version: 66.06
glider: 146
mission: 5
dive: 31
start: 8 19 110 1 18 50
data:
$ID,146
$MISSION,5
$DIVE,31
$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,-247723.8
$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,16
$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
$GPS1,011137,2243.885,-15759.626,39,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-68.4
$GPS2,011755,2243.932,-15759.623,9,1.5,9,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.154,0.184
$KALMAN_X,-20538.0,248.3,53.4,39135.5,-1647.0
$KALMAN_Y,40496.6,222.1,-197.2,76816.7,1845.7
$MHEAD_RNG_PITCHd_Wd,29.9,27220,-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,-86.78,0.000,2,0.000,0.000,478,1755,3518,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.6,-6.3,11,134,11.88,2.65,-1.35,0.000,4,0.149,0.046,2761,3362,3601,0,0,0,0,0,0
$GC,178,-0.83,-146.0,27.7,-22.0,20,188,0.22,2.65,0.00,0.000,6,0.072,0.035,2817,1760,3602,0,0,0,0,0,0
$GC,456,-0.77,-146.0,60.5,-10.5,46,461,0.00,2.70,0.00,0.000,4,0.000,0.064,2816,182,3602,0,0,0,0,0,0
$GC,526,-0.77,-146.0,69.3,-11.7,51,530,0.00,2.47,0.00,0.000,6,0.000,0.016,2816,1806,3602,0,0,0,0,0,0
$GC,792,-0.77,-146.0,93.3,-8.1,75,796,0.00,2.78,0.00,0.000,4,0.000,0.066,2816,178,3603,0,0,0,0,0,0
$GC,848,-0.77,-146.0,98.1,-8.0,79,852,0.00,2.38,0.00,0.000,6,0.000,0.019,2816,1751,3603,0,0,0,0,0,0
$GC,1114,-0.77,-146.0,117.6,-7.3,103,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1752,3603,0,0,0,0,0,0
$GC,1379,-0.81,-146.0,136.1,-6.6,128,1383,0.00,2.45,0.00,0.000,4,0.000,0.034,2816,3304,3604,0,0,0,0,0,0
$GC,1424,-0.90,-146.0,138.9,-6.5,131,1429,0.00,2.53,0.00,0.000,6,0.000,0.033,2816,1727,3604,0,0,0,0,0,0
$GC,1687,-0.95,-146.0,156.3,-6.8,155,1692,0.00,2.65,0.00,0.000,4,0.000,0.067,2816,182,3604,0,0,0,0,0,0
$GC,1733,-1.03,-146.0,159.9,-7.5,158,1739,0.17,2.33,0.00,0.000,6,0.062,0.024,2761,1730,3605,0,0,0,0,0,0
$GC,1997,-0.96,-146.0,185.7,-10.2,183,2002,0.12,2.50,0.00,0.000,4,0.110,0.027,2789,3314,3604,0,0,0,0,0,0
$GC,2030,-0.96,-146.0,189.3,-9.1,185,2036,0.00,2.55,0.00,0.000,6,0.000,0.036,2789,1732,3604,0,0,0,0,0,0
$GC,2316,-0.96,-146.0,215.2,-9.3,201,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1732,3604,0,0,0,0,0,0
$GC,2561,-0.96,-146.0,236.8,-8.7,207,2565,0.00,2.53,0.00,0.000,4,0.000,0.031,2789,3315,3604,0,0,0,0,0,0
$GC,2588,-0.96,-146.0,239.1,-7.8,207,2592,0.00,2.55,0.00,0.000,6,0.000,0.031,2789,1727,3604,0,0,0,0,0,0
$GC,2837,-0.96,-146.0,259.3,-8.1,213,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1727,3603,0,0,0,0,0,0
$GC,3082,-0.96,-146.0,279.3,-8.1,219,3086,0.00,2.55,0.00,0.000,4,0.000,0.033,2789,3307,3603,0,0,0,0,0,0
$GC,3126,-1.01,-146.0,282.9,-7.5,220,3131,0.00,2.55,0.00,0.000,6,0.000,0.039,2789,1729,3603,0,0,0,0,0,0
$GC,3404,-1.01,-146.0,302.1,-6.8,227,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1729,3602,0,0,0,0,0,0
$GC,3649,-1.01,-146.0,318.6,-6.8,233,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1729,3602,0,0,0,0,0,0
$GC,3892,-1.06,-146.0,334.2,-6.4,239,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1729,3602,0,0,0,0,0,0
$GC,4136,-1.11,-146.0,350.6,-6.7,245,4141,0.15,2.58,0.00,0.000,4,0.071,0.045,2744,3302,3601,0,0,0,0,0,0
$GC,4158,-1.11,-146.0,352.4,-7.9,245,4163,0.00,2.62,0.00,0.000,6,0.000,0.054,2744,1737,3601,0,0,0,0,0,0
$GC,4414,-1.07,-146.0,376.9,-9.9,252,4416,0.10,0.00,0.00,0.000,6,0.123,0.000,2765,1736,3600,0,0,0,0,0,0
$GC,4656,-1.07,-146.0,397.5,-8.1,258,4661,0.00,2.58,0.00,0.000,4,0.000,0.045,2764,3296,3598,0,0,0,0,0,0
$GC,4714,-1.12,-146.0,401.7,-7.2,259,4718,0.00,2.62,0.00,0.000,6,0.000,0.056,2764,1744,3599,0,0,0,0,0,0
$GC,4981,-1.12,-146.0,419.3,-6.6,266,4986,0.00,2.90,0.00,0.000,4,0.000,0.113,2765,177,3596,0,0,0,0,0,0
$GC,5002,-1.12,-146.0,420.9,-6.8,266,5007,0.00,2.45,0.00,0.000,6,0.000,0.034,2764,1703,3596,0,0,0,0,0,0
$GC,5258,-1.12,-146.0,437.6,-6.5,273,5263,0.00,2.72,0.00,0.000,4,0.000,0.064,2764,3303,3595,0,0,0,0,0,0
$GC,5310,-1.17,-146.0,440.7,-6.1,274,5315,0.00,2.65,0.00,0.000,6,0.000,0.061,2764,1756,3595,0,0,0,0,0,0
$GC,5582,-1.17,-146.0,458.2,-6.5,281,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1755,3593,0,0,0,0,0,0
$GC,5827,-1.17,-146.0,476.5,-7.8,287,5831,0.00,2.62,0.00,0.000,4,0.000,0.053,2765,3298,3592,0,0,0,0,0,0
$GC,5866,-1.24,-146.0,479.9,-8.9,288,5871,0.15,2.65,0.00,0.000,6,0.071,0.067,2721,1763,3592,0,0,0,0,0,0
$GC,6150,-1.18,-146.0,508.2,-9.9,295,6152,0.10,0.00,0.00,0.000,6,0.131,0.000,2740,1762,3589,0,0,0,0,0,0
$GC,6395,-1.18,-146.0,526.7,-7.6,301,6399,0.00,3.12,0.00,0.000,4,0.000,0.138,2741,172,3588,0,0,0,0,0,0
$GC,6438,-1.18,-146.0,530.5,-8.0,302,6443,0.00,2.53,0.00,0.000,6,0.000,0.044,2740,1712,3587,0,0,0,0,0,0
$GC,6717,-1.18,-146.0,551.8,-7.8,309,6721,0.00,2.90,0.00,0.000,4,0.000,0.090,2740,3345,3585,0,0,0,0,0,0
$GC,6773,-1.18,-146.0,556.3,-8.6,310,6777,0.00,2.78,0.00,0.000,6,0.000,0.076,2740,1767,3585,0,0,0,0,0,0
$GC,7039,-1.18,-146.0,576.4,-7.5,317,7044,0.00,3.12,0.00,0.000,4,0.000,0.140,2740,172,3584,0,0,0,0,0,0
$GC,7089,-1.18,-146.0,580.4,-7.9,318,7093,0.00,2.67,0.00,0.000,6,0.000,0.053,2740,1765,3583,0,0,0,0,0,0
$GC,7362,-1.18,-146.0,597.6,-6.2,325,7366,0.00,2.85,0.00,0.000,4,0.000,0.091,2740,3343,3581,0,0,0,0,0,0
$GC,7394,-1.18,-146.0,599.7,-6.5,325,7400,0.00,2.85,0.00,0.000,6,0.000,0.082,2740,1760,3581,0,0,0,0,0,0
$GC,7644,-1.18,-146.0,615.5,-6.4,332,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1760,3580,0,0,0,0,0,0
$GC,7889,-1.18,-146.0,633.1,-7.4,338,7894,0.00,2.85,0.00,0.000,4,0.000,0.088,2740,3353,3579,0,0,0,0,0,0
$GC,7911,-1.18,-146.0,634.9,-7.6,338,7915,0.00,2.92,0.00,0.000,6,0.000,0.096,2740,1766,3578,0,0,0,0,0,0
$GC,8166,-1.18,-146.0,654.0,-7.4,345,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1766,3576,0,0,0,0,0,0
$GC,8409,-1.18,-146.0,672.7,-7.7,351,8414,0.00,2.90,0.00,0.000,4,0.000,0.100,2740,3344,3575,0,0,0,0,0,0
$GC,8460,-1.23,-146.0,676.7,-8.1,352,8465,0.00,3.00,0.00,0.000,6,0.000,0.119,2740,1776,3575,0,0,0,0,0,0
$GC,8732,-1.23,-146.0,694.9,-6.4,359,8733,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1776,3573,0,0,0,0,0,0
$GC,8977,-1.23,-146.0,709.2,-5.8,365,8982,0.00,2.97,0.00,0.000,4,0.000,0.118,2740,3343,3572,0,0,0,0,0,0
$GC,9028,-1.28,-146.0,712.5,-6.6,366,9033,0.00,2.85,0.00,0.000,6,0.000,0.094,2740,1780,3572,0,0,0,0,0,0
$GC,9300,-1.28,-146.0,730.3,-6.6,373,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1780,3571,0,0,0,0,0,0
$GC,9544,-1.28,-146.0,747.2,-6.9,379,9548,0.00,2.75,0.00,0.000,4,0.000,0.080,2740,3345,3570,0,0,0,0,0,0
$GC,9566,-1.28,-146.0,748.7,-6.9,379,9571,0.00,2.78,0.00,0.000,6,0.000,0.082,2741,1786,3569,0,0,0,0,0,0
$GC,9822,-1.28,-146.0,766.1,-6.7,386,9823,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1786,3568,0,0,0,0,0,0
$GC,10066,-1.28,-146.0,781.8,-6.4,392,10070,0.00,2.72,0.00,0.000,4,0.000,0.074,2740,3347,3567,0,0,0,0,0,0
$GC,10094,-1.32,-146.0,783.7,-7.2,392,10099,0.12,2.80,0.00,0.000,6,0.081,0.087,2706,1790,3567,0,0,0,0,0,0
$GC,10345,-1.27,-146.0,803.0,-7.8,398,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1790,3567,0,0,0,0,0,0
$GC,10588,-1.23,-146.0,819.8,-6.8,404,10593,0.12,2.72,0.00,0.000,4,0.120,0.080,2730,3345,3565,0,0,0,0,0,0
$GC,10640,-1.28,-146.0,823.2,-6.4,405,10644,0.00,2.80,0.00,0.000,6,0.000,0.082,2730,1790,3565,0,0,0,0,0,0
$GC,10912,-1.28,-146.0,840.0,-6.2,412,10913,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1789,3565,0,0,0,0,0,0
$GC,11157,-1.28,-146.0,855.0,-6.2,418,11158,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1789,3564,0,0,0,0,0,0
$GC,11399,-1.28,-146.0,870.4,-6.4,424,11404,0.00,2.72,0.00,0.000,4,0.000,0.073,2730,3345,3563,0,0,0,0,0,0
$GC,11443,-1.32,-146.0,873.4,-6.7,425,11448,0.00,2.75,0.00,0.000,6,0.000,0.081,2730,1800,3563,0,0,0,0,0,0
$GC,11723,-1.32,-146.0,890.9,-6.3,432,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1800,3562,0,0,0,0,0,0
$STATE,11881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11881,begin apogee
$GC,11887,-0.31,0.0,900.9,6.2,436,12013,0.90,0.00,122.55,1.262,6,0.091,0.000,2929,1799,3001,0,0,0,0,0,0
$STATE,12013,end apogee,CONTROL_FINISHED_OK
$STATE,12014,begin climb
$GC,12016,1.06,146.0,903.9,0.0,439,12157,1.27,3.30,132.30,1.231,4,0.047,0.136,3233,205,2404,0,0,0,0,0,0
$GC,12197,0.77,146.0,896.0,10.1,443,12202,0.32,2.75,0.00,0.000,6,0.120,0.051,3171,1802,2398,0,0,0,0,0,0
$GC,12460,0.73,175.6,877.2,6.9,450,12494,0.00,2.97,26.67,1.172,4,0.000,0.082,3171,3386,2284,0,0,0,0,0,0
$GC,12517,0.72,208.7,873.0,6.8,451,12556,0.00,2.85,31.77,1.169,6,0.000,0.068,3171,1799,2150,0,0,0,0,0,0
$GC,12833,0.66,218.0,849.4,7.7,459,12844,0.12,0.00,8.98,1.029,6,0.139,0.000,3149,1799,2112,0,0,0,0,0,0
$GC,13073,0.69,238.5,832.0,7.2,465,13099,0.00,3.17,20.23,1.142,4,0.000,0.126,3148,209,2028,0,0,0,0,0,0
$GC,13112,0.67,259.9,829.0,7.2,466,13141,0.00,2.65,21.70,1.130,6,0.000,0.040,3148,1799,1941,0,0,0,0,0,0
$GC,13398,0.67,259.9,804.2,8.8,473,13403,0.00,2.80,0.00,0.000,4,0.000,0.074,3148,3389,1935,0,0,0,0,0,0
$GC,13415,0.67,259.9,802.6,9.0,473,13420,0.00,2.80,0.00,0.000,6,0.000,0.064,3148,1798,1933,0,0,0,0,0,0
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$STATE,22349,end climb,SURFACE_DEPTH_REACHED
$STATE,22349,begin surface coast
$FINISH,0.3,1.023658
$STATE,22405,end surface coast,CONTROL_FINISHED_OK
$STATE,22405,begin surface
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$XPDR_PINGS,98
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$10V_AH,10.3,7.321
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.950,288.600,487.700,33.675,0.000,30.544,30.196,179.828,24.500,0.000,10.999,1803.620,16788.852,679.726,2861.544,701.058,33.371,1918.383,0.000,2863.778,0.000,0.535,0.000
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$MEM,355652
$DATA_FILE_SIZE,63827,848
$CAP_FILE_SIZE,208290,0
$CFSIZE,260165632,181137408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190810,073430,2246.454,-15757.815,35,1.8,35,10.1