version: 66.06
glider: 146
mission: 8
dive: 382
start: 4 8 113 3 8 26
data:
$ID,146
$MISSION,8
$DIVE,382
$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,-314983.69
$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,74
$R_STBD_OVSHOOT,35
$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
$GPS1,030006,1924.904,-8107.713,30,1.7,30,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-75.5
$GPS2,030730,1924.862,-8107.654,10,1.5,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.255,-0.050
$KALMAN_X,-239557.7,115.1,163.2,238832.7,-506.7
$KALMAN_Y,145297.6,-471.3,-258.0,-142157.8,2022.5
$MHEAD_RNG_PITCHd_Wd,262.6,18497,-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,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-70.97,0.000,2,0.000,0.000,465,2162,3493,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.8,-5.5,9,122,13.27,2.42,-5.38,0.000,4,0.153,0.048,2977,663,3786,0,0,0,0,0,0
$GC,309,-1.11,-146.0,49.5,-16.2,33,318,0.15,2.42,0.00,0.000,6,0.087,0.018,3014,2229,3787,0,0,0,0,0,0
$GC,575,-0.99,-146.0,86.9,-14.1,58,580,0.15,2.58,0.00,0.000,4,0.100,0.044,3048,673,3788,0,0,0,0,0,0
$GC,611,-0.93,-146.0,92.4,-13.0,60,620,0.00,2.38,0.00,0.000,6,0.000,0.016,3048,2210,3788,0,0,0,0,0,0
$GC,878,-0.93,-146.0,120.4,-10.3,85,882,0.00,2.53,0.00,0.000,4,0.000,0.044,3048,675,3788,0,0,0,0,0,0
$GC,899,-0.93,-146.0,123.0,-8.8,86,908,0.00,2.35,0.00,0.000,6,0.000,0.018,3048,2198,3788,0,0,0,0,0,0
$GC,1169,-1.00,-146.0,143.3,-7.0,111,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2198,3789,0,0,0,0,0,0
$GC,1435,-1.08,-146.0,161.8,-7.5,136,1440,0.10,2.50,0.00,0.000,4,0.077,0.045,2996,669,3789,0,0,0,0,0,0
$GC,1464,-1.08,-146.0,164.5,-8.0,138,1469,0.12,2.33,0.00,0.000,6,0.099,0.023,3025,2204,3790,0,0,0,0,0,0
$GC,1725,-1.14,-146.0,182.4,-6.6,162,1730,0.00,2.47,0.00,0.000,4,0.000,0.040,3025,3773,3790,0,0,0,0,0,0
$GC,1748,-1.21,-146.0,183.6,-6.9,163,1753,0.12,2.35,0.00,0.000,6,0.065,0.026,2962,2240,3790,0,0,0,0,0,0
$GC,2010,-1.16,-146.0,208.8,-9.5,181,2015,0.20,2.45,0.00,0.000,4,0.081,0.034,3009,3767,3790,0,0,0,0,0,0
$GC,2032,-1.16,-146.0,211.2,-9.0,181,2036,0.00,2.40,0.00,0.000,6,0.000,0.018,3009,2212,3790,0,0,0,0,0,0
$GC,2291,-1.20,-146.0,229.2,-6.9,188,2295,0.00,2.58,0.00,0.000,4,0.000,0.055,3009,643,3790,0,0,0,0,0,0
$GC,2318,-1.25,-146.0,231.7,-7.9,188,2322,0.00,2.40,0.00,0.000,6,0.000,0.025,3009,2202,3791,0,0,0,0,0,0
$GC,2568,-1.30,-146.0,249.9,-7.2,194,2574,0.15,2.55,0.00,0.000,4,0.058,0.045,2945,3779,3790,0,0,0,0,0,0
$GC,2593,-1.30,-146.0,251.9,-8.4,194,2598,0.15,2.45,0.00,0.000,6,0.087,0.025,2981,2210,3790,0,0,0,0,0,0
$GC,2848,-1.30,-146.0,272.7,-8.0,201,2853,0.00,2.62,0.00,0.000,4,0.000,0.053,2981,638,3790,0,0,0,0,0,0
$GC,2881,-1.30,-146.0,275.4,-8.3,201,2887,0.00,2.42,0.00,0.000,6,0.000,0.021,2981,2201,3789,0,0,0,0,0,0
$GC,3134,-1.30,-146.0,295.2,-7.8,208,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2201,3789,0,0,0,0,0,0
$GC,3375,-1.30,-146.0,313.3,-7.3,214,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2201,3788,0,0,0,0,0,0
$GC,3619,-1.30,-146.0,333.5,-8.5,220,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2202,3787,0,0,0,0,0,0
$GC,3865,-1.30,-146.0,351.6,-7.3,226,3869,0.00,2.58,0.00,0.000,4,0.000,0.044,2981,3783,3786,0,0,0,0,0,0
$GC,3897,-1.30,-146.0,354.5,-8.1,226,3903,0.00,2.50,0.00,0.000,6,0.000,0.025,2981,2207,3786,0,0,0,0,0,0
$GC,4147,-1.30,-146.0,375.5,-8.4,233,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2206,3786,0,0,0,0,0,0
$GC,4391,-1.30,-146.0,394.2,-7.5,239,4396,0.00,2.72,0.00,0.000,4,0.000,0.071,2981,627,3784,0,0,0,0,0,0
$GC,4416,-1.30,-146.0,396.0,-7.6,239,4420,0.00,2.47,0.00,0.000,6,0.000,0.033,2981,2190,3784,0,0,0,0,0,0
$GC,4671,-1.30,-146.0,415.9,-7.6,246,4675,0.00,2.62,0.00,0.000,4,0.000,0.048,2981,3794,3783,0,0,0,0,0,0
$GC,4697,-1.30,-146.0,418.1,-8.1,246,4702,0.00,2.58,0.00,0.000,6,0.000,0.039,2981,2203,3783,0,0,0,0,0,0
$GC,4950,-1.30,-146.0,439.6,-8.7,252,4954,0.00,2.80,0.00,0.000,4,0.000,0.088,2981,619,3782,0,0,0,0,0,0
$GC,4971,-1.30,-146.0,441.6,-8.4,252,4976,0.00,2.55,0.00,0.000,6,0.000,0.042,2981,2191,3782,0,0,0,0,0,0
$GC,5227,-1.30,-146.0,463.1,-8.5,259,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2191,3781,0,0,0,0,0,0
$GC,5473,-1.30,-146.0,483.6,-8.5,265,5477,0.00,2.70,0.00,0.000,4,0.000,0.062,2981,3797,3780,0,0,0,0,0,0
$GC,5506,-1.30,-146.0,486.9,-8.9,265,5511,0.00,2.65,0.00,0.000,6,0.000,0.051,2981,2203,3779,0,0,0,0,0,0
$GC,5756,-1.30,-146.0,508.3,-8.6,272,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2203,3778,0,0,0,0,0,0
$GC,6004,-1.30,-146.0,529.6,-8.6,278,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2203,3778,0,0,0,0,0,0
$GC,6246,-1.30,-146.0,550.1,-8.5,284,6250,0.00,2.75,0.00,0.000,4,0.000,0.074,2981,3791,3776,0,0,0,0,0,0
$GC,6267,-1.30,-146.0,552.2,-8.5,284,6272,0.00,2.70,0.00,0.000,6,0.000,0.056,2981,2191,3776,0,0,0,0,0,0
$GC,6522,-1.30,-146.0,573.5,-8.3,291,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2191,3775,0,0,0,0,0,0
$GC,6768,-1.30,-146.0,593.7,-8.3,297,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2191,3773,0,0,0,0,0,0
$GC,7010,-1.30,-146.0,613.3,-8.0,303,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2191,3772,0,0,0,0,0,0
$GC,7253,-1.30,-146.0,632.8,-8.1,309,7258,0.00,2.85,0.00,0.000,4,0.000,0.087,2981,3787,3771,0,0,0,0,0,0
$GC,7286,-1.30,-146.0,635.6,-9.1,309,7292,0.00,2.78,0.00,0.000,6,0.000,0.080,2981,2207,3771,0,0,0,0,0,0
$GC,7538,-1.30,-146.0,655.9,-8.0,316,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2207,3770,0,0,0,0,0,0
$GC,7782,-1.30,-146.0,676.1,-8.2,322,7787,0.00,3.10,0.00,0.000,4,0.000,0.143,2981,623,3769,0,0,0,0,0,0
$GC,7809,-1.30,-146.0,678.8,-8.7,322,7814,0.00,2.75,0.00,0.000,6,0.000,0.079,2982,2191,3769,0,0,0,0,0,0
$GC,8062,-1.30,-146.0,698.7,-7.8,328,8066,0.00,3.03,0.00,0.000,4,0.000,0.123,2981,3798,3768,0,0,0,0,0,0
$GC,8089,-1.30,-146.0,701.0,-7.9,328,8094,0.00,2.95,0.00,0.000,6,0.000,0.098,2981,2205,3768,0,0,0,0,0,0
$GC,8339,-1.30,-146.0,720.2,-7.7,334,8344,0.00,3.22,0.00,0.000,4,0.000,0.150,2981,615,3767,0,0,0,0,0,0
$GC,8368,-1.30,-146.0,722.5,-8.7,334,8373,0.00,2.90,0.00,0.000,6,0.000,0.097,2981,2198,3767,0,0,0,0,0,0
$GC,8619,-1.30,-146.0,742.1,-7.7,340,8624,0.00,3.22,0.00,0.000,4,0.000,0.150,2981,3797,3766,0,0,0,0,0,0
$GC,8659,-1.35,-146.0,745.4,-8.6,341,8663,0.00,2.88,0.00,0.000,6,0.000,0.083,2981,2198,3765,0,0,0,0,0,0
$GC,8944,-1.35,-146.0,768.5,-7.9,348,8949,0.00,3.05,0.00,0.000,4,0.000,0.127,2981,619,3764,0,0,0,0,0,0
$GC,8971,-1.35,-146.0,771.0,-9.0,348,8976,0.00,2.78,0.00,0.000,6,0.000,0.071,2981,2214,3764,0,0,0,0,0,0
$GC,9221,-1.35,-146.0,791.1,-8.0,354,9226,0.00,2.92,0.00,0.000,4,0.000,0.106,2981,3804,3763,0,0,0,0,0,0
$GC,9251,-1.39,-146.0,793.5,-8.8,354,9256,0.10,2.80,0.00,0.000,6,0.081,0.068,2940,2192,3763,0,0,0,0,0,0
$GC,9501,-1.35,-146.0,815.5,-8.6,360,9503,0.12,0.00,0.00,0.000,6,0.101,0.000,2968,2192,3762,0,0,0,0,0,0
$GC,9746,-1.35,-146.0,834.7,-7.8,366,9748,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2192,3761,0,0,0,0,0,0
$GC,9991,-1.35,-146.0,854.1,-8.0,372,9995,0.00,2.85,0.00,0.000,4,0.000,0.081,2968,3797,3761,0,0,0,0,0,0
$GC,10018,-1.35,-146.0,856.5,-8.0,372,10022,0.00,2.78,0.00,0.000,6,0.000,0.067,2968,2202,3761,0,0,0,0,0,0
$GC,10268,-1.35,-146.0,874.7,-7.1,378,10269,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2203,3760,0,0,0,0,0,0
$GC,10514,-1.35,-146.0,892.2,-7.3,384,10518,0.00,2.83,0.00,0.000,4,0.000,0.078,2968,3797,3759,0,0,0,0,0,0
$GC,10553,-1.35,-146.0,895.5,-7.5,385,10558,0.00,2.75,0.00,0.000,6,0.000,0.064,2968,2213,3759,0,0,0,0,0,0
$STATE,10631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10631,begin apogee
$GC,10638,-0.31,0.0,901.3,7.2,387,10762,0.98,0.00,121.05,1.211,6,0.068,0.000,3192,2383,3190,0,0,0,0,0,0
$STATE,10763,end apogee,CONTROL_FINISHED_OK
$STATE,10763,begin climb
$GC,10768,1.27,146.0,904.1,0.0,390,10904,1.42,2.80,127.40,1.180,4,0.033,0.076,3545,3928,2593,0,0,0,0,0,0
$GC,11033,1.15,146.0,883.8,11.5,396,11039,0.17,2.72,0.00,0.000,6,0.114,0.059,3511,2362,2587,0,0,0,0,0,0
$GC,11300,1.18,169.0,859.7,8.9,403,11323,0.00,0.00,20.85,1.098,6,0.000,0.000,3511,2362,2501,0,0,0,0,0,0
$GC,11546,1.18,173.1,835.9,9.8,409,11553,0.00,0.00,4.68,0.772,6,0.000,0.000,3511,2362,2484,0,0,0,0,0,0
$GC,11788,1.19,180.0,812.5,9.7,415,11802,0.00,2.75,7.82,0.946,4,0.000,0.059,3511,3924,2456,0,0,0,0,0,0
$GC,11847,1.19,180.0,805.9,11.3,416,11851,0.00,2.62,0.00,0.000,6,0.000,0.045,3511,2373,2455,0,0,0,0,0,0
$GC,12116,1.20,187.8,780.0,9.6,423,12126,0.00,0.00,8.75,0.965,6,0.000,0.000,3511,2373,2424,0,0,0,0,0,0
$GC,12357,1.20,187.8,755.5,10.3,429,12361,0.00,2.67,0.00,0.000,4,0.000,0.059,3511,3937,2422,0,0,0,0,0,0
$GC,12396,1.20,187.8,751.2,10.5,430,12400,0.00,2.65,0.00,0.000,6,0.000,0.046,3512,2375,2420,0,0,0,0,0,0
$GC,12681,1.21,194.0,722.8,9.7,437,12690,0.00,0.00,6.80,0.887,6,0.000,0.000,3511,2375,2399,0,0,0,0,0,0
$GC,12922,1.21,194.0,697.6,10.5,443,12923,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2375,2398,0,0,0,0,0,0
$GC,13166,1.21,194.0,672.3,10.4,449,13170,0.00,2.65,0.00,0.000,4,0.000,0.055,3511,3931,2397,0,0,0,0,0,0
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$STATE,19264,end climb,SURFACE_DEPTH_REACHED
$STATE,19265,begin surface coast
$FINISH,1.1,1.007720
$STATE,19309,end surface coast,CONTROL_FINISHED_OK
$STATE,19309,begin surface
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$10V_AH,10.0,47.771
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355892
$DATA_FILE_SIZE,57233,728
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$CFSIZE,260165632,101539840
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$GPS,080413,083235,1923.820,-8110.690,37,1.6,37,-3.8