version: 66.06
glider: 146
mission: 5
dive: 15
start: 8 14 110 22 36 41
data:
$ID,146
$MISSION,5
$DIVE,15
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$D_NO_BLEED,200
$D_BOOST,4
$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,333
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52407
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$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,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-247479.06
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3010
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$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,0.0043563824
$SEABIRD_T_H,0.00063101487
$SEABIRD_T_I,2.4083547e-05
$SEABIRD_T_J,2.5612533e-06
$SEABIRD_C_G,-9.9059887
$SEABIRD_C_H,1.1423759
$SEABIRD_C_I,-0.0019893181
$SEABIRD_C_J,0.00023308786
$GPS1,222851,2147.831,-15814.001,36,99.0,55,9.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-67.4
$GPS2,223546,2147.854,-15813.945,14,99.0,33,9.9
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,STNA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.081,0.226
$KALMAN_X,1613.7,1104.7,-52.4,-8409.8,-895.6
$KALMAN_Y,444.9,497.7,438.8,12087.8,-1284.4
$MHEAD_RNG_PITCHd_Wd,9.9,108480,-14.1,-8.008
$D_GRID,800
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.06,-146.0,0.0,0.0,0,105,0.00,0.00,-86.93,0.000,2,0.000,0.000,476,1752,3515,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.8,-7.0,11,134,12.05,2.70,-1.35,0.000,4,0.155,0.043,2770,3403,3602,0,0,0,0,0,0
$GC,191,-0.99,-146.0,30.1,-15.5,22,201,0.08,2.58,0.00,0.000,6,0.089,0.034,2791,1831,3602,0,0,0,0,0,0
$GC,458,-0.91,-146.0,66.3,-12.5,47,463,0.00,2.78,0.00,0.000,4,0.000,0.072,2791,224,3602,0,0,0,0,0,0
$GC,541,-0.91,-146.0,77.3,-11.2,53,551,0.00,2.47,0.00,0.000,6,0.000,0.023,2790,1827,3602,0,0,0,0,0,0
$GC,803,-0.91,-146.0,103.5,-8.8,78,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1828,3603,0,0,0,0,0,0
$GC,1057,-0.91,-146.0,126.7,-9.4,102,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1829,3604,0,0,0,0,0,0
$GC,1312,-0.91,-146.0,151.2,-9.3,126,1316,0.00,2.78,0.00,0.000,4,0.000,0.073,2791,218,3604,0,0,0,0,0,0
$GC,1335,-0.91,-146.0,153.4,-9.8,127,1340,0.00,2.38,0.00,0.000,6,0.000,0.025,2791,1798,3604,0,0,0,0,0,0
$GC,1597,-0.91,-146.0,177.2,-8.8,152,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1798,3604,0,0,0,0,0,0
$GC,1852,-0.91,-146.0,198.3,-8.0,176,1856,0.00,2.42,0.00,0.000,4,0.000,0.037,2791,3351,3604,0,0,0,0,0,0
$GC,1886,-0.95,-146.0,200.6,-7.9,178,1890,0.00,2.50,0.00,0.000,6,0.000,0.037,2791,1772,3604,0,0,0,0,0,0
$GC,2136,-0.95,-146.0,219.6,-7.4,184,2140,0.00,2.67,0.00,0.000,4,0.000,0.074,2790,224,3604,0,0,0,0,0,0
$GC,2209,-1.02,-146.0,225.6,-8.3,185,2213,0.00,2.33,0.00,0.000,6,0.000,0.024,2791,1755,3604,0,0,0,0,0,0
$GC,2464,-1.02,-146.0,245.0,-7.9,192,2469,0.00,2.62,0.00,0.000,4,0.000,0.077,2791,227,3604,0,0,0,0,0,0
$GC,2504,-1.07,-146.0,248.2,-7.9,193,2508,0.00,2.30,0.00,0.000,6,0.000,0.027,2791,1739,3603,0,0,0,0,0,0
$GC,2788,-1.07,-146.0,269.9,-7.7,200,2793,0.00,2.58,0.00,0.000,4,0.000,0.035,2790,3357,3603,0,0,0,0,0,0
$GC,2828,-1.16,-146.0,273.1,-8.2,201,2833,0.15,2.58,0.00,0.000,6,0.071,0.033,2748,1749,3603,0,0,0,0,0,0
$GC,3112,-1.16,-146.0,300.4,-9.7,208,3117,0.00,2.67,0.00,0.000,4,0.000,0.086,2748,226,3602,0,0,0,0,0,0
$GC,3139,-1.16,-146.0,303.4,-9.9,208,3143,0.00,2.38,0.00,0.000,6,0.000,0.026,2748,1745,3602,0,0,0,0,0,0
$GC,3395,-1.16,-146.0,326.8,-9.0,215,3399,0.00,2.62,0.00,0.000,4,0.000,0.049,2748,3366,3601,0,0,0,0,0,0
$GC,3422,-1.16,-146.0,329.2,-8.8,215,3426,0.00,2.62,0.00,0.000,6,0.000,0.043,2748,1765,3601,0,0,0,0,0,0
$GC,3673,-1.16,-146.0,351.7,-9.2,221,3677,0.00,2.80,0.00,0.000,4,0.000,0.100,2748,214,3600,0,0,0,0,0,0
$GC,3762,-1.16,-146.0,360.5,-9.8,223,3766,0.00,2.35,0.00,0.000,6,0.000,0.031,2748,1711,3600,0,0,0,0,0,0
$GC,4041,-1.16,-146.0,383.4,-7.7,230,4045,0.00,2.72,0.00,0.000,4,0.000,0.051,2748,3359,3598,0,0,0,0,0,0
$GC,4085,-1.16,-146.0,386.8,-7.3,231,4089,0.00,2.72,0.00,0.000,6,0.000,0.061,2748,1744,3598,0,0,0,0,0,0
$GC,4362,-1.16,-146.0,407.1,-7.4,238,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1744,3597,0,0,0,0,0,0
$GC,4607,-1.16,-146.0,426.6,-8.1,244,4611,0.00,2.85,0.00,0.000,4,0.000,0.115,2748,218,3596,0,0,0,0,0,0
$GC,4639,-1.16,-146.0,429.7,-8.9,244,4645,0.00,2.42,0.00,0.000,6,0.000,0.041,2748,1718,3596,0,0,0,0,0,0
$GC,4889,-1.16,-146.0,450.4,-8.2,251,4893,0.00,2.78,0.00,0.000,4,0.000,0.068,2748,3355,3594,0,0,0,0,0,0
$GC,4928,-1.20,-146.0,453.7,-9.0,252,4933,0.00,2.70,0.00,0.000,6,0.000,0.061,2748,1756,3594,0,0,0,0,0,0
$GC,5212,-1.20,-146.0,474.7,-7.2,259,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1756,3592,0,0,0,0,0,0
$GC,5455,-1.20,-146.0,491.6,-7.0,265,5460,0.00,2.67,0.00,0.000,4,0.000,0.060,2748,3345,3590,0,0,0,0,0,0
$GC,5517,-1.25,-146.0,496.2,-7.9,266,5522,0.00,2.72,0.00,0.000,6,0.000,0.069,2748,1771,3590,0,0,0,0,0,0
$GC,5778,-1.25,-146.0,515.5,-7.3,273,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1771,3588,0,0,0,0,0,0
$GC,6022,-1.25,-146.0,534.6,-7.9,279,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1771,3586,0,0,0,0,0,0
$GC,6265,-1.25,-146.0,553.1,-7.5,285,6270,0.00,2.75,0.00,0.000,4,0.000,0.079,2748,3341,3585,0,0,0,0,0,0
$GC,6306,-1.31,-146.0,556.0,-7.3,286,6311,0.10,2.78,0.00,0.000,6,0.093,0.075,2722,1771,3584,0,0,0,0,0,0
$GC,6590,-1.31,-146.0,577.3,-7.3,293,6595,0.00,2.75,0.00,0.000,4,0.000,0.077,2722,3349,3583,0,0,0,0,0,0
$GC,6622,-1.31,-146.0,579.9,-7.9,293,6628,0.00,2.78,0.00,0.000,6,0.000,0.082,2722,1782,3583,0,0,0,0,0,0
$GC,6874,-1.31,-146.0,598.3,-7.4,300,6879,0.00,3.10,0.00,0.000,4,0.000,0.142,2722,213,3581,0,0,0,0,0,0
$GC,6913,-1.31,-146.0,601.7,-8.4,301,6917,0.00,2.58,0.00,0.000,6,0.000,0.061,2721,1733,3580,0,0,0,0,0,0
$GC,7197,-1.31,-146.0,622.8,-7.1,308,7202,0.00,2.97,0.00,0.000,4,0.000,0.107,2721,3341,3579,0,0,0,0,0,0
$GC,7229,-1.31,-146.0,625.6,-8.4,308,7235,0.00,2.88,0.00,0.000,6,0.000,0.096,2721,1780,3579,0,0,0,0,0,0
$GC,7480,-1.31,-146.0,643.9,-7.2,315,7485,0.00,2.85,0.00,0.000,4,0.000,0.100,2721,3342,3578,0,0,0,0,0,0
$GC,7519,-1.31,-146.0,646.9,-7.7,316,7524,0.00,2.90,0.00,0.000,6,0.000,0.110,2721,1795,3577,0,0,0,0,0,0
$GC,7804,-1.31,-146.0,668.4,-7.7,323,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1795,3575,0,0,0,0,0,0
$GC,8046,-1.31,-146.0,688.6,-8.3,329,8050,0.00,2.92,0.00,0.000,4,0.000,0.120,2722,3342,3574,0,0,0,0,0,0
$GC,8085,-1.31,-146.0,692.0,-8.5,330,8089,0.00,2.80,0.00,0.000,6,0.000,0.092,2721,1794,3574,0,0,0,0,0,0
$GC,8369,-1.31,-146.0,715.8,-8.4,337,8373,0.00,3.15,0.00,0.000,4,0.000,0.144,2721,209,3573,0,0,0,0,0,0
$GC,8395,-1.31,-146.0,718.3,-10.1,337,8400,0.00,2.58,0.00,0.000,6,0.000,0.058,2721,1743,3573,0,0,0,0,0,0
$GC,8645,-1.31,-146.0,738.9,-8.1,343,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1744,3572,0,0,0,0,0,0
$GC,8891,-1.31,-146.0,757.0,-7.3,349,8895,0.00,2.90,0.00,0.000,4,0.000,0.101,2722,3341,3571,0,0,0,0,0,0
$GC,8940,-1.31,-146.0,760.8,-7.7,350,8945,0.00,2.75,0.00,0.000,6,0.000,0.081,2721,1785,3570,0,0,0,0,0,0
$GC,9212,-1.31,-146.0,780.4,-7.4,357,9217,0.00,2.75,0.00,0.000,4,0.000,0.082,2721,3346,3569,0,0,0,0,0,0
$GC,9241,-1.31,-146.0,782.6,-8.1,357,9245,0.00,2.78,0.00,0.000,6,0.000,0.081,2721,1792,3569,0,0,0,0,0,0
$STATE,9488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9488,begin apogee
$GC,9494,-0.31,0.0,801.0,7.4,363,9619,1.00,0.00,121.60,1.196,6,0.091,0.000,2942,1863,3001,0,0,0,0,0,0
$STATE,9620,end apogee,CONTROL_FINISHED_OK
$STATE,9620,begin climb
$GC,9623,1.06,146.0,804.3,0.0,366,9758,1.27,0.00,131.52,1.162,6,0.043,0.000,3244,1863,2405,0,0,0,0,0,0
$GC,9976,0.84,146.0,780.8,9.6,375,9981,0.25,2.88,0.00,0.000,4,0.193,0.070,3194,3485,2394,0,0,0,0,0,0
$GC,10010,0.73,146.0,777.5,9.2,375,10016,0.12,2.83,0.00,0.000,6,0.171,0.073,3174,1908,2393,0,0,0,0,0,0
$GC,10261,0.68,161.0,758.7,7.4,382,10276,0.00,0.00,12.95,1.046,6,0.000,0.000,3174,1908,2344,0,0,0,0,0,0
$GC,10503,0.61,161.0,739.4,8.2,388,10505,0.15,0.00,0.00,0.000,6,0.240,0.000,3148,1908,2340,0,0,0,0,0,0
$GC,10747,0.63,172.2,720.9,7.6,394,10760,0.00,0.00,11.10,1.024,6,0.000,0.000,3148,1908,2299,0,0,0,0,0,0
$GC,10990,0.63,172.2,699.9,8.7,400,10995,0.00,3.12,0.00,0.000,4,0.000,0.134,3148,312,2295,0,0,0,0,0,0
$GC,11047,0.56,172.2,694.4,9.9,401,11051,0.00,2.65,0.00,0.000,6,0.000,0.042,3148,1905,2294,0,0,0,0,0,0
$GC,11313,0.56,172.2,671.0,8.5,408,11317,0.00,2.95,0.00,0.000,4,0.000,0.099,3148,308,2293,0,0,0,0,0,0
$GC,11346,0.50,172.2,668.2,8.8,408,11353,0.15,2.67,0.00,0.000,6,0.143,0.043,3119,1902,2293,0,0,0,0,0,0
$GC,11597,0.63,230.4,653.0,5.8,415,11657,0.12,2.90,53.95,1.098,4,0.097,0.086,3146,3487,2060,0,0,0,0,0,0
$GC,11687,0.69,237.0,646.7,7.8,417,11701,0.00,2.80,7.25,0.893,6,0.000,0.068,3146,1904,2034,0,0,0,0,0,0
$GC,11963,0.71,257.0,626.5,7.3,424,11988,0.00,3.15,18.98,1.033,4,0.000,0.128,3146,312,1953,0,0,0,0,0,0
$GC,12010,0.72,258.3,622.8,8.0,425,12015,0.00,2.67,0.00,0.000,6,0.000,0.040,3146,1908,1951,0,0,0,0,0,0
$GC,12283,0.73,268.4,602.5,7.6,432,12303,0.10,3.10,11.40,0.976,4,0.114,0.103,3169,307,1905,0,0,0,0,0,0
$GC,12354,0.68,268.4,595.3,11.0,433,12358,0.00,2.65,0.00,0.000,6,0.000,0.042,3169,1895,1904,0,0,0,0,0,0
$GC,12609,0.68,268.4,572.7,8.7,440,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1896,1901,0,0,0,0,0,0
$GC,12852,0.72,298.7,555.1,6.9,446,12882,0.00,0.00,28.33,1.020,6,0.000,0.000,3169,1896,1783,0,0,0,0,0,0
$GC,13096,0.76,329.1,538.5,6.9,452,13130,0.00,3.05,28.10,1.006,4,0.000,0.097,3169,312,1659,0,0,0,0,0,0
$GC,13171,0.76,329.1,532.5,8.5,453,13176,0.00,2.62,0.00,0.000,6,0.000,0.038,3169,1877,1656,0,0,0,0,0,0
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$STATE,18873,end climb,SURFACE_DEPTH_REACHED
$STATE,18874,begin surface coast
$FINISH,0.1,1.023096
$STATE,18929,end surface coast,CONTROL_FINISHED_OK
$STATE,18929,begin surface
$SM_CCo,18951,47.67,0.414,1,0,1288,420.20
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$IRIDIUM_FIX,2136.49,-15814.93,081199,171711
$TT8_MAMPS,0.026078
$HUMID,42.04
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.10
$XPDR_PINGS,95
$24V_AH,23.3,5.253
$10V_AH,10.3,4.915
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.575,259.050,463.900,47.675,0.000,30.768,30.745,193.099,23.750,0.000,37.478,1607.147,13801.713,692.718,2661.452,651.825,33.347,1778.471,0.000,2633.033,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,510.659,397.523,473.319,833.320,1261.669,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356024
$DATA_FILE_SIZE,57241,750
$CAP_FILE_SIZE,181087,0
$CFSIZE,260165632,182505472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150810,035437,2150.708,-15812.239,30,1.3,30,9.9