version: 66.06
glider: 146
mission: 8
dive: 276
start: 3 15 113 11 36 55
data:
$ID,146
$MISSION,8
$DIVE,276
$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,-312866.88
$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,30
$R_STBD_OVSHOOT,38
$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
$GPS1,112306,1926.553,-8109.721,52,1.0,52,-3.8
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.1
$GPS2,113601,1926.504,-8109.789,13,1.4,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.197,-0.169
$KALMAN_X,-29888.3,13.3,105.6,25603.9,-936.3
$KALMAN_Y,17985.8,-79.8,234.2,-12698.1,-42.2
$MHEAD_RNG_PITCHd_Wd,134.5,4853,-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,-70.80,0.000,2,0.000,0.000,462,2197,3485,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.3,-3.7,9,121,13.70,2.58,-5.82,0.000,4,0.163,0.051,2979,623,3787,0,0,0,0,0,0
$GC,323,-1.09,-146.0,52.2,-19.5,34,333,0.15,2.47,0.00,0.000,6,0.083,0.017,3017,2219,3788,0,0,0,0,0,0
$GC,589,-0.97,-146.0,92.5,-14.0,59,594,0.12,2.62,0.00,0.000,4,0.110,0.045,3046,629,3788,0,0,0,0,0,0
$GC,615,-0.89,-146.0,96.3,-11.9,60,624,0.00,2.45,0.00,0.000,6,0.000,0.023,3046,2213,3788,0,0,0,0,0,0
$GC,881,-0.89,-146.0,125.8,-11.2,85,886,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2214,3789,0,0,0,0,0,0
$GC,1143,-0.94,-146.0,148.3,-8.9,110,1147,0.00,2.60,0.00,0.000,4,0.000,0.046,3046,625,3789,0,0,0,0,0,0
$GC,1168,-0.98,-146.0,150.5,-9.4,111,1174,0.00,2.42,0.00,0.000,6,0.000,0.018,3046,2211,3789,0,0,0,0,0,0
$GC,1435,-1.05,-146.0,171.4,-7.1,136,1439,0.00,2.58,0.00,0.000,4,0.000,0.045,3046,633,3789,0,0,0,0,0,0
$GC,1470,-1.13,-146.0,174.1,-7.2,138,1480,0.10,2.42,0.00,0.000,6,0.035,0.024,2990,2198,3789,0,0,0,0,0,0
$GC,1737,-1.13,-146.0,198.5,-9.3,163,1742,0.10,2.50,0.00,0.000,4,0.107,0.035,3015,3772,3789,0,0,0,0,0,0
$GC,1779,-1.18,-146.0,202.5,-8.8,165,1783,0.00,2.47,0.00,0.000,6,0.000,0.022,3015,2186,3789,0,0,0,0,0,0
$GC,2062,-1.18,-146.0,226.1,-8.3,172,2066,0.00,2.53,0.00,0.000,4,0.000,0.051,3015,641,3789,0,0,0,0,0,0
$GC,2085,-1.18,-146.0,227.9,-7.9,172,2089,0.00,2.40,0.00,0.000,6,0.000,0.021,3015,2202,3789,0,0,0,0,0,0
$GC,2343,-1.22,-146.0,247.6,-7.8,179,2347,0.00,2.50,0.00,0.000,4,0.000,0.042,3015,3778,3789,0,0,0,0,0,0
$GC,2376,-1.27,-146.0,250.4,-7.8,179,2382,0.12,2.47,0.00,0.000,6,0.064,0.028,2953,2200,3789,0,0,0,0,0,0
$GC,2628,-1.19,-146.0,274.7,-10.0,186,2630,0.20,0.00,0.00,0.000,6,0.082,0.000,3000,2200,3789,0,0,0,0,0,0
$GC,2869,-1.19,-146.0,294.7,-8.0,192,2874,0.00,2.58,0.00,0.000,4,0.000,0.056,3000,640,3788,0,0,0,0,0,0
$GC,2885,-1.19,-146.0,296.0,-8.1,192,2890,0.00,2.40,0.00,0.000,6,0.000,0.021,2999,2198,3788,0,0,0,0,0,0
$GC,3149,-1.19,-146.0,317.6,-8.2,199,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2198,3787,0,0,0,0,0,0
$GC,3390,-1.19,-146.0,336.9,-7.8,205,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2198,3787,0,0,0,0,0,0
$GC,3634,-1.19,-146.0,355.0,-7.4,211,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2198,3786,0,0,0,0,0,0
$GC,3878,-1.19,-146.0,373.6,-7.7,217,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2198,3785,0,0,0,0,0,0
$GC,4124,-1.23,-146.0,392.3,-7.6,223,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2198,3784,0,0,0,0,0,0
$GC,4366,-1.27,-146.0,409.7,-7.1,229,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2198,3783,0,0,0,0,0,0
$GC,4609,-1.31,-146.0,428.0,-7.6,235,4615,0.10,2.62,0.00,0.000,4,0.081,0.058,2957,3773,3783,0,0,0,0,0,0
$GC,4626,-1.31,-146.0,429.4,-7.7,235,4630,0.00,2.53,0.00,0.000,6,0.000,0.033,2957,2215,3783,0,0,0,0,0,0
$GC,4889,-1.27,-146.0,452.5,-8.7,242,4894,0.12,2.58,0.00,0.000,4,0.118,0.048,2985,3772,3781,0,0,0,0,0,0
$GC,4905,-1.27,-146.0,454.2,-8.6,242,4910,0.00,2.58,0.00,0.000,6,0.000,0.042,2985,2198,3781,0,0,0,0,0,0
$GC,5169,-1.27,-146.0,473.4,-7.5,249,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2198,3781,0,0,0,0,0,0
$GC,5410,-1.27,-146.0,493.0,-8.2,255,5415,0.00,2.62,0.00,0.000,4,0.000,0.056,2985,3768,3779,0,0,0,0,0,0
$GC,5437,-1.27,-146.0,495.5,-9.0,255,5441,0.00,2.60,0.00,0.000,6,0.000,0.052,2985,2202,3780,0,0,0,0,0,0
$GC,5687,-1.27,-146.0,515.7,-8.0,261,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2202,3778,0,0,0,0,0,0
$GC,5933,-1.27,-146.0,533.9,-7.4,267,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2203,3778,0,0,0,0,0,0
$GC,6174,-1.27,-146.0,552.9,-7.8,273,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2203,3776,0,0,0,0,0,0
$GC,6418,-1.27,-146.0,572.0,-8.0,279,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2202,3775,0,0,0,0,0,0
$GC,6664,-1.27,-146.0,590.7,-7.6,285,6669,0.00,2.78,0.00,0.000,4,0.000,0.090,2985,3769,3774,0,0,0,0,0,0
$GC,6685,-1.27,-146.0,592.7,-7.9,285,6690,0.00,2.67,0.00,0.000,6,0.000,0.064,2985,2206,3775,0,0,0,0,0,0
$GC,6940,-1.27,-146.0,613.0,-8.0,292,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2206,3773,0,0,0,0,0,0
$GC,7184,-1.27,-146.0,633.5,-8.4,298,7189,0.00,3.08,0.00,0.000,4,0.000,0.129,2985,619,3771,0,0,0,0,0,0
$GC,7214,-1.27,-146.0,635.9,-8.8,298,7219,0.00,2.70,0.00,0.000,6,0.000,0.066,2985,2177,3771,0,0,0,0,0,0
$GC,7464,-1.27,-146.0,656.4,-8.0,304,7469,0.00,2.97,0.00,0.000,4,0.000,0.104,2985,3805,3769,0,0,0,0,0,0
$GC,7491,-1.31,-146.0,658.8,-8.7,304,7496,0.00,2.85,0.00,0.000,6,0.000,0.086,2985,2211,3769,0,0,0,0,0,0
$GC,7744,-1.31,-146.0,678.1,-7.7,310,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2211,3768,0,0,0,0,0,0
$GC,7985,-1.34,-146.0,697.0,-7.8,316,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2212,3767,0,0,0,0,0,0
$GC,8229,-1.34,-146.0,715.3,-7.5,322,8234,0.00,3.03,0.00,0.000,4,0.000,0.122,2985,3798,3766,0,0,0,0,0,0
$GC,8281,-1.39,-146.0,719.3,-8.1,323,8286,0.12,2.80,0.00,0.000,6,0.067,0.079,2940,2211,3766,0,0,0,0,0,0
$GC,8554,-1.34,-146.0,745.0,-9.4,330,8556,0.12,0.00,0.00,0.000,6,0.104,0.000,2968,2211,3764,0,0,0,0,0,0
$GC,8797,-1.34,-146.0,764.5,-7.9,336,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2211,3763,0,0,0,0,0,0
$GC,9043,-1.34,-146.0,783.5,-7.8,342,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2209,3762,0,0,0,0,0,0
$GC,9285,-1.34,-146.0,803.2,-8.1,348,9289,0.00,2.83,0.00,0.000,4,0.000,0.088,2968,3798,3761,0,0,0,0,0,0
$GC,9306,-1.34,-146.0,805.1,-8.7,348,9310,0.00,2.75,0.00,0.000,6,0.000,0.066,2968,2214,3761,0,0,0,0,0,0
$GC,9563,-1.34,-146.0,825.4,-7.9,355,9564,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2213,3760,0,0,0,0,0,0
$GC,9805,-1.34,-146.0,843.4,-7.3,361,9809,0.00,2.80,0.00,0.000,4,0.000,0.081,2968,3801,3759,0,0,0,0,0,0
$GC,9820,-1.34,-146.0,844.7,-7.1,361,9825,0.00,2.75,0.00,0.000,6,0.000,0.067,2968,2217,3759,0,0,0,0,0,0
$GC,10084,-1.34,-146.0,863.8,-7.4,368,10088,0.00,2.80,0.00,0.000,4,0.000,0.078,2968,3801,3757,0,0,0,0,0,0
$GC,10119,-1.34,-146.0,866.6,-8.3,368,10124,0.00,2.75,0.00,0.000,6,0.000,0.065,2968,2221,3757,0,0,0,0,0,0
$GC,10368,-1.34,-146.0,885.9,-7.7,375,10370,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2221,3756,0,0,0,0,0,0
$STATE,10569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10569,begin apogee
$GC,10575,-0.31,0.0,901.3,7.5,380,10698,0.98,0.00,119.38,1.216,6,0.067,0.000,3193,2382,3190,0,0,0,0,0,0
$STATE,10699,end apogee,CONTROL_FINISHED_OK
$STATE,10699,begin climb
$GC,10703,1.27,146.0,904.2,0.0,383,10839,1.42,2.83,126.55,1.182,4,0.035,0.077,3545,3923,2593,0,0,0,0,0,0
$GC,10897,1.14,146.0,892.4,12.1,387,10903,0.17,2.70,0.00,0.000,6,0.110,0.054,3509,2365,2589,0,0,0,0,0,0
$GC,11153,1.16,166.9,868.7,9.0,394,11174,0.00,0.00,18.95,1.090,6,0.000,0.000,3509,2365,2509,0,0,0,0,0,0
$GC,11397,1.17,174.2,845.2,9.7,400,11411,0.00,2.78,7.62,0.945,4,0.000,0.061,3509,3924,2479,0,0,0,0,0,0
$GC,11443,1.13,174.2,840.4,10.9,401,11447,0.00,2.62,0.00,0.000,6,0.000,0.047,3509,2374,2478,0,0,0,0,0,0
$GC,11725,1.13,174.2,811.3,10.1,408,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2375,2476,0,0,0,0,0,0
$GC,11972,1.14,187.5,788.2,9.4,414,11987,0.00,0.00,13.20,1.040,6,0.000,0.000,3509,2375,2425,0,0,0,0,0,0
$GC,12213,1.14,188.7,764.2,9.9,420,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2374,2423,0,0,0,0,0,0
$GC,12457,1.15,193.7,740.4,9.8,426,12471,0.00,2.75,6.62,0.887,4,0.000,0.058,3509,3935,2400,0,0,0,0,0,0
$GC,12494,1.15,193.7,736.4,10.5,426,12500,0.00,2.65,0.00,0.000,6,0.000,0.043,3509,2379,2399,0,0,0,0,0,0
$GC,12746,1.15,193.7,711.1,10.2,433,12747,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2379,2398,0,0,0,0,0,0
$GC,12987,1.15,193.7,685.5,10.5,439,12992,0.00,2.65,0.00,0.000,4,0.000,0.052,3509,3934,2398,0,0,0,0,0,0
$GC,13020,1.15,193.7,681.6,11.4,439,13026,0.00,2.62,0.00,0.000,6,0.000,0.042,3509,2377,2398,0,0,0,0,0,0
$GC,13272,1.15,193.7,655.4,10.5,446,13277,0.00,3.08,0.00,0.000,4,0.000,0.120,3509,773,2397,0,0,0,0,0,0
$GC,13299,1.15,193.7,652.1,10.5,446,13304,0.00,2.67,0.00,0.000,6,0.000,0.044,3508,2374,2396,0,0,0,0,0,0
$GC,13551,1.15,195.4,627.3,9.9,452,13552,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2374,2396,0,0,0,0,0,0
$GC,13793,1.16,199.9,603.4,9.8,458,13802,0.00,0.00,6.82,0.840,6,0.000,0.000,3509,2376,2375,0,0,0,0,0,0
$GC,14039,1.16,200.8,579.2,10.0,464,14040,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2376,2374,0,0,0,0,0,0
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$STATE,19608,end climb,SURFACE_DEPTH_REACHED
$STATE,19608,begin surface coast
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$STATE,19687,end surface coast,CONTROL_FINISHED_OK
$STATE,19687,begin surface
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57388,752
$CAP_FILE_SIZE,167243,0
$CFSIZE,260165632,109125632
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$GPS,150313,170836,1925.123,-8107.587,109,1.1,109,-3.8