version: 66.06
glider: 143
mission: 10
dive: 86
start: 11 4 109 19 53 39
data:
$ID,143
$MISSION,10
$DIVE,86
$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,-2
$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,-25618.451
$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,15
$R_STBD_OVSHOOT,17
$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
$GPS1,194625,6649.825,-5920.480,40,1.4,40,-38.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-65.5
$GPS2,195319,6649.735,-5920.425,10,1.3,15,-38.0
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD1_WB
$TGT_LATLONG,6647.000,-5956.000
$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,312.6,26462,-16.9,-9.167
$D_GRID,968
$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,12,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,95,0.00,0.00,-78.03,0.000,2,0.000,0.000,128,2464,2874,0,0,0,0,0,0
$GC,98,-0.73,-146.0,3.1,-4.8,15,135,10.18,2.80,-16.67,0.000,4,0.319,0.104,2146,862,3400,0,0,0,0,0,0
$GC,355,-0.73,-146.0,44.4,-15.4,61,361,0.00,2.67,0.00,0.000,6,0.000,0.085,2146,2465,3403,0,0,0,0,0,0
$GC,700,-0.73,-146.0,91.5,-14.2,122,705,0.00,2.50,0.00,0.000,4,0.000,0.104,2146,3918,3402,0,0,0,0,0,0
$GC,846,-0.73,-146.0,111.8,-13.5,141,851,0.00,2.40,0.00,0.000,6,0.000,0.074,2146,2463,3403,0,0,0,0,0,0
$GC,1170,-0.73,-146.0,152.0,-12.0,171,1174,0.00,2.50,0.00,0.000,4,0.000,0.103,2146,3915,3403,0,0,0,0,0,0
$GC,1255,-0.73,-146.0,161.9,-11.3,178,1259,0.00,2.38,0.00,0.000,6,0.000,0.074,2146,2468,3402,0,0,0,0,0,0
$GC,1578,-0.73,-146.0,197.7,-10.4,208,1583,0.00,2.47,0.00,0.000,4,0.000,0.102,2146,3910,3402,0,0,0,0,0,0
$GC,1622,-0.73,-146.0,202.4,-10.2,211,1628,0.00,2.35,0.00,0.000,6,0.000,0.074,2146,2499,3402,0,0,0,0,0,0
$GC,1947,-0.73,-146.0,233.9,-9.4,242,1952,0.00,2.67,0.00,0.000,4,0.000,0.094,2146,870,3402,0,0,0,0,0,0
$GC,1975,-0.73,-146.0,236.8,-10.5,244,1979,0.00,2.67,0.00,0.000,6,0.000,0.086,2146,2491,3402,0,0,0,0,0,0
$GC,2299,-0.73,-146.0,268.2,-10.0,274,2303,0.00,2.42,0.00,0.000,4,0.000,0.104,2146,3918,3401,0,0,0,0,0,0
$GC,2394,-0.73,-146.0,278.0,-10.7,282,2398,0.00,2.35,0.00,0.000,6,0.000,0.076,2146,2484,3400,0,0,0,0,0,0
$GC,2718,-0.73,-146.0,308.9,-9.3,312,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2484,3401,0,0,0,0,0,0
$GC,3037,-0.73,-146.0,336.3,-8.6,342,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2484,3401,0,0,0,0,0,0
$GC,3356,-0.73,-146.0,365.0,-8.6,372,3360,0.00,2.45,0.00,0.000,4,0.000,0.103,2146,3916,3401,0,0,0,0,0,0
$GC,3384,-0.73,-146.0,367.5,-8.4,374,3388,0.00,2.33,0.00,0.000,6,0.000,0.074,2146,2489,3401,0,0,0,0,0,0
$GC,3709,-0.73,-146.0,394.2,-8.0,404,3713,0.00,2.65,0.00,0.000,4,0.000,0.093,2146,867,3400,0,0,0,0,0,0
$GC,3730,-0.73,-146.0,396.2,-8.8,405,3737,0.00,2.67,0.00,0.000,6,0.000,0.084,2146,2499,3401,0,0,0,0,0,0
$GC,4055,-0.73,-146.0,422.8,-8.2,436,4059,0.00,2.38,0.00,0.000,4,0.000,0.100,2146,3910,3401,0,0,0,0,0,0
$GC,4093,-0.73,-146.0,426.1,-8.2,439,4097,0.00,2.30,0.00,0.000,6,0.000,0.074,2146,2492,3401,0,0,0,0,0,0
$GC,4419,-0.73,-146.0,452.0,-7.7,469,4423,0.00,2.65,0.00,0.000,4,0.000,0.091,2146,865,3401,0,0,0,0,0,0
$GC,4458,-0.73,-146.0,455.5,-8.8,472,4462,0.00,2.65,0.00,0.000,6,0.000,0.082,2146,2490,3401,0,0,0,0,0,0
$GC,4784,-0.73,-146.0,481.0,-7.9,502,4788,0.00,2.65,0.00,0.000,4,0.000,0.091,2146,872,3402,0,0,0,0,0,0
$GC,4822,-0.73,-146.0,484.5,-8.9,505,4827,0.00,2.62,0.00,0.000,6,0.000,0.082,2146,2480,3402,0,0,0,0,0,0
$GC,5148,-0.73,-146.0,512.4,-8.2,535,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2480,3403,0,0,0,0,0,0
$GC,5466,-0.73,-146.0,537.5,-7.6,565,5470,0.00,2.40,0.00,0.000,4,0.000,0.098,2146,3917,3403,0,0,0,0,0,0
$GC,5499,-0.73,-146.0,540.1,-7.8,567,5505,0.00,2.35,0.00,0.000,6,0.000,0.071,2146,2463,3402,0,0,0,0,0,0
$GC,5824,-0.73,-146.0,564.2,-7.4,598,5829,0.00,2.45,0.00,0.000,4,0.000,0.097,2146,3914,3403,0,0,0,0,0,0
$GC,5868,-0.73,-146.0,568.0,-8.3,601,5875,0.00,2.33,0.00,0.000,6,0.000,0.071,2146,2468,3403,0,0,0,0,0,0
$GC,6193,-0.73,-146.0,593.9,-8.0,632,6197,0.00,2.42,0.00,0.000,4,0.000,0.097,2146,3910,3403,0,0,0,0,0,0
$GC,6225,-0.73,-146.0,596.5,-8.4,634,6231,0.00,2.30,0.00,0.000,6,0.000,0.070,2146,2479,3403,0,0,0,0,0,0
$GC,6550,-0.73,-146.0,622.0,-7.8,648,6554,0.00,2.60,0.00,0.000,4,0.000,0.089,2146,871,3403,0,0,0,0,0,0
$GC,6577,-0.73,-146.0,624.3,-8.9,649,6581,0.00,2.60,0.00,0.000,6,0.000,0.080,2146,2478,3404,0,0,0,0,0,0
$GC,6911,-0.73,-146.0,651.8,-8.2,660,6915,0.00,2.40,0.00,0.000,4,0.000,0.097,2146,3920,3404,0,0,0,0,0,0
$GC,6950,-0.73,-146.0,655.1,-8.7,661,6954,0.00,2.33,0.00,0.000,6,0.000,0.069,2146,2475,3404,0,0,0,0,0,0
$GC,7279,-0.73,-146.0,679.9,-7.5,672,7283,0.00,2.58,0.00,0.000,4,0.000,0.087,2146,874,3405,0,0,0,0,0,0
$GC,7317,-0.73,-146.0,683.0,-7.8,673,7321,0.00,2.60,0.00,0.000,6,0.000,0.079,2146,2479,3404,0,0,0,0,0,0
$GC,7640,-0.73,-146.0,705.4,-6.8,684,7644,0.00,2.40,0.00,0.000,4,0.000,0.097,2146,3921,3405,0,0,0,0,0,0
$GC,7667,-0.73,-146.0,707.3,-7.4,685,7671,0.00,2.35,0.00,0.000,6,0.000,0.069,2146,2462,3405,0,0,0,0,0,0
$GC,8007,-0.73,-146.0,730.7,-6.8,696,8011,0.00,2.58,0.00,0.000,4,0.000,0.088,2146,868,3405,0,0,0,0,0,0
$GC,8022,-0.73,-146.0,731.9,-7.0,696,8026,0.00,2.60,0.00,0.000,6,0.000,0.080,2146,2476,3405,0,0,0,0,0,0
$GC,8340,-0.73,-146.0,754.3,-7.3,707,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2476,3406,0,0,0,0,0,0
$GC,8647,-0.73,-146.0,777.3,-7.5,717,8651,0.00,2.40,0.00,0.000,4,0.000,0.097,2146,3920,3405,0,0,0,0,0,0
$GC,8701,-0.73,-146.0,781.6,-7.7,718,8707,0.00,2.33,0.00,0.000,6,0.000,0.070,2146,2471,3405,0,0,0,0,0,0
$GC,9014,-0.73,-146.0,804.2,-7.3,729,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2472,3406,0,0,0,0,0,0
$GC,9320,-0.73,-146.0,827.6,-7.8,739,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2472,3406,0,0,0,0,0,0
$GC,9626,-0.73,-146.0,850.3,-7.2,749,9630,0.00,2.58,0.00,0.000,4,0.000,0.088,2146,874,3406,0,0,0,0,0,0
$GC,9647,-0.73,-146.0,852.0,-8.0,749,9653,0.00,2.58,0.00,0.000,6,0.000,0.080,2146,2470,3406,0,0,0,0,0,0
$GC,9959,-0.73,-146.0,873.1,-6.6,760,9964,0.00,2.40,0.00,0.000,4,0.000,0.097,2146,3911,3405,0,0,0,0,0,0
$GC,10076,-0.73,-146.0,881.3,-6.6,763,10080,0.00,2.30,0.00,0.000,6,0.000,0.069,2146,2476,3405,0,0,0,0,0,0
$GC,10397,-0.73,-146.0,902.2,-6.5,774,10401,0.00,2.42,0.00,0.000,4,0.000,0.097,2146,3921,3405,0,0,0,0,0,0
$GC,10430,-0.73,-146.0,904.6,-6.7,775,10434,0.00,2.30,0.00,0.000,6,0.000,0.068,2146,2482,3406,0,0,0,0,0,0
$GC,10759,-0.73,-146.0,931.2,-8.3,786,10763,0.00,2.40,0.00,0.000,4,0.000,0.097,2146,3909,3406,0,0,0,0,0,0
$GC,10802,-0.73,-146.0,935.4,-10.3,787,10806,0.00,2.30,0.00,0.000,6,0.000,0.069,2146,2478,3405,0,0,0,0,0,0
$GC,11126,-0.73,-146.0,956.2,-6.1,798,11131,0.00,2.60,0.00,0.000,4,0.000,0.089,2146,870,3405,0,0,0,0,0,0
$GC,11188,-0.73,-146.0,960.4,-6.2,800,11192,0.00,2.62,0.00,0.000,6,0.000,0.080,2146,2493,3405,0,0,0,0,0,0
$STATE,11305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11305,begin apogee
$GC,11311,-0.16,0.0,968.9,7.3,804,11440,0.68,0.00,125.80,1.396,6,0.194,0.000,2334,1952,2800,0,0,0,0,0,0
$STATE,11441,end apogee,CONTROL_FINISHED_OK
$STATE,11441,begin climb
$GC,11443,0.73,146.0,971.5,0.0,808,11580,0.95,0.00,131.85,1.339,6,0.133,0.000,2613,1952,2204,0,0,0,0,0,0
$GC,11871,0.73,146.0,928.7,11.5,822,11875,0.00,2.78,0.00,0.000,4,0.000,0.095,2625,363,2195,0,0,0,0,0,0
$GC,11902,0.73,146.0,925.0,11.5,823,11907,0.00,2.67,0.00,0.000,6,0.000,0.071,2625,1945,2194,0,0,0,0,0,0
$GC,12239,0.73,146.0,886.1,11.3,834,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1946,2192,0,0,0,0,0,0
$GC,12544,0.73,146.0,850.0,12.1,844,12548,0.00,2.67,0.00,0.000,4,0.000,0.091,2625,3537,2192,0,0,0,0,0,0
$GC,12587,0.73,146.0,844.4,14.0,845,12591,0.00,2.65,0.00,0.000,6,0.000,0.079,2636,1947,2191,0,0,0,0,0,0
$GC,12911,0.73,146.0,801.9,13.2,856,12915,0.00,2.65,0.00,0.000,4,0.000,0.097,2648,361,2191,0,0,0,0,0,0
$GC,12931,0.73,146.0,798.8,14.2,856,12937,0.00,2.62,0.00,0.000,6,0.000,0.074,2648,1973,2190,0,0,0,0,0,0
$GC,13243,0.73,146.0,756.7,13.5,867,13248,0.00,2.70,0.00,0.000,4,0.000,0.097,2661,362,2191,0,0,0,0,0,0
$GC,13264,0.73,146.0,753.8,13.2,867,13271,0.15,2.55,0.00,0.000,6,0.208,0.074,2628,1937,2190,0,0,0,0,0,0
$GC,13577,0.73,146.0,714.4,12.5,878,13581,0.00,2.65,0.00,0.000,4,0.000,0.090,2628,3539,2190,0,0,0,0,0,0
$GC,13608,0.73,146.0,710.0,13.7,879,13613,0.00,2.65,0.00,0.000,6,0.000,0.078,2637,1931,2189,0,0,0,0,0,0
$GC,13945,0.73,146.0,666.4,13.1,890,13949,0.00,2.60,0.00,0.000,4,0.000,0.097,2649,361,2189,0,0,0,0,0,0
$GC,14021,0.73,146.0,655.6,13.8,892,14026,0.00,2.58,0.00,0.000,6,0.000,0.074,2648,1937,2188,0,0,0,0,0,0
$GC,14345,0.73,146.0,613.1,12.9,903,14349,0.00,2.62,0.00,0.000,4,0.000,0.097,2661,357,2188,0,0,0,0,0,0
$GC,14382,0.73,146.0,608.0,12.6,904,14387,0.15,2.53,0.00,0.000,6,0.206,0.074,2627,1926,2189,0,0,0,0,0,0
$GC,14711,0.73,146.0,570.8,11.0,930,14712,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1926,2188,0,0,0,0,0,0
$GC,15030,0.73,146.0,534.3,11.1,960,15035,0.00,2.65,0.00,0.000,4,0.000,0.089,2627,3541,2188,0,0,0,0,0,0
$GC,15093,0.73,146.0,526.7,12.7,965,15097,0.00,2.62,0.00,0.000,6,0.000,0.077,2636,1930,2187,0,0,0,0,0,0
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$STATE,20436,end climb,SURFACE_DEPTH_REACHED
$STATE,20436,begin surface coast
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$STATE,20465,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,6
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$10V_AH,10.2,13.322
$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,188080
$DATA_FILE_SIZE,59843,1555
$CAP_FILE_SIZE,202577,0
$CFSIZE,260165632,243249152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.2
$CURRENT,0.158,177.7,1
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