version: 66.06
glider: 146
mission: 5
dive: 28
start: 8 18 110 6 53 11
data:
$ID,146
$MISSION,5
$DIVE,28
$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,-247682.05
$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,54
$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
$GPS1,064606,2235.272,-15803.019,30,1.1,30,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-66.7
$GPS2,065214,2235.315,-15803.066,11,1.6,11,10.0
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,STNA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,0.135
$KALMAN_X,-16385.5,254.8,174.5,28928.2,-2464.9
$KALMAN_Y,36633.9,-134.7,-412.4,65290.5,3727.5
$MHEAD_RNG_PITCHd_Wd,45.7,18685,-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,-86.40,0.000,2,0.000,0.000,475,1763,3481,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.4,-6.4,11,133,12.10,2.55,-1.98,0.000,4,0.156,0.042,2760,3328,3601,0,0,0,0,0,0
$GC,184,-0.90,-146.0,28.0,-17.3,21,194,0.15,2.60,0.00,0.000,6,0.079,0.041,2797,1763,3602,0,0,0,0,0,0
$GC,462,-0.81,-146.0,64.7,-12.8,47,467,0.12,2.75,0.00,0.000,4,0.117,0.067,2823,180,3602,0,0,0,0,0,0
$GC,510,-0.81,-146.0,71.3,-11.8,50,519,0.00,2.45,0.00,0.000,6,0.000,0.016,2823,1769,3602,0,0,0,0,0,0
$GC,778,-0.85,-146.0,94.5,-7.6,75,782,0.00,2.47,0.00,0.000,4,0.000,0.027,2823,3321,3603,0,0,0,0,0,0
$GC,800,-0.90,-146.0,96.6,-7.3,76,809,0.00,2.58,0.00,0.000,6,0.000,0.037,2823,1741,3603,0,0,0,0,0,0
$GC,1066,-0.94,-146.0,113.9,-6.6,101,1071,0.12,2.67,0.00,0.000,4,0.077,0.069,2781,185,3603,0,0,0,0,0,0
$GC,1107,-0.94,-146.0,118.0,-9.8,104,1112,0.00,2.40,0.00,0.000,6,0.000,0.017,2781,1762,3604,0,0,0,0,0,0
$GC,1370,-0.94,-146.0,140.9,-9.1,128,1374,0.00,2.45,0.00,0.000,4,0.000,0.031,2781,3313,3604,0,0,0,0,0,0
$GC,1404,-0.94,-146.0,144.3,-9.6,130,1413,0.00,2.55,0.00,0.000,6,0.000,0.031,2781,1751,3604,0,0,0,0,0,0
$GC,1666,-0.94,-146.0,170.7,-10.9,155,1671,0.00,2.70,0.00,0.000,4,0.000,0.069,2781,182,3605,0,0,0,0,0,0
$GC,1699,-0.90,-146.0,174.2,-11.9,157,1704,0.10,2.38,0.00,0.000,6,0.115,0.023,2803,1752,3605,0,0,0,0,0,0
$GC,1964,-0.90,-146.0,197.2,-7.6,181,1968,0.00,2.45,0.00,0.000,4,0.000,0.028,2803,3309,3604,0,0,0,0,0,0
$GC,1998,-0.97,-146.0,199.9,-7.3,183,2007,0.00,2.55,0.00,0.000,6,0.000,0.036,2803,1741,3604,0,0,0,0,0,0
$GC,2249,-0.97,-146.0,215.9,-6.2,190,2254,0.00,2.70,0.00,0.000,4,0.000,0.071,2803,186,3605,0,0,0,0,0,0
$GC,2270,-0.97,-146.0,217.4,-6.4,190,2275,0.00,2.35,0.00,0.000,6,0.000,0.017,2803,1743,3604,0,0,0,0,0,0
$GC,2527,-1.01,-146.0,233.9,-6.6,197,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1744,3604,0,0,0,0,0,0
$GC,2771,-1.05,-146.0,253.7,-8.3,203,2776,0.12,2.50,0.00,0.000,4,0.075,0.033,2762,3310,3604,0,0,0,0,0,0
$GC,2815,-1.05,-146.0,258.3,-10.1,204,2819,0.00,2.53,0.00,0.000,6,0.000,0.039,2762,1735,3604,0,0,0,0,0,0
$GC,3094,-1.01,-146.0,286.3,-10.2,211,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1735,3604,0,0,0,0,0,0
$GC,3338,-1.01,-146.0,306.7,-8.1,217,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1735,3603,0,0,0,0,0,0
$GC,3580,-1.01,-146.0,326.8,-8.2,223,3585,0.00,2.60,0.00,0.000,4,0.000,0.041,2762,3307,3603,0,0,0,0,0,0
$GC,3607,-1.01,-146.0,329.1,-8.3,223,3612,0.00,2.62,0.00,0.000,6,0.000,0.049,2762,1733,3603,0,0,0,0,0,0
$GC,3858,-1.01,-146.0,347.0,-7.0,229,3862,0.00,2.58,0.00,0.000,4,0.000,0.044,2762,3304,3602,0,0,0,0,0,0
$GC,3886,-1.01,-146.0,349.0,-7.3,229,3891,0.00,2.62,0.00,0.000,6,0.000,0.054,2762,1744,3602,0,0,0,0,0,0
$GC,4136,-1.01,-146.0,365.4,-6.0,235,4140,0.00,2.58,0.00,0.000,4,0.000,0.044,2762,3299,3601,0,0,0,0,0,0
$GC,4163,-1.01,-146.0,367.3,-6.7,235,4167,0.00,2.62,0.00,0.000,6,0.000,0.057,2762,1743,3601,0,0,0,0,0,0
$GC,4414,-1.01,-146.0,384.6,-7.0,241,4419,0.00,2.60,0.00,0.000,4,0.000,0.049,2762,3300,3599,0,0,0,0,0,0
$GC,4436,-1.01,-146.0,386.4,-8.0,241,4440,0.00,2.60,0.00,0.000,6,0.000,0.051,2762,1756,3600,0,0,0,0,0,0
$GC,4691,-1.01,-146.0,405.4,-7.5,248,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1756,3598,0,0,0,0,0,0
$GC,4936,-1.01,-146.0,424.9,-8.0,254,4940,0.00,2.58,0.00,0.000,4,0.000,0.054,2762,3294,3596,0,0,0,0,0,0
$GC,4956,-1.01,-146.0,426.7,-8.1,254,4961,0.00,2.60,0.00,0.000,6,0.000,0.061,2762,1755,3596,0,0,0,0,0,0
$GC,5212,-1.01,-146.0,445.3,-7.0,261,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1755,3595,0,0,0,0,0,0
$GC,5456,-1.01,-146.0,459.7,-5.8,267,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1755,3593,0,0,0,0,0,0
$GC,5701,-1.01,-146.0,474.0,-6.0,273,5705,0.00,3.03,0.00,0.000,4,0.000,0.123,2761,173,3592,0,0,0,0,0,0
$GC,5722,-1.01,-146.0,475.6,-6.7,273,5726,0.00,2.50,0.00,0.000,6,0.000,0.041,2762,1707,3592,0,0,0,0,0,0
$GC,5979,-1.01,-146.0,492.0,-6.4,280,5983,0.00,2.72,0.00,0.000,4,0.000,0.069,2762,3289,3591,0,0,0,0,0,0
$GC,6020,-1.07,-146.0,494.6,-6.4,281,6024,0.00,2.62,0.00,0.000,6,0.000,0.065,2762,1754,3590,0,0,0,0,0,0
$GC,6303,-1.07,-146.0,515.0,-7.3,288,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1754,3589,0,0,0,0,0,0
$GC,6546,-1.07,-146.0,531.7,-6.9,294,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1754,3587,0,0,0,0,0,0
$GC,6791,-1.07,-146.0,548.8,-7.1,300,6796,0.00,2.65,0.00,0.000,4,0.000,0.069,2762,3288,3586,0,0,0,0,0,0
$GC,6825,-1.14,-146.0,551.5,-7.7,300,6831,0.00,2.67,0.00,0.000,6,0.000,0.074,2762,1760,3585,0,0,0,0,0,0
$GC,7075,-1.18,-146.0,569.8,-7.3,307,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1760,3584,0,0,0,0,0,0
$GC,7320,-1.22,-146.0,586.0,-6.5,313,7325,0.12,2.67,0.00,0.000,4,0.085,0.076,2725,3292,3582,0,0,0,0,0,0
$GC,7349,-1.22,-146.0,588.1,-7.6,313,7354,0.00,2.72,0.00,0.000,6,0.000,0.077,2725,1764,3582,0,0,0,0,0,0
$GC,7599,-1.22,-146.0,608.8,-8.3,319,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1764,3581,0,0,0,0,0,0
$GC,7842,-1.22,-146.0,629.4,-8.5,325,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1764,3580,0,0,0,0,0,0
$GC,8087,-1.22,-146.0,649.8,-8.3,331,8092,0.00,2.78,0.00,0.000,4,0.000,0.097,2725,3290,3579,0,0,0,0,0,0
$GC,8114,-1.22,-146.0,652.1,-8.3,331,8119,0.00,2.85,0.00,0.000,6,0.000,0.105,2725,1762,3578,0,0,0,0,0,0
$GC,8364,-1.22,-146.0,670.7,-7.3,337,8369,0.00,2.80,0.00,0.000,4,0.000,0.101,2725,3285,3577,0,0,0,0,0,0
$GC,8387,-1.22,-146.0,672.2,-7.3,337,8391,0.00,2.90,0.00,0.000,6,0.000,0.117,2725,1760,3577,0,0,0,0,0,0
$GC,8642,-1.22,-146.0,691.4,-7.6,344,8646,0.00,2.88,0.00,0.000,4,0.000,0.108,2725,3284,3576,0,0,0,0,0,0
$GC,8670,-1.22,-146.0,693.7,-8.4,344,8674,0.00,2.95,0.00,0.000,6,0.000,0.123,2725,1770,3575,0,0,0,0,0,0
$GC,8919,-1.22,-146.0,714.5,-8.4,350,8924,0.00,2.90,0.00,0.000,4,0.000,0.121,2725,3288,3574,0,0,0,0,0,0
$GC,8970,-1.22,-146.0,718.9,-8.6,351,8974,0.00,2.72,0.00,0.000,6,0.000,0.094,2725,1781,3574,0,0,0,0,0,0
$GC,9241,-1.22,-146.0,741.5,-8.3,358,9246,0.00,2.65,0.00,0.000,4,0.000,0.076,2725,3288,3573,0,0,0,0,0,0
$GC,9280,-1.22,-146.0,744.8,-8.3,359,9284,0.00,2.70,0.00,0.000,6,0.000,0.082,2725,1786,3573,0,0,0,0,0,0
$GC,9565,-1.22,-146.0,766.1,-7.4,366,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1785,3572,0,0,0,0,0,0
$GC,9807,-1.22,-146.0,782.9,-6.8,372,9811,0.00,2.65,0.00,0.000,4,0.000,0.077,2725,3293,3570,0,0,0,0,0,0
$GC,9828,-1.22,-146.0,784.3,-6.4,372,9832,0.00,2.67,0.00,0.000,6,0.000,0.081,2725,1798,3570,0,0,0,0,0,0
$GC,10084,-1.22,-146.0,800.9,-6.4,379,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1798,3569,0,0,0,0,0,0
$GC,10327,-1.22,-146.0,816.3,-6.2,385,10331,0.00,2.62,0.00,0.000,4,0.000,0.077,2725,3293,3568,0,0,0,0,0,0
$GC,10366,-1.22,-146.0,818.6,-5.9,386,10371,0.00,2.67,0.00,0.000,6,0.000,0.081,2725,1801,3568,0,0,0,0,0,0
$GC,10650,-1.22,-146.0,835.0,-5.6,393,10655,0.00,2.60,0.00,0.000,4,0.000,0.077,2725,3286,3567,0,0,0,0,0,0
$GC,10672,-1.22,-146.0,836.3,-5.4,393,10677,0.00,2.62,0.00,0.000,6,0.000,0.078,2725,1805,3568,0,0,0,0,0,0
$GC,10928,-1.22,-146.0,851.0,-5.8,400,10933,0.00,3.28,0.00,0.000,4,0.000,0.146,2725,173,3567,0,0,0,0,0,0
$GC,10964,-1.22,-146.0,853.4,-6.9,400,10969,0.00,2.65,0.00,0.000,6,0.000,0.051,2725,1748,3566,0,0,0,0,0,0
$GC,11214,-1.22,-146.0,870.6,-7.0,407,11218,0.00,2.90,0.00,0.000,4,0.000,0.095,2725,3356,3566,0,0,0,0,0,0
$GC,11253,-1.22,-146.0,873.3,-7.0,408,11258,0.00,2.75,0.00,0.000,6,0.000,0.075,2725,1805,3566,0,0,0,0,0,0
$GC,11537,-1.22,-146.0,893.7,-7.1,415,11542,0.00,2.70,0.00,0.000,4,0.000,0.075,2725,3353,3564,0,0,0,0,0,0
$GC,11559,-1.22,-146.0,895.4,-7.1,415,11563,0.00,2.72,0.00,0.000,6,0.000,0.078,2725,1812,3564,0,0,0,0,0,0
$STATE,11649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11649,begin apogee
$GC,11654,-0.31,0.0,902.1,7.3,418,11781,0.93,0.00,123.68,1.264,6,0.087,0.000,2929,1813,3001,0,0,0,0,0,0
$STATE,11782,end apogee,CONTROL_FINISHED_OK
$STATE,11782,begin climb
$GC,11786,1.06,146.0,906.1,0.0,421,11927,1.25,2.85,132.48,1.234,4,0.044,0.067,3233,3386,2404,0,0,0,0,0,0
$GC,11967,0.87,146.0,899.9,9.4,425,11973,0.20,2.88,0.00,0.000,6,0.127,0.072,3194,1798,2398,0,0,0,0,0,0
$GC,12229,0.76,156.2,879.6,7.6,432,12244,0.15,2.83,8.65,1.025,4,0.130,0.066,3166,3386,2364,0,0,0,0,0,0
$GC,12290,0.75,179.1,875.1,7.2,433,12320,0.00,2.85,23.08,1.159,6,0.000,0.074,3166,1804,2270,0,0,0,0,0,0
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$STATE,22078,end climb,SURFACE_DEPTH_REACHED
$STATE,22078,begin surface coast
$FINISH,0.2,1.023327
$STATE,22130,end surface coast,CONTROL_FINISHED_OK
$STATE,22131,begin surface
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$HUMID,40.15
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$TCM_TEMP,23.50
$XPDR_PINGS,96
$24V_AH,23.2,7.602
$10V_AH,10.4,6.876
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.425,267.625,485.200,42.025,0.000,24.951,35.227,165.853,24.000,0.000,13.445,1762.704,16743.416,673.086,2705.950,673.984,33.375,1847.676,0.000,2703.312,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355984
$DATA_FILE_SIZE,63605,838
$CAP_FILE_SIZE,199706,0
$CFSIZE,260165632,181391360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180810,130431,2237.658,-15801.609,41,1.2,41,10.0