version: 66.06
glider: 146
mission: 8
dive: 348
start: 3 31 113 11 44 3
data:
$ID,146
$MISSION,8
$DIVE,348
$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,-314356.91
$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,68
$R_STBD_OVSHOOT,39
$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
$GPS1,113600,1925.764,-8110.618,38,1.1,38,-3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-75.1
$GPS2,114308,1925.738,-8110.575,13,1.8,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,-0.132
$KALMAN_X,-166615.6,-262.8,-470.6,161815.0,80.7
$KALMAN_Y,106710.5,52.5,97.8,-102836.6,286.5
$MHEAD_RNG_PITCHd_Wd,124.3,5049,-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,-70.90,0.000,2,0.000,0.000,464,2168,3468,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.5,-4.6,9,123,13.35,2.45,-6.10,0.000,4,0.156,0.053,2976,667,3786,0,0,0,0,0,0
$GC,135,-0.19,-146.0,16.1,-31.1,13,145,1.05,2.42,0.00,0.000,6,0.076,0.016,3213,2235,3787,0,0,0,0,0,0
$GC,444,-0.51,-146.0,34.9,-4.2,52,449,0.25,2.55,0.00,0.000,4,0.043,0.041,3135,663,3787,0,0,0,0,0,0
$GC,467,-0.76,-146.0,36.3,-4.6,53,472,0.17,2.33,0.00,0.000,6,0.052,0.017,3064,2199,3788,0,0,0,0,0,0
$GC,737,-0.76,-146.0,67.9,-11.1,77,742,0.12,2.47,0.00,0.000,4,0.097,0.031,3094,3767,3788,0,0,0,0,0,0
$GC,758,-0.76,-146.0,70.9,-11.7,78,762,0.00,2.38,0.00,0.000,6,0.000,0.020,3094,2231,3788,0,0,0,0,0,0
$GC,1021,-0.80,-146.0,96.4,-9.8,102,1026,0.00,2.58,0.00,0.000,4,0.000,0.045,3093,638,3788,0,0,0,0,0,0
$GC,1091,-0.90,-146.0,102.7,-9.0,107,1096,0.12,2.38,0.00,0.000,6,0.064,0.016,3035,2192,3788,0,0,0,0,0,0
$GC,1356,-0.84,-146.0,134.8,-12.3,131,1361,0.17,0.00,0.00,0.000,6,0.087,0.000,3075,2192,3789,0,0,0,0,0,0
$GC,1621,-0.93,-146.0,160.5,-8.4,156,1626,0.00,2.53,0.00,0.000,4,0.000,0.045,3075,636,3789,0,0,0,0,0,0
$GC,1655,-1.01,-146.0,163.8,-8.3,158,1662,0.15,2.38,0.00,0.000,6,0.057,0.016,3009,2197,3789,0,0,0,0,0,0
$GC,1920,-1.01,-146.0,189.1,-9.8,183,1925,0.12,2.47,0.00,0.000,4,0.096,0.041,3039,3767,3790,0,0,0,0,0,0
$GC,1955,-1.08,-146.0,192.4,-8.4,185,1960,0.00,2.47,0.00,0.000,6,0.000,0.020,3040,2172,3790,0,0,0,0,0,0
$GC,2233,-1.16,-146.0,211.2,-6.5,200,2238,0.15,2.53,0.00,0.000,4,0.056,0.048,2975,638,3790,0,0,0,0,0,0
$GC,2254,-1.16,-146.0,213.2,-7.4,200,2259,0.15,2.33,0.00,0.000,6,0.090,0.025,3010,2183,3790,0,0,0,0,0,0
$GC,2513,-1.20,-146.0,233.1,-7.9,207,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2183,3790,0,0,0,0,0,0
$GC,2754,-1.24,-146.0,251.7,-7.6,213,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2183,3790,0,0,0,0,0,0
$GC,2998,-1.28,-146.0,269.9,-7.4,219,2999,0.12,0.00,0.00,0.000,6,0.067,0.000,2953,2183,3790,0,0,0,0,0,0
$GC,3244,-1.23,-146.0,292.5,-9.4,225,3249,0.17,2.55,0.00,0.000,4,0.084,0.046,2995,3766,3790,0,0,0,0,0,0
$GC,3265,-1.23,-146.0,294.7,-8.8,225,3270,0.00,2.45,0.00,0.000,6,0.000,0.028,2995,2191,3790,0,0,0,0,0,0
$GC,3527,-1.23,-146.0,314.2,-7.5,232,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2192,3789,0,0,0,0,0,0
$GC,3770,-1.23,-146.0,332.4,-7.4,238,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2192,3788,0,0,0,0,0,0
$GC,4016,-1.23,-146.0,348.7,-6.6,244,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2191,3788,0,0,0,0,0,0
$GC,4258,-1.23,-146.0,365.3,-6.9,250,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2192,3786,0,0,0,0,0,0
$GC,4502,-1.27,-146.0,384.1,-7.7,256,4506,0.00,2.65,0.00,0.000,4,0.000,0.075,2995,636,3786,0,0,0,0,0,0
$GC,4526,-1.27,-146.0,385.9,-8.2,256,4530,0.00,2.42,0.00,0.000,6,0.000,0.036,2995,2162,3786,0,0,0,0,0,0
$GC,4782,-1.31,-146.0,406.0,-7.8,263,4786,0.00,2.67,0.00,0.000,4,0.000,0.058,2995,3786,3785,0,0,0,0,0,0
$GC,4821,-1.36,-146.0,409.0,-7.7,264,4826,0.12,2.55,0.00,0.000,6,0.064,0.031,2942,2203,3785,0,0,0,0,0,0
$GC,5108,-1.30,-146.0,434.3,-8.8,271,5110,0.15,0.00,0.00,0.000,6,0.093,0.000,2976,2202,3784,0,0,0,0,0,0
$GC,5349,-1.30,-146.0,452.7,-7.6,277,5353,0.00,2.67,0.00,0.000,4,0.000,0.062,2976,3790,3782,0,0,0,0,0,0
$GC,5364,-1.30,-146.0,454.0,-7.6,277,5369,0.00,2.62,0.00,0.000,6,0.000,0.044,2976,2180,3782,0,0,0,0,0,0
$GC,5628,-1.30,-146.0,474.8,-8.2,284,5633,0.00,2.67,0.00,0.000,4,0.000,0.058,2976,3782,3781,0,0,0,0,0,0
$GC,5667,-1.30,-146.0,478.3,-8.5,285,5672,0.00,2.62,0.00,0.000,6,0.000,0.050,2976,2191,3781,0,0,0,0,0,0
$GC,5953,-1.30,-146.0,501.2,-8.0,292,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2192,3779,0,0,0,0,0,0
$GC,6194,-1.30,-146.0,520.0,-7.6,298,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2192,3778,0,0,0,0,0,0
$GC,6438,-1.30,-146.0,538.6,-7.6,304,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2191,3777,0,0,0,0,0,0
$GC,6682,-1.30,-146.0,558.8,-8.3,310,6686,0.00,2.78,0.00,0.000,4,0.000,0.077,2976,3783,3776,0,0,0,0,0,0
$GC,6734,-1.30,-146.0,563.2,-8.7,311,6738,0.00,2.67,0.00,0.000,6,0.000,0.054,2976,2200,3776,0,0,0,0,0,0
$GC,7005,-1.30,-146.0,585.7,-8.2,318,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2200,3774,0,0,0,0,0,0
$GC,7249,-1.30,-146.0,605.2,-8.0,324,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2200,3773,0,0,0,0,0,0
$GC,7495,-1.30,-146.0,625.4,-8.3,330,7500,0.00,2.83,0.00,0.000,4,0.000,0.087,2976,3782,3772,0,0,0,0,0,0
$GC,7511,-1.30,-146.0,626.9,-8.3,330,7515,0.00,2.72,0.00,0.000,6,0.000,0.069,2976,2204,3772,0,0,0,0,0,0
$GC,7772,-1.30,-146.0,648.8,-8.4,337,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2204,3770,0,0,0,0,0,0
$GC,8015,-1.30,-146.0,669.5,-8.5,343,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2204,3770,0,0,0,0,0,0
$GC,8262,-1.30,-146.0,689.7,-8.2,349,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2204,3768,0,0,0,0,0,0
$GC,8503,-1.30,-146.0,708.8,-7.7,355,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2204,3767,0,0,0,0,0,0
$GC,8747,-1.30,-146.0,726.7,-7.3,361,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2204,3766,0,0,0,0,0,0
$GC,8990,-1.30,-146.0,743.4,-6.9,367,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2204,3765,0,0,0,0,0,0
$GC,9236,-1.30,-146.0,760.6,-7.0,373,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2201,3764,0,0,0,0,0,0
$GC,9478,-1.30,-146.0,778.3,-7.3,379,9479,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2200,3763,0,0,0,0,0,0
$GC,9721,-1.30,-146.0,797.5,-7.9,385,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2200,3763,0,0,0,0,0,0
$GC,9965,-1.30,-146.0,817.3,-8.1,391,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2200,3762,0,0,0,0,0,0
$GC,10211,-1.30,-146.0,836.0,-7.7,397,10216,0.00,2.80,0.00,0.000,4,0.000,0.091,2976,3784,3761,0,0,0,0,0,0
$GC,10227,-1.30,-146.0,837.5,-7.8,397,10232,0.00,2.72,0.00,0.000,6,0.000,0.067,2976,2202,3761,0,0,0,0,0,0
$GC,10488,-1.30,-146.0,857.6,-7.7,404,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2202,3761,0,0,0,0,0,0
$GC,10734,-1.30,-146.0,875.7,-7.3,410,10738,0.00,2.78,0.00,0.000,4,0.000,0.083,2976,3782,3760,0,0,0,0,0,0
$GC,10778,-1.34,-146.0,879.0,-7.2,411,10783,0.00,2.75,0.00,0.000,6,0.000,0.073,2976,2202,3760,0,0,0,0,0,0
$GC,11056,-1.38,-146.0,897.6,-6.7,418,11061,0.00,2.80,0.00,0.000,4,0.000,0.080,2976,3788,3758,0,0,0,0,0,0
$STATE,11086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11086,begin apogee
$GC,11097,-0.31,0.0,900.2,7.7,418,11223,0.90,0.00,120.40,1.206,6,0.069,0.000,3187,2362,3189,0,0,0,0,0,0
$STATE,11224,end apogee,CONTROL_FINISHED_OK
$STATE,11224,begin climb
$GC,11226,1.27,146.0,903.8,0.0,422,11363,1.45,2.78,127.07,1.180,4,0.036,0.078,3543,3923,2592,0,0,0,0,0,0
$GC,11408,1.15,146.0,893.4,10.9,426,11413,0.15,2.72,0.00,0.000,6,0.111,0.061,3513,2363,2588,0,0,0,0,0,0
$GC,11677,1.16,157.2,868.1,9.5,433,11693,0.00,2.78,10.07,0.999,4,0.000,0.071,3513,3924,2549,0,0,0,0,0,0
$GC,11755,1.12,167.8,860.1,9.5,434,11773,0.00,2.65,11.30,1.016,6,0.000,0.052,3512,2378,2505,0,0,0,0,0,0
$GC,12049,1.14,178.9,832.8,9.5,442,12062,0.00,0.00,11.15,1.018,6,0.000,0.000,3513,2377,2460,0,0,0,0,0,0
$GC,12290,1.14,178.9,808.5,10.2,448,12294,0.00,2.65,0.00,0.000,4,0.000,0.059,3513,3921,2457,0,0,0,0,0,0
$GC,12316,1.14,178.9,805.4,10.8,448,12321,0.00,2.60,0.00,0.000,6,0.000,0.045,3513,2376,2456,0,0,0,0,0,0
$GC,12572,1.14,178.9,778.6,10.4,455,12573,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2376,2455,0,0,0,0,0,0
$GC,12818,1.14,178.9,753.8,10.0,461,12819,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2376,2454,0,0,0,0,0,0
$GC,13060,1.14,181.0,729.6,9.9,467,13061,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2376,2454,0,0,0,0,0,0
$GC,13303,1.14,181.0,704.7,10.3,473,13307,0.00,2.65,0.00,0.000,4,0.000,0.055,3513,3931,2453,0,0,0,0,0,0
$GC,13349,1.14,181.0,699.9,10.8,474,13353,0.00,2.62,0.00,0.000,6,0.000,0.049,3513,2373,2452,0,0,0,0,0,0
$GC,13626,1.14,181.0,670.9,10.3,481,13627,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2373,2452,0,0,0,0,0,0
$GC,13870,1.14,181.0,646.3,10.0,487,13871,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2373,2452,0,0,0,0,0,0
$GC,14113,1.14,181.0,621.7,10.1,493,14118,0.00,2.60,0.00,0.000,4,0.000,0.056,3513,3923,2452,0,0,0,0,0,0
$GC,14148,1.14,181.0,618.1,11.0,493,14154,0.00,2.60,0.00,0.000,6,0.000,0.044,3513,2372,2451,0,0,0,0,0,0
$GC,14398,1.15,190.8,593.8,9.5,500,14411,0.00,0.00,10.88,0.903,6,0.000,0.000,3513,2372,2412,0,0,0,0,0,0
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$STATE,20156,end climb,SURFACE_DEPTH_REACHED
$STATE,20156,begin surface coast
$FINISH,1.1,1.013023
$STATE,20200,end surface coast,CONTROL_FINISHED_OK
$STATE,20201,begin surface
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$10V_AH,10.2,43.462
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$FG_AHR_10Vo,0.000
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$MEM,355960
$DATA_FILE_SIZE,60611,781
$CAP_FILE_SIZE,165672,0
$CFSIZE,260165632,103989248
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$GPS,310313,172336,1924.426,-8108.636,68,1.5,68,-3.8