version: 66.06
glider: 146
mission: 8
dive: 393
start: 4 10 113 15 46 6
data:
$ID,146
$MISSION,8
$DIVE,393
$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,-315169.28
$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,55
$R_STBD_OVSHOOT,31
$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
$GPS1,153435,1923.967,-8112.873,28,1.4,28,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.4
$GPS2,154512,1923.929,-8112.862,12,1.4,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.233,0.115
$KALMAN_X,-237973.3,-541.6,-58.5,229046.5,1006.3
$KALMAN_Y,148313.2,12.2,-67.5,-147571.2,-46.6
$MHEAD_RNG_PITCHd_Wd,300.0,10624,-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,-70.75,0.000,2,0.000,0.000,465,2182,3498,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.9,-5.7,9,122,13.57,2.58,-5.40,0.000,4,0.158,0.036,2978,3798,3787,0,0,0,0,0,0
$GC,264,-1.12,-146.0,40.2,-16.6,29,269,0.17,2.47,0.00,0.000,6,0.098,0.023,3016,2228,3787,0,0,0,0,0,0
$GC,532,-1.00,-146.0,79.6,-14.3,53,537,0.10,2.62,0.00,0.000,4,0.123,0.046,3039,632,3788,0,0,0,0,0,0
$GC,582,-0.95,-146.0,87.6,-13.9,56,591,0.00,2.47,0.00,0.000,6,0.000,0.016,3039,2225,3788,0,0,0,0,0,0
$GC,846,-0.95,-146.0,117.5,-10.7,81,851,0.00,2.62,0.00,0.000,4,0.000,0.044,3039,633,3789,0,0,0,0,0,0
$GC,878,-0.95,-146.0,121.1,-11.2,83,883,0.00,2.42,0.00,0.000,6,0.000,0.016,3039,2209,3789,0,0,0,0,0,0
$GC,1148,-1.00,-146.0,143.8,-7.6,107,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2210,3789,0,0,0,0,0,0
$GC,1413,-1.07,-146.0,162.9,-6.3,132,1418,0.00,2.58,0.00,0.000,4,0.000,0.048,3039,635,3789,0,0,0,0,0,0
$GC,1436,-1.13,-146.0,164.5,-6.8,133,1441,0.12,2.38,0.00,0.000,6,0.064,0.025,2981,2192,3789,0,0,0,0,0,0
$GC,1701,-1.13,-146.0,188.6,-9.1,157,1707,0.15,0.00,0.00,0.000,6,0.089,0.000,3017,2192,3790,0,0,0,0,0,0
$GC,1981,-1.19,-146.0,208.9,-6.9,175,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2192,3790,0,0,0,0,0,0
$GC,2222,-1.26,-146.0,226.1,-7.1,181,2227,0.12,2.53,0.00,0.000,4,0.066,0.044,2959,3768,3790,0,0,0,0,0,0
$GC,2246,-1.26,-146.0,228.1,-8.6,181,2252,0.12,2.50,0.00,0.000,6,0.095,0.021,2988,2171,3790,0,0,0,0,0,0
$GC,2502,-1.26,-146.0,248.6,-7.7,188,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2171,3789,0,0,0,0,0,0
$GC,2746,-1.26,-146.0,268.7,-8.4,194,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2172,3789,0,0,0,0,0,0
$GC,2992,-1.26,-146.0,289.1,-8.2,200,2996,0.00,2.60,0.00,0.000,4,0.000,0.040,2988,3764,3788,0,0,0,0,0,0
$GC,3026,-1.26,-146.0,292.2,-9.2,200,3032,0.00,2.50,0.00,0.000,6,0.000,0.026,2988,2186,3788,0,0,0,0,0,0
$GC,3276,-1.26,-146.0,312.4,-7.9,207,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2186,3787,0,0,0,0,0,0
$GC,3520,-1.26,-146.0,331.5,-7.9,213,3524,0.00,2.58,0.00,0.000,4,0.000,0.040,2988,3773,3786,0,0,0,0,0,0
$GC,3538,-1.26,-146.0,332.9,-7.9,213,3542,0.00,2.50,0.00,0.000,6,0.000,0.029,2988,2183,3786,0,0,0,0,0,0
$GC,3798,-1.26,-146.0,354.1,-8.2,220,3803,0.00,2.60,0.00,0.000,4,0.000,0.064,2988,635,3785,0,0,0,0,0,0
$GC,3838,-1.26,-146.0,357.3,-8.1,221,3843,0.00,2.42,0.00,0.000,6,0.000,0.034,2988,2160,3784,0,0,0,0,0,0
$GC,4124,-1.26,-146.0,378.4,-7.5,228,4128,0.00,2.65,0.00,0.000,4,0.000,0.051,2988,3787,3784,0,0,0,0,0,0
$GC,4185,-1.29,-146.0,383.4,-7.9,229,4189,0.00,2.58,0.00,0.000,6,0.000,0.027,2988,2183,3784,0,0,0,0,0,0
$GC,4448,-1.29,-146.0,402.2,-7.4,236,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2183,3782,0,0,0,0,0,0
$GC,4689,-1.29,-146.0,420.1,-7.3,242,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2183,3782,0,0,0,0,0,0
$GC,4933,-1.29,-146.0,438.6,-7.6,248,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2183,3781,0,0,0,0,0,0
$GC,5177,-1.29,-146.0,458.4,-8.3,254,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2183,3780,0,0,0,0,0,0
$GC,5423,-1.29,-146.0,477.5,-7.9,260,5427,0.00,2.70,0.00,0.000,4,0.000,0.064,2988,3786,3779,0,0,0,0,0,0
$GC,5444,-1.29,-146.0,479.5,-7.9,260,5449,0.00,2.65,0.00,0.000,6,0.000,0.043,2988,2189,3778,0,0,0,0,0,0
$GC,5699,-1.29,-146.0,499.3,-7.9,267,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2190,3777,0,0,0,0,0,0
$GC,5943,-1.29,-146.0,519.6,-8.3,273,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2190,3777,0,0,0,0,0,0
$GC,6189,-1.29,-146.0,539.3,-8.1,279,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2189,3775,0,0,0,0,0,0
$GC,6430,-1.29,-146.0,558.0,-7.6,285,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2190,3775,0,0,0,0,0,0
$GC,6674,-1.29,-146.0,576.9,-7.7,291,6679,0.00,2.83,0.00,0.000,4,0.000,0.080,2988,3783,3773,0,0,0,0,0,0
$GC,6726,-1.34,-146.0,580.9,-8.0,292,6731,0.00,2.70,0.00,0.000,6,0.000,0.060,2988,2188,3773,0,0,0,0,0,0
$GC,6998,-1.34,-146.0,601.5,-7.7,299,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2188,3772,0,0,0,0,0,0
$GC,7242,-1.38,-146.0,620.7,-7.9,305,7248,0.12,3.03,0.00,0.000,4,0.068,0.134,2936,626,3770,0,0,0,0,0,0
$GC,7278,-1.30,-146.0,624.0,-10.6,305,7285,0.17,2.65,0.00,0.000,6,0.088,0.061,2974,2173,3770,0,0,0,0,0,0
$GC,7528,-1.30,-146.0,645.9,-8.5,312,7533,0.00,2.97,0.00,0.000,4,0.000,0.100,2974,3795,3769,0,0,0,0,0,0
$GC,7557,-1.30,-146.0,648.3,-8.8,312,7562,0.00,2.88,0.00,0.000,6,0.000,0.084,2974,2186,3769,0,0,0,0,0,0
$GC,7809,-1.30,-146.0,668.2,-7.8,318,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2186,3768,0,0,0,0,0,0
$GC,8051,-1.30,-146.0,686.3,-7.3,324,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2186,3768,0,0,0,0,0,0
$GC,8294,-1.30,-146.0,704.4,-7.4,330,8299,0.00,3.08,0.00,0.000,4,0.000,0.117,2974,3794,3766,0,0,0,0,0,0
$GC,8324,-1.30,-146.0,706.5,-7.6,330,8329,0.00,2.90,0.00,0.000,6,0.000,0.092,2974,2199,3766,0,0,0,0,0,0
$GC,8574,-1.30,-146.0,726.4,-8.0,336,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2198,3765,0,0,0,0,0,0
$GC,8818,-1.30,-146.0,744.9,-7.6,342,8822,0.00,2.88,0.00,0.000,4,0.000,0.090,2973,3795,3763,0,0,0,0,0,0
$GC,8839,-1.30,-146.0,746.9,-9.2,342,8844,0.00,2.83,0.00,0.000,6,0.000,0.079,2974,2197,3763,0,0,0,0,0,0
$GC,9097,-1.30,-146.0,766.5,-7.5,349,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2197,3762,0,0,0,0,0,0
$GC,9338,-1.30,-146.0,785.9,-8.0,355,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2197,3761,0,0,0,0,0,0
$GC,9582,-1.30,-146.0,804.4,-7.6,361,9586,0.00,2.85,0.00,0.000,4,0.000,0.083,2974,3803,3761,0,0,0,0,0,0
$GC,9617,-1.30,-146.0,807.1,-8.4,361,9622,0.00,2.83,0.00,0.000,6,0.000,0.074,2974,2195,3760,0,0,0,0,0,0
$GC,9868,-1.30,-146.0,826.4,-7.6,368,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2195,3759,0,0,0,0,0,0
$GC,10110,-1.30,-146.0,845.4,-7.8,374,10115,0.00,2.85,0.00,0.000,4,0.000,0.085,2974,3800,3759,0,0,0,0,0,0
$GC,10132,-1.30,-146.0,847.1,-7.8,374,10137,0.00,2.78,0.00,0.000,6,0.000,0.073,2974,2209,3759,0,0,0,0,0,0
$GC,10390,-1.30,-146.0,866.3,-7.4,381,10394,0.00,3.08,0.00,0.000,4,0.000,0.125,2974,622,3757,0,0,0,0,0,0
$GC,10417,-1.30,-146.0,868.7,-7.7,381,10421,0.00,2.70,0.00,0.000,6,0.000,0.061,2974,2203,3757,0,0,0,0,0,0
$GC,10669,-1.30,-146.0,887.8,-7.5,387,10674,0.00,2.88,0.00,0.000,4,0.000,0.094,2974,3804,3757,0,0,0,0,0,0
$GC,10714,-1.35,-146.0,891.6,-8.4,388,10718,0.00,2.75,0.00,0.000,6,0.000,0.066,2974,2208,3756,0,0,0,0,0,0
$STATE,10826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10826,begin apogee
$GC,10832,-0.31,0.0,900.1,7.3,391,10957,0.95,0.00,120.90,1.210,6,0.071,0.000,3191,2382,3190,0,0,0,0,0,0
$STATE,10957,end apogee,CONTROL_FINISHED_OK
$STATE,10957,begin climb
$GC,10962,1.27,146.0,902.9,0.0,394,11099,1.42,2.83,127.78,1.179,4,0.046,0.079,3544,3928,2593,0,0,0,0,0,0
$GC,11193,1.15,146.0,887.1,12.1,399,11198,0.17,2.72,0.00,0.000,6,0.112,0.056,3509,2368,2588,0,0,0,0,0,0
$GC,11454,1.18,176.4,863.1,8.6,406,11488,0.00,2.83,27.45,1.112,4,0.000,0.064,3509,3928,2469,0,0,0,0,0,0
$GC,11514,1.15,189.1,857.5,9.4,407,11533,0.00,2.67,13.12,1.037,6,0.000,0.054,3509,2376,2418,0,0,0,0,0,0
$GC,11784,1.16,191.4,830.1,9.9,414,11788,0.00,2.70,0.00,0.000,4,0.000,0.062,3510,3940,2414,0,0,0,0,0,0
$GC,11799,1.16,195.4,828.4,9.8,414,11813,0.00,2.65,6.68,0.900,6,0.000,0.049,3510,2375,2393,0,0,0,0,0,0
$GC,12066,1.16,195.4,800.6,10.4,421,12067,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2375,2390,0,0,0,0,0,0
$GC,12307,1.16,195.4,775.8,10.2,427,12312,0.00,2.65,0.00,0.000,4,0.000,0.055,3509,3934,2389,0,0,0,0,0,0
$GC,12347,1.16,195.4,771.5,11.4,428,12351,0.00,2.62,0.00,0.000,6,0.000,0.049,3510,2389,2388,0,0,0,0,0,0
$GC,12632,1.16,195.4,743.3,10.1,435,12637,0.00,2.65,0.00,0.000,4,0.000,0.061,3509,3938,2388,0,0,0,0,0,0
$GC,12672,1.16,195.4,738.9,11.5,436,12676,0.00,2.62,0.00,0.000,6,0.000,0.048,3509,2393,2388,0,0,0,0,0,0
$GC,12955,1.16,195.4,709.3,10.5,443,12959,0.00,2.62,0.00,0.000,4,0.000,0.055,3510,3931,2387,0,0,0,0,0,0
$GC,13000,1.16,195.4,704.3,11.6,444,13005,0.00,2.60,0.00,0.000,6,0.000,0.048,3509,2397,2386,0,0,0,0,0,0
$GC,13278,1.16,195.4,674.9,10.5,451,13279,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2397,2386,0,0,0,0,0,0
$GC,13522,1.17,197.4,650.5,9.9,457,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2397,2386,0,0,0,0,0,0
$GC,13768,1.17,201.5,626.7,9.8,463,13779,0.00,2.62,6.00,0.808,4,0.000,0.059,3509,3934,2368,0,0,0,0,0,0
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$STATE,19761,end climb,SURFACE_DEPTH_REACHED
$STATE,19761,begin surface coast
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$STATE,19804,begin surface
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$DATA_FILE_SIZE,57290,742
$CAP_FILE_SIZE,171554,0
$CFSIZE,260165632,100741120
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$GPS,100413,211830,1924.444,-8115.129,37,1.0,37,-3.8