version: 66.04
glider: 144
mission: 15
dive: 39
start: 6 24 109 19 5 50
data:
$ID,144
$MISSION,15
$DIVE,39
$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,-61673.234
$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,0.039999999
$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,26
$R_STBD_OVSHOOT,27
$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
$GPS1,185936,5018.033,-14431.600,40,1.1,45,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-62.5
$GPS2,190456,5018.035,-14431.655,15,1.4,15,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.103,0.104
$KALMAN_X,-26702.2,225.1,-82.6,61313.2,-1528.2
$KALMAN_Y,9746.9,-338.4,-174.3,24740.6,1751.2
$MHEAD_RNG_PITCHd_Wd,26.1,5914,-15.4,-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,-0.77,-83.1,0.0,0.0,0,61,0.00,0.00,-42.20,0.000,2,0.000,0.000,102,2304,2730
$GC,64,-0.79,-94.2,3.4,-5.0,4,90,6.85,2.30,-14.35,0.000,4,0.249,0.077,1820,893,3319
$GC,310,-0.67,-94.2,38.2,-13.1,26,315,0.15,2.25,0.00,0.000,6,0.157,0.048,1850,2305,3321
$GC,636,-0.67,-94.2,72.6,-10.7,56,637,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2305,3322
$GC,956,-0.67,-94.2,104.5,-9.3,75,960,0.00,2.25,0.00,0.000,4,0.000,0.060,1850,891,3322
$GC,1028,-0.67,-94.2,111.6,-9.6,78,1032,0.00,2.25,0.00,0.000,6,0.000,0.048,1849,2313,3323
$GC,1350,-0.72,-94.2,143.0,-9.1,94,1354,0.00,2.28,0.00,0.000,4,0.000,0.053,1849,886,3323
$GC,1462,-0.78,-94.2,153.1,-8.3,99,1466,0.00,2.25,0.00,0.000,6,0.000,0.051,1842,2305,3323
$GC,1786,-0.83,-94.2,180.4,-8.6,110,1788,0.08,0.00,0.00,0.000,6,0.089,0.000,1799,2305,3322
$GC,2093,-0.74,-94.2,213.1,-10.5,120,2097,0.15,2.25,0.00,0.000,4,0.147,0.053,1840,889,3322
$GC,2193,-0.82,-94.2,221.7,-8.3,123,2197,0.00,2.25,0.00,0.000,6,0.000,0.054,1836,2312,3323
$GC,2522,-0.88,-94.2,247.2,-7.6,134,2527,0.10,2.25,0.00,0.000,4,0.079,0.054,1786,883,3323
$GC,2617,-0.76,-94.2,256.9,-10.6,136,2624,0.20,2.25,0.00,0.000,6,0.153,0.049,1837,2309,3323
$GC,2929,-0.83,-94.2,278.7,-6.7,147,2933,0.00,2.25,0.00,0.000,4,0.000,0.054,1837,885,3322
$GC,2986,-0.90,-94.2,282.9,-7.6,148,2993,0.12,2.25,0.00,0.000,6,0.075,0.050,1775,2313,3322
$GC,3300,-0.75,-94.2,313.7,-10.1,157,3304,0.20,2.28,0.00,0.000,4,0.152,0.057,1838,880,3322
$GC,3344,-0.86,-94.2,317.5,-7.3,157,3349,0.10,2.25,0.00,0.000,6,0.082,0.051,1784,2306,3322
$GC,3660,-0.75,-94.2,347.7,-9.9,163,3662,0.17,0.00,0.00,0.000,6,0.149,0.000,1833,2306,3321
$GC,3962,-0.83,-94.2,369.5,-7.0,168,3966,0.00,2.25,0.00,0.000,4,0.000,0.056,1834,891,3321
$GC,3995,-0.91,-94.2,372.1,-8.0,168,3999,0.10,2.22,0.00,0.000,6,0.078,0.051,1776,2303,3321
$GC,4321,-0.78,-94.2,404.5,-10.3,174,4326,0.17,2.25,0.00,0.000,4,0.151,0.054,1831,883,3320
$GC,4360,-0.86,-94.2,408.2,-8.3,174,4364,0.00,2.25,0.00,0.000,6,0.000,0.049,1823,2312,3320
$GC,4681,-0.91,-94.2,434.6,-8.3,180,4685,0.00,2.25,0.00,0.000,4,0.000,0.056,1823,892,3320
$GC,4743,-0.95,-94.2,440.0,-8.9,181,4748,0.08,2.22,0.00,0.000,6,0.093,0.051,1774,2303,3319
$GC,5109,-0.82,-94.2,478.9,-10.9,187,5111,0.17,0.00,0.00,0.000,6,0.150,0.000,1823,2304,3319
$GC,5412,-0.88,-94.2,502.7,-7.7,192,5416,0.00,2.25,0.00,0.000,4,0.000,0.057,1823,891,3318
$GC,5461,-0.94,-94.2,506.7,-8.1,192,5466,0.10,2.25,0.00,0.000,6,0.080,0.057,1769,2313,3319
$GC,5771,-0.80,-94.2,537.1,-9.9,197,5776,0.17,2.28,0.00,0.000,4,0.150,0.055,1824,880,3319
$GC,5810,-0.88,-94.2,540.3,-7.6,197,5814,0.00,2.25,0.00,0.000,6,0.000,0.056,1820,2306,3319
$GC,6131,-0.93,-94.2,562.3,-6.9,203,6135,0.00,2.25,0.00,0.000,4,0.000,0.063,1809,3719,3318
$GC,6163,-0.93,-94.2,564.7,-7.2,203,6167,0.00,2.22,0.00,0.000,6,0.000,0.043,1809,2299,3318
$GC,6495,-0.93,-94.2,587.7,-6.9,209,6499,0.00,2.22,0.00,0.000,4,0.000,0.057,1809,892,3318
$GC,6545,-0.93,-94.2,591.5,-7.3,209,6549,0.00,2.25,0.00,0.000,6,0.000,0.051,1806,2315,3318
$GC,6861,-0.93,-94.2,614.1,-7.2,215,6865,0.00,2.28,0.00,0.000,4,0.000,0.060,1806,892,3318
$GC,6900,-0.93,-94.2,617.2,-8.2,215,6904,0.00,2.22,0.00,0.000,6,0.000,0.053,1796,2304,3317
$GC,7220,-0.93,-94.2,642.9,-8.1,221,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2304,3317
$GC,7523,-0.93,-94.2,665.8,-7.5,226,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2304,3317
$GC,7826,-0.93,-94.2,688.2,-7.4,231,7830,0.00,2.25,0.00,0.000,4,0.000,0.062,1796,896,3317
$GC,7859,-0.93,-94.2,690.9,-8.4,231,7863,0.00,2.22,0.00,0.000,6,0.000,0.056,1793,2303,3316
$GC,8191,-0.93,-94.2,716.3,-7.6,237,8195,0.00,2.25,0.00,0.000,4,0.000,0.063,1783,3717,3316
$GC,8229,-0.87,-94.2,719.6,-8.9,237,8234,0.12,2.20,0.00,0.000,6,0.147,0.044,1816,2300,3317
$GC,8550,-0.93,-94.2,741.1,-6.7,243,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2300,3317
$GC,8853,-0.99,-94.2,761.6,-6.8,248,8857,0.12,2.25,0.00,0.000,4,0.087,0.064,1769,890,3316
$GC,8915,-0.87,-94.2,767.2,-9.5,249,8920,0.20,2.25,0.00,0.000,6,0.157,0.058,1813,2314,3316
$GC,9281,-0.93,-94.2,792.6,-6.7,255,9285,0.00,2.28,0.00,0.000,4,0.000,0.064,1815,891,3316
$GC,9325,-0.99,-94.2,795.7,-7.3,255,9329,0.08,2.25,0.00,0.000,6,0.107,0.058,1773,2314,3316
$GC,9640,-0.89,-94.2,821.6,-8.3,261,9644,0.12,2.25,0.00,0.000,4,0.165,0.064,1796,3720,3315
$GC,9677,-0.89,-94.2,824.8,-7.8,261,9681,0.00,2.20,0.00,0.000,6,0.000,0.051,1795,2306,3316
$GC,10004,-0.89,-94.2,848.6,-7.3,267,10008,0.00,2.25,0.00,0.000,4,0.000,0.064,1798,893,3315
$GC,10042,-0.89,-94.2,851.7,-8.6,267,10046,0.00,2.25,0.00,0.000,6,0.000,0.056,1793,2311,3315
$GC,10368,-0.89,-94.2,876.2,-7.5,273,10370,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2311,3315
$GC,10671,-0.89,-94.2,898.3,-7.3,278,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2311,3316
$GC,10974,-0.89,-94.2,921.1,-7.5,283,10978,0.00,2.28,0.00,0.000,4,0.000,0.068,1793,894,3315
$GC,11002,-0.89,-94.2,923.5,-8.3,283,11006,0.10,2.25,0.00,0.000,6,0.178,0.056,1806,2314,3315
$GC,11334,-0.94,-94.2,946.6,-7.0,289,11335,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2314,3315
$GC,11636,-0.99,-94.2,966.8,-6.6,294,11638,0.10,0.00,0.00,0.000,6,0.110,0.000,1774,2314,3315
$STATE,11937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11937,begin apogee
$GC,11943,-0.22,0.0,990.5,7.9,299,12021,0.60,0.00,75.12,1.347,6,0.165,0.000,1952,2314,2931
$STATE,12022,end apogee,CONTROL_FINISHED_OK
$STATE,12022,begin climb
$GC,12024,0.79,94.2,991.6,0.0,300,12111,0.68,2.50,79.38,1.313,4,0.110,0.071,2164,3726,2545
$GC,12140,0.40,94.2,985.8,7.9,301,12146,0.35,2.38,0.00,0.000,6,0.201,0.051,2088,2306,2541
$GC,12450,0.40,94.2,967.8,5.7,306,12454,0.00,2.38,0.00,0.000,4,0.000,0.070,2098,886,2534
$GC,12477,0.44,94.2,966.3,5.7,306,12481,0.00,2.33,0.00,0.000,6,0.000,0.055,2098,2307,2534
$GC,12814,0.44,94.2,946.4,5.9,312,12818,0.00,2.33,0.00,0.000,4,0.000,0.071,2098,3716,2532
$GC,12870,0.35,94.2,942.8,6.8,312,12878,0.12,2.28,0.00,0.000,6,0.188,0.051,2077,2297,2532
$GC,13181,0.45,109.4,927.7,4.8,318,13194,0.00,0.00,11.45,1.170,6,0.000,0.000,2077,2297,2485
$GC,13484,0.56,118.1,912.5,5.1,323,13495,0.15,0.00,8.90,1.107,6,0.081,0.000,2131,2297,2449
$GC,13786,0.46,118.1,890.5,7.4,328,13791,0.12,2.35,0.00,0.000,4,0.164,0.063,2098,3719,2446
$GC,13825,0.41,118.1,887.5,7.8,328,13829,0.00,2.28,0.00,0.000,6,0.000,0.049,2105,2300,2445
$GC,14146,0.41,118.1,868.5,5.9,334,14147,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2300,2444
$GC,14448,0.42,125.9,852.5,5.1,339,14462,0.00,2.40,7.47,1.044,4,0.000,0.070,2105,3717,2417
$GC,14486,0.35,125.9,850.2,5.9,339,14491,0.15,2.28,0.00,0.000,6,0.178,0.046,2079,2295,2415
$GC,14812,0.53,168.4,838.3,3.5,345,14852,0.12,0.00,36.78,1.221,6,0.082,0.000,2127,2295,2244
$GC,15115,0.53,168.4,819.8,6.4,350,15116,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2295,2238
$GC,15418,0.53,168.4,799.9,6.5,355,15419,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2295,2238
$GC,15721,0.53,168.4,779.2,6.9,360,15725,0.00,2.35,0.00,0.000,4,0.000,0.067,2126,3713,2236
$GC,15754,0.43,168.4,776.5,8.6,360,15759,0.17,2.25,0.00,0.000,6,0.174,0.051,2091,2303,2236
$GC,16080,0.58,170.6,758.6,5.4,366,16082,0.12,0.00,0.00,0.000,6,0.077,0.000,2141,2302,2235
$GC,16383,0.49,170.6,734.3,8.1,371,16388,0.15,2.30,0.00,0.000,4,0.166,0.064,2103,3713,2235
$GC,16421,0.49,170.6,731.3,7.1,371,16425,0.00,2.25,0.00,0.000,6,0.000,0.044,2111,2294,2234
$GC,16748,0.54,170.6,710.8,6.2,377,16752,0.00,2.33,0.00,0.000,4,0.000,0.065,2111,3720,2234
$GC,16769,0.54,170.6,709.1,8.0,377,16773,0.00,2.25,0.00,0.000,6,0.000,0.045,2121,2297,2234
$GC,17112,0.54,170.6,685.2,7.0,383,17116,0.00,2.30,0.00,0.000,4,0.000,0.063,2122,3716,2234
$GC,17145,0.48,170.6,682.5,7.4,383,17150,0.12,2.25,0.00,0.000,6,0.179,0.047,2102,2291,2234
$GC,17472,0.59,170.6,662.1,6.3,389,17473,0.10,0.00,0.00,0.000,6,0.080,0.000,2144,2291,2234
$GC,17775,0.51,170.6,636.8,8.4,394,17779,0.15,2.33,0.00,0.000,4,0.165,0.067,2105,3724,2234
$GC,17837,0.51,170.6,631.9,7.2,395,17841,0.00,2.25,0.00,0.000,6,0.000,0.050,2114,2294,2234
$GC,18202,0.55,170.6,607.6,6.6,401,18206,0.00,2.30,0.00,0.000,4,0.000,0.065,2114,3717,2234
$GC,18241,0.55,170.6,604.7,6.8,401,18245,0.00,2.22,0.00,0.000,6,0.000,0.044,2124,2300,2234
$GC,18567,0.55,170.6,582.6,6.7,407,18571,0.00,2.28,0.00,0.000,4,0.000,0.062,2124,3714,2233
$GC,18600,0.50,170.6,579.9,8.2,407,18605,0.12,2.20,0.00,0.000,6,0.176,0.044,2104,2304,2234
$GC,18927,0.60,170.6,560.5,5.8,413,18928,0.10,0.00,0.00,0.000,6,0.074,0.000,2150,2303,2233
$GC,19230,0.50,170.6,535.9,8.3,418,19235,0.17,2.28,0.00,0.000,4,0.160,0.065,2103,3717,2233
$GC,19279,0.54,170.6,532.2,7.1,418,19283,0.00,2.20,0.00,0.000,6,0.000,0.043,2111,2303,2233
$GC,19589,0.62,170.6,513.3,6.0,423,19591,0.08,0.00,0.00,0.000,6,0.084,0.000,2154,2303,2233
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$GC,25563,0.84,223.4,114.3,4.6,577,25585,0.00,2.25,15.68,0.729,4,0.000,0.060,2160,3710,2019
$GC,25703,0.84,223.4,106.2,6.9,583,25707,0.00,2.22,0.00,0.000,6,0.000,0.041,2167,2298,2017
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$STATE,27414,end climb,SURFACE_DEPTH_REACHED
$STATE,27414,begin surface coast
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$STATE,27449,end surface coast,CONTROL_FINISHED_OK
$STATE,27450,begin surface
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