0.000,0.051,1812,889,3405
$GC,9364,-0.96,-117.3,701.4,-5.8,273,9368,0.00,2.25,0.00,0.000,6,0.000,0.044,1809,2305,3405
$GC,9685,-0.96,-117.3,718.9,-5.4,279,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2306,3405
$GC,9988,-0.96,-117.3,734.4,-5.1,284,9992,0.00,2.28,0.00,0.000,4,0.000,0.051,1809,896,3405
$GC,10021,-0.96,-117.3,736.4,-5.6,284,10025,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2313,3405
$GC,10348,-0.96,-117.3,754.1,-5.5,290,10349,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2314,3405
$GC,10651,-0.96,-117.3,772.1,-5.9,295,10655,0.00,2.30,0.00,0.000,4,0.000,0.052,1808,890,3405
$GC,10678,-0.96,-117.3,773.8,-6.8,295,10682,0.00,2.28,0.00,0.000,6,0.000,0.047,1806,2313,3404
$GC,11010,-0.96,-117.3,794.6,-6.2,301,11012,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2313,3404
$GC,11313,-0.96,-117.3,813.8,-6.4,306,11317,0.00,2.28,0.00,0.000,4,0.000,0.051,1806,899,3404
$GC,11346,-0.96,-117.3,816.1,-6.3,306,11350,0.00,2.25,0.00,0.000,6,0.000,0.047,1796,2307,3404
$GC,11672,-0.96,-117.3,838.3,-6.9,312,11673,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2307,3404
$GC,11976,-0.96,-117.3,858.8,-6.7,317,11980,0.00,2.28,0.00,0.000,4,0.000,0.048,1796,894,3403
$GC,12015,-0.96,-117.3,861.8,-7.8,317,12019,0.00,2.28,0.00,0.000,6,0.000,0.044,1794,2313,3404
$GC,12336,-0.96,-117.3,883.9,-6.9,323,12340,0.00,2.28,0.00,0.000,4,0.000,0.054,1784,3715,3403
$GC,12374,-0.96,-117.3,887.0,-7.7,323,12379,0.00,2.22,0.00,0.000,6,0.000,0.034,1784,2295,3403
$GC,12696,-0.93,-117.3,911.1,-7.6,329,12698,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2295,3403
$GC,12999,-0.91,-117.3,933.7,-7.4,334,13003,0.00,2.25,0.00,0.000,4,0.000,0.050,1784,896,3403
$GC,13038,-0.88,-117.3,936.9,-8.3,334,13042,0.10,2.25,0.00,0.000,6,0.146,0.048,1807,2303,3403
$GC,13359,-0.91,-117.3,957.5,-6.3,340,13363,0.00,2.28,0.00,0.000,4,0.000,0.059,1799,3711,3403
$GC,13387,-0.93,-117.3,959.5,-7.6,340,13391,0.00,2.20,0.00,0.000,6,0.000,0.035,1798,2306,3403
$GC,13719,-0.93,-117.3,982.2,-6.8,346,13720,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2306,3402
$STATE,13837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13837,begin apogee
$GC,13844,-0.22,0.0,990.4,6.8,348,13944,0.47,0.00,97.18,1.297,6,0.112,0.000,1952,2305,2931
$STATE,13945,end apogee,CONTROL_FINISHED_OK
$STATE,13945,begin climb
$GC,13948,0.68,117.3,992.1,0.0,349,14061,0.60,2.60,103.25,1.266,4,0.076,0.057,2154,3708,2450
$GC,14087,0.51,117.3,990.6,5.6,352,14092,0.22,2.42,0.00,0.000,6,0.168,0.035,2112,2300,2447
$GC,14454,0.49,132.8,972.3,5.0,358,14469,0.00,0.00,13.23,1.144,6,0.000,0.000,2112,2300,2389
$GC,14757,0.46,141.2,956.6,5.2,363,14771,0.00,2.38,8.52,1.055,4,0.000,0.058,2111,3711,2355
$GC,14806,0.39,141.2,953.6,5.9,363,14811,0.15,2.28,0.00,0.000,6,0.157,0.040,2083,2300,2353
$GC,15123,0.47,184.3,940.7,4.0,369,15163,0.00,0.00,38.70,1.229,6,0.000,0.000,2083,2300,2179
$GC,15425,0.62,197.4,925.9,5.1,374,15445,0.17,2.40,12.25,1.114,4,0.064,0.051,2160,886,2124
$GC,15568,0.55,197.4,915.4,7.1,376,15573,0.15,2.33,0.00,0.000,6,0.137,0.041,2121,2316,2122
$GC,15922,0.55,197.4,893.6,6.1,382,15926,0.00,2.28,0.00,0.000,4,0.000,0.050,2121,3718,2120
$GC,15986,0.51,197.4,889.0,7.7,383,15990,0.00,2.25,0.00,0.000,6,0.000,0.038,2130,2294,2120
$GC,16352,0.48,197.4,864.0,6.8,389,16357,0.10,2.30,0.00,0.000,4,0.154,0.053,2104,3714,2119
$GC,16385,0.48,197.4,861.7,7.1,389,16389,0.00,2.22,0.00,0.000,6,0.000,0.038,2113,2300,2119
$GC,16711,0.48,197.4,842.0,6.0,395,16712,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2300,2119
$GC,17015,0.48,197.4,823.9,5.9,400,17019,0.00,2.30,0.00,0.000,4,0.000,0.050,2113,3713,2119
$GC,17060,0.46,197.4,820.8,7.0,400,17064,0.10,2.22,0.00,0.000,6,0.153,0.034,2101,2295,2118
$GC,17375,0.50,205.0,804.2,5.2,406,17389,0.00,2.33,7.15,0.955,4,0.000,0.054,2109,887,2094
$GC,17408,0.57,220.6,802.5,5.0,406,17428,0.00,2.25,15.65,1.086,6,0.000,0.045,2109,2307,2031
$GC,17739,0.62,227.3,784.7,5.3,412,17748,0.08,0.00,6.80,0.924,6,0.086,0.000,2159,2307,2004
$GC,18042,0.53,227.3,760.3,8.3,417,18047,0.17,2.28,0.00,0.000,4,0.137,0.055,2104,3709,2001
$GC,18065,0.49,227.3,758.5,7.3,417,18069,0.00,2.22,0.00,0.000,6,0.000,0.034,2113,2291,2001
$GC,18403,0.52,227.3,739.7,5.6,423,18407,0.00,2.28,0.00,0.000,4,0.000,0.052,2123,887,2001
$GC,18430,0.56,227.3,737.9,6.2,423,18435,0.00,2.25,0.00,0.000,6,0.000,0.046,2123,2305,2000
$GC,18763,0.56,227.3,717.3,6.3,429,18767,0.00,2.25,0.00,0.000,4,0.000,0.049,2124,3709,2000
$GC,18796,0.56,227.3,714.8,7.0,429,18800,0.00,2.20,0.00,0.000,6,0.000,0.033,2133,2295,1999
$GC,19134,0.56,227.3,692.9,6.5,435,19136,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2295,2000
$GC,19438,0.56,227.3,673.8,6.2,440,19442,0.00,2.28,0.00,0.000,4,0.000,0.054,2133,3706,2000
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$STATE,29062,begin surface coast
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