version: 66.06
glider: 146
mission: 8
dive: 377
start: 4 6 113 22 51 14
data:
$ID,146
$MISSION,8
$DIVE,377
$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,-314909.84
$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,30
$R_STBD_OVSHOOT,17
$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
$GPS1,224205,1927.176,-8117.887,25,1.5,25,-3.7
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-74.8
$GPS2,225019,1927.123,-8117.980,14,1.5,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,-0.110
$KALMAN_X,-236635.2,55.9,-275.9,218390.0,-2138.3
$KALMAN_Y,137508.9,-63.3,-76.3,-130768.3,1393.1
$MHEAD_RNG_PITCHd_Wd,118.7,18097,-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,-70.72,0.000,2,0.000,0.000,466,2190,3506,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-6.1,9,123,13.35,2.55,-5.03,0.000,4,0.151,0.048,2976,625,3786,0,0,0,0,0,0
$GC,238,-1.10,-146.0,36.6,-16.7,26,243,0.20,2.50,0.00,0.000,6,0.102,0.017,3018,2252,3786,0,0,0,0,0,0
$GC,508,-0.99,-146.0,75.6,-13.8,50,517,0.12,0.00,0.00,0.000,6,0.110,0.000,3046,2252,3786,0,0,0,0,0,0
$GC,776,-0.94,-146.0,107.9,-11.7,75,781,0.00,2.65,0.00,0.000,4,0.000,0.045,3046,631,3787,0,0,0,0,0,0
$GC,812,-0.88,-146.0,112.7,-12.4,77,818,0.10,2.42,0.00,0.000,6,0.117,0.016,3068,2216,3787,0,0,0,0,0,0
$GC,1075,-0.95,-146.0,136.8,-7.4,102,1080,0.00,2.58,0.00,0.000,4,0.000,0.043,3068,631,3788,0,0,0,0,0,0
$GC,1131,-1.06,-146.0,141.0,-7.5,106,1135,0.15,2.35,0.00,0.000,6,0.056,0.017,3002,2184,3788,0,0,0,0,0,0
$GC,1396,-1.06,-146.0,167.2,-9.6,130,1401,0.12,2.53,0.00,0.000,4,0.095,0.040,3032,3778,3789,0,0,0,0,0,0
$GC,1415,-1.06,-146.0,169.1,-9.0,131,1420,0.00,2.50,0.00,0.000,6,0.000,0.025,3032,2169,3789,0,0,0,0,0,0
$GC,1678,-1.13,-146.0,186.3,-6.1,155,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2169,3789,0,0,0,0,0,0
$GC,1931,-1.21,-146.0,203.1,-6.9,176,1936,0.15,2.50,0.00,0.000,4,0.057,0.048,2968,645,3789,0,0,0,0,0,0
$GC,1953,-1.21,-146.0,205.2,-7.9,176,1958,0.12,2.38,0.00,0.000,6,0.097,0.018,2997,2191,3789,0,0,0,0,0,0
$GC,2208,-1.21,-146.0,224.0,-7.2,183,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2191,3789,0,0,0,0,0,0
$GC,2454,-1.21,-146.0,242.4,-7.6,189,2459,0.00,2.53,0.00,0.000,4,0.000,0.038,2997,3771,3788,0,0,0,0,0,0
$GC,2470,-1.21,-146.0,243.9,-7.7,189,2474,0.00,2.47,0.00,0.000,6,0.000,0.027,2997,2185,3788,0,0,0,0,0,0
$GC,2732,-1.21,-146.0,263.5,-7.5,196,2736,0.00,2.55,0.00,0.000,4,0.000,0.060,2997,636,3788,0,0,0,0,0,0
$GC,2750,-1.21,-146.0,264.7,-7.7,196,2754,0.00,2.40,0.00,0.000,6,0.000,0.028,2997,2184,3788,0,0,0,0,0,0
$GC,3010,-1.21,-146.0,285.4,-7.9,203,3015,0.00,2.58,0.00,0.000,4,0.000,0.047,2997,3778,3787,0,0,0,0,0,0
$GC,3026,-1.21,-146.0,286.8,-8.0,203,3031,0.00,2.47,0.00,0.000,6,0.000,0.021,2997,2199,3787,0,0,0,0,0,0
$GC,3290,-1.21,-146.0,307.8,-8.1,210,3294,0.00,2.60,0.00,0.000,4,0.000,0.058,2997,638,3786,0,0,0,0,0,0
$GC,3311,-1.21,-146.0,310.0,-8.8,210,3316,0.00,2.40,0.00,0.000,6,0.000,0.028,2997,2186,3786,0,0,0,0,0,0
$GC,3567,-1.21,-146.0,329.0,-7.3,217,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2186,3786,0,0,0,0,0,0
$GC,3814,-1.25,-146.0,346.4,-7.2,223,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2186,3784,0,0,0,0,0,0
$GC,4055,-1.29,-146.0,363.0,-7.0,229,4059,0.00,2.60,0.00,0.000,4,0.000,0.051,2997,3786,3784,0,0,0,0,0,0
$GC,4094,-1.34,-146.0,366.1,-7.9,230,4100,0.12,2.55,0.00,0.000,6,0.067,0.034,2941,2194,3783,0,0,0,0,0,0
$GC,4381,-1.27,-146.0,393.1,-9.7,237,4386,0.17,2.70,0.00,0.000,4,0.086,0.073,2982,629,3782,0,0,0,0,0,0
$GC,4408,-1.27,-146.0,396.3,-10.4,237,4413,0.00,2.47,0.00,0.000,6,0.000,0.028,2982,2183,3782,0,0,0,0,0,0
$GC,4659,-1.27,-146.0,418.6,-9.1,243,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2184,3781,0,0,0,0,0,0
$GC,4905,-1.27,-146.0,439.2,-8.4,249,4909,0.00,2.67,0.00,0.000,4,0.000,0.074,2982,630,3780,0,0,0,0,0,0
$GC,4949,-1.27,-146.0,443.3,-8.6,250,4953,0.00,2.53,0.00,0.000,6,0.000,0.039,2982,2181,3780,0,0,0,0,0,0
$GC,5226,-1.27,-146.0,466.3,-8.2,257,5231,0.00,2.70,0.00,0.000,4,0.000,0.061,2983,3793,3779,0,0,0,0,0,0
$GC,5256,-1.27,-146.0,468.8,-8.8,257,5261,0.00,2.65,0.00,0.000,6,0.000,0.044,2982,2192,3778,0,0,0,0,0,0
$GC,5506,-1.27,-146.0,489.0,-7.8,263,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2192,3778,0,0,0,0,0,0
$GC,5750,-1.27,-146.0,508.2,-7.9,269,5754,0.00,2.92,0.00,0.000,4,0.000,0.110,2982,621,3776,0,0,0,0,0,0
$GC,5773,-1.27,-146.0,510.0,-7.9,269,5778,0.00,2.60,0.00,0.000,6,0.000,0.048,2982,2190,3776,0,0,0,0,0,0
$GC,6029,-1.27,-146.0,530.6,-8.1,276,6033,0.00,2.78,0.00,0.000,4,0.000,0.074,2982,3796,3774,0,0,0,0,0,0
$GC,6044,-1.27,-146.0,532.0,-8.1,276,6049,0.00,2.70,0.00,0.000,6,0.000,0.048,2982,2182,3774,0,0,0,0,0,0
$GC,6306,-1.27,-146.0,552.8,-8.0,283,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2182,3773,0,0,0,0,0,0
$GC,6549,-1.27,-146.0,572.3,-8.0,289,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2183,3772,0,0,0,0,0,0
$GC,6793,-1.27,-146.0,591.9,-8.1,295,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2183,3771,0,0,0,0,0,0
$GC,7037,-1.27,-146.0,611.4,-8.1,301,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2183,3769,0,0,0,0,0,0
$GC,7283,-1.27,-146.0,630.6,-7.9,307,7288,0.00,2.90,0.00,0.000,4,0.000,0.091,2982,3791,3769,0,0,0,0,0,0
$GC,7304,-1.27,-146.0,632.5,-7.8,307,7309,0.00,2.80,0.00,0.000,6,0.000,0.071,2982,2191,3768,0,0,0,0,0,0
$GC,7562,-1.27,-146.0,651.9,-7.6,314,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2191,3767,0,0,0,0,0,0
$GC,7808,-1.27,-146.0,670.5,-7.6,320,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2190,3766,0,0,0,0,0,0
$GC,8049,-1.27,-146.0,689.4,-7.8,326,8054,0.00,2.95,0.00,0.000,4,0.000,0.107,2982,3796,3765,0,0,0,0,0,0
$GC,8082,-1.31,-146.0,692.2,-8.6,326,8088,0.00,2.95,0.00,0.000,6,0.000,0.094,2982,2190,3765,0,0,0,0,0,0
$GC,8332,-1.31,-146.0,712.0,-7.9,333,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2191,3764,0,0,0,0,0,0
$GC,8578,-1.31,-146.0,731.3,-7.8,339,8583,0.00,3.10,0.00,0.000,4,0.000,0.133,2982,3788,3763,0,0,0,0,0,0
$GC,8600,-1.31,-146.0,733.3,-7.9,339,8605,0.00,2.85,0.00,0.000,6,0.000,0.084,2982,2191,3763,0,0,0,0,0,0
$GC,8855,-1.31,-146.0,753.9,-8.1,346,8860,0.00,2.90,0.00,0.000,4,0.000,0.095,2982,3796,3762,0,0,0,0,0,0
$GC,8879,-1.31,-146.0,755.9,-9.2,346,8884,0.00,2.80,0.00,0.000,6,0.000,0.077,2982,2195,3762,0,0,0,0,0,0
$GC,9134,-1.31,-146.0,777.0,-8.0,353,9135,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2195,3761,0,0,0,0,0,0
$GC,9378,-1.31,-146.0,795.8,-7.7,359,9383,0.00,2.85,0.00,0.000,4,0.000,0.087,2982,3798,3760,0,0,0,0,0,0
$GC,9396,-1.31,-146.0,797.3,-8.1,359,9401,0.00,2.78,0.00,0.000,6,0.000,0.067,2982,2197,3760,0,0,0,0,0,0
$GC,9657,-1.35,-146.0,817.4,-7.7,366,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2196,3759,0,0,0,0,0,0
$GC,9901,-1.39,-146.0,835.3,-7.1,372,9906,0.10,2.85,0.00,0.000,4,0.084,0.083,2943,3801,3758,0,0,0,0,0,0
$GC,9920,-1.39,-146.0,836.7,-7.2,372,9924,0.00,2.78,0.00,0.000,6,0.000,0.065,2943,2205,3758,0,0,0,0,0,0
$GC,10180,-1.39,-146.0,858.9,-8.5,379,10185,0.00,2.83,0.00,0.000,4,0.000,0.084,2943,3802,3758,0,0,0,0,0,0
$GC,10196,-1.35,-146.0,860.5,-8.8,379,10202,0.10,2.78,0.00,0.000,6,0.107,0.065,2966,2207,3758,0,0,0,0,0,0
$GC,10460,-1.35,-146.0,881.1,-7.8,386,10465,0.00,2.78,0.00,0.000,4,0.000,0.080,2966,3796,3757,0,0,0,0,0,0
$GC,10476,-1.35,-146.0,882.6,-7.8,386,10481,0.00,2.75,0.00,0.000,6,0.000,0.067,2966,2215,3756,0,0,0,0,0,0
$STATE,10694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10694,begin apogee
$GC,10700,-0.31,0.0,900.2,7.8,392,10823,0.98,0.00,119.90,1.209,6,0.066,0.000,3192,2384,3190,0,0,0,0,0,0
$STATE,10824,end apogee,CONTROL_FINISHED_OK
$STATE,10824,begin climb
$GC,10829,1.27,146.0,903.3,0.0,395,10965,1.42,2.80,127.10,1.175,4,0.034,0.074,3544,3929,2593,0,0,0,0,0,0
$GC,11041,1.15,146.0,889.5,11.4,400,11046,0.15,2.72,0.00,0.000,6,0.117,0.059,3514,2369,2588,0,0,0,0,0,0
$GC,11325,1.13,160.1,862.4,9.3,407,11345,0.00,2.80,12.82,1.045,4,0.000,0.063,3514,3932,2537,0,0,0,0,0,0
$GC,11387,1.08,160.1,856.3,10.5,408,11391,0.00,2.67,0.00,0.000,6,0.000,0.049,3514,2378,2535,0,0,0,0,0,0
$GC,11653,1.10,177.8,831.3,9.2,415,11677,0.00,2.78,16.75,1.070,4,0.000,0.057,3513,3931,2465,0,0,0,0,0,0
$GC,11717,1.07,182.0,825.0,9.8,416,11727,0.00,2.65,5.20,0.810,6,0.000,0.049,3514,2382,2448,0,0,0,0,0,0
$GC,11980,1.08,187.9,799.5,9.7,423,11989,0.00,0.00,6.85,0.909,6,0.000,0.000,3514,2382,2424,0,0,0,0,0,0
$GC,12221,1.08,187.9,774.2,10.4,429,12226,0.00,2.65,0.00,0.000,4,0.000,0.054,3514,3934,2423,0,0,0,0,0,0
$GC,12253,1.08,187.9,770.5,11.8,429,12259,0.00,2.62,0.00,0.000,6,0.000,0.049,3513,2388,2421,0,0,0,0,0,0
$GC,12506,1.08,187.9,745.1,10.2,436,12510,0.00,2.65,0.00,0.000,4,0.000,0.054,3514,3939,2421,0,0,0,0,0,0
$GC,12555,1.08,187.9,739.4,11.2,437,12559,0.00,2.60,0.00,0.000,6,0.000,0.048,3514,2396,2420,0,0,0,0,0,0
$GC,12827,1.08,187.9,710.3,10.6,444,12828,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2396,2419,0,0,0,0,0,0
$GC,13074,1.08,187.9,684.5,10.6,450,13078,0.00,2.62,0.00,0.000,4,0.000,0.055,3514,3931,2419,0,0,0,0,0,0
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$STATE,19675,end climb,SURFACE_DEPTH_REACHED
$STATE,19675,begin surface coast
$FINISH,1.6,1.023738
$STATE,19691,end surface coast,CONTROL_FINISHED_OK
$STATE,19691,begin surface
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$10V_AH,10.1,47.123
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355936
$DATA_FILE_SIZE,57241,748
$CAP_FILE_SIZE,172678,0
$CFSIZE,260165632,101900288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070413,042135,1927.414,-8116.459,24,1.3,24,-3.7