version: 66.04
glider: 144
mission: 15
dive: 457
start: 11 11 109 10 22 57
data:
$ID,144
$MISSION,15
$DIVE,457
$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,-70535.914
$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,38
$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
$GPS1,101531,5010.628,-14508.820,38,2.0,38,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-56.8
$GPS2,102204,5010.637,-14508.817,14,2.5,33,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.051,-0.160
$KALMAN_X,-91859.1,-127.4,89.7,93964.8,1022.3
$KALMAN_Y,15626.6,126.3,161.7,-35079.6,-1000.2
$MHEAD_RNG_PITCHd_Wd,179.2,31016,-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,-117.3,0.0,0.0,0,61,0.00,0.00,-41.38,0.000,2,0.000,0.000,98,2301,2569
$GC,64,-0.68,-117.3,3.4,-4.0,4,100,7.15,2.35,-21.73,0.000,4,0.233,0.068,1840,3714,3412
$GC,169,-0.63,-117.3,14.0,-9.3,13,174,0.10,2.25,0.00,0.000,6,0.123,0.038,1867,2306,3413
$GC,495,-0.63,-117.3,44.2,-10.5,43,499,0.00,2.28,0.00,0.000,4,0.000,0.042,1867,885,3414
$GC,558,-0.63,-117.3,50.7,-11.1,48,562,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2305,3414
$GC,893,-0.63,-117.3,82.4,-8.8,78,897,0.00,2.28,0.00,0.000,4,0.000,0.041,1863,885,3414
$GC,1002,-0.67,-117.3,91.0,-7.7,83,1006,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2310,3414
$GC,1330,-0.70,-117.3,118.7,-8.5,99,1334,0.00,2.28,0.00,0.000,4,0.000,0.041,1863,889,3415
$GC,1354,-0.72,-117.3,120.9,-8.6,100,1358,0.00,2.25,0.00,0.000,6,0.000,0.037,1861,2310,3415
$GC,1677,-0.76,-117.3,147.0,-7.1,116,1678,0.10,0.00,0.00,0.000,6,0.064,0.000,1782,2311,3415
$GC,1993,-0.67,-117.3,179.5,-10.4,127,1995,0.25,0.00,0.00,0.000,6,0.112,0.000,1860,2311,3415
$GC,2299,-0.73,-117.3,198.2,-6.1,137,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2311,3415
$GC,2605,-0.80,-117.3,216.1,-5.8,147,2607,0.12,0.00,0.00,0.000,6,0.055,0.000,1766,2311,3415
$GC,2912,-0.69,-117.3,249.0,-10.9,157,2917,0.25,2.30,0.00,0.000,4,0.121,0.041,1849,887,3414
$GC,2990,-0.75,-117.3,254.9,-6.5,159,2994,0.00,2.25,0.00,0.000,6,0.000,0.038,1848,2301,3414
$GC,3315,-0.80,-117.3,273.9,-6.0,170,3317,0.10,0.00,0.00,0.000,6,0.066,0.000,1776,2301,3414
$GC,3650,-0.72,-117.3,307.0,-9.8,180,3655,0.20,2.28,0.00,0.000,4,0.117,0.042,1844,892,3414
$GC,3689,-0.78,-117.3,309.9,-6.3,180,3693,0.00,2.25,0.00,0.000,6,0.000,0.043,1837,2299,3414
$GC,4011,-0.81,-117.3,329.0,-5.9,186,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2298,3413
$GC,4314,-0.85,-117.3,347.1,-6.0,191,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2298,3413
$GC,4617,-0.88,-117.3,366.3,-6.4,196,4622,0.10,2.30,0.00,0.000,4,0.067,0.052,1752,3712,3412
$GC,4645,-0.80,-117.3,369.1,-10.8,196,4650,0.25,2.20,0.00,0.000,6,0.121,0.031,1823,2298,3412
$GC,4983,-0.80,-117.3,394.8,-7.4,202,4987,0.00,2.25,0.00,0.000,4,0.000,0.044,1823,888,3412
$GC,5033,-0.83,-117.3,398.7,-7.6,202,5037,0.00,2.28,0.00,0.000,6,0.000,0.038,1817,2308,3412
$GC,5343,-0.83,-117.3,420.5,-7.0,207,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2309,3411
$GC,5647,-0.83,-117.3,441.3,-6.8,212,5650,0.00,2.28,0.00,0.000,4,0.000,0.044,1817,895,3411
$GC,5702,-0.83,-117.3,445.6,-7.8,212,5706,0.00,2.25,0.00,0.000,6,0.000,0.038,1808,2303,3411
$GC,6012,-0.83,-117.3,468.1,-7.3,217,6016,0.00,2.25,0.00,0.000,4,0.000,0.044,1808,898,3411
$GC,6040,-0.83,-117.3,470.3,-7.6,217,6044,0.00,2.25,0.00,0.000,6,0.000,0.040,1800,2311,3411
$GC,6373,-0.81,-117.3,495.6,-7.6,223,6375,0.10,0.00,0.00,0.000,6,0.134,0.000,1828,2311,3410
$GC,6675,-0.85,-117.3,513.8,-6.0,228,6679,0.00,2.28,0.00,0.000,4,0.000,0.048,1828,898,3410
$GC,6703,-0.89,-117.3,515.7,-6.5,228,6707,0.00,2.25,0.00,0.000,6,0.000,0.044,1822,2306,3410
$GC,7037,-0.92,-117.3,537.9,-6.7,234,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2307,3410
$GC,7339,-0.94,-117.3,558.7,-6.9,239,7344,0.10,2.28,0.00,0.000,4,0.066,0.047,1753,892,3410
$GC,7384,-0.84,-117.3,563.1,-11.1,239,7388,0.25,2.25,0.00,0.000,6,0.122,0.039,1818,2303,3410
$GC,7699,-0.86,-117.3,584.6,-6.7,245,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2304,3409
$GC,8003,-0.89,-117.3,603.2,-6.1,250,8007,0.00,2.25,0.00,0.000,4,0.000,0.044,1818,898,3409
$GC,8037,-0.91,-117.3,605.4,-6.4,250,8041,0.00,2.25,0.00,0.000,6,0.000,0.043,1810,2304,3409
$GC,8369,-0.91,-117.3,625.4,-6.0,256,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2305,3409
$GC,8673,-0.91,-117.3,643.8,-6.1,261,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2305,3409
$GC,8976,-0.91,-117.3,662.5,-6.1,266,8980,0.00,2.28,0.00,0.000,4,0.000,0.052,1811,891,3408
$GC,9026,-0.91,-117.3,666.1,-6.7,266,9030,0.00,2.28,0.00,0.000,6,0.000,0.040,1808,2310,3409
$GC,9336,-0.91,-117.3,685.9,-6.5,271,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2310,3408
$GC,9639,-0.91,-117.3,706.1,-6.7,276,9643,0.00,2.30,0.00,0.000,4,0.000,0.044,1808,891,3408
$GC,9667,-0.91,-117.3,708.1,-7.3,276,9671,0.00,2.28,0.00,0.000,6,0.000,0.044,1807,2305,3408
$GC,10005,-0.91,-117.3,732.7,-7.4,282,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2306,3408
$GC,10308,-0.91,-117.3,755.2,-7.4,287,10312,0.00,2.28,0.00,0.000,4,0.000,0.046,1807,900,3408
$GC,10336,-0.91,-117.3,757.4,-8.3,287,10340,0.00,2.28,0.00,0.000,6,0.000,0.045,1797,2314,3408
$GC,10669,-0.91,-117.3,783.0,-7.7,293,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2314,3408
$GC,10971,-0.91,-117.3,806.2,-7.7,298,10975,0.00,2.30,0.00,0.000,4,0.000,0.049,1798,894,3407
$GC,11015,-0.91,-117.3,809.8,-7.8,298,11019,0.00,2.28,0.00,0.000,6,0.000,0.040,1795,2307,3407
$GC,11330,-0.91,-117.3,833.7,-7.5,304,11334,0.00,2.28,0.00,0.000,4,0.000,0.049,1795,899,3407
$GC,11359,-0.91,-117.3,836.0,-7.7,304,11363,0.00,2.25,0.00,0.000,6,0.000,0.043,1786,2308,3407
$GC,11697,-0.89,-117.3,861.8,-7.6,310,11701,0.00,2.28,0.00,0.000,4,0.000,0.047,1786,900,3407
$GC,11725,-0.86,-117.3,864.3,-7.9,310,11730,0.12,2.25,0.00,0.000,6,0.129,0.042,1816,2308,3407
$GC,12065,-0.91,-117.3,883.6,-5.6,316,12066,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2309,3407
$GC,12367,-0.95,-117.3,900.1,-5.4,321,12369,0.10,0.00,0.00,0.000,6,0.077,0.000,1770,2309,3407
$GC,12670,-0.90,-117.3,922.5,-7.5,326,12671,0.12,0.00,0.00,0.000,6,0.123,0.000,1805,2309,3406
$GC,12974,-0.92,-117.3,940.4,-5.8,331,12978,0.00,2.33,0.00,0.000,4,0.000,0.048,1806,894,3407
$GC,13002,-0.94,-117.3,942.2,-7.0,331,13006,0.00,2.28,0.00,0.000,6,0.000,0.044,1805,2306,3406
$GC,13340,-0.94,-117.3,961.3,-5.6,337,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2305,3406
$GC,13643,-0.94,-117.3,977.9,-5.5,342,13647,0.00,2.33,0.00,0.000,4,0.000,0.048,1805,898,3406
$GC,13676,-0.94,-117.3,980.0,-6.4,342,13680,0.00,2.28,0.00,0.000,6,0.000,0.043,1796,2303,3406
$STATE,13878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13878,begin apogee
$GC,13885,-0.22,0.0,992.1,6.0,346,13986,0.50,0.00,98.38,1.298,6,0.112,0.000,1957,2304,2931
$STATE,13987,end apogee,CONTROL_FINISHED_OK
$STATE,13987,begin climb
$GC,13990,0.68,117.3,993.1,0.0,347,14101,0.57,2.60,103.53,1.267,4,0.067,0.053,2156,3707,2451
$GC,14129,0.51,117.3,990.0,6.7,350,14134,0.22,2.40,0.00,0.000,6,0.166,0.038,2114,2313,2448
$GC,14496,0.47,118.5,969.4,5.5,356,14500,0.00,2.35,0.00,0.000,4,0.000,0.055,2123,891,2441
$GC,14530,0.45,138.1,967.3,4.8,356,14558,0.10,2.30,17.88,1.180,6,0.143,0.047,2099,2307,2366
$GC,14861,0.48,158.5,951.3,4.8,362,14885,0.00,2.35,18.50,1.180,4,0.000,0.058,2099,3707,2283
$GC,14938,0.46,158.5,947.0,6.1,363,14942,0.00,2.28,0.00,0.000,6,0.000,0.036,2107,2299,2281
$GC,15294,0.47,172.8,928.8,5.0,369,15309,0.00,0.00,13.57,1.134,6,0.000,0.000,2107,2299,2226
$GC,15596,0.49,185.9,913.4,5.1,374,15616,0.00,2.33,12.82,1.118,4,0.000,0.054,2107,3706,2171
$GC,15650,0.47,185.9,910.0,6.7,374,15654,0.00,2.25,0.00,0.000,6,0.000,0.034,2117,2299,2170
$GC,15961,0.47,185.9,891.8,5.9,379,15965,0.00,2.30,0.00,0.000,4,0.000,0.053,2117,3714,2168
$GC,15994,0.43,185.9,889.5,6.9,379,15999,0.15,2.22,0.00,0.000,6,0.152,0.041,2089,2296,2168
$GC,16327,0.50,209.1,873.5,4.7,385,16350,0.00,0.00,21.35,1.161,6,0.000,0.000,2089,2296,2078
$GC,16630,0.65,209.1,856.2,6.0,390,16635,0.17,2.30,0.00,0.000,4,0.061,0.049,2160,886,2073
$GC,16737,0.60,209.1,848.3,7.1,391,16741,0.12,2.28,0.00,0.000,6,0.135,0.040,2129,2304,2073
$GC,17057,0.60,209.1,826.3,6.8,397,17061,0.00,2.28,0.00,0.000,4,0.000,0.051,2128,3709,2073
$GC,17103,0.55,209.1,822.4,9.4,397,17107,0.00,2.25,0.00,0.000,6,0.000,0.035,2137,2298,2072
$GC,17419,0.52,209.1,798.6,7.6,403,17420,0.10,0.00,0.00,0.000,6,0.155,0.000,2112,2299,2072
$GC,17721,0.54,209.1,779.5,6.3,408,17723,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2299,2071
$GC,18025,0.57,209.1,761.0,6.1,413,18029,0.00,2.30,0.00,0.000,4,0.000,0.049,2112,3712,2071
$GC,18052,0.57,209.1,758.9,7.1,413,18056,0.00,2.25,0.00,0.000,6,0.000,0.034,2120,2304,2071
$GC,18384,0.57,209.1,738.5,6.1,419,18388,0.00,2.28,0.00,0.000,4,0.000,0.047,2131,889,2071
$GC,18411,0.57,209.1,736.8,5.9,419,18415,0.00,2.25,0.00,0.000,6,0.000,0.040,2130,2306,2070
$GC,18744,0.57,209.1,715.9,6.3,425,18748,0.00,2.28,0.00,0.000,4,0.000,0.053,2131,3720,2070
$GC,18773,0.53,209.1,713.7,6.9,425,18777,0.10,2.22,0.00,0.000,6,0.149,0.033,2116,2295,2070
$GC,19111,0.55,209.1,694.4,5.7,431,19114,0.00,2.25,0.00,0.000,4,0.000,0.047,2124,888,2070
$GC,19151,0.58,209.1,691.9,6.0,431,19155,0.00,2.25,0.00,0.000,6,0.000,0.042,2124,2310,2070
$GC,19477,0.58,209.1,672.0,6.1,437,19478,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2309,2070
$GC,19780,0.58,209.1,653.0,6.3,442,19782,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2310,2070
$GC,20084,0.58,209.1,634.4,6.1,447,20085,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2310,2070
$GC,20387,0.58,209.1,615.9,6.1,452,20388,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2309,2070
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