version: 66.06
glider: 146
mission: 8
dive: 278
start: 3 15 113 23 37 30
data:
$ID,146
$MISSION,8
$DIVE,278
$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,-312930.5
$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,31
$R_STBD_OVSHOOT,42
$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
$GPS1,231853,1924.401,-8110.606,40,2.2,59,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-64.1
$GPS2,233635,1924.343,-8110.709,16,1.5,32,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.258,0.025
$KALMAN_X,-30449.9,125.8,31.9,24520.8,-579.3
$KALMAN_Y,18214.8,-232.6,-466.3,-16061.1,1565.3
$MHEAD_RNG_PITCHd_Wd,279.3,13651,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,131,0.00,0.00,-109.25,0.000,2,0.000,0.000,464,2119,3195,0,0,0,0,0,0
$GC,134,-1.27,-146.0,3.0,-4.5,14,167,13.48,2.67,-13.30,0.000,4,0.160,0.040,2978,3786,3786,0,0,0,0,0,0
$GC,328,-1.11,-146.0,38.7,-16.3,38,333,0.17,2.53,0.00,0.000,6,0.098,0.025,3016,2203,3785,0,0,0,0,0,0
$GC,596,-0.97,-146.0,78.5,-16.6,62,601,0.15,2.58,0.00,0.000,4,0.108,0.045,3049,633,3785,0,0,0,0,0,0
$GC,668,-0.97,-146.0,88.1,-11.9,67,673,0.00,2.40,0.00,0.000,6,0.000,0.016,3049,2205,3785,0,0,0,0,0,0
$GC,935,-0.97,-146.0,118.9,-11.0,91,939,0.00,2.47,0.00,0.000,4,0.000,0.030,3049,3782,3785,0,0,0,0,0,0
$GC,955,-0.97,-146.0,121.9,-10.5,92,965,0.00,2.53,0.00,0.000,6,0.000,0.026,3049,2187,3785,0,0,0,0,0,0
$GC,1225,-1.01,-146.0,144.3,-7.8,117,1229,0.00,2.53,0.00,0.000,4,0.000,0.050,3049,634,3784,0,0,0,0,0,0
$GC,1258,-1.06,-146.0,147.1,-7.7,119,1263,0.00,2.38,0.00,0.000,6,0.000,0.021,3049,2194,3785,0,0,0,0,0,0
$GC,1524,-1.13,-146.0,168.0,-7.9,143,1529,0.15,0.00,0.00,0.000,6,0.056,0.000,2988,2195,3784,0,0,0,0,0,0
$GC,1786,-1.13,-146.0,194.0,-9.5,168,1791,0.12,2.50,0.00,0.000,4,0.096,0.038,3017,3771,3784,0,0,0,0,0,0
$GC,1830,-1.18,-146.0,198.0,-9.1,171,1834,0.00,2.47,0.00,0.000,6,0.000,0.021,3017,2172,3785,0,0,0,0,0,0
$GC,2101,-1.22,-146.0,219.5,-7.7,179,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2172,3785,0,0,0,0,0,0
$GC,2345,-1.26,-146.0,237.9,-7.5,185,2350,0.12,2.53,0.00,0.000,4,0.067,0.052,2960,645,3784,0,0,0,0,0,0
$GC,2369,-1.22,-146.0,239.9,-8.5,185,2374,0.15,2.35,0.00,0.000,6,0.093,0.024,2994,2175,3784,0,0,0,0,0,0
$GC,2625,-1.22,-146.0,260.7,-7.9,192,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2176,3784,0,0,0,0,0,0
$GC,2871,-1.22,-146.0,280.0,-7.9,198,2875,0.00,2.55,0.00,0.000,4,0.000,0.044,2995,3773,3783,0,0,0,0,0,0
$GC,2905,-1.22,-146.0,282.9,-8.1,198,2911,0.00,2.47,0.00,0.000,6,0.000,0.028,2994,2182,3783,0,0,0,0,0,0
$GC,3155,-1.22,-146.0,302.9,-8.0,205,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2182,3782,0,0,0,0,0,0
$GC,3399,-1.22,-146.0,322.0,-7.8,211,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2182,3781,0,0,0,0,0,0
$GC,3645,-1.22,-146.0,341.1,-7.9,217,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2182,3780,0,0,0,0,0,0
$GC,3886,-1.22,-146.0,360.3,-7.8,223,3890,0.00,2.58,0.00,0.000,4,0.000,0.038,2994,3764,3779,0,0,0,0,0,0
$GC,3907,-1.22,-146.0,362.0,-7.6,223,3912,0.00,2.50,0.00,0.000,6,0.000,0.025,2995,2183,3779,0,0,0,0,0,0
$GC,4165,-1.22,-146.0,382.9,-8.3,230,4170,0.00,2.62,0.00,0.000,4,0.000,0.068,2994,634,3778,0,0,0,0,0,0
$GC,4186,-1.22,-146.0,385.0,-8.6,230,4191,0.00,2.40,0.00,0.000,6,0.000,0.034,2995,2162,3777,0,0,0,0,0,0
$GC,4444,-1.22,-146.0,405.8,-8.0,237,4448,0.00,2.67,0.00,0.000,4,0.000,0.045,2994,3793,3777,0,0,0,0,0,0
$GC,4473,-1.22,-146.0,408.1,-7.6,237,4477,0.00,2.60,0.00,0.000,6,0.000,0.035,2994,2183,3776,0,0,0,0,0,0
$GC,4723,-1.22,-146.0,427.0,-7.4,243,4727,0.00,2.62,0.00,0.000,4,0.000,0.049,2995,3787,3775,0,0,0,0,0,0
$GC,4744,-1.22,-146.0,428.6,-7.3,243,4749,0.00,2.60,0.00,0.000,6,0.000,0.032,2994,2182,3775,0,0,0,0,0,0
$GC,5000,-1.22,-146.0,447.7,-7.4,250,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2182,3774,0,0,0,0,0,0
$GC,5246,-1.22,-146.0,466.8,-7.9,256,5250,0.00,2.67,0.00,0.000,4,0.000,0.051,2994,3790,3773,0,0,0,0,0,0
$GC,5286,-1.27,-146.0,470.2,-8.6,257,5290,0.00,2.62,0.00,0.000,6,0.000,0.039,2994,2195,3773,0,0,0,0,0,0
$GC,5571,-1.27,-146.0,491.9,-7.6,264,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2196,3772,0,0,0,0,0,0
$GC,5813,-1.31,-146.0,509.4,-7.1,270,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2196,3771,0,0,0,0,0,0
$GC,6056,-1.31,-146.0,527.0,-7.1,276,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2196,3770,0,0,0,0,0,0
$GC,6300,-1.35,-146.0,543.9,-6.9,282,6305,0.12,2.75,0.00,0.000,4,0.068,0.067,2947,3787,3768,0,0,0,0,0,0
$GC,6324,-1.35,-146.0,545.9,-8.6,282,6329,0.00,2.65,0.00,0.000,6,0.000,0.057,2947,2204,3768,0,0,0,0,0,0
$GC,6580,-1.29,-146.0,569.5,-9.2,289,6585,0.15,2.72,0.00,0.000,4,0.094,0.067,2980,3779,3767,0,0,0,0,0,0
$GC,6613,-1.29,-146.0,572.6,-9.0,289,6619,0.00,2.65,0.00,0.000,6,0.000,0.055,2980,2206,3767,0,0,0,0,0,0
$GC,6866,-1.29,-146.0,591.9,-7.5,296,6870,0.00,3.05,0.00,0.000,4,0.000,0.124,2980,620,3766,0,0,0,0,0,0
$GC,6909,-1.29,-146.0,595.5,-8.0,297,6914,0.00,2.65,0.00,0.000,6,0.000,0.059,2980,2188,3766,0,0,0,0,0,0
$GC,7189,-1.29,-146.0,615.3,-7.1,304,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2188,3764,0,0,0,0,0,0
$GC,7431,-1.29,-146.0,633.1,-7.5,310,7435,0.00,2.92,0.00,0.000,4,0.000,0.098,2980,3794,3763,0,0,0,0,0,0
$GC,7463,-1.29,-146.0,635.7,-8.0,310,7469,0.00,2.78,0.00,0.000,6,0.000,0.071,2980,2200,3763,0,0,0,0,0,0
$GC,7713,-1.29,-146.0,654.6,-7.7,317,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2200,3761,0,0,0,0,0,0
$GC,7957,-1.29,-146.0,672.9,-7.5,323,7962,0.00,2.90,0.00,0.000,4,0.000,0.094,2980,3793,3761,0,0,0,0,0,0
$GC,7984,-1.29,-146.0,675.2,-8.3,323,7989,0.00,2.83,0.00,0.000,6,0.000,0.084,2980,2200,3761,0,0,0,0,0,0
$GC,8234,-1.29,-146.0,694.9,-7.9,329,8239,0.00,2.90,0.00,0.000,4,0.000,0.097,2980,3796,3759,0,0,0,0,0,0
$GC,8263,-1.29,-146.0,697.3,-8.5,329,8268,0.00,2.80,0.00,0.000,6,0.000,0.081,2980,2210,3759,0,0,0,0,0,0
$GC,8513,-1.29,-146.0,717.8,-8.1,335,8518,0.00,3.05,0.00,0.000,4,0.000,0.125,2980,622,3757,0,0,0,0,0,0
$GC,8536,-1.29,-146.0,719.7,-8.3,335,8541,0.00,2.78,0.00,0.000,6,0.000,0.071,2980,2209,3757,0,0,0,0,0,0
$GC,8794,-1.29,-146.0,740.1,-8.0,342,8798,0.00,2.90,0.00,0.000,4,0.000,0.104,2980,3800,3755,0,0,0,0,0,0
$GC,8820,-1.29,-146.0,742.6,-8.7,342,8825,0.00,2.78,0.00,0.000,6,0.000,0.068,2980,2199,3755,0,0,0,0,0,0
$GC,9071,-1.29,-146.0,761.3,-7.4,348,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2199,3754,0,0,0,0,0,0
$GC,9314,-1.29,-146.0,778.2,-6.9,354,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2198,3754,0,0,0,0,0,0
$GC,9560,-1.29,-146.0,794.7,-6.8,360,9565,0.00,2.83,0.00,0.000,4,0.000,0.084,2980,3807,3752,0,0,0,0,0,0
$GC,9615,-1.29,-146.0,799.0,-8.0,361,9620,0.00,2.75,0.00,0.000,6,0.000,0.066,2980,2210,3752,0,0,0,0,0,0
$GC,9882,-1.29,-146.0,817.7,-7.1,368,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2210,3750,0,0,0,0,0,0
$GC,10128,-1.29,-146.0,835.4,-7.1,374,10133,0.00,2.83,0.00,0.000,4,0.000,0.079,2980,3798,3750,0,0,0,0,0,0
$GC,10161,-1.29,-146.0,838.2,-7.9,374,10167,0.00,2.72,0.00,0.000,6,0.000,0.069,2981,2214,3750,0,0,0,0,0,0
$GC,10411,-1.29,-146.0,855.8,-7.0,381,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2214,3749,0,0,0,0,0,0
$GC,10657,-1.33,-146.0,873.6,-7.4,387,10662,0.00,2.78,0.00,0.000,4,0.000,0.075,2980,3803,3747,0,0,0,0,0,0
$GC,10697,-1.37,-146.0,876.8,-8.5,388,10702,0.00,2.75,0.00,0.000,6,0.000,0.064,2980,2215,3747,0,0,0,0,0,0
$GC,10981,-1.41,-146.0,896.6,-6.8,395,10986,0.12,2.83,0.00,0.000,4,0.072,0.084,2935,3805,3745,0,0,0,0,0,0
$GC,11005,-1.41,-146.0,898.6,-8.7,395,11010,0.00,2.75,0.00,0.000,6,0.000,0.064,2935,2221,3745,0,0,0,0,0,0
$STATE,11054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11054,begin apogee
$GC,11060,-0.31,0.0,903.3,8.9,397,11182,1.12,0.00,117.78,1.219,6,0.073,0.000,3190,2383,3190,0,0,0,0,0,0
$STATE,11183,end apogee,CONTROL_FINISHED_OK
$STATE,11183,begin climb
$GC,11187,1.27,146.0,906.7,0.0,400,11324,1.42,2.80,127.97,1.189,4,0.035,0.077,3542,3924,2593,0,0,0,0,0,0
$GC,11429,1.14,146.0,890.7,12.1,405,11434,0.15,2.70,0.00,0.000,6,0.115,0.052,3511,2368,2587,0,0,0,0,0,0
$GC,11679,1.12,162.8,867.2,9.2,411,11700,0.00,2.78,14.95,1.068,4,0.000,0.066,3511,3926,2526,0,0,0,0,0,0
$GC,11718,1.08,173.2,863.2,9.5,412,11734,0.00,2.65,11.12,1.019,6,0.000,0.048,3511,2372,2483,0,0,0,0,0,0
$GC,12003,1.08,173.2,832.4,10.9,419,12005,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2371,2478,0,0,0,0,0,0
$GC,12245,1.08,173.2,807.6,10.1,425,12249,0.00,2.67,0.00,0.000,4,0.000,0.061,3511,3932,2477,0,0,0,0,0,0
$GC,12266,1.04,173.2,805.2,10.1,425,12271,0.12,2.65,0.00,0.000,6,0.120,0.044,3487,2372,2477,0,0,0,0,0,0
$GC,12524,1.07,199.2,782.6,8.8,432,12553,0.00,2.72,24.20,1.088,4,0.000,0.060,3486,3928,2376,0,0,0,0,0,0
$GC,12576,1.08,208.6,777.1,9.6,433,12591,0.00,2.62,10.00,0.979,6,0.000,0.050,3487,2381,2339,0,0,0,0,0,0
$GC,12844,1.13,208.6,750.4,10.1,440,12849,0.00,3.10,0.00,0.000,4,0.000,0.121,3486,779,2335,0,0,0,0,0,0
$GC,12865,1.13,208.6,747.6,10.6,440,12869,0.00,2.67,0.00,0.000,6,0.000,0.047,3486,2373,2334,0,0,0,0,0,0
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$STATE,19779,end climb,SURFACE_DEPTH_REACHED
$STATE,19779,begin surface coast
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$10V_AH,10.3,34.665
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57234,752
$CAP_FILE_SIZE,188501,0
$CFSIZE,260165632,108953600
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