version: 66.06
glider: 143
mission: 10
dive: 72
start: 11 1 109 8 8 22
data:
$ID,143
$MISSION,10
$DIVE,72
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$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,360
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,8
$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,-25256.314
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,080036,6656.124,-5805.107,33,1.2,34,-37.7
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-64.2
$GPS2,080803,6656.071,-5805.163,11,1.1,12,-37.7
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD3_WB
$TGT_LATLONG,6655.000,-5823.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,344.0,13103,-16.9,-9.167
$D_GRID,936
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,111,0.00,0.00,-93.30,0.000,2,0.000,0.000,121,2474,3130,0,0,0,0,0,0
$GC,114,-0.73,-146.0,3.6,-7.3,18,141,10.10,2.58,-7.45,0.000,4,0.314,0.114,2147,3911,3399,0,0,0,0,0,0
$GC,271,-0.73,-146.0,28.8,-13.6,46,277,0.00,2.42,0.00,0.000,6,0.000,0.070,2147,2448,3400,0,0,0,0,0,0
$GC,614,-0.73,-146.0,69.2,-10.5,107,620,0.00,2.53,0.00,0.000,4,0.000,0.098,2147,3916,3401,0,0,0,0,0,0
$GC,773,-0.73,-146.0,86.5,-10.9,135,778,0.00,2.35,0.00,0.000,6,0.000,0.070,2147,2480,3401,0,0,0,0,0,0
$GC,1104,-0.73,-146.0,121.2,-10.2,177,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2480,3402,0,0,0,0,0,0
$GC,1424,-0.73,-146.0,152.3,-9.0,207,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2480,3402,0,0,0,0,0,0
$GC,1742,-0.73,-146.0,181.4,-9.3,237,1746,0.00,2.45,0.00,0.000,4,0.000,0.100,2147,3914,3401,0,0,0,0,0,0
$GC,1819,-0.73,-146.0,188.8,-9.3,243,1825,0.00,2.35,0.00,0.000,6,0.000,0.071,2147,2466,3401,0,0,0,0,0,0
$GC,2144,-0.73,-146.0,219.0,-8.7,274,2148,0.00,2.45,0.00,0.000,4,0.000,0.099,2147,3911,3400,0,0,0,0,0,0
$GC,2187,-0.73,-146.0,223.0,-8.6,277,2193,0.00,2.33,0.00,0.000,6,0.000,0.072,2147,2481,3400,0,0,0,0,0,0
$GC,2511,-0.73,-146.0,252.6,-9.4,308,2516,0.00,2.45,0.00,0.000,4,0.000,0.100,2147,3917,3400,0,0,0,0,0,0
$GC,2532,-0.73,-146.0,254.8,-10.1,309,2539,0.00,2.35,0.00,0.000,6,0.000,0.071,2147,2495,3400,0,0,0,0,0,0
$GC,2857,-0.73,-146.0,286.5,-10.0,340,2861,0.00,2.40,0.00,0.000,4,0.000,0.100,2147,3911,3400,0,0,0,0,0,0
$GC,2884,-0.73,-146.0,289.0,-9.9,342,2888,0.00,2.30,0.00,0.000,6,0.000,0.072,2147,2489,3400,0,0,0,0,0,0
$GC,3208,-0.73,-146.0,320.6,-10.1,372,3212,0.00,2.40,0.00,0.000,4,0.000,0.099,2148,3911,3400,0,0,0,0,0,0
$GC,3218,-0.73,-146.0,321.7,-10.5,372,3224,0.00,2.35,0.00,0.000,6,0.000,0.071,2147,2487,3400,0,0,0,0,0,0
$GC,3544,-0.73,-146.0,352.5,-8.8,403,3548,0.00,2.42,0.00,0.000,4,0.000,0.099,2147,3922,3400,0,0,0,0,0,0
$GC,3564,-0.73,-146.0,354.6,-9.4,404,3570,0.00,2.30,0.00,0.000,6,0.000,0.071,2147,2495,3400,0,0,0,0,0,0
$GC,3890,-0.73,-146.0,383.7,-8.8,435,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2495,3400,0,0,0,0,0,0
$GC,4209,-0.73,-146.0,411.8,-8.9,465,4213,0.00,2.40,0.00,0.000,4,0.000,0.098,2147,3918,3401,0,0,0,0,0,0
$GC,4219,-0.73,-146.0,412.9,-8.9,465,4225,0.00,2.30,0.00,0.000,6,0.000,0.070,2147,2489,3400,0,0,0,0,0,0
$GC,4543,-0.73,-146.0,441.1,-8.8,496,4547,0.00,2.40,0.00,0.000,4,0.000,0.097,2147,3917,3401,0,0,0,0,0,0
$GC,4554,-0.73,-146.0,442.0,-8.7,496,4559,0.00,2.28,0.00,0.000,6,0.000,0.070,2147,2499,3401,0,0,0,0,0,0
$GC,4879,-0.73,-146.0,469.3,-8.2,527,4883,0.00,2.38,0.00,0.000,4,0.000,0.097,2147,3911,3400,0,0,0,0,0,0
$GC,4905,-0.73,-146.0,471.7,-8.7,529,4911,0.00,2.28,0.00,0.000,6,0.000,0.069,2147,2493,3401,0,0,0,0,0,0
$GC,5230,-0.73,-146.0,498.1,-8.0,560,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2494,3401,0,0,0,0,0,0
$GC,5550,-0.73,-146.0,522.6,-7.5,590,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2494,3401,0,0,0,0,0,0
$GC,5869,-0.73,-146.0,546.2,-7.2,620,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2494,3402,0,0,0,0,0,0
$GC,6187,-0.73,-146.0,568.4,-6.8,650,6191,0.00,2.40,0.00,0.000,4,0.000,0.097,2147,3921,3402,0,0,0,0,0,0
$GC,6198,-0.73,-146.0,569.3,-6.7,650,6204,0.00,2.28,0.00,0.000,6,0.000,0.069,2147,2493,3402,0,0,0,0,0,0
$GC,6522,-0.73,-146.0,591.4,-6.8,681,6526,0.00,2.40,0.00,0.000,4,0.000,0.097,2147,3922,3402,0,0,0,0,0,0
$GC,6556,-0.73,-146.0,593.8,-7.5,684,6560,0.00,2.28,0.00,0.000,6,0.000,0.068,2147,2502,3402,0,0,0,0,0,0
$GC,6897,-0.73,-146.0,616.8,-6.7,701,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2502,3402,0,0,0,0,0,0
$GC,7204,-0.73,-146.0,637.5,-6.8,711,7208,0.00,2.62,0.00,0.000,4,0.000,0.088,2147,874,3402,0,0,0,0,0,0
$GC,7219,-0.73,-146.0,638.7,-6.8,711,7223,0.00,2.62,0.00,0.000,6,0.000,0.080,2147,2503,3402,0,0,0,0,0,0
$GC,7531,-0.73,-146.0,660.4,-7.0,721,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2503,3402,0,0,0,0,0,0
$GC,7838,-0.73,-146.0,682.0,-7.1,731,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2503,3402,0,0,0,0,0,0
$GC,8144,-0.73,-146.0,704.3,-7.3,741,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2503,3402,0,0,0,0,0,0
$GC,8450,-0.73,-146.0,726.7,-7.3,751,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2503,3403,0,0,0,0,0,0
$GC,8756,-0.73,-146.0,748.8,-7.3,761,8760,0.00,2.35,0.00,0.000,4,0.000,0.097,2147,3921,3402,0,0,0,0,0,0
$GC,8771,-0.73,-146.0,750.1,-7.1,761,8775,0.00,2.28,0.00,0.000,6,0.000,0.069,2147,2497,3402,0,0,0,0,0,0
$GC,9089,-0.73,-146.0,773.9,-7.5,772,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2497,3402,0,0,0,0,0,0
$GC,9395,-0.73,-146.0,797.0,-7.5,782,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2498,3403,0,0,0,0,0,0
$GC,9702,-0.73,-146.0,820.5,-7.8,792,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2497,3402,0,0,0,0,0,0
$GC,10008,-0.73,-146.0,844.5,-7.8,802,10012,0.00,2.62,0.00,0.000,4,0.000,0.089,2147,869,3403,0,0,0,0,0,0
$GC,10029,-0.73,-146.0,846.3,-7.8,802,10036,0.00,2.65,0.00,0.000,6,0.000,0.081,2147,2507,3403,0,0,0,0,0,0
$GC,10342,-0.73,-146.0,870.0,-7.4,813,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2506,3403,0,0,0,0,0,0
$GC,10648,-0.73,-146.0,892.3,-7.2,823,10652,0.00,2.65,0.00,0.000,4,0.000,0.089,2147,875,3403,0,0,0,0,0,0
$GC,10668,-0.73,-146.0,893.9,-7.0,823,10674,0.00,2.62,0.00,0.000,6,0.000,0.081,2147,2501,3403,0,0,0,0,0,0
$GC,10981,-0.73,-146.0,916.3,-7.0,834,10986,0.00,2.65,0.00,0.000,4,0.000,0.089,2147,871,3403,0,0,0,0,0,0
$GC,11002,-0.73,-146.0,917.9,-7.3,834,11009,0.00,2.62,0.00,0.000,6,0.000,0.081,2147,2495,3403,0,0,0,0,0,0
$STATE,11281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11282,begin apogee
$GC,11287,-0.16,0.0,937.2,6.7,844,11415,0.65,0.00,124.32,1.382,6,0.189,0.000,2331,1942,2800,0,0,0,0,0,0
$STATE,11416,end apogee,CONTROL_FINISHED_OK
$STATE,11416,begin climb
$GC,11418,0.73,146.0,939.3,0.0,848,11559,0.95,3.08,130.40,1.325,4,0.134,0.095,2622,362,2202,0,0,0,0,0,0
$GC,11580,0.73,146.0,926.2,11.0,853,11585,0.00,2.85,0.00,0.000,6,0.000,0.071,2622,1948,2199,0,0,0,0,0,0
$GC,11903,0.73,146.0,889.3,11.2,864,11905,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1948,2193,0,0,0,0,0,0
$GC,12209,0.73,146.0,854.1,11.6,874,12214,0.00,2.72,0.00,0.000,4,0.000,0.097,2634,364,2191,0,0,0,0,0,0
$GC,12241,0.73,146.0,850.1,12.5,875,12246,0.00,2.62,0.00,0.000,6,0.000,0.074,2633,1949,2191,0,0,0,0,0,0
$GC,12576,0.73,146.0,808.9,12.3,886,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1949,2190,0,0,0,0,0,0
$GC,12882,0.73,146.0,771.3,12.5,896,12883,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1949,2190,0,0,0,0,0,0
$GC,13189,0.73,146.0,734.1,12.1,906,13190,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1949,2189,0,0,0,0,0,0
$GC,13495,0.73,146.0,697.0,11.9,916,13499,0.00,2.67,0.00,0.000,4,0.000,0.098,2646,356,2189,0,0,0,0,0,0
$GC,13549,0.73,146.0,690.2,12.5,917,13555,0.00,2.58,0.00,0.000,6,0.000,0.074,2646,1951,2188,0,0,0,0,0,0
$GC,13861,0.73,146.0,651.5,12.4,928,13866,0.00,2.62,0.00,0.000,4,0.000,0.091,2646,3541,2189,0,0,0,0,0,0
$GC,13899,0.73,146.0,646.3,13.9,929,13904,0.15,2.62,0.00,0.000,6,0.212,0.079,2625,1942,2187,0,0,0,0,0,0
$GC,14222,0.73,146.0,609.8,11.1,940,14226,0.00,2.60,0.00,0.000,4,0.000,0.097,2634,362,2187,0,0,0,0,0,0
$GC,14287,0.73,146.0,601.9,11.8,942,14292,0.00,2.58,0.00,0.000,6,0.000,0.074,2634,1938,2187,0,0,0,0,0,0
$GC,14613,0.73,146.0,563.6,12.1,971,14618,0.00,2.65,0.00,0.000,4,0.000,0.091,2634,3545,2187,0,0,0,0,0,0
$GC,14641,0.73,146.0,560.2,13.0,973,14645,0.00,2.65,0.00,0.000,6,0.000,0.079,2646,1924,2187,0,0,0,0,0,0
$GC,14965,0.73,146.0,520.4,12.0,1003,14970,0.00,2.58,0.00,0.000,4,0.000,0.097,2658,362,2187,0,0,0,0,0,0
$GC,15027,0.73,146.0,512.2,13.2,1008,15032,0.15,2.53,0.00,0.000,6,0.208,0.074,2625,1936,2187,0,0,0,0,0,0
$GC,15351,0.73,146.0,475.5,11.5,1038,15352,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1935,2187,0,0,0,0,0,0
$GC,15671,0.73,146.0,439.6,11.5,1068,15672,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1935,2187,0,0,0,0,0,0
$GC,15988,0.73,146.0,403.5,11.1,1098,15992,0.00,2.60,0.00,0.000,4,0.000,0.096,2634,361,2187,0,0,0,0,0,0
$GC,16020,0.73,146.0,399.6,12.5,1100,16026,0.00,2.50,0.00,0.000,6,0.000,0.074,2634,1922,2187,0,0,0,0,0,0
$GC,16345,0.73,146.0,363.7,10.7,1131,16349,0.00,2.65,0.00,0.000,4,0.000,0.089,2634,3539,2187,0,0,0,0,0,0
$GC,16384,0.73,146.0,359.2,11.1,1134,16388,0.00,2.65,0.00,0.000,6,0.000,0.078,2646,1911,2187,0,0,0,0,0,0
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$STATE,20011,begin surface coast
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$STATE,20024,end surface coast,CONTROL_FINISHED_OK
$STATE,20024,begin surface
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$TT8_MAMPS,0.026845
$HUMID,49.48
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$TCM_TEMP,16.50
$XPDR_PINGS,4
$24V_AH,22.5,23.687
$10V_AH,10.2,11.969
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188120
$DATA_FILE_SIZE,59897,1566
$CAP_FILE_SIZE,185537,0
$CFSIZE,260165632,244518912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.0
$CURRENT,0.161,357.6,1
$GPS,011109,134501,6659.474,-5810.365,68,1.0,68,-37.8