version: 66.04
glider: 144
mission: 15
dive: 532
start: 12 6 109 18 35 8
data:
$ID,144
$MISSION,15
$DIVE,532
$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,-72320.227
$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,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
$GPS1,182803,5001.679,-14444.037,43,1.7,43,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-59.6
$GPS2,183414,5001.726,-14444.087,12,1.5,12,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.075,0.150
$KALMAN_X,-96663.0,-33.2,169.7,127822.1,-1715.9
$KALMAN_Y,26267.7,-137.4,-187.5,-61584.3,448.8
$MHEAD_RNG_PITCHd_Wd,315.1,13415,-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,-117.3,0.0,0.0,0,52,0.00,0.00,-31.30,0.000,2,0.000,0.000,98,2296,2536
$GC,55,-0.68,-117.3,3.5,-5.5,3,93,7.10,2.38,-23.83,0.000,4,0.229,0.067,1835,3705,3412
$GC,280,-0.63,-117.3,29.9,-11.4,23,285,0.10,2.22,0.00,0.000,6,0.123,0.030,1862,2301,3413
$GC,606,-0.63,-117.3,57.3,-8.5,53,610,0.00,2.25,0.00,0.000,4,0.000,0.042,1862,895,3413
$GC,709,-0.63,-117.3,66.4,-8.4,62,713,0.00,2.22,0.00,0.000,6,0.000,0.038,1857,2303,3413
$GC,1045,-0.63,-117.3,97.1,-9.8,85,1049,0.00,2.25,0.00,0.000,4,0.000,0.043,1857,895,3414
$GC,1125,-0.65,-117.3,104.8,-9.7,88,1131,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2307,3413
$GC,1442,-0.65,-117.3,132.0,-8.2,104,1445,0.00,2.25,0.00,0.000,4,0.000,0.041,1849,892,3414
$GC,1476,-0.68,-117.3,135.0,-8.5,105,1480,0.00,2.25,0.00,0.000,6,0.000,0.044,1850,2302,3414
$GC,1792,-0.71,-117.3,157.8,-6.4,118,1796,0.00,2.28,0.00,0.000,4,0.000,0.048,1840,3708,3414
$GC,1831,-0.75,-117.3,160.8,-7.4,119,1835,0.00,2.20,0.00,0.000,6,0.000,0.032,1840,2300,3414
$GC,2156,-0.78,-117.3,184.6,-7.5,130,2160,0.00,2.25,0.00,0.000,4,0.000,0.042,1839,895,3413
$GC,2260,-0.81,-117.3,192.6,-7.8,133,2264,0.00,2.22,0.00,0.000,6,0.000,0.038,1836,2310,3414
$GC,2601,-0.83,-117.3,216.2,-6.6,144,2605,0.00,2.25,0.00,0.000,4,0.000,0.042,1836,893,3414
$GC,2630,-0.86,-117.3,218.3,-7.2,144,2637,0.10,2.28,0.00,0.000,6,0.067,0.045,1766,2312,3414
$GC,2944,-0.76,-117.3,251.1,-10.8,155,2948,0.20,2.28,0.00,0.000,4,0.123,0.041,1832,890,3414
$GC,3014,-0.79,-117.3,256.9,-8.0,157,3018,0.00,2.25,0.00,0.000,6,0.000,0.038,1825,2304,3414
$GC,3349,-0.79,-117.3,282.0,-7.3,168,3353,0.00,2.28,0.00,0.000,4,0.000,0.043,1825,895,3413
$GC,3389,-0.79,-117.3,285.2,-8.2,169,3393,0.00,2.28,0.00,0.000,6,0.000,0.039,1817,2306,3414
$GC,3712,-0.79,-117.3,309.1,-7.2,178,3716,0.00,2.28,0.00,0.000,4,0.000,0.048,1817,898,3413
$GC,3757,-0.79,-117.3,312.6,-7.9,178,3761,0.00,2.28,0.00,0.000,6,0.000,0.044,1809,2315,3414
$GC,4074,-0.77,-117.3,336.6,-7.6,184,4079,0.10,2.30,0.00,0.000,4,0.132,0.048,1838,899,3413
$GC,4119,-0.82,-117.3,340.1,-7.3,184,4123,0.00,2.25,0.00,0.000,6,0.000,0.045,1836,2302,3413
$GC,4435,-0.86,-117.3,360.8,-6.6,190,4436,0.10,0.00,0.00,0.000,6,0.065,0.000,1763,2303,3413
$GC,4738,-0.76,-117.3,391.2,-10.1,195,4742,0.20,2.28,0.00,0.000,4,0.123,0.047,1830,891,3413
$GC,4802,-0.80,-117.3,395.9,-6.4,196,4806,0.00,2.28,0.00,0.000,6,0.000,0.044,1823,2310,3412
$GC,5168,-0.80,-117.3,418.8,-6.2,202,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2310,3412
$GC,5471,-0.80,-117.3,438.7,-6.7,207,5475,0.00,2.28,0.00,0.000,4,0.000,0.044,1823,898,3412
$GC,5513,-0.82,-117.3,441.7,-7.2,207,5517,0.00,2.28,0.00,0.000,6,0.000,0.045,1821,2302,3412
$GC,5835,-0.82,-117.3,464.3,-7.0,213,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3411
$GC,6138,-0.82,-117.3,484.9,-6.7,218,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3412
$GC,6441,-0.82,-117.3,504.2,-6.4,223,6445,0.00,2.30,0.00,0.000,4,0.000,0.051,1821,893,3411
$GC,6481,-0.84,-117.3,506.8,-6.8,223,6485,0.00,2.30,0.00,0.000,6,0.000,0.042,1812,2313,3411
$GC,6802,-0.84,-117.3,528.0,-6.7,229,6806,0.00,2.30,0.00,0.000,4,0.000,0.046,1812,896,3411
$GC,6853,-0.84,-117.3,531.8,-7.6,229,6857,0.00,2.28,0.00,0.000,6,0.000,0.043,1808,2307,3410
$GC,7164,-0.84,-117.3,553.4,-7.0,234,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3411
$GC,7466,-0.84,-117.3,575.4,-7.3,239,7470,0.00,2.28,0.00,0.000,4,0.000,0.044,1808,897,3411
$GC,7516,-0.84,-117.3,579.5,-7.6,239,7520,0.00,2.28,0.00,0.000,6,0.000,0.044,1800,2305,3411
$GC,7828,-0.84,-117.3,603.7,-7.8,244,7832,0.00,2.28,0.00,0.000,4,0.000,0.048,1801,896,3410
$GC,7873,-0.84,-117.3,607.6,-8.0,244,7878,0.10,2.28,0.00,0.000,6,0.130,0.041,1822,2304,3410
$GC,8189,-0.88,-117.3,627.6,-6.3,250,8193,0.00,2.30,0.00,0.000,4,0.000,0.045,1822,895,3410
$GC,8217,-0.91,-117.3,629.6,-7.1,250,8221,0.00,2.25,0.00,0.000,6,0.000,0.040,1822,2302,3410
$GC,8556,-0.95,-117.3,649.0,-5.7,256,8560,0.10,2.30,0.00,0.000,4,0.066,0.046,1758,890,3410
$GC,8596,-0.86,-117.3,652.4,-9.5,256,8600,0.20,2.30,0.00,0.000,6,0.127,0.041,1813,2312,3410
$GC,8917,-0.88,-117.3,671.4,-5.7,262,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2312,3409
$GC,9220,-0.88,-117.3,689.3,-5.9,267,9224,0.00,2.33,0.00,0.000,4,0.000,0.050,1813,890,3409
$GC,9277,-0.90,-117.3,692.8,-5.9,267,9283,0.00,2.30,0.00,0.000,6,0.000,0.046,1810,2311,3409
$GC,9587,-0.90,-117.3,712.4,-6.4,273,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3409
$GC,9890,-0.90,-117.3,732.8,-6.8,278,9894,0.00,2.30,0.00,0.000,4,0.000,0.048,1810,890,3409
$GC,9923,-0.90,-117.3,735.4,-7.2,278,9927,0.00,2.30,0.00,0.000,6,0.000,0.044,1808,2312,3409
$GC,10251,-0.90,-117.3,758.0,-6.9,284,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2312,3409
$GC,10553,-0.90,-117.3,777.9,-6.5,289,10557,0.00,2.33,0.00,0.000,4,0.000,0.051,1808,889,3409
$GC,10616,-0.90,-117.3,782.2,-6.6,290,10620,0.00,2.30,0.00,0.000,6,0.000,0.045,1808,2305,3409
$GC,10984,-0.90,-117.3,805.2,-6.3,296,10988,0.00,2.30,0.00,0.000,4,0.000,0.053,1808,894,3409
$GC,11017,-0.90,-117.3,807.7,-7.1,296,11021,0.00,2.30,0.00,0.000,6,0.000,0.047,1808,2313,3409
$GC,11344,-0.90,-117.3,827.7,-6.2,302,11348,0.00,2.33,0.00,0.000,4,0.000,0.050,1808,890,3409
$GC,11384,-0.90,-117.3,830.5,-7.1,302,11388,0.00,2.30,0.00,0.000,6,0.000,0.041,1808,2306,3409
$GC,11706,-0.90,-117.3,851.1,-6.4,308,11710,0.00,2.33,0.00,0.000,4,0.000,0.048,1808,889,3408
$GC,11756,-0.90,-117.3,854.8,-7.8,308,11760,0.00,2.30,0.00,0.000,6,0.000,0.041,1808,2304,3408
$GC,12066,-0.90,-117.3,874.6,-6.4,313,12070,0.00,2.30,0.00,0.000,4,0.000,0.051,1808,894,3408
$GC,12107,-0.90,-117.3,877.5,-7.7,313,12112,0.00,2.30,0.00,0.000,6,0.000,0.041,1808,2311,3408
$GC,12430,-0.90,-117.3,896.3,-5.8,319,12434,0.00,2.30,0.00,0.000,4,0.000,0.051,1808,899,3408
$GC,12486,-0.92,-117.3,900.0,-6.2,319,12493,0.00,2.28,0.00,0.000,6,0.000,0.042,1808,2307,3408
$GC,12797,-0.95,-117.3,917.8,-5.7,325,12801,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,895,3408
$GC,12832,-0.95,-117.3,920.0,-6.4,325,12836,0.00,2.28,0.00,0.000,6,0.000,0.044,1807,2301,3408
$GC,13164,-0.95,-117.3,938.6,-5.6,331,13168,0.00,2.33,0.00,0.000,4,0.000,0.049,1807,890,3407
$GC,13210,-0.97,-117.3,941.6,-7.1,331,13214,0.00,2.33,0.00,0.000,6,0.000,0.042,1804,2315,3407
$GC,13526,-0.97,-117.3,961.0,-6.2,337,13531,0.00,2.33,0.00,0.000,4,0.000,0.048,1804,900,3407
$GC,13578,-0.97,-117.3,964.7,-6.9,337,13582,0.00,2.30,0.00,0.000,6,0.000,0.048,1796,2305,3407
$GC,13888,-0.97,-117.3,985.6,-6.8,342,13892,0.00,2.30,0.00,0.000,4,0.000,0.055,1796,900,3407
$STATE,13948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13948,begin apogee
$GC,13958,-0.22,0.0,990.1,7.3,343,14060,0.50,0.00,99.00,1.294,6,0.114,0.000,1954,2311,2931
$STATE,14061,end apogee,CONTROL_FINISHED_OK
$STATE,14061,begin climb
$GC,14064,0.68,117.3,992.1,0.0,344,14174,0.55,0.00,104.93,1.266,6,0.075,0.000,2147,2311,2451
$GC,14498,0.57,117.3,972.6,6.4,352,14502,0.00,2.35,0.00,0.000,4,0.000,0.051,2157,896,2442
$GC,14538,0.48,117.3,969.9,6.9,352,14543,0.17,2.30,0.00,0.000,6,0.146,0.044,2103,2304,2442
$GC,14859,0.50,136.9,953.9,4.8,358,14882,0.00,2.38,16.48,1.168,4,0.000,0.058,2103,3711,2371
$GC,14924,0.45,136.9,950.1,6.0,359,14929,0.00,2.25,0.00,0.000,6,0.000,0.041,2111,2301,2370
$GC,15298,0.43,140.4,930.1,5.4,365,15304,0.00,0.00,4.15,0.767,6,0.000,0.000,2110,2301,2358
$GC,15600,0.41,150.4,914.2,5.2,370,15616,0.00,2.33,10.65,1.088,4,0.000,0.053,2111,3715,2316
$GC,15663,0.35,150.4,910.5,6.5,371,15668,0.17,2.22,0.00,0.000,6,0.153,0.041,2075,2305,2314
$GC,16036,0.49,167.5,893.1,4.9,377,16066,0.10,2.33,17.77,1.032,4,0.075,0.058,2124,3705,2247
$GC,16218,0.41,167.5,880.4,7.0,379,16223,0.17,2.22,0.00,0.000,6,0.149,0.041,2088,2304,2245
$GC,16540,0.51,183.1,864.4,5.0,385,16569,0.08,2.40,16.80,1.004,4,0.085,0.057,2130,3719,2184
$GC,16646,0.43,183.1,857.3,7.2,386,16651,0.17,2.28,0.00,0.000,6,0.143,0.034,2094,2299,2182
$GC,16974,0.50,210.3,841.7,4.6,392,17004,0.00,2.35,25.45,1.147,4,0.000,0.049,2103,889,2072
$GC,17022,0.58,215.9,839.2,5.3,392,17035,0.08,2.33,6.57,0.912,6,0.090,0.040,2146,2308,2050
$GC,17339,0.53,215.9,816.7,7.2,398,17344,0.12,2.30,0.00,0.000,4,0.136,0.049,2112,3712,2046
$GC,17395,0.53,215.9,812.6,6.6,398,17401,0.00,2.25,0.00,0.000,6,0.000,0.033,2120,2297,2045
$GC,17705,0.53,215.9,793.4,6.3,404,17707,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2297,2044
$GC,18008,0.53,215.9,773.7,6.6,409,18012,0.00,2.33,0.00,0.000,4,0.000,0.051,2120,3709,2043
$GC,18048,0.51,215.9,770.6,8.4,409,18052,0.00,2.22,0.00,0.000,6,0.000,0.033,2130,2304,2043
$GC,18369,0.51,215.9,747.7,7.1,415,18370,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2304,2043
$GC,18672,0.51,215.9,727.9,6.5,420,18676,0.00,2.30,0.00,0.000,4,0.000,0.048,2131,3718,2043
$GC,18705,0.46,215.9,725.3,6.5,420,18710,0.15,2.22,0.00,0.000,6,0.137,0.033,2099,2302,2043
$GC,19033,0.55,238.7,709.6,4.7,426,19059,0.00,2.33,20.35,1.055,4,0.000,0.053,2108,893,1956
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$STATE,28493,end climb,SURFACE_DEPTH_REACHED
$STATE,28493,begin surface coast
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$STATE,28526,end surface coast,CONTROL_FINISHED_OK
$STATE,28526,begin surface
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