version: 66.06
glider: 146
mission: 8
dive: 485
start: 5 1 113 14 18 49
data:
$ID,146
$MISSION,8
$DIVE,485
$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,-318480.72
$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,68
$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
$GPS1,140705,1925.504,-8115.127,30,1.1,30,-3.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-74.0
$GPS2,141755,1925.469,-8115.004,15,1.3,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.224,0.131
$KALMAN_X,-60059.7,-146.2,294.4,46633.1,1187.7
$KALMAN_Y,104268.2,45.5,-49.9,-100729.4,-825.5
$MHEAD_RNG_PITCHd_Wd,304.2,5951,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-70.95,0.000,2,0.000,0.000,458,2170,3519,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.0,-5.4,9,122,13.62,2.50,-4.78,0.000,4,0.159,0.051,2976,663,3786,0,0,0,0,0,0
$GC,215,-1.06,-146.0,37.0,-19.2,23,224,0.20,2.45,0.00,0.000,6,0.082,0.018,3024,2237,3786,0,0,0,0,0,0
$GC,483,-0.94,-146.0,79.0,-15.0,48,488,0.12,2.60,0.00,0.000,4,0.107,0.043,3054,666,3787,0,0,0,0,0,0
$GC,509,-0.84,-146.0,83.1,-14.9,49,514,0.10,2.38,0.00,0.000,6,0.116,0.015,3076,2214,3787,0,0,0,0,0,0
$GC,776,-0.84,-146.0,112.9,-9.6,73,780,0.00,2.55,0.00,0.000,4,0.000,0.042,3077,661,3788,0,0,0,0,0,0
$GC,810,-0.84,-146.0,116.3,-9.9,75,814,0.00,2.35,0.00,0.000,6,0.000,0.023,3076,2203,3788,0,0,0,0,0,0
$GC,1077,-0.87,-146.0,141.9,-9.0,99,1081,0.00,2.50,0.00,0.000,4,0.000,0.034,3076,3771,3788,0,0,0,0,0,0
$GC,1109,-0.93,-146.0,144.9,-9.0,101,1113,0.00,2.40,0.00,0.000,6,0.000,0.021,3076,2224,3788,0,0,0,0,0,0
$GC,1374,-1.04,-146.0,163.6,-6.1,125,1380,0.17,2.60,0.00,0.000,4,0.051,0.044,3004,632,3789,0,0,0,0,0,0
$GC,1426,-1.04,-146.0,168.7,-10.3,129,1431,0.12,2.38,0.00,0.000,6,0.095,0.016,3033,2198,3789,0,0,0,0,0,0
$GC,1688,-1.09,-146.0,190.3,-7.6,153,1693,0.00,2.55,0.00,0.000,4,0.000,0.044,3033,630,3789,0,0,0,0,0,0
$GC,1721,-1.16,-146.0,192.7,-7.6,155,1726,0.10,2.38,0.00,0.000,6,0.074,0.025,2972,2180,3789,0,0,0,0,0,0
$GC,2008,-1.11,-146.0,219.7,-9.5,167,2013,0.20,2.53,0.00,0.000,4,0.079,0.040,3019,3770,3789,0,0,0,0,0,0
$GC,2053,-1.19,-146.0,223.6,-7.6,168,2057,0.00,2.50,0.00,0.000,6,0.000,0.022,3020,2167,3789,0,0,0,0,0,0
$GC,2333,-1.24,-146.0,242.0,-6.7,175,2338,0.12,2.60,0.00,0.000,4,0.066,0.045,2962,3772,3789,0,0,0,0,0,0
$GC,2355,-1.24,-146.0,244.1,-7.9,175,2360,0.12,2.47,0.00,0.000,6,0.092,0.026,2991,2183,3789,0,0,0,0,0,0
$GC,2613,-1.24,-146.0,265.1,-8.2,182,2618,0.00,2.55,0.00,0.000,4,0.000,0.058,2991,640,3788,0,0,0,0,0,0
$GC,2641,-1.24,-146.0,267.7,-8.2,182,2645,0.00,2.35,0.00,0.000,6,0.000,0.020,2991,2174,3788,0,0,0,0,0,0
$GC,2891,-1.24,-146.0,288.2,-8.2,188,2895,0.00,2.58,0.00,0.000,4,0.000,0.041,2991,3776,3787,0,0,0,0,0,0
$GC,2924,-1.24,-146.0,291.0,-8.4,188,2929,0.00,2.50,0.00,0.000,6,0.000,0.029,2991,2187,3787,0,0,0,0,0,0
$GC,3176,-1.24,-146.0,311.1,-8.0,195,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2187,3786,0,0,0,0,0,0
$GC,3418,-1.24,-146.0,330.2,-7.7,201,3422,0.00,2.60,0.00,0.000,4,0.000,0.058,2991,638,3786,0,0,0,0,0,0
$GC,3439,-1.24,-146.0,332.0,-8.1,201,3443,0.00,2.42,0.00,0.000,6,0.000,0.031,2991,2180,3786,0,0,0,0,0,0
$GC,3697,-1.24,-146.0,350.9,-7.3,208,3701,0.00,2.60,0.00,0.000,4,0.000,0.051,2991,3782,3785,0,0,0,0,0,0
$GC,3741,-1.28,-146.0,354.5,-7.9,209,3745,0.00,2.53,0.00,0.000,6,0.000,0.025,2991,2192,3785,0,0,0,0,0,0
$GC,4018,-1.28,-146.0,375.2,-7.5,216,4023,0.00,2.65,0.00,0.000,4,0.000,0.071,2991,628,3783,0,0,0,0,0,0
$GC,4042,-1.28,-146.0,376.9,-7.7,216,4047,0.00,2.45,0.00,0.000,6,0.000,0.025,2992,2181,3784,0,0,0,0,0,0
$GC,4297,-1.28,-146.0,396.6,-7.8,223,4302,0.00,2.65,0.00,0.000,4,0.000,0.055,2991,3787,3782,0,0,0,0,0,0
$GC,4319,-1.28,-146.0,398.4,-7.8,223,4323,0.00,2.58,0.00,0.000,6,0.000,0.035,2991,2183,3782,0,0,0,0,0,0
$GC,4576,-1.28,-146.0,418.7,-7.9,230,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2184,3781,0,0,0,0,0,0
$GC,4818,-1.28,-146.0,437.6,-7.7,236,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2184,3780,0,0,0,0,0,0
$GC,5061,-1.28,-146.0,456.8,-7.9,242,5066,0.00,2.67,0.00,0.000,4,0.000,0.055,2991,3783,3779,0,0,0,0,0,0
$GC,5086,-1.32,-146.0,458.6,-7.6,242,5090,0.00,2.60,0.00,0.000,6,0.000,0.041,2991,2192,3779,0,0,0,0,0,0
$GC,5341,-1.32,-146.0,478.4,-7.8,249,5345,0.00,2.78,0.00,0.000,4,0.000,0.092,2991,622,3778,0,0,0,0,0,0
$GC,5368,-1.32,-146.0,480.7,-8.1,249,5372,0.00,2.53,0.00,0.000,6,0.000,0.044,2991,2181,3778,0,0,0,0,0,0
$GC,5620,-1.36,-146.0,499.5,-7.6,255,5622,0.12,0.00,0.00,0.000,6,0.070,0.000,2942,2182,3778,0,0,0,0,0,0
$GC,5862,-1.30,-146.0,522.1,-9.3,261,5867,0.15,2.78,0.00,0.000,4,0.088,0.071,2977,3797,3777,0,0,0,0,0,0
$GC,5889,-1.30,-146.0,524.7,-8.7,261,5894,0.00,2.67,0.00,0.000,6,0.000,0.052,2977,2193,3776,0,0,0,0,0,0
$GC,6142,-1.30,-146.0,544.6,-7.9,267,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2193,3775,0,0,0,0,0,0
$GC,6383,-1.30,-146.0,563.8,-7.9,273,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2193,3774,0,0,0,0,0,0
$GC,6627,-1.30,-146.0,582.5,-7.6,279,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2193,3773,0,0,0,0,0,0
$GC,6871,-1.30,-146.0,600.4,-7.2,285,6875,0.00,2.83,0.00,0.000,4,0.000,0.087,2977,3789,3771,0,0,0,0,0,0
$GC,6894,-1.30,-146.0,602.0,-7.4,285,6899,0.00,2.75,0.00,0.000,6,0.000,0.067,2977,2191,3771,0,0,0,0,0,0
$GC,7152,-1.30,-146.0,620.5,-7.1,292,7157,0.00,3.03,0.00,0.000,4,0.000,0.129,2977,626,3770,0,0,0,0,0,0
$GC,7179,-1.30,-146.0,622.6,-8.0,292,7184,0.00,2.67,0.00,0.000,6,0.000,0.061,2977,2183,3770,0,0,0,0,0,0
$GC,7432,-1.30,-146.0,641.0,-7.4,298,7436,0.00,2.92,0.00,0.000,4,0.000,0.097,2977,3800,3769,0,0,0,0,0,0
$GC,7453,-1.30,-146.0,643.0,-8.4,298,7458,0.00,2.83,0.00,0.000,6,0.000,0.078,2977,2193,3769,0,0,0,0,0,0
$GC,7708,-1.30,-146.0,663.8,-8.2,305,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2193,3767,0,0,0,0,0,0
$GC,7955,-1.30,-146.0,683.4,-7.9,311,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2193,3766,0,0,0,0,0,0
$GC,8196,-1.30,-146.0,702.0,-7.5,317,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2193,3765,0,0,0,0,0,0
$GC,8439,-1.30,-146.0,720.7,-7.7,323,8440,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2193,3764,0,0,0,0,0,0
$GC,8685,-1.30,-146.0,739.1,-7.5,329,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2193,3763,0,0,0,0,0,0
$GC,8929,-1.30,-146.0,757.2,-7.4,335,8934,0.00,3.30,0.00,0.000,4,0.000,0.153,2977,3796,3761,0,0,0,0,0,0
$GC,8962,-1.30,-146.0,760.1,-8.2,335,8968,0.00,2.90,0.00,0.000,6,0.000,0.083,2978,2179,3761,0,0,0,0,0,0
$GC,9212,-1.30,-146.0,779.4,-7.8,342,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2179,3760,0,0,0,0,0,0
$GC,9459,-1.30,-146.0,798.2,-7.5,348,9463,0.00,2.92,0.00,0.000,4,0.000,0.093,2977,3805,3759,0,0,0,0,0,0
$GC,9486,-1.30,-146.0,800.6,-7.9,348,9490,0.00,2.85,0.00,0.000,6,0.000,0.078,2977,2185,3759,0,0,0,0,0,0
$GC,9736,-1.30,-146.0,819.3,-7.4,354,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2185,3758,0,0,0,0,0,0
$GC,9979,-1.30,-146.0,837.6,-7.5,360,9984,0.00,2.88,0.00,0.000,4,0.000,0.089,2977,3797,3757,0,0,0,0,0,0
$GC,10026,-1.35,-146.0,841.2,-8.2,361,10031,0.00,2.83,0.00,0.000,6,0.000,0.071,2977,2190,3757,0,0,0,0,0,0
$GC,10307,-1.39,-146.0,862.7,-7.6,368,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2190,3755,0,0,0,0,0,0
$GC,10550,-1.43,-146.0,881.5,-7.7,374,10556,0.12,2.90,0.00,0.000,4,0.069,0.090,2931,3805,3754,0,0,0,0,0,0
$GC,10606,-1.39,-146.0,887.1,-10.2,375,10611,0.12,2.83,0.00,0.000,6,0.097,0.071,2959,2194,3754,0,0,0,0,0,0
$STATE,10789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10789,begin apogee
$GC,10795,-0.31,0.0,902.7,8.3,380,10920,1.00,0.00,120.82,1.203,6,0.066,0.000,3190,2379,3190,0,0,0,0,0,0
$STATE,10921,end apogee,CONTROL_FINISHED_OK
$STATE,10921,begin climb
$GC,10926,1.27,146.0,906.0,0.0,383,11063,1.42,2.83,128.88,1.173,4,0.033,0.079,3545,3927,2593,0,0,0,0,0,0
$GC,11168,1.15,146.0,889.4,11.4,388,11174,0.17,2.72,0.00,0.000,6,0.112,0.058,3510,2369,2588,0,0,0,0,0,0
$GC,11418,1.18,163.5,865.7,9.2,394,11439,0.00,2.78,15.93,1.066,4,0.000,0.064,3510,3934,2522,0,0,0,0,0,0
$GC,11464,1.14,163.5,861.2,10.2,395,11469,0.00,2.72,0.00,0.000,6,0.000,0.059,3510,2367,2521,0,0,0,0,0,0
$GC,11742,1.15,171.6,833.7,9.6,402,11756,0.00,2.80,8.12,0.953,4,0.000,0.067,3510,3934,2490,0,0,0,0,0,0
$GC,11790,1.15,171.6,828.6,11.0,403,11794,0.00,2.67,0.00,0.000,6,0.000,0.052,3510,2374,2489,0,0,0,0,0,0
$GC,12071,1.15,174.4,801.0,9.9,410,12080,0.00,2.72,4.05,0.697,4,0.000,0.059,3510,3937,2477,0,0,0,0,0,0
$GC,12091,1.16,182.3,798.7,9.6,410,12106,0.00,2.67,9.10,0.967,6,0.000,0.055,3510,2380,2446,0,0,0,0,0,0
$GC,12359,1.16,182.3,771.8,10.1,417,12361,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2380,2443,0,0,0,0,0,0
$GC,12601,1.17,188.1,747.8,9.7,423,12614,0.00,2.70,6.50,0.877,4,0.000,0.061,3510,3931,2422,0,0,0,0,0,0
$GC,12644,1.17,188.1,743.2,11.1,424,12649,0.00,2.67,0.00,0.000,6,0.000,0.056,3510,2375,2421,0,0,0,0,0,0
$GC,12929,1.17,188.1,714.4,10.2,431,12931,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2375,2420,0,0,0,0,0,0
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$STATE,19834,end climb,SURFACE_DEPTH_REACHED
$STATE,19834,begin surface coast
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$STATE,19889,end surface coast,CONTROL_FINISHED_OK
$STATE,19889,begin surface
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$XPDR_PINGS,179
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$10V_AH,9.9,61.012
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355972
$DATA_FILE_SIZE,57432,748
$CAP_FILE_SIZE,186438,0
$CFSIZE,260165632,94040064
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$GPS,010513,195236,1926.172,-8116.323,24,1.4,24,-3.7