version: 66.06
glider: 146
mission: 8
dive: 347
start: 3 31 113 6 5 5
data:
$ID,146
$MISSION,8
$DIVE,347
$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,-314341.12
$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,46
$R_STBD_OVSHOOT,32
$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
$GPS1,055306,1925.213,-8111.908,37,1.4,37,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-73.6
$GPS2,060412,1925.195,-8111.885,14,1.4,31,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.260,0.003
$KALMAN_X,-165254.6,211.5,64.6,157154.2,-1886.6
$KALMAN_Y,105641.6,-29.3,343.2,-102928.8,-584.5
$MHEAD_RNG_PITCHd_Wd,93.1,6908,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.43,0.000,2,0.000,0.000,460,2182,3466,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.5,-4.7,9,121,13.52,2.58,-6.25,0.000,4,0.153,0.038,2977,3801,3787,0,0,0,0,0,0
$GC,161,-1.10,-146.0,20.4,-18.3,17,171,0.15,2.53,0.00,0.000,6,0.083,0.025,3015,2215,3787,0,0,0,0,0,0
$GC,441,-0.98,-146.0,61.4,-16.2,46,446,0.15,2.60,0.00,0.000,4,0.101,0.045,3048,636,3788,0,0,0,0,0,0
$GC,479,-0.91,-146.0,66.8,-14.8,48,483,0.00,2.45,0.00,0.000,6,0.000,0.016,3048,2235,3788,0,0,0,0,0,0
$GC,742,-0.86,-146.0,101.1,-13.0,72,747,0.10,2.62,0.00,0.000,4,0.120,0.048,3071,637,3788,0,0,0,0,0,0
$GC,765,-0.86,-146.0,103.5,-12.2,73,769,0.00,2.38,0.00,0.000,6,0.000,0.015,3071,2197,3788,0,0,0,0,0,0
$GC,1031,-0.86,-146.0,133.7,-11.0,97,1035,0.00,2.55,0.00,0.000,4,0.000,0.048,3071,633,3789,0,0,0,0,0,0
$GC,1052,-0.86,-146.0,136.5,-10.2,98,1061,0.00,2.40,0.00,0.000,6,0.000,0.018,3071,2198,3789,0,0,0,0,0,0
$GC,1318,-0.93,-146.0,161.0,-8.5,123,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2198,3789,0,0,0,0,0,0
$GC,1585,-1.03,-146.0,179.8,-6.8,148,1590,0.15,2.58,0.00,0.000,4,0.056,0.046,3005,629,3789,0,0,0,0,0,0
$GC,1616,-1.03,-146.0,182.6,-9.0,150,1621,0.12,2.40,0.00,0.000,6,0.098,0.025,3035,2201,3789,0,0,0,0,0,0
$GC,1907,-1.10,-146.0,206.4,-7.9,171,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2201,3790,0,0,0,0,0,0
$GC,2151,-1.18,-146.0,223.2,-6.6,177,2157,0.15,2.60,0.00,0.000,4,0.056,0.054,2968,636,3790,0,0,0,0,0,0
$GC,2173,-1.18,-146.0,225.0,-7.2,177,2178,0.15,2.35,0.00,0.000,6,0.091,0.017,3003,2195,3790,0,0,0,0,0,0
$GC,2429,-1.18,-146.0,244.6,-7.8,184,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2195,3790,0,0,0,0,0,0
$GC,2675,-1.18,-146.0,262.0,-7.0,190,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2195,3790,0,0,0,0,0,0
$GC,2917,-1.22,-146.0,279.5,-7.3,196,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2195,3790,0,0,0,0,0,0
$GC,3160,-1.26,-146.0,297.4,-7.4,202,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2196,3789,0,0,0,0,0,0
$GC,3406,-1.31,-146.0,316.4,-7.8,208,3408,0.12,0.00,0.00,0.000,6,0.065,0.000,2952,2195,3788,0,0,0,0,0,0
$GC,3648,-1.26,-146.0,339.4,-9.7,214,3653,0.15,2.53,0.00,0.000,4,0.089,0.044,2987,3760,3787,0,0,0,0,0,0
$GC,3664,-1.26,-146.0,341.1,-9.4,214,3668,0.00,2.45,0.00,0.000,6,0.000,0.028,2987,2201,3787,0,0,0,0,0,0
$GC,3927,-1.26,-146.0,362.6,-8.5,221,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2201,3786,0,0,0,0,0,0
$GC,4168,-1.26,-146.0,383.8,-8.8,227,4173,0.00,2.67,0.00,0.000,4,0.000,0.074,2987,630,3786,0,0,0,0,0,0
$GC,4189,-1.26,-146.0,385.7,-8.6,227,4194,0.00,2.42,0.00,0.000,6,0.000,0.028,2987,2174,3785,0,0,0,0,0,0
$GC,4445,-1.26,-146.0,407.1,-8.2,234,4450,0.00,2.62,0.00,0.000,4,0.000,0.055,2987,3785,3784,0,0,0,0,0,0
$GC,4492,-1.30,-146.0,411.0,-8.5,235,4497,0.00,2.50,0.00,0.000,6,0.000,0.031,2987,2217,3784,0,0,0,0,0,0
$GC,4770,-1.30,-146.0,431.9,-7.4,242,4775,0.00,2.75,0.00,0.000,4,0.000,0.086,2987,626,3783,0,0,0,0,0,0
$GC,4786,-1.30,-146.0,433.2,-7.7,242,4790,0.00,2.53,0.00,0.000,6,0.000,0.033,2987,2198,3783,0,0,0,0,0,0
$GC,5049,-1.30,-146.0,453.2,-7.7,249,5053,0.00,2.65,0.00,0.000,4,0.000,0.058,2987,3793,3781,0,0,0,0,0,0
$GC,5070,-1.30,-146.0,455.2,-8.2,249,5074,0.00,2.58,0.00,0.000,6,0.000,0.039,2987,2205,3781,0,0,0,0,0,0
$GC,5325,-1.30,-146.0,474.8,-7.7,256,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2205,3780,0,0,0,0,0,0
$GC,5571,-1.30,-146.0,494.1,-8.0,262,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2205,3779,0,0,0,0,0,0
$GC,5813,-1.30,-146.0,513.8,-8.0,268,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2205,3777,0,0,0,0,0,0
$GC,6056,-1.30,-146.0,533.0,-7.9,274,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2205,3777,0,0,0,0,0,0
$GC,6300,-1.30,-146.0,552.6,-8.0,280,6305,0.00,2.95,0.00,0.000,4,0.000,0.111,2987,623,3776,0,0,0,0,0,0
$GC,6318,-1.30,-146.0,554.0,-8.2,280,6323,0.00,2.60,0.00,0.000,6,0.000,0.051,2987,2201,3775,0,0,0,0,0,0
$GC,6579,-1.30,-146.0,574.9,-7.9,287,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2201,3774,0,0,0,0,0,0
$GC,6822,-1.30,-146.0,593.7,-7.7,293,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2201,3773,0,0,0,0,0,0
$GC,7069,-1.30,-146.0,612.4,-7.6,299,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2201,3772,0,0,0,0,0,0
$GC,7310,-1.30,-146.0,631.2,-7.7,305,7315,0.00,2.88,0.00,0.000,4,0.000,0.100,2987,3794,3770,0,0,0,0,0,0
$GC,7326,-1.30,-146.0,632.5,-7.8,305,7330,0.00,2.72,0.00,0.000,6,0.000,0.067,2987,2206,3770,0,0,0,0,0,0
$GC,7589,-1.30,-146.0,652.5,-7.6,312,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2206,3769,0,0,0,0,0,0
$GC,7830,-1.30,-146.0,670.6,-7.4,318,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2206,3768,0,0,0,0,0,0
$GC,8074,-1.33,-146.0,688.2,-7.2,324,8079,0.00,2.90,0.00,0.000,4,0.000,0.100,2987,3792,3767,0,0,0,0,0,0
$GC,8102,-1.37,-146.0,690.3,-7.7,324,8107,0.12,2.85,0.00,0.000,6,0.067,0.098,2939,2216,3767,0,0,0,0,0,0
$GC,8354,-1.32,-146.0,712.6,-8.9,330,8356,0.15,0.00,0.00,0.000,6,0.094,0.000,2972,2216,3766,0,0,0,0,0,0
$GC,8595,-1.32,-146.0,731.9,-7.8,336,8596,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2217,3765,0,0,0,0,0,0
$GC,8839,-1.32,-146.0,751.2,-8.0,342,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2216,3764,0,0,0,0,0,0
$GC,9085,-1.32,-146.0,769.9,-7.6,348,9090,0.00,2.83,0.00,0.000,4,0.000,0.094,2973,3799,3762,0,0,0,0,0,0
$GC,9112,-1.32,-146.0,772.3,-7.6,348,9117,0.00,2.78,0.00,0.000,6,0.000,0.076,2973,2212,3762,0,0,0,0,0,0
$GC,9362,-1.32,-146.0,791.4,-7.7,354,9367,0.00,3.00,0.00,0.000,4,0.000,0.121,2973,622,3762,0,0,0,0,0,0
$GC,9387,-1.32,-146.0,793.3,-8.5,354,9392,0.00,2.72,0.00,0.000,6,0.000,0.062,2973,2207,3762,0,0,0,0,0,0
$GC,9643,-1.32,-146.0,812.5,-7.3,361,9647,0.00,2.88,0.00,0.000,4,0.000,0.102,2972,3797,3761,0,0,0,0,0,0
$GC,9675,-1.32,-146.0,815.1,-7.8,361,9681,0.00,2.75,0.00,0.000,6,0.000,0.068,2972,2210,3761,0,0,0,0,0,0
$GC,9928,-1.32,-146.0,833.9,-7.6,368,9929,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2210,3760,0,0,0,0,0,0
$GC,10169,-1.32,-146.0,852.4,-7.7,374,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2210,3759,0,0,0,0,0,0
$GC,10413,-1.32,-146.0,870.1,-7.2,380,10417,0.00,2.83,0.00,0.000,4,0.000,0.083,2973,3802,3759,0,0,0,0,0,0
$GC,10445,-1.32,-146.0,873.0,-8.9,380,10451,0.00,2.78,0.00,0.000,6,0.000,0.071,2973,2199,3759,0,0,0,0,0,0
$GC,10698,-1.32,-146.0,891.5,-7.5,387,10702,0.00,2.83,0.00,0.000,4,0.000,0.080,2972,3798,3757,0,0,0,0,0,0
$GC,10726,-1.32,-146.0,894.0,-8.8,387,10731,0.00,2.75,0.00,0.000,6,0.000,0.073,2973,2214,3757,0,0,0,0,0,0
$STATE,10811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10811,begin apogee
$GC,10817,-0.31,0.0,901.0,8.1,389,10941,0.95,0.00,120.15,1.203,6,0.067,0.000,3192,2383,3190,0,0,0,0,0,0
$STATE,10942,end apogee,CONTROL_FINISHED_OK
$STATE,10942,begin climb
$GC,10946,1.27,146.0,904.1,0.0,392,11082,1.42,2.83,126.93,1.177,4,0.039,0.080,3542,3927,2594,0,0,0,0,0,0
$GC,11140,1.15,146.0,893.4,10.4,396,11146,0.15,2.72,0.00,0.000,6,0.111,0.058,3511,2362,2589,0,0,0,0,0,0
$GC,11396,1.17,166.0,869.7,9.1,403,11420,0.00,2.83,18.12,1.079,4,0.000,0.065,3511,3923,2513,0,0,0,0,0,0
$GC,11474,1.13,166.0,861.8,10.7,404,11479,0.00,2.62,0.00,0.000,6,0.000,0.051,3511,2380,2510,0,0,0,0,0,0
$GC,11724,1.13,166.0,836.6,10.0,410,11725,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2380,2508,0,0,0,0,0,0
$GC,11968,1.13,166.0,812.2,10.0,416,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2380,2507,0,0,0,0,0,0
$GC,12212,1.15,182.1,789.1,9.3,422,12232,0.00,2.70,14.95,1.045,4,0.000,0.062,3511,3935,2447,0,0,0,0,0,0
$GC,12252,1.15,182.1,785.2,10.8,423,12256,0.00,2.65,0.00,0.000,6,0.000,0.050,3511,2378,2446,0,0,0,0,0,0
$GC,12534,1.15,182.1,756.5,10.0,430,12535,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2378,2444,0,0,0,0,0,0
$GC,12778,1.15,188.3,732.5,9.7,436,12787,0.00,0.00,6.88,0.883,6,0.000,0.000,3511,2378,2421,0,0,0,0,0,0
$GC,13069,1.16,189.6,704.1,9.9,443,13074,0.00,2.62,0.00,0.000,4,0.000,0.056,3511,3930,2420,0,0,0,0,0,0
$GC,13102,1.16,189.6,700.2,10.9,443,13107,0.00,2.60,0.00,0.000,6,0.000,0.042,3511,2383,2418,0,0,0,0,0,0
$GC,13352,1.16,189.6,675.1,10.1,450,13353,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2383,2418,0,0,0,0,0,0
$GC,13598,1.16,189.6,650.3,10.2,456,13602,0.00,2.62,0.00,0.000,4,0.000,0.054,3511,3930,2418,0,0,0,0,0,0
$GC,13618,1.16,189.6,647.7,11.0,456,13623,0.00,2.58,0.00,0.000,6,0.000,0.048,3511,2387,2418,0,0,0,0,0,0
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$STATE,19676,begin surface coast
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$DATA_FILE_SIZE,57364,736
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