version: 66.06
glider: 146
mission: 5
dive: 27
start: 8 18 110 0 45 8
data:
$ID,146
$MISSION,5
$DIVE,27
$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,-247667.98
$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,23
$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
$GPS1,003737,2232.570,-15804.804,31,0.9,31,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-69.0
$GPS2,004413,2232.637,-15804.887,9,0.9,14,10.0
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,STNA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.201,0.132
$KALMAN_X,-14837.2,180.1,79.9,24416.2,-2153.2
$KALMAN_Y,33961.8,165.6,-37.9,62317.6,3443.8
$MHEAD_RNG_PITCHd_Wd,46.6,24370,-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,16,-1.06,-146.0,0.0,0.0,0,105,0.00,0.00,-86.93,0.000,2,0.000,0.000,483,1763,3487,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.3,-6.0,11,134,11.95,2.55,-1.90,0.000,4,0.152,0.040,2761,3332,3600,0,0,0,0,0,0
$GC,198,-0.94,-146.0,29.1,-14.6,23,208,0.12,2.60,0.00,0.000,6,0.082,0.039,2794,1762,3601,0,0,0,0,0,0
$GC,465,-0.86,-146.0,63.9,-10.6,48,470,0.00,2.72,0.00,0.000,4,0.000,0.065,2794,178,3601,0,0,0,0,0,0
$GC,499,-0.77,-146.0,68.0,-11.3,50,504,0.17,2.42,0.00,0.000,6,0.097,0.015,2832,1783,3601,0,0,0,0,0,0
$GC,763,-0.81,-146.0,89.7,-7.0,74,768,0.00,2.75,0.00,0.000,4,0.000,0.062,2832,171,3602,0,0,0,0,0,0
$GC,797,-0.88,-146.0,92.3,-7.1,76,806,0.08,2.40,0.00,0.000,6,0.044,0.023,2794,1748,3602,0,0,0,0,0,0
$GC,1064,-0.88,-146.0,114.7,-8.7,101,1069,0.00,2.45,0.00,0.000,4,0.000,0.028,2793,3303,3603,0,0,0,0,0,0
$GC,1098,-0.88,-146.0,117.6,-8.0,103,1102,0.00,2.50,0.00,0.000,6,0.000,0.037,2793,1743,3602,0,0,0,0,0,0
$GC,1364,-0.88,-146.0,139.8,-8.5,127,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1743,3603,0,0,0,0,0,0
$GC,1625,-0.88,-146.0,163.3,-8.7,152,1630,0.00,2.70,0.00,0.000,4,0.000,0.068,2793,185,3603,0,0,0,0,0,0
$GC,1647,-0.88,-146.0,165.5,-9.6,153,1658,0.00,2.40,0.00,0.000,6,0.000,0.018,2793,1755,3603,0,0,0,0,0,0
$GC,1915,-0.88,-146.0,192.0,-9.9,178,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1756,3603,0,0,0,0,0,0
$GC,2198,-0.88,-146.0,219.1,-9.1,191,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1756,3603,0,0,0,0,0,0
$GC,2442,-0.88,-146.0,241.3,-9.1,197,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1756,3602,0,0,0,0,0,0
$GC,2686,-0.88,-146.0,258.1,-6.4,203,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1756,3602,0,0,0,0,0,0
$GC,2931,-0.88,-146.0,273.7,-6.6,209,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1756,3602,0,0,0,0,0,0
$GC,3173,-0.88,-146.0,291.7,-7.4,215,3178,0.00,2.75,0.00,0.000,4,0.000,0.080,2793,183,3602,0,0,0,0,0,0
$GC,3201,-0.92,-146.0,293.7,-7.3,215,3205,0.00,2.40,0.00,0.000,6,0.000,0.024,2793,1722,3602,0,0,0,0,0,0
$GC,3458,-0.98,-146.0,310.8,-6.5,222,3462,0.00,2.60,0.00,0.000,4,0.000,0.043,2793,3347,3601,0,0,0,0,0,0
$GC,3491,-1.06,-146.0,313.1,-6.4,222,3497,0.10,2.62,0.00,0.000,6,0.086,0.045,2760,1752,3601,0,0,0,0,0,0
$GC,3740,-1.06,-146.0,334.1,-8.7,229,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1751,3601,0,0,0,0,0,0
$GC,3985,-1.06,-146.0,354.6,-8.3,235,3990,0.00,2.60,0.00,0.000,4,0.000,0.045,2760,3338,3600,0,0,0,0,0,0
$GC,4029,-1.06,-146.0,358.3,-8.1,236,4033,0.00,2.62,0.00,0.000,6,0.000,0.055,2760,1765,3600,0,0,0,0,0,0
$GC,4307,-1.06,-146.0,380.2,-7.8,243,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1764,3598,0,0,0,0,0,0
$GC,4552,-1.06,-146.0,400.1,-8.1,249,4556,0.00,2.58,0.00,0.000,4,0.000,0.052,2760,3331,3597,0,0,0,0,0,0
$GC,4585,-1.10,-146.0,402.8,-7.9,249,4590,0.00,2.70,0.00,0.000,6,0.000,0.057,2760,1756,3597,0,0,0,0,0,0
$GC,4835,-1.10,-146.0,420.9,-7.2,256,4839,0.00,2.62,0.00,0.000,4,0.000,0.052,2760,3332,3595,0,0,0,0,0,0
$GC,4856,-1.10,-146.0,422.5,-7.4,256,4861,0.00,2.67,0.00,0.000,6,0.000,0.062,2760,1774,3595,0,0,0,0,0,0
$GC,5112,-1.10,-146.0,441.0,-7.4,263,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1774,3594,0,0,0,0,0,0
$GC,5355,-1.10,-146.0,459.4,-7.6,269,5359,0.00,3.08,0.00,0.000,4,0.000,0.125,2760,172,3592,0,0,0,0,0,0
$GC,5404,-1.15,-146.0,463.5,-8.1,270,5409,0.00,2.60,0.00,0.000,6,0.000,0.044,2760,1758,3592,0,0,0,0,0,0
$GC,5678,-1.15,-146.0,483.2,-7.3,277,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1758,3591,0,0,0,0,0,0
$GC,5920,-1.15,-146.0,500.5,-7.0,283,5925,0.00,2.78,0.00,0.000,4,0.000,0.079,2760,3350,3589,0,0,0,0,0,0
$GC,5948,-1.21,-146.0,502.5,-7.6,283,5953,0.10,2.78,0.00,0.000,6,0.089,0.070,2728,1753,3589,0,0,0,0,0,0
$GC,6199,-1.17,-146.0,521.4,-7.5,289,6204,0.00,3.10,0.00,0.000,4,0.000,0.135,2727,177,3587,0,0,0,0,0,0
$GC,6221,-1.12,-146.0,523.4,-8.3,289,6227,0.12,2.65,0.00,0.000,6,0.115,0.044,2752,1770,3586,0,0,0,0,0,0
$GC,6478,-1.12,-146.0,541.7,-7.0,296,6483,0.00,2.80,0.00,0.000,4,0.000,0.089,2752,3345,3585,0,0,0,0,0,0
$GC,6511,-1.17,-146.0,544.3,-8.0,296,6517,0.00,2.75,0.00,0.000,6,0.000,0.074,2752,1765,3585,0,0,0,0,0,0
$GC,6761,-1.17,-146.0,561.7,-7.1,303,6766,0.00,2.75,0.00,0.000,4,0.000,0.072,2752,3348,3583,0,0,0,0,0,0
$GC,6777,-1.17,-146.0,562.8,-6.7,303,6781,0.00,2.75,0.00,0.000,6,0.000,0.071,2752,1771,3583,0,0,0,0,0,0
$GC,7039,-1.17,-146.0,581.4,-7.2,310,7043,0.00,2.75,0.00,0.000,4,0.000,0.074,2752,3343,3581,0,0,0,0,0,0
$GC,7066,-1.22,-146.0,583.6,-7.6,310,7071,0.00,2.80,0.00,0.000,6,0.000,0.083,2753,1776,3581,0,0,0,0,0,0
$GC,7316,-1.22,-146.0,601.9,-7.3,316,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1777,3580,0,0,0,0,0,0
$GC,7561,-1.22,-146.0,619.1,-6.9,322,7566,0.00,3.25,0.00,0.000,4,0.000,0.155,2752,175,3579,0,0,0,0,0,0
$GC,7583,-1.22,-146.0,620.8,-7.3,322,7587,0.00,2.78,0.00,0.000,6,0.000,0.064,2752,1780,3578,0,0,0,0,0,0
$GC,7838,-1.26,-146.0,637.7,-6.5,329,7844,0.12,2.90,0.00,0.000,4,0.114,0.103,2720,3345,3577,0,0,0,0,0,0
$GC,7884,-1.26,-146.0,641.4,-8.3,330,7889,0.00,2.90,0.00,0.000,6,0.000,0.098,2720,1784,3577,0,0,0,0,0,0
$GC,8161,-1.26,-146.0,665.6,-8.8,337,8166,0.00,2.85,0.00,0.000,4,0.000,0.097,2720,3345,3574,0,0,0,0,0,0
$GC,8210,-1.26,-146.0,670.0,-9.3,338,8215,0.00,2.95,0.00,0.000,6,0.000,0.117,2720,1795,3574,0,0,0,0,0,0
$GC,8483,-1.26,-146.0,692.5,-8.2,345,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1795,3573,0,0,0,0,0,0
$GC,8726,-1.26,-146.0,710.7,-7.4,351,8731,0.00,2.97,0.00,0.000,4,0.000,0.123,2720,3346,3572,0,0,0,0,0,0
$GC,8747,-1.26,-146.0,712.5,-8.0,351,8752,0.00,2.80,0.00,0.000,6,0.000,0.090,2720,1801,3572,0,0,0,0,0,0
$GC,9004,-1.26,-146.0,730.9,-7.2,358,9009,0.00,2.75,0.00,0.000,4,0.000,0.077,2720,3354,3570,0,0,0,0,0,0
$GC,9027,-1.26,-146.0,732.6,-6.8,358,9031,0.00,2.78,0.00,0.000,6,0.000,0.086,2719,1810,3570,0,0,0,0,0,0
$GC,9282,-1.26,-146.0,750.7,-7.2,365,9286,0.00,2.72,0.00,0.000,4,0.000,0.081,2720,3353,3569,0,0,0,0,0,0
$GC,9304,-1.26,-146.0,752.5,-8.1,365,9308,0.00,2.75,0.00,0.000,6,0.000,0.081,2720,1809,3569,0,0,0,0,0,0
$GC,9559,-1.26,-146.0,770.2,-6.9,372,9564,0.00,3.28,0.00,0.000,4,0.000,0.146,2720,171,3568,0,0,0,0,0,0
$GC,9580,-1.26,-146.0,771.9,-7.4,372,9585,0.00,2.80,0.00,0.000,6,0.000,0.054,2719,1815,3567,0,0,0,0,0,0
$GC,9837,-1.26,-146.0,788.9,-6.6,379,9841,0.00,2.78,0.00,0.000,4,0.000,0.093,2720,3350,3567,0,0,0,0,0,0
$GC,9858,-1.26,-146.0,790.4,-6.5,379,9863,0.00,2.70,0.00,0.000,6,0.000,0.075,2720,1814,3567,0,0,0,0,0,0
$GC,10113,-1.26,-146.0,807.2,-6.7,386,10114,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1814,3566,0,0,0,0,0,0
$GC,10357,-1.26,-146.0,825.1,-7.5,392,10362,0.00,3.20,0.00,0.000,4,0.000,0.132,2720,171,3565,0,0,0,0,0,0
$GC,10385,-1.26,-146.0,827.5,-8.4,392,10389,0.00,2.80,0.00,0.000,6,0.000,0.053,2720,1820,3565,0,0,0,0,0,0
$GC,10635,-1.26,-146.0,846.5,-7.7,398,10639,0.00,2.78,0.00,0.000,4,0.000,0.094,2719,3351,3564,0,0,0,0,0,0
$GC,10667,-1.26,-146.0,849.2,-7.9,398,10673,0.00,2.72,0.00,0.000,6,0.000,0.080,2719,1815,3564,0,0,0,0,0,0
$GC,10919,-1.26,-146.0,867.2,-7.1,405,10920,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1815,3563,0,0,0,0,0,0
$GC,11161,-1.26,-146.0,884.1,-6.8,411,11166,0.00,2.67,0.00,0.000,4,0.000,0.074,2719,3356,3562,0,0,0,0,0,0
$GC,11201,-1.26,-146.0,886.8,-6.5,412,11205,0.00,2.70,0.00,0.000,6,0.000,0.073,2720,1820,3562,0,0,0,0,0,0
$STATE,11400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11400,begin apogee
$GC,11407,-0.31,0.0,900.2,6.6,417,11533,0.98,0.00,122.80,1.267,6,0.095,0.000,2932,1797,3001,0,0,0,0,0,0
$STATE,11534,end apogee,CONTROL_FINISHED_OK
$STATE,11534,begin climb
$GC,11537,1.06,146.0,903.2,0.0,420,11678,1.27,2.88,133.25,1.233,4,0.049,0.071,3233,3386,2405,0,0,0,0,0,0
$GC,11711,0.87,146.0,895.8,9.4,423,11716,0.22,2.88,0.00,0.000,6,0.126,0.073,3192,1801,2399,0,0,0,0,0,0
$GC,11961,0.75,146.0,875.2,8.2,429,11966,0.15,2.78,0.00,0.000,4,0.243,0.061,3164,3389,2393,0,0,0,0,0,0
$GC,12024,0.70,146.0,869.7,8.9,430,12028,0.00,2.83,0.00,0.000,6,0.000,0.070,3164,1812,2392,0,0,0,0,0,0
$GC,12284,0.63,146.0,848.4,8.2,437,12290,0.12,2.72,0.00,0.000,4,0.198,0.059,3142,3390,2390,0,0,0,0,0,0
$GC,12317,0.65,160.8,845.7,7.5,437,12337,0.00,2.78,12.62,1.096,6,0.000,0.070,3142,1812,2344,0,0,0,0,0,0
$GC,12611,0.67,178.8,824.1,7.3,445,12631,0.00,0.00,18.12,1.135,6,0.000,0.000,3142,1812,2272,0,0,0,0,0,0
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$STATE,21461,end climb,SURFACE_DEPTH_REACHED
$STATE,21462,begin surface coast
$FINISH,0.4,1.023304
$STATE,21518,end surface coast,CONTROL_FINISHED_OK
$STATE,21518,begin surface
$SM_CCo,21540,42.47,0.400,1,0,1288,420.20
$SM_GC,0.91,0.00,0.00,42.47,0.000,0.000,0.400,475,1764,1288,-11.62,0.11,420.20
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$HUMID,40.98
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$TCM_TEMP,22.80
$XPDR_PINGS,98
$24V_AH,23.2,7.428
$10V_AH,10.3,6.727
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.475,284.800,487.600,42.475,0.000,30.813,30.206,181.759,24.500,0.000,15.557,1707.277,16249.025,727.838,2586.407,702.646,33.371,1869.916,0.000,2589.646,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,60524,806
$CAP_FILE_SIZE,198441,0
$CFSIZE,260165632,181477376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180810,064606,2235.272,-15803.019,30,1.1,30,10.0