version: 66.06
glider: 146
mission: 8
dive: 397
start: 4 11 113 11 56 5
data:
$ID,146
$MISSION,8
$DIVE,397
$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,-315252.53
$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,54
$R_STBD_OVSHOOT,17
$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
$GPS1,113806,1927.134,-8117.996,42,1.0,42,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.0
$GPS2,115512,1927.099,-8118.114,15,1.1,32,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.258,-0.029
$KALMAN_X,-240597.0,-406.7,-63.6,222363.9,-400.1
$KALMAN_Y,145759.7,237.1,114.1,-139561.6,-642.7
$MHEAD_RNG_PITCHd_Wd,100.0,18311,-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,-71.00,0.000,2,0.000,0.000,461,2173,3479,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.5,-4.2,9,122,13.62,0.00,-5.90,0.000,6,0.157,0.000,2976,2173,3787,0,0,0,0,0,0
$GC,396,-1.07,-146.0,63.9,-16.8,42,401,0.22,2.47,0.00,0.000,4,0.101,0.044,3025,654,3787,0,0,0,0,0,0
$GC,429,-0.93,-146.0,69.4,-15.6,44,434,0.15,2.45,0.00,0.000,6,0.102,0.016,3057,2250,3787,0,0,0,0,0,0
$GC,694,-0.93,-146.0,100.6,-11.9,68,699,0.00,2.60,0.00,0.000,4,0.000,0.042,3057,649,3788,0,0,0,0,0,0
$GC,723,-0.93,-146.0,104.3,-11.2,70,727,0.00,2.40,0.00,0.000,6,0.000,0.016,3057,2215,3788,0,0,0,0,0,0
$GC,988,-0.99,-146.0,127.8,-8.5,94,997,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2215,3788,0,0,0,0,0,0
$GC,1255,-1.09,-146.0,147.5,-6.0,119,1260,0.15,2.55,0.00,0.000,4,0.057,0.043,2995,653,3789,0,0,0,0,0,0
$GC,1303,-1.09,-146.0,151.6,-8.5,122,1309,0.12,2.35,0.00,0.000,6,0.098,0.016,3023,2189,3789,0,0,0,0,0,0
$GC,1566,-1.14,-146.0,170.0,-7.4,147,1570,0.00,2.53,0.00,0.000,4,0.000,0.041,3024,3776,3789,0,0,0,0,0,0
$GC,1591,-1.20,-146.0,171.9,-7.6,148,1598,0.12,2.45,0.00,0.000,6,0.063,0.020,2960,2206,3789,0,0,0,0,0,0
$GC,1855,-1.14,-146.0,197.4,-9.6,173,1857,0.22,0.00,0.00,0.000,6,0.081,0.000,3012,2205,3789,0,0,0,0,0,0
$GC,2131,-1.19,-146.0,218.6,-7.4,182,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2205,3789,0,0,0,0,0,0
$GC,2372,-1.24,-146.0,236.3,-7.2,188,2374,0.10,0.00,0.00,0.000,6,0.077,0.000,2962,2205,3788,0,0,0,0,0,0
$GC,2616,-1.20,-146.0,259.6,-9.8,194,2618,0.17,0.00,0.00,0.000,6,0.085,0.000,3002,2205,3787,0,0,0,0,0,0
$GC,2862,-1.24,-146.0,280.2,-8.3,200,2867,0.00,2.55,0.00,0.000,4,0.000,0.048,3003,3771,3786,0,0,0,0,0,0
$GC,2879,-1.28,-146.0,281.9,-8.3,200,2883,0.00,2.45,0.00,0.000,6,0.000,0.025,3002,2199,3786,0,0,0,0,0,0
$GC,3140,-1.32,-146.0,302.8,-8.0,207,3142,0.12,0.00,0.00,0.000,6,0.065,0.000,2951,2198,3785,0,0,0,0,0,0
$GC,3386,-1.26,-146.0,326.7,-9.9,213,3388,0.15,0.00,0.00,0.000,6,0.090,0.000,2986,2199,3784,0,0,0,0,0,0
$GC,3627,-1.26,-146.0,346.4,-7.9,219,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2199,3784,0,0,0,0,0,0
$GC,3871,-1.26,-146.0,364.7,-7.4,225,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2199,3782,0,0,0,0,0,0
$GC,4114,-1.26,-146.0,382.3,-7.3,231,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2199,3781,0,0,0,0,0,0
$GC,4361,-1.26,-146.0,401.2,-7.9,237,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2199,3781,0,0,0,0,0,0
$GC,4602,-1.26,-146.0,420.5,-8.0,243,4606,0.00,2.70,0.00,0.000,4,0.000,0.080,2986,632,3779,0,0,0,0,0,0
$GC,4617,-1.26,-146.0,421.9,-8.1,243,4622,0.00,2.45,0.00,0.000,6,0.000,0.034,2986,2168,3779,0,0,0,0,0,0
$GC,4881,-1.26,-146.0,442.8,-8.0,250,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2168,3778,0,0,0,0,0,0
$GC,5122,-1.26,-146.0,462.8,-8.2,256,5127,0.00,2.75,0.00,0.000,4,0.000,0.063,2986,3790,3776,0,0,0,0,0,0
$GC,5143,-1.26,-146.0,464.6,-8.3,256,5148,0.00,2.58,0.00,0.000,6,0.000,0.041,2986,2220,3777,0,0,0,0,0,0
$GC,5402,-1.26,-146.0,484.5,-7.8,263,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2220,3776,0,0,0,0,0,0
$GC,5643,-1.26,-146.0,502.9,-7.6,269,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2219,3775,0,0,0,0,0,0
$GC,5886,-1.26,-146.0,521.5,-7.6,275,5891,0.00,2.67,0.00,0.000,4,0.000,0.061,2986,3790,3773,0,0,0,0,0,0
$GC,5908,-1.26,-146.0,523.4,-8.6,275,5912,0.00,2.65,0.00,0.000,6,0.000,0.048,2986,2205,3773,0,0,0,0,0,0
$GC,6163,-1.26,-146.0,542.6,-7.5,282,6168,0.00,2.97,0.00,0.000,4,0.000,0.114,2986,625,3772,0,0,0,0,0,0
$GC,6184,-1.26,-146.0,544.4,-7.9,282,6189,0.00,2.62,0.00,0.000,6,0.000,0.045,2985,2204,3771,0,0,0,0,0,0
$GC,6439,-1.26,-146.0,563.2,-7.3,289,6444,0.00,2.78,0.00,0.000,4,0.000,0.081,2986,3796,3770,0,0,0,0,0,0
$GC,6458,-1.26,-146.0,564.4,-7.3,289,6462,0.00,2.65,0.00,0.000,6,0.000,0.053,2986,2204,3770,0,0,0,0,0,0
$GC,6718,-1.26,-146.0,584.3,-7.7,296,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2204,3769,0,0,0,0,0,0
$GC,6962,-1.26,-146.0,603.3,-7.7,302,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2204,3768,0,0,0,0,0,0
$GC,7206,-1.26,-146.0,622.4,-7.9,308,7210,0.00,2.80,0.00,0.000,4,0.000,0.087,2986,3794,3766,0,0,0,0,0,0
$GC,7230,-1.30,-146.0,624.3,-8.7,308,7234,0.00,2.75,0.00,0.000,6,0.000,0.064,2986,2208,3766,0,0,0,0,0,0
$GC,7485,-1.30,-146.0,644.0,-7.6,315,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2209,3765,0,0,0,0,0,0
$GC,7729,-1.34,-146.0,662.3,-7.4,321,7734,0.00,2.88,0.00,0.000,4,0.000,0.095,2986,3790,3764,0,0,0,0,0,0
$GC,7753,-1.38,-146.0,664.1,-7.5,321,7759,0.12,2.80,0.00,0.000,6,0.066,0.088,2937,2217,3764,0,0,0,0,0,0
$GC,8010,-1.32,-146.0,687.4,-9.1,328,8015,0.15,2.95,0.00,0.000,4,0.096,0.107,2970,3793,3763,0,0,0,0,0,0
$GC,8033,-1.32,-146.0,689.2,-8.9,328,8037,0.00,2.88,0.00,0.000,6,0.000,0.100,2970,2225,3763,0,0,0,0,0,0
$GC,8293,-1.32,-146.0,710.4,-8.1,335,8298,0.00,2.97,0.00,0.000,4,0.000,0.114,2970,3795,3761,0,0,0,0,0,0
$GC,8309,-1.32,-146.0,711.8,-8.2,335,8314,0.00,2.80,0.00,0.000,6,0.000,0.087,2970,2229,3761,0,0,0,0,0,0
$GC,8573,-1.32,-146.0,732.9,-8.2,342,8578,0.00,2.88,0.00,0.000,4,0.000,0.100,2970,3793,3760,0,0,0,0,0,0
$GC,8589,-1.32,-146.0,734.6,-8.0,342,8593,0.00,2.72,0.00,0.000,6,0.000,0.077,2970,2237,3759,0,0,0,0,0,0
$GC,8850,-1.32,-146.0,755.5,-8.1,349,8854,0.00,3.15,0.00,0.000,4,0.000,0.130,2970,620,3759,0,0,0,0,0,0
$GC,8894,-1.32,-146.0,759.2,-8.0,350,8898,0.00,2.80,0.00,0.000,6,0.000,0.071,2970,2225,3759,0,0,0,0,0,0
$GC,9174,-1.32,-146.0,781.3,-8.0,357,9178,0.00,2.85,0.00,0.000,4,0.000,0.100,2970,3797,3758,0,0,0,0,0,0
$GC,9195,-1.32,-146.0,783.4,-8.3,357,9200,0.00,2.72,0.00,0.000,6,0.000,0.072,2969,2220,3758,0,0,0,0,0,0
$GC,9453,-1.32,-146.0,803.3,-7.7,364,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2220,3757,0,0,0,0,0,0
$GC,9694,-1.32,-146.0,821.8,-7.4,370,9698,0.00,2.80,0.00,0.000,4,0.000,0.083,2970,3806,3756,0,0,0,0,0,0
$GC,9709,-1.32,-146.0,823.0,-6.8,370,9714,0.00,2.72,0.00,0.000,6,0.000,0.063,2971,2232,3756,0,0,0,0,0,0
$GC,9971,-1.32,-146.0,841.5,-7.1,377,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2231,3755,0,0,0,0,0,0
$GC,10217,-1.32,-146.0,859.4,-7.3,383,10222,0.00,3.05,0.00,0.000,4,0.000,0.122,2970,624,3753,0,0,0,0,0,0
$GC,10233,-1.32,-146.0,860.8,-7.1,383,10237,0.00,2.75,0.00,0.000,6,0.000,0.058,2970,2234,3753,0,0,0,0,0,0
$GC,10493,-1.32,-146.0,878.7,-6.8,390,10498,0.00,2.83,0.00,0.000,4,0.000,0.097,2970,3797,3753,0,0,0,0,0,0
$GC,10551,-1.36,-146.0,882.8,-7.5,391,10556,0.00,2.67,0.00,0.000,6,0.000,0.068,2970,2237,3752,0,0,0,0,0,0
$STATE,10815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10815,begin apogee
$GC,10822,-0.31,0.0,902.3,7.4,398,10945,0.98,0.00,119.97,1.213,6,0.085,0.000,3192,2380,3190,0,0,0,0,0,0
$STATE,10946,end apogee,CONTROL_FINISHED_OK
$STATE,10946,begin climb
$GC,10951,1.27,146.0,905.2,0.0,401,11087,1.42,2.83,127.90,1.185,4,0.035,0.080,3544,3934,2594,0,0,0,0,0,0
$GC,11164,1.15,146.0,891.2,11.9,406,11170,0.17,2.72,0.00,0.000,6,0.116,0.058,3510,2366,2588,0,0,0,0,0,0
$GC,11443,1.16,154.7,863.8,9.6,413,11457,0.00,2.80,7.85,0.957,4,0.000,0.067,3510,3924,2559,0,0,0,0,0,0
$GC,11534,1.11,154.7,854.5,11.2,415,11538,0.00,2.62,0.00,0.000,6,0.000,0.051,3510,2386,2558,0,0,0,0,0,0
$GC,11817,1.12,163.7,826.9,9.6,422,11832,0.00,3.15,9.68,0.997,4,0.000,0.117,3510,776,2521,0,0,0,0,0,0
$GC,11871,1.13,173.9,821.3,9.5,423,11888,0.00,2.70,10.70,1.008,6,0.000,0.049,3510,2372,2481,0,0,0,0,0,0
$GC,12140,1.14,176.3,794.8,9.9,430,12145,0.00,2.75,0.00,0.000,4,0.000,0.076,3509,3938,2477,0,0,0,0,0,0
$GC,12184,1.14,176.3,789.7,10.6,431,12188,0.00,2.62,0.00,0.000,6,0.000,0.038,3510,2370,2476,0,0,0,0,0,0
$GC,12465,1.15,186.5,763.0,9.5,438,12479,0.00,0.00,12.80,1.019,6,0.000,0.000,3510,2370,2429,0,0,0,0,0,0
$GC,12706,1.15,190.2,739.2,9.8,444,12712,0.00,0.00,4.53,0.743,6,0.000,0.000,3510,2370,2414,0,0,0,0,0,0
$GC,12949,1.15,190.2,714.9,10.0,450,12950,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2370,2413,0,0,0,0,0,0
$GC,13193,1.15,190.2,690.1,10.2,456,13198,0.00,2.70,0.00,0.000,4,0.000,0.059,3510,3941,2412,0,0,0,0,0,0
$GC,13240,1.15,190.2,685.1,11.5,457,13244,0.00,2.60,0.00,0.000,6,0.000,0.039,3510,2390,2412,0,0,0,0,0,0
$GC,13517,1.16,192.4,657.0,9.9,464,13518,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2390,2412,0,0,0,0,0,0
$GC,13761,1.16,192.6,632.6,10.0,470,13765,0.00,2.62,0.00,0.000,4,0.000,0.054,3510,3938,2411,0,0,0,0,0,0
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$STATE,19794,begin surface coast
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$10V_AH,10.0,49.678
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57228,749
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$CFSIZE,260165632,100446208
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