version: 66.06
glider: 146
mission: 8
dive: 296
start: 3 19 113 17 1 0
data:
$ID,146
$MISSION,8
$DIVE,296
$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,-313262.19
$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,56
$R_STBD_OVSHOOT,21
$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
$GPS1,164853,1925.806,-8108.898,39,1.1,39,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.6
$GPS2,170006,1925.840,-8108.935,8,1.3,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,-0.215
$KALMAN_X,-52803.5,-149.1,-22.6,50306.6,-822.8
$KALMAN_Y,29277.5,125.2,-55.1,-25130.8,1395.7
$MHEAD_RNG_PITCHd_Wd,151.5,2972,-17.9,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.29,-140.1,0.0,0.0,0,93,0.00,0.00,-69.57,0.000,2,0.000,0.000,464,2159,3425,0,0,0,0,0,0
$GC,96,-1.30,-146.0,3.1,-3.2,9,123,13.65,2.53,-7.30,0.000,4,0.163,0.054,2972,652,3789,0,0,0,0,0,0
$GC,143,-0.53,-146.0,15.6,-28.2,14,153,0.73,2.47,0.00,0.000,6,0.079,0.018,3137,2247,3789,0,0,0,0,0,0
$GC,438,-0.68,-146.0,41.2,-7.1,49,447,0.12,0.00,0.00,0.000,6,0.065,0.000,3079,2248,3790,0,0,0,0,0,0
$GC,707,-0.68,-146.0,70.3,-10.8,74,712,0.15,2.62,0.00,0.000,4,0.091,0.044,3114,651,3790,0,0,0,0,0,0
$GC,741,-0.76,-146.0,74.0,-9.9,76,745,0.00,2.38,0.00,0.000,6,0.000,0.016,3114,2210,3790,0,0,0,0,0,0
$GC,1006,-0.85,-146.0,96.8,-8.6,100,1011,0.17,2.47,0.00,0.000,4,0.051,0.032,3043,3769,3790,0,0,0,0,0,0
$GC,1027,-0.90,-146.0,99.0,-9.1,101,1032,0.10,2.40,0.00,0.000,6,0.104,0.021,3068,2219,3790,0,0,0,0,0,0
$GC,1292,-0.90,-146.0,127.2,-10.8,125,1296,0.00,2.55,0.00,0.000,4,0.000,0.045,3068,643,3791,0,0,0,0,0,0
$GC,1338,-0.94,-146.0,132.5,-10.3,128,1348,0.00,2.42,0.00,0.000,6,0.000,0.015,3068,2211,3791,0,0,0,0,0,0
$GC,1603,-1.02,-146.0,155.6,-7.9,153,1608,0.12,2.47,0.00,0.000,4,0.064,0.031,3009,3776,3791,0,0,0,0,0,0
$GC,1626,-1.07,-146.0,157.5,-8.5,154,1630,0.00,2.45,0.00,0.000,6,0.000,0.020,3008,2201,3791,0,0,0,0,0,0
$GC,1895,-1.07,-146.0,182.2,-8.5,178,1899,0.00,2.55,0.00,0.000,4,0.000,0.045,3008,637,3792,0,0,0,0,0,0
$GC,1938,-1.07,-146.0,186.3,-9.0,181,1942,0.00,2.38,0.00,0.000,6,0.000,0.024,3008,2213,3792,0,0,0,0,0,0
$GC,2226,-1.07,-146.0,210.4,-8.1,199,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2213,3792,0,0,0,0,0,0
$GC,2472,-1.11,-146.0,230.3,-8.0,205,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2212,3792,0,0,0,0,0,0
$GC,2713,-1.16,-146.0,249.0,-7.5,211,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2213,3792,0,0,0,0,0,0
$GC,2957,-1.21,-146.0,267.9,-7.8,217,2961,0.00,2.47,0.00,0.000,4,0.000,0.045,3008,3762,3792,0,0,0,0,0,0
$GC,2981,-1.26,-146.0,269.8,-8.3,217,2986,0.10,2.45,0.00,0.000,6,0.077,0.021,2955,2202,3792,0,0,0,0,0,0
$GC,3237,-1.21,-146.0,293.6,-9.3,224,3242,0.17,2.60,0.00,0.000,4,0.083,0.062,2997,641,3792,0,0,0,0,0,0
$GC,3259,-1.21,-146.0,295.6,-8.5,224,3263,0.00,2.40,0.00,0.000,6,0.000,0.028,2997,2196,3792,0,0,0,0,0,0
$GC,3516,-1.21,-146.0,316.3,-8.2,231,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2196,3791,0,0,0,0,0,0
$GC,3758,-1.25,-146.0,335.3,-7.6,237,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2196,3790,0,0,0,0,0,0
$GC,4002,-1.29,-146.0,353.6,-7.4,243,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2196,3789,0,0,0,0,0,0
$GC,4248,-1.33,-146.0,372.3,-7.8,249,4250,0.12,0.00,0.00,0.000,6,0.064,0.000,2941,2196,3788,0,0,0,0,0,0
$GC,4489,-1.27,-146.0,396.6,-10.2,255,4491,0.17,0.00,0.00,0.000,6,0.087,0.000,2982,2196,3787,0,0,0,0,0,0
$GC,4733,-1.27,-146.0,417.6,-8.5,261,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2196,3787,0,0,0,0,0,0
$GC,4979,-1.27,-146.0,438.2,-8.5,267,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2196,3785,0,0,0,0,0,0
$GC,5220,-1.27,-146.0,458.5,-8.0,273,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2196,3785,0,0,0,0,0,0
$GC,5464,-1.27,-146.0,477.4,-7.6,279,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2196,3784,0,0,0,0,0,0
$GC,5709,-1.27,-146.0,495.4,-7.3,285,5714,0.00,2.67,0.00,0.000,4,0.000,0.067,2982,3775,3782,0,0,0,0,0,0
$GC,5727,-1.27,-146.0,496.9,-7.6,285,5732,0.00,2.58,0.00,0.000,6,0.000,0.051,2981,2212,3782,0,0,0,0,0,0
$GC,5988,-1.27,-146.0,517.5,-7.8,292,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2212,3781,0,0,0,0,0,0
$GC,6231,-1.27,-146.0,535.8,-7.5,298,6236,0.00,2.92,0.00,0.000,4,0.000,0.110,2982,626,3779,0,0,0,0,0,0
$GC,6247,-1.27,-146.0,537.2,-7.5,298,6252,0.00,2.55,0.00,0.000,6,0.000,0.045,2982,2181,3779,0,0,0,0,0,0
$GC,6510,-1.27,-146.0,556.5,-7.4,305,6515,0.00,2.83,0.00,0.000,4,0.000,0.083,2982,3796,3778,0,0,0,0,0,0
$GC,6543,-1.31,-146.0,559.3,-8.6,305,6549,0.00,2.70,0.00,0.000,6,0.000,0.061,2982,2205,3778,0,0,0,0,0,0
$GC,6793,-1.31,-146.0,578.5,-7.7,312,6798,0.00,2.90,0.00,0.000,4,0.000,0.106,2982,623,3777,0,0,0,0,0,0
$GC,6817,-1.31,-146.0,580.4,-8.5,312,6821,0.00,2.65,0.00,0.000,6,0.000,0.058,2982,2201,3777,0,0,0,0,0,0
$GC,7072,-1.31,-146.0,599.6,-7.5,319,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,3776,0,0,0,0,0,0
$GC,7315,-1.31,-146.0,619.4,-8.2,325,7320,0.00,2.90,0.00,0.000,4,0.000,0.103,2982,3795,3774,0,0,0,0,0,0
$GC,7333,-1.31,-146.0,620.8,-8.4,325,7338,0.00,2.75,0.00,0.000,6,0.000,0.071,2982,2207,3774,0,0,0,0,0,0
$GC,7595,-1.31,-146.0,641.5,-7.8,332,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2207,3773,0,0,0,0,0,0
$GC,7839,-1.35,-146.0,659.5,-7.3,338,7843,0.00,2.88,0.00,0.000,4,0.000,0.094,2982,3794,3772,0,0,0,0,0,0
$GC,7865,-1.39,-146.0,661.4,-7.6,338,7871,0.12,2.83,0.00,0.000,6,0.069,0.082,2934,2211,3772,0,0,0,0,0,0
$GC,8121,-1.34,-146.0,684.5,-9.0,345,8123,0.15,0.00,0.00,0.000,6,0.093,0.000,2968,2211,3770,0,0,0,0,0,0
$GC,8365,-1.34,-146.0,703.7,-7.9,351,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2211,3769,0,0,0,0,0,0
$GC,8611,-1.34,-146.0,722.3,-7.6,357,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2211,3768,0,0,0,0,0,0
$GC,8852,-1.34,-146.0,740.9,-7.6,363,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2211,3767,0,0,0,0,0,0
$GC,9096,-1.34,-146.0,760.0,-7.8,369,9101,0.00,3.25,0.00,0.000,4,0.000,0.160,2969,3792,3766,0,0,0,0,0,0
$GC,9117,-1.34,-146.0,761.9,-8.3,369,9122,0.00,2.75,0.00,0.000,6,0.000,0.075,2969,2202,3766,0,0,0,0,0,0
$GC,9375,-1.34,-146.0,781.8,-7.7,376,9380,0.00,3.00,0.00,0.000,4,0.000,0.118,2968,617,3764,0,0,0,0,0,0
$GC,9396,-1.34,-146.0,783.8,-8.2,376,9401,0.00,2.70,0.00,0.000,6,0.000,0.068,2969,2200,3764,0,0,0,0,0,0
$GC,9652,-1.34,-146.0,803.5,-7.7,383,9656,0.00,2.90,0.00,0.000,4,0.000,0.098,2968,3801,3763,0,0,0,0,0,0
$GC,9681,-1.34,-146.0,805.7,-8.9,383,9685,0.00,2.75,0.00,0.000,6,0.000,0.070,2968,2211,3762,0,0,0,0,0,0
$GC,9931,-1.34,-146.0,825.1,-7.8,389,9935,0.00,3.00,0.00,0.000,4,0.000,0.117,2968,618,3762,0,0,0,0,0,0
$GC,9946,-1.34,-146.0,826.5,-8.0,389,9951,0.00,2.72,0.00,0.000,6,0.000,0.060,2969,2217,3761,0,0,0,0,0,0
$GC,10210,-1.34,-146.0,847.7,-8.2,396,10214,0.00,2.88,0.00,0.000,4,0.000,0.102,2968,3803,3761,0,0,0,0,0,0
$GC,10225,-1.34,-146.0,849.4,-8.2,396,10230,0.00,2.75,0.00,0.000,6,0.000,0.067,2968,2207,3761,0,0,0,0,0,0
$GC,10487,-1.34,-146.0,870.4,-8.2,403,10491,0.00,2.80,0.00,0.000,4,0.000,0.078,2968,3798,3760,0,0,0,0,0,0
$GC,10505,-1.34,-146.0,871.8,-8.0,403,10509,0.00,2.72,0.00,0.000,6,0.000,0.069,2968,2220,3760,0,0,0,0,0,0
$GC,10765,-1.34,-146.0,892.7,-7.9,410,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2220,3759,0,0,0,0,0,0
$STATE,10885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10885,begin apogee
$GC,10891,-0.31,0.0,902.1,7.7,413,11015,0.98,0.00,119.95,1.216,6,0.069,0.000,3192,2389,3191,0,0,0,0,0,0
$STATE,11015,end apogee,CONTROL_FINISHED_OK
$STATE,11015,begin climb
$GC,11020,1.30,146.0,904.9,0.0,416,11156,1.45,2.80,126.70,1.185,4,0.041,0.074,3551,3928,2593,0,0,0,0,0,0
$GC,11214,1.16,146.0,892.6,11.7,420,11219,0.20,2.70,0.00,0.000,6,0.108,0.058,3511,2370,2588,0,0,0,0,0,0
$GC,11470,1.18,159.9,868.0,9.3,427,11489,0.00,2.80,12.65,1.046,4,0.000,0.064,3511,3924,2537,0,0,0,0,0,0
$GC,11529,1.13,159.9,861.9,10.3,428,11533,0.00,2.67,0.00,0.000,6,0.000,0.048,3511,2370,2535,0,0,0,0,0,0
$GC,11797,1.14,167.3,835.8,9.6,435,11807,0.00,0.00,7.78,0.954,6,0.000,0.000,3512,2370,2507,0,0,0,0,0,0
$GC,12038,1.15,174.6,812.2,9.7,441,12048,0.00,0.00,7.80,0.950,6,0.000,0.000,3512,2370,2478,0,0,0,0,0,0
$GC,12282,1.15,174.9,787.5,10.0,447,12287,0.00,2.72,0.00,0.000,4,0.000,0.062,3511,3940,2476,0,0,0,0,0,0
$GC,12340,1.15,174.9,781.6,11.1,448,12344,0.00,2.67,0.00,0.000,6,0.000,0.044,3512,2366,2474,0,0,0,0,0,0
$GC,12606,1.15,178.6,755.4,9.8,455,12613,0.00,0.00,4.72,0.777,6,0.000,0.000,3512,2366,2462,0,0,0,0,0,0
$GC,12850,1.17,187.9,731.6,9.6,461,12866,0.00,2.70,10.57,0.986,4,0.000,0.060,3512,3933,2422,0,0,0,0,0,0
$GC,12895,1.17,187.9,727.1,10.2,462,12900,0.00,2.62,0.00,0.000,6,0.000,0.048,3511,2374,2421,0,0,0,0,0,0
$GC,13173,1.17,194.2,699.7,9.7,469,13181,0.00,0.00,6.90,0.884,6,0.000,0.000,3512,2374,2398,0,0,0,0,0,0
$GC,13419,1.17,194.2,674.5,10.5,475,13423,0.00,2.67,0.00,0.000,4,0.000,0.060,3511,3939,2396,0,0,0,0,0,0
$GC,13451,1.17,194.2,670.4,11.3,475,13457,0.00,2.65,0.00,0.000,6,0.000,0.044,3511,2375,2396,0,0,0,0,0,0
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