version: 66.06
glider: 503
mission: 5
dive: 30
start: 3 22 110 3 31 38
data:
$ID,503
$MISSION,5
$DIVE,30
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$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,420
$T_MISSION,480
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52098
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3647.3999
$TGT_DEFAULT_LON,-12151.5
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,12
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8861.4688
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2792
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-51.589809
$PRESSURE_SLOPE,0.00011732637
$AD7714Ch0Gain,128
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$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,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-10.162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,031736,3650.285,-12215.009,34,1.0,34,14.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.8
$GPS2,033132,3650.144,-12214.920,10,1.1,10,14.8
$SPEED_LIMITS,0.136,0.239
$TGT_NAME,FOUR
$TGT_LATLONG,3645.000,-12219.000
$TGT_RADIUS,2000.000
$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,197.6,11288,-13.8,-7.857
$D_GRID,1049
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.55,-146.0,0.0,0.0,0,68,0.00,0.00,-54.53,0.000,2,0.000,0.000,178,1791,2839,0,0,0,0,0,0
$GC,70,-0.55,-146.0,3.6,-6.0,10,96,8.95,2.22,-11.40,0.000,4,0.222,0.048,2505,3187,3390,0,0,0,0,0,0
$GC,272,-0.50,-146.0,38.3,-12.6,48,279,0.08,2.17,0.00,0.000,6,0.119,0.028,2533,1796,3392,0,0,0,0,0,0
$GC,598,-0.50,-146.0,78.2,-11.9,109,605,0.00,2.17,0.00,0.000,4,0.000,0.033,2525,3192,3392,0,0,0,0,0,0
$GC,625,-0.50,-146.0,81.3,-11.7,114,632,0.00,2.15,0.00,0.000,6,0.000,0.027,2525,1800,3392,0,0,0,0,0,0
$GC,952,-0.50,-146.0,116.2,-9.5,175,958,0.00,2.17,0.00,0.000,4,0.000,0.034,2517,3191,3392,0,0,0,0,0,0
$GC,984,-0.50,-146.0,119.2,-9.2,181,991,0.00,2.15,0.00,0.000,6,0.000,0.027,2517,1793,3393,0,0,0,0,0,0
$GC,1310,-0.50,-146.0,152.7,-9.8,242,1317,0.00,2.17,0.00,0.000,4,0.000,0.032,2508,3195,3393,0,0,0,0,0,0
$GC,1332,-0.50,-146.0,154.8,-9.7,246,1338,0.00,2.15,0.00,0.000,6,0.000,0.027,2508,1794,3393,0,0,0,0,0,0
$GC,1658,-0.45,-146.0,189.1,-11.4,307,1664,0.15,0.00,0.00,0.000,6,0.131,0.000,2556,1794,3393,0,0,0,0,0,0
$GC,1983,-0.51,-146.0,212.5,-6.8,352,1987,0.00,2.15,0.00,0.000,4,0.000,0.033,2554,3190,3392,0,0,0,0,0,0
$GC,2004,-0.60,-146.0,213.9,-6.5,354,2008,0.10,2.12,0.00,0.000,6,0.060,0.027,2497,1797,3392,0,0,0,0,0,0
$GC,2325,-0.54,-146.0,247.6,-10.5,385,2329,0.00,2.15,0.00,0.000,4,0.000,0.040,2497,398,3392,0,0,0,0,0,0
$GC,2350,-0.46,-146.0,250.6,-11.7,387,2358,0.20,2.10,0.00,0.000,6,0.123,0.024,2559,1796,3392,0,0,0,0,0,0
$GC,2666,-0.53,-146.0,272.0,-6.3,418,2671,0.00,2.15,0.00,0.000,4,0.000,0.034,2559,3203,3392,0,0,0,0,0,0
$GC,2699,-0.66,-146.0,274.0,-6.6,421,2703,0.17,2.12,0.00,0.000,6,0.054,0.027,2477,1803,3392,0,0,0,0,0,0
$GC,3019,-0.57,-146.0,312.9,-12.4,452,3023,0.12,2.17,0.00,0.000,4,0.146,0.041,2516,403,3391,0,0,0,0,0,0
$GC,3045,-0.52,-146.0,316.1,-11.8,454,3052,0.00,2.10,0.00,0.000,6,0.000,0.025,2508,1804,3391,0,0,0,0,0,0
$GC,3361,-0.52,-146.0,348.7,-10.6,485,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1805,3391,0,0,0,0,0,0
$GC,3672,-0.52,-146.0,382.3,-10.8,515,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1804,3390,0,0,0,0,0,0
$GC,3983,-0.52,-146.0,415.7,-10.5,545,3986,0.00,2.10,0.00,0.000,4,0.000,0.034,2508,3197,3390,0,0,0,0,0,0
$GC,4007,-0.52,-146.0,418.2,-9.5,547,4014,0.00,2.15,0.00,0.000,6,0.000,0.027,2508,1791,3390,0,0,0,0,0,0
$GC,4323,-0.52,-146.0,448.0,-8.8,578,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1791,3389,0,0,0,0,0,0
$GC,4634,-0.52,-146.0,474.9,-8.7,608,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1791,3389,0,0,0,0,0,0
$GC,4955,-0.52,-146.0,504.2,-9.5,637,4958,0.00,2.15,0.00,0.000,4,0.000,0.033,2508,3195,3388,0,0,0,0,0,0
$GC,4980,-0.52,-146.0,506.7,-9.4,638,4985,0.00,2.12,0.00,0.000,6,0.000,0.027,2508,1803,3389,0,0,0,0,0,0
$GC,5301,-0.52,-146.0,536.4,-9.2,654,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1802,3388,0,0,0,0,0,0
$GC,5607,-0.52,-146.0,563.6,-8.6,669,5611,0.00,2.15,0.00,0.000,4,0.000,0.041,2507,400,3387,0,0,0,0,0,0
$GC,5627,-0.52,-146.0,565.5,-9.2,670,5632,0.00,2.10,0.00,0.000,6,0.000,0.025,2505,1804,3387,0,0,0,0,0,0
$GC,5954,-0.52,-146.0,595.6,-9.4,686,5959,0.00,2.12,0.00,0.000,4,0.000,0.033,2505,3195,3386,0,0,0,0,0,0
$GC,5975,-0.52,-146.0,597.5,-9.4,687,5979,0.00,2.12,0.00,0.000,6,0.000,0.028,2505,1797,3386,0,0,0,0,0,0
$GC,6302,-0.52,-146.0,626.3,-8.6,703,6305,0.00,2.15,0.00,0.000,4,0.000,0.041,2505,393,3385,0,0,0,0,0,0
$GC,6316,-0.52,-146.0,627.8,-9.1,703,6323,0.12,2.10,0.00,0.000,6,0.141,0.025,2536,1799,3385,0,0,0,0,0,0
$GC,6628,-0.58,-146.0,647.4,-6.1,719,6629,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1800,3385,0,0,0,0,0,0
$GC,6932,-0.65,-146.0,665.5,-5.9,734,6933,0.15,0.00,0.00,0.000,6,0.084,0.000,2464,1800,3385,0,0,0,0,0,0
$GC,7238,-0.57,-146.0,698.9,-11.9,749,7240,0.17,0.00,0.00,0.000,6,0.132,0.000,2519,1800,3385,0,0,0,0,0,0
$GC,7542,-0.57,-146.0,725.0,-8.4,764,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1800,3384,0,0,0,0,0,0
$GC,7849,-0.57,-146.0,750.2,-8.1,779,7852,0.00,2.15,0.00,0.000,4,0.000,0.034,2519,3194,3384,0,0,0,0,0,0
$GC,7864,-0.62,-146.0,751.5,-8.0,779,7870,0.00,2.12,0.00,0.000,6,0.000,0.028,2519,1797,3384,0,0,0,0,0,0
$GC,8175,-0.62,-146.0,776.7,-8.5,795,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1797,3384,0,0,0,0,0,0
$GC,8479,-0.66,-146.0,801.7,-7.9,810,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1797,3383,0,0,0,0,0,0
$GC,8785,-0.71,-146.0,824.9,-7.3,825,8789,0.15,2.15,0.00,0.000,4,0.087,0.042,2447,407,3383,0,0,0,0,0,0
$GC,8799,-0.71,-146.0,826.5,-8.7,825,8807,0.10,2.08,0.00,0.000,6,0.160,0.025,2469,1803,3383,0,0,0,0,0,0
$GC,9111,-0.65,-146.0,861.3,-11.5,841,9115,0.00,2.10,0.00,0.000,4,0.000,0.033,2461,3202,3382,0,0,0,0,0,0
$GC,9153,-0.65,-146.0,866.0,-10.9,843,9157,0.00,2.12,0.00,0.000,6,0.000,0.028,2461,1805,3383,0,0,0,0,0,0
$GC,9480,-0.58,-146.0,902.9,-10.7,859,9481,0.17,0.00,0.00,0.000,6,0.130,0.000,2517,1805,3382,0,0,0,0,0,0
$GC,9784,-0.62,-146.0,923.3,-5.9,874,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1804,3382,0,0,0,0,0,0
$GC,10090,-0.67,-146.0,943.6,-6.6,889,10091,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1804,3381,0,0,0,0,0,0
$GC,10395,-0.71,-146.0,968.4,-7.6,904,10400,0.15,2.15,0.00,0.000,4,0.094,0.036,2452,3185,3381,0,0,0,0,0,0
$GC,10410,-0.71,-146.0,969.7,-7.4,904,10418,0.00,2.15,0.00,0.000,6,0.000,0.030,2452,1791,3381,0,0,0,0,0,0
$STATE,10597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10597,begin apogee
$GC,10600,-0.14,0.0,991.0,11.6,914,10720,0.60,0.00,117.93,1.197,6,0.112,0.000,2655,1790,2792,0,0,0,0,0,0
$STATE,10721,end apogee,CONTROL_FINISHED_OK
$STATE,10721,begin climb
$GC,10722,0.55,146.0,996.3,0.0,920,10861,0.65,2.47,129.07,1.160,4,0.065,0.046,2899,356,2196,0,0,0,0,0,0
$GC,10896,0.37,146.0,991.5,9.3,928,10904,0.25,2.22,0.00,0.000,6,0.153,0.026,2827,1738,2194,0,0,0,0,0,0
$GC,11207,0.45,206.8,972.5,5.6,944,11262,0.00,2.33,51.30,1.143,4,0.000,0.034,2827,3156,1949,0,0,0,0,0,0
$GC,11320,0.45,206.8,964.7,7.9,948,11329,0.00,2.30,0.00,0.000,6,0.000,0.031,2836,1751,1949,0,0,0,0,0,0
$GC,11631,0.45,206.8,939.2,9.6,964,11635,0.00,2.25,0.00,0.000,4,0.000,0.046,2845,347,1945,0,0,0,0,0,0
$GC,11662,0.45,206.8,935.9,11.6,965,11667,0.00,2.17,0.00,0.000,6,0.000,0.026,2846,1755,1944,0,0,0,0,0,0
$GC,11979,0.45,206.8,906.4,9.2,981,11983,0.00,2.25,0.00,0.000,4,0.000,0.046,2856,345,1942,0,0,0,0,0,0
$GC,12037,0.40,206.8,900.5,10.4,983,12043,0.00,2.15,0.00,0.000,6,0.000,0.026,2856,1752,1941,0,0,0,0,0,0
$GC,12348,0.40,206.8,870.0,9.2,999,12352,0.00,2.22,0.00,0.000,4,0.000,0.045,2867,349,1940,0,0,0,0,0,0
$GC,12395,0.34,206.8,865.1,9.9,1001,12400,0.15,2.12,0.00,0.000,6,0.130,0.026,2815,1753,1940,0,0,0,0,0,0
$GC,12717,0.40,218.0,840.6,7.4,1017,12727,0.00,0.00,8.88,0.996,6,0.000,0.000,2815,1753,1903,0,0,0,0,0,0
$GC,13021,0.49,247.1,818.6,6.8,1032,13049,0.12,0.00,25.65,1.071,6,0.094,0.000,2877,1753,1784,0,0,0,0,0,0
$GC,13347,0.44,247.1,784.3,10.4,1048,13351,0.12,2.28,0.00,0.000,4,0.154,0.044,2852,339,1784,0,0,0,0,0,0
$GC,13389,0.44,247.1,780.2,9.4,1050,13393,0.00,2.15,0.00,0.000,6,0.000,0.025,2851,1747,1784,0,0,0,0,0,0
$GC,13715,0.44,247.1,753.0,8.3,1066,13719,0.00,2.22,0.00,0.000,4,0.000,0.044,2862,341,1785,0,0,0,0,0,0
$GC,13741,0.44,247.1,750.4,8.1,1067,13746,0.00,2.15,0.00,0.000,6,0.000,0.026,2862,1752,1784,0,0,0,0,0,0
$GC,14063,0.44,247.1,718.1,10.6,1083,14067,0.00,2.22,0.00,0.000,4,0.000,0.044,2872,340,1784,0,0,0,0,0,0
$GC,14088,0.44,247.1,715.1,11.2,1084,14093,0.00,2.15,0.00,0.000,6,0.000,0.026,2872,1753,1784,0,0,0,0,0,0
$GC,14410,0.44,247.1,685.2,8.6,1100,14414,0.00,2.22,0.00,0.000,4,0.000,0.044,2884,338,1784,0,0,0,0,0,0
$GC,14463,0.39,247.1,680.1,10.9,1102,14468,0.15,2.12,0.00,0.000,6,0.120,0.025,2829,1756,1784,0,0,0,0,0,0
$GC,14779,0.51,310.0,660.9,5.6,1118,14833,0.10,0.00,52.67,0.993,6,0.109,0.000,2887,1756,1528,0,0,0,0,0,0
$GC,15124,0.51,310.0,625.6,10.6,1135,15128,0.00,2.25,0.00,0.000,4,0.000,0.044,2898,347,1531,0,0,0,0,0,0
$GC,15160,0.46,310.0,621.7,11.2,1136,15168,0.15,2.15,0.00,0.000,6,0.135,0.025,2847,1747,1530,0,0,0,0,0,0
$GC,15472,0.53,315.5,598.3,7.7,1152,15482,0.00,2.22,7.28,0.841,4,0.000,0.041,2857,337,1504,0,0,0,0,0,0
$GC,15534,0.53,315.5,592.9,9.7,1155,15539,0.00,2.17,0.00,0.000,6,0.000,0.025,2857,1756,1505,0,0,0,0,0,0
$GC,15856,0.57,315.5,565.6,8.5,1171,15860,0.00,2.22,0.00,0.000,4,0.000,0.044,2866,344,1505,0,0,0,0,0,0
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$STATE,21584,end climb,SURFACE_DEPTH_REACHED
$STATE,21584,begin surface coast
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$STATE,21617,end surface coast,CONTROL_FINISHED_OK
$STATE,21617,begin surface
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$XPDR_PINGS,2
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$10V_AH,10.0,8.773
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$FG_AHR_10Vo,0.000
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$MEM,286656
$DATA_FILE_SIZE,133137,1882
$CAP_FILE_SIZE,221907,0
$CFSIZE,260165632,252932096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220310,093401,3647.600,-12217.109,38,1.2,38,14.8