version: 66.06
glider: 146
mission: 8
dive: 105
start: 2 5 113 11 4 37
data:
$ID,146
$MISSION,8
$DIVE,105
$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,-309443.19
$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,33
$R_STBD_OVSHOOT,39
$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
$GPS1,104936,1926.482,-8116.758,30,1.4,30,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-74.9
$GPS2,110343,1926.483,-8116.597,12,1.5,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.226,0.128
$KALMAN_X,167820.2,227.8,192.4,-177765.2,1741.0
$KALMAN_Y,-30660.8,-24.7,136.6,29535.0,-1404.3
$MHEAD_RNG_PITCHd_Wd,303.4,2632,-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,-71.10,0.000,2,0.000,0.000,463,2151,3562,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.1,-6.5,9,122,13.80,2.65,-4.22,0.000,4,0.169,0.045,2986,3787,3802,0,0,0,0,0,0
$GC,263,-1.16,-146.0,42.3,-15.7,28,268,0.12,2.50,0.00,0.000,6,0.117,0.023,3014,2208,3803,0,0,0,0,0,0
$GC,531,-1.04,-146.0,81.5,-14.6,52,536,0.12,2.60,0.00,0.000,4,0.118,0.045,3041,633,3803,0,0,0,0,0,0
$GC,604,-1.01,-146.0,91.6,-12.7,57,608,0.00,2.45,0.00,0.000,6,0.000,0.025,3041,2218,3803,0,0,0,0,0,0
$GC,872,-0.95,-146.0,125.3,-12.3,81,877,0.10,0.00,0.00,0.000,6,0.121,0.000,3063,2219,3803,0,0,0,0,0,0
$GC,1137,-1.03,-146.0,147.5,-7.2,106,1141,0.00,2.58,0.00,0.000,4,0.000,0.043,3063,634,3804,0,0,0,0,0,0
$GC,1158,-1.12,-146.0,149.1,-7.1,107,1163,0.15,2.40,0.00,0.000,6,0.058,0.024,3001,2200,3804,0,0,0,0,0,0
$GC,1419,-1.12,-146.0,174.9,-10.2,131,1421,0.10,0.00,0.00,0.000,6,0.110,0.000,3025,2201,3804,0,0,0,0,0,0
$GC,1676,-1.17,-146.0,195.2,-7.2,155,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2201,3804,0,0,0,0,0,0
$GC,1953,-1.24,-146.0,213.9,-6.6,167,1958,0.10,2.58,0.00,0.000,4,0.080,0.054,2978,634,3805,0,0,0,0,0,0
$GC,1993,-1.24,-146.0,217.5,-9.2,168,1998,0.10,2.40,0.00,0.000,6,0.111,0.019,3000,2190,3805,0,0,0,0,0,0
$GC,2276,-1.24,-146.0,239.6,-7.4,175,2281,0.00,2.55,0.00,0.000,4,0.000,0.039,3000,3779,3805,0,0,0,0,0,0
$GC,2312,-1.24,-146.0,242.2,-7.7,175,2317,0.00,2.50,0.00,0.000,6,0.000,0.025,3000,2180,3805,0,0,0,0,0,0
$GC,2562,-1.24,-146.0,260.5,-7.4,182,2566,0.00,2.55,0.00,0.000,4,0.000,0.059,3000,633,3804,0,0,0,0,0,0
$GC,2589,-1.24,-146.0,262.8,-8.1,182,2593,0.00,2.40,0.00,0.000,6,0.000,0.021,3000,2179,3804,0,0,0,0,0,0
$GC,2841,-1.24,-146.0,281.7,-7.5,188,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2179,3804,0,0,0,0,0,0
$GC,3082,-1.24,-146.0,300.1,-7.5,194,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2179,3803,0,0,0,0,0,0
$GC,3326,-1.27,-146.0,319.0,-7.9,200,3331,0.00,2.58,0.00,0.000,4,0.000,0.041,3000,3775,3802,0,0,0,0,0,0
$GC,3350,-1.31,-146.0,320.8,-7.8,200,3355,0.00,2.50,0.00,0.000,6,0.000,0.023,3000,2193,3802,0,0,0,0,0,0
$GC,3606,-1.35,-146.0,340.8,-7.7,207,3608,0.10,0.00,0.00,0.000,6,0.082,0.000,2958,2193,3801,0,0,0,0,0,0
$GC,3850,-1.31,-146.0,363.2,-9.4,213,3852,0.12,0.00,0.00,0.000,6,0.101,0.000,2987,2194,3799,0,0,0,0,0,0
$GC,4095,-1.31,-146.0,383.0,-7.9,219,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2194,3799,0,0,0,0,0,0
$GC,4337,-1.31,-146.0,402.4,-7.9,225,4341,0.00,2.60,0.00,0.000,4,0.000,0.049,2987,3772,3798,0,0,0,0,0,0
$GC,4392,-1.34,-146.0,407.0,-8.3,226,4397,0.00,2.55,0.00,0.000,6,0.000,0.038,2987,2194,3798,0,0,0,0,0,0
$GC,4661,-1.34,-146.0,427.0,-7.5,233,4666,0.00,2.75,0.00,0.000,4,0.000,0.088,2987,624,3797,0,0,0,0,0,0
$GC,4688,-1.34,-146.0,429.4,-7.6,233,4693,0.00,2.47,0.00,0.000,6,0.000,0.034,2987,2170,3796,0,0,0,0,0,0
$GC,4938,-1.34,-146.0,449.3,-8.0,239,4943,0.00,2.70,0.00,0.000,4,0.000,0.058,2986,3793,3795,0,0,0,0,0,0
$GC,5001,-1.38,-146.0,454.6,-8.7,240,5006,0.00,2.62,0.00,0.000,6,0.000,0.041,2986,2196,3795,0,0,0,0,0,0
$GC,5262,-1.38,-146.0,474.9,-7.6,247,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2196,3794,0,0,0,0,0,0
$GC,5506,-1.38,-146.0,492.9,-7.4,253,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2196,3793,0,0,0,0,0,0
$GC,5752,-1.38,-146.0,511.0,-7.5,259,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2196,3791,0,0,0,0,0,0
$GC,5993,-1.38,-146.0,529.9,-7.8,265,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2196,3791,0,0,0,0,0,0
$GC,6237,-1.38,-146.0,549.0,-7.9,271,6241,0.00,2.80,0.00,0.000,4,0.000,0.081,2987,3786,3790,0,0,0,0,0,0
$GC,6277,-1.43,-146.0,552.2,-8.5,272,6282,0.12,2.65,0.00,0.000,6,0.067,0.057,2940,2206,3790,0,0,0,0,0,0
$GC,6563,-1.38,-146.0,579.6,-9.7,279,6565,0.12,0.00,0.00,0.000,6,0.105,0.000,2968,2206,3788,0,0,0,0,0,0
$GC,6806,-1.38,-146.0,599.8,-8.1,285,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2206,3786,0,0,0,0,0,0
$GC,7050,-1.38,-146.0,619.7,-8.2,291,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2206,3786,0,0,0,0,0,0
$GC,7292,-1.38,-146.0,639.3,-7.8,297,7296,0.00,3.08,0.00,0.000,4,0.000,0.132,2968,620,3784,0,0,0,0,0,0
$GC,7313,-1.38,-146.0,641.2,-8.4,297,7318,0.00,2.75,0.00,0.000,6,0.000,0.069,2968,2204,3784,0,0,0,0,0,0
$GC,7568,-1.38,-146.0,662.0,-8.2,304,7573,0.00,2.97,0.00,0.000,4,0.000,0.114,2968,3794,3783,0,0,0,0,0,0
$GC,7592,-1.38,-146.0,663.9,-8.6,304,7596,0.00,2.85,0.00,0.000,6,0.000,0.088,2968,2214,3783,0,0,0,0,0,0
$GC,7847,-1.38,-146.0,685.4,-8.3,311,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2214,3782,0,0,0,0,0,0
$GC,8090,-1.38,-146.0,705.6,-8.3,317,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2214,3781,0,0,0,0,0,0
$GC,8336,-1.38,-146.0,725.8,-8.4,323,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2214,3780,0,0,0,0,0,0
$GC,8578,-1.38,-146.0,746.5,-8.5,329,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2214,3778,0,0,0,0,0,0
$GC,8822,-1.38,-146.0,767.2,-8.4,335,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2214,3777,0,0,0,0,0,0
$GC,9065,-1.38,-146.0,788.4,-8.7,341,9071,0.00,3.42,0.00,0.000,4,0.000,0.186,2968,3794,3776,0,0,0,0,0,0
$GC,9089,-1.38,-146.0,790.5,-9.0,341,9094,0.00,2.67,0.00,0.000,6,0.000,0.059,2968,2212,3776,0,0,0,0,0,0
$GC,9345,-1.38,-146.0,812.2,-8.3,348,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2212,3775,0,0,0,0,0,0
$GC,9589,-1.38,-146.0,832.1,-8.1,354,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2212,3774,0,0,0,0,0,0
$GC,9835,-1.38,-146.0,851.7,-8.0,360,9839,0.00,2.80,0.00,0.000,4,0.000,0.080,2968,3802,3772,0,0,0,0,0,0
$GC,9878,-1.38,-146.0,855.7,-9.0,361,9883,0.00,2.72,0.00,0.000,6,0.000,0.062,2968,2221,3772,0,0,0,0,0,0
$GC,10156,-1.38,-146.0,877.6,-7.8,368,10157,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2221,3771,0,0,0,0,0,0
$GC,10402,-1.38,-146.0,896.5,-7.8,374,10406,0.00,2.78,0.00,0.000,4,0.000,0.077,2968,3805,3770,0,0,0,0,0,0
$GC,10429,-1.38,-146.0,899.0,-8.6,374,10433,0.00,2.72,0.00,0.000,6,0.000,0.063,2968,2221,3770,0,0,0,0,0,0
$STATE,10473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10473,begin apogee
$GC,10479,-0.31,0.0,902.6,8.2,375,10601,1.02,0.00,118.75,1.211,6,0.070,0.000,3202,2384,3205,0,0,0,0,0,0
$STATE,10602,end apogee,CONTROL_FINISHED_OK
$STATE,10602,begin climb
$GC,10607,1.27,146.0,906.2,0.0,378,10742,1.42,2.83,126.38,1.180,4,0.034,0.074,3555,3925,2607,0,0,0,0,0,0
$GC,10866,1.12,146.0,886.4,11.9,384,10871,0.20,2.70,0.00,0.000,6,0.113,0.051,3516,2363,2602,0,0,0,0,0,0
$GC,11144,1.08,160.0,859.7,9.4,391,11164,0.00,2.80,12.55,1.042,4,0.000,0.066,3516,3924,2552,0,0,0,0,0,0
$GC,11191,1.01,163.8,855.4,9.8,392,11201,0.12,2.65,4.88,0.787,6,0.127,0.044,3491,2366,2537,0,0,0,0,0,0
$GC,11474,1.02,179.1,828.7,9.3,399,11494,0.00,2.75,14.85,1.057,4,0.000,0.056,3491,3929,2475,0,0,0,0,0,0
$GC,11505,1.05,197.5,825.6,9.1,399,11530,0.00,2.65,18.83,1.073,6,0.000,0.045,3491,2368,2398,0,0,0,0,0,0
$GC,11799,1.05,197.5,796.4,10.1,407,11800,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2368,2393,0,0,0,0,0,0
$GC,12041,1.05,197.5,771.6,10.2,413,12042,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2368,2392,0,0,0,0,0,0
$GC,12285,1.05,197.5,747.2,10.0,419,12289,0.00,2.67,0.00,0.000,4,0.000,0.054,3491,3934,2391,0,0,0,0,0,0
$GC,12308,1.05,197.5,744.8,11.1,419,12312,0.00,2.60,0.00,0.000,6,0.000,0.040,3491,2379,2391,0,0,0,0,0,0
$GC,12562,1.05,197.5,718.8,10.1,426,12567,0.00,3.05,0.00,0.000,4,0.000,0.117,3491,778,2390,0,0,0,0,0,0
$GC,12578,1.05,197.5,716.9,10.4,426,12582,0.00,2.65,0.00,0.000,6,0.000,0.043,3491,2369,2389,0,0,0,0,0,0
$GC,12841,1.05,197.5,689.7,10.5,433,12842,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2370,2389,0,0,0,0,0,0
$GC,13082,1.05,197.5,665.0,10.2,439,13087,0.00,2.72,0.00,0.000,4,0.000,0.075,3491,3934,2388,0,0,0,0,0,0
$GC,13109,1.05,197.5,662.0,10.8,439,13113,0.00,2.60,0.00,0.000,6,0.000,0.041,3491,2359,2388,0,0,0,0,0,0
$GC,13364,1.05,201.7,636.7,9.8,446,13365,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2360,2388,0,0,0,0,0,0
$GC,13608,1.06,210.0,613.0,9.6,452,13620,0.00,0.00,11.02,0.925,6,0.000,0.000,3491,2360,2348,0,0,0,0,0,0
$GC,13851,1.06,211.2,589.1,9.9,458,13856,0.00,2.67,0.00,0.000,4,0.000,0.055,3491,3934,2347,0,0,0,0,0,0
$GC,13867,1.06,211.2,587.4,10.1,458,13871,0.00,2.60,0.00,0.000,6,0.000,0.041,3491,2363,2346,0,0,0,0,0,0
$GC,14130,1.11,215.2,561.6,9.8,465,14138,0.00,0.00,6.12,0.778,6,0.000,0.000,3491,2363,2327,0,0,0,0,0,0
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$STATE,19481,end climb,SURFACE_DEPTH_REACHED
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