version: 66.06
glider: 1
mission: 14
dive: 145
start: 10 23 109 1 52 38
data:
$ID,1
$MISSION,14
$DIVE,145
$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,-222398.92
$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,82.482628
$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
$GPS1,015323,6651.787,-5859.215,22,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,015916,6651.734,-5859.183,34,1.1,34,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.085,-0.218
$KALMAN_X,-29785.9,780.6,1265.5,2576.8,1303.8
$KALMAN_Y,60185.0,142.7,-241.3,-61777.6,7100.3
$MHEAD_RNG_PITCHd_Wd,183.3,377812,-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,22,begin dive
$GC,25,-0.99,-146.6,0.0,0.0,0,86,0.00,0.00,-57.92,0.000,2,0.007,0.000,405,1825,2367,0,0,0,0,0,0
$GC,90,-0.99,-146.6,3.0,-1.7,12,143,10.68,2.97,-24.10,0.000,4,0.000,0.000,2553,226,3096,10,0,18,0,0,0
$GC,149,-0.40,-146.6,8.9,-10.5,22,165,0.47,3.38,0.00,0.007,6,0.000,0.000,2638,2397,3100,1,0,16,0,0,0
$GC,233,-0.08,-146.6,22.5,-17.8,35,249,0.32,3.42,0.00,0.007,4,0.000,0.000,2684,222,3094,1,0,17,0,0,0
$GC,440,-0.08,-146.6,47.3,-7.2,53,457,0.00,3.97,0.00,0.007,6,0.007,0.000,2685,2330,3098,0,0,22,0,0,0
$GC,643,-0.08,-146.6,62.2,-7.3,72,646,0.00,0.00,0.00,0.007,6,0.007,0.007,2685,2330,3094,0,0,0,0,0,0
$GC,962,-0.08,-146.6,87.6,-7.5,102,977,0.00,3.10,0.00,0.007,4,0.007,0.000,2682,413,3098,0,0,14,0,0,0
$GC,1229,-0.08,-146.6,107.4,-7.5,125,1236,0.00,3.65,0.00,0.007,6,0.007,0.000,2686,2169,3099,0,0,20,0,0,0
$GC,1554,-0.08,-146.6,131.4,-7.2,156,1569,0.00,2.90,0.00,0.000,4,0.007,0.000,2683,458,3099,0,0,13,0,0,0
$GC,1821,-0.14,-146.6,151.8,-7.0,179,1828,0.00,3.15,0.00,0.007,6,0.007,0.000,2690,2054,3107,0,0,16,0,0,0
$GC,2146,-0.14,-146.6,174.4,-7.3,210,2152,0.00,2.78,0.00,0.007,4,0.007,0.000,2686,427,3104,0,0,12,0,0,0
$GC,2404,-0.19,-146.6,194.2,-8.1,232,2414,0.30,3.38,0.00,0.007,6,0.007,0.000,2606,2277,3100,1,0,14,0,0,0
$GC,2739,-0.19,-146.6,220.7,-8.3,264,2755,0.77,3.20,0.00,0.007,4,0.000,0.000,2778,363,3121,2,0,17,0,0,0
$GC,3006,-0.19,-146.6,243.0,-7.7,287,3019,0.85,3.75,0.00,0.007,6,0.000,0.000,2539,2184,3098,3,0,18,0,0,0
$GC,3344,-0.25,-146.6,266.0,-6.4,319,3361,0.62,2.95,0.00,0.007,4,0.000,0.000,2674,450,3097,2,0,11,0,0,0
$GC,3613,-0.12,-146.6,286.5,-7.9,342,3623,0.00,3.65,0.00,0.007,6,0.007,0.000,2677,2145,3098,0,0,21,0,0,0
$GC,3948,-0.19,-146.6,309.7,-5.9,374,3963,0.00,3.17,0.00,0.007,4,0.007,0.000,2685,446,3097,0,0,19,0,0,0
$GC,4216,-0.26,-146.6,327.4,-6.2,397,4228,0.30,3.53,0.00,0.007,6,0.000,0.000,2589,2130,3098,1,0,18,0,0,0
$GC,4552,-0.15,-146.6,352.9,-8.3,429,4569,0.45,3.30,0.00,0.007,4,0.007,0.000,2706,377,3099,1,0,19,0,0,0
$GC,4822,-0.19,-146.6,372.9,-6.7,452,4832,0.60,3.00,0.00,0.007,6,0.000,0.000,2568,2200,3099,2,0,12,0,0,0
$GC,5157,-0.19,-146.6,393.9,-6.4,484,5174,0.77,3.15,0.00,0.007,4,0.000,0.000,2703,307,3098,1,0,20,0,0,0
$GC,5426,-0.19,-146.6,410.4,-6.2,507,5438,0.32,3.17,0.00,0.007,6,0.000,0.000,2660,2202,3097,1,0,15,0,0,0
$GC,5763,-0.19,-146.6,430.1,-5.9,539,5779,0.00,3.33,0.00,0.007,4,0.007,0.000,2661,547,3101,0,0,19,0,0,0
$GC,6031,-0.19,-146.6,444.4,-5.2,562,6037,0.00,3.33,0.00,0.000,6,0.007,0.000,2663,2109,3100,0,0,17,0,0,0
$GC,6356,-0.19,-146.6,460.4,-4.9,593,6371,0.00,3.05,0.00,0.007,4,0.007,0.000,2662,405,3097,0,0,19,0,0,0
$GC,6624,-0.19,-146.6,474.5,-5.7,616,6630,0.00,2.95,0.00,0.007,6,0.007,0.000,2661,2220,3099,0,0,17,0,0,0
$GC,6948,-0.19,-146.6,493.5,-5.9,647,6963,0.00,3.15,0.00,0.007,4,0.007,0.000,2659,329,3098,0,0,18,0,0,0
$GC,7215,-0.19,-146.6,509.3,-6.1,670,7223,0.00,2.90,0.00,0.007,6,0.007,0.000,2665,2203,3098,0,0,16,0,0,0
$GC,7540,-0.19,-146.6,528.6,-6.1,701,7556,0.00,3.12,0.00,0.007,4,0.007,0.000,2663,411,3100,0,0,13,0,0,0
$GC,7808,-0.19,-146.6,545.4,-6.5,724,7817,0.00,3.90,0.00,0.007,6,0.007,0.000,2663,2256,3099,0,0,20,0,0,0
$GC,8142,-0.19,-146.6,566.9,-6.3,756,8158,0.00,3.65,0.00,0.000,4,0.007,0.000,2660,285,3099,0,0,19,0,0,0
$GC,8411,-0.24,-146.6,583.8,-5.7,779,8420,0.00,3.30,0.00,0.007,6,0.007,0.000,2665,2123,3098,0,0,15,0,0,0
$GC,8745,-0.24,-146.6,603.4,-5.9,811,8751,0.00,2.65,0.00,0.007,4,0.007,0.000,2660,496,3097,0,0,16,0,0,0
$GC,9005,-0.24,-146.6,619.1,-6.4,833,9015,0.00,3.65,0.00,0.007,6,0.007,0.000,2661,2453,3102,0,0,23,0,0,0
$GC,9340,-0.31,-146.6,640.0,-5.6,865,9357,0.35,3.53,0.00,0.007,4,0.000,0.000,2581,425,3103,1,0,19,0,0,0
$GC,9611,-0.37,-146.6,654.5,-5.9,888,9621,0.32,2.78,0.00,0.007,6,0.007,0.000,2662,2194,3097,1,0,10,0,0,0
$GC,9947,-0.26,-146.6,678.2,-7.1,920,9953,0.00,2.65,0.00,0.007,4,0.007,0.000,2663,379,3097,0,0,14,0,0,0
$GC,10206,-0.26,-146.6,694.4,-6.3,942,10216,0.00,3.45,0.00,0.007,6,0.007,0.000,2663,2324,3098,0,0,17,0,0,0
$GC,10541,-0.26,-146.6,714.6,-6.0,974,10556,0.00,3.40,0.00,0.007,4,0.000,0.000,2658,399,3098,0,0,17,0,0,0
$GC,10808,-0.26,-146.6,730.6,-6.2,997,10814,0.00,3.28,0.00,0.000,6,0.007,0.000,2660,2199,3097,0,0,19,0,0,0
$GC,11132,-0.26,-146.6,750.9,-6.5,1028,11148,0.00,3.53,0.00,0.007,4,0.007,0.000,2660,366,3099,0,0,20,0,0,0
$GC,11401,-0.26,-146.6,768.2,-6.4,1051,11408,0.00,3.40,0.00,0.007,6,0.007,0.000,2664,2391,3098,0,0,16,0,0,0
$GC,11732,-0.26,-146.6,789.6,-6.5,1083,11747,0.00,3.53,0.00,0.000,4,0.007,0.000,2664,484,3098,0,0,16,0,0,0
$GC,12000,-0.26,-146.6,807.0,-6.7,1106,12006,0.00,3.40,0.00,0.007,6,0.007,0.000,2663,2138,3100,0,0,19,0,0,0
$GC,12325,-0.26,-146.6,828.0,-6.3,1137,12340,0.32,3.03,0.00,0.007,4,0.000,0.000,2578,405,3098,1,0,15,0,0,0
$GC,12593,-0.26,-146.6,844.7,-6.4,1160,12602,0.45,3.00,0.00,0.007,6,0.000,0.000,2718,2009,3099,1,0,13,0,0,0
$GC,12927,-0.26,-146.6,862.8,-5.7,1192,12943,0.50,3.85,0.00,0.007,4,0.000,0.000,2596,583,3098,1,0,21,0,0,0
$GC,13195,-0.14,-146.6,881.7,-6.7,1215,13205,0.60,3.90,0.00,0.007,6,0.000,0.000,2674,2456,3099,2,0,24,0,0,0
$GC,13530,-0.27,-146.6,899.2,-5.0,1247,13545,0.57,3.75,0.00,0.007,4,0.000,0.000,2633,305,3099,2,0,17,0,0,0
$STATE,13548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13548,begin apogee
$GC,13560,-0.31,0.0,900.3,4.9,1248,13709,0.00,0.00,140.45,0.000,6,0.007,0.007,2635,2306,2523,0,0,0,0,1,0
$STATE,13710,end apogee,CONTROL_FINISHED_OK
$STATE,13710,begin climb
$GC,13714,0.99,146.6,910.3,0.0,1263,13870,1.73,2.15,144.65,0.000,4,0.000,0.000,3024,3599,1920,2,0,11,0,0,0
$GC,14126,2.48,498.2,934.5,-4.2,1301,14475,1.40,4.53,314.42,0.000,6,0.000,0.000,3312,1901,605,3,0,26,0,2,0
$GC,14792,4.06,901.3,975.6,-5.9,1365,14807,0.00,2.80,0.12,0.007,4,0.000,0.000,3312,3574,618,0,0,12,0,0,0
$GC,15060,4.50,1262.6,991.1,-4.5,1388,15070,0.00,3.20,1.05,0.000,6,0.007,0.000,3314,1954,602,0,0,19,0,0,0
$GC,15395,4.23,1262.6,975.7,10.1,1420,15411,0.00,3.75,0.12,0.007,4,0.000,0.000,3312,3786,604,0,0,21,0,0,0
$GC,15662,3.99,1262.6,946.6,10.9,1443,15673,0.00,3.28,1.55,0.000,6,0.007,0.000,3310,1909,612,0,0,15,0,0,0
$GC,15997,4.14,1292.6,925.4,6.1,1475,16013,0.00,3.03,0.12,0.007,4,0.007,0.000,3312,3626,680,0,0,16,0,0,0
$GC,16266,4.06,1292.6,902.0,8.5,1498,16276,0.00,3.58,0.82,0.000,6,0.007,0.000,3310,1805,603,0,0,18,0,0,0
$GC,16601,4.15,1313.7,878.1,6.3,1530,16617,0.00,3.05,0.12,0.000,4,0.007,0.000,3312,3563,604,0,0,17,0,0,0
$GC,16869,4.24,1323.2,860.7,6.7,1553,16880,0.00,2.53,2.12,0.000,6,0.007,0.000,3316,1926,606,0,0,12,0,0,0
$GC,17204,4.52,1377.1,836.8,5.3,1585,17219,0.00,2.83,0.12,0.007,4,0.000,0.000,3317,3539,602,0,0,11,0,0,0
$GC,17471,4.68,1377.1,821.3,7.6,1608,17483,0.00,3.08,1.83,0.000,6,0.007,0.000,3315,2028,606,0,0,14,0,0,0
$GC,17808,4.88,1407.9,797.8,6.0,1640,17825,0.00,2.80,0.15,0.007,4,0.000,0.000,3316,3643,603,0,0,13,0,0,0
$GC,18077,4.99,1407.9,777.1,7.4,1663,18088,0.00,3.95,0.45,0.000,6,0.007,0.000,3310,1952,605,0,0,20,0,0,0
$GC,18412,4.99,1407.9,748.2,7.1,1695,18419,0.00,2.65,0.12,0.007,4,0.000,0.000,3312,3569,606,0,0,12,0,0,0
$GC,18671,4.99,1407.9,731.2,8.4,1717,18682,0.00,3.53,1.20,0.000,6,0.007,0.000,3316,1836,602,0,0,19,0,0,0
$GC,19006,4.51,1407.9,669.0,20.2,1749,19022,0.00,2.90,0.12,0.007,4,0.000,0.000,3313,3656,606,0,0,15,0,0,0
$GC,19274,4.70,1430.8,641.6,6.3,1772,19285,0.00,2.83,1.77,0.000,6,0.007,0.000,3311,1798,610,0,0,13,0,0,0
$GC,19609,4.76,1430.8,615.8,7.8,1804,19626,0.00,3.45,0.12,0.007,4,0.000,0.000,3310,3787,601,0,0,20,0,0,0
$GC,19878,4.59,1430.8,590.4,12.5,1827,19888,0.00,3.92,0.35,0.000,6,0.007,0.000,3313,1812,604,0,0,23,0,0,0
$GC,20213,4.81,1455.4,565.8,6.2,1859,20229,0.00,3.28,0.22,0.007,4,0.007,0.000,3313,3632,593,0,0,17,0,0,0
$GC,20482,4.88,1455.4,542.6,7.7,1882,20493,0.00,3.58,1.12,0.000,6,0.007,0.000,3314,1802,606,0,0,20,0,0,0
$GC,20817,4.88,1455.4,511.8,9.2,1914,20834,0.00,0.00,4.85,0.000,6,0.007,0.007,3316,1805,591,0,0,0,0,0,0
$GC,21147,4.88,1455.4,482.6,8.9,1945,21163,0.00,3.12,0.22,0.000,4,0.007,0.000,3309,3594,591,0,0,15,0,0,0
$GC,21415,4.79,1455.4,457.1,10.4,1968,21426,0.00,3.30,1.45,0.000,6,0.007,0.000,3314,1739,591,0,0,17,0,0,0
$GC,21750,4.74,1455.4,421.8,10.1,2000,21765,0.00,0.00,4.38,0.000,6,0.007,0.007,3310,1738,581,0,0,0,0,0,0
$GC,22079,4.58,1455.4,381.1,12.4,2031,22094,0.00,3.12,0.12,0.007,4,0.007,0.000,3313,3678,580,0,0,12,0,0,0
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$MEM,330716
$DATA_FILE_SIZE,78619,2403
$CAP_FILE_SIZE,296215,8
$CFSIZE,260165632,240209920
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,54,1425,3,0
$SOUNDSPEED,1461.2
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