version: 66.06
glider: 1
mission: 14
dive: 86
start: 10 10 109 8 10 43
data:
$ID,1
$MISSION,14
$DIVE,86
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$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,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,3
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-220978.05
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$R_STBD_OVSHOOT,4
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,250
$VBD_MAXERRORS,5
$CF8_MAXERRORS,20
$AH0_24V,300
$AH0_10V,200
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,71.941368
$FG_AHR_24V,4.6384068
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.036699742
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0072730002
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,48
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,081137,6649.751,-5843.709,32,1.1,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,081826,6649.793,-5843.818,35,1.1,35,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.110,-0.206
$KALMAN_X,-2594.1,604.2,-14626.2,2642.1,4732.3
$KALMAN_Y,5527.6,228.2,-2237.1,-8823.2,-76.1
$MHEAD_RNG_PITCHd_Wd,134.0,368153,-13.0,-7.021
$D_GRID,100
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,78,0.00,0.00,-48.58,0.000,2,0.007,0.000,544,1830,2067,0,0,0,0,0,0
$GC,82,-0.99,-146.6,3.1,-2.7,10,138,9.90,2.12,-32.28,0.000,4,0.000,0.000,2515,408,3058,9,0,11,0,0,0
$GC,217,-0.56,-146.6,23.4,-20.3,33,229,0.52,3.62,-1.98,0.000,6,0.000,0.000,2640,2213,3116,1,0,21,0,0,0
$GC,421,-0.33,-146.6,52.5,-12.1,52,436,0.00,3.53,0.00,0.007,4,0.007,0.000,2634,257,3109,0,0,17,0,0,0
$GC,688,-0.33,-146.6,77.2,-9.1,75,695,0.00,3.20,0.00,0.007,6,0.007,0.000,2641,2183,3114,0,0,17,0,0,0
$STATE,957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,957,begin apogee
$GC,967,-0.31,0.0,100.8,8.6,101,1098,0.00,0.00,119.93,0.000,6,0.007,0.007,2637,1600,2521,0,0,0,0,0,0
$STATE,1098,end apogee,CONTROL_FINISHED_OK
$STATE,1099,begin climb
$GC,1101,0.99,146.6,111.8,0.0,114,1231,1.23,3.17,117.38,0.000,4,0.000,0.000,2989,3627,1936,1,0,18,0,0,0
$GC,1483,2.70,602.4,142.0,-7.6,148,1787,1.77,3.05,272.12,0.000,6,0.000,0.000,3372,1757,602,2,0,18,0,3,0
$GC,2112,4.38,1054.0,188.7,-7.4,209,2127,0.00,3.00,0.12,0.007,4,0.007,0.000,3374,3633,566,0,0,13,0,0,0
$GC,2379,4.98,1541.0,210.3,-8.6,232,2391,0.00,2.88,1.60,0.000,6,0.000,0.000,3377,1835,599,0,0,15,0,0,0
$GC,2716,5.56,2012.1,238.4,-8.1,264,2733,0.00,3.42,0.12,0.000,4,0.007,0.000,3372,3762,596,0,0,18,0,0,0
$GC,2985,6.17,2506.8,261.8,-8.8,287,2995,0.00,3.88,0.52,0.000,6,0.007,0.000,3375,1670,606,0,0,21,0,0,0
$GC,3320,6.73,2957.6,288.3,-7.4,319,3336,0.00,3.78,0.12,0.000,4,0.007,0.000,3372,3708,603,0,0,20,0,0,0
$GC,3588,7.28,3407.6,308.3,-7.4,342,3599,0.00,3.60,1.00,0.000,6,0.000,0.000,3370,1714,594,0,0,17,0,0,0
$GC,3924,7.88,3900.2,336.1,-8.8,374,3940,0.00,3.55,0.12,0.007,4,0.007,0.001,3373,3585,605,0,0,17,0,0,0
$GC,4192,8.39,4313.4,355.9,-6.2,397,4203,0.00,3.08,1.27,0.000,6,0.007,0.000,3373,1989,605,0,0,16,0,0,0
$GC,4527,8.95,4767.0,378.9,-7.5,429,4543,0.00,4.07,0.12,0.007,4,0.007,0.000,3385,3624,601,0,0,24,0,0,0
$GC,4795,9.47,5189.1,396.8,-6.5,452,4806,0.00,3.70,0.85,0.000,6,0.007,0.000,3369,1874,602,0,0,18,0,0,0
$GC,5130,10.02,5633.5,418.7,-7.2,484,5137,0.00,2.67,0.12,0.000,4,0.007,0.000,3376,3642,601,0,0,12,0,0,0
$GC,5389,10.58,6095.4,438.2,-7.8,506,5399,0.00,3.40,0.93,0.000,6,0.007,0.000,3373,1848,602,0,0,17,0,0,0
$GC,5724,11.15,6555.2,464.8,-7.7,538,5740,0.00,3.25,0.12,0.007,4,0.007,0.000,3370,3636,608,0,0,18,0,0,0
$GC,5959,11.72,7019.1,482.9,-7.8,558,5970,0.00,3.72,0.68,0.000,6,0.007,0.000,3373,1823,602,0,0,17,0,0,0
$GC,6295,12.29,7482.0,509.1,-7.8,590,6312,0.00,3.40,0.15,0.007,4,0.007,0.000,3374,3589,605,0,0,16,0,0,0
$GC,6346,12.84,7926.7,512.9,-7.2,594,6362,0.00,3.22,0.93,0.000,6,0.007,0.000,3375,1812,598,0,0,17,0,0,0
$GC,6676,13.36,8353.8,535.1,-6.7,625,6692,0.00,3.40,0.15,0.007,4,0.007,0.000,3373,3590,602,0,0,19,0,0,0
$GC,6749,13.91,8797.5,540.1,-7.2,631,6755,0.00,2.72,0.00,0.007,6,0.007,0.000,3374,1931,603,0,0,12,0,0,0
$GC,7073,14.45,9234.9,563.3,-7.0,661,7089,0.00,2.92,0.00,0.007,4,0.007,0.000,3372,3610,601,0,0,14,0,0,0
$GC,7179,15.01,9691.1,571.1,-7.6,670,7194,0.00,3.05,0.00,0.007,6,0.007,0.000,3372,1896,603,0,0,17,0,0,0
$GC,7508,15.55,10133.4,595.5,-7.1,701,7523,0.00,2.95,0.00,0.000,4,0.007,0.000,3373,3474,606,0,0,15,0,0,0
$GC,7775,16.06,10545.5,612.5,-6.2,724,7781,0.00,2.72,0.00,0.000,6,0.007,0.000,3374,1878,602,0,0,13,0,0,0
$GC,8099,16.57,10960.1,632.6,-6.3,755,8115,0.00,3.03,0.00,0.007,4,0.007,0.000,3375,3675,593,0,0,14,0,0,0
$GC,8311,17.18,11459.3,648.3,-9.0,773,8321,0.00,3.53,0.00,0.007,6,0.007,0.000,3375,1847,600,0,0,19,0,0,0
$GC,8646,17.69,11875.0,669.5,-6.3,805,8648,0.00,0.00,0.00,0.007,6,0.007,0.007,3373,1846,602,0,0,0,0,0,0
$GC,8968,18.26,12338.4,694.6,-7.8,835,8984,0.00,3.40,0.00,0.007,4,0.007,0.000,3374,3609,604,0,0,20,0,0,0
$GC,9099,18.79,12769.7,704.2,-6.8,846,9114,0.00,3.12,0.00,0.007,6,0.007,0.000,3368,1825,603,0,0,15,0,0,0
$GC,9428,19.31,13190.9,725.1,-6.5,877,9443,0.00,2.97,0.00,0.007,4,0.007,0.000,3373,3556,602,0,0,12,0,0,0
$GC,9459,19.86,13637.8,727.5,-7.3,879,9467,0.00,2.78,0.00,0.000,6,0.007,0.000,3375,1902,619,0,0,14,0,0,0
$GC,9784,20.40,14074.6,750.4,-7.0,910,9799,0.00,3.03,0.00,0.007,4,0.007,0.000,3375,3459,602,0,0,20,0,0,0
$GC,9883,20.95,14519.2,757.6,-7.2,918,9889,0.00,3.10,0.00,0.007,6,0.007,0.000,3375,1653,601,0,0,16,0,0,0
$GC,10207,21.43,14910.8,776.2,-5.5,949,10224,0.00,3.22,0.00,0.007,4,0.007,0.000,3371,3635,602,0,0,16,0,0,0
$GC,10258,22.02,15389.7,780.2,-8.3,953,10274,0.00,4.03,0.00,0.007,6,0.007,0.000,3371,1607,602,0,0,23,0,0,0
$GC,10588,22.49,15774.6,800.5,-5.3,984,10604,0.00,4.28,0.00,0.007,4,0.007,0.000,3374,3611,603,0,0,24,0,0,0
$GC,10790,23.07,16247.7,814.7,-8.1,1001,10800,0.00,3.12,0.00,0.000,6,0.007,0.000,3377,1788,603,0,0,16,0,0,0
$GC,11124,23.59,16670.2,835.1,-6.5,1033,11143,0.00,3.08,0.12,0.000,4,0.007,0.000,3371,3598,597,0,0,15,0,0,0
$GC,11178,24.20,17162.1,839.4,-8.7,1037,11193,0.00,3.42,0.52,0.000,6,0.007,0.000,3373,1652,598,0,0,20,0,0,0
$GC,11508,24.70,17568.0,861.1,-6.0,1068,11523,0.00,3.28,0.12,0.000,4,0.007,0.000,3372,3603,614,0,0,11,0,0,0
$GC,11584,25.22,17997.8,866.2,-6.7,1074,11595,0.00,2.78,1.90,0.000,6,0.007,0.000,3373,1857,605,0,0,13,0,0,0
$GC,11919,25.81,18472.8,892.2,-8.2,1106,11935,0.00,3.33,0.15,0.000,4,0.007,0.000,3373,3724,602,0,0,16,0,0,0
$GC,12188,26.32,18885.5,909.7,-6.2,1129,12198,0.00,3.42,0.80,0.000,6,0.000,0.000,3380,1917,671,0,0,16,0,0,0
$GC,12523,25.95,18927.1,916.5,5.7,1161,12539,0.00,2.90,0.12,0.007,4,0.007,0.000,3376,3657,604,0,0,13,0,0,0
$GC,12551,25.54,18927.1,914.2,7.9,1163,12566,0.00,3.90,0.25,0.000,6,0.007,0.000,3372,1733,603,0,0,20,0,0,0
$GC,12880,25.21,18927.1,879.1,11.2,1194,12896,0.00,3.55,0.15,0.000,4,0.007,0.000,3370,3545,601,0,0,19,0,0,0
$GC,12901,24.97,18927.1,877.2,9.4,1195,12912,0.00,2.72,1.92,0.000,6,0.007,0.000,3373,1895,604,0,0,12,0,0,0
$GC,13237,25.11,18975.9,857.6,5.5,1227,13252,0.00,2.88,0.22,0.007,4,0.000,0.000,3372,3652,605,0,0,13,0,0,0
$GC,13290,25.02,18975.9,853.9,7.5,1231,13301,0.00,3.85,0.90,0.000,6,0.007,0.000,3375,1849,615,0,0,20,0,0,0
$GC,13626,25.45,18991.2,832.5,6.5,1263,13642,0.00,3.42,0.15,0.007,4,0.000,0.000,3369,335,607,0,0,20,0,0,0
$GC,13687,25.64,18991.2,828.3,7.2,1268,13702,0.00,3.30,0.82,0.000,6,0.007,0.000,3373,2202,603,0,0,13,0,0,0
$GC,14016,25.64,18991.2,800.2,7.4,1299,14023,0.00,2.55,0.15,0.007,4,0.007,0.000,3371,3734,611,0,0,14,0,0,0
$GC,14274,25.64,18991.2,780.0,7.8,1321,14286,0.00,4.40,0.35,0.000,6,0.007,0.000,3374,1667,600,0,0,25,0,0,0
$GC,14611,25.94,19041.4,754.5,5.4,1353,14627,0.00,3.65,0.12,0.007,4,0.000,0.000,3371,3786,596,0,0,20,0,0,0
$GC,14709,26.45,19041.4,747.9,7.3,1361,14724,0.00,4.03,0.15,0.007,6,0.007,0.000,3375,1885,567,0,0,21,0,0,0
$GC,15039,26.58,19051.2,720.4,6.7,1392,15054,0.00,3.15,0.12,0.000,4,0.007,0.000,3372,3630,601,0,0,16,0,0,0
$GC,15306,26.52,19051.2,702.1,7.8,1415,15316,0.00,2.97,1.23,0.000,6,0.007,0.000,3375,1920,603,0,0,16,0,0,0
$GC,15640,26.62,19051.2,679.8,7.6,1447,15656,0.00,3.90,0.15,0.007,4,0.000,0.000,3379,3784,596,0,0,22,0,0,0
$GC,15908,26.62,19051.2,657.8,7.3,1470,15919,0.00,3.03,2.53,0.000,6,0.000,0.000,3374,1862,598,0,0,13,0,0,0
$GC,16243,26.62,19051.2,630.2,8.2,1502,16260,0.00,3.38,0.17,0.007,4,0.007,0.000,3375,3616,600,0,0,18,0,0,0
$GC,16513,26.67,19090.6,609.9,5.8,1525,16523,0.00,3.45,0.80,0.000,6,0.007,0.000,3373,1875,597,0,0,16,0,0,0
$GC,16848,26.55,19090.6,585.0,10.4,1557,16863,0.00,3.90,0.12,0.000,4,0.007,0.000,3372,3627,597,0,0,20,0,0,0
$GC,17115,26.55,19090.6,557.9,7.6,1580,17126,0.00,3.12,2.17,0.000,6,0.007,0.000,3375,1793,601,0,0,13,0,0,0
$GC,17451,26.59,19090.6,531.2,8.0,1612,17466,0.00,3.33,0.12,0.000,4,0.007,0.000,3372,3496,601,0,0,16,0,0,0
$GC,17718,26.65,19090.6,508.5,7.9,1635,17730,0.00,3.15,1.62,0.000,6,0.007,0.000,3372,1911,600,0,0,18,0,0,0
$GC,18055,26.67,19105.3,482.8,6.6,1667,18072,0.00,3.17,0.12,0.000,4,0.007,0.000,3373,3555,602,0,0,17,0,0,0
$GC,18324,26.54,19105.3,455.0,10.0,1690,18336,0.00,3.45,0.93,0.000,6,0.007,0.000,3374,1638,600,0,0,20,0,0,0
$GC,18661,26.59,19105.3,425.4,7.3,1722,18677,0.00,3.40,0.12,0.007,4,0.007,0.000,3374,3654,597,0,0,18,0,0,0
$GC,18929,26.67,19105.3,405.0,7.4,1745,18939,0.00,2.80,2.05,0.000,6,0.000,0.000,3371,1937,598,0,0,12,0,0,0
$GC,19264,26.56,19105.3,374.1,10.7,1777,19279,0.00,4.05,0.12,0.007,4,0.000,0.000,3373,3713,600,0,0,22,0,0,0
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$TCM_TEMP,15.00
$XPDR_PINGS,-1
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$10V_AH,10.7,37.818
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,72.159
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$DEVICE_SECS,28.000,296.475,550.750,0.000,0.000,0.000,0.000,122.530,0.000,0.000,36.424,3727.862,15962.297,1370.848,2339.521,713.794,33.354,1661.828,0.000,2210.811,2880.000,3.447,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,337096
$DATA_FILE_SIZE,72292,2194
$CAP_FILE_SIZE,286289,9
$CFSIZE,260165632,245854208
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,30,1519,3,0
$SOUNDSPEED,1460.5
$GPS,101009,145646,6651.183,-5849.349,20,1.1,20,18.0