version: 66.06
glider: 146
mission: 8
dive: 392
start: 4 10 113 10 6 6
data:
$ID,146
$MISSION,8
$DIVE,392
$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,-315154.69
$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,59
$R_STBD_OVSHOOT,41
$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
$GPS1,095736,1923.612,-8110.259,40,0.9,40,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-74.0
$GPS2,100512,1923.606,-8110.203,9,1.4,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.256,0.041
$KALMAN_X,-238199.8,-219.8,-123.0,233664.9,507.1
$KALMAN_Y,148891.4,-227.9,-263.8,-148305.0,1143.8
$MHEAD_RNG_PITCHd_Wd,283.0,14997,-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,-70.82,0.000,2,0.000,0.000,462,2172,3470,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.5,-4.6,9,124,13.45,2.47,-5.88,0.000,4,0.155,0.048,2977,651,3787,0,0,0,0,0,0
$GC,348,-1.10,-146.0,57.3,-15.7,35,358,0.15,2.42,0.00,0.000,6,0.085,0.016,3015,2221,3788,0,0,0,0,0,0
$GC,613,-0.99,-146.0,94.9,-14.6,60,618,0.12,2.58,0.00,0.000,4,0.107,0.042,3044,653,3789,0,0,0,0,0,0
$GC,645,-0.92,-146.0,99.7,-13.4,62,649,0.00,2.38,0.00,0.000,6,0.000,0.015,3044,2202,3789,0,0,0,0,0,0
$GC,910,-0.92,-146.0,126.9,-10.2,86,919,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2202,3789,0,0,0,0,0,0
$GC,1176,-0.99,-146.0,150.1,-6.9,111,1180,0.00,2.50,0.00,0.000,4,0.000,0.043,3044,659,3790,0,0,0,0,0,0
$GC,1199,-1.05,-146.0,151.5,-7.0,112,1203,0.00,2.35,0.00,0.000,6,0.000,0.018,3044,2203,3790,0,0,0,0,0,0
$GC,1466,-1.15,-146.0,170.1,-6.9,136,1472,0.15,0.00,0.00,0.000,6,0.056,0.000,2978,2203,3791,0,0,0,0,0,0
$GC,1731,-1.15,-146.0,193.4,-8.8,161,1737,0.15,0.00,0.00,0.000,6,0.089,0.000,3013,2204,3791,0,0,0,0,0,0
$GC,1985,-1.20,-146.0,211.5,-6.8,174,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2203,3791,0,0,0,0,0,0
$GC,2232,-1.26,-146.0,227.8,-6.6,180,2237,0.12,2.55,0.00,0.000,4,0.064,0.042,2960,3773,3790,0,0,0,0,0,0
$GC,2272,-1.21,-146.0,231.5,-9.6,181,2277,0.17,2.42,0.00,0.000,6,0.083,0.028,3000,2223,3791,0,0,0,0,0,0
$GC,2555,-1.21,-146.0,252.4,-7.4,188,2560,0.00,2.60,0.00,0.000,4,0.000,0.056,3001,638,3791,0,0,0,0,0,0
$GC,2608,-1.26,-146.0,256.6,-8.2,189,2612,0.00,2.42,0.00,0.000,6,0.000,0.022,3000,2191,3790,0,0,0,0,0,0
$GC,2879,-1.26,-146.0,277.8,-7.7,196,2884,0.00,2.58,0.00,0.000,4,0.000,0.040,3000,3779,3790,0,0,0,0,0,0
$GC,2913,-1.31,-146.0,280.4,-8.0,196,2919,0.12,2.50,0.00,0.000,6,0.065,0.026,2946,2190,3789,0,0,0,0,0,0
$GC,3165,-1.24,-146.0,305.3,-10.1,203,3167,0.20,0.00,0.00,0.000,6,0.084,0.000,2992,2189,3788,0,0,0,0,0,0
$GC,3407,-1.24,-146.0,325.3,-8.0,209,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2190,3788,0,0,0,0,0,0
$GC,3650,-1.24,-146.0,344.4,-7.8,215,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2190,3787,0,0,0,0,0,0
$GC,3896,-1.24,-146.0,363.9,-8.1,221,3901,0.00,2.60,0.00,0.000,4,0.000,0.050,2992,3773,3786,0,0,0,0,0,0
$GC,3929,-1.28,-146.0,366.9,-8.7,221,3935,0.00,2.50,0.00,0.000,6,0.000,0.028,2992,2199,3786,0,0,0,0,0,0
$GC,4179,-1.28,-146.0,385.8,-7.6,228,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2199,3785,0,0,0,0,0,0
$GC,4425,-1.28,-146.0,404.3,-7.7,234,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2199,3784,0,0,0,0,0,0
$GC,4667,-1.32,-146.0,422.1,-7.1,240,4672,0.00,2.60,0.00,0.000,4,0.000,0.052,2992,3771,3783,0,0,0,0,0,0
$GC,4695,-1.36,-146.0,424.5,-8.5,240,4700,0.12,2.53,0.00,0.000,6,0.066,0.035,2942,2207,3783,0,0,0,0,0,0
$GC,4948,-1.29,-146.0,448.7,-9.9,246,4950,0.15,0.00,0.00,0.000,6,0.094,0.000,2978,2207,3783,0,0,0,0,0,0
$GC,5189,-1.29,-146.0,468.9,-8.2,252,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2208,3781,0,0,0,0,0,0
$GC,5433,-1.29,-146.0,490.6,-8.6,258,5437,0.00,2.67,0.00,0.000,4,0.000,0.063,2978,3771,3780,0,0,0,0,0,0
$GC,5467,-1.29,-146.0,493.6,-9.2,258,5473,0.00,2.62,0.00,0.000,6,0.000,0.051,2978,2200,3780,0,0,0,0,0,0
$GC,5717,-1.29,-146.0,514.0,-8.2,265,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2200,3779,0,0,0,0,0,0
$GC,5961,-1.29,-146.0,533.8,-8.2,271,5966,0.00,2.67,0.00,0.000,4,0.000,0.067,2978,3767,3778,0,0,0,0,0,0
$GC,5983,-1.29,-146.0,535.7,-8.4,271,5988,0.00,2.60,0.00,0.000,6,0.000,0.048,2978,2210,3777,0,0,0,0,0,0
$GC,6241,-1.29,-146.0,555.2,-7.4,278,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2210,3776,0,0,0,0,0,0
$GC,6484,-1.29,-146.0,577.1,-9.2,284,6489,0.00,2.75,0.00,0.000,4,0.000,0.075,2978,3766,3776,0,0,0,0,0,0
$GC,6511,-1.29,-146.0,579.6,-9.0,284,6516,0.00,2.65,0.00,0.000,6,0.000,0.055,2978,2207,3775,0,0,0,0,0,0
$GC,6764,-1.29,-146.0,598.0,-7.9,290,6769,0.00,3.05,0.00,0.000,4,0.000,0.125,2978,624,3774,0,0,0,0,0,0
$GC,6808,-1.29,-146.0,602.5,-8.8,291,6812,0.00,2.65,0.00,0.000,6,0.000,0.061,2977,2187,3773,0,0,0,0,0,0
$GC,7085,-1.29,-146.0,626.3,-8.2,298,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2188,3773,0,0,0,0,0,0
$GC,7332,-1.29,-146.0,645.9,-8.2,304,7336,0.00,2.97,0.00,0.000,4,0.000,0.106,2978,3793,3771,0,0,0,0,0,0
$GC,7392,-1.29,-146.0,651.6,-9.3,305,7397,0.00,2.80,0.00,0.000,6,0.000,0.084,2978,2215,3771,0,0,0,0,0,0
$GC,7653,-1.29,-146.0,673.2,-8.3,312,7658,0.00,3.10,0.00,0.000,4,0.000,0.130,2978,623,3770,0,0,0,0,0,0
$GC,7717,-1.33,-146.0,678.5,-8.9,313,7722,0.00,2.80,0.00,0.000,6,0.000,0.080,2978,2206,3769,0,0,0,0,0,0
$GC,7977,-1.33,-146.0,699.1,-7.8,320,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2206,3768,0,0,0,0,0,0
$GC,8221,-1.33,-146.0,717.9,-7.6,326,8226,0.00,3.20,0.00,0.000,4,0.000,0.143,2978,624,3768,0,0,0,0,0,0
$GC,8245,-1.33,-146.0,719.7,-8.1,326,8250,0.00,2.92,0.00,0.000,6,0.000,0.106,2978,2206,3767,0,0,0,0,0,0
$GC,8500,-1.33,-146.0,739.0,-7.5,333,8505,0.00,3.28,0.00,0.000,4,0.000,0.153,2978,3804,3766,0,0,0,0,0,0
$GC,8528,-1.33,-146.0,741.5,-8.6,333,8532,0.00,2.88,0.00,0.000,6,0.000,0.084,2978,2208,3766,0,0,0,0,0,0
$GC,8780,-1.33,-146.0,760.6,-7.6,339,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2208,3765,0,0,0,0,0,0
$GC,9021,-1.33,-146.0,780.4,-8.3,345,9026,0.00,2.90,0.00,0.000,4,0.000,0.097,2978,3803,3764,0,0,0,0,0,0
$GC,9050,-1.33,-146.0,782.8,-9.5,345,9055,0.00,2.80,0.00,0.000,6,0.000,0.073,2978,2214,3764,0,0,0,0,0,0
$GC,9302,-1.33,-146.0,802.5,-7.6,351,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2215,3762,0,0,0,0,0,0
$GC,9544,-1.33,-146.0,821.0,-7.7,357,9548,0.00,2.85,0.00,0.000,4,0.000,0.090,2978,3802,3762,0,0,0,0,0,0
$GC,9565,-1.33,-146.0,822.8,-7.9,357,9569,0.00,2.78,0.00,0.000,6,0.000,0.068,2978,2218,3762,0,0,0,0,0,0
$GC,9820,-1.33,-146.0,841.8,-7.5,364,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2218,3761,0,0,0,0,0,0
$GC,10066,-1.33,-146.0,860.6,-7.7,370,10071,0.00,2.85,0.00,0.000,4,0.000,0.085,2977,3812,3760,0,0,0,0,0,0
$GC,10099,-1.38,-146.0,863.4,-8.3,370,10105,0.00,2.78,0.00,0.000,6,0.000,0.073,2978,2229,3760,0,0,0,0,0,0
$GC,10350,-1.41,-146.0,881.4,-7.2,377,10351,0.10,0.00,0.00,0.000,6,0.081,0.000,2938,2229,3759,0,0,0,0,0,0
$STATE,10590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10590,begin apogee
$GC,10599,-0.31,0.0,902.7,8.6,383,10724,1.10,0.00,121.50,1.211,6,0.069,0.000,3190,2384,3189,0,0,0,0,0,0
$STATE,10725,end apogee,CONTROL_FINISHED_OK
$STATE,10725,begin climb
$GC,10728,1.27,146.0,906.1,0.0,386,10865,1.42,2.85,127.95,1.181,4,0.034,0.076,3543,3928,2593,0,0,0,0,0,0
$GC,11011,1.15,146.0,883.9,12.0,392,11016,0.15,2.72,0.00,0.000,6,0.116,0.057,3513,2370,2588,0,0,0,0,0,0
$GC,11269,1.16,151.9,858.9,9.7,399,11276,0.00,0.00,5.57,0.851,6,0.000,0.000,3513,2369,2570,0,0,0,0,0,0
$GC,11510,1.19,176.5,837.1,8.9,405,11539,0.00,2.80,23.52,1.101,4,0.000,0.062,3513,3932,2470,0,0,0,0,0,0
$GC,11593,1.15,176.5,828.7,11.4,406,11599,0.00,2.67,0.00,0.000,6,0.000,0.044,3513,2370,2467,0,0,0,0,0,0
$GC,11843,1.15,177.6,803.0,9.9,413,11844,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2371,2466,0,0,0,0,0,0
$GC,12087,1.15,178.2,778.5,10.0,419,12091,0.00,2.70,0.00,0.000,4,0.000,0.057,3513,3934,2464,0,0,0,0,0,0
$GC,12163,1.15,178.2,770.5,11.7,420,12167,0.00,2.65,0.00,0.000,6,0.000,0.047,3514,2380,2464,0,0,0,0,0,0
$GC,12412,1.15,178.2,744.7,10.1,426,12417,0.00,2.65,0.00,0.000,4,0.000,0.054,3513,3935,2463,0,0,0,0,0,0
$GC,12428,1.15,178.2,743.0,10.1,426,12432,0.00,2.60,0.00,0.000,6,0.000,0.049,3514,2388,2463,0,0,0,0,0,0
$GC,12689,1.16,188.8,717.6,9.5,433,12707,0.00,2.75,11.55,0.989,4,0.000,0.058,3513,3939,2420,0,0,0,0,0,0
$GC,12727,1.16,188.8,713.8,10.0,433,12733,0.00,2.62,0.00,0.000,6,0.000,0.050,3513,2400,2419,0,0,0,0,0,0
$GC,12977,1.16,189.3,688.8,10.0,440,12982,0.00,3.12,0.00,0.000,4,0.000,0.119,3513,775,2417,0,0,0,0,0,0
$GC,13004,1.16,189.3,685.8,11.1,440,13009,0.00,2.70,0.00,0.000,6,0.000,0.047,3513,2386,2417,0,0,0,0,0,0
$GC,13257,1.17,194.2,661.3,9.8,446,13265,0.00,0.00,6.20,0.833,6,0.000,0.000,3513,2386,2398,0,0,0,0,0,0
$GC,13498,1.17,199.7,637.3,9.7,452,13507,0.00,0.00,6.97,0.851,6,0.000,0.000,3513,2387,2375,0,0,0,0,0,0
$GC,13742,1.18,201.2,613.1,9.9,458,13746,0.00,2.67,0.00,0.000,4,0.000,0.065,3513,3932,2373,0,0,0,0,0,0
$GC,13771,1.18,201.2,610.2,10.1,458,13775,0.00,2.58,0.00,0.000,6,0.000,0.038,3513,2385,2373,0,0,0,0,0,0
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$STATE,19575,end surface coast,CONTROL_FINISHED_OK
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$CFSIZE,260165632,100810752
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$GPS,100413,153435,1923.967,-8112.873,28,1.4,28,-3.8