version: 66.06
glider: 143
mission: 10
dive: 207
start: 11 28 109 0 21 13
data:
$ID,143
$MISSION,10
$DIVE,207
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-34171.203
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$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,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,203138,6652.396,-5836.282,0,6113.0,0,-37.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,3.16
$_SM_ANGLEo,-0.3
$GPS2,203138,6652.396,-5836.282,0,6113.0,0,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,296.8,81758,-16.9,-9.167
$D_GRID,943
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,22,0.00,0.00,-5.35,0.000,2,0.000,0.000,2718,3536,2716,0,0,0,0,0,0
$GC,25,-0.73,-146.0,5.0,-0.0,1,55,0.80,0.00,-23.50,0.000,6,0.119,0.000,2459,3537,3398,0,0,0,0,0,0
$GC,394,-0.67,-146.0,54.7,-14.2,67,404,0.00,4.62,0.00,0.000,4,0.000,0.085,2459,865,3402,0,0,0,0,0,0
$GC,584,-0.60,-146.0,79.5,-11.7,101,590,0.15,2.55,0.00,0.000,6,0.232,0.081,2490,2439,3402,0,0,0,0,0,0
$GC,926,-0.68,-146.0,111.7,-9.2,151,930,0.00,2.72,0.00,0.000,4,0.000,0.100,2491,3912,3402,0,0,0,0,0,0
$GC,1056,-0.77,-146.0,123.2,-8.8,162,1061,0.17,2.62,0.00,0.000,6,0.115,0.074,2434,2438,3402,0,0,0,0,0,0
$GC,1380,-0.68,-146.0,157.0,-10.2,192,1386,0.15,2.75,0.00,0.000,4,0.217,0.096,2457,3912,3402,0,0,0,0,0,0
$GC,1525,-0.68,-146.0,171.2,-9.3,204,1531,0.00,2.60,0.00,0.000,6,0.000,0.072,2457,2466,3402,0,0,0,0,0,0
$GC,1850,-0.68,-146.0,203.1,-10.2,235,1855,0.00,2.70,0.00,0.000,4,0.000,0.099,2457,3915,3401,0,0,0,0,0,0
$GC,1945,-0.68,-146.0,213.0,-10.6,243,1949,0.00,2.58,0.00,0.000,6,0.000,0.073,2457,2467,3401,0,0,0,0,0,0
$GC,2269,-0.68,-146.0,242.6,-8.8,273,2274,0.00,2.70,0.00,0.000,4,0.000,0.099,2457,3913,3400,0,0,0,0,0,0
$GC,2411,-0.68,-146.0,254.5,-8.3,285,2415,0.00,2.53,0.00,0.000,6,0.000,0.073,2457,2498,3400,0,0,0,0,0,0
$GC,2735,-0.68,-146.0,283.1,-9.0,315,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2498,3401,0,0,0,0,0,0
$GC,3055,-0.68,-146.0,312.3,-9.7,345,3059,0.00,2.65,0.00,0.000,4,0.000,0.100,2457,3911,3401,0,0,0,0,0,0
$GC,3115,-0.68,-146.0,318.3,-10.1,350,3120,0.00,2.53,0.00,0.000,6,0.000,0.073,2457,2494,3400,0,0,0,0,0,0
$GC,3440,-0.72,-146.0,348.1,-8.7,380,3445,0.00,2.65,0.00,0.000,4,0.000,0.098,2457,3912,3400,0,0,0,0,0,0
$GC,3540,-0.78,-146.0,357.6,-9.7,388,3546,0.00,2.50,0.00,0.000,6,0.000,0.072,2457,2504,3400,0,0,0,0,0,0
$GC,3865,-0.83,-146.0,386.1,-8.4,419,3870,0.10,2.65,0.00,0.000,4,0.136,0.095,2413,3920,3400,0,0,0,0,0,0
$GC,3966,-0.73,-146.0,397.0,-11.1,427,3973,0.17,2.50,0.00,0.000,6,0.220,0.071,2451,2515,3400,0,0,0,0,0,0
$GC,4291,-0.73,-146.0,425.0,-7.9,458,4295,0.00,2.62,0.00,0.000,4,0.000,0.097,2451,3922,3401,0,0,0,0,0,0
$GC,4346,-0.78,-146.0,429.5,-8.2,462,4352,0.00,2.47,0.00,0.000,6,0.000,0.071,2451,2525,3401,0,0,0,0,0,0
$GC,4671,-0.83,-146.0,453.7,-7.4,493,4675,0.00,2.60,0.00,0.000,4,0.000,0.097,2452,3912,3401,0,0,0,0,0,0
$GC,4726,-0.89,-146.0,458.0,-7.6,497,4733,0.15,2.45,0.00,0.000,6,0.120,0.071,2405,2535,3401,0,0,0,0,0,0
$GC,5051,-0.78,-146.0,487.9,-8.7,528,5056,0.12,2.60,0.00,0.000,4,0.222,0.094,2426,3921,3401,0,0,0,0,0,0
$GC,5136,-0.73,-146.0,495.2,-8.5,535,5141,0.00,2.45,0.00,0.000,6,0.000,0.070,2426,2540,3401,0,0,0,0,0,0
$GC,5463,-0.73,-146.0,522.3,-8.9,565,5467,0.00,2.58,0.00,0.000,4,0.000,0.096,2425,3921,3401,0,0,0,0,0,0
$GC,5490,-0.68,-146.0,525.0,-9.8,567,5495,0.17,2.45,0.00,0.000,6,0.209,0.070,2466,2549,3401,0,0,0,0,0,0
$GC,5815,-0.79,-146.0,549.6,-7.6,597,5820,0.00,2.53,0.00,0.000,4,0.000,0.096,2465,3910,3402,0,0,0,0,0,0
$GC,5849,-0.90,-146.0,552.3,-8.6,600,5854,0.20,2.42,0.00,0.000,6,0.109,0.070,2401,2546,3402,0,0,0,0,0,0
$GC,6174,-0.79,-146.0,585.4,-10.3,630,6179,0.12,2.58,0.00,0.000,4,0.218,0.094,2426,3915,3402,0,0,0,0,0,0
$GC,6213,-0.75,-146.0,589.4,-9.8,633,6218,0.00,2.40,0.00,0.000,6,0.000,0.069,2426,2561,3402,0,0,0,0,0,0
$GC,6550,-0.75,-146.0,620.8,-9.1,651,6554,0.00,2.55,0.00,0.000,4,0.000,0.095,2426,3922,3402,0,0,0,0,0,0
$GC,6589,-0.75,-146.0,624.5,-9.3,652,6593,0.00,2.42,0.00,0.000,6,0.000,0.069,2426,2557,3402,0,0,0,0,0,0
$GC,6923,-0.75,-146.0,655.3,-9.3,663,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2557,3403,0,0,0,0,0,0
$GC,7229,-0.75,-146.0,683.4,-9.3,673,7233,0.00,2.53,0.00,0.000,4,0.000,0.094,2426,3913,3403,0,0,0,0,0,0
$GC,7266,-0.75,-146.0,687.2,-9.8,674,7270,0.00,2.38,0.00,0.000,6,0.000,0.068,2426,2570,3403,0,0,0,0,0,0
$GC,7596,-0.75,-146.0,717.1,-8.9,685,7600,0.00,2.50,0.00,0.000,4,0.000,0.095,2426,3913,3403,0,0,0,0,0,0
$GC,7616,-0.75,-146.0,719.0,-8.8,685,7623,0.00,2.40,0.00,0.000,6,0.000,0.068,2426,2579,3402,0,0,0,0,0,0
$GC,7929,-0.75,-146.0,746.0,-8.6,696,7934,0.00,2.50,0.00,0.000,4,0.000,0.094,2426,3923,3403,0,0,0,0,0,0
$GC,8029,-0.75,-146.0,755.3,-9.0,699,8034,0.00,2.35,0.00,0.000,6,0.000,0.068,2426,2594,3403,0,0,0,0,0,0
$GC,8366,-0.75,-146.0,783.9,-8.5,710,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2595,3403,0,0,0,0,0,0
$GC,8671,-0.75,-146.0,809.8,-8.5,720,8675,0.00,2.47,0.00,0.000,4,0.000,0.094,2426,3922,3403,0,0,0,0,0,0
$GC,8698,-0.75,-146.0,812.2,-9.4,721,8702,0.00,2.35,0.00,0.000,6,0.000,0.067,2426,2593,3403,0,0,0,0,0,0
$GC,9034,-0.75,-146.0,840.7,-8.6,732,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2594,3403,0,0,0,0,0,0
$GC,9339,-0.75,-146.0,866.2,-8.1,742,9343,0.00,2.47,0.00,0.000,4,0.000,0.094,2426,3925,3403,0,0,0,0,0,0
$GC,9382,-0.75,-146.0,870.1,-9.0,743,9386,0.00,2.35,0.00,0.000,6,0.000,0.067,2426,2594,3403,0,0,0,0,0,0
$GC,9706,-0.75,-146.0,896.1,-7.8,754,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2596,3403,0,0,0,0,0,0
$GC,10012,-0.75,-146.0,920.5,-7.9,764,10016,0.00,2.45,0.00,0.000,4,0.000,0.095,2426,3912,3403,0,0,0,0,0,0
$STATE,10071,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10071,begin apogee
$GC,10080,-0.16,0.0,925.1,7.5,766,10211,0.77,0.00,127.10,1.370,6,0.193,0.000,2631,1946,2800,0,0,0,0,0,0
$STATE,10211,end apogee,CONTROL_FINISHED_OK
$STATE,10212,begin climb
$GC,10213,0.73,146.0,927.7,0.0,770,10352,1.00,0.00,133.70,1.309,6,0.135,0.000,2914,1946,2204,0,0,0,0,0,0
$GC,10650,0.73,146.0,886.8,10.5,785,10655,0.00,3.00,0.00,0.000,4,0.000,0.087,2913,3544,2194,0,0,0,0,0,0
$GC,10688,0.64,146.0,882.4,12.0,786,10693,0.12,2.92,0.00,0.000,6,0.200,0.074,2901,1950,2193,0,0,0,0,0,0
$GC,11011,0.64,146.0,850.0,10.0,797,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1951,2192,0,0,0,0,0,0
$GC,11317,0.64,146.0,819.9,9.7,807,11322,0.00,2.90,0.00,0.000,4,0.000,0.087,2901,3545,2192,0,0,0,0,0,0
$GC,11344,0.64,146.0,817.0,10.9,808,11349,0.00,2.85,0.00,0.000,6,0.000,0.076,2911,1954,2192,0,0,0,0,0,0
$GC,11678,0.64,146.0,782.5,10.6,819,11680,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1956,2192,0,0,0,0,0,0
$GC,11984,0.64,146.0,750.5,10.5,829,11988,0.00,2.55,0.00,0.000,4,0.000,0.096,2922,361,2191,0,0,0,0,0,0
$GC,12033,0.58,146.0,745.0,11.3,830,12038,0.17,2.47,0.00,0.000,6,0.187,0.071,2881,1962,2191,0,0,0,0,0,0
$GC,12346,0.66,153.1,716.5,8.9,840,12357,0.00,2.83,5.32,0.960,4,0.000,0.087,2881,3544,2174,0,0,0,0,0,0
$GC,12401,0.66,153.1,711.0,10.1,841,12407,0.00,2.83,0.00,0.000,6,0.000,0.076,2891,1950,2174,0,0,0,0,0,0
$GC,12714,0.71,153.1,681.8,9.2,852,12719,0.00,2.55,0.00,0.000,4,0.000,0.096,2902,352,2173,0,0,0,0,0,0
$GC,12758,0.71,153.1,677.3,10.7,853,12762,0.00,2.50,0.00,0.000,6,0.000,0.071,2902,1945,2174,0,0,0,0,0,0
$GC,13082,0.71,153.1,645.1,10.2,864,13083,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1945,2174,0,0,0,0,0,0
$GC,13388,0.71,153.1,614.7,9.9,874,13389,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1945,2174,0,0,0,0,0,0
$GC,13699,0.71,153.1,584.3,10.4,892,13703,0.00,2.85,0.00,0.000,4,0.000,0.089,2902,3538,2174,0,0,0,0,0,0
$GC,13726,0.71,153.1,581.4,11.0,894,13730,0.00,2.83,0.00,0.000,6,0.000,0.077,2914,1947,2173,0,0,0,0,0,0
$GC,14052,0.71,153.1,547.6,10.1,924,14057,0.00,2.53,0.00,0.000,4,0.000,0.096,2925,360,2173,0,0,0,0,0,0
$GC,14103,0.66,153.1,541.8,11.4,928,14107,0.00,2.42,0.00,0.000,6,0.000,0.073,2926,1942,2173,0,0,0,0,0,0
$GC,14427,0.61,153.1,506.5,11.1,958,14433,0.15,2.88,0.00,0.000,4,0.202,0.088,2881,3537,2173,0,0,0,0,0,0
$GC,14467,0.66,153.1,502.4,9.2,961,14471,0.00,2.83,0.00,0.000,6,0.000,0.077,2891,1947,2173,0,0,0,0,0,0
$GC,14791,0.75,165.2,474.1,8.7,991,14812,0.12,2.58,11.50,1.016,4,0.117,0.097,2945,359,2125,0,0,0,0,0,0
$GC,14825,0.67,165.2,470.7,10.6,994,14830,0.15,2.45,0.00,0.000,6,0.199,0.073,2911,1954,2125,0,0,0,0,0,0
$GC,15149,0.67,165.2,439.4,9.6,1024,15150,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1954,2124,0,0,0,0,0,0
$GC,15468,0.67,165.2,409.3,9.4,1054,15470,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1955,2124,0,0,0,0,0,0
$GC,15786,0.67,165.2,379.1,9.4,1084,15790,0.00,2.85,0.00,0.000,4,0.000,0.087,2912,3543,2125,0,0,0,0,0,0
$GC,15806,0.67,165.2,376.9,9.3,1085,15812,0.00,2.83,0.00,0.000,6,0.000,0.077,2922,1952,2125,0,0,0,0,0,0
$GC,16131,0.67,165.2,345.9,9.5,1116,16135,0.00,2.55,0.00,0.000,4,0.000,0.096,2933,353,2125,0,0,0,0,0,0
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$STATE,19501,begin surface
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$10V_AH,10.1,23.586
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152576
$DATA_FILE_SIZE,59785,1504
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$CFSIZE,260165632,233664512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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