version: 66.04
glider: 144
mission: 15
dive: 127
start: 7 24 109 5 11 44
data:
$ID,144
$MISSION,15
$DIVE,127
$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,-63383.699
$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,31
$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
$GPS1,050531,5013.985,-14436.061,45,1.9,45,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-67.9
$GPS2,051050,5013.953,-14436.037,14,1.5,14,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.135,0.100
$KALMAN_X,-65594.5,43.0,270.4,94813.5,-2279.9
$KALMAN_Y,65184.0,87.1,-250.2,-38605.3,916.7
$MHEAD_RNG_PITCHd_Wd,34.7,14983,-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,-117.3,0.0,0.0,0,61,0.00,0.00,-42.17,0.000,2,0.000,0.000,101,2303,2673
$GC,64,-0.68,-117.3,3.6,-5.4,4,98,7.03,2.35,-17.08,0.000,4,0.246,0.065,1847,887,3413
$GC,328,-0.54,-117.3,38.5,-11.4,27,335,0.17,2.25,0.00,0.000,6,0.133,0.041,1888,2310,3415
$GC,655,-0.59,-117.3,62.7,-6.8,58,659,0.00,2.22,0.00,0.000,4,0.000,0.051,1883,3709,3416
$GC,710,-0.68,-117.3,67.4,-8.4,62,717,0.10,2.17,0.00,0.000,6,0.064,0.032,1820,2291,3416
$GC,1029,-0.45,-117.3,108.7,-12.8,83,1034,0.25,2.20,0.00,0.000,4,0.130,0.045,1900,890,3418
$GC,1102,-0.60,-117.3,114.8,-7.0,86,1106,0.00,2.22,0.00,0.000,6,0.000,0.045,1892,2311,3418
$GC,1424,-0.70,-117.3,133.3,-5.8,102,1428,0.15,2.22,0.00,0.000,4,0.054,0.043,1801,894,3418
$GC,1473,-0.47,-117.3,138.4,-12.0,104,1478,0.35,2.20,0.00,0.000,6,0.130,0.045,1898,2304,3418
$GC,1804,-0.65,-117.3,158.3,-5.1,118,1808,0.15,2.22,0.00,0.000,4,0.053,0.054,1798,3719,3417
$GC,1843,-0.48,-117.3,161.7,-9.7,119,1848,0.32,2.17,0.00,0.000,6,0.123,0.033,1900,2299,3417
$GC,2173,-0.90,-117.3,180.2,-6.4,130,2177,0.25,2.25,0.00,0.000,4,0.054,0.056,1789,3712,3417
$GC,2278,-0.73,-117.3,190.9,-11.0,133,2283,0.17,2.17,0.00,0.000,6,0.130,0.035,1840,2300,3417
$GC,2607,-0.73,-117.3,216.8,-7.5,144,2611,0.00,2.20,0.00,0.000,4,0.000,0.046,1840,892,3416
$GC,2641,-0.73,-117.3,219.4,-7.8,145,2645,0.00,2.20,0.00,0.000,6,0.000,0.041,1837,2301,3416
$GC,2976,-0.73,-117.3,244.6,-8.0,156,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2301,3416
$GC,3282,-0.73,-117.3,269.7,-8.2,166,3286,0.00,2.22,0.00,0.000,4,0.000,0.048,1837,891,3415
$GC,3321,-0.73,-117.3,273.1,-9.2,167,3325,0.00,2.22,0.00,0.000,6,0.000,0.045,1833,2311,3415
$GC,3650,-0.73,-117.3,300.6,-8.4,178,3654,0.00,2.22,0.00,0.000,4,0.000,0.054,1832,899,3415
$GC,3694,-0.73,-117.3,304.6,-8.8,178,3698,0.00,2.20,0.00,0.000,6,0.000,0.048,1823,2308,3415
$GC,4021,-0.67,-117.3,332.2,-8.5,184,4026,0.12,2.22,0.00,0.000,4,0.135,0.050,1858,898,3414
$GC,4065,-0.78,-117.3,335.5,-7.3,184,4070,0.00,2.20,0.00,0.000,6,0.000,0.046,1852,2307,3414
$GC,4381,-0.84,-117.3,356.2,-6.6,190,4383,0.12,0.00,0.00,0.000,6,0.061,0.000,1776,2307,3414
$GC,4684,-0.61,-117.3,389.8,-11.3,195,4689,0.28,2.22,0.00,0.000,4,0.133,0.049,1865,897,3413
$GC,4746,-0.76,-117.3,394.4,-6.4,196,4751,0.10,2.20,0.00,0.000,6,0.070,0.044,1799,2307,3413
$GC,5112,-0.64,-117.3,424.9,-8.4,202,5116,0.20,2.22,0.00,0.000,4,0.131,0.054,1855,3708,3412
$GC,5145,-0.75,-117.3,427.0,-5.3,202,5149,0.00,2.15,0.00,0.000,6,0.000,0.040,1855,2305,3413
$GC,5477,-0.87,-117.3,444.5,-5.3,208,5479,0.15,0.00,0.00,0.000,6,0.058,0.000,1775,2304,3412
$GC,5780,-0.65,-117.3,475.7,-10.7,213,5785,0.25,2.22,0.00,0.000,4,0.133,0.051,1856,895,3411
$GC,5818,-0.77,-117.3,479.1,-8.0,213,5822,0.00,2.20,0.00,0.000,6,0.000,0.046,1850,2302,3411
$GC,6140,-0.86,-117.3,500.6,-6.7,219,6141,0.12,0.00,0.00,0.000,6,0.061,0.000,1773,2303,3412
$GC,6442,-0.64,-117.3,531.4,-10.3,224,6447,0.25,2.20,0.00,0.000,4,0.133,0.051,1854,896,3411
$GC,6516,-0.76,-117.3,536.6,-6.0,225,6520,0.00,2.20,0.00,0.000,6,0.000,0.042,1850,2305,3411
$GC,6871,-0.86,-117.3,556.1,-5.4,231,6875,0.12,2.22,0.00,0.000,4,0.060,0.056,1769,3712,3410
$GC,6909,-0.64,-117.3,559.4,-9.5,231,6914,0.30,2.17,0.00,0.000,6,0.129,0.041,1861,2292,3410
$GC,7230,-0.79,-117.3,574.9,-4.7,237,7232,0.12,0.00,0.00,0.000,6,0.061,0.000,1784,2292,3410
$GC,7533,-0.62,-117.3,599.2,-8.2,242,7537,0.22,2.17,0.00,0.000,4,0.130,0.055,1859,895,3410
$GC,7582,-0.78,-117.3,602.2,-5.3,242,7586,0.00,2.20,0.00,0.000,6,0.000,0.042,1851,2306,3410
$GC,7893,-0.89,-117.3,615.2,-4.1,247,7898,0.15,2.22,0.00,0.000,4,0.057,0.054,1760,3710,3410
$GC,7920,-0.73,-117.3,617.2,-7.9,247,7924,0.28,2.17,0.00,0.000,6,0.135,0.042,1843,2295,3410
$GC,8258,-0.81,-117.3,632.2,-4.3,253,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2294,3410
$GC,8561,-0.90,-117.3,646.6,-4.8,258,8566,0.12,2.20,0.00,0.000,4,0.065,0.049,1776,893,3409
$GC,8623,-0.72,-117.3,651.7,-8.6,259,8628,0.25,2.20,0.00,0.000,6,0.132,0.042,1842,2303,3409
$GC,8989,-0.80,-117.3,671.3,-5.3,265,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2303,3409
$GC,9292,-0.89,-117.3,689.8,-6.2,270,9294,0.12,0.00,0.00,0.000,6,0.065,0.000,1777,2303,3409
$GC,9595,-0.71,-117.3,718.8,-9.7,275,9600,0.20,2.22,0.00,0.000,4,0.133,0.051,1842,897,3408
$GC,9639,-0.81,-117.3,722.2,-7.0,275,9643,0.00,2.20,0.00,0.000,6,0.000,0.045,1836,2301,3408
$GC,9954,-0.88,-117.3,740.7,-5.7,281,9956,0.10,0.00,0.00,0.000,6,0.077,0.000,1781,2301,3408
$GC,10257,-0.72,-117.3,765.3,-8.3,286,10262,0.17,2.22,0.00,0.000,4,0.132,0.052,1839,896,3408
$GC,10290,-0.79,-117.3,767.8,-6.7,286,10294,0.00,2.20,0.00,0.000,6,0.000,0.048,1837,2304,3408
$GC,10623,-0.86,-117.3,785.4,-5.2,292,10628,0.10,2.22,0.00,0.000,4,0.077,0.055,1789,896,3408
$GC,10662,-0.74,-117.3,788.4,-8.2,292,10666,0.20,2.22,0.00,0.000,6,0.133,0.043,1839,2314,3408
$GC,10983,-0.84,-117.3,803.7,-4.6,298,10987,0.00,2.25,0.00,0.000,4,0.000,0.056,1839,890,3407
$GC,11016,-0.94,-117.3,805.5,-5.4,298,11021,0.15,2.20,0.00,0.000,6,0.067,0.046,1772,2304,3407
$GC,11348,-0.75,-117.3,831.5,-8.0,304,11353,0.20,2.25,0.00,0.000,4,0.140,0.057,1828,3718,3407
$GC,11411,-0.84,-117.3,835.2,-5.4,305,11415,0.00,2.17,0.00,0.000,6,0.000,0.040,1828,2301,3407
$GC,11777,-0.89,-117.3,854.0,-5.1,311,11781,0.00,2.22,0.00,0.000,4,0.000,0.054,1827,894,3407
$GC,11816,-0.95,-117.3,856.3,-5.8,311,11821,0.10,2.22,0.00,0.000,6,0.082,0.045,1778,2307,3407
$GC,12142,-0.79,-117.3,879.5,-7.3,317,12144,0.17,0.00,0.00,0.000,6,0.144,0.000,1828,2307,3407
$GC,12446,-0.84,-117.3,895.5,-5.2,322,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2308,3406
$GC,12749,-0.90,-117.3,911.8,-5.4,327,12753,0.10,2.25,0.00,0.000,4,0.087,0.052,1787,895,3406
$GC,12811,-0.77,-117.3,916.6,-8.5,328,12816,0.20,2.22,0.00,0.000,6,0.141,0.048,1835,2305,3406
$GC,13177,-0.86,-117.3,937.0,-5.6,334,13181,0.00,2.25,0.00,0.000,4,0.000,0.056,1840,894,3406
$GC,13215,-0.98,-117.3,939.6,-6.3,334,13220,0.15,2.22,0.00,0.000,6,0.073,0.045,1776,2302,3407
$GC,13536,-0.81,-117.3,966.7,-8.6,340,13541,0.17,2.25,0.00,0.000,4,0.146,0.058,1822,3710,3407
$GC,13599,-0.88,-117.3,971.2,-6.8,341,13603,0.00,2.17,0.00,0.000,6,0.000,0.037,1823,2302,3407
$STATE,13901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13901,begin apogee
$GC,13907,-0.22,0.0,990.1,6.1,346,14002,0.40,0.00,92.93,1.340,6,0.121,0.000,1950,2302,2930
$STATE,14003,end apogee,CONTROL_FINISHED_OK
$STATE,14003,begin climb
$GC,14006,0.68,117.3,991.5,0.0,347,14112,0.57,2.55,97.75,1.315,4,0.083,0.063,2149,3714,2450
$GC,14163,0.25,117.3,986.0,8.1,349,14168,0.40,2.35,0.00,0.000,6,0.183,0.041,2059,2307,2446
$GC,14496,0.40,164.0,972.3,3.9,355,14540,0.10,2.45,38.50,1.278,4,0.084,0.056,2105,897,2261
$GC,14559,0.53,189.6,968.9,4.6,356,14588,0.00,2.35,23.25,1.231,6,0.000,0.048,2105,2304,2157
$GC,14928,0.71,189.6,946.0,6.3,362,14932,0.15,2.33,0.00,0.000,4,0.073,0.056,2172,892,2149
$GC,15085,0.46,189.6,931.7,10.4,364,15090,0.28,2.30,0.00,0.000,6,0.153,0.047,2096,2314,2148
$GC,15428,0.46,189.6,910.5,6.0,370,15432,0.00,2.28,0.00,0.000,4,0.000,0.054,2096,3717,2147
$GC,15479,0.40,189.6,907.0,6.7,370,15483,0.00,2.22,0.00,0.000,6,0.000,0.044,2104,2301,2147
$GC,15788,0.35,189.6,886.4,6.6,375,15793,0.12,2.30,0.00,0.000,4,0.164,0.055,2072,3720,2147
$GC,15838,0.41,189.6,883.2,5.9,375,15842,0.00,2.22,0.00,0.000,6,0.000,0.042,2081,2301,2146
$GC,16148,0.49,193.9,866.6,5.4,380,16150,0.10,0.00,0.00,0.000,6,0.077,0.000,2130,2301,2145
$GC,16451,0.33,193.9,842.2,8.3,385,16455,0.17,2.28,0.00,0.000,4,0.154,0.054,2071,3722,2146
$GC,16483,0.33,193.9,839.7,6.9,385,16487,0.00,2.22,0.00,0.000,6,0.000,0.042,2080,2299,2145
$GC,16816,0.42,193.9,821.1,5.6,391,16817,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2298,2145
$GC,17119,0.51,194.2,804.3,5.5,396,17121,0.10,0.00,0.00,0.000,6,0.075,0.000,2132,2298,2145
$GC,17422,0.34,194.2,780.2,8.1,401,17427,0.20,2.28,0.00,0.000,4,0.151,0.053,2071,3713,2145
$GC,17466,0.41,194.2,777.0,7.0,401,17470,0.00,2.20,0.00,0.000,6,0.000,0.038,2078,2302,2144
$GC,17782,0.52,209.7,761.2,5.0,407,17800,0.12,0.00,16.20,1.127,6,0.065,0.000,2142,2302,2076
$GC,18084,0.34,209.7,737.1,8.1,412,18086,0.25,0.00,0.00,0.000,6,0.144,0.000,2070,2302,2072
$GC,18387,0.67,214.9,721.2,5.3,417,18398,0.20,2.25,5.62,0.881,4,0.063,0.056,2163,891,2054
$GC,18452,0.52,214.9,716.8,8.0,418,18457,0.20,2.25,0.00,0.000,6,0.144,0.043,2108,2307,2053
$GC,18817,0.52,214.9,694.6,6.0,424,18821,0.00,2.25,0.00,0.000,4,0.000,0.055,2107,3712,2053
$GC,18890,0.46,214.9,689.3,7.7,425,18894,0.00,2.20,0.00,0.000,6,0.000,0.036,2115,2297,2051
$GC,19250,0.42,214.9,666.1,6.5,431,19254,0.10,2.28,0.00,0.000,4,0.156,0.057,2090,3713,2051
$GC,19293,0.42,214.9,663.1,6.2,431,19297,0.00,2.20,0.00,0.000,6,0.000,0.044,2098,2299,2051
$GC,19615,0.48,222.5,646.1,5.2,437,19629,0.00,2.33,7.78,0.944,4,0.000,0.054,2098,3714,2023
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$GC,24480,0.53,235.1,340.0,5.4,517,24490,0.00,2.25,5.25,0.690,4,0.000,0.051,2125,3709,1971
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$STATE,28732,end climb,SURFACE_DEPTH_REACHED
$STATE,28732,begin surface coast
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$STATE,28765,end surface coast,CONTROL_FINISHED_OK
$STATE,28765,begin surface
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