version: 66.06
glider: 1
mission: 14
dive: 143
start: 10 22 109 10 6 32
data:
$ID,1
$MISSION,14
$DIVE,143
$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,-222349.52
$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,7
$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,81.949318
$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
$GPS1,100724,6649.404,-5911.599,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,101406,6649.408,-5911.636,22,1.1,22,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.017,-0.233
$KALMAN_X,-39292.7,1104.3,-284.4,4285.4,810.2
$KALMAN_Y,42878.4,597.4,743.7,-50245.9,3937.0
$MHEAD_RNG_PITCHd_Wd,157.8,379798,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,88,0.00,0.00,-58.75,0.000,2,0.007,0.000,552,1850,2372,0,0,0,0,0,0
$GC,92,-0.99,-146.6,3.1,-1.9,12,134,9.68,2.75,-24.27,0.000,4,0.000,0.000,2527,237,3120,11,0,15,0,0,0
$GC,385,-0.99,-146.6,36.8,-7.2,50,396,0.73,3.72,0.00,0.007,6,0.000,0.000,2325,2195,3110,2,0,19,0,0,0
$GC,593,-0.99,-146.6,52.4,-8.3,70,610,0.93,3.05,0.00,0.007,4,0.000,0.000,2548,459,3108,1,0,15,0,0,0
$GC,862,-0.99,-146.6,74.7,-8.0,93,873,0.75,3.62,0.00,0.007,6,0.000,0.000,2426,2327,3107,1,0,17,0,0,0
$GC,1197,-0.99,-146.6,101.7,-7.6,125,1212,0.35,3.20,0.00,0.007,4,0.000,0.000,2534,548,3109,1,0,15,0,0,0
$GC,1464,-0.99,-146.6,122.2,-8.0,148,1476,0.35,3.90,0.00,0.007,6,0.000,0.000,2449,2176,3109,1,0,20,0,0,0
$GC,1800,-0.99,-146.6,148.6,-7.5,180,1820,0.32,3.05,0.00,0.000,4,0.007,0.000,2554,295,3109,1,0,18,0,0,0
$GC,2072,-0.99,-146.6,170.0,-8.6,203,2083,0.77,4.40,0.00,0.007,6,0.000,0.000,2430,2476,3111,2,0,28,0,0,0
$GC,2407,-0.99,-146.6,195.6,-7.3,235,2423,0.57,4.15,0.00,0.007,4,0.000,0.000,2559,240,3107,2,0,24,0,0,0
$GC,2675,-0.99,-146.6,214.9,-6.9,258,2685,0.50,3.30,0.00,0.007,6,0.000,0.000,2435,2235,3108,1,0,13,0,0,0
$GC,3010,-1.13,-146.6,233.3,-4.3,290,3026,0.28,3.33,0.00,0.007,4,0.007,0.000,2531,386,3112,0,0,18,0,0,0
$GC,3278,-1.23,-146.6,246.3,-4.6,313,3291,0.73,3.38,0.00,0.007,6,0.000,0.000,2362,2255,3108,1,0,15,0,0,0
$GC,3615,-1.16,-146.6,266.5,-7.8,345,3633,0.62,3.35,0.00,0.007,4,0.000,0.000,2501,286,3108,1,0,18,0,0,0
$GC,3885,-1.22,-146.6,287.9,-6.7,368,3895,0.50,3.20,0.00,0.007,6,0.000,0.000,2358,2196,3108,1,0,16,0,0,0
$GC,4220,-1.27,-146.6,310.1,-6.6,400,4236,0.55,3.03,0.00,0.000,4,0.000,0.000,2497,351,3110,1,0,16,0,0,0
$GC,4488,-1.27,-146.6,327.5,-5.9,423,4501,0.50,3.95,0.00,0.007,6,0.000,0.000,2392,2219,3106,1,0,23,0,0,0
$GC,4825,-1.27,-146.6,348.4,-6.1,455,4843,0.30,3.10,0.00,0.007,4,0.000,0.000,2485,489,3106,1,0,13,0,0,0
$GC,5095,-1.27,-146.6,365.3,-6.4,478,5106,0.75,3.03,0.00,0.007,6,0.000,0.000,2356,2174,3107,2,0,15,0,0,0
$GC,5430,-1.27,-146.6,387.0,-6.7,510,5446,0.57,2.85,0.00,0.007,4,0.000,0.000,2483,422,3110,1,0,13,0,0,0
$GC,5698,-1.27,-146.6,405.5,-6.8,533,5706,0.57,2.95,0.00,0.007,6,0.000,0.000,2350,2165,3107,2,0,17,0,0,0
$GC,6031,-1.27,-146.6,427.1,-6.8,565,6046,0.80,3.42,0.00,0.007,4,0.000,0.000,2468,409,3110,1,0,21,0,0,0
$GC,6299,-1.23,-146.6,444.4,-6.0,588,6309,0.32,3.00,0.00,0.007,6,0.000,0.000,2427,2174,3108,1,0,14,0,0,0
$GC,6634,-1.32,-146.6,463.8,-5.1,620,6649,0.00,2.75,0.00,0.007,4,0.007,0.000,2427,442,3108,0,0,15,0,0,0
$GC,6901,-1.18,-146.6,477.5,-7.0,643,6911,0.00,3.75,0.00,0.007,6,0.007,0.000,2429,2006,3103,0,0,19,0,0,0
$GC,7235,-1.18,-146.6,499.7,-5.7,675,7251,0.00,3.08,0.00,0.007,4,0.000,0.000,2424,538,3108,0,0,18,0,0,0
$GC,7503,-1.18,-146.6,513.5,-5.0,698,7510,0.00,2.95,0.00,0.007,6,0.007,0.000,2427,2073,3097,0,0,14,0,0,0
$GC,7828,-1.18,-146.6,530.4,-5.1,729,7844,0.00,3.40,0.00,0.007,4,0.007,0.000,2428,256,3107,0,0,20,0,0,0
$GC,8096,-1.18,-146.6,544.3,-5.1,752,8106,0.00,4.30,0.00,0.007,6,0.000,0.000,2423,2198,3107,0,0,22,0,0,0
$GC,8431,-1.18,-146.6,563.3,-5.6,784,8446,0.00,3.25,0.00,0.007,4,0.007,0.000,2427,220,3108,0,0,19,0,0,0
$GC,8698,-1.18,-146.6,578.9,-6.7,807,8711,0.00,4.97,0.00,0.000,6,0.007,0.000,2429,2337,3108,0,0,30,0,0,0
$GC,9036,-1.13,-146.6,598.8,-5.8,839,9051,0.22,3.12,0.00,0.018,4,0.018,0.000,2515,336,3110,0,0,14,0,0,0
$GC,9304,-1.18,-146.6,612.4,-4.7,862,9316,0.65,3.50,0.00,0.007,6,0.000,0.000,2388,2167,3108,1,0,17,0,0,0
$GC,9640,-1.24,-146.6,627.9,-4.5,894,9656,0.32,3.65,0.00,0.007,4,0.007,0.000,2450,255,3108,1,0,21,0,0,0
$GC,9909,-1.15,-146.6,642.4,-5.9,917,9920,0.00,3.75,0.00,0.007,6,0.000,0.000,2449,2232,3111,0,0,19,0,0,0
$GC,10244,-1.15,-146.6,661.4,-5.6,949,10261,0.00,3.65,0.00,0.007,4,0.000,0.000,2450,484,3108,0,0,22,0,0,0
$GC,10512,-1.15,-146.6,676.2,-5.8,972,10520,0.00,2.90,0.00,0.007,6,0.007,0.000,2454,2218,3109,0,0,13,0,0,0
$GC,10838,-1.15,-146.6,693.7,-5.6,1003,10853,0.00,3.03,0.00,0.007,4,0.007,0.000,2452,346,3109,0,0,15,0,0,0
$GC,11105,-1.15,-146.6,708.2,-5.6,1026,11112,0.00,3.47,0.00,0.000,6,0.007,0.000,2452,2256,3108,0,0,16,0,0,0
$GC,11436,-1.15,-146.6,725.4,-5.1,1058,11443,0.00,2.67,0.00,0.000,4,0.007,0.000,2453,473,3108,0,0,12,0,0,0
$GC,11694,-1.15,-146.6,738.6,-6.0,1080,11701,0.00,2.90,0.00,0.007,6,0.007,0.000,2451,2237,3109,0,0,15,0,0,0
$GC,12019,-1.15,-146.6,756.6,-5.5,1111,12034,0.00,3.08,0.00,0.007,4,0.000,0.000,2451,518,3110,0,0,15,0,0,0
$GC,12286,-1.15,-146.6,771.0,-5.2,1134,12292,0.00,3.10,0.00,0.007,6,0.000,0.000,2455,2150,3110,0,0,16,0,0,0
$GC,12610,-1.15,-146.6,790.0,-6.1,1165,12626,0.00,3.67,0.00,0.007,4,0.007,0.000,2455,189,3107,0,0,21,0,0,0
$GC,12878,-1.15,-146.6,805.9,-6.3,1188,12887,0.00,3.58,0.00,0.007,6,0.007,0.000,2450,2120,3106,0,0,18,0,0,0
$GC,13212,-1.15,-146.6,825.9,-6.1,1220,13227,0.00,3.33,0.00,0.007,4,0.007,0.000,2448,253,3106,0,0,17,0,0,0
$GC,13479,-1.15,-146.6,842.1,-6.1,1243,13486,0.00,3.12,0.00,0.007,6,0.007,0.000,2454,2131,3108,0,0,17,0,0,0
$GC,13804,-1.15,-146.6,862.9,-6.3,1274,13818,0.00,2.95,0.00,0.007,4,0.000,0.000,2452,431,3108,0,0,14,0,0,0
$GC,14070,-1.15,-146.6,879.0,-6.4,1297,14080,0.00,3.53,0.00,0.007,6,0.007,0.000,2451,2254,3104,0,0,19,0,0,0
$GC,14404,-1.15,-146.6,899.1,-6.0,1329,14419,0.00,3.33,0.00,0.007,4,0.000,0.000,2453,417,3108,0,0,19,0,0,0
$STATE,14422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14422,begin apogee
$GC,14433,-0.31,0.0,900.3,6.1,1330,14590,1.02,0.00,144.88,0.000,6,0.000,0.007,2660,2217,2511,1,0,0,0,1,0
$STATE,14593,end apogee,CONTROL_FINISHED_OK
$STATE,14593,begin climb
$GC,14596,0.99,146.6,909.7,0.0,1346,14753,1.35,2.28,141.93,0.000,4,0.000,0.000,2988,3604,1925,1,0,11,0,1,0
$GC,15007,2.61,530.3,932.9,-5.3,1383,15392,1.45,3.38,326.38,0.000,6,0.000,0.000,3297,1926,608,4,0,15,0,8,0
$GC,15717,4.24,921.2,971.8,-5.5,1452,15733,0.00,3.28,0.12,0.007,4,0.007,0.000,3301,3588,613,0,0,17,0,0,0
$GC,15985,4.64,1248.8,986.7,-3.5,1475,15995,0.00,3.50,1.02,0.000,6,0.007,0.000,3300,1722,610,0,0,18,0,0,0
$GC,16320,4.38,1248.8,967.8,10.7,1507,16335,0.00,4.10,0.12,0.007,4,0.007,0.000,3302,3666,606,0,0,25,0,0,0
$GC,16588,4.33,1248.8,939.4,8.8,1530,16598,0.00,3.05,1.85,0.000,6,0.007,0.000,3299,1836,611,0,0,15,0,0,0
$GC,16923,4.46,1280.7,919.7,6.0,1562,16930,0.00,2.80,0.12,0.007,4,0.000,0.000,3299,3580,611,0,0,9,0,0,0
$GC,17182,4.67,1334.3,902.9,5.3,1584,17193,0.00,4.00,0.47,0.000,6,0.000,0.000,3297,2039,610,0,0,20,0,0,0
$GC,17517,4.58,1334.3,874.7,9.8,1616,17533,0.00,3.00,0.12,0.007,4,0.007,0.000,3299,3586,610,0,0,13,0,0,0
$GC,17785,4.66,1334.3,851.6,7.3,1639,17797,0.00,3.62,0.73,0.000,6,0.007,0.000,3303,1903,610,0,0,19,0,0,0
$GC,18121,4.71,1334.3,827.9,7.6,1671,18139,0.00,3.47,0.12,0.007,4,0.000,0.000,3296,3777,607,0,0,18,0,0,0
$GC,18391,4.76,1334.3,806.9,9.5,1694,18402,0.00,4.60,0.17,0.000,6,0.007,0.000,3298,1723,608,0,0,27,0,0,0
$GC,18726,4.68,1334.3,772.2,10.2,1726,18742,0.00,3.78,0.15,0.000,4,0.007,0.000,3297,3545,611,0,0,19,0,0,0
$GC,18995,4.73,1334.3,749.3,7.3,1749,19007,0.00,3.03,1.65,0.000,6,0.007,0.000,3297,1840,611,0,0,17,0,0,0
$GC,19330,4.73,1334.3,720.6,8.3,1781,19348,0.00,3.90,0.15,0.007,4,0.007,0.000,3300,3642,616,0,0,19,0,0,0
$GC,19601,4.96,1362.7,699.2,6.1,1804,19611,0.00,3.17,1.12,0.000,6,0.000,0.000,3300,1779,609,0,0,15,0,0,0
$GC,19935,4.82,1362.7,672.7,10.7,1836,19951,0.00,3.42,0.20,0.007,4,0.007,0.000,3300,3565,608,0,0,14,0,0,0
$GC,20203,4.82,1362.7,643.8,8.1,1859,20216,0.00,3.50,1.70,0.000,6,0.007,0.000,3300,1564,616,0,0,19,0,0,0
$GC,20540,4.82,1362.7,617.1,8.0,1891,20557,0.00,4.00,0.25,0.000,4,0.007,0.000,3298,3558,608,0,0,19,0,0,0
$GC,20809,4.82,1362.7,594.6,8.4,1914,20820,0.00,2.97,1.88,0.000,6,0.007,0.000,3298,2029,610,0,0,16,0,0,0
$GC,21144,4.82,1362.7,565.6,8.6,1946,21151,0.00,2.65,0.20,0.007,4,0.007,0.000,3297,3778,609,0,0,14,0,0,0
$GC,21402,4.82,1362.7,543.6,7.9,1968,21414,0.00,3.67,1.42,0.000,6,0.007,0.000,3297,1876,606,0,0,17,0,0,0
$GC,21739,5.01,1406.3,521.5,5.6,2000,21755,0.00,3.15,0.15,0.007,4,0.007,0.000,3297,3638,610,0,0,20,0,0,0
$GC,22007,4.90,1406.3,497.6,11.1,2023,22017,0.00,3.12,1.75,0.000,6,0.007,0.000,3299,1912,616,0,0,14,0,0,0
$GC,22342,4.97,1406.3,465.5,7.5,2055,22357,0.00,2.75,0.17,0.000,4,0.007,0.000,3294,3558,610,0,0,12,0,0,0
$GC,22610,4.97,1406.3,443.7,8.5,2078,22620,0.00,3.15,1.38,0.000,6,0.007,0.000,3295,1864,612,0,0,16,0,0,0
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$STATE,27739,end climb,SURFACE_DEPTH_REACHED
$STATE,27739,begin surface coast
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$STATE,27802,end surface coast,CONTROL_FINISHED_OK
$STATE,27802,begin surface
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078207711
$INTERNAL_PRESSURE,16.2967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
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$10V_AH,10.7,42.603
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,82.207
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$DEVICE_SECS,40.650,314.600,642.875,0.000,0.000,0.000,0.000,118.573,0.000,0.000,23.423,4328.001,18806.230,1469.148,2878.906,791.991,33.359,1794.257,0.000,2740.222,3600.000,4.749,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
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$SENSOR_SECS,1559.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330676
$DATA_FILE_SIZE,84867,2576
$CAP_FILE_SIZE,316691,0
$CFSIZE,260165632,240447488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,60,1617,10,0
$SOUNDSPEED,1460.6
$GPS,221009,180202,6651.097,-5907.533,25,1.1,26,18.0