version: 66.06
glider: 1
mission: 14
dive: 79
start: 10 8 109 9 51 38
data:
$ID,1
$MISSION,14
$DIVE,79
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,470
$T_MISSION,530
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-220769.81
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,2
$R_STBD_OVSHOOT,4
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,250
$VBD_MAXERRORS,5
$CF8_MAXERRORS,20
$AH0_24V,300
$AH0_10V,200
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,70.368271
$FG_AHR_24V,4.6384048
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.036699742
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0072730002
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,48
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,095210,6655.257,-5808.171,8,1.1,9,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,095846,6655.269,-5808.119,24,1.1,24,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.094,-0.214
$KALMAN_X,9167.5,-487.3,-6358.6,9692.9,2168.8
$KALMAN_Y,8481.2,-1059.6,-178.8,-2372.5,-229.7
$MHEAD_RNG_PITCHd_Wd,138.2,362988,-13.0,-7.021
$D_GRID,100
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,88,0.00,0.00,-58.38,0.000,2,0.007,0.000,393,2292,2363,0,0,0,0,0,0
$GC,92,-0.99,-146.6,3.3,-2.7,12,145,10.38,3.45,-23.40,0.000,4,0.000,0.000,2527,513,3073,11,0,16,0,0,0
$GC,398,-0.99,-146.6,45.1,-7.6,49,414,0.38,3.78,-0.62,0.000,6,0.000,0.000,2445,2274,3096,1,0,20,0,0,0
$GC,602,-0.99,-146.6,60.7,-7.6,68,619,0.35,2.80,0.00,0.007,4,0.000,0.000,2525,463,3097,1,0,14,0,0,0
$GC,668,-0.99,-146.6,66.2,-7.8,73,676,0.30,3.30,0.00,0.000,6,0.007,0.000,2443,2297,3100,1,0,20,0,0,0
$GC,993,-0.99,-146.6,98.8,-10.7,104,1009,0.60,3.70,0.00,0.000,4,0.000,0.000,2540,435,3091,2,0,21,0,0,0
$STATE,1011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1012,begin apogee
$GC,1022,-0.31,0.0,100.9,10.7,105,1152,0.85,0.00,119.80,0.000,6,0.000,0.007,2691,2174,2511,2,0,0,0,1,0
$STATE,1153,end apogee,CONTROL_FINISHED_OK
$STATE,1153,begin climb
$GC,1158,0.99,146.6,113.8,0.0,118,1297,1.10,2.78,118.57,0.000,4,0.000,0.000,2960,3624,1919,2,0,13,0,0,0
$GC,1549,2.76,617.9,149.6,-8.1,153,1832,1.83,3.12,262.38,0.000,6,0.000,0.000,3328,1911,606,2,0,16,0,1,0
$GC,2156,4.33,1030.4,193.3,-6.2,212,2172,0.00,3.38,0.20,0.007,4,0.007,0.000,3328,3786,615,0,0,18,0,0,0
$GC,2323,4.94,1531.3,204.7,-9.0,226,2333,0.00,3.65,1.08,0.000,6,0.007,0.000,3330,1827,609,0,0,15,0,0,0
$GC,2658,5.50,1981.2,235.6,-7.4,258,2674,0.00,3.55,0.15,0.000,4,0.007,0.000,3327,3567,619,0,0,17,0,0,0
$GC,2926,6.03,2416.1,253.9,-6.9,281,2938,0.00,2.95,1.85,0.000,6,0.007,0.000,3331,1909,617,0,0,13,0,0,0
$GC,3263,6.67,2935.6,283.2,-9.6,313,3280,0.00,3.75,0.17,0.007,4,0.007,0.000,3324,3545,613,0,0,22,0,0,0
$GC,3377,7.24,3402.2,293.1,-7.9,322,3387,0.00,3.08,1.05,0.000,6,0.007,0.000,3328,2037,615,0,0,16,0,0,0
$GC,3712,7.85,3895.0,320.9,-8.8,354,3728,0.00,2.95,0.28,0.000,4,0.007,0.000,3325,3651,614,0,0,11,0,0,0
$GC,3740,8.47,4398.5,323.4,-9.1,356,3755,0.00,3.03,1.05,0.000,6,0.007,0.000,3326,1857,617,0,0,15,0,0,0
$GC,4070,9.07,4889.2,353.5,-8.7,387,4085,0.00,3.30,0.95,0.000,4,0.007,0.000,3327,3651,615,0,0,20,0,0,0
$GC,4200,9.71,5409.1,365.7,-9.6,398,4216,0.00,2.78,1.33,0.000,6,0.007,0.001,3329,1934,617,0,0,14,0,0,0
$GC,4530,10.24,5836.9,389.8,-6.7,429,4546,0.00,2.70,0.47,0.000,4,0.007,0.000,3327,3653,616,0,0,13,0,0,0
$GC,4580,10.85,6334.9,394.1,-8.9,433,4596,0.00,3.17,1.15,0.000,6,0.007,0.000,3328,1818,617,0,0,13,0,0,0
$GC,4910,11.37,6760.9,417.5,-6.6,464,4925,0.00,3.03,0.25,0.007,4,0.007,0.000,3327,3622,607,0,0,16,0,0,0
$GC,5076,11.91,7194.4,428.6,-6.9,478,5097,0.00,4.53,4.53,0.000,6,0.007,0.000,3328,1751,604,0,0,28,0,0,0
$GC,5412,12.46,7643.2,452.2,-7.3,510,5428,0.00,3.45,0.12,0.007,4,0.007,0.000,3328,3505,604,0,0,22,0,0,0
$GC,5439,13.02,8096.2,454.3,-7.5,512,5455,0.00,2.95,1.12,0.000,6,0.007,0.000,3327,1850,602,0,0,15,0,0,0
$GC,5769,13.55,8527.6,479.3,-6.8,543,5786,0.00,3.40,0.12,0.007,4,0.007,0.000,3326,3556,605,0,0,16,0,0,0
$GC,5907,14.11,8982.8,489.4,-7.6,554,5913,0.00,2.65,0.00,0.007,6,0.007,0.000,3327,1783,606,0,0,12,0,0,0
$GC,6232,14.68,9445.8,513.7,-7.8,585,6238,0.00,2.75,0.00,0.007,4,0.007,0.001,3327,3609,606,0,0,12,0,0,0
$GC,6295,15.28,9932.2,518.7,-8.6,590,6311,0.00,2.80,0.00,0.007,6,0.007,0.000,3325,1875,600,0,0,12,0,0,0
$GC,6625,15.78,10346.1,540.8,-6.2,621,6640,0.00,3.28,0.00,0.007,4,0.000,0.000,3323,3573,606,0,0,17,0,0,0
$GC,6893,16.30,10762.6,557.4,-6.3,644,6899,0.00,2.97,0.00,0.007,6,0.007,0.000,3327,1904,604,0,0,12,0,0,0
$GC,7219,16.79,11160.0,580.2,-5.7,675,7233,0.00,3.03,0.00,0.007,4,0.007,0.000,3330,3779,604,0,0,16,0,0,0
$GC,7486,17.40,11660.4,597.7,-9.0,698,7496,0.00,4.32,0.00,0.007,6,0.000,0.000,3326,1966,605,0,0,23,0,0,0
$GC,7821,17.89,12061.4,619.6,-5.8,730,7836,0.00,3.10,0.00,0.007,4,0.007,0.000,3328,3634,601,0,0,17,0,0,0
$GC,7933,18.47,12532.1,627.1,-8.1,739,7939,0.00,3.00,0.00,0.007,6,0.000,0.000,3328,1905,605,0,0,13,0,0,0
$GC,8257,18.98,12941.5,648.2,-6.1,770,8272,0.00,3.05,0.00,0.007,4,0.007,0.000,3323,3548,603,0,0,17,0,0,0
$GC,8363,19.51,13371.4,654.8,-6.7,779,8379,0.00,3.80,0.00,0.007,6,0.007,0.000,3323,1862,605,0,0,22,0,0,0
$GC,8694,20.11,13861.0,682.6,-8.7,810,8708,0.00,3.03,0.00,0.007,4,0.007,0.000,3329,3621,604,0,0,17,0,0,0
$GC,8754,20.67,14317.2,687.2,-7.6,815,8769,0.00,3.17,0.00,0.007,6,0.007,0.000,3327,1682,605,0,0,15,0,0,0
$GC,9083,21.19,14741.5,709.4,-6.6,846,9098,0.00,3.28,0.00,0.007,4,0.000,0.000,3325,3650,603,0,0,16,0,0,0
$GC,9181,21.76,15205.8,716.3,-7.8,854,9188,0.00,3.28,0.00,0.007,6,0.000,0.000,3328,1826,603,0,0,16,0,0,0
$GC,9506,22.30,15643.4,739.3,-7.0,885,9521,0.00,3.30,0.00,0.000,4,0.007,0.000,3330,3787,605,0,0,19,0,0,0
$GC,9637,22.85,16092.6,749.2,-7.4,896,9651,0.00,3.40,0.00,0.007,6,0.000,0.000,3325,1826,605,0,0,18,0,0,0
$GC,9966,23.37,16509.6,769.4,-6.3,927,9983,0.00,3.15,0.00,0.007,4,0.007,0.000,3328,3637,604,0,0,13,0,0,0
$GC,10237,23.93,16968.4,789.9,-7.7,950,10247,0.00,2.90,1.20,0.000,6,0.007,0.000,3327,2032,606,0,0,13,0,0,0
$GC,10572,24.43,17378.7,811.4,-6.1,982,10579,0.00,2.65,0.12,0.000,4,0.007,0.000,3325,3545,602,0,0,12,0,0,0
$GC,10831,24.93,17780.4,827.1,-5.8,1004,10842,0.00,3.03,1.23,0.000,6,0.007,0.000,3323,1804,607,0,0,17,0,0,0
$GC,11167,25.54,18275.3,851.8,-8.8,1036,11183,0.00,3.70,0.12,0.000,4,0.007,0.000,3330,3607,605,0,0,18,0,0,0
$GC,11269,26.13,18757.2,860.3,-8.4,1044,11279,0.00,3.30,0.65,0.000,6,0.007,0.000,3329,1786,604,0,0,19,0,0,0
$GC,11606,26.64,19173.9,883.3,-6.3,1076,11622,0.00,3.62,0.12,0.007,4,0.000,0.000,3325,3601,594,0,0,19,0,0,0
$GC,11875,27.17,19603.1,900.4,-6.7,1099,11885,0.00,2.67,1.67,0.000,6,0.000,0.000,3325,1834,607,0,0,12,0,0,0
$GC,12209,27.56,19917.8,920.4,-3.1,1131,12225,0.00,3.38,0.12,0.007,4,0.000,0.000,3329,3582,602,0,0,16,0,0,0
$GC,12477,27.24,19917.8,908.4,10.7,1154,12488,0.00,3.03,1.73,0.000,6,0.007,0.000,3325,1806,602,0,0,18,0,0,0
$GC,12812,27.24,19917.8,874.5,7.1,1186,12827,0.00,3.22,0.17,0.000,4,0.007,0.000,3328,3571,603,0,0,16,0,0,0
$GC,13080,27.17,19917.8,854.9,8.7,1209,13091,0.00,3.33,1.15,0.000,6,0.007,0.000,3325,1717,602,0,0,17,0,0,0
$GC,13416,27.34,19966.4,834.6,5.5,1241,13432,0.00,3.10,0.12,0.007,4,0.007,0.000,3328,3626,604,0,0,12,0,0,0
$GC,13454,27.34,19966.4,831.8,8.0,1244,13470,0.00,3.08,0.98,0.000,6,0.007,0.000,3329,1747,603,0,0,16,0,0,0
$GC,13785,27.73,19972.4,809.8,6.8,1275,13791,0.00,2.17,0.12,0.007,4,0.007,0.000,3328,396,608,0,0,10,0,0,0
$GC,13830,27.74,19979.1,806.7,6.8,1278,13840,0.00,3.30,1.02,0.000,6,0.007,0.000,3326,2305,611,0,0,16,0,0,0
$GC,14164,27.74,19984.1,780.5,6.9,1310,14171,0.00,2.50,0.12,0.000,4,0.007,0.000,3325,3775,603,0,0,14,0,0,0
$GC,14423,27.74,19984.1,761.6,7.3,1332,14435,0.00,3.30,1.60,0.000,6,0.000,0.000,3329,1734,604,0,0,18,0,0,0
$GC,14760,27.89,19999.5,737.2,6.5,1364,14776,0.00,3.03,0.12,0.007,4,0.007,0.000,3326,3596,606,0,0,15,0,0,0
$GC,15028,27.89,19999.5,717.8,7.3,1387,15039,0.00,2.97,1.90,0.000,6,0.000,0.000,3325,1850,602,0,0,15,0,0,0
$GC,15363,27.89,19999.5,693.3,7.7,1419,15379,0.00,3.40,0.12,0.007,4,0.000,0.000,3325,3762,608,0,0,20,0,0,0
$GC,15631,27.89,19999.5,673.1,7.1,1442,15643,0.00,3.42,1.10,0.000,6,0.007,0.000,3328,1852,605,0,0,18,0,0,0
$GC,15968,27.90,20004.5,648.5,6.9,1474,15983,0.00,2.88,0.12,0.007,4,0.007,0.000,3323,3665,602,0,0,13,0,0,0
$GC,16235,27.92,20019.5,629.5,6.5,1497,16247,0.00,3.22,1.30,0.000,6,0.007,0.000,3328,1783,605,0,0,15,0,0,0
$GC,16571,27.82,20019.5,604.5,9.6,1529,16587,0.00,3.53,0.15,0.007,4,0.000,0.000,3328,3671,603,0,0,20,0,0,0
$GC,16840,27.87,20020.1,581.0,7.0,1552,16852,0.00,2.83,1.77,0.000,6,0.007,0.000,3328,2039,607,0,0,12,0,0,0
$GC,17176,27.87,20020.1,555.2,8.2,1584,17183,0.00,2.42,0.15,0.007,4,0.000,0.000,3325,3555,604,0,0,12,0,0,0
$GC,17435,27.87,20020.1,534.2,7.3,1606,17445,0.00,3.70,1.23,0.000,6,0.007,0.000,3327,1972,596,0,0,19,0,0,0
$GC,17770,27.87,20020.1,507.8,7.5,1638,17785,0.00,3.42,0.12,0.000,4,0.007,0.000,3328,3711,603,0,0,18,0,0,0
$GC,18037,27.87,20020.1,486.8,7.7,1661,18048,0.00,3.38,1.88,0.000,6,0.007,0.000,3325,1856,604,0,0,15,0,0,0
$GC,18374,27.87,20020.1,460.9,7.8,1693,18389,0.00,3.90,0.12,0.007,4,0.007,0.000,3323,3689,607,0,0,23,0,0,0
$GC,18642,27.88,20021.7,440.7,7.0,1716,18652,0.00,2.95,1.35,0.000,6,0.007,0.000,3326,1836,608,0,0,15,0,0,0
$GC,18977,27.77,20021.7,413.2,9.0,1748,18993,0.00,3.20,0.15,0.007,4,0.007,0.000,3326,3607,605,0,0,18,0,0,0
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$STATE,23879,end climb,SURFACE_DEPTH_REACHED
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$IRIDIUM_FIX,0.00,0.00,010170,000000
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$TCM_TEMP,15.00
$XPDR_PINGS,-1
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$10V_AH,10.7,37.074
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,70.589
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$DEVICE_SECS,29.975,296.350,551.925,0.000,0.000,0.000,0.000,127.424,0.000,0.000,25.140,3773.863,16164.259,1380.286,2355.593,722.518,33.363,1660.688,0.000,2243.549,3240.000,2.424,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336680
$DATA_FILE_SIZE,72269,2215
$CAP_FILE_SIZE,286237,0
$CFSIZE,260165632,246669312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,34,1516,2,0
$SOUNDSPEED,1463.0
$GPS,081009,164155,6655.723,-5812.932,16,1.1,16,18.0