version: 66.06
glider: 146
mission: 8
dive: 456
start: 4 24 113 20 4 36
data:
$ID,146
$MISSION,8
$DIVE,456
$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,-316355.19
$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,72
$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
$GPS1,195605,1924.934,-8114.338,45,1.0,50,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-73.9
$GPS2,200342,1924.913,-8114.289,11,1.5,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.239,0.100
$KALMAN_X,-129478.7,220.7,105.0,117126.7,1778.3
$KALMAN_Y,125850.0,-131.1,-158.1,-123054.1,-296.5
$MHEAD_RNG_PITCHd_Wd,296.5,7546,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-63.20,0.000,2,0.000,0.000,460,2162,3276,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.2,8,124,13.60,2.70,-10.10,0.000,4,0.160,0.044,2976,3801,3785,0,0,0,0,0,0
$GC,235,-1.11,-146.0,34.8,-17.9,27,243,0.15,2.47,0.00,0.000,6,0.080,0.024,3015,2250,3787,0,0,0,0,0,0
$GC,505,-0.97,-146.0,74.9,-14.9,52,510,0.15,2.67,0.00,0.000,4,0.100,0.048,3049,626,3787,0,0,0,0,0,0
$GC,553,-0.91,-146.0,82.6,-13.4,55,557,0.00,2.47,0.00,0.000,6,0.000,0.016,3049,2237,3787,0,0,0,0,0,0
$GC,822,-0.87,-146.0,113.2,-11.2,79,827,0.10,2.65,0.00,0.000,4,0.116,0.044,3072,633,3787,0,0,0,0,0,0
$GC,862,-0.87,-146.0,118.6,-10.1,82,867,0.00,2.40,0.00,0.000,6,0.000,0.017,3072,2201,3787,0,0,0,0,0,0
$GC,1128,-0.94,-146.0,141.3,-8.3,106,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2201,3788,0,0,0,0,0,0
$GC,1391,-1.06,-146.0,160.7,-6.9,131,1393,0.17,0.00,0.00,0.000,6,0.051,0.000,2999,2201,3789,0,0,0,0,0,0
$GC,1648,-1.06,-146.0,183.3,-8.9,155,1653,0.12,2.60,0.00,0.000,4,0.094,0.046,3030,634,3790,0,0,0,0,0,0
$GC,1683,-1.10,-146.0,186.9,-8.8,157,1688,0.00,2.42,0.00,0.000,6,0.000,0.021,3030,2211,3789,0,0,0,0,0,0
$GC,1955,-1.17,-146.0,206.3,-7.3,177,1960,0.10,2.60,0.00,0.000,4,0.078,0.048,2978,628,3789,0,0,0,0,0,0
$GC,1977,-1.17,-146.0,208.6,-8.7,177,1982,0.12,2.40,0.00,0.000,6,0.098,0.022,3006,2195,3789,0,0,0,0,0,0
$GC,2232,-1.17,-146.0,230.3,-8.5,184,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2195,3789,0,0,0,0,0,0
$GC,2479,-1.17,-146.0,248.7,-7.4,190,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2195,3789,0,0,0,0,0,0
$GC,2720,-1.21,-146.0,266.2,-7.2,196,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2195,3789,0,0,0,0,0,0
$GC,2964,-1.25,-146.0,284.1,-7.2,202,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2195,3787,0,0,0,0,0,0
$GC,3208,-1.30,-146.0,301.7,-7.2,208,3210,0.12,0.00,0.00,0.000,6,0.064,0.000,2951,2195,3788,0,0,0,0,0,0
$GC,3454,-1.23,-146.0,324.3,-9.4,214,3456,0.17,0.00,0.00,0.000,6,0.085,0.000,2993,2195,3787,0,0,0,0,0,0
$GC,3695,-1.23,-146.0,344.0,-8.1,220,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2195,3786,0,0,0,0,0,0
$GC,3939,-1.23,-146.0,364.2,-8.3,226,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2195,3785,0,0,0,0,0,0
$GC,4185,-1.23,-146.0,384.6,-8.5,232,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2195,3783,0,0,0,0,0,0
$GC,4426,-1.23,-146.0,404.9,-8.3,238,4430,0.00,2.58,0.00,0.000,4,0.000,0.048,2992,3762,3783,0,0,0,0,0,0
$GC,4453,-1.27,-146.0,407.3,-8.9,238,4458,0.00,2.53,0.00,0.000,6,0.000,0.030,2993,2199,3783,0,0,0,0,0,0
$GC,4706,-1.27,-146.0,427.4,-8.0,244,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2198,3782,0,0,0,0,0,0
$GC,4947,-1.27,-146.0,446.9,-7.9,250,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2198,3781,0,0,0,0,0,0
$GC,5191,-1.27,-146.0,465.6,-7.5,256,5195,0.00,2.62,0.00,0.000,4,0.000,0.062,2993,3760,3780,0,0,0,0,0,0
$GC,5224,-1.31,-146.0,468.1,-8.0,256,5229,0.00,2.60,0.00,0.000,6,0.000,0.041,2993,2190,3780,0,0,0,0,0,0
$GC,5477,-1.35,-146.0,485.8,-7.1,263,5482,0.12,2.85,0.00,0.000,4,0.067,0.098,2943,621,3779,0,0,0,0,0,0
$GC,5499,-1.35,-146.0,488.0,-8.7,263,5504,0.10,2.53,0.00,0.000,6,0.110,0.040,2965,2161,3778,0,0,0,0,0,0
$GC,5754,-1.35,-146.0,508.7,-8.0,270,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2161,3777,0,0,0,0,0,0
$GC,6000,-1.35,-146.0,528.4,-8.0,276,6005,0.00,2.83,0.00,0.000,4,0.000,0.075,2965,3790,3777,0,0,0,0,0,0
$GC,6023,-1.35,-146.0,530.6,-8.7,276,6028,0.00,2.70,0.00,0.000,6,0.000,0.053,2965,2189,3776,0,0,0,0,0,0
$GC,6278,-1.35,-146.0,551.9,-8.4,283,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2189,3775,0,0,0,0,0,0
$GC,6524,-1.35,-146.0,572.2,-8.3,289,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2189,3774,0,0,0,0,0,0
$GC,6766,-1.35,-146.0,592.7,-8.4,295,6770,0.00,2.88,0.00,0.000,4,0.000,0.084,2965,3796,3773,0,0,0,0,0,0
$GC,6781,-1.35,-146.0,594.2,-8.3,295,6786,0.00,2.78,0.00,0.000,6,0.000,0.061,2965,2183,3772,0,0,0,0,0,0
$GC,7045,-1.35,-146.0,615.8,-8.3,302,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2183,3772,0,0,0,0,0,0
$GC,7286,-1.35,-146.0,634.8,-7.7,308,7291,0.00,2.92,0.00,0.000,4,0.000,0.094,2965,3792,3770,0,0,0,0,0,0
$GC,7319,-1.35,-146.0,637.6,-8.2,308,7324,0.00,2.83,0.00,0.000,6,0.000,0.077,2965,2199,3770,0,0,0,0,0,0
$GC,7569,-1.35,-146.0,656.4,-7.4,315,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2199,3768,0,0,0,0,0,0
$GC,7815,-1.35,-146.0,675.6,-7.9,321,7820,0.00,3.12,0.00,0.000,4,0.000,0.138,2965,616,3767,0,0,0,0,0,0
$GC,7842,-1.35,-146.0,678.1,-8.3,321,7847,0.00,2.80,0.00,0.000,6,0.000,0.087,2965,2183,3767,0,0,0,0,0,0
$GC,8092,-1.35,-146.0,698.5,-8.1,327,8097,0.00,3.12,0.00,0.000,4,0.000,0.130,2965,3797,3766,0,0,0,0,0,0
$GC,8137,-1.35,-146.0,702.1,-8.7,328,8142,0.00,3.00,0.00,0.000,6,0.000,0.107,2965,2203,3766,0,0,0,0,0,0
$GC,8420,-1.35,-146.0,725.5,-8.1,335,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2204,3764,0,0,0,0,0,0
$GC,8664,-1.35,-146.0,745.0,-8.0,341,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2204,3762,0,0,0,0,0,0
$GC,8910,-1.35,-146.0,764.3,-8.0,347,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2204,3762,0,0,0,0,0,0
$GC,9151,-1.35,-146.0,783.5,-7.9,353,9156,0.00,2.92,0.00,0.000,4,0.000,0.100,2965,3799,3761,0,0,0,0,0,0
$GC,9178,-1.35,-146.0,785.7,-8.3,353,9183,0.00,2.83,0.00,0.000,6,0.000,0.074,2965,2200,3761,0,0,0,0,0,0
$GC,9428,-1.35,-146.0,805.3,-7.8,359,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2199,3760,0,0,0,0,0,0
$GC,9674,-1.35,-146.0,824.2,-7.8,365,9679,0.00,2.90,0.00,0.000,4,0.000,0.090,2965,3799,3759,0,0,0,0,0,0
$GC,9702,-1.35,-146.0,826.7,-9.0,365,9706,0.00,2.83,0.00,0.000,6,0.000,0.071,2965,2198,3759,0,0,0,0,0,0
$GC,9952,-1.35,-146.0,847.4,-8.4,371,9953,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2198,3757,0,0,0,0,0,0
$GC,10198,-1.35,-146.0,867.6,-8.4,377,10203,0.00,2.88,0.00,0.000,4,0.000,0.091,2965,3803,3756,0,0,0,0,0,0
$GC,10230,-1.35,-146.0,870.8,-9.5,377,10236,0.00,2.83,0.00,0.000,6,0.000,0.069,2965,2193,3756,0,0,0,0,0,0
$GC,10481,-1.35,-146.0,890.8,-8.0,384,10485,0.00,2.90,0.00,0.000,4,0.000,0.092,2965,3800,3755,0,0,0,0,0,0
$GC,10516,-1.35,-146.0,893.6,-8.2,384,10521,0.00,2.80,0.00,0.000,6,0.000,0.070,2965,2205,3755,0,0,0,0,0,0
$STATE,10600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10600,begin apogee
$GC,10607,-0.31,0.0,900.4,7.7,387,10731,0.98,0.00,121.10,1.203,6,0.069,0.000,3189,2386,3190,0,0,0,0,0,0
$STATE,10732,end apogee,CONTROL_FINISHED_OK
$STATE,10732,begin climb
$GC,10735,1.27,146.0,903.7,0.0,390,10872,1.42,2.88,129.00,1.173,4,0.036,0.083,3542,3935,2593,0,0,0,0,0,0
$GC,10986,1.16,146.0,886.5,11.4,395,10992,0.15,2.75,0.00,0.000,6,0.114,0.058,3513,2371,2588,0,0,0,0,0,0
$GC,11239,1.16,174.7,864.1,8.7,402,11272,0.00,2.83,26.20,1.105,4,0.000,0.073,3513,3929,2475,0,0,0,0,0,0
$GC,11307,1.11,174.7,857.2,10.4,403,11312,0.00,2.72,0.00,0.000,6,0.000,0.056,3513,2374,2474,0,0,0,0,0,0
$GC,11564,1.12,176.7,831.9,9.9,410,11566,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2373,2471,0,0,0,0,0,0
$GC,11806,1.12,176.7,807.0,10.2,416,11810,0.00,2.72,0.00,0.000,4,0.000,0.061,3513,3939,2470,0,0,0,0,0,0
$GC,11833,1.07,176.7,804.0,10.2,416,11837,0.00,2.70,0.00,0.000,6,0.000,0.052,3513,2376,2470,0,0,0,0,0,0
$GC,12082,1.07,176.7,778.7,10.2,422,12083,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2376,2469,0,0,0,0,0,0
$GC,12329,1.08,184.7,754.7,9.6,428,12343,0.00,2.75,9.30,0.967,4,0.000,0.066,3513,3932,2436,0,0,0,0,0,0
$GC,12376,1.08,184.7,749.3,10.3,429,12381,0.00,2.67,0.00,0.000,6,0.000,0.053,3513,2389,2435,0,0,0,0,0,0
$GC,12651,1.09,188.9,722.8,9.8,436,12662,0.00,2.67,5.50,0.815,4,0.000,0.065,3513,3931,2418,0,0,0,0,0,0
$GC,12679,1.09,193.5,719.6,9.8,436,12690,0.00,2.65,5.75,0.825,6,0.000,0.055,3513,2394,2401,0,0,0,0,0,0
$GC,12933,1.09,193.5,693.9,10.0,443,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2395,2399,0,0,0,0,0,0
$GC,13180,1.10,195.2,669.6,9.9,449,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2395,2399,0,0,0,0,0,0
$GC,13421,1.11,205.9,646.2,9.5,455,13436,0.00,0.00,12.95,0.958,6,0.000,0.000,3513,2394,2350,0,0,0,0,0,0
$GC,13664,1.11,205.9,622.1,10.0,461,13666,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2394,2348,0,0,0,0,0,0
$GC,13908,1.11,205.9,597.5,10.2,467,13909,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2394,2347,0,0,0,0,0,0
$GC,14154,1.11,205.9,572.5,10.3,473,14159,0.00,2.65,0.00,0.000,4,0.000,0.061,3513,3940,2347,0,0,0,0,0,0
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$STATE,19699,end climb,SURFACE_DEPTH_REACHED
$STATE,19699,begin surface coast
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$STATE,19741,end surface coast,CONTROL_FINISHED_OK
$STATE,19741,begin surface
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$XPDR_PINGS,125
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$10V_AH,9.9,57.221
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355840
$DATA_FILE_SIZE,57288,752
$CAP_FILE_SIZE,166417,0
$CFSIZE,260165632,96182272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250413,013630,1925.383,-8115.542,64,0.9,64,-3.8