version: 66.04
glider: 144
mission: 15
dive: 288
start: 9 14 109 18 6 57
data:
$ID,144
$MISSION,15
$DIVE,288
$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,-66730.219
$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,39
$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
$GPS1,175707,5008.549,-14509.629,37,1.0,37,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-64.9
$GPS2,180602,5008.524,-14509.664,12,1.2,12,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.012,-0.167
$KALMAN_X,-29952.1,234.7,-138.8,30935.6,-96.3
$KALMAN_Y,13685.6,-207.3,-235.2,-36298.2,683.1
$MHEAD_RNG_PITCHd_Wd,165.7,27016,-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,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-42.03,0.000,2,0.000,0.000,100,2296,2672
$GC,62,-0.68,-117.3,3.3,-4.8,4,96,7.25,2.35,-17.38,0.000,4,0.244,0.061,1836,3703,3413
$GC,176,-0.58,-117.3,19.7,-13.5,14,181,0.15,2.20,0.00,0.000,6,0.130,0.036,1877,2300,3414
$GC,508,-0.62,-117.3,50.3,-7.7,45,512,0.00,2.22,0.00,0.000,4,0.000,0.041,1877,893,3415
$GC,570,-0.71,-117.3,55.2,-7.3,50,575,0.10,2.22,0.00,0.000,6,0.067,0.038,1816,2302,3416
$GC,895,-0.62,-117.3,93.5,-11.9,75,896,0.17,0.00,0.00,0.000,6,0.132,0.000,1866,2302,3416
$GC,1202,-0.64,-117.3,118.5,-7.5,90,1206,0.00,2.25,0.00,0.000,4,0.000,0.041,1866,886,3417
$GC,1291,-0.69,-117.3,125.5,-7.9,94,1295,0.00,2.25,0.00,0.000,6,0.000,0.043,1863,2306,3417
$GC,1613,-0.73,-117.3,149.0,-7.3,110,1615,0.08,0.00,0.00,0.000,6,0.081,0.000,1798,2307,3417
$GC,1940,-0.66,-117.3,183.8,-10.7,121,1944,0.17,2.25,0.00,0.000,4,0.125,0.041,1855,890,3415
$GC,1984,-0.72,-117.3,187.7,-7.9,122,1988,0.00,2.25,0.00,0.000,6,0.000,0.038,1850,2308,3416
$GC,2302,-0.75,-117.3,210.7,-7.3,133,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2309,3416
$GC,2608,-0.78,-117.3,232.3,-7.0,143,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2309,3415
$GC,2915,-0.82,-117.3,252.8,-6.7,153,2917,0.10,0.00,0.00,0.000,6,0.068,0.000,1779,2309,3414
$GC,3220,-0.72,-117.3,284.2,-10.2,163,3225,0.17,2.28,0.00,0.000,4,0.128,0.050,1837,899,3413
$GC,3253,-0.72,-117.3,287.1,-7.6,164,3257,0.00,2.25,0.00,0.000,6,0.000,0.043,1836,2303,3414
$GC,3587,-0.72,-117.3,309.6,-6.7,173,3591,0.00,2.28,0.00,0.000,4,0.000,0.044,1836,888,3413
$GC,3642,-0.72,-117.3,313.8,-7.7,173,3649,0.00,2.30,0.00,0.000,6,0.000,0.040,1828,2307,3413
$GC,3951,-0.72,-117.3,336.3,-7.3,179,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2307,3412
$GC,4255,-0.72,-117.3,357.9,-7.1,184,4258,0.00,2.25,0.00,0.000,4,0.000,0.046,1828,897,3412
$GC,4305,-0.72,-117.3,361.9,-7.7,184,4309,0.00,2.25,0.00,0.000,6,0.000,0.043,1823,2309,3412
$GC,4620,-0.72,-117.3,386.9,-8.0,190,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2310,3412
$GC,4923,-0.72,-117.3,410.7,-7.8,195,4927,0.00,2.28,0.00,0.000,4,0.000,0.051,1823,893,3410
$GC,4950,-0.72,-117.3,413.0,-8.6,195,4954,0.10,2.28,0.00,0.000,6,0.140,0.044,1846,2308,3411
$GC,5288,-0.78,-117.3,433.7,-6.1,201,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2307,3410
$GC,5591,-0.83,-117.3,450.9,-5.6,206,5596,0.10,2.28,0.00,0.000,4,0.069,0.050,1785,890,3410
$GC,5646,-0.76,-117.3,455.7,-9.7,206,5653,0.12,2.28,0.00,0.000,6,0.125,0.047,1838,2294,3410
$GC,5956,-0.80,-117.3,473.8,-5.7,212,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2294,3410
$GC,6259,-0.85,-117.3,491.9,-6.0,217,6261,0.10,0.00,0.00,0.000,6,0.070,0.000,1779,2294,3409
$GC,6562,-0.77,-117.3,520.8,-9.7,222,6567,0.20,2.28,0.00,0.000,4,0.125,0.044,1842,890,3409
$GC,6602,-0.83,-117.3,524.1,-7.7,222,6606,0.00,2.28,0.00,0.000,6,0.000,0.047,1837,2308,3408
$GC,6924,-0.87,-117.3,546.2,-7.0,228,6929,0.10,2.28,0.00,0.000,4,0.068,0.046,1770,889,3409
$GC,6957,-0.78,-117.3,549.4,-11.0,228,6961,0.22,2.25,0.00,0.000,6,0.133,0.042,1832,2305,3408
$GC,7289,-0.82,-117.3,572.9,-6.9,234,7293,0.00,2.25,0.00,0.000,4,0.000,0.051,1832,896,3408
$GC,7317,-0.85,-117.3,575.1,-7.2,234,7321,0.00,2.25,0.00,0.000,6,0.000,0.041,1826,2312,3408
$GC,7648,-0.88,-117.3,597.1,-6.6,240,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2312,3408
$GC,7952,-0.90,-117.3,616.7,-6.4,245,7954,0.08,0.00,0.00,0.000,6,0.083,0.000,1767,2312,3407
$GC,8255,-0.81,-117.3,646.1,-9.9,250,8260,0.17,2.30,0.00,0.000,4,0.132,0.050,1825,892,3407
$GC,8288,-0.83,-117.3,649.0,-7.4,250,8292,0.00,2.28,0.00,0.000,6,0.000,0.040,1822,2308,3407
$GC,8614,-0.83,-117.3,670.6,-6.7,256,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2308,3407
$GC,8917,-0.85,-117.3,690.9,-6.7,261,8921,0.00,2.28,0.00,0.000,4,0.000,0.046,1822,897,3407
$GC,8949,-0.85,-117.3,693.3,-7.2,261,8953,0.00,2.28,0.00,0.000,6,0.000,0.042,1822,2313,3407
$GC,9276,-0.87,-117.3,715.9,-6.9,267,9278,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2313,3407
$GC,9579,-0.90,-117.3,736.7,-6.9,272,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2313,3406
$GC,9882,-0.92,-117.3,757.1,-6.7,277,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2314,3406
$GC,10186,-0.95,-117.3,775.6,-6.1,282,10188,0.10,0.00,0.00,0.000,6,0.071,0.000,1765,2314,3406
$GC,10488,-0.86,-117.3,801.5,-8.7,287,10490,0.17,0.00,0.00,0.000,6,0.129,0.000,1816,2313,3406
$GC,10792,-0.88,-117.3,818.1,-5.3,292,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2313,3406
$GC,11096,-0.91,-117.3,833.3,-5.0,297,11100,0.00,2.30,0.00,0.000,4,0.000,0.049,1816,892,3405
$GC,11129,-0.93,-117.3,835.1,-5.3,297,11133,0.00,2.28,0.00,0.000,6,0.000,0.040,1810,2306,3405
$GC,11463,-0.93,-117.3,852.8,-5.4,303,11464,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2306,3405
$GC,11764,-0.93,-117.3,869.5,-5.6,308,11765,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2306,3405
$GC,12068,-0.93,-117.3,886.8,-5.7,313,12069,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2306,3405
$GC,12371,-0.93,-117.3,905.5,-6.2,318,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2306,3405
$GC,12673,-0.93,-117.3,925.1,-6.4,323,12677,0.00,2.30,0.00,0.000,4,0.000,0.049,1810,892,3405
$GC,12706,-0.93,-117.3,927.5,-7.2,323,12710,0.00,2.28,0.00,0.000,6,0.000,0.042,1807,2301,3405
$GC,13039,-0.93,-117.3,949.5,-6.7,329,13040,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2301,3405
$GC,13341,-0.93,-117.3,969.6,-6.7,334,13345,0.00,2.30,0.00,0.000,4,0.000,0.054,1807,891,3405
$GC,13374,-0.93,-117.3,972.0,-7.3,334,13378,0.00,2.30,0.00,0.000,6,0.000,0.043,1804,2313,3405
$STATE,13644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13644,begin apogee
$GC,13649,-0.22,0.0,990.6,6.8,339,13748,0.47,0.00,95.47,1.310,6,0.126,0.000,1952,2313,2931
$STATE,13748,end apogee,CONTROL_FINISHED_OK
$STATE,13748,begin climb
$GC,13751,0.68,117.3,991.9,0.0,340,13861,0.60,2.58,101.35,1.282,4,0.074,0.054,2155,3707,2450
$GC,13894,0.47,117.3,988.3,7.4,343,13900,0.28,2.38,0.00,0.000,6,0.174,0.039,2101,2307,2447
$GC,14255,0.45,131.7,970.1,5.0,349,14269,0.00,0.00,12.12,1.140,6,0.000,0.000,2101,2307,2394
$GC,14558,0.43,141.9,954.4,5.2,354,14570,0.00,0.00,10.18,1.107,6,0.000,0.000,2101,2307,2352
$GC,14861,0.44,149.2,938.4,5.3,359,14870,0.00,0.00,7.78,1.041,6,0.000,0.000,2101,2307,2322
$GC,15164,0.45,155.5,922.4,5.3,364,15173,0.00,0.00,6.82,0.999,6,0.000,0.000,2101,2307,2297
$GC,15467,0.45,157.2,906.0,5.4,369,15471,0.00,2.33,0.00,0.000,4,0.000,0.053,2100,3719,2295
$GC,15507,0.41,157.2,903.4,6.2,369,15511,0.00,2.28,0.00,0.000,6,0.000,0.039,2107,2293,2294
$GC,15828,0.39,157.2,885.1,5.7,375,15832,0.10,2.33,0.00,0.000,4,0.161,0.052,2083,3717,2294
$GC,15860,0.39,157.2,882.9,6.0,375,15865,0.00,2.25,0.00,0.000,6,0.000,0.038,2092,2294,2292
$GC,16194,0.40,165.7,865.5,5.2,381,16206,0.00,0.00,10.12,1.081,6,0.000,0.000,2092,2294,2255
$GC,16496,0.40,165.7,848.7,5.6,386,16500,0.00,2.33,0.00,0.000,4,0.000,0.058,2092,3716,2252
$GC,16523,0.40,165.7,846.9,6.8,386,16527,0.00,2.25,0.00,0.000,6,0.000,0.041,2102,2297,2251
$GC,16861,0.40,165.7,826.4,6.1,392,16862,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2297,2251
$GC,17164,0.40,165.7,808.1,6.0,397,17168,0.00,2.33,0.00,0.000,4,0.000,0.050,2102,3717,2251
$GC,17197,0.36,165.7,805.9,7.5,397,17201,0.15,2.22,0.00,0.000,6,0.151,0.033,2075,2295,2250
$GC,17529,0.47,165.7,788.2,5.5,403,17534,0.10,2.33,0.00,0.000,4,0.078,0.051,2120,3718,2250
$GC,17641,0.39,165.7,780.0,8.5,404,17645,0.17,2.25,0.00,0.000,6,0.151,0.035,2084,2298,2250
$GC,17957,0.46,186.1,764.6,4.8,410,17977,0.00,0.00,18.33,1.105,6,0.000,0.000,2084,2298,2172
$GC,18259,0.52,193.3,748.9,5.3,415,18269,0.10,0.00,7.75,0.959,6,0.073,0.000,2139,2297,2142
$GC,18562,0.46,193.3,725.0,8.0,420,18567,0.15,2.33,0.00,0.000,4,0.140,0.051,2098,3716,2140
$GC,18589,0.46,193.3,722.8,6.8,420,18593,0.00,2.28,0.00,0.000,6,0.000,0.033,2106,2299,2139
$GC,18927,0.46,193.3,702.1,6.1,426,18928,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2299,2139
$GC,19229,0.46,193.3,683.8,6.1,431,19231,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2299,2139
$GC,19533,0.46,193.3,666.6,5.7,436,19537,0.00,2.30,0.00,0.000,4,0.000,0.052,2106,3718,2138
$GC,19571,0.46,193.3,664.0,6.7,436,19575,0.00,2.25,0.00,0.000,6,0.000,0.035,2116,2292,2138
$GC,19898,0.46,193.3,644.5,5.9,442,19899,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2293,2138
$GC,20201,0.46,193.3,627.6,5.5,447,20205,0.00,2.30,0.00,0.000,4,0.000,0.049,2117,3716,2138
$GC,20234,0.42,193.3,625.5,6.0,447,20239,0.15,2.22,0.00,0.000,6,0.142,0.038,2085,2303,2138
$GC,20561,0.56,206.1,609.5,5.1,453,20580,0.12,2.33,12.02,0.967,4,0.067,0.051,2153,889,2089
$GC,20683,0.51,206.1,601.1,7.3,454,20687,0.15,2.28,0.00,0.000,6,0.132,0.044,2113,2316,2088
$GC,20992,0.51,206.1,583.3,5.6,459,20996,0.00,2.25,0.00,0.000,4,0.000,0.051,2113,3709,2087
$GC,21048,0.51,206.1,579.5,7.5,459,21052,0.00,2.22,0.00,0.000,6,0.000,0.033,2120,2295,2087
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