version: 66.06
glider: 146
mission: 8
dive: 247
start: 3 8 113 23 2 49
data:
$ID,146
$MISSION,8
$DIVE,247
$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,-312289.5
$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,63
$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,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
$GPS1,225423,1925.010,-8111.120,38,1.1,38,-3.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.5
$GPS2,230155,1925.019,-8111.161,12,1.2,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.250,0.069
$KALMAN_X,-7665.7,-582.4,-265.8,1967.2,962.6
$KALMAN_Y,9253.2,286.0,-138.2,-6699.7,-157.2
$MHEAD_RNG_PITCHd_Wd,289.2,12495,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-71.10,0.000,2,0.000,0.000,465,2173,3499,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.6,-5.2,9,124,13.68,2.60,-5.28,0.000,4,0.166,0.038,2977,3806,3786,0,0,0,0,0,0
$GC,252,-1.13,-146.0,39.1,-16.2,28,262,0.12,2.50,0.00,0.000,6,0.081,0.023,3010,2240,3787,0,0,0,0,0,0
$GC,522,-1.00,-146.0,78.4,-15.7,53,527,0.15,2.65,0.00,0.000,4,0.102,0.044,3043,635,3788,0,0,0,0,0,0
$GC,604,-0.96,-146.0,90.6,-13.0,59,608,0.00,2.47,0.00,0.000,6,0.000,0.016,3043,2244,3787,0,0,0,0,0,0
$GC,873,-0.92,-146.0,125.4,-13.0,83,878,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2244,3788,0,0,0,0,0,0
$GC,1135,-0.96,-146.0,152.1,-9.5,108,1139,0.00,2.62,0.00,0.000,4,0.000,0.044,3043,636,3788,0,0,0,0,0,0
$GC,1166,-1.01,-146.0,154.7,-8.7,110,1171,0.00,2.40,0.00,0.000,6,0.000,0.021,3043,2202,3788,0,0,0,0,0,0
$GC,1429,-1.08,-146.0,174.8,-7.5,134,1434,0.00,2.47,0.00,0.000,4,0.000,0.037,3043,3776,3789,0,0,0,0,0,0
$GC,1466,-1.15,-146.0,177.7,-7.8,136,1473,0.15,2.47,0.00,0.000,6,0.057,0.019,2979,2188,3789,0,0,0,0,0,0
$GC,1748,-1.11,-146.0,204.3,-8.7,160,1753,0.17,2.55,0.00,0.000,4,0.085,0.048,3021,636,3789,0,0,0,0,0,0
$GC,1784,-1.11,-146.0,207.2,-7.9,160,1789,0.00,2.40,0.00,0.000,6,0.000,0.025,3021,2200,3790,0,0,0,0,0,0
$GC,2034,-1.17,-146.0,224.2,-6.6,167,2038,0.00,2.53,0.00,0.000,4,0.000,0.039,3021,3783,3789,0,0,0,0,0,0
$GC,2079,-1.24,-146.0,227.4,-7.6,168,2084,0.15,2.47,0.00,0.000,6,0.057,0.025,2958,2196,3790,0,0,0,0,0,0
$GC,2359,-1.18,-146.0,254.5,-10.0,175,2365,0.20,2.58,0.00,0.000,4,0.086,0.050,3005,634,3790,0,0,0,0,0,0
$GC,2410,-1.23,-146.0,259.3,-8.5,176,2414,0.00,2.42,0.00,0.000,6,0.000,0.026,3005,2202,3789,0,0,0,0,0,0
$GC,2684,-1.23,-146.0,279.0,-7.0,183,2688,0.00,2.50,0.00,0.000,4,0.000,0.035,3005,3776,3789,0,0,0,0,0,0
$GC,2724,-1.28,-146.0,282.0,-6.9,184,2729,0.10,2.45,0.00,0.000,6,0.077,0.028,2955,2204,3789,0,0,0,0,0,0
$GC,3008,-1.22,-146.0,308.4,-9.7,191,3010,0.17,0.00,0.00,0.000,6,0.090,0.000,2994,2204,3788,0,0,0,0,0,0
$GC,3253,-1.22,-146.0,329.0,-8.3,197,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2204,3788,0,0,0,0,0,0
$GC,3495,-1.22,-146.0,347.6,-7.5,203,3499,0.00,2.55,0.00,0.000,4,0.000,0.044,2994,3771,3787,0,0,0,0,0,0
$GC,3522,-1.22,-146.0,349.8,-8.1,203,3526,0.00,2.47,0.00,0.000,6,0.000,0.027,2994,2209,3786,0,0,0,0,0,0
$GC,3774,-1.22,-146.0,369.3,-7.8,209,3778,0.00,2.70,0.00,0.000,4,0.000,0.072,2994,628,3786,0,0,0,0,0,0
$GC,3807,-1.22,-146.0,372.1,-7.6,209,3813,0.00,2.47,0.00,0.000,6,0.000,0.033,2994,2188,3785,0,0,0,0,0,0
$GC,4057,-1.22,-146.0,390.7,-7.5,216,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2189,3785,0,0,0,0,0,0
$GC,4303,-1.22,-146.0,409.9,-7.9,222,4307,0.00,2.62,0.00,0.000,4,0.000,0.046,2994,3791,3784,0,0,0,0,0,0
$GC,4324,-1.22,-146.0,411.8,-7.6,222,4329,0.00,2.55,0.00,0.000,6,0.000,0.032,2994,2206,3784,0,0,0,0,0,0
$GC,4579,-1.22,-146.0,430.0,-7.0,229,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2206,3783,0,0,0,0,0,0
$GC,4823,-1.22,-146.0,447.8,-7.2,235,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2205,3782,0,0,0,0,0,0
$GC,5067,-1.22,-146.0,466.5,-7.8,241,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2205,3781,0,0,0,0,0,0
$GC,5311,-1.26,-146.0,485.5,-7.7,247,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2205,3780,0,0,0,0,0,0
$GC,5554,-1.30,-146.0,503.3,-7.3,253,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2206,3779,0,0,0,0,0,0
$GC,5800,-1.34,-146.0,520.8,-7.1,259,5806,0.12,2.72,0.00,0.000,4,0.067,0.064,2947,3782,3778,0,0,0,0,0,0
$GC,5828,-1.30,-146.0,523.4,-8.9,259,5834,0.12,2.60,0.00,0.000,6,0.098,0.054,2977,2218,3778,0,0,0,0,0,0
$GC,6078,-1.30,-146.0,543.4,-7.9,265,6083,0.00,3.00,0.00,0.000,4,0.000,0.118,2976,622,3777,0,0,0,0,0,0
$GC,6113,-1.30,-146.0,546.3,-8.9,265,6119,0.00,2.60,0.00,0.000,6,0.000,0.045,2976,2193,3777,0,0,0,0,0,0
$GC,6363,-1.30,-146.0,566.7,-8.0,272,6368,0.00,2.80,0.00,0.000,4,0.000,0.084,2977,3792,3776,0,0,0,0,0,0
$GC,6397,-1.30,-146.0,569.5,-8.1,272,6403,0.00,2.65,0.00,0.000,6,0.000,0.051,2976,2204,3776,0,0,0,0,0,0
$GC,6650,-1.30,-146.0,589.2,-7.7,279,6654,0.00,2.75,0.00,0.000,4,0.000,0.078,2976,3793,3775,0,0,0,0,0,0
$GC,6677,-1.30,-146.0,591.7,-8.7,279,6681,0.00,2.67,0.00,0.000,6,0.000,0.055,2976,2205,3774,0,0,0,0,0,0
$GC,6928,-1.30,-146.0,610.9,-7.6,285,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2205,3773,0,0,0,0,0,0
$GC,7173,-1.30,-146.0,629.6,-7.9,291,7177,0.00,2.80,0.00,0.000,4,0.000,0.084,2976,3791,3771,0,0,0,0,0,0
$GC,7212,-1.30,-146.0,633.1,-9.0,292,7217,0.00,2.75,0.00,0.000,6,0.000,0.076,2976,2220,3771,0,0,0,0,0,0
$GC,7495,-1.30,-146.0,657.0,-8.5,299,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2220,3770,0,0,0,0,0,0
$GC,7741,-1.30,-146.0,677.1,-8.1,305,7746,0.00,2.90,0.00,0.000,4,0.000,0.101,2976,3791,3769,0,0,0,0,0,0
$GC,7780,-1.30,-146.0,680.6,-8.6,306,7785,0.00,2.85,0.00,0.000,6,0.000,0.098,2976,2228,3769,0,0,0,0,0,0
$GC,8063,-1.30,-146.0,702.6,-7.7,313,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2227,3767,0,0,0,0,0,0
$GC,8310,-1.30,-146.0,720.8,-7.3,319,8314,0.00,3.05,0.00,0.000,4,0.000,0.131,2976,3791,3766,0,0,0,0,0,0
$GC,8354,-1.34,-146.0,724.5,-7.9,320,8359,0.00,2.78,0.00,0.000,6,0.000,0.084,2976,2230,3766,0,0,0,0,0,0
$GC,8631,-1.34,-146.0,745.7,-7.6,327,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2230,3764,0,0,0,0,0,0
$GC,8878,-1.34,-146.0,763.8,-7.4,333,8882,0.00,2.83,0.00,0.000,4,0.000,0.094,2976,3797,3763,0,0,0,0,0,0
$GC,8923,-1.34,-146.0,767.2,-7.3,334,8928,0.00,2.75,0.00,0.000,6,0.000,0.076,2977,2230,3763,0,0,0,0,0,0
$GC,9200,-1.34,-146.0,786.6,-6.9,341,9202,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2230,3762,0,0,0,0,0,0
$GC,9447,-1.34,-146.0,804.0,-7.2,347,9451,0.00,2.80,0.00,0.000,4,0.000,0.090,2977,3796,3761,0,0,0,0,0,0
$GC,9479,-1.34,-146.0,806.8,-8.4,347,9485,0.00,2.67,0.00,0.000,6,0.000,0.070,2976,2245,3761,0,0,0,0,0,0
$GC,9729,-1.34,-146.0,825.9,-7.8,354,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2245,3759,0,0,0,0,0,0
$GC,9973,-1.34,-146.0,844.4,-7.4,360,9977,0.00,2.72,0.00,0.000,4,0.000,0.084,2976,3798,3758,0,0,0,0,0,0
$GC,10025,-1.38,-146.0,848.6,-7.8,361,10030,0.00,2.67,0.00,0.000,6,0.000,0.064,2976,2254,3759,0,0,0,0,0,0
$GC,10300,-1.38,-146.0,870.1,-7.9,368,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2254,3757,0,0,0,0,0,0
$GC,10541,-1.38,-146.0,888.3,-7.4,374,10545,0.00,2.70,0.00,0.000,4,0.000,0.077,2976,3793,3756,0,0,0,0,0,0
$GC,10570,-1.38,-146.0,890.5,-7.6,374,10574,0.00,2.62,0.00,0.000,6,0.000,0.063,2976,2259,3756,0,0,0,0,0,0
$STATE,10695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10695,begin apogee
$GC,10701,-0.31,0.0,900.0,7.4,377,10824,0.93,0.00,119.60,1.215,6,0.071,0.000,3189,2386,3190,0,0,0,0,0,0
$STATE,10825,end apogee,CONTROL_FINISHED_OK
$STATE,10825,begin climb
$GC,10830,1.27,146.0,902.9,0.0,380,10966,1.42,2.80,126.90,1.184,4,0.036,0.074,3540,3927,2594,0,0,0,0,0,0
$GC,11090,1.15,146.0,882.8,11.9,386,11095,0.15,2.70,0.00,0.000,6,0.115,0.058,3510,2370,2587,0,0,0,0,0,0
$GC,11368,1.13,164.0,856.8,9.2,393,11386,0.00,0.00,16.35,1.078,6,0.000,0.000,3510,2370,2521,0,0,0,0,0,0
$GC,11611,1.14,169.1,833.2,9.8,399,11622,0.00,2.72,5.70,0.859,4,0.000,0.059,3510,3934,2499,0,0,0,0,0,0
$GC,11647,1.08,169.1,829.5,10.3,399,11652,0.00,2.65,0.00,0.000,6,0.000,0.041,3510,2374,2498,0,0,0,0,0,0
$GC,11897,1.09,177.7,805.3,9.6,406,11908,0.00,0.00,9.15,0.986,6,0.000,0.000,3510,2374,2465,0,0,0,0,0,0
$GC,12140,1.09,177.7,780.2,10.3,412,12141,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2374,2462,0,0,0,0,0,0
$GC,12386,1.09,177.7,755.3,10.1,418,12391,0.00,2.65,0.00,0.000,4,0.000,0.058,3510,3931,2461,0,0,0,0,0,0
$GC,12402,1.09,177.7,753.2,10.0,418,12407,0.00,2.60,0.00,0.000,6,0.000,0.044,3510,2381,2461,0,0,0,0,0,0
$GC,12670,1.11,190.7,728.0,9.4,425,12684,0.00,0.00,12.73,1.010,6,0.000,0.000,3510,2381,2412,0,0,0,0,0,0
$GC,12915,1.11,190.9,703.9,10.0,431,12917,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2381,2409,0,0,0,0,0,0
$GC,13157,1.11,190.9,678.9,10.3,437,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2381,2409,0,0,0,0,0,0
$GC,13401,1.13,203.5,655.5,9.4,443,13415,0.00,0.00,12.95,0.976,6,0.000,0.000,3510,2381,2360,0,0,0,0,0,0
$GC,13644,1.13,203.5,631.1,10.3,449,13645,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2381,2357,0,0,0,0,0,0
$GC,13890,1.13,203.5,604.3,11.1,455,13891,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2382,2356,0,0,0,0,0,0
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$STATE,19623,end climb,SURFACE_DEPTH_REACHED
$STATE,19623,begin surface coast
$FINISH,1.1,1.023788
$STATE,19657,end surface coast,CONTROL_FINISHED_OK
$STATE,19657,begin surface
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$XPDR_PINGS,56
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$10V_AH,10.4,30.733
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355880
$DATA_FILE_SIZE,57232,733
$CAP_FILE_SIZE,164552,0
$CFSIZE,260165632,111210496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090313,043230,1925.590,-8114.243,37,1.2,37,-3.8