version: 66.06
glider: 146
mission: 8
dive: 261
start: 3 12 113 2 55 20
data:
$ID,146
$MISSION,8
$DIVE,261
$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,-312584.84
$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,32
$R_STBD_OVSHOOT,44
$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
$GPS1,024659,1927.134,-8117.770,35,1.4,35,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.9
$GPS2,025425,1927.151,-8117.794,12,1.3,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.257,-0.034
$KALMAN_X,-20891.2,-140.4,-132.0,3029.1,-733.6
$KALMAN_Y,13329.6,94.9,100.1,-6885.1,-513.3
$MHEAD_RNG_PITCHd_Wd,101.1,17798,-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,-70.80,0.000,2,0.000,0.000,462,2137,3444,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.1,-3.0,9,123,13.68,2.62,-6.57,0.000,4,0.164,0.039,2979,3781,3785,0,0,0,0,0,0
$GC,208,-1.12,-146.0,28.5,-16.6,24,218,0.10,2.53,0.00,0.000,6,0.085,0.025,3006,2203,3786,0,0,0,0,0,0
$GC,478,-0.99,-146.0,68.8,-15.3,49,483,0.17,2.58,0.00,0.000,4,0.100,0.045,3044,631,3786,0,0,0,0,0,0
$GC,503,-0.88,-146.0,73.9,-14.3,50,512,0.05,2.45,0.00,0.000,6,0.097,0.015,3061,2224,3786,0,0,0,0,0,0
$GC,770,-0.88,-146.0,103.2,-10.8,75,775,0.00,2.60,0.00,0.000,4,0.000,0.043,3061,628,3787,0,0,0,0,0,0
$GC,802,-0.88,-146.0,107.3,-11.6,77,806,0.00,2.38,0.00,0.000,6,0.000,0.015,3061,2198,3787,0,0,0,0,0,0
$GC,1069,-0.88,-146.0,136.4,-9.5,101,1073,0.00,2.55,0.00,0.000,4,0.000,0.044,3061,631,3787,0,0,0,0,0,0
$GC,1088,-0.88,-146.0,138.6,-9.8,102,1092,0.00,2.38,0.00,0.000,6,0.000,0.019,3061,2193,3788,0,0,0,0,0,0
$GC,1360,-0.96,-146.0,159.9,-7.2,127,1365,0.00,2.53,0.00,0.000,4,0.000,0.050,3061,634,3788,0,0,0,0,0,0
$GC,1385,-1.04,-146.0,162.0,-7.3,128,1391,0.12,2.35,0.00,0.000,6,0.064,0.018,3001,2188,3788,0,0,0,0,0,0
$GC,1648,-1.04,-146.0,185.3,-7.8,153,1649,0.12,0.00,0.00,0.000,6,0.095,0.000,3032,2188,3788,0,0,0,0,0,0
$GC,1903,-1.11,-146.0,203.4,-6.8,174,1907,0.00,2.50,0.00,0.000,4,0.000,0.034,3032,3777,3789,0,0,0,0,0,0
$GC,1914,-1.18,-146.0,204.4,-6.8,174,1919,0.12,2.47,0.00,0.000,6,0.064,0.021,2974,2165,3789,0,0,0,0,0,0
$GC,2180,-1.18,-146.0,229.5,-9.4,181,2182,0.12,0.00,0.00,0.000,6,0.097,0.000,3004,2165,3789,0,0,0,0,0,0
$GC,2426,-1.18,-146.0,249.1,-8.0,187,2431,0.00,2.55,0.00,0.000,4,0.000,0.041,3004,3765,3789,0,0,0,0,0,0
$GC,2448,-1.18,-146.0,251.1,-8.2,187,2452,0.00,2.42,0.00,0.000,6,0.000,0.021,3004,2193,3789,0,0,0,0,0,0
$GC,2704,-1.18,-146.0,271.1,-7.6,194,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2193,3789,0,0,0,0,0,0
$GC,2950,-1.22,-146.0,289.1,-7.4,200,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2193,3789,0,0,0,0,0,0
$GC,3192,-1.26,-146.0,306.7,-7.2,206,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2193,3788,0,0,0,0,0,0
$GC,3435,-1.29,-146.0,325.1,-7.5,212,3437,0.12,0.00,0.00,0.000,6,0.066,0.000,2953,2193,3787,0,0,0,0,0,0
$GC,3681,-1.24,-146.0,349.0,-9.9,218,3683,0.15,0.00,0.00,0.000,6,0.091,0.000,2989,2193,3786,0,0,0,0,0,0
$GC,3922,-1.24,-146.0,367.5,-7.4,224,3927,0.00,2.55,0.00,0.000,4,0.000,0.048,2990,3769,3785,0,0,0,0,0,0
$GC,3939,-1.24,-146.0,368.8,-7.0,224,3943,0.00,2.50,0.00,0.000,6,0.000,0.025,2990,2197,3785,0,0,0,0,0,0
$GC,4202,-1.24,-146.0,387.6,-7.2,231,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2197,3784,0,0,0,0,0,0
$GC,4443,-1.24,-146.0,406.2,-7.6,237,4447,0.00,2.58,0.00,0.000,4,0.000,0.049,2990,3769,3784,0,0,0,0,0,0
$GC,4459,-1.24,-146.0,407.6,-8.0,237,4463,0.00,2.53,0.00,0.000,6,0.000,0.029,2989,2182,3784,0,0,0,0,0,0
$GC,4720,-1.24,-146.0,427.4,-7.7,244,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2182,3783,0,0,0,0,0,0
$GC,4965,-1.24,-146.0,446.7,-8.0,250,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2182,3782,0,0,0,0,0,0
$GC,5207,-1.24,-146.0,466.1,-8.0,256,5211,0.00,2.65,0.00,0.000,4,0.000,0.052,2989,3762,3780,0,0,0,0,0,0
$GC,5228,-1.24,-146.0,468.0,-8.3,256,5233,0.00,2.55,0.00,0.000,6,0.000,0.042,2989,2193,3780,0,0,0,0,0,0
$GC,5486,-1.24,-146.0,488.2,-8.0,263,5490,0.00,2.62,0.00,0.000,4,0.000,0.058,2989,3755,3779,0,0,0,0,0,0
$GC,5502,-1.24,-146.0,489.6,-7.6,263,5506,0.00,2.58,0.00,0.000,6,0.000,0.042,2989,2194,3780,0,0,0,0,0,0
$GC,5762,-1.24,-146.0,509.9,-7.8,270,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2194,3778,0,0,0,0,0,0
$GC,6006,-1.24,-146.0,529.2,-8.1,276,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2194,3778,0,0,0,0,0,0
$GC,6253,-1.28,-146.0,548.6,-8.0,282,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2194,3777,0,0,0,0,0,0
$GC,6494,-1.32,-146.0,567.3,-7.6,288,6498,0.00,2.75,0.00,0.000,4,0.000,0.082,2990,3756,3776,0,0,0,0,0,0
$GC,6521,-1.36,-146.0,569.5,-7.7,288,6527,0.10,2.62,0.00,0.000,6,0.080,0.051,2946,2199,3775,0,0,0,0,0,0
$GC,6774,-1.31,-146.0,592.1,-9.2,294,6776,0.12,0.00,0.00,0.000,6,0.100,0.000,2974,2198,3774,0,0,0,0,0,0
$GC,7015,-1.31,-146.0,611.9,-8.1,300,7019,0.00,2.75,0.00,0.000,4,0.000,0.084,2974,3758,3773,0,0,0,0,0,0
$GC,7049,-1.31,-146.0,614.8,-8.8,300,7055,0.00,2.70,0.00,0.000,6,0.000,0.064,2974,2194,3773,0,0,0,0,0,0
$GC,7301,-1.31,-146.0,635.1,-8.0,307,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2194,3771,0,0,0,0,0,0
$GC,7543,-1.31,-146.0,654.2,-7.8,313,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2194,3770,0,0,0,0,0,0
$GC,7786,-1.31,-146.0,672.9,-7.7,319,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2194,3769,0,0,0,0,0,0
$GC,8033,-1.31,-146.0,692.3,-7.9,325,8037,0.00,2.95,0.00,0.000,4,0.000,0.121,2974,3752,3768,0,0,0,0,0,0
$GC,8054,-1.31,-146.0,694.3,-8.2,325,8059,0.00,2.78,0.00,0.000,6,0.000,0.082,2974,2191,3768,0,0,0,0,0,0
$GC,8309,-1.31,-146.0,714.6,-7.9,332,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2191,3766,0,0,0,0,0,0
$GC,8553,-1.31,-146.0,733.0,-7.5,338,8557,0.00,2.83,0.00,0.000,4,0.000,0.094,2974,3758,3765,0,0,0,0,0,0
$GC,8572,-1.31,-146.0,734.2,-7.3,338,8577,0.00,2.72,0.00,0.000,6,0.000,0.076,2974,2202,3765,0,0,0,0,0,0
$GC,8833,-1.31,-146.0,753.5,-7.1,345,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2202,3763,0,0,0,0,0,0
$GC,9077,-1.31,-146.0,770.5,-7.1,351,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2201,3762,0,0,0,0,0,0
$GC,9323,-1.31,-146.0,788.2,-7.2,357,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2200,3761,0,0,0,0,0,0
$GC,9564,-1.31,-146.0,805.3,-7.0,363,9569,0.00,2.75,0.00,0.000,4,0.000,0.084,2974,3758,3761,0,0,0,0,0,0
$GC,9591,-1.31,-146.0,807.4,-7.8,363,9596,0.00,2.72,0.00,0.000,6,0.000,0.065,2974,2189,3761,0,0,0,0,0,0
$GC,9843,-1.31,-146.0,826.7,-7.8,369,9847,0.00,2.75,0.00,0.000,4,0.000,0.084,2974,3760,3760,0,0,0,0,0,0
$GC,9861,-1.31,-146.0,828.2,-7.7,369,9865,0.00,2.67,0.00,0.000,6,0.000,0.065,2974,2198,3759,0,0,0,0,0,0
$GC,10121,-1.31,-146.0,848.3,-7.6,376,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2198,3758,0,0,0,0,0,0
$GC,10365,-1.31,-146.0,867.4,-7.8,382,10369,0.00,2.72,0.00,0.000,4,0.000,0.081,2974,3755,3757,0,0,0,0,0,0
$GC,10411,-1.35,-146.0,871.2,-8.2,383,10416,0.00,2.65,0.00,0.000,6,0.000,0.068,2974,2206,3757,0,0,0,0,0,0
$GC,10690,-1.35,-146.0,892.2,-7.5,390,10694,0.00,2.70,0.00,0.000,4,0.000,0.081,2974,3756,3755,0,0,0,0,0,0
$GC,10736,-1.39,-146.0,895.8,-7.8,391,10741,0.00,2.62,0.00,0.000,6,0.000,0.061,2974,2217,3756,0,0,0,0,0,0
$STATE,10808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10808,begin apogee
$GC,10814,-0.31,0.0,901.5,7.4,393,10937,0.95,0.00,119.07,1.218,6,0.068,0.000,3192,2346,3190,0,0,0,0,0,0
$STATE,10937,end apogee,CONTROL_FINISHED_OK
$STATE,10937,begin climb
$GC,10940,1.27,146.0,904.6,0.0,396,11077,1.42,2.78,126.82,1.183,4,0.037,0.073,3542,3922,2593,0,0,0,0,0,0
$GC,11212,1.14,146.0,883.5,12.4,402,11217,0.17,2.67,0.00,0.000,6,0.111,0.055,3507,2360,2587,0,0,0,0,0,0
$GC,11481,1.15,157.1,857.6,9.5,409,11496,0.00,2.75,9.82,1.007,4,0.000,0.065,3507,3930,2549,0,0,0,0,0,0
$GC,11541,1.10,157.1,851.2,10.4,410,11545,0.00,2.65,0.00,0.000,6,0.000,0.045,3507,2376,2547,0,0,0,0,0,0
$GC,11803,1.10,157.1,824.7,10.3,417,11808,0.00,3.10,0.00,0.000,4,0.000,0.123,3507,783,2546,0,0,0,0,0,0
$GC,11819,1.05,157.1,822.8,10.2,417,11824,0.00,2.67,0.00,0.000,6,0.000,0.048,3507,2374,2545,0,0,0,0,0,0
$GC,12080,1.06,157.5,796.9,10.0,424,12084,0.00,2.70,0.00,0.000,4,0.000,0.074,3507,3933,2544,0,0,0,0,0,0
$GC,12137,1.01,157.5,790.8,10.8,425,12143,0.15,2.58,0.00,0.000,6,0.117,0.038,3477,2377,2544,0,0,0,0,0,0
$GC,12405,1.08,187.6,767.1,8.6,432,12435,0.00,0.00,28.02,1.090,6,0.000,0.000,3477,2377,2425,0,0,0,0,0,0
$GC,12648,1.15,209.6,745.3,9.0,438,12678,0.15,3.10,21.48,1.059,4,0.067,0.119,3521,784,2334,0,0,0,0,0,0
$GC,12693,1.10,209.6,740.9,10.4,439,12697,0.00,2.72,0.00,0.000,6,0.000,0.046,3520,2393,2333,0,0,0,0,0,0
$GC,12976,1.10,209.6,709.5,10.9,446,12980,0.00,2.65,0.00,0.000,4,0.000,0.071,3520,3937,2330,0,0,0,0,0,0
$GC,13021,1.10,209.6,704.2,12.5,447,13026,0.00,2.58,0.00,0.000,6,0.000,0.042,3521,2388,2329,0,0,0,0,0,0
$GC,13299,1.10,209.6,673.0,11.2,454,13300,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2388,2328,0,0,0,0,0,0
$GC,13543,1.10,209.6,645.5,11.2,460,13547,0.00,2.65,0.00,0.000,4,0.000,0.058,3521,3944,2327,0,0,0,0,0,0
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$STATE,19382,end climb,SURFACE_DEPTH_REACHED
$STATE,19382,begin surface coast
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$STATE,19425,end surface coast,CONTROL_FINISHED_OK
$STATE,19425,begin surface
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$XPDR_PINGS,60
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$10V_AH,10.3,32.513
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355856
$DATA_FILE_SIZE,57154,737
$CAP_FILE_SIZE,169676,0
$CFSIZE,260165632,110190592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120313,082124,1927.656,-8115.827,38,1.4,38,-3.8