version: 66.06
glider: 503
mission: 5
dive: 84
start: 4 3 110 2 30 1
data:
$ID,503
$MISSION,5
$DIVE,84
$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,-2
$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,-9875.708
$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,39
$R_STBD_OVSHOOT,54
$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
$GPS1,022231,3647.607,-12216.367,38,1.6,38,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.7
$GPS2,022956,3647.536,-12216.337,12,1.6,12,14.8
$SPEED_LIMITS,0.136,0.217
$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,205.3,6137,-15.7,-7.865
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.57,-116.8,0.0,0.0,0,63,0.00,0.00,-48.50,0.000,2,0.000,0.000,170,1744,2721,0,0,0,0,0,0
$GC,65,-0.57,-116.8,3.4,-6.9,9,91,8.95,2.28,-12.18,0.000,4,0.219,0.042,2501,3199,3270,0,0,0,0,0,0
$GC,282,-0.57,-116.8,38.4,-13.9,50,289,0.00,2.17,0.00,0.000,6,0.000,0.025,2501,1798,3271,0,0,0,0,0,0
$GC,609,-0.51,-116.8,84.6,-12.0,111,616,0.12,2.20,0.00,0.000,4,0.147,0.038,2539,397,3272,0,0,0,0,0,0
$GC,684,-0.51,-116.8,92.7,-10.5,125,691,0.00,2.10,0.00,0.000,6,0.000,0.024,2532,1791,3272,0,0,0,0,0,0
$GC,1010,-0.51,-116.8,124.8,-10.0,186,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1792,3272,0,0,0,0,0,0
$GC,1331,-0.51,-116.8,156.1,-9.1,246,1338,0.00,2.15,0.00,0.000,4,0.000,0.032,2532,3193,3273,0,0,0,0,0,0
$GC,1348,-0.51,-116.8,157.4,-9.0,249,1354,0.00,2.12,0.00,0.000,6,0.000,0.026,2533,1799,3272,0,0,0,0,0,0
$GC,1674,-0.51,-116.8,185.3,-7.2,310,1681,0.00,2.17,0.00,0.000,4,0.000,0.038,2532,401,3272,0,0,0,0,0,0
$GC,1695,-0.51,-116.8,186.9,-7.6,314,1702,0.00,2.10,0.00,0.000,6,0.000,0.025,2523,1800,3272,0,0,0,0,0,0
$GC,2017,-0.51,-116.8,211.1,-7.7,361,2020,0.00,2.15,0.00,0.000,4,0.000,0.032,2520,3201,3272,0,0,0,0,0,0
$GC,2059,-0.56,-116.8,214.1,-7.3,365,2063,0.00,2.12,0.00,0.000,6,0.000,0.025,2521,1804,3272,0,0,0,0,0,0
$GC,2379,-0.56,-116.8,239.1,-8.4,396,2384,0.00,2.15,0.00,0.000,4,0.000,0.038,2520,403,3272,0,0,0,0,0,0
$GC,2400,-0.56,-116.8,241.1,-9.7,398,2405,0.00,2.10,0.00,0.000,6,0.000,0.024,2510,1805,3272,0,0,0,0,0,0
$GC,2722,-0.56,-116.8,273.8,-10.0,429,2726,0.00,2.12,0.00,0.000,4,0.000,0.031,2505,3194,3271,0,0,0,0,0,0
$GC,2743,-0.56,-116.8,275.9,-9.8,431,2747,0.00,2.12,0.00,0.000,6,0.000,0.026,2505,1797,3271,0,0,0,0,0,0
$GC,3063,-0.56,-116.8,307.2,-9.2,462,3068,0.00,2.12,0.00,0.000,4,0.000,0.038,2505,404,3271,0,0,0,0,0,0
$GC,3181,-0.56,-116.8,319.4,-9.9,473,3185,0.00,2.08,0.00,0.000,6,0.000,0.024,2496,1799,3271,0,0,0,0,0,0
$GC,3501,-0.56,-116.8,349.5,-9.7,504,3506,0.00,2.15,0.00,0.000,4,0.000,0.031,2493,3193,3270,0,0,0,0,0,0
$GC,3534,-0.56,-116.8,352.6,-9.6,507,3537,0.00,2.12,0.00,0.000,6,0.000,0.026,2493,1797,3270,0,0,0,0,0,0
$GC,3853,-0.56,-116.8,385.4,-10.5,538,3858,0.00,2.15,0.00,0.000,4,0.000,0.038,2493,399,3270,0,0,0,0,0,0
$GC,3901,-0.51,-116.8,390.9,-11.7,542,3909,0.15,2.10,0.00,0.000,6,0.138,0.024,2535,1801,3269,0,0,0,0,0,0
$GC,4218,-0.57,-116.8,414.6,-7.2,573,4221,0.00,2.15,0.00,0.000,4,0.000,0.039,2536,407,3269,0,0,0,0,0,0
$GC,4244,-0.62,-116.8,416.7,-7.8,575,4250,0.00,2.05,0.00,0.000,6,0.000,0.023,2532,1789,3270,0,0,0,0,0,0
$GC,4559,-0.67,-116.8,438.4,-6.4,606,4563,0.15,2.15,0.00,0.000,4,0.077,0.038,2452,401,3269,0,0,0,0,0,0
$GC,4591,-0.55,-116.8,441.7,-11.5,609,4596,0.20,2.08,0.00,0.000,6,0.113,0.025,2513,1799,3269,0,0,0,0,0,0
$GC,4911,-0.55,-116.8,467.9,-8.2,640,4916,0.00,2.12,0.00,0.000,4,0.000,0.031,2505,3193,3269,0,0,0,0,0,0
$GC,4922,-0.55,-116.8,468.9,-8.3,641,4926,0.00,2.12,0.00,0.000,6,0.000,0.026,2505,1799,3269,0,0,0,0,0,0
$GC,5242,-0.55,-116.8,499.5,-9.8,672,5247,0.00,2.17,0.00,0.000,4,0.000,0.039,2504,398,3269,0,0,0,0,0,0
$GC,5312,-0.55,-116.8,506.7,-10.9,676,5316,0.00,2.08,0.00,0.000,6,0.000,0.024,2496,1796,3269,0,0,0,0,0,0
$GC,5633,-0.55,-116.8,537.8,-9.7,692,5637,0.00,2.15,0.00,0.000,4,0.000,0.032,2486,3202,3268,0,0,0,0,0,0
$GC,5654,-0.55,-116.8,539.7,-9.7,693,5658,0.08,2.12,0.00,0.000,6,0.113,0.026,2517,1799,3267,0,0,0,0,0,0
$GC,5982,-0.59,-116.8,564.6,-7.6,709,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1798,3268,0,0,0,0,0,0
$GC,6285,-0.64,-116.8,589.2,-8.0,724,6290,0.00,2.12,0.00,0.000,4,0.000,0.038,2517,409,3267,0,0,0,0,0,0
$GC,6300,-0.64,-116.8,590.6,-8.1,724,6309,0.00,2.10,0.00,0.000,6,0.000,0.024,2509,1808,3267,0,0,0,0,0,0
$GC,6611,-0.64,-116.8,617.1,-8.6,740,6616,0.00,2.15,0.00,0.000,4,0.000,0.038,2509,406,3267,0,0,0,0,0,0
$GC,6648,-0.64,-116.8,620.6,-9.6,741,6655,0.00,2.10,0.00,0.000,6,0.000,0.025,2505,1809,3267,0,0,0,0,0,0
$GC,6959,-0.64,-116.8,646.3,-8.2,757,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1810,3266,0,0,0,0,0,0
$GC,7264,-0.64,-116.8,672.6,-9.2,772,7268,0.00,2.10,0.00,0.000,4,0.000,0.032,2505,3184,3266,0,0,0,0,0,0
$GC,7286,-0.68,-116.8,674.4,-8.7,773,7289,0.00,2.10,0.00,0.000,6,0.000,0.027,2505,1800,3265,0,0,0,0,0,0
$GC,7612,-0.68,-116.8,703.6,-9.0,789,7616,0.00,2.15,0.00,0.000,4,0.000,0.040,2505,400,3265,0,0,0,0,0,0
$GC,7648,-0.68,-116.8,707.0,-9.7,790,7655,0.00,2.08,0.00,0.000,6,0.000,0.025,2495,1797,3265,0,0,0,0,0,0
$GC,7958,-0.68,-116.8,733.1,-7.9,806,7963,0.00,2.15,0.00,0.000,4,0.000,0.033,2495,3202,3265,0,0,0,0,0,0
$GC,7980,-0.68,-116.8,734.8,-8.0,807,7984,0.00,2.12,0.00,0.000,6,0.000,0.027,2495,1806,3265,0,0,0,0,0,0
$GC,8307,-0.68,-116.8,761.2,-8.6,823,8310,0.00,2.15,0.00,0.000,4,0.000,0.040,2495,408,3264,0,0,0,0,0,0
$GC,8359,-0.68,-116.8,766.3,-10.2,825,8364,0.00,2.08,0.00,0.000,6,0.000,0.024,2486,1800,3264,0,0,0,0,0,0
$GC,8676,-0.68,-116.8,794.8,-9.2,841,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1802,3264,0,0,0,0,0,0
$GC,8980,-0.68,-116.8,818.5,-6.8,856,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1802,3263,0,0,0,0,0,0
$GC,9286,-0.68,-116.8,838.4,-6.3,871,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1802,3263,0,0,0,0,0,0
$GC,9590,-0.68,-116.8,861.1,-7.9,886,9595,0.00,2.12,0.00,0.000,4,0.000,0.032,2479,3193,3263,0,0,0,0,0,0
$GC,9655,-0.68,-116.8,866.6,-9.0,889,9659,0.00,2.12,0.00,0.000,6,0.000,0.028,2479,1802,3263,0,0,0,0,0,0
$GC,9981,-0.68,-116.8,898.0,-10.5,905,9982,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1801,3262,0,0,0,0,0,0
$STATE,10000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10000,begin apogee
$GC,10003,-0.14,0.0,900.7,11.6,906,10104,0.52,0.00,93.75,1.146,6,0.103,0.000,2660,1801,2791,0,0,0,0,0,0
$STATE,10104,end apogee,CONTROL_FINISHED_OK
$STATE,10104,begin climb
$GC,10105,0.57,116.8,906.9,0.0,911,10212,0.62,2.22,102.47,1.112,4,0.061,0.032,2887,3151,2314,0,0,0,0,0,0
$GC,10238,0.50,159.2,906.6,6.0,918,10282,0.10,2.30,37.62,1.080,6,0.146,0.031,2866,1757,2142,0,0,0,0,0,0
$GC,10603,0.62,260.5,889.2,3.3,936,10695,0.10,2.40,84.82,1.101,4,0.097,0.045,2928,349,1729,0,0,0,0,0,0
$GC,10731,0.54,260.5,881.2,8.7,942,10737,0.15,2.25,0.00,0.000,6,0.123,0.025,2879,1758,1730,0,0,0,0,0,0
$GC,11052,0.54,260.5,860.6,8.9,958,11057,0.00,2.20,0.00,0.000,4,0.000,0.031,2879,3152,1729,0,0,0,0,0,0
$GC,11078,0.54,260.5,857.9,9.5,959,11083,0.00,2.25,0.00,0.000,6,0.000,0.031,2888,1749,1729,0,0,0,0,0,0
$GC,11400,0.54,260.5,821.1,10.7,975,11401,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1749,1729,0,0,0,0,0,0
$GC,11705,0.54,260.5,787.8,10.9,990,11706,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1749,1727,0,0,0,0,0,0
$GC,12011,0.54,260.5,754.7,11.2,1005,12014,0.00,2.20,0.00,0.000,4,0.000,0.043,2900,344,1726,0,0,0,0,0,0
$GC,12047,0.54,260.5,750.5,12.0,1006,12054,0.00,2.15,0.00,0.000,6,0.000,0.025,2899,1757,1725,0,0,0,0,0,0
$GC,12357,0.54,260.5,712.6,13.1,1022,12362,0.00,2.15,0.00,0.000,4,0.000,0.031,2899,3152,1726,0,0,0,0,0,0
$GC,12389,0.54,260.5,708.1,14.8,1023,12394,0.12,2.20,0.00,0.000,6,0.152,0.030,2874,1748,1726,0,0,0,0,0,0
$GC,12705,0.54,260.5,675.9,9.6,1039,12709,0.00,2.17,0.00,0.000,4,0.000,0.042,2884,351,1725,0,0,0,0,0,0
$GC,12752,0.54,260.5,671.0,10.2,1041,12757,0.00,2.10,0.00,0.000,6,0.000,0.025,2884,1753,1724,0,0,0,0,0,0
$GC,13074,0.54,260.5,637.0,10.3,1057,13078,0.00,2.12,0.00,0.000,4,0.000,0.031,2884,3142,1725,0,0,0,0,0,0
$GC,13105,0.54,260.5,633.3,11.3,1058,13110,0.00,2.15,0.00,0.000,6,0.000,0.029,2894,1752,1724,0,0,0,0,0,0
$GC,13421,0.54,260.5,599.2,10.7,1074,13425,0.00,2.17,0.00,0.000,4,0.000,0.042,2906,352,1724,0,0,0,0,0,0
$GC,13463,0.54,260.5,594.5,12.5,1076,13468,0.08,2.10,0.00,0.000,6,0.114,0.025,2877,1746,1724,0,0,0,0,0,0
$GC,13790,0.54,260.5,563.4,9.6,1092,13794,0.00,2.15,0.00,0.000,4,0.000,0.031,2877,3149,1724,0,0,0,0,0,0
$GC,13816,0.54,260.5,560.8,10.2,1093,13820,0.00,2.15,0.00,0.000,6,0.000,0.028,2886,1753,1724,0,0,0,0,0,0
$GC,14138,0.54,260.5,526.0,11.0,1109,14141,0.00,2.17,0.00,0.000,4,0.000,0.042,2897,352,1724,0,0,0,0,0,0
$GC,14195,0.54,260.5,519.3,11.2,1111,14202,0.00,2.10,0.00,0.000,6,0.000,0.025,2897,1750,1724,0,0,0,0,0,0
$GC,14508,0.54,260.5,483.8,11.1,1134,14512,0.00,2.12,0.00,0.000,4,0.000,0.031,2897,3139,1724,0,0,0,0,0,0
$GC,14529,0.54,260.5,481.5,10.5,1136,14534,0.08,2.15,0.00,0.000,6,0.121,0.029,2878,1750,1723,0,0,0,0,0,0
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$STATE,19566,end climb,SURFACE_DEPTH_REACHED
$STATE,19566,begin surface coast
$FINISH,0.3,1.012592
$STATE,19582,end surface coast,CONTROL_FINISHED_OK
$STATE,19582,begin surface
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$IRIDIUM_FIX,3634.97,-12121.82,270699,202057
$TT8_MAMPS,0.052156
$HUMID,53.89
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,16.10
$XPDR_PINGS,1
$24V_AH,23.8,15.195
$10V_AH,10.0,19.970
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.450,176.050,401.550,0.000,0.000,29.366,30.385,268.590,2.500,0.000,14.374,0.000,14174.310,576.418,4716.522,586.272,0.000,2111.889,0.000,4057.056,0.000,17.181,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286632
$DATA_FILE_SIZE,126288,1821
$CAP_FILE_SIZE,207419,0
$CFSIZE,260165632,247037952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030410,075831,3645.366,-12218.702,39,1.1,39,14.8