version: 66.04
glider: 144
mission: 15
dive: 373
start: 10 13 109 17 26 14
data:
$ID,144
$MISSION,15
$DIVE,373
$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,-68602.234
$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,0.02
$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,37
$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
$GPS1,171825,5007.553,-14510.398,38,1.4,38,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-59.8
$GPS2,172520,5007.547,-14510.512,12,1.5,12,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.011,-0.167
$KALMAN_X,-68930.5,107.8,-57.5,68960.0,-32.1
$KALMAN_Y,20211.1,-27.6,-44.7,-45011.7,-110.1
$MHEAD_RNG_PITCHd_Wd,165.1,25127,-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,-41.42,0.000,2,0.000,0.000,99,2313,2728
$GC,64,-0.68,-117.3,3.6,-5.9,4,92,7.10,2.35,-15.38,0.000,4,0.234,0.060,1846,899,3411
$GC,318,-0.63,-117.3,39.3,-12.6,26,323,0.10,2.22,0.00,0.000,6,0.140,0.037,1864,2304,3413
$GC,645,-0.63,-117.3,68.4,-7.5,56,647,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2304,3414
$GC,967,-0.63,-117.3,94.2,-8.2,79,971,0.00,2.25,0.00,0.000,4,0.000,0.041,1864,892,3415
$GC,1023,-0.67,-117.3,99.1,-8.6,81,1030,0.00,2.25,0.00,0.000,6,0.000,0.038,1863,2294,3415
$GC,1339,-0.69,-117.3,124.6,-7.9,97,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2295,3415
$GC,1649,-0.73,-117.3,147.7,-7.5,112,1653,0.08,2.22,0.00,0.000,4,0.079,0.041,1795,896,3415
$GC,1677,-0.68,-117.3,150.7,-10.8,113,1682,0.22,2.22,0.00,0.000,6,0.122,0.037,1851,2309,3415
$GC,1990,-0.72,-117.3,176.2,-7.7,123,1994,0.00,2.25,0.00,0.000,4,0.000,0.041,1851,894,3415
$GC,2046,-0.77,-117.3,180.6,-7.6,124,2052,0.00,2.22,0.00,0.000,6,0.000,0.038,1850,2306,3415
$GC,2359,-0.81,-117.3,200.9,-6.3,135,2361,0.10,0.00,0.00,0.000,6,0.064,0.000,1775,2307,3414
$GC,2665,-0.71,-117.3,232.0,-10.2,145,2670,0.20,2.25,0.00,0.000,4,0.123,0.041,1841,896,3414
$GC,2709,-0.76,-117.3,235.5,-7.0,146,2713,0.00,2.22,0.00,0.000,6,0.000,0.038,1837,2307,3413
$GC,3028,-0.78,-117.3,257.2,-7.1,157,3031,0.00,2.25,0.00,0.000,4,0.000,0.042,1836,897,3413
$GC,3072,-0.81,-117.3,260.6,-7.5,158,3076,0.00,2.25,0.00,0.000,6,0.000,0.040,1836,2311,3413
$GC,3396,-0.83,-117.3,285.2,-7.6,169,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2311,3412
$GC,3732,-0.85,-117.3,309.1,-7.0,178,3736,0.00,2.28,0.00,0.000,4,0.000,0.044,1836,897,3412
$GC,3770,-0.88,-117.3,312.2,-7.6,178,3774,0.00,2.25,0.00,0.000,6,0.000,0.039,1828,2312,3412
$GC,4091,-0.88,-117.3,334.9,-7.1,184,4096,0.00,2.28,0.00,0.000,4,0.000,0.043,1827,891,3411
$GC,4124,-0.88,-117.3,337.4,-7.3,184,4128,0.00,2.25,0.00,0.000,6,0.000,0.040,1822,2302,3411
$GC,4459,-0.88,-117.3,361.0,-7.1,190,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2302,3411
$GC,4760,-0.88,-117.3,381.5,-6.8,195,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2302,3411
$GC,5063,-0.88,-117.3,401.3,-6.6,200,5067,0.00,2.28,0.00,0.000,4,0.000,0.046,1822,890,3410
$GC,5106,-0.88,-117.3,404.4,-6.9,200,5110,0.00,2.28,0.00,0.000,6,0.000,0.044,1813,2313,3410
$GC,5428,-0.88,-117.3,426.2,-6.9,206,5432,0.00,2.28,0.00,0.000,4,0.000,0.046,1813,892,3409
$GC,5466,-0.88,-117.3,429.0,-7.2,206,5470,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2304,3409
$GC,5793,-0.88,-117.3,452.2,-7.1,212,5797,0.00,2.28,0.00,0.000,4,0.000,0.044,1808,890,3409
$GC,5837,-0.88,-117.3,455.6,-7.6,212,5841,0.00,2.28,0.00,0.000,6,0.000,0.040,1799,2314,3409
$GC,6159,-0.85,-117.3,481.5,-8.2,218,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2314,3408
$GC,6461,-0.83,-117.3,506.8,-8.3,223,6465,0.00,2.28,0.00,0.000,4,0.000,0.048,1799,899,3408
$GC,6495,-0.80,-117.3,509.8,-8.9,223,6499,0.12,2.25,0.00,0.000,6,0.128,0.044,1829,2309,3408
$GC,6822,-0.84,-117.3,531.9,-6.7,229,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2309,3408
$GC,7124,-0.88,-117.3,552.2,-6.7,234,7128,0.00,2.28,0.00,0.000,4,0.000,0.047,1829,891,3407
$GC,7157,-0.91,-117.3,554.7,-7.3,234,7162,0.08,2.25,0.00,0.000,6,0.080,0.039,1763,2304,3407
$GC,7483,-0.82,-117.3,586.1,-9.7,240,7488,0.17,2.30,0.00,0.000,4,0.130,0.044,1820,891,3407
$GC,7522,-0.86,-117.3,589.2,-6.8,240,7526,0.00,2.28,0.00,0.000,6,0.000,0.043,1813,2311,3407
$GC,7842,-0.86,-117.3,608.8,-6.0,246,7846,0.00,2.30,0.00,0.000,4,0.000,0.050,1814,891,3407
$GC,7870,-0.86,-117.3,610.6,-6.7,246,7873,0.00,2.25,0.00,0.000,6,0.000,0.043,1809,2303,3407
$GC,8208,-0.86,-117.3,631.3,-6.2,252,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3407
$GC,8511,-0.86,-117.3,652.1,-6.9,257,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3407
$GC,8814,-0.86,-117.3,673.2,-6.9,262,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3406
$GC,9117,-0.86,-117.3,693.0,-6.5,267,9121,0.00,2.28,0.00,0.000,4,0.000,0.046,1809,896,3406
$GC,9144,-0.86,-117.3,695.1,-7.2,267,9148,0.00,2.25,0.00,0.000,6,0.000,0.047,1807,2304,3406
$GC,9477,-0.86,-117.3,718.0,-7.0,273,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3406
$GC,9779,-0.86,-117.3,741.0,-7.7,278,9783,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,893,3406
$GC,9818,-0.86,-117.3,744.6,-8.9,278,9822,0.00,2.25,0.00,0.000,6,0.000,0.046,1799,2304,3405
$GC,10145,-0.86,-117.3,772.7,-8.7,284,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2304,3405
$GC,10448,-0.86,-117.3,798.8,-8.6,289,10452,0.00,2.28,0.00,0.000,4,0.000,0.051,1799,893,3405
$GC,10481,-0.86,-117.3,801.9,-9.4,289,10485,0.00,2.28,0.00,0.000,6,0.000,0.043,1795,2308,3405
$GC,10808,-0.86,-117.3,829.5,-8.4,295,10809,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2308,3405
$GC,11111,-0.86,-117.3,853.7,-8.0,300,11115,0.00,2.30,0.00,0.000,4,0.000,0.048,1794,892,3405
$GC,11149,-0.86,-117.3,856.9,-8.5,300,11153,0.00,2.30,0.00,0.000,6,0.000,0.045,1794,2312,3405
$GC,11470,-0.86,-117.3,880.4,-7.2,306,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2312,3405
$GC,11773,-0.86,-117.3,900.9,-6.8,311,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2312,3405
$GC,12077,-0.86,-117.3,921.3,-6.8,316,12079,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2312,3405
$GC,12380,-0.86,-117.3,941.2,-6.6,321,12381,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2312,3405
$GC,12682,-0.86,-117.3,962.2,-7.0,326,12687,0.00,2.33,0.00,0.000,4,0.000,0.049,1794,902,3404
$GC,12727,-0.86,-117.3,965.6,-7.9,326,12731,0.10,2.28,0.00,0.000,6,0.143,0.046,1817,2304,3404
$GC,13042,-0.90,-117.3,985.7,-6.5,332,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2304,3404
$STATE,13160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13160,begin apogee
$GC,13167,-0.22,0.0,993.6,6.5,334,13266,0.43,0.00,96.60,1.302,6,0.114,0.000,1955,2303,2931
$STATE,13267,end apogee,CONTROL_FINISHED_OK
$STATE,13267,begin climb
$GC,13269,0.68,117.3,995.4,0.0,335,13379,0.60,2.58,102.72,1.273,4,0.075,0.055,2157,3712,2451
$GC,13413,0.48,117.3,993.5,6.2,338,13418,0.28,2.40,0.00,0.000,6,0.168,0.041,2101,2314,2446
$GC,13768,0.49,149.1,977.6,4.4,344,13802,0.00,2.47,27.08,1.222,4,0.000,0.056,2110,889,2321
$GC,13825,0.52,171.2,974.7,4.8,344,13851,0.00,2.35,20.70,1.191,6,0.000,0.046,2110,2308,2232
$GC,14195,0.52,171.2,953.2,6.0,351,14199,0.00,2.30,0.00,0.000,4,0.000,0.054,2111,3712,2225
$GC,14251,0.47,171.2,948.8,6.9,351,14258,0.00,2.28,0.00,0.000,6,0.000,0.038,2121,2291,2224
$GC,14562,0.44,171.2,927.8,6.7,357,14566,0.12,2.33,0.00,0.000,4,0.155,0.051,2089,3715,2223
$GC,14595,0.44,171.2,925.3,6.5,357,14599,0.00,2.22,0.00,0.000,6,0.000,0.035,2097,2299,2223
$GC,14929,0.46,171.2,905.5,6.0,363,14933,0.00,2.30,0.00,0.000,4,0.000,0.053,2097,3712,2222
$GC,14956,0.46,171.2,903.4,7.7,363,14960,0.00,2.25,0.00,0.000,6,0.000,0.038,2107,2293,2222
$GC,15295,0.46,171.2,881.1,6.6,369,15299,0.00,2.35,0.00,0.000,4,0.000,0.057,2107,3722,2222
$GC,15322,0.43,171.2,878.9,7.4,369,15327,0.12,2.28,0.00,0.000,6,0.155,0.035,2087,2295,2221
$GC,15654,0.47,171.2,859.9,5.7,375,15655,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2295,2221
$GC,15958,0.52,171.8,843.4,5.5,380,15962,0.10,2.30,0.00,0.000,4,0.072,0.051,2140,3722,2221
$GC,15985,0.45,171.8,841.3,7.7,380,15990,0.20,2.25,0.00,0.000,6,0.152,0.037,2097,2296,2220
$GC,16323,0.48,175.8,822.7,5.4,386,16324,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2296,2220
$GC,16627,0.53,193.1,807.7,4.9,391,16647,0.00,0.00,18.60,1.121,6,0.000,0.000,2096,2296,2143
$GC,16930,0.60,216.9,793.5,4.7,396,16955,0.12,0.00,22.27,1.117,6,0.059,0.000,2158,2295,2046
$GC,17232,0.51,216.9,768.5,8.5,401,17237,0.17,2.35,0.00,0.000,4,0.140,0.050,2104,3712,2042
$GC,17265,0.51,216.9,765.8,6.3,401,17269,0.00,2.25,0.00,0.000,6,0.000,0.035,2113,2303,2040
$GC,17600,0.53,216.9,747.2,5.6,407,17601,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2303,2040
$GC,17900,0.56,216.9,730.3,5.5,412,17902,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2303,2039
$GC,18204,0.58,216.9,712.2,6.0,417,18208,0.00,2.30,0.00,0.000,4,0.000,0.054,2113,3715,2039
$GC,18237,0.58,216.9,709.9,7.3,417,18241,0.00,2.22,0.00,0.000,6,0.000,0.033,2123,2301,2038
$GC,18569,0.58,216.9,688.8,6.3,423,18570,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2301,2039
$GC,18872,0.58,216.9,669.7,6.3,428,18873,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2301,2038
$GC,19175,0.58,216.9,649.9,6.5,433,19179,0.00,2.30,0.00,0.000,4,0.000,0.049,2123,3715,2038
$GC,19216,0.55,216.9,646.9,8.0,433,19220,0.00,2.22,0.00,0.000,6,0.000,0.033,2134,2297,2038
$GC,19537,0.53,216.9,624.0,7.1,439,19539,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2297,2038
$GC,19839,0.53,216.9,601.9,7.3,444,19840,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2297,2038
$GC,20142,0.53,216.9,579.1,7.6,449,20143,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2297,2038
$GC,20446,0.53,216.9,556.5,7.4,454,20450,0.00,2.30,0.00,0.000,4,0.000,0.048,2134,3715,2038
$GC,20480,0.49,216.9,553.6,8.2,454,20484,0.15,2.25,0.00,0.000,6,0.140,0.033,2103,2291,2038
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$STATE,29096,end climb,SURFACE_DEPTH_REACHED
$STATE,29096,begin surface coast
$FINISH,0.9,1.012713
$STATE,29129,end surface coast,CONTROL_FINISHED_OK
$STATE,29130,begin surface
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