version: 66.06
glider: 1
mission: 14
dive: 101
start: 10 13 109 12 2 19
data:
$ID,1
$MISSION,14
$DIVE,101
$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,-221274.39
$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,3
$R_STBD_OVSHOOT,3
$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,74.54464
$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
$GPS1,120249,6649.632,-5933.899,8,1.1,8,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,120936,6649.660,-5933.877,14,1.1,15,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.034,-0.231
$KALMAN_X,-35492.3,-1830.3,-1830.3,-11081.7,1351.8
$KALMAN_Y,10968.4,54.5,148.8,-16685.3,-1534.5
$MHEAD_RNG_PITCHd_Wd,153.5,390634,-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,23,begin dive
$GC,25,-0.99,-146.5,0.0,0.0,0,86,0.00,0.00,-58.05,0.000,2,0.007,0.000,377,1762,2352,0,0,0,0,0,0
$GC,90,-0.99,-146.6,3.2,-2.3,12,139,10.35,4.93,-24.90,0.000,4,0.000,0.000,2555,3567,3111,11,0,28,0,0,0
$GC,145,-0.47,-146.6,11.4,-16.1,22,162,0.85,3.05,0.00,0.007,6,0.000,0.000,2739,1708,3086,3,0,15,0,0,0
$GC,233,-0.13,-146.6,28.9,-18.6,33,240,0.40,2.28,0.00,0.007,4,0.000,0.000,2635,258,3109,1,0,13,0,0,0
$GC,491,-0.13,-146.6,59.0,-8.1,55,499,0.30,3.20,0.00,0.007,6,0.000,0.000,2714,2207,3109,1,0,12,0,0,0
$GC,818,-0.13,-146.6,85.0,-8.4,86,836,0.30,3.38,0.00,0.007,4,0.007,0.000,2624,547,3109,1,0,15,0,0,0
$STATE,1007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1007,begin apogee
$GC,1017,-0.31,0.0,100.2,7.2,102,1147,0.00,0.00,117.25,0.000,6,0.007,0.000,2624,2157,2528,0,0,0,0,0,0
$STATE,1148,end apogee,CONTROL_FINISHED_OK
$STATE,1148,begin climb
$GC,1150,0.99,146.6,110.0,0.0,115,1283,2.05,2.85,121.00,0.000,4,0.000,0.000,3061,3781,1929,2,0,15,0,0,0
$GC,1525,2.74,608.3,138.3,-7.8,150,1824,1.42,4.25,266.35,0.000,6,0.000,0.000,3379,1885,604,2,0,20,0,2,0
$GC,2138,4.48,1066.6,184.7,-7.7,209,2155,0.00,3.65,0.12,0.007,4,0.007,0.000,3381,3724,623,0,0,21,0,0,0
$GC,2407,5.08,1548.7,206.0,-8.4,232,2418,0.00,3.78,0.80,0.000,6,0.007,0.000,3383,1882,607,0,0,18,0,0,0
$GC,2743,5.65,2019.8,232.8,-8.1,264,2758,0.00,3.45,0.12,0.007,4,0.007,0.000,3381,3727,604,0,0,16,0,0,0
$GC,3011,6.21,2473.7,252.7,-7.5,287,3021,0.00,3.95,0.55,0.000,6,0.000,0.000,3383,1845,610,0,0,21,0,0,0
$GC,3346,6.76,2918.1,276.3,-7.2,319,3362,0.00,3.70,0.20,0.007,4,0.007,0.000,3379,3421,605,0,0,21,0,0,0
$GC,3412,7.30,3354.1,281.1,-6.9,324,3423,0.00,2.88,1.75,0.000,6,0.007,0.000,3386,1786,605,0,0,16,0,0,0
$GC,3748,7.79,3756.3,302.8,-5.9,356,3765,0.00,3.12,0.25,0.000,4,0.007,0.000,3384,3593,600,0,0,14,0,0,0
$GC,4018,8.33,4191.9,319.5,-6.9,379,4028,0.00,3.12,0.93,0.000,6,0.007,0.000,3381,1859,606,0,0,15,0,0,0
$GC,4352,8.80,4578.3,342.2,-5.4,411,4369,0.00,3.38,0.15,0.000,4,0.007,0.000,3382,3661,609,0,0,18,0,0,0
$GC,4622,9.34,5015.1,357.1,-7.0,434,4632,0.00,3.45,1.30,0.000,6,0.000,0.000,3379,1826,602,0,0,17,0,0,0
$GC,4957,9.85,5427.8,380.7,-6.2,466,4973,0.00,3.10,0.12,0.007,4,0.007,0.000,3383,3551,577,0,0,16,0,0,0
$GC,5225,10.36,5842.8,397.2,-6.3,489,5235,0.00,3.15,1.38,0.000,6,0.007,0.000,3382,1896,603,0,0,20,0,0,0
$GC,5560,10.89,6276.5,416.7,-6.9,521,5577,0.00,3.30,0.15,0.000,4,0.007,0.000,3381,3582,602,0,0,14,0,0,0
$GC,5582,11.44,6721.6,418.4,-7.2,522,5592,0.00,2.95,1.58,0.000,6,0.007,0.000,3384,1991,602,0,0,14,0,0,0
$GC,5917,11.87,7073.4,435.3,-4.3,554,5932,0.00,2.78,0.12,0.007,4,0.000,0.000,3382,3654,604,0,0,15,0,0,0
$GC,6185,12.39,7496.2,450.8,-6.5,577,6195,0.00,3.38,1.52,0.000,6,0.000,0.000,3382,1624,600,0,0,15,0,0,0
$GC,6519,12.86,7876.8,469.5,-5.2,609,6535,0.00,4.20,0.15,0.007,4,0.000,0.000,3386,3496,602,0,0,23,0,0,0
$GC,6541,13.35,8272.2,470.7,-5.6,610,6550,0.00,2.90,1.85,0.000,6,0.007,0.000,3382,1775,595,0,0,14,0,0,0
$GC,6875,13.86,8687.4,490.8,-6.3,642,6895,0.00,3.78,0.00,0.007,4,0.007,0.000,3379,3686,605,0,0,19,0,0,0
$GC,7147,14.38,9113.3,508.0,-6.6,665,7154,0.00,3.35,0.00,0.007,6,0.000,0.000,3382,1865,604,0,0,16,0,0,0
$GC,7478,14.89,9526.1,529.1,-6.2,697,7494,0.00,3.53,0.00,0.000,4,0.007,0.000,3384,3627,607,0,0,19,0,0,0
$GC,7746,15.41,9948.1,546.0,-6.5,720,7752,0.00,2.88,0.00,0.007,6,0.000,0.000,3382,1852,599,0,0,12,0,0,0
$GC,8077,15.91,10353.6,565.8,-6.0,752,8092,0.00,3.15,0.00,0.007,4,0.007,0.000,3383,3534,606,0,0,15,0,0,0
$GC,8131,16.40,10752.4,569.0,-5.8,756,8140,0.00,3.15,0.00,0.007,6,0.007,0.000,3383,1772,604,0,0,14,0,0,0
$GC,8464,16.89,11150.5,588.7,-5.7,788,8479,0.00,4.22,0.00,0.007,4,0.007,0.000,3380,3635,598,0,0,22,0,0,0
$GC,8732,17.38,11554.0,604.1,-5.9,811,8742,0.00,3.53,0.00,0.007,6,0.007,0.000,3385,1613,604,0,0,18,0,0,0
$GC,9067,17.88,11958.8,623.5,-6.0,843,9082,0.00,3.78,0.00,0.007,4,0.007,0.000,3381,3662,598,0,0,20,0,0,0
$GC,9334,18.39,12369.8,639.4,-6.1,866,9344,0.00,3.50,0.00,0.007,6,0.000,0.000,3382,1794,607,0,0,18,0,0,0
$GC,9669,18.87,12766.3,658.7,-5.7,898,9684,0.00,3.45,0.00,0.007,4,0.007,0.000,3382,3711,605,0,0,18,0,0,0
$GC,9935,19.39,13186.0,675.5,-6.4,921,9942,0.00,3.38,0.00,0.007,6,0.007,0.000,3383,1766,600,0,0,19,0,0,0
$GC,10267,19.91,13609.5,697.1,-6.6,953,10282,0.00,3.38,0.00,0.007,4,0.007,0.000,3384,3623,596,0,0,14,0,0,0
$GC,10535,20.44,14038.1,714.5,-6.7,976,10546,0.00,3.88,0.00,0.007,6,0.000,0.000,3381,1868,603,0,0,20,0,0,0
$GC,10871,20.96,14462.0,735.5,-6.6,1008,10887,0.00,2.97,0.00,0.000,4,0.007,0.000,3383,3641,604,0,0,12,0,0,0
$GC,11139,21.43,14845.9,749.7,-5.3,1031,11146,0.00,2.78,0.00,0.007,6,0.007,0.000,3381,1916,607,0,0,15,0,0,0
$GC,11464,21.90,15228.8,767.4,-5.2,1062,11470,0.00,2.50,0.00,0.007,4,0.007,0.000,3379,3604,600,0,0,14,0,0,0
$GC,11644,22.44,15665.3,777.4,-7.0,1077,11650,0.00,3.10,0.00,0.007,6,0.007,0.000,3385,1857,603,0,0,15,0,0,0
$GC,11969,22.89,16036.1,795.5,-4.9,1108,11984,0.00,3.45,0.00,0.007,4,0.007,0.000,3382,3494,605,0,0,16,0,0,0
$GC,12237,23.41,16452.9,811.4,-6.3,1131,12243,0.00,2.72,0.00,0.007,6,0.007,0.000,3382,2027,586,0,0,15,0,0,0
$GC,12562,23.88,16836.6,830.7,-5.3,1162,12577,0.00,3.17,0.15,0.000,4,0.007,0.000,3379,3722,603,0,0,17,0,0,0
$GC,12830,24.35,17217.5,845.1,-5.2,1185,12840,0.00,3.90,0.60,0.000,6,0.000,0.000,3382,1800,605,0,0,23,0,0,0
$GC,13165,24.90,17662.8,865.5,-7.2,1217,13181,0.00,3.40,0.35,0.000,4,0.007,0.000,3381,3623,604,0,0,16,0,0,0
$GC,13399,25.38,18056.9,881.4,-5.6,1237,13410,0.00,4.05,0.40,0.007,6,0.007,0.000,3385,1744,604,0,0,21,0,0,0
$GC,13735,25.90,18475.6,902.0,-6.4,1269,13750,0.00,4.07,0.50,0.000,4,0.007,0.000,3385,3560,602,0,0,20,0,0,0
$GC,14003,26.16,18690.1,912.4,0.2,1292,14014,0.00,2.90,2.60,0.000,6,0.007,0.000,3383,1854,603,0,0,14,0,0,0
$GC,14338,25.89,18690.1,881.4,10.8,1324,14353,0.00,2.90,0.15,0.007,4,0.007,0.000,3382,3739,603,0,0,14,0,0,0
$GC,14605,25.89,18690.1,856.4,7.5,1347,14618,0.00,3.40,1.85,0.000,6,0.007,0.000,3382,1697,602,0,0,18,0,0,0
$GC,14942,26.02,18726.1,832.4,5.9,1379,14959,0.00,3.33,0.12,0.000,4,0.007,0.000,3385,3573,602,0,0,16,0,0,0
$GC,15005,26.14,18750.2,828.7,6.2,1384,15020,0.00,3.30,0.68,0.000,6,0.007,0.000,3379,1893,600,0,0,20,0,0,0
$GC,15334,26.35,18786.2,807.0,5.9,1415,15349,0.00,3.00,0.15,0.000,4,0.007,0.000,3381,3569,602,0,0,13,0,0,0
$GC,15600,26.35,18786.2,790.3,8.0,1438,15612,0.00,3.15,1.85,0.000,6,0.000,0.000,3381,1857,599,0,0,12,0,0,0
$GC,15938,26.37,18798.4,767.7,6.6,1470,15953,0.00,3.05,0.15,0.000,4,0.007,0.000,3384,3606,603,0,0,13,0,0,0
$GC,16025,26.26,18798.4,759.2,10.3,1477,16035,0.00,3.10,1.62,0.000,6,0.007,0.000,3388,1757,602,0,0,15,0,0,0
$GC,16360,26.31,18798.4,727.0,7.9,1509,16379,0.00,3.67,0.12,0.000,4,0.007,0.000,3380,3600,606,0,0,20,0,0,0
$GC,16632,26.37,18798.4,706.2,8.9,1532,16642,0.00,3.22,1.30,0.000,6,0.007,0.000,3384,1733,599,0,0,17,0,0,0
$GC,16966,26.37,18798.4,679.4,7.7,1564,16983,0.00,3.90,0.22,0.007,4,0.007,0.000,3385,3578,601,0,0,22,0,0,0
$GC,17235,26.37,18798.4,658.1,7.9,1587,17246,0.00,3.60,1.62,0.000,6,0.007,0.000,3384,1757,603,0,0,21,0,0,0
$GC,17570,26.37,18798.4,629.9,8.7,1619,17585,0.00,2.90,0.12,0.007,4,0.000,0.000,3382,3588,601,0,0,15,0,0,0
$GC,17836,26.31,18798.4,605.6,9.5,1642,17848,0.00,3.40,1.45,0.000,6,0.000,0.000,3383,1774,602,0,0,18,0,0,0
$GC,18173,26.32,18809.4,580.1,6.7,1674,18190,0.00,3.33,0.15,0.007,4,0.007,0.000,3383,3514,602,0,0,13,0,0,0
$GC,18442,26.20,18809.4,556.2,11.1,1697,18453,0.00,3.25,1.25,0.000,6,0.007,0.000,3382,1883,604,0,0,15,0,0,0
$GC,18777,26.20,18809.4,521.8,8.2,1729,18793,0.00,3.08,0.32,0.000,4,0.007,0.000,3384,3529,603,0,0,18,0,0,0
$GC,19045,26.20,18809.4,498.9,8.1,1752,19057,0.00,3.40,1.90,0.000,6,0.000,0.000,3384,1885,604,0,0,18,0,0,0
$GC,19381,26.20,18809.4,471.3,8.2,1784,19398,0.00,3.15,0.17,0.007,4,0.000,0.000,3383,3654,602,0,0,15,0,0,0
$GC,19650,26.25,18809.4,449.9,8.2,1807,19660,0.00,3.12,1.40,0.000,6,0.007,0.000,3386,1890,603,0,0,14,0,0,0
$GC,19985,26.30,18809.4,423.7,8.0,1839,20001,0.00,3.40,0.12,0.007,4,0.000,0.000,3386,3541,600,0,0,17,0,0,0
$GC,20253,26.35,18809.4,401.1,8.5,1862,20265,0.00,2.92,1.80,0.000,6,0.007,0.000,3383,1907,613,0,0,15,0,0,0
$GC,20589,26.40,18809.4,373.9,8.1,1894,20606,0.00,2.80,0.15,0.007,4,0.000,0.000,3383,3633,599,0,0,15,0,0,0
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$MEM,330700
$DATA_FILE_SIZE,75467,2316
$CAP_FILE_SIZE,294483,0
$CFSIZE,260165632,244445184
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$SOUNDSPEED,1459.4
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