version: 66.06
glider: 1
mission: 14
dive: 105
start: 10 14 109 16 4 27
data:
$ID,1
$MISSION,14
$DIVE,105
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,3
$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,-221372.95
$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,10
$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,75.495857
$FG_AHR_24V,4.6384106
$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
$GPS1,160519,6647.307,-5948.834,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,161203,6647.250,-5948.826,16,1.1,16,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.134,-0.192
$KALMAN_X,-42239.5,-1525.7,-2214.8,-15160.3,2015.3
$KALMAN_Y,10770.0,-715.8,-781.8,-19244.5,931.1
$MHEAD_RNG_PITCHd_Wd,127.1,394450,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.99,-146.6,0.0,0.0,0,81,0.00,0.00,-53.12,0.000,2,0.007,0.000,460,2031,2225,0,0,0,0,0,0
$GC,85,-0.99,-146.6,3.1,-1.7,11,132,10.10,3.20,-28.27,0.000,4,0.000,0.000,2540,587,3090,9,0,18,0,0,0
$GC,384,-0.99,-146.6,39.9,-6.9,49,392,0.52,2.47,0.00,0.007,6,0.000,0.000,2425,2250,3093,1,0,14,0,0,0
$GC,581,-0.99,-146.6,54.2,-7.4,68,597,0.60,2.78,0.00,0.007,4,0.000,0.000,2589,436,3085,2,0,17,0,0,0
$GC,602,-0.99,-146.6,55.7,-7.4,69,613,1.15,3.22,0.00,0.007,6,0.000,0.000,2258,2399,3093,3,0,20,0,0,0
$GC,937,-0.99,-146.6,81.2,-8.2,101,950,1.33,4.40,0.00,0.007,4,0.000,0.000,2597,508,3096,1,0,29,0,0,0
$STATE,1174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1174,begin apogee
$GC,1184,-0.31,0.0,100.4,7.7,122,1305,0.38,0.00,115.68,0.000,6,0.007,0.007,2675,2310,2524,1,0,0,0,0,0
$STATE,1306,end apogee,CONTROL_FINISHED_OK
$STATE,1306,begin climb
$GC,1309,0.99,146.6,110.0,0.0,134,1448,1.17,2.12,122.55,0.000,4,0.000,0.000,2961,3543,1916,1,0,8,0,0,0
$GC,1464,2.69,604.4,122.9,-7.6,148,1747,1.80,2.92,262.48,0.000,6,0.000,0.000,3354,1867,605,2,0,16,0,1,0
$GC,2072,4.38,1070.5,167.0,-7.9,207,2088,0.00,2.83,0.20,0.000,4,0.007,0.000,3353,3585,602,0,0,14,0,0,0
$GC,2104,4.98,1553.1,169.8,-8.4,209,2114,0.00,3.00,1.08,0.000,6,0.007,0.000,3353,1906,605,0,0,14,0,0,0
$GC,2439,5.55,2016.8,195.7,-7.8,241,2446,0.00,2.67,0.12,0.007,4,0.007,0.000,3354,3609,600,0,0,15,0,0,0
$GC,2543,6.12,2485.2,204.1,-8.0,249,2553,0.00,3.05,1.08,0.000,6,0.000,0.000,3355,1911,602,0,0,14,0,0,0
$GC,2877,6.65,2912.2,226.4,-6.7,281,2893,0.00,3.28,0.12,0.007,4,0.007,0.000,3356,3620,601,0,0,17,0,0,0
$GC,2920,7.20,3357.5,229.5,-7.2,284,2931,0.00,3.03,1.62,0.000,6,0.007,0.000,3353,1863,603,0,0,13,0,0,0
$GC,3256,7.77,3823.1,256.7,-7.9,316,3272,0.00,3.55,0.12,0.000,4,0.007,0.000,3352,3736,601,0,0,18,0,0,0
$GC,3423,8.29,4248.7,268.3,-6.6,330,3433,0.00,4.10,0.38,0.007,6,0.000,0.000,3354,1778,603,0,0,23,0,0,0
$GC,3758,8.79,4654.4,289.2,-6.0,362,3774,0.00,3.08,0.12,0.007,4,0.007,0.000,3353,3633,598,0,0,13,0,0,0
$GC,3808,9.33,5090.0,292.5,-6.9,366,3823,0.00,3.17,0.85,0.000,6,0.007,0.000,3356,1888,605,0,0,16,0,0,0
$GC,4137,9.84,5508.7,313.7,-6.4,397,4144,0.00,2.72,0.12,0.007,4,0.007,0.000,3355,3690,602,0,0,12,0,0,0
$GC,4397,10.35,5919.5,329.4,-6.1,419,4407,0.00,3.65,0.80,0.000,6,0.007,0.000,3356,1796,599,0,0,22,0,0,0
$GC,4732,10.82,6300.2,349.3,-5.2,451,4747,0.00,2.92,0.15,0.007,4,0.007,0.000,3353,3666,600,0,0,15,0,0,0
$GC,4905,11.35,6735.1,359.8,-6.9,466,4921,0.00,3.15,0.80,0.000,6,0.007,0.000,3356,1809,601,0,0,19,0,0,0
$GC,5235,11.88,7162.0,382.3,-6.6,497,5250,0.00,2.88,0.12,0.007,4,0.007,0.000,3355,3549,601,0,0,15,0,0,0
$GC,5334,12.42,7606.9,389.4,-7.2,505,5344,0.00,3.17,1.05,0.000,6,0.007,0.000,3359,1857,602,0,0,16,0,0,0
$GC,5669,12.96,8041.1,412.5,-6.9,537,5684,0.00,3.28,0.12,0.000,4,0.007,0.000,3355,3610,604,0,0,17,0,0,0
$GC,5777,13.48,8466.2,420.0,-6.6,546,5792,0.00,2.67,1.50,0.000,6,0.007,0.000,3352,1890,594,0,0,13,0,0,0
$GC,6107,14.00,8890.0,439.9,-6.5,577,6113,0.00,2.78,0.00,0.007,4,0.000,0.000,3353,3601,612,0,0,14,0,0,0
$GC,6349,14.54,9329.6,458.2,-7.1,598,6365,0.00,3.05,0.00,0.000,6,0.007,0.000,3353,1738,602,0,0,15,0,0,0
$GC,6679,15.02,9719.1,478.1,-5.5,629,6695,0.00,3.78,0.00,0.007,4,0.007,0.000,3355,3631,600,0,0,23,0,0,0
$GC,6790,15.51,10118.0,484.5,-5.7,638,6800,0.00,3.65,0.00,0.007,6,0.007,0.000,3355,1817,590,0,0,17,0,0,0
$GC,7125,16.00,10514.7,503.6,-5.7,670,7141,0.00,2.78,0.00,0.007,4,0.007,0.000,3356,3623,602,0,0,17,0,0,0
$GC,7220,16.53,10941.9,509.5,-6.7,678,7236,0.00,3.22,0.00,0.000,6,0.007,0.000,3351,1710,603,0,0,15,0,0,0
$GC,7550,17.02,11346.0,529.5,-5.9,709,7567,0.00,3.60,0.00,0.007,4,0.007,0.000,3353,3649,600,0,0,16,0,0,0
$GC,7669,17.55,11773.0,537.2,-6.6,719,7686,0.00,3.78,0.00,0.007,6,0.007,0.000,3363,1805,601,0,0,19,0,0,0
$GC,8000,18.04,12172.2,556.9,-5.8,750,8014,0.00,2.97,0.00,0.007,4,0.000,0.000,3354,3483,609,0,0,15,0,0,0
$GC,8094,18.56,12593.1,562.7,-6.5,758,8108,0.00,2.97,0.00,0.007,6,0.007,0.000,3354,1796,599,0,0,16,0,0,0
$GC,8423,19.01,12963.1,579.6,-4.8,789,8439,0.00,3.80,0.00,0.007,4,0.007,0.000,3358,3707,601,0,0,19,0,0,0
$GC,8496,19.48,13340.1,583.2,-5.0,795,8512,0.00,3.03,0.00,0.007,6,0.007,0.000,3356,1910,600,0,0,13,0,0,0
$GC,8827,19.95,13728.9,600.6,-5.4,826,8843,0.00,3.03,0.00,0.007,4,0.007,0.000,3357,3569,604,0,0,15,0,0,0
$GC,9095,20.42,14108.6,614.6,-5.1,849,9101,0.00,2.83,0.00,0.007,6,0.007,0.000,3356,1936,600,0,0,14,0,0,0
$GC,9419,20.89,14492.3,631.4,-5.3,880,9435,0.00,3.65,0.00,0.007,4,0.007,0.000,3356,3602,599,0,0,21,0,0,0
$GC,9687,21.37,14878.4,645.4,-5.3,903,9696,0.00,3.72,0.00,0.000,6,0.007,0.000,3355,1918,603,0,0,19,0,0,0
$GC,10021,21.85,15270.8,663.9,-5.5,935,10036,0.00,2.90,0.00,0.007,4,0.007,0.000,3357,3465,621,0,0,18,0,0,0
$GC,10288,22.36,15683.2,678.8,-6.2,958,10294,0.00,3.15,0.00,0.007,6,0.007,0.000,3355,1878,600,0,0,18,0,0,0
$GC,10619,22.86,16088.8,699.1,-6.0,990,10625,0.00,2.67,0.00,0.000,4,0.007,0.000,3350,3571,601,0,0,12,0,0,0
$GC,10810,23.37,16504.5,710.4,-6.3,1006,10816,0.00,2.90,0.00,0.007,6,0.007,0.000,3351,1764,595,0,0,13,0,0,0
$GC,11135,23.81,16864.0,725.7,-4.5,1037,11150,0.00,3.17,0.12,0.007,4,0.007,0.000,3357,3628,601,0,0,15,0,0,0
$GC,11402,24.32,17278.5,742.1,-6.3,1060,11412,0.00,3.65,0.77,0.000,6,0.007,0.000,3353,1865,602,0,0,20,0,0,0
$GC,11737,24.78,17649.6,760.4,-4.9,1092,11753,0.00,3.62,0.12,0.007,4,0.000,0.000,3354,3556,598,0,0,19,0,0,0
$GC,12006,25.25,18033.0,774.5,-5.3,1115,12016,0.00,2.92,1.58,0.000,6,0.000,0.000,3354,1837,607,0,0,12,0,0,0
$GC,12341,25.28,18106.4,785.3,4.7,1147,12356,0.00,3.58,0.12,0.007,4,0.007,0.000,3354,3646,599,0,0,20,0,0,0
$GC,12597,25.04,18106.4,758.7,10.0,1169,12607,0.00,3.95,0.75,0.000,6,0.000,0.000,3362,2007,598,0,0,24,0,0,0
$GC,12931,25.04,18106.4,727.4,8.8,1201,12947,0.00,3.80,0.15,0.000,4,0.007,48.622,3355,3745,603,0,0,21,0,0,0
$GC,13071,24.96,18106.4,715.9,8.7,1213,13088,0.00,3.60,0.43,0.000,6,0.007,0.000,3353,1861,599,0,0,18,0,0,0
$GC,13402,25.13,18134.7,694.3,6.1,1244,13417,0.00,3.05,0.20,0.007,4,0.007,0.000,3357,3719,602,0,0,14,0,0,0
$GC,13670,25.58,18134.7,675.2,7.7,1267,13680,0.00,3.45,1.27,0.000,6,0.007,0.000,3354,1823,607,0,0,19,0,0,0
$GC,14004,25.58,18134.7,648.2,8.0,1299,14011,0.00,2.65,0.15,0.007,4,0.007,0.000,3351,197,601,0,0,14,0,0,0
$GC,14248,25.49,18134.7,627.7,9.7,1320,14264,0.00,3.55,0.43,0.000,6,0.007,0.000,3355,2138,602,0,0,19,0,0,0
$GC,14578,25.53,18162.8,604.2,6.1,1351,14585,0.00,2.75,0.12,0.007,4,0.000,0.000,3354,3589,601,0,0,14,0,0,0
$GC,14839,25.39,18162.8,580.4,9.6,1373,14849,0.00,2.78,1.33,0.000,6,0.007,0.000,3356,1859,602,0,0,14,0,0,0
$GC,15173,25.51,18168.8,552.1,6.8,1405,15190,0.00,3.08,0.12,0.007,4,0.000,0.000,3356,3426,595,0,0,13,0,0,0
$GC,15442,25.64,18183.4,533.7,6.6,1428,15454,0.00,2.55,2.00,0.000,6,0.007,0.000,3360,1875,601,0,0,16,0,0,0
$GC,15778,25.64,18183.4,507.6,9.0,1460,15794,0.00,3.15,0.15,0.000,4,0.007,0.000,3351,3636,600,0,0,16,0,0,0
$GC,15806,25.64,18183.4,505.1,9.2,1462,15821,0.00,3.40,0.52,0.000,6,0.007,0.000,3352,1834,600,0,0,21,0,0,0
$GC,16134,25.64,18183.4,475.0,9.4,1493,16151,0.00,3.47,0.15,0.007,4,0.007,0.000,3352,3540,602,0,0,17,0,0,0
$GC,16403,25.60,18183.4,450.4,10.1,1516,16414,0.00,3.88,0.82,0.000,6,0.007,0.000,3355,1667,572,0,0,21,0,0,0
$GC,16739,25.55,18183.4,421.2,8.6,1548,16755,0.00,3.70,0.12,0.007,4,0.000,0.000,3350,3443,600,0,0,23,0,0,0
$GC,17007,25.55,18183.4,398.1,8.4,1571,17018,0.00,3.28,1.65,0.000,6,0.007,0.000,3354,1852,601,0,0,17,0,0,0
$GC,17342,25.55,18183.4,369.7,8.0,1603,17358,0.00,3.05,0.15,0.007,4,0.007,0.000,3354,3623,599,0,0,14,0,0,0
$GC,17537,25.55,18183.4,353.6,7.7,1620,17553,0.00,2.80,1.50,0.000,6,0.007,0.000,3355,1838,602,0,0,13,0,0,0
$GC,17867,25.55,18183.4,327.9,7.3,1651,17882,0.00,3.08,0.12,0.007,4,0.000,0.000,3352,3513,601,0,0,14,0,0,0
$GC,18135,25.62,18242.3,311.3,5.1,1674,18145,0.00,3.17,1.30,0.000,6,0.007,0.000,3355,1847,603,0,0,16,0,0,0
$GC,18469,25.51,18242.3,282.9,10.5,1706,18485,0.00,3.95,0.12,0.000,4,0.007,0.000,3355,3488,599,0,0,24,0,0,0
$GC,18737,25.72,18288.2,260.1,5.6,1729,18747,0.00,2.90,1.73,0.000,6,0.007,0.000,3356,1904,603,0,0,13,0,0,0
$GC,19071,25.59,18288.2,232.0,11.5,1761,19087,0.00,3.05,0.12,0.007,4,0.007,0.000,3354,3589,604,0,0,13,0,0,0
$GC,19340,25.75,18288.2,205.8,8.0,1784,19351,0.00,3.95,0.25,0.000,6,0.007,0.000,3357,1755,599,0,0,22,0,0,0
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$10V_AH,10.7,39.506
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$MEM,330732
$DATA_FILE_SIZE,66049,2027
$CAP_FILE_SIZE,266298,8
$CFSIZE,260165632,243986432
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,36,1455,1,0
$SOUNDSPEED,1457.9
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