version: 66.06
glider: 1
mission: 14
dive: 141
start: 10 21 109 19 36 43
data:
$ID,1
$MISSION,14
$DIVE,141
$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,900
$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,-222301.03
$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,4
$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,81.45253
$FG_AHR_24V,4.6384406
$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
$GPS1,193736,6646.810,-5922.267,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,194246,6646.808,-5922.371,24,1.1,24,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.065,-0.224
$KALMAN_X,-44267.8,-774.5,-930.2,3986.8,5200.5
$KALMAN_Y,26219.2,315.9,1472.8,-38835.1,290.1
$MHEAD_RNG_PITCHd_Wd,178.2,380861,-13.0,-7.021
$D_GRID,900
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-58.05,0.000,2,0.007,0.000,386,2179,2595,0,0,0,0,0,0
$GC,90,-0.99,-146.6,3.0,-1.7,12,130,10.23,2.92,-16.42,0.000,4,0.000,0.000,2515,3644,3094,10,0,15,0,0,0
$GC,137,-0.02,-146.6,3.8,-1.7,20,152,1.45,3.38,0.00,0.007,6,0.000,0.000,2791,1834,3094,3,0,17,0,0,0
$GC,221,0.32,-146.6,17.1,-16.4,34,237,0.52,2.90,0.00,0.007,4,0.000,0.000,2678,441,3094,1,0,17,0,0,0
$GC,489,0.32,-146.6,44.0,-7.0,59,499,0.62,4.15,0.00,0.007,6,0.000,0.000,2848,2400,3109,2,0,26,0,0,0
$GC,696,0.32,-146.6,59.2,-7.9,79,712,0.50,3.20,0.00,0.007,4,0.000,0.000,2712,598,3094,0,0,17,0,0,0
$GC,963,0.32,-146.6,81.3,-8.7,102,971,0.73,2.65,0.00,0.007,6,0.000,0.000,2832,2239,3093,2,0,11,0,0,0
$GC,1288,0.32,-146.6,108.0,-7.9,133,1306,0.55,3.45,0.00,0.007,4,0.000,0.000,2698,455,3094,1,0,19,0,0,0
$GC,1557,0.32,-146.6,129.9,-8.0,156,1565,0.52,3.03,0.00,0.007,6,0.000,0.000,2844,2172,3095,1,0,13,0,0,0
$GC,1882,0.32,-146.6,156.1,-8.6,187,1899,0.65,3.50,0.00,0.007,4,0.000,0.000,2723,308,3095,2,0,16,0,0,0
$GC,2151,0.32,-146.6,177.2,-8.5,210,2162,0.47,4.12,0.00,0.007,6,0.000,0.000,2835,2271,3091,1,0,24,0,0,0
$GC,2486,0.32,-146.6,201.5,-7.0,242,2502,0.45,3.38,0.00,0.007,4,0.000,0.000,2706,442,3094,0,0,15,0,0,0
$GC,2753,0.32,-146.6,220.4,-7.3,265,2764,0.70,3.50,0.00,0.007,6,0.000,0.000,2881,2235,3096,1,0,20,0,0,0
$GC,3089,0.24,-146.6,239.0,-5.8,297,3105,0.70,3.53,0.00,0.007,4,0.000,0.000,2711,459,3104,0,0,19,0,0,0
$GC,3357,0.17,-146.6,255.5,-6.3,320,3367,0.30,3.03,0.00,0.007,6,0.007,0.000,2795,2182,3095,1,0,15,0,0,0
$GC,3692,0.23,-146.6,279.0,-7.6,352,3709,0.38,3.50,0.00,0.000,4,0.007,0.000,2707,398,3093,1,0,16,0,0,0
$GC,3961,0.15,-146.6,298.7,-7.1,375,3971,0.00,3.92,0.00,0.007,6,0.007,0.000,2702,2269,3095,0,0,24,0,0,0
$GC,4296,0.15,-146.6,320.1,-6.1,407,4312,0.38,3.67,0.00,0.007,4,0.000,0.000,2794,450,3093,1,0,20,0,0,0
$GC,4564,0.15,-146.6,338.0,-6.4,430,4575,0.52,3.22,0.00,0.007,6,0.000,0.000,2648,2127,3094,1,0,16,0,0,0
$GC,4899,0.15,-146.6,359.8,-6.1,462,4914,0.50,2.75,0.00,0.000,4,0.000,0.000,2781,378,3096,0,0,14,0,0,0
$GC,5166,0.15,-146.6,376.3,-5.6,485,5178,0.40,2.90,0.00,0.007,6,0.007,0.000,2655,2294,3096,1,0,15,0,0,0
$GC,5502,0.15,-146.6,395.9,-6.3,517,5517,0.60,3.97,0.00,0.007,4,0.000,0.000,2780,534,3097,1,0,24,0,0,0
$GC,5769,0.15,-146.6,411.6,-5.8,540,5777,0.32,2.65,0.00,0.007,6,0.000,0.000,2737,2211,3094,1,0,13,0,0,0
$GC,6094,0.15,-146.6,429.4,-5.4,571,6110,0.00,3.90,0.00,0.007,4,0.007,0.000,2734,508,3097,0,0,20,0,0,0
$GC,6362,0.15,-146.6,443.8,-5.2,594,6369,0.00,3.42,0.00,0.007,6,0.007,0.000,2735,2028,3094,0,0,18,0,0,0
$GC,6693,0.15,-146.6,461.6,-5.4,626,6708,0.00,3.03,0.00,0.007,4,0.007,0.000,2736,482,3094,0,0,16,0,0,0
$GC,6960,0.15,-146.6,476.8,-5.9,649,6967,0.00,3.03,0.00,0.007,6,0.007,0.000,2734,2160,3088,0,0,17,0,0,0
$GC,7285,0.15,-146.6,496.6,-6.8,680,7299,0.00,3.17,0.00,0.007,4,0.007,0.000,2738,481,3092,0,0,13,0,0,0
$GC,7552,0.15,-146.6,513.9,-6.4,703,7559,0.00,2.95,0.00,0.007,6,0.007,0.000,2735,2042,3097,0,0,15,0,0,0
$GC,7876,0.15,-146.6,534.8,-6.1,734,7891,0.00,2.92,0.00,0.007,4,0.007,0.000,2737,505,3094,0,0,15,0,0,0
$GC,8144,0.15,-146.6,551.3,-6.6,757,8150,0.00,3.20,0.00,0.000,6,0.007,0.000,2730,2062,3094,0,0,15,0,0,0
$GC,8475,0.15,-146.6,572.7,-6.5,789,8489,0.00,3.17,0.00,0.007,4,0.007,0.000,2733,464,3096,0,0,19,0,0,0
$GC,8741,0.15,-146.6,589.4,-6.2,812,8748,0.00,3.12,0.00,0.007,6,0.007,0.000,2732,2238,3086,0,0,13,0,0,0
$GC,9067,0.15,-146.6,608.0,-5.5,843,9082,0.00,3.65,0.00,0.007,4,0.007,0.000,2733,506,3091,0,0,19,0,0,0
$GC,9335,0.15,-146.6,623.2,-5.6,866,9341,0.00,2.90,0.00,0.007,6,0.007,0.000,2733,2181,3092,0,0,17,0,0,0
$GC,9660,0.08,-146.6,641.4,-5.2,897,9675,0.00,3.08,0.00,0.007,4,0.000,0.000,2735,507,3107,0,0,17,0,0,0
$GC,9927,0.01,-146.6,655.2,-5.5,920,9934,0.30,2.65,0.00,0.007,6,0.000,0.000,2647,2210,3092,1,0,13,0,0,0
$GC,10252,0.01,-146.6,673.0,-5.8,951,10267,0.30,3.28,0.00,0.018,4,0.018,0.000,2735,438,3096,1,0,17,0,0,0
$GC,10519,0.01,-146.6,687.7,-5.3,974,10530,0.60,3.15,0.00,0.007,6,0.000,0.000,2635,2386,3094,2,0,19,0,0,0
$GC,10855,0.01,-146.6,705.8,-5.4,1006,10871,0.45,3.42,0.00,0.000,4,0.000,0.000,2747,463,3091,1,0,19,0,0,0
$GC,11123,0.06,-146.6,720.1,-5.5,1029,11133,0.30,3.15,0.00,0.007,6,0.007,0.000,2656,2173,3094,1,0,13,0,0,0
$GC,11458,0.06,-146.6,738.7,-5.5,1061,11474,0.40,3.25,0.00,0.007,4,0.000,0.000,2753,282,3105,1,0,16,0,0,0
$GC,11726,0.06,-146.6,754.0,-5.9,1084,11734,0.35,2.95,0.00,0.007,6,0.000,0.000,2669,2045,3093,1,0,12,0,0,0
$GC,12058,0.06,-146.6,773.0,-5.8,1116,12074,0.40,3.47,0.00,0.007,4,0.000,0.000,2781,555,3095,1,0,21,0,0,0
$GC,12327,-0.05,-146.6,786.7,-4.2,1139,12337,0.75,3.00,0.00,0.007,6,0.000,0.000,2584,2279,3094,1,0,16,0,0,0
$GC,12662,0.01,-146.6,805.4,-6.3,1171,12678,0.73,3.35,0.00,0.007,4,0.000,0.000,2749,516,3095,1,0,17,0,0,0
$GC,12931,-0.06,-146.6,819.9,-4.6,1194,12941,0.52,3.00,0.00,0.000,6,0.000,0.000,2597,2374,3096,1,0,15,0,0,0
$GC,13266,-0.14,-146.6,836.7,-5.1,1226,13282,0.55,3.20,0.00,0.007,4,0.000,0.000,2740,536,3094,1,0,16,0,0,0
$GC,13534,-0.14,-146.6,852.5,-5.5,1249,13545,0.60,3.12,0.00,0.007,6,0.000,0.000,2536,2338,3095,2,0,14,0,0,0
$GC,13870,-0.22,-146.6,869.6,-5.5,1281,13887,1.00,3.40,0.00,0.007,4,0.000,0.000,2752,315,3095,2,0,17,0,0,0
$GC,14139,-0.22,-146.6,884.2,-5.0,1304,14150,1.35,3.33,0.00,0.007,6,0.000,0.000,2585,2097,3094,3,0,13,0,0,0
$STATE,14419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14419,begin apogee
$GC,14426,-0.31,0.0,900.4,5.9,1331,14567,0.70,0.00,135.27,0.000,6,0.000,0.007,2742,1772,2533,2,0,0,0,0,0
$STATE,14570,end apogee,CONTROL_FINISHED_OK
$STATE,14570,begin climb
$GC,14572,0.99,146.6,908.9,0.0,1345,14749,1.40,3.28,148.43,0.000,4,0.000,0.000,2962,3575,1922,3,0,18,0,2,0
$GC,15003,2.65,552.9,936.6,-6.0,1384,15340,2.17,3.45,306.45,0.000,6,0.000,0.000,3317,2004,647,4,0,18,0,2,0
$GC,15666,2.38,552.9,900.4,11.1,1448,15693,0.45,3.10,9.30,0.000,4,0.000,0.000,3186,3603,615,1,0,13,0,0,0
$GC,15944,2.38,552.9,879.6,7.3,1472,15957,0.35,3.80,1.05,0.000,6,0.007,0.000,3273,1890,609,1,0,21,0,0,0
$GC,16281,2.38,552.9,855.8,7.1,1504,16297,0.30,3.28,0.00,0.007,4,0.000,0.000,3179,3647,613,1,0,18,0,0,0
$GC,16549,2.33,552.9,834.6,7.9,1527,16560,0.32,2.88,1.40,0.000,6,0.000,0.000,3219,1888,616,1,0,14,0,0,0
$GC,16885,2.46,588.7,811.1,5.9,1559,16901,0.00,3.53,0.12,0.007,4,0.007,0.000,3220,3679,609,0,0,16,0,0,0
$GC,17153,2.46,588.7,791.2,7.9,1582,17164,0.00,3.22,2.20,0.000,6,0.007,0.000,3223,1834,612,0,0,13,0,0,0
$GC,17488,2.33,588.7,766.4,11.8,1614,17503,0.00,2.90,0.12,0.000,4,0.007,0.000,3219,3648,596,0,0,14,0,0,0
$GC,17755,1.50,588.7,701.6,25.6,1637,17766,1.12,3.15,0.52,0.000,6,0.000,0.000,2992,1701,610,3,0,17,0,0,0
$GC,18090,1.50,588.7,662.5,7.6,1669,18106,0.55,3.30,0.00,0.007,4,0.000,0.000,3119,3581,611,1,0,15,0,0,0
$GC,18359,1.63,604.3,641.7,6.5,1692,18369,0.50,3.25,0.52,0.000,6,0.000,0.000,2992,1854,613,1,0,17,0,0,0
$GC,18694,1.77,621.1,619.2,6.5,1724,18710,0.77,2.72,0.00,0.007,4,0.000,0.000,3132,3436,613,1,0,14,0,0,0
$GC,18962,1.86,621.1,602.0,8.3,1747,18973,0.45,2.90,1.40,0.000,6,0.013,0.000,3021,1901,612,1,0,19,0,0,0
$GC,19298,2.05,637.9,579.3,6.5,1779,19314,1.02,4.15,3.78,0.000,4,0.000,0.000,3223,3644,606,1,0,24,0,0,0
$GC,19567,1.94,637.9,552.2,10.7,1803,19583,0.77,2.85,0.47,0.000,6,0.000,0.000,3029,1839,598,1,0,13,0,0,0
$GC,19897,2.05,639.6,525.6,7.0,1834,19914,0.75,3.12,0.00,0.007,4,0.000,0.000,3212,3623,595,0,0,18,0,0,0
$GC,20166,2.05,639.6,504.0,7.5,1857,20177,0.60,3.28,1.10,0.000,6,0.000,0.000,3083,1801,606,1,0,15,0,0,0
$GC,20502,2.05,639.6,475.9,8.8,1889,20517,0.50,3.78,0.00,0.007,4,0.000,0.000,3212,3558,598,1,0,22,0,0,0
$GC,20769,2.05,639.6,452.3,7.2,1912,20781,0.95,3.33,0.85,0.000,6,0.000,0.000,3054,1827,604,2,0,20,0,0,0
$GC,21105,2.05,639.6,428.6,10.0,1944,21121,0.47,3.40,0.00,0.007,4,0.000,0.000,3203,3753,604,1,0,17,0,0,0
$GC,21373,1.91,639.6,398.9,11.2,1967,21386,0.73,3.28,0.77,0.000,6,0.000,0.000,3077,1646,601,2,0,17,0,0,0
$GC,21711,2.00,655.7,376.3,6.5,1999,21726,0.73,4.57,0.00,0.007,4,0.000,0.000,3203,3535,604,1,0,28,0,0,0
$GC,21978,1.90,655.7,349.0,9.8,2022,21989,0.85,3.47,0.15,0.000,6,0.000,0.000,2987,1841,607,3,0,20,0,0,0
$GC,22314,1.98,655.7,320.9,7.6,2054,22329,0.77,3.53,3.95,0.000,4,0.000,0.000,3178,3714,592,2,0,21,0,0,0
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$10V_AH,10.7,42.360
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$FG_AHR_10Vo,81.691
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$DEVICE_SECS,68.200,280.900,625.600,0.000,0.000,0.000,0.000,94.822,0.000,0.000,25.015,4014.237,17161.961,1404.860,2639.583,680.086,33.361,1703.389,0.000,2517.824,3600.000,3.342,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,78623,2365
$CAP_FILE_SIZE,297854,0
$CFSIZE,260165632,240726016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,112,1455,4,0
$SOUNDSPEED,1460.4
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