version: 66.06
glider: 146
mission: 8
dive: 360
start: 4 3 113 6 41 9
data:
$ID,146
$MISSION,8
$DIVE,360
$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,-314576.97
$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,49
$R_STBD_OVSHOOT,29
$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
$GPS1,063306,1927.251,-8116.673,41,1.1,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-75.3
$GPS2,064013,1927.250,-8116.703,13,1.1,13,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.246,-0.082
$KALMAN_X,-203077.5,-147.8,-91.6,187088.3,-2313.6
$KALMAN_Y,120424.5,165.8,135.4,-113906.2,768.0
$MHEAD_RNG_PITCHd_Wd,112.1,16032,-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,-70.43,0.000,2,0.000,0.000,465,2179,3432,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.1,-3.1,9,123,13.23,2.50,-6.82,0.000,4,0.151,0.048,2976,641,3784,0,0,0,0,0,0
$GC,161,-1.04,-146.0,21.1,-20.4,17,170,0.20,2.47,0.00,0.000,6,0.084,0.017,3025,2228,3784,0,0,0,0,0,0
$GC,446,-0.94,-146.0,61.8,-13.9,46,451,0.12,2.60,0.00,0.000,4,0.110,0.044,3053,648,3784,0,0,0,0,0,0
$GC,481,-0.88,-146.0,67.1,-13.2,48,486,0.00,2.40,0.00,0.000,6,0.000,0.016,3054,2210,3785,0,0,0,0,0,0
$GC,744,-0.83,-146.0,99.4,-12.4,72,749,0.12,2.58,0.00,0.000,4,0.104,0.044,3082,643,3786,0,0,0,0,0,0
$GC,775,-0.83,-146.0,103.3,-11.9,74,780,0.00,2.38,0.00,0.000,6,0.000,0.015,3082,2199,3785,0,0,0,0,0,0
$GC,1048,-0.87,-146.0,131.1,-10.2,99,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2199,3786,0,0,0,0,0,0
$GC,1317,-0.97,-146.0,152.2,-6.8,124,1322,0.15,2.53,0.00,0.000,4,0.055,0.044,3014,651,3787,0,0,0,0,0,0
$GC,1369,-0.97,-146.0,157.9,-10.9,128,1374,0.15,2.35,0.00,0.000,6,0.093,0.018,3049,2191,3786,0,0,0,0,0,0
$GC,1631,-1.05,-146.0,177.5,-7.4,152,1635,0.00,2.50,0.00,0.000,4,0.000,0.045,3049,651,3787,0,0,0,0,0,0
$GC,1654,-1.13,-146.0,179.1,-7.0,153,1664,0.12,2.38,0.00,0.000,6,0.028,0.025,2986,2188,3787,0,0,0,0,0,0
$GC,1917,-1.13,-146.0,204.6,-9.9,175,1919,0.12,0.00,0.00,0.000,6,0.096,0.000,3016,2188,3787,0,0,0,0,0,0
$GC,2157,-1.18,-146.0,223.1,-7.1,181,2162,0.00,2.50,0.00,0.000,4,0.000,0.035,3017,3769,3788,0,0,0,0,0,0
$GC,2174,-1.24,-146.0,224.4,-7.0,181,2179,0.10,2.45,0.00,0.000,6,0.077,0.020,2963,2190,3788,0,0,0,0,0,0
$GC,2438,-1.19,-146.0,248.2,-9.3,188,2440,0.17,0.00,0.00,0.000,6,0.084,0.000,3005,2189,3788,0,0,0,0,0,0
$GC,2679,-1.19,-146.0,267.5,-7.9,194,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2190,3788,0,0,0,0,0,0
$GC,2922,-1.19,-146.0,286.5,-7.8,200,2927,0.00,2.55,0.00,0.000,4,0.000,0.039,3005,3771,3788,0,0,0,0,0,0
$GC,2947,-1.23,-146.0,288.4,-8.2,200,2952,0.00,2.47,0.00,0.000,6,0.000,0.022,3005,2199,3787,0,0,0,0,0,0
$GC,3203,-1.27,-146.0,307.2,-7.2,207,3207,0.00,2.60,0.00,0.000,4,0.000,0.060,3005,638,3787,0,0,0,0,0,0
$GC,3224,-1.27,-146.0,309.0,-7.7,207,3228,0.00,2.40,0.00,0.000,6,0.000,0.023,3005,2178,3787,0,0,0,0,0,0
$GC,3488,-1.32,-146.0,327.6,-7.2,214,3493,0.15,2.62,0.00,0.000,4,0.058,0.046,2945,3786,3786,0,0,0,0,0,0
$GC,3543,-1.26,-146.0,333.4,-10.1,215,3548,0.17,2.47,0.00,0.000,6,0.082,0.027,2986,2205,3785,0,0,0,0,0,0
$GC,3812,-1.26,-146.0,355.0,-8.0,222,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2205,3785,0,0,0,0,0,0
$GC,4054,-1.26,-146.0,374.3,-7.9,228,4058,0.00,2.70,0.00,0.000,4,0.000,0.070,2986,630,3784,0,0,0,0,0,0
$GC,4069,-1.26,-146.0,375.6,-7.7,228,4074,0.00,2.47,0.00,0.000,6,0.000,0.035,2986,2201,3784,0,0,0,0,0,0
$GC,4333,-1.26,-146.0,396.3,-8.0,235,4338,0.00,2.65,0.00,0.000,4,0.000,0.064,2986,634,3783,0,0,0,0,0,0
$GC,4349,-1.26,-146.0,397.9,-8.1,235,4353,0.00,2.50,0.00,0.000,6,0.000,0.036,2986,2198,3783,0,0,0,0,0,0
$GC,4610,-1.26,-146.0,420.7,-8.8,242,4614,0.00,2.62,0.00,0.000,4,0.000,0.058,2986,3797,3782,0,0,0,0,0,0
$GC,4631,-1.26,-146.0,422.7,-9.1,242,4635,0.00,2.55,0.00,0.000,6,0.000,0.031,2986,2204,3782,0,0,0,0,0,0
$GC,4888,-1.26,-146.0,443.6,-8.0,249,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2204,3781,0,0,0,0,0,0
$GC,5130,-1.26,-146.0,462.6,-7.7,255,5134,0.00,2.65,0.00,0.000,4,0.000,0.055,2986,3793,3779,0,0,0,0,0,0
$GC,5151,-1.26,-146.0,464.3,-7.5,255,5156,0.00,2.62,0.00,0.000,6,0.000,0.041,2986,2194,3779,0,0,0,0,0,0
$GC,5408,-1.26,-146.0,484.1,-7.8,262,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2194,3778,0,0,0,0,0,0
$GC,5650,-1.26,-146.0,503.0,-7.8,268,5654,0.00,2.70,0.00,0.000,4,0.000,0.060,2986,3784,3777,0,0,0,0,0,0
$GC,5671,-1.26,-146.0,504.8,-8.0,268,5676,0.00,2.60,0.00,0.000,6,0.000,0.045,2986,2208,3777,0,0,0,0,0,0
$GC,5929,-1.26,-146.0,524.7,-7.8,275,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2208,3776,0,0,0,0,0,0
$GC,6171,-1.26,-146.0,544.2,-8.0,281,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2208,3775,0,0,0,0,0,0
$GC,6414,-1.26,-146.0,563.6,-7.9,287,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2208,3774,0,0,0,0,0,0
$GC,6658,-1.26,-146.0,582.8,-7.9,293,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2208,3772,0,0,0,0,0,0
$GC,6904,-1.26,-146.0,601.9,-7.8,299,6909,0.00,2.80,0.00,0.000,4,0.000,0.085,2986,3780,3771,0,0,0,0,0,0
$GC,6920,-1.26,-146.0,603.3,-7.7,299,6925,0.00,2.70,0.00,0.000,6,0.000,0.061,2986,2203,3771,0,0,0,0,0,0
$GC,7181,-1.26,-146.0,623.5,-7.6,306,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2202,3770,0,0,0,0,0,0
$GC,7427,-1.26,-146.0,642.3,-7.6,312,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2202,3769,0,0,0,0,0,0
$GC,7668,-1.26,-146.0,661.0,-7.7,318,7673,0.00,2.88,0.00,0.000,4,0.000,0.100,2986,3781,3768,0,0,0,0,0,0
$GC,7689,-1.26,-146.0,662.7,-7.7,318,7694,0.00,2.83,0.00,0.000,6,0.000,0.089,2986,2203,3767,0,0,0,0,0,0
$GC,7944,-1.26,-146.0,681.6,-7.4,325,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2204,3767,0,0,0,0,0,0
$GC,8191,-1.26,-146.0,700.1,-7.6,331,8195,0.00,2.95,0.00,0.000,4,0.000,0.114,2985,3779,3766,0,0,0,0,0,0
$GC,8206,-1.26,-146.0,701.6,-7.5,331,8211,0.00,2.90,0.00,0.000,6,0.000,0.099,2986,2211,3765,0,0,0,0,0,0
$GC,8468,-1.30,-146.0,720.9,-7.4,338,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2211,3764,0,0,0,0,0,0
$GC,8714,-1.34,-146.0,738.5,-7.2,344,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2211,3763,0,0,0,0,0,0
$GC,8955,-1.38,-146.0,755.9,-7.1,350,8957,0.12,0.00,0.00,0.000,6,0.067,0.000,2939,2210,3762,0,0,0,0,0,0
$GC,9199,-1.33,-146.0,778.4,-9.4,356,9205,0.15,3.33,0.00,0.000,4,0.094,0.165,2973,3782,3762,0,0,0,0,0,0
$GC,9229,-1.33,-146.0,781.1,-8.8,356,9234,0.00,2.80,0.00,0.000,6,0.000,0.084,2973,2211,3762,0,0,0,0,0,0
$GC,9480,-1.33,-146.0,801.1,-7.9,362,9484,0.00,3.10,0.00,0.000,4,0.000,0.131,2973,617,3761,0,0,0,0,0,0
$GC,9503,-1.33,-146.0,803.1,-8.8,362,9507,0.00,2.75,0.00,0.000,6,0.000,0.073,2972,2197,3761,0,0,0,0,0,0
$GC,9760,-1.33,-146.0,823.2,-7.6,369,9765,0.00,2.92,0.00,0.000,4,0.000,0.104,2972,3805,3760,0,0,0,0,0,0
$GC,9793,-1.33,-146.0,826.1,-8.1,369,9799,0.00,2.78,0.00,0.000,6,0.000,0.074,2972,2208,3760,0,0,0,0,0,0
$GC,10043,-1.33,-146.0,845.4,-7.9,376,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2209,3759,0,0,0,0,0,0
$GC,10289,-1.33,-146.0,864.0,-7.8,382,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2209,3759,0,0,0,0,0,0
$GC,10531,-1.33,-146.0,883.3,-7.9,388,10535,0.00,2.83,0.00,0.000,4,0.000,0.082,2973,3801,3757,0,0,0,0,0,0
$GC,10563,-1.33,-146.0,886.1,-8.3,388,10569,0.00,2.78,0.00,0.000,6,0.000,0.074,2972,2209,3757,0,0,0,0,0,0
$STATE,10770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10770,begin apogee
$GC,10778,-0.31,0.0,902.3,7.8,394,10902,0.95,0.00,119.78,1.206,6,0.066,0.000,3192,2380,3190,0,0,0,0,0,0
$STATE,10902,end apogee,CONTROL_FINISHED_OK
$STATE,10903,begin climb
$GC,10905,1.27,146.0,905.7,0.0,397,11041,1.42,2.80,126.75,1.177,4,0.035,0.077,3544,3930,2593,0,0,0,0,0,0
$GC,11111,1.14,146.0,893.4,11.6,401,11117,0.17,2.72,0.00,0.000,6,0.110,0.063,3508,2369,2588,0,0,0,0,0,0
$GC,11361,1.17,168.0,870.3,9.0,408,11386,0.00,2.78,20.20,1.087,4,0.000,0.068,3509,3933,2503,0,0,0,0,0,0
$GC,11433,1.17,168.0,863.0,10.9,409,11438,0.00,2.67,0.00,0.000,6,0.000,0.048,3508,2379,2501,0,0,0,0,0,0
$GC,11683,1.18,174.5,838.4,9.7,415,11691,0.00,0.00,6.47,0.890,6,0.000,0.000,3509,2379,2478,0,0,0,0,0,0
$GC,11927,1.21,196.8,816.3,9.0,421,11956,0.00,2.80,21.88,1.087,4,0.000,0.062,3509,3938,2386,0,0,0,0,0,0
$GC,11986,1.22,210.4,810.5,9.4,422,12006,0.00,2.65,14.05,1.037,6,0.000,0.044,3509,2385,2332,0,0,0,0,0,0
$GC,12257,1.23,218.9,784.4,9.6,429,12272,0.00,3.20,8.95,0.960,4,0.000,0.125,3508,777,2297,0,0,0,0,0,0
$GC,12290,1.23,218.9,781.2,10.5,429,12296,0.00,2.75,0.00,0.000,6,0.000,0.048,3508,2391,2296,0,0,0,0,0,0
$GC,12540,1.23,218.9,755.6,10.3,436,12541,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2392,2295,0,0,0,0,0,0
$GC,12784,1.23,218.9,729.0,11.0,442,12788,0.00,2.70,0.00,0.000,4,0.000,0.073,3508,3941,2294,0,0,0,0,0,0
$GC,12810,1.23,218.9,725.6,12.0,442,12815,0.00,2.60,0.00,0.000,6,0.000,0.040,3508,2374,2292,0,0,0,0,0,0
$GC,13068,1.23,218.9,697.1,11.1,449,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2374,2292,0,0,0,0,0,0
$GC,13311,1.23,218.9,669.6,11.4,455,13315,0.00,2.67,0.00,0.000,4,0.000,0.054,3508,3947,2292,0,0,0,0,0,0
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$STATE,19485,end climb,SURFACE_DEPTH_REACHED
$STATE,19485,begin surface coast
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$10V_AH,10.2,45.013
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57376,752
$CAP_FILE_SIZE,165137,0
$CFSIZE,260165632,103120896
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$GPS,030413,120929,1927.157,-8115.631,41,1.1,41,-3.8