version: 66.06
glider: 146
mission: 8
dive: 98
start: 2 3 113 20 6 2
data:
$ID,146
$MISSION,8
$DIVE,98
$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,-309297.78
$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,39
$R_STBD_OVSHOOT,30
$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
$GPS1,195736,1925.193,-8112.366,29,1.0,29,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.4
$GPS2,200507,1925.160,-8112.393,14,1.5,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.253,0.060
$KALMAN_X,145196.0,-82.1,34.2,-147330.3,2895.5
$KALMAN_Y,-21658.5,-155.3,-11.9,18364.2,-503.1
$MHEAD_RNG_PITCHd_Wd,287.1,10368,-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,19,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-71.25,0.000,2,0.000,0.000,464,2198,3580,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.1,-6.2,9,123,13.82,2.58,-3.75,0.000,4,0.169,0.044,2986,3796,3805,0,0,0,0,0,0
$GC,237,-1.13,-146.0,39.6,-16.7,25,242,0.17,2.47,0.00,0.000,6,0.107,0.025,3024,2214,3806,0,0,0,0,0,0
$GC,507,-1.01,-146.0,80.8,-15.1,49,512,0.12,2.60,0.00,0.000,4,0.112,0.044,3052,628,3806,0,0,0,0,0,0
$GC,565,-1.01,-146.0,89.4,-13.0,53,570,0.00,2.47,0.00,0.000,6,0.000,0.018,3051,2233,3806,0,0,0,0,0,0
$GC,834,-1.01,-146.0,122.8,-11.8,77,838,0.00,2.62,0.00,0.000,4,0.000,0.042,3051,629,3807,0,0,0,0,0,0
$GC,889,-1.01,-146.0,130.0,-11.7,81,893,0.00,2.42,0.00,0.000,6,0.000,0.026,3052,2203,3807,0,0,0,0,0,0
$GC,1154,-1.08,-146.0,153.5,-7.1,105,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2203,3808,0,0,0,0,0,0
$GC,1421,-1.17,-146.0,173.1,-7.4,130,1426,0.15,2.58,0.00,0.000,4,0.059,0.044,2992,627,3808,0,0,0,0,0,0
$GC,1443,-1.17,-146.0,175.7,-8.7,131,1449,0.10,2.40,0.00,0.000,6,0.115,0.019,3015,2200,3808,0,0,0,0,0,0
$GC,1708,-1.22,-146.0,197.5,-8.2,156,1712,0.00,2.50,0.00,0.000,4,0.000,0.035,3014,3770,3808,0,0,0,0,0,0
$GC,1731,-1.27,-146.0,199.7,-8.3,157,1736,0.00,2.45,0.00,0.000,6,0.000,0.026,3015,2177,3809,0,0,0,0,0,0
$GC,1983,-1.31,-146.0,219.1,-7.7,164,1985,0.12,0.00,0.00,0.000,6,0.064,0.000,2955,2177,3809,0,0,0,0,0,0
$GC,2225,-1.25,-146.0,244.6,-10.4,170,2230,0.20,2.53,0.00,0.000,4,0.087,0.049,3000,640,3809,0,0,0,0,0,0
$GC,2246,-1.25,-146.0,246.9,-9.8,170,2251,0.00,2.40,0.00,0.000,6,0.000,0.020,3000,2195,3809,0,0,0,0,0,0
$GC,2504,-1.25,-146.0,268.4,-8.3,177,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2194,3808,0,0,0,0,0,0
$GC,2746,-1.25,-146.0,288.4,-8.2,183,2750,0.00,2.55,0.00,0.000,4,0.000,0.041,3000,3778,3808,0,0,0,0,0,0
$GC,2785,-1.30,-146.0,291.8,-8.6,184,2790,0.00,2.47,0.00,0.000,6,0.000,0.028,2999,2206,3808,0,0,0,0,0,0
$GC,3071,-1.30,-146.0,316.1,-8.6,191,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2205,3807,0,0,0,0,0,0
$GC,3313,-1.33,-146.0,336.0,-8.1,197,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2205,3806,0,0,0,0,0,0
$GC,3557,-1.38,-146.0,355.6,-8.0,203,3559,0.12,0.00,0.00,0.000,6,0.071,0.000,2952,2205,3805,0,0,0,0,0,0
$GC,3802,-1.33,-146.0,380.7,-10.6,209,3808,0.12,2.70,0.00,0.000,4,0.102,0.074,2980,633,3805,0,0,0,0,0,0
$GC,3858,-1.33,-146.0,386.6,-9.9,210,3862,0.00,2.47,0.00,0.000,6,0.000,0.034,2980,2179,3804,0,0,0,0,0,0
$GC,4124,-1.33,-146.0,410.4,-8.7,217,4129,0.00,2.65,0.00,0.000,4,0.000,0.058,2980,3791,3803,0,0,0,0,0,0
$GC,4166,-1.33,-146.0,414.0,-9.0,218,4171,0.00,2.55,0.00,0.000,6,0.000,0.038,2980,2212,3802,0,0,0,0,0,0
$GC,4450,-1.33,-146.0,437.1,-7.9,225,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2212,3801,0,0,0,0,0,0
$GC,4694,-1.33,-146.0,455.3,-7.4,231,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2212,3800,0,0,0,0,0,0
$GC,4943,-1.33,-146.0,473.0,-7.3,237,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2212,3799,0,0,0,0,0,0
$GC,5181,-1.33,-146.0,491.0,-7.5,243,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2212,3799,0,0,0,0,0,0
$GC,5425,-1.33,-146.0,509.6,-7.6,249,5429,0.00,2.72,0.00,0.000,4,0.000,0.074,2980,3784,3797,0,0,0,0,0,0
$GC,5457,-1.33,-146.0,512.2,-8.0,249,5463,0.00,2.62,0.00,0.000,6,0.000,0.054,2980,2201,3797,0,0,0,0,0,0
$GC,5709,-1.33,-146.0,530.4,-7.2,256,5714,0.00,2.92,0.00,0.000,4,0.000,0.111,2980,622,3796,0,0,0,0,0,0
$GC,5732,-1.33,-146.0,532.2,-7.3,256,5737,0.00,2.62,0.00,0.000,6,0.000,0.047,2980,2204,3795,0,0,0,0,0,0
$GC,5987,-1.33,-146.0,550.1,-7.0,263,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2204,3794,0,0,0,0,0,0
$GC,6233,-1.33,-146.0,568.6,-7.8,269,6238,0.00,2.83,0.00,0.000,4,0.000,0.087,2980,3797,3792,0,0,0,0,0,0
$GC,6279,-1.37,-146.0,572.6,-8.5,270,6283,0.00,2.70,0.00,0.000,6,0.000,0.054,2980,2203,3792,0,0,0,0,0,0
$GC,6556,-1.37,-146.0,595.0,-8.0,277,6561,0.00,3.00,0.00,0.000,4,0.000,0.118,2980,621,3791,0,0,0,0,0,0
$GC,6580,-1.37,-146.0,596.9,-8.1,277,6584,0.00,2.67,0.00,0.000,6,0.000,0.054,2980,2209,3791,0,0,0,0,0,0
$GC,6835,-1.37,-146.0,617.5,-8.1,284,6839,0.00,2.90,0.00,0.000,4,0.000,0.107,2980,3795,3790,0,0,0,0,0,0
$GC,6862,-1.37,-146.0,619.9,-8.1,284,6866,0.00,2.72,0.00,0.000,6,0.000,0.072,2979,2213,3790,0,0,0,0,0,0
$GC,7114,-1.37,-146.0,639.6,-7.8,290,7118,0.00,3.00,0.00,0.000,4,0.000,0.122,2980,622,3788,0,0,0,0,0,0
$GC,7146,-1.37,-146.0,642.5,-8.5,290,7152,0.00,2.75,0.00,0.000,6,0.000,0.071,2980,2213,3788,0,0,0,0,0,0
$GC,7396,-1.37,-146.0,662.0,-7.8,297,7401,0.00,2.92,0.00,0.000,4,0.000,0.110,2980,3800,3787,0,0,0,0,0,0
$GC,7425,-1.37,-146.0,664.3,-8.4,297,7430,0.00,2.88,0.00,0.000,6,0.000,0.088,2980,2206,3787,0,0,0,0,0,0
$GC,7675,-1.37,-146.0,683.7,-7.7,303,7680,0.00,3.10,0.00,0.000,4,0.000,0.135,2980,618,3785,0,0,0,0,0,0
$GC,7708,-1.37,-146.0,686.5,-8.6,303,7714,0.00,2.85,0.00,0.000,6,0.000,0.084,2980,2207,3785,0,0,0,0,0,0
$GC,7960,-1.37,-146.0,706.1,-7.8,310,7965,0.00,3.08,0.00,0.000,4,0.000,0.135,2980,3796,3784,0,0,0,0,0,0
$GC,7987,-1.37,-146.0,708.6,-8.5,310,7992,0.00,2.78,0.00,0.000,6,0.000,0.080,2980,2215,3784,0,0,0,0,0,0
$GC,8237,-1.37,-146.0,728.3,-7.8,316,8242,0.00,3.08,0.00,0.000,4,0.000,0.124,2980,615,3783,0,0,0,0,0,0
$GC,8266,-1.37,-146.0,730.6,-8.5,316,8271,0.00,2.80,0.00,0.000,6,0.000,0.074,2980,2213,3782,0,0,0,0,0,0
$GC,8516,-1.37,-146.0,749.9,-7.6,322,8521,0.00,2.95,0.00,0.000,4,0.000,0.113,2980,3803,3782,0,0,0,0,0,0
$GC,8545,-1.37,-146.0,752.1,-8.4,322,8549,0.00,2.78,0.00,0.000,6,0.000,0.066,2980,2208,3782,0,0,0,0,0,0
$GC,8797,-1.37,-146.0,770.8,-7.4,328,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2208,3780,0,0,0,0,0,0
$GC,9038,-1.37,-146.0,788.7,-7.4,334,9043,0.00,2.85,0.00,0.000,4,0.000,0.091,2980,3798,3780,0,0,0,0,0,0
$GC,9065,-1.37,-146.0,790.9,-8.4,334,9070,0.00,2.75,0.00,0.000,6,0.000,0.065,2980,2211,3780,0,0,0,0,0,0
$GC,9315,-1.37,-146.0,809.8,-7.6,340,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2211,3779,0,0,0,0,0,0
$GC,9561,-1.37,-146.0,827.9,-7.5,346,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2210,3777,0,0,0,0,0,0
$GC,9803,-1.41,-146.0,845.4,-7.2,352,9807,0.00,2.85,0.00,0.000,4,0.000,0.081,2980,3803,3777,0,0,0,0,0,0
$GC,9825,-1.44,-146.0,847.2,-7.8,352,9830,0.10,2.75,0.00,0.000,6,0.080,0.068,2941,2205,3776,0,0,0,0,0,0
$GC,10082,-1.44,-146.0,869.2,-8.6,359,10083,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2205,3775,0,0,0,0,0,0
$GC,10324,-1.44,-146.0,889.7,-8.5,365,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2205,3774,0,0,0,0,0,0
$STATE,10443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10443,begin apogee
$GC,10449,-0.31,0.0,900.3,8.7,368,10572,1.15,0.00,119.03,1.214,6,0.084,0.000,3201,2389,3210,0,0,0,0,0,0
$STATE,10573,end apogee,CONTROL_FINISHED_OK
$STATE,10573,begin climb
$GC,10577,1.27,146.0,903.4,0.0,371,10713,1.42,2.85,126.32,1.183,4,0.034,0.083,3553,3926,2613,0,0,0,0,0,0
$GC,10823,1.12,146.0,886.6,12.4,376,10828,0.20,2.70,0.00,0.000,6,0.112,0.057,3513,2368,2607,0,0,0,0,0,0
$GC,11073,1.08,163.7,862.9,9.2,382,11097,0.00,2.80,16.00,1.075,4,0.000,0.063,3514,3932,2541,0,0,0,0,0,0
$GC,11111,1.03,181.3,859.5,9.2,382,11136,0.00,2.67,17.25,1.072,6,0.000,0.051,3514,2376,2470,0,0,0,0,0,0
$GC,11403,1.03,181.3,829.7,10.2,390,11408,0.00,2.70,0.00,0.000,4,0.000,0.059,3514,3932,2465,0,0,0,0,0,0
$GC,11425,0.97,181.3,827.3,10.4,390,11430,0.15,2.60,0.00,0.000,6,0.114,0.041,3484,2381,2465,0,0,0,0,0,0
$GC,11682,1.00,206.1,804.1,8.9,397,11707,0.00,0.00,23.27,1.093,6,0.000,0.000,3484,2381,2369,0,0,0,0,0,0
$GC,11924,1.02,216.3,781.1,9.5,403,11940,0.00,3.15,10.48,0.996,4,0.000,0.120,3484,783,2327,0,0,0,0,0,0
$GC,11951,1.03,224.7,778.2,9.6,403,11966,0.00,2.70,9.45,0.968,6,0.000,0.042,3484,2385,2294,0,0,0,0,0,0
$GC,12248,1.07,224.7,748.4,10.1,411,12252,0.00,2.70,0.00,0.000,4,0.000,0.077,3484,3931,2291,0,0,0,0,0,0
$GC,12274,1.07,224.7,745.0,10.3,411,12279,0.00,2.60,0.00,0.000,6,0.000,0.041,3484,2372,2289,0,0,0,0,0,0
$GC,12525,1.12,224.7,719.2,10.3,417,12527,0.12,0.00,0.00,0.000,6,0.077,0.000,3519,2372,2289,0,0,0,0,0,0
$GC,12770,1.12,224.7,691.1,11.5,423,12771,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2372,2288,0,0,0,0,0,0
$GC,13012,1.12,224.7,662.3,11.9,429,13013,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2372,2288,0,0,0,0,0,0
$GC,13255,1.12,224.7,633.2,12.0,435,13260,0.00,2.62,0.00,0.000,4,0.000,0.058,3519,3933,2287,0,0,0,0,0,0
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$STATE,18948,end climb,SURFACE_DEPTH_REACHED
$STATE,18948,begin surface coast
$FINISH,0.8,1.011245
$STATE,18997,end surface coast,CONTROL_FINISHED_OK
$STATE,18997,begin surface
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$TCM_TEMP,24.50
$XPDR_PINGS,60
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$10V_AH,10.4,11.973
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.975,208.800,406.550,25.750,0.000,25.244,40.646,217.366,15.000,0.000,17.046,1497.254,14460.793,550.082,2240.238,742.589,33.370,1533.433,0.000,2231.537,0.000,0.536,0.000
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$MEM,355876
$DATA_FILE_SIZE,54264,711
$CAP_FILE_SIZE,168502,0
$CFSIZE,260165632,121995264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040213,012453,1925.131,-8112.924,23,1.0,40,-3.8