version: 66.06
glider: 146
mission: 8
dive: 426
start: 4 18 113 1 26 33
data:
$ID,146
$MISSION,8
$DIVE,426
$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,-315835.62
$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,60
$R_STBD_OVSHOOT,45
$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
$GPS1,011759,1924.605,-8113.348,39,1.1,39,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.1
$GPS2,012537,1924.639,-8113.443,13,1.5,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.208,0.155
$KALMAN_X,-201420.0,643.5,362.0,189867.2,-349.4
$KALMAN_Y,145194.9,-16.6,-32.5,-143156.2,-533.3
$MHEAD_RNG_PITCHd_Wd,310.4,9081,-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,-70.45,0.000,2,0.000,0.000,464,2178,3497,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-5.3,9,123,13.60,2.45,-5.10,0.000,4,0.160,0.045,2977,656,3785,0,0,0,0,0,0
$GC,371,-1.08,-146.0,62.6,-17.4,37,376,0.22,2.38,0.00,0.000,6,0.100,0.016,3026,2224,3787,0,0,0,0,0,0
$GC,640,-0.98,-146.0,99.4,-13.4,61,646,0.10,0.00,0.00,0.000,6,0.114,0.000,3049,2224,3788,0,0,0,0,0,0
$GC,902,-0.98,-146.0,129.6,-9.1,86,906,0.00,2.55,0.00,0.000,4,0.000,0.043,3049,654,3789,0,0,0,0,0,0
$GC,950,-1.02,-146.0,133.7,-8.4,89,956,0.00,2.38,0.00,0.000,6,0.000,0.016,3049,2211,3789,0,0,0,0,0,0
$GC,1213,-1.09,-146.0,154.3,-7.2,114,1218,0.12,2.47,0.00,0.000,4,0.064,0.032,2991,3771,3789,0,0,0,0,0,0
$GC,1287,-1.09,-146.0,161.4,-9.4,119,1294,0.12,2.40,0.00,0.000,6,0.091,0.020,3023,2233,3789,0,0,0,0,0,0
$GC,1551,-1.14,-146.0,181.7,-7.3,144,1555,0.00,2.62,0.00,0.000,4,0.000,0.047,3023,634,3790,0,0,0,0,0,0
$GC,1582,-1.19,-146.0,183.9,-7.7,146,1587,0.10,2.42,0.00,0.000,6,0.076,0.024,2969,2209,3789,0,0,0,0,0,0
$GC,1842,-1.15,-146.0,207.3,-8.9,164,1847,0.17,2.50,0.00,0.000,4,0.084,0.034,3010,3778,3789,0,0,0,0,0,0
$GC,1889,-1.21,-146.0,211.1,-7.8,165,1893,0.00,2.42,0.00,0.000,6,0.000,0.019,3010,2210,3789,0,0,0,0,0,0
$GC,2167,-1.25,-146.0,231.8,-7.6,172,2172,0.10,2.58,0.00,0.000,4,0.078,0.050,2962,643,3789,0,0,0,0,0,0
$GC,2203,-1.20,-146.0,234.9,-9.2,172,2209,0.17,2.42,0.00,0.000,6,0.087,0.027,3001,2210,3789,0,0,0,0,0,0
$GC,2453,-1.20,-146.0,254.9,-7.7,179,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2210,3789,0,0,0,0,0,0
$GC,2696,-1.20,-146.0,273.8,-7.7,185,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2210,3789,0,0,0,0,0,0
$GC,2940,-1.20,-146.0,292.1,-7.5,191,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2210,3787,0,0,0,0,0,0
$GC,3187,-1.24,-146.0,309.6,-7.2,197,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2211,3787,0,0,0,0,0,0
$GC,3428,-1.28,-146.0,327.8,-7.6,203,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2210,3785,0,0,0,0,0,0
$GC,3672,-1.32,-146.0,346.1,-7.6,209,3674,0.12,0.00,0.00,0.000,6,0.067,0.000,2951,2211,3785,0,0,0,0,0,0
$GC,3918,-1.26,-146.0,369.4,-9.8,215,3920,0.15,0.00,0.00,0.000,6,0.090,0.000,2986,2211,3784,0,0,0,0,0,0
$GC,4159,-1.26,-146.0,390.0,-8.3,221,4163,0.00,2.70,0.00,0.000,4,0.000,0.072,2986,641,3783,0,0,0,0,0,0
$GC,4198,-1.26,-146.0,393.4,-8.8,222,4202,0.00,2.45,0.00,0.000,6,0.000,0.037,2986,2184,3783,0,0,0,0,0,0
$GC,4484,-1.26,-146.0,415.1,-7.4,229,4488,0.00,2.62,0.00,0.000,4,0.000,0.049,2986,3794,3782,0,0,0,0,0,0
$GC,4533,-1.30,-146.0,419.1,-7.9,230,4538,0.00,2.53,0.00,0.000,6,0.000,0.038,2986,2235,3782,0,0,0,0,0,0
$GC,4805,-1.30,-146.0,438.6,-7.3,237,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2235,3781,0,0,0,0,0,0
$GC,5052,-1.30,-146.0,457.3,-7.7,243,5056,0.00,2.85,0.00,0.000,4,0.000,0.091,2986,625,3779,0,0,0,0,0,0
$GC,5078,-1.30,-146.0,459.5,-7.6,243,5083,0.00,2.58,0.00,0.000,6,0.000,0.041,2986,2210,3779,0,0,0,0,0,0
$GC,5329,-1.30,-146.0,478.2,-7.4,249,5333,0.00,2.67,0.00,0.000,4,0.000,0.062,2986,3802,3778,0,0,0,0,0,0
$GC,5358,-1.30,-146.0,480.5,-8.2,249,5363,0.00,2.62,0.00,0.000,6,0.000,0.044,2986,2213,3778,0,0,0,0,0,0
$GC,5608,-1.30,-146.0,499.7,-7.7,255,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2213,3777,0,0,0,0,0,0
$GC,5852,-1.30,-146.0,518.4,-7.8,261,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2213,3777,0,0,0,0,0,0
$GC,6098,-1.30,-146.0,537.9,-8.0,267,6102,0.00,2.72,0.00,0.000,4,0.000,0.066,2986,3792,3776,0,0,0,0,0,0
$GC,6119,-1.30,-146.0,540.0,-8.4,267,6124,0.00,2.62,0.00,0.000,6,0.000,0.048,2986,2222,3775,0,0,0,0,0,0
$GC,6375,-1.30,-146.0,559.4,-7.6,274,6380,0.00,3.00,0.00,0.000,4,0.000,0.115,2986,624,3774,0,0,0,0,0,0
$GC,6422,-1.34,-146.0,563.0,-8.6,275,6427,0.00,2.65,0.00,0.000,6,0.000,0.051,2986,2211,3774,0,0,0,0,0,0
$GC,6700,-1.34,-146.0,583.7,-7.3,282,6704,0.00,2.78,0.00,0.000,4,0.000,0.088,2986,3792,3772,0,0,0,0,0,0
$GC,6733,-1.37,-146.0,586.3,-8.1,282,6739,0.10,2.70,0.00,0.000,6,0.077,0.057,2941,2206,3772,0,0,0,0,0,0
$GC,6985,-1.32,-146.0,609.3,-9.5,289,6991,0.15,3.03,0.00,0.000,4,0.097,0.117,2974,620,3771,0,0,0,0,0,0
$GC,7019,-1.32,-146.0,612.9,-9.6,289,7025,0.00,2.72,0.00,0.000,6,0.000,0.061,2974,2211,3771,0,0,0,0,0,0
$GC,7269,-1.32,-146.0,633.8,-8.2,296,7274,0.00,2.85,0.00,0.000,4,0.000,0.097,2974,3796,3769,0,0,0,0,0,0
$GC,7311,-1.32,-146.0,637.2,-8.0,297,7316,0.00,2.80,0.00,0.000,6,0.000,0.079,2974,2215,3769,0,0,0,0,0,0
$GC,7594,-1.32,-146.0,659.8,-7.8,304,7599,0.00,3.05,0.00,0.000,4,0.000,0.123,2974,623,3768,0,0,0,0,0,0
$GC,7627,-1.32,-146.0,662.6,-8.9,304,7633,0.00,2.80,0.00,0.000,6,0.000,0.080,2975,2209,3767,0,0,0,0,0,0
$GC,7879,-1.32,-146.0,682.2,-7.8,311,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2209,3767,0,0,0,0,0,0
$GC,8121,-1.32,-146.0,701.6,-7.9,317,8125,0.00,3.08,0.00,0.000,4,0.000,0.131,2974,3797,3765,0,0,0,0,0,0
$GC,8148,-1.32,-146.0,704.0,-9.2,317,8153,0.00,2.97,0.00,0.000,6,0.000,0.107,2974,2215,3765,0,0,0,0,0,0
$GC,8400,-1.32,-146.0,724.2,-8.3,323,8405,0.00,3.30,0.00,0.000,4,0.000,0.157,2974,616,3764,0,0,0,0,0,0
$GC,8422,-1.32,-146.0,726.5,-9.1,323,8427,0.00,3.00,0.00,0.000,6,0.000,0.108,2974,2215,3764,0,0,0,0,0,0
$GC,8677,-1.32,-146.0,747.2,-8.1,330,8682,0.00,3.20,0.00,0.000,4,0.000,0.147,2975,3797,3762,0,0,0,0,0,0
$GC,8702,-1.32,-146.0,749.1,-8.3,330,8706,0.00,2.85,0.00,0.000,6,0.000,0.078,2974,2202,3762,0,0,0,0,0,0
$GC,8957,-1.32,-146.0,768.7,-7.4,337,8961,0.00,2.88,0.00,0.000,4,0.000,0.090,2975,3801,3762,0,0,0,0,0,0
$GC,8978,-1.32,-146.0,770.4,-7.2,337,8983,0.00,2.80,0.00,0.000,6,0.000,0.073,2974,2213,3762,0,0,0,0,0,0
$GC,9236,-1.32,-146.0,789.1,-7.5,344,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2214,3760,0,0,0,0,0,0
$GC,9478,-1.32,-146.0,807.8,-7.6,350,9482,0.00,3.03,0.00,0.000,4,0.000,0.117,2974,621,3759,0,0,0,0,0,0
$GC,9499,-1.32,-146.0,809.7,-8.2,350,9504,0.00,2.78,0.00,0.000,6,0.000,0.067,2974,2220,3759,0,0,0,0,0,0
$GC,9754,-1.32,-146.0,829.2,-7.6,357,9759,0.00,2.85,0.00,0.000,4,0.000,0.091,2974,3800,3758,0,0,0,0,0,0
$GC,9796,-1.36,-146.0,832.5,-8.5,358,9801,0.00,2.75,0.00,0.000,6,0.000,0.070,2974,2220,3757,0,0,0,0,0,0
$GC,10080,-1.36,-146.0,855.1,-7.8,365,10084,0.00,3.03,0.00,0.000,4,0.000,0.114,2974,614,3757,0,0,0,0,0,0
$GC,10115,-1.36,-146.0,857.9,-8.7,365,10120,0.00,2.78,0.00,0.000,6,0.000,0.067,2974,2220,3756,0,0,0,0,0,0
$GC,10365,-1.36,-146.0,876.9,-7.4,372,10369,0.00,2.83,0.00,0.000,4,0.000,0.089,2974,3798,3755,0,0,0,0,0,0
$GC,10397,-1.36,-146.0,879.5,-7.9,372,10403,0.00,2.75,0.00,0.000,6,0.000,0.064,2974,2214,3755,0,0,0,0,0,0
$GC,10647,-1.36,-146.0,897.7,-7.1,379,10648,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2214,3754,0,0,0,0,0,0
$STATE,10685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10685,begin apogee
$GC,10694,-0.31,0.0,900.7,7.2,380,10818,0.95,0.00,120.62,1.213,6,0.070,0.000,3190,2383,3190,0,0,0,0,0,0
$STATE,10819,end apogee,CONTROL_FINISHED_OK
$STATE,10819,begin climb
$GC,10821,1.27,146.0,904.2,0.0,383,10959,1.42,2.85,128.12,1.181,4,0.035,0.081,3542,3925,2593,0,0,0,0,0,0
$GC,11045,1.15,146.0,889.8,11.5,388,11050,0.15,2.72,0.00,0.000,6,0.117,0.058,3513,2369,2588,0,0,0,0,0,0
$GC,11320,1.13,159.7,863.7,9.4,395,11340,0.00,2.83,12.70,1.048,4,0.000,0.070,3513,3926,2537,0,0,0,0,0,0
$GC,11385,1.08,159.7,856.9,11.4,396,11389,0.00,2.67,0.00,0.000,6,0.000,0.054,3512,2376,2536,0,0,0,0,0,0
$GC,11645,1.10,174.4,832.5,9.3,403,11662,0.00,0.00,14.38,1.061,6,0.000,0.000,3513,2376,2478,0,0,0,0,0,0
$GC,11892,1.11,179.9,808.8,9.7,409,11905,0.00,2.70,6.30,0.889,4,0.000,0.062,3513,3931,2455,0,0,0,0,0,0
$GC,11922,1.07,179.9,805.3,10.3,409,11927,0.00,2.67,0.00,0.000,6,0.000,0.047,3513,2375,2455,0,0,0,0,0,0
$GC,12172,1.07,179.9,780.2,10.2,415,12173,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2375,2453,0,0,0,0,0,0
$GC,12418,1.07,182.3,756.0,9.9,421,12423,0.00,2.67,0.00,0.000,4,0.000,0.064,3512,3932,2452,0,0,0,0,0,0
$GC,12458,1.07,182.3,751.5,10.9,422,12462,0.00,2.67,0.00,0.000,6,0.000,0.053,3512,2364,2452,0,0,0,0,0,0
$GC,12741,1.07,182.3,722.9,10.0,429,12745,0.00,2.70,0.00,0.000,4,0.000,0.059,3513,3933,2451,0,0,0,0,0,0
$GC,12782,1.07,182.3,718.7,10.9,430,12787,0.00,2.65,0.00,0.000,6,0.000,0.051,3513,2373,2451,0,0,0,0,0,0
$GC,13065,1.08,193.8,690.9,9.5,437,13084,0.00,2.75,13.68,0.997,4,0.000,0.059,3513,3922,2399,0,0,0,0,0,0
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$10V_AH,10.0,53.428
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57475,745
$CAP_FILE_SIZE,180932,0
$CFSIZE,260165632,98324480
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