version: 66.04
glider: 144
mission: 15
dive: 417
start: 10 28 109 21 46 1
data:
$ID,144
$MISSION,15
$DIVE,417
$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,-69557.352
$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,35
$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
$GPS1,213845,5001.172,-14511.435,40,1.2,48,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-48.2
$GPS2,214508,5001.284,-14511.396,34,1.4,35,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.041,-0.163
$KALMAN_X,-80378.3,-181.8,-110.2,79707.0,1181.0
$KALMAN_Y,18371.6,-112.9,-16.1,-54719.6,-100.5
$MHEAD_RNG_PITCHd_Wd,175.7,13485,-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,-41.60,0.000,2,0.000,0.000,98,2312,2549
$GC,64,-0.68,-117.3,3.1,-4.4,4,104,7.32,2.35,-22.38,0.000,4,0.242,0.065,1838,3706,3413
$GC,166,-0.63,-117.3,18.7,-15.4,13,173,0.10,2.20,0.00,0.000,6,0.127,0.030,1864,2300,3413
$GC,494,-0.60,-117.3,53.1,-11.3,44,498,0.00,2.22,0.00,0.000,4,0.000,0.042,1865,893,3414
$GC,556,-0.60,-117.3,59.6,-9.6,49,562,0.00,2.22,0.00,0.000,6,0.000,0.037,1859,2307,3415
$GC,890,-0.60,-117.3,85.5,-7.8,78,894,0.00,2.25,0.00,0.000,4,0.000,0.041,1859,890,3415
$GC,952,-0.60,-117.3,90.9,-8.5,81,956,0.00,2.22,0.00,0.000,6,0.000,0.036,1850,2304,3416
$GC,1280,-0.60,-117.3,120.1,-8.3,97,1284,0.00,2.22,0.00,0.000,4,0.000,0.041,1850,887,3416
$GC,1319,-0.62,-117.3,123.5,-8.5,98,1326,0.00,2.22,0.00,0.000,6,0.000,0.039,1850,2302,3416
$GC,1636,-0.65,-117.3,146.4,-7.1,114,1640,0.00,2.28,0.00,0.000,4,0.000,0.049,1840,3708,3415
$GC,1664,-0.68,-117.3,148.7,-7.8,115,1668,0.00,2.17,0.00,0.000,6,0.000,0.029,1840,2300,3416
$GC,2004,-0.70,-117.3,175.7,-7.9,127,2007,0.00,2.22,0.00,0.000,4,0.000,0.041,1840,887,3416
$GC,2072,-0.74,-117.3,181.0,-7.4,129,2076,0.00,2.22,0.00,0.000,6,0.000,0.038,1836,2303,3415
$GC,2409,-0.74,-117.3,204.3,-6.5,140,2412,0.00,2.22,0.00,0.000,4,0.000,0.041,1836,893,3415
$GC,2521,-0.77,-117.3,212.2,-6.8,143,2525,0.00,2.22,0.00,0.000,6,0.000,0.038,1828,2308,3415
$GC,2851,-0.77,-117.3,235.9,-7.4,154,2855,0.00,2.25,0.00,0.000,4,0.000,0.047,1828,893,3415
$GC,2890,-0.77,-117.3,239.2,-8.5,155,2894,0.00,2.22,0.00,0.000,6,0.000,0.041,1820,2302,3415
$GC,3214,-0.77,-117.3,264.7,-7.9,166,3218,0.00,2.22,0.00,0.000,4,0.000,0.043,1819,896,3414
$GC,3242,-0.77,-117.3,267.1,-8.5,166,3249,0.10,2.22,0.00,0.000,6,0.127,0.038,1837,2302,3414
$GC,3556,-0.80,-117.3,287.8,-6.6,177,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2302,3413
$GC,3860,-0.84,-117.3,307.9,-6.5,185,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2302,3413
$GC,4163,-0.87,-117.3,326.7,-6.2,190,4168,0.10,2.25,0.00,0.000,4,0.065,0.042,1768,889,3412
$GC,4190,-0.81,-117.3,329.4,-9.8,190,4195,0.22,2.25,0.00,0.000,6,0.123,0.046,1825,2305,3413
$GC,4523,-0.81,-117.3,352.0,-6.7,196,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2305,3411
$GC,4825,-0.81,-117.3,372.3,-6.7,201,4829,0.00,2.22,0.00,0.000,4,0.000,0.044,1825,897,3411
$GC,4864,-0.83,-117.3,375.2,-7.5,201,4868,0.00,2.22,0.00,0.000,6,0.000,0.045,1821,2303,3411
$GC,5192,-0.83,-117.3,397.5,-6.8,207,5195,0.00,2.22,0.00,0.000,4,0.000,0.051,1821,899,3410
$GC,5242,-0.83,-117.3,401.1,-7.0,207,5245,0.00,2.22,0.00,0.000,6,0.000,0.045,1812,2303,3411
$GC,5563,-0.83,-117.3,423.3,-6.9,213,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2303,3410
$GC,5866,-0.83,-117.3,443.9,-6.8,218,5870,0.00,2.25,0.00,0.000,4,0.000,0.052,1812,894,3410
$GC,5928,-0.83,-117.3,448.6,-7.6,218,5934,0.00,2.25,0.00,0.000,6,0.000,0.044,1808,2310,3410
$GC,6238,-0.83,-117.3,472.0,-7.6,224,6242,0.00,2.25,0.00,0.000,4,0.000,0.048,1808,898,3410
$GC,6265,-0.83,-117.3,474.4,-8.4,224,6269,0.00,2.22,0.00,0.000,6,0.000,0.044,1799,2304,3410
$GC,6603,-0.80,-117.3,501.0,-7.9,230,6608,0.10,2.25,0.00,0.000,4,0.136,0.050,1828,892,3409
$GC,6643,-0.85,-117.3,504.1,-7.1,230,6647,0.00,2.25,0.00,0.000,6,0.000,0.043,1822,2311,3409
$GC,6964,-0.87,-117.3,525.4,-6.6,236,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2312,3409
$GC,7267,-0.90,-117.3,544.9,-6.4,241,7271,0.00,2.22,0.00,0.000,4,0.000,0.044,1822,899,3408
$GC,7312,-0.93,-117.3,547.9,-6.8,241,7317,0.08,2.22,0.00,0.000,6,0.081,0.044,1765,2303,3408
$GC,7633,-0.85,-117.3,576.2,-9.0,247,7635,0.17,0.00,0.00,0.000,6,0.125,0.000,1816,2303,3408
$GC,7937,-0.87,-117.3,594.9,-6.0,252,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2303,3408
$GC,8239,-0.89,-117.3,613.7,-6.2,257,8243,0.00,2.25,0.00,0.000,4,0.000,0.045,1817,897,3408
$GC,8268,-0.91,-117.3,615.7,-7.3,257,8272,0.00,2.25,0.00,0.000,6,0.000,0.047,1810,2312,3408
$GC,8601,-0.91,-117.3,638.6,-6.9,263,8605,0.00,2.28,0.00,0.000,4,0.000,0.045,1810,890,3407
$GC,8634,-0.91,-117.3,641.2,-7.0,263,8638,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2302,3408
$GC,8961,-0.91,-117.3,664.3,-7.1,269,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3407
$GC,9264,-0.91,-117.3,684.5,-6.7,274,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2302,3407
$GC,9566,-0.91,-117.3,703.7,-6.3,279,9570,0.00,2.28,0.00,0.000,4,0.000,0.045,1808,894,3406
$GC,9632,-0.91,-117.3,708.4,-7.4,280,9637,0.00,2.25,0.00,0.000,6,0.000,0.047,1799,2304,3406
$GC,9993,-0.91,-117.3,732.1,-6.6,286,9995,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2305,3406
$GC,10296,-0.91,-117.3,752.0,-6.5,291,10300,0.00,2.28,0.00,0.000,4,0.000,0.047,1799,890,3406
$GC,10329,-0.91,-117.3,754.4,-6.9,291,10333,0.00,2.28,0.00,0.000,6,0.000,0.047,1794,2312,3406
$GC,10662,-0.91,-117.3,776.9,-6.9,297,10666,0.00,2.28,0.00,0.000,4,0.000,0.051,1794,895,3406
$GC,10689,-0.91,-117.3,779.0,-8.0,297,10693,0.00,2.25,0.00,0.000,6,0.000,0.041,1793,2303,3406
$GC,11028,-0.91,-117.3,802.6,-6.9,303,11029,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2303,3405
$GC,11330,-0.91,-117.3,824.2,-7.2,308,11334,0.00,2.25,0.00,0.000,4,0.000,0.051,1793,900,3405
$GC,11386,-0.91,-117.3,828.6,-7.7,308,11392,0.00,2.25,0.00,0.000,6,0.000,0.044,1783,2309,3405
$GC,11697,-0.88,-117.3,852.2,-7.7,314,11701,0.10,2.28,0.00,0.000,4,0.137,0.047,1811,896,3405
$GC,11724,-0.88,-117.3,854.2,-7.4,314,11728,0.00,2.25,0.00,0.000,6,0.000,0.048,1809,2305,3405
$GC,12057,-0.90,-117.3,874.8,-6.1,320,12061,0.00,2.28,0.00,0.000,4,0.000,0.048,1809,891,3405
$GC,12090,-0.90,-117.3,877.1,-7.3,320,12094,0.00,2.25,0.00,0.000,6,0.000,0.044,1808,2306,3405
$GC,12423,-0.92,-117.3,896.6,-5.9,326,12427,0.00,2.28,0.00,0.000,4,0.000,0.047,1808,894,3405
$GC,12456,-0.92,-117.3,898.7,-5.6,326,12460,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2303,3405
$GC,12790,-0.94,-117.3,917.3,-5.5,332,12791,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3405
$GC,13092,-0.96,-117.3,934.0,-5.5,337,13096,0.00,2.28,0.00,0.000,4,0.000,0.054,1808,902,3404
$GC,13126,-0.99,-117.3,936.2,-6.1,337,13130,0.08,2.28,0.00,0.000,6,0.091,0.042,1769,2312,3404
$GC,13453,-0.93,-117.3,959.1,-7.1,343,13455,0.10,0.00,0.00,0.000,6,0.140,0.000,1795,2313,3404
$GC,13755,-0.93,-117.3,978.3,-6.3,348,13760,0.00,2.30,0.00,0.000,4,0.000,0.049,1795,893,3404
$GC,13789,-0.93,-117.3,980.8,-7.0,348,13793,0.00,2.28,0.00,0.000,6,0.000,0.048,1794,2305,3404
$STATE,13931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13931,begin apogee
$GC,13937,-0.22,0.0,990.6,6.8,351,14037,0.50,0.00,97.15,1.296,6,0.114,0.000,1955,2305,2931
$STATE,14038,end apogee,CONTROL_FINISHED_OK
$STATE,14038,begin climb
$GC,14041,0.68,117.3,992.0,0.0,352,14153,0.57,2.53,103.15,1.267,4,0.072,0.056,2152,3706,2450
$GC,14182,0.49,117.3,989.8,6.7,355,14187,0.22,2.38,0.00,0.000,6,0.166,0.037,2109,2314,2447
$GC,14543,0.49,146.3,973.3,4.5,361,14570,0.00,0.00,24.85,1.214,6,0.000,0.000,2109,2314,2333
$GC,14847,0.51,160.2,958.2,5.0,366,14862,0.00,0.00,13.12,1.141,6,0.000,0.000,2109,2314,2277
$GC,15149,0.52,168.4,942.5,5.2,371,15163,0.00,2.33,8.30,1.047,4,0.000,0.052,2109,3705,2243
$GC,15181,0.52,186.4,940.6,4.9,371,15205,0.00,2.25,17.35,1.164,6,0.000,0.035,2118,2292,2170
$GC,15516,0.52,186.4,921.7,5.6,377,15520,0.00,2.33,0.00,0.000,4,0.000,0.058,2117,3713,2166
$GC,15544,0.48,186.4,919.7,6.9,377,15549,0.10,2.25,0.00,0.000,6,0.161,0.037,2105,2298,2165
$GC,15877,0.52,200.9,902.9,5.0,383,15892,0.00,0.00,13.62,1.127,6,0.000,0.000,2104,2298,2111
$GC,16181,0.57,219.7,888.0,4.9,388,16200,0.00,0.00,17.85,1.153,6,0.000,0.000,2105,2298,2035
$GC,16483,0.63,237.3,873.1,4.9,393,16502,0.12,0.00,16.83,1.134,6,0.063,0.000,2162,2298,1962
$GC,16786,0.55,237.3,847.0,8.9,398,16791,0.17,2.33,0.00,0.000,4,0.142,0.056,2109,3721,1958
$GC,16813,0.55,237.3,844.8,6.8,398,16818,0.00,2.25,0.00,0.000,6,0.000,0.035,2117,2297,1958
$GC,17152,0.58,237.3,825.1,5.8,404,17156,0.00,2.28,0.00,0.000,4,0.000,0.054,2128,884,1956
$GC,17174,0.63,251.9,823.7,5.0,404,17193,0.00,2.28,13.55,1.084,6,0.000,0.041,2127,2314,1903
$GC,17516,0.63,251.9,800.8,6.8,410,17518,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2314,1900
$GC,17819,0.63,251.9,780.9,6.5,415,17821,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2314,1899
$GC,18122,0.63,251.9,761.2,6.5,420,18123,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2314,1898
$GC,18425,0.63,251.9,741.8,6.3,425,18426,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2314,1898
$GC,18729,0.63,251.9,722.1,6.5,430,18733,0.00,2.30,0.00,0.000,4,0.000,0.048,2137,887,1898
$GC,18757,0.65,251.9,720.1,6.8,430,18761,0.00,2.22,0.00,0.000,6,0.000,0.038,2137,2306,1897
$GC,19095,0.65,251.9,697.0,6.8,436,19099,0.00,2.25,0.00,0.000,4,0.000,0.050,2137,3710,1897
$GC,19129,0.62,251.9,694.2,8.1,436,19133,0.00,2.20,0.00,0.000,6,0.000,0.034,2147,2292,1897
$GC,19464,0.58,251.9,668.4,7.8,442,19468,0.00,2.30,0.00,0.000,4,0.000,0.049,2147,3718,1897
$GC,19491,0.53,251.9,665.7,9.0,442,19496,0.17,2.20,0.00,0.000,6,0.135,0.033,2108,2296,1897
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$STATE,28902,end climb,SURFACE_DEPTH_REACHED
$STATE,28903,begin surface coast
$FINISH,1.1,1.024821
$STATE,28918,end surface coast,CONTROL_FINISHED_OK
$STATE,28918,begin surface
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$10V_AH,10.5,52.321
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$DATA_FILE_SIZE,44320,745
$CAP_FILE_SIZE,185831,0
$CFSIZE,260165632,226209792
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