version: 66.06
glider: 1
mission: 14
dive: 97
start: 10 12 109 7 27 37
data:
$ID,1
$MISSION,14
$DIVE,97
$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,-2
$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,-221215.45
$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,1
$R_STBD_OVSHOOT,2
$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,73.575485
$FG_AHR_24V,4.6384096
$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
$GPS1,072831,6649.790,-5912.442,31,1.1,31,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,073534,6649.819,-5912.459,36,1.1,36,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.121,-0.200
$KALMAN_X,-25914.6,-1410.1,-2198.5,-5102.6,2190.0
$KALMAN_Y,10988.0,-525.7,-1206.3,-14430.2,-224.4
$MHEAD_RNG_PITCHd_Wd,130.8,380803,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.99,-146.6,0.0,0.0,0,86,0.00,0.00,-58.38,0.000,2,0.007,0.000,420,1785,2363,0,0,0,0,0,0
$GC,90,-0.99,-146.6,3.0,-1.7,12,143,10.40,3.15,-24.02,0.000,4,0.000,0.000,2557,3786,3109,10,0,15,0,0,0
$GC,396,-1.15,-146.6,34.5,-7.3,51,412,0.62,4.28,0.00,0.007,6,0.000,0.000,2376,1585,3109,1,0,28,0,0,0
$GC,600,-1.06,-146.6,49.5,-9.7,70,617,0.68,3.80,0.00,0.007,4,0.000,0.000,2493,3650,3102,1,0,20,0,0,0
$GC,678,-1.06,-146.6,57.6,-9.3,76,689,0.60,3.17,0.00,0.007,6,0.000,0.000,2431,1868,3103,2,0,17,0,0,0
$GC,1013,-1.17,-146.6,79.6,-6.0,108,1028,0.00,3.97,0.00,0.007,4,0.007,0.000,2428,3770,3110,0,0,21,0,0,0
$GC,1040,-1.17,-146.6,81.9,-8.6,110,1055,0.00,3.22,0.00,0.007,6,0.000,0.000,2436,1839,3100,0,0,14,0,0,0
$STATE,1305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1305,begin apogee
$GC,1313,-0.31,0.0,100.6,6.7,135,1441,1.15,0.00,121.80,0.000,6,0.000,0.007,2704,2075,2508,1,0,0,0,0,0
$STATE,1442,end apogee,CONTROL_FINISHED_OK
$STATE,1442,begin climb
$GC,1446,0.99,146.6,110.8,0.0,148,1583,1.15,2.53,117.15,0.000,4,0.000,0.000,2962,3679,1926,0,0,15,0,0,0
$GC,1606,2.56,579.3,123.3,-6.8,162,1904,1.45,2.88,267.62,0.000,6,0.000,0.000,3290,1866,603,3,0,13,0,2,0
$GC,2219,4.29,1059.9,174.9,-8.4,221,2225,0.00,2.53,0.12,0.007,4,0.007,0.000,3288,475,601,0,0,12,0,0,0
$GC,2478,4.85,1516.5,196.6,-7.6,243,2490,0.03,3.03,1.60,0.000,6,0.013,0.000,3327,2167,598,0,0,13,0,0,0
$GC,2814,5.39,1956.0,221.6,-7.0,275,2831,0.00,3.25,0.12,0.007,4,0.007,0.000,3327,509,600,0,0,15,0,0,0
$GC,3083,5.92,2381.7,241.5,-6.6,298,3093,0.00,2.90,1.85,0.000,6,0.007,0.000,3331,2238,601,0,0,13,0,0,0
$GC,3418,6.46,2828.0,266.0,-7.3,330,3434,0.00,3.12,0.12,0.000,4,0.007,0.000,3329,375,600,0,0,16,0,0,0
$GC,3474,7.09,3337.1,271.1,-9.3,334,3483,0.00,3.28,0.75,0.000,6,0.007,0.000,3329,2370,602,0,0,17,0,0,0
$GC,3808,7.66,3803.6,294.6,-7.9,366,3814,0.00,2.10,0.12,0.007,4,0.007,0.000,3330,3470,603,0,0,12,0,0,0
$GC,3828,8.29,4315.5,296.4,-9.4,367,3843,0.00,3.05,1.02,0.000,6,0.007,0.000,3334,1863,589,0,0,15,0,0,0
$GC,4158,8.83,4747.9,320.9,-6.8,398,4164,0.00,2.30,0.12,0.007,4,0.007,0.000,3328,426,597,0,0,13,0,0,0
$GC,4416,9.35,5171.1,338.5,-6.5,420,4429,0.00,4.55,0.15,0.000,6,0.007,0.000,3329,2396,601,0,0,25,0,0,0
$GC,4754,9.97,5674.6,367.0,-9.1,452,4770,0.00,3.80,0.12,0.000,4,0.007,0.000,3332,442,596,0,0,21,0,0,0
$GC,5023,10.49,6103.8,387.2,-6.7,475,5033,0.00,3.28,1.02,0.000,6,0.007,0.000,3328,2252,601,0,0,17,0,0,0
$GC,5357,11.03,6542.5,410.9,-7.0,507,5373,0.00,3.80,0.12,0.007,4,0.007,0.000,3332,592,601,0,0,24,0,0,0
$GC,5569,11.56,6969.8,425.5,-6.7,525,5579,0.00,2.92,1.75,0.000,6,0.000,0.000,3328,2222,600,0,0,14,0,0,0
$GC,5904,12.08,7394.1,447.5,-6.6,557,5921,0.00,3.05,0.20,0.007,4,0.007,0.000,3335,472,602,0,0,14,0,0,0
$GC,6173,12.61,7825.3,465.4,-6.8,580,6184,0.00,2.83,1.62,0.000,6,0.007,0.000,3329,2206,598,0,0,10,0,0,0
$GC,6510,13.11,8228.2,487.7,-5.9,612,6525,0.00,3.15,0.12,0.007,4,0.007,0.000,3326,3629,591,0,0,16,0,0,0
$GC,6721,13.64,8665.3,501.3,-7.0,630,6727,0.00,2.95,0.00,0.000,6,0.007,0.000,3326,1941,600,0,0,14,0,0,0
$GC,7046,14.27,9171.6,529.2,-9.2,661,7061,0.00,3.85,0.00,0.007,4,0.007,0.000,3329,471,592,0,0,20,0,0,0
$GC,7313,14.79,9593.7,549.1,-6.5,684,7320,0.00,2.67,0.00,0.007,6,0.007,0.000,3330,2127,600,0,0,11,0,0,0
$GC,7638,15.30,10015.4,570.8,-6.5,715,7644,0.00,2.65,0.00,0.000,4,0.007,0.000,3325,503,599,0,0,9,0,0,0
$GC,7896,15.93,10521.0,591.5,-9.2,737,7903,0.00,3.15,0.00,0.007,6,0.007,0.000,3330,2242,597,0,0,16,0,0,0
$GC,8228,16.43,10933.3,616.8,-6.2,769,8234,0.00,2.78,0.00,0.007,4,0.007,0.000,3330,3644,601,0,0,13,0,0,0
$GC,8487,17.00,11395.3,633.1,-7.8,791,8496,0.00,3.38,0.00,0.007,6,0.007,0.000,3337,1772,604,0,0,15,0,0,0
$GC,8821,17.51,11811.9,655.2,-6.3,823,8827,0.00,2.75,0.00,0.000,4,0.007,0.000,3331,310,597,0,0,12,0,0,0
$GC,8929,18.07,12260.7,662.2,-7.3,832,8945,0.00,3.80,0.00,0.007,6,0.007,0.000,3330,2267,596,0,0,20,0,0,0
$GC,9259,18.60,12692.8,684.2,-6.8,863,9265,0.00,2.28,0.00,0.007,4,0.000,0.000,3330,3627,600,0,0,12,0,0,0
$GC,9326,19.17,13158.8,689.2,-7.9,868,9336,0.00,3.85,0.00,0.007,6,0.000,0.000,3331,1746,595,0,0,20,0,0,0
$GC,9661,19.72,13601.2,712.7,-7.1,900,9676,0.00,2.95,0.00,0.007,4,0.007,0.000,3326,521,601,0,0,15,0,0,0
$GC,9928,20.26,14041.5,731.6,-7.1,923,9938,0.00,3.45,0.00,0.007,6,0.000,0.000,3332,2010,599,0,0,17,0,0,0
$GC,10262,20.82,14495.6,755.9,-7.5,955,10268,0.00,2.70,0.00,0.007,4,0.007,0.000,3329,498,600,0,0,11,0,0,0
$GC,10521,21.36,14941.9,775.6,-7.3,977,10531,0.00,3.53,0.00,0.007,6,0.007,0.000,3330,2283,600,0,0,19,0,0,0
$GC,10856,21.93,15404.6,802.0,-7.8,1009,10871,0.00,3.55,0.00,0.007,4,0.000,0.000,3329,475,598,0,0,20,0,0,0
$GC,11123,22.48,15852.6,822.5,-7.3,1032,11133,0.00,3.47,0.00,0.007,6,0.007,0.000,3329,2348,601,0,0,19,0,0,0
$GC,11458,23.04,16305.0,846.9,-7.5,1064,11475,0.00,3.58,0.00,0.007,4,0.007,0.000,3329,363,595,0,0,19,0,0,0
$GC,11728,23.58,16741.9,866.4,-7.0,1087,11739,0.00,3.08,1.15,0.000,6,0.007,0.000,3328,2122,597,0,0,15,0,0,0
$GC,12064,24.11,17176.7,889.7,-6.9,1119,12082,0.00,3.10,0.12,0.000,4,0.007,0.000,3331,329,595,0,0,17,0,0,0
$GC,12087,24.64,17606.1,891.3,-6.7,1120,12098,0.00,3.30,1.23,0.000,6,0.007,0.000,3327,2279,597,0,0,15,0,0,0
$GC,12423,25.22,18075.3,911.1,-8.0,1152,12442,0.00,3.53,0.15,0.000,4,0.007,0.000,3327,3607,600,0,0,21,0,0,0
$GC,12447,25.82,18567.3,913.2,-8.7,1153,12458,0.00,3.03,1.55,0.000,6,0.007,0.000,3329,1836,602,0,0,13,0,0,0
$GC,12783,26.32,18970.6,933.8,-5.9,1185,12790,0.00,2.67,0.12,0.007,4,0.007,0.000,3331,436,600,0,0,14,0,0,0
$GC,12876,26.86,19412.1,939.8,-7.1,1192,12886,0.00,3.85,0.15,0.007,6,0.007,0.000,3330,2189,599,0,0,23,0,0,0
$GC,13211,27.39,19843.7,966.1,-6.8,1224,13217,0.00,2.45,0.15,0.007,4,0.000,0.000,3330,3461,600,0,0,13,0,0,0
$GC,13470,27.91,20267.7,983.6,-6.6,1246,13480,0.00,3.25,1.30,0.000,6,0.007,0.000,3333,1832,597,0,0,16,0,0,0
$GC,13805,27.54,20284.9,989.7,6.5,1278,13812,0.00,2.25,0.12,0.007,4,0.007,0.000,3329,474,600,0,0,11,0,0,0
$GC,14064,27.24,20284.9,963.5,10.2,1300,14074,0.00,3.12,1.38,0.000,6,0.007,0.000,3326,2215,596,0,0,16,0,0,0
$GC,14399,27.16,20284.9,935.2,7.7,1332,14415,0.00,3.65,0.12,0.000,4,0.007,0.000,3334,315,599,0,0,19,0,0,0
$GC,14667,27.52,20326.9,918.1,5.7,1355,14678,0.00,3.90,0.47,0.007,6,0.007,0.000,3331,2229,601,0,0,23,0,0,0
$GC,15003,27.54,20346.3,896.3,6.4,1387,15019,0.00,3.53,0.12,0.007,4,0.007,0.000,3326,445,598,0,0,19,0,0,0
$GC,15271,27.65,20386.7,880.8,5.7,1410,15283,0.00,3.25,0.95,0.000,6,0.000,0.000,3329,2378,601,0,0,19,0,0,0
$GC,15607,28.15,20386.7,855.7,7.1,1442,15624,0.00,3.17,0.12,0.000,4,0.007,0.000,3330,488,599,0,0,13,0,0,0
$GC,15876,27.94,20386.7,830.3,7.9,1465,15887,0.00,2.90,1.92,0.000,6,0.000,0.000,3332,2190,598,0,0,17,0,0,0
$GC,16211,27.94,20386.7,809.0,7.5,1497,16227,0.00,3.67,0.15,0.007,4,0.007,0.000,3334,388,598,0,0,21,0,0,0
$GC,16478,27.81,20386.7,782.4,8.8,1520,16490,0.00,3.83,0.85,0.000,6,0.007,0.000,3332,2226,603,0,0,20,0,0,0
$GC,16815,27.87,20386.7,756.8,7.3,1552,16830,0.00,3.65,0.20,0.000,4,0.007,0.000,3331,229,599,0,0,21,0,0,0
$GC,17082,27.87,20386.7,736.0,7.3,1575,17094,0.00,3.78,1.02,0.000,6,0.007,0.000,3330,2319,595,0,0,22,0,0,0
$GC,17418,27.87,20386.7,709.1,7.6,1607,17434,0.00,3.25,0.15,0.000,4,0.007,0.000,3330,393,588,0,0,18,0,0,0
$GC,17686,27.81,20386.7,686.5,7.8,1630,17697,0.00,2.80,2.12,0.000,6,0.007,0.000,3332,2194,602,0,0,13,0,0,0
$GC,18021,27.97,20417.2,661.3,6.0,1662,18037,0.00,3.33,0.12,0.007,4,0.007,0.000,3330,413,600,0,0,19,0,0,0
$GC,18289,27.97,20417.2,642.9,9.5,1685,18301,0.00,3.47,1.77,0.000,6,0.007,0.000,3327,2125,599,0,0,17,0,0,0
$GC,18625,27.97,20417.2,620.1,9.4,1717,18642,0.00,3.35,0.20,0.000,4,0.007,0.000,3330,296,601,0,0,17,0,0,0
$GC,18895,27.86,20417.2,589.8,11.5,1740,18905,0.00,3.25,1.52,0.000,6,0.000,0.000,3335,2156,601,0,0,18,0,0,0
$GC,19229,27.86,20417.2,559.4,8.9,1772,19245,0.00,3.55,0.22,0.007,4,0.007,0.000,3331,316,601,0,0,20,0,0,0
$GC,19497,27.86,20417.2,534.1,10.0,1795,19509,0.00,3.65,1.52,0.000,6,0.007,0.000,3331,2241,601,0,0,17,0,0,0
$GC,19833,27.86,20417.2,503.2,9.0,1827,19851,0.00,4.32,0.15,0.007,4,0.007,0.000,3327,371,597,0,0,23,0,0,0
$GC,20103,27.96,20423.7,481.3,6.8,1850,20113,0.00,3.05,1.23,0.000,6,0.007,0.000,3329,2192,600,0,0,13,0,0,0
$GC,20438,28.07,20423.7,457.2,7.1,1882,20453,0.00,3.20,0.17,0.000,4,0.007,0.000,3328,476,605,0,0,16,0,0,0
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$STATE,25174,end climb,SURFACE_DEPTH_REACHED
$STATE,25174,begin surface coast
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$STATE,25194,end surface coast,CONTROL_FINISHED_OK
$STATE,25194,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1077914110
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$XPDR_PINGS,-1
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$10V_AH,10.7,38.613
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,73.808
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330676
$DATA_FILE_SIZE,78600,2346
$CAP_FILE_SIZE,302474,12
$CFSIZE,260165632,244932608
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,30,1591,2,0
$SOUNDSPEED,1460.5
$GPS,121009,144016,6649.135,-5918.660,23,1.1,23,18.0