version: 66.04
glider: 144
mission: 15
dive: 414
start: 10 27 109 20 50 21
data:
$ID,144
$MISSION,15
$DIVE,414
$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,-69473.555
$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,34
$R_STBD_OVSHOOT,34
$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
$GPS1,204231,5011.168,-14508.858,37,1.3,37,18.5
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-52.5
$GPS2,204927,5011.155,-14508.754,13,1.7,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.033,-0.164
$KALMAN_X,-82098.9,-54.4,138.5,84162.5,452.7
$KALMAN_Y,19080.4,-54.5,-29.6,-37188.8,-319.2
$MHEAD_RNG_PITCHd_Wd,172.9,31978,-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,16,-0.68,-117.3,0.0,0.0,0,49,0.00,0.00,-31.25,0.000,2,0.000,0.000,99,2305,2556
$GC,52,-0.68,-117.3,3.3,-5.8,3,89,7.28,2.35,-23.08,0.000,4,0.240,0.064,1844,890,3412
$GC,189,-0.63,-117.3,19.1,-12.8,15,194,0.10,2.25,0.00,0.000,6,0.150,0.039,1861,2302,3413
$GC,514,-0.60,-117.3,55.0,-11.4,45,518,0.00,2.25,0.00,0.000,4,0.000,0.048,1852,3708,3413
$GC,544,-0.57,-117.3,58.4,-11.4,47,549,0.10,2.17,0.00,0.000,6,0.118,0.029,1879,2294,3413
$GC,870,-0.62,-117.3,84.4,-6.8,74,874,0.00,2.28,0.00,0.000,4,0.000,0.046,1871,3713,3414
$GC,956,-0.66,-117.3,90.4,-7.0,78,960,0.00,2.15,0.00,0.000,6,0.000,0.028,1871,2302,3414
$GC,1289,-0.70,-117.3,114.0,-7.6,94,1293,0.08,2.17,0.00,0.000,4,0.077,0.040,1798,897,3415
$GC,1339,-0.61,-117.3,119.7,-11.9,96,1344,0.28,2.20,0.00,0.000,6,0.122,0.037,1870,2314,3415
$GC,1661,-0.66,-117.3,141.4,-6.2,112,1664,0.00,2.22,0.00,0.000,4,0.000,0.041,1870,893,3415
$GC,1722,-0.75,-117.3,144.9,-5.8,114,1729,0.10,2.20,0.00,0.000,6,0.064,0.036,1791,2306,3415
$GC,2037,-0.67,-117.3,174.3,-9.7,126,2039,0.22,0.00,0.00,0.000,6,0.124,0.000,1858,2306,3415
$GC,2342,-0.73,-117.3,193.3,-6.1,136,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2306,3415
$GC,2649,-0.80,-117.3,212.0,-6.1,146,2653,0.12,2.28,0.00,0.000,4,0.055,0.052,1758,3709,3414
$GC,2678,-0.72,-117.3,214.6,-10.6,147,2683,0.28,2.17,0.00,0.000,6,0.122,0.030,1842,2296,3414
$GC,3013,-0.76,-117.3,238.3,-6.7,158,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2296,3414
$GC,3320,-0.79,-117.3,259.5,-7.1,168,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2296,3413
$GC,3626,-0.83,-117.3,280.2,-6.7,178,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2296,3413
$GC,3932,-0.87,-117.3,300.5,-6.6,188,3937,0.12,2.30,0.00,0.000,4,0.058,0.052,1752,3706,3412
$GC,3971,-0.75,-117.3,304.5,-11.4,188,3976,0.28,2.17,0.00,0.000,6,0.121,0.031,1835,2295,3412
$GC,4292,-0.78,-117.3,326.9,-6.7,194,4296,0.00,2.22,0.00,0.000,4,0.000,0.046,1834,891,3411
$GC,4314,-0.81,-117.3,328.5,-6.7,194,4319,0.00,2.22,0.00,0.000,6,0.000,0.040,1836,2299,3411
$GC,4658,-0.84,-117.3,350.6,-6.4,200,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2299,3411
$GC,4962,-0.88,-117.3,370.5,-6.6,205,4966,0.10,2.22,0.00,0.000,4,0.066,0.043,1768,893,3411
$GC,4984,-0.84,-117.3,372.4,-8.3,205,4989,0.20,2.25,0.00,0.000,6,0.125,0.040,1817,2312,3410
$GC,5328,-0.84,-117.3,398.7,-7.6,211,5332,0.00,2.25,0.00,0.000,4,0.000,0.054,1807,3712,3410
$GC,5401,-0.84,-117.3,404.9,-8.5,212,5405,0.00,2.17,0.00,0.000,6,0.000,0.038,1808,2305,3409
$GC,5762,-0.84,-117.3,435.2,-8.5,218,5766,0.00,2.30,0.00,0.000,4,0.000,0.051,1798,3719,3409
$GC,5795,-0.84,-117.3,438.3,-9.0,218,5799,0.00,2.20,0.00,0.000,6,0.000,0.034,1798,2299,3409
$GC,6129,-0.82,-117.3,466.7,-8.4,224,6131,0.10,0.00,0.00,0.000,6,0.127,0.000,1826,2299,3409
$GC,6431,-0.85,-117.3,485.9,-6.2,229,6435,0.00,2.30,0.00,0.000,4,0.000,0.051,1818,3712,3409
$GC,6464,-0.88,-117.3,488.2,-6.5,229,6468,0.00,2.20,0.00,0.000,6,0.000,0.034,1818,2301,3408
$GC,6791,-0.88,-117.3,508.3,-6.1,235,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2300,3408
$GC,7094,-0.88,-117.3,527.6,-6.4,240,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2300,3408
$GC,7397,-0.90,-117.3,547.6,-6.7,245,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2300,3408
$GC,7700,-0.92,-117.3,567.8,-6.6,250,7704,0.00,2.30,0.00,0.000,4,0.000,0.053,1808,3712,3407
$GC,7741,-0.92,-117.3,570.7,-7.9,250,7745,0.00,2.20,0.00,0.000,6,0.000,0.037,1808,2301,3407
$GC,8063,-0.92,-117.3,594.9,-7.5,256,8067,0.00,2.28,0.00,0.000,4,0.000,0.053,1799,3708,3407
$GC,8090,-0.92,-117.3,597.3,-8.5,256,8094,0.00,2.17,0.00,0.000,6,0.000,0.033,1799,2303,3407
$GC,8429,-0.92,-117.3,624.0,-7.8,262,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2302,3407
$GC,8731,-0.92,-117.3,646.9,-7.5,267,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2302,3407
$GC,9034,-0.92,-117.3,668.4,-7.0,272,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2302,3407
$GC,9338,-0.92,-117.3,688.4,-6.6,277,9342,0.00,2.30,0.00,0.000,4,0.000,0.054,1790,3711,3406
$GC,9371,-0.92,-117.3,691.0,-7.4,277,9376,0.00,2.20,0.00,0.000,6,0.000,0.037,1790,2303,3406
$GC,9706,-0.90,-117.3,714.2,-7.0,283,9710,0.00,2.28,0.00,0.000,4,0.000,0.054,1781,3708,3406
$GC,9733,-0.86,-117.3,716.5,-7.9,283,9738,0.12,2.20,0.00,0.000,6,0.119,0.035,1817,2294,3406
$GC,10066,-0.90,-117.3,736.1,-5.9,289,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2293,3406
$GC,10369,-0.93,-117.3,753.8,-5.8,294,10372,0.00,2.22,0.00,0.000,4,0.000,0.047,1817,896,3405
$GC,10397,-0.96,-117.3,755.6,-6.9,294,10401,0.00,2.22,0.00,0.000,6,0.000,0.043,1810,2304,3405
$GC,10735,-0.96,-117.3,776.1,-6.1,300,10739,0.00,2.28,0.00,0.000,4,0.000,0.055,1803,3715,3405
$GC,10768,-0.99,-117.3,778.4,-6.9,300,10772,0.00,2.20,0.00,0.000,6,0.000,0.034,1803,2300,3405
$GC,11094,-0.99,-117.3,799.3,-6.5,306,11098,0.00,2.28,0.00,0.000,4,0.000,0.051,1794,3708,3405
$GC,11122,-0.99,-117.3,801.3,-7.0,306,11126,0.00,2.20,0.00,0.000,6,0.000,0.038,1794,2297,3405
$GC,11454,-0.99,-117.3,822.5,-6.3,312,11458,0.00,2.30,0.00,0.000,4,0.000,0.053,1784,3716,3405
$GC,11487,-0.99,-117.3,824.9,-7.1,312,11491,0.00,2.20,0.00,0.000,6,0.000,0.034,1784,2305,3405
$GC,11813,-0.96,-117.3,846.7,-6.7,318,11817,0.00,2.30,0.00,0.000,4,0.000,0.058,1781,3715,3405
$GC,11870,-0.96,-117.3,850.7,-6.8,318,11876,0.00,2.25,0.00,0.000,6,0.000,0.035,1781,2299,3404
$GC,12180,-0.92,-117.3,871.9,-6.9,324,12181,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2299,3405
$GC,12483,-0.89,-117.3,894.3,-7.5,329,12488,0.10,2.30,0.00,0.000,4,0.133,0.052,1800,3708,3404
$GC,12510,-0.89,-117.3,896.5,-7.8,329,12514,0.00,2.20,0.00,0.000,6,0.000,0.039,1800,2304,3404
$GC,12843,-0.89,-117.3,919.8,-7.2,335,12847,0.00,2.30,0.00,0.000,4,0.000,0.053,1790,3711,3404
$GC,12887,-0.89,-117.3,923.4,-8.1,335,12891,0.00,2.22,0.00,0.000,6,0.000,0.038,1790,2293,3404
$GC,13203,-0.89,-117.3,947.6,-7.7,341,13207,0.00,2.33,0.00,0.000,4,0.000,0.054,1782,3717,3404
$GC,13242,-0.89,-117.3,950.8,-8.1,341,13247,0.10,2.22,0.00,0.000,6,0.123,0.039,1808,2299,3404
$GC,13563,-0.92,-117.3,972.1,-6.6,347,13566,0.00,2.25,0.00,0.000,4,0.000,0.054,1808,899,3404
$GC,13585,-0.94,-117.3,973.6,-6.4,347,13589,0.00,2.25,0.00,0.000,6,0.000,0.044,1808,2305,3404
$STATE,13865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13865,begin apogee
$GC,13872,-0.22,0.0,991.4,6.3,352,13972,0.45,0.00,97.18,1.297,6,0.116,0.000,1952,2305,2931
$STATE,13973,end apogee,CONTROL_FINISHED_OK
$STATE,13973,begin climb
$GC,13976,0.68,117.3,993.0,0.0,353,14088,0.60,2.55,103.22,1.269,4,0.073,0.054,2167,901,2451
$GC,14115,0.55,117.3,990.9,6.2,356,14120,0.20,2.42,0.00,0.000,6,0.147,0.042,2119,2302,2447
$GC,14482,0.50,120.0,971.0,5.4,362,14486,0.00,2.33,0.00,0.000,4,0.000,0.058,2119,3724,2441
$GC,14560,0.40,120.0,965.7,6.1,363,14565,0.17,2.25,0.00,0.000,6,0.160,0.035,2082,2306,2440
$GC,14910,0.44,159.0,951.0,4.2,369,14947,0.00,0.00,35.30,1.233,6,0.000,0.000,2082,2306,2282
$GC,15213,0.56,161.0,935.0,5.4,374,15218,0.12,2.30,0.00,0.000,4,0.069,0.053,2134,896,2276
$GC,15314,0.52,161.0,928.6,6.0,375,15319,0.10,2.28,0.00,0.000,6,0.136,0.042,2109,2309,2275
$GC,15640,0.52,161.0,910.1,5.7,381,15644,0.00,2.28,0.00,0.000,4,0.000,0.053,2109,3716,2274
$GC,15685,0.47,161.0,907.0,7.2,381,15689,0.00,2.22,0.00,0.000,6,0.000,0.035,2117,2302,2273
$GC,16002,0.44,161.0,888.3,5.9,387,16003,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2302,2273
$GC,16304,0.42,161.0,870.8,5.8,392,16309,0.12,2.30,0.00,0.000,4,0.152,0.049,2084,3719,2273
$GC,16337,0.43,173.6,868.8,5.1,392,16356,0.00,2.22,12.70,1.108,6,0.000,0.039,2093,2298,2223
$GC,16668,0.50,202.0,853.5,4.5,398,16696,0.00,0.00,26.15,1.166,6,0.000,0.000,2093,2298,2107
$GC,16972,0.62,212.3,838.3,5.2,403,16987,0.15,2.35,10.23,1.043,4,0.064,0.056,2156,3721,2064
$GC,17107,0.51,212.3,827.1,8.2,405,17112,0.20,2.28,0.00,0.000,6,0.148,0.039,2113,2297,2062
$GC,17469,0.56,227.5,808.5,5.0,411,17485,0.00,0.00,14.50,1.085,6,0.000,0.000,2113,2297,2003
$GC,17772,0.60,235.6,792.8,5.2,416,17786,0.00,2.33,8.32,0.980,4,0.000,0.048,2122,895,1970
$GC,17810,0.66,245.9,790.5,5.2,416,17826,0.00,2.28,10.95,1.021,6,0.000,0.038,2122,2315,1928
$GC,18136,0.66,245.9,771.1,6.1,422,18140,0.00,2.28,0.00,0.000,4,0.000,0.056,2122,3712,1923
$GC,18174,0.66,245.9,768.3,7.1,422,18178,0.00,2.25,0.00,0.000,6,0.000,0.041,2132,2292,1923
$GC,18501,0.66,245.9,745.2,7.1,428,18505,0.00,2.25,0.00,0.000,4,0.000,0.048,2142,892,1922
$GC,18529,0.66,245.9,743.1,6.8,428,18533,0.00,2.25,0.00,0.000,6,0.000,0.044,2142,2308,1922
$GC,18861,0.62,245.9,716.6,8.0,434,18865,0.00,2.28,0.00,0.000,4,0.000,0.049,2142,3718,1922
$GC,18912,0.58,245.9,711.8,8.6,434,18916,0.12,2.22,0.00,0.000,6,0.140,0.038,2120,2299,1921
$GC,19222,0.61,245.9,691.3,6.5,439,19226,0.00,2.25,0.00,0.000,4,0.000,0.048,2129,893,1921
$GC,19261,0.66,245.9,688.5,7.0,439,19266,0.00,2.22,0.00,0.000,6,0.000,0.039,2129,2305,1920
$GC,19588,0.66,245.9,667.0,6.6,445,19592,0.00,2.25,0.00,0.000,4,0.000,0.049,2129,3707,1920
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$STATE,29279,end climb,SURFACE_DEPTH_REACHED
$STATE,29279,begin surface coast
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$STATE,29302,end surface coast,CONTROL_FINISHED_OK
$STATE,29302,begin surface
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