version: 66.04
glider: 144
mission: 15
dive: 544
start: 12 10 109 18 1 36
data:
$ID,144
$MISSION,15
$DIVE,544
$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,-72573.477
$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,39
$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
$GPS1,175407,5011.232,-14508.314,31,1.1,31,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-53.3
$GPS2,180043,5011.271,-14508.312,15,1.6,32,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.076,-0.150
$KALMAN_X,-94425.5,1.0,30.6,97062.8,2055.9
$KALMAN_Y,26804.3,-28.5,30.5,-44792.3,380.3
$MHEAD_RNG_PITCHd_Wd,188.3,32257,-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,-117.3,0.0,0.0,0,62,0.00,0.00,-41.33,0.000,2,0.000,0.000,101,2291,2467
$GC,66,-0.68,-117.3,3.4,-3.8,4,110,7.18,2.38,-27.02,0.000,4,0.232,0.060,1847,893,3412
$GC,168,-0.68,-117.3,11.5,-7.8,13,173,0.00,2.28,0.00,0.000,6,0.000,0.044,1840,2310,3413
$GC,497,-0.63,-117.3,46.1,-10.7,43,502,0.10,2.30,0.00,0.000,4,0.137,0.041,1868,901,3413
$GC,542,-0.67,-117.3,50.7,-8.2,46,549,0.00,2.22,0.00,0.000,6,0.000,0.037,1863,2308,3413
$GC,868,-0.67,-117.3,77.4,-9.0,77,872,0.00,2.28,0.00,0.000,4,0.000,0.043,1863,890,3413
$GC,947,-0.70,-117.3,84.8,-9.7,81,954,0.00,2.28,0.00,0.000,6,0.000,0.038,1854,2307,3413
$GC,1264,-0.70,-117.3,114.6,-8.7,97,1268,0.00,2.25,0.00,0.000,4,0.000,0.048,1845,3708,3413
$GC,1288,-0.70,-117.3,116.8,-9.1,98,1292,0.00,2.17,0.00,0.000,6,0.000,0.029,1845,2303,3413
$GC,1622,-0.70,-117.3,144.0,-8.0,114,1625,0.00,2.22,0.00,0.000,4,0.000,0.041,1845,898,3413
$GC,1730,-0.73,-117.3,152.7,-8.0,119,1733,0.00,2.20,0.00,0.000,6,0.000,0.036,1837,2308,3414
$GC,2065,-0.73,-117.3,178.7,-7.8,130,2069,0.00,2.22,0.00,0.000,4,0.000,0.041,1836,899,3414
$GC,2093,-0.73,-117.3,181.1,-8.2,130,2100,0.00,2.22,0.00,0.000,6,0.000,0.038,1829,2312,3414
$GC,2407,-0.73,-117.3,204.6,-7.4,141,2411,0.00,2.25,0.00,0.000,4,0.000,0.054,1819,3708,3414
$GC,2458,-0.73,-117.3,208.7,-7.8,142,2463,0.10,2.20,0.00,0.000,6,0.114,0.030,1847,2292,3413
$GC,2777,-0.78,-117.3,228.4,-6.3,153,2781,0.00,2.22,0.00,0.000,4,0.000,0.042,1847,893,3414
$GC,2823,-0.85,-117.3,231.6,-6.9,154,2828,0.12,2.25,0.00,0.000,6,0.055,0.038,1767,2306,3413
$GC,3148,-0.74,-117.3,267.1,-11.1,165,3152,0.20,2.28,0.00,0.000,4,0.121,0.043,1836,897,3413
$GC,3209,-0.79,-117.3,272.1,-6.8,166,3216,0.00,2.25,0.00,0.000,6,0.000,0.041,1836,2305,3413
$GC,3524,-0.82,-117.3,292.2,-6.4,177,3527,0.00,2.28,0.00,0.000,4,0.000,0.043,1836,891,3413
$GC,3569,-0.87,-117.3,295.5,-6.8,178,3574,0.10,2.28,0.00,0.000,6,0.067,0.039,1765,2309,3413
$GC,3891,-0.78,-117.3,328.1,-10.5,185,3896,0.20,2.30,0.00,0.000,4,0.120,0.044,1832,903,3412
$GC,3931,-0.82,-117.3,331.5,-7.2,185,3935,0.00,2.25,0.00,0.000,6,0.000,0.038,1825,2310,3412
$GC,4252,-0.82,-117.3,354.1,-7.1,191,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2310,3412
$GC,4555,-0.82,-117.3,374.7,-6.8,196,4559,0.00,2.28,0.00,0.000,4,0.000,0.043,1825,902,3412
$GC,4605,-0.86,-117.3,378.6,-7.1,196,4609,0.00,2.25,0.00,0.000,6,0.000,0.039,1816,2304,3412
$GC,4917,-0.86,-117.3,400.9,-7.1,201,4920,0.00,2.25,0.00,0.000,4,0.000,0.047,1816,903,3412
$GC,4950,-0.86,-117.3,403.7,-7.3,201,4954,0.00,2.22,0.00,0.000,6,0.000,0.044,1808,2302,3412
$GC,5288,-0.86,-117.3,428.7,-7.4,207,5292,0.00,2.28,0.00,0.000,4,0.000,0.046,1808,902,3411
$GC,5316,-0.86,-117.3,430.9,-7.7,207,5319,0.00,2.25,0.00,0.000,6,0.000,0.044,1799,2308,3411
$GC,5655,-0.83,-117.3,457.6,-8.0,213,5659,0.00,2.28,0.00,0.000,4,0.000,0.051,1799,904,3411
$GC,5711,-0.83,-117.3,462.7,-8.8,213,5718,0.12,2.25,0.00,0.000,6,0.122,0.044,1826,2305,3411
$GC,6022,-0.87,-117.3,483.0,-6.5,219,6026,0.00,2.25,0.00,0.000,4,0.000,0.044,1825,895,3411
$GC,6065,-0.92,-117.3,485.9,-7.1,219,6069,0.00,2.25,0.00,0.000,6,0.000,0.039,1822,2302,3410
$GC,6392,-0.94,-117.3,507.2,-6.4,225,6394,0.10,0.00,0.00,0.000,6,0.064,0.000,1754,2302,3411
$GC,6695,-0.84,-117.3,536.6,-9.9,230,6700,0.20,2.30,0.00,0.000,4,0.123,0.044,1819,901,3410
$GC,6759,-0.87,-117.3,541.5,-7.2,231,6763,0.00,2.25,0.00,0.000,6,0.000,0.043,1811,2307,3410
$GC,7131,-0.87,-117.3,567.2,-6.9,237,7135,0.00,2.28,0.00,0.000,4,0.000,0.051,1811,903,3410
$GC,7170,-0.90,-117.3,570.2,-7.8,237,7174,0.00,2.25,0.00,0.000,6,0.000,0.041,1803,2303,3409
$GC,7493,-0.90,-117.3,593.4,-7.3,243,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2304,3409
$GC,7795,-0.90,-117.3,615.3,-7.3,248,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2304,3409
$GC,8098,-0.90,-117.3,636.8,-7.0,253,8102,0.00,2.30,0.00,0.000,4,0.000,0.051,1803,898,3409
$GC,8143,-0.90,-117.3,640.2,-7.3,253,8147,0.00,2.28,0.00,0.000,6,0.000,0.046,1795,2305,3409
$GC,8462,-0.87,-117.3,662.7,-7.1,259,8463,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2305,3409
$GC,8762,-0.87,-117.3,683.7,-6.9,264,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2305,3409
$GC,9065,-0.87,-117.3,704.0,-6.7,269,9069,0.00,2.30,0.00,0.000,4,0.000,0.044,1794,904,3408
$GC,9110,-0.87,-117.3,707.5,-7.7,269,9115,0.10,2.28,0.00,0.000,6,0.129,0.041,1813,2310,3409
$GC,9427,-0.90,-117.3,726.2,-5.9,275,9431,0.00,2.30,0.00,0.000,4,0.000,0.051,1813,895,3408
$GC,9461,-0.94,-117.3,728.5,-6.5,275,9465,0.00,2.28,0.00,0.000,6,0.000,0.046,1809,2308,3408
$GC,9788,-0.94,-117.3,748.2,-6.1,281,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2308,3408
$GC,10091,-0.94,-117.3,766.3,-6.0,286,10095,0.00,2.28,0.00,0.000,4,0.000,0.051,1809,902,3408
$GC,10136,-0.97,-117.3,769.2,-6.3,286,10140,0.00,2.28,0.00,0.000,6,0.000,0.045,1807,2308,3407
$GC,10452,-0.97,-117.3,788.3,-6.0,292,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3407
$GC,10755,-0.97,-117.3,806.9,-6.1,297,10759,0.00,2.28,0.00,0.000,4,0.000,0.045,1808,905,3407
$GC,10800,-1.00,-117.3,809.9,-6.4,297,10804,0.00,2.28,0.00,0.000,6,0.000,0.040,1799,2312,3407
$GC,11116,-1.00,-117.3,830.0,-6.4,303,11120,0.00,2.30,0.00,0.000,4,0.000,0.056,1793,3716,3407
$GC,11149,-1.00,-117.3,832.5,-7.0,303,11153,0.00,2.22,0.00,0.000,6,0.000,0.035,1793,2308,3407
$GC,11476,-1.00,-117.3,854.5,-6.8,309,11477,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2308,3407
$GC,11779,-1.00,-117.3,876.1,-7.1,314,11781,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2307,3407
$GC,12083,-1.00,-117.3,899.1,-7.5,319,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2308,3407
$GC,12386,-1.00,-117.3,921.2,-7.3,324,12387,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2308,3406
$GC,12689,-1.00,-117.3,942.1,-6.9,329,12693,0.00,2.33,0.00,0.000,4,0.000,0.048,1793,890,3406
$GC,12728,-1.00,-117.3,945.1,-7.3,329,12732,0.00,2.30,0.00,0.000,6,0.000,0.041,1783,2307,3406
$GC,13050,-0.97,-117.3,968.3,-7.2,335,13054,0.00,2.30,0.00,0.000,4,0.000,0.054,1783,900,3406
$GC,13095,-0.94,-117.3,971.8,-7.4,335,13099,0.00,2.28,0.00,0.000,6,0.000,0.042,1781,2299,3406
$STATE,13347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13347,begin apogee
$GC,13354,-0.22,0.0,990.2,7.2,340,13456,0.55,0.00,98.95,1.288,6,0.115,0.000,1958,2300,2931
$STATE,13457,end apogee,CONTROL_FINISHED_OK
$STATE,13457,begin climb
$GC,13461,0.68,117.3,991.7,0.0,341,13573,0.55,2.60,104.03,1.260,4,0.073,0.052,2152,3711,2451
$GC,13613,0.49,117.3,988.9,6.4,343,13618,0.22,2.40,0.00,0.000,6,0.162,0.034,2108,2303,2447
$GC,13953,0.47,130.1,971.7,5.1,349,13966,0.00,0.00,11.12,1.107,6,0.000,0.000,2108,2303,2399
$GC,14255,0.44,130.4,955.3,5.5,354,14256,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2303,2396
$GC,14558,0.42,134.5,938.8,5.4,359,14567,0.00,2.33,4.72,0.844,4,0.000,0.057,2108,3714,2382
$GC,14597,0.36,134.5,936.4,5.7,359,14602,0.15,2.25,0.00,0.000,6,0.156,0.034,2078,2297,2381
$GC,14924,0.46,160.6,921.3,4.6,365,14954,0.08,2.38,24.00,1.187,4,0.087,0.055,2120,3712,2276
$GC,15007,0.38,160.6,916.2,7.2,366,15012,0.20,2.28,0.00,0.000,6,0.150,0.034,2077,2307,2273
$GC,15358,0.50,215.0,902.7,3.7,372,15410,0.12,0.00,49.17,1.206,6,0.063,0.000,2133,2305,2054
$GC,15660,0.48,215.0,884.6,6.0,377,15665,0.12,2.35,0.00,0.000,4,0.127,0.051,2099,3722,2047
$GC,15682,0.48,215.0,883.3,5.6,377,15687,0.00,2.28,0.00,0.000,6,0.000,0.033,2107,2300,2046
$GC,16022,0.54,239.0,867.2,4.7,383,16048,0.00,2.38,21.12,1.140,4,0.000,0.052,2107,3719,1955
$GC,16072,0.58,239.0,864.3,5.9,383,16076,0.00,2.30,0.00,0.000,6,0.000,0.036,2114,2301,1954
$GC,16383,0.62,242.0,847.7,5.4,388,16384,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2300,1950
$GC,16687,0.66,250.1,831.7,5.2,393,16703,0.10,2.33,10.65,1.037,4,0.068,0.051,2171,3722,1910
$GC,16737,0.54,250.1,827.1,9.3,393,16742,0.25,2.28,0.00,0.000,6,0.146,0.034,2113,2293,1909
$GC,17050,0.59,253.2,809.5,5.4,398,17056,0.00,0.00,4.15,0.724,6,0.000,0.000,2113,2293,1898
$GC,17352,0.64,256.8,793.0,5.4,403,17362,0.10,2.35,4.80,0.790,4,0.065,0.052,2169,3718,1883
$GC,17391,0.53,256.8,789.3,10.1,403,17396,0.22,2.25,0.00,0.000,6,0.140,0.034,2117,2301,1883
$GC,17713,0.57,256.8,769.5,6.0,409,17714,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2300,1882
$GC,18015,0.62,256.8,751.0,6.1,414,18019,0.00,2.33,0.00,0.000,4,0.000,0.052,2117,3722,1881
$GC,18050,0.64,256.8,748.5,7.4,414,18054,0.00,2.25,0.00,0.000,6,0.000,0.033,2125,2300,1881
$GC,18377,0.64,256.8,727.5,6.4,420,18378,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2300,1881
$GC,18682,0.64,256.8,707.0,6.7,425,18686,0.00,2.30,0.00,0.000,4,0.000,0.048,2125,3721,1880
$GC,18715,0.64,256.8,704.3,8.0,425,18719,0.00,2.22,0.00,0.000,6,0.000,0.032,2135,2304,1880
$GC,19049,0.64,256.8,680.5,7.2,431,19053,0.00,2.30,0.00,0.000,4,0.000,0.052,2135,3719,1880
$GC,19082,0.62,256.8,677.7,8.0,431,19086,0.00,2.22,0.00,0.000,6,0.000,0.033,2145,2299,1880
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$STATE,28375,end climb,SURFACE_DEPTH_REACHED
$STATE,28375,begin surface coast
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