version: 66.06
glider: 146
mission: 5
dive: 36
start: 8 20 110 8 56 56
data:
$ID,146
$MISSION,5
$DIVE,36
$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,-247807.88
$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,55
$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
$GPS1,084924,2257.355,-15755.254,38,1.4,38,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.0
$GPS2,085601,2257.330,-15755.304,10,1.4,15,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.104
$KALMAN_X,-25503.6,220.8,-43.3,51665.4,-1410.1
$KALMAN_Y,41881.2,-10.7,-91.2,100361.9,6.3
$MHEAD_RNG_PITCHd_Wd,105.5,27454,-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,-86.35,0.000,2,0.000,0.000,479,1733,3483,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.1,-5.5,11,134,11.95,2.62,-1.95,0.000,4,0.152,0.073,2761,217,3600,0,0,0,0,0,0
$GC,146,0.17,-146.0,21.1,-36.9,15,154,1.20,2.42,0.00,0.000,6,0.080,0.021,3032,1789,3602,0,0,0,0,0,0
$GC,433,-0.31,-146.0,46.0,-8.5,48,443,0.40,0.00,0.00,0.000,6,0.089,0.000,2930,1791,3602,0,0,0,0,0,0
$GC,700,-0.78,-146.0,63.7,-6.4,73,706,0.40,2.67,0.00,0.000,4,0.053,0.058,2823,213,3602,0,0,0,0,0,0
$GC,735,-1.08,-146.0,66.1,-7.1,75,740,0.25,2.35,0.00,0.000,6,0.063,0.017,2751,1800,3602,0,0,0,0,0,0
$GC,1002,-0.95,-146.0,93.8,-10.7,99,1007,0.17,2.38,0.00,0.000,4,0.096,0.025,2789,3297,3603,0,0,0,0,0,0
$GC,1067,-0.95,-146.0,99.5,-7.6,104,1071,0.00,2.40,0.00,0.000,6,0.000,0.031,2789,1796,3603,0,0,0,0,0,0
$GC,1329,-0.95,-146.0,121.6,-8.6,128,1334,0.00,2.75,0.00,0.000,4,0.000,0.064,2789,196,3603,0,0,0,0,0,0
$GC,1398,-0.95,-146.0,128.0,-9.6,133,1403,0.00,2.33,0.00,0.000,6,0.000,0.018,2789,1737,3603,0,0,0,0,0,0
$GC,1664,-0.95,-146.0,151.9,-9.6,157,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1739,3603,0,0,0,0,0,0
$GC,1926,-0.95,-146.0,175.9,-8.8,182,1930,0.00,2.53,0.00,0.000,4,0.000,0.033,2789,3318,3603,0,0,0,0,0,0
$GC,1959,-0.95,-146.0,178.4,-8.1,184,1963,0.00,2.50,0.00,0.000,6,0.000,0.033,2789,1755,3603,0,0,0,0,0,0
$GC,2226,-0.95,-146.0,198.7,-7.7,208,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1755,3603,0,0,0,0,0,0
$GC,2487,-0.95,-146.0,219.3,-8.0,216,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1755,3603,0,0,0,0,0,0
$GC,2729,-0.95,-146.0,241.7,-9.4,222,2734,0.00,2.70,0.00,0.000,4,0.000,0.073,2789,195,3603,0,0,0,0,0,0
$GC,2750,-0.95,-146.0,243.8,-9.9,222,2754,0.00,2.38,0.00,0.000,6,0.000,0.017,2789,1765,3602,0,0,0,0,0,0
$GC,3013,-0.95,-146.0,267.2,-8.5,229,3017,0.00,2.72,0.00,0.000,4,0.000,0.074,2789,194,3602,0,0,0,0,0,0
$GC,3028,-0.95,-146.0,268.5,-7.8,229,3032,0.00,2.38,0.00,0.000,6,0.000,0.018,2789,1752,3602,0,0,0,0,0,0
$GC,3297,-0.95,-146.0,289.1,-7.7,236,3301,0.00,2.72,0.00,0.000,4,0.000,0.078,2789,197,3602,0,0,0,0,0,0
$GC,3312,-0.95,-146.0,290.4,-7.5,236,3317,0.00,2.42,0.00,0.000,6,0.000,0.019,2789,1765,3602,0,0,0,0,0,0
$GC,3575,-0.95,-146.0,309.0,-7.2,243,3579,0.00,2.75,0.00,0.000,4,0.000,0.083,2789,192,3602,0,0,0,0,0,0
$GC,3614,-1.02,-146.0,312.2,-7.9,244,3619,0.00,2.42,0.00,0.000,6,0.000,0.027,2789,1743,3602,0,0,0,0,0,0
$GC,3899,-1.07,-146.0,333.6,-7.6,251,3904,0.00,2.60,0.00,0.000,4,0.000,0.042,2789,3349,3601,0,0,0,0,0,0
$GC,3939,-1.16,-146.0,336.7,-7.7,252,3945,0.17,2.65,0.00,0.000,6,0.064,0.051,2736,1756,3601,0,0,0,0,0,0
$GC,4223,-1.10,-146.0,361.9,-8.8,259,4229,0.10,2.88,0.00,0.000,4,0.123,0.102,2757,186,3600,0,0,0,0,0,0
$GC,4247,-1.06,-146.0,363.9,-8.3,259,4251,0.00,2.47,0.00,0.000,6,0.000,0.026,2757,1749,3600,0,0,0,0,0,0
$GC,4502,-1.06,-146.0,382.3,-6.8,266,4506,0.00,2.78,0.00,0.000,4,0.000,0.085,2757,186,3599,0,0,0,0,0,0
$GC,4517,-1.06,-146.0,383.3,-6.4,266,4522,0.00,2.50,0.00,0.000,6,0.000,0.030,2757,1755,3598,0,0,0,0,0,0
$GC,4780,-1.06,-146.0,401.1,-6.9,273,4784,0.00,2.67,0.00,0.000,4,0.000,0.058,2757,3353,3598,0,0,0,0,0,0
$GC,4814,-1.06,-146.0,403.8,-7.8,273,4820,0.00,2.70,0.00,0.000,6,0.000,0.055,2757,1754,3598,0,0,0,0,0,0
$GC,5064,-1.06,-146.0,424.1,-8.3,280,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1754,3596,0,0,0,0,0,0
$GC,5308,-1.06,-146.0,445.6,-8.6,286,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1754,3594,0,0,0,0,0,0
$GC,5551,-1.06,-146.0,464.2,-7.4,292,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1754,3594,0,0,0,0,0,0
$GC,5795,-1.06,-146.0,481.9,-7.3,298,5800,0.00,3.03,0.00,0.000,4,0.000,0.130,2757,184,3592,0,0,0,0,0,0
$GC,5828,-1.06,-146.0,484.5,-7.8,298,5833,0.00,2.58,0.00,0.000,6,0.000,0.042,2757,1755,3591,0,0,0,0,0,0
$GC,6079,-1.06,-146.0,503.1,-7.4,305,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1754,3589,0,0,0,0,0,0
$GC,6321,-1.06,-146.0,520.6,-7.1,311,6326,0.00,2.83,0.00,0.000,4,0.000,0.084,2757,3355,3588,0,0,0,0,0,0
$GC,6343,-1.06,-146.0,522.2,-7.0,311,6347,0.00,2.75,0.00,0.000,6,0.000,0.066,2757,1757,3588,0,0,0,0,0,0
$GC,6599,-1.06,-146.0,541.2,-7.6,318,6604,0.00,2.72,0.00,0.000,4,0.000,0.062,2757,3352,3585,0,0,0,0,0,0
$GC,6632,-1.12,-146.0,544.1,-8.1,318,6637,0.00,2.78,0.00,0.000,6,0.000,0.069,2758,1767,3586,0,0,0,0,0,0
$GC,6882,-1.12,-146.0,564.0,-8.0,325,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1767,3585,0,0,0,0,0,0
$GC,7127,-1.15,-146.0,581.5,-6.9,331,7132,0.00,2.78,0.00,0.000,4,0.000,0.070,2757,3354,3582,0,0,0,0,0,0
$GC,7167,-1.22,-146.0,584.3,-7.2,332,7172,0.10,2.83,0.00,0.000,6,0.091,0.082,2728,1772,3582,0,0,0,0,0,0
$GC,7452,-1.22,-146.0,605.0,-7.3,339,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1772,3580,0,0,0,0,0,0
$GC,7697,-1.22,-146.0,622.9,-7.3,345,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1772,3579,0,0,0,0,0,0
$GC,7939,-1.22,-146.0,642.0,-7.9,351,7944,0.00,2.85,0.00,0.000,4,0.000,0.087,2728,3357,3578,0,0,0,0,0,0
$GC,7988,-1.22,-146.0,646.2,-8.6,352,7993,0.00,2.95,0.00,0.000,6,0.000,0.101,2728,1772,3577,0,0,0,0,0,0
$GC,8262,-1.22,-146.0,667.6,-7.9,359,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1772,3576,0,0,0,0,0,0
$GC,8505,-1.22,-146.0,687.3,-8.1,365,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1772,3574,0,0,0,0,0,0
$GC,8748,-1.22,-146.0,706.8,-8.0,371,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1772,3573,0,0,0,0,0,0
$GC,8992,-1.22,-146.0,726.1,-7.9,377,8997,0.00,3.05,0.00,0.000,4,0.000,0.124,2728,3349,3572,0,0,0,0,0,0
$GC,9025,-1.22,-146.0,728.9,-9.1,377,9031,0.00,2.85,0.00,0.000,6,0.000,0.091,2728,1783,3572,0,0,0,0,0,0
$GC,9275,-1.22,-146.0,748.3,-7.8,384,9280,0.00,2.75,0.00,0.000,4,0.000,0.073,2727,3357,3570,0,0,0,0,0,0
$GC,9302,-1.22,-146.0,750.4,-8.2,384,9306,0.00,2.78,0.00,0.000,6,0.000,0.079,2728,1796,3570,0,0,0,0,0,0
$GC,9559,-1.22,-146.0,769.5,-7.5,391,9564,0.00,3.25,0.00,0.000,4,0.000,0.148,2727,179,3569,0,0,0,0,0,0
$GC,9575,-1.22,-146.0,771.0,-7.7,391,9580,0.00,2.70,0.00,0.000,6,0.000,0.051,2728,1791,3569,0,0,0,0,0,0
$GC,9836,-1.22,-146.0,790.1,-7.1,398,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1791,3568,0,0,0,0,0,0
$GC,10080,-1.22,-146.0,805.9,-6.3,404,10085,0.00,2.80,0.00,0.000,4,0.000,0.091,2727,3357,3567,0,0,0,0,0,0
$GC,10109,-1.22,-146.0,807.7,-6.6,404,10113,0.00,2.78,0.00,0.000,6,0.000,0.081,2727,1796,3567,0,0,0,0,0,0
$GC,10359,-1.22,-146.0,823.7,-6.4,410,10363,0.00,2.72,0.00,0.000,4,0.000,0.074,2728,3357,3566,0,0,0,0,0,0
$GC,10391,-1.22,-146.0,825.8,-6.3,410,10397,0.00,2.75,0.00,0.000,6,0.000,0.079,2727,1811,3566,0,0,0,0,0,0
$GC,10642,-1.22,-146.0,840.5,-5.8,417,10647,0.00,3.20,0.00,0.000,4,0.000,0.140,2727,183,3564,0,0,0,0,0,0
$GC,10664,-1.22,-146.0,842.0,-5.9,417,10669,0.00,2.75,0.00,0.000,6,0.000,0.048,2727,1813,3564,0,0,0,0,0,0
$GC,10919,-1.22,-146.0,857.1,-5.9,424,10924,0.00,2.75,0.00,0.000,4,0.000,0.094,2727,3357,3564,0,0,0,0,0,0
$GC,10953,-1.22,-146.0,859.2,-6.7,424,10959,0.00,2.75,0.00,0.000,6,0.000,0.079,2727,1808,3564,0,0,0,0,0,0
$GC,11203,-1.22,-146.0,875.1,-6.4,431,11208,0.00,3.17,0.00,0.000,4,0.000,0.136,2727,183,3563,0,0,0,0,0,0
$GC,11225,-1.22,-146.0,876.8,-7.3,431,11230,0.00,2.75,0.00,0.000,6,0.000,0.048,2727,1815,3563,0,0,0,0,0,0
$GC,11481,-1.22,-146.0,894.6,-7.0,438,11486,0.00,2.78,0.00,0.000,4,0.000,0.091,2727,3357,3562,0,0,0,0,0,0
$GC,11503,-1.22,-146.0,896.3,-6.8,438,11507,0.00,2.72,0.00,0.000,6,0.000,0.075,2727,1815,3562,0,0,0,0,0,0
$STATE,11553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11554,begin apogee
$GC,11559,-0.31,0.0,900.1,7.2,440,11685,0.93,0.00,122.97,1.261,6,0.087,0.000,2932,1814,3001,0,0,0,0,0,0
$STATE,11686,end apogee,CONTROL_FINISHED_OK
$STATE,11686,begin climb
$GC,11690,1.06,146.0,904.2,0.0,443,11832,1.25,2.88,132.88,1.226,4,0.046,0.071,3232,3405,2404,0,0,0,0,0,0
$GC,11902,0.88,146.0,895.7,8.5,448,11907,0.20,2.85,0.00,0.000,6,0.127,0.074,3195,1820,2397,0,0,0,0,0,0
$GC,12181,0.79,171.4,875.4,7.1,455,12210,0.12,2.88,22.75,1.154,4,0.137,0.063,3172,3410,2302,0,0,0,0,0,0
$GC,12224,0.77,213.1,872.4,6.5,456,12270,0.00,2.88,40.28,1.177,6,0.000,0.070,3171,1813,2132,0,0,0,0,0,0
$GC,12549,0.71,213.1,846.8,8.2,464,12550,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1813,2123,0,0,0,0,0,0
$GC,12792,0.65,213.1,825.8,8.7,470,12798,0.15,2.75,0.00,0.000,4,0.223,0.054,3144,3412,2121,0,0,0,0,0,0
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$STATE,22462,end climb,SURFACE_DEPTH_REACHED
$STATE,22462,begin surface coast
$FINISH,0.3,1.023331
$STATE,22512,end surface coast,CONTROL_FINISHED_OK
$STATE,22512,begin surface
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$HUMID,40.70
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$TCM_TEMP,23.40
$XPDR_PINGS,103
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$10V_AH,10.4,8.079
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,29.150,281.975,466.325,60.875,0.000,29.835,27.509,186.988,25.750,0.000,16.708,1825.777,16861.018,697.530,2881.924,720.865,33.366,1908.454,0.000,2877.105,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,67034,869
$CAP_FILE_SIZE,207915,0
$CFSIZE,260165632,180715520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200810,151455,2255.560,-15753.195,38,1.0,39,10.1