version: 66.06
glider: 146
mission: 8
dive: 336
start: 3 28 113 15 52 42
data:
$ID,146
$MISSION,8
$DIVE,336
$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,-314040.94
$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,34
$R_STBD_OVSHOOT,18
$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
$GPS1,154324,1925.427,-8109.410,38,1.6,38,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.0
$GPS2,155148,1925.373,-8109.415,9,1.5,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.199,-0.166
$KALMAN_X,-138918.4,-148.9,50.3,135509.6,-1742.8
$KALMAN_Y,95475.4,60.5,-176.5,-92004.7,1788.1
$MHEAD_RNG_PITCHd_Wd,133.7,2953,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,141,0.00,0.00,-117.07,0.000,2,0.000,0.000,460,2196,3361,0,0,0,0,0,0
$GC,144,-1.27,-146.0,3.0,-3.5,15,178,13.23,2.60,-8.85,0.000,4,0.149,0.051,2978,631,3787,0,0,0,0,0,0
$GC,265,-1.09,-146.0,27.1,-17.2,31,275,0.15,2.53,0.00,0.000,6,0.086,0.016,3015,2253,3787,0,0,0,0,0,0
$GC,544,-0.95,-146.0,69.9,-15.2,57,549,0.17,2.67,0.00,0.000,4,0.097,0.043,3054,634,3787,0,0,0,0,0,0
$GC,567,-0.83,-146.0,73.9,-14.8,58,572,0.10,2.42,0.00,0.000,6,0.118,0.015,3077,2214,3786,0,0,0,0,0,0
$GC,832,-0.83,-146.0,103.8,-10.7,82,836,0.00,2.58,0.00,0.000,4,0.000,0.043,3077,631,3786,0,0,0,0,0,0
$GC,888,-0.83,-146.0,110.7,-10.9,86,898,0.00,2.40,0.00,0.000,6,0.000,0.015,3077,2182,3786,0,0,0,0,0,0
$GC,1157,-0.83,-146.0,140.0,-10.8,111,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2182,3786,0,0,0,0,0,0
$GC,1423,-0.91,-146.0,165.5,-8.7,136,1428,0.00,2.53,0.00,0.000,4,0.000,0.044,3077,631,3787,0,0,0,0,0,0
$GC,1472,-1.01,-146.0,169.7,-7.8,139,1478,0.15,2.40,0.00,0.000,6,0.056,0.023,3014,2199,3787,0,0,0,0,0,0
$GC,1734,-1.01,-146.0,191.8,-7.9,164,1739,0.12,2.50,0.00,0.000,4,0.097,0.038,3044,3769,3787,0,0,0,0,0,0
$GC,1804,-1.11,-146.0,196.6,-6.6,169,1809,0.12,2.45,0.00,0.000,6,0.064,0.021,2984,2192,3787,0,0,0,0,0,0
$GC,2086,-1.11,-146.0,221.7,-8.7,178,2088,0.15,0.00,0.00,0.000,6,0.090,0.000,3019,2192,3787,0,0,0,0,0,0
$GC,2333,-1.16,-146.0,240.0,-7.4,184,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2193,3786,0,0,0,0,0,0
$GC,2574,-1.22,-146.0,256.6,-6.8,190,2576,0.10,0.00,0.00,0.000,6,0.080,0.000,2969,2193,3786,0,0,0,0,0,0
$GC,2818,-1.18,-146.0,277.6,-8.8,196,2820,0.15,0.00,0.00,0.000,6,0.087,0.000,3005,2192,3786,0,0,0,0,0,0
$GC,3061,-1.22,-146.0,296.9,-7.8,202,3066,0.00,2.53,0.00,0.000,4,0.000,0.041,3005,3762,3784,0,0,0,0,0,0
$GC,3092,-1.26,-146.0,299.1,-7.7,202,3096,0.00,2.45,0.00,0.000,6,0.000,0.023,3005,2204,3784,0,0,0,0,0,0
$GC,3342,-1.30,-146.0,318.3,-7.7,208,3347,0.12,2.67,0.00,0.000,4,0.064,0.067,2950,632,3784,0,0,0,0,0,0
$GC,3372,-1.24,-146.0,321.0,-9.7,208,3378,0.17,2.42,0.00,0.000,6,0.087,0.030,2990,2178,3784,0,0,0,0,0,0
$GC,3622,-1.24,-146.0,342.4,-8.3,214,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2178,3782,0,0,0,0,0,0
$GC,3866,-1.24,-146.0,362.3,-8.1,220,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2178,3782,0,0,0,0,0,0
$GC,4110,-1.24,-146.0,380.5,-7.3,226,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2178,3781,0,0,0,0,0,0
$GC,4356,-1.24,-146.0,396.9,-6.7,232,4361,0.00,2.62,0.00,0.000,4,0.000,0.050,2990,3776,3780,0,0,0,0,0,0
$GC,4383,-1.24,-146.0,399.1,-7.5,232,4388,0.00,2.53,0.00,0.000,6,0.000,0.038,2990,2211,3780,0,0,0,0,0,0
$GC,4637,-1.24,-146.0,416.8,-7.3,238,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2211,3778,0,0,0,0,0,0
$GC,4879,-1.24,-146.0,434.4,-7.2,244,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2210,3777,0,0,0,0,0,0
$GC,5120,-1.24,-146.0,452.8,-7.7,250,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2210,3776,0,0,0,0,0,0
$GC,5364,-1.24,-146.0,471.1,-7.5,256,5369,0.00,2.67,0.00,0.000,4,0.000,0.065,2990,3775,3775,0,0,0,0,0,0
$GC,5386,-1.24,-146.0,472.8,-7.5,256,5391,0.00,2.55,0.00,0.000,6,0.000,0.045,2990,2212,3775,0,0,0,0,0,0
$GC,5644,-1.24,-146.0,491.5,-7.3,263,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2212,3774,0,0,0,0,0,0
$GC,5886,-1.24,-146.0,510.0,-7.6,269,5890,0.00,2.65,0.00,0.000,4,0.000,0.064,2990,3775,3773,0,0,0,0,0,0
$GC,5902,-1.24,-146.0,511.3,-7.8,269,5906,0.00,2.62,0.00,0.000,6,0.000,0.054,2991,2205,3772,0,0,0,0,0,0
$GC,6165,-1.24,-146.0,531.5,-7.8,276,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2205,3771,0,0,0,0,0,0
$GC,6406,-1.28,-146.0,550.7,-8.0,282,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2205,3770,0,0,0,0,0,0
$GC,6650,-1.32,-146.0,570.3,-8.0,288,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2205,3768,0,0,0,0,0,0
$GC,6896,-1.32,-146.0,589.2,-7.8,294,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2205,3767,0,0,0,0,0,0
$GC,7137,-1.32,-146.0,607.6,-7.6,300,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2205,3766,0,0,0,0,0,0
$GC,7381,-1.35,-146.0,626.0,-7.5,306,7383,0.12,0.00,0.00,0.000,6,0.070,0.000,2943,2205,3765,0,0,0,0,0,0
$GC,7625,-1.30,-146.0,648.3,-9.3,312,7627,0.15,0.00,0.00,0.000,6,0.187,0.000,2977,2205,3764,0,0,0,0,0,0
$GC,7871,-1.30,-146.0,667.4,-7.8,318,7875,0.00,2.90,0.00,0.000,4,0.000,0.114,2978,3771,3763,0,0,0,0,0,0
$GC,7898,-1.30,-146.0,669.9,-8.0,318,7902,0.00,2.80,0.00,0.000,6,0.000,0.089,2978,2203,3762,0,0,0,0,0,0
$GC,8148,-1.30,-146.0,688.8,-7.5,324,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2203,3762,0,0,0,0,0,0
$GC,8394,-1.30,-146.0,707.0,-7.4,330,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2201,3761,0,0,0,0,0,0
$GC,8635,-1.30,-146.0,724.9,-7.4,336,8640,0.00,2.78,0.00,0.000,4,0.000,0.094,2978,3769,3760,0,0,0,0,0,0
$GC,8651,-1.30,-146.0,726.2,-7.6,336,8655,0.00,2.72,0.00,0.000,6,0.000,0.070,2978,2201,3760,0,0,0,0,0,0
$GC,8914,-1.30,-146.0,746.2,-7.7,343,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2201,3759,0,0,0,0,0,0
$GC,9155,-1.30,-146.0,764.8,-7.7,349,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2201,3758,0,0,0,0,0,0
$GC,9399,-1.30,-146.0,784.0,-7.9,355,9403,0.00,2.75,0.00,0.000,4,0.000,0.077,2977,3775,3757,0,0,0,0,0,0
$GC,9426,-1.30,-146.0,786.3,-8.7,355,9431,0.00,2.70,0.00,0.000,6,0.000,0.067,2978,2210,3756,0,0,0,0,0,0
$GC,9679,-1.30,-146.0,805.3,-7.4,361,9680,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2211,3756,0,0,0,0,0,0
$GC,9920,-1.30,-146.0,823.7,-7.6,367,9921,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2210,3755,0,0,0,0,0,0
$GC,10163,-1.30,-146.0,843.4,-8.2,373,10168,0.00,2.72,0.00,0.000,4,0.000,0.082,2977,3772,3754,0,0,0,0,0,0
$GC,10198,-1.30,-146.0,846.3,-9.1,373,10204,0.00,2.70,0.00,0.000,6,0.000,0.066,2977,2213,3754,0,0,0,0,0,0
$GC,10448,-1.30,-146.0,866.2,-7.8,380,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2213,3753,0,0,0,0,0,0
$GC,10692,-1.30,-146.0,883.6,-7.1,386,10696,0.00,2.70,0.00,0.000,4,0.000,0.075,2978,3770,3752,0,0,0,0,0,0
$GC,10725,-1.34,-146.0,886.1,-7.5,386,10731,0.00,2.67,0.00,0.000,6,0.000,0.063,2977,2221,3752,0,0,0,0,0,0
$STATE,10931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10932,begin apogee
$GC,10940,-0.31,0.0,900.5,6.9,392,11062,0.93,0.00,118.45,1.210,6,0.067,0.000,3192,2362,3190,0,0,0,0,0,0
$STATE,11063,end apogee,CONTROL_FINISHED_OK
$STATE,11063,begin climb
$GC,11065,1.27,146.0,903.4,0.0,395,11202,1.42,2.80,127.88,1.180,4,0.038,0.081,3544,3924,2592,0,0,0,0,0,0
$GC,11283,1.16,146.0,888.2,13.1,400,11288,0.15,2.70,0.00,0.000,6,0.113,0.059,3514,2369,2587,0,0,0,0,0,0
$GC,11563,1.14,164.7,861.8,9.1,407,11587,0.00,2.83,16.83,1.074,4,0.000,0.067,3515,3928,2516,0,0,0,0,0,0
$GC,11607,1.11,183.0,857.5,9.2,408,11631,0.00,2.67,17.90,1.074,6,0.000,0.053,3515,2372,2442,0,0,0,0,0,0
$GC,11895,1.11,183.0,827.5,10.5,415,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2373,2437,0,0,0,0,0,0
$GC,12136,1.11,183.0,801.9,10.4,421,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2373,2435,0,0,0,0,0,0
$GC,12380,1.11,183.0,775.7,10.6,427,12385,0.00,2.67,0.00,0.000,4,0.000,0.061,3514,3930,2435,0,0,0,0,0,0
$GC,12435,1.11,183.0,769.4,11.0,428,12439,0.00,2.62,0.00,0.000,6,0.000,0.045,3514,2380,2434,0,0,0,0,0,0
$GC,12704,1.11,184.1,742.5,10.0,435,12708,0.00,2.65,0.00,0.000,4,0.000,0.056,3515,3934,2433,0,0,0,0,0,0
$GC,12758,1.11,184.1,736.2,10.8,436,12763,0.00,2.60,0.00,0.000,6,0.000,0.047,3515,2386,2433,0,0,0,0,0,0
$GC,13028,1.12,191.2,710.4,9.7,443,13037,0.00,0.00,6.93,0.875,6,0.000,0.000,3515,2387,2410,0,0,0,0,0,0
$GC,13269,1.12,191.2,686.2,10.1,449,13270,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2387,2409,0,0,0,0,0,0
$GC,13513,1.12,191.2,661.0,10.4,455,13517,0.00,2.62,0.00,0.000,4,0.000,0.059,3515,3927,2409,0,0,0,0,0,0
$GC,13545,1.12,191.2,657.2,11.4,455,13551,0.00,2.58,0.00,0.000,6,0.000,0.044,3515,2391,2408,0,0,0,0,0,0
$GC,13797,1.12,191.2,631.0,10.5,462,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2391,2408,0,0,0,0,0,0
$GC,14038,1.12,191.2,606.1,10.1,468,14040,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2391,2408,0,0,0,0,0,0
$GC,14282,1.12,191.2,581.4,10.0,474,14287,0.00,2.60,0.00,0.000,4,0.000,0.054,3515,3930,2408,0,0,0,0,0,0
$GC,14321,1.12,191.2,577.2,10.8,475,14325,0.00,2.58,0.00,0.000,6,0.000,0.042,3514,2392,2407,0,0,0,0,0,0
$GC,14606,1.12,192.3,549.0,9.9,482,14608,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2392,2407,0,0,0,0,0,0
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