version: 66.04
glider: 144
mission: 15
dive: 674
start: 1 23 110 12 38 50
data:
$ID,144
$MISSION,15
$DIVE,674
$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,-75300.586
$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,36
$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
$GPS1,123136,5003.512,-14341.172,36,1.4,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-66.1
$GPS2,123756,5003.537,-14341.195,10,1.5,10,18.7
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.166,-0.027
$KALMAN_X,-91546.0,-207.1,202.4,197166.7,104.7
$KALMAN_Y,30727.8,86.3,43.1,-63162.9,24.9
$MHEAD_RNG_PITCHd_Wd,80.4,365889,-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,20,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-40.42,0.000,2,0.000,0.000,99,2295,2721
$GC,66,-0.68,-117.3,3.8,-6.9,2,96,7.22,2.33,-16.15,0.000,4,0.234,0.063,1847,898,3412
$GC,327,-0.68,-117.3,32.5,-9.2,13,334,0.00,2.25,0.00,0.000,6,0.000,0.042,1839,2299,3413
$GC,645,-0.63,-117.3,65.9,-10.8,29,649,0.10,2.25,0.00,0.000,4,0.140,0.041,1866,895,3413
$GC,696,-0.67,-117.3,70.7,-8.9,31,700,0.00,2.25,0.00,0.000,6,0.000,0.037,1862,2313,3413
$GC,1025,-0.69,-117.3,100.9,-8.8,57,1029,0.00,2.25,0.00,0.000,4,0.000,0.041,1863,894,3413
$GC,1067,-0.75,-117.3,104.6,-8.9,60,1072,0.10,2.25,0.00,0.000,6,0.064,0.038,1782,2315,3414
$GC,1394,-0.65,-117.3,144.0,-11.7,90,1399,0.22,2.30,0.00,0.000,4,0.126,0.041,1855,895,3414
$GC,1458,-0.72,-117.3,149.0,-6.7,95,1462,0.00,2.25,0.00,0.000,6,0.000,0.041,1850,2303,3414
$GC,1783,-0.76,-117.3,168.6,-5.8,106,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2303,3414
$GC,2089,-0.80,-117.3,186.9,-6.1,116,2093,0.08,2.28,0.00,0.000,4,0.080,0.040,1774,895,3414
$GC,2158,-0.71,-117.3,193.7,-10.7,118,2163,0.28,2.28,0.00,0.000,6,0.117,0.039,1845,2313,3414
$GC,2495,-0.75,-117.3,217.4,-6.7,129,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2313,3414
$GC,2801,-0.79,-117.3,236.9,-6.2,139,2805,0.00,2.33,0.00,0.000,4,0.000,0.047,1845,886,3414
$GC,2846,-0.84,-117.3,239.9,-6.3,140,2850,0.00,2.25,0.00,0.000,6,0.000,0.043,1838,2302,3414
$GC,3172,-0.87,-117.3,258.8,-5.6,151,3174,0.10,0.00,0.00,0.000,6,0.064,0.000,1762,2302,3414
$GC,3477,-0.76,-117.3,289.3,-10.5,161,3482,0.22,2.33,0.00,0.000,4,0.121,0.042,1834,888,3413
$GC,3523,-0.80,-117.3,293.1,-6.8,162,3527,0.00,2.28,0.00,0.000,6,0.000,0.043,1827,2306,3413
$GC,3876,-0.80,-117.3,317.8,-7.0,170,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2306,3413
$GC,4179,-0.80,-117.3,339.0,-7.0,175,4183,0.00,2.28,0.00,0.000,4,0.000,0.044,1827,896,3413
$GC,4230,-0.82,-117.3,342.8,-7.1,175,4234,0.00,2.30,0.00,0.000,6,0.000,0.038,1821,2315,3413
$GC,4541,-0.82,-117.3,365.1,-7.2,180,4545,0.00,2.30,0.00,0.000,4,0.000,0.047,1821,894,3413
$GC,4581,-0.82,-117.3,368.3,-8.2,180,4585,0.00,2.28,0.00,0.000,6,0.000,0.043,1811,2310,3413
$GC,4902,-0.82,-117.3,393.8,-8.1,186,4906,0.00,2.33,0.00,0.000,4,0.000,0.042,1811,887,3412
$GC,4937,-0.82,-117.3,396.8,-8.2,186,4941,0.00,2.30,0.00,0.000,6,0.000,0.044,1801,2308,3413
$GC,5265,-0.80,-117.3,424.6,-8.6,192,5270,0.10,2.33,0.00,0.000,4,0.135,0.044,1829,897,3412
$GC,5299,-0.84,-117.3,427.5,-7.8,192,5303,0.00,2.28,0.00,0.000,6,0.000,0.045,1823,2310,3412
$GC,5626,-0.84,-117.3,451.6,-7.4,198,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2311,3412
$GC,5929,-0.84,-117.3,473.5,-7.2,203,5933,0.00,2.33,0.00,0.000,4,0.000,0.049,1823,899,3412
$GC,5975,-0.86,-117.3,477.1,-7.9,203,5980,0.00,2.28,0.00,0.000,6,0.000,0.045,1820,2306,3412
$GC,6291,-0.86,-117.3,501.0,-7.6,209,6295,0.00,2.28,0.00,0.000,4,0.000,0.046,1820,898,3412
$GC,6320,-0.86,-117.3,503.4,-8.0,209,6324,0.00,2.28,0.00,0.000,6,0.000,0.039,1810,2314,3412
$GC,6654,-0.86,-117.3,529.4,-7.7,215,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2314,3412
$GC,6956,-0.86,-117.3,551.6,-7.4,220,6960,0.00,2.33,0.00,0.000,4,0.000,0.047,1811,887,3411
$GC,6996,-0.86,-117.3,554.9,-8.1,220,7000,0.00,2.28,0.00,0.000,6,0.000,0.039,1802,2303,3411
$GC,7318,-0.86,-117.3,579.5,-7.6,226,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2304,3411
$GC,7621,-0.86,-117.3,601.7,-7.4,231,7625,0.00,2.33,0.00,0.000,4,0.000,0.044,1802,892,3411
$GC,7678,-0.86,-117.3,606.1,-7.5,231,7684,0.00,2.28,0.00,0.000,6,0.000,0.039,1794,2303,3411
$GC,7989,-0.83,-117.3,629.6,-7.6,237,7991,0.10,0.00,0.00,0.000,6,0.136,0.000,1822,2303,3411
$GC,8292,-0.86,-117.3,647.9,-5.9,242,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2303,3411
$GC,8596,-0.90,-117.3,665.5,-5.8,247,8600,0.00,2.30,0.00,0.000,4,0.000,0.044,1822,888,3411
$GC,8642,-0.94,-117.3,668.3,-5.8,247,8646,0.10,2.28,0.00,0.000,6,0.067,0.046,1757,2308,3411
$GC,8969,-0.85,-117.3,696.9,-8.9,253,8973,0.17,2.33,0.00,0.000,4,0.125,0.044,1815,894,3410
$GC,9026,-0.88,-117.3,700.7,-6.5,253,9032,0.00,2.28,0.00,0.000,6,0.000,0.039,1809,2308,3410
$GC,9336,-0.88,-117.3,719.1,-6.0,259,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2308,3410
$GC,9639,-0.88,-117.3,738.1,-6.3,264,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2308,3410
$GC,9943,-0.88,-117.3,758.5,-6.8,269,9946,0.00,2.33,0.00,0.000,4,0.000,0.048,1809,898,3410
$GC,10001,-0.88,-117.3,762.8,-7.1,269,10005,0.00,2.30,0.00,0.000,6,0.000,0.042,1808,2309,3410
$GC,10312,-0.88,-117.3,785.5,-7.3,274,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3410
$GC,10614,-0.88,-117.3,807.8,-7.4,279,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2308,3410
$GC,10917,-0.88,-117.3,828.7,-6.8,284,10921,0.00,2.33,0.00,0.000,4,0.000,0.046,1808,892,3409
$GC,10951,-0.88,-117.3,831.2,-7.2,284,10956,0.00,2.30,0.00,0.000,6,0.000,0.039,1807,2305,3409
$GC,11279,-0.88,-117.3,852.5,-6.5,290,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3409
$GC,11582,-0.88,-117.3,870.9,-6.0,295,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3409
$GC,11885,-0.88,-117.3,888.0,-5.6,300,11889,0.00,2.33,0.00,0.000,4,0.000,0.048,1807,898,3409
$GC,11925,-0.90,-117.3,890.5,-6.1,300,11929,0.00,2.30,0.00,0.000,6,0.000,0.045,1805,2304,3408
$GC,12254,-0.90,-117.3,908.7,-5.6,306,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2304,3409
$GC,12556,-0.90,-117.3,926.7,-6.0,311,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2304,3409
$GC,12860,-0.90,-117.3,946.0,-6.4,316,12864,0.00,2.33,0.00,0.000,4,0.000,0.053,1805,894,3408
$GC,12899,-0.90,-117.3,949.1,-6.8,316,12904,0.00,2.30,0.00,0.000,6,0.000,0.040,1795,2309,3409
$GC,13222,-0.90,-117.3,972.1,-7.2,322,13223,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2309,3409
$STATE,13520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13521,begin apogee
$GC,13529,-0.22,0.0,994.2,7.4,327,13631,0.50,0.00,99.50,1.282,6,0.112,0.000,1955,2309,2931
$STATE,13632,end apogee,CONTROL_FINISHED_OK
$STATE,13632,begin climb
$GC,13636,0.68,117.3,996.3,0.0,328,13747,0.55,2.55,104.57,1.257,4,0.069,0.056,2150,3707,2451
$GC,13794,0.50,117.3,995.5,5.7,330,13799,0.22,2.38,0.00,0.000,6,0.156,0.037,2106,2312,2447
$GC,14127,0.53,166.8,982.4,3.8,336,14172,0.00,0.00,43.10,1.233,6,0.000,0.000,2105,2311,2250
$GC,14430,0.57,200.9,969.3,4.3,341,14466,0.00,2.38,30.75,1.208,4,0.000,0.057,2105,3714,2109
$GC,14491,0.59,215.0,966.0,5.0,342,14511,0.00,2.33,14.05,1.125,6,0.000,0.040,2114,2289,2053
$GC,14863,0.61,215.4,946.0,5.5,348,14864,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2290,2047
$GC,15167,0.64,216.5,929.4,5.5,353,15171,0.08,2.35,0.00,0.000,4,0.084,0.051,2159,3718,2045
$GC,15195,0.56,216.5,927.1,8.5,353,15200,0.20,2.28,0.00,0.000,6,0.150,0.033,2116,2298,2045
$GC,15533,0.58,216.5,907.0,5.8,359,15535,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2298,2044
$GC,15836,0.58,216.5,888.6,6.1,364,15837,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2298,2044
$GC,16140,0.60,216.5,869.2,6.5,369,16142,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2297,2044
$GC,16443,0.63,216.5,849.7,6.4,374,16447,0.00,2.33,0.00,0.000,4,0.000,0.055,2116,3720,2044
$GC,16477,0.63,216.5,847.1,7.2,374,16481,0.00,2.25,0.00,0.000,6,0.000,0.032,2125,2292,2044
$GC,16810,0.63,216.5,825.0,6.6,380,16814,0.00,2.33,0.00,0.000,4,0.000,0.055,2125,3718,2044
$GC,16833,0.63,216.5,823.2,7.2,380,16837,0.00,2.22,0.00,0.000,6,0.000,0.033,2135,2304,2043
$GC,17178,0.63,216.5,799.4,6.8,386,17182,0.00,2.33,0.00,0.000,4,0.000,0.049,2135,3721,2044
$GC,17202,0.59,216.5,797.6,7.2,386,17206,0.00,2.25,0.00,0.000,6,0.000,0.033,2146,2292,2043
$GC,17541,0.55,216.5,773.0,7.2,392,17543,0.12,0.00,0.00,0.000,6,0.145,0.000,2112,2292,2043
$GC,17844,0.59,223.6,756.6,5.3,397,17857,0.00,2.42,7.15,0.913,4,0.000,0.054,2112,3717,2019
$GC,17877,0.63,229.1,754.7,5.3,397,17890,0.00,2.25,6.80,0.890,6,0.000,0.032,2120,2303,1996
$GC,18215,0.66,229.1,735.5,5.7,403,18220,0.08,2.30,0.00,0.000,4,0.077,0.047,2184,895,1994
$GC,18244,0.60,229.1,733.0,8.4,403,18248,0.20,2.28,0.00,0.000,6,0.140,0.043,2131,2312,1994
$GC,18582,0.60,229.1,711.9,6.2,409,18586,0.00,2.25,0.00,0.000,4,0.000,0.049,2131,3711,1994
$GC,18634,0.57,229.1,708.2,7.7,409,18638,0.00,2.22,0.00,0.000,6,0.000,0.032,2138,2301,1993
$GC,18955,0.57,229.1,687.7,6.4,415,18956,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2300,1993
$GC,19259,0.57,229.1,668.8,6.2,420,19263,0.00,2.30,0.00,0.000,4,0.000,0.048,2138,3715,1993
$GC,19288,0.53,229.1,666.7,6.9,420,19293,0.12,2.22,0.00,0.000,6,0.136,0.032,2115,2303,1993
$GC,19623,0.59,240.9,649.3,5.1,426,19641,0.00,2.38,11.70,0.952,4,0.000,0.046,2124,893,1947
$GC,19666,0.67,254.8,646.7,5.0,426,19692,0.00,2.28,15.85,0.865,6,0.000,0.042,2124,2316,1892
$GC,20054,0.70,254.8,624.0,5.9,433,20059,0.10,2.28,0.00,0.000,4,0.067,0.052,2198,3707,1887
$GC,20105,0.53,254.8,618.5,14.3,433,20110,0.35,2.22,0.00,0.000,6,0.148,0.033,2111,2304,1888
$GC,20416,0.59,254.8,599.2,5.8,438,20417,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2305,1887
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$STATE,28989,begin surface coast
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$STATE,29011,begin surface
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