version: 66.06
glider: 146
mission: 8
dive: 249
start: 3 9 113 10 25 55
data:
$ID,146
$MISSION,8
$DIVE,249
$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,-312345.88
$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,69
$R_STBD_OVSHOOT,23
$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
$GPS1,101326,1926.871,-8117.629,38,2.0,39,-3.7
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-74.6
$GPS2,102500,1926.834,-8117.759,12,1.9,29,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.258,-0.032
$KALMAN_X,-11319.0,-46.1,-228.9,-6477.9,-938.4
$KALMAN_Y,9092.7,-182.2,121.3,-2976.9,-356.5
$MHEAD_RNG_PITCHd_Wd,100.8,17586,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,100,0.00,0.00,-78.30,0.000,2,0.000,0.000,457,2156,3718,0,0,0,0,0,0
$GC,105,-1.27,-146.0,4.4,-6.9,10,131,13.77,2.45,-1.15,0.000,4,0.166,0.046,2977,661,3788,0,0,0,0,0,0
$GC,257,-1.10,-146.0,46.0,-19.1,26,267,0.15,2.45,0.00,0.000,6,0.087,0.018,3014,2234,3788,0,0,0,0,0,0
$GC,527,-0.96,-146.0,82.9,-14.4,51,532,0.15,2.58,0.00,0.000,4,0.102,0.041,3048,660,3789,0,0,0,0,0,0
$GC,563,-0.89,-146.0,90.0,-14.8,53,569,0.00,2.38,0.00,0.000,6,0.000,0.023,3048,2208,3789,0,0,0,0,0,0
$GC,828,-0.84,-146.0,124.3,-12.8,78,833,0.12,2.53,0.00,0.000,4,0.107,0.043,3077,669,3789,0,0,0,0,0,0
$GC,838,-0.84,-146.0,126.0,-11.5,78,850,0.00,2.35,0.00,0.000,6,0.000,0.015,3077,2200,3789,0,0,0,0,0,0
$GC,1107,-0.92,-146.0,151.0,-8.8,103,1111,0.00,2.47,0.00,0.000,4,0.000,0.041,3077,669,3790,0,0,0,0,0,0
$GC,1132,-0.99,-146.0,153.6,-8.8,104,1138,0.15,2.33,0.00,0.000,6,0.056,0.016,3015,2186,3790,0,0,0,0,0,0
$GC,1394,-0.99,-146.0,178.5,-8.5,129,1396,0.12,0.00,0.00,0.000,6,0.097,0.000,3045,2187,3790,0,0,0,0,0,0
$GC,1652,-1.08,-146.0,196.3,-7.5,153,1656,0.00,2.47,0.00,0.000,4,0.000,0.044,3045,663,3791,0,0,0,0,0,0
$GC,1683,-1.17,-146.0,199.2,-8.5,155,1688,0.17,2.33,0.00,0.000,6,0.051,0.023,2978,2181,3791,0,0,0,0,0,0
$GC,1946,-1.13,-146.0,225.4,-10.0,162,1951,0.15,2.55,0.00,0.000,4,0.091,0.041,3014,3775,3791,0,0,0,0,0,0
$GC,1968,-1.13,-146.0,227.6,-8.6,162,1972,0.00,2.45,0.00,0.000,6,0.000,0.026,3013,2203,3791,0,0,0,0,0,0
$GC,2224,-1.17,-146.0,247.9,-7.8,169,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2203,3791,0,0,0,0,0,0
$GC,2469,-1.22,-146.0,266.9,-8.3,175,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2203,3791,0,0,0,0,0,0
$GC,2711,-1.27,-146.0,286.8,-7.9,181,2713,0.12,0.00,0.00,0.000,6,0.065,0.000,2961,2203,3791,0,0,0,0,0,0
$GC,2955,-1.22,-146.0,310.8,-10.0,187,2957,0.15,0.00,0.00,0.000,6,0.091,0.000,2996,2203,3790,0,0,0,0,0,0
$GC,3200,-1.22,-146.0,330.0,-7.7,193,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2203,3789,0,0,0,0,0,0
$GC,3442,-1.22,-146.0,349.7,-8.2,199,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2203,3788,0,0,0,0,0,0
$GC,3685,-1.22,-146.0,369.5,-8.0,205,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2203,3787,0,0,0,0,0,0
$GC,3929,-1.22,-146.0,389.0,-8.1,211,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2203,3787,0,0,0,0,0,0
$GC,4175,-1.22,-146.0,408.3,-8.0,217,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2203,3785,0,0,0,0,0,0
$GC,4417,-1.22,-146.0,427.6,-7.9,223,4421,0.00,2.60,0.00,0.000,4,0.000,0.049,2997,3768,3785,0,0,0,0,0,0
$GC,4438,-1.22,-146.0,429.5,-8.5,223,4442,0.00,2.53,0.00,0.000,6,0.000,0.035,2996,2203,3785,0,0,0,0,0,0
$GC,4696,-1.25,-146.0,449.2,-7.7,230,4700,0.00,2.78,0.00,0.000,4,0.000,0.088,2997,630,3783,0,0,0,0,0,0
$GC,4711,-1.25,-146.0,450.8,-7.6,230,4715,0.00,2.45,0.00,0.000,6,0.000,0.034,2996,2157,3783,0,0,0,0,0,0
$GC,4979,-1.29,-146.0,471.9,-8.1,237,4983,0.00,2.70,0.00,0.000,4,0.000,0.064,2997,3763,3783,0,0,0,0,0,0
$GC,4997,-1.34,-146.0,473.3,-8.2,237,5002,0.12,2.58,0.00,0.000,6,0.064,0.040,2943,2188,3783,0,0,0,0,0,0
$GC,5260,-1.28,-146.0,499.4,-9.8,244,5265,0.17,2.65,0.00,0.000,4,0.086,0.057,2983,3758,3782,0,0,0,0,0,0
$GC,5276,-1.28,-146.0,501.3,-9.7,244,5281,0.00,2.58,0.00,0.000,6,0.000,0.043,2983,2199,3782,0,0,0,0,0,0
$GC,5539,-1.28,-146.0,522.0,-8.0,251,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,3780,0,0,0,0,0,0
$GC,5781,-1.28,-146.0,540.9,-7.7,257,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,3779,0,0,0,0,0,0
$GC,6025,-1.28,-146.0,558.9,-7.4,263,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,3778,0,0,0,0,0,0
$GC,6268,-1.28,-146.0,577.6,-7.8,269,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,3777,0,0,0,0,0,0
$GC,6514,-1.28,-146.0,596.8,-7.9,275,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2199,3776,0,0,0,0,0,0
$GC,6756,-1.28,-146.0,615.7,-7.7,281,6760,0.00,2.80,0.00,0.000,4,0.000,0.091,2983,3761,3775,0,0,0,0,0,0
$GC,6771,-1.28,-146.0,617.1,-7.7,281,6776,0.00,2.70,0.00,0.000,6,0.000,0.071,2983,2195,3774,0,0,0,0,0,0
$GC,7035,-1.28,-146.0,636.9,-7.6,288,7039,0.00,2.78,0.00,0.000,4,0.000,0.088,2983,3754,3773,0,0,0,0,0,0
$GC,7056,-1.28,-146.0,638.8,-7.9,288,7060,0.00,2.72,0.00,0.000,6,0.000,0.080,2983,2193,3772,0,0,0,0,0,0
$GC,7311,-1.28,-146.0,658.0,-7.5,295,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2193,3771,0,0,0,0,0,0
$GC,7555,-1.28,-146.0,676.0,-7.5,301,7559,0.00,2.88,0.00,0.000,4,0.000,0.105,2983,3761,3770,0,0,0,0,0,0
$GC,7573,-1.28,-146.0,677.2,-7.6,301,7577,0.00,2.85,0.00,0.000,6,0.000,0.091,2983,2199,3770,0,0,0,0,0,0
$GC,7833,-1.28,-146.0,697.3,-7.7,308,7838,0.00,3.12,0.00,0.000,4,0.000,0.142,2983,620,3768,0,0,0,0,0,0
$GC,7852,-1.28,-146.0,698.9,-7.7,308,7857,0.00,2.80,0.00,0.000,6,0.000,0.088,2984,2165,3769,0,0,0,0,0,0
$GC,8115,-1.28,-146.0,719.4,-7.8,315,8120,0.00,3.17,0.00,0.000,4,0.000,0.137,2983,3797,3767,0,0,0,0,0,0
$GC,8148,-1.31,-146.0,722.5,-8.7,315,8154,0.00,2.80,0.00,0.000,6,0.000,0.077,2983,2204,3767,0,0,0,0,0,0
$GC,8398,-1.31,-146.0,742.0,-7.7,322,8403,0.00,2.88,0.00,0.000,4,0.000,0.089,2983,3804,3766,0,0,0,0,0,0
$GC,8428,-1.35,-146.0,744.3,-8.1,322,8432,0.00,2.78,0.00,0.000,6,0.000,0.067,2983,2210,3765,0,0,0,0,0,0
$GC,8678,-1.35,-146.0,762.8,-7.2,328,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2211,3764,0,0,0,0,0,0
$GC,8922,-1.39,-146.0,780.0,-7.0,334,8927,0.12,2.88,0.00,0.000,4,0.071,0.085,2942,3808,3762,0,0,0,0,0,0
$GC,8942,-1.39,-146.0,781.4,-6.9,334,8947,0.00,2.78,0.00,0.000,6,0.000,0.070,2942,2212,3762,0,0,0,0,0,0
$GC,9203,-1.35,-146.0,804.1,-8.5,341,9205,0.10,0.00,0.00,0.000,6,0.112,0.000,2964,2212,3762,0,0,0,0,0,0
$GC,9446,-1.35,-146.0,822.2,-7.2,347,9451,0.00,2.83,0.00,0.000,4,0.000,0.087,2964,3802,3761,0,0,0,0,0,0
$GC,9470,-1.35,-146.0,823.9,-7.9,347,9475,0.00,2.72,0.00,0.000,6,0.000,0.070,2964,2216,3760,0,0,0,0,0,0
$GC,9725,-1.35,-146.0,842.8,-7.5,354,9730,0.00,2.80,0.00,0.000,4,0.000,0.081,2964,3803,3759,0,0,0,0,0,0
$GC,9741,-1.35,-146.0,844.1,-7.5,354,9746,0.00,2.75,0.00,0.000,6,0.000,0.069,2964,2217,3759,0,0,0,0,0,0
$GC,10004,-1.35,-146.0,863.6,-7.5,361,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2217,3759,0,0,0,0,0,0
$GC,10245,-1.35,-146.0,881.6,-7.4,367,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2216,3757,0,0,0,0,0,0
$STATE,10488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10488,begin apogee
$GC,10495,-0.31,0.0,900.1,7.7,373,10618,1.00,0.00,119.38,1.219,6,0.071,0.000,3192,2387,3190,0,0,0,0,0,0
$STATE,10618,end apogee,CONTROL_FINISHED_OK
$STATE,10618,begin climb
$GC,10623,1.27,146.0,903.5,0.0,376,10760,1.45,2.83,127.20,1.187,4,0.037,0.080,3544,3934,2593,0,0,0,0,0,0
$GC,10788,1.13,146.0,895.3,11.4,380,10793,0.20,2.72,0.00,0.000,6,0.109,0.058,3505,2369,2590,0,0,0,0,0,0
$GC,11057,1.14,157.3,870.0,9.5,387,11069,0.00,0.00,10.50,1.019,6,0.000,0.000,3504,2369,2548,0,0,0,0,0,0
$GC,11298,1.15,164.3,846.6,9.7,393,11308,0.00,0.00,7.55,0.950,6,0.000,0.000,3505,2368,2519,0,0,0,0,0,0
$GC,11542,1.16,170.7,823.1,9.7,399,11556,0.00,2.80,7.12,0.933,4,0.000,0.058,3505,3938,2493,0,0,0,0,0,0
$GC,11589,1.11,170.7,818.4,11.4,400,11593,0.00,2.67,0.00,0.000,6,0.000,0.047,3505,2369,2492,0,0,0,0,0,0
$GC,11872,1.11,170.7,789.8,10.0,407,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2368,2490,0,0,0,0,0,0
$GC,12116,1.12,180.1,766.3,9.6,413,12131,0.00,2.75,9.65,0.990,4,0.000,0.058,3505,3938,2454,0,0,0,0,0,0
$GC,12166,1.12,180.1,761.3,11.0,414,12171,0.00,2.65,0.00,0.000,6,0.000,0.042,3505,2376,2453,0,0,0,0,0,0
$GC,12438,1.14,192.1,735.0,9.4,421,12452,0.00,0.00,12.50,1.016,6,0.000,0.000,3505,2376,2406,0,0,0,0,0,0
$GC,12684,1.15,203.5,711.8,9.5,427,12703,0.00,2.78,11.68,0.993,4,0.000,0.060,3505,3935,2359,0,0,0,0,0,0
$GC,12759,1.15,203.5,703.4,10.6,428,12764,0.00,2.62,0.00,0.000,6,0.000,0.048,3505,2381,2358,0,0,0,0,0,0
$GC,13015,1.16,209.2,678.5,9.7,435,13024,0.00,0.00,6.35,0.856,6,0.000,0.000,3505,2381,2337,0,0,0,0,0,0
$GC,13261,1.16,209.2,653.5,10.3,441,13265,0.00,2.65,0.00,0.000,4,0.000,0.058,3505,3937,2336,0,0,0,0,0,0
$GC,13289,1.16,209.2,650.0,11.4,441,13294,0.00,2.60,0.00,0.000,6,0.000,0.047,3505,2380,2335,0,0,0,0,0,0
$GC,13539,1.16,209.2,623.5,10.5,447,13540,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2380,2335,0,0,0,0,0,0
$GC,13782,1.16,209.2,598.8,10.2,453,13787,0.00,2.62,0.00,0.000,4,0.000,0.058,3505,3931,2335,0,0,0,0,0,0
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$STATE,19421,end climb,SURFACE_DEPTH_REACHED
$STATE,19421,begin surface coast
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$STATE,19479,end surface coast,CONTROL_FINISHED_OK
$STATE,19479,begin surface
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$10V_AH,10.3,30.984
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.875,174.775,403.400,33.675,0.000,57.669,69.195,310.095,13.000,0.000,30.797,1486.838,15066.706,572.746,2166.602,928.295,33.378,1495.936,0.000,2154.184,0.000,0.536,0.000
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$MEM,355860
$DATA_FILE_SIZE,57256,728
$CAP_FILE_SIZE,164462,0
$CFSIZE,260165632,111067136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090313,155253,1927.375,-8116.156,40,1.2,40,-3.8