version: 66.04
glider: 144
mission: 15
dive: 410
start: 10 26 109 11 18 20
data:
$ID,144
$MISSION,15
$DIVE,410
$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,-69392.234
$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,36
$R_STBD_OVSHOOT,32
$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
$GPS1,111131,5019.984,-14505.773,39,1.8,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-60.5
$GPS2,111726,5019.989,-14505.557,14,1.9,14,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.152,0.070
$KALMAN_X,-83826.5,137.5,371.8,89230.8,-1500.4
$KALMAN_Y,19717.5,83.2,14.5,-21657.5,-778.0
$MHEAD_RNG_PITCHd_Wd,276.2,7781,-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,-31.33,0.000,2,0.000,0.000,98,2306,2533
$GC,54,-0.68,-117.3,3.2,-5.6,3,93,7.03,2.35,-22.55,0.000,4,0.226,0.065,1841,889,3413
$GC,118,-0.65,-117.3,10.4,-11.7,9,122,0.10,2.22,0.00,0.000,6,0.142,0.044,1858,2305,3414
$GC,450,-0.60,-117.3,47.8,-10.1,40,454,0.00,2.25,0.00,0.000,4,0.000,0.042,1859,886,3414
$GC,501,-0.58,-117.3,53.5,-10.5,44,508,0.10,2.20,0.00,0.000,6,0.134,0.037,1876,2302,3414
$GC,829,-0.62,-117.3,76.7,-6.7,75,830,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,2302,3415
$GC,1148,-0.67,-117.3,101.1,-7.6,93,1151,0.00,2.22,0.00,0.000,4,0.000,0.041,1876,891,3416
$GC,1187,-0.73,-117.3,104.0,-7.2,94,1194,0.12,2.22,0.00,0.000,6,0.056,0.038,1791,2311,3416
$GC,1503,-0.63,-117.3,140.1,-11.0,110,1508,0.20,2.20,0.00,0.000,4,0.122,0.047,1849,3705,3417
$GC,1536,-0.66,-117.3,142.9,-7.2,111,1543,0.00,2.15,0.00,0.000,6,0.000,0.029,1849,2292,3417
$GC,1851,-0.70,-117.3,162.6,-6.6,124,1855,0.00,2.17,0.00,0.000,4,0.000,0.042,1849,894,3416
$GC,1896,-0.75,-117.3,165.8,-7.3,125,1900,0.00,2.20,0.00,0.000,6,0.000,0.038,1849,2308,3416
$GC,2220,-0.79,-117.3,188.3,-7.0,136,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2308,3416
$GC,2527,-0.84,-117.3,209.1,-6.5,146,2531,0.10,2.22,0.00,0.000,4,0.066,0.041,1778,897,3416
$GC,2555,-0.77,-117.3,211.8,-10.1,147,2560,0.22,2.20,0.00,0.000,6,0.121,0.043,1833,2302,3416
$GC,2891,-0.77,-117.3,235.1,-6.7,158,2895,0.00,2.28,0.00,0.000,4,0.000,0.054,1825,3719,3415
$GC,2919,-0.77,-117.3,237.2,-6.8,159,2923,0.00,2.17,0.00,0.000,6,0.000,0.031,1824,2296,3415
$GC,3260,-0.77,-117.3,262.5,-7.3,170,3264,0.00,2.20,0.00,0.000,4,0.000,0.050,1824,897,3415
$GC,3299,-0.77,-117.3,265.8,-8.0,171,3303,0.00,2.22,0.00,0.000,6,0.000,0.044,1816,2316,3414
$GC,3635,-0.77,-117.3,292.6,-8.0,182,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2316,3414
$GC,3969,-0.77,-117.3,319.3,-7.9,189,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2316,3414
$GC,4272,-0.77,-117.3,342.8,-7.7,194,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2316,3414
$GC,4575,-0.77,-117.3,366.5,-7.8,199,4579,0.00,2.25,0.00,0.000,4,0.000,0.050,1816,902,3413
$GC,4638,-0.77,-117.3,371.6,-8.5,200,4643,0.10,2.20,0.00,0.000,6,0.132,0.041,1833,2307,3412
$GC,5010,-0.81,-117.3,396.4,-6.7,206,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2307,3412
$GC,5313,-0.85,-117.3,416.3,-6.5,211,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2307,3412
$GC,5616,-0.89,-117.3,435.2,-6.2,216,5618,0.10,0.00,0.00,0.000,6,0.067,0.000,1767,2308,3411
$GC,5919,-0.80,-117.3,463.5,-9.5,221,5921,0.20,0.00,0.00,0.000,6,0.121,0.000,1828,2308,3412
$GC,6222,-0.83,-117.3,481.6,-5.8,226,6226,0.00,2.25,0.00,0.000,4,0.000,0.048,1828,900,3411
$GC,6250,-0.87,-117.3,483.3,-6.3,226,6254,0.00,2.22,0.00,0.000,6,0.000,0.041,1824,2307,3410
$GC,6583,-0.89,-117.3,503.9,-6.4,232,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2307,3411
$GC,6886,-0.91,-117.3,523.9,-6.6,237,6890,0.00,2.25,0.00,0.000,4,0.000,0.048,1823,897,3410
$GC,6942,-0.94,-117.3,528.1,-7.8,237,6949,0.10,2.22,0.00,0.000,6,0.067,0.047,1756,2305,3410
$GC,7254,-0.84,-117.3,558.5,-10.0,243,7255,0.20,0.00,0.00,0.000,6,0.124,0.000,1817,2305,3409
$GC,7555,-0.84,-117.3,577.9,-6.1,248,7559,0.00,2.25,0.00,0.000,4,0.000,0.049,1817,900,3409
$GC,7583,-0.86,-117.3,579.7,-6.7,248,7587,0.00,2.22,0.00,0.000,6,0.000,0.042,1810,2300,3409
$GC,7915,-0.86,-117.3,601.1,-6.4,254,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2301,3409
$GC,8218,-0.86,-117.3,620.5,-6.4,259,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2301,3409
$GC,8521,-0.86,-117.3,639.8,-6.4,264,8525,0.00,2.25,0.00,0.000,4,0.000,0.050,1810,897,3409
$GC,8570,-0.86,-117.3,643.1,-6.8,264,8574,0.00,2.25,0.00,0.000,6,0.000,0.044,1808,2315,3409
$GC,8880,-0.86,-117.3,663.0,-6.4,269,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2315,3408
$GC,9184,-0.86,-117.3,682.1,-6.3,274,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2315,3408
$GC,9486,-0.86,-117.3,700.9,-6.2,279,9490,0.00,2.28,0.00,0.000,4,0.000,0.047,1808,902,3408
$GC,9525,-0.86,-117.3,703.4,-6.3,279,9529,0.00,2.25,0.00,0.000,6,0.000,0.043,1806,2314,3408
$GC,9846,-0.86,-117.3,723.1,-6.2,285,9847,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2314,3408
$GC,10149,-0.86,-117.3,741.7,-6.1,290,10152,0.00,2.25,0.00,0.000,4,0.000,0.044,1806,899,3408
$GC,10194,-0.86,-117.3,744.7,-6.3,290,10198,0.00,2.22,0.00,0.000,6,0.000,0.041,1797,2305,3408
$GC,10515,-0.86,-117.3,766.1,-6.6,296,10516,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2305,3407
$GC,10818,-0.86,-117.3,785.6,-6.5,301,10822,0.00,2.28,0.00,0.000,4,0.000,0.047,1797,893,3407
$GC,10856,-0.86,-117.3,788.3,-6.4,301,10861,0.00,2.25,0.00,0.000,6,0.000,0.048,1794,2305,3408
$GC,11178,-0.86,-117.3,809.2,-6.6,307,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3407
$GC,11480,-0.86,-117.3,829.7,-6.7,312,11482,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2305,3407
$GC,11784,-0.86,-117.3,849.6,-6.5,317,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3407
$GC,12087,-0.86,-117.3,870.4,-6.8,322,12091,0.00,2.28,0.00,0.000,4,0.000,0.053,1794,893,3407
$GC,12143,-0.86,-117.3,874.5,-7.1,322,12149,0.00,2.28,0.00,0.000,6,0.000,0.043,1793,2316,3407
$GC,12453,-0.86,-117.3,896.1,-7.0,328,12457,0.00,2.28,0.00,0.000,4,0.000,0.048,1793,903,3407
$GC,12493,-0.86,-117.3,899.1,-8.4,328,12498,0.12,2.22,0.00,0.000,6,0.127,0.041,1819,2303,3407
$GC,12815,-0.91,-117.3,917.1,-5.6,334,12819,0.00,2.25,0.00,0.000,4,0.000,0.053,1819,903,3407
$GC,12843,-0.96,-117.3,918.9,-6.2,334,12847,0.10,2.22,0.00,0.000,6,0.077,0.048,1773,2305,3407
$GC,13181,-0.91,-117.3,943.0,-7.2,340,13183,0.10,0.00,0.00,0.000,6,0.134,0.000,1799,2305,3406
$GC,13483,-0.91,-117.3,960.5,-5.7,345,13484,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2305,3406
$GC,13787,-0.91,-117.3,977.6,-5.6,350,13791,0.00,2.28,0.00,0.000,4,0.000,0.053,1800,894,3406
$GC,13837,-0.91,-117.3,980.8,-6.7,350,13841,0.00,2.25,0.00,0.000,6,0.000,0.047,1795,2304,3406
$STATE,14022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14022,begin apogee
$GC,14029,-0.22,0.0,991.9,6.0,353,14130,0.50,0.00,97.85,1.300,6,0.114,0.000,1955,2303,2931
$STATE,14130,end apogee,CONTROL_FINISHED_OK
$STATE,14130,begin climb
$GC,14134,0.68,117.3,992.9,0.0,354,14241,0.57,0.00,103.78,1.271,6,0.073,0.000,2151,2303,2452
$GC,14568,0.56,117.3,970.1,6.7,362,14570,0.12,0.00,0.00,0.000,6,0.154,0.000,2121,2303,2441
$GC,14872,0.50,117.3,953.2,5.5,367,14876,0.00,2.30,0.00,0.000,4,0.000,0.056,2121,3719,2440
$GC,14905,0.40,117.3,950.9,6.4,367,14910,0.17,2.22,0.00,0.000,6,0.160,0.035,2084,2305,2439
$GC,15237,0.46,159.7,937.1,4.1,373,15275,0.00,0.00,35.67,1.231,6,0.000,0.000,2084,2305,2279
$GC,15541,0.58,174.0,922.2,5.0,378,15561,0.15,2.35,13.30,1.134,4,0.066,0.052,2156,896,2221
$GC,15660,0.51,174.0,914.4,7.0,379,15664,0.17,2.28,0.00,0.000,6,0.138,0.044,2110,2307,2218
$GC,15975,0.51,175.1,896.8,5.5,385,15979,0.00,2.28,0.00,0.000,4,0.000,0.054,2109,3714,2216
$GC,16014,0.48,175.1,894.1,6.2,385,16018,0.00,2.22,0.00,0.000,6,0.000,0.037,2118,2297,2215
$GC,16335,0.48,175.1,874.5,6.2,391,16336,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2298,2215
$GC,16637,0.48,175.1,855.7,6.2,396,16641,0.00,2.30,0.00,0.000,4,0.000,0.053,2118,3721,2215
$GC,16693,0.42,175.1,851.5,7.2,396,16701,0.10,2.22,0.00,0.000,6,0.145,0.034,2096,2309,2215
$GC,17005,0.47,190.1,835.6,5.0,402,17021,0.00,0.00,14.62,1.111,6,0.000,0.000,2096,2309,2155
$GC,17307,0.53,204.7,820.2,5.0,407,17327,0.00,2.33,14.00,1.088,4,0.000,0.051,2096,3710,2096
$GC,17356,0.56,204.7,817.2,6.1,407,17360,0.00,2.22,0.00,0.000,6,0.000,0.041,2104,2300,2094
$GC,17673,0.59,204.7,799.4,5.6,413,17674,0.08,0.00,0.00,0.000,6,0.082,0.000,2152,2300,2093
$GC,17975,0.51,204.7,775.5,8.1,418,17980,0.15,2.28,0.00,0.000,4,0.139,0.053,2111,3707,2092
$GC,18008,0.51,204.7,773.1,7.0,418,18012,0.00,2.20,0.00,0.000,6,0.000,0.034,2119,2293,2091
$GC,18340,0.51,205.6,754.6,5.5,424,18341,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2292,2091
$GC,18644,0.52,207.3,738.0,5.4,429,18648,0.00,2.28,0.00,0.000,4,0.000,0.051,2119,3709,2091
$GC,18678,0.49,207.3,735.7,6.6,429,18682,0.10,2.17,0.00,0.000,6,0.147,0.033,2105,2296,2091
$GC,19011,0.56,234.9,720.4,4.6,435,19040,0.00,0.00,27.15,1.088,6,0.000,0.000,2105,2296,1973
$GC,19314,0.65,256.5,706.0,4.8,440,19340,0.12,2.33,19.73,1.049,4,0.059,0.056,2175,3717,1884
$GC,19357,0.54,256.5,702.6,8.1,440,19362,0.25,2.25,0.00,0.000,6,0.145,0.034,2119,2297,1883
$GC,19678,0.58,259.5,684.4,5.4,446,19682,0.00,2.25,0.00,0.000,4,0.000,0.049,2127,895,1880
$GC,19708,0.64,259.5,682.6,5.5,446,19713,0.00,2.22,0.00,0.000,6,0.000,0.044,2127,2305,1879
$GC,20041,0.64,259.5,662.6,6.0,452,20044,0.00,2.25,0.00,0.000,4,0.000,0.056,2127,3709,1878
$GC,20079,0.64,259.5,659.8,7.1,452,20083,0.00,2.20,0.00,0.000,6,0.000,0.035,2136,2296,1879
$GC,20412,0.64,259.5,637.6,6.6,458,20413,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2296,1878
$GC,20715,0.64,259.5,618.3,6.3,463,20719,0.00,2.25,0.00,0.000,4,0.000,0.048,2137,3708,1878
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