version: 66.06
glider: 146
mission: 8
dive: 95
start: 2 3 113 3 26 1
data:
$ID,146
$MISSION,8
$DIVE,95
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$D_NO_BLEED,200
$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,300
$T_MISSION,600
$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,1.0276999
$MASS,52423
$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,2225
$TGT_DEFAULT_LON,-8113.5
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,-309225.56
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,19
$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,3210
$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,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.560358
$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,10
$ALTIM_PULSE,8
$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,0.0043571657
$SEABIRD_T_H,0.00063262874
$SEABIRD_T_I,2.5277763e-05
$SEABIRD_T_J,2.8683949e-06
$SEABIRD_C_G,-9.9054022
$SEABIRD_C_H,1.142597
$SEABIRD_C_I,-0.0022074829
$SEABIRD_C_J,0.00025491611
$GPS1,031449,1923.881,-8110.599,36,2.2,55,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.6
$GPS2,032507,1923.848,-8110.595,13,1.4,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.226,0.128
$KALMAN_X,134472.1,676.5,230.1,-134421.0,1618.1
$KALMAN_Y,-19260.2,158.8,44.2,13164.4,-1201.4
$MHEAD_RNG_PITCHd_Wd,303.4,14188,-17.5,-10.000
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-63.45,0.000,2,0.000,0.000,474,2179,3339,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.2,-4.3,8,122,13.65,2.65,-9.32,0.000,4,0.164,0.049,2987,3801,3809,0,0,0,0,0,0
$GC,270,-1.14,-146.0,39.2,-17.9,30,276,0.15,2.47,0.00,0.000,6,0.110,0.023,3020,2230,3809,0,0,0,0,0,0
$GC,540,-1.01,-146.0,81.4,-14.9,54,546,0.12,2.62,0.00,0.000,4,0.114,0.046,3048,637,3809,0,0,0,0,0,0
$GC,610,-0.97,-146.0,92.0,-13.4,59,615,0.00,2.42,0.00,0.000,6,0.000,0.017,3048,2235,3809,0,0,0,0,0,0
$GC,876,-0.97,-146.0,124.3,-11.1,83,881,0.00,2.45,0.00,0.000,4,0.000,0.031,3048,3781,3809,0,0,0,0,0,0
$GC,900,-0.97,-146.0,127.1,-9.6,84,909,0.00,2.47,0.00,0.000,6,0.000,0.021,3048,2199,3809,0,0,0,0,0,0
$GC,1167,-0.97,-146.0,152.0,-9.7,109,1171,0.00,2.55,0.00,0.000,4,0.000,0.051,3048,634,3810,0,0,0,0,0,0
$GC,1212,-0.97,-146.0,156.3,-9.9,112,1216,0.00,2.40,0.00,0.000,6,0.000,0.024,3048,2206,3810,0,0,0,0,0,0
$GC,1479,-1.03,-146.0,177.9,-8.0,136,1483,0.00,2.45,0.00,0.000,4,0.000,0.033,3048,3768,3810,0,0,0,0,0,0
$GC,1511,-1.13,-146.0,180.7,-8.3,138,1516,0.10,2.42,0.00,0.000,6,0.079,0.023,3002,2192,3810,0,0,0,0,0,0
$GC,1772,-1.13,-146.0,203.8,-8.6,159,1777,0.10,2.55,0.00,0.000,4,0.114,0.056,3025,633,3811,0,0,0,0,0,0
$GC,1807,-1.18,-146.0,206.7,-8.5,159,1813,0.00,2.40,0.00,0.000,6,0.000,0.022,3025,2200,3810,0,0,0,0,0,0
$GC,2058,-1.23,-146.0,226.5,-7.8,166,2060,0.10,0.00,0.00,0.000,6,0.080,0.000,2979,2200,3810,0,0,0,0,0,0
$GC,2301,-1.23,-146.0,248.9,-9.2,172,2306,0.10,2.60,0.00,0.000,4,0.110,0.056,3001,638,3810,0,0,0,0,0,0
$GC,2331,-1.23,-146.0,251.4,-8.4,172,2335,0.00,2.40,0.00,0.000,6,0.000,0.025,3002,2198,3810,0,0,0,0,0,0
$GC,2581,-1.23,-146.0,270.2,-7.3,178,2585,0.00,2.53,0.00,0.000,4,0.000,0.046,3001,3772,3810,0,0,0,0,0,0
$GC,2620,-1.27,-146.0,273.2,-8.2,179,2625,0.00,2.45,0.00,0.000,6,0.000,0.020,3001,2197,3810,0,0,0,0,0,0
$GC,2906,-1.27,-146.0,295.9,-8.1,186,2911,0.00,2.60,0.00,0.000,4,0.000,0.055,3001,633,3809,0,0,0,0,0,0
$GC,2947,-1.33,-146.0,299.3,-8.3,187,2951,0.00,2.42,0.00,0.000,6,0.000,0.030,3001,2184,3809,0,0,0,0,0,0
$GC,3230,-1.37,-146.0,321.3,-7.6,194,3235,0.12,2.60,0.00,0.000,4,0.069,0.044,2953,3789,3808,0,0,0,0,0,0
$GC,3266,-1.31,-146.0,324.5,-9.7,194,3272,0.15,2.53,0.00,0.000,6,0.091,0.024,2987,2187,3808,0,0,0,0,0,0
$GC,3516,-1.31,-146.0,345.2,-8.2,201,3520,0.00,2.62,0.00,0.000,4,0.000,0.065,2987,634,3808,0,0,0,0,0,0
$GC,3537,-1.31,-146.0,347.2,-8.8,201,3541,0.00,2.45,0.00,0.000,6,0.000,0.026,2987,2184,3807,0,0,0,0,0,0
$GC,3794,-1.31,-146.0,369.3,-8.6,208,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2184,3807,0,0,0,0,0,0
$GC,4036,-1.31,-146.0,389.2,-8.1,214,4040,0.00,2.65,0.00,0.000,4,0.000,0.056,2987,3791,3806,0,0,0,0,0,0
$GC,4075,-1.31,-146.0,392.5,-8.4,215,4079,0.00,2.55,0.00,0.000,6,0.000,0.029,2987,2198,3806,0,0,0,0,0,0
$GC,4360,-1.31,-146.0,415.0,-8.0,222,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2198,3804,0,0,0,0,0,0
$GC,4602,-1.31,-146.0,434.9,-8.1,228,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2198,3803,0,0,0,0,0,0
$GC,4845,-1.31,-146.0,454.4,-8.1,234,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2198,3802,0,0,0,0,0,0
$GC,5089,-1.31,-146.0,474.1,-8.1,240,5094,0.00,2.67,0.00,0.000,4,0.000,0.058,2987,3789,3801,0,0,0,0,0,0
$GC,5112,-1.31,-146.0,476.0,-8.4,240,5116,0.00,2.62,0.00,0.000,6,0.000,0.041,2987,2195,3800,0,0,0,0,0,0
$GC,5367,-1.31,-146.0,496.1,-7.8,247,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2195,3800,0,0,0,0,0,0
$GC,5612,-1.31,-146.0,514.9,-7.7,253,5617,0.00,2.72,0.00,0.000,4,0.000,0.066,2987,3785,3798,0,0,0,0,0,0
$GC,5628,-1.31,-146.0,516.4,-7.5,253,5632,0.00,2.65,0.00,0.000,6,0.000,0.048,2987,2195,3798,0,0,0,0,0,0
$GC,5889,-1.31,-146.0,536.5,-7.7,260,5893,0.00,2.92,0.00,0.000,4,0.000,0.120,2988,622,3796,0,0,0,0,0,0
$GC,5931,-1.35,-146.0,539.7,-8.6,261,5935,0.00,2.58,0.00,0.000,6,0.000,0.053,2987,2181,3796,0,0,0,0,0,0
$GC,6214,-1.35,-146.0,561.5,-7.7,268,6218,0.00,2.85,0.00,0.000,4,0.000,0.089,2987,3798,3795,0,0,0,0,0,0
$GC,6235,-1.35,-146.0,563.2,-8.0,268,6239,0.00,2.67,0.00,0.000,6,0.000,0.056,2987,2198,3795,0,0,0,0,0,0
$GC,6492,-1.35,-146.0,582.7,-7.6,275,6497,0.00,2.78,0.00,0.000,4,0.000,0.077,2987,3801,3793,0,0,0,0,0,0
$GC,6519,-1.39,-146.0,585.1,-7.9,275,6524,0.00,2.70,0.00,0.000,6,0.000,0.058,2987,2207,3793,0,0,0,0,0,0
$GC,6770,-1.43,-146.0,604.7,-7.9,281,6775,0.12,3.05,0.00,0.000,4,0.068,0.126,2942,617,3791,0,0,0,0,0,0
$GC,6826,-1.39,-146.0,610.6,-10.7,282,6831,0.12,2.72,0.00,0.000,6,0.100,0.065,2970,2204,3791,0,0,0,0,0,0
$GC,7093,-1.39,-146.0,633.8,-8.5,289,7097,0.00,2.90,0.00,0.000,4,0.000,0.105,2970,3794,3790,0,0,0,0,0,0
$GC,7139,-1.39,-146.0,637.8,-8.6,290,7143,0.00,2.80,0.00,0.000,6,0.000,0.077,2970,2207,3789,0,0,0,0,0,0
$GC,7418,-1.39,-146.0,660.7,-8.5,297,7423,0.00,3.08,0.00,0.000,4,0.000,0.128,2970,615,3789,0,0,0,0,0,0
$GC,7451,-1.39,-146.0,663.8,-9.3,297,7457,0.00,2.83,0.00,0.000,6,0.000,0.083,2970,2210,3788,0,0,0,0,0,0
$GC,7701,-1.39,-146.0,684.3,-8.3,304,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2210,3786,0,0,0,0,0,0
$GC,7947,-1.39,-146.0,704.6,-8.4,310,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2210,3785,0,0,0,0,0,0
$GC,8188,-1.39,-146.0,725.1,-8.5,316,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2210,3784,0,0,0,0,0,0
$GC,8432,-1.39,-146.0,745.2,-8.1,322,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2210,3783,0,0,0,0,0,0
$GC,8678,-1.39,-146.0,765.3,-8.3,328,8683,0.00,3.40,0.00,0.000,4,0.000,0.179,2970,3793,3782,0,0,0,0,0,0
$GC,8700,-1.39,-146.0,767.7,-9.3,328,8705,0.00,2.75,0.00,0.000,6,0.000,0.061,2970,2189,3782,0,0,0,0,0,0
$GC,8955,-1.39,-146.0,789.0,-8.4,335,8960,0.00,2.97,0.00,0.000,4,0.000,0.123,2970,624,3781,0,0,0,0,0,0
$GC,8976,-1.39,-146.0,790.9,-8.0,335,8981,0.00,2.67,0.00,0.000,6,0.000,0.056,2970,2200,3781,0,0,0,0,0,0
$GC,9234,-1.39,-146.0,811.2,-8.0,342,9238,0.00,2.88,0.00,0.000,4,0.000,0.101,2970,3796,3780,0,0,0,0,0,0
$GC,9294,-1.39,-146.0,816.4,-8.3,343,9299,0.00,2.75,0.00,0.000,6,0.000,0.063,2970,2197,3780,0,0,0,0,0,0
$GC,9557,-1.39,-146.0,836.0,-7.7,350,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2196,3778,0,0,0,0,0,0
$GC,9799,-1.39,-146.0,854.3,-7.4,356,9800,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2196,3777,0,0,0,0,0,0
$GC,10042,-1.39,-146.0,871.7,-7.1,362,10047,0.00,2.80,0.00,0.000,4,0.000,0.079,2970,3796,3776,0,0,0,0,0,0
$GC,10075,-1.39,-146.0,874.2,-8.5,362,10081,0.00,2.75,0.00,0.000,6,0.000,0.062,2970,2198,3776,0,0,0,0,0,0
$GC,10329,-1.39,-146.0,893.0,-7.5,369,10333,0.00,2.80,0.00,0.000,4,0.000,0.084,2970,3798,3774,0,0,0,0,0,0
$GC,10357,-1.39,-146.0,895.2,-8.0,369,10362,0.00,2.75,0.00,0.000,6,0.000,0.069,2970,2208,3774,0,0,0,0,0,0
$STATE,10442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10442,begin apogee
$GC,10448,-0.31,0.0,901.4,7.1,371,10570,1.00,0.00,118.50,1.218,6,0.069,0.000,3201,2383,3210,0,0,0,0,0,0
$STATE,10571,end apogee,CONTROL_FINISHED_OK
$STATE,10571,begin climb
$GC,10576,1.27,146.0,903.8,0.0,374,10711,1.42,2.83,126.07,1.183,4,0.031,0.078,3555,3920,2613,0,0,0,0,0,0
$GC,10875,1.11,146.0,877.3,13.4,381,10880,0.20,2.67,0.00,0.000,6,0.115,0.051,3514,2369,2606,0,0,0,0,0,0
$GC,11159,1.06,146.0,848.7,10.0,388,11164,0.00,2.72,0.00,0.000,4,0.000,0.061,3514,3933,2604,0,0,0,0,0,0
$GC,11188,0.98,146.0,845.7,10.8,388,11193,0.15,2.65,0.00,0.000,6,0.117,0.051,3484,2375,2604,0,0,0,0,0,0
$GC,11438,1.01,171.3,822.9,8.8,394,11462,0.00,0.00,22.30,1.101,6,0.000,0.000,3484,2375,2511,0,0,0,0,0,0
$GC,11682,1.03,187.1,800.3,9.3,400,11702,0.00,2.75,15.27,1.055,4,0.000,0.058,3485,3934,2446,0,0,0,0,0,0
$GC,11722,1.05,205.1,796.8,9.2,401,11746,0.00,2.65,18.12,1.063,6,0.000,0.048,3485,2380,2373,0,0,0,0,0,0
$GC,12011,1.10,210.0,768.5,9.8,408,12019,0.10,0.00,5.47,0.825,6,0.089,0.000,3514,2381,2353,0,0,0,0,0,0
$GC,12255,1.10,210.0,739.9,11.8,414,12259,0.00,2.65,0.00,0.000,4,0.000,0.061,3514,3927,2351,0,0,0,0,0,0
$GC,12287,1.05,210.0,735.7,12.4,414,12293,0.00,2.62,0.00,0.000,6,0.000,0.044,3514,2376,2350,0,0,0,0,0,0
$GC,12537,1.05,210.0,706.7,11.5,421,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2376,2350,0,0,0,0,0,0
$GC,12783,1.05,210.0,678.5,11.5,427,12784,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2376,2349,0,0,0,0,0,0
$GC,13024,1.05,210.0,651.4,11.1,433,13025,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2376,2348,0,0,0,0,0,0
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$STATE,18922,end climb,SURFACE_DEPTH_REACHED
$STATE,18922,begin surface coast
$FINISH,0.9,1.023404
$STATE,18958,end surface coast,CONTROL_FINISHED_OK
$STATE,18958,begin surface
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$10V_AH,10.4,11.595
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.625,237.775,428.175,4.325,0.000,53.376,68.669,279.449,17.750,0.000,14.917,1525.271,14328.454,557.933,2312.761,879.574,33.367,1599.727,0.000,2307.162,0.000,0.536,0.000
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$MEM,355900
$DATA_FILE_SIZE,54275,708
$CAP_FILE_SIZE,181411,0
$CFSIZE,260165632,122195968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030213,084335,1924.701,-8110.968,24,1.6,24,-3.8