version: 66.06
glider: 146
mission: 8
dive: 386
start: 4 9 113 1 31 57
data:
$ID,146
$MISSION,8
$DIVE,386
$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,-315057.84
$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,64
$R_STBD_OVSHOOT,19
$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
$GPS1,011859,1927.322,-8118.005,36,1.1,41,-3.7
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.7
$GPS2,013101,1927.262,-8118.078,14,1.1,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.251,-0.068
$KALMAN_X,-242026.4,210.2,-224.5,223399.4,-68.0
$KALMAN_Y,143366.0,294.6,-154.2,-136657.2,-67.5
$MHEAD_RNG_PITCHd_Wd,108.9,18332,-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,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-71.10,0.000,2,0.000,0.000,465,2175,3495,0,0,0,0,0,0
$GC,99,-1.27,-146.0,3.7,-5.2,9,124,13.27,0.00,-5.32,0.000,6,0.153,0.000,2976,2175,3787,0,0,0,0,0,0
$GC,402,-1.07,-146.0,65.0,-16.5,42,411,0.22,0.00,0.00,0.000,6,0.100,0.000,3025,2175,3788,0,0,0,0,0,0
$GC,670,-0.98,-146.0,100.8,-13.6,67,675,0.10,2.47,0.00,0.000,4,0.117,0.044,3048,660,3788,0,0,0,0,0,0
$GC,730,-0.94,-146.0,108.9,-10.7,71,735,0.00,2.42,0.00,0.000,6,0.000,0.017,3048,2247,3788,0,0,0,0,0,0
$GC,994,-0.94,-146.0,134.4,-8.1,96,999,0.00,2.58,0.00,0.000,4,0.000,0.041,3048,657,3789,0,0,0,0,0,0
$GC,1016,-0.98,-146.0,136.1,-7.9,97,1020,0.00,2.38,0.00,0.000,6,0.000,0.018,3048,2204,3789,0,0,0,0,0,0
$GC,1286,-1.06,-146.0,155.4,-6.6,122,1291,0.00,2.50,0.00,0.000,4,0.000,0.040,3048,3775,3789,0,0,0,0,0,0
$GC,1304,-1.15,-146.0,156.9,-6.8,123,1309,0.17,2.40,0.00,0.000,6,0.051,0.018,2976,2212,3789,0,0,0,0,0,0
$GC,1565,-1.15,-146.0,181.7,-9.3,147,1570,0.15,2.58,0.00,0.000,4,0.092,0.046,3012,636,3789,0,0,0,0,0,0
$GC,1597,-1.15,-146.0,184.3,-8.1,149,1602,0.00,2.35,0.00,0.000,6,0.000,0.017,3012,2181,3790,0,0,0,0,0,0
$GC,1888,-1.20,-146.0,206.5,-7.3,170,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2181,3790,0,0,0,0,0,0
$GC,2133,-1.25,-146.0,223.6,-7.0,176,2138,0.10,2.55,0.00,0.000,4,0.078,0.052,2962,637,3790,0,0,0,0,0,0
$GC,2183,-1.21,-146.0,228.2,-9.0,177,2188,0.15,2.35,0.00,0.000,6,0.093,0.018,2996,2164,3790,0,0,0,0,0,0
$GC,2458,-1.21,-146.0,250.0,-8.2,184,2462,0.00,2.50,0.00,0.000,4,0.000,0.055,2996,640,3789,0,0,0,0,0,0
$GC,2491,-1.21,-146.0,253.0,-8.5,184,2496,0.00,2.35,0.00,0.000,6,0.000,0.025,2996,2159,3789,0,0,0,0,0,0
$GC,2741,-1.21,-146.0,273.1,-7.9,191,2745,0.00,2.50,0.00,0.000,4,0.000,0.051,2996,637,3788,0,0,0,0,0,0
$GC,2793,-1.21,-146.0,277.2,-8.2,192,2797,0.00,2.33,0.00,0.000,6,0.000,0.028,2996,2136,3788,0,0,0,0,0,0
$GC,3065,-1.21,-146.0,296.9,-7.0,199,3069,0.00,2.50,0.00,0.000,4,0.000,0.051,2996,638,3787,0,0,0,0,0,0
$GC,3126,-1.25,-146.0,301.5,-7.6,200,3130,0.00,2.33,0.00,0.000,6,0.000,0.025,2996,2126,3787,0,0,0,0,0,0
$GC,3390,-1.25,-146.0,318.7,-6.5,207,3394,0.00,2.47,0.00,0.000,4,0.000,0.059,2996,647,3785,0,0,0,0,0,0
$GC,3462,-1.30,-146.0,323.9,-7.2,208,3466,0.00,2.30,0.00,0.000,6,0.000,0.027,2996,2120,3785,0,0,0,0,0,0
$GC,3718,-1.34,-146.0,340.9,-6.5,215,3723,0.12,2.47,0.00,0.000,4,0.065,0.055,2943,646,3785,0,0,0,0,0,0
$GC,3761,-1.27,-146.0,344.4,-9.4,216,3766,0.17,2.28,0.00,0.000,6,0.088,0.027,2983,2098,3785,0,0,0,0,0,0
$GC,4044,-1.27,-146.0,367.7,-8.1,223,4048,0.00,2.42,0.00,0.000,4,0.000,0.055,2983,642,3784,0,0,0,0,0,0
$GC,4131,-1.27,-146.0,375.1,-8.9,225,4136,0.00,2.28,0.00,0.000,6,0.000,0.026,2983,2079,3783,0,0,0,0,0,0
$GC,4415,-1.27,-146.0,398.1,-8.0,232,4419,0.00,2.40,0.00,0.000,4,0.000,0.059,2983,649,3783,0,0,0,0,0,0
$GC,4477,-1.27,-146.0,403.5,-8.7,233,4481,0.00,2.28,0.00,0.000,6,0.000,0.038,2983,2067,3782,0,0,0,0,0,0
$GC,4740,-1.27,-146.0,424.2,-7.9,240,4744,0.00,2.42,0.00,0.000,4,0.000,0.066,2983,647,3781,0,0,0,0,0,0
$GC,4780,-1.27,-146.0,428.1,-9.2,241,4784,0.00,2.28,0.00,0.000,6,0.000,0.032,2983,2060,3781,0,0,0,0,0,0
$GC,5066,-1.27,-146.0,451.0,-8.0,248,5071,0.00,2.45,0.00,0.000,4,0.000,0.074,2983,642,3780,0,0,0,0,0,0
$GC,5111,-1.27,-146.0,454.9,-8.5,249,5115,0.00,2.30,0.00,0.000,6,0.000,0.042,2983,2050,3779,0,0,0,0,0,0
$GC,5389,-1.27,-146.0,476.9,-8.0,256,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2050,3778,0,0,0,0,0,0
$GC,5635,-1.27,-146.0,495.0,-7.2,262,5639,0.00,2.45,0.00,0.000,4,0.000,0.081,2983,648,3777,0,0,0,0,0,0
$GC,5668,-1.27,-146.0,497.7,-7.5,262,5673,0.00,2.30,0.00,0.000,6,0.000,0.048,2983,2040,3777,0,0,0,0,0,0
$GC,5918,-1.27,-146.0,515.6,-7.2,269,5922,0.00,2.95,0.00,0.000,4,0.000,0.071,2982,3758,3776,0,0,0,0,0,0
$GC,5933,-1.27,-146.0,516.9,-7.8,269,5938,0.00,2.72,0.00,0.000,6,0.000,0.051,2983,2108,3776,0,0,0,0,0,0
$GC,6197,-1.27,-146.0,536.4,-7.4,276,6201,0.00,2.70,0.00,0.000,4,0.000,0.114,2983,652,3775,0,0,0,0,0,0
$GC,6252,-1.27,-146.0,541.0,-8.4,277,6256,0.00,2.28,0.00,0.000,6,0.000,0.052,2983,2038,3774,0,0,0,0,0,0
$GC,6520,-1.27,-146.0,561.6,-7.8,284,6525,0.00,2.50,0.00,0.000,4,0.000,0.091,2983,646,3772,0,0,0,0,0,0
$GC,6542,-1.27,-146.0,563.6,-7.6,284,6546,0.00,2.33,0.00,0.000,6,0.000,0.052,2983,2043,3772,0,0,0,0,0,0
$GC,6798,-1.27,-146.0,583.5,-7.9,291,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2043,3771,0,0,0,0,0,0
$GC,7042,-1.27,-146.0,600.6,-7.0,297,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2043,3770,0,0,0,0,0,0
$GC,7288,-1.27,-146.0,617.4,-7.2,303,7292,0.00,2.55,0.00,0.000,4,0.000,0.105,2983,648,3769,0,0,0,0,0,0
$GC,7351,-1.27,-146.0,622.9,-8.2,304,7355,0.00,2.38,0.00,0.000,6,0.000,0.058,2983,2043,3769,0,0,0,0,0,0
$GC,7617,-1.27,-146.0,643.5,-7.8,311,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2043,3768,0,0,0,0,0,0
$GC,7864,-1.27,-146.0,661.6,-7.5,317,7868,0.00,2.60,0.00,0.000,4,0.000,0.108,2983,653,3767,0,0,0,0,0,0
$GC,7885,-1.27,-146.0,663.5,-7.6,317,7889,0.00,2.40,0.00,0.000,6,0.000,0.071,2983,2039,3766,0,0,0,0,0,0
$GC,8140,-1.27,-146.0,681.5,-7.0,324,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2039,3765,0,0,0,0,0,0
$GC,8386,-1.27,-146.0,698.9,-7.2,330,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2039,3764,0,0,0,0,0,0
$GC,8627,-1.27,-146.0,717.3,-7.6,336,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2039,3764,0,0,0,0,0,0
$GC,8872,-1.31,-146.0,735.6,-7.5,342,8877,0.00,3.47,0.00,0.000,4,0.000,0.151,2983,3751,3763,0,0,0,0,0,0
$GC,8905,-1.36,-146.0,738.3,-8.1,342,8911,0.00,3.22,0.00,0.000,6,0.000,0.127,2983,2110,3763,0,0,0,0,0,0
$GC,9158,-1.36,-146.0,756.8,-7.4,349,9163,0.00,3.08,0.00,0.000,4,0.000,0.173,2983,657,3762,0,0,0,0,0,0
$GC,9202,-1.40,-146.0,760.6,-8.7,350,9207,0.12,2.62,0.00,0.000,6,0.068,0.118,2937,2017,3761,0,0,0,0,0,0
$GC,9483,-1.35,-146.0,787.3,-9.9,357,9491,0.12,3.75,0.00,0.000,4,0.101,0.181,2964,3749,3761,0,0,0,0,0,0
$GC,9508,-1.35,-146.0,789.9,-8.4,357,9513,0.00,2.95,0.00,0.000,6,0.000,0.079,2964,2088,3760,0,0,0,0,0,0
$GC,9764,-1.35,-146.0,810.2,-7.8,364,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2088,3760,0,0,0,0,0,0
$GC,10007,-1.35,-146.0,829.1,-7.7,370,10012,0.00,3.00,0.00,0.000,4,0.000,0.091,2964,3760,3759,0,0,0,0,0,0
$GC,10025,-1.35,-146.0,830.4,-7.5,370,10030,0.00,2.92,0.00,0.000,6,0.000,0.071,2964,2091,3759,0,0,0,0,0,0
$GC,10286,-1.35,-146.0,850.4,-7.6,377,10291,0.00,2.75,0.00,0.000,4,0.000,0.120,2964,646,3758,0,0,0,0,0,0
$GC,10307,-1.35,-146.0,852.2,-7.5,377,10312,0.00,2.35,0.00,0.000,6,0.000,0.061,2964,2027,3758,0,0,0,0,0,0
$GC,10566,-1.35,-146.0,872.0,-7.7,384,10571,0.00,3.15,0.00,0.000,4,0.000,0.097,2964,3761,3758,0,0,0,0,0,0
$GC,10638,-1.35,-146.0,878.0,-8.2,385,10642,0.00,2.88,0.00,0.000,6,0.000,0.067,2964,2108,3757,0,0,0,0,0,0
$GC,10890,-1.35,-146.0,897.1,-7.7,391,10895,0.00,2.92,0.00,0.000,4,0.000,0.086,2964,3754,3757,0,0,0,0,0,0
$STATE,10927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10927,begin apogee
$GC,10936,-0.31,0.0,900.3,7.6,392,11060,1.00,0.00,120.43,1.206,6,0.068,0.000,3192,2398,3190,0,0,0,0,0,0
$STATE,11060,end apogee,CONTROL_FINISHED_OK
$STATE,11061,begin climb
$GC,11063,1.27,146.0,903.7,0.0,395,11200,1.42,2.72,127.68,1.177,4,0.035,0.077,3543,3899,2593,0,0,0,0,0,0
$GC,11269,1.15,146.0,890.2,12.2,399,11275,0.15,2.67,0.00,0.000,6,0.114,0.057,3512,2366,2588,0,0,0,0,0,0
$GC,11521,1.18,169.8,867.0,8.9,406,11545,0.00,0.00,21.65,1.095,6,0.000,0.000,3512,2366,2497,0,0,0,0,0,0
$GC,11763,1.18,171.7,843.1,9.9,412,11764,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2366,2493,0,0,0,0,0,0
$GC,12006,1.19,178.9,819.6,9.7,418,12021,0.00,2.70,9.02,0.976,4,0.000,0.056,3512,3905,2460,0,0,0,0,0,0
$GC,12068,1.19,178.9,813.2,10.6,419,12073,0.00,2.60,0.00,0.000,6,0.000,0.049,3512,2373,2458,0,0,0,0,0,0
$GC,12335,1.20,184.5,786.9,9.7,426,12349,0.00,2.62,6.32,0.880,4,0.000,0.059,3512,3899,2438,0,0,0,0,0,0
$GC,12371,1.20,187.2,783.2,9.9,426,12381,0.00,2.60,4.22,0.712,6,0.000,0.048,3512,2374,2427,0,0,0,0,0,0
$GC,12668,1.20,187.2,753.4,10.2,434,12672,0.00,2.62,0.00,0.000,4,0.000,0.055,3512,3905,2425,0,0,0,0,0,0
$GC,12694,1.20,187.2,750.0,11.1,434,12699,0.00,2.60,0.00,0.000,6,0.000,0.047,3512,2374,2425,0,0,0,0,0,0
$GC,12945,1.20,190.8,725.2,9.8,440,12951,0.00,0.00,4.60,0.745,6,0.000,0.000,3512,2374,2412,0,0,0,0,0,0
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