version: 66.04
glider: 144
mission: 15
dive: 471
start: 11 16 109 4 40 19
data:
$ID,144
$MISSION,15
$DIVE,471
$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,-70893.539
$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,38
$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
$GPS1,043139,5011.626,-14444.008,31,1.4,31,18.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-51.6
$GPS2,043925,5011.626,-14443.930,12,1.9,12,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.130,0.106
$KALMAN_X,-94530.1,310.2,92.3,125615.0,-1287.9
$KALMAN_Y,15259.2,60.0,88.4,-32728.1,-302.8
$MHEAD_RNG_PITCHd_Wd,32.0,24071,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.68,-117.3,0.0,0.0,0,71,0.00,0.00,-50.83,0.000,2,0.000,0.000,99,2298,2694
$GC,75,-0.68,-117.3,3.3,-3.5,5,109,7.25,2.30,-19.58,0.000,4,0.237,0.061,1841,897,3412
$GC,295,-0.65,-117.3,25.9,-10.8,24,302,0.10,2.25,0.00,0.000,6,0.135,0.038,1862,2304,3413
$GC,623,-0.65,-117.3,55.9,-14.1,55,629,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2304,3413
$GC,947,-0.65,-117.3,86.0,-8.9,83,948,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2304,3413
$GC,1257,-0.67,-117.3,111.7,-7.8,98,1261,0.00,2.22,0.00,0.000,4,0.000,0.041,1861,897,3414
$GC,1313,-0.71,-117.3,116.6,-8.6,100,1317,0.00,2.25,0.00,0.000,6,0.000,0.044,1857,2308,3414
$GC,1629,-0.74,-117.3,140.0,-6.9,115,1633,0.00,2.22,0.00,0.000,4,0.000,0.041,1858,897,3414
$GC,1731,-0.79,-117.3,147.4,-7.3,119,1736,0.08,2.22,0.00,0.000,6,0.081,0.037,1782,2308,3414
$GC,2055,-0.70,-117.3,181.1,-10.3,130,2059,0.17,2.22,0.00,0.000,4,0.120,0.041,1842,895,3414
$GC,2096,-0.74,-117.3,184.3,-7.5,131,2100,0.00,2.22,0.00,0.000,6,0.000,0.037,1836,2308,3414
$GC,2427,-0.77,-117.3,206.8,-7.1,142,2431,0.00,2.25,0.00,0.000,4,0.000,0.053,1827,3719,3414
$GC,2455,-0.79,-117.3,209.2,-8.4,142,2461,0.00,2.17,0.00,0.000,6,0.000,0.030,1827,2302,3413
$GC,2768,-0.79,-117.3,234.4,-7.9,153,2772,0.00,2.20,0.00,0.000,4,0.000,0.043,1827,893,3413
$GC,2807,-0.79,-117.3,237.7,-8.3,154,2811,0.00,2.22,0.00,0.000,6,0.000,0.043,1820,2303,3413
$GC,3143,-0.79,-117.3,265.4,-7.9,165,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2303,3412
$GC,3449,-0.79,-117.3,289.6,-7.8,175,3453,0.00,2.22,0.00,0.000,4,0.000,0.043,1819,891,3413
$GC,3510,-0.79,-117.3,294.7,-8.1,176,3516,0.00,2.25,0.00,0.000,6,0.000,0.038,1810,2303,3412
$GC,3822,-0.77,-117.3,319.5,-8.0,183,3826,0.10,2.28,0.00,0.000,4,0.133,0.041,1839,889,3412
$GC,3884,-0.82,-117.3,324.0,-6.6,184,3888,0.00,2.25,0.00,0.000,6,0.000,0.040,1837,2306,3412
$GC,4257,-0.85,-117.3,347.1,-6.2,190,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2307,3412
$GC,4560,-0.89,-117.3,366.5,-6.4,195,4562,0.10,0.00,0.00,0.000,6,0.064,0.000,1763,2307,3411
$GC,4863,-0.79,-117.3,397.9,-10.6,200,4867,0.17,2.30,0.00,0.000,4,0.123,0.044,1825,897,3410
$GC,4918,-0.82,-117.3,402.9,-8.0,200,4925,0.00,2.25,0.00,0.000,6,0.000,0.041,1821,2304,3411
$GC,5229,-0.82,-117.3,426.4,-7.6,206,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2304,3411
$GC,5532,-0.82,-117.3,448.8,-7.4,211,5536,0.00,2.25,0.00,0.000,4,0.000,0.044,1821,893,3410
$GC,5560,-0.82,-117.3,451.1,-8.3,211,5564,0.00,2.28,0.00,0.000,6,0.000,0.039,1812,2316,3410
$GC,5892,-0.82,-117.3,476.0,-7.6,217,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2317,3409
$GC,6195,-0.82,-117.3,498.7,-7.5,222,6199,0.00,2.28,0.00,0.000,4,0.000,0.045,1812,900,3409
$GC,6251,-0.82,-117.3,503.3,-8.2,222,6257,0.00,2.25,0.00,0.000,6,0.000,0.043,1808,2303,3409
$GC,6561,-0.82,-117.3,526.8,-7.7,228,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3409
$GC,6864,-0.82,-117.3,551.0,-7.9,233,6868,0.00,2.25,0.00,0.000,4,0.000,0.044,1808,903,3409
$GC,6927,-0.82,-117.3,555.9,-7.8,234,6932,0.10,2.22,0.00,0.000,6,0.127,0.043,1827,2304,3408
$GC,7299,-0.86,-117.3,578.3,-5.8,240,7303,0.00,2.28,0.00,0.000,4,0.000,0.051,1819,3712,3408
$GC,7344,-0.91,-117.3,581.1,-6.6,240,7348,0.00,2.20,0.00,0.000,6,0.000,0.031,1820,2297,3408
$GC,7661,-0.94,-117.3,599.5,-5.8,246,7665,0.10,2.25,0.00,0.000,4,0.067,0.043,1750,898,3408
$GC,7705,-0.83,-117.3,603.5,-9.5,246,7710,0.28,2.25,0.00,0.000,6,0.125,0.043,1824,2302,3408
$GC,8021,-0.87,-117.3,621.5,-5.5,252,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2302,3408
$GC,8324,-0.91,-117.3,638.8,-5.7,257,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2302,3407
$GC,8627,-0.95,-117.3,656.9,-6.0,262,8629,0.12,0.00,0.00,0.000,6,0.061,0.000,1753,2302,3407
$GC,8930,-0.85,-117.3,686.3,-10.0,267,8935,0.17,2.28,0.00,0.000,4,0.127,0.044,1812,892,3407
$GC,8992,-0.85,-117.3,691.4,-7.4,268,8997,0.00,2.25,0.00,0.000,6,0.000,0.047,1808,2306,3407
$GC,9365,-0.85,-117.3,716.2,-6.7,274,9366,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3407
$GC,9668,-0.85,-117.3,736.3,-6.6,279,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3407
$GC,9970,-0.85,-117.3,755.8,-6.4,284,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3407
$GC,10274,-0.85,-117.3,774.6,-6.2,289,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3406
$GC,10578,-0.85,-117.3,793.2,-6.1,294,10582,0.00,2.28,0.00,0.000,4,0.000,0.047,1808,894,3406
$GC,10618,-0.85,-117.3,795.9,-6.5,294,10622,0.00,2.28,0.00,0.000,6,0.000,0.044,1807,2304,3405
$GC,10940,-0.85,-117.3,815.7,-6.2,300,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2304,3406
$GC,11243,-0.85,-117.3,835.4,-6.5,305,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2304,3406
$GC,11546,-0.85,-117.3,855.6,-6.7,310,11550,0.00,2.30,0.00,0.000,4,0.000,0.047,1807,898,3406
$GC,11579,-0.85,-117.3,858.1,-7.8,310,11583,0.00,2.28,0.00,0.000,6,0.000,0.045,1798,2307,3406
$GC,11906,-0.85,-117.3,880.9,-7.0,316,11908,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2308,3405
$GC,12208,-0.85,-117.3,901.7,-6.9,321,12210,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2308,3406
$GC,12512,-0.85,-117.3,922.5,-6.8,326,12516,0.00,2.33,0.00,0.000,4,0.000,0.053,1798,892,3405
$GC,12553,-0.85,-117.3,925.3,-7.1,326,12557,0.00,2.30,0.00,0.000,6,0.000,0.042,1795,2306,3405
$GC,12874,-0.85,-117.3,948.0,-7.0,332,12878,0.00,2.30,0.00,0.000,4,0.000,0.048,1795,894,3405
$GC,12919,-0.85,-117.3,951.4,-7.4,332,12923,0.00,2.28,0.00,0.000,6,0.000,0.046,1794,2304,3405
$GC,13237,-0.85,-117.3,972.8,-6.7,338,13238,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2304,3405
$STATE,13535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13535,begin apogee
$GC,13541,-0.22,0.0,992.2,6.4,343,13643,0.50,0.00,98.47,1.292,6,0.111,0.000,1956,2305,2930
$STATE,13644,end apogee,CONTROL_FINISHED_OK
$STATE,13644,begin climb
$GC,13647,0.68,117.3,993.3,0.0,344,13758,0.55,2.60,104.05,1.267,4,0.070,0.053,2152,3708,2451
$GC,13804,0.50,117.3,988.8,7.5,346,13809,0.22,2.40,0.00,0.000,6,0.163,0.036,2109,2307,2446
$GC,14136,0.46,117.3,968.9,6.0,352,14140,0.00,2.35,0.00,0.000,4,0.000,0.050,2118,888,2441
$GC,14166,0.43,117.3,967.0,6.6,352,14171,0.10,2.30,0.00,0.000,6,0.141,0.041,2093,2305,2440
$GC,14499,0.43,117.3,948.3,5.6,358,14503,0.00,2.30,0.00,0.000,4,0.000,0.056,2093,3719,2439
$GC,14562,0.40,117.3,944.1,7.1,359,14566,0.00,2.25,0.00,0.000,6,0.000,0.039,2102,2289,2439
$GC,14934,0.37,117.3,922.1,5.8,365,14935,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2289,2438
$GC,15238,0.36,124.2,905.9,5.3,370,15248,0.10,2.35,4.82,0.846,4,0.162,0.057,2078,3718,2424
$GC,15311,0.37,127.7,902.0,5.4,371,15320,0.00,2.25,4.88,0.848,6,0.000,0.037,2086,2301,2410
$GC,15666,0.41,165.2,886.7,4.2,377,15705,0.00,2.38,33.95,1.195,4,0.000,0.057,2086,3709,2256
$GC,15731,0.47,199.0,883.7,4.4,378,15767,0.00,2.30,30.98,1.171,6,0.000,0.038,2096,2295,2119
$GC,16095,0.54,214.8,865.6,5.0,384,16111,0.00,0.00,14.35,1.101,6,0.000,0.000,2096,2294,2055
$GC,16399,0.61,235.2,851.1,4.8,389,16424,0.12,2.40,18.80,1.124,4,0.061,0.053,2158,3712,1972
$GC,16447,0.53,235.2,847.3,9.0,389,16452,0.20,2.30,0.00,0.000,6,0.143,0.039,2116,2303,1970
$GC,16763,0.55,235.2,829.1,5.6,395,16767,0.00,2.33,0.00,0.000,4,0.000,0.048,2125,886,1967
$GC,16808,0.60,235.2,826.2,7.0,395,16813,0.00,2.30,0.00,0.000,6,0.000,0.040,2125,2315,1966
$GC,17124,0.60,235.2,804.4,6.9,401,17126,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2315,1966
$GC,17427,0.60,235.2,782.6,7.2,406,17431,0.00,2.33,0.00,0.000,4,0.000,0.047,2134,895,1965
$GC,17451,0.60,235.2,780.9,8.6,406,17455,0.00,2.28,0.00,0.000,6,0.000,0.045,2134,2313,1965
$GC,17788,0.60,235.2,754.7,7.8,412,17792,0.00,2.25,0.00,0.000,4,0.000,0.056,2135,3710,1964
$GC,17811,0.57,235.2,752.7,9.1,412,17815,0.00,2.22,0.00,0.000,6,0.000,0.033,2144,2292,1964
$GC,18161,0.54,235.2,723.7,8.2,418,18162,0.12,0.00,0.00,0.000,6,0.145,0.000,2111,2291,1964
$GC,18464,0.59,236.0,706.7,5.5,423,18465,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2292,1964
$GC,18766,0.66,256.4,691.7,4.8,428,18788,0.12,0.00,19.00,1.040,6,0.056,0.000,2183,2292,1885
$GC,19070,0.56,256.4,664.7,9.2,433,19074,0.20,2.33,0.00,0.000,4,0.137,0.048,2121,3719,1881
$GC,19109,0.56,256.4,661.6,7.0,433,19113,0.00,2.25,0.00,0.000,6,0.000,0.032,2129,2293,1880
$GC,19431,0.56,256.4,643.2,5.7,439,19432,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2293,1880
$GC,19734,0.56,256.4,624.4,6.2,444,19738,0.00,2.28,0.00,0.000,4,0.000,0.048,2130,3710,1880
$GC,19757,0.56,256.4,622.8,6.3,444,19762,0.00,2.20,0.00,0.000,6,0.000,0.032,2139,2300,1879
$GC,20096,0.56,256.4,599.3,6.9,450,20100,0.00,2.25,0.00,0.000,4,0.000,0.047,2149,897,1879
$GC,20118,0.56,256.4,597.6,6.4,450,20123,0.12,2.22,0.00,0.000,6,0.118,0.037,2115,2311,1879
$GC,20468,0.62,256.4,578.1,5.6,456,20472,0.00,2.25,0.00,0.000,4,0.000,0.049,2115,3714,1879
$GC,20491,0.67,256.4,576.6,6.5,456,20496,0.08,2.20,0.00,0.000,6,0.075,0.032,2177,2291,1879
$GC,20835,0.59,256.4,544.6,9.5,462,20839,0.17,2.25,0.00,0.000,4,0.137,0.048,2137,891,1879
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$STATE,28784,begin surface coast
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$STATE,28818,end surface coast,CONTROL_FINISHED_OK
$STATE,28818,begin surface
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$10V_AH,10.5,59.170
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