version: 66.04
glider: 144
mission: 15
dive: 652
start: 1 16 110 2 16 38
data:
$ID,144
$MISSION,15
$DIVE,652
$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,-74825.148
$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,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
$GPS1,020907,5001.262,-14429.652,27,1.6,27,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-59.0
$GPS2,021544,5001.287,-14429.652,14,1.7,14,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.056,-0.158
$KALMAN_X,-84258.5,-134.5,-72.4,132827.5,1877.7
$KALMAN_Y,33847.6,-30.6,-43.1,-70243.8,-2265.5
$MHEAD_RNG_PITCHd_Wd,180.9,13476,-12.4,-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,19,-0.68,-116.4,0.0,0.0,0,62,0.00,0.00,-40.83,0.000,2,0.000,0.000,100,2297,2688
$GC,66,-0.68,-116.4,3.6,-8.1,2,97,7.15,2.35,-16.33,0.000,4,0.229,0.059,1845,901,3407
$GC,160,-0.68,-116.4,17.2,-9.6,6,164,0.00,2.28,0.00,0.000,6,0.000,0.037,1836,2308,3409
$GC,482,-0.63,-116.4,52.2,-10.7,22,487,0.10,2.30,0.00,0.000,4,0.140,0.041,1864,894,3410
$GC,523,-0.66,-116.4,56.1,-8.9,24,527,0.00,2.25,0.00,0.000,6,0.000,0.038,1862,2307,3410
$GC,849,-0.66,-116.4,85.1,-9.0,42,853,0.00,2.28,0.00,0.000,4,0.000,0.041,1862,890,3409
$GC,891,-0.68,-116.4,89.0,-9.8,45,895,0.00,2.25,0.00,0.000,6,0.000,0.037,1853,2317,3410
$GC,1223,-0.68,-116.4,116.9,-7.8,75,1226,0.00,2.30,0.00,0.000,4,0.000,0.041,1853,894,3409
$GC,1292,-0.72,-116.4,123.3,-8.6,81,1296,0.00,2.22,0.00,0.000,6,0.000,0.041,1850,2299,3410
$GC,1627,-0.75,-116.4,147.6,-6.5,112,1631,0.00,2.25,0.00,0.000,4,0.000,0.049,1841,3711,3410
$GC,1685,-0.80,-116.4,151.7,-6.6,115,1689,0.00,2.20,0.00,0.000,6,0.000,0.030,1840,2288,3410
$GC,1999,-0.83,-116.4,171.5,-6.3,125,2003,0.00,2.22,0.00,0.000,4,0.000,0.042,1841,889,3409
$GC,2062,-0.87,-116.4,176.1,-7.6,126,2069,0.10,2.28,0.00,0.000,6,0.064,0.037,1766,2310,3410
$GC,2377,-0.76,-116.4,212.1,-11.8,137,2382,0.20,2.28,0.00,0.000,4,0.120,0.041,1831,895,3410
$GC,2428,-0.79,-116.4,217.1,-8.2,138,2432,0.00,2.25,0.00,0.000,6,0.000,0.044,1823,2306,3410
$GC,2748,-0.79,-116.4,244.3,-8.7,149,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2306,3410
$GC,3053,-0.79,-116.4,272.4,-9.2,159,3057,0.00,2.25,0.00,0.000,4,0.000,0.043,1823,894,3410
$GC,3081,-0.79,-116.4,275.1,-9.3,159,3087,0.00,2.25,0.00,0.000,6,0.000,0.040,1814,2307,3410
$GC,3424,-0.79,-116.4,305.9,-8.8,170,3428,0.00,2.28,0.00,0.000,4,0.000,0.048,1814,903,3410
$GC,3465,-0.79,-116.4,309.5,-8.8,170,3470,0.10,2.25,0.00,0.000,6,0.129,0.041,1832,2307,3410
$GC,3787,-0.82,-116.4,332.2,-7.0,176,3791,0.00,2.30,0.00,0.000,4,0.000,0.049,1832,892,3409
$GC,3832,-0.86,-116.4,335.5,-7.3,176,3836,0.00,2.22,0.00,0.000,6,0.000,0.043,1826,2302,3409
$GC,4159,-0.86,-116.4,358.0,-6.9,182,4164,0.00,2.30,0.00,0.000,4,0.000,0.049,1826,894,3409
$GC,4197,-0.89,-116.4,360.4,-7.1,182,4201,0.00,2.28,0.00,0.000,6,0.000,0.044,1821,2304,3409
$GC,4524,-0.89,-116.4,383.4,-6.9,188,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3409
$GC,4827,-0.89,-116.4,403.7,-6.7,193,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3408
$GC,5130,-0.89,-116.4,422.8,-6.3,198,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3408
$GC,5434,-0.89,-116.4,442.6,-6.6,203,5438,0.00,2.30,0.00,0.000,4,0.000,0.044,1821,897,3408
$GC,5462,-0.89,-116.4,444.8,-7.7,203,5466,0.00,2.28,0.00,0.000,6,0.000,0.043,1812,2304,3408
$GC,5794,-0.89,-116.4,469.8,-7.6,209,5798,0.00,2.28,0.00,0.000,4,0.000,0.049,1812,901,3408
$GC,5823,-0.89,-116.4,472.2,-8.7,209,5827,0.00,2.25,0.00,0.000,6,0.000,0.042,1805,2304,3408
$GC,6156,-0.89,-116.4,499.2,-8.2,215,6160,0.00,2.28,0.00,0.000,4,0.000,0.045,1805,898,3407
$GC,6202,-0.89,-116.4,503.4,-9.0,215,6206,0.00,2.25,0.00,0.000,6,0.000,0.044,1795,2305,3407
$GC,6518,-0.86,-116.4,530.4,-8.6,221,6522,0.00,2.28,0.00,0.000,4,0.000,0.051,1795,893,3407
$GC,6599,-0.83,-116.4,537.5,-9.2,222,6603,0.12,2.28,0.00,0.000,6,0.126,0.040,1821,2311,3407
$GC,6954,-0.86,-116.4,561.0,-6.5,228,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2312,3407
$GC,7257,-0.89,-116.4,580.1,-6.3,233,7261,0.00,2.28,0.00,0.000,4,0.000,0.049,1821,895,3407
$GC,7298,-0.92,-116.4,583.0,-7.3,233,7303,0.08,2.28,0.00,0.000,6,0.081,0.046,1764,2308,3407
$GC,7625,-0.84,-116.4,613.8,-9.5,239,7629,0.17,2.30,0.00,0.000,4,0.126,0.047,1827,895,3407
$GC,7676,-0.90,-116.4,617.5,-6.8,239,7680,0.00,2.28,0.00,0.000,6,0.000,0.046,1822,2315,3407
$GC,7987,-0.93,-116.4,636.8,-6.2,244,7989,0.10,0.00,0.00,0.000,6,0.065,0.000,1749,2314,3406
$GC,8289,-0.82,-116.4,666.7,-10.1,249,8294,0.20,2.28,0.00,0.000,4,0.126,0.051,1816,902,3407
$GC,8346,-0.86,-116.4,671.1,-6.9,249,8352,0.00,2.25,0.00,0.000,6,0.000,0.045,1809,2305,3406
$GC,8656,-0.86,-116.4,691.4,-6.6,255,8660,0.00,2.30,0.00,0.000,4,0.000,0.044,1809,891,3406
$GC,8680,-0.86,-116.4,693.0,-6.9,255,8684,0.00,2.28,0.00,0.000,6,0.000,0.040,1807,2303,3406
$GC,9018,-0.86,-116.4,717.4,-7.3,261,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2303,3407
$GC,9321,-0.86,-116.4,738.5,-6.9,266,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3406
$GC,9625,-0.86,-116.4,759.5,-6.9,271,9629,0.00,2.30,0.00,0.000,4,0.000,0.047,1808,891,3406
$GC,9648,-0.86,-116.4,761.1,-6.7,271,9652,0.00,2.28,0.00,0.000,6,0.000,0.041,1799,2311,3405
$GC,9992,-0.86,-116.4,785.4,-7.1,277,9996,0.00,2.33,0.00,0.000,4,0.000,0.051,1799,897,3406
$GC,10025,-0.86,-116.4,788.0,-7.5,277,10030,0.00,2.28,0.00,0.000,6,0.000,0.040,1794,2302,3406
$GC,10353,-0.86,-116.4,813.0,-7.6,283,10357,0.00,2.33,0.00,0.000,4,0.000,0.045,1794,891,3405
$GC,10387,-0.86,-116.4,815.7,-8.5,283,10392,0.12,2.30,0.00,0.000,6,0.121,0.040,1821,2311,3405
$GC,10714,-0.90,-116.4,835.8,-6.0,289,10716,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2311,3405
$GC,11017,-0.95,-116.4,852.6,-5.6,294,11019,0.10,0.00,0.00,0.000,6,0.071,0.000,1767,2311,3405
$GC,11321,-0.89,-116.4,877.2,-8.3,299,11323,0.15,0.00,0.00,0.000,6,0.119,0.000,1812,2311,3405
$GC,11624,-0.92,-116.4,894.8,-5.7,304,11628,0.00,2.35,0.00,0.000,4,0.000,0.047,1811,901,3405
$GC,11669,-0.95,-116.4,897.6,-6.6,304,11673,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2303,3405
$GC,11997,-0.97,-116.4,916.7,-5.9,310,11998,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3405
$GC,12301,-0.99,-116.4,934.7,-6.0,315,12303,0.10,0.00,0.00,0.000,6,0.075,0.000,1760,2303,3405
$GC,12603,-0.92,-116.4,959.8,-8.4,320,12608,0.15,2.35,0.00,0.000,4,0.124,0.053,1804,894,3405
$GC,12648,-0.95,-116.4,963.1,-7.3,320,12652,0.00,2.28,0.00,0.000,6,0.000,0.047,1796,2302,3405
$GC,12966,-0.95,-116.4,983.4,-6.4,326,12967,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2302,3404
$STATE,13082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13082,begin apogee
$GC,13090,-0.22,0.0,991.0,6.3,328,13191,0.50,0.00,98.43,1.279,6,0.111,0.000,1957,2302,2931
$STATE,13192,end apogee,CONTROL_FINISHED_OK
$STATE,13192,begin climb
$GC,13196,0.68,116.4,992.4,0.0,329,13307,0.55,2.58,103.38,1.256,4,0.066,0.054,2154,3698,2455
$GC,13350,0.49,116.4,989.0,7.5,331,13355,0.25,2.35,0.00,0.000,6,0.160,0.036,2103,2312,2451
$GC,13688,0.48,131.7,971.8,5.0,337,13703,0.00,0.00,13.10,1.125,6,0.000,0.000,2103,2312,2394
$GC,13991,0.48,137.0,955.7,5.3,342,13999,0.00,0.00,5.93,0.926,6,0.000,0.000,2103,2312,2372
$GC,14295,0.49,143.4,939.7,5.3,347,14304,0.00,0.00,7.15,0.987,6,0.000,0.000,2104,2312,2346
$GC,14597,0.50,148.1,923.5,5.3,352,14605,0.00,0.00,5.47,0.893,6,0.000,0.000,2103,2312,2327
$GC,14900,0.51,156.8,907.6,5.2,357,14915,0.00,2.35,9.40,1.049,4,0.000,0.053,2103,3717,2291
$GC,14940,0.49,156.8,905.4,6.0,357,14945,0.00,2.28,0.00,0.000,6,0.000,0.033,2112,2299,2290
$GC,15268,0.51,172.7,888.7,5.0,363,15285,0.00,0.00,15.38,1.120,6,0.000,0.000,2112,2299,2227
$GC,15571,0.53,190.3,874.0,4.9,368,15594,0.00,2.38,16.62,1.117,4,0.000,0.053,2112,3708,2154
$GC,15639,0.51,190.3,870.3,5.9,369,15643,0.00,2.28,0.00,0.000,6,0.000,0.040,2122,2296,2154
$GC,16005,0.51,194.7,850.6,5.3,375,16015,0.00,2.33,5.15,0.839,4,0.000,0.054,2122,3714,2136
$GC,16056,0.46,194.7,847.5,6.9,375,16060,0.12,2.25,0.00,0.000,6,0.151,0.034,2101,2294,2135
$GC,16368,0.54,228.7,833.8,4.3,380,16401,0.00,0.00,31.85,1.140,6,0.000,0.000,2101,2294,1998
$GC,16670,0.65,259.6,820.2,4.5,385,16708,0.12,0.00,30.80,1.058,6,0.061,0.000,2165,2294,1872
$GC,16973,0.58,259.6,795.9,8.3,390,16977,0.15,2.35,0.00,0.000,4,0.137,0.048,2124,3711,1866
$GC,17007,0.58,259.6,793.3,6.6,390,17011,0.00,2.28,0.00,0.000,6,0.000,0.033,2133,2296,1865
$GC,17335,0.58,259.6,773.1,6.2,396,17336,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2296,1864
$GC,17638,0.58,259.6,754.0,6.3,401,17642,0.00,2.33,0.00,0.000,4,0.000,0.049,2133,3709,1863
$GC,17683,0.58,259.6,750.8,6.7,401,17687,0.00,2.25,0.00,0.000,6,0.000,0.033,2143,2293,1863
$GC,17999,0.58,259.6,729.3,6.8,407,18004,0.00,2.33,0.00,0.000,4,0.000,0.053,2143,3715,1863
$GC,18023,0.56,259.6,727.5,7.3,407,18028,0.12,2.25,0.00,0.000,6,0.132,0.033,2119,2291,1862
$GC,18361,0.61,259.6,708.3,5.5,413,18365,0.00,2.30,0.00,0.000,4,0.000,0.048,2128,893,1862
$GC,18386,0.68,274.0,707.0,5.0,413,18411,0.00,2.28,14.50,0.874,6,0.000,0.037,2128,2313,1814
$GC,18727,0.71,274.0,686.8,6.0,419,18732,0.10,2.25,0.00,0.000,4,0.069,0.051,2197,3708,1811
$GC,18761,0.59,274.0,683.5,11.6,419,18766,0.30,2.22,0.00,0.000,6,0.146,0.033,2124,2302,1811
$GC,19090,0.63,274.0,663.8,5.7,425,19091,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2302,1811
$GC,19392,0.68,274.0,646.9,5.6,430,19394,0.10,0.00,0.00,0.000,6,0.063,0.000,2191,2301,1810
$GC,19695,0.57,274.0,615.7,10.6,435,19700,0.20,2.30,0.00,0.000,4,0.137,0.048,2128,3714,1810
$GC,19741,0.57,274.0,611.8,7.1,435,19745,0.00,2.22,0.00,0.000,6,0.000,0.033,2136,2292,1810
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$STATE,27958,end climb,SURFACE_DEPTH_REACHED
$STATE,27958,begin surface coast
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$STATE,27980,end surface coast,CONTROL_FINISHED_OK
$STATE,27980,begin surface
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$10V_AH,10.4,80.850
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