version: 66.06
glider: 146
mission: 8
dive: 234
start: 3 6 113 4 36 19
data:
$ID,146
$MISSION,8
$DIVE,234
$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,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,-312066.97
$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,34
$R_STBD_OVSHOOT,43
$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
$GPS1,042736,1924.750,-8114.221,38,1.1,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.6
$GPS2,043524,1924.767,-8114.331,13,1.6,30,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.222,0.135
$KALMAN_X,740.2,-465.6,-79.6,-12279.6,295.5
$KALMAN_Y,4447.2,19.1,-106.4,-2126.6,-39.6
$MHEAD_RNG_PITCHd_Wd,305.0,7626,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.80,0.000,2,0.000,0.000,459,2137,3484,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.5,-4.7,9,121,13.68,2.62,-5.72,0.000,4,0.166,0.038,2980,3786,3787,0,0,0,0,0,0
$GC,200,-1.11,-146.0,28.6,-17.4,23,210,0.12,2.53,0.00,0.000,6,0.084,0.024,3012,2208,3788,0,0,0,0,0,0
$GC,470,-0.97,-146.0,69.8,-15.2,48,475,0.15,2.60,0.00,0.000,4,0.104,0.047,3046,626,3788,0,0,0,0,0,0
$GC,541,-0.93,-146.0,80.6,-12.9,53,546,0.00,2.42,0.00,0.000,6,0.000,0.016,3046,2212,3788,0,0,0,0,0,0
$GC,810,-0.87,-146.0,115.4,-13.0,77,815,0.10,0.00,0.00,0.000,6,0.120,0.000,3068,2212,3788,0,0,0,0,0,0
$GC,1073,-0.95,-146.0,139.4,-7.3,102,1078,0.00,2.58,0.00,0.000,4,0.000,0.044,3068,631,3789,0,0,0,0,0,0
$GC,1109,-1.06,-146.0,141.8,-6.4,104,1118,0.12,2.42,0.00,0.000,6,0.028,0.017,3005,2195,3789,0,0,0,0,0,0
$GC,1370,-1.06,-146.0,167.0,-8.6,129,1375,0.10,2.50,0.00,0.000,4,0.108,0.033,3029,3772,3790,0,0,0,0,0,0
$GC,1435,-1.12,-146.0,172.2,-8.0,134,1439,0.00,2.47,0.00,0.000,6,0.000,0.024,3029,2181,3790,0,0,0,0,0,0
$GC,1700,-1.18,-146.0,194.2,-7.9,158,1705,0.12,2.53,0.00,0.000,4,0.066,0.056,2972,645,3791,0,0,0,0,0,0
$GC,1752,-1.13,-146.0,199.6,-10.4,162,1758,0.17,2.40,0.00,0.000,6,0.087,0.019,3013,2210,3791,0,0,0,0,0,0
$GC,2005,-1.13,-146.0,219.8,-8.1,168,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2210,3791,0,0,0,0,0,0
$GC,2247,-1.17,-146.0,239.8,-8.0,174,2251,0.00,2.60,0.00,0.000,4,0.000,0.047,3013,637,3791,0,0,0,0,0,0
$GC,2286,-1.21,-146.0,242.7,-7.2,175,2291,0.00,2.40,0.00,0.000,6,0.000,0.018,3012,2199,3791,0,0,0,0,0,0
$GC,2573,-1.26,-146.0,262.8,-7.1,182,2578,0.12,2.55,0.00,0.000,4,0.065,0.042,2960,3775,3791,0,0,0,0,0,0
$GC,2594,-1.26,-146.0,265.0,-8.9,182,2600,0.12,2.47,0.00,0.000,6,0.094,0.026,2990,2194,3791,0,0,0,0,0,0
$GC,2852,-1.26,-146.0,287.4,-8.8,189,2857,0.00,2.58,0.00,0.000,4,0.000,0.061,2990,631,3790,0,0,0,0,0,0
$GC,2873,-1.26,-146.0,289.6,-9.2,189,2878,0.00,2.40,0.00,0.000,6,0.000,0.021,2990,2191,3790,0,0,0,0,0,0
$GC,3129,-1.26,-146.0,311.2,-8.4,196,3134,0.00,2.55,0.00,0.000,4,0.000,0.041,2990,3782,3790,0,0,0,0,0,0
$GC,3165,-1.26,-146.0,314.2,-8.5,196,3170,0.00,2.47,0.00,0.000,6,0.000,0.028,2990,2205,3790,0,0,0,0,0,0
$GC,3414,-1.26,-146.0,333.5,-7.6,203,3419,0.00,2.62,0.00,0.000,4,0.000,0.066,2990,630,3789,0,0,0,0,0,0
$GC,3441,-1.26,-146.0,335.6,-7.6,203,3446,0.00,2.45,0.00,0.000,6,0.000,0.024,2990,2190,3788,0,0,0,0,0,0
$GC,3694,-1.26,-146.0,355.0,-7.8,209,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2190,3787,0,0,0,0,0,0
$GC,3935,-1.26,-146.0,375.9,-8.6,215,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2190,3787,0,0,0,0,0,0
$GC,4179,-1.26,-146.0,397.4,-8.7,221,4183,0.00,2.60,0.00,0.000,4,0.000,0.055,2990,3786,3786,0,0,0,0,0,0
$GC,4206,-1.26,-146.0,399.9,-9.3,221,4210,0.00,2.55,0.00,0.000,6,0.000,0.028,2990,2194,3786,0,0,0,0,0,0
$GC,4458,-1.26,-146.0,419.4,-7.6,227,4463,0.00,2.60,0.00,0.000,4,0.000,0.047,2990,3789,3785,0,0,0,0,0,0
$GC,4480,-1.26,-146.0,421.4,-8.3,227,4485,0.00,2.55,0.00,0.000,6,0.000,0.038,2990,2205,3785,0,0,0,0,0,0
$GC,4736,-1.26,-146.0,440.9,-7.6,234,4740,0.00,2.78,0.00,0.000,4,0.000,0.082,2990,629,3784,0,0,0,0,0,0
$GC,4765,-1.26,-146.0,443.2,-7.9,234,4770,0.00,2.53,0.00,0.000,6,0.000,0.041,2990,2187,3784,0,0,0,0,0,0
$GC,5015,-1.26,-146.0,462.4,-7.5,240,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2187,3783,0,0,0,0,0,0
$GC,5259,-1.26,-146.0,480.7,-7.6,246,5263,0.00,2.72,0.00,0.000,4,0.000,0.067,2990,3799,3782,0,0,0,0,0,0
$GC,5294,-1.29,-146.0,483.5,-8.3,246,5300,0.00,2.65,0.00,0.000,6,0.000,0.041,2990,2194,3781,0,0,0,0,0,0
$GC,5544,-1.29,-146.0,502.3,-7.4,253,5548,0.00,2.70,0.00,0.000,4,0.000,0.062,2990,3797,3780,0,0,0,0,0,0
$GC,5559,-1.29,-146.0,503.6,-7.6,253,5564,0.00,2.65,0.00,0.000,6,0.000,0.042,2990,2199,3780,0,0,0,0,0,0
$GC,5823,-1.29,-146.0,523.1,-7.5,260,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2199,3779,0,0,0,0,0,0
$GC,6064,-1.29,-146.0,541.9,-7.7,266,6068,0.00,2.75,0.00,0.000,4,0.000,0.067,2990,3794,3778,0,0,0,0,0,0
$GC,6085,-1.29,-146.0,543.8,-8.5,266,6090,0.00,2.67,0.00,0.000,6,0.000,0.054,2990,2205,3778,0,0,0,0,0,0
$GC,6344,-1.33,-146.0,563.6,-7.6,273,6348,0.00,3.00,0.00,0.000,4,0.000,0.120,2990,619,3777,0,0,0,0,0,0
$GC,6376,-1.33,-146.0,566.5,-8.5,273,6382,0.00,2.62,0.00,0.000,6,0.000,0.054,2990,2193,3777,0,0,0,0,0,0
$GC,6627,-1.37,-146.0,586.1,-7.9,280,6629,0.12,0.00,0.00,0.000,6,0.071,0.000,2942,2192,3776,0,0,0,0,0,0
$GC,6873,-1.31,-146.0,609.6,-9.8,286,6878,0.15,2.90,0.00,0.000,4,0.093,0.098,2976,3793,3774,0,0,0,0,0,0
$GC,6900,-1.31,-146.0,612.6,-9.4,286,6905,0.00,2.75,0.00,0.000,6,0.000,0.063,2976,2197,3774,0,0,0,0,0,0
$GC,7151,-1.31,-146.0,633.2,-8.3,292,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2197,3773,0,0,0,0,0,0
$GC,7396,-1.31,-146.0,653.0,-8.1,298,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2196,3772,0,0,0,0,0,0
$GC,7638,-1.31,-146.0,671.8,-7.6,304,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2197,3770,0,0,0,0,0,0
$GC,7882,-1.31,-146.0,690.8,-7.9,310,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2196,3769,0,0,0,0,0,0
$GC,8125,-1.31,-146.0,710.4,-8.0,316,8130,0.00,3.08,0.00,0.000,4,0.000,0.122,2977,3793,3768,0,0,0,0,0,0
$GC,8172,-1.35,-146.0,714.4,-9.3,317,8177,0.00,2.83,0.00,0.000,6,0.000,0.081,2976,2198,3768,0,0,0,0,0,0
$GC,8452,-1.35,-146.0,736.3,-7.8,324,8457,0.00,3.03,0.00,0.000,4,0.000,0.123,2976,618,3767,0,0,0,0,0,0
$GC,8479,-1.35,-146.0,738.7,-7.4,324,8484,0.00,2.72,0.00,0.000,6,0.000,0.070,2977,2199,3766,0,0,0,0,0,0
$GC,8731,-1.35,-146.0,756.4,-7.1,330,8736,0.00,2.90,0.00,0.000,4,0.000,0.097,2977,3806,3766,0,0,0,0,0,0
$GC,8752,-1.35,-146.0,758.2,-7.4,330,8757,0.00,2.78,0.00,0.000,6,0.000,0.065,2976,2202,3765,0,0,0,0,0,0
$GC,9008,-1.35,-146.0,776.7,-7.4,337,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2202,3763,0,0,0,0,0,0
$GC,9253,-1.35,-146.0,796.3,-8.0,343,9258,0.00,2.83,0.00,0.000,4,0.000,0.085,2976,3798,3762,0,0,0,0,0,0
$GC,9286,-1.35,-146.0,799.4,-8.8,343,9291,0.00,2.78,0.00,0.000,6,0.000,0.071,2977,2197,3762,0,0,0,0,0,0
$GC,9536,-1.35,-146.0,819.5,-8.0,350,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2198,3762,0,0,0,0,0,0
$GC,9780,-1.35,-146.0,838.2,-7.6,356,9784,0.00,2.83,0.00,0.000,4,0.000,0.078,2976,3798,3761,0,0,0,0,0,0
$GC,9822,-1.39,-146.0,841.6,-8.7,357,9826,0.00,2.72,0.00,0.000,6,0.000,0.066,2976,2214,3760,0,0,0,0,0,0
$GC,10105,-1.39,-146.0,864.0,-7.8,364,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3759,0,0,0,0,0,0
$GC,10348,-1.39,-146.0,882.1,-7.4,370,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3758,0,0,0,0,0,0
$GC,10595,-1.43,-146.0,899.1,-7.0,376,10600,0.12,2.80,0.00,0.000,4,0.071,0.079,2934,3807,3756,0,0,0,0,0,0
$STATE,10603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10603,begin apogee
$GC,10611,-0.31,0.0,900.2,7.0,376,10735,1.12,0.00,119.35,1.220,6,0.072,0.000,3192,2365,3190,0,0,0,0,0,0
$STATE,10735,end apogee,CONTROL_FINISHED_OK
$STATE,10735,begin climb
$GC,10740,1.27,146.0,903.2,0.0,379,10880,1.45,2.88,127.10,1.186,4,0.035,0.073,3545,3934,2592,0,0,0,0,0,0
$GC,10961,1.14,146.0,888.6,11.6,384,10967,0.17,2.72,0.00,0.000,6,0.116,0.055,3511,2361,2587,0,0,0,0,0,0
$GC,11212,1.12,167.0,865.4,9.0,390,11236,0.00,2.80,18.77,1.090,4,0.000,0.059,3511,3940,2508,0,0,0,0,0,0
$GC,11248,1.10,190.1,861.9,8.9,390,11277,0.00,2.70,22.67,1.103,6,0.000,0.046,3511,2370,2413,0,0,0,0,0,0
$GC,11541,1.10,190.1,831.2,10.7,398,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2370,2408,0,0,0,0,0,0
$GC,11782,1.10,190.1,805.0,10.7,404,11787,0.00,2.70,0.00,0.000,4,0.000,0.058,3511,3945,2406,0,0,0,0,0,0
$GC,11798,1.10,190.1,803.1,10.8,404,11802,0.00,2.67,0.00,0.000,6,0.000,0.042,3511,2364,2405,0,0,0,0,0,0
$GC,12061,1.10,190.1,775.8,10.3,411,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2364,2405,0,0,0,0,0,0
$GC,12302,1.10,190.1,751.0,10.1,417,12307,0.00,2.67,0.00,0.000,4,0.000,0.056,3510,3945,2404,0,0,0,0,0,0
$GC,12329,1.10,190.1,748.0,11.0,417,12333,0.00,2.65,0.00,0.000,6,0.000,0.048,3511,2373,2403,0,0,0,0,0,0
$GC,12581,1.10,190.1,722.0,10.3,423,12582,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2373,2403,0,0,0,0,0,0
$GC,12822,1.10,190.1,697.2,10.1,429,12827,0.00,2.67,0.00,0.000,4,0.000,0.059,3511,3942,2402,0,0,0,0,0,0
$GC,12856,1.06,190.1,693.4,10.9,429,12861,0.00,2.65,0.00,0.000,6,0.000,0.049,3510,2372,2401,0,0,0,0,0,0
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$STATE,19443,end climb,SURFACE_DEPTH_REACHED
$STATE,19443,begin surface coast
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$10V_AH,10.3,29.128
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$FG_AHR_10Vo,0.000
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$MEM,355880
$DATA_FILE_SIZE,57411,729
$CAP_FILE_SIZE,172760,0
$CFSIZE,260165632,112123904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060313,100306,1926.100,-8117.297,29,1.4,29,-3.7