version: 66.06
glider: 146
mission: 8
dive: 423
start: 4 17 113 8 16 43
data:
$ID,146
$MISSION,8
$DIVE,423
$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,-315792.06
$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,69
$R_STBD_OVSHOOT,23
$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
$GPS1,080823,1924.021,-8108.589,23,1.2,40,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.5
$GPS2,081548,1924.006,-8108.645,9,1.3,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.254,-0.054
$KALMAN_X,-204501.5,-532.2,-292.0,203169.7,2912.6
$KALMAN_Y,147020.2,-677.1,-314.7,-145201.6,1530.9
$MHEAD_RNG_PITCHd_Wd,261.8,17253,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.35,0.000,2,0.000,0.000,459,2160,3484,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.7,-4.9,9,123,13.60,2.65,-5.43,0.000,4,0.158,0.038,2979,3815,3786,0,0,0,0,0,0
$GC,286,-1.13,-146.0,44.7,-16.2,30,291,0.15,2.47,0.00,0.000,6,0.104,0.023,3012,2240,3787,0,0,0,0,0,0
$GC,552,-1.01,-146.0,83.3,-14.7,54,557,0.12,2.67,0.00,0.000,4,0.108,0.047,3040,634,3788,0,0,0,0,0,0
$GC,622,-1.01,-146.0,92.1,-12.0,59,626,0.00,2.47,0.00,0.000,6,0.000,0.016,3040,2241,3788,0,0,0,0,0,0
$GC,890,-1.01,-146.0,122.3,-11.1,83,895,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2242,3789,0,0,0,0,0,0
$GC,1153,-1.05,-146.0,149.3,-8.8,108,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2242,3789,0,0,0,0,0,0
$GC,1410,-1.12,-146.0,169.2,-7.5,132,1415,0.10,2.67,0.00,0.000,4,0.077,0.047,2988,636,3789,0,0,0,0,0,0
$GC,1433,-1.12,-146.0,171.9,-9.3,133,1439,0.12,2.38,0.00,0.000,6,0.098,0.025,3016,2201,3789,0,0,0,0,0,0
$GC,1698,-1.15,-146.0,192.7,-7.7,158,1703,0.00,2.58,0.00,0.000,4,0.000,0.045,3016,638,3790,0,0,0,0,0,0
$GC,1720,-1.15,-146.0,194.8,-7.8,159,1729,0.00,2.40,0.00,0.000,6,0.000,0.022,3016,2186,3790,0,0,0,0,0,0
$GC,2003,-1.20,-146.0,215.5,-7.3,172,2008,0.00,2.53,0.00,0.000,4,0.000,0.041,3016,3768,3790,0,0,0,0,0,0
$GC,2046,-1.27,-146.0,218.6,-8.0,173,2051,0.15,2.47,0.00,0.000,6,0.056,0.026,2949,2183,3790,0,0,0,0,0,0
$GC,2330,-1.19,-146.0,246.5,-9.8,180,2332,0.22,0.00,0.00,0.000,6,0.081,0.000,3001,2183,3790,0,0,0,0,0,0
$GC,2576,-1.23,-146.0,264.3,-7.2,186,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2183,3789,0,0,0,0,0,0
$GC,2817,-1.26,-146.0,282.2,-7.5,192,2821,0.00,2.55,0.00,0.000,4,0.000,0.043,3001,3765,3789,0,0,0,0,0,0
$GC,2862,-1.32,-146.0,285.8,-7.8,193,2867,0.12,2.45,0.00,0.000,6,0.065,0.030,2944,2199,3789,0,0,0,0,0,0
$GC,3142,-1.24,-146.0,312.4,-9.8,200,3144,0.20,0.00,0.00,0.000,6,0.085,0.000,2990,2199,3787,0,0,0,0,0,0
$GC,3383,-1.24,-146.0,332.1,-8.0,206,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2199,3787,0,0,0,0,0,0
$GC,3627,-1.24,-146.0,351.8,-8.0,212,3631,0.00,2.53,0.00,0.000,4,0.000,0.040,2990,3764,3786,0,0,0,0,0,0
$GC,3656,-1.24,-146.0,354.2,-8.4,212,3661,0.00,2.47,0.00,0.000,6,0.000,0.025,2991,2209,3786,0,0,0,0,0,0
$GC,3906,-1.24,-146.0,373.1,-7.4,218,3911,0.00,2.67,0.00,0.000,4,0.000,0.071,2991,636,3785,0,0,0,0,0,0
$GC,3946,-1.28,-146.0,376.2,-7.9,219,3950,0.00,2.45,0.00,0.000,6,0.000,0.031,2990,2184,3785,0,0,0,0,0,0
$GC,4232,-1.28,-146.0,399.0,-8.2,226,4236,0.00,2.62,0.00,0.000,4,0.000,0.051,2991,3793,3784,0,0,0,0,0,0
$GC,4293,-1.33,-146.0,404.4,-7.9,227,4297,0.00,2.55,0.00,0.000,6,0.000,0.033,2990,2215,3784,0,0,0,0,0,0
$GC,4556,-1.33,-146.0,424.1,-7.3,234,4560,0.00,2.78,0.00,0.000,4,0.000,0.085,2990,627,3782,0,0,0,0,0,0
$GC,4583,-1.33,-146.0,426.3,-7.7,234,4587,0.00,2.55,0.00,0.000,6,0.000,0.034,2990,2206,3782,0,0,0,0,0,0
$GC,4833,-1.33,-146.0,445.3,-7.5,240,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2207,3781,0,0,0,0,0,0
$GC,5076,-1.33,-146.0,464.0,-7.8,246,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2207,3780,0,0,0,0,0,0
$GC,5323,-1.37,-146.0,482.9,-7.7,252,5328,0.12,2.67,0.00,0.000,4,0.068,0.060,2940,3792,3779,0,0,0,0,0,0
$GC,5356,-1.30,-146.0,486.4,-10.4,252,5363,0.17,2.62,0.00,0.000,6,0.084,0.045,2980,2212,3779,0,0,0,0,0,0
$GC,5606,-1.30,-146.0,506.9,-8.1,259,5611,0.00,2.67,0.00,0.000,4,0.000,0.064,2980,3794,3777,0,0,0,0,0,0
$GC,5649,-1.30,-146.0,510.4,-8.8,260,5653,0.00,2.65,0.00,0.000,6,0.000,0.054,2980,2216,3777,0,0,0,0,0,0
$GC,5932,-1.30,-146.0,534.0,-8.2,267,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2216,3776,0,0,0,0,0,0
$GC,6175,-1.30,-146.0,553.4,-7.8,273,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2216,3775,0,0,0,0,0,0
$GC,6422,-1.30,-146.0,571.7,-7.5,279,6427,0.00,3.03,0.00,0.000,4,0.000,0.118,2980,620,3774,0,0,0,0,0,0
$GC,6449,-1.30,-146.0,574.2,-7.9,279,6454,0.00,2.67,0.00,0.000,6,0.000,0.056,2980,2210,3773,0,0,0,0,0,0
$GC,6699,-1.30,-146.0,593.5,-7.8,285,6704,0.00,2.83,0.00,0.000,4,0.000,0.085,2981,3793,3772,0,0,0,0,0,0
$GC,6747,-1.30,-146.0,597.1,-8.4,286,6752,0.00,2.67,0.00,0.000,6,0.000,0.064,2980,2229,3772,0,0,0,0,0,0
$GC,7025,-1.30,-146.0,620.5,-8.3,293,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2229,3771,0,0,0,0,0,0
$GC,7269,-1.30,-146.0,639.8,-7.8,299,7274,0.00,3.08,0.00,0.000,4,0.000,0.120,2980,621,3769,0,0,0,0,0,0
$GC,7304,-1.30,-146.0,642.5,-7.3,299,7310,0.00,2.80,0.00,0.000,6,0.000,0.068,2980,2224,3769,0,0,0,0,0,0
$GC,7554,-1.30,-146.0,660.7,-7.1,306,7559,0.00,2.90,0.00,0.000,4,0.000,0.113,2980,3797,3768,0,0,0,0,0,0
$GC,7577,-1.30,-146.0,662.4,-7.7,306,7582,0.00,2.83,0.00,0.000,6,0.000,0.083,2980,2226,3768,0,0,0,0,0,0
$GC,7837,-1.30,-146.0,680.4,-6.9,313,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2226,3767,0,0,0,0,0,0
$GC,8078,-1.30,-146.0,698.6,-7.5,319,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2226,3766,0,0,0,0,0,0
$GC,8322,-1.30,-146.0,717.1,-7.6,325,8327,0.00,3.28,0.00,0.000,4,0.000,0.153,2980,623,3764,0,0,0,0,0,0
$GC,8355,-1.30,-146.0,719.8,-8.1,325,8361,0.00,2.95,0.00,0.000,6,0.000,0.100,2980,2216,3764,0,0,0,0,0,0
$GC,8608,-1.30,-146.0,738.3,-7.5,332,8613,0.00,3.17,0.00,0.000,4,0.000,0.147,2980,3804,3762,0,0,0,0,0,0
$GC,8647,-1.30,-146.0,741.7,-8.0,333,8652,0.00,2.80,0.00,0.000,6,0.000,0.077,2980,2219,3762,0,0,0,0,0,0
$GC,8933,-1.30,-146.0,762.7,-7.1,340,8938,0.00,2.85,0.00,0.000,4,0.000,0.093,2980,3801,3761,0,0,0,0,0,0
$GC,8954,-1.30,-146.0,764.6,-7.3,340,8959,0.00,2.78,0.00,0.000,6,0.000,0.076,2980,2221,3762,0,0,0,0,0,0
$GC,9209,-1.30,-146.0,782.4,-6.9,347,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2221,3761,0,0,0,0,0,0
$GC,9453,-1.30,-146.0,800.4,-7.4,353,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2221,3759,0,0,0,0,0,0
$GC,9699,-1.30,-146.0,818.4,-7.3,359,9704,0.00,2.83,0.00,0.000,4,0.000,0.088,2980,3801,3759,0,0,0,0,0,0
$GC,9720,-1.30,-146.0,820.2,-7.7,359,9725,0.00,2.72,0.00,0.000,6,0.000,0.073,2980,2229,3759,0,0,0,0,0,0
$GC,9978,-1.34,-146.0,838.6,-7.2,366,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2229,3757,0,0,0,0,0,0
$GC,10222,-1.38,-146.0,856.5,-7.4,372,10227,0.00,2.83,0.00,0.000,4,0.000,0.083,2981,3811,3756,0,0,0,0,0,0
$GC,10250,-1.42,-146.0,858.8,-7.7,372,10255,0.12,2.75,0.00,0.000,6,0.070,0.067,2933,2237,3756,0,0,0,0,0,0
$GC,10500,-1.37,-146.0,881.7,-9.2,378,10502,0.12,0.00,0.00,0.000,6,0.104,0.000,2960,2237,3755,0,0,0,0,0,0
$STATE,10741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10741,begin apogee
$GC,10750,-0.31,0.0,901.7,8.1,384,10874,1.00,0.00,120.72,1.216,6,0.065,0.000,3192,2389,3190,0,0,0,0,0,0
$STATE,10875,end apogee,CONTROL_FINISHED_OK
$STATE,10875,begin climb
$GC,10877,1.27,146.0,905.1,0.0,387,11018,1.45,2.80,128.68,1.182,4,0.035,0.081,3545,3930,2593,0,0,0,0,0,0
$GC,11041,1.14,146.0,897.0,10.3,391,11046,0.17,2.75,0.00,0.000,6,0.115,0.063,3511,2369,2589,0,0,0,0,0,0
$GC,11307,1.16,160.9,871.8,9.3,398,11327,0.00,2.83,13.52,1.054,4,0.000,0.064,3511,3925,2534,0,0,0,0,0,0
$GC,11363,1.11,160.9,866.4,10.3,399,11368,0.00,2.70,0.00,0.000,6,0.000,0.050,3511,2366,2532,0,0,0,0,0,0
$GC,11636,1.11,162.5,838.9,9.9,406,11637,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2366,2531,0,0,0,0,0,0
$GC,11879,1.12,171.2,815.4,9.6,412,11891,0.00,0.00,10.15,1.006,6,0.000,0.000,3511,2366,2492,0,0,0,0,0,0
$GC,12126,1.14,189.7,792.8,9.1,418,12150,0.00,2.83,18.48,1.068,4,0.000,0.063,3511,3935,2416,0,0,0,0,0,0
$GC,12161,1.17,208.5,789.0,9.1,418,12186,0.00,2.70,19.17,1.062,6,0.000,0.048,3511,2374,2340,0,0,0,0,0,0
$GC,12455,1.17,208.5,759.7,10.3,426,12460,0.00,3.15,0.00,0.000,4,0.000,0.132,3511,783,2335,0,0,0,0,0,0
$GC,12471,1.17,208.5,757.6,10.5,426,12476,0.00,2.70,0.00,0.000,6,0.000,0.051,3511,2377,2334,0,0,0,0,0,0
$GC,12732,1.17,208.5,729.7,10.8,433,12737,0.00,2.70,0.00,0.000,4,0.000,0.066,3510,3938,2333,0,0,0,0,0,0
$GC,12790,1.17,208.5,723.2,12.3,434,12794,0.00,2.62,0.00,0.000,6,0.000,0.046,3511,2377,2332,0,0,0,0,0,0
$GC,13056,1.17,208.5,695.5,10.4,441,13061,0.00,3.10,0.00,0.000,4,0.000,0.123,3510,781,2332,0,0,0,0,0,0
$GC,13083,1.17,208.5,692.3,11.8,441,13087,0.00,2.70,0.00,0.000,6,0.000,0.051,3511,2380,2331,0,0,0,0,0,0
$GC,13335,1.17,208.5,666.6,10.1,447,13340,0.00,2.70,0.00,0.000,4,0.000,0.069,3510,3938,2331,0,0,0,0,0,0
$GC,13356,1.17,213.2,664.1,9.8,447,13365,0.00,2.62,3.75,0.630,6,0.000,0.041,3511,2377,2322,0,0,0,0,0,0
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$STATE,19560,end climb,SURFACE_DEPTH_REACHED
$STATE,19560,begin surface coast
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$STATE,19617,end surface coast,CONTROL_FINISHED_OK
$STATE,19617,begin surface
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$10V_AH,10.1,53.031
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57177,747
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$CFSIZE,260165632,98562048
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