version: 66.07
glider: 23
mission: 5
dive: 151
start: 12 15 110 22 59 17
data:
$ID,23
$MISSION,5
$DIVE,151
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,100
$D_BOOST,0
$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,471
$T_MISSION,720
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,520
$N_FILEKB,8
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-53116.594
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,2690
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3071
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.761528
$PRESSURE_SLOPE,0.0001161246
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$GPS1,151210,224654,1938.985,12554.304,38,1.3,39,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-62.0
$GPS2,151210,225825,1938.986,12554.140,15,1.3,32,-2.4
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.183,-0.107
$KALMAN_X,-229565.1,653.0,-615.5,217744.0,-302.3
$KALMAN_Y,58137.7,406.5,228.7,-248461.0,-1704.7
$MHEAD_RNG_PITCHd_Wd,242.1,223069,-12.7,-7.006
$D_GRID,990
$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,15,-1.00,-146.0,0.0,0.0,0,94,0.00,0.00,-76.12,0.000,2,0.000,0.000,365,2711,2782,0,0,0,0,0,0
$GC,97,-1.00,-146.0,3.1,-1.5,15,149,10.10,2.25,-32.55,0.000,4,0.157,0.050,2134,1615,3669,0,0,0,0,0,0
$GC,322,-1.00,-146.0,38.4,-20.0,52,329,0.00,2.12,0.00,0.000,6,0.000,0.025,2135,2696,3668,0,0,0,0,0,0
$GC,583,-1.00,-146.0,87.9,-17.7,77,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2696,3669,0,0,0,0,0,0
$GC,838,-1.00,-146.0,130.9,-16.1,101,842,0.00,2.15,0.00,0.000,4,0.000,0.041,2134,1615,3669,0,0,0,0,0,0
$GC,967,-1.00,-146.0,151.2,-14.9,112,971,0.00,2.05,0.00,0.000,6,0.000,0.025,2134,2686,3669,0,0,0,0,0,0
$GC,1233,-1.00,-146.0,186.8,-13.2,137,1237,0.00,1.73,0.00,0.000,4,0.000,0.041,2134,3754,3669,0,0,0,0,0,0
$GC,1490,-1.00,-146.0,218.1,-10.6,153,1495,0.00,1.67,0.00,0.000,6,0.000,0.023,2135,2698,3669,0,0,0,0,0,0
$GC,1811,-1.00,-146.0,250.4,-10.0,169,1814,0.00,1.70,0.00,0.000,4,0.000,0.041,2135,3742,3670,0,0,0,0,0,0
$GC,2068,-1.00,-146.0,276.3,-10.3,180,2072,0.00,1.65,0.00,0.000,6,0.000,0.024,2135,2706,3669,0,0,0,0,0,0
$GC,2409,-1.00,-146.0,305.4,-8.7,196,2413,0.00,1.73,0.00,0.000,4,0.000,0.044,2135,3748,3668,0,0,0,0,0,0
$GC,2564,-1.00,-146.0,320.2,-9.4,199,2569,0.00,1.67,0.00,0.000,6,0.000,0.024,2134,2700,3668,0,0,0,0,0,0
$GC,2912,-1.00,-146.0,351.8,-9.2,208,2916,0.00,2.12,0.00,0.000,4,0.000,0.040,2134,1622,3665,0,0,0,0,0,0
$GC,3064,-1.00,-146.0,366.3,-9.2,211,3068,0.00,2.12,0.00,0.000,6,0.000,0.032,2134,2704,3665,0,0,0,0,0,0
$GC,3405,-1.00,-146.0,395.0,-7.9,220,3409,0.00,2.10,0.00,0.000,4,0.000,0.038,2135,1630,3663,0,0,0,0,0,0
$GC,3646,-1.00,-146.0,409.9,-6.9,225,3650,0.00,2.10,0.00,0.000,6,0.000,0.031,2134,2684,3661,0,0,0,0,0,0
$GC,3994,-1.00,-146.0,435.6,-7.9,234,3997,0.00,2.10,0.00,0.000,4,0.000,0.040,2134,1627,3659,0,0,0,0,0,0
$GC,4183,-1.00,-146.0,451.7,-8.7,238,4188,0.00,2.10,0.00,0.000,6,0.000,0.032,2135,2677,3658,0,0,0,0,0,0
$GC,4496,-1.00,-146.0,480.2,-9.4,246,4500,0.00,2.10,0.00,0.000,4,0.000,0.040,2135,1623,3656,0,0,0,0,0,0
$GC,4607,-1.00,-146.0,490.1,-7.9,248,4612,0.00,2.10,0.00,0.000,6,0.000,0.033,2134,2676,3654,0,0,0,0,0,0
$GC,4951,-1.00,-146.0,514.8,-6.6,257,4955,0.00,2.10,0.00,0.000,4,0.000,0.040,2134,1622,3652,0,0,0,0,0,0
$GC,5050,-1.00,-146.0,521.0,-6.0,259,5055,0.00,2.10,0.00,0.000,6,0.000,0.033,2134,2671,3650,0,0,0,0,0,0
$GC,5364,-1.00,-146.0,540.4,-6.6,267,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2671,3647,0,0,0,0,0,0
$GC,5688,-1.00,-146.0,570.1,-9.5,275,5692,0.00,2.08,0.00,0.000,4,0.000,0.040,2134,1630,3645,0,0,0,0,0,0
$GC,5716,-1.00,-146.0,572.9,-10.1,275,5720,0.00,2.08,0.00,0.000,6,0.000,0.034,2134,2678,3644,0,0,0,0,0,0
$GC,6052,-1.00,-146.0,604.1,-9.0,284,6056,0.00,2.08,0.00,0.000,4,0.000,0.041,2134,1627,3642,0,0,0,0,0,0
$GC,6286,-1.00,-146.0,620.7,-6.3,289,6290,0.00,2.10,0.00,0.000,6,0.000,0.035,2134,2672,3641,0,0,0,0,0,0
$GC,6600,-1.00,-146.0,638.2,-5.0,297,6604,0.00,2.10,0.00,0.000,4,0.000,0.041,2134,1621,3639,0,0,0,0,0,0
$GC,6700,-1.00,-146.0,643.6,-5.1,299,6704,0.00,2.10,0.00,0.000,6,0.000,0.035,2134,2662,3638,0,0,0,0,0,0
$GC,7013,-1.00,-146.0,659.0,-4.9,307,7017,0.00,1.83,0.00,0.000,4,0.000,0.054,2134,3755,3636,0,0,0,0,0,0
$GC,7231,-1.00,-146.0,671.9,-6.1,311,7237,0.00,1.77,0.00,0.000,6,0.000,0.028,2134,2657,3635,0,0,0,0,0,0
$GC,7562,-1.00,-146.0,688.9,-5.2,320,7566,0.00,2.05,0.00,0.000,4,0.000,0.044,2134,1634,3633,0,0,0,0,0,0
$GC,7819,-1.00,-146.0,702.8,-5.8,325,7824,0.00,2.08,0.00,0.000,6,0.000,0.038,2134,2658,3631,0,0,0,0,0,0
$GC,8157,-1.00,-146.0,722.3,-5.6,334,8160,0.00,2.05,0.00,0.000,4,0.000,0.041,2134,1635,3629,0,0,0,0,0,0
$GC,8369,-1.00,-146.0,733.5,-4.9,338,8373,0.00,2.08,0.00,0.000,6,0.000,0.038,2134,2655,3628,0,0,0,0,0,0
$GC,8706,-1.00,-146.0,749.9,-4.6,347,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2655,3627,0,0,0,0,0,0
$GC,9031,-1.00,-146.0,764.7,-4.5,355,9034,0.00,1.85,0.00,0.000,4,0.000,0.058,2134,3743,3625,0,0,0,0,0,0
$GC,9130,-1.00,-146.0,770.2,-5.9,357,9135,0.00,1.77,0.00,0.000,6,0.000,0.028,2134,2644,3625,0,0,0,0,0,0
$GC,9449,-1.00,-146.0,787.2,-5.7,365,9453,0.00,2.03,0.00,0.000,4,0.000,0.044,2134,1633,3624,0,0,0,0,0,0
$GC,9527,-1.00,-146.0,791.9,-6.7,366,9531,0.00,2.08,0.00,0.000,6,0.000,0.039,2135,2651,3623,0,0,0,0,0,0
$GC,9863,-1.00,-146.0,810.1,-5.2,375,9867,0.00,2.05,0.00,0.000,4,0.000,0.041,2134,1631,3622,0,0,0,0,0,0
$GC,10009,-1.00,-146.0,817.6,-4.6,378,10013,0.00,2.05,0.00,0.000,6,0.000,0.039,2134,2647,3622,0,0,0,0,0,0
$GC,10328,-1.00,-146.0,832.5,-5.0,386,10331,0.00,2.05,0.00,0.000,4,0.000,0.041,2134,1629,3621,0,0,0,0,0,0
$GC,10451,-1.00,-146.0,838.6,-4.9,388,10455,0.00,2.05,0.00,0.000,6,0.000,0.039,2134,2646,3620,0,0,0,0,0,0
$GC,10787,-1.00,-146.0,855.3,-5.0,397,10791,0.00,2.05,0.00,0.000,4,0.000,0.041,2134,1629,3618,0,0,0,0,0,0
$GC,10943,-1.00,-146.0,863.3,-5.8,400,10948,0.00,2.08,0.00,0.000,6,0.000,0.039,2134,2641,3618,0,0,0,0,0,0
$GC,11292,-1.00,-146.0,878.7,-4.2,409,11293,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2641,3616,0,0,0,0,0,0
$GC,11617,-1.00,-146.0,893.1,-4.4,417,11621,0.00,2.03,0.00,0.000,4,0.000,0.041,2134,1633,3616,0,0,0,0,0,0
$GC,11728,-1.00,-146.0,898.3,-5.0,419,11732,0.00,2.05,0.00,0.000,6,0.000,0.039,2134,2633,3616,0,0,0,0,0,0
$GC,12077,-1.00,-146.0,916.0,-5.1,428,12081,0.00,2.03,0.00,0.000,4,0.000,0.040,2134,1630,3615,0,0,0,0,0,0
$GC,12177,-1.00,-146.0,921.3,-5.1,430,12181,0.00,2.08,0.00,0.000,6,0.000,0.039,2134,2641,3615,0,0,0,0,0,0
$GC,12497,-1.00,-146.0,939.1,-5.8,438,12498,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2640,3614,0,0,0,0,0,0
$GC,12820,-1.00,-146.0,956.6,-5.1,446,12824,0.00,2.03,0.00,0.000,4,0.000,0.040,2134,1626,3614,0,0,0,0,0,0
$GC,13078,-1.00,-146.0,966.5,-2.5,451,13082,0.00,2.08,0.00,0.000,6,0.000,0.039,2134,2638,3613,0,0,0,0,0,0
$GC,13416,-1.00,-146.0,975.4,-2.4,460,13419,0.00,2.03,0.00,0.000,4,0.000,0.040,2134,1636,3612,0,0,0,0,0,0
$GC,13493,-1.00,-146.0,977.7,-2.5,461,13497,0.00,2.05,0.00,0.000,6,0.000,0.040,2134,2630,3613,0,0,0,0,0,0
$GC,13831,-1.00,-146.0,986.4,-3.1,470,13834,0.00,2.03,0.00,0.000,4,0.000,0.040,2134,1631,3611,0,0,0,0,0,0
$STATE,13934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13934,begin apogee
$GC,13940,-0.33,0.0,990.3,4.3,472,14057,0.70,0.00,114.20,1.494,6,0.096,0.000,2281,1973,3071,0,0,0,0,0,0
$STATE,14058,end apogee,CONTROL_FINISHED_OK
$STATE,14058,begin climb
$GC,14060,1.00,146.0,989.4,0.0,475,14195,1.38,2.45,125.05,1.434,4,0.065,0.050,2573,899,2474,0,0,0,0,0,0
$GC,14233,1.00,146.0,975.7,9.3,479,14238,0.00,2.22,0.00,0.000,6,0.000,0.029,2573,1950,2472,0,0,0,0,0,0
$GC,14552,1.00,146.0,946.2,9.4,487,14553,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1954,2469,0,0,0,0,0,0
$GC,14877,1.00,146.0,912.3,11.1,495,14881,0.00,2.30,0.00,0.000,4,0.000,0.052,2573,892,2467,0,0,0,0,0,0
$GC,14920,1.00,146.0,906.8,12.4,496,14924,0.00,2.22,0.00,0.000,6,0.000,0.029,2573,1950,2466,0,0,0,0,0,0
$GC,15245,1.00,146.0,871.5,10.7,504,15246,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1955,2467,0,0,0,0,0,0
$GC,15569,1.00,146.0,839.5,9.6,512,15573,0.00,2.30,0.00,0.000,4,0.000,0.052,2573,892,2466,0,0,0,0,0,0
$GC,15608,1.00,146.0,835.6,9.7,513,15612,0.00,2.17,0.00,0.000,6,0.000,0.029,2573,1947,2467,0,0,0,0,0,0
$GC,15932,1.00,146.0,805.2,9.2,521,15936,0.00,2.25,0.00,0.000,4,0.000,0.051,2573,897,2466,0,0,0,0,0,0
$GC,15952,1.00,146.0,803.0,10.0,521,15957,0.00,2.20,0.00,0.000,6,0.000,0.028,2573,1951,2466,0,0,0,0,0,0
$GC,16295,1.00,146.0,769.1,10.0,530,16296,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1955,2466,0,0,0,0,0,0
$GC,16620,1.00,146.0,737.2,9.5,538,16624,0.00,2.28,0.00,0.000,4,0.000,0.053,2573,899,2466,0,0,0,0,0,0
$GC,16646,1.00,146.0,734.5,9.5,538,16650,0.00,2.17,0.00,0.000,6,0.000,0.028,2573,1942,2466,0,0,0,0,0,0
$GC,16989,1.00,146.0,703.0,9.1,547,16992,0.00,2.03,0.00,0.000,4,0.000,0.040,2573,3013,2465,0,0,0,0,0,0
$GC,17021,1.00,146.0,699.9,10.0,547,17026,0.00,2.05,0.00,0.000,6,0.000,0.035,2573,1949,2465,0,0,0,0,0,0
$GC,17358,1.00,146.0,669.3,9.1,556,17362,0.00,2.28,0.00,0.000,4,0.000,0.053,2573,878,2465,0,0,0,0,0,0
$GC,17445,1.00,146.0,660.4,10.6,558,17450,0.00,2.20,0.00,0.000,6,0.000,0.027,2573,1943,2465,0,0,0,0,0,0
$GC,17770,1.00,146.0,628.5,10.0,566,17774,0.00,2.28,0.00,0.000,4,0.000,0.052,2573,887,2465,0,0,0,0,0,0
$GC,17802,1.00,146.0,624.9,9.7,566,17809,0.00,2.17,0.00,0.000,6,0.000,0.027,2573,1939,2464,0,0,0,0,0,0
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$STATE,25651,end climb,SURFACE_DEPTH_REACHED
$STATE,25651,begin surface coast
$FINISH,1.7,1.009290
$STATE,25685,end surface coast,CONTROL_FINISHED_OK
$STATE,25685,begin surface
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$FG_AHR_10Vo,0.000
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$MEM,354932
$DATA_FILE_SIZE,36705,987
$CAP_FILE_SIZE,284232,0
$CFSIZE,260034560,247910400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161210,060925,1937.535,12549.818,39,1.3,40,-2.4