version: 66.06
glider: 146
mission: 8
dive: 420
start: 4 16 113 17 19 11
data:
$ID,146
$MISSION,8
$DIVE,420
$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,-315741.16
$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,51
$R_STBD_OVSHOOT,40
$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
$GPS1,170905,1927.798,-8109.537,41,1.2,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-74.1
$GPS2,171818,1927.787,-8109.630,12,1.4,29,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.092,-0.243
$KALMAN_X,-211928.1,542.8,246.0,207235.1,430.4
$KALMAN_Y,146723.3,570.0,152.4,-139635.5,-43.9
$MHEAD_RNG_PITCHd_Wd,163.1,6721,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-62.97,0.000,2,0.000,0.000,459,2179,3285,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.2,-3.8,8,123,13.40,2.55,-10.35,0.000,4,0.152,0.052,2978,650,3786,0,0,0,0,0,0
$GC,168,-1.06,-146.0,20.6,-18.8,18,178,0.20,2.45,0.00,0.000,6,0.081,0.018,3026,2213,3786,0,0,0,0,0,0
$GC,452,-0.94,-146.0,61.8,-13.6,47,461,0.12,0.00,0.00,0.000,6,0.106,0.000,3055,2213,3787,0,0,0,0,0,0
$GC,716,-0.90,-146.0,92.7,-11.8,72,720,0.00,2.55,0.00,0.000,4,0.000,0.044,3055,650,3788,0,0,0,0,0,0
$GC,763,-0.90,-146.0,97.7,-12.1,75,767,0.00,2.40,0.00,0.000,6,0.000,0.015,3055,2214,3788,0,0,0,0,0,0
$GC,1029,-0.90,-146.0,127.4,-11.6,99,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2215,3788,0,0,0,0,0,0
$GC,1300,-0.97,-146.0,151.0,-7.9,124,1304,0.00,2.58,0.00,0.000,4,0.000,0.042,3055,644,3788,0,0,0,0,0,0
$GC,1343,-1.04,-146.0,155.1,-8.5,127,1348,0.00,2.38,0.00,0.000,6,0.000,0.018,3054,2210,3789,0,0,0,0,0,0
$GC,1613,-1.13,-146.0,173.3,-7.3,151,1618,0.17,0.00,0.00,0.000,6,0.050,0.000,2982,2210,3789,0,0,0,0,0,0
$GC,1876,-1.13,-146.0,197.1,-7.9,176,1877,0.15,0.00,0.00,0.000,6,0.089,0.000,3017,2210,3789,0,0,0,0,0,0
$GC,2122,-1.17,-146.0,214.5,-7.0,185,2126,0.00,2.50,0.00,0.000,4,0.000,0.038,3017,3765,3789,0,0,0,0,0,0
$GC,2144,-1.22,-146.0,216.3,-6.9,185,2149,0.10,2.42,0.00,0.000,6,0.077,0.019,2961,2213,3789,0,0,0,0,0,0
$GC,2399,-1.17,-146.0,239.7,-9.3,192,2405,0.20,2.58,0.00,0.000,4,0.082,0.054,3008,642,3789,0,0,0,0,0,0
$GC,2429,-1.17,-146.0,241.9,-7.7,192,2434,0.00,2.40,0.00,0.000,6,0.000,0.019,3008,2194,3789,0,0,0,0,0,0
$GC,2680,-1.21,-146.0,260.2,-7.2,198,2684,0.00,2.53,0.00,0.000,4,0.000,0.044,3009,3775,3788,0,0,0,0,0,0
$GC,2701,-1.26,-146.0,261.8,-7.2,198,2706,0.10,2.45,0.00,0.000,6,0.077,0.020,2954,2197,3789,0,0,0,0,0,0
$GC,2959,-1.20,-146.0,285.9,-9.5,205,2961,0.20,0.00,0.00,0.000,6,0.082,0.000,3000,2197,3788,0,0,0,0,0,0
$GC,3201,-1.20,-146.0,304.8,-7.6,211,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2197,3787,0,0,0,0,0,0
$GC,3444,-1.20,-146.0,323.9,-7.9,217,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2197,3786,0,0,0,0,0,0
$GC,3690,-1.20,-146.0,343.5,-8.1,223,3695,0.00,2.55,0.00,0.000,4,0.000,0.040,3000,3775,3785,0,0,0,0,0,0
$GC,3714,-1.20,-146.0,345.5,-7.8,223,3718,0.00,2.45,0.00,0.000,6,0.000,0.022,3000,2216,3785,0,0,0,0,0,0
$GC,3969,-1.24,-146.0,364.6,-7.5,230,3974,0.00,2.67,0.00,0.000,4,0.000,0.063,3000,630,3785,0,0,0,0,0,0
$GC,3988,-1.27,-146.0,365.9,-7.3,230,3992,0.00,2.47,0.00,0.000,6,0.000,0.025,3000,2201,3784,0,0,0,0,0,0
$GC,4249,-1.32,-146.0,385.8,-7.6,237,4251,0.12,0.00,0.00,0.000,6,0.067,0.000,2946,2201,3783,0,0,0,0,0,0
$GC,4492,-1.26,-146.0,409.2,-9.6,243,4494,0.17,0.00,0.00,0.000,6,0.087,0.000,2986,2201,3783,0,0,0,0,0,0
$GC,4738,-1.26,-146.0,427.6,-7.4,249,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3781,0,0,0,0,0,0
$GC,4979,-1.26,-146.0,445.5,-7.3,255,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3780,0,0,0,0,0,0
$GC,5223,-1.26,-146.0,463.6,-7.4,261,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3779,0,0,0,0,0,0
$GC,5467,-1.26,-146.0,482.0,-7.7,267,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3778,0,0,0,0,0,0
$GC,5713,-1.26,-146.0,500.5,-7.6,273,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3777,0,0,0,0,0,0
$GC,5954,-1.26,-146.0,518.7,-7.5,279,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3776,0,0,0,0,0,0
$GC,6198,-1.26,-146.0,537.1,-7.6,285,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3775,0,0,0,0,0,0
$GC,6442,-1.26,-146.0,555.8,-7.8,291,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2201,3774,0,0,0,0,0,0
$GC,6688,-1.26,-146.0,575.1,-7.8,297,6693,0.00,2.80,0.00,0.000,4,0.000,0.091,2986,3777,3772,0,0,0,0,0,0
$GC,6709,-1.26,-146.0,577.0,-7.9,297,6714,0.00,2.62,0.00,0.000,6,0.000,0.058,2986,2224,3771,0,0,0,0,0,0
$GC,6964,-1.26,-146.0,596.2,-7.4,304,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2224,3770,0,0,0,0,0,0
$GC,7211,-1.26,-146.0,614.1,-7.3,310,7215,0.00,2.72,0.00,0.000,4,0.000,0.078,2986,3779,3769,0,0,0,0,0,0
$GC,7255,-1.30,-146.0,617.7,-8.1,311,7259,0.00,2.72,0.00,0.000,6,0.000,0.064,2986,2207,3769,0,0,0,0,0,0
$GC,7532,-1.30,-146.0,638.4,-7.5,318,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2207,3767,0,0,0,0,0,0
$GC,7778,-1.30,-146.0,657.7,-7.9,324,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2207,3766,0,0,0,0,0,0
$GC,8020,-1.30,-146.0,677.9,-8.3,330,8024,0.00,2.88,0.00,0.000,4,0.000,0.103,2986,3776,3765,0,0,0,0,0,0
$GC,8070,-1.35,-146.0,682.2,-8.5,331,8074,0.00,2.85,0.00,0.000,6,0.000,0.097,2986,2217,3765,0,0,0,0,0,0
$GC,8344,-1.39,-146.0,703.5,-7.6,338,8350,0.12,2.97,0.00,0.000,4,0.068,0.114,2937,3775,3763,0,0,0,0,0,0
$GC,8381,-1.33,-146.0,707.1,-9.6,338,8387,0.15,2.92,0.00,0.000,6,0.092,0.106,2971,2218,3763,0,0,0,0,0,0
$GC,8631,-1.33,-146.0,726.5,-7.6,345,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2218,3762,0,0,0,0,0,0
$GC,8877,-1.33,-146.0,745.6,-8.0,351,8882,0.00,3.08,0.00,0.000,4,0.000,0.141,2971,3776,3761,0,0,0,0,0,0
$GC,8904,-1.33,-146.0,748.2,-8.6,351,8909,0.00,2.75,0.00,0.000,6,0.000,0.084,2971,2221,3761,0,0,0,0,0,0
$GC,9154,-1.33,-146.0,767.9,-7.9,357,9159,0.00,3.08,0.00,0.000,4,0.000,0.125,2971,618,3760,0,0,0,0,0,0
$GC,9172,-1.33,-146.0,769.3,-7.8,357,9177,0.00,2.78,0.00,0.000,6,0.000,0.074,2971,2214,3760,0,0,0,0,0,0
$GC,9433,-1.33,-146.0,789.1,-7.5,364,9438,0.00,2.88,0.00,0.000,4,0.000,0.099,2971,3801,3760,0,0,0,0,0,0
$GC,9460,-1.33,-146.0,791.3,-8.5,364,9465,0.00,2.72,0.00,0.000,6,0.000,0.073,2971,2223,3759,0,0,0,0,0,0
$GC,9710,-1.33,-146.0,810.4,-7.8,370,9715,0.00,2.78,0.00,0.000,4,0.000,0.087,2971,3798,3758,0,0,0,0,0,0
$GC,9732,-1.33,-146.0,812.3,-8.0,370,9736,0.00,2.72,0.00,0.000,6,0.000,0.069,2971,2232,3758,0,0,0,0,0,0
$GC,9987,-1.33,-146.0,832.1,-7.7,377,9991,0.00,2.80,0.00,0.000,4,0.000,0.083,2971,3805,3756,0,0,0,0,0,0
$GC,10010,-1.33,-146.0,833.8,-7.9,377,10015,0.00,2.75,0.00,0.000,6,0.000,0.073,2971,2232,3756,0,0,0,0,0,0
$GC,10266,-1.33,-146.0,852.9,-7.3,384,10267,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2231,3755,0,0,0,0,0,0
$GC,10509,-1.33,-146.0,871.0,-7.4,390,10514,0.00,2.80,0.00,0.000,4,0.000,0.081,2971,3804,3754,0,0,0,0,0,0
$GC,10537,-1.33,-146.0,873.3,-7.9,390,10541,0.00,2.70,0.00,0.000,6,0.000,0.065,2971,2239,3754,0,0,0,0,0,0
$GC,10789,-1.33,-146.0,891.6,-7.3,396,10791,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2239,3753,0,0,0,0,0,0
$STATE,10906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10906,begin apogee
$GC,10912,-0.31,0.0,900.2,7.1,399,11036,0.95,0.00,120.32,1.213,6,0.068,0.000,3190,2382,3190,0,0,0,0,0,0
$STATE,11037,end apogee,CONTROL_FINISHED_OK
$STATE,11037,begin climb
$GC,11039,1.27,146.0,903.5,0.0,402,11177,1.42,2.85,128.05,1.182,4,0.034,0.081,3543,3925,2593,0,0,0,0,0,0
$GC,11222,1.15,146.0,893.9,11.5,406,11227,0.15,2.72,0.00,0.000,6,0.115,0.057,3514,2370,2589,0,0,0,0,0,0
$GC,11491,1.15,177.2,870.6,8.6,413,11522,0.00,0.00,28.50,1.123,6,0.000,0.000,3513,2370,2467,0,0,0,0,0,0
$GC,11732,1.17,187.6,848.0,9.5,419,11748,0.00,2.75,10.62,1.018,4,0.000,0.066,3514,3930,2424,0,0,0,0,0,0
$GC,11767,1.17,194.0,844.7,9.7,419,11781,0.00,2.70,7.82,0.946,6,0.000,0.053,3514,2370,2398,0,0,0,0,0,0
$GC,12061,1.18,195.4,815.4,9.9,427,12065,0.00,2.72,0.00,0.000,4,0.000,0.064,3513,3930,2394,0,0,0,0,0,0
$GC,12087,1.18,195.4,812.5,10.5,427,12092,0.00,2.67,0.00,0.000,6,0.000,0.054,3514,2372,2393,0,0,0,0,0,0
$GC,12340,1.18,195.4,786.3,10.6,433,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2373,2392,0,0,0,0,0,0
$GC,12581,1.18,195.4,760.7,10.4,439,12586,0.00,2.70,0.00,0.000,4,0.000,0.064,3514,3938,2391,0,0,0,0,0,0
$GC,12613,1.18,195.4,757.0,10.9,439,12619,0.00,2.65,0.00,0.000,6,0.000,0.047,3514,2387,2391,0,0,0,0,0,0
$GC,12863,1.18,195.4,730.8,10.5,446,12865,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2387,2390,0,0,0,0,0,0
$GC,13110,1.18,195.4,706.0,10.2,452,13111,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2387,2390,0,0,0,0,0,0
$GC,13351,1.18,197.8,681.5,9.9,458,13352,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2387,2389,0,0,0,0,0,0
$GC,13595,1.18,199.4,656.9,9.9,464,13605,0.00,2.67,4.80,0.749,4,0.000,0.062,3513,3933,2377,0,0,0,0,0,0
$GC,13641,1.18,199.4,652.2,10.5,465,13645,0.00,2.62,0.00,0.000,6,0.000,0.044,3514,2388,2376,0,0,0,0,0,0
$GC,13918,1.18,199.4,623.5,10.2,472,13919,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2388,2375,0,0,0,0,0,0
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$STATE,19968,end surface coast,CONTROL_FINISHED_OK
$STATE,19972,begin surface
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$10V_AH,10.1,52.669
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57294,762
$CAP_FILE_SIZE,170505,0
$CFSIZE,260165632,98775040
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