version: 66.04
glider: 144
mission: 15
dive: 557
start: 12 15 109 1 41 7
data:
$ID,144
$MISSION,15
$DIVE,557
$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,-72913
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,013054,5007.211,-14450.327,66,1.3,68,18.5
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-56.0
$GPS2,014013,5007.238,-14450.376,9,1.4,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.150,0.076
$KALMAN_X,-98133.1,-42.4,-31.6,122072.8,-873.2
$KALMAN_Y,33036.9,-111.0,-9.4,-58360.9,2013.7
$MHEAD_RNG_PITCHd_Wd,44.6,35210,-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,16,begin dive
$GC,19,-0.68,-117.3,0.0,0.0,0,52,0.00,0.00,-30.58,0.000,2,0.000,0.000,99,2294,2483
$GC,56,-0.68,-117.3,3.0,-4.6,3,94,7.22,0.00,-28.17,0.000,6,0.232,0.000,1844,2294,3411
$GC,415,-0.64,-117.3,42.6,-10.7,36,419,0.00,2.30,0.00,0.000,4,0.000,0.044,1843,893,3413
$GC,448,-0.64,-117.3,46.2,-10.3,38,455,0.10,2.28,0.00,0.000,6,0.137,0.037,1863,2314,3413
$GC,777,-0.64,-117.3,72.9,-9.2,69,781,0.00,2.30,0.00,0.000,4,0.000,0.042,1863,889,3413
$GC,807,-0.66,-117.3,75.5,-8.5,71,811,0.00,2.28,0.00,0.000,6,0.000,0.039,1862,2311,3413
$GC,1136,-0.66,-117.3,104.4,-8.7,89,1140,0.00,2.28,0.00,0.000,4,0.000,0.047,1862,892,3413
$GC,1209,-0.68,-117.3,110.4,-8.2,92,1213,0.00,2.25,0.00,0.000,6,0.000,0.036,1853,2315,3413
$GC,1531,-0.68,-117.3,136.6,-8.4,108,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2315,3413
$GC,1860,-0.72,-117.3,159.6,-6.9,122,1864,0.00,2.28,0.00,0.000,4,0.000,0.042,1853,886,3413
$GC,1939,-0.77,-117.3,165.2,-7.2,124,1943,0.00,2.28,0.00,0.000,6,0.000,0.038,1850,2311,3414
$GC,2259,-0.81,-117.3,182.4,-5.5,135,2263,0.10,2.25,0.00,0.000,4,0.064,0.049,1760,3711,3414
$GC,2294,-0.69,-117.3,185.6,-10.1,136,2299,0.30,2.20,0.00,0.000,6,0.119,0.031,1852,2299,3414
$GC,2636,-0.74,-117.3,204.8,-5.3,147,2640,0.00,2.22,0.00,0.000,4,0.000,0.051,1852,896,3414
$GC,2682,-0.81,-117.3,207.6,-6.5,148,2687,0.10,2.22,0.00,0.000,6,0.067,0.037,1780,2304,3414
$GC,3007,-0.73,-117.3,239.3,-10.0,159,3009,0.20,0.00,0.00,0.000,6,0.118,0.000,1841,2304,3414
$GC,3313,-0.77,-117.3,258.4,-5.9,169,3317,0.00,2.25,0.00,0.000,4,0.000,0.042,1841,887,3414
$GC,3370,-0.82,-117.3,262.1,-6.1,170,3374,0.00,2.28,0.00,0.000,6,0.000,0.040,1837,2306,3414
$GC,3684,-0.85,-117.3,282.0,-6.5,180,3689,0.08,2.28,0.00,0.000,4,0.080,0.054,1755,3708,3413
$GC,3713,-0.77,-117.3,284.7,-9.7,181,3718,0.28,2.20,0.00,0.000,6,0.120,0.031,1836,2296,3413
$GC,4080,-0.80,-117.3,309.5,-6.7,191,4084,0.00,2.28,0.00,0.000,4,0.000,0.043,1837,889,3413
$GC,4143,-0.85,-117.3,314.0,-7.0,192,4148,0.00,2.28,0.00,0.000,6,0.000,0.041,1836,2299,3413
$GC,4517,-0.88,-117.3,340.8,-7.3,198,4518,0.10,0.00,0.00,0.000,6,0.064,0.000,1764,2300,3412
$GC,4819,-0.78,-117.3,374.2,-11.2,203,4824,0.20,2.30,0.00,0.000,4,0.120,0.044,1829,892,3412
$GC,4870,-0.82,-117.3,378.9,-8.6,203,4874,0.00,2.30,0.00,0.000,6,0.000,0.041,1823,2314,3412
$GC,5180,-0.82,-117.3,403.9,-8.1,208,5184,0.00,2.30,0.00,0.000,4,0.000,0.049,1823,895,3412
$GC,5221,-0.85,-117.3,407.3,-8.9,208,5225,0.00,2.28,0.00,0.000,6,0.000,0.044,1813,2308,3412
$GC,5542,-0.85,-117.3,434.5,-8.5,214,5546,0.00,2.28,0.00,0.000,4,0.000,0.044,1813,893,3412
$GC,5593,-0.85,-117.3,438.8,-8.7,214,5597,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2310,3412
$GC,5904,-0.85,-117.3,463.5,-7.9,219,5908,0.00,2.28,0.00,0.000,4,0.000,0.047,1807,895,3412
$GC,5944,-0.85,-117.3,466.7,-8.0,219,5948,0.00,2.28,0.00,0.000,6,0.000,0.040,1798,2312,3412
$GC,6266,-0.82,-117.3,489.6,-7.1,225,6270,0.10,2.30,0.00,0.000,4,0.135,0.045,1826,893,3412
$GC,6311,-0.86,-117.3,492.4,-5.8,225,6315,0.00,2.28,0.00,0.000,6,0.000,0.041,1821,2304,3412
$GC,6629,-0.89,-117.3,509.6,-5.4,231,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3411
$GC,6930,-0.89,-117.3,526.7,-5.7,236,6934,0.00,2.30,0.00,0.000,4,0.000,0.047,1821,887,3411
$GC,6981,-0.92,-117.3,530.1,-6.6,236,6985,0.00,2.28,0.00,0.000,6,0.000,0.041,1813,2306,3411
$GC,7293,-0.92,-117.3,549.7,-6.4,241,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2305,3410
$GC,7594,-0.92,-117.3,568.8,-6.3,246,7598,0.00,2.30,0.00,0.000,4,0.000,0.044,1813,892,3410
$GC,7633,-0.92,-117.3,571.5,-7.4,246,7637,0.00,2.28,0.00,0.000,6,0.000,0.044,1809,2301,3410
$GC,7954,-0.92,-117.3,592.7,-6.7,252,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2302,3410
$GC,8257,-0.92,-117.3,614.4,-7.2,257,8261,0.00,2.30,0.00,0.000,4,0.000,0.048,1809,890,3410
$GC,8291,-0.92,-117.3,616.9,-7.9,257,8295,0.00,2.30,0.00,0.000,6,0.000,0.044,1806,2308,3410
$GC,8618,-0.92,-117.3,641.2,-7.4,263,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2308,3410
$GC,8921,-0.92,-117.3,663.3,-7.2,268,8925,0.00,2.30,0.00,0.000,4,0.000,0.049,1807,889,3410
$GC,9000,-0.92,-117.3,669.5,-7.9,269,9004,0.00,2.30,0.00,0.000,6,0.000,0.041,1797,2311,3410
$GC,9349,-0.92,-117.3,694.0,-6.9,275,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2311,3409
$GC,9652,-0.92,-117.3,714.1,-6.6,280,9656,0.00,2.33,0.00,0.000,4,0.000,0.048,1797,892,3409
$GC,9686,-0.92,-117.3,716.7,-7.0,280,9690,0.00,2.30,0.00,0.000,6,0.000,0.040,1794,2308,3409
$GC,10020,-0.92,-117.3,738.5,-6.6,286,10025,0.00,2.33,0.00,0.000,4,0.000,0.051,1794,893,3409
$GC,10054,-0.92,-117.3,741.1,-6.7,286,10058,0.00,2.30,0.00,0.000,6,0.000,0.041,1785,2307,3409
$GC,10389,-0.89,-117.3,764.7,-7.2,292,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,2306,3409
$GC,10690,-0.86,-117.3,786.5,-7.2,297,10695,0.10,2.30,0.00,0.000,4,0.138,0.050,1814,896,3408
$GC,10742,-0.89,-117.3,790.1,-7.3,297,10746,0.00,2.28,0.00,0.000,6,0.000,0.039,1809,2302,3409
$GC,11053,-0.91,-117.3,809.9,-6.4,302,11054,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2302,3408
$GC,11356,-0.93,-117.3,830.2,-6.8,307,11360,0.00,2.28,0.00,0.000,4,0.000,0.052,1810,897,3408
$GC,11390,-0.95,-117.3,832.8,-7.7,307,11394,0.00,2.28,0.00,0.000,6,0.000,0.044,1809,2302,3408
$GC,11717,-0.95,-117.3,856.4,-7.3,313,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3408
$GC,12020,-0.95,-117.3,878.9,-7.4,318,12024,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,892,3408
$GC,12070,-0.98,-117.3,883.1,-8.1,318,12074,0.00,2.30,0.00,0.000,6,0.000,0.043,1808,2312,3408
$GC,12382,-1.00,-117.3,906.3,-7.5,323,12384,0.10,0.00,0.00,0.000,6,0.077,0.000,1762,2312,3408
$GC,12684,-0.93,-117.3,934.4,-9.4,328,12689,0.12,2.33,0.00,0.000,4,0.128,0.045,1797,898,3408
$GC,12747,-0.93,-117.3,939.7,-8.4,329,12752,0.00,2.28,0.00,0.000,6,0.000,0.048,1795,2302,3408
$GC,13115,-0.93,-117.3,966.5,-7.3,335,13116,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3408
$GC,13417,-0.93,-117.3,987.8,-7.0,340,13421,0.00,2.30,0.00,0.000,4,0.000,0.051,1795,899,3407
$STATE,13442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13442,begin apogee
$GC,13452,-0.22,0.0,990.1,8.6,340,13554,0.47,0.00,98.75,1.286,6,0.118,0.000,1947,2306,2931
$STATE,13555,end apogee,CONTROL_FINISHED_OK
$STATE,13555,begin climb
$GC,13559,0.68,117.3,993.1,0.0,342,13671,0.57,2.58,104.45,1.260,4,0.078,0.054,2148,3702,2451
$GC,13705,0.50,117.3,989.9,6.0,344,13710,0.20,2.38,0.00,0.000,6,0.160,0.033,2111,2308,2447
$GC,14050,0.49,135.7,973.0,4.9,350,14079,0.00,2.40,17.75,1.048,4,0.000,0.052,2120,896,2377
$GC,14109,0.49,137.1,969.6,5.5,350,14116,0.00,2.33,0.00,0.000,6,0.000,0.046,2120,2312,2374
$GC,14421,0.45,137.1,951.4,5.9,356,14425,0.10,2.30,0.00,0.000,4,0.146,0.057,2095,3719,2373
$GC,14466,0.42,137.1,948.5,6.5,356,14470,0.00,2.25,0.00,0.000,6,0.000,0.039,2103,2297,2371
$GC,14782,0.42,138.0,931.2,5.5,362,14783,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2297,2370
$GC,15085,0.42,141.8,914.9,5.4,367,15095,0.00,2.33,5.85,0.927,4,0.000,0.055,2103,3722,2352
$GC,15119,0.38,141.8,912.8,6.3,367,15124,0.12,2.25,0.00,0.000,6,0.159,0.034,2083,2302,2351
$GC,15447,0.47,157.2,896.5,5.0,373,15466,0.00,2.35,14.95,1.129,4,0.000,0.051,2083,3721,2289
$GC,15520,0.53,168.2,892.4,5.1,374,15536,0.10,2.28,11.18,1.072,6,0.067,0.033,2139,2299,2245
$GC,15876,0.47,168.2,868.8,6.7,380,15881,0.15,2.28,0.00,0.000,4,0.140,0.046,2107,891,2241
$GC,15927,0.51,168.2,865.8,5.8,380,15931,0.00,2.28,0.00,0.000,6,0.000,0.043,2107,2307,2241
$GC,16248,0.53,187.9,850.2,4.8,386,16273,0.00,2.33,18.17,1.122,4,0.000,0.057,2107,3702,2164
$GC,16303,0.53,187.9,847.3,6.0,386,16307,0.00,2.22,0.00,0.000,6,0.000,0.039,2117,2304,2162
$GC,16615,0.55,205.4,831.9,4.9,391,16644,0.00,2.35,18.52,1.003,4,0.000,0.052,2117,3709,2093
$GC,16669,0.56,225.2,829.0,4.8,391,16694,0.00,2.25,19.52,1.101,6,0.000,0.032,2128,2292,2010
$GC,17052,0.56,225.2,807.3,5.6,398,17056,0.00,2.33,0.00,0.000,4,0.000,0.051,2128,3709,2004
$GC,17086,0.53,225.2,805.0,6.3,398,17090,0.10,2.22,0.00,0.000,6,0.152,0.033,2113,2292,2003
$GC,17420,0.59,246.2,788.7,4.8,404,17450,0.00,2.30,20.42,1.000,4,0.000,0.048,2122,897,1926
$GC,17468,0.67,260.6,786.1,5.0,404,17488,0.00,2.28,14.45,1.044,6,0.000,0.045,2122,2304,1867
$GC,17851,0.70,260.6,764.3,5.9,411,17855,0.10,2.30,0.00,0.000,4,0.071,0.048,2185,3709,1861
$GC,17891,0.57,260.6,760.3,10.4,411,17896,0.25,2.25,0.00,0.000,6,0.150,0.033,2127,2297,1861
$GC,18212,0.59,260.6,737.9,6.7,417,18216,0.00,2.30,0.00,0.000,4,0.000,0.048,2127,3706,1860
$GC,18241,0.59,260.6,735.5,7.7,417,18245,0.00,2.22,0.00,0.000,6,0.000,0.033,2134,2292,1860
$GC,18574,0.59,260.6,710.2,7.7,423,18578,0.00,2.30,0.00,0.000,4,0.000,0.048,2134,3708,1859
$GC,18607,0.59,260.6,707.0,8.1,423,18611,0.00,2.20,0.00,0.000,6,0.000,0.032,2145,2304,1859
$GC,18935,0.59,260.6,680.1,8.2,429,18936,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2303,1859
$GC,19238,0.59,260.6,656.1,7.9,434,19242,0.00,2.30,0.00,0.000,4,0.000,0.048,2145,3714,1859
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$STATE,28644,begin surface coast
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$STATE,28666,end surface coast,CONTROL_FINISHED_OK
$STATE,28666,begin surface
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$10V_AH,10.5,70.127
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