version: 66.06
glider: 503
mission: 5
dive: 78
start: 4 1 110 19 38 18
data:
$ID,503
$MISSION,5
$DIVE,78
$D_SURF,3
$D_FLARE,3
$D_TGT,991
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,-9759.9375
$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,38
$R_STBD_OVSHOOT,48
$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,500
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$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
$GPS1,192931,3642.861,-12207.572,37,1.5,37,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.5
$GPS2,193738,3642.909,-12207.669,8,2.0,8,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,ONE
$TGT_LATLONG,3644.000,-12205.000
$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,48.2,4446,-20.4,-7.865
$D_GRID,1263
$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,-0.64,-74.3,0.0,0.0,0,57,0.00,0.00,-43.50,0.000,2,0.000,0.000,162,1750,2562,0,0,0,0,0,0
$GC,59,-0.68,-101.7,3.0,-5.9,8,91,8.88,2.15,-15.43,0.000,4,0.220,0.051,2483,395,3209,0,0,0,0,0,0
$GC,197,-0.61,-101.7,28.0,-16.8,34,203,0.00,2.15,0.00,0.000,6,0.000,0.025,2475,1801,3209,0,0,0,0,0,0
$GC,523,-0.61,-101.7,83.5,-16.0,95,530,0.00,2.17,0.00,0.000,4,0.000,0.036,2474,401,3210,0,0,0,0,0,0
$GC,625,-0.56,-101.7,99.3,-15.8,114,631,0.15,2.10,0.00,0.000,6,0.118,0.024,2517,1797,3210,0,0,0,0,0,0
$GC,952,-0.63,-101.7,136.5,-11.3,175,958,0.00,2.15,0.00,0.000,4,0.000,0.031,2509,3194,3211,0,0,0,0,0,0
$GC,989,-0.73,-101.7,140.7,-11.3,182,996,0.10,2.15,0.00,0.000,6,0.051,0.026,2437,1791,3211,0,0,0,0,0,0
$GC,1316,-0.66,-101.7,196.8,-18.2,243,1322,0.17,2.17,0.00,0.000,4,0.145,0.031,2481,3191,3211,0,0,0,0,0,0
$GC,1369,-0.73,-101.7,204.1,-11.8,250,1373,0.00,2.12,0.00,0.000,6,0.000,0.025,2480,1798,3211,0,0,0,0,0,0
$GC,1690,-0.73,-101.7,242.1,-12.3,281,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1797,3211,0,0,0,0,0,0
$GC,2001,-0.73,-101.7,281.6,-12.6,311,2004,0.00,2.12,0.00,0.000,4,0.000,0.038,2485,394,3210,0,0,0,0,0,0
$GC,2101,-0.73,-101.7,294.9,-12.7,320,2108,0.00,2.10,0.00,0.000,6,0.000,0.024,2478,1803,3211,0,0,0,0,0,0
$GC,2417,-0.73,-101.7,333.8,-12.0,351,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1804,3210,0,0,0,0,0,0
$GC,2728,-0.73,-101.7,369.3,-10.6,381,2731,0.00,2.10,0.00,0.000,4,0.000,0.031,2467,3202,3210,0,0,0,0,0,0
$GC,2817,-0.80,-101.7,378.7,-10.0,389,2824,0.00,2.15,0.00,0.000,6,0.000,0.025,2467,1797,3209,0,0,0,0,0,0
$GC,3133,-0.80,-101.7,412.3,-10.5,420,3137,0.00,2.12,0.00,0.000,4,0.000,0.037,2469,403,3209,0,0,0,0,0,0
$GC,3170,-0.80,-101.7,416.4,-11.2,423,3177,0.00,2.10,0.00,0.000,6,0.000,0.023,2461,1807,3210,0,0,0,0,0,0
$GC,3485,-0.80,-101.7,451.9,-12.2,454,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1808,3209,0,0,0,0,0,0
$GC,3796,-0.80,-101.7,490.8,-11.9,484,3801,0.00,2.17,0.00,0.000,4,0.000,0.038,2461,397,3209,0,0,0,0,0,0
$GC,3822,-0.80,-101.7,494.1,-12.5,486,3830,0.00,2.10,0.00,0.000,6,0.000,0.024,2452,1799,3209,0,0,0,0,0,0
$GC,4144,-0.80,-101.7,531.5,-11.9,505,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1800,3208,0,0,0,0,0,0
$GC,4449,-0.80,-101.7,566.9,-10.7,520,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1800,3208,0,0,0,0,0,0
$GC,4755,-0.80,-101.7,598.7,-9.8,535,4759,0.00,2.15,0.00,0.000,4,0.000,0.031,2441,3195,3207,0,0,0,0,0,0
$GC,4791,-0.80,-101.7,602.3,-9.3,536,4798,0.00,2.15,0.00,0.000,6,0.000,0.026,2441,1791,3207,0,0,0,0,0,0
$GC,5101,-0.80,-101.7,634.1,-10.7,552,5106,0.00,2.12,0.00,0.000,4,0.000,0.038,2441,400,3207,0,0,0,0,0,0
$GC,5171,-0.75,-101.7,642.3,-12.5,555,5175,0.00,2.08,0.00,0.000,6,0.000,0.025,2432,1803,3206,0,0,0,0,0,0
$GC,5492,-0.75,-101.7,679.6,-12.1,571,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1803,3206,0,0,0,0,0,0
$GC,5797,-0.75,-101.7,719.0,-13.5,586,5802,0.00,2.12,0.00,0.000,4,0.000,0.031,2421,3196,3205,0,0,0,0,0,0
$GC,5877,-0.75,-101.7,730.3,-14.2,589,5883,0.10,2.12,0.00,0.000,6,0.117,0.026,2458,1798,3205,0,0,0,0,0,0
$GC,6188,-0.75,-101.7,770.4,-13.0,605,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1798,3205,0,0,0,0,0,0
$GC,6492,-0.75,-101.7,807.5,-11.9,620,6497,0.00,2.15,0.00,0.000,4,0.000,0.039,2464,400,3204,0,0,0,0,0,0
$GC,6556,-0.75,-101.7,815.7,-12.9,623,6560,0.00,2.08,0.00,0.000,6,0.000,0.025,2455,1799,3204,0,0,0,0,0,0
$GC,6883,-0.75,-101.7,853.4,-11.1,639,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1800,3203,0,0,0,0,0,0
$GC,7187,-0.75,-101.7,886.5,-10.5,654,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1800,3203,0,0,0,0,0,0
$GC,7493,-0.75,-101.7,919.4,-10.7,669,7497,0.00,2.15,0.00,0.000,4,0.000,0.034,2445,3195,3203,0,0,0,0,0,0
$GC,7524,-0.80,-101.7,922.7,-10.8,670,7529,0.00,2.12,0.00,0.000,6,0.000,0.028,2445,1804,3203,0,0,0,0,0,0
$GC,7840,-0.80,-101.7,955.0,-10.1,686,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1804,3202,0,0,0,0,0,0
$GC,8146,-0.80,-101.7,988.1,-10.7,701,8150,0.00,2.17,0.00,0.000,4,0.000,0.041,2444,397,3202,0,0,0,0,0,0
$STATE,8170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8170,begin apogee
$GC,8175,-0.14,0.0,991.4,13.1,702,8260,0.62,0.00,82.28,1.200,6,0.119,0.000,2647,1741,2792,0,0,0,0,0,0
$STATE,8260,end apogee,CONTROL_FINISHED_OK
$STATE,8260,begin climb
$GC,8261,0.68,101.7,994.2,0.0,706,8358,0.73,2.33,90.15,1.166,4,0.064,0.034,2912,3150,2376,0,0,0,0,0,0
$GC,8404,0.60,110.3,990.8,7.3,712,8416,0.08,2.28,8.35,0.986,6,0.151,0.031,2900,1764,2342,0,0,0,0,0,0
$GC,8721,0.60,110.5,966.5,7.9,727,8724,0.00,2.22,0.00,0.000,4,0.000,0.044,2909,344,2335,0,0,0,0,0,0
$GC,8767,0.52,110.5,962.4,8.6,729,8772,0.12,2.20,0.00,0.000,6,0.150,0.025,2870,1759,2334,0,0,0,0,0,0
$GC,9089,0.54,127.0,940.3,6.7,745,9110,0.00,2.20,13.80,1.087,4,0.000,0.034,2870,3141,2274,0,0,0,0,0,0
$GC,9167,0.55,134.9,934.2,7.3,748,9179,0.00,2.20,8.48,1.001,6,0.000,0.031,2880,1753,2242,0,0,0,0,0,0
$GC,9494,0.56,142.5,909.0,7.3,765,9503,0.00,0.00,8.20,1.000,6,0.000,0.000,2880,1753,2210,0,0,0,0,0,0
$GC,9798,0.56,142.5,884.3,8.1,780,9803,0.00,2.20,0.00,0.000,4,0.000,0.033,2880,3147,2209,0,0,0,0,0,0
$GC,9856,0.56,142.5,878.8,9.9,782,9864,0.00,2.22,0.00,0.000,6,0.000,0.031,2890,1746,2208,0,0,0,0,0,0
$GC,10167,0.56,142.5,851.1,8.7,798,10171,0.00,2.20,0.00,0.000,4,0.000,0.033,2890,3149,2207,0,0,0,0,0,0
$GC,10209,0.56,142.5,846.9,9.9,800,10214,0.00,2.20,0.00,0.000,6,0.000,0.031,2901,1749,2206,0,0,0,0,0,0
$GC,10536,0.56,142.5,815.5,10.0,816,10540,0.00,2.20,0.00,0.000,4,0.000,0.043,2912,346,2206,0,0,0,0,0,0
$GC,10589,0.51,142.5,809.9,10.9,818,10594,0.12,2.12,0.00,0.000,6,0.142,0.025,2871,1751,2206,0,0,0,0,0,0
$GC,10904,0.51,142.5,782.6,8.6,834,10909,0.00,2.15,0.00,0.000,4,0.000,0.032,2871,3143,2206,0,0,0,0,0,0
$GC,10979,0.51,142.5,776.1,9.5,837,10984,0.00,2.17,0.00,0.000,6,0.000,0.029,2880,1747,2205,0,0,0,0,0,0
$GC,11295,0.51,142.5,748.5,8.7,853,11299,0.00,2.17,0.00,0.000,4,0.000,0.032,2880,3153,2204,0,0,0,0,0,0
$GC,11353,0.51,142.5,743.0,9.7,855,11360,0.00,2.20,0.00,0.000,6,0.000,0.029,2891,1744,2204,0,0,0,0,0,0
$GC,11665,0.51,142.5,716.2,8.6,871,11665,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1744,2204,0,0,0,0,0,0
$GC,11968,0.51,142.5,686.9,9.9,886,11973,0.00,2.17,0.00,0.000,4,0.000,0.031,2891,3154,2204,0,0,0,0,0,0
$GC,12016,0.51,142.5,682.0,9.7,888,12022,0.12,2.20,0.00,0.000,6,0.166,0.028,2868,1739,2203,0,0,0,0,0,0
$GC,12338,0.56,142.5,652.2,9.7,904,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1739,2203,0,0,0,0,0,0
$GC,12643,0.61,142.5,623.4,9.3,919,12644,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1739,2203,0,0,0,0,0,0
$GC,12949,0.67,149.1,599.0,7.4,934,12958,0.12,2.17,5.72,0.805,4,0.082,0.031,2942,3155,2184,0,0,0,0,0,0
$GC,13102,0.58,149.1,581.5,10.8,941,13107,0.17,2.20,0.00,0.000,6,0.137,0.028,2894,1741,2184,0,0,0,0,0,0
$GC,13419,0.58,149.1,550.4,9.4,957,13422,0.00,2.17,0.00,0.000,4,0.000,0.031,2894,3151,2184,0,0,0,0,0,0
$GC,13449,0.58,149.1,547.2,10.2,958,13454,0.00,2.17,0.00,0.000,6,0.000,0.028,2903,1748,2184,0,0,0,0,0,0
$GC,13766,0.59,151.5,521.2,7.7,974,13775,0.00,2.20,3.95,0.643,4,0.000,0.031,2903,3154,2174,0,0,0,0,0,0
$GC,13908,0.59,151.5,509.0,8.5,980,13916,0.00,2.17,0.00,0.000,6,0.000,0.028,2914,1749,2174,0,0,0,0,0,0
$GC,14223,0.59,151.5,482.1,8.5,1005,14227,0.00,2.17,0.00,0.000,4,0.000,0.041,2925,344,2174,0,0,0,0,0,0
$GC,14302,0.54,151.5,474.5,9.2,1012,14310,0.12,2.10,0.00,0.000,6,0.123,0.025,2881,1753,2174,0,0,0,0,0,0
$GC,14619,0.59,153.9,450.8,7.7,1043,14629,0.00,2.15,3.88,0.611,4,0.000,0.031,2880,3149,2164,0,0,0,0,0,0
$GC,14724,0.59,153.9,441.8,8.1,1053,14728,0.00,2.15,0.00,0.000,6,0.000,0.028,2890,1750,2164,0,0,0,0,0,0
$GC,15044,0.59,153.9,414.1,8.5,1084,15049,0.00,2.20,0.00,0.000,4,0.000,0.041,2901,343,2164,0,0,0,0,0,0
$GC,15070,0.59,153.9,411.7,9.7,1086,15078,0.00,2.12,0.00,0.000,6,0.000,0.024,2900,1757,2163,0,0,0,0,0,0
$GC,15388,0.59,153.9,381.3,10.0,1117,15388,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1757,2164,0,0,0,0,0,0
$GC,15698,0.59,153.9,352.3,8.5,1147,15701,0.00,2.10,0.00,0.000,4,0.000,0.031,2901,3152,2164,0,0,0,0,0,0
$GC,15733,0.59,153.9,349.1,7.9,1150,15741,0.00,2.17,0.00,0.000,6,0.000,0.028,2912,1746,2163,0,0,0,0,0,0
$GC,16050,0.59,153.9,322.1,8.4,1181,16054,0.00,2.15,0.00,0.000,4,0.000,0.030,2912,3145,2163,0,0,0,0,0,0
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$STATE,19997,end climb,SURFACE_DEPTH_REACHED
$STATE,19998,begin surface coast
$FINISH,0.3,1.023329
$STATE,20062,end surface coast,CONTROL_FINISHED_OK
$STATE,20062,begin surface
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$IRIDIUM_FIX,3626.92,-12210.57,260699,131318
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$HUMID,53.46
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.30
$XPDR_PINGS,5
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$10V_AH,10.0,18.754
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.200,155.100,300.075,7.775,0.000,29.607,42.963,303.550,3.750,0.000,10.697,0.000,14661.875,490.292,4749.322,662.750,0.000,2015.786,0.000,4089.330,0.000,18.978,0.000
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$MEM,246796
$DATA_FILE_SIZE,126875,1804
$CAP_FILE_SIZE,205363,0
$CFSIZE,260165632,247685120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020410,011430,3644.196,-12205.446,72,1.1,72,14.8