version: 66.06
glider: 146
mission: 8
dive: 135
start: 2 12 113 3 58 43
data:
$ID,146
$MISSION,8
$DIVE,135
$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,290
$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,-309942.88
$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,51
$R_STBD_OVSHOOT,25
$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,3200
$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
$GPS1,035035,1926.758,-8040.249,48,1.4,48,-4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.0
$GPS2,035748,1926.746,-8040.250,8,1.4,13,-4.1
$SPEED_LIMITS,0.148,0.263
$TGT_NAME,Tp5
$TGT_LATLONG,1928.000,-8048.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.261,0.028
$KALMAN_X,6562.3,-350.4,-124.1,5802.6,-297.2
$KALMAN_Y,-10821.1,-505.1,-194.6,31237.4,346.4
$MHEAD_RNG_PITCHd_Wd,280.1,13731,-18.1,-10.345
$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,-1.31,-146.0,0.0,0.0,0,92,0.00,0.00,-70.55,0.000,2,0.000,0.000,463,2184,3486,0,0,0,0,0,0
$GC,97,-1.31,-146.0,3.3,-3.9,9,122,13.73,2.60,-5.72,0.000,4,0.169,0.047,2969,3803,3796,0,0,0,0,0,0
$GC,134,-0.19,-146.0,17.1,-34.8,13,142,1.10,2.50,0.00,0.000,6,0.084,0.018,3214,2224,3797,0,0,0,0,0,0
$GC,447,-0.51,-146.0,34.9,-4.5,53,452,0.25,2.55,0.00,0.000,4,0.051,0.035,3138,3806,3797,0,0,0,0,0,0
$GC,520,-0.71,-146.0,40.1,-7.4,58,525,0.12,2.50,0.00,0.000,6,0.065,0.021,3081,2202,3797,0,0,0,0,0,0
$GC,790,-0.71,-146.0,68.9,-11.4,82,795,0.12,2.58,0.00,0.000,4,0.097,0.044,3110,638,3798,0,0,0,0,0,0
$GC,851,-0.85,-146.0,75.4,-8.8,86,856,0.15,2.42,0.00,0.000,6,0.058,0.017,3053,2216,3798,0,0,0,0,0,0
$GC,1116,-0.85,-146.0,107.4,-12.2,110,1125,0.10,0.00,0.00,0.000,6,0.110,0.000,3076,2217,3798,0,0,0,0,0,0
$GC,1382,-0.97,-146.0,130.6,-7.0,135,1387,0.12,2.60,0.00,0.000,4,0.066,0.041,3022,634,3799,0,0,0,0,0,0
$GC,1425,-0.97,-146.0,134.6,-9.5,138,1430,0.12,2.35,0.00,0.000,6,0.099,0.021,3051,2191,3799,0,0,0,0,0,0
$GC,1687,-1.06,-146.0,154.8,-7.3,162,1691,0.00,2.47,0.00,0.000,4,0.000,0.035,3050,3765,3800,0,0,0,0,0,0
$GC,1729,-1.18,-146.0,158.0,-8.2,165,1735,0.20,2.47,0.00,0.000,6,0.046,0.020,2975,2171,3801,0,0,0,0,0,0
$GC,1990,-1.18,-146.0,183.5,-9.3,189,1992,0.12,0.00,0.00,0.000,6,0.100,0.000,3004,2171,3801,0,0,0,0,0,0
$GC,2256,-1.18,-146.0,203.5,-7.4,211,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2171,3801,0,0,0,0,0,0
$GC,2498,-1.23,-146.0,222.0,-7.6,217,2503,0.00,2.58,0.00,0.000,4,0.000,0.041,3004,3769,3801,0,0,0,0,0,0
$GC,2540,-1.29,-146.0,225.2,-7.6,218,2545,0.12,2.45,0.00,0.000,6,0.065,0.027,2951,2192,3801,0,0,0,0,0,0
$GC,2826,-1.24,-146.0,251.8,-9.6,225,2831,0.17,2.55,0.00,0.000,4,0.087,0.035,2992,3764,3800,0,0,0,0,0,0
$GC,2854,-1.24,-146.0,254.5,-8.4,225,2858,0.00,2.45,0.00,0.000,6,0.000,0.028,2992,2195,3800,0,0,0,0,0,0
$GC,3111,-1.24,-146.0,275.2,-8.1,232,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2196,3800,0,0,0,0,0,0
$GC,3357,-1.24,-146.0,294.4,-7.8,238,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2196,3800,0,0,0,0,0,0
$GC,3597,-1.28,-146.0,313.7,-8.0,244,3601,0.00,2.60,0.00,0.000,4,0.000,0.058,2992,636,3799,0,0,0,0,0,0
$GC,3627,-1.31,-146.0,316.1,-8.4,244,3631,0.00,2.45,0.00,0.000,6,0.000,0.024,2992,2191,3799,0,0,0,0,0,0
$GC,3877,-1.36,-146.0,335.9,-7.7,250,3882,0.12,2.62,0.00,0.000,4,0.069,0.050,2944,3793,3798,0,0,0,0,0,0
$GC,3905,-1.32,-146.0,338.6,-9.7,250,3910,0.12,2.50,0.00,0.000,6,0.099,0.026,2973,2214,3798,0,0,0,0,0,0
$GC,4157,-1.32,-146.0,360.3,-8.7,256,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2215,3797,0,0,0,0,0,0
$GC,4399,-1.32,-146.0,381.4,-8.7,262,4403,0.00,2.58,0.00,0.000,4,0.000,0.047,2973,3789,3796,0,0,0,0,0,0
$GC,4420,-1.32,-146.0,383.3,-8.3,262,4424,0.00,2.50,0.00,0.000,6,0.000,0.026,2973,2211,3796,0,0,0,0,0,0
$GC,4677,-1.32,-146.0,403.6,-8.0,269,4682,0.00,2.75,0.00,0.000,4,0.000,0.081,2973,631,3795,0,0,0,0,0,0
$GC,4704,-1.32,-146.0,406.2,-8.0,269,4709,0.00,2.50,0.00,0.000,6,0.000,0.029,2973,2204,3795,0,0,0,0,0,0
$GC,4954,-1.32,-146.0,428.0,-8.9,275,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2204,3794,0,0,0,0,0,0
$GC,5202,-1.32,-146.0,449.9,-8.9,281,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2204,3792,0,0,0,0,0,0
$GC,5444,-1.32,-146.0,470.9,-8.6,287,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2204,3791,0,0,0,0,0,0
$GC,5685,-1.32,-146.0,491.7,-8.4,293,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2204,3791,0,0,0,0,0,0
$GC,5929,-1.32,-146.0,511.1,-8.0,299,5934,0.00,2.70,0.00,0.000,4,0.000,0.073,2973,3786,3789,0,0,0,0,0,0
$GC,5958,-1.32,-146.0,513.5,-9.3,299,5963,0.00,2.62,0.00,0.000,6,0.000,0.051,2973,2211,3789,0,0,0,0,0,0
$GC,6208,-1.32,-146.0,533.1,-7.8,305,6213,0.00,2.95,0.00,0.000,4,0.000,0.110,2973,620,3788,0,0,0,0,0,0
$GC,6229,-1.32,-146.0,535.0,-8.3,305,6234,0.00,2.60,0.00,0.000,6,0.000,0.044,2973,2194,3788,0,0,0,0,0,0
$GC,6487,-1.32,-146.0,554.7,-7.7,312,6492,0.00,2.83,0.00,0.000,4,0.000,0.081,2973,3801,3786,0,0,0,0,0,0
$GC,6508,-1.32,-146.0,556.5,-7.6,312,6513,0.00,2.67,0.00,0.000,6,0.000,0.052,2973,2199,3787,0,0,0,0,0,0
$GC,6763,-1.32,-146.0,577.0,-8.1,319,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2199,3785,0,0,0,0,0,0
$GC,7010,-1.32,-146.0,597.1,-8.4,325,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2199,3784,0,0,0,0,0,0
$GC,7253,-1.32,-146.0,617.6,-8.3,331,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2199,3783,0,0,0,0,0,0
$GC,7495,-1.32,-146.0,636.8,-7.8,337,7499,0.00,2.90,0.00,0.000,4,0.000,0.097,2973,3799,3781,0,0,0,0,0,0
$GC,7527,-1.35,-146.0,639.5,-8.5,337,7533,0.00,2.83,0.00,0.000,6,0.000,0.076,2973,2201,3781,0,0,0,0,0,0
$GC,7780,-1.35,-146.0,658.9,-7.7,344,7785,0.00,3.08,0.00,0.000,4,0.000,0.130,2973,617,3780,0,0,0,0,0,0
$GC,7807,-1.35,-146.0,661.3,-8.0,344,7812,0.00,2.78,0.00,0.000,6,0.000,0.081,2973,2190,3779,0,0,0,0,0,0
$GC,8057,-1.35,-146.0,680.7,-7.7,350,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2189,3779,0,0,0,0,0,0
$GC,8303,-1.39,-146.0,699.3,-7.6,356,8308,0.00,3.08,0.00,0.000,4,0.000,0.126,2973,3800,3778,0,0,0,0,0,0
$GC,8348,-1.44,-146.0,703.2,-8.0,357,8353,0.12,2.80,0.00,0.000,6,0.072,0.073,2931,2199,3777,0,0,0,0,0,0
$GC,8626,-1.39,-146.0,730.4,-10.0,364,8632,0.12,2.90,0.00,0.000,4,0.108,0.094,2958,3802,3776,0,0,0,0,0,0
$GC,8656,-1.39,-146.0,733.2,-9.9,364,8661,0.00,2.80,0.00,0.000,6,0.000,0.073,2958,2197,3775,0,0,0,0,0,0
$GC,8906,-1.39,-146.0,754.5,-8.5,370,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2197,3775,0,0,0,0,0,0
$GC,9150,-1.39,-146.0,774.7,-8.1,376,9154,0.00,2.85,0.00,0.000,4,0.000,0.083,2958,3802,3774,0,0,0,0,0,0
$GC,9179,-1.39,-146.0,777.1,-9.3,376,9183,0.00,2.75,0.00,0.000,6,0.000,0.072,2958,2210,3773,0,0,0,0,0,0
$GC,9429,-1.39,-146.0,798.5,-8.4,382,9433,0.00,2.85,0.00,0.000,4,0.000,0.087,2958,3801,3772,0,0,0,0,0,0
$GC,9478,-1.39,-146.0,803.0,-8.9,383,9483,0.00,2.72,0.00,0.000,6,0.000,0.064,2958,2231,3772,0,0,0,0,0,0
$GC,9753,-1.39,-146.0,825.1,-8.0,390,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2231,3770,0,0,0,0,0,0
$GC,9994,-1.39,-146.0,844.0,-7.7,396,9999,0.00,2.78,0.00,0.000,4,0.000,0.080,2958,3798,3769,0,0,0,0,0,0
$GC,10021,-1.39,-146.0,846.3,-8.0,396,10025,0.00,2.72,0.00,0.000,6,0.000,0.064,2958,2228,3769,0,0,0,0,0,0
$GC,10273,-1.39,-146.0,865.8,-7.8,402,10274,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2228,3768,0,0,0,0,0,0
$GC,10515,-1.39,-146.0,886.1,-8.5,408,10516,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2228,3767,0,0,0,0,0,0
$STATE,10715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10715,begin apogee
$GC,10721,-0.31,0.0,902.9,8.3,413,10844,1.02,0.00,119.65,1.220,6,0.073,0.000,3191,2385,3200,0,0,0,0,0,0
$STATE,10845,end apogee,CONTROL_FINISHED_OK
$STATE,10845,begin climb
$GC,10850,1.31,146.0,906.6,0.0,416,10989,1.50,2.85,126.82,1.187,4,0.035,0.074,3552,3927,2602,0,0,0,0,0,0
$GC,11052,1.16,146.0,894.5,12.3,421,11057,0.20,2.70,0.00,0.000,6,0.111,0.053,3514,2365,2598,0,0,0,0,0,0
$GC,11333,1.14,164.4,867.8,9.5,428,11351,0.00,0.00,16.88,1.088,6,0.000,0.000,3513,2365,2529,0,0,0,0,0,0
$GC,11574,1.15,171.2,843.3,10.0,434,11588,0.00,2.80,6.70,0.917,4,0.000,0.061,3514,3935,2502,0,0,0,0,0,0
$GC,11602,1.12,182.7,840.5,9.8,434,11621,0.00,2.65,12.27,1.042,6,0.000,0.041,3513,2368,2455,0,0,0,0,0,0
$GC,11908,1.13,186.6,809.5,10.2,442,11918,0.00,2.70,4.70,0.782,4,0.000,0.061,3513,3929,2439,0,0,0,0,0,0
$GC,11954,1.09,186.6,804.7,10.6,443,11958,0.00,2.65,0.00,0.000,6,0.000,0.043,3513,2369,2438,0,0,0,0,0,0
$GC,12231,1.09,189.8,776.7,10.2,450,12241,0.00,2.70,4.38,0.747,4,0.000,0.061,3513,3930,2426,0,0,0,0,0,0
$GC,12285,1.09,189.8,770.3,11.9,451,12290,0.00,2.62,0.00,0.000,6,0.000,0.043,3514,2379,2425,0,0,0,0,0,0
$GC,12555,1.09,189.8,741.0,10.9,458,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2379,2424,0,0,0,0,0,0
$GC,12796,1.09,189.8,713.6,11.2,464,12800,0.00,2.65,0.00,0.000,4,0.000,0.055,3514,3930,2424,0,0,0,0,0,0
$GC,12828,1.09,189.8,709.7,11.7,464,12834,0.00,2.62,0.00,0.000,6,0.000,0.042,3513,2375,2423,0,0,0,0,0,0
$GC,13080,1.09,189.8,682.8,10.6,471,13085,0.00,2.65,0.00,0.000,4,0.000,0.059,3514,3930,2423,0,0,0,0,0,0
$GC,13101,1.09,189.8,679.9,11.5,471,13106,0.00,2.60,0.00,0.000,6,0.000,0.046,3513,2379,2423,0,0,0,0,0,0
$GC,13363,1.09,190.1,652.8,10.3,478,13364,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2379,2423,0,0,0,0,0,0
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$CFSIZE,260165632,119279616
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