version: 66.04
glider: 144
mission: 15
dive: 780
start: 2 28 110 11 5 18
data:
$ID,144
$MISSION,15
$DIVE,780
$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,-77477.734
$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,35
$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
$GPS1,105630,4913.618,-13429.552,58,1.5,58,19.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-52.6
$GPS2,110422,4913.659,-13429.457,13,4.4,32,19.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P12
$TGT_LATLONG,4858.200,-13040.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.150,-0.074
$KALMAN_X,-51155.4,-341.2,-121.8,809263.0,2521.0
$KALMAN_Y,75861.3,158.6,-139.2,-200536.3,1831.8
$MHEAD_RNG_PITCHd_Wd,96.7,280428,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.68,-117.2,0.0,0.0,0,59,0.00,0.00,-40.03,0.000,2,0.000,0.000,98,2295,2520
$GC,64,-0.68,-117.3,3.4,-4.7,2,99,7.25,2.40,-20.85,0.000,4,0.235,0.064,1837,3713,3413
$GC,206,-0.65,-117.3,25.2,-11.3,8,210,0.00,2.22,0.00,0.000,6,0.000,0.030,1837,2304,3413
$GC,535,-0.59,-117.3,63.4,-11.9,24,539,0.12,2.28,0.00,0.000,4,0.126,0.040,1873,893,3414
$GC,605,-0.63,-117.3,70.2,-10.0,27,609,0.00,2.22,0.00,0.000,6,0.000,0.035,1864,2304,3414
$GC,935,-0.63,-117.3,99.0,-8.4,52,939,0.00,2.25,0.00,0.000,4,0.000,0.047,1856,3705,3415
$GC,994,-0.67,-117.3,103.9,-8.1,57,998,0.00,2.17,0.00,0.000,6,0.000,0.028,1856,2298,3414
$GC,1331,-0.70,-117.3,130.3,-7.4,88,1335,0.00,2.22,0.00,0.000,4,0.000,0.039,1855,896,3414
$GC,1424,-0.74,-117.3,137.6,-7.5,96,1428,0.00,2.25,0.00,0.000,6,0.000,0.040,1850,2303,3414
$GC,1762,-0.77,-117.3,162.2,-7.7,118,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2303,3414
$GC,2067,-0.80,-117.3,186.1,-7.5,128,2071,0.10,2.25,0.00,0.000,4,0.064,0.038,1767,898,3414
$GC,2113,-0.69,-117.3,191.0,-11.4,129,2118,0.32,2.22,0.00,0.000,6,0.116,0.035,1854,2307,3414
$GC,2433,-0.74,-117.3,210.4,-6.2,140,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2307,3414
$GC,2740,-0.79,-117.3,229.1,-6.0,150,2744,0.10,2.28,0.00,0.000,4,0.064,0.040,1781,899,3414
$GC,2771,-0.74,-117.3,231.6,-9.1,151,2776,0.22,2.25,0.00,0.000,6,0.117,0.043,1837,2302,3414
$GC,3108,-0.76,-117.3,256.1,-7.4,162,3112,0.00,2.28,0.00,0.000,4,0.000,0.044,1837,903,3414
$GC,3138,-0.80,-117.3,258.6,-8.5,163,3142,0.00,2.25,0.00,0.000,6,0.000,0.038,1837,2301,3414
$GC,3477,-0.82,-117.3,284.7,-7.3,174,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2301,3414
$GC,3781,-0.85,-117.3,303.7,-5.9,183,3785,0.00,2.28,0.00,0.000,4,0.000,0.041,1837,902,3414
$GC,3838,-0.88,-117.3,307.3,-6.4,183,3845,0.10,2.28,0.00,0.000,6,0.066,0.038,1766,2304,3413
$GC,4150,-0.78,-117.3,337.5,-10.0,189,4155,0.20,2.30,0.00,0.000,4,0.126,0.041,1832,889,3413
$GC,4196,-0.82,-117.3,341.2,-6.3,189,4200,0.00,2.33,0.00,0.000,6,0.000,0.041,1824,2316,3413
$GC,4512,-0.82,-117.3,360.5,-6.1,195,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2316,3413
$GC,4815,-0.82,-117.3,380.8,-6.7,200,4819,0.00,2.30,0.00,0.000,4,0.000,0.045,1824,899,3412
$GC,4856,-0.82,-117.3,383.7,-7.5,200,4860,0.00,2.30,0.00,0.000,6,0.000,0.041,1821,2313,3412
$GC,5178,-0.82,-117.3,406.6,-7.1,206,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2313,3412
$GC,5481,-0.82,-117.3,429.3,-7.5,211,5485,0.00,2.30,0.00,0.000,4,0.000,0.044,1821,902,3411
$GC,5554,-0.82,-117.3,435.4,-7.9,212,5559,0.00,2.25,0.00,0.000,6,0.000,0.043,1811,2311,3411
$GC,5917,-0.82,-117.3,465.3,-8.3,218,5921,0.00,2.30,0.00,0.000,4,0.000,0.049,1811,902,3411
$GC,5980,-0.82,-117.3,470.6,-8.3,219,5984,0.00,2.25,0.00,0.000,6,0.000,0.044,1805,2306,3411
$GC,6352,-0.82,-117.3,499.8,-7.7,225,6356,0.00,2.28,0.00,0.000,4,0.000,0.044,1804,902,3410
$GC,6399,-0.82,-117.3,503.4,-7.8,225,6404,0.10,2.28,0.00,0.000,6,0.125,0.041,1822,2310,3410
$GC,6716,-0.84,-117.3,524.3,-6.6,231,6720,0.00,2.30,0.00,0.000,4,0.000,0.046,1822,901,3410
$GC,6756,-0.87,-117.3,527.6,-7.4,231,6760,0.00,2.28,0.00,0.000,6,0.000,0.039,1821,2312,3410
$GC,7085,-0.87,-117.3,552.5,-7.7,237,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2313,3410
$GC,7387,-0.89,-117.3,575.6,-7.5,242,7391,0.00,2.33,0.00,0.000,4,0.000,0.050,1822,895,3410
$GC,7428,-0.92,-117.3,578.7,-7.6,242,7432,0.00,2.30,0.00,0.000,6,0.000,0.041,1820,2306,3409
$GC,7750,-0.92,-117.3,601.6,-7.1,248,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2306,3409
$GC,8054,-0.94,-117.3,620.8,-6.3,253,8059,0.10,2.33,0.00,0.000,4,0.067,0.045,1755,902,3409
$GC,8084,-0.87,-117.3,623.5,-9.7,253,8089,0.25,2.30,0.00,0.000,6,0.122,0.046,1817,2311,3409
$GC,8418,-0.89,-117.3,645.0,-6.3,259,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2311,3408
$GC,8722,-0.91,-117.3,664.7,-6.5,264,8726,0.00,2.33,0.00,0.000,4,0.000,0.048,1817,902,3408
$GC,8779,-0.94,-117.3,668.8,-6.9,264,8785,0.00,2.28,0.00,0.000,6,0.000,0.038,1810,2303,3408
$GC,9090,-0.94,-117.3,691.4,-7.3,270,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2303,3408
$GC,9393,-0.94,-117.3,713.1,-7.1,275,9397,0.00,2.30,0.00,0.000,4,0.000,0.051,1810,902,3407
$GC,9439,-0.94,-117.3,716.6,-8.2,275,9443,0.00,2.28,0.00,0.000,6,0.000,0.042,1808,2304,3407
$GC,9756,-0.94,-117.3,738.7,-6.9,281,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2305,3407
$GC,10060,-0.94,-117.3,759.7,-6.9,286,10064,0.00,2.33,0.00,0.000,4,0.000,0.049,1808,903,3406
$GC,10117,-0.94,-117.3,764.0,-7.9,286,10123,0.00,2.28,0.00,0.000,6,0.000,0.044,1806,2303,3406
$GC,10428,-0.94,-117.3,784.5,-6.6,292,10432,0.00,2.33,0.00,0.000,4,0.000,0.044,1806,902,3406
$GC,10463,-0.94,-117.3,787.0,-7.0,292,10467,0.00,2.30,0.00,0.000,6,0.000,0.044,1797,2305,3406
$GC,10790,-0.94,-117.3,809.7,-7.0,298,10794,0.00,2.33,0.00,0.000,4,0.000,0.044,1797,903,3406
$GC,10819,-0.94,-117.3,812.2,-8.5,298,10823,0.00,2.33,0.00,0.000,6,0.000,0.039,1794,2313,3406
$GC,11154,-0.94,-117.3,837.0,-7.6,304,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2313,3406
$GC,11456,-0.94,-117.3,859.6,-7.4,309,11460,0.00,2.33,0.00,0.000,4,0.000,0.048,1794,904,3406
$GC,11524,-0.94,-117.3,864.8,-7.6,310,11528,0.00,2.30,0.00,0.000,6,0.000,0.041,1785,2311,3406
$GC,11892,-0.91,-117.3,891.1,-7.1,316,11896,0.00,2.33,0.00,0.000,4,0.000,0.049,1784,903,3405
$GC,11922,-0.88,-117.3,893.4,-7.4,316,11926,0.10,2.30,0.00,0.000,6,0.134,0.041,1807,2303,3405
$GC,12261,-0.90,-117.3,912.3,-5.5,322,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2303,3405
$GC,12564,-0.93,-117.3,930.8,-6.2,327,12565,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2303,3405
$GC,12868,-0.96,-117.3,950.8,-6.6,332,12872,0.00,2.33,0.00,0.000,4,0.000,0.053,1808,898,3405
$GC,12914,-0.98,-117.3,954.2,-7.6,332,12918,0.00,2.30,0.00,0.000,6,0.000,0.041,1807,2302,3405
$GC,13230,-1.01,-117.3,976.3,-7.0,338,13235,0.10,2.30,0.00,0.000,4,0.080,0.051,1763,902,3404
$GC,13277,-0.93,-117.3,980.6,-10.0,338,13282,0.17,2.30,0.00,0.000,6,0.130,0.041,1803,2306,3404
$STATE,13407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13408,begin apogee
$GC,13417,-0.22,0.0,990.9,7.6,341,13517,0.47,0.00,97.32,1.273,6,0.107,0.000,1958,2307,2931
$STATE,13518,end apogee,CONTROL_FINISHED_OK
$STATE,13518,begin climb
$GC,13522,0.68,117.3,992.8,0.0,342,13634,0.57,2.58,103.07,1.248,4,0.067,0.050,2156,3708,2450
$GC,13676,0.48,117.3,992.3,6.6,345,13681,0.25,2.33,0.00,0.000,6,0.159,0.035,2106,2314,2447
$GC,14027,0.52,168.3,979.1,3.8,351,14072,0.00,0.00,43.75,1.226,6,0.000,0.000,2105,2314,2244
$GC,14330,0.54,186.8,964.7,4.9,356,14349,0.00,0.00,16.83,1.151,6,0.000,0.000,2106,2313,2169
$GC,14633,0.57,188.4,948.2,5.4,361,14637,0.00,2.30,0.00,0.000,4,0.000,0.051,2115,894,2164
$GC,14662,0.60,188.4,946.3,5.8,361,14666,0.00,2.28,0.00,0.000,6,0.000,0.043,2115,2316,2164
$GC,14995,0.60,188.4,924.8,6.6,367,14999,0.00,2.28,0.00,0.000,4,0.000,0.056,2115,3717,2162
$GC,15047,0.56,188.4,920.8,7.6,367,15052,0.00,2.25,0.00,0.000,6,0.000,0.038,2125,2294,2162
$GC,15359,0.54,188.4,897.6,7.4,372,15363,0.00,2.33,0.00,0.000,4,0.000,0.051,2125,3711,2161
$GC,15399,0.48,188.4,894.2,8.4,372,15404,0.12,2.22,0.00,0.000,6,0.151,0.040,2105,2303,2161
$GC,15722,0.50,188.4,875.7,5.6,378,15726,0.00,2.30,0.00,0.000,4,0.000,0.054,2114,893,2160
$GC,15752,0.54,188.9,874.1,5.5,378,15756,0.00,2.28,0.00,0.000,6,0.000,0.038,2114,2306,2160
$GC,16085,0.54,188.9,855.1,5.7,384,16089,0.00,2.30,0.00,0.000,4,0.000,0.050,2114,3717,2160
$GC,16132,0.51,188.9,852.0,6.9,384,16136,0.00,2.22,0.00,0.000,6,0.000,0.035,2124,2302,2160
$GC,16448,0.51,188.9,832.4,6.1,390,16449,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2302,2160
$GC,16751,0.51,188.9,814.3,5.9,395,16755,0.00,2.33,0.00,0.000,4,0.000,0.050,2124,3718,2160
$GC,16785,0.46,188.9,811.8,6.5,395,16790,0.15,2.22,0.00,0.000,6,0.141,0.033,2095,2299,2160
$GC,17115,0.52,198.6,794.9,5.2,401,17130,0.00,2.28,10.62,1.013,4,0.000,0.046,2103,894,2119
$GC,17160,0.59,198.6,792.3,5.8,401,17165,0.10,2.25,0.00,0.000,6,0.072,0.041,2159,2305,2118
$GC,17478,0.51,198.6,767.2,8.1,407,17482,0.17,2.30,0.00,0.000,4,0.133,0.052,2104,3711,2118
$GC,17523,0.51,198.6,763.8,7.2,407,17527,0.00,2.22,0.00,0.000,6,0.000,0.032,2113,2292,2117
$GC,17840,0.54,199.2,746.3,5.5,413,17841,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2292,2117
$GC,18143,0.57,209.9,730.8,5.1,418,18156,0.00,0.00,11.12,0.983,6,0.000,0.000,2112,2292,2075
$GC,18447,0.61,218.3,714.8,5.2,423,18461,0.00,2.35,8.93,0.930,4,0.000,0.048,2113,3703,2041
$GC,18485,0.61,218.3,712.3,6.4,423,18489,0.00,2.22,0.00,0.000,6,0.000,0.033,2122,2298,2040
$GC,18813,0.61,218.3,693.2,5.9,429,18814,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2298,2038
$GC,19117,0.61,218.3,674.6,6.2,434,19121,0.00,2.33,0.00,0.000,4,0.000,0.049,2122,3708,2038
$GC,19145,0.61,218.3,672.5,7.2,434,19149,0.00,2.22,0.00,0.000,6,0.000,0.031,2132,2302,2038
$GC,19479,0.61,218.3,650.3,6.6,440,19483,0.00,2.33,0.00,0.000,4,0.000,0.051,2132,3717,2038
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$STATE,29433,end climb,SURFACE_DEPTH_REACHED
$STATE,29433,begin surface coast
$FINISH,1.5,1.016737
$STATE,29455,end surface coast,CONTROL_FINISHED_OK
$STATE,29455,begin surface
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