version: 66.04
glider: 144
mission: 15
dive: 723
start: 2 9 110 5 7 4
data:
$ID,144
$MISSION,15
$DIVE,723
$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,-76409.406
$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,33
$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
$GPS1,045837,4936.034,-13917.856,27,1.5,27,19.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-58.6
$GPS2,050611,4936.148,-13917.929,11,1.2,62,19.3
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.156,-0.062
$KALMAN_X,-68213.4,-28.9,-268.3,485263.2,1169.5
$KALMAN_Y,44309.3,-182.4,75.1,-127235.4,1625.8
$MHEAD_RNG_PITCHd_Wd,92.3,45731,-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,-40.28,0.000,2,0.000,0.000,99,2295,2665
$GC,66,-0.68,-117.3,3.8,-6.4,2,97,7.15,2.35,-17.88,0.000,4,0.229,0.069,1839,3704,3412
$GC,214,-0.64,-117.3,21.2,-11.8,8,219,0.10,2.20,0.00,0.000,6,0.130,0.029,1864,2294,3413
$GC,536,-0.64,-117.3,52.3,-9.8,24,540,0.00,2.22,0.00,0.000,4,0.000,0.041,1864,900,3413
$GC,606,-0.67,-117.3,58.9,-8.9,27,610,0.00,2.20,0.00,0.000,6,0.000,0.037,1863,2300,3413
$GC,933,-0.67,-117.3,90.2,-9.3,47,939,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2300,3413
$GC,1260,-0.70,-117.3,116.4,-7.8,78,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2300,3413
$GC,1580,-0.74,-117.3,138.9,-7.1,108,1586,0.10,0.00,0.00,0.000,6,0.064,0.000,1780,2300,3413
$GC,1899,-0.64,-117.3,173.9,-10.8,125,1901,0.28,0.00,0.00,0.000,6,0.119,0.000,1864,2300,3414
$GC,2206,-0.72,-117.3,192.9,-5.8,135,2210,0.00,2.28,0.00,0.000,4,0.000,0.041,1865,898,3414
$GC,2242,-0.81,-117.3,195.2,-6.0,136,2247,0.12,2.25,0.00,0.000,6,0.058,0.036,1780,2311,3414
$GC,2584,-0.72,-117.3,228.9,-9.8,147,2586,0.22,0.00,0.00,0.000,6,0.121,0.000,1847,2311,3414
$GC,2891,-0.77,-117.3,247.1,-5.9,157,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2311,3414
$GC,3196,-0.82,-117.3,265.7,-6.2,167,3198,0.10,0.00,0.00,0.000,6,0.064,0.000,1766,2311,3414
$GC,3503,-0.72,-117.3,298.2,-10.7,177,3507,0.22,2.33,0.00,0.000,4,0.120,0.041,1840,902,3413
$GC,3577,-0.76,-117.3,304.0,-6.6,179,3581,0.00,2.28,0.00,0.000,6,0.000,0.043,1837,2309,3413
$GC,3938,-0.79,-117.3,327.2,-6.4,185,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2309,3413
$GC,4241,-0.83,-117.3,348.3,-7.0,190,4245,0.00,2.30,0.00,0.000,4,0.000,0.047,1836,898,3413
$GC,4282,-0.87,-117.3,351.2,-7.1,190,4287,0.10,2.28,0.00,0.000,6,0.066,0.039,1763,2309,3413
$GC,4604,-0.77,-117.3,386.8,-11.5,196,4609,0.20,2.33,0.00,0.000,4,0.122,0.046,1829,897,3412
$GC,4650,-0.81,-117.3,391.3,-8.1,196,4654,0.00,2.28,0.00,0.000,6,0.000,0.040,1823,2313,3412
$GC,4967,-0.81,-117.3,416.2,-8.0,202,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2313,3412
$GC,5269,-0.81,-117.3,440.5,-8.0,207,5273,0.00,2.30,0.00,0.000,4,0.000,0.049,1823,903,3412
$GC,5298,-0.83,-117.3,443.1,-9.0,207,5302,0.00,2.22,0.00,0.000,6,0.000,0.042,1814,2305,3412
$GC,5636,-0.83,-117.3,470.9,-8.1,213,5640,0.00,2.30,0.00,0.000,4,0.000,0.048,1814,893,3412
$GC,5665,-0.83,-117.3,473.4,-9.4,213,5669,0.00,2.28,0.00,0.000,6,0.000,0.041,1807,2306,3412
$GC,6003,-0.83,-117.3,500.6,-8.1,219,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3411
$GC,6306,-0.83,-117.3,525.0,-8.0,224,6310,0.00,2.25,0.00,0.000,4,0.000,0.044,1808,899,3411
$GC,6357,-0.83,-117.3,529.4,-8.9,224,6361,0.00,2.28,0.00,0.000,6,0.000,0.039,1798,2311,3411
$GC,6680,-0.80,-117.3,557.2,-8.7,230,6682,0.10,0.00,0.00,0.000,6,0.136,0.000,1826,2311,3411
$GC,6982,-0.84,-117.3,579.1,-7.3,235,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2311,3411
$GC,7285,-0.87,-117.3,600.3,-6.9,240,7289,0.00,2.30,0.00,0.000,4,0.000,0.049,1826,893,3410
$GC,7325,-0.92,-117.3,603.2,-7.5,240,7330,0.08,2.30,0.00,0.000,6,0.081,0.044,1764,2313,3410
$GC,7648,-0.83,-117.3,632.9,-9.5,246,7650,0.20,0.00,0.00,0.000,6,0.120,0.000,1824,2312,3410
$GC,7951,-0.87,-117.3,650.6,-5.7,251,7952,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2313,3410
$GC,8254,-0.91,-117.3,667.2,-5.4,256,8259,0.10,2.28,0.00,0.000,4,0.069,0.047,1754,900,3410
$GC,8300,-0.81,-117.3,671.3,-10.4,256,8305,0.28,2.28,0.00,0.000,6,0.123,0.044,1824,2306,3410
$GC,8628,-0.85,-117.3,691.7,-6.2,262,8632,0.00,2.30,0.00,0.000,4,0.000,0.045,1824,895,3410
$GC,8657,-0.90,-117.3,693.8,-7.8,262,8661,0.00,2.25,0.00,0.000,6,0.000,0.042,1823,2300,3410
$GC,8996,-0.93,-117.3,717.6,-7.1,268,8998,0.10,0.00,0.00,0.000,6,0.066,0.000,1754,2300,3410
$GC,9299,-0.84,-117.3,749.0,-10.5,273,9303,0.20,2.33,0.00,0.000,4,0.122,0.048,1818,896,3409
$GC,9357,-0.88,-117.3,753.6,-7.2,273,9361,0.00,2.30,0.00,0.000,6,0.000,0.041,1810,2314,3409
$GC,9668,-0.88,-117.3,775.2,-6.8,278,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2315,3409
$GC,9972,-0.90,-117.3,794.9,-6.5,283,9976,0.00,2.30,0.00,0.000,4,0.000,0.051,1811,904,3408
$GC,10011,-0.90,-117.3,797.8,-7.6,283,10015,0.00,2.30,0.00,0.000,6,0.000,0.043,1808,2311,3409
$GC,10339,-0.90,-117.3,818.6,-6.4,289,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2311,3409
$GC,10642,-0.92,-117.3,838.0,-6.4,294,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2312,3409
$GC,10946,-0.92,-117.3,857.3,-6.3,299,10950,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,903,3409
$GC,10997,-0.94,-117.3,860.8,-7.3,299,11001,0.00,2.30,0.00,0.000,6,0.000,0.040,1806,2310,3408
$GC,11308,-0.94,-117.3,880.0,-6.1,304,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2311,3408
$GC,11611,-0.94,-117.3,899.6,-6.5,309,11615,0.00,2.33,0.00,0.000,4,0.000,0.053,1806,907,3408
$GC,11669,-0.94,-117.3,903.8,-7.4,309,11673,0.00,2.30,0.00,0.000,6,0.000,0.044,1797,2313,3408
$GC,11980,-0.94,-117.3,926.8,-7.5,314,11984,0.00,2.35,0.00,0.000,4,0.000,0.048,1797,896,3408
$GC,12016,-0.94,-117.3,929.6,-7.9,314,12020,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2303,3408
$GC,12343,-0.94,-117.3,955.7,-7.9,320,12347,0.00,2.33,0.00,0.000,4,0.000,0.051,1794,893,3408
$GC,12383,-0.94,-117.3,959.0,-7.6,320,12388,0.00,2.30,0.00,0.000,6,0.000,0.041,1785,2307,3408
$GC,12706,-0.91,-117.3,984.1,-7.7,326,12707,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2308,3408
$STATE,12822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12823,begin apogee
$GC,12831,-0.22,0.0,993.0,7.4,328,12933,0.52,0.00,98.78,1.282,6,0.115,0.000,1950,2307,2931
$STATE,12934,end apogee,CONTROL_FINISHED_OK
$STATE,12934,begin climb
$GC,12939,0.68,117.3,994.6,0.0,329,13050,0.57,2.53,104.03,1.255,4,0.074,0.054,2152,3707,2451
$GC,13097,0.49,117.3,991.2,8.0,331,13102,0.22,2.35,0.00,0.000,6,0.156,0.035,2107,2311,2447
$GC,13431,0.48,126.1,973.6,5.2,337,13446,0.00,2.38,7.50,1.006,4,0.000,0.051,2116,889,2416
$GC,13465,0.50,142.0,971.7,5.0,337,13485,0.00,2.30,15.32,1.143,6,0.000,0.044,2116,2315,2352
$GC,13796,0.47,142.0,951.9,6.0,343,13800,0.00,2.30,0.00,0.000,4,0.000,0.052,2116,3716,2347
$GC,13855,0.39,142.0,947.6,8.0,343,13861,0.17,2.25,0.00,0.000,6,0.154,0.035,2081,2299,2346
$GC,14166,0.47,150.6,931.4,5.2,349,14181,0.08,2.35,8.25,1.032,4,0.087,0.054,2122,3707,2316
$GC,14227,0.38,150.6,927.2,6.5,349,14234,0.20,2.25,0.00,0.000,6,0.152,0.041,2080,2295,2315
$GC,14539,0.48,166.2,911.6,5.0,355,14560,0.10,2.38,15.07,1.132,4,0.077,0.054,2131,3712,2252
$GC,14614,0.37,166.2,906.6,7.1,356,14619,0.22,2.28,0.00,0.000,6,0.150,0.033,2083,2302,2250
$GC,14971,0.50,174.7,888.6,5.2,362,14985,0.10,2.35,8.65,1.021,4,0.077,0.054,2134,3705,2217
$GC,15086,0.40,174.7,880.6,7.0,363,15091,0.22,2.22,0.00,0.000,6,0.146,0.033,2083,2303,2216
$GC,15408,0.54,190.0,864.6,5.0,369,15437,0.12,2.40,16.50,0.989,4,0.067,0.051,2149,885,2156
$GC,15556,0.50,190.0,855.1,5.7,371,15561,0.17,2.33,0.00,0.000,6,0.136,0.044,2102,2312,2154
$GC,15907,0.56,215.5,838.7,4.6,377,15936,0.00,2.35,23.70,1.134,4,0.000,0.053,2102,3713,2052
$GC,15974,0.59,215.5,834.9,6.2,378,15978,0.00,2.25,0.00,0.000,6,0.000,0.033,2110,2302,2050
$GC,16341,0.63,216.9,814.7,5.4,384,16346,0.10,2.30,0.00,0.000,4,0.070,0.047,2176,889,2048
$GC,16365,0.61,216.9,813.1,6.5,384,16370,0.17,2.28,0.00,0.000,6,0.139,0.039,2129,2306,2048
$GC,16703,0.61,216.9,790.1,6.8,390,16707,0.00,2.30,0.00,0.000,4,0.000,0.051,2129,3708,2047
$GC,16772,0.56,216.9,784.6,8.6,391,16776,0.00,2.28,0.00,0.000,6,0.000,0.033,2138,2295,2046
$GC,17134,0.53,216.9,756.6,7.9,397,17138,0.10,2.38,0.00,0.000,4,0.149,0.051,2112,3713,2046
$GC,17179,0.53,216.9,752.8,6.7,397,17183,0.00,2.22,0.00,0.000,6,0.000,0.032,2120,2304,2046
$GC,17506,0.53,216.9,731.1,6.6,403,17510,0.00,2.30,0.00,0.000,4,0.000,0.048,2120,3711,2045
$GC,17536,0.53,216.9,729.1,7.4,403,17540,0.00,2.22,0.00,0.000,6,0.000,0.032,2130,2304,2046
$GC,17875,0.53,216.9,707.1,6.4,409,17876,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2303,2045
$GC,18178,0.53,216.9,689.2,5.8,414,18182,0.00,2.30,0.00,0.000,4,0.000,0.048,2130,3708,2045
$GC,18229,0.49,216.9,685.6,6.8,414,18234,0.12,2.22,0.00,0.000,6,0.137,0.032,2107,2303,2045
$GC,18554,0.58,251.4,671.3,4.3,420,18588,0.00,0.00,32.05,1.042,6,0.000,0.000,2107,2303,1906
$GC,18854,0.74,251.7,655.2,5.5,425,18859,0.17,2.30,0.00,0.000,4,0.058,0.044,2191,890,1900
$GC,18968,0.67,251.7,646.7,8.4,426,18973,0.17,2.25,0.00,0.000,6,0.137,0.038,2144,2309,1900
$GC,19290,0.67,251.7,625.4,6.6,432,19294,0.00,2.25,0.00,0.000,4,0.000,0.049,2144,3707,1899
$GC,19353,0.63,251.7,620.3,9.1,432,19359,0.00,2.22,0.00,0.000,6,0.000,0.032,2152,2291,1899
$GC,19664,0.60,251.7,595.3,8.1,438,19669,0.10,2.30,0.00,0.000,4,0.144,0.052,2126,3712,1898
$GC,19699,0.60,251.7,592.4,7.7,438,19704,0.00,2.22,0.00,0.000,6,0.000,0.040,2134,2306,1898
$GC,20027,0.60,251.7,568.6,7.3,444,20028,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2306,1898
$GC,20330,0.60,251.7,546.6,7.2,449,20334,0.00,2.30,0.00,0.000,4,0.000,0.054,2134,3705,1898
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$STATE,28307,end surface coast,CONTROL_FINISHED_OK
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