version: 66.04
glider: 144
mission: 15
dive: 543
start: 12 10 109 9 46 16
data:
$ID,144
$MISSION,15
$DIVE,543
$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,-72539.281
$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,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
$GPS1,093107,5014.169,-14508.235,42,1.7,42,18.5
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-61.4
$GPS2,094519,5014.184,-14508.344,10,1.4,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.047,-0.161
$KALMAN_X,-96347.6,22.9,126.9,98825.8,1009.4
$KALMAN_Y,26339.0,69.4,-47.3,-38944.9,-367.5
$MHEAD_RNG_PITCHd_Wd,177.9,37606,-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,16,-0.68,-117.3,0.0,0.0,0,49,0.00,0.00,-31.00,0.000,2,0.000,0.000,99,2313,2525
$GC,53,-0.68,-117.3,3.5,-5.4,3,90,7.38,2.40,-22.85,0.000,4,0.240,0.064,1847,894,3412
$GC,192,-0.68,-117.3,19.5,-8.3,15,198,0.00,2.28,0.00,0.000,6,0.000,0.041,1839,2303,3413
$GC,521,-0.61,-117.3,54.5,-11.6,46,525,0.10,2.30,0.00,0.000,4,0.139,0.041,1867,887,3413
$GC,584,-0.65,-117.3,61.4,-9.4,51,588,0.00,2.28,0.00,0.000,6,0.000,0.038,1863,2313,3414
$GC,917,-0.65,-117.3,92.1,-9.0,76,921,0.00,2.30,0.00,0.000,4,0.000,0.043,1863,890,3414
$GC,959,-0.67,-117.3,96.1,-9.7,77,965,0.00,2.25,0.00,0.000,6,0.000,0.038,1856,2310,3414
$GC,1275,-0.69,-117.3,123.9,-8.5,93,1279,0.00,2.28,0.00,0.000,4,0.000,0.042,1856,890,3414
$GC,1327,-0.73,-117.3,127.9,-7.4,95,1331,0.00,2.25,0.00,0.000,6,0.000,0.037,1850,2307,3413
$GC,1659,-0.75,-117.3,154.0,-7.9,111,1663,0.00,2.28,0.00,0.000,4,0.000,0.053,1841,3711,3414
$GC,1683,-0.79,-117.3,155.9,-7.9,111,1690,0.00,2.20,0.00,0.000,6,0.000,0.030,1841,2298,3414
$GC,1998,-0.82,-117.3,180.0,-7.5,122,2001,0.00,2.25,0.00,0.000,4,0.000,0.043,1840,893,3414
$GC,2088,-0.86,-117.3,187.2,-8.1,124,2093,0.10,2.25,0.00,0.000,6,0.065,0.044,1768,2302,3414
$GC,2402,-0.75,-117.3,221.3,-10.9,134,2406,0.20,2.25,0.00,0.000,4,0.124,0.042,1834,895,3413
$GC,2458,-0.77,-117.3,226.3,-8.0,135,2462,0.00,2.22,0.00,0.000,6,0.000,0.037,1827,2306,3414
$GC,2772,-0.77,-117.3,250.1,-7.5,145,2776,0.00,2.28,0.00,0.000,4,0.000,0.048,1826,892,3414
$GC,2805,-0.77,-117.3,252.7,-7.7,146,2809,0.00,2.25,0.00,0.000,6,0.000,0.042,1819,2302,3414
$GC,3136,-0.77,-117.3,277.0,-7.3,157,3140,0.00,2.28,0.00,0.000,4,0.000,0.048,1819,892,3414
$GC,3181,-0.77,-117.3,280.5,-7.6,158,3185,0.10,2.25,0.00,0.000,6,0.125,0.038,1837,2302,3413
$GC,3500,-0.81,-117.3,300.3,-6.2,169,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2302,3413
$GC,3803,-0.85,-117.3,319.2,-6.3,174,3807,0.00,2.28,0.00,0.000,4,0.000,0.051,1837,892,3413
$GC,3843,-0.90,-117.3,321.9,-6.8,174,3848,0.12,2.28,0.00,0.000,6,0.058,0.046,1762,2309,3413
$GC,4164,-0.79,-117.3,354.4,-10.4,180,4169,0.20,2.28,0.00,0.000,4,0.127,0.049,1827,901,3412
$GC,4221,-0.82,-117.3,359.1,-7.1,180,4228,0.00,2.25,0.00,0.000,6,0.000,0.043,1821,2312,3412
$GC,4531,-0.82,-117.3,380.8,-7.0,186,4535,0.00,2.28,0.00,0.000,4,0.000,0.049,1821,900,3412
$GC,4576,-0.82,-117.3,384.3,-7.8,186,4581,0.00,2.25,0.00,0.000,6,0.000,0.045,1812,2311,3412
$GC,4892,-0.82,-117.3,408.6,-7.8,192,4896,0.00,2.28,0.00,0.000,4,0.000,0.044,1812,898,3412
$GC,4927,-0.82,-117.3,411.6,-8.3,192,4931,0.00,2.25,0.00,0.000,6,0.000,0.044,1804,2302,3412
$GC,5254,-0.82,-117.3,438.3,-8.2,198,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2303,3412
$GC,5557,-0.82,-117.3,462.2,-7.9,203,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2302,3412
$GC,5861,-0.82,-117.3,484.8,-7.5,208,5865,0.00,2.28,0.00,0.000,4,0.000,0.048,1804,890,3411
$GC,5896,-0.82,-117.3,487.5,-7.6,208,5900,0.12,2.25,0.00,0.000,6,0.120,0.041,1829,2300,3411
$GC,6229,-0.86,-117.3,507.4,-6.0,214,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2300,3411
$GC,6531,-0.90,-117.3,525.7,-6.0,219,6533,0.10,0.00,0.00,0.000,6,0.067,0.000,1764,2300,3410
$GC,6835,-0.82,-117.3,555.7,-10.1,224,6840,0.17,2.30,0.00,0.000,4,0.123,0.046,1825,898,3410
$GC,6869,-0.85,-117.3,558.7,-7.7,224,6873,0.00,2.25,0.00,0.000,6,0.000,0.040,1822,2305,3410
$GC,7196,-0.88,-117.3,580.1,-6.5,230,7200,0.00,2.28,0.00,0.000,4,0.000,0.044,1822,891,3410
$GC,7224,-0.93,-117.3,582.1,-7.2,230,7229,0.08,2.30,0.00,0.000,6,0.081,0.041,1763,2308,3410
$GC,7557,-0.84,-117.3,612.8,-9.4,236,7559,0.17,0.00,0.00,0.000,6,0.125,0.000,1815,2308,3410
$GC,7861,-0.86,-117.3,633.1,-6.6,241,7865,0.00,2.28,0.00,0.000,4,0.000,0.049,1816,902,3410
$GC,7907,-0.89,-117.3,636.5,-6.7,241,7911,0.00,2.25,0.00,0.000,6,0.000,0.041,1809,2302,3410
$GC,8225,-0.89,-117.3,658.4,-7.0,247,8229,0.00,2.30,0.00,0.000,4,0.000,0.051,1809,895,3410
$GC,8247,-0.89,-117.3,660.4,-7.5,247,8251,0.00,2.30,0.00,0.000,6,0.000,0.045,1808,2306,3410
$GC,8585,-0.89,-117.3,684.2,-7.1,253,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3410
$GC,8888,-0.89,-117.3,704.0,-6.4,258,8892,0.00,2.30,0.00,0.000,4,0.000,0.046,1808,900,3409
$GC,8929,-0.89,-117.3,706.6,-6.4,258,8933,0.00,2.28,0.00,0.000,6,0.000,0.040,1799,2304,3409
$GC,9251,-0.89,-117.3,727.3,-6.3,264,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2305,3409
$GC,9554,-0.89,-117.3,746.2,-6.3,269,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2304,3409
$GC,9857,-0.89,-117.3,767.0,-6.9,274,9861,0.00,2.33,0.00,0.000,4,0.000,0.048,1799,894,3408
$GC,9902,-0.89,-117.3,770.6,-8.5,274,9906,0.00,2.30,0.00,0.000,6,0.000,0.041,1794,2303,3408
$GC,10217,-0.89,-117.3,795.3,-7.9,280,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2303,3408
$GC,10520,-0.89,-117.3,819.7,-8.0,285,10522,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3408
$GC,10824,-0.89,-117.3,843.2,-7.7,290,10828,0.00,2.33,0.00,0.000,4,0.000,0.050,1794,896,3408
$GC,10865,-0.89,-117.3,846.6,-8.5,290,10870,0.10,2.30,0.00,0.000,6,0.129,0.042,1812,2310,3408
$GC,11187,-0.92,-117.3,867.1,-6.3,296,11191,0.00,2.30,0.00,0.000,4,0.000,0.049,1812,903,3408
$GC,11215,-0.96,-117.3,869.0,-7.0,296,11219,0.00,2.28,0.00,0.000,6,0.000,0.047,1809,2305,3408
$GC,11555,-0.99,-117.3,889.1,-5.9,302,11559,0.10,2.30,0.00,0.000,4,0.077,0.051,1762,902,3407
$GC,11611,-0.93,-117.3,893.8,-9.0,302,11618,0.15,2.28,0.00,0.000,6,0.133,0.044,1797,2306,3408
$GC,11921,-0.93,-117.3,913.8,-6.4,308,11925,0.00,2.30,0.00,0.000,4,0.000,0.054,1797,900,3408
$GC,11961,-0.93,-117.3,916.5,-6.6,308,11965,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2304,3407
$GC,12283,-0.93,-117.3,938.2,-6.8,314,12287,0.00,2.30,0.00,0.000,4,0.000,0.048,1794,895,3407
$GC,12323,-0.93,-117.3,941.2,-7.2,314,12327,0.00,2.30,0.00,0.000,6,0.000,0.046,1792,2312,3407
$GC,12644,-0.93,-117.3,963.8,-7.1,320,12648,0.00,2.33,0.00,0.000,4,0.000,0.048,1792,902,3407
$GC,12689,-0.93,-117.3,967.3,-7.5,320,12693,0.00,2.28,0.00,0.000,6,0.000,0.045,1782,2304,3407
$STATE,13002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13002,begin apogee
$GC,13009,-0.22,0.0,990.9,7.4,326,13111,0.55,0.00,99.03,1.290,6,0.123,0.000,1953,2304,2931
$STATE,13112,end apogee,CONTROL_FINISHED_OK
$STATE,13112,begin climb
$GC,13115,0.68,117.3,992.3,0.0,327,13227,0.55,2.58,104.20,1.262,4,0.074,0.058,2147,3705,2451
$GC,13278,0.49,117.3,988.5,7.0,329,13283,0.20,2.38,0.00,0.000,6,0.159,0.034,2110,2306,2446
$GC,13606,0.46,122.6,971.2,5.3,335,13612,0.00,0.00,4.18,0.772,6,0.000,0.000,2110,2307,2431
$GC,13910,0.43,122.6,954.1,5.7,340,13914,0.00,2.30,0.00,0.000,4,0.000,0.057,2110,3711,2429
$GC,13938,0.35,122.6,952.2,6.4,340,13943,0.17,2.25,0.00,0.000,6,0.159,0.035,2073,2294,2429
$GC,14277,0.43,125.5,934.5,5.4,346,14281,0.00,2.30,0.00,0.000,4,0.000,0.051,2081,887,2427
$GC,14351,0.51,127.6,930.4,5.4,347,14362,0.10,2.30,5.78,0.927,6,0.079,0.040,2129,2314,2410
$GC,14707,0.44,127.6,905.5,7.2,353,14712,0.12,2.28,0.00,0.000,4,0.146,0.057,2097,3714,2408
$GC,14780,0.39,127.6,900.1,7.1,354,14785,0.00,2.22,0.00,0.000,6,0.000,0.039,2106,2298,2408
$GC,15142,0.37,127.6,877.4,6.2,360,15147,0.10,2.25,0.00,0.000,4,0.163,0.055,2090,893,2408
$GC,15176,0.41,127.6,875.5,6.1,360,15180,0.00,2.25,0.00,0.000,6,0.000,0.044,2090,2304,2407
$GC,15504,0.43,137.2,858.4,5.2,366,15518,0.00,2.30,9.80,1.052,4,0.000,0.051,2090,3718,2371
$GC,15548,0.39,137.2,855.9,5.6,366,15552,0.00,2.22,0.00,0.000,6,0.000,0.033,2101,2296,2369
$GC,15870,0.40,138.4,838.3,5.5,372,15874,0.00,2.25,0.00,0.000,4,0.000,0.049,2111,892,2368
$GC,15893,0.40,138.4,836.9,6.1,372,15897,0.10,2.25,0.00,0.000,6,0.135,0.045,2086,2304,2368
$GC,16243,0.47,154.4,819.6,5.0,378,16264,0.00,2.30,16.30,1.101,4,0.000,0.054,2086,3711,2300
$GC,16317,0.47,156.3,815.3,5.4,379,16321,0.00,2.22,0.00,0.000,6,0.000,0.033,2094,2303,2298
$GC,16673,0.56,160.7,796.1,5.4,385,16687,0.10,2.33,6.55,0.910,4,0.069,0.055,2154,3718,2275
$GC,16822,0.40,160.7,784.0,8.7,387,16827,0.28,2.25,0.00,0.000,6,0.153,0.034,2089,2297,2274
$GC,17173,0.52,177.3,767.1,4.9,393,17195,0.10,2.35,16.08,1.064,4,0.068,0.054,2147,3714,2207
$GC,17354,0.40,177.3,752.9,8.3,395,17359,0.25,2.25,0.00,0.000,6,0.144,0.033,2088,2302,2205
$GC,17671,0.51,177.3,735.6,5.6,401,17676,0.08,2.28,0.00,0.000,4,0.081,0.044,2138,889,2204
$GC,17794,0.51,177.3,727.2,7.1,402,17801,0.12,2.28,0.00,0.000,6,0.128,0.045,2105,2312,2202
$GC,18105,0.53,177.3,710.0,5.5,408,18109,0.00,2.25,0.00,0.000,4,0.000,0.048,2105,3711,2203
$GC,18163,0.51,177.3,706.4,6.3,408,18167,0.00,2.22,0.00,0.000,6,0.000,0.032,2114,2292,2202
$GC,18473,0.51,178.4,689.3,5.5,413,18474,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2292,2202
$GC,18777,0.51,179.7,672.6,5.5,418,18781,0.00,2.30,0.00,0.000,4,0.000,0.048,2114,3708,2202
$GC,18811,0.47,179.7,670.4,6.1,418,18816,0.10,2.20,0.00,0.000,6,0.146,0.031,2099,2303,2201
$GC,19144,0.53,201.1,654.3,4.8,424,19167,0.00,0.00,21.35,1.025,6,0.000,0.000,2099,2303,2111
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