version: 66.06
glider: 146
mission: 8
dive: 320
start: 3 24 113 21 10 26
data:
$ID,146
$MISSION,8
$DIVE,320
$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,-313769.78
$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,76
$R_STBD_OVSHOOT,22
$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
$GPS1,205820,1927.471,-8116.771,35,99.0,54,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-74.0
$GPS2,210933,1927.525,-8116.658,16,99.0,35,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.245,-0.086
$KALMAN_X,-93685.4,177.2,26.5,77314.7,-2119.4
$KALMAN_Y,55052.9,92.3,199.1,-48015.3,709.7
$MHEAD_RNG_PITCHd_Wd,113.1,16127,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-61.92,0.000,2,0.000,0.000,463,2164,3239,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-3.7,8,122,13.65,2.65,-11.20,0.000,4,0.161,0.038,2977,3808,3788,0,0,0,0,0,0
$GC,234,-1.13,-146.0,37.0,-21.5,26,243,0.12,2.47,0.00,0.000,6,0.077,0.025,3010,2260,3787,0,0,0,0,0,0
$GC,504,-0.99,-146.0,78.5,-14.9,51,509,0.15,2.67,0.00,0.000,4,0.108,0.048,3043,631,3788,0,0,0,0,0,0
$GC,562,-0.94,-146.0,87.4,-13.3,55,567,0.00,2.47,0.00,0.000,6,0.000,0.016,3043,2242,3787,0,0,0,0,0,0
$GC,829,-0.88,-146.0,120.4,-12.1,79,834,0.12,2.67,0.00,0.000,4,0.110,0.045,3070,630,3788,0,0,0,0,0,0
$GC,849,-0.82,-146.0,123.2,-11.9,80,853,0.00,2.40,0.00,0.000,6,0.000,0.021,3070,2203,3788,0,0,0,0,0,0
$GC,1111,-0.82,-146.0,149.5,-10.1,104,1116,0.00,2.55,0.00,0.000,4,0.000,0.044,3070,631,3788,0,0,0,0,0,0
$GC,1148,-0.82,-146.0,152.4,-9.9,106,1152,0.00,2.40,0.00,0.000,6,0.000,0.021,3071,2197,3789,0,0,0,0,0,0
$GC,1415,-0.92,-146.0,173.5,-7.0,130,1419,0.00,2.50,0.00,0.000,4,0.000,0.039,3070,3775,3789,0,0,0,0,0,0
$GC,1447,-1.03,-146.0,175.7,-6.8,132,1452,0.15,2.45,0.00,0.000,6,0.154,0.020,3003,2184,3789,0,0,0,0,0,0
$GC,1708,-1.03,-146.0,199.9,-9.6,156,1713,0.15,2.53,0.00,0.000,4,0.091,0.052,3038,641,3789,0,0,0,0,0,0
$GC,1730,-1.03,-146.0,201.8,-8.2,156,1734,0.00,2.40,0.00,0.000,6,0.000,0.023,3038,2215,3789,0,0,0,0,0,0
$GC,1988,-1.11,-146.0,220.4,-7.0,163,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2215,3789,0,0,0,0,0,0
$GC,2229,-1.20,-146.0,236.4,-6.5,169,2231,0.17,0.00,0.00,0.000,6,0.052,0.000,2970,2215,3789,0,0,0,0,0,0
$GC,2472,-1.20,-146.0,256.6,-8.3,175,2474,0.12,0.00,0.00,0.000,6,0.095,0.000,2999,2216,3789,0,0,0,0,0,0
$GC,2718,-1.20,-146.0,275.0,-7.4,181,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2215,3789,0,0,0,0,0,0
$GC,2960,-1.20,-146.0,292.5,-7.2,187,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2216,3788,0,0,0,0,0,0
$GC,3203,-1.20,-146.0,309.6,-7.0,193,3208,0.00,2.62,0.00,0.000,4,0.000,0.055,2999,638,3788,0,0,0,0,0,0
$GC,3221,-1.20,-146.0,310.9,-7.2,193,3226,0.00,2.42,0.00,0.000,6,0.000,0.028,2999,2194,3787,0,0,0,0,0,0
$GC,3483,-1.23,-146.0,330.1,-7.2,200,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2194,3786,0,0,0,0,0,0
$GC,3726,-1.23,-146.0,348.2,-7.5,206,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2194,3786,0,0,0,0,0,0
$GC,3970,-1.23,-146.0,366.1,-7.4,212,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2194,3785,0,0,0,0,0,0
$GC,4216,-1.27,-146.0,385.6,-8.2,218,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2194,3784,0,0,0,0,0,0
$GC,4458,-1.31,-146.0,405.9,-8.3,224,4460,0.10,0.00,0.00,0.000,6,0.080,0.000,2954,2194,3783,0,0,0,0,0,0
$GC,4702,-1.26,-146.0,430.0,-10.0,230,4704,0.15,0.00,0.00,0.000,6,0.092,0.000,2988,2194,3782,0,0,0,0,0,0
$GC,4947,-1.26,-146.0,451.1,-8.5,236,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2194,3781,0,0,0,0,0,0
$GC,5190,-1.26,-146.0,471.1,-8.1,242,5195,0.00,2.67,0.00,0.000,4,0.000,0.060,2988,3783,3779,0,0,0,0,0,0
$GC,5207,-1.26,-146.0,472.5,-8.0,242,5211,0.00,2.55,0.00,0.000,6,0.000,0.047,2989,2229,3779,0,0,0,0,0,0
$GC,5470,-1.26,-146.0,493.0,-7.7,249,5474,0.00,2.92,0.00,0.000,4,0.000,0.099,2988,619,3778,0,0,0,0,0,0
$GC,5491,-1.26,-146.0,494.9,-7.6,249,5496,0.00,2.55,0.00,0.000,6,0.000,0.042,2988,2180,3778,0,0,0,0,0,0
$GC,5747,-1.26,-146.0,513.5,-7.2,256,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2180,3777,0,0,0,0,0,0
$GC,5990,-1.26,-146.0,531.8,-7.5,262,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2180,3777,0,0,0,0,0,0
$GC,6237,-1.26,-146.0,549.4,-7.2,268,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2180,3775,0,0,0,0,0,0
$GC,6478,-1.26,-146.0,566.9,-7.2,274,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2180,3774,0,0,0,0,0,0
$GC,6722,-1.26,-146.0,584.4,-7.1,280,6726,0.00,2.88,0.00,0.000,4,0.000,0.097,2988,3796,3773,0,0,0,0,0,0
$GC,6751,-1.30,-146.0,586.5,-7.6,280,6756,0.00,2.70,0.00,0.000,6,0.000,0.060,2988,2204,3772,0,0,0,0,0,0
$GC,7002,-1.34,-146.0,604.4,-7.1,286,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2204,3771,0,0,0,0,0,0
$GC,7245,-1.38,-146.0,621.9,-7.2,292,7251,0.12,2.83,0.00,0.000,4,0.067,0.082,2938,3792,3770,0,0,0,0,0,0
$GC,7288,-1.33,-146.0,625.6,-9.8,293,7293,0.15,2.78,0.00,0.000,6,0.091,0.080,2973,2210,3770,0,0,0,0,0,0
$GC,7572,-1.33,-146.0,649.3,-8.3,300,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2210,3769,0,0,0,0,0,0
$GC,7816,-1.33,-146.0,669.3,-8.4,306,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2211,3767,0,0,0,0,0,0
$GC,8062,-1.33,-146.0,689.5,-8.2,312,8067,0.00,2.97,0.00,0.000,4,0.000,0.112,2973,3790,3766,0,0,0,0,0,0
$GC,8083,-1.33,-146.0,691.6,-8.2,312,8088,0.00,2.92,0.00,0.000,6,0.000,0.108,2973,2216,3766,0,0,0,0,0,0
$GC,8341,-1.33,-146.0,712.4,-8.0,319,8346,0.00,2.97,0.00,0.000,4,0.000,0.121,2973,3790,3764,0,0,0,0,0,0
$GC,8365,-1.33,-146.0,714.1,-7.6,319,8369,0.00,2.80,0.00,0.000,6,0.000,0.081,2973,2218,3765,0,0,0,0,0,0
$GC,8620,-1.33,-146.0,735.1,-8.1,326,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2218,3763,0,0,0,0,0,0
$GC,8864,-1.33,-146.0,755.0,-8.0,332,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2217,3762,0,0,0,0,0,0
$GC,9107,-1.33,-146.0,773.7,-7.6,338,9112,0.00,2.80,0.00,0.000,4,0.000,0.085,2973,3793,3761,0,0,0,0,0,0
$GC,9120,-1.33,-146.0,774.5,-7.7,338,9125,0.00,2.75,0.00,0.000,6,0.000,0.073,2973,2214,3761,0,0,0,0,0,0
$GC,9386,-1.33,-146.0,794.7,-7.4,345,9391,0.00,3.05,0.00,0.000,4,0.000,0.123,2973,619,3760,0,0,0,0,0,0
$GC,9409,-1.33,-146.0,796.5,-8.2,345,9414,0.00,2.75,0.00,0.000,6,0.000,0.064,2973,2221,3760,0,0,0,0,0,0
$GC,9667,-1.33,-146.0,816.2,-7.7,352,9671,0.00,2.85,0.00,0.000,4,0.000,0.094,2973,3804,3759,0,0,0,0,0,0
$GC,9682,-1.33,-146.0,817.8,-7.7,352,9687,0.00,2.72,0.00,0.000,6,0.000,0.063,2973,2223,3759,0,0,0,0,0,0
$GC,9944,-1.33,-146.0,837.7,-7.5,359,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2223,3758,0,0,0,0,0,0
$GC,10190,-1.33,-146.0,856.1,-7.7,365,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2223,3757,0,0,0,0,0,0
$GC,10433,-1.33,-146.0,875.0,-7.7,371,10437,0.00,2.78,0.00,0.000,4,0.000,0.080,2974,3805,3756,0,0,0,0,0,0
$GC,10459,-1.33,-146.0,877.4,-9.2,371,10464,0.00,2.70,0.00,0.000,6,0.000,0.063,2973,2235,3756,0,0,0,0,0,0
$GC,10710,-1.33,-146.0,896.9,-7.9,377,10711,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2235,3754,0,0,0,0,0,0
$STATE,10747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10747,begin apogee
$GC,10756,-0.31,0.0,900.1,7.9,378,10879,0.95,0.00,119.18,1.216,6,0.071,0.000,3190,2389,3190,0,0,0,0,0,0
$STATE,10879,end apogee,CONTROL_FINISHED_OK
$STATE,10879,begin climb
$GC,10882,1.27,146.0,903.9,0.0,381,11019,1.42,2.72,126.88,1.186,4,0.045,0.077,3541,3932,2592,0,0,0,0,0,0
$GC,11099,1.15,146.0,890.3,11.7,386,11104,0.15,2.72,0.00,0.000,6,0.114,0.058,3511,2367,2587,0,0,0,0,0,0
$GC,11379,1.17,166.2,864.8,9.1,393,11404,0.00,2.83,18.00,1.085,4,0.000,0.064,3511,3928,2511,0,0,0,0,0,0
$GC,11422,1.13,166.2,860.5,10.1,394,11427,0.00,2.67,0.00,0.000,6,0.000,0.052,3512,2372,2510,0,0,0,0,0,0
$GC,11705,1.15,185.8,834.2,9.1,401,11726,0.00,0.00,18.75,1.083,6,0.000,0.000,3511,2372,2432,0,0,0,0,0,0
$GC,11951,1.17,200.0,811.6,9.3,407,11971,0.00,2.78,14.27,1.052,4,0.000,0.064,3511,3938,2373,0,0,0,0,0,0
$GC,11998,1.17,200.0,806.4,10.7,408,12003,0.00,2.67,0.00,0.000,6,0.000,0.052,3511,2381,2372,0,0,0,0,0,0
$GC,12270,1.17,200.0,778.5,10.3,415,12275,0.00,3.15,0.00,0.000,4,0.000,0.132,3511,782,2370,0,0,0,0,0,0
$GC,12306,1.14,204.4,774.9,9.8,415,12316,0.00,2.67,5.00,0.793,6,0.000,0.044,3511,2374,2356,0,0,0,0,0,0
$GC,12594,1.14,204.4,744.4,10.4,423,12599,0.00,2.72,0.00,0.000,4,0.000,0.074,3511,3937,2354,0,0,0,0,0,0
$GC,12696,1.14,204.4,732.6,12.2,425,12701,0.00,2.62,0.00,0.000,6,0.000,0.043,3511,2384,2354,0,0,0,0,0,0
$GC,12962,1.14,204.4,703.4,10.9,432,12967,0.00,2.65,0.00,0.000,4,0.000,0.061,3511,3937,2353,0,0,0,0,0,0
$GC,13023,1.14,204.4,695.9,11.7,433,13027,0.00,2.60,0.00,0.000,6,0.000,0.048,3511,2396,2353,0,0,0,0,0,0
$GC,13286,1.14,204.4,667.5,10.9,440,13287,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2396,2353,0,0,0,0,0,0
$GC,13527,1.14,204.4,641.2,10.7,446,13532,0.00,2.62,0.00,0.000,4,0.000,0.060,3511,3938,2352,0,0,0,0,0,0
$GC,13549,1.14,204.4,638.6,11.8,446,13553,0.00,2.60,0.00,0.000,6,0.000,0.043,3511,2395,2352,0,0,0,0,0,0
$GC,13809,1.14,204.4,609.5,11.4,453,13813,0.00,2.62,0.00,0.000,4,0.000,0.054,3511,3940,2352,0,0,0,0,0,0
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$STATE,19583,end climb,SURFACE_DEPTH_REACHED
$STATE,19583,begin surface coast
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$STATE,19632,end surface coast,CONTROL_FINISHED_OK
$STATE,19632,begin surface
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$10V_AH,10.2,39.824
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57237,740
$CAP_FILE_SIZE,166714,0
$CFSIZE,260165632,106004480
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$GPS,250313,024005,1927.959,-8115.524,37,1.1,42,-3.8