version: 66.06
glider: 146
mission: 8
dive: 101
start: 2 4 113 12 51 59
data:
$ID,146
$MISSION,8
$DIVE,101
$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,-309361.09
$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,42
$R_STBD_OVSHOOT,17
$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
$GPS1,124330,1925.138,-8114.176,63,1.5,63,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.7
$GPS2,125106,1925.147,-8114.178,18,1.3,30,-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,154910.0,216.1,222.0,-160651.3,1719.9
$KALMAN_Y,-25391.9,-172.7,-266.2,22349.6,-381.9
$MHEAD_RNG_PITCHd_Wd,295.5,7505,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-70.50,0.000,2,0.000,0.000,466,2166,3557,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-6.8,9,122,13.80,2.62,-4.03,0.000,4,0.169,0.044,2986,3811,3801,0,0,0,0,0,0
$GC,236,-1.14,-146.0,40.5,-16.4,25,246,0.12,2.55,0.00,0.000,6,0.090,0.025,3018,2219,3802,0,0,0,0,0,0
$GC,506,-1.02,-146.0,80.7,-14.5,50,511,0.12,2.60,0.00,0.000,4,0.115,0.046,3045,632,3802,0,0,0,0,0,0
$GC,576,-1.02,-146.0,90.9,-13.0,55,580,0.00,2.47,0.00,0.000,6,0.000,0.018,3044,2249,3802,0,0,0,0,0,0
$GC,844,-1.02,-146.0,124.7,-12.2,79,849,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2249,3803,0,0,0,0,0,0
$GC,1107,-1.06,-146.0,148.2,-8.4,104,1112,0.00,2.65,0.00,0.000,4,0.000,0.044,3044,633,3804,0,0,0,0,0,0
$GC,1176,-1.14,-146.0,154.3,-9.6,109,1182,0.10,2.42,0.00,0.000,6,0.077,0.018,2993,2213,3804,0,0,0,0,0,0
$GC,1441,-1.14,-146.0,181.3,-9.0,133,1446,0.12,2.47,0.00,0.000,4,0.100,0.034,3022,3772,3804,0,0,0,0,0,0
$GC,1472,-1.14,-146.0,184.2,-8.8,135,1476,0.00,2.45,0.00,0.000,6,0.000,0.026,3022,2198,3804,0,0,0,0,0,0
$GC,1763,-1.19,-146.0,206.2,-7.4,156,1768,0.00,2.58,0.00,0.000,4,0.000,0.056,3022,632,3804,0,0,0,0,0,0
$GC,1816,-1.27,-146.0,210.6,-8.2,157,1821,0.12,2.40,0.00,0.000,6,0.065,0.025,2969,2202,3805,0,0,0,0,0,0
$GC,2089,-1.23,-146.0,236.4,-9.6,164,2094,0.15,2.53,0.00,0.000,4,0.092,0.040,3004,3772,3805,0,0,0,0,0,0
$GC,2139,-1.29,-146.0,240.8,-8.1,165,2143,0.00,2.45,0.00,0.000,6,0.000,0.028,3004,2202,3804,0,0,0,0,0,0
$GC,2413,-1.29,-146.0,261.3,-7.5,172,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2202,3804,0,0,0,0,0,0
$GC,2654,-1.29,-146.0,279.5,-7.4,178,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2202,3804,0,0,0,0,0,0
$GC,2898,-1.33,-146.0,298.1,-7.6,184,2900,0.10,0.00,0.00,0.000,6,0.078,0.000,2960,2202,3804,0,0,0,0,0,0
$GC,3144,-1.29,-146.0,321.2,-9.7,190,3146,0.12,0.00,0.00,0.000,6,0.098,0.000,2989,2202,3803,0,0,0,0,0,0
$GC,3385,-1.29,-146.0,342.8,-8.8,196,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2202,3802,0,0,0,0,0,0
$GC,3629,-1.29,-146.0,365.4,-9.3,202,3634,0.00,2.55,0.00,0.000,4,0.000,0.044,2989,3769,3801,0,0,0,0,0,0
$GC,3659,-1.29,-146.0,368.1,-9.4,202,3663,0.00,2.47,0.00,0.000,6,0.000,0.030,2989,2211,3801,0,0,0,0,0,0
$GC,3909,-1.29,-146.0,390.4,-8.8,208,3913,0.00,2.75,0.00,0.000,4,0.000,0.074,2989,624,3800,0,0,0,0,0,0
$GC,3941,-1.29,-146.0,393.5,-9.4,208,3947,0.00,2.50,0.00,0.000,6,0.000,0.035,2989,2186,3800,0,0,0,0,0,0
$GC,4193,-1.29,-146.0,415.6,-8.8,215,4198,0.00,2.65,0.00,0.000,4,0.000,0.056,2989,3798,3799,0,0,0,0,0,0
$GC,4226,-1.29,-146.0,418.7,-9.1,215,4232,0.00,2.58,0.00,0.000,6,0.000,0.040,2989,2206,3799,0,0,0,0,0,0
$GC,4476,-1.29,-146.0,438.9,-8.0,222,4480,0.00,2.65,0.00,0.000,4,0.000,0.052,2989,3793,3798,0,0,0,0,0,0
$GC,4497,-1.29,-146.0,440.9,-8.6,222,4502,0.00,2.55,0.00,0.000,6,0.000,0.035,2988,2214,3798,0,0,0,0,0,0
$GC,4755,-1.29,-146.0,461.7,-8.2,229,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2215,3796,0,0,0,0,0,0
$GC,4997,-1.29,-146.0,481.7,-8.2,235,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2214,3795,0,0,0,0,0,0
$GC,5240,-1.29,-146.0,501.5,-8.1,241,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2215,3794,0,0,0,0,0,0
$GC,5486,-1.29,-146.0,521.3,-8.1,247,5491,0.00,2.90,0.00,0.000,4,0.000,0.100,2989,623,3792,0,0,0,0,0,0
$GC,5507,-1.29,-146.0,523.2,-7.9,247,5512,0.00,2.62,0.00,0.000,6,0.000,0.050,2989,2211,3792,0,0,0,0,0,0
$GC,5763,-1.32,-146.0,543.1,-7.7,254,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2211,3791,0,0,0,0,0,0
$GC,6009,-1.36,-146.0,561.2,-7.4,260,6013,0.00,2.85,0.00,0.000,4,0.000,0.091,2989,624,3790,0,0,0,0,0,0
$GC,6030,-1.36,-146.0,563.2,-8.0,260,6035,0.00,2.65,0.00,0.000,6,0.000,0.054,2989,2214,3790,0,0,0,0,0,0
$GC,6286,-1.40,-146.0,583.4,-7.9,267,6292,0.10,2.85,0.00,0.000,4,0.081,0.091,2951,3794,3789,0,0,0,0,0,0
$GC,6321,-1.40,-146.0,586.6,-10.2,267,6327,0.00,2.67,0.00,0.000,6,0.000,0.058,2951,2218,3789,0,0,0,0,0,0
$GC,6571,-1.40,-146.0,611.2,-9.8,274,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2219,3787,0,0,0,0,0,0
$GC,6817,-1.40,-146.0,634.2,-9.2,280,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2218,3786,0,0,0,0,0,0
$GC,7059,-1.40,-146.0,658.1,-9.8,286,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2219,3784,0,0,0,0,0,0
$GC,7305,-1.40,-146.0,680.8,-9.3,292,7309,0.00,2.97,0.00,0.000,4,0.000,0.114,2951,3800,3784,0,0,0,0,0,0
$GC,7326,-1.40,-146.0,683.1,-9.4,292,7331,0.00,2.88,0.00,0.000,6,0.000,0.099,2951,2228,3783,0,0,0,0,0,0
$GC,7581,-1.40,-146.0,706.3,-9.1,299,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2228,3782,0,0,0,0,0,0
$GC,7827,-1.40,-146.0,728.5,-9.2,305,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2228,3781,0,0,0,0,0,0
$GC,8069,-1.40,-146.0,750.1,-8.8,311,8073,0.00,3.17,0.00,0.000,4,0.000,0.149,2951,3792,3780,0,0,0,0,0,0
$GC,8101,-1.40,-146.0,753.2,-9.7,311,8107,0.00,2.72,0.00,0.000,6,0.000,0.065,2951,2219,3780,0,0,0,0,0,0
$GC,8354,-1.40,-146.0,774.6,-8.6,318,8358,0.00,3.03,0.00,0.000,4,0.000,0.122,2950,622,3778,0,0,0,0,0,0
$GC,8393,-1.40,-146.0,778.3,-9.2,319,8398,0.00,2.75,0.00,0.000,6,0.000,0.065,2950,2225,3778,0,0,0,0,0,0
$GC,8676,-1.40,-146.0,802.8,-8.5,326,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2225,3776,0,0,0,0,0,0
$GC,8920,-1.40,-146.0,822.5,-8.0,332,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2225,3776,0,0,0,0,0,0
$GC,9166,-1.40,-146.0,841.1,-7.5,338,9170,0.00,2.83,0.00,0.000,4,0.000,0.094,2950,3807,3775,0,0,0,0,0,0
$GC,9192,-1.40,-146.0,843.6,-8.4,338,9197,0.00,2.72,0.00,0.000,6,0.000,0.061,2950,2218,3775,0,0,0,0,0,0
$GC,9442,-1.40,-146.0,864.0,-8.2,344,9447,0.00,2.80,0.00,0.000,4,0.000,0.083,2950,3808,3773,0,0,0,0,0,0
$GC,9466,-1.40,-146.0,865.9,-9.0,344,9470,0.00,2.72,0.00,0.000,6,0.000,0.061,2950,2214,3773,0,0,0,0,0,0
$GC,9721,-1.40,-146.0,888.2,-8.7,351,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2214,3772,0,0,0,0,0,0
$STATE,9880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9881,begin apogee
$GC,9887,-0.31,0.0,902.3,8.7,355,10010,1.10,0.00,119.35,1.210,6,0.074,0.000,3199,2385,3205,0,0,0,0,0,0
$STATE,10010,end apogee,CONTROL_FINISHED_OK
$STATE,10010,begin climb
$GC,10015,1.27,146.0,906.2,0.0,358,10150,1.42,2.85,126.50,1.181,4,0.033,0.080,3552,3930,2608,0,0,0,0,0,0
$GC,10238,1.12,146.0,892.0,12.8,363,10244,0.20,2.70,0.00,0.000,6,0.112,0.054,3513,2371,2603,0,0,0,0,0,0
$GC,10511,1.10,171.4,866.8,8.8,370,10541,0.00,2.80,22.62,1.101,4,0.000,0.066,3513,3921,2506,0,0,0,0,0,0
$GC,10572,1.03,171.4,861.0,10.7,371,10576,0.00,2.65,0.00,0.000,6,0.000,0.045,3512,2372,2503,0,0,0,0,0,0
$GC,10838,1.04,179.2,835.1,9.6,378,10852,0.00,2.75,7.90,0.948,4,0.000,0.059,3513,3925,2474,0,0,0,0,0,0
$GC,10914,0.99,179.2,826.6,11.4,379,10919,0.12,2.60,0.00,0.000,6,0.122,0.045,3489,2387,2472,0,0,0,0,0,0
$GC,11166,1.00,190.1,802.9,9.5,385,11179,0.00,0.00,11.10,1.016,6,0.000,0.000,3488,2387,2430,0,0,0,0,0,0
$GC,11408,1.01,194.2,779.3,9.8,391,11418,0.00,2.65,5.35,0.824,4,0.000,0.054,3489,3932,2412,0,0,0,0,0,0
$GC,11431,1.01,194.2,776.9,10.5,391,11435,0.00,2.62,0.00,0.000,6,0.000,0.044,3488,2378,2412,0,0,0,0,0,0
$GC,11686,1.01,195.1,751.2,10.0,398,11691,0.00,3.08,0.00,0.000,4,0.000,0.121,3488,773,2411,0,0,0,0,0,0
$GC,11707,1.01,195.1,748.6,11.2,398,11712,0.00,2.70,0.00,0.000,6,0.000,0.048,3488,2384,2410,0,0,0,0,0,0
$GC,11963,1.01,195.5,722.8,10.0,405,11967,0.00,2.67,0.00,0.000,4,0.000,0.072,3488,3931,2410,0,0,0,0,0,0
$GC,12014,1.01,195.5,717.4,10.4,406,12019,0.00,2.58,0.00,0.000,6,0.000,0.036,3488,2384,2409,0,0,0,0,0,0
$GC,12286,1.01,196.8,690.4,9.9,413,12291,0.00,3.05,0.00,0.000,4,0.000,0.115,3488,781,2408,0,0,0,0,0,0
$GC,12301,1.01,196.8,688.6,10.4,413,12306,0.00,2.67,0.00,0.000,6,0.000,0.046,3488,2392,2408,0,0,0,0,0,0
$GC,12565,1.01,196.8,662.2,10.1,420,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2393,2409,0,0,0,0,0,0
$GC,12806,1.01,196.8,637.5,10.1,426,12811,0.00,2.65,0.00,0.000,4,0.000,0.074,3488,3935,2407,0,0,0,0,0,0
$GC,12827,1.01,196.8,635.1,11.5,426,12831,0.00,2.53,0.00,0.000,6,0.000,0.032,3488,2393,2407,0,0,0,0,0,0
$GC,13091,1.05,196.8,608.2,10.2,433,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,3488,2393,2406,0,0,0,0,0,0
$GC,13332,1.05,200.0,583.8,9.9,439,13343,0.00,2.62,6.05,0.791,4,0.000,0.052,3488,3938,2389,0,0,0,0,0,0
$GC,13354,1.05,200.0,581.5,10.2,439,13359,0.00,2.55,0.00,0.000,6,0.000,0.040,3488,2401,2388,0,0,0,0,0,0
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$STATE,18747,end climb,SURFACE_DEPTH_REACHED
$STATE,18747,begin surface coast
$FINISH,0.9,1.023327
$STATE,18796,end surface coast,CONTROL_FINISHED_OK
$STATE,18796,begin surface
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$XPDR_PINGS,58
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$10V_AH,10.4,12.363
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.825,201.475,417.225,20.025,0.000,29.802,32.283,207.702,14.500,0.000,32.049,1481.534,14275.162,541.200,2256.245,726.264,33.356,1518.611,0.000,2233.193,0.000,0.536,0.000
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$MEM,355876
$DATA_FILE_SIZE,54248,708
$CAP_FILE_SIZE,167874,0
$CFSIZE,260165632,121774080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040213,180706,1925.414,-8114.793,27,1.3,27,-3.8