version: 66.06
glider: 146
mission: 8
dive: 136
start: 2 12 113 9 35 50
data:
$ID,146
$MISSION,8
$DIVE,136
$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,-309960
$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,48
$R_STBD_OVSHOOT,32
$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
$GPS1,092736,1925.951,-8043.374,32,1.7,32,-4.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-76.2
$GPS2,093455,1925.936,-8043.380,15,1.7,15,-4.1
$SPEED_LIMITS,0.148,0.263
$TGT_NAME,Tp5
$TGT_LATLONG,1928.000,-8048.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.250,0.082
$KALMAN_X,5015.1,193.3,-42.3,1245.3,-930.6
$KALMAN_Y,-12357.1,-547.6,-536.1,31666.8,1061.7
$MHEAD_RNG_PITCHd_Wd,292.2,8926,-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,-70.45,0.000,2,0.000,0.000,463,2196,3489,0,0,0,0,0,0
$GC,97,-1.31,-146.0,3.4,-4.1,9,123,13.73,2.55,-5.62,0.000,4,0.169,0.044,2971,3797,3797,0,0,0,0,0,0
$GC,298,-1.17,-146.0,48.3,-16.7,31,304,0.15,2.47,0.00,0.000,6,0.116,0.021,3003,2212,3797,0,0,0,0,0,0
$GC,567,-1.04,-146.0,90.0,-14.6,55,572,0.12,2.58,0.00,0.000,4,0.116,0.044,3031,640,3797,0,0,0,0,0,0
$GC,610,-0.97,-146.0,97.5,-14.8,58,614,0.00,2.45,0.00,0.000,6,0.000,0.018,3031,2231,3797,0,0,0,0,0,0
$GC,875,-0.97,-146.0,129.8,-9.4,82,884,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2231,3798,0,0,0,0,0,0
$GC,1137,-1.02,-146.0,152.1,-8.1,107,1141,0.00,2.62,0.00,0.000,4,0.000,0.048,3031,636,3799,0,0,0,0,0,0
$GC,1185,-1.10,-146.0,156.1,-8.3,110,1191,0.00,2.40,0.00,0.000,6,0.000,0.018,3031,2199,3799,0,0,0,0,0,0
$GC,1448,-1.17,-146.0,175.9,-6.8,135,1453,0.12,2.58,0.00,0.000,4,0.066,0.047,2978,634,3799,0,0,0,0,0,0
$GC,1480,-1.17,-146.0,178.8,-10.0,137,1485,0.12,2.40,0.00,0.000,6,0.104,0.017,3005,2202,3799,0,0,0,0,0,0
$GC,1741,-1.21,-146.0,199.9,-8.4,161,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2202,3799,0,0,0,0,0,0
$GC,1998,-1.25,-146.0,219.1,-7.3,168,2002,0.00,2.47,0.00,0.000,4,0.000,0.040,3005,3765,3799,0,0,0,0,0,0
$GC,2037,-1.31,-146.0,222.4,-8.6,169,2042,0.12,2.50,0.00,0.000,6,0.064,0.028,2945,2167,3799,0,0,0,0,0,0
$GC,2321,-1.25,-146.0,250.9,-10.1,176,2326,0.20,2.53,0.00,0.000,4,0.089,0.050,2990,634,3799,0,0,0,0,0,0
$GC,2345,-1.25,-146.0,253.1,-9.1,176,2349,0.00,2.38,0.00,0.000,6,0.000,0.019,2990,2170,3799,0,0,0,0,0,0
$GC,2600,-1.25,-146.0,275.7,-9.0,183,2605,0.00,2.58,0.00,0.000,4,0.000,0.043,2990,3770,3799,0,0,0,0,0,0
$GC,2658,-1.29,-146.0,280.9,-9.1,184,2662,0.00,2.47,0.00,0.000,6,0.000,0.021,2990,2186,3799,0,0,0,0,0,0
$GC,2926,-1.29,-146.0,303.9,-8.5,191,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2186,3798,0,0,0,0,0,0
$GC,3168,-1.29,-146.0,323.6,-8.0,197,3172,0.00,2.62,0.00,0.000,4,0.000,0.064,2990,630,3797,0,0,0,0,0,0
$GC,3189,-1.29,-146.0,325.5,-8.5,197,3193,0.00,2.42,0.00,0.000,6,0.000,0.024,2990,2173,3797,0,0,0,0,0,0
$GC,3446,-1.29,-146.0,346.6,-8.4,204,3450,0.00,2.62,0.00,0.000,4,0.000,0.049,2990,3783,3796,0,0,0,0,0,0
$GC,3474,-1.33,-146.0,349.0,-8.4,204,3478,0.00,2.53,0.00,0.000,6,0.000,0.024,2990,2190,3796,0,0,0,0,0,0
$GC,3724,-1.37,-146.0,367.8,-7.4,210,3726,0.12,0.00,0.00,0.000,6,0.071,0.000,2942,2190,3796,0,0,0,0,0,0
$GC,3970,-1.32,-146.0,390.7,-9.9,216,3975,0.12,2.62,0.00,0.000,4,0.101,0.050,2970,3785,3795,0,0,0,0,0,0
$GC,4021,-1.32,-146.0,395.9,-9.1,217,4026,0.00,2.53,0.00,0.000,6,0.000,0.032,2970,2203,3795,0,0,0,0,0,0
$GC,4295,-1.32,-146.0,419.9,-8.8,224,4300,0.00,2.78,0.00,0.000,4,0.000,0.081,2970,625,3794,0,0,0,0,0,0
$GC,4322,-1.32,-146.0,422.7,-9.2,224,4327,0.00,2.53,0.00,0.000,6,0.000,0.034,2970,2188,3794,0,0,0,0,0,0
$GC,4572,-1.32,-146.0,443.9,-8.5,230,4577,0.00,2.67,0.00,0.000,4,0.000,0.054,2970,3790,3793,0,0,0,0,0,0
$GC,4602,-1.32,-146.0,446.3,-8.4,230,4606,0.00,2.62,0.00,0.000,6,0.000,0.040,2970,2187,3792,0,0,0,0,0,0
$GC,4852,-1.32,-146.0,467.3,-8.4,236,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2187,3791,0,0,0,0,0,0
$GC,5095,-1.32,-146.0,487.9,-8.4,242,5100,0.00,2.70,0.00,0.000,4,0.000,0.061,2970,3796,3791,0,0,0,0,0,0
$GC,5128,-1.32,-146.0,490.7,-8.4,242,5134,0.00,2.65,0.00,0.000,6,0.000,0.047,2970,2196,3790,0,0,0,0,0,0
$GC,5380,-1.32,-146.0,511.4,-8.3,249,5385,0.00,2.70,0.00,0.000,4,0.000,0.058,2970,3787,3788,0,0,0,0,0,0
$GC,5413,-1.32,-146.0,514.8,-9.6,249,5419,0.00,2.65,0.00,0.000,6,0.000,0.048,2970,2210,3788,0,0,0,0,0,0
$GC,5663,-1.32,-146.0,537.9,-9.4,256,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2210,3787,0,0,0,0,0,0
$GC,5909,-1.32,-146.0,561.5,-9.5,262,5914,0.00,3.03,0.00,0.000,4,0.000,0.118,2970,625,3786,0,0,0,0,0,0
$GC,5925,-1.32,-146.0,563.3,-9.3,262,5930,0.00,2.65,0.00,0.000,6,0.000,0.053,2970,2209,3786,0,0,0,0,0,0
$GC,6186,-1.32,-146.0,586.6,-8.9,269,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2209,3785,0,0,0,0,0,0
$GC,6432,-1.32,-146.0,607.1,-8.3,275,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2210,3784,0,0,0,0,0,0
$GC,6673,-1.32,-146.0,625.5,-7.5,281,6678,0.00,2.90,0.00,0.000,4,0.000,0.104,2970,3793,3783,0,0,0,0,0,0
$GC,6694,-1.32,-146.0,627.4,-8.1,281,6699,0.00,2.75,0.00,0.000,6,0.000,0.070,2970,2206,3782,0,0,0,0,0,0
$GC,6950,-1.32,-146.0,647.6,-7.9,288,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2205,3781,0,0,0,0,0,0
$GC,7195,-1.32,-146.0,666.6,-7.9,294,7200,0.00,2.92,0.00,0.000,4,0.000,0.100,2970,3793,3779,0,0,0,0,0,0
$GC,7235,-1.36,-146.0,670.0,-8.2,295,7240,0.00,2.88,0.00,0.000,6,0.000,0.096,2970,2214,3779,0,0,0,0,0,0
$GC,7522,-1.36,-146.0,692.8,-7.9,302,7527,0.00,3.20,0.00,0.000,4,0.000,0.145,2970,618,3778,0,0,0,0,0,0
$GC,7550,-1.36,-146.0,695.4,-9.3,302,7554,0.00,2.88,0.00,0.000,6,0.000,0.091,2970,2202,3778,0,0,0,0,0,0
$GC,7800,-1.36,-146.0,715.9,-8.2,308,7805,0.00,3.12,0.00,0.000,4,0.000,0.139,2970,3802,3776,0,0,0,0,0,0
$GC,7852,-1.41,-146.0,720.4,-9.1,309,7857,0.00,2.80,0.00,0.000,6,0.000,0.073,2970,2213,3776,0,0,0,0,0,0
$GC,8124,-1.41,-146.0,743.6,-8.6,316,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2212,3775,0,0,0,0,0,0
$GC,8368,-1.41,-146.0,765.1,-9.0,322,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2211,3774,0,0,0,0,0,0
$GC,8611,-1.41,-146.0,786.9,-8.7,328,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2211,3772,0,0,0,0,0,0
$GC,8857,-1.41,-146.0,806.4,-8.0,334,8862,0.00,2.83,0.00,0.000,4,0.000,0.087,2970,3802,3771,0,0,0,0,0,0
$GC,8897,-1.45,-146.0,809.9,-8.9,335,8902,0.12,2.75,0.00,0.000,6,0.070,0.066,2925,2217,3771,0,0,0,0,0,0
$GC,9183,-1.41,-146.0,838.0,-9.9,342,9188,0.12,2.83,0.00,0.000,4,0.110,0.085,2951,3802,3769,0,0,0,0,0,0
$GC,9211,-1.41,-146.0,841.1,-9.8,342,9215,0.00,2.72,0.00,0.000,6,0.000,0.067,2951,2231,3769,0,0,0,0,0,0
$GC,9461,-1.41,-146.0,862.5,-8.5,348,9465,0.00,2.78,0.00,0.000,4,0.000,0.084,2951,3805,3768,0,0,0,0,0,0
$GC,9490,-1.41,-146.0,865.0,-8.6,348,9494,0.00,2.72,0.00,0.000,6,0.000,0.065,2951,2238,3767,0,0,0,0,0,0
$GC,9740,-1.41,-146.0,885.3,-7.9,354,9744,0.00,2.75,0.00,0.000,4,0.000,0.078,2951,3802,3767,0,0,0,0,0,0
$GC,9767,-1.41,-146.0,887.6,-8.8,354,9771,0.00,2.67,0.00,0.000,6,0.000,0.064,2951,2248,3767,0,0,0,0,0,0
$STATE,9933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9933,begin apogee
$GC,9941,-0.31,0.0,901.7,8.4,358,10064,1.05,0.00,119.43,1.219,6,0.073,0.000,3190,2388,3200,0,0,0,0,0,0
$STATE,10065,end apogee,CONTROL_FINISHED_OK
$STATE,10065,begin climb
$GC,10067,1.31,146.0,904.6,0.0,361,10203,1.48,2.83,126.47,1.184,4,0.036,0.074,3552,3924,2603,0,0,0,0,0,0
$GC,10294,1.16,146.0,887.0,13.0,366,10299,0.20,2.70,0.00,0.000,6,0.113,0.053,3513,2369,2597,0,0,0,0,0,0
$GC,10561,1.14,155.5,859.7,9.9,373,10576,0.00,2.78,8.45,0.978,4,0.000,0.062,3513,3922,2565,0,0,0,0,0,0
$GC,10641,1.08,159.0,851.7,10.2,374,10652,0.00,2.62,4.85,0.793,6,0.000,0.048,3512,2379,2551,0,0,0,0,0,0
$GC,10896,1.11,177.3,827.2,9.5,381,10920,0.00,2.75,17.62,1.085,4,0.000,0.056,3512,3925,2476,0,0,0,0,0,0
$GC,10973,1.06,177.3,819.1,11.3,382,10978,0.10,2.60,0.00,0.000,6,0.136,0.044,3493,2389,2474,0,0,0,0,0,0
$GC,11223,1.06,177.9,793.4,10.3,388,11228,0.00,3.10,0.00,0.000,4,0.000,0.117,3493,776,2472,0,0,0,0,0,0
$GC,11244,1.06,177.9,791.0,10.7,388,11249,0.00,2.70,0.00,0.000,6,0.000,0.041,3493,2384,2472,0,0,0,0,0,0
$GC,11502,1.08,195.9,766.4,9.5,395,11522,0.00,0.00,17.90,1.065,6,0.000,0.000,3493,2385,2400,0,0,0,0,0,0
$GC,11744,1.14,210.4,743.3,9.7,401,11761,0.00,0.00,14.68,1.032,6,0.000,0.000,3493,2385,2342,0,0,0,0,0,0
$GC,11988,1.15,221.2,719.2,9.8,407,12001,0.00,0.00,11.15,0.980,6,0.000,0.000,3493,2386,2298,0,0,0,0,0,0
$GC,12233,1.19,221.2,693.9,10.4,413,12235,0.12,0.00,0.00,0.000,6,0.076,0.000,3528,2387,2295,0,0,0,0,0,0
$GC,12475,1.19,221.2,664.1,12.2,419,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2387,2295,0,0,0,0,0,0
$GC,12718,1.19,221.2,635.2,11.9,425,12723,0.00,2.70,0.00,0.000,4,0.000,0.068,3527,3943,2294,0,0,0,0,0,0
$GC,12760,1.16,221.2,630.3,12.2,426,12765,0.00,2.60,0.00,0.000,6,0.000,0.037,3527,2381,2293,0,0,0,0,0,0
$GC,13043,1.16,221.2,596.5,11.7,433,13044,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2381,2293,0,0,0,0,0,0
$GC,13287,1.16,221.2,568.7,11.3,439,13291,0.00,2.62,0.00,0.000,4,0.000,0.056,3527,3942,2292,0,0,0,0,0,0
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$STATE,18419,end climb,SURFACE_DEPTH_REACHED
$STATE,18420,begin surface coast
$FINISH,0.9,1.012386
$STATE,18462,end surface coast,CONTROL_FINISHED_OK
$STATE,18462,begin surface
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$10V_AH,10.4,16.753
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355996
$DATA_FILE_SIZE,54139,701
$CAP_FILE_SIZE,170176,0
$CFSIZE,260165632,119222272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120213,144535,1925.659,-8046.086,24,1.5,24,-4.1