version: 66.06
glider: 503
mission: 5
dive: 160
start: 4 19 110 19 37 50
data:
$ID,503
$MISSION,5
$DIVE,160
$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,-11361.527
$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,41
$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,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
$GPS1,192947,3643.387,-12204.326,56,1.2,56,14.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-76.0
$GPS2,193744,3643.387,-12204.282,14,1.6,14,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,TWO
$TGT_LATLONG,3646.000,-12212.000
$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,278.1,12431,-15.7,-7.865
$D_GRID,1205
$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,-0.57,-116.8,0.0,0.0,0,48,0.00,0.00,-34.00,0.000,2,0.000,0.000,183,1747,2666,0,0,0,0,0,0
$GC,49,-0.57,-116.8,3.1,-5.6,6,77,8.77,2.12,-14.25,0.000,4,0.210,0.050,2514,394,3270,0,0,0,0,0,0
$GC,125,-0.43,-116.8,15.6,-15.0,20,131,0.15,2.15,0.00,0.000,6,0.114,0.025,2558,1796,3271,0,0,0,0,0,0
$GC,451,-0.43,-116.8,55.7,-11.2,81,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1796,3273,0,0,0,0,0,0
$GC,777,-0.48,-116.8,85.2,-8.4,142,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1796,3273,0,0,0,0,0,0
$GC,1104,-0.54,-116.8,111.0,-7.8,203,1109,0.00,2.17,0.00,0.000,4,0.000,0.038,2558,406,3273,0,0,0,0,0,0
$GC,1130,-0.61,-116.8,113.3,-8.7,208,1136,0.12,2.10,0.00,0.000,6,0.044,0.024,2475,1798,3274,0,0,0,0,0,0
$GC,1457,-0.51,-116.8,158.7,-13.8,269,1463,0.20,2.17,0.00,0.000,4,0.128,0.035,2538,403,3274,0,0,0,0,0,0
$GC,1542,-0.51,-116.8,167.2,-8.8,285,1549,0.00,2.10,0.00,0.000,6,0.000,0.025,2535,1802,3274,0,0,0,0,0,0
$GC,1869,-0.51,-116.8,192.2,-7.0,346,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1802,3274,0,0,0,0,0,0
$GC,2191,-0.55,-116.8,214.7,-7.2,388,2196,0.00,2.17,0.00,0.000,4,0.000,0.038,2535,399,3274,0,0,0,0,0,0
$GC,2234,-0.55,-116.8,218.1,-8.4,392,2238,0.00,2.08,0.00,0.000,6,0.000,0.022,2525,1787,3274,0,0,0,0,0,0
$GC,2555,-0.55,-116.8,245.3,-9.0,423,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,3273,0,0,0,0,0,0
$GC,2867,-0.55,-116.8,271.7,-8.5,453,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1787,3273,0,0,0,0,0,0
$GC,3177,-0.55,-116.8,298.2,-8.1,483,3180,0.00,2.12,0.00,0.000,4,0.000,0.038,2525,397,3272,0,0,0,0,0,0
$GC,3212,-0.55,-116.8,301.6,-9.0,486,3217,0.00,2.10,0.00,0.000,6,0.000,0.024,2521,1802,3272,0,0,0,0,0,0
$GC,3534,-0.55,-116.8,330.7,-9.7,517,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1802,3272,0,0,0,0,0,0
$GC,3846,-0.55,-116.8,359.1,-8.0,547,3849,0.00,2.15,0.00,0.000,4,0.000,0.038,2521,397,3272,0,0,0,0,0,0
$GC,3881,-0.55,-116.8,362.5,-8.9,550,3885,0.00,2.10,0.00,0.000,6,0.000,0.023,2511,1803,3272,0,0,0,0,0,0
$GC,4203,-0.55,-116.8,385.5,-6.5,581,4206,0.00,2.17,0.00,0.000,4,0.000,0.038,2511,400,3272,0,0,0,0,0,0
$GC,4246,-0.55,-116.8,388.6,-7.7,585,4249,0.00,2.08,0.00,0.000,6,0.000,0.024,2506,1810,3271,0,0,0,0,0,0
$GC,4565,-0.55,-116.8,412.9,-9.1,616,4569,0.00,2.17,0.00,0.000,4,0.000,0.038,2506,402,3270,0,0,0,0,0,0
$GC,4587,-0.55,-116.8,415.0,-9.8,618,4591,0.00,2.08,0.00,0.000,6,0.000,0.024,2496,1790,3270,0,0,0,0,0,0
$GC,4908,-0.55,-116.8,446.0,-9.9,649,4911,0.00,2.15,0.00,0.000,4,0.000,0.032,2495,3194,3270,0,0,0,0,0,0
$GC,4944,-0.55,-116.8,449.8,-9.8,652,4951,0.00,2.12,0.00,0.000,6,0.000,0.025,2495,1799,3270,0,0,0,0,0,0
$GC,5261,-0.55,-116.8,481.5,-9.6,683,5264,0.00,2.15,0.00,0.000,4,0.000,0.039,2495,406,3270,0,0,0,0,0,0
$GC,5324,-0.55,-116.8,488.2,-10.4,689,5328,0.00,2.08,0.00,0.000,6,0.000,0.024,2491,1799,3269,0,0,0,0,0,0
$GC,5643,-0.55,-116.8,518.2,-9.5,711,5644,0.10,0.00,0.00,0.000,6,0.158,0.000,2521,1800,3269,0,0,0,0,0,0
$GC,5946,-0.60,-116.8,545.4,-9.0,726,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1800,3269,0,0,0,0,0,0
$GC,6253,-0.65,-116.8,571.4,-8.2,741,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1800,3269,0,0,0,0,0,0
$GC,6557,-0.70,-116.8,595.3,-7.5,756,6562,0.12,2.17,0.00,0.000,4,0.083,0.040,2446,406,3268,0,0,0,0,0,0
$GC,6589,-0.58,-116.8,598.9,-12.9,757,6594,0.20,2.08,0.00,0.000,6,0.107,0.024,2511,1798,3268,0,0,0,0,0,0
$GC,6905,-0.58,-116.8,625.5,-8.2,773,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1799,3267,0,0,0,0,0,0
$GC,7209,-0.58,-116.8,646.6,-6.0,788,7214,0.00,2.15,0.00,0.000,4,0.000,0.039,2511,408,3267,0,0,0,0,0,0
$GC,7263,-0.58,-116.8,650.4,-7.6,790,7267,0.00,2.08,0.00,0.000,6,0.000,0.024,2508,1799,3267,0,0,0,0,0,0
$GC,7578,-0.58,-116.8,672.0,-7.1,806,7582,0.00,2.15,0.00,0.000,4,0.000,0.032,2503,3197,3266,0,0,0,0,0,0
$GC,7610,-0.64,-116.8,674.2,-7.4,807,7614,0.00,2.12,0.00,0.000,6,0.000,0.026,2503,1806,3267,0,0,0,0,0,0
$GC,7927,-0.64,-116.8,696.6,-6.2,823,7930,0.00,2.15,0.00,0.000,4,0.000,0.041,2503,400,3266,0,0,0,0,0,0
$GC,7990,-0.64,-116.8,700.5,-5.8,826,7994,0.00,2.10,0.00,0.000,6,0.000,0.025,2495,1802,3266,0,0,0,0,0,0
$GC,8316,-0.64,-116.8,719.7,-6.0,842,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1803,3266,0,0,0,0,0,0
$GC,8622,-0.64,-116.8,740.7,-7.4,857,8625,0.00,2.15,0.00,0.000,4,0.000,0.040,2495,403,3265,0,0,0,0,0,0
$GC,8664,-0.64,-116.8,744.3,-8.7,859,8668,0.00,2.08,0.00,0.000,6,0.000,0.025,2492,1790,3265,0,0,0,0,0,0
$GC,8990,-0.64,-116.8,770.1,-8.4,875,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1791,3265,0,0,0,0,0,0
$GC,9295,-0.64,-116.8,795.7,-8.1,890,9299,0.00,2.15,0.00,0.000,4,0.000,0.033,2491,3191,3264,0,0,0,0,0,0
$GC,9332,-0.70,-116.8,798.6,-8.1,891,9338,0.00,2.12,0.00,0.000,6,0.000,0.026,2491,1809,3264,0,0,0,0,0,0
$GC,9643,-0.70,-116.8,821.7,-7.4,907,9646,0.00,2.17,0.00,0.000,4,0.000,0.041,2491,397,3264,0,0,0,0,0,0
$GC,9695,-0.70,-116.8,826.2,-8.7,909,9700,0.00,2.12,0.00,0.000,6,0.000,0.024,2482,1805,3263,0,0,0,0,0,0
$GC,10012,-0.70,-116.8,852.9,-8.5,925,10016,0.00,2.20,0.00,0.000,4,0.000,0.041,2481,400,3263,0,0,0,0,0,0
$GC,10037,-0.70,-116.8,855.6,-10.2,926,10042,0.00,2.12,0.00,0.000,6,0.000,0.025,2472,1805,3263,0,0,0,0,0,0
$GC,10358,-0.70,-116.8,884.8,-8.9,942,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1805,3263,0,0,0,0,0,0
$GC,10664,-0.70,-116.8,911.3,-8.5,957,10668,0.00,2.20,0.00,0.000,4,0.000,0.041,2472,401,3263,0,0,0,0,0,0
$GC,10695,-0.64,-116.8,914.2,-9.6,958,10699,0.00,2.10,0.00,0.000,6,0.000,0.025,2462,1796,3263,0,0,0,0,0,0
$GC,11011,-0.60,-116.8,940.1,-7.9,974,11015,0.15,2.20,0.00,0.000,4,0.136,0.041,2510,403,3262,0,0,0,0,0,0
$GC,11058,-0.60,-116.8,943.1,-6.9,976,11063,0.00,2.10,0.00,0.000,6,0.000,0.025,2506,1795,3262,0,0,0,0,0,0
$GC,11381,-0.65,-116.8,961.6,-6.3,992,11384,0.00,2.17,0.00,0.000,4,0.000,0.035,2496,3201,3262,0,0,0,0,0,0
$GC,11417,-0.72,-116.8,964.1,-6.5,993,11423,0.00,2.15,0.00,0.000,6,0.000,0.028,2496,1807,3262,0,0,0,0,0,0
$GC,11728,-0.72,-116.8,986.1,-7.1,1009,11731,0.00,2.17,0.00,0.000,4,0.000,0.041,2496,394,3262,0,0,0,0,0,0
$GC,11775,-0.72,-116.8,990.2,-8.3,1011,11779,0.00,2.12,0.00,0.000,6,0.000,0.026,2492,1800,3262,0,0,0,0,0,0
$STATE,11789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11789,begin apogee
$GC,11792,-0.14,0.0,991.3,7.8,1012,11893,0.47,0.00,95.62,1.206,6,0.096,0.000,2657,1802,2792,0,0,0,0,0,0
$STATE,11893,end apogee,CONTROL_FINISHED_OK
$STATE,11893,begin climb
$GC,11894,0.57,116.8,994.2,0.0,1017,12005,0.60,2.28,103.97,1.174,4,0.060,0.035,2885,3150,2315,0,0,0,0,0,0
$GC,12041,0.46,123.0,990.8,7.6,1024,12052,0.12,2.33,6.65,0.925,6,0.131,0.031,2855,1759,2290,0,0,0,0,0,0
$GC,12358,0.47,136.0,967.6,7.3,1039,12378,0.00,2.28,11.75,1.064,4,0.000,0.044,2866,346,2237,0,0,0,0,0,0
$GC,12398,0.43,136.0,964.3,8.1,1041,12402,0.00,2.20,0.00,0.000,6,0.000,0.025,2866,1751,2236,0,0,0,0,0,0
$GC,12725,0.39,146.3,939.6,7.4,1057,12740,0.15,2.20,10.15,1.045,4,0.156,0.032,2824,3158,2194,0,0,0,0,0,0
$GC,12851,0.44,183.0,931.3,6.2,1062,12889,0.00,2.25,32.78,1.131,6,0.000,0.029,2832,1749,2046,0,0,0,0,0,0
$GC,13193,0.49,194.8,907.0,7.3,1079,13209,0.00,2.25,11.93,1.052,4,0.000,0.044,2843,342,1996,0,0,0,0,0,0
$GC,13239,0.54,194.8,903.1,9.4,1080,13243,0.00,2.20,0.00,0.000,6,0.000,0.025,2843,1749,1996,0,0,0,0,0,0
$GC,13555,0.54,197.1,877.5,7.8,1096,13559,0.00,2.22,0.00,0.000,4,0.000,0.033,2843,3155,1996,0,0,0,0,0,0
$GC,13576,0.55,204.7,875.9,7.5,1097,13590,0.00,2.22,10.05,1.022,6,0.000,0.031,2854,1749,1956,0,0,0,0,0,0
$GC,13903,0.56,217.6,851.4,7.3,1113,13916,0.00,0.00,12.20,1.040,6,0.000,0.000,2854,1750,1905,0,0,0,0,0,0
$GC,14206,0.57,219.6,827.7,7.8,1128,14215,0.00,2.28,3.58,0.665,4,0.000,0.032,2854,3161,1895,0,0,0,0,0,0
$GC,14237,0.57,219.6,825.1,8.8,1129,14242,0.00,2.25,0.00,0.000,6,0.000,0.030,2864,1745,1896,0,0,0,0,0,0
$GC,14554,0.57,219.6,799.5,8.3,1145,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1744,1895,0,0,0,0,0,0
$GC,14858,0.57,219.6,772.5,9.6,1160,14862,0.00,2.20,0.00,0.000,4,0.000,0.031,2864,3149,1895,0,0,0,0,0,0
$GC,14895,0.57,219.6,768.7,10.1,1161,14901,0.00,2.20,0.00,0.000,6,0.000,0.029,2874,1747,1894,0,0,0,0,0,0
$GC,15206,0.57,219.6,738.8,9.1,1177,15210,0.00,2.20,0.00,0.000,4,0.000,0.044,2885,339,1894,0,0,0,0,0,0
$GC,15231,0.57,219.6,736.2,10.3,1178,15236,0.00,2.17,0.00,0.000,6,0.000,0.025,2885,1759,1895,0,0,0,0,0,0
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$STATE,23088,end climb,SURFACE_DEPTH_REACHED
$STATE,23088,begin surface coast
$FINISH,0.4,1.024929
$STATE,23131,end surface coast,CONTROL_FINISHED_OK
$STATE,23131,begin surface
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$10V_AH,9.8,35.703
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$FG_AHR_10Vo,0.000
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$MEM,246408
$DATA_FILE_SIZE,139197,2000
$CAP_FILE_SIZE,235106,0
$CFSIZE,260165632,238723072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200410,020531,3642.780,-12207.555,38,1.0,38,14.8