version: 66.06
glider: 157
mission: 5
dive: 460
start: 7 15 110 4 35 12
data:
$ID,157
$MISSION,5
$DIVE,460
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,600
$T_MISSION,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51974
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,4438
$TGT_DEFAULT_LON,-12501
$TGT_AUTO_DEFAULT,0
$SM_CC,310
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-42620.629
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,90
$PITCH_MAX,4043
$C_PITCH,2030
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,39
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,231
$ROLL_MAX,3879
$ROLL_DEG,45
$C_ROLL_DIVE,2310
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,30
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,230
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2760
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.207071
$PRESSURE_SLOPE,0.0001140972
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,119
$DEVICE5,-1
$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,0.004313
$SEABIRD_T_H,0.00063151005
$SEABIRD_T_I,2.4073433e-05
$SEABIRD_T_J,2.5600611e-06
$SEABIRD_C_G,-10.151347
$SEABIRD_C_H,1.1458639
$SEABIRD_C_I,-0.00036424753
$SEABIRD_C_J,0.00012563137
$GPS1,042124,-2004.725,-7124.863,23,0.8,40,-1.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.5
$GPS2,043506,-2004.721,-7124.861,9,1.2,25,-1.7
$SPEED_LIMITS,0.095,0.233
$TGT_NAME,IQoff
$TGT_LATLONG,-2005.000,-7130.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.180,-0.221
$KALMAN_X,63049.1,253.0,41.5,-165368.3,2397.1
$KALMAN_Y,13231.8,-614.4,-513.7,17722.5,8306.6
$MHEAD_RNG_PITCHd_Wd,268.4,8954,-6.6,-5.500
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.41,-194.6,0.0,0.0,0,67,0.00,0.00,-52.15,0.000,2,0.000,0.000,43,2326,2682,0,0,0,0,0,0
$GC,70,-0.41,-194.6,3.2,-3.4,11,105,7.30,3.05,-22.92,0.000,4,0.225,0.052,1897,710,3551,0,0,1,0,0,0
$GC,165,-0.41,-194.6,14.1,-10.0,32,172,0.00,3.15,0.00,0.000,6,0.000,0.055,1889,2305,3553,0,0,0,0,0,0
$GC,236,-0.41,-194.6,23.3,-14.1,48,242,0.00,2.12,0.00,0.000,4,0.000,0.062,1878,3881,3553,0,0,0,0,0,0
$GC,279,-0.41,-194.6,30.6,-17.3,57,284,0.00,2.05,0.00,0.000,6,0.000,0.040,1879,2292,3553,0,0,0,0,0,0
$GC,353,-0.41,-194.6,42.1,-16.7,73,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2290,3553,0,0,0,0,0,0
$GC,423,-0.41,-194.6,54.0,-16.2,89,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2289,3553,0,0,0,0,0,0
$GC,495,-0.41,-194.6,64.5,-14.7,105,501,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2288,3553,0,0,0,0,0,0
$GC,567,-0.41,-194.6,74.9,-14.2,121,571,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2288,3554,0,0,0,0,0,0
$GC,638,-0.41,-194.6,85.0,-14.8,137,642,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2287,3554,0,0,0,0,0,0
$GC,710,-0.41,-194.6,95.7,-14.8,153,715,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,2273,3554,0,0,0,0,0,0
$GC,784,-0.41,-194.6,106.5,-14.4,165,785,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2272,3554,0,0,0,0,0,0
$GC,908,-0.41,-194.6,123.9,-13.4,180,909,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2270,3554,0,0,0,0,0,0
$GC,1035,-0.41,-194.6,140.5,-12.7,195,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2269,3554,0,0,0,0,0,0
$GC,1173,-0.41,-194.6,158.5,-12.8,206,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2269,3554,0,0,0,0,0,0
$GC,1368,-0.41,-194.6,184.3,-13.3,212,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,2268,3554,0,0,0,0,0,0
$GC,1562,-0.41,-194.6,209.4,-12.8,218,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2268,3554,0,0,0,0,0,0
$GC,1756,-0.41,-194.6,232.4,-11.7,224,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2268,3554,0,0,0,0,0,0
$GC,1949,-0.41,-194.6,255.0,-11.6,230,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2268,3554,0,0,0,0,0,0
$GC,2144,-0.41,-194.6,277.6,-11.6,236,2147,0.00,2.17,0.00,0.000,4,0.000,0.062,1869,3888,3554,0,0,0,0,0,0
$GC,2188,-0.41,-194.6,282.4,-11.0,237,2191,0.00,2.05,0.00,0.000,6,0.000,0.041,1869,2292,3554,0,0,0,0,0,0
$GC,2434,-0.41,-194.6,311.3,-12.0,244,2440,0.00,2.92,0.00,0.000,4,0.000,0.046,1868,725,3554,0,0,0,0,0,0
$GC,2490,-0.41,-194.6,317.9,-10.3,244,2496,0.00,3.10,0.00,0.000,6,0.000,0.054,1868,2323,3554,0,0,0,0,0,0
$GC,2825,-0.41,-194.6,358.3,-12.3,250,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2322,3553,0,0,0,0,0,0
$GC,3146,-0.41,-194.6,395.6,-11.5,255,3149,0.00,2.05,0.00,0.000,4,0.000,0.062,1859,3885,3552,0,0,0,0,0,0
$GC,3199,-0.41,-194.6,401.5,-10.1,255,3202,0.15,2.03,0.00,0.000,6,0.130,0.041,1905,2307,3552,0,0,0,0,0,0
$GC,3533,-0.41,-194.6,427.0,-7.5,261,3539,0.00,2.95,0.00,0.000,4,0.000,0.048,1904,725,3551,0,0,0,0,0,0
$GC,3597,-0.41,-194.6,431.8,-7.5,261,3603,0.00,3.10,0.00,0.000,6,0.000,0.054,1899,2310,3551,0,0,0,0,0,0
$GC,3924,-0.41,-194.6,456.3,-7.5,267,3927,0.00,2.12,0.00,0.000,4,0.000,0.065,1889,3883,3550,0,0,0,0,0,0
$GC,3963,-0.41,-194.6,459.3,-7.4,267,3965,0.00,2.03,0.00,0.000,6,0.000,0.041,1889,2308,3550,0,0,0,0,0,0
$GC,4310,-0.41,-194.6,487.8,-8.2,273,4316,0.00,2.95,0.00,0.000,4,0.000,0.048,1889,719,3549,0,0,0,0,0,0
$GC,4371,-0.41,-194.6,492.7,-7.8,273,4381,0.00,3.12,0.00,0.000,6,0.000,0.055,1883,2327,3549,0,0,0,0,0,0
$GC,4701,-0.41,-194.6,521.6,-8.8,279,4704,0.00,2.08,0.00,0.000,4,0.000,0.065,1874,3881,3548,0,0,0,0,0,0
$GC,4745,-0.41,-194.6,525.5,-9.0,279,4748,0.00,2.05,0.00,0.000,6,0.000,0.041,1873,2302,3547,0,0,0,0,0,0
$GC,5088,-0.41,-194.6,558.6,-9.7,285,5094,0.00,2.97,0.00,0.000,4,0.000,0.051,1874,722,3547,0,0,0,0,0,0
$GC,5148,-0.41,-194.6,564.0,-8.7,285,5158,0.00,3.12,0.00,0.000,6,0.000,0.057,1871,2322,3546,0,0,0,0,0,0
$GC,5479,-0.41,-194.6,594.8,-9.4,291,5482,0.00,2.08,0.00,0.000,4,0.000,0.066,1861,3878,3545,0,0,0,0,0,0
$GC,5522,-0.41,-194.6,599.1,-9.5,291,5525,0.15,2.05,0.00,0.000,6,0.127,0.042,1908,2297,3545,0,0,0,0,0,0
$GC,5861,-0.41,-194.6,619.9,-6.1,295,5864,0.00,2.92,0.00,0.000,4,0.000,0.052,1907,728,3545,0,0,0,0,0,0
$GC,5909,-0.41,-194.6,622.8,-6.8,295,5915,0.00,3.10,0.00,0.000,6,0.000,0.056,1900,2315,3545,0,0,0,0,0,0
$GC,6287,-0.41,-194.6,646.1,-6.1,299,6290,0.00,2.10,0.00,0.000,4,0.000,0.067,1900,3886,3543,0,0,0,0,0,0
$GC,6539,-0.41,-194.6,664.6,-5.5,301,6542,0.00,2.05,0.00,0.000,6,0.000,0.042,1907,2307,3542,0,0,0,0,0,0
$GC,6933,-0.41,-194.6,694.4,-7.9,305,6936,0.00,2.17,0.00,0.000,4,0.000,0.064,1907,3889,3541,0,0,0,0,0,0
$GC,6976,-0.41,-194.6,698.5,-9.0,305,6979,0.00,2.10,0.00,0.000,6,0.000,0.048,1907,2300,3541,0,0,0,0,0,0
$GC,7352,-0.41,-194.6,728.4,-8.2,309,7358,0.00,2.97,0.00,0.000,4,0.000,0.052,1907,722,3540,0,0,0,0,0,0
$GC,7607,-0.41,-194.6,751.8,-10.4,311,7613,0.00,3.12,0.00,0.000,6,0.000,0.057,1902,2320,3540,0,0,0,0,0,0
$GC,8005,-0.41,-194.6,783.2,-7.9,315,8011,0.00,3.05,0.00,0.000,4,0.000,0.050,1902,727,3538,0,0,1,0,0,0
$GC,8147,-0.41,-194.6,794.5,-9.4,316,8153,0.00,3.15,0.00,0.000,6,0.000,0.059,1902,2311,3538,0,0,0,0,0,0
$GC,8543,-0.41,-194.6,822.6,-7.2,320,8550,0.00,3.08,0.00,0.000,4,0.000,0.051,1912,723,3537,0,0,1,0,0,0
$GC,8594,-0.41,-194.6,826.6,-7.3,320,8600,0.00,3.12,0.00,0.000,6,0.000,0.058,1912,2310,3537,0,0,0,0,0,0
$GC,8969,-0.41,-194.6,854.8,-7.5,324,8975,0.00,3.10,0.00,0.000,4,0.000,0.052,1920,725,3536,0,0,0,0,0,0
$GC,9186,-0.41,-194.6,873.9,-9.7,325,9194,0.00,3.15,0.00,0.000,6,0.000,0.059,1919,2321,3536,0,0,0,0,0,0
$GC,9612,-0.41,-194.6,908.6,-8.1,330,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,2321,3535,0,0,0,0,0,0
$GC,10030,-0.41,-194.6,945.8,-8.9,334,10033,0.00,2.12,0.00,0.000,4,0.000,0.071,1919,3877,3534,0,0,0,0,0,0
$GC,10141,-0.41,-194.6,956.5,-10.8,335,10144,0.00,2.08,0.00,0.000,6,0.000,0.047,1919,2308,3534,0,0,0,0,0,0
$STATE,10561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10561,begin apogee
$GC,10568,-0.13,0.0,994.0,8.9,339,10738,0.22,0.00,168.90,1.312,6,0.067,0.000,2023,2166,2760,0,0,0,0,0,0
$STATE,10739,end apogee,CONTROL_FINISHED_OK
$STATE,10739,begin climb
$GC,10741,0.41,194.6,1001.4,0.0,340,10935,0.40,3.35,184.18,1.281,4,0.039,0.058,2227,640,1966,0,0,0,0,0,0
$GC,11058,0.41,194.6,972.4,15.0,342,11064,0.25,3.25,0.00,0.000,6,0.145,0.060,2156,2214,1955,0,0,0,0,0,0
$GC,11487,0.41,194.6,923.3,11.3,347,11488,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2213,1952,0,0,0,0,0,0
$GC,11904,0.41,194.6,878.2,10.8,351,11905,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2213,1950,0,0,0,0,0,0
$GC,12322,0.41,194.6,834.4,10.5,355,12322,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2213,1950,0,0,0,0,0,0
$GC,12740,0.41,194.6,793.0,9.9,359,12741,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2213,1949,0,0,0,0,0,0
$GC,13156,0.41,194.6,752.1,9.8,363,13157,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2213,1949,0,0,0,0,0,0
$GC,13574,0.41,194.6,710.3,10.0,367,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2213,1947,0,0,0,0,0,0
$GC,13991,0.41,194.6,667.7,10.2,371,13992,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2214,1947,0,0,0,0,0,0
$GC,14409,0.41,194.6,625.8,10.0,375,14409,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2214,1947,0,0,0,0,0,0
$GC,14789,0.41,194.6,589.0,9.7,379,14790,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2214,1947,0,0,0,0,0,0
$GC,15108,0.41,194.6,559.0,9.2,384,15114,0.00,3.08,0.00,0.000,4,0.000,0.057,2167,644,1947,0,0,0,0,0,0
$GC,15154,0.41,194.6,555.1,7.5,384,15160,0.00,3.12,0.00,0.000,6,0.000,0.060,2168,2205,1945,0,0,0,0,0,0
$GC,15498,0.41,194.6,521.9,9.7,390,15501,0.00,2.15,0.00,0.000,4,0.000,0.069,2168,3790,1945,0,0,0,0,0,0
$GC,15541,0.41,194.6,516.9,10.9,390,15544,0.00,2.10,0.00,0.000,6,0.000,0.052,2176,2223,1944,0,0,0,0,0,0
$GC,15880,0.41,194.6,479.4,11.1,396,15886,0.00,3.12,0.00,0.000,4,0.000,0.060,2191,611,1945,0,0,0,0,0,0
$GC,16003,0.41,194.6,466.7,9.7,397,16009,0.00,3.17,0.00,0.000,6,0.000,0.059,2190,2206,1944,0,0,0,0,0,0
$GC,16342,0.41,194.6,423.5,12.8,403,16343,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2206,1944,0,0,0,0,0,0
$GC,16662,0.41,194.6,382.4,12.8,408,16663,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2205,1943,0,0,0,0,0,0
$GC,16985,0.41,194.6,342.7,12.3,413,16991,0.00,3.12,0.00,0.000,4,0.000,0.055,2204,612,1944,0,0,0,0,0,0
$GC,17040,0.41,194.6,336.2,10.0,413,17047,0.17,3.17,0.00,0.000,6,0.137,0.058,2153,2213,1943,0,0,0,0,0,0
$GC,17374,0.41,194.6,307.7,8.4,419,17375,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2212,1943,0,0,0,0,0,0
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$STATE,21232,end climb,SURFACE_DEPTH_REACHED
$STATE,21232,begin surface coast
$FINISH,0.8,1.023595
$STATE,21267,end surface coast,CONTROL_FINISHED_OK
$STATE,21267,begin surface
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$XPDR_PINGS,5
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$10V_AH,10.2,47.440
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,50822,858
$CAP_FILE_SIZE,191046,0
$CFSIZE,260165632,187105280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,150710,103225,-2005.105,-7126.617,36,1.9,36,-1.7