version: 66.04
glider: 144
mission: 15
dive: 501
start: 11 26 109 9 1 58
data:
$ID,144
$MISSION,15
$DIVE,501
$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,-71596.891
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,085431,5008.479,-14508.117,40,1.4,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-32.9
$GPS2,090102,5008.527,-14508.065,10,1.7,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.072,-0.151
$KALMAN_X,-93940.1,144.5,-166.2,96926.6,1759.2
$KALMAN_Y,18637.3,-40.0,-131.2,-41527.1,480.4
$MHEAD_RNG_PITCHd_Wd,187.1,27279,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,89,0.00,0.00,-70.53,0.000,2,0.000,0.000,100,2293,2396
$GC,93,-0.68,-117.3,3.3,-2.9,7,138,7.28,2.40,-28.62,0.000,4,0.240,0.064,1846,3698,3411
$GC,162,-0.68,-117.3,10.8,-14.2,13,166,0.00,2.22,0.00,0.000,6,0.000,0.035,1846,2296,3412
$GC,496,-0.63,-117.3,44.4,-10.9,44,499,0.00,2.25,0.00,0.000,4,0.000,0.043,1846,893,3413
$GC,614,-0.63,-117.3,57.7,-10.0,54,621,0.10,2.22,0.00,0.000,6,0.142,0.037,1862,2304,3413
$GC,948,-0.63,-117.3,87.5,-8.6,82,952,0.00,2.28,0.00,0.000,4,0.000,0.041,1862,890,3412
$GC,988,-0.63,-117.3,91.2,-8.1,84,993,0.00,2.25,0.00,0.000,6,0.000,0.038,1859,2306,3413
$GC,1316,-0.63,-117.3,116.3,-8.0,100,1320,0.00,2.28,0.00,0.000,4,0.000,0.041,1859,889,3413
$GC,1402,-0.66,-117.3,123.3,-8.1,104,1406,0.00,2.25,0.00,0.000,6,0.000,0.036,1850,2313,3412
$GC,1731,-0.68,-117.3,148.3,-7.6,120,1734,0.00,2.28,0.00,0.000,4,0.000,0.041,1849,892,3413
$GC,1787,-0.72,-117.3,153.0,-8.1,122,1791,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2300,3413
$GC,2101,-0.75,-117.3,173.6,-6.0,132,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2301,3413
$GC,2407,-0.78,-117.3,194.2,-6.6,142,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2301,3413
$GC,2713,-0.83,-117.3,213.0,-6.1,152,2715,0.10,0.00,0.00,0.000,6,0.067,0.000,1771,2301,3413
$GC,3019,-0.72,-117.3,245.0,-10.6,162,3024,0.20,2.28,0.00,0.000,4,0.119,0.048,1840,898,3412
$GC,3088,-0.76,-117.3,250.5,-7.3,164,3093,0.00,2.25,0.00,0.000,6,0.000,0.038,1837,2306,3412
$GC,3425,-0.78,-117.3,275.0,-7.5,175,3428,0.00,2.25,0.00,0.000,4,0.000,0.043,1836,896,3411
$GC,3464,-0.82,-117.3,278.2,-7.7,176,3468,0.00,2.25,0.00,0.000,6,0.000,0.046,1836,2305,3412
$GC,3795,-0.84,-117.3,301.0,-6.9,187,3798,0.00,2.25,0.00,0.000,4,0.000,0.049,1835,898,3412
$GC,3829,-0.87,-117.3,303.7,-7.5,187,3833,0.00,2.25,0.00,0.000,6,0.000,0.045,1828,2311,3412
$GC,4161,-0.87,-117.3,327.2,-7.1,193,4165,0.00,2.28,0.00,0.000,4,0.000,0.043,1828,898,3411
$GC,4207,-0.90,-117.3,330.6,-7.7,193,4211,0.00,2.25,0.00,0.000,6,0.000,0.039,1821,2301,3411
$GC,4523,-0.90,-117.3,352.8,-7.0,199,4526,0.00,2.25,0.00,0.000,4,0.000,0.043,1821,894,3411
$GC,4562,-0.90,-117.3,355.8,-7.5,199,4566,0.00,2.28,0.00,0.000,6,0.000,0.038,1813,2313,3411
$GC,4888,-0.90,-117.3,380.2,-7.5,205,4892,0.00,2.28,0.00,0.000,4,0.000,0.044,1813,895,3410
$GC,4922,-0.90,-117.3,382.8,-7.9,205,4926,0.00,2.25,0.00,0.000,6,0.000,0.044,1807,2304,3410
$GC,5250,-0.88,-117.3,408.3,-7.9,211,5253,0.00,2.25,0.00,0.000,4,0.000,0.044,1806,893,3410
$GC,5311,-0.88,-117.3,413.5,-8.1,211,5318,0.00,2.25,0.00,0.000,6,0.000,0.042,1797,2307,3409
$GC,5622,-0.84,-117.3,439.3,-8.3,217,5626,0.00,2.25,0.00,0.000,4,0.000,0.051,1796,895,3409
$GC,5668,-0.81,-117.3,443.4,-8.6,217,5673,0.12,2.25,0.00,0.000,6,0.127,0.044,1823,2307,3409
$GC,5990,-0.84,-117.3,465.0,-6.6,223,5994,0.00,2.25,0.00,0.000,4,0.000,0.046,1823,901,3409
$GC,6018,-0.86,-117.3,467.1,-7.1,223,6022,0.00,2.25,0.00,0.000,6,0.000,0.041,1822,2313,3409
$GC,6363,-0.86,-117.3,489.6,-6.6,229,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2313,3408
$GC,6665,-0.86,-117.3,508.9,-6.2,234,6669,0.00,2.30,0.00,0.000,4,0.000,0.051,1822,899,3409
$GC,6722,-0.88,-117.3,512.7,-6.9,234,6728,0.00,2.25,0.00,0.000,6,0.000,0.040,1813,2307,3408
$GC,7032,-0.88,-117.3,533.8,-6.9,240,7036,0.00,2.28,0.00,0.000,4,0.000,0.044,1814,895,3408
$GC,7060,-0.88,-117.3,535.8,-7.6,240,7064,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2308,3408
$GC,7399,-0.88,-117.3,559.7,-7.1,246,7403,0.00,2.28,0.00,0.000,4,0.000,0.044,1808,898,3408
$GC,7432,-0.88,-117.3,562.1,-7.2,246,7436,0.00,2.28,0.00,0.000,6,0.000,0.045,1800,2304,3408
$GC,7764,-0.88,-117.3,587.8,-7.7,252,7768,0.00,2.28,0.00,0.000,4,0.000,0.044,1800,894,3408
$GC,7815,-0.88,-117.3,592.1,-8.3,252,7819,0.00,2.28,0.00,0.000,6,0.000,0.039,1794,2309,3408
$GC,8126,-0.85,-117.3,616.8,-8.0,257,8130,0.00,2.30,0.00,0.000,4,0.000,0.049,1794,892,3407
$GC,8170,-0.83,-117.3,620.8,-8.5,257,8175,0.10,2.28,0.00,0.000,6,0.133,0.045,1819,2306,3407
$GC,8487,-0.87,-117.3,641.4,-6.5,263,8491,0.00,2.28,0.00,0.000,4,0.000,0.051,1820,897,3407
$GC,8515,-0.90,-117.3,643.6,-7.4,263,8519,0.00,2.25,0.00,0.000,6,0.000,0.041,1820,2304,3407
$GC,8848,-0.93,-117.3,664.4,-6.3,269,8852,0.00,2.28,0.00,0.000,4,0.000,0.047,1820,889,3406
$GC,8888,-0.96,-117.3,667.2,-6.8,269,8892,0.00,2.28,0.00,0.000,6,0.000,0.041,1812,2311,3407
$GC,9209,-0.96,-117.3,689.4,-7.0,275,9213,0.00,2.28,0.00,0.000,4,0.000,0.051,1812,897,3407
$GC,9259,-0.96,-117.3,693.2,-7.9,275,9263,0.00,2.25,0.00,0.000,6,0.000,0.045,1809,2303,3406
$GC,9569,-0.96,-117.3,716.0,-7.4,280,9573,0.00,2.28,0.00,0.000,4,0.000,0.046,1808,899,3406
$GC,9603,-0.96,-117.3,718.8,-8.2,280,9607,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2311,3406
$GC,9938,-0.96,-117.3,743.3,-7.4,286,9942,0.00,2.28,0.00,0.000,4,0.000,0.048,1808,900,3406
$GC,9982,-0.96,-117.3,747.1,-7.7,286,9986,0.00,2.25,0.00,0.000,6,0.000,0.041,1807,2303,3406
$GC,10300,-0.96,-117.3,769.0,-6.9,292,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3406
$GC,10602,-0.96,-117.3,787.7,-6.1,297,10606,0.00,2.30,0.00,0.000,4,0.000,0.050,1808,900,3406
$GC,10658,-0.96,-117.3,791.3,-6.0,297,10664,0.00,2.28,0.00,0.000,6,0.000,0.044,1805,2303,3406
$GC,10968,-0.96,-117.3,809.6,-5.9,303,10972,0.00,2.30,0.00,0.000,4,0.000,0.050,1805,890,3406
$GC,10995,-0.96,-117.3,811.5,-6.5,303,10999,0.00,2.28,0.00,0.000,6,0.000,0.047,1795,2307,3405
$GC,11335,-0.96,-117.3,832.4,-6.2,309,11339,0.00,2.28,0.00,0.000,4,0.000,0.046,1795,900,3405
$GC,11374,-0.96,-117.3,835.2,-7.3,309,11378,0.00,2.28,0.00,0.000,6,0.000,0.042,1794,2308,3405
$GC,11695,-0.96,-117.3,856.8,-6.8,315,11699,0.00,2.30,0.00,0.000,4,0.000,0.046,1794,890,3406
$GC,11729,-0.96,-117.3,859.3,-7.8,315,11733,0.00,2.30,0.00,0.000,6,0.000,0.046,1791,2311,3405
$GC,12056,-0.96,-117.3,882.0,-6.9,321,12060,0.00,2.30,0.00,0.000,4,0.000,0.048,1791,895,3405
$GC,12101,-0.96,-117.3,885.4,-7.7,321,12105,0.00,2.28,0.00,0.000,6,0.000,0.040,1781,2304,3405
$GC,12418,-0.92,-117.3,908.7,-7.4,327,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,2304,3405
$GC,12720,-0.89,-117.3,931.3,-7.4,332,12725,0.10,2.33,0.00,0.000,4,0.136,0.051,1809,896,3405
$GC,12771,-0.92,-117.3,935.0,-7.1,332,12775,0.00,2.30,0.00,0.000,6,0.000,0.041,1809,2308,3404
$GC,13081,-0.94,-117.3,954.7,-6.4,337,13086,0.00,2.30,0.00,0.000,4,0.000,0.053,1809,902,3404
$GC,13116,-0.94,-117.3,957.3,-7.2,337,13120,0.00,2.28,0.00,0.000,6,0.000,0.047,1809,2304,3404
$GC,13449,-0.97,-117.3,979.3,-6.6,343,13453,0.00,2.30,0.00,0.000,4,0.000,0.052,1809,893,3404
$GC,13489,-0.99,-117.3,982.4,-7.4,343,13494,0.10,2.28,0.00,0.000,6,0.079,0.044,1764,2304,3404
$STATE,13625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13625,begin apogee
$GC,13633,-0.22,0.0,994.1,8.6,346,13734,0.60,0.00,98.47,1.293,6,0.117,0.000,1955,2304,2931
$STATE,13735,end apogee,CONTROL_FINISHED_OK
$STATE,13735,begin climb
$GC,13738,0.68,117.3,996.0,0.0,347,13847,0.57,0.00,105.68,1.267,6,0.070,0.000,2153,2304,2452
$GC,14112,0.57,117.3,980.7,6.0,354,14117,0.12,2.33,0.00,0.000,4,0.156,0.056,2123,3709,2442
$GC,14148,0.47,117.3,978.4,6.3,354,14153,0.12,2.25,0.00,0.000,6,0.165,0.040,2100,2311,2441
$GC,14475,0.50,145.0,963.2,4.6,360,14505,0.00,2.38,23.17,1.206,4,0.000,0.057,2101,3712,2338
$GC,14534,0.47,145.0,959.8,5.6,360,14541,0.00,2.28,0.00,0.000,6,0.000,0.041,2109,2300,2336
$GC,14847,0.48,149.1,943.1,5.4,366,14856,0.00,2.33,4.53,0.817,4,0.000,0.054,2109,3715,2323
$GC,14874,0.44,149.1,941.4,5.7,366,14878,0.10,2.25,0.00,0.000,6,0.163,0.035,2096,2299,2322
$GC,15212,0.47,170.0,925.1,4.8,372,15237,0.00,2.33,19.90,1.180,4,0.000,0.051,2096,3710,2236
$GC,15266,0.47,170.0,921.9,5.6,372,15272,0.00,2.25,0.00,0.000,6,0.000,0.035,2104,2301,2234
$GC,15576,0.47,174.9,905.3,5.3,378,15583,0.00,0.00,5.22,0.877,6,0.000,0.000,2104,2301,2217
$GC,15879,0.47,174.9,888.4,5.6,383,15883,0.00,2.30,0.00,0.000,4,0.000,0.052,2104,3714,2215
$GC,15929,0.45,174.9,884.9,6.9,383,15933,0.00,2.22,0.00,0.000,6,0.000,0.033,2115,2297,2214
$GC,16240,0.45,174.9,866.1,6.0,388,16241,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2297,2214
$GC,16543,0.45,174.9,846.9,6.3,393,16547,0.00,2.30,0.00,0.000,4,0.000,0.056,2115,3712,2214
$GC,16593,0.40,174.9,843.2,7.8,393,16598,0.15,2.22,0.00,0.000,6,0.149,0.033,2085,2293,2213
$GC,16905,0.47,181.3,826.7,5.3,398,16913,0.00,0.00,6.78,0.949,6,0.000,0.000,2085,2293,2191
$GC,17207,0.53,186.1,810.5,5.3,403,17218,0.10,2.30,5.60,0.872,4,0.069,0.051,2143,3715,2173
$GC,17273,0.42,186.1,805.4,9.4,404,17278,0.22,2.22,0.00,0.000,6,0.144,0.038,2092,2303,2171
$GC,17640,0.49,202.8,786.6,4.9,410,17658,0.00,0.00,16.42,1.086,6,0.000,0.000,2092,2303,2104
$GC,17943,0.63,202.8,769.6,5.8,415,17947,0.15,2.28,0.00,0.000,4,0.061,0.045,2159,889,2100
$GC,18021,0.58,202.8,764.0,7.6,416,18026,0.15,2.28,0.00,0.000,6,0.137,0.043,2120,2316,2099
$GC,18376,0.58,202.8,743.8,5.5,422,18380,0.00,2.25,0.00,0.000,4,0.000,0.056,2120,3711,2099
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$STATE,29810,end climb,SURFACE_DEPTH_REACHED
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$STATE,29846,end surface coast,CONTROL_FINISHED_OK
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