version: 66.06
glider: 146
mission: 5
dive: 37
start: 8 20 110 15 22 20
data:
$ID,146
$MISSION,5
$DIVE,37
$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,-247823.94
$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,62
$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
$GPS1,151455,2255.560,-15753.195,38,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.2
$GPS2,152125,2255.617,-15753.219,8,0.9,13,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.201,-0.132
$KALMAN_X,-26555.4,-128.6,71.3,56536.8,-1294.1
$KALMAN_Y,41643.2,-565.9,-124.8,98020.2,915.6
$MHEAD_RNG_PITCHd_Wd,113.2,22737,-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,-86.82,0.000,2,0.000,0.000,475,1795,3518,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.4,-6.2,11,134,11.98,2.83,-1.33,0.000,4,0.153,0.073,2759,190,3601,0,0,0,0,0,0
$GC,197,-0.87,-146.0,32.2,-17.9,22,202,0.22,2.42,0.00,0.000,6,0.104,0.016,2806,1775,3601,0,0,0,0,0,0
$GC,465,-0.82,-146.0,62.0,-10.3,46,469,0.00,2.45,0.00,0.000,4,0.000,0.026,2806,3335,3602,0,0,0,0,0,0
$GC,498,-0.82,-146.0,66.0,-11.2,48,502,0.00,2.55,0.00,0.000,6,0.000,0.032,2806,1757,3602,0,0,0,0,0,0
$GC,761,-0.82,-146.0,96.0,-10.8,72,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1757,3603,0,0,0,0,0,0
$GC,1013,-0.82,-146.0,119.2,-7.8,96,1017,0.00,2.67,0.00,0.000,4,0.000,0.071,2806,193,3603,0,0,0,0,0,0
$GC,1066,-0.86,-146.0,123.5,-7.8,100,1070,0.00,2.42,0.00,0.000,6,0.000,0.022,2806,1789,3603,0,0,0,0,0,0
$GC,1329,-0.86,-146.0,143.8,-8.0,124,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1790,3604,0,0,0,0,0,0
$GC,1585,-0.86,-146.0,163.2,-7.3,148,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1791,3604,0,0,0,0,0,0
$GC,1850,-0.90,-146.0,183.5,-7.7,173,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1790,3604,0,0,0,0,0,0
$GC,2109,-0.94,-146.0,203.7,-7.5,195,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1790,3603,0,0,0,0,0,0
$GC,2354,-0.98,-146.0,224.5,-8.8,201,2358,0.00,2.78,0.00,0.000,4,0.000,0.074,2806,196,3603,0,0,0,0,0,0
$GC,2381,-1.02,-146.0,227.3,-9.9,201,2386,0.12,2.40,0.00,0.000,6,0.077,0.019,2765,1784,3603,0,0,0,0,0,0
$GC,2631,-0.98,-146.0,253.2,-10.3,207,2633,0.10,0.00,0.00,0.000,6,0.121,0.000,2786,1785,3603,0,0,0,0,0,0
$GC,2876,-0.98,-146.0,273.0,-7.8,213,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1785,3603,0,0,0,0,0,0
$GC,3118,-0.98,-146.0,290.4,-7.1,219,3123,0.00,2.78,0.00,0.000,4,0.000,0.078,2786,196,3602,0,0,0,0,0,0
$GC,3174,-1.02,-146.0,294.7,-7.5,220,3178,0.00,2.42,0.00,0.000,6,0.000,0.024,2786,1758,3602,0,0,0,0,0,0
$GC,3441,-1.02,-146.0,314.1,-7.6,227,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1759,3602,0,0,0,0,0,0
$GC,3684,-1.06,-146.0,335.7,-9.1,233,3688,0.00,2.78,0.00,0.000,4,0.000,0.082,2786,195,3601,0,0,0,0,0,0
$GC,3727,-1.14,-146.0,339.9,-9.2,234,3733,0.15,2.50,0.00,0.000,6,0.065,0.027,2737,1769,3601,0,0,0,0,0,0
$GC,4007,-1.08,-146.0,365.5,-8.6,241,4012,0.12,2.62,0.00,0.000,4,0.111,0.050,2763,3357,3601,0,0,0,0,0,0
$GC,4034,-1.08,-146.0,367.8,-7.2,241,4039,0.00,2.62,0.00,0.000,6,0.000,0.051,2763,1791,3600,0,0,0,0,0,0
$GC,4284,-1.08,-146.0,386.0,-7.4,247,4289,0.00,2.95,0.00,0.000,4,0.000,0.105,2762,185,3599,0,0,0,0,0,0
$GC,4335,-1.13,-146.0,390.3,-8.4,248,4340,0.00,2.53,0.00,0.000,6,0.000,0.031,2763,1771,3599,0,0,0,0,0,0
$GC,4607,-1.13,-146.0,413.1,-8.2,255,4611,0.00,2.65,0.00,0.000,4,0.000,0.061,2763,3354,3598,0,0,0,0,0,0
$GC,4680,-1.19,-146.0,418.0,-6.6,256,4685,0.00,2.65,0.00,0.000,6,0.000,0.059,2763,1786,3597,0,0,0,0,0,0
$GC,4930,-1.19,-146.0,433.8,-6.3,262,4935,0.00,3.03,0.00,0.000,4,0.000,0.113,2763,182,3596,0,0,0,0,0,0
$GC,4980,-1.23,-146.0,437.4,-7.5,263,4985,0.12,2.60,0.00,0.000,6,0.081,0.041,2725,1780,3596,0,0,0,0,0,0
$GC,5254,-1.17,-146.0,460.1,-8.5,270,5259,0.00,2.70,0.00,0.000,4,0.000,0.064,2725,3364,3594,0,0,0,0,0,0
$GC,5293,-1.17,-146.0,463.6,-8.5,271,5297,0.00,2.70,0.00,0.000,6,0.000,0.064,2725,1783,3594,0,0,0,0,0,0
$GC,5578,-1.13,-146.0,488.5,-8.9,278,5580,0.12,0.00,0.00,0.000,6,0.244,0.000,2750,1784,3593,0,0,0,0,0,0
$GC,5821,-1.13,-146.0,508.9,-8.3,284,5826,0.00,3.12,0.00,0.000,4,0.000,0.133,2750,184,3591,0,0,0,0,0,0
$GC,5860,-1.13,-146.0,512.5,-9.3,285,5864,0.00,2.62,0.00,0.000,6,0.000,0.045,2750,1777,3590,0,0,0,0,0,0
$GC,6143,-1.13,-146.0,534.8,-7.6,292,6147,0.00,2.80,0.00,0.000,4,0.000,0.090,2750,3354,3589,0,0,0,0,0,0
$GC,6165,-1.13,-146.0,536.4,-7.8,292,6170,0.00,2.72,0.00,0.000,6,0.000,0.070,2750,1780,3588,0,0,0,0,0,0
$GC,6420,-1.13,-146.0,553.0,-6.3,299,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1780,3586,0,0,0,0,0,0
$GC,6664,-1.13,-146.0,568.7,-6.6,305,6668,0.00,2.75,0.00,0.000,4,0.000,0.068,2750,3360,3585,0,0,0,0,0,0
$GC,6681,-1.13,-146.0,569.9,-7.0,305,6685,0.00,2.78,0.00,0.000,6,0.000,0.074,2750,1786,3585,0,0,0,0,0,0
$GC,6942,-1.13,-146.0,587.8,-6.9,312,6946,0.00,3.17,0.00,0.000,4,0.000,0.140,2750,182,3583,0,0,0,0,0,0
$GC,6997,-1.17,-146.0,592.1,-7.9,313,7002,0.00,2.70,0.00,0.000,6,0.000,0.054,2750,1776,3582,0,0,0,0,0,0
$GC,7265,-1.17,-146.0,609.8,-6.6,320,7270,0.00,2.85,0.00,0.000,4,0.000,0.098,2750,3353,3580,0,0,0,0,0,0
$GC,7315,-1.24,-146.0,613.3,-6.8,321,7320,0.00,2.85,0.00,0.000,6,0.000,0.091,2750,1782,3580,0,0,0,0,0,0
$GC,7588,-1.24,-146.0,631.4,-6.6,328,7593,0.00,2.83,0.00,0.000,4,0.000,0.083,2750,3360,3579,0,0,0,0,0,0
$GC,7606,-1.28,-146.0,632.6,-6.6,328,7611,0.12,2.85,0.00,0.000,6,0.075,0.097,2712,1794,3579,0,0,0,0,0,0
$GC,7868,-1.24,-146.0,652.7,-7.8,335,7869,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1793,3577,0,0,0,0,0,0
$GC,8113,-1.20,-146.0,670.6,-7.4,341,8115,0.12,0.00,0.00,0.000,6,0.120,0.000,2736,1793,3575,0,0,0,0,0,0
$GC,8355,-1.20,-146.0,687.2,-6.8,347,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1793,3574,0,0,0,0,0,0
$GC,8598,-1.20,-146.0,704.9,-7.3,353,8603,0.00,2.97,0.00,0.000,4,0.000,0.119,2736,3359,3573,0,0,0,0,0,0
$GC,8638,-1.25,-146.0,707.8,-7.8,354,8643,0.00,2.85,0.00,0.000,6,0.000,0.088,2736,1791,3573,0,0,0,0,0,0
$GC,8923,-1.25,-146.0,728.6,-7.4,361,8928,0.00,3.20,0.00,0.000,4,0.000,0.142,2736,180,3571,0,0,0,0,0,0
$GC,8938,-1.25,-146.0,730.1,-7.5,361,8943,0.00,2.72,0.00,0.000,6,0.000,0.058,2736,1791,3571,0,0,0,0,0,0
$GC,9199,-1.25,-146.0,748.6,-7.0,368,9204,0.00,2.83,0.00,0.000,4,0.000,0.090,2736,3363,3569,0,0,0,0,0,0
$GC,9245,-1.29,-146.0,751.7,-6.5,369,9250,0.00,2.78,0.00,0.000,6,0.000,0.079,2736,1800,3569,0,0,0,0,0,0
$GC,9523,-1.29,-146.0,769.7,-6.5,376,9528,0.00,3.17,0.00,0.000,4,0.000,0.136,2736,178,3568,0,0,0,0,0,0
$GC,9541,-1.29,-146.0,770.9,-6.4,376,9546,0.00,2.75,0.00,0.000,6,0.000,0.050,2736,1805,3568,0,0,0,0,0,0
$GC,9802,-1.29,-146.0,787.8,-6.4,383,9806,0.00,2.80,0.00,0.000,4,0.000,0.095,2736,3359,3567,0,0,0,0,0,0
$GC,9818,-1.29,-146.0,788.9,-6.6,383,9822,0.00,2.78,0.00,0.000,6,0.000,0.077,2736,1793,3567,0,0,0,0,0,0
$GC,10079,-1.29,-146.0,807.0,-7.1,390,10084,0.00,3.17,0.00,0.000,4,0.000,0.136,2736,177,3566,0,0,0,0,0,0
$GC,10095,-1.29,-146.0,808.1,-6.9,390,10100,0.00,2.72,0.00,0.000,6,0.000,0.051,2736,1800,3566,0,0,0,0,0,0
$GC,10356,-1.29,-146.0,827.6,-7.5,397,10361,0.00,2.80,0.00,0.000,4,0.000,0.094,2736,3357,3565,0,0,0,0,0,0
$GC,10372,-1.29,-146.0,828.8,-7.6,397,10376,0.00,2.75,0.00,0.000,6,0.000,0.072,2736,1799,3565,0,0,0,0,0,0
$GC,10634,-1.29,-146.0,848.4,-7.5,404,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1800,3564,0,0,0,0,0,0
$GC,10876,-1.29,-146.0,866.8,-7.5,410,10881,0.00,3.15,0.00,0.000,4,0.000,0.131,2736,179,3563,0,0,0,0,0,0
$GC,10892,-1.29,-146.0,868.1,-7.5,410,10897,0.00,2.72,0.00,0.000,6,0.000,0.051,2736,1804,3563,0,0,0,0,0,0
$GC,11155,-1.33,-146.0,887.5,-7.3,417,11160,0.12,2.80,0.00,0.000,4,0.087,0.091,2704,3363,3562,0,0,0,0,0,0
$GC,11182,-1.33,-146.0,890.0,-8.2,417,11186,0.00,2.75,0.00,0.000,6,0.000,0.072,2704,1805,3562,0,0,0,0,0,0
$STATE,11308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11308,begin apogee
$GC,11313,-0.31,0.0,900.7,8.4,420,11440,1.05,0.00,123.72,1.261,6,0.095,0.000,2931,1805,3001,0,0,0,0,0,0
$STATE,11441,end apogee,CONTROL_FINISHED_OK
$STATE,11441,begin climb
$GC,11445,1.06,146.0,905.2,0.0,423,11593,1.27,3.22,134.32,1.230,4,0.048,0.127,3234,229,2403,0,0,0,0,0,0
$GC,11610,0.78,146.0,900.4,8.8,427,11615,0.32,2.72,0.00,0.000,6,0.119,0.048,3172,1820,2400,0,0,0,0,0,0
$GC,11878,0.74,176.0,881.7,6.9,434,11912,0.00,2.95,27.33,1.170,4,0.000,0.082,3172,3405,2283,0,0,0,0,0,0
$GC,11942,0.70,184.2,876.9,7.7,435,11956,0.00,2.83,9.18,1.028,6,0.000,0.069,3171,1819,2249,0,0,0,0,0,0
$GC,12203,0.64,184.2,856.0,8.1,441,12205,0.15,0.00,0.00,0.000,6,0.147,0.000,3143,1819,2243,0,0,0,0,0,0
$GC,12445,0.66,206.1,838.4,7.2,447,12468,0.00,0.00,20.90,1.154,6,0.000,0.000,3143,1819,2160,0,0,0,0,0,0
$GC,12689,0.69,227.7,820.8,7.2,453,12712,0.00,0.00,21.27,1.145,6,0.000,0.000,3143,1818,2072,0,0,0,0,0,0
$GC,12934,0.70,236.4,802.2,7.7,459,12949,0.00,3.15,8.88,1.030,4,0.000,0.121,3142,230,2037,0,0,0,0,0,0
$GC,12972,0.70,236.4,799.0,8.7,460,12976,0.00,2.65,0.00,0.000,6,0.000,0.042,3142,1819,2035,0,0,0,0,0,0
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$STATE,22132,end climb,SURFACE_DEPTH_REACHED
$STATE,22132,begin surface coast
$FINISH,0.3,1.006389
$STATE,22180,end surface coast,CONTROL_FINISHED_OK
$STATE,22180,begin surface
$SM_CCo,22201,47.30,0.408,1,0,1287,420.20
$SM_GC,0.86,0.00,0.00,47.30,0.000,0.000,0.408,476,1753,1287,-11.61,-0.48,420.20
$IRIDIUM_FIX,2248.70,-15757.57,141199,090936
$TT8_MAMPS,0.026078
$HUMID,40.35
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$TCM_TEMP,23.50
$XPDR_PINGS,96
$24V_AH,23.2,9.174
$10V_AH,10.3,8.227
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.025,286.275,480.950,47.300,0.000,23.517,32.461,181.831,24.000,0.000,15.444,1789.494,16692.773,706.454,2751.963,694.366,33.368,1895.118,0.000,2742.226,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,570.815,403.521,496.225,808.503,1222.696,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,63762,837
$CAP_FILE_SIZE,205220,0
$CFSIZE,260165632,180633600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200810,213436,2253.334,-15751.178,40,1.1,40,10.1