version: 66.06
glider: 146
mission: 8
dive: 139
start: 2 13 113 1 41 56
data:
$ID,146
$MISSION,8
$DIVE,139
$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,-310026.53
$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,29
$R_STBD_OVSHOOT,22
$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
$GPS1,012935,1927.102,-8049.292,36,1.2,36,-4.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-74.8
$GPS2,014101,1927.056,-8049.243,10,1.6,10,-4.0
$SPEED_LIMITS,0.148,0.263
$TGT_NAME,Tmp9
$TGT_LATLONG,1933.000,-8103.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.199,0.172
$KALMAN_X,4124.0,-16.5,303.9,-8264.4,-771.6
$KALMAN_Y,-19206.3,-131.7,-224.3,39857.8,-1051.9
$MHEAD_RNG_PITCHd_Wd,314.8,26412,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.31,-146.0,0.0,0.0,0,93,0.00,0.00,-69.65,0.000,2,0.000,0.000,463,2109,3485,0,0,0,0,0,0
$GC,96,-1.31,-146.0,3.5,-4.6,9,121,13.68,2.42,-5.88,0.000,4,0.169,0.051,2970,623,3796,0,0,0,0,0,0
$GC,225,-1.11,-146.0,34.7,-19.4,26,230,0.22,2.47,0.00,0.000,6,0.107,0.016,3017,2240,3797,0,0,0,0,0,0
$GC,494,-0.99,-146.0,77.0,-14.2,50,500,0.10,2.65,0.00,0.000,4,0.123,0.042,3041,627,3797,0,0,0,0,0,0
$GC,518,-0.89,-146.0,81.0,-14.2,51,523,0.10,2.42,0.00,0.000,6,0.124,0.015,3064,2212,3797,0,0,0,0,0,0
$GC,786,-0.89,-146.0,112.5,-11.1,75,791,0.00,2.60,0.00,0.000,4,0.000,0.043,3064,622,3797,0,0,0,0,0,0
$GC,803,-0.89,-146.0,115.2,-10.9,76,807,0.00,2.42,0.00,0.000,6,0.000,0.016,3064,2204,3797,0,0,0,0,0,0
$GC,1068,-1.00,-146.0,138.9,-6.8,100,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2204,3798,0,0,0,0,0,0
$GC,1332,-1.12,-146.0,157.8,-5.9,125,1337,0.20,2.60,0.00,0.000,4,0.048,0.048,2989,622,3799,0,0,0,0,0,0
$GC,1367,-1.12,-146.0,160.2,-8.8,127,1372,0.12,2.40,0.00,0.000,6,0.102,0.021,3017,2195,3799,0,0,0,0,0,0
$GC,1633,-1.17,-146.0,181.3,-7.9,151,1637,0.00,2.47,0.00,0.000,4,0.000,0.040,3017,3765,3799,0,0,0,0,0,0
$GC,1686,-1.26,-146.0,186.3,-9.1,155,1692,0.12,2.45,0.00,0.000,6,0.064,0.020,2960,2188,3799,0,0,0,0,0,0
$GC,1944,-1.21,-146.0,214.8,-11.2,170,1946,0.17,0.00,0.00,0.000,6,0.091,0.000,3000,2188,3799,0,0,0,0,0,0
$GC,2186,-1.24,-146.0,237.6,-9.2,176,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2188,3799,0,0,0,0,0,0
$GC,2432,-1.29,-146.0,257.9,-8.2,182,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2188,3799,0,0,0,0,0,0
$GC,2674,-1.33,-146.0,276.5,-7.6,188,2679,0.12,2.55,0.00,0.000,4,0.068,0.041,2951,3762,3799,0,0,0,0,0,0
$GC,2695,-1.33,-146.0,278.7,-9.2,188,2700,0.00,2.42,0.00,0.000,6,0.000,0.023,2951,2213,3799,0,0,0,0,0,0
$GC,2954,-1.28,-146.0,303.7,-9.8,195,2955,0.12,0.00,0.00,0.000,6,0.103,0.000,2980,2213,3798,0,0,0,0,0,0
$GC,3195,-1.28,-146.0,325.0,-8.7,201,3199,0.00,2.65,0.00,0.000,4,0.000,0.061,2980,642,3797,0,0,0,0,0,0
$GC,3216,-1.28,-146.0,327.1,-9.4,201,3220,0.00,2.42,0.00,0.000,6,0.000,0.028,2980,2191,3797,0,0,0,0,0,0
$GC,3473,-1.28,-146.0,350.3,-9.1,208,3478,0.00,2.58,0.00,0.000,4,0.000,0.048,2980,3782,3796,0,0,0,0,0,0
$GC,3506,-1.28,-146.0,353.6,-9.0,208,3512,0.00,2.47,0.00,0.000,6,0.000,0.031,2980,2225,3796,0,0,0,0,0,0
$GC,3756,-1.28,-146.0,375.8,-8.7,215,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2225,3795,0,0,0,0,0,0
$GC,4002,-1.28,-146.0,397.7,-9.1,221,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2225,3794,0,0,0,0,0,0
$GC,4244,-1.28,-146.0,421.0,-9.6,227,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2225,3793,0,0,0,0,0,0
$GC,4487,-1.28,-146.0,443.1,-9.0,233,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2225,3792,0,0,0,0,0,0
$GC,4731,-1.28,-146.0,463.9,-8.5,239,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2225,3791,0,0,0,0,0,0
$GC,4977,-1.28,-146.0,484.1,-8.2,245,4981,0.00,2.62,0.00,0.000,4,0.000,0.064,2980,3782,3791,0,0,0,0,0,0
$GC,4999,-1.28,-146.0,486.1,-8.1,245,5003,0.00,2.58,0.00,0.000,6,0.000,0.044,2980,2231,3790,0,0,0,0,0,0
$GC,5253,-1.28,-146.0,505.3,-7.3,252,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2231,3789,0,0,0,0,0,0
$GC,5499,-1.28,-146.0,523.0,-7.4,258,5504,0.00,2.62,0.00,0.000,4,0.000,0.067,2980,3772,3787,0,0,0,0,0,0
$GC,5532,-1.32,-146.0,525.9,-8.2,258,5538,0.00,2.60,0.00,0.000,6,0.000,0.053,2980,2233,3787,0,0,0,0,0,0
$GC,5782,-1.32,-146.0,544.1,-7.2,265,5787,0.00,3.05,0.00,0.000,4,0.000,0.117,2980,620,3786,0,0,0,0,0,0
$GC,5817,-1.32,-146.0,546.7,-8.1,265,5823,0.00,2.65,0.00,0.000,6,0.000,0.053,2980,2210,3786,0,0,0,0,0,0
$GC,6067,-1.32,-146.0,565.4,-7.5,272,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2210,3785,0,0,0,0,0,0
$GC,6311,-1.32,-146.0,583.6,-7.4,278,6315,0.00,2.83,0.00,0.000,4,0.000,0.086,2980,3793,3784,0,0,0,0,0,0
$GC,6332,-1.32,-146.0,585.2,-7.7,278,6337,0.00,2.65,0.00,0.000,6,0.000,0.057,2980,2227,3783,0,0,0,0,0,0
$GC,6590,-1.36,-146.0,603.8,-7.3,285,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2227,3782,0,0,0,0,0,0
$GC,6831,-1.40,-146.0,622.3,-7.7,291,6833,0.10,0.00,0.00,0.000,6,0.081,0.000,2938,2227,3781,0,0,0,0,0,0
$GC,7075,-1.36,-146.0,646.5,-10.0,297,7080,0.12,2.88,0.00,0.000,4,0.105,0.096,2964,3793,3780,0,0,0,0,0,0
$GC,7099,-1.36,-146.0,648.8,-10.1,297,7104,0.00,2.78,0.00,0.000,6,0.000,0.083,2964,2234,3779,0,0,0,0,0,0
$GC,7354,-1.36,-146.0,671.3,-8.7,304,7359,0.00,3.15,0.00,0.000,4,0.000,0.133,2964,622,3778,0,0,0,0,0,0
$GC,7376,-1.36,-146.0,673.4,-9.3,304,7381,0.00,2.83,0.00,0.000,6,0.000,0.076,2964,2219,3778,0,0,0,0,0,0
$GC,7633,-1.36,-146.0,694.5,-8.2,311,7638,0.00,2.95,0.00,0.000,4,0.000,0.115,2964,3797,3777,0,0,0,0,0,0
$GC,7662,-1.36,-146.0,697.2,-8.6,311,7667,0.00,2.92,0.00,0.000,6,0.000,0.102,2964,2224,3776,0,0,0,0,0,0
$GC,7912,-1.36,-146.0,717.3,-8.1,317,7917,0.00,3.28,0.00,0.000,4,0.000,0.152,2964,615,3775,0,0,0,0,0,0
$GC,7936,-1.36,-146.0,719.2,-8.5,317,7941,0.00,2.97,0.00,0.000,6,0.000,0.102,2964,2227,3775,0,0,0,0,0,0
$GC,8191,-1.36,-146.0,740.6,-8.5,324,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2226,3774,0,0,0,0,0,0
$GC,8435,-1.36,-146.0,760.7,-8.1,330,8440,0.00,3.22,0.00,0.000,4,0.000,0.158,2964,3799,3773,0,0,0,0,0,0
$GC,8464,-1.36,-146.0,763.0,-8.1,330,8469,0.00,2.70,0.00,0.000,6,0.000,0.054,2964,2211,3773,0,0,0,0,0,0
$GC,8714,-1.36,-146.0,783.3,-8.1,336,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2210,3772,0,0,0,0,0,0
$GC,8958,-1.36,-146.0,802.7,-7.9,342,8963,0.00,2.83,0.00,0.000,4,0.000,0.079,2964,3808,3770,0,0,0,0,0,0
$GC,9002,-1.36,-146.0,806.4,-8.5,343,9006,0.00,2.75,0.00,0.000,6,0.000,0.070,2964,2223,3769,0,0,0,0,0,0
$GC,9281,-1.36,-146.0,827.2,-7.4,350,9286,0.00,2.80,0.00,0.000,4,0.000,0.079,2965,3804,3769,0,0,0,0,0,0
$GC,9303,-1.36,-146.0,829.1,-7.7,350,9307,0.00,2.72,0.00,0.000,6,0.000,0.067,2964,2224,3768,0,0,0,0,0,0
$GC,9560,-1.36,-146.0,846.0,-6.4,357,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2224,3767,0,0,0,0,0,0
$GC,9801,-1.36,-146.0,861.4,-6.2,363,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2224,3766,0,0,0,0,0,0
$GC,10045,-1.36,-146.0,877.2,-6.5,369,10050,0.00,2.80,0.00,0.000,4,0.000,0.081,2964,3811,3765,0,0,0,0,0,0
$GC,10072,-1.36,-146.0,879.2,-7.5,369,10076,0.00,2.72,0.00,0.000,6,0.000,0.061,2964,2231,3765,0,0,0,0,0,0
$GC,10324,-1.36,-146.0,895.5,-6.5,375,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2231,3764,0,0,0,0,0,0
$STATE,10400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10401,begin apogee
$GC,10407,-0.31,0.0,900.8,6.6,377,10529,1.00,0.00,118.88,1.222,6,0.073,0.000,3192,2388,3200,0,0,0,0,0,0
$STATE,10530,end apogee,CONTROL_FINISHED_OK
$STATE,10530,begin climb
$GC,10532,1.31,146.0,902.9,0.0,380,10669,1.48,2.85,126.15,1.190,4,0.038,0.074,3550,3927,2603,0,0,0,0,0,0
$GC,10777,1.17,146.0,883.4,12.8,385,10782,0.17,2.70,0.00,0.000,6,0.117,0.055,3516,2370,2597,0,0,0,0,0,0
$GC,11030,1.15,162.7,859.2,9.5,391,11047,0.00,0.00,15.23,1.069,6,0.000,0.000,3516,2370,2536,0,0,0,0,0,0
$GC,11271,1.15,168.2,835.1,10.1,397,11278,0.00,0.00,5.85,0.866,6,0.000,0.000,3516,2369,2514,0,0,0,0,0,0
$GC,11514,1.15,168.2,808.9,10.8,403,11519,0.00,2.70,0.00,0.000,4,0.000,0.058,3516,3935,2512,0,0,0,0,0,0
$GC,11538,1.10,168.2,806.3,11.1,403,11542,0.00,2.65,0.00,0.000,6,0.000,0.044,3516,2370,2512,0,0,0,0,0,0
$GC,11792,1.10,168.2,779.1,10.5,410,11797,0.00,2.70,0.00,0.000,4,0.000,0.056,3516,3932,2510,0,0,0,0,0,0
$GC,11848,1.04,168.2,772.8,11.0,411,11853,0.12,2.60,0.00,0.000,6,0.125,0.048,3490,2381,2510,0,0,0,0,0,0
$GC,12117,1.08,195.4,748.0,9.0,418,12148,0.00,2.72,25.83,1.079,4,0.000,0.058,3490,3934,2401,0,0,0,0,0,0
$GC,12165,1.10,213.7,743.2,9.5,419,12190,0.00,2.62,18.15,1.040,6,0.000,0.041,3490,2381,2328,0,0,0,0,0,0
$GC,12443,1.15,223.0,716.2,9.9,426,12458,0.00,3.17,9.75,0.956,4,0.000,0.123,3490,781,2289,0,0,0,0,0,0
$GC,12469,1.16,233.0,713.0,9.9,426,12486,0.10,2.67,10.80,0.960,6,0.083,0.038,3520,2375,2250,0,0,0,0,0,0
$GC,12768,1.16,233.0,677.1,12.3,434,12772,0.00,2.70,0.00,0.000,4,0.000,0.069,3521,3936,2246,0,0,0,0,0,0
$GC,12789,1.16,233.0,673.8,12.6,434,12793,0.00,2.60,0.00,0.000,6,0.000,0.035,3520,2372,2245,0,0,0,0,0,0
$GC,13044,1.16,233.0,643.2,12.0,441,13045,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2372,2245,0,0,0,0,0,0
$GC,13290,1.16,233.0,614.9,11.6,447,13294,0.00,2.65,0.00,0.000,4,0.000,0.057,3520,3935,2244,0,0,0,0,0,0
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$STATE,18584,end climb,SURFACE_DEPTH_REACHED
$STATE,18584,begin surface coast
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$10V_AH,10.4,17.121
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,54094,704
$CAP_FILE_SIZE,167581,0
$CFSIZE,260165632,119009280
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