version: 66.04
glider: 144
mission: 15
dive: 694
start: 1 30 110 8 55 15
data:
$ID,144
$MISSION,15
$DIVE,694
$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,-75729.992
$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,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
$GPS1,084727,4952.315,-14158.489,25,2.4,44,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-65.3
$GPS2,085422,4952.332,-14158.540,13,2.1,32,18.9
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.163,-0.040
$KALMAN_X,-87476.9,71.7,-307.3,314661.5,823.8
$KALMAN_Y,33738.1,-75.6,259.2,-86982.4,477.6
$MHEAD_RNG_PITCHd_Wd,84.9,240878,-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,15,begin dive
$GC,19,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-40.78,0.000,2,0.000,0.000,99,2304,2760
$GC,66,-0.68,-117.3,4.1,-5.9,2,96,7.28,2.38,-15.07,0.000,4,0.235,0.065,1839,3704,3412
$GC,277,-0.65,-117.3,29.4,-10.9,11,280,0.00,2.20,0.00,0.000,6,0.000,0.037,1839,2297,3412
$GC,600,-0.61,-117.3,65.3,-11.5,27,604,0.12,2.25,0.00,0.000,4,0.127,0.041,1881,894,3412
$GC,680,-0.66,-117.3,72.6,-8.6,30,684,0.00,2.22,0.00,0.000,6,0.000,0.036,1875,2301,3413
$GC,1004,-0.70,-117.3,99.0,-7.5,56,1006,0.10,0.00,0.00,0.000,6,0.064,0.000,1799,2301,3413
$GC,1326,-0.63,-117.3,131.7,-9.9,86,1330,0.20,2.28,0.00,0.000,4,0.119,0.040,1867,894,3413
$GC,1385,-0.71,-117.3,136.2,-6.7,91,1389,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2302,3413
$GC,1709,-0.77,-117.3,155.8,-6.2,115,1713,0.10,2.28,0.00,0.000,4,0.064,0.047,1767,3718,3413
$GC,1737,-0.70,-117.3,158.6,-10.3,115,1745,0.22,2.25,0.00,0.000,6,0.110,0.030,1852,2293,3413
$GC,2052,-0.74,-117.3,179.0,-6.1,126,2055,0.00,2.22,0.00,0.000,4,0.000,0.041,1852,899,3413
$GC,2092,-0.80,-117.3,181.8,-6.8,127,2097,0.10,2.22,0.00,0.000,6,0.064,0.036,1777,2308,3413
$GC,2423,-0.71,-117.3,217.5,-11.1,138,2428,0.20,2.30,0.00,0.000,4,0.118,0.041,1842,900,3414
$GC,2463,-0.75,-117.3,221.2,-7.6,139,2467,0.00,2.25,0.00,0.000,6,0.000,0.037,1836,2311,3414
$GC,2789,-0.78,-117.3,245.0,-7.3,150,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2311,3413
$GC,3094,-0.80,-117.3,267.5,-7.5,160,3098,0.00,2.30,0.00,0.000,4,0.000,0.051,1827,3712,3413
$GC,3118,-0.83,-117.3,269.5,-7.6,160,3124,0.00,2.22,0.00,0.000,6,0.000,0.031,1827,2293,3413
$GC,3432,-0.83,-117.3,292.5,-7.1,171,3436,0.00,2.25,0.00,0.000,4,0.000,0.043,1827,899,3413
$GC,3496,-0.83,-117.3,297.3,-7.9,173,3500,0.00,2.25,0.00,0.000,6,0.000,0.038,1819,2303,3414
$GC,3860,-0.83,-117.3,324.0,-7.3,180,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2303,3413
$GC,4163,-0.83,-117.3,346.1,-7.3,185,4167,0.00,2.25,0.00,0.000,4,0.000,0.048,1818,898,3413
$GC,4233,-0.83,-117.3,351.4,-7.8,186,4237,0.00,2.28,0.00,0.000,6,0.000,0.040,1809,2313,3413
$GC,4599,-0.83,-117.3,380.8,-8.0,192,4603,0.00,2.30,0.00,0.000,4,0.000,0.043,1809,893,3412
$GC,4634,-0.83,-117.3,383.8,-8.4,192,4638,0.00,2.28,0.00,0.000,6,0.000,0.038,1800,2308,3412
$GC,4961,-0.80,-117.3,411.9,-8.6,198,4963,0.10,0.00,0.00,0.000,6,0.135,0.000,1828,2308,3412
$GC,5265,-0.83,-117.3,433.4,-7.0,203,5269,0.00,2.30,0.00,0.000,4,0.000,0.044,1828,899,3412
$GC,5306,-0.86,-117.3,436.6,-7.4,203,5310,0.00,2.25,0.00,0.000,6,0.000,0.038,1823,2303,3412
$GC,5627,-0.86,-117.3,458.3,-6.7,209,5631,0.00,2.33,0.00,0.000,4,0.000,0.047,1823,900,3412
$GC,5657,-0.86,-117.3,460.3,-7.8,209,5661,0.00,2.30,0.00,0.000,6,0.000,0.040,1819,2309,3412
$GC,5990,-0.86,-117.3,482.8,-6.7,215,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2309,3412
$GC,6293,-0.86,-117.3,504.0,-7.1,220,6297,0.00,2.33,0.00,0.000,4,0.000,0.051,1819,894,3411
$GC,6328,-0.86,-117.3,506.7,-8.0,220,6333,0.00,2.28,0.00,0.000,6,0.000,0.038,1810,2303,3411
$GC,6657,-0.86,-117.3,531.9,-7.7,226,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2303,3411
$GC,6960,-0.86,-117.3,554.1,-7.3,231,6964,0.00,2.33,0.00,0.000,4,0.000,0.044,1810,894,3411
$GC,7005,-0.86,-117.3,557.8,-8.1,231,7009,0.00,2.30,0.00,0.000,6,0.000,0.038,1801,2307,3411
$GC,7321,-0.86,-117.3,580.6,-7.2,237,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2307,3410
$GC,7625,-0.86,-117.3,602.6,-7.3,242,7629,0.00,2.30,0.00,0.000,4,0.000,0.045,1801,898,3410
$GC,7694,-0.86,-117.3,608.0,-7.5,243,7698,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2304,3410
$GC,8061,-0.84,-117.3,635.6,-7.5,249,8063,0.10,0.00,0.00,0.000,6,0.134,0.000,1822,2305,3410
$GC,8364,-0.87,-117.3,654.4,-6.1,254,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2305,3410
$GC,8668,-0.91,-117.3,673.3,-6.3,259,8672,0.00,2.35,0.00,0.000,4,0.000,0.045,1822,897,3410
$GC,8697,-0.94,-117.3,675.3,-7.3,259,8702,0.10,2.30,0.00,0.000,6,0.067,0.044,1758,2301,3410
$GC,9030,-0.85,-117.3,706.3,-9.5,265,9032,0.20,0.00,0.00,0.000,6,0.120,0.000,1819,2301,3410
$GC,9334,-0.89,-117.3,724.9,-6.0,270,9338,0.00,2.33,0.00,0.000,4,0.000,0.045,1819,901,3410
$GC,9368,-0.92,-117.3,727.1,-6.8,270,9373,0.00,2.30,0.00,0.000,6,0.000,0.044,1812,2313,3410
$GC,9696,-0.94,-117.3,747.8,-6.3,276,9698,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2313,3410
$GC,9999,-0.96,-117.3,766.7,-6.2,281,10004,0.00,2.33,0.00,0.000,4,0.000,0.045,1812,900,3409
$GC,10041,-0.99,-117.3,769.6,-7.0,281,10045,0.10,2.30,0.00,0.000,6,0.069,0.039,1752,2313,3409
$GC,10362,-0.89,-117.3,799.9,-9.7,287,10364,0.20,0.00,0.00,0.000,6,0.121,0.000,1812,2313,3409
$GC,10665,-0.92,-117.3,819.9,-6.4,292,10669,0.00,2.35,0.00,0.000,4,0.000,0.046,1812,895,3409
$GC,10703,-0.95,-117.3,822.4,-7.1,292,10707,0.00,2.30,0.00,0.000,6,0.000,0.040,1809,2309,3409
$GC,11030,-0.97,-117.3,842.9,-6.1,298,11031,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3409
$GC,11333,-0.97,-117.3,860.7,-5.9,303,11334,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2309,3409
$GC,11636,-0.99,-117.3,879.2,-6.1,308,11638,0.10,0.00,0.00,0.000,6,0.071,0.000,1756,2309,3408
$GC,11940,-0.91,-117.3,906.4,-9.1,313,11945,0.17,2.35,0.00,0.000,4,0.121,0.047,1815,902,3408
$GC,11991,-0.95,-117.3,910.3,-6.3,313,11996,0.00,2.28,0.00,0.000,6,0.000,0.040,1810,2301,3408
$GC,12302,-0.97,-117.3,930.0,-6.3,318,12304,0.08,0.00,0.00,0.000,6,0.091,0.000,1765,2301,3408
$GC,12606,-0.91,-117.3,954.9,-8.3,323,12608,0.12,0.00,0.00,0.000,6,0.125,0.000,1801,2301,3408
$GC,12908,-0.91,-117.3,973.9,-6.2,328,12912,0.00,2.30,0.00,0.000,4,0.000,0.048,1801,902,3408
$GC,12936,-0.91,-117.3,975.7,-6.8,328,12940,0.00,2.28,0.00,0.000,6,0.000,0.043,1795,2302,3408
$STATE,13209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13210,begin apogee
$GC,13219,-0.22,0.0,993.2,6.4,333,13321,0.50,0.00,99.15,1.282,6,0.111,0.000,1955,2302,2930
$STATE,13322,end apogee,CONTROL_FINISHED_OK
$STATE,13322,begin climb
$GC,13326,0.68,117.3,994.5,0.0,334,13438,0.55,2.58,104.57,1.252,4,0.067,0.058,2151,3705,2451
$GC,13461,0.55,117.3,992.8,6.7,337,13466,0.17,2.40,0.00,0.000,6,0.160,0.040,2121,2308,2448
$GC,13828,0.49,117.3,970.8,6.1,343,13832,0.00,2.33,0.00,0.000,4,0.000,0.051,2130,892,2441
$GC,13857,0.44,117.3,968.8,6.1,343,13862,0.12,2.28,0.00,0.000,6,0.142,0.041,2098,2305,2441
$GC,14190,0.45,126.5,951.4,5.2,349,14204,0.00,2.35,7.40,1.000,4,0.000,0.057,2098,3715,2414
$GC,14259,0.41,126.5,947.5,6.3,350,14263,0.00,2.25,0.00,0.000,6,0.000,0.037,2106,2298,2413
$GC,14632,0.41,146.3,928.9,4.8,356,14652,0.00,0.00,18.73,1.160,6,0.000,0.000,2107,2298,2334
$GC,14935,0.45,175.7,915.0,4.5,361,14969,0.00,2.40,26.90,1.178,4,0.000,0.056,2106,3711,2214
$GC,15011,0.43,179.6,911.0,5.4,362,15021,0.10,2.25,4.72,0.806,6,0.152,0.036,2093,2306,2199
$GC,15372,0.54,237.3,897.7,3.5,368,15434,0.10,2.40,52.67,1.193,4,0.071,0.052,2156,898,1962
$GC,15447,0.51,237.3,893.2,6.6,369,15452,0.17,2.30,0.00,0.000,6,0.130,0.041,2110,2303,1959
$GC,15803,0.58,254.4,875.8,4.9,375,15832,0.00,2.35,17.12,0.986,4,0.000,0.054,2110,3711,1893
$GC,15870,0.61,254.4,872.0,6.3,376,15874,0.00,2.22,0.00,0.000,6,0.000,0.033,2117,2301,1892
$GC,16242,0.65,254.4,849.2,6.2,382,16244,0.08,0.00,0.00,0.000,6,0.082,0.000,2163,2301,1889
$GC,16545,0.57,254.4,820.6,9.6,387,16550,0.15,2.30,0.00,0.000,4,0.135,0.048,2122,3714,1889
$GC,16575,0.55,254.4,817.9,8.4,387,16579,0.00,2.22,0.00,0.000,6,0.000,0.034,2130,2298,1888
$GC,16907,0.55,254.4,794.0,7.1,393,16908,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2298,1888
$GC,17210,0.55,254.4,775.3,6.1,398,17214,0.00,2.30,0.00,0.000,4,0.000,0.048,2130,3717,1887
$GC,17233,0.55,254.4,773.7,6.7,398,17237,0.00,2.20,0.00,0.000,6,0.000,0.033,2139,2299,1887
$GC,17578,0.55,254.4,753.3,5.8,404,17579,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2300,1886
$GC,17881,0.55,256.4,736.7,5.4,409,17885,0.00,2.30,0.00,0.000,4,0.000,0.049,2140,3718,1886
$GC,17927,0.52,256.4,733.8,6.3,409,17931,0.15,2.22,0.00,0.000,6,0.130,0.038,2108,2302,1886
$GC,18244,0.64,299.1,720.9,4.1,415,18299,0.12,2.38,42.90,1.039,4,0.057,0.051,2190,895,1710
$GC,18329,0.60,299.1,713.8,9.9,416,18334,0.22,2.28,0.00,0.000,6,0.126,0.045,2126,2306,1708
$GC,18674,0.66,299.1,692.5,6.2,422,18678,0.00,2.28,0.00,0.000,4,0.000,0.054,2126,3711,1704
$GC,18709,0.71,299.1,689.7,7.8,422,18713,0.00,2.22,0.00,0.000,6,0.000,0.033,2132,2294,1704
$GC,19036,0.75,299.1,665.6,7.4,428,19041,0.10,2.25,0.00,0.000,4,0.066,0.046,2211,890,1703
$GC,19060,0.72,299.1,663.3,9.6,428,19065,0.20,2.25,0.00,0.000,6,0.139,0.043,2155,2304,1703
$GC,19398,0.72,299.1,633.6,8.5,434,19402,0.00,2.28,0.00,0.000,4,0.000,0.049,2155,3708,1702
$GC,19449,0.70,299.1,628.7,10.5,434,19453,0.00,2.22,0.00,0.000,6,0.000,0.035,2164,2297,1702
$GC,19760,0.67,299.1,601.5,8.8,439,19764,0.00,2.28,0.00,0.000,4,0.000,0.051,2174,889,1702
$GC,19790,0.67,299.1,598.9,8.4,439,19794,0.12,2.25,0.00,0.000,6,0.119,0.043,2141,2309,1701
$GC,20128,0.70,299.1,575.1,6.9,445,20132,0.00,2.28,0.00,0.000,4,0.000,0.049,2142,3714,1701
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$STATE,27770,end climb,SURFACE_DEPTH_REACHED
$STATE,27770,begin surface coast
$FINISH,1.6,1.013778
$STATE,27792,end surface coast,CONTROL_FINISHED_OK
$STATE,27792,begin surface
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$10V_AH,10.3,85.587
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