version: 66.04
glider: 144
mission: 15
dive: 697
start: 1 31 110 8 59 18
data:
$ID,144
$MISSION,15
$DIVE,697
$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,-75794.023
$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
$GPS1,085137,4950.267,-14141.919,34,0.9,34,19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-61.1
$GPS2,085825,4950.294,-14141.913,12,1.2,29,19.0
$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,-85971.6,253.9,24.5,332274.6,551.7
$KALMAN_Y,34085.2,-11.7,46.8,-90941.1,45.0
$MHEAD_RNG_PITCHd_Wd,80.1,220576,-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,20,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-40.55,0.000,2,0.000,0.000,99,2291,2699
$GC,66,-0.68,-117.3,3.8,-6.6,2,97,7.20,2.42,-17.08,0.000,4,0.232,0.063,1840,3707,3413
$GC,135,-0.65,-117.3,12.5,-10.9,5,139,0.00,2.25,0.00,0.000,6,0.000,0.032,1840,2301,3414
$GC,463,-0.60,-117.3,47.6,-10.8,21,468,0.12,2.30,0.00,0.000,4,0.124,0.041,1881,897,3415
$GC,537,-0.66,-117.3,54.4,-8.5,24,541,0.00,2.22,0.00,0.000,6,0.000,0.036,1876,2300,3415
$GC,855,-0.69,-117.3,80.7,-7.9,39,861,0.10,0.00,0.00,0.000,6,0.063,0.000,1801,2301,3415
$GC,1185,-0.61,-117.3,119.4,-10.7,70,1190,0.20,2.28,0.00,0.000,4,0.120,0.040,1867,894,3415
$GC,1232,-0.68,-117.3,123.5,-6.9,73,1239,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2315,3416
$GC,1565,-0.74,-117.3,143.2,-6.2,104,1570,0.08,2.28,0.00,0.000,4,0.077,0.048,1774,3711,3415
$GC,1584,-0.74,-117.3,145.0,-6.9,105,1589,0.22,2.22,0.00,0.000,6,0.119,0.030,1841,2291,3415
$GC,1922,-0.77,-117.3,171.7,-7.6,119,1925,0.00,2.25,0.00,0.000,4,0.000,0.041,1841,889,3416
$GC,1973,-0.81,-117.3,175.9,-8.2,120,1977,0.00,2.25,0.00,0.000,6,0.000,0.036,1837,2313,3415
$GC,2293,-0.81,-117.3,199.7,-7.2,131,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2313,3415
$GC,2599,-0.83,-117.3,223.0,-7.7,141,2603,0.00,2.30,0.00,0.000,4,0.000,0.041,1836,898,3416
$GC,2656,-0.87,-117.3,227.4,-7.5,142,2661,0.10,2.25,0.00,0.000,6,0.064,0.041,1766,2302,3415
$GC,2971,-0.76,-117.3,260.2,-10.6,152,2976,0.20,2.30,0.00,0.000,4,0.121,0.044,1833,898,3415
$GC,3036,-0.79,-117.3,265.4,-7.5,154,3040,0.00,2.25,0.00,0.000,6,0.000,0.038,1826,2304,3416
$GC,3373,-0.79,-117.3,287.9,-6.8,165,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2304,3415
$GC,3677,-0.79,-117.3,310.1,-7.3,173,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2304,3415
$GC,3981,-0.79,-117.3,332.6,-7.5,178,3985,0.00,2.28,0.00,0.000,4,0.000,0.049,1826,900,3414
$GC,4038,-0.82,-117.3,337.1,-8.0,178,4044,0.00,2.25,0.00,0.000,6,0.000,0.039,1818,2303,3415
$GC,4348,-0.82,-117.3,360.5,-7.5,184,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2303,3414
$GC,4651,-0.82,-117.3,380.5,-6.5,189,4655,0.00,2.33,0.00,0.000,4,0.000,0.044,1818,901,3414
$GC,4698,-0.82,-117.3,383.6,-6.6,189,4702,0.00,2.25,0.00,0.000,6,0.000,0.038,1809,2303,3414
$GC,5014,-0.82,-117.3,405.3,-7.0,195,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3415
$GC,5317,-0.82,-117.3,429.0,-7.8,200,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3414
$GC,5620,-0.82,-117.3,450.3,-6.9,205,5624,0.00,2.35,0.00,0.000,4,0.000,0.045,1810,895,3413
$GC,5671,-0.82,-117.3,454.1,-7.2,205,5676,0.10,2.30,0.00,0.000,6,0.127,0.039,1827,2309,3414
$GC,5982,-0.85,-117.3,472.5,-5.8,210,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2309,3413
$GC,6285,-0.88,-117.3,491.5,-6.3,215,6289,0.00,2.33,0.00,0.000,4,0.000,0.044,1827,902,3412
$GC,6327,-0.92,-117.3,494.4,-7.2,215,6331,0.10,2.28,0.00,0.000,6,0.064,0.045,1756,2307,3413
$GC,6649,-0.82,-117.3,527.6,-10.6,221,6651,0.22,0.00,0.00,0.000,6,0.120,0.000,1825,2308,3413
$GC,6952,-0.85,-117.3,547.6,-6.4,226,6956,0.00,2.33,0.00,0.000,4,0.000,0.045,1825,897,3413
$GC,6993,-0.89,-117.3,550.3,-6.4,226,6997,0.00,2.30,0.00,0.000,6,0.000,0.042,1822,2309,3413
$GC,7316,-0.92,-117.3,569.2,-5.8,232,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2309,3412
$GC,7618,-0.94,-117.3,586.9,-5.9,237,7622,0.10,2.33,0.00,0.000,4,0.064,0.050,1754,895,3413
$GC,7646,-0.87,-117.3,589.4,-9.5,237,7651,0.22,2.30,0.00,0.000,6,0.124,0.039,1809,2310,3413
$GC,7985,-0.87,-117.3,614.0,-7.2,243,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2310,3412
$GC,8288,-0.87,-117.3,636.5,-7.4,248,8292,0.00,2.33,0.00,0.000,4,0.000,0.044,1810,891,3412
$GC,8333,-0.87,-117.3,640.1,-7.9,248,8337,0.00,2.30,0.00,0.000,6,0.000,0.045,1808,2305,3412
$GC,8649,-0.87,-117.3,662.6,-7.1,254,8653,0.00,2.30,0.00,0.000,4,0.000,0.050,1798,3707,3412
$GC,8684,-0.87,-117.3,665.2,-7.4,254,8688,0.00,2.22,0.00,0.000,6,0.000,0.036,1798,2298,3411
$GC,9011,-0.87,-117.3,687.7,-6.8,260,9015,0.00,2.25,0.00,0.000,4,0.000,0.044,1798,897,3411
$GC,9075,-0.87,-117.3,692.1,-6.9,261,9079,0.00,2.28,0.00,0.000,6,0.000,0.044,1794,2304,3411
$GC,9442,-0.87,-117.3,716.1,-6.5,267,9446,0.00,2.33,0.00,0.000,4,0.000,0.044,1794,888,3411
$GC,9471,-0.87,-117.3,718.1,-7.2,267,9476,0.10,2.30,0.00,0.000,6,0.129,0.045,1812,2310,3411
$GC,9809,-0.90,-117.3,738.5,-6.1,273,9813,0.00,2.33,0.00,0.000,4,0.000,0.051,1812,888,3411
$GC,9844,-0.93,-117.3,740.8,-6.1,273,9848,0.00,2.30,0.00,0.000,6,0.000,0.041,1809,2311,3411
$GC,10177,-0.93,-117.3,762.0,-6.4,279,10181,0.00,2.33,0.00,0.000,4,0.000,0.046,1809,889,3411
$GC,10211,-0.93,-117.3,764.5,-6.7,279,10216,0.00,2.30,0.00,0.000,6,0.000,0.043,1808,2311,3411
$GC,10544,-0.93,-117.3,786.4,-6.6,285,10548,0.00,2.33,0.00,0.000,4,0.000,0.048,1808,897,3411
$GC,10580,-0.93,-117.3,788.8,-6.3,285,10584,0.00,2.30,0.00,0.000,6,0.000,0.039,1798,2313,3411
$GC,10913,-0.93,-117.3,811.6,-6.8,291,10914,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2313,3410
$GC,11216,-0.93,-117.3,831.5,-6.6,296,11220,0.00,2.33,0.00,0.000,4,0.000,0.051,1798,889,3410
$GC,11278,-0.93,-117.3,835.9,-6.6,296,11284,0.00,2.30,0.00,0.000,6,0.000,0.045,1794,2305,3410
$GC,11589,-0.93,-117.3,856.2,-6.5,302,11591,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3410
$GC,11892,-0.93,-117.3,876.0,-6.5,307,11896,0.00,2.30,0.00,0.000,4,0.000,0.047,1795,899,3410
$GC,11931,-0.93,-117.3,878.9,-7.3,307,11935,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2307,3410
$GC,12260,-0.93,-117.3,901.1,-6.9,313,12261,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2307,3410
$GC,12563,-0.93,-117.3,923.1,-7.3,318,12567,0.00,2.35,0.00,0.000,4,0.000,0.050,1794,899,3410
$GC,12591,-0.93,-117.3,925.4,-8.8,318,12595,0.00,2.33,0.00,0.000,6,0.000,0.041,1792,2313,3410
$GC,12924,-0.93,-117.3,949.4,-7.1,324,12925,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2313,3410
$GC,13227,-0.93,-117.3,969.2,-6.5,329,13231,0.00,2.38,0.00,0.000,4,0.000,0.053,1792,892,3410
$GC,13274,-0.93,-117.3,972.4,-7.2,329,13278,0.00,2.33,0.00,0.000,6,0.000,0.041,1782,2311,3410
$STATE,13586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13586,begin apogee
$GC,13595,-0.22,0.0,992.7,6.4,335,13697,0.52,0.00,99.30,1.279,6,0.109,0.000,1951,2310,2931
$STATE,13698,end apogee,CONTROL_FINISHED_OK
$STATE,13698,begin climb
$GC,13702,0.68,117.3,993.9,0.0,336,13813,0.60,2.55,104.50,1.250,4,0.069,0.051,2157,3701,2451
$GC,13855,0.48,117.3,988.8,8.4,339,13860,0.25,2.38,0.00,0.000,6,0.158,0.034,2106,2305,2447
$GC,14199,0.46,121.7,969.9,5.4,345,14201,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2304,2441
$GC,14502,0.46,145.9,955.5,4.7,350,14532,0.00,2.35,24.10,1.191,4,0.000,0.055,2107,3712,2335
$GC,14558,0.43,156.2,952.8,5.2,350,14573,0.00,2.28,10.55,1.073,6,0.000,0.038,2115,2298,2294
$GC,14942,0.44,179.4,934.2,4.7,357,14970,0.00,2.40,21.45,1.169,4,0.000,0.053,2115,3712,2197
$GC,15009,0.39,179.4,930.8,5.9,358,15014,0.17,2.25,0.00,0.000,6,0.149,0.036,2079,2304,2195
$GC,15376,0.57,210.0,915.2,4.5,364,15416,0.15,2.33,29.58,1.113,4,0.065,0.048,2148,896,2075
$GC,15541,0.55,210.0,904.8,6.4,366,15545,0.12,2.30,0.00,0.000,6,0.131,0.044,2116,2315,2071
$GC,15873,0.57,210.0,886.3,5.6,372,15877,0.00,2.28,0.00,0.000,4,0.000,0.057,2116,3714,2070
$GC,15919,0.57,210.0,883.1,7.3,372,15923,0.00,2.25,0.00,0.000,6,0.000,0.033,2124,2292,2068
$GC,16235,0.57,210.0,862.7,6.5,378,16240,0.00,2.35,0.00,0.000,4,0.000,0.053,2124,3718,2068
$GC,16276,0.53,210.0,859.5,8.2,378,16280,0.00,2.25,0.00,0.000,6,0.000,0.039,2134,2306,2068
$GC,16597,0.51,210.0,836.6,7.1,384,16602,0.10,2.33,0.00,0.000,4,0.154,0.049,2109,3721,2067
$GC,16627,0.51,210.0,834.3,7.2,384,16631,0.00,2.25,0.00,0.000,6,0.000,0.032,2117,2293,2068
$GC,16959,0.51,210.0,814.4,6.0,390,16961,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2293,2067
$GC,17263,0.51,210.0,797.1,5.8,395,17267,0.00,2.35,0.00,0.000,4,0.000,0.051,2118,3717,2067
$GC,17297,0.51,210.0,794.5,7.1,395,17301,0.00,2.25,0.00,0.000,6,0.000,0.032,2128,2291,2066
$GC,17625,0.51,210.0,773.1,6.6,401,17626,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2291,2066
$GC,17927,0.51,210.0,753.2,6.5,406,17928,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2291,2066
$GC,18231,0.51,210.0,734.4,6.2,411,18235,0.00,2.35,0.00,0.000,4,0.000,0.054,2128,3717,2066
$GC,18288,0.47,210.0,730.1,7.1,411,18294,0.15,2.22,0.00,0.000,6,0.137,0.032,2097,2301,2066
$GC,18599,0.59,213.0,713.8,5.4,417,18604,0.12,2.28,0.00,0.000,4,0.062,0.044,2167,895,2065
$GC,18701,0.54,213.0,706.7,7.9,418,18706,0.20,2.25,0.00,0.000,6,0.131,0.041,2112,2306,2065
$GC,19029,0.60,232.1,690.6,4.9,424,19054,0.00,2.33,19.52,1.023,4,0.000,0.050,2112,3715,1984
$GC,19107,0.62,232.1,686.2,5.7,425,19111,0.00,2.22,0.00,0.000,6,0.000,0.032,2119,2298,1982
$GC,19469,0.67,248.4,668.2,4.9,431,19487,0.10,0.00,15.65,0.987,6,0.067,0.000,2189,2299,1918
$GC,19773,0.55,248.4,639.6,9.8,436,19777,0.22,2.33,0.00,0.000,4,0.137,0.048,2122,3715,1914
$GC,19818,0.55,248.4,635.5,8.3,436,19822,0.00,2.22,0.00,0.000,6,0.000,0.032,2130,2298,1914
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$STATE,28967,begin surface coast
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$STATE,28990,begin surface
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