version: 66.04
glider: 144
mission: 15
dive: 864
start: 3 28 110 20 15 55
data:
$ID,144
$MISSION,15
$DIVE,864
$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,-79203.477
$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
$GPS1,200706,4834.502,-12818.278,42,1.6,47,19.3
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-56.6
$GPS2,201502,4834.672,-12818.410,15,1.9,15,19.3
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P4
$TGT_LATLONG,4839.000,-12640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.141,-0.092
$KALMAN_X,-53763.4,152.4,525.3,1249193.5,-4855.9
$KALMAN_Y,127683.5,-23.5,-266.8,-324257.2,3315.2
$MHEAD_RNG_PITCHd_Wd,103.8,120675,-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,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-39.88,0.000,2,0.000,0.000,96,2314,2752
$GC,64,-0.68,-117.3,4.2,-9.5,2,89,7.10,2.35,-13.27,0.000,4,0.229,0.062,1839,3710,3413
$GC,125,-0.61,-117.3,16.1,-13.6,4,132,0.12,2.22,0.00,0.000,6,0.123,0.034,1873,2291,3414
$GC,443,-0.61,-117.3,47.7,-9.8,20,447,0.00,2.33,0.00,0.000,4,0.000,0.047,1865,3707,3414
$GC,472,-0.61,-117.3,51.1,-11.8,21,476,0.00,2.17,0.00,0.000,6,0.000,0.028,1865,2302,3414
$GC,792,-0.63,-117.3,82.5,-8.5,37,798,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2301,3414
$GC,1120,-0.68,-117.3,110.1,-7.2,68,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2301,3414
$GC,1440,-0.73,-117.3,132.1,-7.9,98,1445,0.10,2.28,0.00,0.000,4,0.063,0.038,1786,892,3415
$GC,1510,-0.64,-117.3,140.1,-13.2,104,1515,0.30,2.28,0.00,0.000,6,0.110,0.035,1866,2313,3415
$GC,1840,-0.70,-117.3,164.7,-6.5,121,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2313,3415
$GC,2146,-0.77,-117.3,180.9,-5.0,131,2150,0.12,2.33,0.00,0.000,4,0.054,0.038,1776,890,3415
$GC,2192,-0.68,-117.3,185.0,-9.7,132,2197,0.30,2.28,0.00,0.000,6,0.110,0.035,1856,2300,3415
$GC,2513,-0.73,-117.3,205.7,-6.6,143,2517,0.00,2.38,0.00,0.000,4,0.000,0.048,1849,3708,3415
$GC,2544,-0.79,-117.3,207.8,-7.1,144,2548,0.00,2.20,0.00,0.000,6,0.000,0.028,1850,2297,3415
$GC,2888,-0.84,-117.3,231.2,-6.8,155,2893,0.12,2.28,0.00,0.000,4,0.056,0.038,1756,896,3415
$GC,2935,-0.72,-117.3,236.3,-12.2,156,2941,0.35,2.28,0.00,0.000,6,0.114,0.041,1847,2305,3415
$GC,3256,-0.76,-117.3,258.1,-6.3,167,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2305,3415
$GC,3562,-0.80,-117.3,277.3,-6.3,177,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2305,3415
$GC,3869,-0.85,-117.3,295.4,-5.7,187,3874,0.12,2.30,0.00,0.000,4,0.057,0.040,1767,896,3415
$GC,3916,-0.75,-117.3,299.7,-10.2,188,3921,0.28,2.30,0.00,0.000,6,0.109,0.037,1837,2306,3414
$GC,4238,-0.77,-117.3,321.0,-6.4,194,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2306,3414
$GC,4542,-0.81,-117.3,341.7,-6.9,199,4546,0.00,2.35,0.00,0.000,4,0.000,0.041,1837,893,3414
$GC,4583,-0.86,-117.3,345.0,-7.7,199,4588,0.10,2.30,0.00,0.000,6,0.063,0.037,1768,2301,3414
$GC,4906,-0.75,-117.3,379.4,-11.0,205,4910,0.20,2.30,0.00,0.000,4,0.119,0.044,1836,904,3414
$GC,4947,-0.79,-117.3,382.8,-6.8,205,4951,0.00,2.30,0.00,0.000,6,0.000,0.044,1836,2309,3414
$GC,5270,-0.82,-117.3,404.3,-6.5,211,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2309,3413
$GC,5573,-0.86,-117.3,423.8,-6.5,216,5575,0.08,0.00,0.00,0.000,6,0.079,0.000,1768,2309,3413
$GC,5877,-0.76,-117.3,454.6,-10.4,221,5882,0.20,2.35,0.00,0.000,4,0.117,0.041,1834,895,3413
$GC,5935,-0.81,-117.3,459.2,-7.7,221,5942,0.00,2.33,0.00,0.000,6,0.000,0.039,1834,2305,3413
$GC,6247,-0.85,-117.3,477.2,-5.7,227,6251,0.00,2.38,0.00,0.000,4,0.000,0.054,1826,3708,3412
$GC,6276,-0.89,-117.3,479.2,-6.6,227,6280,0.00,2.22,0.00,0.000,6,0.000,0.034,1826,2305,3412
$GC,6611,-0.92,-117.3,499.2,-6.1,233,6615,0.10,2.30,0.00,0.000,4,0.065,0.046,1753,896,3412
$GC,6662,-0.80,-117.3,504.4,-11.1,233,6667,0.30,2.33,0.00,0.000,6,0.115,0.044,1829,2313,3412
$GC,6974,-0.84,-117.3,525.6,-6.7,238,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2313,3412
$GC,7278,-0.87,-117.3,546.3,-6.8,243,7282,0.00,2.38,0.00,0.000,4,0.000,0.054,1821,3716,3412
$GC,7309,-0.91,-117.3,548.6,-7.8,243,7313,0.00,2.28,0.00,0.000,6,0.000,0.037,1821,2294,3411
$GC,7642,-0.93,-117.3,572.7,-7.3,249,7644,0.10,0.00,0.00,0.000,6,0.067,0.000,1750,2294,3411
$GC,7947,-0.81,-117.3,606.2,-11.3,254,7951,0.22,2.38,0.00,0.000,4,0.120,0.046,1825,890,3410
$GC,8026,-0.85,-117.3,613.1,-7.5,255,8030,0.00,2.33,0.00,0.000,6,0.000,0.038,1822,2306,3410
$GC,8384,-0.88,-117.3,638.1,-7.1,261,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2306,3410
$GC,8686,-0.91,-117.3,658.9,-6.7,266,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2306,3410
$GC,8991,-0.94,-117.3,677.8,-6.2,271,8996,0.10,2.30,0.00,0.000,4,0.065,0.048,1753,894,3409
$GC,9037,-0.83,-117.3,682.3,-10.7,271,9042,0.28,2.33,0.00,0.000,6,0.114,0.044,1822,2311,3409
$GC,9354,-0.87,-117.3,701.0,-5.7,277,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2311,3409
$GC,9658,-0.90,-117.3,718.1,-5.6,282,9662,0.00,2.38,0.00,0.000,4,0.000,0.048,1822,893,3409
$GC,9689,-0.94,-117.3,720.0,-6.7,282,9694,0.10,2.33,0.00,0.000,6,0.066,0.045,1760,2310,3408
$GC,10022,-0.84,-117.3,751.1,-9.7,288,10027,0.17,2.40,0.00,0.000,4,0.121,0.043,1819,898,3408
$GC,10064,-0.88,-117.3,754.5,-7.2,288,10068,0.00,2.35,0.00,0.000,6,0.000,0.038,1811,2304,3408
$GC,10386,-0.88,-117.3,776.9,-6.9,294,10390,0.00,2.35,0.00,0.000,4,0.000,0.044,1811,896,3408
$GC,10421,-0.88,-117.3,779.7,-7.4,294,10425,0.00,2.35,0.00,0.000,6,0.000,0.044,1810,2306,3407
$GC,10749,-0.88,-117.3,802.4,-6.9,300,10753,0.00,2.38,0.00,0.000,4,0.000,0.048,1809,895,3407
$GC,10779,-0.88,-117.3,804.7,-7.9,300,10783,0.00,2.35,0.00,0.000,6,0.000,0.041,1807,2304,3407
$GC,11112,-0.88,-117.3,827.2,-6.7,306,11116,0.00,2.35,0.00,0.000,4,0.000,0.043,1808,892,3407
$GC,11147,-0.88,-117.3,829.8,-7.6,306,11151,0.00,2.35,0.00,0.000,6,0.000,0.041,1805,2303,3407
$GC,11481,-0.88,-117.3,851.6,-6.6,312,11485,0.00,2.35,0.00,0.000,4,0.000,0.044,1806,900,3407
$GC,11516,-0.88,-117.3,854.3,-7.7,312,11520,0.00,2.35,0.00,0.000,6,0.000,0.042,1796,2313,3407
$GC,11850,-0.88,-117.3,878.7,-7.3,318,11854,0.00,2.35,0.00,0.000,4,0.000,0.045,1796,903,3407
$GC,11935,-0.88,-117.3,885.5,-7.8,319,11939,0.00,2.35,0.00,0.000,6,0.000,0.045,1793,2303,3407
$GC,12286,-0.88,-117.3,909.9,-6.9,325,12290,0.00,2.35,0.00,0.000,4,0.000,0.049,1793,902,3406
$GC,12349,-0.88,-117.3,914.6,-7.5,325,12356,0.10,2.33,0.00,0.000,6,0.125,0.039,1808,2303,3406
$GC,12661,-0.91,-117.3,933.5,-6.0,331,12665,0.00,2.35,0.00,0.000,4,0.000,0.051,1808,902,3406
$GC,12698,-0.93,-117.3,935.9,-6.3,331,12702,0.00,2.35,0.00,0.000,6,0.000,0.044,1808,2302,3406
$GC,13026,-0.95,-117.3,955.7,-6.1,337,13030,0.00,2.38,0.00,0.000,4,0.000,0.051,1808,902,3406
$GC,13066,-0.97,-117.3,958.4,-7.0,337,13070,0.00,2.35,0.00,0.000,6,0.000,0.047,1808,2304,3406
$GC,13390,-0.97,-117.3,978.7,-6.2,343,13394,0.00,2.38,0.00,0.000,4,0.000,0.044,1808,893,3406
$GC,13436,-1.00,-117.3,982.0,-7.2,343,13441,0.10,2.35,0.00,0.000,6,0.074,0.039,1767,2303,3406
$STATE,13578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13578,begin apogee
$GC,13588,-0.22,0.0,993.5,8.1,346,13688,0.60,0.00,97.70,1.267,6,0.113,0.000,1954,2303,2931
$STATE,13689,end apogee,CONTROL_FINISHED_OK
$STATE,13689,begin climb
$GC,13694,0.68,117.3,995.3,0.0,347,13805,0.55,2.60,103.90,1.240,4,0.068,0.052,2147,3705,2451
$GC,13842,0.50,117.3,993.5,5.8,350,13847,0.20,2.47,0.00,0.000,6,0.157,0.032,2113,2309,2447
$GC,14195,0.48,132.0,975.9,5.0,356,14214,0.00,2.40,12.38,1.108,4,0.000,0.048,2123,888,2392
$GC,14251,0.46,132.0,972.9,5.8,356,14255,0.10,2.33,0.00,0.000,6,0.136,0.044,2099,2312,2390
$GC,14564,0.49,156.7,958.3,4.7,361,14592,0.00,2.38,21.77,1.172,4,0.000,0.053,2099,3709,2291
$GC,14614,0.52,183.3,955.5,4.6,361,14643,0.00,2.28,24.45,1.171,6,0.000,0.034,2107,2298,2183
$GC,15000,0.52,183.3,933.6,5.7,368,15001,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2298,2177
$GC,15303,0.52,183.3,915.8,5.8,373,15304,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2298,2175
$GC,15606,0.52,183.3,898.5,5.7,378,15610,0.00,2.35,0.00,0.000,4,0.000,0.053,2107,3716,2174
$GC,15642,0.52,183.3,896.2,6.4,378,15646,0.00,2.25,0.00,0.000,6,0.000,0.035,2118,2304,2174
$GC,15976,0.52,183.3,876.1,6.0,384,15977,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2304,2174
$GC,16279,0.52,183.3,857.1,6.3,389,16280,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2304,2173
$GC,16582,0.52,183.3,838.1,6.2,394,16586,0.00,2.38,0.00,0.000,4,0.000,0.048,2118,3710,2173
$GC,16624,0.48,183.3,835.2,6.8,394,16628,0.10,2.22,0.00,0.000,6,0.154,0.031,2104,2304,2173
$GC,16946,0.51,183.3,816.9,5.6,400,16949,0.00,2.30,0.00,0.000,4,0.000,0.045,2113,897,2173
$GC,16976,0.58,204.2,815.2,4.8,400,17000,0.00,2.30,17.85,1.081,6,0.000,0.040,2113,2308,2097
$GC,17320,0.61,204.2,795.4,5.7,406,17324,0.00,2.30,0.00,0.000,4,0.000,0.048,2113,3710,2094
$GC,17354,0.61,204.2,793.0,7.5,406,17358,0.00,2.25,0.00,0.000,6,0.000,0.031,2123,2299,2094
$GC,17688,0.61,204.2,773.7,5.7,412,17692,0.00,2.28,0.00,0.000,4,0.000,0.051,2133,899,2093
$GC,17711,0.61,204.2,772.3,6.2,412,17715,0.00,2.30,0.00,0.000,6,0.000,0.042,2133,2314,2093
$GC,18056,0.61,204.2,750.9,6.3,418,18057,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2314,2093
$GC,18358,0.61,204.2,732.3,6.1,423,18359,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2314,2093
$GC,18661,0.61,204.2,713.7,6.1,428,18663,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2314,2093
$GC,18964,0.61,204.2,696.1,5.7,433,18969,0.00,2.35,0.00,0.000,4,0.000,0.049,2133,3713,2093
$GC,18990,0.58,204.2,694.5,6.0,433,18994,0.00,2.22,0.00,0.000,6,0.000,0.031,2143,2303,2092
$GC,19335,0.55,204.2,672.8,6.2,439,19340,0.10,2.33,0.00,0.000,4,0.144,0.044,2126,890,2092
$GC,19376,0.60,213.1,670.6,5.2,439,19390,0.00,2.30,8.50,0.896,6,0.000,0.041,2126,2309,2062
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