version: 66.06
glider: 146
mission: 8
dive: 100
start: 2 4 113 7 24 7
data:
$ID,146
$MISSION,8
$DIVE,100
$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,-309328.41
$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,37
$R_STBD_OVSHOOT,35
$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,3205
$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
$GPS1,070154,1925.124,-8113.490,44,1.4,44,-3.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.0
$GPS2,072313,1925.161,-8113.501,12,1.0,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.241,0.096
$KALMAN_X,151567.6,458.6,231.3,-156375.7,1436.3
$KALMAN_Y,-23936.3,-75.0,-107.8,20661.6,-478.0
$MHEAD_RNG_PITCHd_Wd,295.6,8563,-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,-63.53,0.000,2,0.000,0.000,470,2199,3345,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-4.3,8,124,13.80,2.60,-8.93,0.000,4,0.168,0.047,2988,3781,3803,0,0,0,0,0,0
$GC,234,-1.12,-146.0,32.5,-15.4,27,239,0.17,2.45,0.00,0.000,6,0.105,0.021,3025,2208,3804,0,0,0,0,0,0
$GC,504,-1.01,-146.0,75.1,-15.4,51,509,0.12,2.60,0.00,0.000,4,0.118,0.043,3052,627,3804,0,0,0,0,0,0
$GC,563,-1.01,-146.0,83.5,-11.5,55,567,0.00,2.47,0.00,0.000,6,0.000,0.018,3052,2226,3804,0,0,0,0,0,0
$GC,831,-1.01,-146.0,114.2,-11.2,79,836,0.00,2.60,0.00,0.000,4,0.000,0.044,3052,634,3804,0,0,0,0,0,0
$GC,960,-1.07,-146.0,129.5,-10.6,89,966,0.00,2.38,0.00,0.000,6,0.000,0.017,3052,2180,3804,0,0,0,0,0,0
$GC,1226,-1.12,-146.0,152.3,-8.9,114,1231,0.12,2.55,0.00,0.000,4,0.065,0.044,2996,637,3805,0,0,0,0,0,0
$GC,1295,-1.12,-146.0,159.6,-9.7,119,1301,0.12,2.33,0.00,0.000,6,0.107,0.025,3023,2158,3805,0,0,0,0,0,0
$GC,1559,-1.12,-146.0,180.1,-7.6,144,1564,0.00,2.47,0.00,0.000,4,0.000,0.044,3023,633,3805,0,0,0,0,0,0
$GC,1605,-1.19,-146.0,184.2,-8.0,147,1614,0.00,2.35,0.00,0.000,6,0.000,0.026,3024,2148,3805,0,0,0,0,0,0
$GC,1868,-1.24,-146.0,203.4,-7.5,169,1873,0.10,2.50,0.00,0.000,4,0.078,0.044,2971,634,3805,0,0,0,0,0,0
$GC,1957,-1.24,-146.0,212.0,-9.5,171,1962,0.12,2.28,0.00,0.000,6,0.104,0.025,2998,2121,3805,0,0,0,0,0,0
$GC,2237,-1.24,-146.0,234.4,-8.0,178,2241,0.00,2.45,0.00,0.000,4,0.000,0.048,2999,632,3805,0,0,0,0,0,0
$GC,2276,-1.24,-146.0,237.8,-9.0,179,2280,0.00,2.28,0.00,0.000,6,0.000,0.025,2999,2108,3804,0,0,0,0,0,0
$GC,2559,-1.24,-146.0,260.9,-8.3,186,2563,0.00,2.40,0.00,0.000,4,0.000,0.050,2999,640,3804,0,0,0,0,0,0
$GC,2611,-1.29,-146.0,265.2,-8.5,187,2615,0.00,2.28,0.00,0.000,6,0.000,0.021,2998,2104,3804,0,0,0,0,0,0
$GC,2883,-1.29,-146.0,287.3,-7.9,194,2887,0.00,2.40,0.00,0.000,4,0.000,0.050,2999,641,3803,0,0,0,0,0,0
$GC,2929,-1.33,-146.0,290.9,-7.9,195,2933,0.00,2.25,0.00,0.000,6,0.000,0.023,2999,2093,3803,0,0,0,0,0,0
$GC,3207,-1.33,-146.0,312.6,-7.6,202,3211,0.00,2.42,0.00,0.000,4,0.000,0.051,2999,634,3802,0,0,0,0,0,0
$GC,3252,-1.38,-146.0,316.3,-7.8,203,3257,0.12,2.28,0.00,0.000,6,0.067,0.031,2949,2090,3802,0,0,0,0,0,0
$GC,3532,-1.31,-146.0,342.6,-9.6,210,3537,0.15,2.42,0.00,0.000,4,0.097,0.055,2982,639,3801,0,0,0,0,0,0
$GC,3565,-1.31,-146.0,345.9,-8.4,210,3571,0.00,2.25,0.00,0.000,6,0.000,0.028,2982,2072,3801,0,0,0,0,0,0
$GC,3815,-1.31,-146.0,365.6,-7.6,217,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2072,3799,0,0,0,0,0,0
$GC,4061,-1.31,-146.0,383.9,-7.5,223,4065,0.00,2.42,0.00,0.000,4,0.000,0.060,2982,633,3799,0,0,0,0,0,0
$GC,4088,-1.31,-146.0,386.3,-8.1,223,4092,0.00,2.28,0.00,0.000,6,0.000,0.032,2982,2062,3799,0,0,0,0,0,0
$GC,4338,-1.31,-146.0,405.1,-7.7,229,4343,0.00,2.80,0.00,0.000,4,0.000,0.055,2982,3764,3797,0,0,0,0,0,0
$GC,4367,-1.31,-146.0,407.4,-8.7,229,4371,0.00,2.67,0.00,0.000,6,0.000,0.034,2982,2103,3797,0,0,0,0,0,0
$GC,4617,-1.31,-146.0,427.4,-8.0,235,4621,0.00,2.55,0.00,0.000,4,0.000,0.091,2982,644,3796,0,0,0,0,0,0
$GC,4677,-1.31,-146.0,432.7,-8.3,236,4682,0.00,2.30,0.00,0.000,6,0.000,0.035,2982,2066,3796,0,0,0,0,0,0
$GC,4941,-1.31,-146.0,453.3,-7.9,243,4946,0.00,2.85,0.00,0.000,4,0.000,0.062,2982,3765,3795,0,0,0,0,0,0
$GC,4981,-1.35,-146.0,456.8,-8.0,244,4985,0.00,2.72,0.00,0.000,6,0.000,0.041,2982,2106,3794,0,0,0,0,0,0
$GC,5264,-1.35,-146.0,479.5,-7.9,251,5268,0.00,2.62,0.00,0.000,4,0.000,0.093,2982,642,3792,0,0,0,0,0,0
$GC,5321,-1.35,-146.0,484.3,-8.6,252,5325,0.00,2.33,0.00,0.000,6,0.000,0.047,2982,2069,3792,0,0,0,0,0,0
$GC,5593,-1.35,-146.0,506.4,-8.0,259,5598,0.00,2.92,0.00,0.000,4,0.000,0.078,2982,3760,3791,0,0,0,0,0,0
$GC,5635,-1.39,-146.0,509.6,-8.3,260,5640,0.00,2.72,0.00,0.000,6,0.000,0.051,2982,2114,3791,0,0,0,0,0,0
$GC,5918,-1.39,-146.0,532.9,-8.3,267,5923,0.00,2.70,0.00,0.000,4,0.000,0.108,2982,646,3790,0,0,0,0,0,0
$GC,5974,-1.39,-146.0,537.7,-8.4,268,5978,0.00,2.35,0.00,0.000,6,0.000,0.044,2982,2064,3789,0,0,0,0,0,0
$GC,6242,-1.39,-146.0,557.9,-7.5,275,6247,0.00,2.53,0.00,0.000,4,0.000,0.086,2982,644,3788,0,0,0,0,0,0
$GC,6264,-1.39,-146.0,560.0,-8.2,275,6268,0.00,2.35,0.00,0.000,6,0.000,0.052,2982,2060,3788,0,0,0,0,0,0
$GC,6520,-1.39,-146.0,579.0,-7.3,282,6525,0.00,3.05,0.00,0.000,4,0.000,0.094,2982,3762,3786,0,0,0,0,0,0
$GC,6568,-1.44,-146.0,582.7,-8.1,283,6573,0.12,2.80,0.00,0.000,6,0.070,0.059,2935,2121,3786,0,0,0,0,0,0
$GC,6847,-1.38,-146.0,609.0,-9.5,290,6852,0.15,2.83,0.00,0.000,4,0.100,0.123,2968,649,3785,0,0,0,0,0,0
$GC,6893,-1.38,-146.0,613.2,-9.0,291,6897,0.00,2.40,0.00,0.000,6,0.000,0.059,2968,2055,3784,0,0,0,0,0,0
$GC,7172,-1.38,-146.0,637.6,-8.7,298,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2056,3783,0,0,0,0,0,0
$GC,7416,-1.38,-146.0,658.7,-8.7,304,7420,0.00,2.65,0.00,0.000,4,0.000,0.117,2968,648,3782,0,0,0,0,0,0
$GC,7467,-1.38,-146.0,663.4,-9.3,305,7472,0.00,2.47,0.00,0.000,6,0.000,0.078,2968,2051,3782,0,0,0,0,0,0
$GC,7740,-1.38,-146.0,687.0,-8.7,312,7744,0.00,2.70,0.00,0.000,4,0.000,0.123,2968,642,3781,0,0,0,0,0,0
$GC,7767,-1.38,-146.0,689.5,-9.4,312,7771,0.00,2.50,0.00,0.000,6,0.000,0.083,2968,2040,3780,0,0,0,0,0,0
$GC,8019,-1.38,-146.0,710.2,-8.2,318,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2040,3779,0,0,0,0,0,0
$GC,8261,-1.38,-146.0,729.7,-8.0,324,8266,0.00,3.50,0.00,0.000,4,0.000,0.154,2968,3757,3778,0,0,0,0,0,0
$GC,8282,-1.38,-146.0,731.7,-8.0,324,8287,0.00,2.92,0.00,0.000,6,0.000,0.084,2968,2110,3778,0,0,0,0,0,0
$GC,8538,-1.38,-146.0,752.5,-8.2,331,8542,0.00,2.80,0.00,0.000,4,0.000,0.124,2968,642,3777,0,0,0,0,0,0
$GC,8579,-1.38,-146.0,755.8,-8.2,332,8583,0.00,2.42,0.00,0.000,6,0.000,0.065,2968,2049,3776,0,0,0,0,0,0
$GC,8862,-1.38,-146.0,779.6,-8.3,339,8863,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2049,3775,0,0,0,0,0,0
$GC,9106,-1.38,-146.0,799.9,-8.3,345,9111,0.00,3.10,0.00,0.000,4,0.000,0.103,2968,3765,3773,0,0,0,0,0,0
$GC,9129,-1.38,-146.0,801.8,-8.5,345,9134,0.00,2.88,0.00,0.000,6,0.000,0.068,2968,2102,3773,0,0,0,0,0,0
$GC,9384,-1.38,-146.0,823.2,-8.3,352,9389,0.00,2.95,0.00,0.000,4,0.000,0.083,2968,3760,3773,0,0,0,0,0,0
$GC,9406,-1.38,-146.0,825.1,-8.0,352,9410,0.00,2.85,0.00,0.000,6,0.000,0.072,2968,2114,3773,0,0,0,0,0,0
$GC,9663,-1.38,-146.0,846.1,-8.3,359,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2114,3772,0,0,0,0,0,0
$GC,9904,-1.38,-146.0,866.1,-8.1,365,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2114,3770,0,0,0,0,0,0
$GC,10148,-1.38,-146.0,884.6,-7.6,371,10153,0.00,2.90,0.00,0.000,4,0.000,0.086,2968,3759,3769,0,0,0,0,0,0
$GC,10194,-1.38,-146.0,888.2,-8.2,372,10199,0.00,2.85,0.00,0.000,6,0.000,0.067,2968,2114,3769,0,0,0,0,0,0
$STATE,10388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10388,begin apogee
$GC,10394,-0.31,0.0,902.7,7.3,377,10516,1.02,0.00,118.78,1.211,6,0.083,0.000,3202,2341,3205,0,0,0,0,0,0
$STATE,10517,end apogee,CONTROL_FINISHED_OK
$STATE,10517,begin climb
$GC,10520,1.27,146.0,905.7,0.0,380,10656,1.42,2.97,126.55,1.183,4,0.032,0.084,3556,3937,2608,0,0,0,0,0,0
$GC,10805,1.11,146.0,883.0,11.7,386,10810,0.20,2.67,0.00,0.000,6,0.112,0.050,3515,2386,2602,0,0,0,0,0,0
$GC,11061,1.08,160.9,858.3,9.3,393,11080,0.00,2.78,13.30,1.050,4,0.000,0.067,3515,3928,2549,0,0,0,0,0,0
$GC,11155,1.00,160.9,848.8,10.1,395,11160,0.12,2.62,0.00,0.000,6,0.122,0.042,3490,2382,2546,0,0,0,0,0,0
$GC,11435,1.05,199.1,825.4,8.2,402,11477,0.00,2.65,35.72,1.118,4,0.000,0.056,3490,3930,2392,0,0,0,0,0,0
$GC,11541,1.06,206.7,815.5,9.6,404,11556,0.00,2.62,8.18,0.950,6,0.000,0.041,3490,2383,2361,0,0,0,0,0,0
$GC,11815,1.08,222.5,790.1,9.3,411,11836,0.00,2.70,15.55,1.051,4,0.000,0.060,3490,3931,2298,0,0,0,0,0,0
$GC,11898,1.08,222.5,781.2,11.4,413,11902,0.00,2.58,0.00,0.000,6,0.000,0.041,3491,2398,2295,0,0,0,0,0,0
$GC,12183,1.12,222.5,752.3,10.4,420,12189,0.10,3.17,0.00,0.000,4,0.086,0.127,3521,780,2294,0,0,0,0,0,0
$GC,12199,1.12,222.5,749.9,10.6,420,12204,0.00,2.70,0.00,0.000,6,0.000,0.041,3521,2397,2293,0,0,0,0,0,0
$GC,12460,1.12,222.5,718.5,12.1,427,12465,0.00,2.67,0.00,0.000,4,0.000,0.075,3521,3933,2292,0,0,0,0,0,0
$GC,12512,1.12,222.5,712.0,12.8,428,12517,0.00,2.55,0.00,0.000,6,0.000,0.038,3521,2406,2292,0,0,0,0,0,0
$GC,12784,1.12,222.5,680.5,11.5,435,12788,0.00,2.62,0.00,0.000,4,0.000,0.061,3521,3941,2291,0,0,0,0,0,0
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$STATE,18959,end climb,SURFACE_DEPTH_REACHED
$STATE,18959,begin surface coast
$FINISH,1.0,1.023369
$STATE,19001,end surface coast,CONTROL_FINISHED_OK
$STATE,19001,begin surface
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$TCM_TEMP,24.70
$XPDR_PINGS,76
$24V_AH,23.3,14.202
$10V_AH,10.4,12.240
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.150,248.650,396.075,30.750,0.000,144.528,295.699,414.574,19.000,0.000,14.352,1604.574,14208.983,560.383,2597.287,1357.693,33.363,1697.844,0.000,2580.050,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355840
$DATA_FILE_SIZE,57274,728
$CAP_FILE_SIZE,194856,0
$CFSIZE,260165632,121819136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040213,124330,1925.138,-8114.176,63,1.5,63,-3.8