version: 66.06
glider: 146
mission: 8
dive: 465
start: 4 26 113 21 21 43
data:
$ID,146
$MISSION,8
$DIVE,465
$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,-316513.47
$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,59
$R_STBD_OVSHOOT,19
$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
$GPS1,211153,1923.278,-8107.027,38,1.4,38,-3.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-67.3
$GPS2,212049,1923.252,-8106.976,10,1.8,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.226,0.128
$KALMAN_X,-106365.9,-98.7,340.0,106866.0,2505.9
$KALMAN_Y,119810.0,-317.2,-107.6,-119945.2,-290.0
$MHEAD_RNG_PITCHd_Wd,303.3,2923,-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,-146.0,0.0,0.0,0,132,0.00,0.00,-109.82,0.000,2,0.000,0.000,459,2180,3255,0,0,0,0,0,0
$GC,135,-1.27,-146.0,3.1,-3.8,14,169,13.77,2.62,-10.98,0.000,4,0.160,0.038,2979,3802,3787,0,0,0,0,0,0
$GC,302,-1.10,-146.0,36.4,-18.4,36,307,0.17,2.47,0.00,0.000,6,0.090,0.028,3019,2239,3787,0,0,0,0,0,0
$GC,570,-0.98,-146.0,74.7,-13.6,60,575,0.12,2.62,0.00,0.000,4,0.106,0.044,3047,632,3787,0,0,0,0,0,0
$GC,645,-0.94,-146.0,84.3,-11.6,65,650,0.00,2.47,0.00,0.000,6,0.000,0.016,3047,2245,3786,0,0,0,0,0,0
$GC,912,-0.94,-146.0,114.9,-11.2,89,916,0.00,2.65,0.00,0.000,4,0.000,0.044,3047,632,3786,0,0,0,0,0,0
$GC,945,-0.94,-146.0,118.7,-11.5,91,950,0.00,2.38,0.00,0.000,6,0.000,0.022,3047,2199,3786,0,0,0,0,0,0
$GC,1212,-0.98,-146.0,145.4,-9.1,115,1216,0.00,2.50,0.00,0.000,4,0.000,0.041,3047,3779,3786,0,0,0,0,0,0
$GC,1247,-1.04,-146.0,148.3,-8.1,117,1251,0.00,2.50,0.00,0.000,6,0.000,0.022,3047,2174,3786,0,0,0,0,0,0
$GC,1510,-1.11,-146.0,168.8,-7.8,141,1512,0.12,0.00,0.00,0.000,6,0.065,0.000,2988,2174,3786,0,0,0,0,0,0
$GC,1767,-1.11,-146.0,191.2,-8.4,165,1772,0.12,2.53,0.00,0.000,4,0.094,0.048,3018,633,3786,0,0,0,0,0,0
$GC,1796,-1.11,-146.0,194.1,-8.1,167,1800,0.00,2.40,0.00,0.000,6,0.000,0.018,3018,2200,3786,0,0,0,0,0,0
$GC,2080,-1.15,-146.0,215.1,-7.4,179,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2200,3785,0,0,0,0,0,0
$GC,2326,-1.21,-146.0,233.1,-7.4,185,2331,0.00,2.53,0.00,0.000,4,0.000,0.044,3018,3771,3785,0,0,0,0,0,0
$GC,2360,-1.28,-146.0,235.8,-7.5,185,2366,0.17,2.50,0.00,0.000,6,0.051,0.021,2945,2176,3785,0,0,0,0,0,0
$GC,2610,-1.20,-146.0,261.0,-10.2,192,2612,0.22,0.00,0.00,0.000,6,0.078,0.000,2998,2177,3784,0,0,0,0,0,0
$GC,2856,-1.20,-146.0,280.7,-7.9,198,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2177,3783,0,0,0,0,0,0
$GC,3097,-1.20,-146.0,299.7,-7.9,204,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2177,3782,0,0,0,0,0,0
$GC,3341,-1.20,-146.0,318.3,-7.5,210,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2177,3781,0,0,0,0,0,0
$GC,3587,-1.20,-146.0,337.0,-7.7,216,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2177,3780,0,0,0,0,0,0
$GC,3828,-1.20,-146.0,355.7,-7.7,222,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2177,3779,0,0,0,0,0,0
$GC,4072,-1.20,-146.0,375.0,-8.0,228,4077,0.00,2.62,0.00,0.000,4,0.000,0.052,2998,3764,3778,0,0,0,0,0,0
$GC,4112,-1.25,-146.0,378.2,-8.2,229,4116,0.00,2.50,0.00,0.000,6,0.000,0.034,2998,2200,3778,0,0,0,0,0,0
$GC,4395,-1.25,-146.0,400.2,-7.8,236,4399,0.00,2.70,0.00,0.000,4,0.000,0.073,2997,629,3776,0,0,0,0,0,0
$GC,4416,-1.25,-146.0,402.0,-8.1,236,4421,0.00,2.42,0.00,0.000,6,0.000,0.032,2998,2165,3776,0,0,0,0,0,0
$GC,4675,-1.29,-146.0,421.8,-7.7,243,4679,0.00,2.67,0.00,0.000,4,0.000,0.054,2998,3789,3775,0,0,0,0,0,0
$GC,4742,-1.35,-146.0,427.6,-8.7,244,4747,0.12,2.58,0.00,0.000,6,0.066,0.038,2941,2197,3774,0,0,0,0,0,0
$GC,4998,-1.27,-146.0,452.1,-9.7,251,5000,0.17,0.00,0.00,0.000,6,0.088,0.000,2982,2197,3774,0,0,0,0,0,0
$GC,5244,-1.27,-146.0,472.2,-8.0,257,5248,0.00,2.67,0.00,0.000,4,0.000,0.064,2982,3783,3773,0,0,0,0,0,0
$GC,5287,-1.27,-146.0,476.2,-8.4,258,5292,0.00,2.58,0.00,0.000,6,0.000,0.044,2982,2214,3773,0,0,0,0,0,0
$GC,5565,-1.27,-146.0,496.7,-7.4,265,5570,0.00,2.88,0.00,0.000,4,0.000,0.096,2982,624,3771,0,0,0,0,0,0
$GC,5594,-1.27,-146.0,499.0,-8.5,265,5599,0.00,2.62,0.00,0.000,6,0.000,0.049,2982,2211,3771,0,0,0,0,0,0
$GC,5845,-1.27,-146.0,517.4,-7.3,271,5849,0.00,2.75,0.00,0.000,4,0.000,0.074,2982,3796,3770,0,0,0,0,0,0
$GC,5866,-1.27,-146.0,519.0,-7.1,271,5870,0.00,2.62,0.00,0.000,6,0.000,0.049,2982,2209,3770,0,0,0,0,0,0
$GC,6121,-1.27,-146.0,537.8,-7.4,278,6126,0.00,2.92,0.00,0.000,4,0.000,0.103,2982,620,3769,0,0,0,0,0,0
$GC,6154,-1.27,-146.0,540.5,-8.2,278,6159,0.00,2.65,0.00,0.000,6,0.000,0.052,2982,2205,3769,0,0,0,0,0,0
$GC,6404,-1.27,-146.0,559.3,-7.6,285,6408,0.00,2.83,0.00,0.000,4,0.000,0.084,2982,3801,3767,0,0,0,0,0,0
$GC,6433,-1.27,-146.0,561.6,-8.9,285,6438,0.00,2.70,0.00,0.000,6,0.000,0.054,2982,2213,3767,0,0,0,0,0,0
$GC,6683,-1.27,-146.0,580.8,-7.6,291,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2213,3766,0,0,0,0,0,0
$GC,6927,-1.27,-146.0,599.0,-7.4,297,6932,0.00,3.03,0.00,0.000,4,0.000,0.119,2982,622,3765,0,0,0,0,0,0
$GC,6951,-1.27,-146.0,600.8,-8.3,297,6955,0.00,2.72,0.00,0.000,6,0.000,0.063,2982,2220,3765,0,0,0,0,0,0
$GC,7206,-1.27,-146.0,620.8,-7.7,304,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2220,3764,0,0,0,0,0,0
$GC,7450,-1.27,-146.0,639.2,-7.4,310,7454,0.00,2.90,0.00,0.000,4,0.000,0.112,2982,3793,3762,0,0,0,0,0,0
$GC,7471,-1.27,-146.0,641.0,-7.8,310,7476,0.00,2.80,0.00,0.000,6,0.000,0.076,2982,2212,3762,0,0,0,0,0,0
$GC,7731,-1.27,-146.0,660.1,-7.5,317,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2213,3761,0,0,0,0,0,0
$GC,7972,-1.27,-146.0,678.3,-7.4,323,7977,0.00,2.92,0.00,0.000,4,0.000,0.101,2982,3794,3760,0,0,0,0,0,0
$GC,7993,-1.27,-146.0,680.1,-7.9,323,7998,0.00,2.90,0.00,0.000,6,0.000,0.093,2982,2213,3760,0,0,0,0,0,0
$GC,8251,-1.27,-146.0,699.3,-7.5,330,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2213,3759,0,0,0,0,0,0
$GC,8492,-1.27,-146.0,718.2,-7.9,336,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2213,3757,0,0,0,0,0,0
$GC,8736,-1.27,-146.0,736.9,-7.6,342,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2213,3755,0,0,0,0,0,0
$GC,8980,-1.27,-146.0,755.1,-7.4,348,8984,0.00,2.88,0.00,0.000,4,0.000,0.100,2982,3794,3754,0,0,0,0,0,0
$GC,9010,-1.31,-146.0,757.4,-8.4,348,9014,0.00,2.80,0.00,0.000,6,0.000,0.074,2982,2212,3754,0,0,0,0,0,0
$GC,9260,-1.31,-146.0,775.5,-7.2,354,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2211,3753,0,0,0,0,0,0
$GC,9503,-1.31,-146.0,792.6,-7.0,360,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2211,3752,0,0,0,0,0,0
$GC,9752,-1.35,-146.0,810.2,-7.3,366,9756,0.00,2.85,0.00,0.000,4,0.000,0.092,2983,3793,3751,0,0,0,0,0,0
$GC,9785,-1.40,-146.0,813.3,-8.1,366,9791,0.12,2.78,0.00,0.000,6,0.069,0.070,2935,2213,3751,0,0,0,0,0,0
$GC,10035,-1.35,-146.0,835.9,-9.1,373,10041,0.15,2.88,0.00,0.000,4,0.096,0.091,2968,3801,3750,0,0,0,0,0,0
$GC,10065,-1.35,-146.0,838.4,-8.8,373,10070,0.00,2.78,0.00,0.000,6,0.000,0.070,2968,2220,3750,0,0,0,0,0,0
$GC,10316,-1.35,-146.0,857.6,-7.5,379,10320,0.00,2.80,0.00,0.000,4,0.000,0.090,2968,3794,3749,0,0,0,0,0,0
$GC,10342,-1.35,-146.0,859.9,-7.7,379,10347,0.00,2.72,0.00,0.000,6,0.000,0.072,2968,2231,3748,0,0,0,0,0,0
$GC,10595,-1.35,-146.0,878.2,-7.3,385,10600,0.00,3.08,0.00,0.000,4,0.000,0.122,2968,623,3747,0,0,0,0,0,0
$GC,10616,-1.35,-146.0,880.1,-7.9,385,10621,0.00,2.75,0.00,0.000,6,0.000,0.065,2968,2232,3747,0,0,0,0,0,0
$GC,10872,-1.35,-146.0,898.1,-6.9,392,10876,0.00,2.83,0.00,0.000,4,0.000,0.100,2968,3797,3746,0,0,0,0,0,0
$STATE,10896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10896,begin apogee
$GC,10907,-0.31,0.0,900.1,7.4,392,11030,0.95,0.00,119.25,1.204,6,0.070,0.000,3189,2370,3190,0,0,0,0,0,0
$STATE,11030,end apogee,CONTROL_FINISHED_OK
$STATE,11030,begin climb
$GC,11033,1.27,146.0,902.4,0.0,395,11172,1.45,2.88,130.15,1.175,4,0.035,0.073,3547,3944,2593,0,0,0,0,0,0
$GC,11263,1.14,146.0,887.6,11.1,400,11269,0.17,2.75,0.00,0.000,6,0.113,0.061,3510,2367,2587,0,0,0,0,0,0
$GC,11527,1.17,166.9,863.8,9.0,407,11548,0.00,0.00,19.12,1.081,6,0.000,0.000,3511,2367,2509,0,0,0,0,0,0
$GC,11768,1.18,178.7,840.5,9.5,413,11782,0.00,0.00,12.05,1.022,6,0.000,0.000,3511,2367,2461,0,0,0,0,0,0
$GC,12012,1.20,190.3,817.5,9.5,419,12031,0.00,2.85,11.70,1.019,4,0.000,0.065,3510,3942,2414,0,0,0,0,0,0
$GC,12084,1.20,190.3,810.1,10.9,420,12089,0.00,2.70,0.00,0.000,6,0.000,0.049,3511,2368,2412,0,0,0,0,0,0
$GC,12339,1.21,203.1,785.5,9.4,427,12354,0.00,0.00,13.27,1.025,6,0.000,0.000,3511,2368,2362,0,0,0,0,0,0
$GC,12583,1.22,204.0,761.5,10.0,433,12584,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2368,2358,0,0,0,0,0,0
$GC,12828,1.22,204.0,736.7,10.2,439,12829,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2368,2358,0,0,0,0,0,0
$GC,13070,1.22,205.5,712.3,9.9,445,13071,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2368,2356,0,0,0,0,0,0
$GC,13313,1.22,205.5,687.6,10.2,451,13318,0.00,2.72,0.00,0.000,4,0.000,0.064,3511,3946,2356,0,0,0,0,0,0
$GC,13340,1.22,205.5,684.6,11.0,451,13344,0.00,2.70,0.00,0.000,6,0.000,0.051,3511,2367,2355,0,0,0,0,0,0
$GC,13593,1.22,205.5,659.0,10.3,457,13594,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2368,2355,0,0,0,0,0,0
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$STATE,19810,end climb,SURFACE_DEPTH_REACHED
$STATE,19810,begin surface coast
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$STATE,19868,end surface coast,CONTROL_FINISHED_OK
$STATE,19869,begin surface
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$10V_AH,10.0,58.393
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355808
$DATA_FILE_SIZE,60198,758
$CAP_FILE_SIZE,176212,0
$CFSIZE,260165632,95514624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270413,025505,1923.954,-8107.803,23,2.0,23,-3.8