version: 66.06
glider: 146
mission: 8
dive: 294
start: 3 19 113 5 52 9
data:
$ID,146
$MISSION,8
$DIVE,294
$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,-313232.16
$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,56
$R_STBD_OVSHOOT,36
$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
$GPS1,054359,1927.542,-8111.190,37,1.2,37,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-75.1
$GPS2,055113,1927.557,-8111.261,12,1.2,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,-0.149
$KALMAN_X,-50651.7,101.5,11.6,43806.3,-1043.4
$KALMAN_Y,25656.9,31.8,381.9,-18682.4,-84.0
$MHEAD_RNG_PITCHd_Wd,128.8,8031,-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,-70.68,0.000,2,0.000,0.000,465,2181,3460,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.3,-4.0,9,122,13.62,2.55,-6.40,0.000,4,0.163,0.038,2978,3791,3787,0,0,0,0,0,0
$GC,161,-1.10,-146.0,20.1,-18.4,17,170,0.15,2.47,0.00,0.000,6,0.079,0.024,3015,2234,3787,0,0,0,0,0,0
$GC,442,-0.98,-146.0,61.1,-14.7,46,447,0.12,2.62,0.00,0.000,4,0.117,0.045,3043,632,3787,0,0,0,0,0,0
$GC,503,-0.95,-146.0,70.8,-13.0,50,512,0.00,2.45,0.00,0.000,6,0.000,0.017,3044,2211,3787,0,0,0,0,0,0
$GC,770,-0.89,-146.0,102.9,-12.0,75,775,0.10,2.60,0.00,0.000,4,0.118,0.046,3065,633,3788,0,0,0,0,0,0
$GC,817,-0.89,-146.0,109.1,-11.5,78,826,0.00,2.42,0.00,0.000,6,0.000,0.017,3065,2198,3788,0,0,0,0,0,0
$GC,1084,-0.94,-146.0,135.6,-9.9,103,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2199,3788,0,0,0,0,0,0
$GC,1349,-1.03,-146.0,157.3,-7.0,128,1354,0.12,0.00,0.00,0.000,6,0.067,0.000,3008,2199,3789,0,0,0,0,0,0
$GC,1612,-1.03,-146.0,182.5,-9.7,153,1617,0.12,2.60,0.00,0.000,4,0.096,0.051,3037,634,3789,0,0,0,0,0,0
$GC,1639,-1.03,-146.0,184.1,-8.8,154,1643,0.00,2.38,0.00,0.000,6,0.000,0.016,3037,2192,3789,0,0,0,0,0,0
$GC,1919,-1.10,-146.0,206.5,-7.3,174,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2192,3790,0,0,0,0,0,0
$GC,2164,-1.17,-146.0,223.8,-7.1,180,2166,0.15,0.00,0.00,0.000,6,0.058,0.000,2976,2192,3790,0,0,0,0,0,0
$GC,2405,-1.17,-146.0,245.9,-9.2,186,2407,0.12,0.00,0.00,0.000,6,0.096,0.000,3005,2192,3790,0,0,0,0,0,0
$GC,2649,-1.21,-146.0,265.1,-7.7,192,2653,0.00,2.50,0.00,0.000,4,0.000,0.037,3005,3769,3790,0,0,0,0,0,0
$GC,2667,-1.21,-146.0,266.4,-7.7,192,2672,0.00,2.47,0.00,0.000,6,0.000,0.020,3005,2179,3790,0,0,0,0,0,0
$GC,2929,-1.25,-146.0,285.8,-7.3,199,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2180,3789,0,0,0,0,0,0
$GC,3173,-1.30,-146.0,304.2,-7.7,205,3175,0.12,0.00,0.00,0.000,6,0.064,0.000,2948,2180,3789,0,0,0,0,0,0
$GC,3418,-1.23,-146.0,328.4,-10.0,211,3423,0.20,2.58,0.00,0.000,4,0.081,0.044,2994,3764,3788,0,0,0,0,0,0
$GC,3440,-1.23,-146.0,330.8,-9.1,211,3445,0.00,2.47,0.00,0.000,6,0.000,0.028,2994,2194,3788,0,0,0,0,0,0
$GC,3696,-1.23,-146.0,351.2,-7.9,218,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2194,3787,0,0,0,0,0,0
$GC,3940,-1.23,-146.0,369.7,-7.5,224,3944,0.00,2.55,0.00,0.000,4,0.000,0.048,2994,3759,3787,0,0,0,0,0,0
$GC,3963,-1.23,-146.0,371.4,-7.7,224,3968,0.00,2.50,0.00,0.000,6,0.000,0.027,2994,2192,3787,0,0,0,0,0,0
$GC,4218,-1.23,-146.0,389.7,-7.2,231,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2192,3786,0,0,0,0,0,0
$GC,4462,-1.23,-146.0,408.5,-7.9,237,4466,0.00,2.70,0.00,0.000,4,0.000,0.076,2994,624,3785,0,0,0,0,0,0
$GC,4485,-1.23,-146.0,410.4,-7.9,237,4490,0.00,2.45,0.00,0.000,6,0.000,0.034,2994,2166,3785,0,0,0,0,0,0
$GC,4742,-1.26,-146.0,431.0,-8.0,244,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2166,3784,0,0,0,0,0,0
$GC,4985,-1.30,-146.0,449.7,-7.7,250,4990,0.00,2.65,0.00,0.000,4,0.000,0.071,2994,633,3783,0,0,0,0,0,0
$GC,5003,-1.30,-146.0,451.0,-7.6,250,5008,0.00,2.53,0.00,0.000,6,0.000,0.043,2994,2187,3782,0,0,0,0,0,0
$GC,5265,-1.34,-146.0,470.8,-7.4,257,5270,0.12,2.70,0.00,0.000,4,0.067,0.064,2945,3793,3782,0,0,0,0,0,0
$GC,5321,-1.29,-146.0,476.0,-9.4,258,5326,0.15,2.62,0.00,0.000,6,0.089,0.046,2980,2202,3781,0,0,0,0,0,0
$GC,5590,-1.29,-146.0,496.7,-7.6,265,5595,0.00,2.85,0.00,0.000,4,0.000,0.100,2980,624,3781,0,0,0,0,0,0
$GC,5611,-1.29,-146.0,498.8,-8.2,265,5616,0.00,2.58,0.00,0.000,6,0.000,0.042,2980,2192,3780,0,0,0,0,0,0
$GC,5869,-1.29,-146.0,518.7,-7.7,272,5873,0.00,2.75,0.00,0.000,4,0.000,0.077,2980,3801,3779,0,0,0,0,0,0
$GC,5885,-1.29,-146.0,520.2,-7.6,272,5889,0.00,2.67,0.00,0.000,6,0.000,0.044,2980,2194,3779,0,0,0,0,0,0
$GC,6146,-1.29,-146.0,539.6,-7.6,279,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2194,3777,0,0,0,0,0,0
$GC,6391,-1.29,-146.0,558.2,-7.7,285,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2194,3777,0,0,0,0,0,0
$GC,6635,-1.29,-146.0,577.0,-7.7,291,6640,0.00,2.80,0.00,0.000,4,0.000,0.085,2980,3794,3776,0,0,0,0,0,0
$GC,6662,-1.29,-146.0,579.4,-7.7,291,6667,0.00,2.72,0.00,0.000,6,0.000,0.063,2980,2199,3776,0,0,0,0,0,0
$GC,6912,-1.29,-146.0,598.2,-7.6,297,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2199,3775,0,0,0,0,0,0
$GC,7158,-1.29,-146.0,617.0,-7.7,303,7163,0.00,2.83,0.00,0.000,4,0.000,0.085,2980,3798,3773,0,0,0,0,0,0
$GC,7198,-1.33,-146.0,620.3,-8.0,304,7203,0.00,2.80,0.00,0.000,6,0.000,0.076,2980,2199,3773,0,0,0,0,0,0
$GC,7481,-1.33,-146.0,642.0,-7.7,311,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2200,3772,0,0,0,0,0,0
$GC,7727,-1.33,-146.0,660.7,-7.7,317,7732,0.00,2.92,0.00,0.000,4,0.000,0.102,2980,3798,3770,0,0,0,0,0,0
$GC,7745,-1.33,-146.0,662.3,-7.4,317,7750,0.00,2.88,0.00,0.000,6,0.000,0.094,2980,2204,3770,0,0,0,0,0,0
$GC,8009,-1.33,-146.0,683.0,-8.0,324,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2204,3768,0,0,0,0,0,0
$GC,8252,-1.33,-146.0,702.7,-8.0,330,8257,0.00,3.00,0.00,0.000,4,0.000,0.120,2980,3789,3768,0,0,0,0,0,0
$GC,8285,-1.33,-146.0,705.8,-8.8,330,8290,0.00,2.83,0.00,0.000,6,0.000,0.084,2980,2209,3767,0,0,0,0,0,0
$GC,8535,-1.33,-146.0,726.3,-8.2,337,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2209,3766,0,0,0,0,0,0
$GC,8779,-1.37,-146.0,746.7,-8.4,343,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2208,3765,0,0,0,0,0,0
$GC,9025,-1.37,-146.0,766.4,-8.1,349,9029,0.00,2.85,0.00,0.000,4,0.000,0.095,2980,3791,3763,0,0,0,0,0,0
$GC,9064,-1.40,-146.0,769.9,-8.6,350,9070,0.12,2.78,0.00,0.000,6,0.068,0.075,2932,2209,3763,0,0,0,0,0,0
$GC,9351,-1.35,-146.0,796.9,-9.6,357,9356,0.15,3.05,0.00,0.000,4,0.097,0.121,2966,615,3762,0,0,0,0,0,0
$GC,9368,-1.31,-146.0,798.8,-9.5,357,9372,0.00,2.75,0.00,0.000,6,0.000,0.067,2966,2210,3762,0,0,0,0,0,0
$GC,9628,-1.31,-146.0,819.5,-7.7,364,9633,0.00,2.88,0.00,0.000,4,0.000,0.097,2966,3797,3761,0,0,0,0,0,0
$GC,9670,-1.31,-146.0,822.8,-8.8,365,9674,0.00,2.72,0.00,0.000,6,0.000,0.064,2966,2219,3761,0,0,0,0,0,0
$GC,9953,-1.31,-146.0,844.4,-7.6,372,9958,0.00,2.75,0.00,0.000,4,0.000,0.083,2966,3796,3760,0,0,0,0,0,0
$GC,9974,-1.31,-146.0,846.4,-8.4,372,9979,0.00,2.72,0.00,0.000,6,0.000,0.069,2966,2221,3759,0,0,0,0,0,0
$GC,10232,-1.31,-146.0,866.4,-7.8,379,10236,0.00,2.78,0.00,0.000,4,0.000,0.081,2966,3797,3758,0,0,0,0,0,0
$GC,10264,-1.31,-146.0,869.4,-8.3,379,10270,0.00,2.70,0.00,0.000,6,0.000,0.065,2965,2233,3758,0,0,0,0,0,0
$GC,10514,-1.31,-146.0,887.4,-7.2,386,10519,0.00,2.75,0.00,0.000,4,0.000,0.084,2965,3799,3757,0,0,0,0,0,0
$GC,10538,-1.31,-146.0,889.2,-7.6,386,10543,0.00,2.72,0.00,0.000,6,0.000,0.066,2966,2231,3757,0,0,0,0,0,0
$STATE,10709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10709,begin apogee
$GC,10715,-0.31,0.0,902.9,7.9,391,10839,0.98,0.00,120.03,1.217,6,0.068,0.000,3190,2385,3190,0,0,0,0,0,0
$STATE,10840,end apogee,CONTROL_FINISHED_OK
$STATE,10840,begin climb
$GC,10842,1.27,146.0,906.4,0.0,394,10979,1.42,2.72,127.10,1.187,4,0.036,0.078,3542,3920,2592,0,0,0,0,0,0
$GC,11093,1.15,146.0,888.1,12.4,399,11099,0.15,2.70,0.00,0.000,6,0.114,0.058,3512,2366,2587,0,0,0,0,0,0
$GC,11346,1.13,162.3,864.2,9.2,406,11366,0.00,2.78,14.52,1.065,4,0.000,0.069,3512,3931,2528,0,0,0,0,0,0
$GC,11416,1.07,162.3,856.8,10.3,407,11421,0.00,2.65,0.00,0.000,6,0.000,0.049,3512,2381,2526,0,0,0,0,0,0
$GC,11668,1.07,162.3,831.9,10.1,413,11669,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2381,2524,0,0,0,0,0,0
$GC,11910,1.07,162.9,807.4,10.0,419,11914,0.00,2.65,0.00,0.000,4,0.000,0.061,3512,3931,2522,0,0,0,0,0,0
$GC,11971,1.03,162.9,800.4,11.3,420,11976,0.12,2.58,0.00,0.000,6,0.120,0.041,3485,2392,2522,0,0,0,0,0,0
$GC,12234,1.05,184.7,776.6,9.0,427,12260,0.00,3.17,20.48,1.081,4,0.000,0.121,3485,777,2436,0,0,0,0,0,0
$GC,12282,1.06,191.3,771.6,9.7,428,12297,0.00,2.70,7.72,0.927,6,0.000,0.044,3485,2383,2410,0,0,0,0,0,0
$GC,12561,1.12,202.7,745.1,9.5,435,12580,0.00,2.80,11.85,1.006,4,0.000,0.072,3485,3934,2362,0,0,0,0,0,0
$GC,12593,1.13,211.5,741.8,9.6,435,12607,0.00,2.60,9.65,0.960,6,0.000,0.042,3485,2386,2327,0,0,0,0,0,0
$GC,12888,1.20,224.8,714.5,9.4,443,12908,0.15,3.12,13.60,1.004,4,0.069,0.114,3527,783,2272,0,0,0,0,0,0
$GC,12943,1.20,224.8,707.9,12.2,444,12948,0.00,2.70,0.00,0.000,6,0.000,0.040,3527,2389,2271,0,0,0,0,0,0
$GC,13215,1.20,224.8,676.5,11.4,451,13219,0.00,2.67,0.00,0.000,4,0.000,0.067,3527,3937,2270,0,0,0,0,0,0
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$STATE,19167,end climb,SURFACE_DEPTH_REACHED
$STATE,19167,begin surface coast
$FINISH,1.1,1.023787
$STATE,19210,end surface coast,CONTROL_FINISHED_OK
$STATE,19210,begin surface
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$TCM_TEMP,24.30
$XPDR_PINGS,73
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$10V_AH,10.3,36.616
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355836
$DATA_FILE_SIZE,57326,731
$CAP_FILE_SIZE,177100,0
$CFSIZE,260165632,107827200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190313,111435,1927.101,-8109.690,28,0.9,28,-3.8