version: 66.06
glider: 146
mission: 8
dive: 427
start: 4 18 113 7 11 6
data:
$ID,146
$MISSION,8
$DIVE,427
$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,-315851.28
$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,52
$R_STBD_OVSHOOT,20
$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
$GPS1,065806,1925.557,-8114.291,25,1.2,25,-3.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-75.6
$GPS2,071012,1925.605,-8114.389,8,1.4,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.242,0.093
$KALMAN_X,-199207.2,616.5,233.9,186146.2,-341.5
$KALMAN_Y,144697.1,-433.2,-105.3,-140373.9,250.8
$MHEAD_RNG_PITCHd_Wd,294.8,6815,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.27,-146.0,0.0,0.0,0,97,0.00,0.00,-70.62,0.000,2,0.000,0.000,465,2186,3523,0,0,0,0,0,0
$GC,100,-1.27,-146.0,4.2,-6.2,9,126,13.75,2.62,-4.68,0.000,4,0.163,0.043,2976,3810,3786,0,0,0,0,0,0
$GC,138,-0.09,-146.0,19.3,-38.8,13,148,1.17,2.53,0.00,0.000,6,0.091,0.021,3236,2227,3787,0,0,0,0,0,0
$GC,436,-0.67,-146.0,39.9,-8.1,50,442,0.50,2.60,0.00,0.000,4,0.055,0.044,3108,633,3788,0,0,0,0,0,0
$GC,548,-0.80,-146.0,48.9,-8.1,58,552,0.00,2.50,0.00,0.000,6,0.000,0.016,3108,2266,3788,0,0,0,0,0,0
$GC,819,-0.88,-146.0,71.7,-8.0,82,824,0.17,2.45,0.00,0.000,4,0.051,0.033,3034,3806,3788,0,0,0,0,0,0
$GC,842,-0.88,-146.0,75.0,-9.6,83,852,0.10,2.50,0.00,0.000,6,0.063,0.021,3064,2225,3788,0,0,0,0,0,0
$GC,1106,-0.88,-146.0,103.4,-11.1,108,1111,0.00,2.58,0.00,0.000,4,0.000,0.045,3064,638,3788,0,0,0,0,0,0
$GC,1151,-0.88,-146.0,108.3,-11.3,111,1155,0.00,2.50,0.00,0.000,6,0.000,0.021,3064,2269,3788,0,0,0,0,0,0
$GC,1420,-0.92,-146.0,133.7,-8.6,135,1425,0.00,2.65,0.00,0.000,4,0.000,0.044,3064,637,3789,0,0,0,0,0,0
$GC,1477,-1.02,-146.0,139.2,-9.0,139,1482,0.10,2.47,0.00,0.000,6,0.077,0.018,3009,2248,3789,0,0,0,0,0,0
$GC,1742,-1.02,-146.0,166.6,-10.2,163,1747,0.12,0.00,0.00,0.000,6,0.094,0.000,3039,2248,3789,0,0,0,0,0,0
$GC,2005,-1.09,-146.0,187.1,-7.5,188,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2248,3789,0,0,0,0,0,0
$GC,2267,-1.18,-146.0,205.9,-6.6,207,2272,0.15,2.65,0.00,0.000,4,0.057,0.048,2972,639,3789,0,0,0,0,0,0
$GC,2294,-1.18,-146.0,208.4,-8.1,207,2300,0.12,2.45,0.00,0.000,6,0.097,0.018,3001,2231,3789,0,0,0,0,0,0
$GC,2547,-1.18,-146.0,228.0,-7.7,213,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2231,3789,0,0,0,0,0,0
$GC,2788,-1.18,-146.0,247.2,-8.0,219,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2231,3789,0,0,0,0,0,0
$GC,3032,-1.18,-146.0,265.7,-7.5,225,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2231,3789,0,0,0,0,0,0
$GC,3276,-1.18,-146.0,283.6,-7.3,231,3280,0.00,2.65,0.00,0.000,4,0.000,0.061,3001,635,3788,0,0,0,0,0,0
$GC,3299,-1.18,-146.0,285.3,-7.7,231,3304,0.00,2.45,0.00,0.000,6,0.000,0.028,3001,2202,3787,0,0,0,0,0,0
$GC,3557,-1.22,-146.0,304.5,-7.4,238,3561,0.00,2.53,0.00,0.000,4,0.000,0.047,3001,3783,3787,0,0,0,0,0,0
$GC,3584,-1.26,-146.0,306.9,-7.9,238,3589,0.00,2.45,0.00,0.000,6,0.000,0.023,3001,2213,3787,0,0,0,0,0,0
$GC,3837,-1.30,-146.0,325.7,-7.6,244,3843,0.12,2.67,0.00,0.000,4,0.067,0.060,2948,636,3786,0,0,0,0,0,0
$GC,3867,-1.25,-146.0,328.5,-9.7,244,3872,0.17,2.47,0.00,0.000,6,0.087,0.031,2988,2204,3786,0,0,0,0,0,0
$GC,4120,-1.25,-146.0,349.6,-8.3,250,4124,0.00,2.55,0.00,0.000,4,0.000,0.041,2988,3787,3785,0,0,0,0,0,0
$GC,4152,-1.25,-146.0,352.7,-8.6,250,4158,0.00,2.50,0.00,0.000,6,0.000,0.027,2988,2216,3785,0,0,0,0,0,0
$GC,4402,-1.25,-146.0,373.2,-8.1,257,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2216,3784,0,0,0,0,0,0
$GC,4646,-1.25,-146.0,392.2,-7.7,263,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2216,3783,0,0,0,0,0,0
$GC,4892,-1.25,-146.0,410.2,-7.4,269,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2216,3782,0,0,0,0,0,0
$GC,5133,-1.25,-146.0,428.6,-7.5,275,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2216,3781,0,0,0,0,0,0
$GC,5379,-1.25,-146.0,446.7,-7.3,281,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2216,3780,0,0,0,0,0,0
$GC,5621,-1.25,-146.0,465.8,-7.8,287,5625,0.00,2.78,0.00,0.000,4,0.000,0.084,2988,638,3778,0,0,0,0,0,0
$GC,5645,-1.25,-146.0,467.5,-7.8,287,5649,0.00,2.58,0.00,0.000,6,0.000,0.041,2988,2210,3778,0,0,0,0,0,0
$GC,5900,-1.25,-146.0,486.6,-7.3,294,5905,0.00,2.67,0.00,0.000,4,0.000,0.067,2988,3793,3777,0,0,0,0,0,0
$GC,5940,-1.30,-146.0,489.8,-8.9,295,5944,0.00,2.58,0.00,0.000,6,0.000,0.050,2988,2231,3777,0,0,0,0,0,0
$GC,6226,-1.30,-146.0,510.8,-7.2,302,6230,0.00,2.92,0.00,0.000,4,0.000,0.100,2988,620,3776,0,0,0,0,0,0
$GC,6265,-1.35,-146.0,514.0,-7.6,303,6270,0.00,2.65,0.00,0.000,6,0.000,0.048,2988,2221,3776,0,0,0,0,0,0
$GC,6551,-1.35,-146.0,535.1,-7.4,310,6556,0.00,2.70,0.00,0.000,4,0.000,0.074,2988,3799,3774,0,0,0,0,0,0
$GC,6584,-1.39,-146.0,537.9,-8.1,310,6590,0.12,2.65,0.00,0.000,6,0.065,0.048,2934,2221,3774,0,0,0,0,0,0
$GC,6835,-1.32,-146.0,562.2,-9.9,317,6836,0.17,0.00,0.00,0.000,6,0.171,0.000,2973,2220,3772,0,0,0,0,0,0
$GC,7081,-1.32,-146.0,582.5,-8.2,323,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2220,3772,0,0,0,0,0,0
$GC,7321,-1.32,-146.0,602.1,-8.1,329,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2220,3770,0,0,0,0,0,0
$GC,7565,-1.32,-146.0,621.1,-7.8,335,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2220,3769,0,0,0,0,0,0
$GC,7809,-1.32,-146.0,640.5,-8.0,341,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2220,3768,0,0,0,0,0,0
$GC,8055,-1.32,-146.0,661.4,-8.6,347,8060,0.00,2.97,0.00,0.000,4,0.000,0.119,2973,3792,3766,0,0,0,0,0,0
$GC,8082,-1.32,-146.0,664.2,-9.6,347,8087,0.00,2.83,0.00,0.000,6,0.000,0.088,2973,2234,3766,0,0,0,0,0,0
$GC,8332,-1.32,-146.0,685.9,-8.6,353,8337,0.00,3.20,0.00,0.000,4,0.000,0.145,2973,620,3764,0,0,0,0,0,0
$GC,8362,-1.32,-146.0,688.4,-9.0,353,8367,0.00,2.90,0.00,0.000,6,0.000,0.095,2973,2221,3765,0,0,0,0,0,0
$GC,8612,-1.32,-146.0,708.4,-7.8,359,8617,0.00,3.10,0.00,0.000,4,0.000,0.135,2973,3804,3763,0,0,0,0,0,0
$GC,8645,-1.32,-146.0,711.0,-8.4,359,8650,0.00,2.85,0.00,0.000,6,0.000,0.087,2973,2230,3763,0,0,0,0,0,0
$GC,8898,-1.32,-146.0,729.3,-7.3,366,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2230,3762,0,0,0,0,0,0
$GC,9139,-1.32,-146.0,747.3,-7.4,372,9143,0.00,2.85,0.00,0.000,4,0.000,0.097,2973,3800,3761,0,0,0,0,0,0
$GC,9166,-1.32,-146.0,749.4,-7.5,372,9170,0.00,2.78,0.00,0.000,6,0.000,0.075,2973,2234,3761,0,0,0,0,0,0
$GC,9418,-1.32,-146.0,767.9,-7.4,378,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2234,3760,0,0,0,0,0,0
$GC,9659,-1.32,-146.0,785.9,-7.3,384,9664,0.00,2.83,0.00,0.000,4,0.000,0.090,2973,3800,3759,0,0,0,0,0,0
$GC,9686,-1.32,-146.0,788.1,-8.2,384,9691,0.00,2.70,0.00,0.000,6,0.000,0.074,2973,2253,3759,0,0,0,0,0,0
$GC,9936,-1.32,-146.0,807.2,-7.7,390,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2254,3758,0,0,0,0,0,0
$GC,10183,-1.32,-146.0,825.9,-7.6,396,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2253,3757,0,0,0,0,0,0
$GC,10424,-1.32,-146.0,843.3,-7.1,402,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2252,3756,0,0,0,0,0,0
$GC,10668,-1.32,-146.0,859.7,-6.7,408,10669,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2252,3754,0,0,0,0,0,0
$GC,10911,-1.32,-146.0,875.9,-6.7,414,10916,0.00,2.75,0.00,0.000,4,0.000,0.085,2973,3802,3753,0,0,0,0,0,0
$GC,10958,-1.36,-146.0,879.2,-7.8,415,10963,0.00,2.70,0.00,0.000,6,0.000,0.066,2973,2258,3753,0,0,0,0,0,0
$GC,11236,-1.36,-146.0,898.6,-7.0,422,11237,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2259,3752,0,0,0,0,0,0
$STATE,11273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11274,begin apogee
$GC,11282,-0.31,0.0,901.4,6.9,423,11406,0.95,0.00,120.10,1.215,6,0.068,0.000,3190,2384,3190,0,0,0,0,0,0
$STATE,11407,end apogee,CONTROL_FINISHED_OK
$STATE,11407,begin climb
$GC,11409,1.27,146.0,904.4,0.0,426,11546,1.42,2.83,128.27,1.183,4,0.037,0.079,3542,3933,2592,0,0,0,0,0,0
$GC,11618,1.15,146.0,891.9,11.3,431,11624,0.15,2.75,0.00,0.000,6,0.116,0.058,3513,2367,2588,0,0,0,0,0,0
$GC,11902,1.17,164.8,864.9,9.1,438,11926,0.00,2.85,16.92,1.081,4,0.000,0.066,3513,3928,2518,0,0,0,0,0,0
$GC,11986,1.13,164.8,856.6,10.6,439,11992,0.00,2.70,0.00,0.000,6,0.000,0.057,3513,2371,2515,0,0,0,0,0,0
$GC,12236,1.14,174.0,832.5,9.6,446,12247,0.00,0.00,9.50,0.992,6,0.000,0.000,3513,2371,2481,0,0,0,0,0,0
$GC,12480,1.14,179.5,808.7,9.7,452,12488,0.00,0.00,6.30,0.884,6,0.000,0.000,3514,2371,2458,0,0,0,0,0,0
$GC,12726,1.15,185.8,785.0,9.7,458,12740,0.00,2.78,7.38,0.927,4,0.000,0.064,3513,3928,2432,0,0,0,0,0,0
$GC,12757,1.12,196.3,781.3,9.5,458,12776,0.00,2.70,11.60,1.009,6,0.000,0.055,3513,2372,2389,0,0,0,0,0,0
$GC,13057,1.12,196.3,750.8,10.3,466,13062,0.00,2.70,0.00,0.000,4,0.000,0.064,3513,3934,2386,0,0,0,0,0,0
$GC,13079,1.12,196.3,748.0,11.3,466,13083,0.00,2.67,0.00,0.000,6,0.000,0.050,3513,2382,2386,0,0,0,0,0,0
$GC,13334,1.12,196.3,720.9,10.6,473,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2382,2385,0,0,0,0,0,0
$GC,13581,1.12,197.9,696.3,9.9,479,13586,0.00,2.65,0.00,0.000,4,0.000,0.057,3513,3930,2384,0,0,0,0,0,0
$GC,13608,1.13,200.2,693.4,9.9,479,13619,0.00,2.65,4.38,0.721,6,0.000,0.051,3513,2384,2373,0,0,0,0,0,0
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$STATE,20332,end climb,SURFACE_DEPTH_REACHED
$STATE,20332,begin surface coast
$FINISH,1.0,1.010303
$STATE,20387,end surface coast,CONTROL_FINISHED_OK
$STATE,20388,begin surface
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$XPDR_PINGS,97
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$10V_AH,9.9,53.569
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355808
$DATA_FILE_SIZE,60459,791
$CAP_FILE_SIZE,168297,0
$CFSIZE,260165632,98263040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180413,125330,1925.886,-8115.895,41,1.4,41,-3.8