version: 66.04
glider: 144
mission: 15
dive: 302
start: 9 19 109 13 57 38
data:
$ID,144
$MISSION,15
$DIVE,302
$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,-67069.023
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,135055,5013.362,-14439.920,39,1.3,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-57.6
$GPS2,135644,5013.382,-14439.894,16,1.2,16,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.136,0.098
$KALMAN_X,-37442.3,-112.3,179.5,73631.8,-1309.7
$KALMAN_Y,21356.3,67.3,13.6,-35503.6,745.0
$MHEAD_RNG_PITCHd_Wd,35.7,18462,-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,-42.00,0.000,2,0.000,0.000,98,2309,2656
$GC,64,-0.68,-117.3,3.4,-5.1,4,98,7.15,2.30,-17.95,0.000,4,0.239,0.066,1837,3701,3414
$GC,317,-0.59,-117.3,37.5,-13.9,26,324,0.12,2.17,0.00,0.000,6,0.133,0.030,1870,2290,3414
$GC,644,-0.59,-117.3,64.4,-7.6,57,648,0.00,2.30,0.00,0.000,4,0.000,0.048,1862,3716,3416
$GC,690,-0.63,-117.3,68.4,-8.7,61,694,0.00,2.17,0.00,0.000,6,0.000,0.029,1862,2301,3416
$GC,1009,-0.63,-117.3,96.4,-8.7,82,1013,0.00,2.22,0.00,0.000,4,0.000,0.044,1862,891,3417
$GC,1072,-0.63,-117.3,102.0,-9.0,85,1076,0.00,2.22,0.00,0.000,6,0.000,0.038,1854,2304,3417
$GC,1399,-0.63,-117.3,128.2,-7.6,101,1402,0.00,2.20,0.00,0.000,4,0.000,0.044,1853,904,3417
$GC,1467,-0.63,-117.3,133.7,-7.9,104,1472,0.00,2.20,0.00,0.000,6,0.000,0.039,1850,2302,3417
$GC,1793,-0.63,-117.3,161.0,-8.6,118,1797,0.00,2.22,0.00,0.000,4,0.000,0.045,1850,895,3418
$GC,1843,-0.66,-117.3,165.3,-8.4,119,1847,0.00,2.22,0.00,0.000,6,0.000,0.040,1849,2303,3417
$GC,2167,-0.68,-117.3,188.7,-6.9,130,2171,0.00,2.22,0.00,0.000,4,0.000,0.043,1849,894,3417
$GC,2212,-0.72,-117.3,191.8,-7.1,131,2216,0.00,2.22,0.00,0.000,6,0.000,0.038,1849,2302,3416
$GC,2530,-0.75,-117.3,212.3,-6.7,142,2534,0.00,2.22,0.00,0.000,4,0.000,0.042,1849,894,3416
$GC,2580,-0.79,-117.3,216.0,-7.5,143,2584,0.00,2.22,0.00,0.000,6,0.000,0.041,1849,2302,3416
$GC,2899,-0.82,-117.3,235.7,-6.0,154,2903,0.10,2.22,0.00,0.000,4,0.069,0.051,1773,3709,3415
$GC,2922,-0.78,-117.3,237.6,-7.4,154,2928,0.20,2.17,0.00,0.000,6,0.127,0.037,1831,2294,3416
$GC,3234,-0.78,-117.3,260.9,-7.5,165,3237,0.00,2.20,0.00,0.000,4,0.000,0.050,1830,896,3415
$GC,3291,-0.78,-117.3,265.2,-7.6,166,3295,0.00,2.22,0.00,0.000,6,0.000,0.044,1823,2308,3415
$GC,3603,-0.78,-117.3,289.6,-7.9,176,3607,0.00,2.25,0.00,0.000,4,0.000,0.053,1813,3715,3414
$GC,3636,-0.78,-117.3,292.8,-9.0,177,3640,0.00,2.17,0.00,0.000,6,0.000,0.031,1813,2305,3414
$GC,3970,-0.76,-117.3,321.5,-8.6,184,3974,0.10,2.22,0.00,0.000,4,0.130,0.044,1841,897,3414
$GC,4019,-0.80,-117.3,325.3,-7.4,184,4023,0.00,2.22,0.00,0.000,6,0.000,0.044,1837,2305,3414
$GC,4329,-0.82,-117.3,346.6,-6.9,189,4333,0.00,2.25,0.00,0.000,4,0.000,0.044,1837,897,3413
$GC,4380,-0.84,-117.3,350.5,-7.6,189,4384,0.00,2.25,0.00,0.000,6,0.000,0.046,1836,2313,3413
$GC,4690,-0.87,-117.3,370.1,-6.2,194,4692,0.10,0.00,0.00,0.000,6,0.070,0.000,1769,2313,3413
$GC,4993,-0.77,-117.3,400.4,-10.3,199,4997,0.20,2.28,0.00,0.000,4,0.126,0.050,1833,897,3412
$GC,5032,-0.80,-117.3,403.8,-7.5,199,5036,0.00,2.22,0.00,0.000,6,0.000,0.044,1825,2303,3412
$GC,5354,-0.80,-117.3,427.0,-7.4,205,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2304,3412
$GC,5656,-0.80,-117.3,449.6,-7.4,210,5660,0.00,2.25,0.00,0.000,4,0.000,0.048,1826,892,3412
$GC,5689,-0.80,-117.3,452.3,-7.9,210,5693,0.00,2.25,0.00,0.000,6,0.000,0.045,1822,2302,3412
$GC,6021,-0.80,-117.3,476.3,-7.2,216,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3411
$GC,6324,-0.80,-117.3,496.6,-6.6,221,6328,0.00,2.25,0.00,0.000,4,0.000,0.046,1822,896,3411
$GC,6363,-0.80,-117.3,499.5,-7.1,221,6367,0.00,2.25,0.00,0.000,6,0.000,0.044,1817,2309,3410
$GC,6684,-0.80,-117.3,520.8,-6.7,227,6688,0.00,2.25,0.00,0.000,4,0.000,0.045,1817,898,3410
$GC,6727,-0.80,-117.3,523.9,-6.9,227,6731,0.00,2.22,0.00,0.000,6,0.000,0.040,1809,2302,3410
$GC,7048,-0.80,-117.3,546.3,-7.0,233,7052,0.00,2.25,0.00,0.000,4,0.000,0.046,1809,898,3410
$GC,7087,-0.80,-117.3,549.1,-7.3,233,7091,0.00,2.25,0.00,0.000,6,0.000,0.043,1807,2308,3410
$GC,7407,-0.80,-117.3,571.9,-7.2,239,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3410
$GC,7710,-0.80,-117.3,594.7,-7.5,244,7714,0.00,2.28,0.00,0.000,4,0.000,0.051,1807,892,3409
$GC,7753,-0.80,-117.3,598.3,-7.8,244,7758,0.10,2.25,0.00,0.000,6,0.137,0.044,1826,2305,3409
$GC,8075,-0.83,-117.3,620.1,-6.8,250,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2305,3409
$GC,8377,-0.86,-117.3,640.7,-6.8,255,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2305,3409
$GC,8681,-0.89,-117.3,659.9,-6.3,260,8685,0.00,2.25,0.00,0.000,4,0.000,0.048,1825,901,3409
$GC,8714,-0.92,-117.3,662.4,-7.3,260,8719,0.10,2.22,0.00,0.000,6,0.070,0.046,1765,2303,3409
$GC,9046,-0.84,-117.3,692.5,-9.2,266,9048,0.20,0.00,0.00,0.000,6,0.127,0.000,1825,2303,3408
$GC,9349,-0.87,-117.3,710.6,-5.9,271,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2303,3408
$GC,9652,-0.91,-117.3,727.5,-5.6,276,9654,0.10,0.00,0.00,0.000,6,0.069,0.000,1765,2304,3408
$GC,9956,-0.82,-117.3,752.6,-8.4,281,9961,0.20,2.28,0.00,0.000,4,0.125,0.045,1828,896,3408
$GC,9989,-0.86,-117.3,754.9,-5.9,281,9993,0.00,2.25,0.00,0.000,6,0.000,0.042,1823,2307,3408
$GC,10323,-0.89,-117.3,772.0,-5.1,287,10327,0.00,2.25,0.00,0.000,4,0.000,0.049,1823,899,3408
$GC,10362,-0.92,-117.3,774.4,-6.0,287,10366,0.08,2.22,0.00,0.000,6,0.086,0.047,1773,2306,3407
$GC,10688,-0.86,-117.3,798.4,-7.6,293,10693,0.15,2.28,0.00,0.000,4,0.130,0.056,1808,3709,3407
$GC,10715,-0.86,-117.3,800.3,-6.2,293,10719,0.00,2.20,0.00,0.000,6,0.000,0.039,1808,2302,3407
$GC,11053,-0.86,-117.3,821.4,-6.3,299,11057,0.00,2.25,0.00,0.000,4,0.000,0.051,1808,892,3406
$GC,11124,-0.86,-117.3,826.8,-8.1,300,11128,0.00,2.28,0.00,0.000,6,0.000,0.041,1806,2314,3407
$GC,11485,-0.86,-117.3,852.5,-7.3,306,11489,0.00,2.30,0.00,0.000,4,0.000,0.051,1806,886,3406
$GC,11523,-0.86,-117.3,855.7,-7.9,306,11528,0.00,2.28,0.00,0.000,6,0.000,0.041,1796,2305,3407
$GC,11844,-0.86,-117.3,881.7,-8.1,312,11848,0.00,2.28,0.00,0.000,4,0.000,0.051,1796,895,3406
$GC,11871,-0.84,-117.3,884.1,-9.2,312,11876,0.10,2.28,0.00,0.000,6,0.146,0.044,1820,2306,3406
$GC,12203,-0.87,-117.3,907.7,-7.0,318,12204,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2306,3406
$GC,12506,-0.91,-117.3,929.1,-7.0,323,12510,0.00,2.30,0.00,0.000,4,0.000,0.051,1820,889,3406
$GC,12545,-0.94,-117.3,932.2,-8.3,323,12550,0.10,2.28,0.00,0.000,6,0.081,0.042,1774,2305,3406
$GC,12866,-0.89,-117.3,959.7,-8.7,329,12870,0.12,2.30,0.00,0.000,4,0.138,0.057,1800,3716,3406
$GC,12893,-0.89,-117.3,961.8,-7.5,329,12897,0.00,2.22,0.00,0.000,6,0.000,0.036,1800,2293,3406
$GC,13224,-0.89,-117.3,984.2,-6.7,335,13228,0.00,2.28,0.00,0.000,4,0.000,0.050,1800,887,3406
$GC,13262,-0.89,-117.3,987.1,-7.3,335,13266,0.00,2.28,0.00,0.000,6,0.000,0.042,1794,2301,3405
$STATE,13344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13344,begin apogee
$GC,13350,-0.22,0.0,992.7,7.0,337,13448,0.50,0.00,95.88,1.311,6,0.122,0.000,1952,2301,2931
$STATE,13449,end apogee,CONTROL_FINISHED_OK
$STATE,13449,begin climb
$GC,13452,0.68,117.3,993.9,0.0,338,13560,0.60,2.58,101.85,1.279,4,0.072,0.058,2156,3705,2451
$GC,13577,0.52,117.3,990.8,7.0,340,13582,0.22,2.40,0.00,0.000,6,0.175,0.035,2115,2304,2448
$GC,13887,0.46,117.3,970.9,6.5,345,13889,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2305,2441
$GC,14190,0.39,117.3,951.2,6.4,350,14192,0.12,0.00,0.00,0.000,6,0.161,0.000,2083,2304,2440
$GC,14493,0.40,123.1,935.0,5.3,355,14502,0.00,2.33,4.12,0.782,4,0.000,0.058,2083,3703,2428
$GC,14542,0.37,123.1,931.9,6.4,355,14546,0.00,2.22,0.00,0.000,6,0.000,0.035,2091,2297,2428
$GC,14857,0.38,126.1,914.9,5.4,361,14866,0.00,2.30,4.32,0.806,4,0.000,0.052,2091,3719,2416
$GC,14895,0.33,126.1,912.4,6.4,361,14899,0.12,2.22,0.00,0.000,6,0.163,0.034,2071,2302,2415
$GC,15221,0.42,158.9,897.9,4.4,367,15255,0.00,2.35,29.12,1.208,4,0.000,0.055,2071,3722,2283
$GC,15301,0.51,179.9,893.4,4.8,368,15327,0.12,2.28,19.83,1.160,6,0.064,0.035,2134,2299,2197
$GC,15648,0.54,179.9,871.4,6.4,374,15652,0.00,2.28,0.00,0.000,4,0.000,0.050,2137,894,2190
$GC,15743,0.50,179.9,865.3,6.5,375,15748,0.12,2.28,0.00,0.000,6,0.136,0.040,2104,2306,2190
$GC,16075,0.50,180.7,847.1,5.5,381,16079,0.00,2.28,0.00,0.000,4,0.000,0.055,2104,3713,2189
$GC,16119,0.47,180.7,844.1,6.8,381,16123,0.00,2.22,0.00,0.000,6,0.000,0.038,2112,2297,2188
$GC,16434,0.47,180.7,824.9,6.2,387,16435,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2297,2188
$GC,16736,0.47,180.7,805.5,6.4,392,16740,0.00,2.30,0.00,0.000,4,0.000,0.050,2112,3718,2187
$GC,16781,0.42,180.7,802.0,9.0,392,16786,0.12,2.22,0.00,0.000,6,0.156,0.036,2091,2300,2186
$GC,17096,0.47,180.7,784.3,5.6,398,17097,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2299,2186
$GC,17399,0.51,180.7,767.1,5.7,403,17403,0.00,2.28,0.00,0.000,4,0.000,0.052,2092,3710,2187
$GC,17426,0.51,180.7,765.2,6.9,403,17430,0.00,2.20,0.00,0.000,6,0.000,0.033,2099,2303,2186
$GC,17764,0.53,180.7,745.2,5.9,409,17765,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2303,2186
$GC,18067,0.53,180.7,727.4,5.8,414,18071,0.00,2.28,0.00,0.000,4,0.000,0.051,2099,3710,2185
$GC,18110,0.53,180.7,724.5,5.9,414,18114,0.00,2.20,0.00,0.000,6,0.000,0.034,2109,2302,2185
$GC,18431,0.53,180.7,705.2,6.0,420,18433,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2302,2186
$GC,18735,0.53,180.7,687.6,5.8,425,18739,0.00,2.30,0.00,0.000,4,0.000,0.050,2110,3722,2186
$GC,18774,0.49,180.7,684.8,6.6,425,18778,0.00,2.22,0.00,0.000,6,0.000,0.040,2120,2296,2186
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$STATE,29683,begin surface coast
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$STATE,29705,end surface coast,CONTROL_FINISHED_OK
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