version: 66.04
glider: 144
mission: 15
dive: 735
start: 2 13 110 6 46 50
data:
$ID,144
$MISSION,15
$DIVE,735
$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,-76639.641
$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
$GPS1,063506,4930.851,-13815.002,39,1.4,45,19.3
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-52.8
$GPS2,064557,4930.998,-13815.017,11,2.2,30,19.3
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P16
$TGT_LATLONG,4917.000,-13440.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.141,-0.091
$KALMAN_X,-64374.0,228.2,93.6,555137.8,216.2
$KALMAN_Y,53072.2,-440.1,-24.5,-145182.7,2739.1
$MHEAD_RNG_PITCHd_Wd,103.6,261050,-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,16,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.62,0.000,2,0.000,0.000,97,2297,2765
$GC,63,-0.68,-117.3,3.8,-7.0,2,86,7.15,0.00,-13.35,0.000,6,0.228,0.000,1848,2297,3412
$GC,397,-0.64,-117.3,52.4,-10.6,18,401,0.00,2.28,0.00,0.000,4,0.000,0.041,1848,888,3414
$GC,431,-0.64,-117.3,55.8,-9.3,19,437,0.00,2.25,0.00,0.000,6,0.000,0.038,1847,2306,3414
$GC,752,-0.61,-117.3,87.3,-11.1,38,757,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2306,3414
$GC,1078,-0.61,-117.3,118.2,-8.6,69,1082,0.00,2.25,0.00,0.000,4,0.000,0.041,1847,892,3414
$GC,1115,-0.63,-117.3,121.4,-8.5,72,1120,0.10,2.25,0.00,0.000,6,0.124,0.036,1862,2313,3414
$GC,1442,-0.69,-117.3,143.4,-6.6,102,1445,0.00,2.25,0.00,0.000,4,0.000,0.048,1855,3714,3414
$GC,1489,-0.76,-117.3,146.5,-7.2,106,1493,0.00,2.20,0.00,0.000,6,0.000,0.029,1855,2285,3414
$GC,1827,-0.81,-117.3,167.4,-5.9,120,1832,0.12,2.22,0.00,0.000,4,0.058,0.039,1763,894,3414
$GC,1850,-0.77,-117.3,169.6,-8.3,120,1858,0.28,2.25,0.00,0.000,6,0.122,0.041,1833,2305,3414
$GC,2165,-0.77,-117.3,192.6,-7.2,131,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2305,3414
$GC,2472,-0.77,-117.3,215.6,-7.7,141,2476,0.00,2.25,0.00,0.000,4,0.000,0.041,1833,893,3414
$GC,2512,-0.80,-117.3,219.1,-8.0,142,2516,0.00,2.25,0.00,0.000,6,0.000,0.036,1826,2315,3414
$GC,2849,-0.80,-117.3,246.6,-8.4,153,2853,0.00,2.25,0.00,0.000,4,0.000,0.041,1826,900,3414
$GC,2908,-0.80,-117.3,251.6,-8.8,154,2914,0.00,2.22,0.00,0.000,6,0.000,0.038,1821,2304,3414
$GC,3222,-0.80,-117.3,279.4,-8.9,165,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3414
$GC,3527,-0.80,-117.3,306.2,-8.8,174,3531,0.00,2.28,0.00,0.000,4,0.000,0.050,1821,897,3414
$GC,3591,-0.80,-117.3,311.8,-9.0,175,3595,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2308,3413
$GC,3959,-0.80,-117.3,344.7,-9.1,181,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2308,3413
$GC,4261,-0.80,-117.3,371.4,-8.7,186,4265,0.00,2.30,0.00,0.000,4,0.000,0.050,1812,898,3413
$GC,4306,-0.80,-117.3,375.5,-8.9,186,4311,0.10,2.28,0.00,0.000,6,0.126,0.039,1830,2308,3413
$GC,4623,-0.83,-117.3,396.2,-6.4,192,4627,0.00,2.30,0.00,0.000,4,0.000,0.042,1830,892,3413
$GC,4658,-0.86,-117.3,398.7,-6.6,192,4662,0.00,2.30,0.00,0.000,6,0.000,0.041,1823,2309,3413
$GC,4986,-0.86,-117.3,419.5,-6.4,198,4990,0.00,2.30,0.00,0.000,4,0.000,0.043,1823,898,3412
$GC,5014,-0.86,-117.3,421.4,-6.8,198,5018,0.00,2.28,0.00,0.000,6,0.000,0.045,1821,2310,3412
$GC,5347,-0.86,-117.3,444.4,-7.0,204,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2311,3412
$GC,5650,-0.86,-117.3,465.4,-6.9,209,5654,0.00,2.33,0.00,0.000,4,0.000,0.050,1821,896,3412
$GC,5686,-0.86,-117.3,467.9,-7.0,209,5690,0.00,2.28,0.00,0.000,6,0.000,0.045,1812,2303,3411
$GC,6013,-0.86,-117.3,490.5,-6.8,215,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2303,3411
$GC,6317,-0.86,-117.3,512.0,-7.1,220,6321,0.00,2.28,0.00,0.000,4,0.000,0.044,1811,901,3411
$GC,6368,-0.86,-117.3,516.0,-7.7,220,6372,0.00,2.28,0.00,0.000,6,0.000,0.045,1807,2305,3411
$GC,6678,-0.86,-117.3,539.4,-7.5,225,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2305,3411
$GC,6981,-0.86,-117.3,563.0,-7.8,230,6985,0.00,2.30,0.00,0.000,4,0.000,0.044,1807,892,3410
$GC,7045,-0.86,-117.3,568.5,-8.7,230,7052,0.00,2.28,0.00,0.000,6,0.000,0.041,1798,2304,3411
$GC,7357,-0.84,-117.3,595.7,-8.8,236,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2304,3410
$GC,7660,-0.82,-117.3,621.4,-8.4,241,7665,0.10,2.28,0.00,0.000,4,0.133,0.050,1826,903,3410
$GC,7701,-0.86,-117.3,624.6,-7.0,241,7705,0.00,2.28,0.00,0.000,6,0.000,0.044,1823,2308,3410
$GC,8024,-0.90,-117.3,647.5,-7.1,247,8028,0.00,2.30,0.00,0.000,4,0.000,0.044,1823,894,3410
$GC,8059,-0.93,-117.3,650.1,-8.0,247,8063,0.10,2.30,0.00,0.000,6,0.067,0.044,1755,2308,3410
$GC,8386,-0.83,-117.3,683.7,-10.4,253,8388,0.22,0.00,0.00,0.000,6,0.119,0.000,1824,2308,3410
$GC,8690,-0.88,-117.3,703.1,-6.2,258,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2308,3409
$GC,8992,-0.92,-117.3,721.4,-6.0,263,8997,0.10,2.30,0.00,0.000,4,0.067,0.044,1754,901,3409
$GC,9051,-0.82,-117.3,726.8,-10.2,263,9056,0.28,2.28,0.00,0.000,6,0.117,0.044,1825,2309,3410
$GC,9363,-0.87,-117.3,745.9,-5.9,268,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2310,3409
$GC,9665,-0.92,-117.3,763.6,-5.8,273,9669,0.10,2.30,0.00,0.000,4,0.067,0.049,1764,899,3409
$GC,9699,-0.85,-117.3,766.4,-9.0,273,9704,0.22,2.30,0.00,0.000,6,0.120,0.039,1821,2309,3409
$GC,10032,-0.89,-117.3,787.0,-6.1,279,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2309,3409
$GC,10336,-0.93,-117.3,806.2,-6.3,284,10338,0.10,0.00,0.00,0.000,6,0.069,0.000,1757,2310,3408
$GC,10638,-0.84,-117.3,834.5,-9.4,289,10643,0.17,2.33,0.00,0.000,4,0.121,0.046,1816,900,3408
$GC,10731,-0.88,-117.3,840.9,-7.6,290,10735,0.00,2.30,0.00,0.000,6,0.000,0.043,1809,2310,3408
$GC,11071,-0.90,-117.3,862.0,-6.2,296,11075,0.00,2.33,0.00,0.000,4,0.000,0.051,1800,3717,3408
$GC,11099,-0.90,-117.3,863.8,-7.0,296,11103,0.00,2.25,0.00,0.000,6,0.000,0.033,1801,2307,3408
$GC,11432,-0.90,-117.3,884.9,-6.4,302,11436,0.00,2.30,0.00,0.000,4,0.000,0.053,1800,898,3408
$GC,11473,-0.90,-117.3,887.8,-7.4,302,11478,0.00,2.30,0.00,0.000,6,0.000,0.043,1794,2312,3408
$GC,11795,-0.90,-117.3,910.4,-7.1,308,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2313,3408
$GC,12100,-0.90,-117.3,932.0,-7.2,313,12101,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2313,3408
$GC,12401,-0.90,-117.3,952.8,-6.8,318,12405,0.00,2.35,0.00,0.000,4,0.000,0.051,1795,896,3408
$GC,12443,-0.90,-117.3,955.9,-6.5,318,12447,0.00,2.33,0.00,0.000,6,0.000,0.041,1793,2310,3408
$GC,12764,-0.90,-117.3,978.3,-6.9,324,12768,0.00,2.35,0.00,0.000,4,0.000,0.049,1793,891,3407
$GC,12798,-0.90,-117.3,980.8,-6.4,324,12802,0.00,2.33,0.00,0.000,6,0.000,0.045,1782,2309,3407
$STATE,12939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12939,begin apogee
$GC,12948,-0.22,0.0,992.0,7.7,327,13049,0.52,0.00,98.53,1.276,6,0.111,0.000,1950,2309,2931
$STATE,13050,end apogee,CONTROL_FINISHED_OK
$STATE,13050,begin climb
$GC,13055,0.68,117.3,994.1,0.0,328,13166,0.57,2.55,103.93,1.252,4,0.071,0.052,2153,3717,2450
$GC,13201,0.49,117.3,993.6,5.6,331,13206,0.22,2.38,0.00,0.000,6,0.154,0.037,2109,2310,2447
$GC,13558,0.51,164.0,979.6,3.9,337,13600,0.00,0.00,40.17,1.227,6,0.000,0.000,2109,2310,2262
$GC,13860,0.53,182.3,965.0,4.9,342,13879,0.00,0.00,16.90,1.157,6,0.000,0.000,2109,2309,2187
$GC,14163,0.54,186.4,948.8,5.4,347,14170,0.00,0.00,4.65,0.816,6,0.000,0.000,2109,2309,2171
$GC,14467,0.54,186.5,931.9,5.5,352,14468,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2310,2168
$GC,14769,0.54,186.5,914.7,5.7,357,14773,0.00,2.30,0.00,0.000,4,0.000,0.050,2109,3711,2168
$GC,14791,0.54,186.5,913.1,6.9,357,14796,0.00,2.22,0.00,0.000,6,0.000,0.033,2118,2293,2167
$GC,15136,0.54,186.5,892.5,5.9,363,15140,0.00,2.33,0.00,0.000,4,0.000,0.051,2117,3717,2167
$GC,15171,0.50,186.5,890.0,7.6,363,15175,0.00,2.22,0.00,0.000,6,0.000,0.040,2128,2307,2167
$GC,15498,0.47,186.5,868.8,6.4,369,15500,0.10,0.00,0.00,0.000,6,0.154,0.000,2103,2307,2167
$GC,15802,0.52,198.3,853.0,5.1,374,15826,0.00,2.35,13.35,0.923,4,0.000,0.050,2103,3709,2122
$GC,15863,0.52,198.3,849.5,6.1,374,15869,0.00,2.25,0.00,0.000,6,0.000,0.036,2111,2288,2121
$GC,16174,0.54,198.3,831.8,5.6,380,16175,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2288,2120
$GC,16477,0.57,199.1,815.1,5.5,385,16478,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2288,2120
$GC,16780,0.60,204.7,798.9,5.3,390,16794,0.00,2.42,7.18,0.937,4,0.000,0.049,2111,3714,2096
$GC,16819,0.60,204.7,796.5,5.9,390,16823,0.00,2.25,0.00,0.000,6,0.000,0.033,2121,2292,2095
$GC,17147,0.60,204.7,777.0,6.1,396,17148,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2292,2094
$GC,17450,0.60,204.7,758.0,6.3,401,17454,0.00,2.33,0.00,0.000,4,0.000,0.051,2120,3710,2094
$GC,17473,0.60,204.7,756.2,6.9,401,17477,0.00,2.22,0.00,0.000,6,0.000,0.032,2131,2297,2093
$GC,17812,0.60,204.7,733.6,6.6,407,17813,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2297,2093
$GC,18114,0.60,204.7,715.0,6.0,412,18115,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2297,2093
$GC,18417,0.60,204.7,698.0,5.5,417,18421,0.00,2.30,0.00,0.000,4,0.000,0.048,2131,3711,2093
$GC,18447,0.56,204.7,696.1,6.6,417,18451,0.00,2.25,0.00,0.000,6,0.000,0.038,2141,2292,2093
$GC,18787,0.52,204.7,676.8,5.7,423,18789,0.12,0.00,0.00,0.000,6,0.140,0.000,2107,2292,2092
$GC,19089,0.62,246.6,664.3,4.1,428,19134,0.10,2.40,38.17,1.044,4,0.064,0.048,2175,3711,1924
$GC,19147,0.52,246.6,659.9,8.7,428,19154,0.28,2.28,0.00,0.000,6,0.140,0.033,2110,2297,1924
$GC,19460,0.61,267.6,644.3,4.8,434,19485,0.08,2.33,19.38,0.990,4,0.076,0.048,2179,883,1838
$GC,19503,0.57,267.6,641.1,7.8,434,19508,0.20,2.30,0.00,0.000,6,0.128,0.039,2123,2312,1837
$GC,19826,0.62,267.6,622.6,5.6,440,19830,0.00,2.28,0.00,0.000,4,0.000,0.055,2123,3718,1834
$GC,19872,0.66,267.6,619.5,6.6,440,19876,0.00,2.25,0.00,0.000,6,0.000,0.038,2130,2296,1833
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$STATE,28683,begin surface coast
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