version: 66.06
glider: 146
mission: 8
dive: 132
start: 2 11 113 12 6 32
data:
$ID,146
$MISSION,8
$DIVE,132
$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,-309880.84
$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,71
$R_STBD_OVSHOOT,16
$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
$GPS1,115806,1922.925,-8033.354,36,1.4,36,-4.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.0
$GPS2,120537,1922.906,-8033.371,11,1.6,11,-4.2
$SPEED_LIMITS,0.148,0.263
$TGT_NAME,Tmp8
$TGT_LATLONG,1929.500,-8035.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.139,0.223
$KALMAN_X,11735.0,-234.7,-544.7,12971.0,1674.7
$KALMAN_Y,-10417.4,273.5,336.2,22391.8,-696.9
$MHEAD_RNG_PITCHd_Wd,332.2,12540,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.31,-146.0,0.0,0.0,0,92,0.00,0.00,-70.43,0.000,2,0.000,0.000,465,2162,3527,0,0,0,0,0,0
$GC,97,-1.31,-146.0,3.9,-6.3,9,123,13.75,2.62,-4.70,0.000,4,0.170,0.037,2968,3813,3796,0,0,0,0,0,0
$GC,274,-1.17,-146.0,45.4,-17.7,29,279,0.15,2.47,0.00,0.000,6,0.111,0.022,3001,2243,3796,0,0,0,0,0,0
$GC,543,-1.04,-146.0,86.8,-15.0,53,548,0.12,2.65,0.00,0.000,4,0.114,0.044,3029,638,3797,0,0,0,0,0,0
$GC,579,-0.96,-146.0,93.4,-14.3,55,586,0.10,2.47,0.00,0.000,6,0.125,0.016,3050,2250,3797,0,0,0,0,0,0
$GC,844,-0.96,-146.0,122.2,-9.4,80,849,0.00,2.62,0.00,0.000,4,0.000,0.043,3050,638,3798,0,0,0,0,0,0
$GC,889,-1.02,-146.0,126.2,-9.2,83,893,0.00,2.38,0.00,0.000,6,0.000,0.025,3050,2197,3798,0,0,0,0,0,0
$GC,1158,-1.09,-146.0,146.5,-7.5,107,1163,0.12,2.50,0.00,0.000,4,0.066,0.032,2997,3769,3799,0,0,0,0,0,0
$GC,1181,-1.09,-146.0,149.3,-9.1,108,1189,0.08,2.47,0.00,0.000,6,0.070,0.019,3020,2195,3799,0,0,0,0,0,0
$GC,1446,-1.14,-146.0,172.1,-8.5,133,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2195,3799,0,0,0,0,0,0
$GC,1709,-1.21,-146.0,192.5,-7.7,158,1714,0.10,2.58,0.00,0.000,4,0.080,0.048,2971,634,3799,0,0,0,0,0,0
$GC,1757,-1.21,-146.0,197.0,-9.8,161,1763,0.10,2.40,0.00,0.000,6,0.114,0.022,2994,2209,3799,0,0,0,0,0,0
$GC,2039,-1.21,-146.0,220.3,-8.0,171,2043,0.00,2.47,0.00,0.000,4,0.000,0.035,2994,3771,3799,0,0,0,0,0,0
$GC,2066,-1.25,-146.0,222.7,-8.6,171,2070,0.00,2.42,0.00,0.000,6,0.000,0.024,2994,2203,3799,0,0,0,0,0,0
$GC,2318,-1.29,-146.0,242.5,-8.1,177,2323,0.00,2.55,0.00,0.000,4,0.000,0.052,2994,645,3799,0,0,0,0,0,0
$GC,2340,-1.29,-146.0,244.8,-8.8,177,2344,0.00,2.38,0.00,0.000,6,0.000,0.025,2994,2200,3799,0,0,0,0,0,0
$GC,2602,-1.32,-146.0,266.7,-8.4,184,2606,0.00,2.50,0.00,0.000,4,0.000,0.038,2994,3770,3799,0,0,0,0,0,0
$GC,2648,-1.38,-146.0,270.8,-8.7,185,2653,0.15,2.42,0.00,0.000,6,0.058,0.021,2935,2213,3798,0,0,0,0,0,0
$GC,2926,-1.31,-146.0,301.2,-11.0,192,2928,0.17,0.00,0.00,0.000,6,0.091,0.000,2974,2213,3798,0,0,0,0,0,0
$GC,3172,-1.31,-146.0,322.3,-8.4,198,3176,0.00,2.67,0.00,0.000,4,0.000,0.070,2974,631,3797,0,0,0,0,0,0
$GC,3211,-1.31,-146.0,326.0,-9.1,199,3216,0.00,2.45,0.00,0.000,6,0.000,0.028,2974,2198,3797,0,0,0,0,0,0
$GC,3494,-1.31,-146.0,350.8,-8.8,206,3499,0.00,2.58,0.00,0.000,4,0.000,0.043,2974,3791,3796,0,0,0,0,0,0
$GC,3518,-1.31,-146.0,352.9,-9.5,206,3523,0.00,2.50,0.00,0.000,6,0.000,0.031,2974,2219,3797,0,0,0,0,0,0
$GC,3773,-1.31,-146.0,375.9,-8.9,213,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2219,3796,0,0,0,0,0,0
$GC,4017,-1.31,-146.0,397.1,-8.7,219,4021,0.00,2.58,0.00,0.000,4,0.000,0.049,2974,3787,3794,0,0,0,0,0,0
$GC,4044,-1.31,-146.0,399.6,-9.4,219,4048,0.00,2.55,0.00,0.000,6,0.000,0.031,2974,2212,3794,0,0,0,0,0,0
$GC,4296,-1.31,-146.0,421.9,-9.0,225,4300,0.00,2.60,0.00,0.000,4,0.000,0.047,2974,3782,3793,0,0,0,0,0,0
$GC,4317,-1.31,-146.0,424.2,-9.5,225,4322,0.00,2.53,0.00,0.000,6,0.000,0.038,2974,2217,3794,0,0,0,0,0,0
$GC,4573,-1.31,-146.0,448.0,-9.2,232,4577,0.00,2.85,0.00,0.000,4,0.000,0.093,2974,623,3792,0,0,0,0,0,0
$GC,4607,-1.31,-146.0,451.0,-9.3,232,4613,0.00,2.55,0.00,0.000,6,0.000,0.037,2974,2198,3792,0,0,0,0,0,0
$GC,4859,-1.31,-146.0,471.6,-8.0,239,4863,0.00,2.67,0.00,0.000,4,0.000,0.061,2974,3800,3791,0,0,0,0,0,0
$GC,4880,-1.31,-146.0,473.7,-8.6,239,4885,0.00,2.62,0.00,0.000,6,0.000,0.046,2974,2206,3790,0,0,0,0,0,0
$GC,5138,-1.31,-146.0,493.7,-7.9,246,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2206,3789,0,0,0,0,0,0
$GC,5380,-1.31,-146.0,513.5,-8.1,252,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2206,3788,0,0,0,0,0,0
$GC,5623,-1.31,-146.0,533.6,-8.3,258,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2206,3787,0,0,0,0,0,0
$GC,5867,-1.31,-146.0,554.1,-8.3,264,5872,0.00,2.78,0.00,0.000,4,0.000,0.080,2974,3793,3786,0,0,0,0,0,0
$GC,5905,-1.35,-146.0,557.1,-8.7,264,5910,0.00,2.65,0.00,0.000,6,0.000,0.057,2974,2223,3786,0,0,0,0,0,0
$GC,6155,-1.35,-146.0,578.2,-8.2,271,6159,0.00,3.05,0.00,0.000,4,0.000,0.120,2974,618,3784,0,0,0,0,0,0
$GC,6176,-1.35,-146.0,580.3,-9.2,271,6181,0.00,2.67,0.00,0.000,6,0.000,0.053,2974,2204,3784,0,0,0,0,0,0
$GC,6433,-1.35,-146.0,602.5,-8.7,278,6438,0.00,2.88,0.00,0.000,4,0.000,0.097,2973,3797,3783,0,0,0,0,0,0
$GC,6477,-1.39,-146.0,606.7,-9.3,279,6482,0.00,2.72,0.00,0.000,6,0.000,0.067,2974,2215,3783,0,0,0,0,0,0
$GC,6757,-1.39,-146.0,628.6,-7.7,286,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2215,3781,0,0,0,0,0,0
$GC,6998,-1.39,-146.0,646.6,-7.4,292,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2215,3780,0,0,0,0,0,0
$GC,7242,-1.43,-146.0,665.4,-7.6,298,7244,0.10,0.00,0.00,0.000,6,0.084,0.000,2935,2215,3779,0,0,0,0,0,0
$GC,7486,-1.39,-146.0,687.1,-9.1,304,7492,0.10,2.97,0.00,0.000,4,0.115,0.114,2956,3793,3777,0,0,0,0,0,0
$GC,7516,-1.39,-146.0,689.6,-8.8,304,7521,0.00,2.92,0.00,0.000,6,0.000,0.105,2956,2223,3777,0,0,0,0,0,0
$GC,7766,-1.39,-146.0,709.9,-8.1,310,7771,0.00,3.30,0.00,0.000,4,0.000,0.156,2956,613,3775,0,0,0,0,0,0
$GC,7806,-1.39,-146.0,713.2,-8.6,311,7811,0.00,2.95,0.00,0.000,6,0.000,0.099,2956,2208,3775,0,0,0,0,0,0
$GC,8091,-1.39,-146.0,736.9,-8.4,318,8096,0.00,3.20,0.00,0.000,4,0.000,0.146,2956,3797,3775,0,0,0,0,0,0
$GC,8141,-1.39,-146.0,741.7,-9.5,319,8146,0.00,2.75,0.00,0.000,6,0.000,0.073,2956,2220,3774,0,0,0,0,0,0
$GC,8415,-1.39,-146.0,765.1,-8.7,326,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2220,3773,0,0,0,0,0,0
$GC,8657,-1.39,-146.0,786.3,-8.6,332,8661,0.00,2.83,0.00,0.000,4,0.000,0.088,2956,3802,3771,0,0,0,0,0,0
$GC,8683,-1.39,-146.0,788.8,-9.3,332,8688,0.00,2.75,0.00,0.000,6,0.000,0.068,2956,2219,3771,0,0,0,0,0,0
$GC,8936,-1.39,-146.0,808.9,-8.1,338,8941,0.00,3.08,0.00,0.000,4,0.000,0.126,2956,612,3770,0,0,0,0,0,0
$GC,8963,-1.39,-146.0,811.5,-8.2,338,8968,0.00,2.75,0.00,0.000,6,0.000,0.067,2956,2222,3770,0,0,0,0,0,0
$GC,9213,-1.39,-146.0,830.5,-7.5,344,9217,0.00,2.83,0.00,0.000,4,0.000,0.093,2956,3797,3768,0,0,0,0,0,0
$GC,9252,-1.39,-146.0,833.6,-8.5,345,9257,0.00,2.70,0.00,0.000,6,0.000,0.065,2956,2224,3769,0,0,0,0,0,0
$GC,9537,-1.39,-146.0,855.4,-7.7,352,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2224,3767,0,0,0,0,0,0
$GC,9779,-1.39,-146.0,875.2,-8.2,358,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2224,3766,0,0,0,0,0,0
$GC,10023,-1.39,-146.0,894.9,-8.1,364,10027,0.00,2.78,0.00,0.000,4,0.000,0.079,2956,3805,3765,0,0,0,0,0,0
$GC,10040,-1.39,-146.0,896.4,-8.3,364,10045,0.00,2.67,0.00,0.000,6,0.000,0.063,2956,2230,3765,0,0,0,0,0,0
$STATE,10098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10098,begin apogee
$GC,10104,-0.31,0.0,901.2,8.3,366,10227,1.05,0.00,119.25,1.225,6,0.079,0.000,3192,2389,3200,0,0,0,0,0,0
$STATE,10227,end apogee,CONTROL_FINISHED_OK
$STATE,10227,begin climb
$GC,10230,1.31,146.0,904.4,0.0,369,10367,1.48,2.83,126.72,1.190,4,0.037,0.079,3551,3922,2603,0,0,0,0,0,0
$GC,10492,1.17,146.0,883.1,13.1,375,10498,0.17,2.70,0.00,0.000,6,0.118,0.056,3517,2360,2597,0,0,0,0,0,0
$GC,10771,1.13,150.7,854.3,10.1,382,10780,0.00,2.75,3.92,0.692,4,0.000,0.059,3517,3927,2585,0,0,0,0,0,0
$GC,10815,1.06,150.7,849.2,11.8,383,10820,0.12,2.65,0.00,0.000,6,0.128,0.044,3493,2370,2585,0,0,0,0,0,0
$GC,11101,1.09,174.8,822.9,9.2,390,11130,0.00,2.78,23.20,1.104,4,0.000,0.062,3493,3921,2486,0,0,0,0,0,0
$GC,11170,1.09,174.9,815.8,10.3,391,11174,0.00,2.62,0.00,0.000,6,0.000,0.040,3493,2371,2484,0,0,0,0,0,0
$GC,11427,1.10,184.6,790.7,9.9,398,11439,0.00,0.00,9.80,0.998,6,0.000,0.000,3493,2371,2447,0,0,0,0,0,0
$GC,11668,1.12,202.8,767.3,9.5,404,11688,0.00,0.00,18.12,1.065,6,0.000,0.000,3493,2371,2373,0,0,0,0,0,0
$GC,11912,1.14,217.5,743.9,9.6,410,11929,0.00,0.00,14.90,1.034,6,0.000,0.000,3493,2371,2313,0,0,0,0,0,0
$GC,12158,1.15,226.8,719.8,9.9,416,12173,0.00,2.72,9.93,0.966,4,0.000,0.057,3493,3928,2275,0,0,0,0,0,0
$GC,12184,1.16,233.3,716.6,10.0,416,12198,0.00,2.62,7.57,0.901,6,0.000,0.043,3493,2371,2249,0,0,0,0,0,0
$GC,12485,1.21,233.3,684.2,10.9,424,12491,0.12,3.05,0.00,0.000,4,0.075,0.117,3527,780,2246,0,0,0,0,0,0
$GC,12521,1.17,233.3,679.7,13.0,424,12527,0.00,2.65,0.00,0.000,6,0.000,0.044,3527,2361,2245,0,0,0,0,0,0
$GC,12771,1.17,233.3,649.6,11.9,431,12775,0.00,2.72,0.00,0.000,4,0.000,0.070,3527,3938,2244,0,0,0,0,0,0
$GC,12797,1.17,233.3,646.2,12.4,431,12802,0.00,2.62,0.00,0.000,6,0.000,0.043,3527,2362,2243,0,0,0,0,0,0
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$STATE,18375,end climb,SURFACE_DEPTH_REACHED
$STATE,18375,begin surface coast
$FINISH,0.9,1.010174
$STATE,18418,end surface coast,CONTROL_FINISHED_OK
$STATE,18418,begin surface
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$HUMID,56.45
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$XPDR_PINGS,71
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$10V_AH,10.4,16.248
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355988
$DATA_FILE_SIZE,54233,703
$CAP_FILE_SIZE,173001,0
$CFSIZE,260165632,119508992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110213,171619,1924.984,-8035.609,37,99.0,56,-4.2