version: 66.06
glider: 146
mission: 8
dive: 398
start: 4 11 113 17 46 29
data:
$ID,146
$MISSION,8
$DIVE,398
$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,-315288.66
$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,52
$R_STBD_OVSHOOT,38
$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
$GPS1,172923,1927.394,-8115.175,63,2.0,63,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-75.2
$GPS2,174536,1927.424,-8115.280,34,1.3,34,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,-0.052
$KALMAN_X,-240844.8,-13.9,96.5,227003.5,-30.3
$KALMAN_Y,146414.1,480.4,333.8,-140088.7,-999.4
$MHEAD_RNG_PITCHd_Wd,105.3,13821,-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,18,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-69.50,0.000,2,0.000,0.000,462,2186,3448,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.4,-4.7,9,124,13.60,2.58,-6.38,0.000,4,0.160,0.039,2976,3796,3787,0,0,0,0,0,0
$GC,209,-1.12,-146.0,29.8,-16.8,24,217,0.15,2.50,0.00,0.000,6,0.080,0.022,3014,2227,3788,0,0,0,0,0,0
$GC,479,-0.99,-146.0,70.3,-16.0,49,484,0.12,2.62,0.00,0.000,4,0.110,0.046,3043,635,3788,0,0,0,0,0,0
$GC,515,-0.90,-146.0,76.3,-14.0,51,520,0.10,2.45,0.00,0.000,6,0.115,0.016,3066,2226,3788,0,0,0,0,0,0
$GC,783,-0.90,-146.0,105.7,-10.9,75,788,0.00,2.62,0.00,0.000,4,0.000,0.043,3066,630,3789,0,0,0,0,0,0
$GC,842,-0.97,-146.0,112.0,-9.9,79,846,0.00,2.40,0.00,0.000,6,0.000,0.016,3066,2190,3789,0,0,0,0,0,0
$GC,1111,-1.05,-146.0,134.0,-7.5,103,1116,0.15,2.50,0.00,0.000,4,0.058,0.038,3004,3771,3789,0,0,0,0,0,0
$GC,1156,-1.05,-146.0,139.0,-10.1,106,1165,0.08,2.50,0.00,0.000,6,0.065,0.020,3030,2179,3789,0,0,0,0,0,0
$GC,1422,-1.10,-146.0,159.3,-8.7,131,1426,0.00,2.50,0.00,0.000,4,0.000,0.048,3030,637,3789,0,0,0,0,0,0
$GC,1439,-1.15,-146.0,161.1,-8.6,132,1443,0.00,2.40,0.00,0.000,6,0.000,0.016,3030,2205,3789,0,0,0,0,0,0
$GC,1704,-1.23,-146.0,180.3,-7.1,156,1710,0.15,2.58,0.00,0.000,4,0.058,0.053,2968,637,3790,0,0,0,0,0,0
$GC,1727,-1.23,-146.0,182.7,-8.3,157,1734,0.10,2.35,0.00,0.000,6,0.110,0.021,2993,2190,3789,0,0,0,0,0,0
$GC,1988,-1.23,-146.0,204.2,-8.5,179,1993,0.00,2.50,0.00,0.000,4,0.000,0.040,2993,3776,3789,0,0,0,0,0,0
$GC,2019,-1.23,-146.0,207.0,-9.7,179,2023,0.00,2.47,0.00,0.000,6,0.000,0.025,2993,2191,3790,0,0,0,0,0,0
$GC,2268,-1.23,-146.0,228.5,-8.5,185,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2191,3789,0,0,0,0,0,0
$GC,2513,-1.23,-146.0,249.5,-8.7,191,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2191,3788,0,0,0,0,0,0
$GC,2758,-1.23,-146.0,270.2,-8.4,197,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2191,3788,0,0,0,0,0,0
$GC,3000,-1.23,-146.0,290.7,-8.3,203,3004,0.00,2.53,0.00,0.000,4,0.000,0.044,2993,3762,3787,0,0,0,0,0,0
$GC,3016,-1.23,-146.0,292.2,-8.3,203,3020,0.00,2.45,0.00,0.000,6,0.000,0.022,2993,2203,3787,0,0,0,0,0,0
$GC,3279,-1.23,-146.0,312.9,-7.9,210,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2203,3787,0,0,0,0,0,0
$GC,3520,-1.23,-146.0,331.7,-7.6,216,3524,0.00,2.60,0.00,0.000,4,0.000,0.058,2993,641,3786,0,0,0,0,0,0
$GC,3536,-1.23,-146.0,333.0,-7.4,216,3540,0.00,2.40,0.00,0.000,6,0.000,0.026,2993,2183,3785,0,0,0,0,0,0
$GC,3797,-1.23,-146.0,352.3,-7.4,223,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2183,3784,0,0,0,0,0,0
$GC,4043,-1.23,-146.0,370.6,-7.6,229,4047,0.00,2.60,0.00,0.000,4,0.000,0.046,2993,3783,3783,0,0,0,0,0,0
$GC,4075,-1.27,-146.0,373.5,-8.1,229,4081,0.00,2.50,0.00,0.000,6,0.000,0.026,2993,2204,3783,0,0,0,0,0,0
$GC,4327,-1.27,-146.0,392.3,-7.4,236,4332,0.00,2.70,0.00,0.000,4,0.000,0.070,2993,623,3782,0,0,0,0,0,0
$GC,4363,-1.27,-146.0,395.2,-8.0,236,4369,0.00,2.50,0.00,0.000,6,0.000,0.035,2993,2185,3781,0,0,0,0,0,0
$GC,4613,-1.27,-146.0,414.3,-7.6,243,4617,0.00,2.65,0.00,0.000,4,0.000,0.058,2993,3793,3781,0,0,0,0,0,0
$GC,4629,-1.30,-146.0,415.6,-7.5,243,4634,0.00,2.58,0.00,0.000,6,0.000,0.035,2993,2193,3781,0,0,0,0,0,0
$GC,4894,-1.34,-146.0,435.4,-7.7,250,4895,0.12,0.00,0.00,0.000,6,0.091,0.000,2947,2192,3779,0,0,0,0,0,0
$GC,5135,-1.29,-146.0,457.9,-9.4,256,5137,0.15,0.00,0.00,0.000,6,0.094,0.000,2981,2192,3778,0,0,0,0,0,0
$GC,5378,-1.29,-146.0,477.2,-7.9,262,5382,0.00,2.70,0.00,0.000,4,0.000,0.061,2981,3782,3778,0,0,0,0,0,0
$GC,5407,-1.29,-146.0,479.5,-8.3,262,5412,0.00,2.62,0.00,0.000,6,0.000,0.048,2980,2197,3777,0,0,0,0,0,0
$GC,5657,-1.29,-146.0,499.8,-8.1,268,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2197,3777,0,0,0,0,0,0
$GC,5901,-1.29,-146.0,519.6,-8.1,274,5906,0.00,2.70,0.00,0.000,4,0.000,0.063,2981,3784,3775,0,0,0,0,0,0
$GC,5930,-1.29,-146.0,521.9,-8.6,274,5935,0.00,2.67,0.00,0.000,6,0.000,0.051,2981,2196,3775,0,0,0,0,0,0
$GC,6180,-1.29,-146.0,542.3,-8.1,280,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2196,3773,0,0,0,0,0,0
$GC,6424,-1.29,-146.0,561.9,-8.0,286,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2196,3772,0,0,0,0,0,0
$GC,6668,-1.29,-146.0,581.6,-8.1,292,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2196,3770,0,0,0,0,0,0
$GC,6914,-1.29,-146.0,601.4,-8.1,298,6919,0.00,2.83,0.00,0.000,4,0.000,0.090,2981,3778,3769,0,0,0,0,0,0
$GC,6941,-1.29,-146.0,604.0,-9.6,298,6946,0.00,2.70,0.00,0.000,6,0.000,0.061,2981,2197,3769,0,0,0,0,0,0
$GC,7191,-1.29,-146.0,624.7,-8.3,304,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2196,3768,0,0,0,0,0,0
$GC,7437,-1.29,-146.0,643.8,-7.7,310,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2197,3767,0,0,0,0,0,0
$GC,7679,-1.29,-146.0,663.0,-7.9,316,7683,0.00,2.90,0.00,0.000,4,0.000,0.104,2981,3779,3766,0,0,0,0,0,0
$GC,7700,-1.29,-146.0,664.9,-8.9,316,7705,0.00,2.83,0.00,0.000,6,0.000,0.085,2981,2210,3766,0,0,0,0,0,0
$GC,7955,-1.29,-146.0,685.1,-8.0,323,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2210,3764,0,0,0,0,0,0
$GC,8201,-1.29,-146.0,704.2,-7.9,329,8206,0.00,3.00,0.00,0.000,4,0.000,0.121,2981,3777,3764,0,0,0,0,0,0
$GC,8217,-1.29,-146.0,705.8,-7.8,329,8222,0.00,2.90,0.00,0.000,6,0.000,0.098,2981,2208,3764,0,0,0,0,0,0
$GC,8478,-1.29,-146.0,726.8,-8.1,336,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2209,3763,0,0,0,0,0,0
$GC,8724,-1.29,-146.0,746.3,-7.9,342,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2205,3762,0,0,0,0,0,0
$GC,8965,-1.29,-146.0,764.8,-7.6,348,8970,0.00,3.05,0.00,0.000,4,0.000,0.126,2981,620,3761,0,0,0,0,0,0
$GC,8981,-1.29,-146.0,766.1,-7.6,348,8986,0.00,2.72,0.00,0.000,6,0.000,0.067,2981,2193,3760,0,0,0,0,0,0
$GC,9244,-1.29,-146.0,785.6,-7.4,355,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2193,3759,0,0,0,0,0,0
$GC,9485,-1.29,-146.0,803.5,-7.3,361,9487,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2193,3759,0,0,0,0,0,0
$GC,9731,-1.29,-146.0,821.7,-7.6,367,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2194,3758,0,0,0,0,0,0
$GC,9973,-1.33,-146.0,839.1,-7.1,373,9978,0.00,2.90,0.00,0.000,4,0.000,0.100,2981,3800,3757,0,0,0,0,0,0
$GC,10003,-1.37,-146.0,841.1,-7.2,373,10008,0.00,2.75,0.00,0.000,6,0.000,0.064,2981,2199,3757,0,0,0,0,0,0
$GC,10254,-1.41,-146.0,858.8,-6.9,379,10259,0.12,2.85,0.00,0.000,4,0.074,0.086,2937,3803,3755,0,0,0,0,0,0
$GC,10276,-1.41,-146.0,860.7,-8.2,379,10280,0.00,2.75,0.00,0.000,6,0.000,0.068,2937,2207,3755,0,0,0,0,0,0
$GC,10534,-1.37,-146.0,883.1,-8.9,386,10536,0.10,0.00,0.00,0.000,6,0.116,0.000,2959,2207,3755,0,0,0,0,0,0
$STATE,10772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10772,begin apogee
$GC,10778,-0.31,0.0,902.0,7.6,392,10902,1.00,0.00,120.50,1.215,6,0.071,0.000,3190,2380,3190,0,0,0,0,0,0
$STATE,10903,end apogee,CONTROL_FINISHED_OK
$STATE,10903,begin climb
$GC,10908,1.27,146.0,904.9,0.0,395,11045,1.42,2.80,128.35,1.183,4,0.046,0.077,3542,3929,2592,0,0,0,0,0,0
$GC,11134,1.15,146.0,890.3,11.2,400,11139,0.15,2.72,0.00,0.000,6,0.117,0.061,3513,2370,2588,0,0,0,0,0,0
$GC,11401,1.13,161.2,864.7,9.3,407,11417,0.00,0.00,13.95,1.055,6,0.000,0.000,3513,2370,2532,0,0,0,0,0,0
$GC,11644,1.15,174.1,841.8,9.4,413,11663,0.00,2.78,12.73,1.045,4,0.000,0.060,3513,3923,2480,0,0,0,0,0,0
$GC,11683,1.11,179.5,838.0,9.8,413,11697,0.00,2.67,6.70,0.904,6,0.000,0.045,3513,2366,2458,0,0,0,0,0,0
$GC,11976,1.12,183.5,809.0,9.8,421,11986,0.00,2.72,4.60,0.768,4,0.000,0.062,3512,3938,2442,0,0,0,0,0,0
$GC,12010,1.07,183.5,805.6,10.1,421,12016,0.00,2.70,0.00,0.000,6,0.000,0.049,3513,2365,2441,0,0,0,0,0,0
$GC,12260,1.07,183.9,780.5,10.0,428,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2365,2441,0,0,0,0,0,0
$GC,12504,1.07,183.9,756.1,10.0,434,12508,0.00,2.67,0.00,0.000,4,0.000,0.054,3513,3932,2440,0,0,0,0,0,0
$GC,12525,1.07,183.9,753.8,10.3,434,12529,0.00,2.67,0.00,0.000,6,0.000,0.051,3513,2361,2439,0,0,0,0,0,0
$GC,12783,1.08,188.5,728.7,9.8,441,12790,0.00,0.00,6.12,0.861,6,0.000,0.000,3513,2361,2421,0,0,0,0,0,0
$GC,13026,1.08,192.7,704.8,9.8,447,13034,0.00,0.00,5.60,0.819,6,0.000,0.000,3513,2361,2404,0,0,0,0,0,0
$GC,13267,1.08,192.7,680.0,10.2,453,13272,0.00,2.67,0.00,0.000,4,0.000,0.055,3513,3934,2402,0,0,0,0,0,0
$GC,13335,1.08,192.7,672.6,11.0,454,13340,0.00,2.65,0.00,0.000,6,0.000,0.044,3513,2368,2402,0,0,0,0,0,0
$GC,13590,1.08,192.7,646.3,10.1,461,13595,0.00,2.65,0.00,0.000,4,0.000,0.054,3513,3934,2402,0,0,0,0,0,0
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$STATE,19768,end climb,SURFACE_DEPTH_REACHED
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$FG_AHR_10Vo,0.000
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$MEM,355984
$DATA_FILE_SIZE,57250,750
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$CFSIZE,260165632,100380672
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$GPS,110413,231853,1927.416,-8112.069,37,1.3,37,-3.8