version: 66.06
glider: 146
mission: 8
dive: 483
start: 5 1 113 3 3 50
data:
$ID,146
$MISSION,8
$DIVE,483
$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,-318445.75
$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,49
$R_STBD_OVSHOOT,17
$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
$GPS1,025106,1925.376,-8112.585,26,1.3,26,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-75.4
$GPS2,030254,1925.342,-8112.475,9,1.6,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.258,0.030
$KALMAN_X,-65081.1,493.0,261.2,55465.9,936.1
$KALMAN_Y,107126.0,-315.6,-378.4,-103127.6,635.4
$MHEAD_RNG_PITCHd_Wd,280.4,10126,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.25,0.000,2,0.000,0.000,461,2178,3513,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.1,-5.9,9,124,13.68,2.62,-4.68,0.000,4,0.158,0.040,2978,3816,3786,0,0,0,0,0,0
$GC,286,-1.11,-146.0,49.7,-18.0,29,291,0.17,2.53,0.00,0.000,6,0.096,0.024,3017,2220,3787,0,0,0,0,0,0
$GC,555,-1.00,-146.0,88.6,-13.8,53,560,0.12,2.60,0.00,0.000,4,0.110,0.045,3045,637,3788,0,0,0,0,0,0
$GC,590,-0.92,-146.0,93.8,-12.5,55,595,0.00,2.45,0.00,0.000,6,0.000,0.016,3045,2244,3788,0,0,0,0,0,0
$GC,860,-0.88,-146.0,124.8,-11.4,79,865,0.10,2.65,0.00,0.000,4,0.118,0.051,3067,632,3789,0,0,0,0,0,0
$GC,893,-0.88,-146.0,129.1,-12.1,81,897,0.00,2.38,0.00,0.000,6,0.000,0.018,3067,2196,3789,0,0,0,0,0,0
$GC,1159,-0.95,-146.0,152.7,-7.7,105,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2196,3789,0,0,0,0,0,0
$GC,1426,-1.05,-146.0,172.1,-6.3,130,1431,0.15,0.00,0.00,0.000,6,0.055,0.000,2999,2196,3789,0,0,0,0,0,0
$GC,1689,-1.05,-146.0,196.0,-9.6,155,1694,0.12,2.60,0.00,0.000,4,0.092,0.051,3030,630,3790,0,0,0,0,0,0
$GC,1741,-1.12,-146.0,200.6,-8.1,159,1746,0.00,2.42,0.00,0.000,6,0.000,0.025,3030,2210,3790,0,0,0,0,0,0
$GC,2014,-1.19,-146.0,219.2,-6.6,166,2016,0.12,0.00,0.00,0.000,6,0.065,0.000,2971,2210,3789,0,0,0,0,0,0
$GC,2260,-1.19,-146.0,240.2,-8.9,172,2262,0.12,0.00,0.00,0.000,6,0.093,0.000,3001,2211,3789,0,0,0,0,0,0
$GC,2501,-1.19,-146.0,259.7,-7.9,178,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2210,3788,0,0,0,0,0,0
$GC,2745,-1.19,-146.0,279.6,-8.2,184,2749,0.00,2.60,0.00,0.000,4,0.000,0.055,3001,640,3788,0,0,0,0,0,0
$GC,2775,-1.19,-146.0,282.0,-8.8,184,2779,0.00,2.45,0.00,0.000,6,0.000,0.021,3001,2210,3788,0,0,0,0,0,0
$GC,3025,-1.23,-146.0,303.1,-8.3,190,3030,0.00,2.58,0.00,0.000,4,0.000,0.050,3001,3778,3787,0,0,0,0,0,0
$GC,3048,-1.27,-146.0,305.0,-8.1,190,3052,0.00,2.47,0.00,0.000,6,0.000,0.029,3001,2206,3787,0,0,0,0,0,0
$GC,3306,-1.31,-146.0,324.3,-7.6,197,3308,0.12,0.00,0.00,0.000,6,0.067,0.000,2947,2206,3786,0,0,0,0,0,0
$GC,3547,-1.25,-146.0,348.0,-9.9,203,3549,0.17,0.00,0.00,0.000,6,0.084,0.000,2988,2206,3785,0,0,0,0,0,0
$GC,3790,-1.25,-146.0,367.9,-8.1,209,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2206,3784,0,0,0,0,0,0
$GC,4036,-1.25,-146.0,387.1,-7.7,215,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2206,3782,0,0,0,0,0,0
$GC,4278,-1.25,-146.0,405.3,-7.4,221,4282,0.00,2.67,0.00,0.000,4,0.000,0.069,2988,635,3782,0,0,0,0,0,0
$GC,4312,-1.25,-146.0,408.0,-8.2,221,4317,0.00,2.50,0.00,0.000,6,0.000,0.034,2988,2203,3782,0,0,0,0,0,0
$GC,4562,-1.25,-146.0,426.8,-7.3,228,4566,0.00,2.62,0.00,0.000,4,0.000,0.060,2988,3796,3781,0,0,0,0,0,0
$GC,4585,-1.25,-146.0,428.5,-7.5,228,4590,0.00,2.55,0.00,0.000,6,0.000,0.030,2988,2215,3781,0,0,0,0,0,0
$GC,4840,-1.25,-146.0,447.9,-7.5,235,4845,0.00,2.78,0.00,0.000,4,0.000,0.078,2988,624,3780,0,0,0,0,0,0
$GC,4873,-1.25,-146.0,450.6,-8.5,235,4879,0.00,2.55,0.00,0.000,6,0.000,0.040,2988,2216,3780,0,0,0,0,0,0
$GC,5125,-1.25,-146.0,468.8,-7.2,242,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2217,3779,0,0,0,0,0,0
$GC,5367,-1.25,-146.0,486.4,-7.4,248,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2216,3778,0,0,0,0,0,0
$GC,5610,-1.25,-146.0,504.7,-7.6,254,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2217,3777,0,0,0,0,0,0
$GC,5857,-1.25,-146.0,523.8,-8.0,260,5861,0.00,2.70,0.00,0.000,4,0.000,0.077,2988,3789,3776,0,0,0,0,0,0
$GC,5886,-1.29,-146.0,526.4,-8.5,260,5890,0.00,2.60,0.00,0.000,6,0.000,0.046,2988,2216,3776,0,0,0,0,0,0
$GC,6136,-1.33,-146.0,546.4,-7.9,266,6141,0.00,2.92,0.00,0.000,4,0.000,0.107,2988,620,3774,0,0,0,0,0,0
$GC,6166,-1.33,-146.0,548.8,-8.5,266,6170,0.00,2.62,0.00,0.000,6,0.000,0.051,2988,2208,3774,0,0,0,0,0,0
$GC,6416,-1.37,-146.0,569.0,-8.0,272,6421,0.12,2.83,0.00,0.000,4,0.066,0.090,2936,3793,3772,0,0,0,0,0,0
$GC,6449,-1.30,-146.0,572.5,-10.7,272,6456,0.17,2.67,0.00,0.000,6,0.082,0.055,2976,2208,3772,0,0,0,0,0,0
$GC,6702,-1.30,-146.0,592.8,-7.9,279,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2208,3771,0,0,0,0,0,0
$GC,6943,-1.30,-146.0,611.9,-7.8,285,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2208,3770,0,0,0,0,0,0
$GC,7187,-1.30,-146.0,630.7,-7.7,291,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2208,3769,0,0,0,0,0,0
$GC,7431,-1.30,-146.0,649.3,-7.6,297,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2208,3768,0,0,0,0,0,0
$GC,7677,-1.30,-146.0,667.4,-7.4,303,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2208,3767,0,0,0,0,0,0
$GC,7918,-1.30,-146.0,686.4,-7.9,309,7923,0.00,3.03,0.00,0.000,4,0.000,0.117,2976,3794,3765,0,0,0,0,0,0
$GC,7934,-1.30,-146.0,687.8,-7.9,309,7939,0.00,2.90,0.00,0.000,6,0.000,0.096,2976,2218,3765,0,0,0,0,0,0
$GC,8200,-1.30,-146.0,708.9,-8.0,316,8205,0.00,3.00,0.00,0.000,4,0.000,0.118,2976,3790,3764,0,0,0,0,0,0
$GC,8227,-1.30,-146.0,711.3,-7.8,316,8232,0.00,2.92,0.00,0.000,6,0.000,0.106,2976,2227,3764,0,0,0,0,0,0
$GC,8477,-1.30,-146.0,731.1,-8.0,322,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2227,3763,0,0,0,0,0,0
$GC,8721,-1.30,-146.0,749.8,-7.7,328,8725,0.00,3.08,0.00,0.000,4,0.000,0.135,2976,3797,3761,0,0,0,0,0,0
$GC,8746,-1.30,-146.0,751.6,-8.1,328,8751,0.00,2.80,0.00,0.000,6,0.000,0.084,2976,2229,3761,0,0,0,0,0,0
$GC,9001,-1.30,-146.0,770.6,-7.2,335,9006,0.00,3.10,0.00,0.000,4,0.000,0.128,2976,620,3760,0,0,0,0,0,0
$GC,9041,-1.30,-146.0,773.7,-7.9,336,9046,0.00,2.80,0.00,0.000,6,0.000,0.074,2976,2226,3760,0,0,0,0,0,0
$GC,9327,-1.30,-146.0,794.7,-7.4,343,9331,0.00,2.90,0.00,0.000,4,0.000,0.105,2976,3798,3759,0,0,0,0,0,0
$GC,9371,-1.35,-146.0,798.4,-8.4,344,9376,0.00,2.75,0.00,0.000,6,0.000,0.071,2976,2228,3759,0,0,0,0,0,0
$GC,9651,-1.35,-146.0,819.1,-7.4,351,9656,0.00,3.03,0.00,0.000,4,0.000,0.118,2976,623,3758,0,0,0,0,0,0
$GC,9672,-1.35,-146.0,821.1,-8.3,351,9677,0.00,2.80,0.00,0.000,6,0.000,0.064,2976,2240,3757,0,0,0,0,0,0
$GC,9928,-1.35,-146.0,839.8,-7.2,358,9929,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2240,3756,0,0,0,0,0,0
$GC,10174,-1.38,-146.0,856.0,-6.5,364,10179,0.00,2.85,0.00,0.000,4,0.000,0.100,2976,3802,3755,0,0,0,0,0,0
$GC,10202,-1.42,-146.0,858.1,-7.9,364,10207,0.12,2.72,0.00,0.000,6,0.068,0.065,2929,2234,3755,0,0,0,0,0,0
$GC,10453,-1.37,-146.0,878.7,-8.4,370,10454,0.15,0.00,0.00,0.000,6,0.096,0.000,2963,2233,3754,0,0,0,0,0,0
$GC,10698,-1.37,-146.0,896.1,-7.2,376,10703,0.00,2.78,0.00,0.000,4,0.000,0.086,2962,3796,3752,0,0,0,0,0,0
$GC,10725,-1.37,-146.0,898.4,-7.5,376,10730,0.00,2.67,0.00,0.000,6,0.000,0.070,2963,2245,3752,0,0,0,0,0,0
$STATE,10770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10770,begin apogee
$GC,10776,-0.31,0.0,901.9,7.4,377,10900,1.00,0.00,120.57,1.207,6,0.065,0.000,3194,2384,3190,0,0,0,0,0,0
$STATE,10901,end apogee,CONTROL_FINISHED_OK
$STATE,10901,begin climb
$GC,10906,1.27,146.0,904.9,0.0,380,11043,1.42,2.83,128.88,1.177,4,0.033,0.077,3548,3932,2593,0,0,0,0,0,0
$GC,11159,1.15,146.0,887.3,11.4,386,11164,0.17,2.72,0.00,0.000,6,0.112,0.060,3512,2371,2587,0,0,0,0,0,0
$GC,11443,1.16,159.1,859.9,9.4,393,11461,0.00,2.85,11.62,1.025,4,0.000,0.072,3512,3931,2541,0,0,0,0,0,0
$GC,11527,1.12,159.1,851.1,10.8,394,11532,0.00,2.67,0.00,0.000,6,0.000,0.054,3512,2376,2540,0,0,0,0,0,0
$GC,11777,1.13,173.1,826.8,9.4,401,11792,0.00,0.00,14.02,1.051,6,0.000,0.000,3513,2376,2484,0,0,0,0,0,0
$GC,12020,1.15,185.1,803.7,9.4,407,12035,0.00,0.00,12.43,1.029,6,0.000,0.000,3512,2377,2435,0,0,0,0,0,0
$GC,12266,1.15,185.1,779.3,10.3,413,12271,0.00,2.70,0.00,0.000,4,0.000,0.059,3512,3935,2431,0,0,0,0,0,0
$GC,12288,1.15,185.1,776.6,10.8,413,12292,0.00,2.65,0.00,0.000,6,0.000,0.052,3512,2378,2431,0,0,0,0,0,0
$GC,12549,1.15,185.1,749.2,10.5,420,12554,0.00,3.15,0.00,0.000,4,0.000,0.130,3512,777,2430,0,0,0,0,0,0
$GC,12570,1.15,185.1,746.9,10.3,420,12575,0.00,2.70,0.00,0.000,6,0.000,0.051,3512,2376,2429,0,0,0,0,0,0
$GC,12828,1.15,185.7,721.0,10.0,427,12833,0.00,2.70,0.00,0.000,4,0.000,0.072,3512,3934,2429,0,0,0,0,0,0
$GC,12889,1.15,185.7,714.2,10.5,428,12893,0.00,2.62,0.00,0.000,6,0.000,0.049,3512,2378,2429,0,0,0,0,0,0
$GC,13152,1.16,195.4,688.9,9.6,435,13168,0.00,2.72,10.10,0.953,4,0.000,0.061,3512,3938,2393,0,0,0,0,0,0
$GC,13195,1.16,195.4,684.1,11.0,436,13200,0.00,2.62,0.00,0.000,6,0.000,0.051,3512,2394,2392,0,0,0,0,0,0
$GC,13473,1.17,203.6,657.1,9.6,443,13484,0.00,0.00,9.02,0.915,6,0.000,0.000,3512,2394,2360,0,0,0,0,0,0
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$STATE,19380,end climb,SURFACE_DEPTH_REACHED
$STATE,19380,begin surface coast
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$STATE,19429,end surface coast,CONTROL_FINISHED_OK
$STATE,19429,begin surface
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$10V_AH,9.9,60.754
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355784
$DATA_FILE_SIZE,57280,725
$CAP_FILE_SIZE,173514,0
$CFSIZE,260165632,94203904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010513,083000,1924.980,-8113.991,38,1.5,38,-3.8