version: 66.06
glider: 146
mission: 5
dive: 19
start: 8 15 110 22 48 57
data:
$ID,146
$MISSION,5
$DIVE,19
$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,-247547.62
$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,21
$R_STBD_OVSHOOT,60
$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
$GPS1,224106,2201.286,-15812.202,25,1.9,25,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-68.0
$GPS2,224802,2201.354,-15812.282,15,1.9,15,9.9
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,STNA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.047,0.235
$KALMAN_X,1219.7,-153.1,-368.3,-3566.7,568.2
$KALMAN_Y,6211.6,517.1,60.9,31673.1,929.8
$MHEAD_RNG_PITCHd_Wd,1.4,83510,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-86.07,0.000,2,0.000,0.000,475,1707,3473,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.4,-6.2,11,133,12.02,2.62,-2.10,0.000,4,0.152,0.044,2770,3321,3600,0,0,0,0,0,0
$GC,210,-0.98,-146.0,30.9,-13.4,25,215,0.12,2.55,0.00,0.000,6,0.111,0.041,2797,1757,3601,0,0,0,0,0,0
$GC,478,-0.90,-146.0,65.9,-13.6,49,482,0.00,2.72,0.00,0.000,4,0.000,0.070,2797,179,3601,0,0,0,0,0,0
$GC,523,-0.90,-146.0,72.0,-12.8,52,527,0.00,2.40,0.00,0.000,6,0.000,0.015,2797,1773,3602,0,0,0,0,0,0
$GC,786,-0.90,-146.0,101.9,-10.0,76,790,0.00,2.42,0.00,0.000,4,0.000,0.032,2797,3310,3602,0,0,0,0,0,0
$GC,833,-0.90,-146.0,106.4,-9.8,79,838,0.00,2.47,0.00,0.000,6,0.000,0.038,2797,1762,3603,0,0,0,0,0,0
$GC,1099,-0.90,-146.0,130.6,-8.3,103,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1763,3603,0,0,0,0,0,0
$GC,1361,-0.90,-146.0,153.7,-8.8,128,1365,0.00,2.45,0.00,0.000,4,0.000,0.031,2797,3318,3603,0,0,0,0,0,0
$GC,1394,-0.90,-146.0,156.1,-8.2,130,1398,0.00,2.50,0.00,0.000,6,0.000,0.032,2797,1765,3604,0,0,0,0,0,0
$GC,1661,-0.90,-146.0,179.0,-8.9,154,1666,0.00,2.75,0.00,0.000,4,0.000,0.074,2796,180,3604,0,0,0,0,0,0
$GC,1706,-0.95,-146.0,184.1,-10.2,157,1712,0.00,2.42,0.00,0.000,6,0.000,0.025,2797,1762,3604,0,0,0,0,0,0
$GC,1986,-0.95,-146.0,206.5,-7.9,178,1991,0.00,2.75,0.00,0.000,4,0.000,0.074,2796,185,3604,0,0,0,0,0,0
$GC,2035,-1.00,-146.0,211.1,-8.8,179,2040,0.00,2.40,0.00,0.000,6,0.000,0.023,2796,1776,3604,0,0,0,0,0,0
$GC,2308,-1.03,-146.0,232.4,-7.7,186,2313,0.00,2.42,0.00,0.000,4,0.000,0.029,2797,3313,3604,0,0,0,0,0,0
$GC,2377,-1.11,-146.0,237.3,-6.3,187,2382,0.12,2.47,0.00,0.000,6,0.080,0.034,2758,1770,3604,0,0,0,0,0,0
$GC,2633,-1.07,-146.0,258.9,-8.4,194,2637,0.00,2.78,0.00,0.000,4,0.000,0.081,2758,185,3603,0,0,0,0,0,0
$GC,2739,-1.07,-146.0,270.0,-10.5,196,2743,0.00,2.40,0.00,0.000,6,0.000,0.025,2758,1728,3603,0,0,0,0,0,0
$GC,2999,-1.07,-146.0,296.9,-10.5,203,3004,0.00,2.60,0.00,0.000,4,0.000,0.045,2758,3339,3603,0,0,0,0,0,0
$GC,3060,-1.07,-146.0,303.7,-11.1,204,3065,0.00,2.60,0.00,0.000,6,0.000,0.044,2758,1760,3602,0,0,0,0,0,0
$GC,3323,-1.07,-146.0,328.1,-8.8,211,3327,0.00,2.88,0.00,0.000,4,0.000,0.100,2757,176,3601,0,0,0,0,0,0
$GC,3355,-1.07,-146.0,331.4,-10.1,211,3361,0.00,2.47,0.00,0.000,6,0.000,0.028,2758,1748,3601,0,0,0,0,0,0
$GC,3605,-1.07,-146.0,351.9,-8.3,218,3609,0.00,2.62,0.00,0.000,4,0.000,0.053,2758,3342,3600,0,0,0,0,0,0
$GC,3656,-1.11,-146.0,356.0,-7.9,219,3660,0.00,2.67,0.00,0.000,6,0.000,0.051,2758,1757,3600,0,0,0,0,0,0
$GC,3928,-1.11,-146.0,377.7,-8.0,226,3932,0.00,2.92,0.00,0.000,4,0.000,0.107,2758,175,3599,0,0,0,0,0,0
$GC,3967,-1.11,-146.0,381.1,-9.6,227,3971,0.00,2.53,0.00,0.000,6,0.000,0.038,2758,1752,3599,0,0,0,0,0,0
$GC,4251,-1.11,-146.0,404.1,-8.0,234,4255,0.00,2.65,0.00,0.000,4,0.000,0.055,2758,3351,3597,0,0,0,0,0,0
$GC,4302,-1.18,-146.0,408.1,-7.6,235,4307,0.00,2.70,0.00,0.000,6,0.000,0.058,2758,1763,3597,0,0,0,0,0,0
$GC,4574,-1.18,-146.0,427.2,-7.0,242,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1763,3596,0,0,0,0,0,0
$GC,4819,-1.18,-146.0,444.7,-7.3,248,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1763,3593,0,0,0,0,0,0
$GC,5061,-1.18,-146.0,463.5,-7.8,254,5066,0.00,2.65,0.00,0.000,4,0.000,0.058,2758,3346,3592,0,0,0,0,0,0
$GC,5094,-1.23,-146.0,466.2,-8.3,254,5099,0.00,2.72,0.00,0.000,6,0.000,0.064,2758,1760,3592,0,0,0,0,0,0
$GC,5345,-1.23,-146.0,487.5,-8.6,261,5349,0.00,2.67,0.00,0.000,4,0.000,0.063,2757,3344,3590,0,0,0,0,0,0
$GC,5377,-1.29,-146.0,490.3,-8.6,261,5384,0.12,2.70,0.00,0.000,6,0.079,0.066,2723,1780,3590,0,0,0,0,0,0
$GC,5627,-1.29,-146.0,511.8,-8.4,268,5632,0.00,3.22,0.00,0.000,4,0.000,0.144,2723,171,3588,0,0,0,0,0,0
$GC,5656,-1.25,-146.0,514.3,-9.3,268,5660,0.00,2.65,0.00,0.000,6,0.000,0.044,2723,1775,3587,0,0,0,0,0,0
$GC,5905,-1.25,-146.0,534.6,-8.2,274,5910,0.00,2.78,0.00,0.000,4,0.000,0.086,2723,3344,3586,0,0,0,0,0,0
$GC,5926,-1.25,-146.0,536.6,-9.4,274,5931,0.00,2.72,0.00,0.000,6,0.000,0.070,2723,1772,3585,0,0,0,0,0,0
$GC,6182,-1.25,-146.0,558.2,-8.4,281,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1772,3584,0,0,0,0,0,0
$GC,6426,-1.25,-146.0,578.9,-8.6,287,6431,0.00,2.75,0.00,0.000,4,0.000,0.074,2723,3351,3582,0,0,0,0,0,0
$GC,6481,-1.25,-146.0,583.9,-8.6,288,6486,0.00,2.78,0.00,0.000,6,0.000,0.081,2723,1785,3582,0,0,0,0,0,0
$GC,6748,-1.25,-146.0,607.5,-9.0,295,6753,0.00,3.22,0.00,0.000,4,0.000,0.145,2723,175,3580,0,0,0,0,0,0
$GC,6770,-1.25,-146.0,609.7,-10.5,295,6775,0.00,2.78,0.00,0.000,6,0.000,0.066,2723,1783,3580,0,0,0,0,0,0
$GC,7025,-1.25,-146.0,633.3,-9.2,302,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1783,3579,0,0,0,0,0,0
$GC,7268,-1.25,-146.0,655.5,-9.0,308,7273,0.00,2.90,0.00,0.000,4,0.000,0.116,2723,3346,3578,0,0,0,0,0,0
$GC,7307,-1.25,-146.0,658.8,-8.4,309,7312,0.00,2.92,0.00,0.000,6,0.000,0.113,2723,1798,3578,0,0,0,0,0,0
$GC,7592,-1.25,-146.0,680.1,-7.4,316,7597,0.00,2.88,0.00,0.000,4,0.000,0.111,2723,3346,3576,0,0,0,0,0,0
$GC,7624,-1.25,-146.0,682.8,-7.8,316,7630,0.00,2.97,0.00,0.000,6,0.000,0.124,2723,1804,3576,0,0,0,0,0,0
$GC,7874,-1.25,-146.0,702.2,-7.8,323,7879,0.00,2.92,0.00,0.000,4,0.000,0.117,2723,3346,3575,0,0,0,0,0,0
$GC,7897,-1.25,-146.0,704.1,-8.9,323,7901,0.00,3.03,0.00,0.000,6,0.000,0.134,2723,1803,3574,0,0,0,0,0,0
$GC,8151,-1.25,-146.0,724.7,-8.1,330,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1803,3574,0,0,0,0,0,0
$GC,8396,-1.25,-146.0,742.6,-7.2,336,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1803,3572,0,0,0,0,0,0
$GC,8640,-1.25,-146.0,760.4,-7.4,342,8645,0.00,3.15,0.00,0.000,4,0.000,0.151,2723,3350,3571,0,0,0,0,0,0
$GC,8662,-1.25,-146.0,762.1,-7.9,342,8666,0.00,2.75,0.00,0.000,6,0.000,0.084,2723,1811,3570,0,0,0,0,0,0
$GC,8917,-1.25,-146.0,780.5,-7.1,349,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1811,3569,0,0,0,0,0,0
$GC,9161,-1.25,-146.0,796.4,-6.5,355,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1811,3569,0,0,0,0,0,0
$GC,9406,-1.25,-146.0,810.9,-5.9,361,9410,0.00,2.70,0.00,0.000,4,0.000,0.072,2723,3354,3568,0,0,0,0,0,0
$GC,9433,-1.25,-146.0,812.8,-6.5,361,9437,0.00,2.75,0.00,0.000,6,0.000,0.085,2723,1816,3568,0,0,0,0,0,0
$GC,9682,-1.25,-146.0,829.4,-6.8,367,9688,0.00,3.33,0.00,0.000,4,0.000,0.151,2723,169,3567,0,0,0,0,0,0
$GC,9700,-1.25,-146.0,830.6,-6.7,367,9704,0.00,2.80,0.00,0.000,6,0.000,0.052,2723,1820,3567,0,0,0,0,0,0
$GC,9960,-1.25,-146.0,848.7,-6.9,374,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1820,3566,0,0,0,0,0,0
$GC,10204,-1.25,-146.0,865.3,-6.9,380,10205,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1820,3565,0,0,0,0,0,0
$GC,10449,-1.25,-146.0,880.9,-6.3,386,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1820,3565,0,0,0,0,0,0
$GC,10691,-1.25,-146.0,895.7,-6.0,392,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1820,3564,0,0,0,0,0,0
$STATE,10770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10770,begin apogee
$GC,10776,-0.31,0.0,900.6,6.0,394,10902,0.98,0.00,123.32,1.270,6,0.087,0.000,2939,1820,3001,0,0,0,0,0,0
$STATE,10903,end apogee,CONTROL_FINISHED_OK
$STATE,10903,begin climb
$GC,10906,1.06,146.0,902.7,0.0,397,11043,1.30,0.00,133.80,1.232,6,0.046,0.000,3244,1820,2405,0,0,0,0,0,0
$GC,11258,0.84,146.0,873.9,11.4,406,11263,0.25,2.90,0.00,0.000,4,0.179,0.081,3196,3424,2394,0,0,0,0,0,0
$GC,11303,0.73,146.0,869.1,10.0,407,11308,0.12,2.80,0.00,0.000,6,0.165,0.066,3174,1826,2392,0,0,0,0,0,0
$GC,11582,0.64,146.0,845.1,8.4,414,11588,0.12,2.75,0.00,0.000,4,0.166,0.058,3153,3426,2390,0,0,0,0,0,0
$GC,11605,0.61,152.8,843.3,7.7,414,11615,0.00,2.83,4.88,0.838,6,0.000,0.068,3153,1826,2378,0,0,0,0,0,0
$GC,11860,0.60,184.5,825.3,6.8,420,11893,0.00,0.00,31.88,1.172,6,0.000,0.000,3153,1826,2248,0,0,0,0,0,0
$GC,12104,0.62,197.0,807.3,7.5,426,12118,0.00,0.00,12.32,1.081,6,0.000,0.000,3153,1826,2197,0,0,0,0,0,0
$GC,12347,0.64,214.3,789.2,7.4,432,12371,0.00,2.88,17.05,1.114,4,0.000,0.064,3153,3423,2126,0,0,0,0,0,0
$GC,12389,0.65,225.1,786.0,7.6,433,12408,0.00,2.80,11.65,1.057,6,0.000,0.067,3153,1838,2083,0,0,0,0,0,0
$GC,12677,0.66,232.8,764.1,7.7,440,12692,0.00,3.22,7.95,0.992,4,0.000,0.130,3153,247,2051,0,0,0,0,0,0
$GC,12725,0.61,232.8,759.8,9.1,441,12730,0.00,2.65,0.00,0.000,6,0.000,0.046,3153,1837,2050,0,0,0,0,0,0
$GC,13004,0.62,242.5,738.1,7.6,448,13016,0.00,0.00,10.57,1.034,6,0.000,0.000,3153,1838,2012,0,0,0,0,0,0
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$STATE,21368,end climb,SURFACE_DEPTH_REACHED
$STATE,21368,begin surface coast
$FINISH,0.4,1.013430
$STATE,21427,end surface coast,CONTROL_FINISHED_OK
$STATE,21427,begin surface
$SM_CCo,21449,49.00,0.416,1,0,1287,420.20
$SM_GC,0.92,0.00,0.00,49.00,0.000,0.000,0.416,483,1720,1287,-11.63,-1.13,420.20
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$HUMID,40.47
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$TCM_TEMP,23.40
$XPDR_PINGS,97
$24V_AH,23.2,5.980
$10V_AH,10.3,5.518
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.125,272.400,477.550,49.000,0.000,30.625,35.333,196.539,24.250,0.000,16.998,1718.732,16079.602,734.986,2670.918,705.491,33.351,1854.500,0.000,2667.838,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356004
$DATA_FILE_SIZE,63803,808
$CAP_FILE_SIZE,194546,0
$CFSIZE,260165632,182153216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160810,044837,2205.863,-15812.180,35,0.9,35,9.9