version: 66.04
glider: 144
mission: 15
dive: 863
start: 3 28 110 12 9 58
data:
$ID,144
$MISSION,15
$DIVE,863
$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,-79186.094
$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
$GPS1,120107,4836.061,-12820.176,25,2.0,25,19.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-55.3
$GPS2,120901,4836.053,-12820.250,12,1.9,29,19.3
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P4
$TGT_LATLONG,4839.000,-12640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.111,-0.126
$KALMAN_X,-51658.7,66.9,92.0,1245472.1,-6181.2
$KALMAN_Y,126107.9,-268.9,-294.4,-319854.2,4449.2
$MHEAD_RNG_PITCHd_Wd,119.5,122781,-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,-117.3,0.0,0.0,0,59,0.00,0.00,-40.20,0.000,2,0.000,0.000,98,2304,2658
$GC,64,-0.68,-117.3,3.9,-7.0,2,94,7.05,2.33,-17.83,0.000,4,0.228,0.067,1841,3712,3412
$GC,203,-0.65,-117.3,18.9,-9.5,8,207,0.00,2.20,0.00,0.000,6,0.000,0.035,1841,2298,3413
$GC,537,-0.58,-117.3,56.7,-10.6,24,542,0.12,2.25,0.00,0.000,4,0.127,0.040,1880,898,3413
$GC,618,-0.63,-117.3,64.4,-10.1,27,622,0.00,2.25,0.00,0.000,6,0.000,0.035,1877,2306,3413
$GC,941,-0.68,-117.3,92.1,-7.2,49,946,0.10,2.25,0.00,0.000,4,0.061,0.038,1792,893,3413
$GC,994,-0.58,-117.3,97.8,-11.7,53,999,0.32,2.28,0.00,0.000,6,0.113,0.042,1876,2306,3413
$GC,1323,-0.64,-117.3,119.1,-6.2,83,1327,0.00,2.25,0.00,0.000,4,0.000,0.038,1876,894,3413
$GC,1360,-0.72,-117.3,121.5,-6.5,86,1365,0.12,2.28,0.00,0.000,6,0.053,0.035,1787,2310,3414
$GC,1690,-0.63,-117.3,156.7,-11.0,112,1694,0.22,2.33,0.00,0.000,4,0.124,0.052,1852,3717,3413
$GC,1730,-0.68,-117.3,160.5,-6.8,113,1735,0.00,2.20,0.00,0.000,6,0.000,0.028,1851,2293,3413
$GC,2063,-0.73,-117.3,181.8,-6.4,124,2067,0.00,2.22,0.00,0.000,4,0.000,0.038,1852,890,3414
$GC,2121,-0.79,-117.3,186.0,-7.5,125,2125,0.00,2.33,0.00,0.000,6,0.000,0.039,1849,2310,3414
$GC,2436,-0.82,-117.3,209.4,-8.1,135,2440,0.10,1.20,0.00,0.000,4,0.063,0.041,1763,3052,3414
$GC,2484,-0.70,-117.3,215.1,-13.4,136,2489,0.25,1.23,0.00,0.000,6,0.113,0.035,1844,2292,3414
$GC,2815,-0.73,-117.3,242.6,-7.7,147,2819,0.00,2.25,0.00,0.000,4,0.000,0.040,1843,903,3414
$GC,2890,-0.78,-117.3,248.7,-8.2,149,2894,0.00,2.28,0.00,0.000,6,0.000,0.040,1837,2303,3413
$GC,3223,-0.80,-117.3,274.0,-7.6,160,3227,0.00,2.25,0.00,0.000,4,0.000,0.046,1837,910,3414
$GC,3247,-0.83,-117.3,276.0,-7.5,160,3253,0.00,2.30,0.00,0.000,6,0.000,0.036,1837,2305,3413
$GC,3562,-0.85,-117.3,300.1,-7.6,171,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2305,3413
$GC,3866,-0.88,-117.3,322.8,-7.4,176,3871,0.10,2.28,0.00,0.000,4,0.063,0.042,1766,906,3413
$GC,3907,-0.78,-117.3,327.1,-11.7,176,3912,0.25,2.30,0.00,0.000,6,0.113,0.039,1828,2310,3413
$GC,4229,-0.78,-117.3,352.0,-7.5,182,4233,0.00,2.30,0.00,0.000,4,0.000,0.044,1829,913,3412
$GC,4264,-0.80,-117.3,355.0,-8.2,182,4268,0.00,2.33,0.00,0.000,6,0.000,0.043,1823,2307,3413
$GC,4593,-0.80,-117.3,379.8,-7.5,188,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2307,3412
$GC,4895,-0.80,-117.3,401.7,-7.2,193,4899,0.00,2.28,0.00,0.000,4,0.000,0.041,1823,909,3412
$GC,4924,-0.80,-117.3,404.0,-8.0,193,4928,0.00,2.30,0.00,0.000,6,0.000,0.037,1820,2307,3412
$GC,5258,-0.80,-117.3,426.2,-6.6,199,5262,0.00,2.33,0.00,0.000,4,0.000,0.041,1821,907,3412
$GC,5298,-0.80,-117.3,428.9,-6.6,199,5302,0.00,2.33,0.00,0.000,6,0.000,0.036,1811,2312,3412
$GC,5621,-0.80,-117.3,449.1,-6.2,205,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2312,3411
$GC,5923,-0.80,-117.3,468.7,-6.6,210,5927,0.00,2.30,0.00,0.000,4,0.000,0.044,1811,913,3411
$GC,5990,-0.80,-117.3,473.4,-7.7,211,5994,0.00,2.28,0.00,0.000,6,0.000,0.044,1804,2305,3411
$GC,6358,-0.78,-117.3,502.3,-7.9,217,6363,0.10,2.30,0.00,0.000,4,0.131,0.044,1832,913,3411
$GC,6393,-0.82,-117.3,504.9,-7.1,217,6397,0.00,2.28,0.00,0.000,6,0.000,0.040,1826,2304,3410
$GC,6728,-0.84,-117.3,528.9,-7.3,223,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2304,3410
$GC,7030,-0.87,-117.3,550.9,-7.3,228,7034,0.00,2.30,0.00,0.000,4,0.000,0.044,1826,915,3410
$GC,7087,-0.91,-117.3,555.5,-8.3,228,7093,0.00,2.28,0.00,0.000,6,0.000,0.041,1822,2299,3410
$GC,7398,-0.91,-117.3,579.6,-7.9,234,7402,0.00,2.30,0.00,0.000,4,0.000,0.048,1822,902,3409
$GC,7429,-0.93,-117.3,582.2,-8.9,234,7433,0.00,2.30,0.00,0.000,6,0.000,0.044,1820,2308,3409
$GC,7763,-0.93,-117.3,608.1,-7.7,240,7767,0.00,2.33,0.00,0.000,4,0.000,0.041,1821,912,3408
$GC,7793,-0.95,-117.3,610.4,-7.8,240,7797,0.00,2.30,0.00,0.000,6,0.000,0.043,1811,2306,3408
$GC,8128,-0.95,-117.3,635.2,-7.4,246,8132,0.00,2.30,0.00,0.000,4,0.000,0.047,1811,910,3408
$GC,8157,-0.95,-117.3,637.6,-7.4,246,8161,0.00,2.30,0.00,0.000,6,0.000,0.042,1809,2306,3408
$GC,8496,-0.95,-117.3,661.3,-6.9,252,8500,0.00,2.28,0.00,0.000,4,0.000,0.043,1809,909,3407
$GC,8525,-0.95,-117.3,663.5,-7.5,252,8529,0.00,2.33,0.00,0.000,6,0.000,0.042,1807,2310,3407
$GC,8865,-0.95,-117.3,687.2,-7.0,258,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2311,3407
$GC,9167,-0.95,-117.3,708.8,-7.1,263,9171,0.00,2.33,0.00,0.000,4,0.000,0.043,1807,915,3407
$GC,9190,-0.95,-117.3,710.7,-7.4,263,9194,0.00,2.33,0.00,0.000,6,0.000,0.039,1798,2309,3407
$GC,9530,-0.95,-117.3,735.0,-7.1,269,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2309,3406
$GC,9834,-0.95,-117.3,756.2,-7.0,274,9838,0.00,2.35,0.00,0.000,4,0.000,0.046,1798,909,3406
$GC,9885,-0.95,-117.3,760.1,-7.3,274,9890,0.00,2.30,0.00,0.000,6,0.000,0.038,1795,2305,3406
$GC,10197,-0.93,-117.3,783.0,-7.4,279,10201,0.00,2.40,0.00,0.000,4,0.000,0.051,1785,3716,3406
$GC,10232,-0.90,-117.3,785.9,-8.4,279,10237,0.00,2.28,0.00,0.000,6,0.000,0.031,1785,2310,3405
$GC,10562,-0.86,-117.3,811.7,-7.9,285,10564,0.10,0.00,0.00,0.000,6,0.126,0.000,1814,2309,3405
$GC,10864,-0.89,-117.3,831.1,-6.3,290,10868,0.00,2.38,0.00,0.000,4,0.000,0.049,1814,899,3405
$GC,10887,-0.92,-117.3,832.8,-7.0,290,10892,0.00,2.35,0.00,0.000,6,0.000,0.038,1809,2313,3405
$GC,11228,-0.92,-117.3,855.1,-6.6,296,11232,0.00,2.40,0.00,0.000,4,0.000,0.049,1803,3718,3405
$GC,11263,-0.92,-117.3,857.5,-6.7,296,11267,0.00,2.28,0.00,0.000,6,0.000,0.038,1803,2304,3405
$GC,11596,-0.92,-117.3,879.3,-6.6,302,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2304,3405
$GC,11899,-0.92,-117.3,898.3,-6.2,307,11900,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2304,3405
$GC,12203,-0.92,-117.3,917.1,-6.2,312,12208,0.00,2.42,0.00,0.000,4,0.000,0.054,1794,3709,3404
$GC,12255,-0.92,-117.3,921.0,-7.0,312,12259,0.00,2.33,0.00,0.000,6,0.000,0.031,1794,2292,3404
$GC,12566,-0.92,-117.3,943.7,-7.3,317,12568,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2292,3404
$GC,12870,-0.92,-117.3,966.2,-7.4,322,12874,0.00,2.42,0.00,0.000,4,0.000,0.050,1785,3709,3404
$GC,12906,-0.92,-117.3,969.0,-8.3,322,12910,0.00,2.30,0.00,0.000,6,0.000,0.037,1784,2298,3403
$STATE,13235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13235,begin apogee
$GC,13245,-0.22,0.0,994.3,7.5,328,13345,0.52,0.00,97.43,1.268,6,0.109,0.000,1950,2298,2931
$STATE,13346,end apogee,CONTROL_FINISHED_OK
$STATE,13346,begin climb
$GC,13351,0.68,117.3,996.3,0.0,329,13463,0.60,2.65,103.85,1.243,4,0.069,0.051,2152,3703,2451
$GC,13496,0.49,117.3,994.6,6.0,332,13501,0.25,2.47,0.00,0.000,6,0.160,0.032,2107,2305,2447
$GC,13852,0.48,137.3,977.6,4.8,338,13876,0.00,2.40,16.83,1.152,4,0.000,0.055,2107,3712,2369
$GC,13925,0.43,137.3,973.6,5.7,339,13930,0.10,2.28,0.00,0.000,6,0.158,0.036,2093,2291,2367
$GC,14292,0.48,176.9,957.8,4.2,345,14332,0.00,2.40,34.42,1.204,4,0.000,0.055,2094,3718,2208
$GC,14369,0.48,183.8,954.2,5.3,346,14382,0.00,2.30,7.30,0.972,6,0.000,0.039,2101,2304,2181
$GC,14730,0.55,217.5,938.0,4.4,352,14762,0.00,0.00,30.30,1.187,6,0.000,0.000,2101,2304,2044
$GC,15033,0.64,249.3,924.4,4.4,357,15068,0.12,2.38,28.45,1.170,4,0.063,0.051,2161,3711,1913
$GC,15110,0.54,249.3,918.2,8.8,358,15115,0.20,2.28,0.00,0.000,6,0.143,0.035,2119,2305,1911
$GC,15466,0.57,249.3,897.9,5.6,364,15471,0.00,2.33,0.00,0.000,4,0.000,0.049,2119,3714,1906
$GC,15490,0.57,249.3,896.4,5.6,364,15494,0.00,2.25,0.00,0.000,6,0.000,0.037,2127,2295,1906
$GC,15836,0.57,249.3,875.6,6.0,370,15840,0.00,2.35,0.00,0.000,4,0.000,0.054,2127,3716,1905
$GC,15876,0.57,249.3,872.5,7.6,370,15880,0.00,2.25,0.00,0.000,6,0.000,0.036,2138,2294,1905
$GC,16198,0.57,249.3,849.6,7.3,376,16202,0.00,2.35,0.00,0.000,4,0.000,0.051,2138,3718,1905
$GC,16252,0.53,249.3,845.0,8.4,376,16256,0.15,2.25,0.00,0.000,6,0.136,0.032,2108,2298,1905
$GC,16574,0.60,254.2,827.3,5.3,382,16581,0.08,0.00,4.18,0.722,6,0.080,0.000,2157,2298,1894
$GC,16877,0.54,254.2,802.7,8.4,387,16882,0.15,2.38,0.00,0.000,4,0.129,0.047,2114,3718,1894
$GC,16936,0.57,254.2,798.3,6.3,387,16942,0.00,2.28,0.00,0.000,6,0.000,0.034,2121,2301,1893
$GC,17247,0.60,254.2,779.5,5.9,393,17248,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2301,1893
$GC,17550,0.62,254.2,761.2,6.0,398,17554,0.00,2.40,0.00,0.000,4,0.000,0.047,2121,3711,1892
$GC,17619,0.62,254.2,756.5,7.7,399,17623,0.00,2.25,0.00,0.000,6,0.000,0.031,2131,2295,1892
$GC,17987,0.62,254.2,734.8,5.9,405,17991,0.00,2.35,0.00,0.000,4,0.000,0.054,2131,3711,1892
$GC,18016,0.62,254.2,732.6,7.5,405,18020,0.00,2.25,0.00,0.000,6,0.000,0.031,2141,2294,1892
$GC,18356,0.62,254.2,710.5,6.6,411,18360,0.00,2.35,0.00,0.000,4,0.000,0.048,2141,3711,1892
$GC,18381,0.60,254.2,708.6,6.7,411,18385,0.00,2.22,0.00,0.000,6,0.000,0.031,2151,2301,1892
$GC,18726,0.56,254.2,682.4,7.6,417,18730,0.12,2.38,0.00,0.000,4,0.137,0.047,2117,3720,1892
$GC,18761,0.56,254.2,679.7,7.9,417,18765,0.00,2.25,0.00,0.000,6,0.000,0.031,2126,2304,1892
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$STATE,28431,begin surface coast
$FINISH,1.6,1.025069
$STATE,28452,end surface coast,CONTROL_FINISHED_OK
$STATE,28452,begin surface
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