version: 66.06
glider: 146
mission: 5
dive: 25
start: 8 17 110 12 13 51
data:
$ID,146
$MISSION,5
$DIVE,25
$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,-247636.38
$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,22
$R_STBD_OVSHOOT,50
$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
$GPS1,120607,2225.837,-15808.193,38,1.6,38,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-68.0
$GPS2,121256,2225.931,-15808.265,14,1.7,14,10.0
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,STNA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.219,0.098
$KALMAN_X,-10962.8,-51.7,48.2,14996.1,-2399.6
$KALMAN_Y,27189.5,-179.6,-122.5,57098.4,4071.3
$MHEAD_RNG_PITCHd_Wd,55.8,38032,-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,-85.95,0.000,2,0.000,0.000,476,1744,3472,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.0,-5.5,11,133,11.93,2.58,-2.17,0.000,4,0.150,0.041,2758,3328,3601,0,0,0,0,0,0
$GC,184,-0.91,-146.0,27.2,-17.0,21,193,0.15,2.60,0.00,0.000,6,0.081,0.041,2796,1760,3602,0,0,0,0,0,0
$GC,462,-0.83,-146.0,65.4,-12.6,47,467,0.10,2.75,0.00,0.000,4,0.122,0.067,2817,176,3602,0,0,0,0,0,0
$GC,473,-0.77,-146.0,67.7,-11.9,47,483,0.00,2.47,0.00,0.000,6,0.000,0.017,2817,1808,3602,0,0,0,0,0,0
$GC,736,-0.77,-146.0,93.9,-10.2,72,740,0.00,2.33,0.00,0.000,4,0.000,0.025,2817,3288,3603,0,0,0,0,0,0
$GC,765,-0.77,-146.0,96.8,-9.9,74,769,0.00,2.47,0.00,0.000,6,0.000,0.033,2817,1749,3603,0,0,0,0,0,0
$GC,1027,-0.77,-146.0,118.7,-8.7,98,1031,0.00,2.70,0.00,0.000,4,0.000,0.073,2817,185,3604,0,0,0,0,0,0
$GC,1073,-0.84,-146.0,122.2,-8.9,101,1078,0.00,2.33,0.00,0.000,6,0.000,0.017,2817,1726,3604,0,0,0,0,0,0
$GC,1340,-0.88,-146.0,140.6,-6.6,125,1344,0.00,2.50,0.00,0.000,4,0.000,0.034,2817,3310,3604,0,0,0,0,0,0
$GC,1387,-0.99,-146.0,144.2,-7.2,128,1396,0.10,2.55,0.00,0.000,6,0.044,0.035,2777,1749,3604,0,0,0,0,0,0
$GC,1650,-0.95,-146.0,167.8,-9.2,153,1655,0.00,2.70,0.00,0.000,4,0.000,0.071,2776,179,3605,0,0,0,0,0,0
$GC,1679,-0.91,-146.0,170.8,-9.9,155,1684,0.12,2.38,0.00,0.000,6,0.104,0.021,2804,1746,3605,0,0,0,0,0,0
$GC,1940,-0.91,-146.0,189.4,-6.9,179,1944,0.00,2.47,0.00,0.000,4,0.000,0.033,2804,3317,3604,0,0,0,0,0,0
$GC,1974,-0.97,-146.0,191.3,-6.5,181,1979,0.00,2.50,0.00,0.000,6,0.000,0.036,2804,1750,3604,0,0,0,0,0,0
$GC,2231,-1.01,-146.0,210.6,-8.0,196,2236,0.10,2.75,0.00,0.000,4,0.083,0.074,2768,182,3605,0,0,0,0,0,0
$GC,2258,-1.01,-146.0,213.6,-11.0,196,2262,0.00,2.40,0.00,0.000,6,0.000,0.018,2768,1757,3604,0,0,0,0,0,0
$GC,2515,-1.01,-146.0,239.5,-9.9,203,2519,0.00,2.47,0.00,0.000,4,0.000,0.037,2768,3320,3604,0,0,0,0,0,0
$GC,2559,-1.01,-146.0,243.7,-9.1,204,2564,0.00,2.50,0.00,0.000,6,0.000,0.037,2768,1764,3604,0,0,0,0,0,0
$GC,2842,-1.01,-146.0,270.2,-9.5,211,2846,0.00,2.47,0.00,0.000,4,0.000,0.031,2768,3316,3604,0,0,0,0,0,0
$GC,2869,-1.01,-146.0,272.7,-9.0,211,2874,0.00,2.50,0.00,0.000,6,0.000,0.037,2768,1773,3604,0,0,0,0,0,0
$GC,3121,-1.01,-146.0,293.1,-7.9,217,3125,0.00,2.83,0.00,0.000,4,0.000,0.084,2768,182,3603,0,0,0,0,0,0
$GC,3165,-1.01,-146.0,296.7,-7.9,218,3169,0.00,2.47,0.00,0.000,6,0.000,0.028,2768,1750,3604,0,0,0,0,0,0
$GC,3442,-1.01,-146.0,319.6,-8.6,225,3446,0.00,2.60,0.00,0.000,4,0.000,0.050,2768,3346,3603,0,0,0,0,0,0
$GC,3492,-1.05,-146.0,324.2,-9.2,226,3497,0.00,2.60,0.00,0.000,6,0.000,0.045,2768,1781,3603,0,0,0,0,0,0
$GC,3764,-1.05,-146.0,348.2,-8.5,233,3769,0.00,2.90,0.00,0.000,4,0.000,0.097,2768,173,3601,0,0,0,0,0,0
$GC,3791,-1.05,-146.0,350.2,-7.9,233,3795,0.00,2.58,0.00,0.000,6,0.000,0.030,2768,1787,3601,0,0,0,0,0,0
$GC,4042,-1.05,-146.0,366.4,-6.2,239,4046,0.00,2.55,0.00,0.000,4,0.000,0.045,2768,3350,3600,0,0,0,0,0,0
$GC,4057,-1.05,-146.0,367.5,-6.6,239,4062,0.00,2.60,0.00,0.000,6,0.000,0.048,2768,1785,3600,0,0,0,0,0,0
$GC,4318,-1.05,-146.0,383.3,-6.5,246,4323,0.00,3.00,0.00,0.000,4,0.000,0.111,2768,175,3599,0,0,0,0,0,0
$GC,4363,-1.10,-146.0,387.1,-8.5,247,4368,0.00,2.58,0.00,0.000,6,0.000,0.030,2768,1780,3599,0,0,0,0,0,0
$GC,4641,-1.10,-146.0,411.5,-8.9,254,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1780,3597,0,0,0,0,0,0
$GC,4885,-1.10,-146.0,435.1,-9.8,260,4889,0.00,2.62,0.00,0.000,4,0.000,0.061,2768,3345,3596,0,0,0,0,0,0
$GC,4918,-1.16,-146.0,438.3,-9.5,260,4924,0.00,2.70,0.00,0.000,6,0.000,0.057,2768,1768,3595,0,0,0,0,0,0
$GC,5169,-1.20,-146.0,458.2,-7.5,267,5171,0.12,0.00,0.00,0.000,6,0.074,0.000,2727,1767,3593,0,0,0,0,0,0
$GC,5412,-1.16,-146.0,478.7,-8.3,273,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1768,3592,0,0,0,0,0,0
$GC,5656,-1.11,-146.0,498.7,-8.3,279,5661,0.15,2.70,0.00,0.000,4,0.188,0.058,2757,3343,3590,0,0,0,0,0,0
$GC,5712,-1.17,-146.0,503.1,-7.5,280,5716,0.00,2.72,0.00,0.000,6,0.000,0.066,2757,1782,3590,0,0,0,0,0,0
$GC,5978,-1.17,-146.0,522.1,-7.2,287,5983,0.00,3.20,0.00,0.000,4,0.000,0.143,2757,172,3589,0,0,0,0,0,0
$GC,6012,-1.17,-146.0,524.6,-7.6,287,6018,0.00,2.65,0.00,0.000,6,0.000,0.048,2757,1767,3588,0,0,0,0,0,0
$GC,6262,-1.17,-146.0,541.2,-6.4,294,6267,0.00,2.83,0.00,0.000,4,0.000,0.091,2757,3346,3586,0,0,0,0,0,0
$GC,6284,-1.22,-146.0,542.6,-6.0,294,6289,0.10,2.78,0.00,0.000,6,0.090,0.074,2727,1766,3586,0,0,0,0,0,0
$GC,6541,-1.22,-146.0,558.9,-6.4,301,6545,0.00,2.72,0.00,0.000,4,0.000,0.073,2728,3347,3585,0,0,0,0,0,0
$GC,6562,-1.22,-146.0,560.5,-7.1,301,6566,0.00,2.78,0.00,0.000,6,0.000,0.073,2728,1775,3585,0,0,0,0,0,0
$GC,6818,-1.22,-146.0,578.5,-7.2,308,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1775,3583,0,0,0,0,0,0
$GC,7063,-1.22,-146.0,595.9,-7.1,314,7067,0.00,2.78,0.00,0.000,4,0.000,0.078,2727,3343,3581,0,0,0,0,0,0
$GC,7102,-1.22,-146.0,598.9,-7.1,315,7107,0.00,2.83,0.00,0.000,6,0.000,0.086,2728,1769,3581,0,0,0,0,0,0
$GC,7385,-1.22,-146.0,618.5,-6.8,322,7390,0.00,2.80,0.00,0.000,4,0.000,0.088,2728,3348,3580,0,0,0,0,0,0
$GC,7430,-1.22,-146.0,621.6,-7.3,323,7435,0.00,2.88,0.00,0.000,6,0.000,0.099,2728,1786,3580,0,0,0,0,0,0
$GC,7708,-1.22,-146.0,639.7,-6.6,330,7713,0.00,3.33,0.00,0.000,4,0.000,0.157,2727,172,3578,0,0,0,0,0,0
$GC,7729,-1.22,-146.0,641.2,-7.1,330,7734,0.00,2.83,0.00,0.000,6,0.000,0.071,2727,1779,3577,0,0,0,0,0,0
$GC,7986,-1.22,-146.0,658.3,-6.7,337,7990,0.00,2.92,0.00,0.000,4,0.000,0.112,2728,3353,3576,0,0,0,0,0,0
$GC,8025,-1.22,-146.0,661.3,-7.7,338,8030,0.00,2.97,0.00,0.000,6,0.000,0.108,2727,1783,3576,0,0,0,0,0,0
$GC,8310,-1.22,-146.0,683.5,-7.9,345,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1782,3574,0,0,0,0,0,0
$GC,8551,-1.22,-146.0,703.9,-8.5,351,8556,0.00,2.97,0.00,0.000,4,0.000,0.114,2727,3349,3573,0,0,0,0,0,0
$GC,8578,-1.22,-146.0,706.4,-9.2,351,8583,0.00,3.08,0.00,0.000,6,0.000,0.131,2727,1789,3573,0,0,0,0,0,0
$GC,8828,-1.22,-146.0,729.0,-9.0,357,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1789,3572,0,0,0,0,0,0
$GC,9073,-1.22,-146.0,749.9,-8.5,363,9078,0.00,3.08,0.00,0.000,4,0.000,0.143,2728,3345,3571,0,0,0,0,0,0
$GC,9094,-1.22,-146.0,751.8,-8.0,363,9099,0.00,2.78,0.00,0.000,6,0.000,0.082,2727,1798,3570,0,0,0,0,0,0
$GC,9350,-1.22,-146.0,769.8,-6.8,370,9355,0.00,3.28,0.00,0.000,4,0.000,0.143,2727,167,3569,0,0,0,0,0,0
$GC,9367,-1.22,-146.0,770.9,-6.5,370,9372,0.00,2.75,0.00,0.000,6,0.000,0.052,2727,1798,3569,0,0,0,0,0,0
$GC,9629,-1.22,-146.0,786.6,-5.8,377,9634,0.00,2.78,0.00,0.000,4,0.000,0.095,2727,3349,3568,0,0,0,0,0,0
$GC,9674,-1.22,-146.0,789.2,-5.9,378,9679,0.00,2.75,0.00,0.000,6,0.000,0.079,2727,1800,3568,0,0,0,0,0,0
$GC,9954,-1.22,-146.0,804.2,-5.3,385,9958,0.00,2.72,0.00,0.000,4,0.000,0.073,2727,3351,3567,0,0,0,0,0,0
$GC,9975,-1.22,-146.0,805.6,-5.6,385,9980,0.00,2.75,0.00,0.000,6,0.000,0.076,2727,1801,3567,0,0,0,0,0,0
$GC,10230,-1.22,-146.0,820.1,-5.8,392,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1801,3566,0,0,0,0,0,0
$GC,10474,-1.22,-146.0,834.1,-5.8,398,10478,0.00,2.70,0.00,0.000,4,0.000,0.074,2727,3348,3565,0,0,0,0,0,0
$GC,10507,-1.22,-146.0,836.1,-6.2,398,10513,0.00,2.72,0.00,0.000,6,0.000,0.076,2728,1807,3565,0,0,0,0,0,0
$GC,10757,-1.22,-146.0,851.5,-6.1,405,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1806,3564,0,0,0,0,0,0
$GC,11001,-1.22,-146.0,868.0,-7.0,411,11002,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1807,3564,0,0,0,0,0,0
$GC,11246,-1.22,-146.0,884.9,-7.0,417,11250,0.00,2.70,0.00,0.000,4,0.000,0.073,2727,3348,3563,0,0,0,0,0,0
$GC,11286,-1.26,-146.0,887.8,-7.3,418,11290,0.00,2.72,0.00,0.000,6,0.000,0.077,2727,1811,3563,0,0,0,0,0,0
$STATE,11485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11485,begin apogee
$GC,11490,-0.31,0.0,902.1,7.0,423,11617,0.93,0.00,122.97,1.262,6,0.088,0.000,2931,1810,3001,0,0,0,0,0,0
$STATE,11618,end apogee,CONTROL_FINISHED_OK
$STATE,11618,begin climb
$GC,11621,1.06,146.0,905.6,0.0,426,11762,1.25,2.85,132.07,1.232,4,0.046,0.073,3232,3393,2405,0,0,0,0,0,0
$GC,11814,0.87,146.0,896.5,10.4,430,11819,0.20,2.90,0.00,0.000,6,0.127,0.076,3194,1801,2398,0,0,0,0,0,0
$GC,12070,0.74,146.0,873.3,9.0,437,12075,0.15,2.78,0.00,0.000,4,0.133,0.061,3166,3394,2392,0,0,0,0,0,0
$GC,12099,0.68,146.0,870.9,8.6,437,12103,0.00,2.88,0.00,0.000,6,0.000,0.072,3166,1799,2391,0,0,0,0,0,0
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$STATE,21670,end climb,SURFACE_DEPTH_REACHED
$STATE,21670,begin surface coast
$FINISH,0.3,1.010654
$STATE,21733,end surface coast,CONTROL_FINISHED_OK
$STATE,21733,begin surface
$SM_CCo,21755,42.47,0.395,1,0,1288,420.20
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$HUMID,40.86
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$TCM_TEMP,23.50
$XPDR_PINGS,111
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$10V_AH,10.3,6.430
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.250,316.125,478.100,42.475,0.000,31.284,29.368,195.847,27.750,0.000,15.672,1798.739,16109.811,695.253,2873.913,724.968,33.363,1944.980,0.000,2863.385,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,63620,834
$CAP_FILE_SIZE,210200,0
$CFSIZE,260165632,181633024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170810,181855,2228.878,-15806.624,61,1.0,61,10.0