version: 66.06
glider: 146
mission: 5
dive: 23
start: 8 16 110 23 53 14
data:
$ID,146
$MISSION,5
$DIVE,23
$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,-247604.55
$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,3000
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,57
$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
$GPS1,234207,2218.444,-15810.271,33,1.4,34,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-69.0
$GPS2,235219,2218.499,-15810.386,13,1.4,13,10.0
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,STNA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.156,0.183
$KALMAN_X,-6220.0,-32.4,-263.6,6903.4,-853.6
$KALMAN_Y,19886.8,295.6,-101.4,50137.3,3171.6
$MHEAD_RNG_PITCHd_Wd,30.4,52186,-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,-86.45,0.000,2,0.000,0.000,481,1729,3494,0,0,0,0,0,0
$GC,109,-1.06,-146.0,4.4,-6.3,11,135,11.85,2.58,-1.80,0.000,4,0.149,0.041,2758,3317,3601,0,0,0,0,0,0
$GC,186,-0.90,-146.0,27.3,-16.5,21,196,0.17,2.53,0.00,0.000,6,0.075,0.038,2802,1792,3603,0,0,0,0,0,0
$GC,464,-0.83,-146.0,58.7,-10.7,47,469,0.00,2.80,0.00,0.000,4,0.000,0.067,2801,182,3603,0,0,0,0,0,0
$GC,522,-0.83,-146.0,65.2,-10.3,51,526,0.00,2.40,0.00,0.000,6,0.000,0.015,2801,1781,3603,0,0,0,0,0,0
$GC,786,-0.83,-146.0,91.1,-10.0,75,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1782,3603,0,0,0,0,0,0
$GC,1049,-0.83,-146.0,114.4,-7.7,100,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1782,3604,0,0,0,0,0,0
$GC,1302,-0.83,-146.0,135.8,-8.8,124,1306,0.00,2.75,0.00,0.000,4,0.000,0.067,2801,182,3604,0,0,0,0,0,0
$GC,1348,-0.83,-146.0,139.7,-10.2,127,1352,0.00,2.35,0.00,0.000,6,0.000,0.023,2801,1755,3604,0,0,0,0,0,0
$GC,1614,-0.83,-146.0,161.6,-7.5,151,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1756,3604,0,0,0,0,0,0
$GC,1877,-0.83,-146.0,180.0,-6.7,176,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1756,3604,0,0,0,0,0,0
$GC,2130,-0.83,-146.0,197.1,-6.8,200,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1756,3604,0,0,0,0,0,0
$GC,2376,-0.83,-146.0,215.4,-7.6,209,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1756,3604,0,0,0,0,0,0
$GC,2621,-0.87,-146.0,233.3,-7.4,215,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1756,3604,0,0,0,0,0,0
$GC,2863,-0.91,-146.0,253.0,-8.3,221,2868,0.00,2.72,0.00,0.000,4,0.000,0.076,2801,183,3604,0,0,0,0,0,0
$GC,2890,-0.95,-146.0,255.6,-9.0,221,2895,0.00,2.38,0.00,0.000,6,0.000,0.025,2801,1733,3603,0,0,0,0,0,0
$GC,3142,-1.01,-146.0,276.2,-8.0,227,3146,0.00,2.53,0.00,0.000,4,0.000,0.038,2801,3332,3603,0,0,0,0,0,0
$GC,3208,-1.11,-146.0,281.8,-8.3,228,3213,0.17,2.55,0.00,0.000,6,0.061,0.038,2748,1754,3603,0,0,0,0,0,0
$GC,3465,-1.07,-146.0,305.2,-9.3,235,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1754,3602,0,0,0,0,0,0
$GC,3708,-1.07,-146.0,326.5,-8.8,241,3712,0.00,2.55,0.00,0.000,4,0.000,0.043,2749,3328,3601,0,0,0,0,0,0
$GC,3747,-1.07,-146.0,330.2,-9.3,242,3751,0.00,2.58,0.00,0.000,6,0.000,0.048,2749,1772,3601,0,0,0,0,0,0
$GC,4029,-1.07,-146.0,355.2,-8.9,249,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1772,3600,0,0,0,0,0,0
$GC,4275,-1.07,-146.0,372.8,-6.9,255,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1772,3599,0,0,0,0,0,0
$GC,4517,-1.07,-146.0,389.4,-6.8,261,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1772,3597,0,0,0,0,0,0
$GC,4761,-1.07,-146.0,407.9,-7.8,267,4765,0.00,2.58,0.00,0.000,4,0.000,0.057,2748,3315,3596,0,0,0,0,0,0
$GC,4788,-1.07,-146.0,410.4,-8.9,267,4792,0.00,2.60,0.00,0.000,6,0.000,0.060,2748,1779,3595,0,0,0,0,0,0
$GC,5039,-1.07,-146.0,430.7,-8.0,273,5044,0.00,3.05,0.00,0.000,4,0.000,0.118,2748,168,3594,0,0,0,0,0,0
$GC,5099,-1.07,-146.0,436.2,-8.6,274,5104,0.00,2.53,0.00,0.000,6,0.000,0.040,2748,1735,3594,0,0,0,0,0,0
$GC,5366,-1.07,-146.0,458.0,-8.3,281,5371,0.00,2.72,0.00,0.000,4,0.000,0.067,2748,3342,3592,0,0,0,0,0,0
$GC,5422,-1.07,-146.0,463.0,-9.1,282,5426,0.00,2.67,0.00,0.000,6,0.000,0.058,2748,1769,3592,0,0,0,0,0,0
$GC,5688,-1.07,-146.0,487.6,-9.3,289,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1769,3590,0,0,0,0,0,0
$GC,5931,-1.07,-146.0,509.4,-8.6,295,5936,0.00,3.05,0.00,0.000,4,0.000,0.128,2748,177,3588,0,0,0,0,0,0
$GC,5952,-1.07,-146.0,511.4,-9.3,295,5957,0.00,2.62,0.00,0.000,6,0.000,0.048,2748,1768,3587,0,0,0,0,0,0
$GC,6209,-1.07,-146.0,530.5,-7.2,302,6214,0.00,2.80,0.00,0.000,4,0.000,0.089,2748,3346,3586,0,0,0,0,0,0
$GC,6242,-1.11,-146.0,532.8,-7.3,302,6248,0.00,2.72,0.00,0.000,6,0.000,0.068,2748,1783,3585,0,0,0,0,0,0
$GC,6492,-1.11,-146.0,548.2,-6.2,309,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1783,3584,0,0,0,0,0,0
$GC,6737,-1.11,-146.0,563.0,-6.0,315,6741,0.00,2.70,0.00,0.000,4,0.000,0.069,2748,3346,3583,0,0,0,0,0,0
$GC,6770,-1.14,-146.0,565.1,-6.3,315,6775,0.00,2.75,0.00,0.000,6,0.000,0.077,2748,1789,3582,0,0,0,0,0,0
$GC,7020,-1.14,-146.0,580.9,-6.5,322,7025,0.00,3.17,0.00,0.000,4,0.000,0.137,2748,174,3581,0,0,0,0,0,0
$GC,7060,-1.14,-146.0,583.9,-8.0,323,7065,0.00,2.75,0.00,0.000,6,0.000,0.056,2748,1789,3581,0,0,0,0,0,0
$GC,7343,-1.14,-146.0,603.7,-7.1,330,7348,0.00,2.83,0.00,0.000,4,0.000,0.099,2748,3345,3579,0,0,0,0,0,0
$GC,7400,-1.20,-146.0,607.9,-7.7,331,7404,0.00,2.80,0.00,0.000,6,0.000,0.089,2748,1789,3579,0,0,0,0,0,0
$GC,7666,-1.20,-146.0,628.5,-7.9,338,7671,0.00,3.25,0.00,0.000,4,0.000,0.148,2748,173,3577,0,0,0,0,0,0
$GC,7687,-1.20,-146.0,630.5,-8.7,338,7692,0.00,2.80,0.00,0.000,6,0.000,0.071,2748,1787,3577,0,0,0,0,0,0
$GC,7944,-1.20,-146.0,650.8,-7.8,345,7948,0.00,2.90,0.00,0.000,4,0.000,0.108,2748,3353,3575,0,0,0,0,0,0
$GC,7989,-1.26,-146.0,654.4,-7.6,346,7995,0.10,2.92,0.00,0.000,6,0.089,0.105,2718,1794,3575,0,0,0,0,0,0
$GC,8268,-1.26,-146.0,676.6,-7.6,353,8272,0.00,2.90,0.00,0.000,4,0.000,0.107,2718,3353,3573,0,0,0,0,0,0
$GC,8301,-1.26,-146.0,679.2,-7.5,353,8307,0.00,2.83,0.00,0.000,6,0.000,0.092,2718,1798,3573,0,0,0,0,0,0
$GC,8551,-1.26,-146.0,697.0,-7.1,360,8556,0.00,2.78,0.00,0.000,4,0.000,0.090,2718,3349,3573,0,0,0,0,0,0
$GC,8573,-1.26,-146.0,698.7,-7.9,360,8577,0.00,2.78,0.00,0.000,6,0.000,0.088,2718,1801,3572,0,0,0,0,0,0
$GC,8829,-1.26,-146.0,719.1,-8.3,367,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1802,3571,0,0,0,0,0,0
$GC,9071,-1.26,-146.0,741.7,-9.4,373,9076,0.00,2.72,0.00,0.000,4,0.000,0.085,2718,3349,3570,0,0,0,0,0,0
$GC,9103,-1.26,-146.0,744.9,-10.2,373,9109,0.00,2.72,0.00,0.000,6,0.000,0.081,2718,1818,3569,0,0,0,0,0,0
$GC,9353,-1.26,-146.0,766.9,-8.7,380,9358,0.00,3.30,0.00,0.000,4,0.000,0.146,2718,171,3569,0,0,0,0,0,0
$GC,9381,-1.26,-146.0,769.5,-9.1,380,9386,0.00,2.83,0.00,0.000,6,0.000,0.058,2718,1823,3568,0,0,0,0,0,0
$GC,9631,-1.26,-146.0,788.9,-7.5,386,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1822,3567,0,0,0,0,0,0
$GC,9875,-1.26,-146.0,805.5,-6.8,392,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1822,3567,0,0,0,0,0,0
$GC,10119,-1.26,-146.0,822.2,-6.8,398,10123,0.00,2.75,0.00,0.000,4,0.000,0.098,2718,3349,3566,0,0,0,0,0,0
$GC,10159,-1.26,-146.0,825.0,-7.2,399,10164,0.00,2.70,0.00,0.000,6,0.000,0.080,2718,1813,3565,0,0,0,0,0,0
$GC,10442,-1.26,-146.0,846.2,-7.6,406,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1813,3564,0,0,0,0,0,0
$GC,10686,-1.26,-146.0,865.5,-8.0,412,10690,0.00,2.67,0.00,0.000,4,0.000,0.074,2718,3350,3564,0,0,0,0,0,0
$GC,10714,-1.26,-146.0,867.8,-8.5,412,10718,0.00,2.72,0.00,0.000,6,0.000,0.077,2718,1817,3563,0,0,0,0,0,0
$GC,10963,-1.26,-146.0,887.8,-8.0,418,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1816,3564,0,0,0,0,0,0
$STATE,11125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11125,begin apogee
$GC,11130,-0.31,0.0,900.8,8.0,422,11257,0.98,0.00,123.15,1.265,6,0.092,0.000,2931,1816,3001,0,0,0,0,0,0
$STATE,11258,end apogee,CONTROL_FINISHED_OK
$STATE,11258,begin climb
$GC,11261,1.06,146.0,905.0,0.0,425,11407,1.27,2.90,133.98,1.233,4,0.045,0.071,3235,3388,2404,0,0,0,0,0,0
$GC,11431,0.85,146.0,899.6,8.7,429,11436,0.25,2.90,0.00,0.000,6,0.127,0.079,3188,1795,2400,0,0,0,0,0,0
$GC,11694,0.74,146.0,877.0,8.7,436,11699,0.12,2.78,0.00,0.000,4,0.135,0.066,3165,3390,2393,0,0,0,0,0,0
$GC,11727,0.69,146.0,874.0,8.9,436,11733,0.00,2.83,0.00,0.000,6,0.000,0.072,3165,1809,2392,0,0,0,0,0,0
$GC,11977,0.63,152.7,854.3,7.8,443,11988,0.12,2.78,4.85,0.838,4,0.229,0.061,3142,3395,2379,0,0,0,0,0,0
$GC,12001,0.67,187.7,852.6,6.7,443,12041,0.00,2.83,34.97,1.180,6,0.000,0.074,3142,1813,2235,0,0,0,0,0,0
$GC,12298,0.69,198.6,830.1,7.6,451,12311,0.00,0.00,10.73,1.062,6,0.000,0.000,3142,1813,2190,0,0,0,0,0,0
$GC,12542,0.71,216.7,812.1,7.3,457,12567,0.00,2.83,18.12,1.124,4,0.000,0.064,3142,3387,2116,0,0,0,0,0,0
$GC,12584,0.78,270.5,809.0,6.0,458,12644,0.12,2.83,51.85,1.166,6,0.120,0.072,3168,1815,1898,0,0,0,0,0,0
$GC,12912,0.74,270.5,778.6,9.5,466,12917,0.00,3.22,0.00,0.000,4,0.000,0.140,3168,208,1890,0,0,0,0,0,0
$GC,12951,0.66,270.5,774.2,11.2,467,12957,0.12,2.70,0.00,0.000,6,0.140,0.038,3147,1823,1888,0,0,0,0,0,0
$GC,13236,0.66,270.5,747.1,9.7,474,13241,0.00,3.03,0.00,0.000,4,0.000,0.101,3146,208,1887,0,0,0,0,0,0
$GC,13257,0.66,270.5,744.7,9.3,474,13262,0.00,2.67,0.00,0.000,6,0.000,0.037,3147,1813,1886,0,0,0,0,0,0
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$STATE,21229,end climb,SURFACE_DEPTH_REACHED
$STATE,21229,begin surface coast
$FINISH,0.3,1.023205
$STATE,21287,end surface coast,CONTROL_FINISHED_OK
$STATE,21287,begin surface
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$HUMID,40.74
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$TCM_TEMP,23.10
$XPDR_PINGS,94
$24V_AH,23.2,6.711
$10V_AH,10.3,6.129
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,63593,820
$CAP_FILE_SIZE,194194,0
$CFSIZE,260165632,181817344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170810,055101,2222.628,-15809.594,54,0.9,54,10.0