version: 66.06
glider: 146
mission: 5
dive: 21
start: 8 16 110 11 14 41
data:
$ID,146
$MISSION,5
$DIVE,21
$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,-247574.59
$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,39
$R_STBD_OVSHOOT,55
$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
$GPS1,110337,2209.822,-15811.689,37,1.2,37,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-67.0
$GPS2,111344,2209.850,-15811.793,13,1.3,13,10.0
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,STNA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,0.195
$KALMAN_X,-1992.5,-176.2,-158.9,291.8,-1035.9
$KALMAN_Y,12470.6,31.9,79.1,41608.7,2367.1
$MHEAD_RNG_PITCHd_Wd,25.6,68143,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-86.45,0.000,2,0.000,0.000,480,1737,3483,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.4,-6.4,11,134,12.05,2.60,-1.88,0.000,4,0.153,0.044,2771,3332,3600,0,0,0,0,0,0
$GC,211,-0.98,-146.0,31.5,-12.8,25,216,0.10,2.53,0.00,0.000,6,0.122,0.033,2793,1768,3601,0,0,0,0,0,0
$GC,479,-0.90,-146.0,62.1,-10.1,49,483,0.00,2.72,0.00,0.000,4,0.000,0.072,2793,186,3601,0,0,0,0,0,0
$GC,525,-0.84,-146.0,67.0,-9.6,52,530,0.15,2.40,0.00,0.000,6,0.107,0.015,2826,1782,3601,0,0,0,0,0,0
$GC,788,-0.84,-146.0,88.3,-8.2,76,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1783,3602,0,0,0,0,0,0
$GC,1040,-0.89,-146.0,108.0,-8.0,100,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1783,3602,0,0,0,0,0,0
$GC,1295,-0.95,-146.0,128.9,-7.8,124,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1783,3603,0,0,0,0,0,0
$GC,1551,-1.02,-146.0,149.4,-8.2,148,1553,0.17,0.00,0.00,0.000,6,0.064,0.000,2772,1783,3603,0,0,0,0,0,0
$GC,1810,-0.98,-146.0,175.5,-9.3,172,1815,0.12,0.00,0.00,0.000,6,0.110,0.000,2798,1783,3603,0,0,0,0,0,0
$GC,2072,-0.98,-146.0,199.5,-8.5,197,2076,0.00,2.80,0.00,0.000,4,0.000,0.076,2798,181,3603,0,0,0,0,0,0
$GC,2121,-1.02,-146.0,204.5,-9.8,198,2125,0.00,2.35,0.00,0.000,6,0.000,0.024,2798,1734,3603,0,0,0,0,0,0
$GC,2394,-1.02,-146.0,226.4,-7.7,205,2398,0.00,2.50,0.00,0.000,4,0.000,0.031,2798,3319,3603,0,0,0,0,0,0
$GC,2423,-1.07,-146.0,228.6,-7.8,205,2427,0.00,2.53,0.00,0.000,6,0.000,0.035,2798,1743,3603,0,0,0,0,0,0
$GC,2673,-1.11,-146.0,247.0,-7.5,211,2679,0.12,2.75,0.00,0.000,4,0.189,0.077,2759,182,3602,0,0,0,0,0,0
$GC,2702,-1.11,-146.0,249.6,-9.3,211,2706,0.00,2.40,0.00,0.000,6,0.000,0.027,2759,1734,3602,0,0,0,0,0,0
$GC,2952,-1.06,-146.0,272.2,-9.1,217,2956,0.00,2.55,0.00,0.000,4,0.000,0.035,2759,3332,3602,0,0,0,0,0,0
$GC,3012,-1.06,-146.0,278.2,-9.8,218,3017,0.00,2.55,0.00,0.000,6,0.000,0.038,2760,1756,3602,0,0,0,0,0,0
$GC,3275,-1.06,-146.0,302.8,-9.5,225,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1756,3601,0,0,0,0,0,0
$GC,3517,-1.06,-146.0,323.1,-8.0,231,3521,0.00,2.55,0.00,0.000,4,0.000,0.043,2759,3329,3600,0,0,0,0,0,0
$GC,3544,-1.06,-146.0,325.3,-7.5,231,3548,0.00,2.58,0.00,0.000,6,0.000,0.045,2759,1763,3600,0,0,0,0,0,0
$GC,3795,-1.06,-146.0,343.3,-7.1,237,3800,0.00,2.88,0.00,0.000,4,0.000,0.096,2760,178,3599,0,0,0,0,0,0
$GC,3834,-1.06,-146.0,346.5,-8.1,238,3838,0.00,2.47,0.00,0.000,6,0.000,0.031,2760,1736,3599,0,0,0,0,0,0
$GC,4117,-1.06,-146.0,367.0,-7.0,245,4122,0.00,2.65,0.00,0.000,4,0.000,0.051,2760,3353,3599,0,0,0,0,0,0
$GC,4162,-1.11,-146.0,370.0,-6.5,246,4167,0.00,2.70,0.00,0.000,6,0.000,0.058,2759,1748,3598,0,0,0,0,0,0
$GC,4440,-1.11,-146.0,387.7,-6.3,253,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1747,3596,0,0,0,0,0,0
$GC,4684,-1.11,-146.0,403.2,-6.4,259,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1748,3595,0,0,0,0,0,0
$GC,4929,-1.11,-146.0,419.5,-6.7,265,4933,0.00,2.65,0.00,0.000,4,0.000,0.050,2760,3340,3594,0,0,0,0,0,0
$GC,4950,-1.11,-146.0,421.2,-7.2,265,4954,0.00,2.72,0.00,0.000,6,0.000,0.059,2760,1753,3594,0,0,0,0,0,0
$GC,5205,-1.11,-146.0,438.1,-6.5,272,5209,0.00,2.62,0.00,0.000,4,0.000,0.054,2759,3340,3592,0,0,0,0,0,0
$GC,5235,-1.15,-146.0,440.1,-6.8,272,5240,0.00,2.70,0.00,0.000,6,0.000,0.066,2759,1761,3592,0,0,0,0,0,0
$GC,5485,-1.15,-146.0,456.2,-6.5,278,5490,0.00,3.05,0.00,0.000,4,0.000,0.127,2759,174,3590,0,0,0,0,0,0
$GC,5529,-1.20,-146.0,459.7,-7.6,279,5534,0.00,2.58,0.00,0.000,6,0.000,0.044,2759,1754,3590,0,0,0,0,0,0
$GC,5809,-1.20,-146.0,479.4,-7.2,286,5813,0.00,2.75,0.00,0.000,4,0.000,0.071,2759,3344,3588,0,0,0,0,0,0
$GC,5859,-1.27,-146.0,483.1,-7.5,287,5864,0.12,2.75,0.00,0.000,6,0.074,0.062,2719,1754,3587,0,0,0,0,0,0
$GC,6132,-1.23,-146.0,507.1,-8.9,294,6138,0.10,2.72,0.00,0.000,4,0.130,0.063,2740,3350,3586,0,0,0,0,0,0
$GC,6165,-1.23,-146.0,510.0,-8.1,294,6171,0.00,2.75,0.00,0.000,6,0.000,0.074,2740,1765,3585,0,0,0,0,0,0
$GC,6416,-1.23,-146.0,528.8,-7.4,301,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1765,3583,0,0,0,0,0,0
$GC,6659,-1.23,-146.0,547.4,-7.6,307,6664,0.00,2.72,0.00,0.000,4,0.000,0.071,2739,3345,3582,0,0,0,0,0,0
$GC,6727,-1.23,-146.0,552.5,-7.8,308,6731,0.00,2.78,0.00,0.000,6,0.000,0.076,2740,1780,3581,0,0,0,0,0,0
$GC,6981,-1.23,-146.0,573.0,-8.3,315,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1780,3580,0,0,0,0,0,0
$GC,7225,-1.23,-146.0,594.0,-8.6,321,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1780,3578,0,0,0,0,0,0
$GC,7470,-1.23,-146.0,612.9,-7.5,327,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1780,3577,0,0,0,0,0,0
$GC,7713,-1.23,-146.0,630.4,-7.2,333,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1780,3575,0,0,0,0,0,0
$GC,7956,-1.23,-146.0,647.2,-6.9,339,7961,0.00,2.85,0.00,0.000,4,0.000,0.099,2739,3340,3574,0,0,0,0,0,0
$GC,7983,-1.23,-146.0,649.2,-7.6,339,7988,0.00,2.92,0.00,0.000,6,0.000,0.108,2740,1780,3574,0,0,0,0,0,0
$GC,8234,-1.23,-146.0,670.0,-8.5,345,8239,0.00,2.90,0.00,0.000,4,0.000,0.103,2739,3341,3573,0,0,0,0,0,0
$GC,8266,-1.23,-146.0,672.9,-8.7,345,8272,0.00,2.83,0.00,0.000,6,0.000,0.095,2740,1787,3573,0,0,0,0,0,0
$GC,8516,-1.23,-146.0,694.4,-8.8,352,8521,0.00,2.75,0.00,0.000,4,0.000,0.087,2740,3340,3571,0,0,0,0,0,0
$GC,8539,-1.23,-146.0,696.2,-8.3,352,8543,0.00,2.78,0.00,0.000,6,0.000,0.084,2740,1795,3571,0,0,0,0,0,0
$GC,8794,-1.23,-146.0,717.1,-8.0,359,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1795,3569,0,0,0,0,0,0
$GC,9037,-1.23,-146.0,734.6,-7.1,365,9042,0.00,2.75,0.00,0.000,4,0.000,0.084,2740,3346,3569,0,0,0,0,0,0
$GC,9081,-1.28,-146.0,737.6,-7.1,366,9086,0.00,2.78,0.00,0.000,6,0.000,0.081,2739,1802,3569,0,0,0,0,0,0
$GC,9359,-1.28,-146.0,755.0,-6.2,373,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1802,3567,0,0,0,0,0,0
$GC,9602,-1.28,-146.0,771.8,-7.2,379,9607,0.00,2.72,0.00,0.000,4,0.000,0.082,2740,3345,3567,0,0,0,0,0,0
$GC,9631,-1.33,-146.0,774.0,-8.3,379,9635,0.00,2.78,0.00,0.000,6,0.000,0.085,2740,1802,3566,0,0,0,0,0,0
$GC,9881,-1.33,-146.0,792.8,-7.5,385,9886,0.00,3.30,0.00,0.000,4,0.000,0.150,2740,171,3565,0,0,0,0,0,0
$GC,9920,-1.33,-146.0,795.8,-8.2,386,9925,0.00,2.78,0.00,0.000,6,0.000,0.056,2740,1798,3565,0,0,0,0,0,0
$GC,10204,-1.33,-146.0,815.7,-6.8,393,10209,0.00,2.83,0.00,0.000,4,0.000,0.100,2740,3350,3564,0,0,0,0,0,0
$GC,10254,-1.39,-146.0,819.3,-7.7,394,10259,0.15,2.75,0.00,0.000,6,0.079,0.080,2700,1804,3564,0,0,0,0,0,0
$GC,10527,-1.34,-146.0,839.9,-7.5,401,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1803,3563,0,0,0,0,0,0
$GC,10772,-1.30,-146.0,857.0,-6.9,407,10777,0.12,2.72,0.00,0.000,4,0.129,0.077,2723,3350,3563,0,0,0,0,0,0
$GC,10794,-1.30,-146.0,858.6,-6.5,407,10798,0.00,2.72,0.00,0.000,6,0.000,0.079,2723,1807,3562,0,0,0,0,0,0
$GC,11049,-1.30,-146.0,872.8,-5.6,414,11050,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1807,3562,0,0,0,0,0,0
$GC,11294,-1.30,-146.0,887.0,-5.9,420,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1807,3561,0,0,0,0,0,0
$STATE,11534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11534,begin apogee
$GC,11540,-0.31,0.0,902.1,6.2,426,11666,0.98,0.00,122.43,1.266,6,0.090,0.000,2939,1849,3001,0,0,0,0,0,0
$STATE,11667,end apogee,CONTROL_FINISHED_OK
$STATE,11667,begin climb
$GC,11669,1.06,146.0,905.0,0.0,429,11807,1.27,0.00,133.05,1.231,6,0.045,0.000,3242,1849,2405,0,0,0,0,0,0
$GC,12035,0.83,146.0,882.3,8.7,438,12037,0.25,0.00,0.00,0.000,6,0.122,0.000,3195,1849,2394,0,0,0,0,0,0
$GC,12279,0.76,188.5,866.3,6.4,444,12323,0.00,2.80,38.47,1.189,4,0.000,0.064,3194,3398,2231,0,0,0,0,0,0
$GC,12349,0.67,198.0,861.6,7.6,445,12366,0.20,2.83,10.10,1.045,6,0.143,0.070,3159,1830,2193,0,0,0,0,0,0
$GC,12609,0.68,243.2,844.9,6.3,452,12654,0.00,0.00,42.95,1.181,6,0.000,0.000,3159,1830,2009,0,0,0,0,0,0
$GC,12894,0.70,259.8,824.1,7.4,459,12918,0.00,3.22,16.12,1.111,4,0.000,0.133,3159,242,1939,0,0,0,0,0,0
$GC,12940,0.63,259.8,820.2,8.1,460,12945,0.00,2.65,0.00,0.000,6,0.000,0.045,3159,1824,1938,0,0,0,0,0,0
$GC,13219,0.64,269.8,798.8,7.6,467,13235,0.00,2.88,10.23,1.048,4,0.000,0.079,3159,3416,1900,0,0,0,0,0,0
$GC,13245,0.65,277.7,796.6,7.7,467,13260,0.00,2.83,9.15,1.015,6,0.000,0.067,3159,1825,1868,0,0,0,0,0,0
$GC,13544,0.66,281.0,773.0,7.9,475,13549,0.00,3.05,0.00,0.000,4,0.000,0.124,3159,242,1863,0,0,0,0,0,0
$GC,13585,0.60,281.0,769.5,8.8,476,13590,0.00,2.67,0.00,0.000,6,0.000,0.044,3158,1836,1861,0,0,0,0,0,0
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$STATE,21588,end climb,SURFACE_DEPTH_REACHED
$STATE,21588,begin surface coast
$FINISH,0.3,1.011518
$STATE,21647,end surface coast,CONTROL_FINISHED_OK
$STATE,21647,begin surface
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$HUMID,41.80
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,22.80
$XPDR_PINGS,89
$24V_AH,23.2,6.350
$10V_AH,10.3,5.818
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.350,249.700,499.550,23.800,0.000,61.746,59.923,264.687,22.250,0.000,15.150,1708.699,16399.541,697.970,2662.309,826.105,33.364,1815.505,0.000,2654.633,0.000,0.536,0.000
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$MEM,355996
$DATA_FILE_SIZE,63775,812
$CAP_FILE_SIZE,195828,0
$CFSIZE,260165632,181985280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160810,171755,2214.328,-15811.146,56,1.1,56,10.0