version: 66.06
glider: 146
mission: 8
dive: 355
start: 4 2 113 2 21 32
data:
$ID,146
$MISSION,8
$DIVE,355
$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,-314498.31
$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,29
$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
$GPS1,021323,1928.691,-8118.918,38,1.8,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-74.1
$GPS2,022036,1928.662,-8118.975,9,1.3,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.120
$KALMAN_X,-187473.6,598.1,-40.7,166712.3,-3603.7
$KALMAN_Y,113044.6,-84.3,137.3,-103664.8,1188.1
$MHEAD_RNG_PITCHd_Wd,121.3,3518,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.45,0.000,2,0.000,0.000,458,2183,3458,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.4,-4.0,9,121,13.50,2.50,-6.45,0.000,4,0.154,0.051,2978,647,3786,0,0,0,0,0,0
$GC,135,-0.13,-146.0,15.2,-30.6,13,144,1.10,2.47,0.00,0.000,6,0.074,0.015,3226,2248,3786,0,0,0,0,0,0
$GC,457,-0.48,-146.0,32.0,-4.3,58,462,0.28,2.62,0.00,0.000,4,0.041,0.042,3145,641,3787,0,0,0,0,0,0
$GC,481,-0.76,-146.0,33.5,-4.9,59,486,0.22,2.40,0.00,0.000,6,0.044,0.016,3062,2201,3787,0,0,0,0,0,0
$GC,751,-0.76,-146.0,61.9,-10.9,83,763,0.15,0.00,0.00,0.000,6,0.091,0.000,3096,2203,3788,0,0,0,0,0,0
$GC,1016,-0.81,-146.0,86.7,-9.2,108,1020,0.00,2.55,0.00,0.000,4,0.000,0.044,3096,649,3788,0,0,0,0,0,0
$GC,1051,-0.87,-146.0,90.2,-9.6,110,1060,0.08,2.40,0.00,0.000,6,0.039,0.017,3043,2199,3788,0,0,0,0,0,0
$GC,1320,-0.81,-146.0,121.8,-12.0,135,1326,0.17,0.00,0.00,0.000,6,0.087,0.000,3084,2201,3788,0,0,0,0,0,0
$GC,1586,-0.88,-146.0,145.0,-7.6,160,1590,0.00,2.55,0.00,0.000,4,0.000,0.044,3084,644,3789,0,0,0,0,0,0
$GC,1633,-1.00,-146.0,148.9,-8.0,163,1638,0.17,2.38,0.00,0.000,6,0.051,0.017,3015,2195,3789,0,0,0,0,0,0
$GC,1898,-1.00,-146.0,176.4,-10.3,187,1903,0.12,2.53,0.00,0.000,4,0.099,0.044,3044,649,3789,0,0,0,0,0,0
$GC,1908,-1.00,-146.0,177.8,-10.1,187,1914,0.00,2.35,0.00,0.000,6,0.000,0.022,3044,2201,3789,0,0,0,0,0,0
$GC,2172,-1.09,-146.0,195.6,-6.7,212,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2201,3790,0,0,0,0,0,0
$GC,2449,-1.18,-146.0,214.6,-7.1,224,2451,0.17,0.00,0.00,0.000,6,0.050,0.000,2971,2201,3790,0,0,0,0,0,0
$GC,2690,-1.18,-146.0,236.5,-9.1,230,2695,0.12,2.55,0.00,0.000,4,0.095,0.054,3002,649,3790,0,0,0,0,0,0
$GC,2730,-1.18,-146.0,239.8,-8.1,231,2734,0.00,2.35,0.00,0.000,6,0.000,0.024,3002,2178,3790,0,0,0,0,0,0
$GC,3016,-1.18,-146.0,260.8,-7.4,238,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2179,3790,0,0,0,0,0,0
$GC,3259,-1.22,-146.0,278.9,-7.6,244,3263,0.00,2.55,0.00,0.000,4,0.000,0.044,3002,3777,3790,0,0,0,0,0,0
$GC,3283,-1.26,-146.0,280.9,-7.7,244,3288,0.00,2.45,0.00,0.000,6,0.000,0.023,3003,2198,3790,0,0,0,0,0,0
$GC,3539,-1.30,-146.0,300.0,-7.4,251,3544,0.12,2.55,0.00,0.000,4,0.066,0.041,2951,3775,3789,0,0,0,0,0,0
$GC,3555,-1.30,-146.0,301.5,-7.8,251,3560,0.12,2.47,0.00,0.000,6,0.093,0.022,2981,2192,3789,0,0,0,0,0,0
$GC,3819,-1.30,-146.0,323.8,-8.4,258,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2192,3789,0,0,0,0,0,0
$GC,4060,-1.30,-146.0,344.8,-8.6,264,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2192,3788,0,0,0,0,0,0
$GC,4304,-1.30,-146.0,365.8,-8.7,270,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2193,3786,0,0,0,0,0,0
$GC,4548,-1.30,-146.0,387.9,-9.0,276,4552,0.00,2.58,0.00,0.000,4,0.000,0.052,2980,3767,3786,0,0,0,0,0,0
$GC,4566,-1.30,-146.0,389.5,-9.0,276,4570,0.00,2.50,0.00,0.000,6,0.000,0.034,2981,2204,3786,0,0,0,0,0,0
$GC,4829,-1.30,-146.0,411.5,-8.1,283,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2205,3785,0,0,0,0,0,0
$GC,5070,-1.30,-146.0,431.0,-8.0,289,5075,0.00,2.75,0.00,0.000,4,0.000,0.081,2980,631,3784,0,0,0,0,0,0
$GC,5112,-1.30,-146.0,434.6,-9.1,290,5116,0.00,2.50,0.00,0.000,6,0.000,0.041,2981,2178,3783,0,0,0,0,0,0
$GC,5395,-1.30,-146.0,458.6,-8.3,297,5399,0.00,2.70,0.00,0.000,4,0.000,0.063,2981,3793,3782,0,0,0,0,0,0
$GC,5427,-1.30,-146.0,461.6,-8.9,297,5433,0.00,2.60,0.00,0.000,6,0.000,0.037,2980,2202,3782,0,0,0,0,0,0
$GC,5680,-1.30,-146.0,482.5,-8.4,304,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2202,3781,0,0,0,0,0,0
$GC,5921,-1.30,-146.0,502.8,-8.4,310,5925,0.00,2.70,0.00,0.000,4,0.000,0.062,2981,3797,3779,0,0,0,0,0,0
$GC,5937,-1.30,-146.0,504.1,-8.2,310,5942,0.00,2.65,0.00,0.000,6,0.000,0.045,2981,2204,3779,0,0,0,0,0,0
$GC,6200,-1.30,-146.0,525.4,-8.2,317,6205,0.00,2.95,0.00,0.000,4,0.000,0.109,2980,616,3777,0,0,0,0,0,0
$GC,6222,-1.30,-146.0,527.6,-8.4,317,6226,0.00,2.62,0.00,0.000,6,0.000,0.044,2980,2204,3777,0,0,0,0,0,0
$GC,6477,-1.30,-146.0,548.1,-8.0,324,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2205,3776,0,0,0,0,0,0
$GC,6720,-1.30,-146.0,567.4,-7.9,330,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2205,3776,0,0,0,0,0,0
$GC,6967,-1.30,-146.0,586.2,-7.8,336,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2205,3774,0,0,0,0,0,0
$GC,7208,-1.30,-146.0,604.8,-7.6,342,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2205,3773,0,0,0,0,0,0
$GC,7452,-1.30,-146.0,623.0,-7.4,348,7456,0.00,2.88,0.00,0.000,4,0.000,0.099,2981,3794,3771,0,0,0,0,0,0
$GC,7471,-1.30,-146.0,624.4,-7.3,348,7476,0.00,2.75,0.00,0.000,6,0.000,0.070,2981,2202,3770,0,0,0,0,0,0
$GC,7732,-1.30,-146.0,644.3,-7.5,355,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2202,3770,0,0,0,0,0,0
$GC,7976,-1.30,-146.0,662.8,-7.6,361,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2202,3768,0,0,0,0,0,0
$GC,8219,-1.30,-146.0,681.1,-7.6,367,8224,0.00,2.90,0.00,0.000,4,0.000,0.102,2981,3791,3767,0,0,0,0,0,0
$GC,8243,-1.30,-146.0,682.9,-8.5,367,8248,0.00,2.88,0.00,0.000,6,0.000,0.091,2981,2205,3767,0,0,0,0,0,0
$GC,8498,-1.30,-146.0,702.7,-7.7,374,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2205,3766,0,0,0,0,0,0
$GC,8742,-1.30,-146.0,722.3,-8.0,380,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2205,3766,0,0,0,0,0,0
$GC,8988,-1.30,-146.0,741.3,-7.8,386,8993,0.00,3.08,0.00,0.000,4,0.000,0.130,2981,3791,3765,0,0,0,0,0,0
$GC,9004,-1.30,-146.0,742.9,-7.8,386,9009,0.00,3.08,0.00,0.000,6,0.000,0.122,2981,2204,3764,0,0,0,0,0,0
$GC,9265,-1.30,-146.0,762.9,-7.6,393,9270,0.00,3.20,0.00,0.000,4,0.000,0.146,2980,3793,3763,0,0,0,0,0,0
$GC,9285,-1.30,-146.0,764.3,-7.4,393,9289,0.00,2.83,0.00,0.000,6,0.000,0.082,2981,2213,3763,0,0,0,0,0,0
$GC,9546,-1.30,-146.0,784.7,-7.8,400,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2213,3762,0,0,0,0,0,0
$GC,9789,-1.30,-146.0,803.9,-7.8,406,9790,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2212,3762,0,0,0,0,0,0
$GC,10033,-1.30,-146.0,823.2,-8.0,412,10038,0.00,2.80,0.00,0.000,4,0.000,0.090,2981,3792,3761,0,0,0,0,0,0
$GC,10068,-1.34,-146.0,826.0,-8.5,412,10074,0.00,2.70,0.00,0.000,6,0.000,0.074,2981,2222,3761,0,0,0,0,0,0
$GC,10319,-1.38,-146.0,845.5,-7.5,419,10320,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2221,3760,0,0,0,0,0,0
$GC,10562,-1.43,-146.0,862.9,-7.1,425,10568,0.15,2.78,0.00,0.000,4,0.063,0.080,2929,3794,3759,0,0,0,0,0,0
$GC,10593,-1.38,-146.0,865.4,-9.8,425,10598,0.12,2.72,0.00,0.000,6,0.100,0.066,2958,2230,3759,0,0,0,0,0,0
$GC,10843,-1.38,-146.0,885.3,-7.8,431,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2230,3758,0,0,0,0,0,0
$STATE,11043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11043,begin apogee
$GC,11052,-0.31,0.0,901.4,8.0,436,11176,1.00,0.00,120.00,1.205,6,0.067,0.000,3190,2383,3190,0,0,0,0,0,0
$STATE,11176,end apogee,CONTROL_FINISHED_OK
$STATE,11176,begin climb
$GC,11179,1.27,146.0,904.6,0.0,439,11314,1.42,2.80,126.68,1.176,4,0.035,0.081,3543,3929,2593,0,0,0,0,0,0
$GC,11414,1.15,146.0,888.2,12.6,444,11419,0.15,2.72,0.00,0.000,6,0.112,0.060,3512,2366,2587,0,0,0,0,0,0
$GC,11675,1.17,161.3,863.0,9.3,451,11693,0.00,0.00,13.90,1.051,6,0.000,0.000,3512,2366,2532,0,0,0,0,0,0
$GC,11964,1.19,180.8,836.6,9.1,458,11988,0.00,2.80,18.55,1.082,4,0.000,0.058,3511,3930,2452,0,0,0,0,0,0
$GC,12017,1.15,180.8,831.3,10.2,459,12021,0.00,2.65,0.00,0.000,6,0.000,0.043,3512,2367,2450,0,0,0,0,0,0
$GC,12291,1.18,204.0,806.8,8.9,466,12315,0.00,0.00,22.45,1.088,6,0.000,0.000,3512,2367,2358,0,0,0,0,0,0
$GC,12532,1.18,205.2,783.0,9.9,472,12537,0.00,2.67,0.00,0.000,4,0.000,0.054,3512,3931,2354,0,0,0,0,0,0
$GC,12604,1.18,205.2,774.4,12.1,473,12608,0.00,2.62,0.00,0.000,6,0.000,0.043,3512,2366,2353,0,0,0,0,0,0
$GC,12856,1.18,205.2,747.3,11.0,479,12861,0.00,2.67,0.00,0.000,4,0.000,0.061,3512,3938,2352,0,0,0,0,0,0
$GC,12883,1.18,205.2,743.8,11.2,479,12887,0.00,2.62,0.00,0.000,6,0.000,0.044,3511,2380,2351,0,0,0,0,0,0
$GC,13138,1.18,205.2,716.4,10.7,486,13139,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2380,2351,0,0,0,0,0,0
$GC,13381,1.18,205.2,691.3,10.2,492,13383,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2380,2350,0,0,0,0,0,0
$GC,13629,1.18,205.2,666.0,10.4,498,13634,0.00,2.62,0.00,0.000,4,0.000,0.057,3512,3931,2350,0,0,0,0,0,0
$GC,13656,1.18,205.2,662.4,11.4,498,13660,0.00,2.60,0.00,0.000,6,0.000,0.042,3512,2382,2349,0,0,0,0,0,0
$GC,13911,1.18,205.2,634.5,11.1,505,13915,0.00,2.65,0.00,0.000,4,0.000,0.058,3512,3935,2349,0,0,0,0,0,0
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