version: 66.04
glider: 144
mission: 15
dive: 326
start: 9 27 109 17 9 24
data:
$ID,144
$MISSION,15
$DIVE,326
$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,-67594.484
$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,36
$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
$GPS1,170054,5021.038,-14511.001,32,2.0,50,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-58.0
$GPS2,170831,5021.042,-14510.955,15,1.7,32,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.056,-0.158
$KALMAN_X,-53577.6,332.5,202.5,52582.5,-2155.5
$KALMAN_Y,19088.9,-192.8,10.5,-18785.6,315.1
$MHEAD_RNG_PITCHd_Wd,141.8,50076,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-32.08,0.000,2,0.000,0.000,99,2299,2592
$GC,54,-0.68,-117.3,3.3,-6.1,3,88,6.95,2.30,-20.95,0.000,4,0.225,0.065,1837,3701,3411
$GC,228,-0.60,-117.3,26.2,-11.6,18,235,0.12,2.17,0.00,0.000,6,0.129,0.030,1871,2304,3412
$GC,556,-0.62,-117.3,55.9,-7.6,49,560,0.00,2.22,0.00,0.000,4,0.000,0.041,1871,893,3413
$GC,634,-0.66,-117.3,63.0,-8.6,55,640,0.00,2.22,0.00,0.000,6,0.000,0.036,1863,2311,3413
$GC,955,-0.66,-117.3,91.7,-8.8,80,956,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2311,3414
$GC,1264,-0.66,-117.3,118.7,-8.8,95,1268,0.00,2.22,0.00,0.000,4,0.000,0.040,1863,892,3414
$GC,1348,-0.70,-117.3,126.3,-8.5,98,1355,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2308,3414
$GC,1665,-0.74,-117.3,148.3,-6.1,114,1666,0.10,0.00,0.00,0.000,6,0.065,0.000,1790,2309,3414
$GC,1981,-0.66,-117.3,178.5,-10.3,125,1985,0.20,2.25,0.00,0.000,4,0.120,0.041,1857,890,3414
$GC,2036,-0.71,-117.3,183.2,-8.1,126,2040,0.00,2.25,0.00,0.000,6,0.000,0.042,1850,2313,3414
$GC,2349,-0.75,-117.3,206.7,-7.5,136,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2313,3413
$GC,2655,-0.79,-117.3,229.0,-7.3,146,2659,0.00,2.25,0.00,0.000,4,0.000,0.044,1849,893,3412
$GC,2683,-0.83,-117.3,231.2,-7.9,146,2690,0.12,2.22,0.00,0.000,6,0.060,0.041,1773,2304,3413
$GC,2996,-0.72,-117.3,266.6,-11.4,157,2998,0.25,0.00,0.00,0.000,6,0.121,0.000,1849,2304,3412
$GC,3302,-0.77,-117.3,285.3,-5.6,167,3306,0.00,2.22,0.00,0.000,4,0.000,0.048,1849,895,3412
$GC,3346,-0.83,-117.3,288.1,-6.1,168,3351,0.10,2.22,0.00,0.000,6,0.067,0.038,1780,2304,3412
$GC,3668,-0.74,-117.3,317.8,-9.4,176,3673,0.17,2.25,0.00,0.000,4,0.125,0.047,1838,896,3411
$GC,3701,-0.76,-117.3,320.5,-7.4,176,3705,0.00,2.25,0.00,0.000,6,0.000,0.042,1836,2313,3411
$GC,4027,-0.79,-117.3,341.4,-6.4,182,4031,0.00,2.28,0.00,0.000,4,0.000,0.043,1837,892,3410
$GC,4072,-0.82,-117.3,344.7,-7.0,182,4076,0.00,2.25,0.00,0.000,6,0.000,0.044,1836,2305,3410
$GC,4388,-0.85,-117.3,367.0,-7.1,188,4392,0.00,2.25,0.00,0.000,4,0.000,0.043,1836,894,3409
$GC,4421,-0.88,-117.3,369.9,-8.5,188,4426,0.10,2.22,0.00,0.000,6,0.067,0.039,1769,2300,3409
$GC,4759,-0.78,-117.3,407.8,-11.5,194,4761,0.20,0.00,0.00,0.000,6,0.126,0.000,1829,2300,3409
$GC,5062,-0.80,-117.3,431.5,-7.6,199,5066,0.00,2.22,0.00,0.000,4,0.000,0.050,1829,899,3408
$GC,5123,-0.84,-117.3,436.2,-7.0,199,5130,0.00,2.22,0.00,0.000,6,0.000,0.045,1823,2304,3408
$GC,5434,-0.84,-117.3,460.0,-7.7,205,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2303,3408
$GC,5736,-0.84,-117.3,481.8,-7.1,210,5740,0.00,2.25,0.00,0.000,4,0.000,0.044,1823,896,3407
$GC,5798,-0.84,-117.3,486.4,-7.3,211,5802,0.00,2.25,0.00,0.000,6,0.000,0.046,1821,2310,3407
$GC,6170,-0.84,-117.3,512.0,-6.9,217,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2311,3407
$GC,6473,-0.84,-117.3,533.7,-7.2,222,6477,0.00,2.28,0.00,0.000,4,0.000,0.044,1821,890,3406
$GC,6539,-0.84,-117.3,539.1,-8.6,223,6543,0.00,2.25,0.00,0.000,6,0.000,0.043,1813,2306,3406
$GC,6900,-0.84,-117.3,568.1,-8.2,229,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2306,3406
$GC,7202,-0.84,-117.3,592.7,-8.2,234,7206,0.00,2.28,0.00,0.000,4,0.000,0.045,1812,887,3406
$GC,7246,-0.84,-117.3,596.7,-8.7,234,7250,0.00,2.28,0.00,0.000,6,0.000,0.042,1808,2310,3406
$GC,7568,-0.84,-117.3,622.9,-8.2,240,7572,0.00,2.28,0.00,0.000,4,0.000,0.045,1808,892,3406
$GC,7612,-0.84,-117.3,626.8,-8.7,240,7616,0.00,2.25,0.00,0.000,6,0.000,0.048,1807,2306,3405
$GC,7933,-0.84,-117.3,651.8,-7.7,246,7937,0.00,2.25,0.00,0.000,4,0.000,0.048,1806,893,3405
$GC,7966,-0.84,-117.3,654.5,-7.9,246,7970,0.00,2.28,0.00,0.000,6,0.000,0.039,1797,2325,3405
$GC,8305,-0.81,-117.3,678.5,-7.0,252,8310,0.10,2.30,0.00,0.000,4,0.140,0.044,1825,890,3405
$GC,8354,-0.84,-117.3,681.8,-6.0,252,8359,0.00,2.28,0.00,0.000,6,0.000,0.040,1822,2315,3405
$GC,8665,-0.87,-117.3,697.0,-4.9,257,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2316,3405
$GC,8968,-0.91,-117.3,710.2,-4.3,262,8972,0.00,2.30,0.00,0.000,4,0.000,0.049,1823,891,3404
$GC,9007,-0.94,-117.3,712.2,-5.3,262,9012,0.10,2.28,0.00,0.000,6,0.069,0.040,1762,2306,3404
$GC,9328,-0.85,-117.3,735.3,-7.4,268,9333,0.17,2.28,0.00,0.000,4,0.128,0.050,1810,3708,3404
$GC,9350,-0.81,-117.3,736.8,-6.6,268,9355,0.00,2.20,0.00,0.000,6,0.000,0.031,1810,2305,3404
$GC,9688,-0.81,-117.3,752.8,-4.7,274,9692,0.00,2.28,0.00,0.000,4,0.000,0.048,1810,890,3404
$GC,9755,-0.81,-117.3,756.9,-6.5,275,9759,0.00,2.28,0.00,0.000,6,0.000,0.045,1809,2308,3404
$GC,10121,-0.81,-117.3,777.8,-5.8,281,10125,0.00,2.28,0.00,0.000,4,0.000,0.045,1809,891,3404
$GC,10153,-0.81,-117.3,780.1,-7.2,281,10157,0.00,2.28,0.00,0.000,6,0.000,0.041,1807,2313,3403
$GC,10486,-0.81,-117.3,801.7,-6.6,287,10490,0.00,2.28,0.00,0.000,4,0.000,0.047,1807,892,3403
$GC,10519,-0.81,-117.3,804.1,-7.6,287,10523,0.00,2.25,0.00,0.000,6,0.000,0.041,1805,2305,3403
$GC,10845,-0.81,-117.3,827.2,-7.2,293,10849,0.00,2.30,0.00,0.000,4,0.000,0.046,1804,886,3403
$GC,10878,-0.81,-117.3,829.9,-8.2,293,10883,0.12,2.28,0.00,0.000,6,0.129,0.043,1830,2301,3403
$GC,11205,-0.87,-117.3,848.8,-5.7,299,11206,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2301,3403
$GC,11508,-0.93,-117.3,866.0,-5.7,304,11510,0.12,0.00,0.00,0.000,6,0.069,0.000,1775,2301,3403
$GC,11810,-0.88,-117.3,889.2,-7.7,309,11812,0.12,0.00,0.00,0.000,6,0.127,0.000,1810,2301,3403
$GC,12114,-0.90,-117.3,906.6,-5.6,314,12118,0.00,2.30,0.00,0.000,4,0.000,0.050,1811,892,3402
$GC,12154,-0.90,-117.3,909.1,-6.2,314,12158,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2304,3402
$GC,12475,-0.90,-117.3,927.2,-5.6,320,12477,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2304,3402
$GC,12778,-0.90,-117.3,944.0,-5.6,325,12782,0.00,2.28,0.00,0.000,4,0.000,0.048,1809,898,3402
$GC,12810,-0.90,-117.3,946.2,-5.8,325,12814,0.00,2.28,0.00,0.000,6,0.000,0.044,1808,2305,3401
$GC,13143,-0.90,-117.3,967.0,-6.4,331,13147,0.00,2.28,0.00,0.000,4,0.000,0.054,1808,896,3402
$GC,13181,-0.90,-117.3,970.0,-7.2,331,13185,0.00,2.28,0.00,0.000,6,0.000,0.042,1807,2313,3402
$STATE,13505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13505,begin apogee
$GC,13511,-0.22,0.0,991.2,6.5,337,13609,0.45,0.00,95.28,1.305,6,0.119,0.000,1950,2313,2931
$STATE,13610,end apogee,CONTROL_FINISHED_OK
$STATE,13610,begin climb
$GC,13612,0.68,117.3,992.8,0.0,338,13721,0.57,2.53,101.78,1.277,4,0.077,0.052,2151,3710,2450
$GC,13760,0.48,117.3,989.6,6.8,340,13765,0.25,2.38,0.00,0.000,6,0.164,0.038,2102,2310,2446
$GC,14099,0.49,150.1,974.7,4.4,346,14134,0.00,2.40,27.65,1.223,4,0.000,0.054,2101,3709,2318
$GC,14152,0.47,164.1,972.1,5.0,346,14172,0.00,2.33,13.98,1.142,6,0.000,0.038,2109,2292,2260
$GC,14534,0.47,179.0,952.8,5.0,353,14553,0.00,2.40,13.40,1.144,4,0.000,0.053,2110,3709,2201
$GC,14577,0.43,183.5,950.4,5.3,353,14587,0.12,2.28,5.35,0.890,6,0.154,0.036,2089,2300,2183
$GC,14898,0.51,219.7,936.4,4.3,359,14933,0.00,0.00,33.35,1.224,6,0.000,0.000,2089,2300,2035
$GC,15202,0.61,246.4,922.5,4.6,364,15229,0.15,0.00,24.33,1.195,6,0.062,0.000,2152,2300,1926
$GC,15504,0.54,246.4,897.2,8.5,369,15508,0.15,2.35,0.00,0.000,4,0.140,0.051,2111,3717,1919
$GC,15531,0.54,246.4,894.8,8.0,369,15535,0.00,2.30,0.00,0.000,6,0.000,0.038,2120,2294,1919
$GC,15863,0.54,246.4,872.3,6.9,375,15864,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2294,1917
$GC,16166,0.54,246.4,851.1,7.0,380,16167,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2294,1917
$GC,16468,0.54,246.4,831.5,6.5,385,16469,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2294,1916
$GC,16772,0.54,246.4,811.6,6.6,390,16773,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2294,1916
$GC,17075,0.54,246.4,791.1,6.8,395,17076,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2294,1915
$GC,17378,0.56,246.4,771.1,6.5,400,17382,0.00,2.30,0.00,0.000,4,0.000,0.050,2119,3712,1915
$GC,17399,0.56,246.4,769.5,7.7,400,17403,0.00,2.22,0.00,0.000,6,0.000,0.034,2130,2300,1915
$GC,17737,0.56,246.4,745.8,7.0,406,17738,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2300,1915
$GC,18040,0.56,246.4,725.1,6.9,411,18044,0.00,2.30,0.00,0.000,4,0.000,0.051,2130,3712,1915
$GC,18090,0.53,246.4,721.1,8.2,411,18095,0.12,2.22,0.00,0.000,6,0.145,0.033,2108,2298,1915
$GC,18401,0.58,252.3,704.2,5.3,416,18410,0.00,2.28,4.68,0.766,4,0.000,0.048,2116,886,1902
$GC,18433,0.64,252.3,702.3,5.7,416,18438,0.08,2.25,0.00,0.000,6,0.085,0.039,2172,2307,1901
$GC,18766,0.54,252.3,670.2,10.0,422,18770,0.20,2.25,0.00,0.000,4,0.139,0.054,2110,3707,1901
$GC,18821,0.56,252.3,665.4,7.2,422,18828,0.00,2.22,0.00,0.000,6,0.000,0.033,2118,2300,1901
$GC,19131,0.59,252.3,645.5,6.4,428,19134,0.00,2.25,0.00,0.000,4,0.000,0.048,2128,888,1901
$GC,19159,0.63,252.3,643.5,6.2,428,19163,0.00,2.25,0.00,0.000,6,0.000,0.038,2129,2311,1900
$GC,19497,0.63,252.3,621.0,6.7,434,19501,0.00,2.25,0.00,0.000,4,0.000,0.052,2128,3719,1900
$GC,19541,0.61,252.3,617.5,8.3,434,19545,0.00,2.20,0.00,0.000,6,0.000,0.033,2139,2299,1900
$GC,19857,0.58,252.3,595.1,7.1,440,19858,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2298,1900
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