version: 66.06
glider: 146
mission: 5
dive: 16
start: 8 15 110 4 7 2
data:
$ID,146
$MISSION,5
$DIVE,16
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,375
$T_MISSION,420
$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,-247494.7
$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,1760
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,28
$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
$GPS1,035437,2150.708,-15812.239,30,1.3,30,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-68.4
$GPS2,040607,2150.730,-15812.331,13,1.3,13,9.9
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,STNA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,0.198
$KALMAN_X,2771.9,467.8,596.0,-6811.3,-1938.1
$KALMAN_Y,2096.0,133.9,-13.3,16572.6,801.0
$MHEAD_RNG_PITCHd_Wd,24.5,102691,-14.1,-8.000
$D_GRID,900
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.06,-146.0,0.0,0.0,0,106,0.00,0.00,-86.43,0.000,2,0.000,0.000,480,1748,3510,0,0,0,0,0,0
$GC,109,-1.06,-146.0,4.7,-7.1,11,135,11.98,2.62,-1.42,0.000,4,0.152,0.044,2769,3362,3600,0,0,0,0,0,0
$GC,173,-0.69,-146.0,26.5,-26.8,19,183,0.38,2.60,0.00,0.000,6,0.071,0.041,2858,1786,3601,0,0,0,0,0,0
$GC,447,-0.76,-146.0,51.2,-8.2,45,451,0.00,2.80,0.00,0.000,4,0.000,0.071,2858,179,3602,0,0,0,0,0,0
$GC,517,-0.89,-146.0,57.3,-8.6,50,523,0.17,2.42,0.00,0.000,6,0.060,0.015,2805,1798,3601,0,0,0,0,0,0
$GC,780,-0.89,-146.0,85.9,-10.4,74,784,0.00,2.40,0.00,0.000,4,0.000,0.030,2805,3308,3602,0,0,0,0,0,0
$GC,833,-0.89,-146.0,90.9,-8.9,78,838,0.00,2.50,0.00,0.000,6,0.000,0.031,2805,1745,3603,0,0,0,0,0,0
$GC,1095,-0.89,-146.0,114.4,-8.7,102,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1744,3603,0,0,0,0,0,0
$GC,1350,-0.89,-146.0,134.1,-7.4,126,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1744,3603,0,0,0,0,0,0
$GC,1604,-0.89,-146.0,153.5,-7.9,150,1608,0.00,2.45,0.00,0.000,4,0.000,0.031,2805,3304,3603,0,0,0,0,0,0
$GC,1633,-0.94,-146.0,155.7,-8.0,152,1637,0.00,2.50,0.00,0.000,6,0.000,0.032,2805,1744,3603,0,0,0,0,0,0
$GC,1897,-0.98,-146.0,177.4,-8.6,176,1901,0.00,2.45,0.00,0.000,4,0.000,0.034,2805,3307,3603,0,0,0,0,0,0
$GC,1937,-1.05,-146.0,181.0,-8.1,179,1942,0.10,2.50,0.00,0.000,6,0.084,0.035,2770,1751,3603,0,0,0,0,0,0
$GC,2199,-1.05,-146.0,204.3,-8.9,200,2203,0.00,2.70,0.00,0.000,4,0.000,0.077,2770,187,3603,0,0,0,0,0,0
$GC,2259,-1.05,-146.0,210.4,-9.7,201,2263,0.00,2.33,0.00,0.000,6,0.000,0.018,2770,1733,3603,0,0,0,0,0,0
$GC,2528,-1.05,-146.0,232.1,-7.9,208,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1734,3602,0,0,0,0,0,0
$GC,2770,-1.05,-146.0,250.8,-7.6,214,2775,0.00,2.50,0.00,0.000,4,0.000,0.033,2770,3310,3602,0,0,0,0,0,0
$GC,2831,-1.11,-146.0,256.4,-8.8,215,2836,0.00,2.50,0.00,0.000,6,0.000,0.035,2770,1760,3602,0,0,0,0,0,0
$GC,3093,-1.11,-146.0,279.6,-9.0,222,3097,0.00,2.53,0.00,0.000,4,0.000,0.035,2770,3311,3601,0,0,0,0,0,0
$GC,3114,-1.11,-146.0,281.5,-8.1,222,3118,0.00,2.50,0.00,0.000,6,0.000,0.038,2770,1766,3600,0,0,0,0,0,0
$GC,3369,-1.11,-146.0,302.2,-8.2,229,3374,0.00,2.83,0.00,0.000,4,0.000,0.091,2770,179,3600,0,0,0,0,0,0
$GC,3408,-1.11,-146.0,305.7,-9.4,230,3413,0.00,2.45,0.00,0.000,6,0.000,0.031,2770,1736,3600,0,0,0,0,0,0
$GC,3693,-1.11,-146.0,327.4,-7.2,237,3698,0.00,2.60,0.00,0.000,4,0.000,0.051,2770,3342,3598,0,0,0,0,0,0
$GC,3721,-1.17,-146.0,329.6,-7.4,237,3726,0.00,2.60,0.00,0.000,6,0.000,0.050,2770,1767,3598,0,0,0,0,0,0
$GC,3972,-1.17,-146.0,346.8,-6.9,243,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1767,3596,0,0,0,0,0,0
$GC,4215,-1.20,-146.0,362.6,-6.5,249,4220,0.10,2.60,0.00,0.000,4,0.089,0.042,2736,3342,3595,0,0,0,0,0,0
$GC,4248,-1.20,-146.0,365.2,-7.7,249,4254,0.00,2.65,0.00,0.000,6,0.000,0.052,2736,1770,3595,0,0,0,0,0,0
$GC,4499,-1.20,-146.0,385.2,-8.0,256,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1769,3593,0,0,0,0,0,0
$GC,4742,-1.20,-146.0,402.9,-7.4,262,4747,0.00,2.92,0.00,0.000,4,0.000,0.107,2736,177,3591,0,0,0,0,0,0
$GC,4786,-1.20,-146.0,406.9,-8.7,263,4790,0.00,2.55,0.00,0.000,6,0.000,0.038,2736,1770,3591,0,0,0,0,0,0
$GC,5063,-1.20,-146.0,428.4,-7.8,270,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1770,3589,0,0,0,0,0,0
$GC,5308,-1.20,-146.0,447.9,-8.0,276,5313,0.00,2.65,0.00,0.000,4,0.000,0.061,2736,3342,3587,0,0,0,0,0,0
$GC,5352,-1.20,-146.0,451.6,-7.9,277,5357,0.00,2.65,0.00,0.000,6,0.000,0.057,2736,1772,3587,0,0,0,0,0,0
$GC,5630,-1.20,-146.0,471.8,-7.3,284,5635,0.00,3.03,0.00,0.000,4,0.000,0.119,2736,177,3585,0,0,0,0,0,0
$GC,5658,-1.20,-146.0,474.2,-8.0,284,5663,0.00,2.62,0.00,0.000,6,0.000,0.040,2736,1775,3585,0,0,0,0,0,0
$GC,5908,-1.20,-146.0,494.4,-8.3,290,5912,0.00,2.70,0.00,0.000,4,0.000,0.074,2736,3351,3583,0,0,0,0,0,0
$GC,5940,-1.20,-146.0,497.3,-8.7,290,5946,0.00,2.70,0.00,0.000,6,0.000,0.067,2736,1780,3583,0,0,0,0,0,0
$GC,6191,-1.20,-146.0,518.8,-8.6,297,6196,0.00,2.67,0.00,0.000,4,0.000,0.064,2736,3345,3582,0,0,0,0,0,0
$GC,6218,-1.20,-146.0,521.4,-8.3,297,6223,0.00,2.70,0.00,0.000,6,0.000,0.069,2737,1791,3581,0,0,0,0,0,0
$GC,6474,-1.20,-146.0,542.1,-8.0,304,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1791,3580,0,0,0,0,0,0
$GC,6718,-1.20,-146.0,561.9,-8.3,310,6722,0.00,2.72,0.00,0.000,4,0.000,0.078,2736,3347,3579,0,0,0,0,0,0
$GC,6763,-1.24,-146.0,565.9,-9.3,311,6767,0.00,2.75,0.00,0.000,6,0.000,0.081,2736,1798,3579,0,0,0,0,0,0
$GC,7040,-1.24,-146.0,588.1,-7.7,318,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1798,3577,0,0,0,0,0,0
$GC,7284,-1.24,-146.0,608.5,-8.6,324,7289,0.00,3.25,0.00,0.000,4,0.000,0.146,2736,175,3575,0,0,0,0,0,0
$GC,7312,-1.24,-146.0,611.0,-9.2,324,7317,0.00,2.80,0.00,0.000,6,0.000,0.064,2735,1805,3575,0,0,0,0,0,0
$GC,7562,-1.24,-146.0,629.5,-7.1,330,7567,0.00,2.85,0.00,0.000,4,0.000,0.110,2735,3347,3574,0,0,0,0,0,0
$GC,7595,-1.24,-146.0,631.8,-6.7,330,7600,0.00,2.83,0.00,0.000,6,0.000,0.101,2737,1813,3573,0,0,0,0,0,0
$GC,7846,-1.24,-146.0,649.1,-7.0,337,7851,0.00,2.80,0.00,0.000,4,0.000,0.095,2736,3348,3572,0,0,0,0,0,0
$GC,7867,-1.24,-146.0,650.9,-7.5,337,7872,0.00,2.83,0.00,0.000,6,0.000,0.110,2736,1824,3572,0,0,0,0,0,0
$GC,8122,-1.24,-146.0,669.3,-7.2,344,8128,0.00,3.45,0.00,0.000,4,0.000,0.164,2736,175,3571,0,0,0,0,0,0
$GC,8151,-1.24,-146.0,671.5,-8.5,344,8155,0.00,2.97,0.00,0.000,6,0.000,0.091,2736,1817,3570,0,0,0,0,0,0
$GC,8401,-1.24,-146.0,689.7,-7.3,350,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1818,3570,0,0,0,0,0,0
$GC,8644,-1.24,-146.0,706.4,-6.7,356,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1818,3569,0,0,0,0,0,0
$GC,8888,-1.24,-146.0,721.0,-6.0,362,8893,0.00,3.53,0.00,0.000,4,0.000,0.173,2736,175,3568,0,0,0,0,0,0
$GC,8932,-1.24,-146.0,724.5,-8.5,363,8936,0.00,3.08,0.00,0.000,6,0.000,0.108,2736,1819,3567,0,0,0,0,0,0
$GC,9210,-1.24,-146.0,742.1,-6.0,370,9214,0.00,3.10,0.00,0.000,4,0.000,0.154,2736,3350,3567,0,0,0,0,0,0
$GC,9254,-1.29,-146.0,744.6,-5.9,371,9258,0.00,2.75,0.00,0.000,6,0.000,0.081,2736,1815,3566,0,0,0,0,0,0
$GC,9533,-1.29,-146.0,760.2,-5.7,378,9538,0.00,3.28,0.00,0.000,4,0.000,0.150,2736,174,3565,0,0,0,0,0,0
$GC,9565,-1.29,-146.0,762.2,-5.9,378,9571,0.00,2.80,0.00,0.000,6,0.000,0.053,2736,1824,3565,0,0,0,0,0,0
$GC,9816,-1.29,-146.0,777.2,-6.1,385,9820,0.00,2.72,0.00,0.000,4,0.000,0.096,2736,3352,3564,0,0,0,0,0,0
$GC,9856,-1.34,-146.0,779.8,-6.7,386,9861,0.00,2.70,0.00,0.000,6,0.000,0.081,2736,1819,3564,0,0,0,0,0,0
$GC,10140,-1.34,-146.0,798.7,-6.7,393,10145,0.00,3.20,0.00,0.000,4,0.000,0.133,2736,174,3563,0,0,0,0,0,0
$GC,10191,-1.34,-146.0,802.7,-7.6,394,10195,0.00,2.80,0.00,0.000,6,0.000,0.058,2736,1819,3563,0,0,0,0,0,0
$GC,10463,-1.34,-146.0,821.5,-6.9,401,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1819,3562,0,0,0,0,0,0
$GC,10706,-1.34,-146.0,838.8,-7.2,407,10711,0.00,2.78,0.00,0.000,4,0.000,0.098,2735,3350,3562,0,0,0,0,0,0
$GC,10735,-1.39,-146.0,841.0,-8.0,407,10740,0.12,2.70,0.00,0.000,6,0.093,0.079,2705,1816,3561,0,0,0,0,0,0
$GC,10984,-1.39,-146.0,862.5,-8.7,413,10986,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1815,3561,0,0,0,0,0,0
$GC,11228,-1.39,-146.0,884.7,-9.2,419,11232,0.00,2.70,0.00,0.000,4,0.000,0.075,2705,3357,3560,0,0,0,0,0,0
$GC,11250,-1.39,-146.0,886.6,-9.1,419,11255,0.00,2.72,0.00,0.000,6,0.000,0.078,2705,1817,3560,0,0,0,0,0,0
$STATE,11421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11421,begin apogee
$GC,11428,-0.31,0.0,902.0,8.9,424,11554,1.05,0.00,122.47,1.281,6,0.084,0.000,2939,1817,3001,0,0,0,0,0,0
$STATE,11555,end apogee,CONTROL_FINISHED_OK
$STATE,11555,begin climb
$GC,11557,1.06,146.0,906.4,0.0,427,11699,1.27,3.22,132.75,1.246,4,0.047,0.131,3242,241,2404,0,0,0,0,0,0
$GC,11710,0.78,146.0,902.0,8.7,430,11717,0.32,2.72,0.00,0.000,6,0.126,0.050,3182,1832,2401,0,0,0,0,0,0
$GC,11961,0.67,146.0,881.1,8.2,437,11966,0.12,2.88,0.00,0.000,4,0.158,0.090,3161,3424,2392,0,0,0,0,0,0
$GC,12052,0.63,146.4,873.7,8.0,439,12056,0.00,2.80,0.00,0.000,6,0.000,0.067,3160,1846,2391,0,0,0,0,0,0
$GC,12330,0.59,153.6,852.1,7.7,446,12338,0.12,0.00,5.47,0.906,6,0.169,0.000,3140,1846,2375,0,0,0,0,0,0
$GC,12574,0.62,182.6,834.9,6.9,452,12609,0.00,2.80,29.23,1.185,4,0.000,0.061,3141,3418,2255,0,0,0,0,0,0
$GC,12642,0.65,206.7,829.9,7.1,452,12672,0.00,2.80,23.55,1.159,6,0.000,0.070,3140,1846,2157,0,0,0,0,0,0
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$STATE,22048,end climb,SURFACE_DEPTH_REACHED
$STATE,22048,begin surface coast
$FINISH,0.3,1.023303
$STATE,22104,end surface coast,CONTROL_FINISHED_OK
$STATE,22104,begin surface
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$XPDR_PINGS,98
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$10V_AH,10.3,5.071
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,63652,841
$CAP_FILE_SIZE,210030,0
$CFSIZE,260165632,182390784
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$GPS,150810,101801,2153.311,-15811.053,59,0.9,60,9.9