version: 66.06
glider: 146
mission: 8
dive: 370
start: 4 5 113 13 48 39
data:
$ID,146
$MISSION,8
$DIVE,370
$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,-314779.56
$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,40
$R_STBD_OVSHOOT,20
$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
$GPS1,134005,1927.566,-8119.643,35,2.0,35,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-75.2
$GPS2,134745,1927.572,-8119.643,12,2.1,31,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.245,-0.063
$KALMAN_X,-223316.0,-471.7,-237.2,202665.0,-1550.8
$KALMAN_Y,126787.0,599.3,68.0,-120034.8,77.2
$MHEAD_RNG_PITCHd_Wd,108.1,3058,-18.1,-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,20,-1.30,-137.4,0.0,0.0,0,93,0.00,0.00,-70.90,0.000,2,0.000,0.000,458,2170,3466,0,0,0,0,0,0
$GC,98,-1.31,-146.0,3.4,-4.2,9,124,13.32,2.62,-6.05,0.000,4,0.152,0.045,2968,3807,3787,0,0,0,0,0,0
$GC,143,-0.54,-146.0,18.2,-33.0,14,153,0.73,2.55,0.00,0.000,6,0.075,0.025,3134,2221,3787,0,0,0,0,0,0
$GC,435,-0.69,-146.0,42.9,-7.3,47,440,0.12,2.60,0.00,0.000,4,0.063,0.045,3072,630,3787,0,0,0,0,0,0
$GC,459,-0.79,-146.0,45.2,-7.8,48,463,0.00,2.47,0.00,0.000,6,0.000,0.017,3072,2241,3787,0,0,0,0,0,0
$GC,726,-0.79,-146.0,73.7,-10.9,72,731,0.00,2.65,0.00,0.000,4,0.000,0.044,3072,630,3788,0,0,0,0,0,0
$GC,750,-0.79,-146.0,76.3,-10.5,73,754,0.00,2.40,0.00,0.000,6,0.000,0.016,3072,2203,3788,0,0,0,0,0,0
$GC,1015,-0.79,-146.0,103.9,-10.9,97,1020,0.00,2.60,0.00,0.000,4,0.000,0.045,3071,626,3788,0,0,0,0,0,0
$GC,1050,-0.79,-146.0,107.4,-10.7,99,1054,0.00,2.35,0.00,0.000,6,0.000,0.015,3071,2190,3788,0,0,0,0,0,0
$GC,1317,-0.83,-146.0,133.9,-9.9,123,1321,0.00,2.58,0.00,0.000,4,0.000,0.044,3072,623,3789,0,0,0,0,0,0
$GC,1407,-0.92,-146.0,142.7,-8.7,130,1411,0.00,2.35,0.00,0.000,6,0.000,0.016,3072,2166,3789,0,0,0,0,0,0
$GC,1674,-1.04,-146.0,161.4,-7.6,154,1680,0.15,0.00,0.00,0.000,6,0.058,0.000,3007,2167,3789,0,0,0,0,0,0
$GC,1939,-1.04,-146.0,186.5,-8.2,179,1945,0.12,0.00,0.00,0.000,6,0.094,0.000,3036,2167,3789,0,0,0,0,0,0
$GC,2231,-1.14,-146.0,206.3,-7.0,201,2236,0.10,2.53,0.00,0.000,4,0.079,0.055,2986,629,3790,0,0,0,0,0,0
$GC,2255,-1.17,-146.0,208.2,-7.3,201,2259,0.00,2.33,0.00,0.000,6,0.000,0.021,2987,2164,3790,0,0,0,0,0,0
$GC,2510,-1.17,-146.0,229.5,-8.4,208,2515,0.00,2.55,0.00,0.000,4,0.000,0.041,2986,3768,3790,0,0,0,0,0,0
$GC,2543,-1.17,-146.0,232.6,-9.8,208,2549,0.00,2.50,0.00,0.000,6,0.000,0.025,2986,2158,3790,0,0,0,0,0,0
$GC,2796,-1.17,-146.0,253.4,-8.3,215,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2158,3790,0,0,0,0,0,0
$GC,3037,-1.17,-146.0,273.5,-8.2,221,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2158,3789,0,0,0,0,0,0
$GC,3281,-1.17,-146.0,294.2,-8.5,227,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2158,3789,0,0,0,0,0,0
$GC,3524,-1.17,-146.0,315.1,-8.4,233,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2158,3787,0,0,0,0,0,0
$GC,3771,-1.17,-146.0,334.6,-7.9,239,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2158,3787,0,0,0,0,0,0
$GC,4012,-1.17,-146.0,353.4,-7.6,245,4016,0.00,2.62,0.00,0.000,4,0.000,0.051,2987,3761,3786,0,0,0,0,0,0
$GC,4028,-1.17,-146.0,354.8,-7.6,245,4032,0.00,2.55,0.00,0.000,6,0.000,0.033,2987,2156,3786,0,0,0,0,0,0
$GC,4289,-1.17,-146.0,374.5,-7.6,252,4293,0.00,2.62,0.00,0.000,4,0.000,0.051,2986,3758,3785,0,0,0,0,0,0
$GC,4313,-1.21,-146.0,376.3,-7.8,252,4317,0.00,2.55,0.00,0.000,6,0.000,0.035,2986,2164,3785,0,0,0,0,0,0
$GC,4568,-1.25,-146.0,395.3,-7.2,259,4573,0.00,2.62,0.00,0.000,4,0.000,0.054,2986,3757,3784,0,0,0,0,0,0
$GC,4587,-1.29,-146.0,396.8,-7.3,259,4592,0.00,2.53,0.00,0.000,6,0.000,0.037,2987,2176,3784,0,0,0,0,0,0
$GC,4848,-1.33,-146.0,415.9,-7.1,266,4853,0.00,2.70,0.00,0.000,4,0.000,0.080,2987,620,3783,0,0,0,0,0,0
$GC,4866,-1.33,-146.0,417.2,-7.5,266,4870,0.00,2.45,0.00,0.000,6,0.000,0.036,2987,2150,3782,0,0,0,0,0,0
$GC,5129,-1.37,-146.0,437.3,-7.7,273,5131,0.10,0.00,0.00,0.000,6,0.077,0.000,2942,2150,3781,0,0,0,0,0,0
$GC,5371,-1.33,-146.0,460.4,-9.4,279,5372,0.12,0.00,0.00,0.000,6,0.100,0.000,2970,2150,3780,0,0,0,0,0,0
$GC,5614,-1.33,-146.0,480.8,-8.4,285,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2150,3779,0,0,0,0,0,0
$GC,5858,-1.33,-146.0,502.1,-8.9,291,5862,0.00,2.75,0.00,0.000,4,0.000,0.072,2970,3754,3778,0,0,0,0,0,0
$GC,5892,-1.33,-146.0,505.1,-9.5,291,5898,0.00,2.62,0.00,0.000,6,0.000,0.051,2970,2183,3778,0,0,0,0,0,0
$GC,6142,-1.33,-146.0,527.1,-8.8,298,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2183,3777,0,0,0,0,0,0
$GC,6386,-1.33,-146.0,548.2,-8.6,304,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2183,3776,0,0,0,0,0,0
$GC,6632,-1.33,-146.0,568.2,-8.1,310,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2183,3774,0,0,0,0,0,0
$GC,6874,-1.33,-146.0,587.8,-8.0,316,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2183,3772,0,0,0,0,0,0
$GC,7117,-1.33,-146.0,607.0,-7.9,322,7122,0.00,2.83,0.00,0.000,4,0.000,0.089,2970,3758,3771,0,0,0,0,0,0
$GC,7150,-1.33,-146.0,609.9,-8.8,322,7158,0.00,2.70,0.00,0.000,6,0.000,0.067,2970,2187,3771,0,0,0,0,0,0
$GC,7402,-1.33,-146.0,630.4,-8.2,329,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2187,3770,0,0,0,0,0,0
$GC,7644,-1.33,-146.0,650.9,-8.4,335,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2187,3769,0,0,0,0,0,0
$GC,7887,-1.33,-146.0,670.9,-8.3,341,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2187,3768,0,0,0,0,0,0
$GC,8134,-1.33,-146.0,690.8,-8.1,347,8138,0.00,2.92,0.00,0.000,4,0.000,0.107,2970,3753,3767,0,0,0,0,0,0
$GC,8149,-1.33,-146.0,692.5,-8.1,347,8154,0.00,2.88,0.00,0.000,6,0.000,0.096,2970,2185,3766,0,0,0,0,0,0
$GC,8410,-1.33,-146.0,713.6,-8.2,354,8415,0.00,2.97,0.00,0.000,4,0.000,0.118,2970,3750,3765,0,0,0,0,0,0
$GC,8426,-1.33,-146.0,715.0,-8.1,354,8431,0.00,2.88,0.00,0.000,6,0.000,0.096,2970,2179,3765,0,0,0,0,0,0
$GC,8689,-1.33,-146.0,736.1,-8.0,361,8694,0.00,2.90,0.00,0.000,4,0.000,0.100,2970,3751,3764,0,0,0,0,0,0
$GC,8716,-1.33,-146.0,738.5,-8.3,361,8721,0.00,2.78,0.00,0.000,6,0.000,0.084,2970,2189,3764,0,0,0,0,0,0
$GC,8968,-1.33,-146.0,758.1,-7.9,367,8973,0.00,2.83,0.00,0.000,4,0.000,0.091,2970,3751,3763,0,0,0,0,0,0
$GC,8992,-1.33,-146.0,760.0,-8.3,367,8996,0.00,2.75,0.00,0.000,6,0.000,0.077,2970,2193,3763,0,0,0,0,0,0
$GC,9247,-1.33,-146.0,780.2,-7.9,374,9251,0.00,2.80,0.00,0.000,4,0.000,0.087,2970,3755,3762,0,0,0,0,0,0
$GC,9268,-1.33,-146.0,782.0,-8.0,374,9273,0.00,2.72,0.00,0.000,6,0.000,0.072,2970,2204,3762,0,0,0,0,0,0
$GC,9526,-1.33,-146.0,801.5,-7.6,381,9530,0.00,2.75,0.00,0.000,4,0.000,0.084,2970,3761,3761,0,0,0,0,0,0
$GC,9541,-1.33,-146.0,803.0,-7.5,381,9546,0.00,2.72,0.00,0.000,6,0.000,0.075,2970,2201,3761,0,0,0,0,0,0
$GC,9802,-1.33,-146.0,822.6,-7.5,388,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2202,3760,0,0,0,0,0,0
$GC,10048,-1.33,-146.0,840.0,-7.1,394,10053,0.00,2.75,0.00,0.000,4,0.000,0.085,2970,3754,3759,0,0,0,0,0,0
$GC,10069,-1.33,-146.0,841.9,-8.2,394,10074,0.00,2.70,0.00,0.000,6,0.000,0.068,2970,2207,3759,0,0,0,0,0,0
$GC,10325,-1.33,-146.0,860.4,-7.3,401,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2206,3758,0,0,0,0,0,0
$GC,10571,-1.37,-146.0,878.3,-7.4,407,10576,0.00,2.72,0.00,0.000,4,0.000,0.084,2970,3753,3758,0,0,0,0,0,0
$GC,10593,-1.41,-146.0,880.2,-7.4,407,10597,0.00,2.67,0.00,0.000,6,0.000,0.073,2970,2217,3757,0,0,0,0,0,0
$GC,10848,-1.45,-146.0,899.0,-7.4,414,10850,0.12,0.00,0.00,0.000,6,0.071,0.000,2924,2217,3756,0,0,0,0,0,0
$STATE,10886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10886,begin apogee
$GC,10895,-0.31,0.0,902.5,7.7,415,11019,1.17,0.00,120.43,1.206,6,0.067,0.000,3193,2338,3190,0,0,0,0,0,0
$STATE,11019,end apogee,CONTROL_FINISHED_OK
$STATE,11020,begin climb
$GC,11022,1.31,146.0,905.9,0.0,418,11158,1.45,2.90,127.30,1.178,4,0.033,0.079,3553,3931,2593,0,0,0,0,0,0
$GC,11263,1.19,146.0,888.3,13.1,423,11269,0.17,2.72,0.00,0.000,6,0.112,0.056,3518,2368,2588,0,0,0,0,0,0
$GC,11513,1.19,151.1,863.1,9.7,429,11523,0.00,2.78,4.95,0.798,4,0.000,0.065,3518,3939,2573,0,0,0,0,0,0
$GC,11543,1.14,151.1,860.2,10.5,429,11547,0.00,2.70,0.00,0.000,6,0.000,0.052,3518,2369,2573,0,0,0,0,0,0
$GC,11793,1.15,155.1,835.1,9.8,435,11799,0.00,0.00,4.82,0.785,6,0.000,0.000,3519,2369,2557,0,0,0,0,0,0
$GC,12036,1.16,166.1,811.6,9.5,441,12055,0.00,2.80,11.55,1.022,4,0.000,0.061,3518,3939,2512,0,0,0,0,0,0
$GC,12103,1.12,166.1,805.1,10.8,442,12107,0.00,2.65,0.00,0.000,6,0.000,0.048,3519,2383,2510,0,0,0,0,0,0
$GC,12363,1.14,180.3,780.4,9.3,449,12383,0.00,2.72,14.10,1.037,4,0.000,0.060,3518,3944,2453,0,0,0,0,0,0
$GC,12422,1.14,180.3,774.2,10.5,450,12426,0.00,2.65,0.00,0.000,6,0.000,0.049,3518,2389,2452,0,0,0,0,0,0
$GC,12688,1.14,180.3,747.9,10.0,457,12693,0.00,2.65,0.00,0.000,4,0.000,0.058,3518,3938,2450,0,0,0,0,0,0
$GC,12767,1.14,180.3,739.2,10.3,458,12772,0.00,2.60,0.00,0.000,6,0.000,0.043,3518,2403,2450,0,0,0,0,0,0
$GC,13019,1.14,183.8,714.5,9.8,465,13025,0.00,0.00,3.95,0.667,6,0.000,0.000,3519,2403,2440,0,0,0,0,0,0
$GC,13260,1.14,183.8,689.9,10.1,471,13265,0.00,2.62,0.00,0.000,4,0.000,0.061,3518,3942,2439,0,0,0,0,0,0
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$STATE,19795,begin surface coast
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$XPDR_PINGS,68
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$10V_AH,10.2,46.283
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355892
$DATA_FILE_SIZE,57238,761
$CAP_FILE_SIZE,172131,0
$CFSIZE,260165632,102395904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050413,192130,1928.206,-8118.535,38,1.1,38,-3.7