version: 66.06
glider: 146
mission: 8
dive: 190
start: 2 24 113 7 20 14
data:
$ID,146
$MISSION,8
$DIVE,190
$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,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,0
$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,-311064.53
$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,46
$R_STBD_OVSHOOT,18
$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,3190
$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
$GPS1,070824,1926.797,-8118.341,39,1.3,39,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-76.2
$GPS2,071919,1926.803,-8118.386,14,1.7,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.258,-0.031
$KALMAN_X,-373.1,-173.8,-332.2,-18288.0,752.9
$KALMAN_Y,-2818.3,38.0,80.9,8698.9,-712.0
$MHEAD_RNG_PITCHd_Wd,100.5,18637,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-70.35,0.000,2,0.000,0.000,460,2190,3464,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.2,-3.8,9,122,13.90,2.53,-6.18,0.000,4,0.168,0.051,2978,645,3786,0,0,0,0,0,0
$GC,136,-0.14,-146.0,16.1,-33.5,13,145,1.10,2.50,0.00,0.000,6,0.077,0.016,3224,2246,3786,0,0,0,0,0,0
$GC,450,-0.48,-146.0,32.8,-3.7,55,455,0.28,2.45,0.00,0.000,4,0.043,0.031,3142,3782,3787,0,0,0,0,0,0
$GC,463,-0.78,-146.0,33.8,-4.2,55,472,0.17,2.47,0.00,0.000,6,0.028,0.019,3069,2215,3787,0,0,0,0,0,0
$GC,728,-0.78,-146.0,63.1,-11.5,80,733,0.00,2.58,0.00,0.000,4,0.000,0.044,3069,630,3787,0,0,0,0,0,0
$GC,765,-0.78,-146.0,67.0,-12.0,82,769,0.00,2.45,0.00,0.000,6,0.000,0.016,3069,2222,3787,0,0,0,0,0,0
$GC,1027,-0.78,-146.0,97.3,-10.9,106,1031,0.00,2.60,0.00,0.000,4,0.000,0.043,3069,638,3787,0,0,0,0,0,0
$GC,1058,-0.78,-146.0,100.6,-10.7,108,1062,0.00,2.38,0.00,0.000,6,0.000,0.018,3069,2201,3788,0,0,0,0,0,0
$GC,1320,-0.78,-146.0,127.8,-8.8,132,1325,0.00,2.55,0.00,0.000,4,0.000,0.042,3069,630,3788,0,0,0,0,0,0
$GC,1330,-0.78,-146.0,128.9,-8.4,132,1340,0.00,2.38,0.00,0.000,6,0.000,0.017,3069,2182,3788,0,0,0,0,0,0
$GC,1600,-0.87,-146.0,149.9,-7.8,157,1604,0.00,2.50,0.00,0.000,4,0.000,0.033,3069,3760,3788,0,0,0,0,0,0
$GC,1628,-0.96,-146.0,152.6,-7.9,159,1632,0.00,2.45,0.00,0.000,6,0.000,0.025,3069,2170,3789,0,0,0,0,0,0
$GC,1893,-1.08,-146.0,170.7,-6.6,183,1902,0.17,0.00,0.00,0.000,6,0.051,0.000,2999,2170,3789,0,0,0,0,0,0
$GC,2160,-1.08,-146.0,192.6,-8.3,208,2165,0.12,0.00,0.00,0.000,6,0.095,0.000,3029,2170,3789,0,0,0,0,0,0
$GC,2427,-1.14,-146.0,211.3,-6.8,222,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2170,3789,0,0,0,0,0,0
$GC,2668,-1.21,-146.0,228.6,-7.2,228,2673,0.12,2.58,0.00,0.000,4,0.067,0.037,2973,3760,3789,0,0,0,0,0,0
$GC,2696,-1.21,-146.0,231.2,-9.8,228,2701,0.10,2.47,0.00,0.000,6,0.105,0.022,2998,2169,3790,0,0,0,0,0,0
$GC,2948,-1.21,-146.0,251.6,-8.0,234,2952,0.00,2.55,0.00,0.000,4,0.000,0.039,2999,3767,3790,0,0,0,0,0,0
$GC,2969,-1.21,-146.0,253.4,-7.3,234,2973,0.00,2.45,0.00,0.000,6,0.000,0.023,2998,2178,3789,0,0,0,0,0,0
$GC,3229,-1.21,-146.0,272.6,-7.5,241,3233,0.00,2.53,0.00,0.000,4,0.000,0.054,2998,643,3789,0,0,0,0,0,0
$GC,3256,-1.21,-146.0,275.1,-8.1,241,3260,0.00,2.33,0.00,0.000,6,0.000,0.028,2998,2163,3789,0,0,0,0,0,0
$GC,3511,-1.21,-146.0,294.3,-7.5,248,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2164,3789,0,0,0,0,0,0
$GC,3755,-1.21,-146.0,312.2,-7.3,254,3759,0.00,2.58,0.00,0.000,4,0.000,0.046,2998,3772,3788,0,0,0,0,0,0
$GC,3778,-1.21,-146.0,313.9,-7.6,254,3783,0.00,2.50,0.00,0.000,6,0.000,0.023,2998,2184,3788,0,0,0,0,0,0
$GC,4034,-1.21,-146.0,332.3,-7.0,261,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2184,3787,0,0,0,0,0,0
$GC,4278,-1.21,-146.0,350.9,-7.8,267,4282,0.00,2.58,0.00,0.000,4,0.000,0.041,2998,3773,3786,0,0,0,0,0,0
$GC,4313,-1.25,-146.0,353.6,-8.7,267,4318,0.00,2.47,0.00,0.000,6,0.000,0.023,2998,2194,3786,0,0,0,0,0,0
$GC,4563,-1.29,-146.0,372.7,-7.4,274,4568,0.00,2.55,0.00,0.000,4,0.000,0.042,2998,3769,3785,0,0,0,0,0,0
$GC,4582,-1.33,-146.0,374.0,-7.3,274,4587,0.12,2.50,0.00,0.000,6,0.066,0.026,2945,2187,3785,0,0,0,0,0,0
$GC,4843,-1.27,-146.0,398.4,-9.4,281,4845,0.17,0.00,0.00,0.000,6,0.089,0.000,2985,2188,3784,0,0,0,0,0,0
$GC,5086,-1.27,-146.0,417.4,-7.7,287,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2187,3783,0,0,0,0,0,0
$GC,5330,-1.27,-146.0,436.0,-7.6,293,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2187,3782,0,0,0,0,0,0
$GC,5576,-1.27,-146.0,454.2,-7.5,299,5580,0.00,2.65,0.00,0.000,4,0.000,0.061,2985,3764,3781,0,0,0,0,0,0
$GC,5592,-1.27,-146.0,455.6,-7.4,299,5596,0.00,2.53,0.00,0.000,6,0.000,0.035,2986,2200,3781,0,0,0,0,0,0
$GC,5852,-1.27,-146.0,474.4,-7.3,306,5857,0.00,2.62,0.00,0.000,4,0.000,0.059,2985,3771,3780,0,0,0,0,0,0
$GC,5871,-1.27,-146.0,475.6,-7.2,306,5875,0.00,2.58,0.00,0.000,6,0.000,0.045,2985,2203,3780,0,0,0,0,0,0
$GC,6131,-1.27,-146.0,494.2,-7.1,313,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2203,3779,0,0,0,0,0,0
$GC,6375,-1.27,-146.0,511.5,-7.2,319,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2203,3778,0,0,0,0,0,0
$GC,6619,-1.27,-146.0,529.2,-7.2,325,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2203,3777,0,0,0,0,0,0
$GC,6865,-1.27,-146.0,547.4,-7.5,331,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2203,3775,0,0,0,0,0,0
$GC,7106,-1.27,-146.0,566.6,-7.9,337,7111,0.00,2.75,0.00,0.000,4,0.000,0.085,2985,3762,3775,0,0,0,0,0,0
$GC,7122,-1.27,-146.0,567.7,-7.8,337,7127,0.00,2.62,0.00,0.000,6,0.000,0.055,2986,2203,3774,0,0,0,0,0,0
$GC,7385,-1.27,-146.0,588.0,-7.8,344,7389,0.00,2.70,0.00,0.000,4,0.000,0.071,2985,3764,3773,0,0,0,0,0,0
$GC,7403,-1.27,-146.0,589.7,-7.7,344,7407,0.00,2.65,0.00,0.000,6,0.000,0.060,2985,2204,3773,0,0,0,0,0,0
$GC,7664,-1.31,-146.0,609.1,-7.4,351,7668,0.00,2.75,0.00,0.000,4,0.000,0.081,2985,3765,3771,0,0,0,0,0,0
$GC,7688,-1.31,-146.0,610.9,-8.0,351,7692,0.00,2.65,0.00,0.000,6,0.000,0.064,2985,2218,3771,0,0,0,0,0,0
$GC,7943,-1.34,-146.0,629.4,-7.2,358,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2219,3770,0,0,0,0,0,0
$GC,8187,-1.38,-146.0,646.9,-7.2,364,8188,0.12,0.00,0.00,0.000,6,0.068,0.000,2941,2218,3768,0,0,0,0,0,0
$GC,8433,-1.33,-146.0,668.7,-9.0,370,8438,0.12,3.12,0.00,0.000,4,0.105,0.136,2969,625,3767,0,0,0,0,0,0
$GC,8460,-1.33,-146.0,671.5,-9.2,370,8465,0.00,2.75,0.00,0.000,6,0.000,0.083,2968,2180,3767,0,0,0,0,0,0
$GC,8711,-1.33,-146.0,691.8,-8.1,376,8715,0.00,3.08,0.00,0.000,4,0.000,0.120,2968,3804,3766,0,0,0,0,0,0
$GC,8754,-1.33,-146.0,695.1,-8.6,377,8759,0.00,2.83,0.00,0.000,6,0.000,0.084,2968,2223,3766,0,0,0,0,0,0
$GC,9037,-1.33,-146.0,717.9,-7.9,384,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2224,3764,0,0,0,0,0,0
$GC,9281,-1.33,-146.0,737.8,-8.2,390,9286,0.00,3.08,0.00,0.000,4,0.000,0.125,2968,623,3763,0,0,0,0,0,0
$GC,9302,-1.33,-146.0,739.7,-8.2,390,9307,0.00,2.75,0.00,0.000,6,0.000,0.068,2969,2218,3762,0,0,0,0,0,0
$GC,9560,-1.33,-146.0,759.9,-7.9,397,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2218,3762,0,0,0,0,0,0
$GC,9802,-1.33,-146.0,779.5,-8.1,403,9806,0.00,2.88,0.00,0.000,4,0.000,0.100,2968,3802,3761,0,0,0,0,0,0
$GC,9851,-1.33,-146.0,783.9,-8.7,404,9855,0.00,2.72,0.00,0.000,6,0.000,0.071,2968,2215,3761,0,0,0,0,0,0
$GC,10125,-1.33,-146.0,805.3,-7.8,411,10130,0.00,2.80,0.00,0.000,4,0.000,0.082,2968,3807,3759,0,0,0,0,0,0
$GC,10146,-1.33,-146.0,807.3,-8.4,411,10151,0.00,2.72,0.00,0.000,6,0.000,0.068,2968,2220,3759,0,0,0,0,0,0
$GC,10402,-1.33,-146.0,826.9,-7.6,418,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2219,3758,0,0,0,0,0,0
$GC,10647,-1.33,-146.0,845.1,-7.4,424,10652,0.00,2.78,0.00,0.000,4,0.000,0.078,2969,3805,3756,0,0,0,0,0,0
$GC,10697,-1.33,-146.0,849.2,-8.2,425,10701,0.00,2.70,0.00,0.000,6,0.000,0.064,2969,2229,3756,0,0,0,0,0,0
$GC,10969,-1.33,-146.0,868.3,-7.0,432,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2229,3755,0,0,0,0,0,0
$GC,11214,-1.33,-146.0,884.7,-6.8,438,11219,0.00,2.78,0.00,0.000,4,0.000,0.082,2968,3804,3754,0,0,0,0,0,0
$GC,11236,-1.33,-146.0,886.6,-7.4,438,11240,0.00,2.72,0.00,0.000,6,0.000,0.068,2969,2225,3754,0,0,0,0,0,0
$STATE,11447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11448,begin apogee
$GC,11454,-0.31,0.0,902.2,7.3,444,11576,0.98,0.00,119.22,1.220,6,0.074,0.000,3189,2384,3190,0,0,0,0,0,0
$STATE,11577,end apogee,CONTROL_FINISHED_OK
$STATE,11577,begin climb
$GC,11582,1.27,146.0,905.6,0.0,447,11718,1.45,2.83,127.38,1.191,4,0.036,0.080,3545,3931,2593,0,0,0,0,0,0
$GC,11798,1.13,146.0,891.3,12.0,452,11803,0.17,2.72,0.00,0.000,6,0.117,0.057,3510,2363,2587,0,0,0,0,0,0
$GC,12071,1.09,153.3,864.1,9.7,459,12079,0.00,0.00,6.32,0.899,6,0.000,0.000,3510,2363,2565,0,0,0,0,0,0
$GC,12316,1.06,164.4,840.9,9.5,465,12335,0.00,2.83,11.68,1.042,4,0.000,0.064,3510,3932,2519,0,0,0,0,0,0
$GC,12364,0.99,164.4,835.7,10.1,466,12370,0.15,2.65,0.00,0.000,6,0.120,0.041,3479,2375,2518,0,0,0,0,0,0
$GC,12642,1.04,200.5,812.3,8.3,473,12684,0.00,2.75,33.88,1.122,4,0.000,0.059,3479,3935,2371,0,0,0,0,0,0
$GC,12702,1.07,229.0,807.1,8.7,474,12737,0.00,2.65,27.75,1.098,6,0.000,0.048,3479,2373,2256,0,0,0,0,0,0
$GC,13020,1.13,236.1,776.5,9.7,482,13030,0.12,0.00,7.05,0.909,6,0.075,0.000,3516,2373,2227,0,0,0,0,0,0
$GC,13260,1.13,236.1,749.0,11.4,488,13264,0.00,3.08,0.00,0.000,4,0.000,0.122,3516,783,2225,0,0,0,0,0,0
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$STATE,19811,end climb,SURFACE_DEPTH_REACHED
$STATE,19811,begin surface coast
$FINISH,0.8,1.010522
$STATE,19866,end surface coast,CONTROL_FINISHED_OK
$STATE,19867,begin surface
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$XPDR_PINGS,59
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$10V_AH,10.4,23.552
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355860
$DATA_FILE_SIZE,60366,790
$CAP_FILE_SIZE,175405,0
$CFSIZE,260165632,115318784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240213,125335,1926.969,-8116.034,33,1.1,33,-3.8