version: 66.06
glider: 146
mission: 7
dive: 60
start: 6 1 112 7 40 2
data:
$ID,146
$MISSION,7
$DIVE,60
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,233
$T_MISSION,500
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52355
$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,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,-288969.78
$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,3130
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,44
$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,2950
$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,-29.527605
$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,0.0043256786
$SEABIRD_T_H,0.0006194216
$SEABIRD_T_I,2.1253354e-05
$SEABIRD_T_J,2.0307182e-06
$SEABIRD_C_G,-9.7992477
$SEABIRD_C_H,1.0845563
$SEABIRD_C_I,-0.0017217569
$SEABIRD_C_J,0.00021252052
$GPS1,071430,2250.753,-15809.003,36,1.4,41,10.1
$_CALLS,4
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-69.0
$GPS2,073907,2250.751,-15809.070,9,1.4,14,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.053,0.246
$KALMAN_X,-91022.8,-56.6,-233.7,82177.4,49.3
$KALMAN_Y,-23432.5,52.6,187.0,42022.3,-876.8
$MHEAD_RNG_PITCHd_Wd,2.0,26413,-18.2,-10.014
$D_GRID,700
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.31,-136.3,0.0,0.0,0,114,0.00,0.00,-89.28,0.000,6,0.000,0.000,466,2198,3506,0,0,0,0,0,0
$GC,118,-1.31,-136.3,1.7,-4.0,12,136,13.12,2.60,0.00,0.000,4,0.173,0.028,2838,3783,3507,0,0,0,0,0,0
$GC,208,-1.14,-136.3,20.3,-14.9,24,216,0.17,2.53,0.00,0.000,6,0.108,0.023,2878,2206,3507,0,0,0,0,0,0
$GC,497,-1.06,-136.3,51.1,-9.4,55,502,0.10,2.55,0.00,0.000,4,0.133,0.034,2898,3783,3507,0,0,0,0,0,0
$GC,555,-1.06,-136.3,56.8,-8.9,59,560,0.00,2.45,0.00,0.000,6,0.000,0.023,2898,2224,3507,0,0,0,0,0,0
$GC,823,-1.06,-136.3,80.0,-9.5,83,828,0.00,2.60,0.00,0.000,4,0.000,0.051,2898,627,3507,0,0,0,0,0,0
$GC,960,-1.06,-136.3,95.1,-10.3,94,964,0.00,2.45,0.00,0.000,6,0.000,0.025,2898,2227,3507,0,0,0,0,0,0
$GC,1224,-1.06,-136.3,119.2,-8.8,118,1229,0.00,2.62,0.00,0.000,4,0.000,0.048,2898,635,3508,0,0,0,0,0,0
$GC,1270,-1.06,-136.3,123.4,-10.2,121,1274,0.00,2.40,0.00,0.000,6,0.000,0.018,2898,2203,3508,0,0,0,0,0,0
$GC,1536,-1.06,-136.3,144.4,-6.7,145,1541,0.00,2.50,0.00,0.000,4,0.000,0.035,2898,3779,3508,0,0,0,0,0,0
$GC,1555,-1.06,-136.3,145.9,-6.7,146,1560,0.00,2.45,0.00,0.000,6,0.000,0.023,2898,2199,3508,0,0,0,0,0,0
$GC,1818,-1.06,-136.3,163.0,-7.0,170,1822,0.00,2.58,0.00,0.000,4,0.000,0.055,2898,638,3508,0,0,0,0,0,0
$GC,1886,-1.06,-136.3,168.0,-8.0,175,1891,0.00,2.40,0.00,0.000,6,0.000,0.022,2898,2205,3508,0,0,0,0,0,0
$GC,2153,-1.06,-136.3,189.4,-7.8,199,2157,0.00,2.50,0.00,0.000,4,0.000,0.041,2898,3781,3507,0,0,0,0,0,0
$GC,2197,-1.06,-136.3,193.1,-9.2,202,2201,0.00,2.45,0.00,0.000,6,0.000,0.026,2898,2202,3507,0,0,0,0,0,0
$GC,2483,-1.06,-136.3,213.7,-6.5,214,2487,0.00,2.60,0.00,0.000,4,0.000,0.056,2898,631,3507,0,0,0,0,0,0
$GC,2526,-1.06,-136.3,216.6,-6.3,215,2531,0.00,2.40,0.00,0.000,6,0.000,0.024,2898,2178,3507,0,0,0,0,0,0
$GC,2807,-1.10,-136.3,231.2,-5.0,222,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2179,3507,0,0,0,0,0,0
$GC,3048,-1.14,-136.3,245.3,-6.1,228,3053,0.00,2.60,0.00,0.000,4,0.000,0.061,2898,633,3506,0,0,0,0,0,0
$GC,3098,-1.14,-136.3,249.0,-7.8,229,3102,0.00,2.38,0.00,0.000,6,0.000,0.020,2898,2170,3506,0,0,0,0,0,0
$GC,3372,-1.20,-136.3,267.2,-6.6,236,3377,0.12,2.60,0.00,0.000,4,0.074,0.042,2852,3777,3506,0,0,0,0,0,0
$GC,3405,-1.14,-136.3,269.9,-7.8,236,3412,0.12,2.50,0.00,0.000,6,0.114,0.022,2879,2183,3505,0,0,0,0,0,0
$GC,3655,-1.14,-136.3,285.6,-6.2,243,3660,0.00,2.60,0.00,0.000,4,0.000,0.039,2879,3779,3504,0,0,0,0,0,0
$GC,3684,-1.14,-136.3,287.5,-7.2,243,3689,0.00,2.55,0.00,0.000,6,0.000,0.023,2879,2176,3504,0,0,0,0,0,0
$GC,3935,-1.14,-136.3,301.6,-5.7,249,3939,0.00,2.62,0.00,0.000,4,0.000,0.067,2879,629,3503,0,0,0,0,0,0
$GC,3974,-1.14,-136.3,304.1,-6.7,250,3978,0.00,2.42,0.00,0.000,6,0.000,0.031,2879,2170,3503,0,0,0,0,0,0
$GC,4259,-1.14,-136.3,323.3,-6.8,257,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2171,3501,0,0,0,0,0,0
$GC,4500,-1.14,-136.3,338.9,-6.4,263,4505,0.00,2.65,0.00,0.000,4,0.000,0.046,2879,3783,3500,0,0,0,0,0,0
$GC,4516,-1.14,-136.3,340.1,-6.2,263,4521,0.00,2.58,0.00,0.000,6,0.000,0.028,2879,2176,3500,0,0,0,0,0,0
$GC,4779,-1.18,-136.3,356.4,-6.2,270,4784,0.00,2.62,0.00,0.000,4,0.000,0.043,2879,3784,3498,0,0,0,0,0,0
$GC,4840,-1.18,-136.3,360.5,-6.7,271,4845,0.00,2.55,0.00,0.000,6,0.000,0.035,2879,2188,3498,0,0,0,0,0,0
$GC,5102,-1.22,-136.3,373.2,-4.6,278,5106,0.00,2.65,0.00,0.000,4,0.000,0.049,2879,3787,3497,0,0,0,0,0,0
$GC,5147,-1.22,-136.3,375.4,-5.3,279,5152,0.00,2.55,0.00,0.000,6,0.000,0.031,2879,2199,3497,0,0,0,0,0,0
$GC,5425,-1.26,-136.3,388.5,-4.9,286,5430,0.10,2.78,0.00,0.000,4,0.086,0.078,2843,627,3495,0,0,0,0,0,0
$GC,5483,-1.22,-136.3,392.8,-8.5,287,5488,0.10,2.53,0.00,0.000,6,0.128,0.031,2863,2194,3495,0,0,0,0,0,0
$GC,5750,-1.22,-136.3,412.0,-7.3,294,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2194,3494,0,0,0,0,0,0
$GC,5993,-1.22,-136.3,429.1,-7.0,300,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2194,3492,0,0,0,0,0,0
$GC,6239,-1.22,-136.3,444.4,-6.0,306,6243,0.00,2.70,0.00,0.000,4,0.000,0.064,2863,3790,3491,0,0,0,0,0,0
$GC,6283,-1.22,-136.3,447.4,-6.9,307,6287,0.00,2.65,0.00,0.000,6,0.000,0.049,2863,2184,3491,0,0,0,0,0,0
$GC,6560,-1.22,-136.3,465.1,-6.5,314,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2184,3490,0,0,0,0,0,0
$GC,6806,-1.22,-136.3,481.8,-6.9,320,6810,0.00,2.90,0.00,0.000,4,0.000,0.107,2863,626,3488,0,0,0,0,0,0
$GC,6845,-1.22,-136.3,484.8,-7.8,321,6849,0.00,2.58,0.00,0.000,6,0.000,0.047,2863,2188,3488,0,0,0,0,0,0
$GC,7128,-1.22,-136.3,504.1,-6.8,328,7133,0.00,2.75,0.00,0.000,4,0.000,0.070,2862,3794,3487,0,0,0,0,0,0
$GC,7208,-1.22,-136.3,509.9,-7.1,329,7213,0.00,2.65,0.00,0.000,6,0.000,0.053,2863,2203,3486,0,0,0,0,0,0
$GC,7458,-1.22,-136.3,524.2,-5.4,336,7462,0.00,2.97,0.00,0.000,4,0.000,0.117,2863,625,3485,0,0,0,0,0,0
$GC,7473,-1.22,-136.3,525.2,-5.2,336,7478,0.00,2.62,0.00,0.000,6,0.000,0.051,2863,2202,3484,0,0,0,0,0,0
$GC,7736,-1.22,-136.3,537.4,-4.5,343,7741,0.00,2.80,0.00,0.000,4,0.000,0.084,2863,3793,3483,0,0,0,0,0,0
$GC,7752,-1.22,-136.3,538.4,-4.4,343,7757,0.00,2.70,0.00,0.000,6,0.000,0.057,2863,2197,3483,0,0,0,0,0,0
$GC,8013,-1.26,-136.3,550.1,-4.6,350,8018,0.00,2.78,0.00,0.000,4,0.000,0.071,2863,3799,3482,0,0,0,0,0,0
$GC,8042,-1.26,-136.3,551.6,-6.0,350,8047,0.00,2.70,0.00,0.000,6,0.000,0.060,2863,2209,3482,0,0,0,0,0,0
$GC,8292,-1.26,-136.3,564.8,-5.4,356,8297,0.00,2.78,0.00,0.000,4,0.000,0.070,2863,3796,3481,0,0,0,0,0,0
$GC,8381,-1.26,-136.3,570.1,-5.8,358,8385,0.00,2.70,0.00,0.000,6,0.000,0.058,2863,2217,3481,0,0,0,0,0,0
$GC,8661,-1.30,-136.3,584.2,-5.1,365,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2217,3479,0,0,0,0,0,0
$GC,8903,-1.34,-136.3,596.6,-5.1,371,8908,0.12,3.05,0.00,0.000,4,0.095,0.119,2825,622,3478,0,0,0,0,0,0
$GC,8938,-1.28,-136.3,598.7,-6.5,371,8945,0.12,2.72,0.00,0.000,6,0.120,0.054,2849,2218,3478,0,0,0,0,0,0
$GC,9188,-1.28,-136.3,611.8,-5.1,378,9193,0.00,2.85,0.00,0.000,4,0.000,0.098,2849,3796,3477,0,0,0,0,0,0
$GC,9249,-1.28,-136.3,615.3,-6.3,379,9253,0.00,2.72,0.00,0.000,6,0.000,0.074,2849,2233,3477,0,0,0,0,0,0
$GC,9511,-1.28,-136.3,629.0,-5.2,386,9516,0.00,3.08,0.00,0.000,4,0.000,0.122,2849,617,3475,0,0,0,0,0,0
$GC,9544,-1.28,-136.3,631.1,-6.4,386,9550,0.00,2.80,0.00,0.000,6,0.000,0.069,2849,2231,3475,0,0,0,0,0,0
$GC,9794,-1.28,-136.3,644.8,-5.5,393,9799,0.00,2.90,0.00,0.000,4,0.000,0.107,2849,3798,3475,0,0,0,0,0,0
$GC,9817,-1.28,-136.3,646.2,-6.1,393,9822,0.00,2.83,0.00,0.000,6,0.000,0.082,2849,2227,3475,0,0,0,0,0,0
$GC,10072,-1.28,-136.3,659.6,-5.2,400,10077,0.00,3.12,0.00,0.000,4,0.000,0.132,2849,616,3474,0,0,0,0,0,0
$GC,10094,-1.28,-136.3,660.9,-5.4,400,10098,0.00,2.85,0.00,0.000,6,0.000,0.082,2849,2229,3474,0,0,0,0,0,0
$GC,10351,-1.28,-136.3,672.8,-4.6,407,10355,0.00,2.92,0.00,0.000,4,0.000,0.113,2849,3796,3473,0,0,0,0,0,0
$GC,10411,-1.28,-136.3,676.0,-5.1,408,10416,0.00,2.85,0.00,0.000,6,0.000,0.096,2849,2235,3472,0,0,0,0,0,0
$GC,10672,-1.28,-136.3,687.7,-4.5,415,10677,0.00,3.22,0.00,0.000,4,0.000,0.143,2849,622,3472,0,0,0,0,0,0
$GC,10718,-1.28,-136.3,690.2,-5.8,416,10723,0.00,2.95,0.00,0.000,6,0.000,0.092,2849,2239,3472,0,0,0,0,0,0
$STATE,10911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10911,begin apogee
$GC,10917,-0.31,0.0,700.7,5.3,421,11033,0.95,0.00,108.80,1.118,6,0.086,0.000,3062,2199,2950,0,0,0,0,0,0
$STATE,11034,end apogee,CONTROL_FINISHED_OK
$STATE,11034,begin climb
$GC,11036,1.31,136.3,701.8,0.0,424,11170,1.52,3.28,119.28,1.082,4,0.054,0.137,3414,610,2391,0,0,0,0,0,0
$GC,11351,1.18,136.3,665.0,14.6,431,11357,0.15,2.88,0.00,0.000,6,0.133,0.077,3387,2200,2384,0,0,0,0,0,0
$GC,11624,1.12,136.3,633.8,11.1,438,11629,0.00,3.05,0.00,0.000,4,0.000,0.108,3386,606,2382,0,0,0,0,0,0
$GC,11778,1.06,136.3,615.6,12.5,441,11783,0.12,2.78,0.00,0.000,6,0.137,0.062,3364,2206,2380,0,0,0,0,0,0
$GC,12039,1.06,136.3,587.8,10.5,448,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2206,2380,0,0,0,0,0,0
$GC,12283,1.06,136.3,562.1,10.5,454,12287,0.00,2.83,0.00,0.000,4,0.000,0.090,3364,3786,2378,0,0,0,0,0,0
$GC,12300,1.06,136.3,560.4,10.2,454,12304,0.00,2.75,0.00,0.000,6,0.000,0.052,3364,2187,2377,0,0,0,0,0,0
$GC,12560,1.06,136.3,533.9,10.0,461,12561,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2187,2377,0,0,0,0,0,0
$GC,12803,1.06,136.3,507.9,10.9,467,12808,0.00,2.97,0.00,0.000,4,0.000,0.108,3364,605,2377,0,0,0,0,0,0
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$STATE,17298,end climb,SURFACE_DEPTH_REACHED
$STATE,17298,begin surface coast
$FINISH,-0.7,1.023284
$STATE,17351,end surface coast,CONTROL_FINISHED_OK
$STATE,17351,begin surface
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$HUMID,58.30
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$XPDR_PINGS,78
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$10V_AH,10.3,8.295
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,29.025,256.750,333.375,102.475,0.000,121.241,165.015,808.416,19.500,0.000,16.009,1524.210,12710.462,605.483,2522.444,1580.433,33.353,1661.386,0.000,2511.831,0.000,0.536,0.000
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$MEM,356120
$DATA_FILE_SIZE,53942,699
$CAP_FILE_SIZE,191415,0
$CFSIZE,260165632,143327232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010612,123301,2251.795,-15809.215,61,1.2,61,10.1