version: 66.06
glider: 146
mission: 8
dive: 103
start: 2 4 113 23 53 20
data:
$ID,146
$MISSION,8
$DIVE,103
$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,600
$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,-309410.66
$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,3270
$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,61
$R_STBD_OVSHOOT,21
$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,3205
$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
$GPS1,234425,1925.811,-8115.413,35,2.6,54,-3.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.4
$GPS2,235227,1925.809,-8115.355,11,3.3,30,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.244,0.088
$KALMAN_X,161689.0,76.2,48.0,-169170.8,2663.7
$KALMAN_Y,-28141.8,-34.9,-80.1,25996.8,-765.5
$MHEAD_RNG_PITCHd_Wd,293.7,5118,-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,16,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,-70.62,0.000,2,0.000,0.000,467,2171,3543,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-7.1,9,122,13.73,2.62,-4.43,0.000,4,0.167,0.041,2987,3815,3804,0,0,0,0,0,0
$GC,283,-1.17,-146.0,49.7,-16.1,29,293,0.10,2.53,0.00,0.000,6,0.086,0.025,3014,2239,3804,0,0,0,0,0,0
$GC,548,-1.04,-146.0,88.3,-14.4,54,553,0.12,2.65,0.00,0.000,4,0.116,0.044,3041,634,3805,0,0,0,0,0,0
$GC,618,-1.00,-146.0,97.7,-12.6,59,623,0.00,2.47,0.00,0.000,6,0.000,0.019,3041,2239,3805,0,0,0,0,0,0
$GC,887,-1.00,-146.0,130.4,-10.0,83,892,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2240,3806,0,0,0,0,0,0
$GC,1148,-1.04,-146.0,154.2,-7.8,108,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2240,3806,0,0,0,0,0,0
$GC,1407,-1.10,-146.0,174.4,-8.2,132,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2240,3807,0,0,0,0,0,0
$GC,1674,-1.17,-146.0,194.5,-7.1,157,1679,0.12,2.67,0.00,0.000,4,0.066,0.048,2987,627,3807,0,0,0,0,0,0
$GC,1755,-1.17,-146.0,201.7,-8.4,162,1761,0.12,2.42,0.00,0.000,6,0.104,0.025,3015,2202,3807,0,0,0,0,0,0
$GC,2006,-1.21,-146.0,220.6,-7.6,169,2010,0.00,2.50,0.00,0.000,4,0.000,0.042,3015,3780,3807,0,0,0,0,0,0
$GC,2035,-1.27,-146.0,223.0,-8.2,169,2040,0.10,2.50,0.00,0.000,6,0.075,0.020,2962,2178,3807,0,0,0,0,0,0
$GC,2285,-1.22,-146.0,247.1,-9.7,175,2287,0.17,0.00,0.00,0.000,6,0.091,0.000,3001,2178,3807,0,0,0,0,0,0
$GC,2528,-1.22,-146.0,267.5,-8.1,181,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2178,3807,0,0,0,0,0,0
$GC,2774,-1.22,-146.0,286.9,-7.9,187,2779,0.00,2.55,0.00,0.000,4,0.000,0.038,3002,3769,3806,0,0,0,0,0,0
$GC,2797,-1.26,-146.0,288.9,-8.1,187,2801,0.00,2.47,0.00,0.000,6,0.000,0.026,3001,2190,3806,0,0,0,0,0,0
$GC,3052,-1.30,-146.0,309.9,-8.3,194,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2189,3806,0,0,0,0,0,0
$GC,3298,-1.33,-146.0,329.4,-7.9,200,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2190,3805,0,0,0,0,0,0
$GC,3540,-1.37,-146.0,348.1,-7.6,206,3541,0.12,0.00,0.00,0.000,6,0.067,0.000,2952,2190,3804,0,0,0,0,0,0
$GC,3784,-1.33,-146.0,370.2,-9.1,212,3789,0.12,2.60,0.00,0.000,4,0.101,0.047,2980,3775,3803,0,0,0,0,0,0
$GC,3830,-1.33,-146.0,374.2,-8.6,213,3834,0.00,2.50,0.00,0.000,6,0.000,0.031,2980,2203,3803,0,0,0,0,0,0
$GC,4107,-1.33,-146.0,396.0,-7.8,220,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2203,3801,0,0,0,0,0,0
$GC,4351,-1.33,-146.0,414.6,-7.6,226,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2203,3801,0,0,0,0,0,0
$GC,4597,-1.33,-146.0,433.6,-7.8,232,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2203,3800,0,0,0,0,0,0
$GC,4838,-1.33,-146.0,453.2,-8.0,238,4843,0.00,2.62,0.00,0.000,4,0.000,0.059,2980,3769,3799,0,0,0,0,0,0
$GC,4865,-1.33,-146.0,455.6,-9.0,238,4870,0.00,2.55,0.00,0.000,6,0.000,0.046,2981,2212,3799,0,0,0,0,0,0
$GC,5115,-1.33,-146.0,476.2,-8.3,244,5120,0.00,2.88,0.00,0.000,4,0.000,0.094,2981,616,3797,0,0,0,0,0,0
$GC,5150,-1.33,-146.0,479.1,-9.0,244,5156,0.00,2.58,0.00,0.000,6,0.000,0.041,2980,2181,3797,0,0,0,0,0,0
$GC,5400,-1.33,-146.0,501.3,-8.8,251,5404,0.00,2.75,0.00,0.000,4,0.000,0.075,2980,3794,3796,0,0,0,0,0,0
$GC,5427,-1.33,-146.0,503.8,-9.4,251,5431,0.00,2.62,0.00,0.000,6,0.000,0.051,2981,2209,3796,0,0,0,0,0,0
$GC,5679,-1.33,-146.0,525.1,-8.5,257,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2209,3795,0,0,0,0,0,0
$GC,5920,-1.33,-146.0,545.1,-8.1,263,5925,0.00,2.75,0.00,0.000,4,0.000,0.071,2981,3791,3793,0,0,0,0,0,0
$GC,5954,-1.33,-146.0,548.0,-8.4,263,5960,0.00,2.65,0.00,0.000,6,0.000,0.055,2980,2212,3793,0,0,0,0,0,0
$GC,6207,-1.33,-146.0,568.1,-8.0,270,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2212,3791,0,0,0,0,0,0
$GC,6448,-1.33,-146.0,586.5,-7.5,276,6453,0.00,2.78,0.00,0.000,4,0.000,0.076,2980,3793,3790,0,0,0,0,0,0
$GC,6475,-1.33,-146.0,588.6,-7.7,276,6479,0.00,2.67,0.00,0.000,6,0.000,0.056,2980,2217,3790,0,0,0,0,0,0
$GC,6725,-1.33,-146.0,606.6,-7.3,282,6730,0.00,3.10,0.00,0.000,4,0.000,0.130,2981,620,3789,0,0,0,0,0,0
$GC,6754,-1.33,-146.0,608.7,-7.5,282,6759,0.00,2.72,0.00,0.000,6,0.000,0.064,2981,2217,3789,0,0,0,0,0,0
$GC,7004,-1.33,-146.0,627.6,-7.6,288,7009,0.00,2.88,0.00,0.000,4,0.000,0.103,2981,3803,3788,0,0,0,0,0,0
$GC,7031,-1.33,-146.0,629.8,-8.5,288,7035,0.00,2.78,0.00,0.000,6,0.000,0.071,2980,2214,3787,0,0,0,0,0,0
$GC,7283,-1.33,-146.0,649.6,-7.9,294,7288,0.00,3.03,0.00,0.000,4,0.000,0.121,2980,618,3786,0,0,0,0,0,0
$GC,7322,-1.33,-146.0,653.1,-8.6,295,7327,0.00,2.78,0.00,0.000,6,0.000,0.069,2981,2210,3785,0,0,0,0,0,0
$GC,7605,-1.33,-146.0,675.0,-7.8,302,7610,0.00,2.97,0.00,0.000,4,0.000,0.111,2981,3796,3784,0,0,0,0,0,0
$GC,7629,-1.33,-146.0,676.9,-7.9,302,7634,0.00,2.90,0.00,0.000,6,0.000,0.096,2981,2207,3784,0,0,0,0,0,0
$GC,7886,-1.33,-146.0,695.7,-7.1,309,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2207,3783,0,0,0,0,0,0
$GC,8130,-1.33,-146.0,711.9,-6.7,315,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2207,3782,0,0,0,0,0,0
$GC,8376,-1.33,-146.0,727.4,-6.4,321,8380,0.00,3.12,0.00,0.000,4,0.000,0.131,2981,3799,3782,0,0,0,0,0,0
$GC,8403,-1.33,-146.0,729.5,-7.2,321,8407,0.00,2.78,0.00,0.000,6,0.000,0.075,2981,2213,3781,0,0,0,0,0,0
$GC,8654,-1.33,-146.0,747.2,-7.1,327,8659,0.00,3.05,0.00,0.000,4,0.000,0.130,2980,618,3780,0,0,0,0,0,0
$GC,8684,-1.33,-146.0,749.3,-7.5,327,8688,0.00,2.75,0.00,0.000,6,0.000,0.069,2981,2209,3780,0,0,0,0,0,0
$GC,8934,-1.33,-146.0,767.9,-7.4,333,8939,0.00,2.88,0.00,0.000,4,0.000,0.102,2981,3804,3779,0,0,0,0,0,0
$GC,8978,-1.37,-146.0,771.7,-8.3,334,8983,0.00,2.75,0.00,0.000,6,0.000,0.067,2980,2213,3778,0,0,0,0,0,0
$GC,9258,-1.37,-146.0,793.4,-7.6,341,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2212,3777,0,0,0,0,0,0
$GC,9499,-1.37,-146.0,811.5,-7.4,347,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2212,3777,0,0,0,0,0,0
$GC,9743,-1.41,-146.0,829.2,-7.2,353,9745,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2212,3775,0,0,0,0,0,0
$GC,9989,-1.45,-146.0,846.7,-7.2,359,9995,0.12,2.83,0.00,0.000,4,0.075,0.079,2937,3798,3774,0,0,0,0,0,0
$GC,10034,-1.41,-146.0,851.0,-9.5,360,10039,0.12,2.72,0.00,0.000,6,0.103,0.061,2964,2217,3774,0,0,0,0,0,0
$GC,10312,-1.41,-146.0,872.6,-7.7,367,10317,0.00,2.80,0.00,0.000,4,0.000,0.084,2964,3803,3773,0,0,0,0,0,0
$GC,10341,-1.41,-146.0,874.8,-8.5,367,10346,0.00,2.72,0.00,0.000,6,0.000,0.063,2963,2225,3773,0,0,0,0,0,0
$GC,10591,-1.41,-146.0,895.1,-7.8,373,10592,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2226,3772,0,0,0,0,0,0
$STATE,10670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10670,begin apogee
$GC,10676,-0.31,0.0,901.7,7.9,375,10799,1.05,0.00,119.62,1.212,6,0.071,0.000,3204,2384,3205,0,0,0,0,0,0
$STATE,10800,end apogee,CONTROL_FINISHED_OK
$STATE,10800,begin climb
$GC,10805,1.27,146.0,905.2,0.0,378,10940,1.42,2.85,126.43,1.185,4,0.034,0.075,3558,3927,2608,0,0,0,0,0,0
$GC,11004,1.10,146.0,893.3,12.5,382,11009,0.22,2.70,0.00,0.000,6,0.109,0.052,3513,2369,2603,0,0,0,0,0,0
$GC,11254,1.07,161.8,869.2,9.3,388,11270,0.00,0.00,14.30,1.064,6,0.000,0.000,3512,2369,2546,0,0,0,0,0,0
$GC,11498,1.03,161.8,844.9,10.1,394,11502,0.00,2.70,0.00,0.000,4,0.000,0.065,3513,3926,2542,0,0,0,0,0,0
$GC,11572,0.96,161.8,837.0,11.2,395,11577,0.15,2.62,0.00,0.000,6,0.115,0.045,3482,2372,2541,0,0,0,0,0,0
$GC,11822,1.00,188.2,814.8,8.8,401,11852,0.00,3.15,24.42,1.103,4,0.000,0.120,3481,780,2437,0,0,0,0,0,0
$GC,11871,1.02,209.2,810.3,9.0,402,11897,0.00,2.67,20.77,1.080,6,0.000,0.044,3482,2361,2352,0,0,0,0,0,0
$GC,12143,1.07,211.6,783.5,9.9,408,12144,0.10,0.00,0.00,0.000,6,0.085,0.000,3511,2361,2346,0,0,0,0,0,0
$GC,12384,1.07,211.6,756.9,11.0,414,12388,0.00,2.75,0.00,0.000,4,0.000,0.069,3512,3934,2345,0,0,0,0,0,0
$GC,12419,1.03,211.6,752.8,12.7,414,12424,0.00,2.60,0.00,0.000,6,0.000,0.041,3512,2369,2345,0,0,0,0,0,0
$GC,12668,1.03,211.6,724.9,11.1,421,12673,0.00,3.00,0.00,0.000,4,0.000,0.114,3512,784,2344,0,0,0,0,0,0
$GC,12684,1.03,211.6,723.0,11.0,421,12688,0.00,2.65,0.00,0.000,6,0.000,0.039,3512,2381,2343,0,0,0,0,0,0
$GC,12952,1.03,211.6,694.2,10.8,428,12957,0.00,2.70,0.00,0.000,4,0.000,0.067,3512,3938,2343,0,0,0,0,0,0
$GC,12984,1.03,211.6,690.2,11.7,428,12990,0.00,2.60,0.00,0.000,6,0.000,0.036,3512,2371,2342,0,0,0,0,0,0
$GC,13234,1.03,211.6,662.3,11.2,435,13235,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2371,2342,0,0,0,0,0,0
$GC,13478,1.03,211.6,635.6,10.7,441,13479,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2371,2341,0,0,0,0,0,0
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