version: 66.06
glider: 146
mission: 8
dive: 342
start: 3 30 113 0 12 25
data:
$ID,146
$MISSION,8
$DIVE,342
$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,-314157.94
$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,47
$R_STBD_OVSHOOT,26
$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
$GPS1,235329,1928.536,-8117.199,42,1.2,47,-3.7
$_CALLS,2
$_XMS_NAKs,22
$_XMS_TOUTs,2
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-73.9
$GPS2,001130,1928.429,-8117.367,12,1.2,29,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.255,-0.049
$KALMAN_X,-155686.9,451.8,-2.8,137839.8,-3073.4
$KALMAN_Y,100080.2,422.1,209.5,-91714.7,207.4
$MHEAD_RNG_PITCHd_Wd,104.6,17907,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-70.43,0.000,2,0.000,0.000,462,2170,3460,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.1,-2.8,9,121,13.43,2.53,-6.45,0.000,4,0.156,0.056,2979,644,3786,0,0,0,0,0,0
$GC,146,-0.77,-146.0,19.5,-32.1,15,155,0.47,2.47,0.00,0.000,6,0.080,0.017,3089,2240,3786,0,0,0,0,0,0
$GC,424,-0.77,-146.0,54.3,-11.5,44,428,0.00,2.62,0.00,0.000,4,0.000,0.045,3089,640,3787,0,0,0,0,0,0
$GC,459,-0.77,-146.0,58.0,-9.6,46,463,0.00,2.40,0.00,0.000,6,0.000,0.015,3089,2204,3787,0,0,0,0,0,0
$GC,724,-0.77,-146.0,83.7,-11.0,70,728,0.00,2.53,0.00,0.000,4,0.000,0.043,3089,649,3787,0,0,0,0,0,0
$GC,776,-0.83,-146.0,90.1,-10.7,74,780,0.00,2.38,0.00,0.000,6,0.000,0.017,3089,2191,3787,0,0,0,0,0,0
$GC,1038,-0.83,-146.0,116.3,-10.2,98,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2191,3787,0,0,0,0,0,0
$GC,1294,-0.87,-146.0,141.6,-10.2,122,1298,0.00,2.53,0.00,0.000,4,0.000,0.046,3089,645,3787,0,0,0,0,0,0
$GC,1347,-0.94,-146.0,146.6,-9.1,126,1352,0.15,2.35,0.00,0.000,6,0.054,0.019,3016,2192,3787,0,0,0,0,0,0
$GC,1608,-0.94,-146.0,175.2,-9.9,150,1613,0.17,2.53,0.00,0.000,4,0.084,0.043,3057,646,3788,0,0,0,0,0,0
$GC,1618,-0.94,-146.0,176.5,-10.0,150,1628,0.00,2.40,0.00,0.000,6,0.000,0.017,3057,2206,3788,0,0,0,0,0,0
$GC,1887,-1.05,-146.0,196.6,-6.9,175,1892,0.10,2.55,0.00,0.000,4,0.078,0.051,3006,648,3788,0,0,0,0,0,0
$GC,1916,-1.05,-146.0,199.6,-8.9,177,1921,0.12,2.33,0.00,0.000,6,0.094,0.020,3036,2176,3788,0,0,0,0,0,0
$GC,2169,-1.12,-146.0,217.1,-6.6,183,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2176,3788,0,0,0,0,0,0
$GC,2410,-1.20,-146.0,233.6,-6.6,189,2412,0.15,0.00,0.00,0.000,6,0.058,0.000,2971,2177,3788,0,0,0,0,0,0
$GC,2653,-1.20,-146.0,255.0,-8.8,195,2655,0.12,0.00,0.00,0.000,6,0.096,0.000,3001,2177,3788,0,0,0,0,0,0
$GC,2897,-1.20,-146.0,271.9,-6.9,201,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2177,3787,0,0,0,0,0,0
$GC,3143,-1.20,-146.0,288.5,-6.7,207,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2177,3787,0,0,0,0,0,0
$GC,3384,-1.20,-146.0,304.7,-6.8,213,3389,0.00,2.60,0.00,0.000,4,0.000,0.044,3001,3776,3786,0,0,0,0,0,0
$GC,3412,-1.24,-146.0,306.8,-7.1,213,3416,0.00,2.47,0.00,0.000,6,0.000,0.026,3001,2191,3786,0,0,0,0,0,0
$GC,3664,-1.24,-146.0,325.4,-7.6,219,3669,0.00,2.60,0.00,0.000,4,0.000,0.063,3001,635,3785,0,0,0,0,0,0
$GC,3680,-1.24,-146.0,327.0,-7.6,219,3685,0.00,2.38,0.00,0.000,6,0.000,0.029,3001,2169,3785,0,0,0,0,0,0
$GC,3942,-1.28,-146.0,347.2,-7.8,226,3947,0.00,2.58,0.00,0.000,4,0.000,0.059,3001,636,3784,0,0,0,0,0,0
$GC,3961,-1.28,-146.0,348.6,-7.7,226,3965,0.00,2.45,0.00,0.000,6,0.000,0.032,3001,2185,3784,0,0,0,0,0,0
$GC,4222,-1.32,-146.0,368.1,-7.4,233,4227,0.12,2.62,0.00,0.000,4,0.067,0.046,2952,3784,3783,0,0,0,0,0,0
$GC,4244,-1.32,-146.0,370.2,-8.8,233,4248,0.00,2.53,0.00,0.000,6,0.000,0.032,2951,2190,3783,0,0,0,0,0,0
$GC,4499,-1.27,-146.0,393.1,-8.8,240,4505,0.15,2.62,0.00,0.000,4,0.089,0.044,2986,3781,3782,0,0,0,0,0,0
$GC,4521,-1.27,-146.0,395.1,-8.5,240,4526,0.00,2.58,0.00,0.000,6,0.000,0.029,2987,2179,3782,0,0,0,0,0,0
$GC,4777,-1.27,-146.0,413.8,-7.2,247,4782,0.00,2.65,0.00,0.000,4,0.000,0.054,2986,3785,3781,0,0,0,0,0,0
$GC,4795,-1.27,-146.0,415.0,-7.4,247,4800,0.00,2.55,0.00,0.000,6,0.000,0.038,2987,2193,3781,0,0,0,0,0,0
$GC,5056,-1.27,-146.0,433.1,-6.8,254,5060,0.00,2.78,0.00,0.000,4,0.000,0.083,2987,620,3780,0,0,0,0,0,0
$GC,5077,-1.27,-146.0,434.8,-7.6,254,5082,0.00,2.53,0.00,0.000,6,0.000,0.039,2987,2182,3779,0,0,0,0,0,0
$GC,5335,-1.27,-146.0,455.5,-8.3,261,5339,0.00,2.67,0.00,0.000,4,0.000,0.063,2986,3793,3778,0,0,0,0,0,0
$GC,5356,-1.27,-146.0,457.6,-8.3,261,5361,0.00,2.60,0.00,0.000,6,0.000,0.042,2987,2191,3778,0,0,0,0,0,0
$GC,5612,-1.27,-146.0,476.2,-7.1,268,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2192,3777,0,0,0,0,0,0
$GC,5858,-1.27,-146.0,493.9,-7.3,274,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2191,3776,0,0,0,0,0,0
$GC,6099,-1.27,-146.0,512.2,-7.5,280,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2191,3775,0,0,0,0,0,0
$GC,6343,-1.27,-146.0,530.9,-7.8,286,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2191,3774,0,0,0,0,0,0
$GC,6587,-1.27,-146.0,550.7,-8.1,292,6591,0.00,2.75,0.00,0.000,4,0.000,0.070,2987,3786,3772,0,0,0,0,0,0
$GC,6610,-1.27,-146.0,552.6,-8.2,292,6615,0.00,2.67,0.00,0.000,6,0.000,0.054,2987,2189,3772,0,0,0,0,0,0
$GC,6865,-1.27,-146.0,572.9,-7.8,299,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2188,3770,0,0,0,0,0,0
$GC,7109,-1.27,-146.0,591.1,-7.5,305,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2189,3769,0,0,0,0,0,0
$GC,7355,-1.27,-146.0,609.0,-7.3,311,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2189,3768,0,0,0,0,0,0
$GC,7597,-1.27,-146.0,627.0,-7.5,317,7601,0.00,2.83,0.00,0.000,4,0.000,0.084,2987,3785,3767,0,0,0,0,0,0
$GC,7612,-1.27,-146.0,628.4,-7.4,317,7617,0.00,2.75,0.00,0.000,6,0.000,0.071,2987,2189,3767,0,0,0,0,0,0
$GC,7874,-1.27,-146.0,647.2,-7.2,324,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2190,3766,0,0,0,0,0,0
$GC,8120,-1.27,-146.0,665.9,-7.7,330,8124,0.00,2.85,0.00,0.000,4,0.000,0.096,2986,3785,3765,0,0,0,0,0,0
$GC,8141,-1.27,-146.0,667.9,-7.9,330,8146,0.00,2.85,0.00,0.000,6,0.000,0.087,2987,2192,3765,0,0,0,0,0,0
$GC,8397,-1.27,-146.0,688.0,-8.0,337,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2192,3763,0,0,0,0,0,0
$GC,8643,-1.27,-146.0,708.0,-8.3,343,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2192,3762,0,0,0,0,0,0
$GC,8885,-1.31,-146.0,728.4,-8.3,349,8890,0.00,3.08,0.00,0.000,4,0.000,0.127,2987,3782,3762,0,0,0,0,0,0
$GC,8918,-1.35,-146.0,731.2,-9.0,349,8924,0.00,2.85,0.00,0.000,6,0.000,0.093,2987,2198,3762,0,0,0,0,0,0
$GC,9171,-1.39,-146.0,750.6,-7.7,356,9173,0.12,0.00,0.00,0.000,6,0.068,0.000,2942,2198,3761,0,0,0,0,0,0
$GC,9412,-1.34,-146.0,773.5,-9.4,362,9417,0.12,2.85,0.00,0.000,4,0.103,0.088,2970,3790,3760,0,0,0,0,0,0
$GC,9457,-1.34,-146.0,777.5,-9.2,363,9461,0.00,2.78,0.00,0.000,6,0.000,0.077,2970,2199,3759,0,0,0,0,0,0
$GC,9737,-1.34,-146.0,799.9,-8.0,370,9742,0.00,2.80,0.00,0.000,4,0.000,0.085,2969,3785,3759,0,0,0,0,0,0
$GC,9764,-1.34,-146.0,802.4,-8.4,370,9768,0.00,2.75,0.00,0.000,6,0.000,0.076,2970,2208,3759,0,0,0,0,0,0
$GC,10014,-1.34,-146.0,822.2,-7.8,376,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2209,3757,0,0,0,0,0,0
$GC,10260,-1.34,-146.0,840.6,-7.4,382,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2208,3757,0,0,0,0,0,0
$GC,10501,-1.34,-146.0,859.6,-8.0,388,10506,0.00,2.78,0.00,0.000,4,0.000,0.087,2970,3785,3756,0,0,0,0,0,0
$GC,10534,-1.34,-146.0,862.4,-8.5,388,10539,0.00,2.72,0.00,0.000,6,0.000,0.068,2970,2207,3756,0,0,0,0,0,0
$GC,10786,-1.34,-146.0,882.7,-8.1,395,10791,0.00,2.80,0.00,0.000,4,0.000,0.081,2970,3787,3755,0,0,0,0,0,0
$GC,10808,-1.34,-146.0,884.9,-9.0,395,10812,0.00,2.72,0.00,0.000,6,0.000,0.067,2970,2212,3755,0,0,0,0,0,0
$STATE,11019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11019,begin apogee
$GC,11026,-0.31,0.0,901.5,7.7,401,11149,0.98,0.00,119.45,1.203,6,0.071,0.000,3192,2365,3190,0,0,0,0,0,0
$STATE,11149,end apogee,CONTROL_FINISHED_OK
$STATE,11150,begin climb
$GC,11154,1.27,146.0,904.5,0.0,404,11290,1.42,2.88,126.93,1.178,4,0.046,0.082,3542,3933,2593,0,0,0,0,0,0
$GC,11367,1.15,146.0,890.5,11.6,409,11372,0.15,2.75,0.00,0.000,6,0.115,0.064,3512,2363,2588,0,0,0,0,0,0
$GC,11650,1.18,168.2,863.9,9.0,416,11676,0.00,2.80,20.00,1.088,4,0.000,0.066,3512,3931,2504,0,0,0,0,0,0
$GC,11712,1.12,168.7,858.3,10.0,417,11717,0.00,2.67,0.00,0.000,6,0.000,0.055,3512,2376,2501,0,0,0,0,0,0
$GC,11973,1.14,178.7,833.6,9.5,424,11985,0.00,0.00,10.43,1.008,6,0.000,0.000,3511,2376,2461,0,0,0,0,0,0
$GC,12216,1.14,178.7,808.4,10.5,430,12217,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2376,2458,0,0,0,0,0,0
$GC,12460,1.14,178.7,782.6,10.7,436,12464,0.00,2.67,0.00,0.000,4,0.000,0.061,3511,3934,2456,0,0,0,0,0,0
$GC,12528,1.14,178.7,774.8,11.6,437,12533,0.00,2.62,0.00,0.000,6,0.000,0.049,3512,2371,2456,0,0,0,0,0,0
$GC,12783,1.14,178.7,746.6,11.0,444,12787,0.00,2.65,0.00,0.000,4,0.000,0.062,3512,3935,2455,0,0,0,0,0,0
$GC,12832,1.14,178.7,740.6,12.3,445,12836,0.00,2.62,0.00,0.000,6,0.000,0.043,3511,2379,2455,0,0,0,0,0,0
$GC,13107,1.14,178.7,712.0,10.3,452,13111,0.00,2.65,0.00,0.000,4,0.000,0.059,3512,3932,2454,0,0,0,0,0,0
$GC,13173,1.14,178.7,704.6,10.6,453,13177,0.00,2.60,0.00,0.000,6,0.000,0.049,3511,2385,2454,0,0,0,0,0,0
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