version: 66.06
glider: 146
mission: 8
dive: 380
start: 4 7 113 15 48 26
data:
$ID,146
$MISSION,8
$DIVE,380
$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,-314956.91
$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,48
$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
$GPS1,154005,1927.042,-8112.531,39,1.0,39,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-75.3
$GPS2,154730,1927.004,-8112.445,13,1.4,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.145
$KALMAN_X,-240223.3,588.9,97.4,230724.3,-1464.7
$KALMAN_Y,143431.1,270.6,8.2,-137339.0,1178.0
$MHEAD_RNG_PITCHd_Wd,127.8,9044,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.22,0.000,2,0.000,0.000,463,2187,3449,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.3,-3.8,9,123,13.50,2.53,-6.43,0.000,4,0.157,0.058,2977,648,3785,0,0,0,0,0,0
$GC,214,-1.08,-146.0,32.4,-18.3,25,224,0.17,2.47,0.00,0.000,6,0.086,0.017,3018,2240,3786,0,0,0,0,0,0
$GC,484,-0.96,-146.0,70.1,-14.2,50,494,0.15,0.00,0.00,0.000,6,0.100,0.000,3052,2241,3787,0,0,0,0,0,0
$GC,752,-0.92,-146.0,101.6,-11.4,75,757,0.00,2.62,0.00,0.000,4,0.000,0.044,3052,645,3787,0,0,0,0,0,0
$GC,786,-0.92,-146.0,106.1,-11.2,77,792,0.00,2.40,0.00,0.000,6,0.000,0.016,3052,2211,3787,0,0,0,0,0,0
$GC,1052,-0.92,-146.0,132.4,-9.4,102,1056,0.00,2.58,0.00,0.000,4,0.000,0.044,3052,645,3788,0,0,0,0,0,0
$GC,1120,-0.99,-146.0,138.4,-8.5,107,1124,0.00,2.38,0.00,0.000,6,0.000,0.015,3052,2195,3788,0,0,0,0,0,0
$GC,1385,-1.08,-146.0,157.9,-7.0,131,1390,0.12,2.50,0.00,0.000,4,0.064,0.033,2993,3769,3788,0,0,0,0,0,0
$GC,1442,-1.08,-146.0,163.3,-8.7,135,1452,0.10,2.47,0.00,0.000,6,0.061,0.021,3024,2198,3789,0,0,0,0,0,0
$GC,1707,-1.13,-146.0,183.7,-8.1,160,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2198,3789,0,0,0,0,0,0
$GC,1966,-1.20,-146.0,203.3,-7.1,182,1968,0.10,0.00,0.00,0.000,6,0.077,0.000,2969,2198,3789,0,0,0,0,0,0
$GC,2212,-1.16,-146.0,225.8,-9.6,188,2217,0.17,2.58,0.00,0.000,4,0.084,0.055,3010,631,3789,0,0,0,0,0,0
$GC,2229,-1.16,-146.0,227.6,-9.3,188,2233,0.00,2.38,0.00,0.000,6,0.000,0.018,3010,2194,3789,0,0,0,0,0,0
$GC,2492,-1.21,-146.0,246.2,-7.0,195,2496,0.00,2.53,0.00,0.000,4,0.000,0.038,3010,3769,3789,0,0,0,0,0,0
$GC,2508,-1.26,-146.0,247.6,-7.1,195,2513,0.10,2.47,0.00,0.000,6,0.078,0.028,2960,2185,3789,0,0,0,0,0,0
$GC,2770,-1.21,-146.0,271.2,-9.3,202,2772,0.17,0.00,0.00,0.000,6,0.086,0.000,3001,2185,3789,0,0,0,0,0,0
$GC,3015,-1.21,-146.0,290.9,-8.1,208,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2185,3788,0,0,0,0,0,0
$GC,3257,-1.24,-146.0,312.0,-8.6,214,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2186,3788,0,0,0,0,0,0
$GC,3500,-1.24,-146.0,332.8,-8.6,220,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2186,3787,0,0,0,0,0,0
$GC,3744,-1.29,-146.0,352.3,-7.9,226,3749,0.00,2.58,0.00,0.000,4,0.000,0.046,3001,3765,3785,0,0,0,0,0,0
$GC,3763,-1.33,-146.0,353.7,-7.8,226,3768,0.12,2.50,0.00,0.000,6,0.066,0.026,2946,2194,3785,0,0,0,0,0,0
$GC,4025,-1.27,-146.0,378.3,-9.5,233,4027,0.17,0.00,0.00,0.000,6,0.088,0.000,2986,2194,3785,0,0,0,0,0,0
$GC,4269,-1.27,-146.0,397.5,-7.8,239,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2194,3784,0,0,0,0,0,0
$GC,4514,-1.27,-146.0,415.6,-7.3,245,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2194,3783,0,0,0,0,0,0
$GC,4755,-1.27,-146.0,434.7,-8.0,251,4760,0.00,2.62,0.00,0.000,4,0.000,0.055,2986,3764,3782,0,0,0,0,0,0
$GC,4772,-1.27,-146.0,436.2,-8.2,251,4776,0.00,2.55,0.00,0.000,6,0.000,0.035,2986,2201,3782,0,0,0,0,0,0
$GC,5035,-1.27,-146.0,457.2,-8.1,258,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3780,0,0,0,0,0,0
$GC,5276,-1.27,-146.0,476.9,-8.1,264,5281,0.00,2.62,0.00,0.000,4,0.000,0.064,2986,3760,3780,0,0,0,0,0,0
$GC,5292,-1.27,-146.0,478.2,-8.0,264,5296,0.00,2.58,0.00,0.000,6,0.000,0.049,2986,2203,3780,0,0,0,0,0,0
$GC,5555,-1.27,-146.0,498.2,-7.6,271,5560,0.00,2.85,0.00,0.000,4,0.000,0.099,2986,623,3778,0,0,0,0,0,0
$GC,5576,-1.27,-146.0,500.1,-7.9,271,5581,0.00,2.55,0.00,0.000,6,0.000,0.047,2986,2176,3778,0,0,0,0,0,0
$GC,5832,-1.27,-146.0,519.1,-7.4,278,5836,0.00,2.78,0.00,0.000,4,0.000,0.067,2986,3801,3777,0,0,0,0,0,0
$GC,5847,-1.27,-146.0,520.5,-7.6,278,5852,0.00,2.67,0.00,0.000,6,0.000,0.046,2986,2193,3777,0,0,0,0,0,0
$GC,6111,-1.27,-146.0,539.7,-7.4,285,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2193,3776,0,0,0,0,0,0
$GC,6352,-1.27,-146.0,558.1,-7.6,291,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2193,3774,0,0,0,0,0,0
$GC,6596,-1.27,-146.0,576.5,-7.5,297,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2193,3773,0,0,0,0,0,0
$GC,6842,-1.27,-146.0,594.7,-7.5,303,6846,0.00,2.80,0.00,0.000,4,0.000,0.083,2986,3792,3772,0,0,0,0,0,0
$GC,6857,-1.27,-146.0,596.2,-7.6,303,6862,0.00,2.72,0.00,0.000,6,0.000,0.064,2986,2198,3771,0,0,0,0,0,0
$GC,7118,-1.27,-146.0,616.2,-7.7,310,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2198,3770,0,0,0,0,0,0
$GC,7364,-1.27,-146.0,634.7,-7.6,316,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2198,3769,0,0,0,0,0,0
$GC,7606,-1.27,-146.0,652.7,-7.3,322,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2198,3768,0,0,0,0,0,0
$GC,7849,-1.27,-146.0,670.5,-7.3,328,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2199,3767,0,0,0,0,0,0
$GC,8093,-1.27,-146.0,688.5,-7.4,334,8098,0.00,2.97,0.00,0.000,4,0.000,0.108,2986,3790,3766,0,0,0,0,0,0
$GC,8111,-1.27,-146.0,689.9,-7.7,334,8116,0.00,2.90,0.00,0.000,6,0.000,0.096,2986,2208,3766,0,0,0,0,0,0
$GC,8372,-1.31,-146.0,709.9,-7.7,341,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2208,3765,0,0,0,0,0,0
$GC,8616,-1.35,-146.0,728.1,-7.5,347,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2208,3764,0,0,0,0,0,0
$GC,8862,-1.39,-146.0,746.5,-7.6,353,8864,0.12,0.00,0.00,0.000,6,0.067,0.000,2941,2205,3763,0,0,0,0,0,0
$GC,9104,-1.34,-146.0,769.3,-9.5,359,9109,0.12,2.85,0.00,0.000,4,0.103,0.094,2968,3794,3762,0,0,0,0,0,0
$GC,9120,-1.34,-146.0,770.8,-9.2,359,9125,0.00,2.78,0.00,0.000,6,0.000,0.071,2968,2205,3762,0,0,0,0,0,0
$GC,9383,-1.34,-146.0,791.8,-8.0,366,9388,0.00,2.83,0.00,0.000,4,0.000,0.089,2968,3792,3762,0,0,0,0,0,0
$GC,9405,-1.34,-146.0,794.0,-9.1,366,9409,0.00,2.75,0.00,0.000,6,0.000,0.071,2968,2215,3761,0,0,0,0,0,0
$GC,9660,-1.34,-146.0,815.3,-8.4,373,9661,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2215,3761,0,0,0,0,0,0
$GC,9903,-1.34,-146.0,835.8,-8.3,379,9908,0.00,2.80,0.00,0.000,4,0.000,0.084,2968,3794,3760,0,0,0,0,0,0
$GC,9927,-1.34,-146.0,837.6,-8.5,379,9932,0.00,2.72,0.00,0.000,6,0.000,0.071,2968,2223,3760,0,0,0,0,0,0
$GC,10182,-1.34,-146.0,857.4,-7.6,386,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2222,3759,0,0,0,0,0,0
$GC,10426,-1.34,-146.0,875.4,-7.4,392,10431,0.00,2.78,0.00,0.000,4,0.000,0.078,2968,3797,3758,0,0,0,0,0,0
$GC,10472,-1.34,-146.0,879.1,-8.8,393,10477,0.00,2.72,0.00,0.000,6,0.000,0.066,2968,2228,3758,0,0,0,0,0,0
$STATE,10748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10748,begin apogee
$GC,10754,-0.31,0.0,900.7,7.7,400,10878,0.98,0.00,120.80,1.206,6,0.071,0.000,3190,2383,3190,0,0,0,0,0,0
$STATE,10879,end apogee,CONTROL_FINISHED_OK
$STATE,10879,begin climb
$GC,10884,1.27,146.0,904.2,0.0,403,11021,1.42,2.83,127.62,1.176,4,0.035,0.080,3543,3932,2593,0,0,0,0,0,0
$GC,11167,1.15,146.0,882.9,11.3,409,11172,0.15,2.72,0.00,0.000,6,0.116,0.054,3513,2362,2587,0,0,0,0,0,0
$GC,11417,1.16,188.1,862.5,8.1,415,11462,0.00,2.80,37.95,1.124,4,0.000,0.064,3513,3922,2422,0,0,0,0,0,0
$GC,11498,1.16,188.1,855.3,10.4,416,11503,0.00,2.65,0.00,0.000,6,0.000,0.047,3513,2377,2420,0,0,0,0,0,0
$GC,11748,1.20,215.7,833.1,8.7,423,11781,0.00,2.80,26.50,1.098,4,0.000,0.061,3513,3938,2309,0,0,0,0,0,0
$GC,11810,1.21,224.0,827.2,9.6,424,11825,0.00,2.62,9.07,0.966,6,0.000,0.042,3513,2391,2276,0,0,0,0,0,0
$GC,12078,1.21,224.0,800.9,10.1,431,12079,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2391,2272,0,0,0,0,0,0
$GC,12319,1.21,224.0,773.5,11.4,437,12324,0.00,2.62,0.00,0.000,4,0.000,0.054,3513,3930,2271,0,0,0,0,0,0
$GC,12346,1.21,224.0,770.1,12.4,437,12350,0.00,2.60,0.00,0.000,6,0.000,0.051,3513,2387,2270,0,0,0,0,0,0
$GC,12599,1.21,224.0,741.5,11.4,443,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2387,2270,0,0,0,0,0,0
$GC,12840,1.21,224.0,713.7,11.4,449,12841,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2387,2269,0,0,0,0,0,0
$GC,13083,1.21,224.0,685.8,11.5,455,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2387,2269,0,0,0,0,0,0
$GC,13327,1.21,224.0,658.0,11.4,461,13332,0.00,2.62,0.00,0.000,4,0.000,0.060,3513,3930,2269,0,0,0,0,0,0
$GC,13368,1.21,224.0,653.3,12.5,462,13373,0.00,2.55,0.00,0.000,6,0.000,0.047,3513,2396,2268,0,0,0,0,0,0
$GC,13651,1.21,224.0,620.3,11.4,469,13656,0.00,3.10,0.00,0.000,4,0.000,0.126,3513,783,2268,0,0,0,0,0,0
$GC,13672,1.21,224.0,617.7,11.7,469,13677,0.00,2.67,0.00,0.000,6,0.000,0.046,3513,2392,2267,0,0,0,0,0,0
$GC,13930,1.21,224.0,588.6,11.5,476,13934,0.00,2.65,0.00,0.000,4,0.000,0.066,3513,3938,2267,0,0,0,0,0,0
$GC,13956,1.21,224.0,585.0,11.8,476,13961,0.00,2.55,0.00,0.000,6,0.000,0.042,3513,2399,2267,0,0,0,0,0,0
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$STATE,19399,begin surface coast
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57326,744
$CAP_FILE_SIZE,165690,0
$CFSIZE,260165632,101691392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070413,211500,1925.922,-8110.229,40,1.8,40,-3.8