version: 66.06
glider: 1
mission: 14
dive: 144
start: 10 22 109 18 1 14
data:
$ID,1
$MISSION,14
$DIVE,144
$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,-222362.83
$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,8
$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,82.21595
$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
$GPS1,180202,6651.097,-5907.533,25,1.1,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,180710,6650.992,-5907.797,11,1.1,11,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.086,-0.217
$KALMAN_X,-36009.2,-472.6,366.4,4723.3,1939.1
$KALMAN_Y,52447.4,59.3,619.1,-56213.6,6010.8
$MHEAD_RNG_PITCHd_Wd,183.6,380488,-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,-146.6,0.0,0.0,0,91,0.00,0.00,-62.88,0.000,2,0.007,0.000,399,1920,2520,0,0,0,0,0,0
$GC,95,-0.99,-146.6,3.1,-1.8,13,143,10.73,2.47,-19.30,0.000,4,0.000,0.000,2574,236,3094,8,0,14,0,0,0
$GC,149,-0.38,-146.6,9.0,-12.2,22,165,0.50,3.53,0.00,0.007,6,0.000,0.000,2710,2380,3091,1,0,21,0,0,0
$GC,233,-0.05,-146.6,21.7,-13.2,35,249,0.47,3.33,0.00,0.007,4,0.025,0.000,2602,457,3093,1,0,22,0,0,0
$GC,502,-0.05,-146.6,43.8,-7.6,58,513,0.65,3.50,0.00,0.007,6,0.000,0.000,2734,2091,3093,2,0,19,0,0,0
$GC,710,-0.05,-146.6,59.3,-7.6,78,725,0.40,2.62,0.00,0.007,4,0.000,0.000,2635,422,3095,1,0,14,0,0,0
$GC,977,-0.05,-146.6,79.6,-7.1,101,985,0.40,3.40,0.00,0.007,6,0.000,0.000,2750,2348,3096,1,0,19,0,0,0
$GC,1309,-0.05,-146.6,103.9,-7.1,133,1324,0.65,2.92,0.00,0.007,4,0.000,0.000,2597,391,3090,1,0,14,0,0,0
$GC,1576,-0.18,-146.6,122.2,-7.0,156,1587,0.77,3.40,0.00,0.007,6,0.000,0.000,2717,2113,3092,1,0,16,0,0,0
$GC,1912,-0.27,-146.6,147.2,-6.7,188,1929,0.55,3.17,0.00,0.007,4,0.000,0.000,2582,325,3093,1,0,15,0,0,0
$GC,2183,-0.14,-146.6,167.6,-8.5,211,2193,0.68,3.53,0.00,0.000,6,0.000,0.000,2734,2171,3098,1,0,17,0,0,0
$GC,2518,-0.14,-146.6,193.2,-6.0,243,2535,0.60,3.00,0.00,0.007,4,0.000,0.000,2647,454,3093,2,0,18,0,0,0
$GC,2787,-0.19,-146.6,209.7,-6.3,266,2795,0.00,2.85,0.00,0.007,6,0.007,0.000,2645,2140,3093,0,0,12,0,0,0
$GC,3112,-0.24,-146.6,229.6,-6.3,297,3127,0.00,3.00,0.00,0.007,4,0.007,0.000,2643,443,3095,0,0,16,0,0,0
$GC,3379,-0.24,-146.6,246.9,-6.9,320,3386,0.00,3.05,0.00,0.007,6,0.007,0.000,2644,2390,3092,0,0,17,0,0,0
$GC,3704,-0.24,-146.6,268.1,-6.0,351,3718,0.00,4.85,0.00,0.007,4,0.007,0.000,2643,309,3095,0,0,28,0,0,0
$GC,3970,-0.24,-146.6,285.8,-6.9,374,3977,0.00,3.15,0.00,0.007,6,0.007,0.000,2642,2104,3095,0,0,15,0,0,0
$GC,4295,-0.24,-146.6,306.8,-6.6,405,4310,0.00,3.35,0.00,0.007,4,0.007,0.000,2646,368,3097,0,0,19,0,0,0
$GC,4563,-0.24,-146.6,323.9,-6.1,428,4572,0.00,3.62,0.00,0.007,6,0.000,0.000,2640,2300,3094,0,0,16,0,0,0
$GC,4898,-0.24,-146.6,345.9,-6.6,460,4914,0.00,3.42,0.00,0.007,4,0.007,0.000,2646,484,3098,0,0,20,0,0,0
$GC,5166,-0.24,-146.6,364.6,-7.0,483,5174,0.00,2.97,0.00,0.007,6,0.007,0.000,2641,2230,3090,0,0,15,0,0,0
$GC,5491,-0.24,-146.6,386.8,-7.1,514,5507,0.00,3.42,0.00,0.007,4,0.007,0.000,2646,338,3089,0,0,17,0,0,0
$GC,5761,-0.31,-146.6,405.2,-5.8,537,5772,0.00,3.88,0.00,0.007,6,0.007,0.000,2643,2071,3094,0,0,24,0,0,0
$GC,6097,-0.36,-146.6,424.9,-5.8,569,6112,0.00,3.78,0.00,0.007,4,0.007,0.000,2642,427,3093,0,0,20,0,0,0
$GC,6365,-0.36,-146.6,439.3,-5.3,592,6375,0.40,4.55,0.00,0.007,6,0.000,0.000,2548,2417,3094,1,0,27,0,0,0
$GC,6700,-0.36,-146.6,457.2,-5.9,624,6716,0.65,3.62,0.00,0.007,4,0.000,0.000,2692,270,3095,1,0,18,0,0,0
$GC,6968,-0.36,-146.6,472.5,-5.7,647,6979,0.55,3.33,0.00,0.007,6,0.000,0.000,2562,2141,3093,1,0,18,0,0,0
$GC,7303,-0.36,-146.6,492.7,-6.4,679,7319,0.55,3.03,0.00,0.007,4,0.000,0.000,2688,322,3093,1,0,14,0,0,0
$GC,7570,-0.36,-146.6,510.0,-7.4,702,7577,0.50,3.28,0.00,0.007,6,0.000,0.000,2563,2200,3094,1,0,14,0,0,0
$GC,7895,-0.36,-146.6,533.1,-7.4,733,7912,0.30,3.47,0.00,0.007,4,0.007,0.000,2646,405,3093,1,0,20,0,0,0
$GC,8165,-0.46,-146.6,550.1,-5.8,756,8175,0.52,2.92,0.00,0.007,6,0.007,0.000,2543,2129,3091,1,0,14,0,0,0
$GC,8499,-0.35,-146.6,571.3,-7.3,788,8515,0.60,2.92,0.00,0.007,4,0.000,0.000,2689,495,3096,1,0,13,0,0,0
$GC,8766,-0.35,-146.6,588.2,-5.8,811,8778,0.55,3.50,0.00,0.000,6,0.000,0.000,2580,2255,3093,1,0,17,0,0,0
$GC,9102,-0.35,-146.6,605.4,-5.2,843,9118,0.35,4.18,0.00,0.007,4,0.007,0.000,2681,438,3093,1,0,23,0,0,0
$GC,9370,-0.35,-146.6,619.7,-5.6,866,9380,0.75,3.45,0.00,0.000,6,0.000,0.000,2550,2094,3097,1,0,17,0,0,0
$GC,9705,-0.48,-146.6,635.4,-4.0,898,9722,0.57,3.08,0.00,0.007,4,0.000,0.000,2706,528,3094,2,0,16,0,0,0
$GC,9974,-0.40,-146.6,649.0,-6.2,921,9984,0.50,3.28,0.00,0.007,6,0.000,0.000,2541,2191,3094,1,0,15,0,0,0
$GC,10309,-0.50,-146.6,666.7,-4.8,953,10326,0.28,3.33,0.00,0.007,4,0.007,0.000,2637,421,3092,0,0,16,0,0,0
$GC,10578,-0.42,-146.6,681.1,-5.8,976,10585,0.40,2.67,0.00,0.007,6,0.000,0.000,2550,2184,3097,1,0,13,0,0,0
$GC,10903,-0.47,-146.6,700.2,-5.4,1007,10919,0.28,2.95,0.00,0.007,4,0.007,0.000,2638,509,3094,0,0,14,0,0,0
$GC,11171,-0.52,-146.6,714.9,-5.5,1030,11179,0.32,2.78,0.00,0.007,6,0.007,0.000,2551,2231,3092,1,0,14,0,0,0
$GC,11503,-0.45,-146.6,734.3,-6.7,1062,11519,0.35,3.10,0.00,0.007,4,0.000,0.000,2638,509,3095,1,0,16,0,0,0
$GC,11771,-0.36,-146.6,753.9,-7.1,1085,11778,0.00,2.80,0.00,0.007,6,0.007,0.000,2639,2165,3095,0,0,13,0,0,0
$GC,12095,-0.36,-146.6,773.6,-6.0,1116,12110,0.00,3.30,0.00,0.007,4,0.007,0.000,2638,380,3093,0,0,17,0,0,0
$GC,12363,-0.36,-146.6,790.0,-6.0,1139,12372,0.00,3.33,0.00,0.007,6,0.007,0.000,2637,2274,3093,0,0,19,0,0,0
$GC,12696,-0.36,-146.6,811.0,-6.2,1171,12711,0.00,3.17,0.00,0.007,4,0.007,0.000,2637,432,3094,0,0,15,0,0,0
$GC,12963,-0.36,-146.6,827.7,-6.1,1194,12973,0.00,3.58,0.00,0.007,6,0.007,0.000,2640,2196,3094,0,0,19,0,0,0
$GC,13297,-0.36,-146.6,847.6,-5.8,1226,13312,0.00,2.90,0.00,0.007,4,0.007,0.000,2641,442,3094,0,0,13,0,0,0
$GC,13564,-0.36,-146.6,863.1,-5.4,1249,13571,0.00,2.78,0.00,0.007,6,0.000,0.000,2638,2162,3093,0,0,12,0,0,0
$GC,13889,-0.36,-146.6,880.9,-5.5,1280,13904,0.00,2.95,0.00,0.007,4,0.007,0.000,2637,528,3094,0,0,16,0,0,0
$GC,14156,-0.45,-146.6,892.8,-4.5,1303,14163,0.43,2.60,0.00,0.007,6,0.000,0.000,2553,2047,3093,1,0,11,0,0,0
$STATE,14308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14308,begin apogee
$GC,14315,-0.31,0.0,900.3,4.6,1318,14467,0.73,0.00,139.12,0.000,6,0.000,0.007,2696,1751,2517,1,0,0,0,0,0
$STATE,14470,end apogee,CONTROL_FINISHED_OK
$STATE,14470,begin climb
$GC,14472,0.99,146.6,906.9,0.0,1333,14650,1.40,3.55,147.20,0.000,4,0.000,0.000,2965,3604,1914,2,0,18,0,2,0
$GC,14904,2.59,527.4,927.9,-5.2,1372,15281,1.58,3.90,320.45,0.000,6,0.000,0.000,3324,1803,605,2,0,23,0,6,0
$GC,15595,4.29,904.7,962.7,-5.1,1439,15611,0.00,3.75,0.12,0.000,4,0.007,0.000,3324,3575,604,0,0,17,0,0,0
$GC,15863,4.75,1279.5,976.8,-5.0,1462,15873,0.00,3.28,0.93,0.000,6,0.007,0.000,3325,1800,605,0,0,17,0,0,0
$GC,16198,4.36,1279.5,977.1,8.2,1494,16213,0.00,2.92,0.15,0.007,4,0.007,0.000,3324,3595,601,0,0,9,0,0,0
$GC,16465,4.07,1279.5,946.2,11.8,1517,16477,0.00,3.05,1.80,0.000,6,0.000,0.000,3325,1668,604,0,0,12,0,0,0
$GC,16801,4.07,1284.6,916.1,6.9,1549,16817,0.00,3.17,0.12,0.007,4,0.007,0.000,3326,3625,601,0,0,14,0,0,0
$GC,17069,4.24,1311.9,898.0,6.1,1572,17081,0.00,3.10,1.48,0.000,6,0.007,0.000,3326,1719,603,0,0,15,0,0,0
$GC,17406,4.32,1329.9,876.0,6.4,1604,17422,0.00,3.75,0.12,0.000,4,0.007,0.000,3324,3558,596,0,0,20,0,0,0
$GC,17674,4.56,1366.7,860.4,5.8,1627,17685,0.00,3.78,0.30,0.007,6,0.007,0.000,3328,1675,598,0,0,22,0,0,0
$GC,18010,4.62,1366.7,832.9,7.9,1659,18026,0.00,3.53,0.12,0.007,4,0.000,0.000,3326,3586,605,0,0,21,0,0,0
$GC,18278,4.69,1366.7,811.8,7.9,1682,18288,0.00,2.88,2.03,0.000,6,0.007,0.000,3326,1901,600,0,0,13,0,0,0
$GC,18613,4.76,1366.7,784.7,7.6,1714,18628,0.00,3.08,0.12,0.007,4,0.007,0.000,3324,3458,602,0,0,15,0,0,0
$GC,18881,4.86,1376.2,765.2,6.7,1737,18891,0.00,2.92,1.38,0.000,6,0.000,0.000,3326,1895,604,0,0,14,0,0,0
$GC,19215,4.86,1376.2,739.9,7.7,1769,19230,0.00,3.17,0.17,0.000,4,0.007,0.000,3325,3583,608,0,0,17,0,0,0
$GC,19482,4.86,1376.2,719.0,8.6,1792,19494,0.00,2.65,2.60,0.000,6,0.000,0.000,3326,1904,595,0,0,11,0,0,0
$GC,19818,4.86,1376.2,690.0,8.3,1824,19825,0.00,2.67,0.15,0.000,4,0.007,0.000,3327,3592,600,0,0,15,0,0,0
$GC,20077,4.79,1376.2,666.1,10.1,1846,20087,0.00,3.00,1.67,0.000,6,0.000,0.000,3326,1834,599,0,0,12,0,0,0
$GC,20412,4.93,1390.0,640.9,6.6,1878,20428,0.00,3.40,0.12,0.007,4,0.007,0.000,3326,3640,601,0,0,19,0,0,0
$GC,20679,4.93,1390.0,619.8,8.1,1901,20690,0.00,2.92,1.92,0.000,6,0.007,0.000,3322,1725,600,0,0,16,0,0,0
$GC,21014,4.83,1390.0,589.9,10.6,1933,21030,0.00,4.12,0.22,0.007,4,0.000,0.000,3324,3656,600,0,0,22,0,0,0
$GC,21282,4.88,1390.0,564.3,8.1,1956,21293,0.00,3.97,0.68,0.000,6,0.007,0.000,3325,1758,600,0,0,22,0,0,0
$GC,21617,4.93,1390.0,538.4,7.5,1988,21633,0.00,3.78,0.17,0.007,4,0.007,0.000,3322,3646,602,0,0,20,0,0,0
$GC,21885,4.93,1390.0,517.5,8.8,2011,21897,0.00,3.55,1.35,0.000,6,0.007,0.000,3327,1857,602,0,0,15,0,0,0
$GC,22221,4.93,1390.0,490.4,8.3,2043,22237,0.00,3.00,0.15,0.007,4,0.000,0.000,3331,3749,601,0,0,14,0,0,0
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$FG_AHR_10Vo,82.472
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$DATA_FILE_SIZE,84878,2551
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$CFSIZE,260165632,240316416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,54,1575,8,0
$SOUNDSPEED,1460.6
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