version: 66.06
glider: 146
mission: 8
dive: 301
start: 3 20 113 21 14 59
data:
$ID,146
$MISSION,8
$DIVE,301
$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,-313370.62
$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,32
$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
$GPS1,210306,1926.408,-8116.559,35,1.4,35,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-76.2
$GPS2,211406,1926.308,-8116.475,12,1.2,29,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,-0.022
$KALMAN_X,-59381.7,-34.0,-115.3,43693.0,-448.2
$KALMAN_Y,31823.4,364.7,327.1,-27434.5,-546.9
$MHEAD_RNG_PITCHd_Wd,98.7,15178,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.43,0.000,2,0.000,0.000,462,2143,3502,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.0,-5.8,9,120,13.68,2.53,-5.15,0.000,4,0.164,0.061,2977,634,3786,0,0,0,0,0,0
$GC,212,-1.08,-146.0,33.2,-17.3,24,217,0.22,2.45,0.00,0.000,6,0.101,0.018,3026,2231,3787,0,0,0,0,0,0
$GC,480,-0.96,-146.0,71.9,-14.2,48,485,0.10,2.65,0.00,0.000,4,0.125,0.044,3049,633,3788,0,0,0,0,0,0
$GC,554,-0.96,-146.0,82.2,-12.3,53,558,0.00,2.42,0.00,0.000,6,0.000,0.025,3049,2203,3788,0,0,0,0,0,0
$GC,820,-0.90,-146.0,115.5,-12.4,77,825,0.00,2.58,0.00,0.000,4,0.000,0.043,3049,633,3788,0,0,0,0,0,0
$GC,867,-0.85,-146.0,121.6,-12.5,80,872,0.12,2.38,0.00,0.000,6,0.110,0.018,3076,2190,3788,0,0,0,0,0,0
$GC,1129,-0.91,-146.0,146.5,-7.7,104,1133,0.00,2.50,0.00,0.000,4,0.000,0.041,3076,3774,3788,0,0,0,0,0,0
$GC,1160,-0.99,-146.0,148.7,-7.9,106,1166,0.15,2.47,0.00,0.000,6,0.056,0.020,3012,2181,3788,0,0,0,0,0,0
$GC,1425,-0.99,-146.0,173.3,-10.0,130,1430,0.15,0.00,0.00,0.000,6,0.091,0.000,3047,2182,3789,0,0,0,0,0,0
$GC,1687,-1.08,-146.0,193.1,-6.8,155,1693,0.10,2.58,0.00,0.000,4,0.079,0.036,2998,3773,3789,0,0,0,0,0,0
$GC,1705,-1.14,-146.0,194.6,-7.8,156,1710,0.00,2.45,0.00,0.000,6,0.000,0.025,2998,2192,3789,0,0,0,0,0,0
$GC,1968,-1.14,-146.0,217.6,-8.5,166,1972,0.00,2.50,0.00,0.000,4,0.000,0.054,2998,646,3789,0,0,0,0,0,0
$GC,1997,-1.14,-146.0,220.2,-8.8,166,2001,0.00,2.38,0.00,0.000,6,0.000,0.020,2997,2194,3789,0,0,0,0,0,0
$GC,2252,-1.14,-146.0,241.2,-8.3,173,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2194,3789,0,0,0,0,0,0
$GC,2496,-1.14,-146.0,260.5,-7.8,179,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2194,3789,0,0,0,0,0,0
$GC,2742,-1.14,-146.0,278.9,-7.5,185,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2194,3788,0,0,0,0,0,0
$GC,2983,-1.14,-146.0,296.4,-7.2,191,2987,0.00,2.55,0.00,0.000,4,0.000,0.048,2998,3769,3788,0,0,0,0,0,0
$GC,3004,-1.14,-146.0,298.1,-7.4,191,3009,0.00,2.42,0.00,0.000,6,0.000,0.028,2998,2207,3787,0,0,0,0,0,0
$GC,3260,-1.14,-146.0,317.4,-7.6,198,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2207,3787,0,0,0,0,0,0
$GC,3506,-1.14,-146.0,335.6,-7.5,204,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2207,3786,0,0,0,0,0,0
$GC,3748,-1.14,-146.0,354.4,-7.6,210,3752,0.00,2.53,0.00,0.000,4,0.000,0.041,2998,3763,3785,0,0,0,0,0,0
$GC,3763,-1.14,-146.0,355.6,-7.6,210,3768,0.00,2.47,0.00,0.000,6,0.000,0.028,2998,2198,3785,0,0,0,0,0,0
$GC,4027,-1.14,-146.0,375.7,-7.6,217,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2199,3784,0,0,0,0,0,0
$GC,4268,-1.14,-146.0,393.7,-7.3,223,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2199,3783,0,0,0,0,0,0
$GC,4512,-1.18,-146.0,412.0,-7.4,229,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2199,3782,0,0,0,0,0,0
$GC,4756,-1.18,-146.0,430.1,-7.3,235,4760,0.00,2.58,0.00,0.000,4,0.000,0.052,2998,3764,3781,0,0,0,0,0,0
$GC,4780,-1.22,-146.0,431.8,-7.8,235,4784,0.00,2.53,0.00,0.000,6,0.000,0.038,2998,2198,3781,0,0,0,0,0,0
$GC,5035,-1.26,-146.0,451.1,-7.5,242,5040,0.00,2.58,0.00,0.000,4,0.000,0.051,2998,3758,3780,0,0,0,0,0,0
$GC,5052,-1.29,-146.0,452.6,-7.6,242,5057,0.00,2.53,0.00,0.000,6,0.000,0.038,2998,2201,3780,0,0,0,0,0,0
$GC,5316,-1.33,-146.0,472.0,-7.4,249,5318,0.12,0.00,0.00,0.000,6,0.067,0.000,2947,2201,3779,0,0,0,0,0,0
$GC,5558,-1.28,-146.0,493.2,-8.6,255,5560,0.15,0.00,0.00,0.000,6,0.091,0.000,2981,2201,3778,0,0,0,0,0,0
$GC,5803,-1.28,-146.0,510.9,-7.3,261,5808,0.00,2.65,0.00,0.000,4,0.000,0.064,2982,3758,3777,0,0,0,0,0,0
$GC,5819,-1.28,-146.0,512.4,-7.5,261,5824,0.00,2.58,0.00,0.000,6,0.000,0.053,2981,2207,3777,0,0,0,0,0,0
$GC,6081,-1.28,-146.0,532.4,-7.8,268,6085,0.00,2.65,0.00,0.000,4,0.000,0.068,2982,3761,3776,0,0,0,0,0,0
$GC,6096,-1.28,-146.0,533.8,-7.9,268,6101,0.00,2.60,0.00,0.000,6,0.000,0.058,2981,2214,3776,0,0,0,0,0,0
$GC,6360,-1.28,-146.0,554.1,-7.6,275,6365,0.00,3.00,0.00,0.000,4,0.000,0.116,2982,623,3774,0,0,0,0,0,0
$GC,6376,-1.28,-146.0,555.7,-7.7,275,6380,0.00,2.58,0.00,0.000,6,0.000,0.048,2982,2178,3774,0,0,0,0,0,0
$GC,6641,-1.28,-146.0,575.0,-7.3,282,6645,0.00,2.88,0.00,0.000,4,0.000,0.087,2981,3799,3773,0,0,0,0,0,0
$GC,6670,-1.28,-146.0,577.4,-8.2,282,6674,0.00,2.67,0.00,0.000,6,0.000,0.061,2981,2220,3773,0,0,0,0,0,0
$GC,6920,-1.28,-146.0,595.8,-7.4,288,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2220,3771,0,0,0,0,0,0
$GC,7164,-1.28,-146.0,613.5,-7.2,294,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2220,3770,0,0,0,0,0,0
$GC,7410,-1.28,-146.0,631.9,-7.5,300,7414,0.00,2.80,0.00,0.000,4,0.000,0.088,2981,3791,3769,0,0,0,0,0,0
$GC,7437,-1.28,-146.0,634.5,-8.6,300,7441,0.00,2.75,0.00,0.000,6,0.000,0.077,2982,2225,3769,0,0,0,0,0,0
$GC,7687,-1.28,-146.0,653.9,-7.8,306,7692,0.00,3.08,0.00,0.000,4,0.000,0.125,2981,619,3767,0,0,0,0,0,0
$GC,7703,-1.28,-146.0,655.3,-7.5,306,7707,0.00,2.78,0.00,0.000,6,0.000,0.074,2981,2214,3767,0,0,0,0,0,0
$GC,7966,-1.28,-146.0,674.1,-7.1,313,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2214,3766,0,0,0,0,0,0
$GC,8207,-1.28,-146.0,692.2,-7.6,319,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2214,3765,0,0,0,0,0,0
$GC,8451,-1.28,-146.0,711.8,-7.9,325,8456,0.00,3.08,0.00,0.000,4,0.000,0.141,2981,3794,3763,0,0,0,0,0,0
$GC,8475,-1.28,-146.0,713.6,-7.9,325,8480,0.00,2.97,0.00,0.000,6,0.000,0.111,2982,2226,3763,0,0,0,0,0,0
$GC,8730,-1.28,-146.0,733.9,-7.9,332,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2225,3762,0,0,0,0,0,0
$GC,8974,-1.28,-146.0,753.0,-7.7,338,8979,0.00,3.15,0.00,0.000,4,0.000,0.148,2981,3793,3762,0,0,0,0,0,0
$GC,8992,-1.28,-146.0,754.4,-7.7,338,8997,0.00,2.75,0.00,0.000,6,0.000,0.066,2982,2209,3762,0,0,0,0,0,0
$GC,9253,-1.28,-146.0,774.2,-7.4,345,9257,0.00,2.80,0.00,0.000,4,0.000,0.084,2982,3802,3760,0,0,0,0,0,0
$GC,9280,-1.28,-146.0,776.3,-7.5,345,9284,0.00,2.72,0.00,0.000,6,0.000,0.071,2981,2225,3761,0,0,0,0,0,0
$GC,9532,-1.28,-146.0,794.8,-7.4,351,9537,0.00,3.00,0.00,0.000,4,0.000,0.117,2981,623,3760,0,0,0,0,0,0
$GC,9554,-1.28,-146.0,796.6,-7.1,351,9558,0.00,2.75,0.00,0.000,6,0.000,0.061,2982,2225,3759,0,0,0,0,0,0
$GC,9809,-1.28,-146.0,815.3,-7.4,358,9814,0.00,2.83,0.00,0.000,4,0.000,0.097,2982,3798,3758,0,0,0,0,0,0
$GC,9851,-1.32,-146.0,818.3,-8.0,359,9856,0.00,2.70,0.00,0.000,6,0.000,0.063,2981,2230,3758,0,0,0,0,0,0
$GC,10135,-1.36,-146.0,839.7,-7.4,366,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2230,3756,0,0,0,0,0,0
$GC,10378,-1.40,-146.0,857.4,-7.3,372,10380,0.12,0.00,0.00,0.000,6,0.074,0.000,2938,2230,3756,0,0,0,0,0,0
$GC,10624,-1.35,-146.0,879.6,-9.2,378,10630,0.12,2.78,0.00,0.000,4,0.102,0.080,2965,3802,3755,0,0,0,0,0,0
$GC,10641,-1.35,-146.0,881.3,-9.1,378,10645,0.00,2.67,0.00,0.000,6,0.000,0.061,2965,2233,3754,0,0,0,0,0,0
$STATE,10899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10899,begin apogee
$GC,10905,-0.31,0.0,901.7,7.8,385,11028,0.98,0.00,119.32,1.215,6,0.069,0.000,3190,2389,3190,0,0,0,0,0,0
$STATE,11029,end apogee,CONTROL_FINISHED_OK
$STATE,11029,begin climb
$GC,11034,1.27,146.0,904.8,0.0,388,11169,1.45,2.78,126.82,1.185,4,0.036,0.074,3544,3935,2593,0,0,0,0,0,0
$GC,11252,1.15,146.0,890.6,11.8,393,11257,0.17,2.72,0.00,0.000,6,0.110,0.058,3509,2363,2588,0,0,0,0,0,0
$GC,11530,1.16,155.5,863.2,9.6,400,11545,0.00,2.80,8.45,0.972,4,0.000,0.066,3509,3933,2556,0,0,0,0,0,0
$GC,11576,1.10,155.5,858.7,10.9,401,11581,0.00,2.67,0.00,0.000,6,0.000,0.053,3509,2371,2555,0,0,0,0,0,0
$GC,11859,1.11,161.6,830.5,9.7,408,11868,0.00,0.00,6.85,0.918,6,0.000,0.000,3509,2371,2531,0,0,0,0,0,0
$GC,12103,1.12,171.9,807.1,9.5,414,12116,0.00,0.00,10.77,1.016,6,0.000,0.000,3509,2372,2489,0,0,0,0,0,0
$GC,12349,1.13,183.5,784.2,9.5,420,12363,0.00,0.00,11.80,1.020,6,0.000,0.000,3509,2371,2442,0,0,0,0,0,0
$GC,12590,1.13,183.5,759.6,10.1,426,12594,0.00,2.67,0.00,0.000,4,0.000,0.063,3509,3932,2439,0,0,0,0,0,0
$GC,12650,1.13,183.5,753.0,10.8,427,12655,0.00,2.62,0.00,0.000,6,0.000,0.048,3509,2382,2438,0,0,0,0,0,0
$GC,12914,1.14,188.4,727.3,9.8,434,12922,0.00,0.00,5.50,0.822,6,0.000,0.000,3509,2382,2422,0,0,0,0,0,0
$GC,13155,1.15,201.1,704.0,9.4,440,13175,0.00,2.72,13.40,1.005,4,0.000,0.060,3509,3928,2369,0,0,0,0,0,0
$GC,13192,1.15,201.1,700.2,10.5,440,13198,0.00,2.62,0.00,0.000,6,0.000,0.044,3509,2383,2369,0,0,0,0,0,0
$GC,13444,1.15,201.1,674.7,10.2,447,13445,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2383,2367,0,0,0,0,0,0
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$STATE,20082,end climb,SURFACE_DEPTH_REACHED
$STATE,20082,begin surface coast
$FINISH,0.9,1.009718
$STATE,20158,end surface coast,CONTROL_FINISHED_OK
$STATE,20158,begin surface
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$10V_AH,10.2,37.508
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.500,180.400,379.450,61.425,0.000,61.290,73.362,268.063,15.000,0.000,30.515,1570.584,15519.469,557.990,2343.971,900.870,33.366,1519.471,0.000,2326.499,0.000,0.536,0.000
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$MEM,355836
$DATA_FILE_SIZE,57474,764
$CAP_FILE_SIZE,170437,0
$CFSIZE,260165632,107323392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210313,025335,1927.086,-8114.736,29,0.9,29,-3.8