version: 66.06
glider: 146
mission: 8
dive: 130
start: 2 11 113 1 12 52
data:
$ID,146
$MISSION,8
$DIVE,130
$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,290
$T_MISSION,620
$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,-309852.47
$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,3260
$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,17
$R_STBD_OVSHOOT,21
$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,3200
$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
$GPS1,010305,1918.390,-8032.908,33,1.3,33,-4.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-73.0
$GPS2,011155,1918.353,-8032.926,13,1.3,13,-4.2
$SPEED_LIMITS,0.148,0.263
$TGT_NAME,Tp7
$TGT_LATLONG,1924.500,-8027.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.158,0.209
$KALMAN_X,12164.9,-590.7,-354.9,13483.5,2907.9
$KALMAN_Y,-11580.1,339.5,656.4,14725.2,-3476.1
$MHEAD_RNG_PITCHd_Wd,327.1,15386,-18.1,-10.345
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.31,-146.0,0.0,0.0,0,92,0.00,0.00,-71.07,0.000,2,0.000,0.000,463,2124,3542,0,0,0,0,0,0
$GC,95,-1.31,-146.0,4.0,-6.8,9,120,13.70,2.70,-4.53,0.000,4,0.168,0.045,2968,3803,3796,0,0,0,0,0,0
$GC,308,-1.16,-146.0,50.7,-17.3,32,313,0.17,2.58,0.00,0.000,6,0.105,0.025,3005,2182,3797,0,0,0,0,0,0
$GC,571,-1.05,-146.0,92.3,-14.7,56,576,0.12,2.58,0.00,0.000,4,0.114,0.048,3033,637,3797,0,0,0,0,0,0
$GC,619,-0.99,-146.0,98.7,-13.5,59,624,0.00,2.45,0.00,0.000,6,0.000,0.024,3033,2246,3797,0,0,0,0,0,0
$GC,886,-0.99,-146.0,129.1,-11.1,83,890,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2247,3798,0,0,0,0,0,0
$GC,1151,-1.03,-146.0,153.2,-8.8,108,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2246,3799,0,0,0,0,0,0
$GC,1418,-1.11,-146.0,173.4,-7.6,133,1422,0.00,2.45,0.00,0.000,4,0.000,0.033,3033,3778,3799,0,0,0,0,0,0
$GC,1439,-1.21,-146.0,175.6,-7.7,134,1446,0.15,2.45,0.00,0.000,6,0.058,0.025,2970,2205,3799,0,0,0,0,0,0
$GC,1704,-1.21,-146.0,200.5,-9.2,159,1706,0.12,0.00,0.00,0.000,6,0.104,0.000,2998,2205,3800,0,0,0,0,0,0
$GC,1945,-1.24,-146.0,220.0,-7.9,165,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2205,3800,0,0,0,0,0,0
$GC,2191,-1.29,-146.0,240.7,-8.4,171,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2205,3799,0,0,0,0,0,0
$GC,2432,-1.33,-146.0,261.0,-8.3,177,2437,0.12,2.60,0.00,0.000,4,0.067,0.054,2947,646,3800,0,0,0,0,0,0
$GC,2454,-1.33,-146.0,263.1,-9.6,177,2459,0.10,2.45,0.00,0.000,6,0.117,0.027,2969,2226,3799,0,0,0,0,0,0
$GC,2711,-1.33,-146.0,287.0,-9.2,184,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2226,3799,0,0,0,0,0,0
$GC,2953,-1.33,-146.0,308.8,-8.8,190,2957,0.00,2.65,0.00,0.000,4,0.000,0.062,2968,638,3798,0,0,0,0,0,0
$GC,2980,-1.33,-146.0,311.5,-10.1,190,2984,0.00,2.50,0.00,0.000,6,0.000,0.027,2969,2229,3798,0,0,0,0,0,0
$GC,3232,-1.33,-146.0,333.7,-8.9,196,3236,0.00,2.50,0.00,0.000,4,0.000,0.044,2969,3784,3797,0,0,0,0,0,0
$GC,3264,-1.33,-146.0,336.9,-9.5,196,3270,0.00,2.45,0.00,0.000,6,0.000,0.023,2969,2240,3797,0,0,0,0,0,0
$GC,3514,-1.33,-146.0,359.9,-9.4,203,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2240,3796,0,0,0,0,0,0
$GC,3758,-1.33,-146.0,382.8,-9.3,209,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2240,3795,0,0,0,0,0,0
$GC,4004,-1.33,-146.0,405.0,-9.0,215,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2240,3794,0,0,0,0,0,0
$GC,4246,-1.33,-146.0,425.7,-8.5,221,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2240,3794,0,0,0,0,0,0
$GC,4489,-1.33,-146.0,446.4,-8.7,227,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2240,3793,0,0,0,0,0,0
$GC,4733,-1.33,-146.0,467.6,-8.8,233,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2240,3791,0,0,0,0,0,0
$GC,4979,-1.33,-146.0,488.2,-8.5,239,4984,0.00,2.90,0.00,0.000,4,0.000,0.098,2968,637,3790,0,0,0,0,0,0
$GC,5002,-1.33,-146.0,490.5,-9.2,239,5006,0.00,2.58,0.00,0.000,6,0.000,0.042,2968,2213,3790,0,0,0,0,0,0
$GC,5257,-1.33,-146.0,512.8,-8.7,246,5261,0.00,2.70,0.00,0.000,4,0.000,0.074,2969,3793,3788,0,0,0,0,0,0
$GC,5280,-1.33,-146.0,514.9,-9.3,246,5285,0.00,2.58,0.00,0.000,6,0.000,0.048,2969,2238,3788,0,0,0,0,0,0
$GC,5535,-1.33,-146.0,536.2,-8.2,253,5540,0.00,3.00,0.00,0.000,4,0.000,0.112,2969,625,3787,0,0,0,0,0,0
$GC,5575,-1.33,-146.0,539.6,-8.4,254,5579,0.00,2.65,0.00,0.000,6,0.000,0.048,2969,2221,3787,0,0,0,0,0,0
$GC,5860,-1.33,-146.0,562.8,-8.3,261,5864,0.00,2.78,0.00,0.000,4,0.000,0.086,2969,3798,3786,0,0,0,0,0,0
$GC,5881,-1.33,-146.0,564.9,-8.6,261,5886,0.00,2.67,0.00,0.000,6,0.000,0.054,2968,2214,3786,0,0,0,0,0,0
$GC,6137,-1.33,-146.0,585.5,-8.1,268,6141,0.00,2.75,0.00,0.000,4,0.000,0.071,2969,3793,3785,0,0,0,0,0,0
$GC,6162,-1.33,-146.0,587.3,-8.4,268,6166,0.00,2.67,0.00,0.000,6,0.000,0.058,2969,2230,3784,0,0,0,0,0,0
$GC,6417,-1.33,-146.0,608.2,-8.1,275,6422,0.00,3.08,0.00,0.000,4,0.000,0.124,2969,618,3783,0,0,0,0,0,0
$GC,6444,-1.33,-146.0,610.5,-8.7,275,6449,0.00,2.78,0.00,0.000,6,0.000,0.060,2969,2241,3783,0,0,0,0,0,0
$GC,6696,-1.33,-146.0,630.0,-7.7,281,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2241,3781,0,0,0,0,0,0
$GC,6938,-1.33,-146.0,649.2,-7.9,287,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2241,3780,0,0,0,0,0,0
$GC,7181,-1.33,-146.0,667.2,-7.3,293,7186,0.00,3.10,0.00,0.000,4,0.000,0.123,2968,617,3779,0,0,0,0,0,0
$GC,7203,-1.33,-146.0,668.9,-7.7,293,7208,0.00,2.85,0.00,0.000,6,0.000,0.077,2969,2231,3779,0,0,0,0,0,0
$GC,7460,-1.33,-146.0,688.0,-7.4,300,7465,0.00,2.95,0.00,0.000,4,0.000,0.123,2969,3797,3778,0,0,0,0,0,0
$GC,7500,-1.37,-146.0,691.2,-8.4,301,7505,0.00,2.72,0.00,0.000,6,0.000,0.072,2969,2244,3778,0,0,0,0,0,0
$GC,7786,-1.37,-146.0,713.3,-7.9,308,7790,0.00,3.12,0.00,0.000,4,0.000,0.123,2969,616,3776,0,0,0,0,0,0
$GC,7809,-1.37,-146.0,715.5,-8.4,308,7814,0.00,2.85,0.00,0.000,6,0.000,0.071,2969,2246,3775,0,0,0,0,0,0
$GC,8065,-1.37,-146.0,737.5,-8.7,315,8070,0.00,2.85,0.00,0.000,4,0.000,0.100,2969,3805,3775,0,0,0,0,0,0
$GC,8112,-1.42,-146.0,741.8,-9.5,316,8116,0.00,2.67,0.00,0.000,6,0.000,0.070,2968,2249,3775,0,0,0,0,0,0
$GC,8392,-1.42,-146.0,766.2,-8.7,323,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2249,3773,0,0,0,0,0,0
$GC,8633,-1.42,-146.0,786.1,-8.1,329,8638,0.00,3.08,0.00,0.000,4,0.000,0.121,2968,622,3772,0,0,0,0,0,0
$GC,8685,-1.46,-146.0,790.5,-8.3,330,8690,0.12,2.80,0.00,0.000,6,0.067,0.064,2919,2261,3772,0,0,0,0,0,0
$GC,8958,-1.41,-146.0,816.6,-9.4,337,8963,0.15,2.80,0.00,0.000,4,0.104,0.094,2951,3808,3771,0,0,0,0,0,0
$GC,8980,-1.41,-146.0,818.7,-8.7,337,8985,0.00,2.67,0.00,0.000,6,0.000,0.063,2951,2249,3770,0,0,0,0,0,0
$GC,9237,-1.41,-146.0,838.8,-7.9,344,9242,0.00,3.08,0.00,0.000,4,0.000,0.115,2951,620,3769,0,0,0,0,0,0
$GC,9282,-1.41,-146.0,842.9,-9.2,345,9286,0.00,2.80,0.00,0.000,6,0.000,0.058,2951,2251,3769,0,0,0,0,0,0
$GC,9559,-1.41,-146.0,865.5,-8.2,352,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2251,3768,0,0,0,0,0,0
$GC,9805,-1.41,-146.0,885.5,-8.2,358,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2251,3767,0,0,0,0,0,0
$STATE,10003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10003,begin apogee
$GC,10009,-0.31,0.0,902.8,8.5,363,10132,1.05,0.00,119.43,1.219,6,0.069,0.000,3192,2377,3200,0,0,0,0,0,0
$STATE,10133,end apogee,CONTROL_FINISHED_OK
$STATE,10133,begin climb
$GC,10136,1.31,146.0,906.1,0.0,366,10273,1.48,2.92,126.80,1.186,4,0.035,0.088,3553,3935,2602,0,0,0,0,0,0
$GC,10372,1.17,146.0,888.8,12.5,371,10377,0.20,2.67,0.00,0.000,6,0.114,0.047,3514,2367,2597,0,0,0,0,0,0
$GC,10633,1.15,161.3,862.5,9.6,378,10653,0.00,2.80,13.93,1.058,4,0.000,0.061,3514,3927,2541,0,0,0,0,0,0
$GC,10709,1.09,161.3,854.5,11.4,379,10714,0.00,2.62,0.00,0.000,6,0.000,0.043,3514,2382,2539,0,0,0,0,0,0
$GC,10961,1.11,178.1,830.4,9.5,385,10979,0.00,0.00,15.90,1.073,6,0.000,0.000,3514,2382,2474,0,0,0,0,0,0
$GC,11203,1.12,187.2,806.4,9.9,391,11215,0.00,0.00,9.93,1.004,6,0.000,0.000,3514,2382,2436,0,0,0,0,0,0
$GC,11446,1.12,189.6,781.8,10.2,397,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2382,2433,0,0,0,0,0,0
$GC,11692,1.13,192.2,756.8,10.2,403,11703,0.00,2.70,5.72,0.851,4,0.000,0.053,3514,3939,2415,0,0,0,0,0,0
$GC,11719,1.13,192.2,753.5,11.5,403,11724,0.00,2.62,0.00,0.000,6,0.000,0.040,3515,2386,2415,0,0,0,0,0,0
$GC,11970,1.13,192.2,727.2,10.4,409,11974,0.00,2.67,0.00,0.000,4,0.000,0.058,3514,3945,2414,0,0,0,0,0,0
$GC,11993,1.14,201.5,724.8,9.9,409,12009,0.00,2.62,10.00,0.974,6,0.000,0.041,3514,2392,2378,0,0,0,0,0,0
$GC,12252,1.14,201.5,695.8,11.2,416,12253,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2392,2375,0,0,0,0,0,0
$GC,12496,1.14,201.5,669.3,10.7,422,12497,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2392,2375,0,0,0,0,0,0
$GC,12740,1.14,201.5,643.8,10.4,428,12744,0.00,2.65,0.00,0.000,4,0.000,0.061,3514,3939,2374,0,0,0,0,0,0
$GC,12797,1.14,201.5,637.4,12.0,429,12801,0.00,2.60,0.00,0.000,6,0.000,0.047,3514,2387,2373,0,0,0,0,0,0
$GC,13063,1.14,201.5,608.8,10.8,436,13067,0.00,3.08,0.00,0.000,4,0.000,0.117,3514,776,2373,0,0,0,0,0,0
$GC,13089,1.14,201.5,605.6,11.4,436,13094,0.00,2.70,0.00,0.000,6,0.000,0.042,3514,2393,2372,0,0,0,0,0,0
$GC,13342,1.14,201.5,579.6,10.5,442,13346,0.00,2.62,0.00,0.000,4,0.000,0.067,3514,3937,2372,0,0,0,0,0,0
$GC,13368,1.14,201.5,576.1,12.2,442,13373,0.00,2.58,0.00,0.000,6,0.000,0.041,3514,2384,2372,0,0,0,0,0,0
$GC,13620,1.14,201.5,548.3,11.0,448,13621,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2384,2372,0,0,0,0,0,0
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$STATE,18662,end climb,SURFACE_DEPTH_REACHED
$STATE,18662,begin surface coast
$FINISH,0.9,1.013813
$STATE,18705,end surface coast,CONTROL_FINISHED_OK
$STATE,18705,begin surface
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$XPDR_PINGS,66
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$10V_AH,10.4,15.991
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,356116
$DATA_FILE_SIZE,54130,712
$CAP_FILE_SIZE,163061,0
$CFSIZE,260165632,119668736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110213,062705,1920.320,-8034.305,35,1.1,40,-4.2