version: 66.04
glider: 144
mission: 15
dive: 200
start: 8 16 109 12 27 8
data:
$ID,144
$MISSION,15
$DIVE,200
$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,-64802.234
$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,0.039999999
$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,34
$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
$GPS1,121336,5009.121,-14510.794,39,1.9,39,18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-59.6
$GPS2,122614,5009.245,-14510.718,13,2.0,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.013,-0.167
$KALMAN_X,642.1,86.0,108.4,-1010.8,229.6
$KALMAN_Y,2256.9,-15.9,-38.9,-23935.7,1047.2
$MHEAD_RNG_PITCHd_Wd,166.1,28251,-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,-117.3,0.0,0.0,0,49,0.00,0.00,-31.83,0.000,2,0.000,0.000,101,2311,2571
$GC,52,-0.68,-117.3,3.2,-6.7,3,86,7.18,2.28,-19.75,0.000,4,0.242,0.063,1836,3714,3412
$GC,121,-0.29,-117.3,14.7,-20.2,9,126,0.35,2.25,0.00,0.000,6,0.132,0.036,1940,2293,3413
$GC,448,-0.80,-117.3,37.9,-7.0,39,453,0.30,2.28,0.00,0.000,4,0.058,0.045,1819,3709,3415
$GC,509,-0.60,-117.3,43.4,-10.0,44,516,0.17,2.17,0.00,0.000,6,0.124,0.029,1869,2298,3415
$GC,836,-0.60,-117.3,69.8,-7.6,75,839,0.00,2.22,0.00,0.000,4,0.000,0.041,1869,895,3416
$GC,926,-0.60,-117.3,77.4,-8.6,83,930,0.00,2.22,0.00,0.000,6,0.000,0.038,1863,2305,3417
$GC,1253,-0.60,-117.3,106.1,-8.5,100,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2305,3417
$GC,1562,-0.60,-117.3,129.2,-7.4,115,1566,0.00,2.22,0.00,0.000,4,0.000,0.043,1863,902,3417
$GC,1596,-0.64,-117.3,131.7,-7.8,116,1600,0.00,2.22,0.00,0.000,6,0.000,0.041,1863,2310,3417
$GC,1911,-0.70,-117.3,155.0,-7.8,130,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2310,3416
$GC,2217,-0.78,-117.3,178.4,-7.4,140,2219,0.12,0.00,0.00,0.000,6,0.060,0.000,1783,2311,3415
$GC,2524,-0.56,-117.3,213.8,-11.7,150,2528,0.30,2.25,0.00,0.000,4,0.124,0.046,1878,901,3415
$GC,2614,-0.74,-117.3,219.9,-6.2,152,2619,0.12,2.22,0.00,0.000,6,0.060,0.044,1800,2306,3415
$GC,2927,-0.59,-117.3,249.6,-9.9,162,2929,0.25,0.00,0.00,0.000,6,0.126,0.000,1876,2307,3414
$GC,3233,-0.76,-117.3,266.9,-5.4,172,3235,0.15,0.00,0.00,0.000,6,0.054,0.000,1781,2307,3412
$GC,3539,-0.56,-117.3,298.0,-10.2,182,3544,0.28,2.25,0.00,0.000,4,0.127,0.044,1872,903,3412
$GC,3589,-0.74,-117.3,301.3,-5.4,183,3594,0.10,2.20,0.00,0.000,6,0.066,0.041,1802,2309,3412
$GC,3904,-0.61,-117.3,325.8,-7.9,189,3906,0.22,0.00,0.00,0.000,6,0.120,0.000,1870,2309,3411
$GC,4208,-0.77,-117.3,339.6,-4.3,194,4210,0.15,0.00,0.00,0.000,6,0.051,0.000,1779,2309,3410
$GC,4511,-0.57,-117.3,368.1,-9.7,199,4516,0.28,2.28,0.00,0.000,4,0.124,0.044,1871,896,3410
$GC,4560,-0.77,-117.3,371.7,-6.1,199,4565,0.12,2.22,0.00,0.000,6,0.061,0.044,1793,2304,3409
$GC,4870,-0.63,-117.3,399.8,-9.4,204,4872,0.22,0.00,0.00,0.000,6,0.122,0.000,1862,2304,3409
$GC,5174,-0.77,-117.3,416.4,-5.2,209,5176,0.12,0.00,0.00,0.000,6,0.059,0.000,1782,2305,3408
$GC,5476,-0.59,-117.3,445.1,-9.8,214,5481,0.25,2.25,0.00,0.000,4,0.124,0.046,1864,900,3407
$GC,5509,-0.73,-117.3,447.8,-6.7,214,5514,0.08,2.22,0.00,0.000,6,0.082,0.040,1806,2307,3407
$GC,5835,-0.67,-117.3,474.2,-8.1,220,5837,0.17,0.00,0.00,0.000,6,0.123,0.000,1858,2307,3407
$GC,6138,-0.81,-117.3,490.7,-5.3,225,6143,0.12,2.22,0.00,0.000,4,0.061,0.044,1782,900,3406
$GC,6182,-0.64,-117.3,494.3,-8.7,225,6187,0.30,2.22,0.00,0.000,6,0.123,0.041,1864,2311,3406
$GC,6498,-0.81,-117.3,509.0,-4.5,231,6500,0.15,0.00,0.00,0.000,6,0.057,0.000,1781,2311,3406
$GC,6800,-0.64,-117.3,533.4,-8.1,236,6802,0.28,0.00,0.00,0.000,6,0.123,0.000,1866,2311,3405
$GC,7104,-0.82,-117.3,544.6,-3.5,241,7106,0.15,0.00,0.00,0.000,6,0.056,0.000,1780,2311,3405
$GC,7407,-0.65,-117.3,569.3,-8.4,246,7409,0.25,0.00,0.00,0.000,6,0.124,0.000,1856,2311,3404
$GC,7710,-0.80,-117.3,584.3,-4.9,251,7712,0.12,0.00,0.00,0.000,6,0.060,0.000,1781,2311,3404
$GC,8013,-0.64,-117.3,611.2,-9.1,256,8015,0.28,0.00,0.00,0.000,6,0.123,0.000,1865,2311,3404
$GC,8316,-0.84,-117.3,626.6,-4.9,261,8318,0.15,0.00,0.00,0.000,6,0.061,0.000,1791,2311,3404
$GC,8619,-0.73,-117.3,650.4,-8.0,266,8621,0.17,0.00,0.00,0.000,6,0.124,0.000,1842,2311,3403
$GC,8923,-0.84,-117.3,666.9,-5.4,271,8927,0.10,2.28,0.00,0.000,4,0.071,0.051,1783,894,3402
$GC,8955,-0.71,-117.3,669.4,-8.5,271,8960,0.25,2.25,0.00,0.000,6,0.124,0.041,1849,2314,3403
$GC,9288,-0.84,-117.3,686.0,-4.9,277,9293,0.12,2.28,0.00,0.000,4,0.064,0.051,1781,893,3403
$GC,9332,-0.68,-117.3,689.5,-8.5,277,9337,0.28,2.25,0.00,0.000,6,0.120,0.041,1855,2316,3403
$GC,9648,-0.84,-117.3,704.7,-4.6,283,9650,0.12,0.00,0.00,0.000,6,0.064,0.000,1789,2316,3402
$GC,9951,-0.73,-117.3,726.6,-7.4,288,9955,0.17,2.28,0.00,0.000,4,0.125,0.048,1847,896,3402
$GC,9983,-0.84,-117.3,728.6,-5.4,288,9988,0.12,2.22,0.00,0.000,6,0.066,0.044,1786,2301,3402
$GC,10310,-0.71,-117.3,753.3,-7.7,294,10315,0.17,2.25,0.00,0.000,4,0.133,0.051,1835,3709,3402
$GC,10343,-0.81,-117.3,755.5,-5.6,294,10347,0.00,2.20,0.00,0.000,6,0.000,0.039,1835,2302,3401
$GC,10677,-0.91,-117.3,773.4,-5.4,300,10681,0.12,2.28,0.00,0.000,4,0.073,0.051,1776,887,3401
$GC,10704,-0.80,-117.3,775.6,-9.0,300,10709,0.22,2.25,0.00,0.000,6,0.130,0.041,1831,2305,3401
$GC,11036,-0.88,-117.3,793.5,-5.2,306,11041,0.10,2.28,0.00,0.000,4,0.080,0.053,1787,891,3401
$GC,11099,-0.77,-117.3,798.2,-8.4,307,11104,0.17,2.25,0.00,0.000,6,0.129,0.049,1832,2306,3401
$GC,11466,-0.86,-117.3,816.9,-5.0,313,11470,0.00,2.28,0.00,0.000,4,0.000,0.051,1832,889,3401
$GC,11509,-0.94,-117.3,819.5,-5.8,313,11514,0.10,2.25,0.00,0.000,6,0.077,0.042,1775,2309,3401
$GC,11824,-0.79,-117.3,843.3,-7.7,319,11829,0.17,2.25,0.00,0.000,4,0.137,0.057,1823,3708,3401
$GC,11869,-0.87,-117.3,846.0,-5.3,319,11873,0.00,2.20,0.00,0.000,6,0.000,0.034,1823,2294,3401
$GC,12184,-0.92,-117.3,862.7,-5.3,325,12188,0.00,2.25,0.00,0.000,4,0.000,0.051,1823,891,3401
$GC,12212,-0.96,-117.3,864.4,-6.5,325,12216,0.00,2.25,0.00,0.000,6,0.000,0.044,1813,2308,3400
$GC,12543,-0.96,-117.3,884.2,-5.9,331,12547,0.00,2.28,0.00,0.000,4,0.000,0.049,1813,899,3401
$GC,12582,-0.96,-117.3,886.7,-6.8,331,12586,0.00,2.25,0.00,0.000,6,0.000,0.049,1807,2312,3401
$GC,12909,-0.96,-117.3,906.9,-6.3,337,12913,0.00,2.30,0.00,0.000,4,0.000,0.054,1808,889,3401
$GC,12948,-0.96,-117.3,909.6,-6.3,337,12952,0.00,2.25,0.00,0.000,6,0.000,0.041,1798,2303,3400
$GC,13270,-0.90,-117.3,931.6,-6.8,343,13274,0.00,2.28,0.00,0.000,4,0.000,0.049,1799,891,3400
$GC,13303,-0.84,-117.3,934.1,-6.9,343,13307,0.10,2.25,0.00,0.000,6,0.148,0.043,1819,2302,3400
$GC,13635,-0.89,-117.3,952.8,-5.6,349,13639,0.00,2.28,0.00,0.000,4,0.000,0.054,1819,889,3400
$GC,13667,-0.89,-117.3,954.9,-6.5,349,13672,0.00,2.22,0.00,0.000,6,0.000,0.044,1811,2305,3400
$GC,14000,-0.89,-117.3,975.3,-6.2,355,14004,0.00,2.28,0.00,0.000,4,0.000,0.055,1812,890,3400
$GC,14044,-0.89,-117.3,978.4,-7.0,355,14048,0.00,2.25,0.00,0.000,6,0.000,0.049,1809,2302,3400
$STATE,14237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14237,begin apogee
$GC,14243,-0.22,0.0,990.7,6.3,359,14339,0.45,0.00,93.12,1.325,6,0.125,0.000,1950,2303,2931
$STATE,14339,end apogee,CONTROL_FINISHED_OK
$STATE,14339,begin climb
$GC,14342,0.68,117.3,992.0,0.0,360,14448,0.57,2.53,99.60,1.298,4,0.083,0.058,2148,3712,2451
$GC,14476,0.28,117.3,988.0,7.6,362,14482,0.40,2.38,0.00,0.000,6,0.180,0.036,2061,2312,2447
$GC,14832,0.45,147.0,972.1,4.5,368,14862,0.12,2.42,24.62,1.239,4,0.075,0.058,2120,889,2331
$GC,14937,0.36,160.7,965.9,5.0,369,14960,0.17,2.35,12.73,1.154,6,0.146,0.048,2075,2312,2275
$GC,15263,0.47,189.6,950.9,4.5,375,15294,0.10,2.35,25.55,1.236,4,0.074,0.059,2117,3710,2157
$GC,15339,0.32,189.6,945.5,7.8,376,15344,0.22,2.30,0.00,0.000,6,0.164,0.038,2069,2299,2155
$GC,15694,0.60,207.1,928.6,4.9,382,15716,0.20,2.33,16.10,1.187,4,0.070,0.053,2157,895,2084
$GC,15802,0.44,207.1,920.7,8.5,383,15806,0.22,2.30,0.00,0.000,6,0.146,0.042,2097,2307,2081
$GC,16123,0.50,209.6,902.9,5.4,389,16127,0.00,2.30,0.00,0.000,4,0.000,0.055,2097,3713,2080
$GC,16172,0.50,209.6,899.6,6.8,389,16176,0.00,2.28,0.00,0.000,6,0.000,0.038,2104,2300,2080
$GC,16487,0.50,209.6,880.8,6.0,395,16488,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2299,2079
$GC,16790,0.50,209.6,862.6,5.9,400,16794,0.00,2.30,0.00,0.000,4,0.000,0.057,2103,3717,2078
$GC,16824,0.45,209.6,860.2,7.5,400,16828,0.00,2.25,0.00,0.000,6,0.000,0.037,2114,2299,2078
$GC,17150,0.45,209.6,838.8,6.5,406,17154,0.00,2.30,0.00,0.000,4,0.000,0.054,2114,3718,2078
$GC,17177,0.38,209.6,836.8,7.2,406,17182,0.17,2.25,0.00,0.000,6,0.155,0.038,2078,2297,2077
$GC,17509,0.60,209.6,818.6,5.5,412,17514,0.17,2.28,0.00,0.000,4,0.068,0.051,2146,889,2077
$GC,17564,0.54,209.6,814.8,7.2,412,17571,0.12,2.25,0.00,0.000,6,0.141,0.041,2114,2305,2077
$GC,17875,0.54,209.6,793.0,7.0,418,17878,0.00,2.25,0.00,0.000,4,0.000,0.051,2114,3709,2077
$GC,17915,0.46,209.6,789.5,8.7,418,17920,0.10,2.22,0.00,0.000,6,0.165,0.036,2098,2297,2077
$GC,18242,0.51,209.6,768.1,6.5,424,18243,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2297,2077
$GC,18545,0.57,209.6,748.3,6.6,429,18546,0.10,0.00,0.00,0.000,6,0.072,0.000,2149,2296,2077
$GC,18848,0.37,209.6,719.1,9.9,434,18853,0.22,2.30,0.00,0.000,4,0.146,0.051,2080,3713,2076
$GC,18898,0.45,209.6,715.0,7.5,434,18902,0.00,2.25,0.00,0.000,6,0.000,0.038,2089,2291,2076
$GC,19208,0.54,209.6,696.8,5.8,439,19210,0.10,0.00,0.00,0.000,6,0.073,0.000,2149,2291,2076
$GC,19511,0.35,209.6,672.0,8.4,444,19515,0.22,2.30,0.00,0.000,4,0.140,0.050,2077,3712,2076
$GC,19549,0.45,209.6,669.2,6.3,444,19554,0.00,2.20,0.00,0.000,6,0.000,0.033,2085,2305,2075
$GC,19871,0.60,244.8,655.0,4.3,450,19905,0.15,0.00,31.15,1.080,6,0.056,0.000,2169,2305,1933
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