version: 66.06
glider: 146
mission: 5
dive: 292
start: 9 29 110 9 48 21
data:
$ID,146
$MISSION,5
$DIVE,292
$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,-252884
$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,28
$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
$GPS1,093401,2248.046,-15802.257,42,1.1,42,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.0
$GPS2,094726,2247.977,-15802.333,11,1.2,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NEWT
$TGT_LATLONG,2253.000,-15807.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.055,0.228
$KALMAN_X,-300092.3,-283.2,168.6,314446.2,-705.4
$KALMAN_Y,-408878.2,-533.3,-12.8,534247.2,-2303.2
$MHEAD_RNG_PITCHd_Wd,336.4,12245,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,107,0.00,0.00,-85.20,0.000,6,0.000,0.000,474,1742,3478,0,0,0,0,0,0
$GC,110,-1.38,-116.8,4.6,-10.0,11,128,11.40,2.60,0.00,0.000,4,0.144,0.028,2683,3379,3481,0,0,0,0,0,0
$GC,223,-1.27,-116.8,32.9,-16.3,26,229,0.20,2.62,0.00,0.000,6,0.118,0.032,2723,1769,3481,0,0,0,0,0,0
$GC,490,-1.19,-116.8,74.5,-14.2,50,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1769,3481,0,0,0,0,0,0
$GC,754,-1.19,-116.8,108.4,-11.2,75,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1769,3482,0,0,0,0,0,0
$GC,1017,-1.19,-116.8,138.0,-11.6,100,1021,0.00,2.70,0.00,0.000,4,0.000,0.064,2723,194,3483,0,0,0,0,0,0
$GC,1037,-1.19,-116.8,140.1,-11.6,101,1041,0.00,2.47,0.00,0.000,6,0.000,0.016,2723,1844,3483,0,0,0,0,0,0
$GC,1301,-1.19,-116.8,168.9,-10.2,125,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1845,3483,0,0,0,0,0,0
$GC,1562,-1.19,-116.8,198.2,-11.5,150,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1845,3483,0,0,0,0,0,0
$GC,1826,-1.19,-116.8,228.4,-11.3,158,1831,0.00,2.83,0.00,0.000,4,0.000,0.068,2723,194,3483,0,0,0,0,0,0
$GC,1867,-1.19,-116.8,232.7,-11.1,159,1871,0.00,2.50,0.00,0.000,6,0.000,0.018,2723,1830,3482,0,0,0,0,0,0
$GC,2150,-1.23,-116.8,259.9,-9.4,166,2155,0.00,2.45,0.00,0.000,4,0.000,0.031,2723,3381,3482,0,0,0,0,0,0
$GC,2173,-1.28,-116.8,262.2,-9.6,166,2177,0.00,2.60,0.00,0.000,6,0.000,0.032,2723,1768,3482,0,0,0,0,0,0
$GC,2430,-1.33,-116.8,286.8,-9.8,173,2434,0.00,2.58,0.00,0.000,4,0.000,0.031,2723,3379,3481,0,0,0,0,0,0
$GC,2457,-1.41,-116.8,289.6,-9.5,173,2462,0.12,2.58,0.00,0.000,6,0.068,0.033,2679,1785,3481,0,0,0,0,0,0
$GC,2708,-1.41,-116.8,317.7,-11.6,179,2713,0.00,2.83,0.00,0.000,4,0.000,0.085,2679,183,3481,0,0,0,0,0,0
$GC,2752,-1.41,-116.8,323.7,-13.2,180,2756,0.00,2.53,0.00,0.000,6,0.000,0.024,2679,1801,3481,0,0,0,0,0,0
$GC,3029,-1.41,-116.8,355.9,-11.8,187,3034,0.00,2.53,0.00,0.000,4,0.000,0.043,2679,3353,3479,0,0,0,0,0,0
$GC,3058,-1.41,-116.8,359.2,-11.8,187,3063,0.00,2.62,0.00,0.000,6,0.000,0.048,2679,1786,3479,0,0,0,0,0,0
$GC,3308,-1.41,-116.8,387.5,-11.2,193,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1786,3478,0,0,0,0,0,0
$GC,3552,-1.41,-116.8,412.6,-9.9,199,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1783,3477,0,0,0,0,0,0
$GC,3796,-1.41,-116.8,435.1,-9.2,205,3800,0.00,2.97,0.00,0.000,4,0.000,0.110,2679,186,3476,0,0,0,0,0,0
$GC,3841,-1.41,-116.8,439.8,-10.4,206,3845,0.00,2.55,0.00,0.000,6,0.000,0.036,2680,1781,3476,0,0,0,0,0,0
$GC,4118,-1.41,-116.8,466.2,-9.7,213,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1782,3473,0,0,0,0,0,0
$GC,4362,-1.41,-116.8,491.5,-10.2,219,4366,0.00,2.70,0.00,0.000,4,0.000,0.067,2679,3356,3472,0,0,0,0,0,0
$GC,4379,-1.41,-116.8,493.1,-10.0,219,4384,0.00,2.67,0.00,0.000,6,0.000,0.057,2679,1798,3472,0,0,0,0,0,0
$GC,4639,-1.41,-116.8,520.3,-10.6,226,4644,0.00,2.60,0.00,0.000,4,0.000,0.058,2679,3347,3470,0,0,0,0,0,0
$GC,4672,-1.46,-116.8,523.9,-10.2,226,4678,0.00,2.67,0.00,0.000,6,0.000,0.062,2679,1804,3469,0,0,0,0,0,0
$GC,4924,-1.51,-116.8,548.0,-9.5,233,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1804,3467,0,0,0,0,0,0
$GC,5166,-1.56,-116.8,569.8,-8.9,239,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1804,3466,0,0,0,0,0,0
$GC,5410,-1.61,-116.8,590.5,-8.3,245,5415,0.12,2.70,0.00,0.000,4,0.074,0.074,2638,3345,3464,0,0,0,0,0,0
$GC,5444,-1.61,-116.8,593.7,-10.1,245,5450,0.00,2.72,0.00,0.000,6,0.000,0.081,2638,1808,3463,0,0,0,0,0,0
$GC,5694,-1.61,-116.8,617.9,-9.6,252,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1808,3461,0,0,0,0,0,0
$GC,5938,-1.61,-116.8,642.5,-10.0,258,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1808,3460,0,0,0,0,0,0
$GC,6181,-1.61,-116.8,667.0,-10.2,264,6186,0.00,2.80,0.00,0.000,4,0.000,0.096,2638,3353,3459,0,0,0,0,0,0
$GC,6237,-1.61,-116.8,672.8,-10.3,265,6242,0.00,2.75,0.00,0.000,6,0.000,0.079,2637,1817,3458,0,0,0,0,0,0
$GC,6503,-1.61,-116.8,700.7,-10.5,272,6508,0.00,2.65,0.00,0.000,4,0.000,0.073,2638,3348,3456,0,0,0,0,0,0
$GC,6530,-1.61,-116.8,703.7,-10.7,272,6534,0.00,2.70,0.00,0.000,6,0.000,0.076,2637,1819,3456,0,0,0,0,0,0
$GC,6781,-1.61,-116.8,730.3,-10.7,278,6786,0.00,2.67,0.00,0.000,4,0.000,0.076,2637,3352,3454,0,0,0,0,0,0
$GC,6808,-1.61,-116.8,733.5,-10.6,278,6813,0.00,2.70,0.00,0.000,6,0.000,0.076,2638,1830,3454,0,0,0,0,0,0
$GC,7058,-1.61,-116.8,759.2,-10.2,284,7062,0.00,2.62,0.00,0.000,4,0.000,0.074,2638,3350,3452,0,0,0,0,0,0
$GC,7115,-1.61,-116.8,764.7,-9.9,285,7119,0.00,2.70,0.00,0.000,6,0.000,0.080,2637,1833,3452,0,0,0,0,0,0
$GC,7381,-1.61,-116.8,790.0,-9.4,292,7386,0.00,3.20,0.00,0.000,4,0.000,0.132,2638,185,3450,0,0,0,0,0,0
$GC,7400,-1.61,-116.8,791.8,-9.9,292,7405,0.00,2.78,0.00,0.000,6,0.000,0.047,2637,1830,3450,0,0,0,0,0,0
$GC,7662,-1.61,-116.8,816.9,-9.5,299,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1831,3449,0,0,0,0,0,0
$GC,7905,-1.61,-116.8,840.1,-9.4,305,7909,0.00,2.67,0.00,0.000,4,0.000,0.089,2637,3352,3449,0,0,0,0,0,0
$GC,7938,-1.61,-116.8,843.3,-10.2,305,7944,0.00,2.65,0.00,0.000,6,0.000,0.068,2637,1838,3448,0,0,0,0,0,0
$GC,8189,-1.61,-116.8,867.4,-9.7,312,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1838,3447,0,0,0,0,0,0
$GC,8434,-1.61,-116.8,891.3,-9.8,318,8438,0.00,2.60,0.00,0.000,4,0.000,0.071,2637,3353,3446,0,0,0,0,0,0
$GC,8500,-1.61,-116.8,898.4,-10.1,319,8504,0.00,2.67,0.00,0.000,6,0.000,0.076,2637,1833,3446,0,0,0,0,0,0
$GC,8755,-1.61,-116.8,922.8,-9.6,326,8759,0.00,2.62,0.00,0.000,4,0.000,0.069,2637,3352,3445,0,0,0,0,0,0
$GC,8812,-1.61,-116.8,928.3,-9.2,327,8816,0.00,2.65,0.00,0.000,6,0.000,0.070,2637,1846,3444,0,0,0,0,0,0
$STATE,9075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9075,begin apogee
$GC,9082,-0.31,0.0,953.6,9.4,334,9184,1.38,0.00,99.07,1.293,6,0.100,0.000,2930,1812,3001,0,0,0,0,0,0
$STATE,9185,end apogee,CONTROL_FINISHED_OK
$STATE,9185,begin climb
$GC,9189,1.38,116.8,955.4,0.0,336,9304,1.58,0.00,110.53,1.262,6,0.048,0.000,3306,1812,2524,0,0,0,0,0,0
$GC,9522,1.20,116.8,931.3,10.1,345,9527,0.22,2.72,0.00,0.000,4,0.130,0.058,3263,3397,2512,0,0,0,0,0,0
$GC,9612,1.15,132.7,923.1,9.1,347,9631,0.00,2.78,13.68,1.131,6,0.000,0.064,3263,1822,2460,0,0,0,0,0,0
$GC,9895,1.08,151.8,898.1,8.9,354,9920,0.12,2.78,19.05,1.167,4,0.138,0.052,3240,3405,2381,0,0,0,0,0,0
$GC,10039,1.10,163.9,884.8,9.3,357,10059,0.00,2.78,12.88,1.113,6,0.000,0.062,3240,1827,2331,0,0,0,0,0,0
$GC,10310,1.11,171.6,858.7,9.6,364,10324,0.00,2.75,7.97,1.018,4,0.000,0.052,3240,3397,2301,0,0,0,0,0,0
$GC,10423,1.11,171.6,847.3,10.7,366,10427,0.00,2.72,0.00,0.000,6,0.000,0.063,3240,1835,2298,0,0,0,0,0,0
$GC,10683,1.11,171.6,820.6,10.2,373,10688,0.00,2.67,0.00,0.000,4,0.000,0.051,3240,3406,2297,0,0,0,0,0,0
$GC,10716,1.11,171.6,817.2,10.9,373,10722,0.00,2.72,0.00,0.000,6,0.000,0.061,3240,1848,2296,0,0,0,0,0,0
$GC,10967,1.11,175.0,792.2,9.8,380,10976,0.00,2.65,4.15,0.760,4,0.000,0.052,3240,3404,2287,0,0,0,0,0,0
$GC,11000,1.11,175.0,788.7,10.4,380,11004,0.00,2.72,0.00,0.000,6,0.000,0.060,3240,1852,2286,0,0,0,0,0,0
$GC,11249,1.11,175.0,763.1,10.2,386,11250,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1852,2286,0,0,0,0,0,0
$GC,11493,1.12,184.9,739.7,9.4,392,11510,0.00,2.67,11.10,1.049,4,0.000,0.046,3240,3403,2245,0,0,0,0,0,0
$GC,11550,1.12,184.9,734.2,10.3,393,11554,0.00,2.70,0.00,0.000,6,0.000,0.066,3240,1858,2244,0,0,0,0,0,0
$GC,11816,1.13,192.4,708.5,9.6,400,11831,0.00,2.67,8.38,0.983,4,0.000,0.049,3240,3392,2216,0,0,0,0,0,0
$GC,11855,1.14,201.3,704.8,9.5,400,11870,0.00,2.67,10.20,1.006,6,0.000,0.066,3240,1872,2180,0,0,0,0,0,0
$GC,12143,1.15,207.5,676.3,9.7,408,12157,0.00,2.67,6.72,0.910,4,0.000,0.049,3240,3398,2155,0,0,0,0,0,0
$GC,12196,1.19,207.5,670.8,10.9,409,12201,0.00,2.67,0.00,0.000,6,0.000,0.066,3240,1875,2154,0,0,0,0,0,0
$GC,12470,1.19,207.5,643.2,10.4,416,12474,0.00,2.60,0.00,0.000,4,0.000,0.050,3240,3408,2153,0,0,0,0,0,0
$GC,12491,1.19,207.5,640.6,10.6,416,12495,0.00,2.62,0.00,0.000,6,0.000,0.067,3240,1894,2152,0,0,0,0,0,0
$GC,12747,1.19,207.5,613.9,10.4,423,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1894,2152,0,0,0,0,0,0
$GC,12992,1.19,211.1,589.7,9.8,429,12999,0.00,0.00,4.50,0.739,6,0.000,0.000,3239,1893,2140,0,0,0,0,0,0
$GC,13234,1.21,225.0,567.0,9.2,435,13254,0.10,0.00,14.85,0.983,6,0.100,0.000,3265,1894,2083,0,0,0,0,0,0
$GC,13521,1.21,225.0,536.7,10.7,442,13526,0.00,3.20,0.00,0.000,4,0.000,0.120,3264,230,2079,0,0,0,0,0,0
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$STATE,18565,end climb,SURFACE_DEPTH_REACHED
$STATE,18566,begin surface coast
$FINISH,0.4,1.003152
$STATE,18615,end surface coast,CONTROL_FINISHED_OK
$STATE,18618,begin surface
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$HUMID,45.19
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$TCM_TEMP,23.20
$XPDR_PINGS,80
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$10V_AH,10.1,41.201
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355920
$DATA_FILE_SIZE,54199,709
$CAP_FILE_SIZE,176017,0
$CFSIZE,260165632,164626432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290910,150200,2248.986,-15803.356,36,1.3,41,10.1