version: 66.06
glider: 146
mission: 8
dive: 326
start: 3 26 113 7 1 18
data:
$ID,146
$MISSION,8
$DIVE,326
$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,-313858.38
$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,52
$R_STBD_OVSHOOT,19
$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
$GPS1,065236,1927.839,-8113.264,37,1.2,37,-3.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.6
$GPS2,070024,1927.835,-8113.255,10,1.2,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.196,-0.170
$KALMAN_X,-110147.0,-76.0,-434.8,100452.3,-1423.5
$KALMAN_Y,70416.7,-70.8,54.3,-62487.3,1638.2
$MHEAD_RNG_PITCHd_Wd,134.7,11064,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-63.40,0.000,2,0.000,0.000,460,2182,3278,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.0,-3.7,8,124,13.50,2.67,-10.12,0.000,4,0.156,0.050,2976,3794,3788,0,0,0,0,0,0
$GC,136,-0.49,-146.0,16.2,-28.7,13,146,0.75,2.53,0.00,0.000,6,0.074,0.024,3150,2228,3789,0,0,0,0,0,0
$GC,437,-0.66,-146.0,41.5,-7.1,49,442,0.15,2.65,0.00,0.000,4,0.058,0.049,3086,624,3789,0,0,0,0,0,0
$GC,473,-0.72,-146.0,44.9,-9.6,51,477,0.00,2.47,0.00,0.000,6,0.000,0.017,3087,2243,3789,0,0,0,0,0,0
$GC,743,-0.72,-146.0,72.3,-10.2,75,747,0.00,2.62,0.00,0.000,4,0.000,0.044,3086,633,3789,0,0,0,0,0,0
$GC,776,-0.72,-146.0,76.3,-11.0,77,780,0.00,2.40,0.00,0.000,6,0.000,0.017,3086,2198,3789,0,0,0,0,0,0
$GC,1044,-0.72,-146.0,103.9,-10.1,101,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2198,3790,0,0,0,0,0,0
$GC,1305,-0.72,-146.0,129.9,-9.3,126,1310,0.00,2.55,0.00,0.000,4,0.000,0.051,3086,633,3791,0,0,0,0,0,0
$GC,1359,-0.80,-146.0,135.1,-9.7,130,1363,0.00,2.35,0.00,0.000,6,0.000,0.016,3086,2186,3790,0,0,0,0,0,0
$GC,1628,-0.90,-146.0,157.1,-7.2,154,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2186,3791,0,0,0,0,0,0
$GC,1894,-1.03,-146.0,174.4,-6.0,179,1899,0.20,0.00,0.00,0.000,6,0.047,0.000,3008,2186,3791,0,0,0,0,0,0
$GC,2156,-1.03,-146.0,197.2,-8.5,204,2158,0.12,0.00,0.00,0.000,6,0.095,0.000,3038,2186,3792,0,0,0,0,0,0
$GC,2400,-1.10,-146.0,211.2,-5.3,213,2404,0.00,2.55,0.00,0.000,4,0.000,0.048,3038,627,3792,0,0,0,0,0,0
$GC,2442,-1.19,-146.0,214.0,-7.9,214,2447,0.15,2.38,0.00,0.000,6,0.057,0.019,2975,2183,3792,0,0,0,0,0,0
$GC,2726,-1.19,-146.0,240.9,-9.1,221,2731,0.12,2.55,0.00,0.000,4,0.097,0.037,3004,3777,3793,0,0,0,0,0,0
$GC,2795,-1.24,-146.0,246.9,-8.7,222,2800,0.00,2.50,0.00,0.000,6,0.000,0.027,3004,2174,3792,0,0,0,0,0,0
$GC,3050,-1.24,-146.0,267.3,-7.8,229,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2174,3792,0,0,0,0,0,0
$GC,3294,-1.28,-146.0,286.0,-7.5,235,3296,0.10,0.00,0.00,0.000,6,0.078,0.000,2955,2174,3792,0,0,0,0,0,0
$GC,3540,-1.23,-146.0,310.0,-10.1,241,3542,0.15,0.00,0.00,0.000,6,0.088,0.000,2992,2174,3792,0,0,0,0,0,0
$GC,3781,-1.23,-146.0,331.7,-8.8,247,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2174,3791,0,0,0,0,0,0
$GC,4025,-1.23,-146.0,351.8,-8.1,253,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2174,3789,0,0,0,0,0,0
$GC,4269,-1.23,-146.0,370.9,-7.9,259,4273,0.00,2.60,0.00,0.000,4,0.000,0.048,2992,3769,3788,0,0,0,0,0,0
$GC,4287,-1.23,-146.0,372.3,-8.1,259,4291,0.00,2.47,0.00,0.000,6,0.000,0.029,2992,2201,3788,0,0,0,0,0,0
$GC,4547,-1.23,-146.0,394.3,-8.5,266,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2201,3787,0,0,0,0,0,0
$GC,4791,-1.23,-146.0,417.4,-9.6,272,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2201,3786,0,0,0,0,0,0
$GC,5037,-1.23,-146.0,438.5,-8.4,278,5041,0.00,2.60,0.00,0.000,4,0.000,0.057,2993,3765,3785,0,0,0,0,0,0
$GC,5058,-1.23,-146.0,440.5,-8.0,278,5063,0.00,2.55,0.00,0.000,6,0.000,0.038,2992,2202,3786,0,0,0,0,0,0
$GC,5314,-1.23,-146.0,458.9,-7.0,285,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2202,3785,0,0,0,0,0,0
$GC,5560,-1.23,-146.0,475.3,-6.6,291,5565,0.00,2.80,0.00,0.000,4,0.000,0.089,2992,620,3783,0,0,0,0,0,0
$GC,5592,-1.23,-146.0,477.9,-7.5,291,5598,0.00,2.50,0.00,0.000,6,0.000,0.044,2993,2170,3783,0,0,0,0,0,0
$GC,5843,-1.27,-146.0,495.5,-7.1,298,5847,0.00,2.70,0.00,0.000,4,0.000,0.075,2992,627,3782,0,0,0,0,0,0
$GC,5873,-1.30,-146.0,497.8,-8.1,298,5877,0.00,2.55,0.00,0.000,6,0.000,0.046,2992,2182,3781,0,0,0,0,0,0
$GC,6123,-1.35,-146.0,517.2,-7.7,304,6125,0.12,0.00,0.00,0.000,6,0.067,0.000,2943,2182,3780,0,0,0,0,0,0
$GC,6367,-1.29,-146.0,540.7,-9.9,310,6372,0.15,2.85,0.00,0.000,4,0.090,0.084,2977,3800,3779,0,0,0,0,0,0
$GC,6403,-1.29,-146.0,543.9,-9.2,310,6408,0.00,2.70,0.00,0.000,6,0.000,0.054,2978,2192,3779,0,0,0,0,0,0
$GC,6653,-1.29,-146.0,565.7,-8.8,317,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2192,3778,0,0,0,0,0,0
$GC,6896,-1.29,-146.0,586.0,-8.3,323,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2192,3777,0,0,0,0,0,0
$GC,7140,-1.29,-146.0,604.7,-7.6,329,7145,0.00,2.85,0.00,0.000,4,0.000,0.082,2978,3793,3776,0,0,0,0,0,0
$GC,7158,-1.29,-146.0,606.1,-7.6,329,7163,0.00,2.78,0.00,0.000,6,0.000,0.068,2978,2190,3776,0,0,0,0,0,0
$GC,7419,-1.29,-146.0,626.0,-7.5,336,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2189,3775,0,0,0,0,0,0
$GC,7662,-1.29,-146.0,643.5,-7.1,342,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2189,3774,0,0,0,0,0,0
$GC,7908,-1.29,-146.0,661.4,-7.4,348,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2189,3772,0,0,0,0,0,0
$GC,8150,-1.29,-146.0,681.4,-8.4,354,8155,0.00,2.97,0.00,0.000,4,0.000,0.108,2978,3790,3771,0,0,0,0,0,0
$GC,8174,-1.29,-146.0,683.7,-9.4,354,8178,0.00,2.92,0.00,0.000,6,0.000,0.101,2978,2196,3770,0,0,0,0,0,0
$GC,8431,-1.29,-146.0,706.5,-8.9,361,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2197,3770,0,0,0,0,0,0
$GC,8672,-1.29,-146.0,726.3,-7.9,367,8677,0.00,3.12,0.00,0.000,4,0.000,0.133,2978,3794,3768,0,0,0,0,0,0
$GC,8712,-1.29,-146.0,729.2,-7.4,368,8717,0.00,2.88,0.00,0.000,6,0.000,0.093,2978,2199,3768,0,0,0,0,0,0
$GC,8997,-1.29,-146.0,746.6,-5.8,375,9002,0.00,2.90,0.00,0.000,4,0.000,0.099,2978,3791,3767,0,0,0,0,0,0
$GC,9019,-1.29,-146.0,748.2,-6.2,375,9023,0.00,2.83,0.00,0.000,6,0.000,0.081,2978,2195,3766,0,0,0,0,0,0
$GC,9274,-1.29,-146.0,763.1,-5.9,382,9275,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2195,3766,0,0,0,0,0,0
$GC,9518,-1.29,-146.0,781.8,-7.8,388,9522,0.00,3.00,0.00,0.000,4,0.000,0.129,2978,620,3764,0,0,0,0,0,0
$GC,9536,-1.29,-146.0,783.0,-7.4,388,9541,0.00,2.72,0.00,0.000,6,0.000,0.073,2978,2189,3764,0,0,0,0,0,0
$GC,9797,-1.29,-146.0,803.5,-7.8,395,9801,0.00,2.90,0.00,0.000,4,0.000,0.100,2978,3797,3762,0,0,0,0,0,0
$GC,9818,-1.29,-146.0,805.3,-7.4,395,9823,0.00,2.78,0.00,0.000,6,0.000,0.067,2978,2202,3762,0,0,0,0,0,0
$GC,10076,-1.29,-146.0,823.6,-6.9,402,10080,0.00,2.83,0.00,0.000,4,0.000,0.082,2978,3797,3762,0,0,0,0,0,0
$GC,10092,-1.29,-146.0,824.9,-6.7,402,10096,0.00,2.78,0.00,0.000,6,0.000,0.066,2977,2201,3761,0,0,0,0,0,0
$GC,10353,-1.29,-146.0,841.9,-6.5,409,10357,0.00,2.83,0.00,0.000,4,0.000,0.084,2978,3797,3761,0,0,0,0,0,0
$GC,10382,-1.29,-146.0,843.8,-7.0,409,10386,0.00,2.75,0.00,0.000,6,0.000,0.067,2978,2214,3761,0,0,0,0,0,0
$GC,10632,-1.33,-146.0,860.3,-6.6,415,10637,0.00,3.05,0.00,0.000,4,0.000,0.122,2978,616,3760,0,0,0,0,0,0
$GC,10648,-1.33,-146.0,861.6,-7.2,415,10653,0.00,2.72,0.00,0.000,6,0.000,0.063,2977,2216,3760,0,0,0,0,0,0
$GC,10911,-1.33,-146.0,881.0,-7.6,422,10912,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2216,3758,0,0,0,0,0,0
$STATE,11150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11150,begin apogee
$GC,11156,-0.31,0.0,900.3,8.0,428,11280,0.93,0.00,120.43,1.215,6,0.068,0.000,3191,2373,3190,0,0,0,0,0,0
$STATE,11281,end apogee,CONTROL_FINISHED_OK
$STATE,11281,begin climb
$GC,11283,1.27,146.0,904.3,0.0,431,11420,1.42,2.83,127.15,1.186,4,0.038,0.087,3544,3931,2592,0,0,0,0,0,0
$GC,11477,1.14,146.0,894.1,10.8,435,11482,0.17,2.72,0.00,0.000,6,0.111,0.057,3509,2367,2588,0,0,0,0,0,0
$GC,11735,1.16,166.2,870.8,9.1,442,11759,0.00,2.83,18.02,1.087,4,0.000,0.071,3509,3927,2511,0,0,0,0,0,0
$GC,11778,1.13,174.9,866.5,9.6,443,11792,0.00,2.67,9.55,0.989,6,0.000,0.054,3509,2374,2476,0,0,0,0,0,0
$GC,12062,1.13,174.9,837.9,10.0,450,12066,0.00,2.72,0.00,0.000,4,0.000,0.061,3509,3945,2471,0,0,0,0,0,0
$GC,12103,1.13,174.9,833.4,10.7,451,12108,0.00,2.65,0.00,0.000,6,0.000,0.051,3509,2387,2471,0,0,0,0,0,0
$GC,12387,1.13,174.9,804.7,10.0,458,12392,0.00,3.12,0.00,0.000,4,0.000,0.125,3509,781,2470,0,0,0,0,0,0
$GC,12422,1.09,174.9,801.0,10.6,458,12428,0.00,2.70,0.00,0.000,6,0.000,0.050,3509,2388,2469,0,0,0,0,0,0
$GC,12672,1.09,174.9,775.2,10.1,465,12676,0.00,2.70,0.00,0.000,4,0.000,0.072,3509,3934,2469,0,0,0,0,0,0
$GC,12760,1.09,174.9,764.9,10.7,467,12764,0.00,2.58,0.00,0.000,6,0.000,0.044,3509,2390,2468,0,0,0,0,0,0
$GC,13046,1.09,174.9,736.3,10.0,474,13051,0.00,2.65,0.00,0.000,4,0.000,0.060,3509,3938,2467,0,0,0,0,0,0
$GC,13102,1.09,174.9,729.7,11.5,475,13106,0.00,2.58,0.00,0.000,6,0.000,0.048,3509,2411,2466,0,0,0,0,0,0
$GC,13371,1.09,177.5,703.2,9.9,482,13375,0.00,2.60,0.00,0.000,4,0.000,0.061,3509,3935,2466,0,0,0,0,0,0
$GC,13493,1.09,177.5,688.9,10.7,484,13499,0.00,2.55,0.00,0.000,6,0.000,0.043,3509,2415,2466,0,0,0,0,0,0
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$STATE,19875,end climb,SURFACE_DEPTH_REACHED
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,105562112
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$GPS,260313,123535,1927.752,-8113.521,33,1.0,33,-3.8