version: 66.06
glider: 1
mission: 14
dive: 147
start: 10 23 109 17 14 57
data:
$ID,1
$MISSION,14
$DIVE,147
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$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,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,3
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-222458.16
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,3
$R_STBD_OVSHOOT,4
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,250
$VBD_MAXERRORS,5
$CF8_MAXERRORS,20
$AH0_24V,300
$AH0_10V,200
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,83.004257
$FG_AHR_24V,4.6384406
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.036699742
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0072730002
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,48
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,171542,6654.641,-5847.547,22,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,172105,6654.570,-5847.587,26,1.1,26,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.203,-0.116
$KALMAN_X,-15461.5,-485.7,691.4,-1459.7,4335.2
$KALMAN_Y,75173.6,650.9,636.3,-72919.5,4580.1
$MHEAD_RNG_PITCHd_Wd,222.4,377306,-13.0,-7.021
$D_GRID,900
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.99,-146.6,0.0,0.0,0,112,0.00,0.00,-82.50,0.000,6,0.007,0.007,399,1886,3103,0,0,0,0,0,0
$GC,116,-0.99,-146.6,3.1,-1.7,17,142,10.70,3.67,0.00,0.007,4,0.000,0.000,2541,3609,3104,8,0,19,0,0,0
$GC,234,-0.69,-146.6,17.6,-15.9,37,251,0.00,4.03,0.00,0.007,6,0.007,0.000,2539,1827,3104,0,0,23,0,0,0
$GC,321,-0.39,-146.6,29.6,-13.4,46,328,0.32,2.42,0.00,0.007,4,0.007,0.000,2602,329,3102,1,0,12,0,0,0
$GC,581,-0.33,-146.6,58.3,-10.5,68,591,0.93,3.40,0.00,0.007,6,0.000,0.000,2825,2323,3103,3,0,18,0,0,0
$GC,916,-0.38,-146.6,85.6,-6.3,100,931,1.10,3.58,0.00,0.007,4,0.000,0.000,2571,595,3091,1,0,17,0,0,0
$GC,1082,-0.38,-146.6,97.0,-7.4,114,1091,0.35,2.83,0.00,0.007,6,0.000,0.000,2617,2066,3113,1,0,13,0,0,0
$GC,1407,-0.38,-146.6,122.7,-7.6,145,1422,0.00,3.25,0.00,0.007,4,0.007,0.000,2615,273,3103,0,0,15,0,0,0
$GC,1673,-0.38,-146.6,143.8,-7.6,168,1681,0.00,3.30,0.00,0.007,6,0.007,0.000,2619,2354,3091,0,0,17,0,0,0
$GC,1998,-0.38,-146.6,168.3,-7.2,199,2004,0.00,2.90,0.00,0.007,4,0.000,0.000,2615,489,3100,0,0,13,0,0,0
$GC,2257,-0.38,-146.6,186.4,-6.6,221,2266,0.00,3.30,0.00,0.007,6,0.007,0.000,2614,2205,3103,0,0,19,0,0,0
$GC,2591,-0.38,-146.6,209.5,-6.9,253,2606,0.00,3.40,0.00,0.007,4,0.007,0.000,2617,515,3098,0,0,19,0,0,0
$GC,2857,-0.38,-146.6,229.1,-7.7,276,2866,0.00,2.70,0.00,0.007,6,0.007,0.000,2618,2329,3104,0,0,13,0,0,0
$GC,3183,-0.38,-146.6,253.2,-7.0,307,3198,0.00,3.53,0.00,0.000,4,0.007,0.000,2616,457,3103,0,0,16,0,0,0
$GC,3450,-0.38,-146.6,272.0,-6.6,330,3457,0.00,3.10,0.00,0.007,6,0.007,0.000,2617,2200,3105,0,0,14,0,0,0
$GC,3775,-0.44,-146.6,291.9,-5.6,361,3791,0.00,3.72,0.00,0.007,4,0.007,0.000,2615,375,3104,0,0,21,0,0,0
$GC,4043,-0.51,-146.6,307.2,-6.0,384,4054,0.30,3.42,0.00,0.007,6,0.000,0.000,2532,2181,3102,1,0,17,0,0,0
$GC,4379,-0.62,-146.6,325.5,-5.2,416,4395,0.43,3.30,0.00,0.007,4,0.007,0.000,2643,498,3105,1,0,21,0,0,0
$GC,4647,-0.56,-146.6,340.7,-7.1,439,4659,0.73,2.92,0.00,0.007,6,0.000,0.000,2467,2325,3105,2,0,17,0,0,0
$GC,4984,-0.56,-146.6,364.1,-6.4,471,5001,0.62,3.33,0.00,0.007,4,0.000,0.000,2619,611,3103,1,0,18,0,0,0
$GC,5253,-0.56,-146.6,381.3,-6.3,494,5260,0.30,2.83,0.00,0.007,6,0.000,0.000,2536,2177,3098,1,0,16,0,0,0
$GC,5577,-0.56,-146.6,401.8,-6.4,525,5593,0.98,2.65,0.00,0.000,4,0.000,0.000,2750,506,3106,3,0,15,0,0,0
$GC,5846,-0.56,-146.6,419.8,-6.5,548,5856,1.17,3.03,0.00,0.007,6,0.000,0.000,2536,2268,3104,2,0,15,0,0,0
$GC,6181,-0.56,-146.6,440.8,-6.2,580,6196,0.28,3.03,0.00,0.007,4,0.000,0.000,2630,442,3102,0,0,15,0,0,0
$GC,6448,-0.56,-146.6,456.4,-5.5,603,6459,0.43,3.58,0.00,0.007,6,0.000,0.000,2549,2125,3134,1,0,20,0,0,0
$GC,6784,-0.61,-146.6,473.9,-5.0,635,6790,0.00,2.80,0.00,0.007,4,0.007,0.000,2548,447,3104,0,0,12,0,0,0
$GC,7042,-0.61,-146.6,488.3,-5.8,657,7051,0.00,3.28,0.00,0.007,6,0.007,0.000,2549,2391,3103,0,0,19,0,0,0
$GC,7376,-0.61,-146.6,508.2,-6.1,689,7391,0.00,3.25,0.00,0.000,4,0.007,0.000,2545,509,3101,0,0,19,0,0,0
$GC,7643,-0.61,-146.6,524.6,-6.1,712,7650,0.35,2.92,0.00,0.000,6,0.007,0.000,2616,2390,3108,1,0,16,0,0,0
$GC,7968,-0.73,-146.6,544.1,-6.0,743,7987,0.35,3.78,0.00,0.007,4,0.007,0.000,2502,441,3108,1,0,18,0,0,0
$GC,8239,-0.64,-146.6,561.9,-7.1,766,8249,0.43,4.15,0.00,0.007,6,0.000,0.000,2629,2207,3103,1,0,24,0,0,0
$GC,8574,-0.73,-146.6,583.6,-5.6,798,8592,0.65,3.45,0.00,0.007,4,0.000,0.000,2475,560,3104,1,0,16,0,0,0
$GC,8844,-0.77,-146.6,598.2,-5.6,821,8854,0.60,2.97,0.00,0.007,6,0.000,0.000,2633,2159,3103,2,0,17,0,0,0
$GC,9179,-0.77,-146.6,615.4,-5.2,853,9195,0.77,3.08,0.00,0.007,4,0.004,0.000,2464,545,3103,1,0,14,0,0,0
$GC,9447,-0.77,-146.6,629.5,-5.5,876,9457,0.52,3.42,0.00,0.007,6,0.000,0.000,2586,2125,3105,1,0,18,0,0,0
$GC,9782,-0.77,-146.6,649.1,-5.8,908,9798,0.35,3.08,0.00,0.007,4,0.000,0.000,2479,541,3105,1,0,13,0,0,0
$GC,10050,-0.77,-146.6,664.7,-5.5,931,10057,0.30,2.90,0.00,0.007,6,0.007,0.000,2558,2330,3103,1,0,13,0,0,0
$GC,10375,-0.77,-146.6,683.3,-5.8,962,10390,0.32,3.70,0.00,0.007,4,0.000,0.000,2504,594,3104,1,0,16,0,0,0
$GC,10643,-0.77,-146.6,698.6,-6.0,985,10653,0.35,3.17,0.00,0.007,6,0.000,0.000,2546,2232,3105,1,0,17,0,0,0
$GC,10978,-0.77,-146.6,717.3,-5.7,1017,10993,0.00,4.00,0.00,0.007,4,0.007,0.000,2539,404,3106,0,0,19,0,0,0
$GC,11245,-0.84,-146.6,733.3,-5.5,1040,11255,0.30,3.50,0.00,0.000,6,0.007,0.000,2464,2194,3105,1,0,19,0,0,0
$GC,11580,-0.89,-146.6,751.1,-5.5,1072,11596,0.43,2.78,0.00,0.007,4,0.000,0.000,2596,363,3104,1,0,17,0,0,0
$GC,11848,-0.89,-146.6,766.1,-5.3,1095,11858,0.65,3.42,0.00,0.007,6,0.000,0.000,2416,2141,3102,1,0,19,0,0,0
$GC,12183,-0.89,-146.6,783.7,-4.9,1127,12198,1.00,3.33,0.00,0.007,4,0.000,0.000,2567,361,3104,2,0,19,0,0,0
$GC,12451,-0.89,-146.6,798.1,-5.3,1150,12463,0.73,3.40,0.00,0.007,6,0.000,0.000,2459,2181,3107,2,0,16,0,0,0
$GC,12787,-0.89,-146.6,816.1,-5.5,1182,12802,0.38,2.70,0.00,0.007,4,0.000,0.000,2557,412,3102,1,0,15,0,0,0
$GC,13054,-0.89,-146.6,831.5,-5.7,1205,13065,0.52,3.15,0.00,0.007,6,0.007,0.000,2438,2308,3109,1,0,17,0,0,0
$GC,13390,-0.89,-146.6,851.2,-6.2,1237,13405,0.50,3.05,0.00,0.007,4,0.000,0.000,2576,486,3104,0,0,13,0,0,0
$GC,13657,-0.84,-146.6,868.2,-6.8,1260,13667,0.38,3.03,0.00,0.007,6,0.000,0.000,2486,2217,3102,1,0,13,0,0,0
$GC,13992,-0.84,-146.6,887.5,-5.8,1292,14008,0.35,3.75,0.00,0.007,4,0.007,0.000,2592,470,3105,1,0,17,0,0,0
$STATE,14224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14224,begin apogee
$GC,14235,-0.31,0.0,900.1,5.4,1312,14385,0.77,0.00,139.77,0.000,6,0.000,0.007,2737,2201,2519,2,0,0,0,0,0
$STATE,14388,end apogee,CONTROL_FINISHED_OK
$STATE,14388,begin climb
$GC,14391,0.99,146.6,908.7,0.0,1327,14558,1.12,2.30,143.82,0.000,4,0.000,0.000,2942,3542,1927,3,0,13,0,1,0
$GC,14812,2.73,561.7,930.3,-6.3,1365,15189,2.00,2.90,326.58,0.000,6,0.000,0.000,3346,1793,590,3,0,12,0,5,0
$GC,15503,4.28,934.3,963.8,-4.9,1432,15519,0.00,3.40,0.12,0.007,4,0.007,0.000,3346,3564,591,0,0,18,0,0,0
$GC,15772,4.81,1365.3,978.8,-6.8,1455,15782,0.00,3.05,1.15,0.000,6,0.007,0.000,3347,1593,581,0,0,16,0,0,0
$GC,16107,4.80,1411.2,987.1,5.6,1487,16122,0.00,3.85,0.12,0.000,4,0.007,0.000,3347,3591,589,0,0,21,0,0,0
$GC,16374,4.85,1411.2,962.9,7.6,1510,16385,0.00,3.53,1.17,0.000,6,0.007,0.000,3347,1761,588,0,0,22,0,0,0
$GC,16709,4.85,1411.2,939.2,7.3,1542,16725,0.00,3.40,0.15,0.007,4,0.007,0.000,3346,3671,593,0,0,20,0,0,0
$GC,16977,4.85,1411.2,919.8,7.6,1565,16989,0.00,3.22,2.05,0.000,6,0.007,0.000,3346,1876,592,0,0,15,0,0,0
$GC,17314,4.81,1411.2,894.9,8.1,1597,17330,0.00,3.40,0.17,0.007,4,0.000,0.000,3344,3730,593,0,0,22,0,0,0
$GC,17499,4.85,1445.6,883.8,5.9,1613,17515,0.00,2.83,1.25,0.000,6,0.007,0.000,3342,1893,590,0,0,15,0,0,0
$GC,17829,4.56,1445.6,853.5,12.1,1644,17845,0.00,3.50,0.12,0.007,4,0.007,0.000,3347,3788,589,0,0,19,0,0,0
$GC,18098,4.76,1487.1,832.5,5.7,1667,18108,0.00,3.80,0.38,0.000,6,0.007,0.000,3348,1816,584,0,0,19,0,0,0
$GC,18433,4.99,1533.7,810.2,5.5,1699,18448,0.00,2.88,0.12,0.007,4,0.007,0.000,3345,3572,593,0,0,13,0,0,0
$GC,18700,4.86,1533.7,792.0,10.6,1722,18711,0.00,3.10,1.73,0.000,6,0.007,0.000,3344,1773,588,0,0,16,0,0,0
$GC,19036,4.86,1533.7,757.1,7.4,1754,19052,0.00,3.50,0.12,0.000,4,0.007,0.000,3344,3658,582,0,0,19,0,0,0
$GC,19304,4.96,1533.7,738.2,7.4,1777,19314,0.00,3.28,1.52,0.000,6,0.007,0.000,3345,1779,584,0,0,19,0,0,0
$GC,19639,4.85,1533.7,703.9,10.8,1809,19655,0.00,3.15,0.12,0.007,4,0.007,0.000,3347,3643,586,0,0,18,0,0,0
$GC,19907,4.85,1533.7,679.6,8.5,1832,19917,0.00,3.30,1.67,0.000,6,0.007,0.000,3346,1901,590,0,0,15,0,0,0
$GC,20241,4.85,1533.7,652.4,8.6,1864,20257,0.00,3.28,0.15,0.000,4,0.007,0.000,3344,3720,580,0,0,18,0,0,0
$GC,20508,4.98,1533.7,631.1,7.1,1887,20519,0.00,3.15,1.67,0.000,6,0.007,0.000,3347,1811,583,0,0,16,0,0,0
$GC,20843,5.13,1533.7,607.0,8.7,1919,20859,0.00,2.80,0.25,0.000,4,0.007,0.000,3352,483,587,0,0,17,0,0,0
$GC,20904,5.13,1533.7,601.9,8.5,1924,20920,0.00,2.95,1.15,0.000,6,0.000,0.002,3350,2231,591,0,0,14,0,0,0
$GC,21234,4.95,1533.7,571.2,11.3,1955,21249,0.00,2.83,0.25,0.000,4,0.007,0.000,3347,3734,589,0,0,15,0,0,0
$GC,21294,4.78,1533.7,564.2,11.3,1960,21310,0.00,3.97,0.15,0.007,6,0.007,0.000,3343,1659,588,0,0,22,0,0,0
$GC,21623,4.78,1533.7,529.6,8.9,1991,21640,0.00,3.80,0.15,0.007,4,0.007,0.000,3346,3610,589,0,0,20,0,0,0
$GC,21891,4.78,1533.7,507.8,7.3,2014,21904,0.00,3.38,1.83,0.000,6,0.007,0.000,3347,1808,587,0,0,19,0,0,0
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