version: 66.06
glider: 146
mission: 8
dive: 209
start: 2 28 113 12 51 12
data:
$ID,146
$MISSION,8
$DIVE,209
$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,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,-311473.69
$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,35
$R_STBD_OVSHOOT,34
$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,3190
$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
$GPS1,124548,1923.281,-8108.881,12,1.5,29,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.7
$GPS2,125019,1923.277,-8108.902,11,1.2,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.500,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.249,0.074
$KALMAN_X,11393.7,-191.2,-261.9,-13546.4,667.2
$KALMAN_Y,1278.5,110.4,-166.8,-1748.0,542.6
$MHEAD_RNG_PITCHd_Wd,290.4,17708,-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,-70.30,0.000,2,0.000,0.000,481,2193,3483,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.6,-4.3,9,120,13.50,2.55,-5.70,0.000,4,0.165,0.039,2977,3792,3786,0,0,0,0,0,0
$GC,272,-1.11,-146.0,43.1,-17.4,29,277,0.17,2.47,0.00,0.000,6,0.102,0.022,3016,2209,3787,0,0,0,0,0,0
$GC,538,-0.97,-146.0,84.8,-15.8,53,543,0.15,2.58,0.00,0.000,4,0.110,0.044,3048,630,3787,0,0,0,0,0,0
$GC,574,-0.88,-146.0,89.9,-13.7,55,579,0.00,2.45,0.00,0.000,6,0.000,0.016,3048,2232,3787,0,0,0,0,0,0
$GC,843,-0.84,-146.0,123.6,-11.5,79,848,0.12,2.65,0.00,0.000,4,0.112,0.051,3076,631,3787,0,0,0,0,0,0
$GC,860,-0.84,-146.0,126.3,-10.4,80,864,0.00,2.40,0.00,0.000,6,0.000,0.016,3076,2201,3787,0,0,0,0,0,0
$GC,1125,-0.93,-146.0,147.8,-6.4,104,1130,0.00,2.47,0.00,0.000,4,0.000,0.038,3076,3773,3788,0,0,0,0,0,0
$GC,1155,-1.05,-146.0,149.9,-6.3,106,1160,0.17,2.42,0.00,0.000,6,0.051,0.019,3004,2195,3788,0,0,0,0,0,0
$GC,1420,-1.05,-146.0,174.9,-9.1,130,1425,0.12,2.58,0.00,0.000,4,0.100,0.052,3033,635,3788,0,0,0,0,0,0
$GC,1484,-1.10,-146.0,180.4,-7.7,135,1488,0.00,2.40,0.00,0.000,6,0.000,0.022,3033,2201,3789,0,0,0,0,0,0
$GC,1749,-1.15,-146.0,200.8,-7.3,159,1751,0.10,0.00,0.00,0.000,6,0.077,0.000,2979,2200,3788,0,0,0,0,0,0
$GC,1989,-1.11,-146.0,224.5,-9.7,165,1994,0.17,2.53,0.00,0.000,4,0.084,0.041,3020,3778,3788,0,0,0,0,0,0
$GC,2031,-1.17,-146.0,228.0,-8.2,166,2035,0.00,2.45,0.00,0.000,6,0.000,0.021,3020,2192,3788,0,0,0,0,0,0
$GC,2315,-1.22,-146.0,249.8,-7.5,173,2317,0.12,0.00,0.00,0.000,6,0.067,0.000,2968,2192,3788,0,0,0,0,0,0
$GC,2559,-1.18,-146.0,272.4,-9.3,179,2561,0.15,0.00,0.00,0.000,6,0.093,0.000,3003,2192,3788,0,0,0,0,0,0
$GC,2805,-1.18,-146.0,291.7,-7.9,185,2809,0.00,2.58,0.00,0.000,4,0.000,0.061,3003,644,3787,0,0,0,0,0,0
$GC,2837,-1.18,-146.0,294.6,-8.3,185,2843,0.00,2.42,0.00,0.000,6,0.000,0.026,3003,2202,3787,0,0,0,0,0,0
$GC,3087,-1.18,-146.0,313.5,-7.5,192,3091,0.00,2.55,0.00,0.000,4,0.000,0.041,3003,3784,3787,0,0,0,0,0,0
$GC,3116,-1.18,-146.0,315.6,-8.3,192,3121,0.00,2.45,0.00,0.000,6,0.000,0.025,3003,2213,3786,0,0,0,0,0,0
$GC,3366,-1.18,-146.0,334.6,-7.6,198,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2213,3785,0,0,0,0,0,0
$GC,3610,-1.18,-146.0,354.0,-8.1,204,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2213,3785,0,0,0,0,0,0
$GC,3854,-1.22,-146.0,373.1,-7.8,210,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2213,3784,0,0,0,0,0,0
$GC,4100,-1.26,-146.0,391.7,-7.7,216,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2213,3783,0,0,0,0,0,0
$GC,4341,-1.30,-146.0,409.7,-7.4,222,4343,0.12,0.00,0.00,0.000,6,0.067,0.000,2954,2213,3782,0,0,0,0,0,0
$GC,4585,-1.25,-146.0,430.9,-8.7,228,4591,0.15,2.78,0.00,0.000,4,0.094,0.082,2988,633,3781,0,0,0,0,0,0
$GC,4615,-1.25,-146.0,433.2,-7.7,228,4620,0.00,2.50,0.00,0.000,6,0.000,0.041,2988,2182,3780,0,0,0,0,0,0
$GC,4865,-1.25,-146.0,450.7,-6.9,234,4870,0.00,2.70,0.00,0.000,4,0.000,0.061,2988,3798,3780,0,0,0,0,0,0
$GC,4926,-1.25,-146.0,455.7,-8.5,235,4930,0.00,2.58,0.00,0.000,6,0.000,0.036,2988,2220,3779,0,0,0,0,0,0
$GC,5190,-1.25,-146.0,475.7,-7.8,242,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2219,3778,0,0,0,0,0,0
$GC,5430,-1.25,-146.0,494.7,-7.8,248,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2219,3777,0,0,0,0,0,0
$GC,5674,-1.25,-146.0,514.0,-7.9,254,5679,0.00,2.95,0.00,0.000,4,0.000,0.116,2988,622,3776,0,0,0,0,0,0
$GC,5703,-1.25,-146.0,516.3,-8.4,254,5708,0.00,2.62,0.00,0.000,6,0.000,0.051,2988,2204,3776,0,0,0,0,0,0
$GC,5953,-1.25,-146.0,535.7,-7.9,260,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2204,3775,0,0,0,0,0,0
$GC,6197,-1.25,-146.0,554.2,-7.4,266,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2204,3773,0,0,0,0,0,0
$GC,6443,-1.25,-146.0,572.7,-7.5,272,6447,0.00,2.83,0.00,0.000,4,0.000,0.094,2988,3803,3772,0,0,0,0,0,0
$GC,6470,-1.25,-146.0,575.1,-8.2,272,6474,0.00,2.70,0.00,0.000,6,0.000,0.054,2988,2206,3772,0,0,0,0,0,0
$GC,6720,-1.25,-146.0,593.6,-7.4,278,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2206,3771,0,0,0,0,0,0
$GC,6963,-1.25,-146.0,611.6,-7.3,284,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2206,3770,0,0,0,0,0,0
$GC,7209,-1.25,-146.0,630.4,-7.9,290,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2206,3769,0,0,0,0,0,0
$GC,7451,-1.29,-146.0,648.5,-7.4,296,7456,0.00,2.90,0.00,0.000,4,0.000,0.100,2988,3801,3767,0,0,0,0,0,0
$GC,7473,-1.29,-146.0,650.3,-8.0,296,7477,0.00,2.83,0.00,0.000,6,0.000,0.085,2987,2210,3767,0,0,0,0,0,0
$GC,7730,-1.29,-146.0,669.0,-7.4,303,7735,0.00,3.10,0.00,0.000,4,0.000,0.133,2988,623,3766,0,0,0,0,0,0
$GC,7763,-1.33,-146.0,671.8,-8.3,303,7769,0.00,2.80,0.00,0.000,6,0.000,0.082,2988,2205,3765,0,0,0,0,0,0
$GC,8014,-1.37,-146.0,691.0,-7.6,310,8019,0.12,3.05,0.00,0.000,4,0.067,0.125,2939,3801,3764,0,0,0,0,0,0
$GC,8061,-1.32,-146.0,695.4,-10.0,311,8067,0.15,2.97,0.00,0.000,6,0.094,0.103,2973,2206,3764,0,0,0,0,0,0
$GC,8339,-1.32,-146.0,718.5,-8.2,318,8344,0.00,3.08,0.00,0.000,4,0.000,0.127,2972,3804,3763,0,0,0,0,0,0
$GC,8361,-1.32,-146.0,720.6,-9.4,318,8366,0.00,2.83,0.00,0.000,6,0.000,0.082,2972,2212,3762,0,0,0,0,0,0
$GC,8623,-1.32,-146.0,740.7,-7.7,325,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2212,3761,0,0,0,0,0,0
$GC,8860,-1.32,-146.0,759.1,-7.4,331,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2211,3760,0,0,0,0,0,0
$GC,9103,-1.32,-146.0,777.7,-7.6,337,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2210,3759,0,0,0,0,0,0
$GC,9349,-1.32,-146.0,797.2,-8.0,343,9354,0.00,2.85,0.00,0.000,4,0.000,0.084,2973,3805,3758,0,0,0,0,0,0
$GC,9376,-1.32,-146.0,799.6,-8.2,343,9381,0.00,2.75,0.00,0.000,6,0.000,0.071,2972,2216,3758,0,0,0,0,0,0
$GC,9626,-1.32,-146.0,818.7,-7.5,349,9631,0.00,3.00,0.00,0.000,4,0.000,0.117,2973,617,3757,0,0,0,0,0,0
$GC,9668,-1.32,-146.0,821.9,-8.6,350,9672,0.00,2.75,0.00,0.000,6,0.000,0.062,2972,2220,3757,0,0,0,0,0,0
$GC,9951,-1.32,-146.0,843.6,-7.6,357,9956,0.00,2.83,0.00,0.000,4,0.000,0.093,2972,3807,3755,0,0,0,0,0,0
$GC,9995,-1.32,-146.0,847.2,-8.5,358,9999,0.00,2.72,0.00,0.000,6,0.000,0.067,2973,2223,3755,0,0,0,0,0,0
$GC,10275,-1.32,-146.0,868.8,-7.7,365,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2223,3753,0,0,0,0,0,0
$GC,10518,-1.32,-146.0,886.9,-7.4,371,10522,0.00,2.75,0.00,0.000,4,0.000,0.079,2972,3807,3752,0,0,0,0,0,0
$GC,10562,-1.32,-146.0,890.5,-7.7,372,10566,0.00,2.70,0.00,0.000,6,0.000,0.063,2972,2233,3752,0,0,0,0,0,0
$STATE,10715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10715,begin apogee
$GC,10723,-0.31,0.0,901.2,6.8,376,10844,0.95,0.00,117.78,1.222,6,0.074,0.000,3190,2388,3190,0,0,0,0,0,0
$STATE,10845,end apogee,CONTROL_FINISHED_OK
$STATE,10845,begin climb
$GC,10848,1.27,146.0,903.3,0.0,379,10985,1.45,2.83,127.15,1.187,4,0.037,0.077,3545,3928,2593,0,0,0,0,0,0
$GC,11087,1.13,146.0,883.9,13.2,384,11093,0.20,2.67,0.00,0.000,6,0.110,0.051,3506,2369,2588,0,0,0,0,0,0
$GC,11345,1.13,149.2,858.2,9.9,391,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2370,2584,0,0,0,0,0,0
$GC,11587,1.15,160.8,835.1,9.5,397,11606,0.00,2.78,12.80,1.052,4,0.000,0.063,3506,3927,2534,0,0,0,0,0,0
$GC,11668,1.10,160.8,826.3,11.7,398,11674,0.00,2.62,0.00,0.000,6,0.000,0.039,3506,2376,2532,0,0,0,0,0,0
$GC,11920,1.11,164.8,801.7,9.8,405,11927,0.00,0.00,4.80,0.792,6,0.000,0.000,3506,2376,2517,0,0,0,0,0,0
$GC,12162,1.13,181.2,778.9,9.2,411,12180,0.00,0.00,16.33,1.064,6,0.000,0.000,3505,2376,2451,0,0,0,0,0,0
$GC,12405,1.15,199.4,756.4,9.2,417,12425,0.00,0.00,18.00,1.058,6,0.000,0.000,3506,2375,2376,0,0,0,0,0,0
$GC,12651,1.16,208.9,732.9,9.6,423,12666,0.00,2.72,9.85,0.970,4,0.000,0.056,3506,3937,2338,0,0,0,0,0,0
$GC,12683,1.18,224.4,729.4,9.3,423,12704,0.00,2.67,15.98,1.024,6,0.000,0.044,3506,2371,2275,0,0,0,0,0,0
$GC,12971,1.18,224.4,699.8,10.4,431,12972,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2371,2271,0,0,0,0,0,0
$GC,13217,1.18,224.4,673.4,10.9,437,13221,0.00,2.67,0.00,0.000,4,0.000,0.059,3506,3934,2269,0,0,0,0,0,0
$GC,13238,1.18,224.4,670.6,11.4,437,13242,0.00,2.62,0.00,0.000,6,0.000,0.043,3506,2377,2269,0,0,0,0,0,0
$GC,13493,1.18,224.4,642.1,11.3,444,13495,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2377,2268,0,0,0,0,0,0
$GC,13740,1.18,224.4,614.3,11.4,450,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2378,2268,0,0,0,0,0,0
$GC,13983,1.18,224.4,586.9,11.2,456,13984,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2377,2268,0,0,0,0,0,0
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$STATE,19558,end climb,SURFACE_DEPTH_REACHED
$STATE,19558,begin surface coast
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$FG_AHR_10Vo,0.000
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$CAP_FILE_SIZE,174833,0
$CFSIZE,260165632,113938432
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