version: 66.04
glider: 144
mission: 15
dive: 526
start: 12 4 109 18 21 14
data:
$ID,144
$MISSION,15
$DIVE,526
$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,-72206.664
$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,31
$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
$GPS1,180726,5000.958,-14430.897,52,2.9,71,18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-51.1
$GPS2,182021,5001.107,-14431.054,14,2.6,33,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.030,-0.165
$KALMAN_X,-90169.3,-291.6,-240.3,137418.1,1734.1
$KALMAN_Y,24086.5,-69.4,9.3,-60833.6,-28.4
$MHEAD_RNG_PITCHd_Wd,171.9,13221,-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,15,begin dive
$GC,18,-0.68,-117.2,0.0,0.0,0,59,0.00,0.00,-38.67,0.000,2,0.000,0.000,98,2302,2648
$GC,63,-0.68,-117.3,3.7,-4.8,4,97,7.30,2.40,-18.77,0.000,4,0.240,0.062,1846,895,3412
$GC,246,-0.65,-117.3,25.1,-13.4,20,250,0.10,2.28,0.00,0.000,6,0.130,0.039,1864,2303,3414
$GC,571,-0.65,-117.3,52.8,-8.7,50,575,0.00,2.25,0.00,0.000,4,0.000,0.043,1865,890,3414
$GC,617,-0.68,-117.3,56.7,-8.3,53,623,0.00,2.25,0.00,0.000,6,0.000,0.038,1859,2315,3414
$GC,940,-0.68,-117.3,90.7,-9.8,79,941,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2315,3414
$GC,1249,-0.70,-117.3,116.9,-8.5,94,1253,0.00,2.30,0.00,0.000,4,0.000,0.042,1859,885,3415
$GC,1306,-0.75,-117.3,122.3,-9.6,96,1312,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2305,3414
$GC,1622,-0.78,-117.3,147.4,-7.5,112,1626,0.00,2.28,0.00,0.000,4,0.000,0.054,1844,3715,3414
$GC,1680,-0.83,-117.3,151.6,-7.8,114,1687,0.10,2.20,0.00,0.000,6,0.061,0.030,1769,2294,3414
$GC,1993,-0.71,-117.3,189.0,-12.1,125,1998,0.22,2.22,0.00,0.000,4,0.123,0.042,1843,891,3414
$GC,2096,-0.75,-117.3,197.1,-7.2,128,2100,0.00,2.22,0.00,0.000,6,0.000,0.037,1837,2307,3415
$GC,2432,-0.75,-117.3,218.4,-6.1,139,2436,0.00,2.22,0.00,0.000,4,0.000,0.042,1836,901,3414
$GC,2468,-0.78,-117.3,220.8,-7.0,140,2472,0.00,2.22,0.00,0.000,6,0.000,0.044,1836,2305,3414
$GC,2803,-0.78,-117.3,244.6,-7.3,151,2807,0.00,2.25,0.00,0.000,4,0.000,0.043,1836,894,3414
$GC,2843,-0.81,-117.3,247.7,-8.3,152,2847,0.00,2.25,0.00,0.000,6,0.000,0.040,1836,2305,3414
$GC,3167,-0.83,-117.3,271.5,-7.2,163,3171,0.00,2.28,0.00,0.000,4,0.000,0.050,1826,3709,3414
$GC,3201,-0.86,-117.3,274.1,-7.3,164,3204,0.00,2.17,0.00,0.000,6,0.000,0.031,1826,2303,3414
$GC,3537,-0.86,-117.3,298.2,-6.9,175,3541,0.00,2.22,0.00,0.000,4,0.000,0.044,1826,898,3413
$GC,3576,-0.86,-117.3,301.2,-7.9,176,3580,0.00,2.25,0.00,0.000,6,0.000,0.040,1818,2309,3413
$GC,3903,-0.86,-117.3,323.4,-6.7,182,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2310,3413
$GC,4206,-0.86,-117.3,345.0,-7.2,187,4210,0.00,2.30,0.00,0.000,4,0.000,0.050,1818,900,3413
$GC,4240,-0.86,-117.3,347.6,-7.5,187,4244,0.00,2.25,0.00,0.000,6,0.000,0.045,1809,2304,3413
$GC,4573,-0.86,-117.3,374.0,-8.0,193,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3412
$GC,4875,-0.86,-117.3,397.7,-7.8,198,4879,0.00,2.28,0.00,0.000,4,0.000,0.045,1810,898,3413
$GC,4909,-0.86,-117.3,400.6,-8.2,198,4913,0.00,2.28,0.00,0.000,6,0.000,0.046,1800,2311,3412
$GC,5237,-0.83,-117.3,427.0,-8.1,204,5241,0.00,2.30,0.00,0.000,4,0.000,0.048,1800,892,3412
$GC,5265,-0.80,-117.3,429.7,-8.9,204,5270,0.12,2.25,0.00,0.000,6,0.127,0.038,1824,2310,3412
$GC,5603,-0.82,-117.3,451.8,-6.3,210,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2311,3412
$GC,5907,-0.85,-117.3,469.1,-5.7,215,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2311,3412
$GC,6210,-0.87,-117.3,487.1,-6.0,220,6214,0.00,2.30,0.00,0.000,4,0.000,0.044,1824,893,3411
$GC,6243,-0.91,-117.3,489.4,-6.4,220,6247,0.00,2.28,0.00,0.000,6,0.000,0.046,1822,2308,3411
$GC,6577,-0.93,-117.3,511.5,-6.7,226,6579,0.10,0.00,0.00,0.000,6,0.065,0.000,1755,2310,3411
$GC,6880,-0.82,-117.3,542.7,-10.5,231,6885,0.20,2.30,0.00,0.000,4,0.124,0.045,1824,899,3411
$GC,6954,-0.86,-117.3,548.6,-7.0,232,6958,0.00,2.28,0.00,0.000,6,0.000,0.042,1822,2307,3411
$GC,7309,-0.89,-117.3,571.4,-6.4,238,7313,0.00,2.30,0.00,0.000,4,0.000,0.053,1812,3718,3411
$GC,7338,-0.91,-117.3,573.4,-7.4,238,7342,0.00,2.22,0.00,0.000,6,0.000,0.038,1812,2305,3411
$GC,7670,-0.91,-117.3,595.7,-6.7,244,7674,0.00,2.30,0.00,0.000,4,0.000,0.052,1812,889,3410
$GC,7698,-0.91,-117.3,597.7,-8.1,244,7702,0.00,2.28,0.00,0.000,6,0.000,0.040,1808,2305,3410
$GC,8031,-0.91,-117.3,621.2,-7.1,250,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3410
$GC,8333,-0.91,-117.3,641.2,-6.5,255,8337,0.00,2.28,0.00,0.000,4,0.000,0.045,1808,896,3410
$GC,8367,-0.91,-117.3,643.6,-7.1,255,8371,0.00,2.28,0.00,0.000,6,0.000,0.046,1806,2310,3410
$GC,8694,-0.91,-117.3,664.2,-6.3,261,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2310,3410
$GC,8997,-0.91,-117.3,682.8,-6.1,266,9001,0.00,2.30,0.00,0.000,4,0.000,0.045,1807,894,3410
$GC,9070,-0.91,-117.3,687.4,-6.4,267,9074,0.00,2.28,0.00,0.000,6,0.000,0.044,1801,2304,3409
$GC,9424,-0.91,-117.3,707.7,-5.7,273,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2304,3409
$GC,9728,-0.91,-117.3,725.1,-5.7,278,9732,0.00,2.30,0.00,0.000,4,0.000,0.045,1801,895,3409
$GC,9779,-0.91,-117.3,728.4,-6.5,278,9783,0.00,2.28,0.00,0.000,6,0.000,0.041,1795,2303,3408
$GC,10089,-0.91,-117.3,748.1,-6.3,283,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2304,3409
$GC,10393,-0.91,-117.3,767.2,-6.3,288,10397,0.00,2.33,0.00,0.000,4,0.000,0.045,1794,888,3408
$GC,10449,-0.91,-117.3,771.2,-7.6,288,10455,0.00,2.30,0.00,0.000,6,0.000,0.047,1793,2302,3409
$GC,10760,-0.91,-117.3,791.5,-6.6,294,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2303,3409
$GC,11062,-0.91,-117.3,811.3,-6.6,299,11063,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2303,3409
$GC,11365,-0.91,-117.3,832.1,-6.8,304,11369,0.00,2.33,0.00,0.000,4,0.000,0.050,1793,892,3408
$GC,11398,-0.91,-117.3,834.4,-7.0,304,11402,0.00,2.30,0.00,0.000,6,0.000,0.045,1783,2307,3408
$GC,11726,-0.88,-117.3,857.5,-7.1,310,11728,0.10,0.00,0.00,0.000,6,0.133,0.000,1812,2307,3408
$GC,12031,-0.92,-117.3,873.5,-5.2,315,12035,0.00,2.30,0.00,0.000,4,0.000,0.047,1812,897,3408
$GC,12060,-0.95,-117.3,875.3,-5.5,315,12064,0.00,2.25,0.00,0.000,6,0.000,0.041,1810,2304,3408
$GC,12400,-0.98,-117.3,892.3,-4.9,321,12401,0.08,0.00,0.00,0.000,6,0.091,0.000,1765,2304,3408
$GC,12701,-0.92,-117.3,912.9,-6.9,326,12703,0.12,0.00,0.00,0.000,6,0.128,0.000,1801,2304,3408
$GC,13004,-0.92,-117.3,929.3,-5.4,331,13005,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2304,3408
$GC,13308,-0.92,-117.3,945.7,-5.4,336,13312,0.00,2.30,0.00,0.000,4,0.000,0.048,1802,895,3408
$GC,13342,-0.92,-117.3,947.9,-5.8,336,13346,0.00,2.28,0.00,0.000,6,0.000,0.041,1795,2301,3408
$GC,13676,-0.92,-117.3,967.7,-6.0,342,13677,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2301,3407
$GC,13977,-0.92,-117.3,986.2,-6.1,347,13978,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2301,3407
$STATE,14035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14035,begin apogee
$GC,14042,-0.22,0.0,990.1,6.1,348,14144,0.50,0.00,98.88,1.289,6,0.110,0.000,1957,2301,2931
$STATE,14145,end apogee,CONTROL_FINISHED_OK
$STATE,14145,begin climb
$GC,14149,0.68,117.3,991.4,0.0,349,14260,0.55,2.58,104.07,1.259,4,0.071,0.054,2151,3699,2451
$GC,14294,0.49,117.3,988.1,6.2,351,14299,0.22,2.38,0.00,0.000,6,0.162,0.039,2107,2310,2447
$GC,14645,0.48,132.2,970.3,5.0,357,14659,0.00,0.00,12.52,1.128,6,0.000,0.000,2107,2309,2392
$GC,14947,0.47,141.9,954.8,5.2,362,14959,0.00,0.00,10.07,1.085,6,0.000,0.000,2108,2309,2352
$GC,15250,0.47,145.4,938.7,5.4,367,15256,0.00,0.00,4.35,0.792,6,0.000,0.000,2108,2309,2338
$GC,15552,0.47,145.4,921.2,5.8,372,15556,0.00,2.33,0.00,0.000,4,0.000,0.051,2108,3710,2336
$GC,15583,0.43,145.4,919.3,6.5,372,15588,0.10,2.28,0.00,0.000,6,0.155,0.035,2093,2294,2336
$GC,15916,0.44,150.5,901.2,5.3,378,15923,0.00,0.00,6.00,0.928,6,0.000,0.000,2093,2294,2317
$GC,16220,0.48,162.8,885.8,5.1,383,16239,0.00,2.40,12.38,1.099,4,0.000,0.051,2093,3721,2266
$GC,16269,0.48,163.2,882.9,5.5,383,16273,0.00,2.28,0.00,0.000,6,0.000,0.033,2101,2302,2265
$GC,16585,0.49,176.9,866.7,5.0,389,16600,0.00,0.00,13.82,1.101,6,0.000,0.000,2101,2302,2209
$GC,16889,0.54,194.9,851.9,4.9,394,16913,0.00,2.38,17.08,1.116,4,0.000,0.052,2101,3711,2136
$GC,16937,0.54,194.9,849.2,6.4,394,16941,0.00,2.28,0.00,0.000,6,0.000,0.033,2111,2293,2134
$GC,17253,0.54,198.6,832.3,5.4,400,17262,0.00,2.35,4.50,0.779,4,0.000,0.054,2111,3722,2121
$GC,17286,0.54,198.6,830.0,7.0,400,17290,0.00,2.25,0.00,0.000,6,0.000,0.033,2122,2298,2120
$GC,17620,0.54,198.6,810.1,6.0,406,17624,0.00,2.30,0.00,0.000,4,0.000,0.049,2122,3713,2119
$GC,17654,0.50,198.6,807.5,6.7,406,17659,0.10,2.22,0.00,0.000,6,0.156,0.033,2108,2295,2119
$GC,17981,0.54,204.2,789.9,5.3,412,17995,0.00,2.38,6.47,0.904,4,0.000,0.050,2108,3721,2098
$GC,18013,0.54,204.2,787.9,6.2,412,18018,0.00,2.22,0.00,0.000,6,0.000,0.032,2116,2297,2097
$GC,18346,0.54,204.2,768.4,5.9,418,18350,0.00,2.28,0.00,0.000,4,0.000,0.049,2116,3713,2096
$GC,18375,0.54,204.2,766.7,6.1,418,18379,0.00,2.20,0.00,0.000,6,0.000,0.033,2127,2303,2096
$GC,18707,0.54,204.2,743.3,7.1,424,18708,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2303,2096
$GC,19011,0.54,204.2,721.2,7.3,429,19015,0.00,2.28,0.00,0.000,4,0.000,0.056,2127,3714,2095
$GC,19044,0.49,204.2,718.3,8.5,429,19049,0.12,2.20,0.00,0.000,6,0.143,0.033,2104,2301,2095
$GC,19372,0.54,204.2,697.4,6.3,435,19373,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2301,2095
$GC,19675,0.58,204.2,679.2,5.9,440,19677,0.08,0.00,0.00,0.000,6,0.079,0.000,2164,2301,2094
$GC,19978,0.49,204.2,653.3,8.7,445,19983,0.20,2.30,0.00,0.000,4,0.136,0.048,2104,3722,2094
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$STATE,29936,end climb,SURFACE_DEPTH_REACHED
$STATE,29936,begin surface coast
$FINISH,1.5,1.013280
$STATE,29958,end surface coast,CONTROL_FINISHED_OK
$STATE,29959,begin surface
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$10V_AH,10.5,66.221
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