version: 66.06
glider: 146
mission: 5
dive: 29
start: 8 18 110 13 12 8
data:
$ID,146
$MISSION,5
$DIVE,29
$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,-247696.59
$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,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,20
$R_STBD_OVSHOOT,61
$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
$GPS1,130431,2237.658,-15801.609,41,1.2,41,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-65.9
$GPS2,131113,2237.690,-15801.681,12,1.2,12,10.0
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,STNA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.155,0.183
$KALMAN_X,-17972.0,-75.5,16.5,33389.2,-1845.6
$KALMAN_Y,38300.5,-670.8,-187.2,68340.9,3557.0
$MHEAD_RNG_PITCHd_Wd,30.2,13839,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-86.95,0.000,2,0.000,0.000,481,1774,3518,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.4,-6.3,11,127,11.90,2.53,-1.35,0.000,4,0.150,0.037,2760,3328,3600,0,0,0,0,0,0
$GC,247,-0.94,-146.0,36.9,-12.5,27,252,0.15,2.55,0.00,0.000,6,0.105,0.034,2792,1757,3602,0,0,0,0,0,0
$GC,515,-0.83,-146.0,71.3,-12.2,51,520,0.12,2.72,0.00,0.000,4,0.116,0.066,2818,183,3602,0,0,0,0,0,0
$GC,549,-0.77,-146.0,75.5,-11.4,53,553,0.00,2.42,0.00,0.000,6,0.000,0.016,2818,1778,3602,0,0,0,0,0,0
$GC,817,-0.77,-146.0,97.7,-7.1,77,821,0.00,2.45,0.00,0.000,4,0.000,0.027,2819,3317,3603,0,0,0,0,0,0
$GC,850,-0.82,-146.0,100.2,-7.5,79,855,0.00,2.50,0.00,0.000,6,0.000,0.036,2818,1749,3603,0,0,0,0,0,0
$GC,1118,-0.82,-146.0,119.0,-7.2,103,1122,0.00,2.67,0.00,0.000,4,0.000,0.072,2818,186,3603,0,0,0,0,0,0
$GC,1158,-0.89,-146.0,122.4,-7.3,106,1163,0.00,2.35,0.00,0.000,6,0.000,0.019,2818,1756,3603,0,0,0,0,0,0
$GC,1423,-0.93,-146.0,140.9,-7.7,130,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1757,3603,0,0,0,0,0,0
$GC,1686,-0.99,-146.0,161.1,-7.2,155,1691,0.15,2.72,0.00,0.000,4,0.067,0.064,2772,182,3604,0,0,0,0,0,0
$GC,1707,-0.99,-146.0,163.4,-8.9,156,1717,0.00,2.38,0.00,0.000,6,0.000,0.024,2772,1741,3604,0,0,0,0,0,0
$GC,1976,-0.95,-146.0,185.8,-7.8,181,1980,0.10,2.47,0.00,0.000,4,0.122,0.030,2794,3303,3604,0,0,0,0,0,0
$GC,2019,-0.99,-146.0,189.1,-6.9,184,2024,0.00,2.50,0.00,0.000,6,0.000,0.033,2794,1738,3604,0,0,0,0,0,0
$GC,2308,-0.99,-146.0,209.3,-7.3,202,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1737,3604,0,0,0,0,0,0
$GC,2550,-0.99,-146.0,229.8,-8.7,208,2554,0.00,2.47,0.00,0.000,4,0.000,0.034,2794,3309,3603,0,0,0,0,0,0
$GC,2577,-1.03,-146.0,232.4,-9.5,208,2581,0.00,2.50,0.00,0.000,6,0.000,0.038,2794,1745,3603,0,0,0,0,0,0
$GC,2828,-1.03,-146.0,255.6,-9.1,214,2832,0.00,2.70,0.00,0.000,4,0.000,0.075,2794,185,3603,0,0,0,0,0,0
$GC,2849,-1.03,-146.0,257.5,-8.4,214,2853,0.00,2.38,0.00,0.000,6,0.000,0.024,2794,1727,3603,0,0,0,0,0,0
$GC,3110,-1.03,-146.0,276.0,-6.8,221,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1728,3602,0,0,0,0,0,0
$GC,3355,-1.03,-146.0,294.0,-7.5,227,3359,0.00,2.58,0.00,0.000,4,0.000,0.035,2794,3328,3602,0,0,0,0,0,0
$GC,3394,-1.10,-146.0,296.8,-6.9,228,3400,0.15,2.55,0.00,0.000,6,0.067,0.038,2748,1752,3602,0,0,0,0,0,0
$GC,3678,-1.06,-146.0,321.3,-8.9,235,3683,0.00,2.80,0.00,0.000,4,0.000,0.087,2748,177,3602,0,0,0,0,0,0
$GC,3707,-1.01,-146.0,324.0,-10.1,235,3712,0.15,2.42,0.00,0.000,6,0.103,0.025,2780,1723,3601,0,0,0,0,0,0
$GC,3957,-1.01,-146.0,341.4,-6.7,241,3962,0.00,2.65,0.00,0.000,4,0.000,0.053,2780,3346,3601,0,0,0,0,0,0
$GC,4002,-1.09,-146.0,344.6,-7.1,242,4007,0.00,2.65,0.00,0.000,6,0.000,0.050,2780,1754,3601,0,0,0,0,0,0
$GC,4281,-1.13,-146.0,362.2,-6.3,249,4283,0.12,0.00,0.00,0.000,6,0.081,0.000,2743,1754,3599,0,0,0,0,0,0
$GC,4524,-1.09,-146.0,381.2,-7.7,255,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1754,3598,0,0,0,0,0,0
$GC,4767,-1.09,-146.0,401.0,-8.3,261,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1754,3597,0,0,0,0,0,0
$GC,5011,-1.09,-146.0,424.7,-10.0,267,5016,0.00,2.62,0.00,0.000,4,0.000,0.054,2743,3340,3595,0,0,0,0,0,0
$GC,5027,-1.09,-146.0,426.5,-9.9,267,5031,0.00,2.67,0.00,0.000,6,0.000,0.054,2743,1758,3595,0,0,0,0,0,0
$GC,5287,-1.09,-146.0,450.8,-9.1,274,5292,0.00,3.03,0.00,0.000,4,0.000,0.123,2743,171,3595,0,0,0,0,0,0
$GC,5321,-1.09,-146.0,453.8,-9.0,274,5327,0.00,2.58,0.00,0.000,6,0.000,0.042,2743,1749,3594,0,0,0,0,0,0
$GC,5571,-1.09,-146.0,474.5,-8.1,281,5575,0.00,2.75,0.00,0.000,4,0.000,0.067,2743,3350,3593,0,0,0,0,0,0
$GC,5597,-1.09,-146.0,476.6,-7.7,281,5602,0.00,2.75,0.00,0.000,6,0.000,0.060,2743,1751,3592,0,0,0,0,0,0
$GC,5848,-1.09,-146.0,492.8,-6.2,287,5852,0.00,2.70,0.00,0.000,4,0.000,0.054,2743,3353,3590,0,0,0,0,0,0
$GC,5893,-1.09,-146.0,496.0,-6.9,288,5897,0.00,2.75,0.00,0.000,6,0.000,0.067,2743,1758,3590,0,0,0,0,0,0
$GC,6170,-1.09,-146.0,517.5,-8.2,295,6174,0.00,2.67,0.00,0.000,4,0.000,0.058,2743,3342,3589,0,0,0,0,0,0
$GC,6209,-1.09,-146.0,520.9,-9.1,296,6213,0.00,2.75,0.00,0.000,6,0.000,0.068,2743,1770,3588,0,0,0,0,0,0
$GC,6492,-1.09,-146.0,544.2,-8.2,303,6497,0.00,3.15,0.00,0.000,4,0.000,0.140,2743,175,3586,0,0,0,0,0,0
$GC,6514,-1.09,-146.0,546.2,-8.7,303,6518,0.00,2.65,0.00,0.000,6,0.000,0.044,2743,1770,3585,0,0,0,0,0,0
$GC,6769,-1.09,-146.0,565.2,-7.3,310,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1770,3584,0,0,0,0,0,0
$GC,7014,-1.09,-146.0,581.5,-6.5,316,7019,0.00,2.80,0.00,0.000,4,0.000,0.093,2743,3343,3583,0,0,0,0,0,0
$GC,7041,-1.09,-146.0,583.6,-7.4,316,7046,0.00,2.83,0.00,0.000,6,0.000,0.081,2743,1762,3582,0,0,0,0,0,0
$GC,7291,-1.09,-146.0,601.0,-7.1,322,7296,0.00,2.80,0.00,0.000,4,0.000,0.077,2743,3349,3581,0,0,0,0,0,0
$GC,7325,-1.09,-146.0,603.3,-7.2,322,7331,0.00,2.85,0.00,0.000,6,0.000,0.087,2743,1779,3580,0,0,0,0,0,0
$GC,7575,-1.09,-146.0,620.3,-6.7,329,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1778,3579,0,0,0,0,0,0
$GC,7818,-1.09,-146.0,635.5,-6.1,335,7823,0.00,2.83,0.00,0.000,4,0.000,0.089,2743,3351,3578,0,0,0,0,0,0
$GC,7864,-1.14,-146.0,638.3,-6.3,336,7869,0.00,2.90,0.00,0.000,6,0.000,0.097,2743,1782,3577,0,0,0,0,0,0
$GC,8141,-1.14,-146.0,654.9,-6.1,343,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1782,3576,0,0,0,0,0,0
$GC,8385,-1.14,-146.0,670.4,-6.3,349,8390,0.00,2.88,0.00,0.000,4,0.000,0.101,2743,3344,3574,0,0,0,0,0,0
$GC,8426,-1.19,-146.0,673.1,-6.5,350,8431,0.00,2.97,0.00,0.000,6,0.000,0.112,2743,1784,3573,0,0,0,0,0,0
$GC,8709,-1.19,-146.0,693.1,-6.9,357,8710,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1783,3572,0,0,0,0,0,0
$GC,8953,-1.19,-146.0,709.0,-6.5,363,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1783,3571,0,0,0,0,0,0
$GC,9198,-1.19,-146.0,725.4,-6.6,369,9203,0.00,3.00,0.00,0.000,4,0.000,0.120,2743,3342,3570,0,0,0,0,0,0
$GC,9242,-1.25,-146.0,728.7,-7.9,370,9247,0.00,2.80,0.00,0.000,6,0.000,0.087,2743,1786,3570,0,0,0,0,0,0
$GC,9520,-1.25,-146.0,747.0,-6.5,377,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1786,3568,0,0,0,0,0,0
$GC,9764,-1.25,-146.0,762.4,-6.3,383,9766,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1786,3567,0,0,0,0,0,0
$GC,10007,-1.25,-146.0,776.3,-5.6,389,10008,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1786,3567,0,0,0,0,0,0
$GC,10251,-1.25,-146.0,790.3,-5.7,395,10255,0.00,2.72,0.00,0.000,4,0.000,0.071,2743,3346,3566,0,0,0,0,0,0
$GC,10278,-1.30,-146.0,792.0,-6.1,395,10284,0.12,2.75,0.00,0.000,6,0.087,0.078,2710,1793,3565,0,0,0,0,0,0
$GC,10530,-1.30,-146.0,809.9,-7.2,401,10531,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1792,3565,0,0,0,0,0,0
$GC,10772,-1.30,-146.0,827.5,-7.2,407,10776,0.00,2.72,0.00,0.000,4,0.000,0.075,2710,3349,3564,0,0,0,0,0,0
$GC,10816,-1.30,-146.0,831.1,-7.7,408,10820,0.00,2.78,0.00,0.000,6,0.000,0.081,2710,1795,3564,0,0,0,0,0,0
$GC,11094,-1.30,-146.0,854.0,-8.5,415,11099,0.00,2.72,0.00,0.000,4,0.000,0.077,2709,3354,3563,0,0,0,0,0,0
$GC,11121,-1.30,-146.0,856.3,-8.2,415,11125,0.00,2.78,0.00,0.000,6,0.000,0.078,2709,1801,3563,0,0,0,0,0,0
$GC,11371,-1.30,-146.0,874.3,-7.0,421,11376,0.00,2.70,0.00,0.000,4,0.000,0.071,2710,3348,3562,0,0,0,0,0,0
$GC,11399,-1.30,-146.0,876.2,-7.1,421,11404,0.00,2.75,0.00,0.000,6,0.000,0.078,2710,1808,3562,0,0,0,0,0,0
$GC,11649,-1.30,-146.0,892.9,-6.5,427,11650,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1808,3562,0,0,0,0,0,0
$STATE,11768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11768,begin apogee
$GC,11774,-0.31,0.0,901.5,6.9,430,11900,1.00,0.00,122.85,1.268,6,0.089,0.000,2929,1808,3001,0,0,0,0,0,0
$STATE,11901,end apogee,CONTROL_FINISHED_OK
$STATE,11901,begin climb
$GC,11905,1.06,146.0,904.3,0.0,433,12046,1.27,2.85,132.80,1.231,4,0.045,0.071,3235,3384,2404,0,0,0,0,0,0
$GC,12098,0.87,146.0,895.1,10.6,437,12103,0.22,2.90,0.00,0.000,6,0.123,0.077,3193,1796,2398,0,0,0,0,0,0
$GC,12348,0.74,146.0,872.9,8.8,443,12350,0.15,0.00,0.00,0.000,6,0.133,0.000,3164,1796,2392,0,0,0,0,0,0
$GC,12594,0.67,150.8,853.5,7.8,449,12598,0.00,2.75,0.00,0.000,4,0.000,0.063,3165,3392,2391,0,0,0,0,0,0
$GC,12668,0.63,150.8,847.3,8.4,450,12674,0.12,2.83,0.00,0.000,6,0.158,0.068,3143,1808,2390,0,0,0,0,0,0
$GC,12918,0.69,196.7,830.8,6.3,456,12971,0.00,2.83,46.12,1.187,4,0.000,0.055,3142,3386,2198,0,0,0,0,0,0
$GC,12984,0.76,252.1,826.3,5.9,457,13043,0.00,2.83,52.97,1.172,6,0.000,0.070,3142,1813,1972,0,0,0,0,0,0
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$STATE,22327,end climb,SURFACE_DEPTH_REACHED
$STATE,22327,begin surface coast
$FINISH,0.3,1.010888
$STATE,22376,end surface coast,CONTROL_FINISHED_OK
$STATE,22376,begin surface
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$XPDR_PINGS,88
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$10V_AH,10.4,7.028
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,63410,848
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$CFSIZE,260165632,181309440
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$GPS,180810,192707,2240.718,-15800.402,25,1.3,26,10.0