version: 66.06
glider: 146
mission: 8
dive: 279
start: 3 16 113 5 23 31
data:
$ID,146
$MISSION,8
$DIVE,279
$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,-312948.25
$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,48
$R_STBD_OVSHOOT,49
$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
$GPS1,051050,1924.469,-8113.989,39,4.6,58,-3.8
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-71.5
$GPS2,052236,1924.450,-8114.055,9,1.4,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.233,0.114
$KALMAN_X,-30998.3,-193.0,-270.7,19850.4,569.3
$KALMAN_Y,17653.3,-262.8,-73.9,-15666.1,431.6
$MHEAD_RNG_PITCHd_Wd,299.8,8353,-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,-146.0,0.0,0.0,0,84,0.00,0.00,-63.10,0.000,2,0.000,0.000,466,2203,3310,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.7,-5.6,8,123,13.62,2.58,-9.15,0.000,4,0.161,0.043,2977,3776,3789,0,0,0,0,0,0
$GC,257,-1.12,-146.0,40.0,-15.6,28,262,0.17,2.47,0.00,0.000,6,0.097,0.022,3016,2212,3789,0,0,0,0,0,0
$GC,527,-0.99,-146.0,74.3,-12.9,52,532,0.12,2.62,0.00,0.000,4,0.116,0.048,3042,639,3789,0,0,0,0,0,0
$GC,583,-0.92,-146.0,83.0,-12.5,56,587,0.00,2.40,0.00,0.000,6,0.000,0.016,3042,2212,3789,0,0,0,0,0,0
$GC,848,-0.87,-146.0,116.6,-11.1,80,857,0.12,0.00,0.00,0.000,6,0.108,0.000,3070,2212,3789,0,0,0,0,0,0
$GC,1114,-0.93,-146.0,140.0,-8.0,105,1119,0.00,2.58,0.00,0.000,4,0.000,0.044,3070,635,3790,0,0,0,0,0,0
$GC,1149,-1.00,-146.0,142.7,-7.9,107,1154,0.12,2.42,0.00,0.000,6,0.064,0.024,3012,2233,3790,0,0,0,0,0,0
$GC,1410,-1.00,-146.0,167.5,-9.4,131,1412,0.12,0.00,0.00,0.000,6,0.100,0.000,3042,2233,3790,0,0,0,0,0,0
$GC,1667,-1.08,-146.0,186.3,-7.3,155,1671,0.00,2.62,0.00,0.000,4,0.000,0.048,3042,634,3790,0,0,0,0,0,0
$GC,1701,-1.16,-146.0,189.2,-7.5,157,1707,0.15,2.42,0.00,0.000,6,0.056,0.023,2977,2212,3791,0,0,0,0,0,0
$GC,1991,-1.11,-146.0,214.8,-9.2,173,1996,0.17,2.50,0.00,0.000,4,0.084,0.033,3018,3782,3791,0,0,0,0,0,0
$GC,2035,-1.18,-146.0,218.9,-7.7,174,2040,0.00,2.45,0.00,0.000,6,0.000,0.020,3018,2209,3791,0,0,0,0,0,0
$GC,2314,-1.23,-146.0,238.8,-7.2,181,2319,0.12,2.60,0.00,0.000,4,0.068,0.051,2962,634,3791,0,0,0,0,0,0
$GC,2349,-1.16,-146.0,241.9,-9.6,181,2356,0.20,2.45,0.00,0.000,6,0.084,0.024,3008,2217,3790,0,0,0,0,0,0
$GC,2600,-1.20,-146.0,261.1,-7.4,188,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2217,3790,0,0,0,0,0,0
$GC,2846,-1.24,-146.0,279.7,-7.7,194,2850,0.00,2.53,0.00,0.000,4,0.000,0.044,3008,3779,3790,0,0,0,0,0,0
$GC,2879,-1.29,-146.0,282.6,-8.3,194,2885,0.05,2.45,0.00,0.000,6,0.018,0.026,2953,2212,3790,0,0,0,0,0,0
$GC,3129,-1.21,-146.0,307.7,-10.2,201,3131,0.17,0.00,0.00,0.000,6,0.086,0.000,2995,2212,3789,0,0,0,0,0,0
$GC,3375,-1.21,-146.0,329.0,-8.5,207,3379,0.00,2.65,0.00,0.000,4,0.000,0.061,2995,627,3788,0,0,0,0,0,0
$GC,3408,-1.21,-146.0,332.2,-9.5,207,3413,0.00,2.47,0.00,0.000,6,0.000,0.025,2995,2202,3788,0,0,0,0,0,0
$GC,3657,-1.21,-146.0,353.4,-8.3,214,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2202,3787,0,0,0,0,0,0
$GC,3904,-1.21,-146.0,373.0,-8.0,220,3908,0.00,2.62,0.00,0.000,4,0.000,0.065,2995,637,3786,0,0,0,0,0,0
$GC,3925,-1.21,-146.0,375.0,-8.3,220,3929,0.00,2.47,0.00,0.000,6,0.000,0.029,2995,2205,3786,0,0,0,0,0,0
$GC,4180,-1.21,-146.0,394.4,-7.5,227,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2205,3786,0,0,0,0,0,0
$GC,4424,-1.21,-146.0,412.3,-7.4,233,4428,0.00,2.58,0.00,0.000,4,0.000,0.052,2995,3788,3785,0,0,0,0,0,0
$GC,4453,-1.21,-146.0,414.4,-8.0,233,4457,0.00,2.53,0.00,0.000,6,0.000,0.037,2995,2214,3785,0,0,0,0,0,0
$GC,4703,-1.21,-146.0,433.5,-7.6,239,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2214,3784,0,0,0,0,0,0
$GC,4946,-1.21,-146.0,453.0,-8.0,245,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2214,3783,0,0,0,0,0,0
$GC,5192,-1.21,-146.0,472.9,-8.2,251,5197,0.00,2.60,0.00,0.000,4,0.000,0.053,2995,3779,3782,0,0,0,0,0,0
$GC,5214,-1.25,-146.0,474.9,-8.0,251,5219,0.00,2.60,0.00,0.000,6,0.000,0.040,2995,2202,3782,0,0,0,0,0,0
$GC,5469,-1.29,-146.0,495.0,-7.9,258,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2202,3781,0,0,0,0,0,0
$GC,5716,-1.33,-146.0,513.6,-7.6,264,5717,0.10,0.00,0.00,0.000,6,0.078,0.000,2952,2202,3780,0,0,0,0,0,0
$GC,5957,-1.28,-146.0,535.1,-8.9,270,5959,0.12,0.00,0.00,0.000,6,0.098,0.000,2981,2202,3778,0,0,0,0,0,0
$GC,6200,-1.28,-146.0,554.0,-7.7,276,6205,0.00,2.72,0.00,0.000,4,0.000,0.076,2981,3775,3777,0,0,0,0,0,0
$GC,6246,-1.28,-146.0,557.8,-8.3,277,6251,0.00,2.62,0.00,0.000,6,0.000,0.054,2980,2216,3777,0,0,0,0,0,0
$GC,6524,-1.28,-146.0,579.5,-7.7,284,6529,0.00,3.03,0.00,0.000,4,0.000,0.127,2981,622,3776,0,0,0,0,0,0
$GC,6551,-1.28,-146.0,581.6,-7.8,284,6555,0.00,2.65,0.00,0.000,6,0.000,0.058,2980,2194,3776,0,0,0,0,0,0
$GC,6803,-1.28,-146.0,600.5,-7.6,290,6808,0.00,2.85,0.00,0.000,4,0.000,0.091,2981,3797,3775,0,0,0,0,0,0
$GC,6824,-1.28,-146.0,602.5,-8.1,290,6829,0.00,2.72,0.00,0.000,6,0.000,0.063,2981,2212,3775,0,0,0,0,0,0
$GC,7080,-1.28,-146.0,621.7,-7.5,297,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2213,3773,0,0,0,0,0,0
$GC,7323,-1.28,-146.0,640.7,-7.8,303,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2212,3772,0,0,0,0,0,0
$GC,7569,-1.28,-146.0,659.6,-7.8,309,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2213,3770,0,0,0,0,0,0
$GC,7811,-1.28,-146.0,678.3,-7.6,315,7815,0.00,2.90,0.00,0.000,4,0.000,0.102,2981,3794,3769,0,0,0,0,0,0
$GC,7840,-1.28,-146.0,680.8,-8.8,315,7845,0.00,2.80,0.00,0.000,6,0.000,0.082,2981,2223,3768,0,0,0,0,0,0
$GC,8093,-1.28,-146.0,698.5,-7.0,321,8097,0.00,3.10,0.00,0.000,4,0.000,0.133,2980,621,3768,0,0,0,0,0,0
$GC,8120,-1.28,-146.0,700.5,-6.9,321,8125,0.00,2.83,0.00,0.000,6,0.000,0.078,2981,2221,3767,0,0,0,0,0,0
$GC,8372,-1.28,-146.0,718.5,-7.4,327,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2221,3766,0,0,0,0,0,0
$GC,8616,-1.28,-146.0,737.0,-7.6,333,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2221,3765,0,0,0,0,0,0
$GC,8857,-1.28,-146.0,756.2,-7.8,339,8862,0.00,2.85,0.00,0.000,4,0.000,0.094,2981,3798,3764,0,0,0,0,0,0
$GC,8890,-1.28,-146.0,758.9,-8.3,339,8895,0.00,2.78,0.00,0.000,6,0.000,0.067,2981,2206,3764,0,0,0,0,0,0
$GC,9140,-1.28,-146.0,777.1,-7.2,346,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2206,3763,0,0,0,0,0,0
$GC,9386,-1.28,-146.0,794.6,-7.2,352,9390,0.00,2.83,0.00,0.000,4,0.000,0.081,2981,3797,3762,0,0,0,0,0,0
$GC,9418,-1.28,-146.0,797.4,-8.1,352,9424,0.00,2.75,0.00,0.000,6,0.000,0.069,2981,2212,3761,0,0,0,0,0,0
$GC,9668,-1.28,-146.0,816.5,-7.7,359,9673,0.00,2.83,0.00,0.000,4,0.000,0.080,2981,3805,3761,0,0,0,0,0,0
$GC,9686,-1.28,-146.0,817.7,-7.5,359,9691,0.00,2.72,0.00,0.000,6,0.000,0.067,2981,2227,3761,0,0,0,0,0,0
$GC,9947,-1.28,-146.0,838.3,-7.8,366,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2227,3760,0,0,0,0,0,0
$GC,10191,-1.28,-146.0,857.3,-7.8,372,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2226,3758,0,0,0,0,0,0
$GC,10437,-1.32,-146.0,875.0,-7.2,378,10442,0.00,2.78,0.00,0.000,4,0.000,0.079,2981,3797,3757,0,0,0,0,0,0
$GC,10471,-1.36,-146.0,877.6,-7.0,378,10476,0.00,2.72,0.00,0.000,6,0.000,0.064,2981,2227,3757,0,0,0,0,0,0
$GC,10721,-1.40,-146.0,895.3,-7.1,385,10726,0.12,2.80,0.00,0.000,4,0.074,0.083,2938,3801,3756,0,0,0,0,0,0
$GC,10745,-1.40,-146.0,897.3,-8.2,385,10750,0.00,2.72,0.00,0.000,6,0.000,0.070,2938,2230,3756,0,0,0,0,0,0
$STATE,10795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10795,begin apogee
$GC,10801,-0.31,0.0,902.1,9.2,387,10925,1.10,0.00,119.72,1.219,6,0.072,0.000,3189,2388,3190,0,0,0,0,0,0
$STATE,10925,end apogee,CONTROL_FINISHED_OK
$STATE,10926,begin climb
$GC,10928,1.27,146.0,905.5,0.0,390,11065,1.45,2.83,127.35,1.189,4,0.037,0.079,3545,3924,2593,0,0,0,0,0,0
$GC,11162,1.14,146.0,889.0,12.6,395,11167,0.17,2.72,0.00,0.000,6,0.111,0.058,3510,2363,2588,0,0,0,0,0,0
$GC,11426,1.16,166.0,864.4,9.1,402,11450,0.00,2.83,18.05,1.086,4,0.000,0.062,3510,3930,2512,0,0,0,0,0,0
$GC,11473,1.11,166.0,859.5,10.3,403,11477,0.00,2.70,0.00,0.000,6,0.000,0.052,3509,2365,2511,0,0,0,0,0,0
$GC,11752,1.12,172.5,832.5,9.7,410,11761,0.00,0.00,6.68,0.907,6,0.000,0.000,3509,2365,2486,0,0,0,0,0,0
$GC,12041,1.12,172.5,802.7,10.1,417,12045,0.00,2.70,0.00,0.000,4,0.000,0.059,3509,3937,2484,0,0,0,0,0,0
$GC,12073,1.07,172.5,799.0,11.3,417,12079,0.00,2.65,0.00,0.000,6,0.000,0.044,3509,2373,2483,0,0,0,0,0,0
$GC,12325,1.08,178.6,774.8,9.7,424,12334,0.00,0.00,6.65,0.899,6,0.000,0.000,3509,2373,2462,0,0,0,0,0,0
$GC,12567,1.09,189.6,751.4,9.5,430,12586,0.00,2.78,11.55,1.006,4,0.000,0.061,3510,3933,2416,0,0,0,0,0,0
$GC,12610,1.09,189.6,747.2,10.0,431,12614,0.00,2.65,0.00,0.000,6,0.000,0.046,3510,2375,2415,0,0,0,0,0,0
$GC,12895,1.11,202.0,720.3,9.4,438,12910,0.00,0.00,13.10,1.008,6,0.000,0.000,3509,2376,2366,0,0,0,0,0,0
$GC,13137,1.11,202.9,696.0,10.0,444,13141,0.00,3.05,0.00,0.000,4,0.000,0.120,3509,778,2363,0,0,0,0,0,0
$GC,13152,1.11,202.9,694.3,10.1,444,13157,0.00,2.65,0.00,0.000,6,0.000,0.039,3509,2367,2362,0,0,0,0,0,0
$GC,13420,1.12,209.1,668.0,9.7,451,13434,0.00,2.78,7.45,0.885,4,0.000,0.070,3509,3930,2337,0,0,0,0,0,0
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$STATE,19782,end climb,SURFACE_DEPTH_REACHED
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