version: 66.06
glider: 146
mission: 5
dive: 271
start: 9 24 110 18 11 10
data:
$ID,146
$MISSION,5
$DIVE,271
$D_SURF,4
$D_FLARE,3
$D_TGT,950
$D_ABORT,1000
$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,316
$T_MISSION,660
$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,120
$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,-252574.23
$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,52
$R_STBD_OVSHOOT,15
$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
$GPS1,180336,2235.311,-15752.827,25,1.2,25,10.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.2
$GPS2,181013,2235.219,-15752.846,8,1.2,13,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NEWT
$TGT_LATLONG,2253.000,-15807.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.058,0.227
$KALMAN_X,-278922.7,-38.5,132.5,309395.3,-1600.2
$KALMAN_Y,-341948.6,182.0,65.5,442886.4,-3631.8
$MHEAD_RNG_PITCHd_Wd,4.3,40838,-19.8,-10.021
$D_GRID,950
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.22,0.000,2,0.000,0.000,474,1742,3205,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.0,-4.7,10,125,11.35,2.62,-5.43,0.000,4,0.140,0.038,2691,3374,3480,0,0,0,0,0,0
$GC,253,-1.29,-116.8,34.2,-17.3,30,259,0.12,2.58,0.00,0.000,6,0.114,0.030,2716,1790,3481,0,0,0,0,0,0
$GC,521,-1.21,-116.8,79.0,-15.2,54,526,0.00,2.72,0.00,0.000,4,0.000,0.059,2716,194,3482,0,0,0,0,0,0
$GC,590,-1.14,-116.8,90.7,-17.1,59,595,0.17,2.47,0.00,0.000,6,0.107,0.017,2752,1819,3482,0,0,0,0,0,0
$GC,858,-1.19,-116.8,119.8,-9.9,83,862,0.00,2.33,0.00,0.000,4,0.000,0.031,2752,3321,3483,0,0,0,0,0,0
$GC,893,-1.28,-116.8,124.1,-10.4,85,899,0.12,2.50,0.00,0.000,6,0.072,0.029,2706,1747,3483,0,0,0,0,0,0
$GC,1156,-1.28,-116.8,152.7,-11.1,110,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1747,3484,0,0,0,0,0,0
$GC,1408,-1.28,-116.8,181.4,-11.1,134,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1747,3484,0,0,0,0,0,0
$GC,1671,-1.28,-116.8,210.1,-11.1,153,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1747,3484,0,0,0,0,0,0
$GC,1915,-1.28,-116.8,237.2,-11.2,159,1919,0.00,2.50,0.00,0.000,4,0.000,0.025,2707,3328,3485,0,0,0,0,0,0
$GC,1936,-1.28,-116.8,239.8,-11.0,159,1940,0.00,2.55,0.00,0.000,6,0.000,0.036,2707,1748,3484,0,0,0,0,0,0
$GC,2191,-1.28,-116.8,265.9,-10.1,166,2195,0.00,2.47,0.00,0.000,4,0.000,0.026,2707,3319,3484,0,0,0,0,0,0
$GC,2220,-1.31,-116.8,268.5,-9.2,166,2224,0.00,2.55,0.00,0.000,6,0.000,0.038,2707,1750,3484,0,0,0,0,0,0
$GC,2470,-1.31,-116.8,289.6,-8.3,172,2474,0.00,2.47,0.00,0.000,4,0.000,0.037,2707,3313,3485,0,0,0,0,0,0
$GC,2497,-1.38,-116.8,292.0,-8.2,172,2502,0.00,2.53,0.00,0.000,6,0.000,0.043,2706,1764,3485,0,0,0,0,0,0
$GC,2749,-1.42,-116.8,314.1,-9.1,178,2754,0.00,2.78,0.00,0.000,4,0.000,0.081,2706,189,3484,0,0,0,0,0,0
$GC,2771,-1.42,-116.8,316.8,-10.8,178,2775,0.00,2.40,0.00,0.000,6,0.000,0.022,2706,1742,3484,0,0,0,0,0,0
$GC,3033,-1.47,-116.8,343.1,-10.3,185,3035,0.12,0.00,0.00,0.000,6,0.075,0.000,2663,1743,3483,0,0,0,0,0,0
$GC,3278,-1.43,-116.8,370.6,-11.3,191,3280,0.12,0.00,0.00,0.000,6,0.114,0.000,2688,1743,3482,0,0,0,0,0,0
$GC,3520,-1.43,-116.8,392.8,-8.7,197,3524,0.00,2.65,0.00,0.000,4,0.000,0.049,2688,3343,3480,0,0,0,0,0,0
$GC,3570,-1.49,-116.8,397.4,-9.0,198,3574,0.00,2.65,0.00,0.000,6,0.000,0.052,2688,1764,3480,0,0,0,0,0,0
$GC,3843,-1.49,-116.8,421.6,-9.2,205,3847,0.00,2.60,0.00,0.000,4,0.000,0.043,2688,3346,3479,0,0,0,0,0,0
$GC,3876,-1.54,-116.8,424.9,-9.2,205,3882,0.10,2.67,0.00,0.000,6,0.086,0.058,2653,1763,3479,0,0,0,0,0,0
$GC,4126,-1.54,-116.8,452.3,-11.0,212,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1763,3477,0,0,0,0,0,0
$GC,4369,-1.54,-116.8,481.7,-12.2,218,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1763,3476,0,0,0,0,0,0
$GC,4614,-1.54,-116.8,511.2,-12.0,224,4619,0.00,2.67,0.00,0.000,4,0.000,0.061,2653,3332,3474,0,0,0,0,0,0
$GC,4647,-1.54,-116.8,515.4,-11.8,224,4653,0.00,2.72,0.00,0.000,6,0.000,0.062,2653,1751,3474,0,0,0,0,0,0
$GC,4897,-1.54,-116.8,542.8,-10.8,231,4902,0.00,2.70,0.00,0.000,4,0.000,0.066,2653,3330,3472,0,0,0,0,0,0
$GC,4943,-1.54,-116.8,547.7,-11.4,232,4947,0.00,2.75,0.00,0.000,6,0.000,0.071,2652,1760,3472,0,0,0,0,0,0
$GC,5220,-1.54,-116.8,577.0,-10.6,239,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1760,3471,0,0,0,0,0,0
$GC,5464,-1.54,-116.8,603.6,-10.9,245,5468,0.00,2.78,0.00,0.000,4,0.000,0.077,2653,3335,3469,0,0,0,0,0,0
$GC,5497,-1.54,-116.8,607.2,-11.0,245,5503,0.00,2.80,0.00,0.000,6,0.000,0.081,2652,1776,3468,0,0,0,0,0,0
$GC,5747,-1.54,-116.8,631.8,-9.7,252,5752,0.00,2.78,0.00,0.000,4,0.000,0.087,2653,3328,3466,0,0,0,0,0,0
$GC,5808,-1.54,-116.8,637.6,-9.6,253,5812,0.00,2.83,0.00,0.000,6,0.000,0.098,2653,1782,3466,0,0,0,0,0,0
$GC,6070,-1.54,-116.8,661.8,-9.3,260,6075,0.00,2.83,0.00,0.000,4,0.000,0.098,2653,3332,3464,0,0,0,0,0,0
$GC,6091,-1.54,-116.8,664.0,-9.2,260,6096,0.00,2.88,0.00,0.000,6,0.000,0.107,2653,1789,3464,0,0,0,0,0,0
$GC,6347,-1.54,-116.8,687.2,-9.1,267,6351,0.00,2.88,0.00,0.000,4,0.000,0.110,2653,3331,3462,0,0,0,0,0,0
$GC,6385,-1.54,-116.8,691.1,-10.1,268,6390,0.00,2.92,0.00,0.000,6,0.000,0.117,2653,1798,3462,0,0,0,0,0,0
$GC,6670,-1.54,-116.8,719.5,-10.3,275,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1798,3461,0,0,0,0,0,0
$GC,6914,-1.54,-116.8,745.4,-10.6,281,6918,0.00,2.97,0.00,0.000,4,0.000,0.133,2653,3324,3459,0,0,0,0,0,0
$GC,6940,-1.54,-116.8,748.6,-10.6,281,6945,0.00,2.70,0.00,0.000,6,0.000,0.076,2653,1794,3458,0,0,0,0,0,0
$GC,7192,-1.54,-116.8,775.7,-11.0,287,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1794,3457,0,0,0,0,0,0
$GC,7434,-1.54,-116.8,802.4,-10.8,293,7438,0.00,2.67,0.00,0.000,4,0.000,0.070,2653,3332,3456,0,0,0,0,0,0
$GC,7513,-1.58,-116.8,810.8,-10.8,294,7518,0.00,2.70,0.00,0.000,6,0.000,0.074,2653,1806,3455,0,0,0,0,0,0
$GC,7764,-1.58,-116.8,836.1,-10.1,301,7769,0.00,2.65,0.00,0.000,4,0.000,0.071,2653,3338,3454,0,0,0,0,0,0
$GC,7808,-1.63,-116.8,840.8,-9.9,302,7813,0.00,2.70,0.00,0.000,6,0.000,0.074,2653,1811,3454,0,0,0,0,0,0
$GC,8086,-1.63,-116.8,868.6,-10.1,309,8087,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1811,3452,0,0,0,0,0,0
$GC,8332,-1.63,-116.8,892.6,-9.7,315,8336,0.00,2.60,0.00,0.000,4,0.000,0.071,2653,3331,3451,0,0,0,0,0,0
$GC,8404,-1.68,-116.8,899.8,-9.8,316,8409,0.00,2.65,0.00,0.000,6,0.000,0.076,2653,1814,3451,0,0,0,0,0,0
$GC,8654,-1.68,-116.8,923.5,-9.5,322,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1813,3450,0,0,0,0,0,0
$GC,8898,-1.68,-116.8,946.7,-9.6,328,8902,0.00,2.62,0.00,0.000,4,0.000,0.065,2653,3339,3449,0,0,0,0,0,0
$STATE,8928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8928,begin apogee
$GC,8936,-0.31,0.0,950.1,10.4,328,9040,1.25,0.00,99.97,1.291,6,0.089,0.000,2928,1821,3001,0,0,0,0,0,0
$STATE,9041,end apogee,CONTROL_FINISHED_OK
$STATE,9041,begin climb
$GC,9043,1.38,116.8,952.8,0.0,331,9161,1.60,2.80,110.05,1.261,4,0.040,0.059,3306,3379,2523,0,0,0,0,0,0
$GC,9180,1.26,159.8,949.2,7.5,334,9227,0.17,2.78,40.38,1.214,6,0.142,0.071,3275,1821,2349,0,0,0,0,0,0
$GC,9472,1.15,159.8,918.0,11.1,342,9477,0.12,2.67,0.00,0.000,4,0.146,0.054,3252,3380,2339,0,0,0,0,0,0
$GC,9534,1.15,159.8,911.2,10.8,343,9539,0.00,2.72,0.00,0.000,6,0.000,0.064,3252,1824,2337,0,0,0,0,0,0
$GC,9795,1.09,160.6,885.0,10.0,350,9799,0.00,2.65,0.00,0.000,4,0.000,0.054,3252,3381,2335,0,0,0,0,0,0
$GC,9851,1.09,160.6,879.1,10.3,351,9856,0.00,2.70,0.00,0.000,6,0.000,0.059,3252,1834,2334,0,0,0,0,0,0
$GC,10118,1.04,160.6,851.7,10.3,358,10123,0.12,2.62,0.00,0.000,4,0.134,0.054,3229,3389,2333,0,0,0,0,0,0
$GC,10145,1.04,160.6,848.9,10.0,358,10149,0.00,2.67,0.00,0.000,6,0.000,0.062,3228,1836,2332,0,0,0,0,0,0
$GC,10397,1.06,171.6,825.2,9.4,364,10411,0.00,2.67,9.65,1.057,4,0.000,0.051,3228,3381,2300,0,0,0,0,0,0
$GC,10473,1.06,177.5,817.3,9.7,365,10485,0.00,2.62,7.30,0.983,6,0.000,0.060,3228,1850,2277,0,0,0,0,0,0
$GC,10765,1.06,177.5,787.6,10.2,373,10769,0.00,2.60,0.00,0.000,4,0.000,0.048,3229,3390,2274,0,0,0,0,0,0
$GC,10792,1.06,177.5,784.6,10.1,373,10796,0.00,2.65,0.00,0.000,6,0.000,0.055,3228,1848,2273,0,0,0,0,0,0
$GC,11042,1.06,177.5,758.7,10.4,379,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1848,2273,0,0,0,0,0,0
$GC,11285,1.06,177.5,731.4,11.3,385,11290,0.00,2.58,0.00,0.000,4,0.000,0.054,3228,3384,2272,0,0,0,0,0,0
$GC,11331,1.10,177.5,726.2,11.6,386,11335,0.00,2.62,0.00,0.000,6,0.000,0.057,3229,1857,2272,0,0,0,0,0,0
$GC,11608,1.10,177.5,695.2,11.0,393,11612,0.00,2.58,0.00,0.000,4,0.000,0.054,3229,3382,2272,0,0,0,0,0,0
$GC,11636,1.10,177.5,692.2,10.6,393,11641,0.00,2.62,0.00,0.000,6,0.000,0.058,3229,1867,2271,0,0,0,0,0,0
$GC,11887,1.10,177.5,666.3,10.1,399,11892,0.00,2.55,0.00,0.000,4,0.000,0.054,3229,3382,2271,0,0,0,0,0,0
$GC,11915,1.11,184.1,663.4,9.6,399,11929,0.00,2.60,6.93,0.918,6,0.000,0.058,3229,1868,2250,0,0,0,0,0,0
$GC,12214,1.15,213.9,637.2,8.3,407,12249,0.00,2.62,29.67,1.066,4,0.000,0.051,3228,3390,2127,0,0,0,0,0,0
$GC,12280,1.23,236.3,631.8,8.7,407,12310,0.17,2.65,22.10,1.033,6,0.077,0.059,3269,1879,2038,0,0,0,0,0,0
$GC,12586,1.23,236.3,596.8,11.9,415,12590,0.00,2.55,0.00,0.000,4,0.000,0.050,3269,3386,2031,0,0,0,0,0,0
$GC,12625,1.23,236.3,591.5,12.4,416,12629,0.00,2.62,0.00,0.000,6,0.000,0.066,3269,1884,2031,0,0,0,0,0,0
$GC,12907,1.23,236.3,555.3,12.9,423,12912,0.00,2.53,0.00,0.000,4,0.000,0.048,3269,3382,2029,0,0,0,0,0,0
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$STATE,17828,end climb,SURFACE_DEPTH_REACHED
$STATE,17828,begin surface coast
$FINISH,0.5,1.022307
$STATE,17879,end surface coast,CONTROL_FINISHED_OK
$STATE,17879,begin surface
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$XPDR_PINGS,95
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$10V_AH,10.2,38.473
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,356004
$DATA_FILE_SIZE,54137,680
$CAP_FILE_SIZE,170237,0
$CFSIZE,260165632,166170624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240910,231231,2235.549,-15752.871,40,0.9,40,10.0