version: 66.04
glider: 144
mission: 15
dive: 132
start: 7 25 109 20 26 21
data:
$ID,144
$MISSION,15
$DIVE,132
$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,-63463.707
$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,33
$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
$GPS1,201936,5014.646,-14425.800,31,1.7,31,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-61.2
$GPS2,202525,5014.716,-14425.759,9,1.8,14,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.001,-0.168
$KALMAN_X,-66106.9,352.4,4.7,107513.5,-607.4
$KALMAN_Y,67405.3,-211.7,-84.5,-39281.0,814.2
$MHEAD_RNG_PITCHd_Wd,161.9,38651,-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,12,begin dive
$GC,15,-0.68,-117.3,0.0,0.0,0,49,0.00,0.00,-32.15,0.000,2,0.000,0.000,100,2299,2614
$GC,51,-0.68,-117.3,3.4,-6.2,3,80,6.85,0.00,-19.27,0.000,6,0.238,0.000,1844,2300,3412
$GC,400,-0.51,-117.3,47.1,-11.4,36,404,0.15,2.25,0.00,0.000,4,0.139,0.045,1892,889,3415
$GC,462,-0.58,-117.3,52.9,-8.3,41,466,0.00,2.22,0.00,0.000,6,0.000,0.041,1890,2302,3416
$GC,790,-0.64,-117.3,78.0,-7.7,71,795,0.10,2.22,0.00,0.000,4,0.064,0.044,1826,894,3416
$GC,830,-0.49,-117.3,82.5,-11.7,74,835,0.25,2.22,0.00,0.000,6,0.129,0.048,1893,2311,3416
$GC,1157,-0.59,-117.3,107.4,-7.9,90,1160,0.00,2.22,0.00,0.000,4,0.000,0.044,1892,896,3417
$GC,1207,-0.71,-117.3,111.7,-8.6,92,1212,0.15,2.20,0.00,0.000,6,0.052,0.044,1806,2304,3417
$GC,1529,-0.52,-117.3,147.0,-9.8,108,1531,0.28,0.00,0.00,0.000,6,0.127,0.000,1891,2304,3417
$GC,1835,-0.71,-117.3,162.4,-5.1,119,1840,0.15,2.22,0.00,0.000,4,0.053,0.043,1796,886,3417
$GC,1864,-0.60,-117.3,164.7,-9.2,120,1869,0.28,2.22,0.00,0.000,6,0.129,0.041,1870,2310,3417
$GC,2199,-0.71,-117.3,185.9,-5.9,131,2203,0.10,2.25,0.00,0.000,4,0.068,0.048,1805,886,3416
$GC,2248,-0.56,-117.3,190.4,-9.9,132,2253,0.28,2.22,0.00,0.000,6,0.121,0.045,1880,2309,3416
$GC,2561,-0.72,-117.3,209.0,-5.8,142,2563,0.12,0.00,0.00,0.000,6,0.058,0.000,1796,2309,3416
$GC,2867,-0.55,-117.3,239.7,-10.1,152,2869,0.28,0.00,0.00,0.000,6,0.123,0.000,1881,2309,3416
$GC,3174,-0.73,-117.3,255.9,-5.0,162,3178,0.15,2.22,0.00,0.000,4,0.053,0.045,1793,894,3415
$GC,3213,-0.54,-117.3,259.3,-10.0,163,3218,0.32,2.20,0.00,0.000,6,0.122,0.042,1884,2303,3415
$GC,3543,-0.73,-117.3,275.7,-5.0,174,3545,0.15,0.00,0.00,0.000,6,0.053,0.000,1793,2303,3415
$GC,3848,-0.56,-117.3,306.6,-10.4,183,3853,0.25,2.22,0.00,0.000,4,0.124,0.048,1876,891,3414
$GC,3892,-0.73,-117.3,309.8,-6.2,183,3897,0.12,2.22,0.00,0.000,6,0.060,0.048,1801,2309,3414
$GC,4207,-0.60,-117.3,337.9,-9.1,189,4212,0.20,2.22,0.00,0.000,4,0.127,0.053,1865,894,3414
$GC,4245,-0.74,-117.3,340.7,-5.7,189,4250,0.10,2.20,0.00,0.000,6,0.070,0.044,1801,2301,3413
$GC,4566,-0.61,-117.3,367.3,-8.5,195,4570,0.20,2.22,0.00,0.000,4,0.126,0.051,1867,887,3413
$GC,4610,-0.77,-117.3,370.1,-5.9,195,4614,0.10,2.22,0.00,0.000,6,0.069,0.047,1800,2307,3413
$GC,4925,-0.64,-117.3,396.5,-8.6,201,4929,0.20,2.22,0.00,0.000,4,0.125,0.051,1867,895,3412
$GC,4957,-0.77,-117.3,398.8,-5.9,201,4962,0.10,2.22,0.00,0.000,6,0.069,0.042,1801,2312,3412
$GC,5283,-0.65,-117.3,425.9,-8.5,207,5288,0.20,2.25,0.00,0.000,4,0.123,0.047,1868,886,3412
$GC,5316,-0.79,-117.3,428.2,-5.9,207,5321,0.12,2.22,0.00,0.000,6,0.059,0.049,1790,2307,3412
$GC,5642,-0.64,-117.3,457.4,-9.2,213,5647,0.20,2.25,0.00,0.000,4,0.129,0.052,1855,886,3411
$GC,5686,-0.77,-117.3,460.8,-6.7,213,5690,0.00,2.22,0.00,0.000,6,0.000,0.043,1850,2304,3411
$GC,6001,-0.86,-117.3,480.6,-6.3,219,6003,0.12,0.00,0.00,0.000,6,0.061,0.000,1772,2304,3411
$GC,6304,-0.64,-117.3,511.6,-10.4,224,6309,0.28,2.22,0.00,0.000,4,0.131,0.054,1859,896,3411
$GC,6382,-0.79,-117.3,516.9,-5.9,225,6386,0.10,2.20,0.00,0.000,6,0.069,0.041,1785,2305,3411
$GC,6730,-0.64,-117.3,546.8,-8.7,231,6735,0.22,2.22,0.00,0.000,4,0.128,0.053,1859,896,3410
$GC,6774,-0.79,-117.3,549.7,-5.7,231,6779,0.10,2.20,0.00,0.000,6,0.069,0.042,1787,2304,3410
$GC,7089,-0.64,-117.3,575.2,-8.3,237,7091,0.25,0.00,0.00,0.000,6,0.126,0.000,1863,2304,3410
$GC,7393,-0.81,-117.3,588.0,-4.0,242,7397,0.15,2.22,0.00,0.000,4,0.056,0.048,1781,891,3410
$GC,7419,-0.71,-117.3,589.9,-7.6,242,7424,0.25,2.22,0.00,0.000,6,0.132,0.043,1847,2313,3410
$GC,7752,-0.82,-117.3,606.0,-4.9,248,7754,0.10,0.00,0.00,0.000,6,0.070,0.000,1786,2314,3410
$GC,8054,-0.67,-117.3,630.8,-8.3,253,8059,0.20,2.25,0.00,0.000,4,0.128,0.051,1852,890,3409
$GC,8087,-0.78,-117.3,633.0,-5.9,253,8091,0.00,2.22,0.00,0.000,6,0.000,0.044,1850,2304,3409
$GC,8420,-0.90,-117.3,649.4,-4.9,259,8422,0.15,0.00,0.00,0.000,6,0.055,0.000,1768,2305,3409
$GC,8722,-0.68,-117.3,677.0,-9.4,264,8727,0.25,2.22,0.00,0.000,4,0.130,0.051,1850,896,3409
$GC,8760,-0.81,-117.3,680.0,-6.2,264,8765,0.10,2.22,0.00,0.000,6,0.074,0.046,1794,2310,3409
$GC,9081,-0.71,-117.3,705.0,-8.0,270,9086,0.17,2.25,0.00,0.000,4,0.127,0.048,1852,887,3409
$GC,9114,-0.83,-117.3,707.2,-5.7,270,9119,0.10,2.22,0.00,0.000,6,0.075,0.043,1798,2304,3409
$GC,9440,-0.75,-117.3,730.4,-7.2,276,9442,0.15,0.00,0.00,0.000,6,0.129,0.000,1843,2304,3408
$GC,9743,-0.86,-117.3,746.0,-5.1,281,9748,0.12,2.25,0.00,0.000,4,0.067,0.053,1785,886,3408
$GC,9770,-0.77,-117.3,748.1,-8.4,281,9775,0.20,2.22,0.00,0.000,6,0.132,0.044,1833,2304,3408
$GC,10103,-0.84,-117.3,766.5,-5.4,287,10106,0.00,2.22,0.00,0.000,4,0.000,0.050,1833,897,3408
$GC,10130,-0.91,-117.3,768.3,-6.3,287,10135,0.10,2.22,0.00,0.000,6,0.076,0.046,1777,2315,3408
$GC,10468,-0.75,-117.3,795.3,-8.1,293,10470,0.20,0.00,0.00,0.000,6,0.132,0.000,1836,2315,3408
$GC,10771,-0.84,-117.3,811.8,-5.4,298,10775,0.00,2.25,0.00,0.000,4,0.000,0.054,1836,894,3407
$GC,10826,-0.94,-117.3,815.4,-6.9,298,10834,0.10,2.25,0.00,0.000,6,0.059,0.048,1780,2305,3408
$GC,11136,-0.79,-117.3,841.1,-8.5,304,11138,0.17,0.00,0.00,0.000,6,0.136,0.000,1830,2305,3407
$GC,11439,-0.86,-117.3,859.6,-6.0,309,11443,0.00,2.22,0.00,0.000,4,0.000,0.051,1830,897,3407
$GC,11484,-0.93,-117.3,862.5,-6.6,309,11489,0.10,2.22,0.00,0.000,6,0.077,0.044,1776,2313,3407
$GC,11804,-0.78,-117.3,889.0,-8.4,315,11806,0.20,0.00,0.00,0.000,6,0.136,0.000,1835,2312,3407
$GC,12108,-0.87,-117.3,905.7,-5.4,320,12113,0.10,2.25,0.00,0.000,4,0.084,0.051,1794,898,3407
$GC,12141,-0.79,-117.3,908.1,-8.2,320,12146,0.17,2.20,0.00,0.000,6,0.139,0.050,1834,2303,3407
$GC,12474,-0.87,-117.3,925.9,-5.3,326,12478,0.10,2.25,0.00,0.000,4,0.084,0.057,1794,891,3407
$GC,12501,-0.82,-117.3,927.8,-7.5,326,12505,0.15,2.22,0.00,0.000,6,0.140,0.050,1826,2308,3407
$GC,12839,-0.89,-117.3,947.2,-5.7,332,12842,0.00,2.25,0.00,0.000,4,0.000,0.055,1825,893,3407
$GC,12879,-0.94,-117.3,949.9,-6.2,332,12883,0.10,2.22,0.00,0.000,6,0.085,0.045,1780,2303,3407
$GC,13205,-0.80,-117.3,976.6,-8.3,338,13207,0.17,0.00,0.00,0.000,6,0.143,0.000,1828,2302,3407
$STATE,13446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13446,begin apogee
$GC,13452,-0.22,0.0,991.1,6.0,342,13548,0.40,0.00,93.15,1.338,6,0.124,0.000,1958,2303,2931
$STATE,13549,end apogee,CONTROL_FINISHED_OK
$STATE,13549,begin climb
$GC,13551,0.68,117.3,992.6,0.0,343,13658,0.55,2.53,97.82,1.309,4,0.077,0.061,2152,3707,2450
$GC,13678,0.32,117.3,989.7,6.5,345,13683,0.38,2.35,0.00,0.000,6,0.183,0.038,2070,2302,2448
$GC,14044,0.36,152.1,973.4,4.3,351,14075,0.00,0.00,29.12,1.262,6,0.000,0.000,2069,2302,2309
$GC,14348,0.46,172.3,958.8,4.8,356,14368,0.12,0.00,18.02,1.219,6,0.071,0.000,2118,2302,2227
$GC,14651,0.35,172.3,936.6,7.5,361,14653,0.17,0.00,0.00,0.000,6,0.150,0.000,2072,2302,2223
$GC,14953,0.45,182.0,920.5,5.2,366,14965,0.10,0.00,8.85,1.100,6,0.079,0.000,2114,2302,2189
$GC,15257,0.37,182.0,899.3,7.0,371,15261,0.15,2.30,0.00,0.000,4,0.143,0.056,2072,3712,2186
$GC,15290,0.41,182.0,897.0,6.1,371,15294,0.00,2.25,0.00,0.000,6,0.000,0.041,2080,2289,2185
$GC,15624,0.50,200.2,880.6,4.9,377,15643,0.10,0.00,16.83,1.190,6,0.077,0.000,2129,2290,2114
$GC,15925,0.36,200.2,858.2,7.5,382,15930,0.17,2.33,0.00,0.000,4,0.150,0.056,2072,3712,2110
$GC,15970,0.45,200.2,855.4,5.7,382,15974,0.00,2.22,0.00,0.000,6,0.000,0.036,2080,2302,2109
$GC,16285,0.58,227.4,840.8,4.6,388,16315,0.15,2.33,24.30,1.194,4,0.063,0.058,2157,897,2002
$GC,16332,0.43,227.4,837.4,8.2,388,16337,0.25,2.30,0.00,0.000,6,0.141,0.048,2087,2308,1999
$GC,16648,0.57,259.4,823.0,4.4,394,16683,0.12,2.38,27.95,1.180,4,0.064,0.054,2144,3709,1873
$GC,16713,0.41,259.4,817.7,9.3,395,16718,0.25,2.28,0.00,0.000,6,0.155,0.038,2088,2301,1870
$GC,17079,0.59,281.3,799.7,4.8,401,17104,0.15,2.35,19.38,1.140,4,0.062,0.058,2163,887,1783
$GC,17132,0.50,281.3,795.4,8.9,401,17137,0.20,2.33,0.00,0.000,6,0.136,0.043,2108,2312,1781
$GC,17443,0.58,281.3,776.4,6.0,406,17447,0.00,2.28,0.00,0.000,4,0.000,0.053,2108,3714,1778
$GC,17488,0.63,281.3,772.9,7.4,406,17493,0.08,2.25,0.00,0.000,6,0.080,0.041,2161,2292,1777
$GC,17805,0.45,281.3,740.6,10.6,412,17809,0.20,2.25,0.00,0.000,4,0.145,0.051,2108,894,1776
$GC,17831,0.45,281.3,738.0,8.5,412,17835,0.00,2.25,0.00,0.000,6,0.000,0.047,2108,2305,1775
$GC,18170,0.55,281.3,715.9,6.6,418,18174,0.00,2.28,0.00,0.000,4,0.000,0.058,2109,3722,1775
$GC,18192,0.64,281.3,714.1,7.3,418,18197,0.08,2.22,0.00,0.000,6,0.081,0.035,2163,2294,1775
$GC,18535,0.46,281.3,675.3,11.6,424,18537,0.22,0.00,0.00,0.000,6,0.141,0.000,2099,2293,1775
$GC,18838,0.61,281.3,653.3,7.1,429,18843,0.12,2.30,0.00,0.000,4,0.061,0.051,2172,3720,1774
$GC,18865,0.50,281.3,650.3,10.9,429,18870,0.28,2.22,0.00,0.000,6,0.150,0.036,2104,2297,1774
$GC,19197,0.62,281.3,626.9,6.7,435,19202,0.12,2.25,0.00,0.000,4,0.058,0.050,2183,882,1774
$GC,19230,0.51,281.3,623.8,10.5,435,19235,0.25,2.25,0.00,0.000,6,0.134,0.046,2110,2309,1774
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$STATE,27523,begin surface coast
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