version: 66.06
glider: 146
mission: 5
dive: 32
start: 8 19 110 7 42 21
data:
$ID,146
$MISSION,5
$DIVE,32
$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,-247739.94
$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,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,60
$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
$GPS1,073430,2246.454,-15757.815,35,1.8,35,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.6
$GPS2,074126,2246.438,-15757.866,14,1.7,14,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.150,0.188
$KALMAN_X,-21282.5,371.4,223.6,42606.3,-2115.3
$KALMAN_Y,41246.4,-95.8,-133.5,80959.3,1199.8
$MHEAD_RNG_PITCHd_Wd,28.5,21963,-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,-86.90,0.000,2,0.000,0.000,478,1777,3534,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.6,-6.9,11,126,11.95,2.47,-1.05,0.000,4,0.152,0.038,2759,3335,3598,0,0,0,0,0,0
$GC,197,-0.92,-146.0,30.1,-14.5,23,202,0.17,2.55,0.00,0.000,6,0.100,0.034,2796,1764,3599,0,0,0,0,0,0
$GC,464,-0.84,-146.0,61.1,-10.4,47,470,0.10,2.70,0.00,0.000,4,0.123,0.063,2817,193,3600,0,0,0,0,0,0
$GC,523,-0.84,-146.0,67.6,-9.7,51,527,0.00,2.40,0.00,0.000,6,0.000,0.017,2817,1781,3599,0,0,0,0,0,0
$GC,790,-0.84,-146.0,90.2,-8.1,75,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1783,3600,0,0,0,0,0,0
$GC,1051,-0.84,-146.0,111.3,-7.9,100,1055,0.00,2.42,0.00,0.000,4,0.000,0.031,2817,3326,3601,0,0,0,0,0,0
$GC,1071,-0.88,-146.0,112.8,-8.4,101,1076,0.00,2.55,0.00,0.000,6,0.000,0.031,2817,1750,3601,0,0,0,0,0,0
$GC,1339,-0.92,-146.0,136.3,-8.5,125,1344,0.00,2.65,0.00,0.000,4,0.000,0.066,2817,197,3601,0,0,0,0,0,0
$GC,1384,-1.00,-146.0,141.1,-9.4,128,1394,0.12,2.38,0.00,0.000,6,0.038,0.017,2770,1751,3601,0,0,0,0,0,0
$GC,1648,-0.94,-146.0,167.9,-9.9,153,1653,0.10,2.47,0.00,0.000,4,0.121,0.034,2793,3320,3601,0,0,0,0,0,0
$GC,1703,-0.99,-146.0,172.6,-7.9,157,1707,0.00,2.53,0.00,0.000,6,0.000,0.038,2793,1744,3602,0,0,0,0,0,0
$GC,1970,-0.99,-146.0,193.5,-8.6,181,1975,0.00,2.67,0.00,0.000,4,0.000,0.070,2793,188,3602,0,0,0,0,0,0
$GC,1999,-0.99,-146.0,196.7,-9.2,183,2003,0.00,2.35,0.00,0.000,6,0.000,0.024,2793,1755,3602,0,0,0,0,0,0
$GC,2250,-0.99,-146.0,217.8,-8.3,192,2254,0.00,2.45,0.00,0.000,4,0.000,0.028,2793,3326,3602,0,0,0,0,0,0
$GC,2273,-0.99,-146.0,219.6,-8.0,192,2277,0.00,2.53,0.00,0.000,6,0.000,0.035,2792,1746,3602,0,0,0,0,0,0
$GC,2527,-0.99,-146.0,240.3,-8.1,199,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1746,3602,0,0,0,0,0,0
$GC,2771,-0.99,-146.0,260.3,-8.1,205,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1746,3601,0,0,0,0,0,0
$GC,3016,-0.99,-146.0,277.9,-7.1,211,3020,0.00,2.50,0.00,0.000,4,0.000,0.036,2792,3314,3601,0,0,0,0,0,0
$GC,3038,-1.03,-146.0,279.7,-7.0,211,3043,0.00,2.50,0.00,0.000,6,0.000,0.036,2792,1757,3601,0,0,0,0,0,0
$GC,3294,-1.03,-146.0,296.5,-6.4,218,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1757,3601,0,0,0,0,0,0
$GC,3537,-1.03,-146.0,310.5,-5.6,224,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1757,3600,0,0,0,0,0,0
$GC,3783,-1.08,-146.0,325.2,-6.2,230,3784,0.12,0.00,0.00,0.000,6,0.076,0.000,2756,1757,3600,0,0,0,0,0,0
$GC,4024,-1.08,-146.0,346.2,-8.7,236,4029,0.00,2.55,0.00,0.000,4,0.000,0.045,2755,3317,3599,0,0,0,0,0,0
$GC,4051,-1.08,-146.0,348.7,-8.4,236,4056,0.00,2.58,0.00,0.000,6,0.000,0.046,2755,1761,3599,0,0,0,0,0,0
$GC,4301,-1.08,-146.0,370.1,-8.5,242,4306,0.00,2.53,0.00,0.000,4,0.000,0.041,2755,3308,3598,0,0,0,0,0,0
$GC,4345,-1.08,-146.0,373.9,-8.5,243,4350,0.00,2.58,0.00,0.000,6,0.000,0.054,2756,1772,3598,0,0,0,0,0,0
$GC,4624,-1.08,-146.0,398.2,-8.8,250,4628,0.00,2.92,0.00,0.000,4,0.000,0.103,2755,185,3597,0,0,0,0,0,0
$GC,4692,-1.08,-146.0,404.6,-9.5,251,4697,0.00,2.45,0.00,0.000,6,0.000,0.030,2755,1725,3596,0,0,0,0,0,0
$GC,4947,-1.08,-146.0,425.3,-8.0,258,4952,0.00,2.72,0.00,0.000,4,0.000,0.064,2755,3352,3594,0,0,0,0,0,0
$GC,4974,-1.08,-146.0,427.5,-7.9,258,4979,0.00,2.67,0.00,0.000,6,0.000,0.061,2756,1769,3594,0,0,0,0,0,0
$GC,5226,-1.08,-146.0,446.2,-7.6,264,5230,0.00,2.62,0.00,0.000,4,0.000,0.055,2755,3353,3594,0,0,0,0,0,0
$GC,5275,-1.12,-146.0,450.0,-7.3,265,5280,0.00,2.72,0.00,0.000,6,0.000,0.061,2756,1774,3594,0,0,0,0,0,0
$GC,5547,-1.12,-146.0,470.9,-7.9,272,5552,0.00,2.65,0.00,0.000,4,0.000,0.053,2755,3356,3591,0,0,0,0,0,0
$GC,5593,-1.18,-146.0,474.6,-8.4,273,5598,0.00,2.70,0.00,0.000,6,0.000,0.064,2755,1789,3591,0,0,0,0,0,0
$GC,5870,-1.18,-146.0,498.5,-8.5,280,5875,0.00,3.17,0.00,0.000,4,0.000,0.140,2755,179,3589,0,0,0,0,0,0
$GC,5925,-1.22,-146.0,503.4,-8.3,281,5930,0.00,2.60,0.00,0.000,6,0.000,0.039,2755,1767,3588,0,0,0,0,0,0
$GC,6193,-1.22,-146.0,521.8,-6.6,288,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1768,3587,0,0,0,0,0,0
$GC,6435,-1.22,-146.0,537.2,-6.3,294,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1768,3585,0,0,0,0,0,0
$GC,6679,-1.22,-146.0,554.4,-7.1,300,6684,0.00,2.85,0.00,0.000,4,0.000,0.094,2755,3357,3584,0,0,0,0,0,0
$GC,6708,-1.27,-146.0,556.6,-7.9,300,6713,0.15,2.78,0.00,0.000,6,0.072,0.071,2715,1768,3584,0,0,0,0,0,0
$GC,6958,-1.21,-146.0,579.9,-9.4,306,6960,0.10,0.00,0.00,0.000,6,0.126,0.000,2735,1768,3581,0,0,0,0,0,0
$GC,7201,-1.21,-146.0,599.5,-7.9,312,7206,0.00,2.78,0.00,0.000,4,0.000,0.081,2735,3356,3579,0,0,0,0,0,0
$GC,7235,-1.21,-146.0,602.1,-8.0,312,7241,0.00,2.83,0.00,0.000,6,0.000,0.090,2734,1781,3580,0,0,0,0,0,0
$GC,7485,-1.21,-146.0,619.8,-6.9,319,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1781,3578,0,0,0,0,0,0
$GC,7729,-1.21,-146.0,636.8,-7.0,325,7733,0.00,2.83,0.00,0.000,4,0.000,0.087,2734,3357,3577,0,0,0,0,0,0
$GC,7769,-1.21,-146.0,639.7,-7.6,326,7774,0.00,2.88,0.00,0.000,6,0.000,0.097,2735,1787,3577,0,0,0,0,0,0
$GC,8052,-1.21,-146.0,662.0,-8.0,333,8057,0.00,2.88,0.00,0.000,4,0.000,0.095,2735,3360,3574,0,0,0,0,0,0
$GC,8078,-1.21,-146.0,664.3,-8.4,333,8083,0.00,2.92,0.00,0.000,6,0.000,0.109,2735,1793,3574,0,0,0,0,0,0
$GC,8330,-1.21,-146.0,684.2,-7.9,339,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1793,3573,0,0,0,0,0,0
$GC,8573,-1.21,-146.0,701.6,-6.9,345,8577,0.00,2.95,0.00,0.000,4,0.000,0.115,2734,3355,3572,0,0,0,0,0,0
$GC,8605,-1.21,-146.0,703.9,-6.7,345,8611,0.00,2.83,0.00,0.000,6,0.000,0.094,2735,1798,3572,0,0,0,0,0,0
$GC,8856,-1.21,-146.0,719.3,-6.1,352,8858,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1799,3570,0,0,0,0,0,0
$GC,9099,-1.21,-146.0,734.9,-6.2,358,9103,0.00,2.78,0.00,0.000,4,0.000,0.084,2734,3364,3569,0,0,0,0,0,0
$GC,9138,-1.25,-146.0,737.5,-7.1,359,9143,0.00,2.80,0.00,0.000,6,0.000,0.082,2735,1801,3569,0,0,0,0,0,0
$GC,9423,-1.25,-146.0,758.1,-7.5,366,9424,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1801,3568,0,0,0,0,0,0
$GC,9665,-1.25,-146.0,776.8,-7.6,372,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1801,3567,0,0,0,0,0,0
$GC,9909,-1.25,-146.0,795.0,-7.5,378,9914,0.00,2.75,0.00,0.000,4,0.000,0.081,2734,3361,3566,0,0,0,0,0,0
$GC,9942,-1.29,-146.0,797.8,-8.5,378,9947,0.00,2.80,0.00,0.000,6,0.000,0.082,2735,1801,3566,0,0,0,0,0,0
$GC,10193,-1.29,-146.0,815.4,-6.9,385,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1801,3564,0,0,0,0,0,0
$GC,10435,-1.29,-146.0,831.8,-6.7,391,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1800,3564,0,0,0,0,0,0
$GC,10679,-1.29,-146.0,849.0,-7.2,397,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1800,3563,0,0,0,0,0,0
$GC,10923,-1.29,-146.0,867.8,-7.9,403,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1799,3562,0,0,0,0,0,0
$GC,11168,-1.29,-146.0,886.6,-7.6,409,11172,0.00,2.72,0.00,0.000,4,0.000,0.074,2735,3357,3561,0,0,0,0,0,0
$GC,11201,-1.33,-146.0,889.2,-7.7,409,11207,0.10,2.78,0.00,0.000,6,0.104,0.084,2708,1809,3561,0,0,0,0,0,0
$STATE,11367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11367,begin apogee
$GC,11372,-0.31,0.0,903.2,8.4,414,11498,1.02,0.00,122.60,1.264,6,0.091,0.000,2932,1808,3001,0,0,0,0,0,0
$STATE,11499,end apogee,CONTROL_FINISHED_OK
$STATE,11499,begin climb
$GC,11503,1.06,146.0,907.7,0.0,417,11644,1.25,2.90,132.75,1.231,4,0.044,0.067,3234,3407,2404,0,0,0,0,0,0
$GC,11715,0.87,146.0,898.7,9.5,422,11721,0.22,2.90,0.00,0.000,6,0.126,0.082,3192,1815,2397,0,0,0,0,0,0
$GC,11993,0.75,146.0,875.7,8.1,429,11999,0.15,2.78,0.00,0.000,4,0.135,0.061,3164,3409,2392,0,0,0,0,0,0
$GC,12045,0.73,160.8,871.9,7.5,430,12064,0.00,2.83,12.88,1.099,6,0.000,0.071,3164,1829,2345,0,0,0,0,0,0
$GC,12322,0.69,176.1,851.4,7.4,437,12339,0.00,0.00,15.43,1.129,6,0.000,0.000,3164,1830,2283,0,0,0,0,0,0
$GC,12566,0.63,176.1,831.3,8.5,443,12568,0.12,0.00,0.00,0.000,6,0.201,0.000,3141,1829,2279,0,0,0,0,0,0
$GC,12809,0.65,189.2,812.9,7.5,449,12828,0.00,3.28,13.05,1.100,4,0.000,0.135,3142,229,2229,0,0,0,0,0,0
$GC,12840,0.67,208.3,810.4,7.3,449,12864,0.00,2.67,19.45,1.137,6,0.000,0.041,3141,1834,2151,0,0,0,0,0,0
$GC,13138,0.67,208.4,786.6,8.0,457,13140,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1833,2145,0,0,0,0,0,0
$GC,13381,0.67,208.4,766.6,8.2,463,13382,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1835,2144,0,0,0,0,0,0
$GC,13624,0.67,208.4,746.9,8.1,469,13625,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1835,2143,0,0,0,0,0,0
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$STATE,21819,end climb,SURFACE_DEPTH_REACHED
$STATE,21819,begin surface coast
$FINISH,0.2,1.003708
$STATE,21882,end surface coast,CONTROL_FINISHED_OK
$STATE,21883,begin surface
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$HUMID,41.10
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$TCM_TEMP,23.30
$XPDR_PINGS,91
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$10V_AH,10.4,7.469
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355616
$DATA_FILE_SIZE,63671,827
$CAP_FILE_SIZE,196729,0
$CFSIZE,260165632,181059584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190810,134925,2248.568,-15756.731,41,1.0,41,10.1