version: 66.06
glider: 146
mission: 8
dive: 359
start: 4 3 113 1 0 20
data:
$ID,146
$MISSION,8
$DIVE,359
$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,-314561.84
$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,57
$R_STBD_OVSHOOT,42
$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
$GPS1,005206,1926.791,-8117.454,38,1.6,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.0
$GPS2,005924,1926.763,-8117.499,9,2.0,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.254,-0.053
$KALMAN_X,-199617.0,-140.5,-427.3,182571.8,-1272.0
$KALMAN_Y,118564.8,109.7,242.4,-112995.9,128.2
$MHEAD_RNG_PITCHd_Wd,105.6,17113,-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,-70.40,0.000,2,0.000,0.000,459,2182,3440,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.1,-3.0,9,123,13.40,2.47,-6.70,0.000,4,0.154,0.049,2976,657,3786,0,0,0,0,0,0
$GC,135,-0.20,-146.0,15.6,-30.8,13,145,1.05,2.42,0.00,0.000,6,0.077,0.015,3211,2230,3787,0,0,0,0,0,0
$GC,458,-0.51,-146.0,31.6,-3.5,58,467,0.25,0.00,0.00,0.000,6,0.042,0.000,3132,2230,3788,0,0,0,0,0,0
$GC,727,-0.64,-146.0,50.1,-7.1,83,732,0.00,2.58,0.00,0.000,4,0.000,0.044,3131,652,3788,0,0,0,0,0,0
$GC,763,-0.79,-146.0,52.7,-7.0,85,768,0.20,2.38,0.00,0.000,6,0.048,0.015,3056,2208,3788,0,0,0,0,0,0
$GC,1030,-0.75,-146.0,83.2,-11.9,109,1035,0.17,2.50,0.00,0.000,4,0.086,0.031,3096,3772,3788,0,0,0,0,0,0
$GC,1047,-0.75,-146.0,85.8,-11.8,110,1051,0.00,2.42,0.00,0.000,6,0.000,0.020,3096,2219,3788,0,0,0,0,0,0
$GC,1312,-0.79,-146.0,110.4,-9.7,134,1316,0.00,2.58,0.00,0.000,4,0.000,0.046,3096,631,3789,0,0,0,0,0,0
$GC,1333,-0.84,-146.0,112.4,-9.3,135,1337,0.00,2.40,0.00,0.000,6,0.000,0.015,3096,2214,3789,0,0,0,0,0,0
$GC,1602,-0.92,-146.0,136.8,-8.5,159,1608,0.15,2.58,0.00,0.000,4,0.057,0.045,3030,641,3789,0,0,0,0,0,0
$GC,1682,-0.89,-146.0,145.7,-11.2,165,1687,0.15,2.35,0.00,0.000,6,0.093,0.023,3066,2202,3789,0,0,0,0,0,0
$GC,1943,-0.97,-146.0,167.0,-7.8,189,1948,0.00,2.55,0.00,0.000,4,0.000,0.044,3065,632,3790,0,0,0,0,0,0
$GC,1966,-1.07,-146.0,168.7,-6.9,190,1973,0.15,2.38,0.00,0.000,6,0.057,0.018,3000,2194,3790,0,0,0,0,0,0
$GC,2232,-1.07,-146.0,192.4,-8.3,215,2237,0.12,2.55,0.00,0.000,4,0.096,0.046,3029,640,3790,0,0,0,0,0,0
$GC,2264,-1.11,-146.0,195.1,-8.3,217,2269,0.00,2.35,0.00,0.000,6,0.000,0.018,3029,2185,3790,0,0,0,0,0,0
$GC,2530,-1.18,-146.0,214.3,-6.9,227,2532,0.12,0.00,0.00,0.000,6,0.065,0.000,2971,2185,3791,0,0,0,0,0,0
$GC,2771,-1.18,-146.0,236.6,-9.5,233,2772,0.12,0.00,0.00,0.000,6,0.096,0.000,3002,2186,3791,0,0,0,0,0,0
$GC,3014,-1.18,-146.0,256.0,-8.0,239,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2185,3791,0,0,0,0,0,0
$GC,3260,-1.18,-146.0,274.8,-7.6,245,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2185,3790,0,0,0,0,0,0
$GC,3502,-1.18,-146.0,293.6,-7.7,251,3506,0.00,2.53,0.00,0.000,4,0.000,0.044,3002,3770,3789,0,0,0,0,0,0
$GC,3546,-1.24,-146.0,297.1,-8.4,252,3550,0.00,2.47,0.00,0.000,6,0.000,0.023,3002,2198,3790,0,0,0,0,0,0
$GC,3826,-1.28,-146.0,317.9,-7.4,259,3831,0.00,2.55,0.00,0.000,4,0.000,0.044,3002,3768,3788,0,0,0,0,0,0
$GC,3849,-1.32,-146.0,319.8,-7.7,259,3854,0.12,2.45,0.00,0.000,6,0.064,0.024,2945,2201,3788,0,0,0,0,0,0
$GC,4105,-1.26,-146.0,344.5,-9.8,266,4107,0.17,0.00,0.00,0.000,6,0.085,0.000,2986,2201,3788,0,0,0,0,0,0
$GC,4350,-1.26,-146.0,364.4,-8.2,272,4355,0.00,2.55,0.00,0.000,4,0.000,0.051,2986,3758,3787,0,0,0,0,0,0
$GC,4366,-1.26,-146.0,366.2,-8.6,272,4371,0.00,2.45,0.00,0.000,6,0.000,0.028,2986,2209,3786,0,0,0,0,0,0
$GC,4627,-1.26,-146.0,388.1,-8.4,279,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2209,3786,0,0,0,0,0,0
$GC,4874,-1.26,-146.0,408.9,-8.7,285,4878,0.00,2.75,0.00,0.000,4,0.000,0.080,2986,624,3785,0,0,0,0,0,0
$GC,4895,-1.26,-146.0,411.2,-9.2,285,4899,0.00,2.50,0.00,0.000,6,0.000,0.031,2986,2186,3784,0,0,0,0,0,0
$GC,5150,-1.26,-146.0,433.1,-8.7,292,5155,0.00,2.65,0.00,0.000,4,0.000,0.059,2986,3793,3783,0,0,0,0,0,0
$GC,5197,-1.30,-146.0,437.3,-9.6,293,5201,0.00,2.53,0.00,0.000,6,0.000,0.040,2986,2228,3783,0,0,0,0,0,0
$GC,5474,-1.30,-146.0,461.1,-8.4,300,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2227,3782,0,0,0,0,0,0
$GC,5718,-1.30,-146.0,481.4,-8.2,306,5723,0.00,2.85,0.00,0.000,4,0.000,0.099,2986,626,3781,0,0,0,0,0,0
$GC,5736,-1.30,-146.0,482.7,-8.0,306,5741,0.00,2.60,0.00,0.000,6,0.000,0.044,2986,2212,3780,0,0,0,0,0,0
$GC,5997,-1.30,-146.0,502.7,-7.5,313,6001,0.00,2.67,0.00,0.000,4,0.000,0.068,2986,3793,3779,0,0,0,0,0,0
$GC,6029,-1.30,-146.0,505.3,-8.1,313,6035,0.00,2.58,0.00,0.000,6,0.000,0.050,2986,2228,3779,0,0,0,0,0,0
$GC,6282,-1.30,-146.0,523.5,-7.3,320,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2228,3777,0,0,0,0,0,0
$GC,6523,-1.30,-146.0,541.2,-7.3,326,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2229,3777,0,0,0,0,0,0
$GC,6767,-1.30,-146.0,558.9,-7.2,332,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2228,3776,0,0,0,0,0,0
$GC,7011,-1.30,-146.0,577.2,-7.6,338,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2228,3774,0,0,0,0,0,0
$GC,7257,-1.30,-146.0,596.0,-7.7,344,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2228,3773,0,0,0,0,0,0
$GC,7498,-1.30,-146.0,615.2,-7.9,350,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2228,3772,0,0,0,0,0,0
$GC,7742,-1.30,-146.0,634.2,-7.8,356,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2228,3770,0,0,0,0,0,0
$GC,7986,-1.30,-146.0,653.4,-7.8,362,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2228,3770,0,0,0,0,0,0
$GC,8232,-1.30,-146.0,672.5,-7.9,368,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2228,3768,0,0,0,0,0,0
$GC,8473,-1.34,-146.0,692.2,-8.1,374,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2228,3767,0,0,0,0,0,0
$GC,8717,-1.34,-146.0,711.6,-8.0,380,8722,0.00,3.08,0.00,0.000,4,0.000,0.138,2986,3787,3766,0,0,0,0,0,0
$GC,8733,-1.34,-146.0,712.9,-8.0,380,8737,0.00,2.90,0.00,0.000,6,0.000,0.106,2986,2233,3766,0,0,0,0,0,0
$GC,8996,-1.38,-146.0,732.9,-7.6,387,8998,0.12,0.00,0.00,0.000,6,0.067,0.000,2940,2233,3765,0,0,0,0,0,0
$GC,9238,-1.33,-146.0,755.4,-9.4,393,9243,0.15,3.12,0.00,0.000,4,0.094,0.148,2973,3786,3763,0,0,0,0,0,0
$GC,9263,-1.33,-146.0,757.6,-8.9,393,9267,0.00,2.80,0.00,0.000,6,0.000,0.082,2973,2223,3764,0,0,0,0,0,0
$GC,9518,-1.33,-146.0,777.9,-7.9,400,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2223,3763,0,0,0,0,0,0
$GC,9761,-1.33,-146.0,797.2,-7.9,406,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2222,3762,0,0,0,0,0,0
$GC,10005,-1.33,-146.0,815.4,-7.5,412,10010,0.00,2.80,0.00,0.000,4,0.000,0.088,2973,3798,3762,0,0,0,0,0,0
$GC,10040,-1.33,-146.0,818.0,-7.8,412,10046,0.00,2.72,0.00,0.000,6,0.000,0.077,2973,2227,3762,0,0,0,0,0,0
$GC,10290,-1.33,-146.0,835.9,-7.1,419,10295,0.00,2.78,0.00,0.000,4,0.000,0.081,2973,3790,3761,0,0,0,0,0,0
$GC,10312,-1.33,-146.0,837.7,-7.9,419,10316,0.00,2.72,0.00,0.000,6,0.000,0.074,2973,2229,3761,0,0,0,0,0,0
$GC,10569,-1.33,-146.0,855.8,-7.0,426,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2229,3760,0,0,0,0,0,0
$GC,10810,-1.33,-146.0,872.4,-6.9,432,10812,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2229,3758,0,0,0,0,0,0
$GC,11054,-1.33,-146.0,889.1,-6.9,438,11059,0.00,2.75,0.00,0.000,4,0.000,0.081,2973,3792,3758,0,0,0,0,0,0
$GC,11101,-1.36,-146.0,892.5,-7.4,439,11105,0.00,2.70,0.00,0.000,6,0.000,0.073,2973,2242,3758,0,0,0,0,0,0
$STATE,11213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11213,begin apogee
$GC,11219,-0.31,0.0,901.0,7.2,442,11343,0.95,0.00,120.12,1.210,6,0.067,0.000,3192,2382,3190,0,0,0,0,0,0
$STATE,11344,end apogee,CONTROL_FINISHED_OK
$STATE,11344,begin climb
$GC,11346,1.27,146.0,903.6,0.0,445,11483,1.42,2.70,127.00,1.179,4,0.034,0.074,3544,3923,2592,0,0,0,0,0,0
$GC,11575,1.15,146.0,887.2,12.4,450,11580,0.15,2.72,0.00,0.000,6,0.115,0.061,3513,2361,2588,0,0,0,0,0,0
$GC,11845,1.12,151.7,860.1,9.7,457,11855,0.00,2.78,5.40,0.828,4,0.000,0.063,3513,3932,2570,0,0,0,0,0,0
$GC,11947,1.06,151.7,849.2,10.3,459,11952,0.10,2.60,0.00,0.000,6,0.131,0.044,3493,2391,2569,0,0,0,0,0,0
$GC,12216,1.10,187.2,826.2,8.4,466,12253,0.00,0.00,33.42,1.112,6,0.000,0.000,3493,2391,2425,0,0,0,0,0,0
$GC,12497,1.12,202.8,799.9,9.3,473,12514,0.00,0.00,15.10,1.045,6,0.000,0.000,3493,2391,2363,0,0,0,0,0,0
$GC,12741,1.13,212.1,776.6,9.6,479,12756,0.00,2.67,9.93,0.980,4,0.000,0.061,3493,3933,2325,0,0,0,0,0,0
$GC,12782,1.14,213.5,772.7,9.9,480,12786,0.00,2.62,0.00,0.000,6,0.000,0.050,3493,2395,2324,0,0,0,0,0,0
$GC,13065,1.17,213.5,743.7,10.2,487,13067,0.10,0.00,0.00,0.000,6,0.085,0.000,3524,2395,2322,0,0,0,0,0,0
$GC,13311,1.17,213.5,715.3,11.7,493,13315,0.00,2.60,0.00,0.000,4,0.000,0.055,3524,3934,2321,0,0,0,0,0,0
$GC,13338,1.13,213.5,711.6,12.7,493,13342,0.00,2.60,0.00,0.000,6,0.000,0.049,3524,2398,2320,0,0,0,0,0,0
$GC,13587,1.13,213.5,683.0,11.3,499,13588,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2398,2320,0,0,0,0,0,0
$GC,13831,1.13,213.5,655.4,11.3,505,13832,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2398,2320,0,0,0,0,0,0
$GC,14077,1.13,213.5,628.7,10.9,511,14081,0.00,2.62,0.00,0.000,4,0.000,0.059,3524,3940,2319,0,0,0,0,0,0
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