version: 66.04
glider: 144
mission: 15
dive: 91
start: 7 12 109 6 12 56
data:
$ID,144
$MISSION,15
$DIVE,91
$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,-62707.129
$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,31
$R_STBD_OVSHOOT,29
$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
$GPS1,060606,5009.909,-14422.136,25,1.2,25,18.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-62.7
$GPS2,061202,5009.931,-14422.172,14,1.5,14,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.023,-0.166
$KALMAN_X,-47960.9,220.5,-27.1,93807.2,-429.4
$KALMAN_Y,57942.9,-762.7,116.5,-38312.2,1969.6
$MHEAD_RNG_PITCHd_Wd,169.1,30867,-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,13,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,49,0.00,0.00,-31.62,0.000,2,0.000,0.000,101,2293,2506
$GC,51,-0.68,-117.3,3.2,-5.9,3,89,6.82,2.28,-25.00,0.000,4,0.239,0.069,1844,889,3413
$GC,145,-0.48,-117.3,14.4,-14.0,11,152,0.20,2.25,0.00,0.000,6,0.139,0.049,1893,2308,3414
$GC,472,-0.48,-117.3,43.9,-8.7,42,475,0.00,2.22,0.00,0.000,4,0.000,0.048,1894,893,3415
$GC,506,-0.55,-117.3,47.0,-8.8,45,510,0.00,2.22,0.00,0.000,6,0.000,0.042,1890,2306,3415
$GC,833,-0.62,-117.3,71.2,-7.2,75,837,0.10,2.22,0.00,0.000,4,0.066,0.047,1831,892,3416
$GC,867,-0.48,-117.3,74.5,-10.6,78,872,0.25,2.22,0.00,0.000,6,0.130,0.041,1898,2313,3416
$GC,1185,-0.58,-117.3,97.5,-7.1,96,1189,0.10,2.22,0.00,0.000,4,0.068,0.045,1839,890,3417
$GC,1240,-0.47,-117.3,103.1,-11.1,98,1245,0.20,2.22,0.00,0.000,6,0.130,0.044,1896,2306,3417
$GC,1556,-0.60,-117.3,124.2,-6.3,113,1561,0.10,2.20,0.00,0.000,4,0.068,0.046,1835,893,3417
$GC,1589,-0.50,-117.3,127.2,-9.7,114,1597,0.22,2.22,0.00,0.000,6,0.121,0.050,1895,2309,3417
$GC,1906,-0.67,-117.3,144.9,-5.4,130,1908,0.15,0.00,0.00,0.000,6,0.053,0.000,1813,2310,3417
$GC,2212,-0.53,-117.3,173.7,-9.5,141,2217,0.20,2.25,0.00,0.000,4,0.124,0.050,1880,886,3417
$GC,2284,-0.68,-117.3,178.7,-6.1,143,2289,0.10,2.22,0.00,0.000,6,0.070,0.044,1813,2306,3417
$GC,2609,-0.56,-117.3,209.1,-9.6,154,2613,0.17,2.22,0.00,0.000,4,0.128,0.054,1864,3712,3416
$GC,2629,-0.56,-117.3,211.1,-8.6,154,2636,0.00,2.20,0.00,0.000,6,0.000,0.041,1864,2298,3416
$GC,2943,-0.66,-117.3,229.5,-5.6,165,2946,0.00,2.20,0.00,0.000,4,0.000,0.049,1863,890,3416
$GC,2970,-0.76,-117.3,231.3,-6.0,165,2977,0.10,2.22,0.00,0.000,6,0.073,0.044,1801,2309,3416
$GC,3283,-0.60,-117.3,259.5,-9.2,176,3288,0.20,2.22,0.00,0.000,4,0.129,0.048,1866,895,3415
$GC,3340,-0.72,-117.3,263.7,-6.8,177,3346,0.00,2.20,0.00,0.000,6,0.000,0.046,1863,2304,3416
$GC,3653,-0.83,-117.3,284.1,-6.7,188,3655,0.15,0.00,0.00,0.000,6,0.055,0.000,1781,2304,3415
$GC,3988,-0.62,-117.3,322.2,-11.6,196,3992,0.25,2.22,0.00,0.000,4,0.131,0.049,1863,897,3414
$GC,4031,-0.75,-117.3,326.2,-7.4,196,4036,0.10,2.22,0.00,0.000,6,0.074,0.044,1802,2312,3415
$GC,4347,-0.62,-117.3,356.5,-9.7,202,4349,0.22,0.00,0.00,0.000,6,0.123,0.000,1872,2313,3414
$GC,4650,-0.77,-117.3,373.0,-5.2,207,4654,0.15,2.22,0.00,0.000,4,0.056,0.048,1792,897,3414
$GC,4677,-0.67,-117.3,375.1,-8.4,207,4682,0.25,2.20,0.00,0.000,6,0.133,0.044,1857,2304,3414
$GC,5009,-0.78,-117.3,394.4,-5.7,213,5014,0.10,2.22,0.00,0.000,4,0.074,0.051,1802,891,3413
$GC,5038,-0.70,-117.3,396.7,-9.0,213,5042,0.20,2.22,0.00,0.000,6,0.131,0.044,1852,2313,3413
$GC,5369,-0.79,-117.3,416.6,-5.9,219,5374,0.10,2.25,0.00,0.000,4,0.074,0.051,1797,890,3413
$GC,5432,-0.66,-117.3,421.9,-9.5,220,5437,0.22,2.22,0.00,0.000,6,0.128,0.045,1857,2310,3413
$GC,5797,-0.78,-117.3,443.6,-5.8,226,5802,0.10,2.22,0.00,0.000,4,0.074,0.048,1801,895,3413
$GC,5818,-0.78,-117.3,445.3,-7.8,226,5823,0.10,2.22,0.00,0.000,6,0.127,0.049,1829,2293,3413
$GC,6162,-0.78,-117.3,470.5,-7.3,232,6165,0.00,2.20,0.00,0.000,4,0.000,0.054,1828,897,3412
$GC,6194,-0.78,-117.3,473.3,-8.3,232,6199,0.00,2.22,0.00,0.000,6,0.000,0.045,1822,2299,3411
$GC,6532,-0.78,-117.3,499.9,-7.9,238,6536,0.00,2.20,0.00,0.000,4,0.000,0.054,1822,897,3411
$GC,6565,-0.78,-117.3,502.8,-8.5,238,6569,0.00,2.20,0.00,0.000,6,0.000,0.050,1814,2310,3411
$GC,6904,-0.72,-117.3,529.6,-7.9,244,6908,0.12,2.22,0.00,0.000,4,0.137,0.056,1849,899,3411
$GC,6953,-0.83,-117.3,533.1,-7.0,244,6958,0.10,2.20,0.00,0.000,6,0.074,0.050,1790,2303,3411
$GC,7263,-0.69,-117.3,559.8,-8.8,249,7265,0.20,0.00,0.00,0.000,6,0.130,0.000,1851,2304,3411
$GC,7566,-0.80,-117.3,577.7,-5.8,254,7571,0.10,2.22,0.00,0.000,4,0.073,0.052,1795,889,3411
$GC,7616,-0.68,-117.3,581.9,-9.1,254,7620,0.22,2.22,0.00,0.000,6,0.127,0.044,1854,2311,3410
$GC,7926,-0.81,-117.3,599.6,-5.6,259,7930,0.12,2.22,0.00,0.000,4,0.065,0.051,1790,897,3410
$GC,7958,-0.68,-117.3,602.3,-9.1,259,7963,0.25,2.20,0.00,0.000,6,0.128,0.047,1858,2303,3410
$GC,8284,-0.84,-117.3,621.5,-5.8,265,8286,0.15,0.00,0.00,0.000,6,0.059,0.000,1780,2303,3410
$GC,8588,-0.67,-117.3,652.0,-10.3,270,8592,0.22,2.22,0.00,0.000,4,0.130,0.055,1853,896,3409
$GC,8650,-0.82,-117.3,656.8,-7.6,271,8655,0.10,2.22,0.00,0.000,6,0.075,0.050,1796,2313,3409
$GC,9016,-0.72,-117.3,688.6,-8.8,277,9021,0.17,2.25,0.00,0.000,4,0.130,0.052,1848,890,3409
$GC,9054,-0.84,-117.3,691.5,-7.5,277,9059,0.12,2.22,0.00,0.000,6,0.071,0.046,1790,2306,3409
$GC,9375,-0.72,-117.3,719.7,-8.9,283,9377,0.20,0.00,0.00,0.000,6,0.130,0.000,1850,2306,3409
$GC,9678,-0.86,-117.3,736.7,-5.5,288,9680,0.12,0.00,0.00,0.000,6,0.073,0.000,1795,2306,3409
$GC,9982,-0.77,-117.3,760.1,-7.8,293,9986,0.15,2.22,0.00,0.000,4,0.132,0.063,1830,3710,3409
$GC,10008,-0.77,-117.3,762.1,-6.8,293,10013,0.00,2.20,0.00,0.000,6,0.000,0.040,1830,2307,3409
$GC,10347,-0.83,-117.3,782.8,-6.1,299,10350,0.00,2.22,0.00,0.000,4,0.000,0.054,1830,896,3408
$GC,10387,-0.83,-117.3,785.8,-7.2,299,10391,0.00,2.22,0.00,0.000,6,0.000,0.046,1823,2309,3409
$GC,10713,-0.83,-117.3,808.3,-7.0,305,10717,0.00,2.25,0.00,0.000,4,0.000,0.054,1823,896,3408
$GC,10758,-0.83,-117.3,811.8,-8.2,305,10761,0.00,2.22,0.00,0.000,6,0.000,0.048,1814,2310,3408
$GC,11079,-0.83,-117.3,836.2,-7.6,311,11083,0.00,2.25,0.00,0.000,4,0.000,0.058,1814,897,3408
$GC,11129,-0.83,-117.3,840.3,-8.1,311,11133,0.00,2.22,0.00,0.000,6,0.000,0.053,1805,2307,3408
$GC,11444,-0.78,-117.3,864.7,-7.6,317,11449,0.10,2.25,0.00,0.000,4,0.151,0.055,1831,897,3408
$GC,11484,-0.85,-117.3,867.5,-7.1,317,11488,0.00,2.22,0.00,0.000,6,0.000,0.052,1824,2311,3408
$GC,11805,-0.85,-117.3,888.0,-6.3,323,11809,0.00,2.25,0.00,0.000,4,0.000,0.055,1826,897,3408
$GC,11846,-0.89,-117.3,890.7,-6.9,323,11850,0.00,2.22,0.00,0.000,6,0.000,0.046,1824,2307,3408
$GC,12166,-0.89,-117.3,909.2,-5.8,329,12170,0.00,2.25,0.00,0.000,4,0.000,0.055,1822,893,3408
$GC,12199,-0.89,-117.3,911.2,-6.3,329,12203,0.00,2.25,0.00,0.000,6,0.000,0.051,1815,2304,3408
$GC,12537,-0.89,-117.3,931.5,-6.0,335,12541,0.00,2.25,0.00,0.000,4,0.000,0.062,1814,890,3407
$GC,12577,-0.89,-117.3,934.1,-6.3,335,12581,0.00,2.22,0.00,0.000,6,0.000,0.053,1807,2303,3408
$GC,12904,-0.89,-117.3,954.6,-6.2,341,12908,0.00,2.25,0.00,0.000,4,0.000,0.059,1807,887,3407
$GC,12948,-0.85,-117.3,957.7,-8.0,341,12952,0.00,2.25,0.00,0.000,6,0.000,0.053,1798,2311,3407
$GC,13265,-0.78,-117.3,978.2,-6.4,347,13270,0.12,2.28,0.00,0.000,4,0.152,0.054,1832,887,3407
$GC,13291,-0.78,-117.3,979.8,-5.9,347,13295,0.00,2.25,0.00,0.000,6,0.000,0.048,1824,2309,3407
$STATE,13507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13507,begin apogee
$GC,13513,-0.22,0.0,990.8,5.0,351,13609,0.40,0.00,92.93,1.344,6,0.127,0.000,1951,2309,2931
$STATE,13609,end apogee,CONTROL_FINISHED_OK
$STATE,13609,begin climb
$GC,13612,0.68,117.3,991.5,0.0,352,13718,0.57,2.53,97.55,1.315,4,0.084,0.059,2148,3713,2450
$GC,13764,0.26,117.3,984.6,9.3,354,13770,0.40,2.33,0.00,0.000,6,0.178,0.044,2057,2310,2446
$GC,14103,0.37,153.3,969.0,4.3,360,14135,0.10,0.00,29.70,1.268,6,0.082,0.000,2095,2309,2306
$GC,14405,0.37,153.3,951.5,5.9,365,14406,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2309,2300
$GC,14708,0.37,153.3,934.6,5.6,370,14712,0.00,2.30,0.00,0.000,4,0.000,0.059,2095,3712,2299
$GC,14735,0.28,153.3,932.9,6.5,370,14740,0.17,2.25,0.00,0.000,6,0.160,0.046,2059,2301,2298
$GC,15067,0.50,205.7,920.2,3.7,376,15114,0.17,0.00,44.70,1.270,6,0.074,0.000,2125,2301,2092
$GC,15370,0.64,205.7,900.5,6.6,381,15374,0.00,2.33,0.00,0.000,4,0.000,0.056,2130,888,2084
$GC,15500,0.59,205.7,891.2,7.8,383,15504,0.00,2.30,0.00,0.000,6,0.000,0.046,2130,2312,2083
$GC,15866,0.45,205.7,860.2,8.6,389,15870,0.12,2.28,0.00,0.000,4,0.160,0.062,2099,3714,2082
$GC,15909,0.45,205.7,856.4,7.5,389,15913,0.00,2.25,0.00,0.000,6,0.000,0.044,2107,2295,2081
$GC,16230,0.45,205.7,833.2,7.3,395,16231,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2295,2081
$GC,16533,0.45,205.7,811.5,7.2,400,16537,0.00,2.30,0.00,0.000,4,0.000,0.064,2107,3714,2081
$GC,16588,0.39,205.7,806.8,8.7,400,16595,0.10,2.25,0.00,0.000,6,0.150,0.040,2085,2302,2081
$GC,16898,0.48,208.1,789.7,5.4,406,16899,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2302,2080
$GC,17201,0.59,220.4,774.2,5.1,411,17216,0.15,0.00,12.20,1.100,6,0.064,0.000,2148,2301,2032
$GC,17504,0.41,220.4,747.6,9.0,416,17506,0.22,0.00,0.00,0.000,6,0.147,0.000,2084,2301,2028
$GC,17807,0.53,220.4,730.0,5.6,421,17812,0.12,2.28,0.00,0.000,4,0.065,0.059,2143,3712,2027
$GC,17845,0.32,220.4,726.5,9.8,421,17850,0.30,2.22,0.00,0.000,6,0.151,0.041,2067,2295,2027
$GC,18166,0.71,220.4,705.5,6.8,427,18171,0.22,2.22,0.00,0.000,4,0.067,0.053,2159,888,2027
$GC,18209,0.71,220.4,701.9,8.8,427,18214,0.00,2.25,0.00,0.000,6,0.000,0.044,2159,2312,2027
$GC,18531,0.49,220.4,667.9,10.9,433,18536,0.20,2.25,0.00,0.000,4,0.153,0.055,2100,3722,2027
$GC,18586,0.49,220.4,662.8,7.8,433,18593,0.00,2.25,0.00,0.000,6,0.000,0.044,2107,2298,2027
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$STATE,28417,end climb,SURFACE_DEPTH_REACHED
$STATE,28417,begin surface coast
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$STATE,28441,end surface coast,CONTROL_FINISHED_OK
$STATE,28442,begin surface
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