version: 66.06
glider: 146
mission: 8
dive: 431
start: 4 19 113 4 43 1
data:
$ID,146
$MISSION,8
$DIVE,431
$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,-315914.25
$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,43
$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
$GPS1,043424,1926.613,-8114.978,37,1.6,37,-3.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-76.5
$GPS2,044207,1926.638,-8115.026,9,2.0,9,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,-0.009
$KALMAN_X,-193565.7,98.6,187.5,179974.5,620.0
$KALMAN_Y,141073.5,249.6,450.9,-136089.0,-1545.9
$MHEAD_RNG_PITCHd_Wd,95.7,12897,-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,-70.88,0.000,2,0.000,0.000,457,2172,3522,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.1,-6.3,9,123,13.60,2.47,-4.57,0.000,4,0.159,0.048,2976,650,3787,0,0,0,0,0,0
$GC,135,-0.10,-146.0,19.9,-39.4,13,145,1.15,2.45,0.00,0.000,6,0.075,0.015,3235,2226,3787,0,0,0,0,0,0
$GC,432,-0.70,-146.0,39.5,-8.3,49,437,0.52,2.58,0.00,0.000,4,0.054,0.041,3103,653,3788,0,0,0,0,0,0
$GC,468,-1.05,-146.0,42.9,-8.6,51,473,0.30,2.38,0.00,0.000,6,0.036,0.016,2998,2206,3788,0,0,0,0,0,0
$GC,738,-0.89,-146.0,81.5,-15.1,75,743,0.28,2.47,0.00,0.000,4,0.077,0.028,3065,3762,3789,0,0,0,0,0,0
$GC,779,-0.89,-146.0,88.3,-12.2,78,783,0.00,2.45,0.00,0.000,6,0.000,0.023,3065,2205,3789,0,0,0,0,0,0
$GC,1043,-0.89,-146.0,116.3,-10.9,102,1048,0.00,2.55,0.00,0.000,4,0.000,0.044,3065,634,3789,0,0,0,0,0,0
$GC,1088,-0.93,-146.0,121.0,-10.9,105,1092,0.00,2.35,0.00,0.000,6,0.000,0.017,3065,2166,3789,0,0,0,0,0,0
$GC,1357,-1.02,-146.0,142.7,-7.2,129,1363,0.12,0.00,0.00,0.000,6,0.065,0.000,3005,2166,3790,0,0,0,0,0,0
$GC,1624,-1.02,-146.0,167.0,-8.6,154,1629,0.15,2.60,0.00,0.000,4,0.086,0.036,3042,3785,3790,0,0,0,0,0,0
$GC,1656,-1.09,-146.0,169.9,-8.2,156,1660,0.00,2.53,0.00,0.000,6,0.000,0.021,3042,2162,3790,0,0,0,0,0,0
$GC,1921,-1.18,-146.0,188.6,-6.6,180,1930,0.17,0.00,0.00,0.000,6,0.050,0.000,2969,2162,3791,0,0,0,0,0,0
$GC,2210,-1.13,-146.0,214.9,-8.9,196,2212,0.20,0.00,0.00,0.000,6,0.078,0.000,3016,2162,3791,0,0,0,0,0,0
$GC,2451,-1.19,-146.0,232.7,-7.1,202,2455,0.00,2.60,0.00,0.000,4,0.000,0.041,3016,3780,3790,0,0,0,0,0,0
$GC,2467,-1.25,-146.0,233.9,-6.9,202,2472,0.12,2.50,0.00,0.000,6,0.064,0.028,2956,2188,3791,0,0,0,0,0,0
$GC,2731,-1.19,-146.0,258.9,-9.8,209,2733,0.20,0.00,0.00,0.000,6,0.081,0.000,3004,2187,3790,0,0,0,0,0,0
$GC,2972,-1.19,-146.0,277.9,-7.7,215,2976,0.00,2.58,0.00,0.000,4,0.000,0.057,3004,642,3790,0,0,0,0,0,0
$GC,2988,-1.19,-146.0,279.3,-7.4,215,2992,0.00,2.40,0.00,0.000,6,0.000,0.025,3004,2197,3789,0,0,0,0,0,0
$GC,3252,-1.23,-146.0,298.5,-7.5,222,3256,0.00,2.53,0.00,0.000,4,0.000,0.044,3004,3776,3789,0,0,0,0,0,0
$GC,3279,-1.28,-146.0,301.0,-7.8,222,3284,0.10,2.47,0.00,0.000,6,0.077,0.029,2953,2197,3789,0,0,0,0,0,0
$GC,3529,-1.22,-146.0,324.6,-9.7,228,3531,0.17,0.00,0.00,0.000,6,0.084,0.000,2994,2197,3788,0,0,0,0,0,0
$GC,3775,-1.22,-146.0,344.7,-8.2,234,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2197,3787,0,0,0,0,0,0
$GC,4016,-1.22,-146.0,363.7,-7.9,240,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2197,3786,0,0,0,0,0,0
$GC,4260,-1.22,-146.0,382.6,-7.7,246,4264,0.00,2.58,0.00,0.000,4,0.000,0.048,2994,3774,3785,0,0,0,0,0,0
$GC,4281,-1.22,-146.0,384.3,-7.8,246,4286,0.00,2.50,0.00,0.000,6,0.000,0.029,2994,2204,3785,0,0,0,0,0,0
$GC,4539,-1.22,-146.0,403.6,-7.5,253,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2204,3784,0,0,0,0,0,0
$GC,4781,-1.22,-146.0,421.9,-7.5,259,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2203,3783,0,0,0,0,0,0
$GC,5025,-1.26,-146.0,439.9,-7.4,265,5029,0.00,2.60,0.00,0.000,4,0.000,0.049,2994,3775,3782,0,0,0,0,0,0
$GC,5049,-1.31,-146.0,441.6,-7.5,265,5053,0.00,2.58,0.00,0.000,6,0.000,0.041,2994,2200,3782,0,0,0,0,0,0
$GC,5304,-1.35,-146.0,459.9,-7.1,272,5306,0.12,0.00,0.00,0.000,6,0.067,0.000,2945,2201,3781,0,0,0,0,0,0
$GC,5548,-1.29,-146.0,482.4,-9.3,278,5550,0.15,0.00,0.00,0.000,6,0.093,0.000,2979,2201,3780,0,0,0,0,0,0
$GC,5791,-1.29,-146.0,501.9,-8.0,284,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2200,3779,0,0,0,0,0,0
$GC,6035,-1.29,-146.0,521.2,-8.0,290,6040,0.00,2.67,0.00,0.000,4,0.000,0.072,2979,3766,3777,0,0,0,0,0,0
$GC,6056,-1.29,-146.0,523.1,-8.5,290,6061,0.00,2.62,0.00,0.000,6,0.000,0.051,2979,2198,3777,0,0,0,0,0,0
$GC,6314,-1.29,-146.0,543.5,-8.2,297,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2198,3776,0,0,0,0,0,0
$GC,6555,-1.29,-146.0,563.8,-8.3,303,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2198,3776,0,0,0,0,0,0
$GC,6799,-1.29,-146.0,582.4,-7.4,309,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2198,3774,0,0,0,0,0,0
$GC,7043,-1.29,-146.0,600.6,-7.4,315,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2198,3773,0,0,0,0,0,0
$GC,7289,-1.29,-146.0,619.1,-7.7,321,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2198,3772,0,0,0,0,0,0
$GC,7530,-1.29,-146.0,638.4,-8.0,327,7535,0.00,2.90,0.00,0.000,4,0.000,0.105,2979,3771,3770,0,0,0,0,0,0
$GC,7551,-1.29,-146.0,640.3,-8.7,327,7556,0.00,2.78,0.00,0.000,6,0.000,0.077,2979,2206,3770,0,0,0,0,0,0
$GC,7809,-1.29,-146.0,661.1,-8.4,334,7814,0.00,3.08,0.00,0.000,4,0.000,0.130,2979,623,3769,0,0,0,0,0,0
$GC,7842,-1.29,-146.0,664.3,-9.2,334,7848,0.00,2.70,0.00,0.000,6,0.000,0.081,2979,2163,3769,0,0,0,0,0,0
$GC,8092,-1.29,-146.0,685.2,-8.3,341,8097,0.00,3.08,0.00,0.000,4,0.000,0.117,2979,3803,3767,0,0,0,0,0,0
$GC,8113,-1.29,-146.0,687.2,-8.8,341,8118,0.00,2.95,0.00,0.000,6,0.000,0.099,2979,2201,3768,0,0,0,0,0,0
$GC,8371,-1.29,-146.0,707.0,-7.7,348,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2202,3766,0,0,0,0,0,0
$GC,8612,-1.29,-146.0,725.5,-7.5,354,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2202,3765,0,0,0,0,0,0
$GC,8856,-1.29,-146.0,743.4,-7.3,360,8861,0.00,3.20,0.00,0.000,4,0.000,0.144,2979,3794,3763,0,0,0,0,0,0
$GC,8892,-1.33,-146.0,745.9,-7.5,360,8898,0.00,2.88,0.00,0.000,6,0.000,0.084,2979,2200,3763,0,0,0,0,0,0
$GC,9142,-1.33,-146.0,763.7,-7.1,367,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2199,3762,0,0,0,0,0,0
$GC,9386,-1.33,-146.0,780.5,-6.8,373,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2199,3762,0,0,0,0,0,0
$GC,9632,-1.33,-146.0,797.8,-7.3,379,9636,0.00,2.88,0.00,0.000,4,0.000,0.086,2979,3801,3761,0,0,0,0,0,0
$GC,9672,-1.38,-146.0,800.9,-8.0,380,9676,0.00,2.78,0.00,0.000,6,0.000,0.072,2979,2212,3761,0,0,0,0,0,0
$GC,9955,-1.38,-146.0,821.5,-7.2,387,9959,0.00,2.85,0.00,0.000,4,0.000,0.086,2979,3803,3759,0,0,0,0,0,0
$GC,9979,-1.38,-146.0,823.2,-7.6,387,9983,0.00,2.78,0.00,0.000,6,0.000,0.071,2979,2220,3759,0,0,0,0,0,0
$GC,10234,-1.41,-146.0,841.5,-7.2,394,10240,0.12,3.10,0.00,0.000,4,0.069,0.124,2933,616,3758,0,0,0,0,0,0
$GC,10251,-1.41,-146.0,842.9,-7.3,394,10255,0.00,2.78,0.00,0.000,6,0.000,0.069,2933,2217,3758,0,0,0,0,0,0
$GC,10515,-1.36,-146.0,866.8,-9.2,401,10516,0.12,0.00,0.00,0.000,6,0.104,0.000,2962,2217,3756,0,0,0,0,0,0
$GC,10755,-1.36,-146.0,886.1,-7.9,407,10760,0.00,2.85,0.00,0.000,4,0.000,0.092,2962,3799,3756,0,0,0,0,0,0
$GC,10776,-1.36,-146.0,888.0,-8.5,407,10781,0.00,2.75,0.00,0.000,6,0.000,0.070,2962,2208,3755,0,0,0,0,0,0
$STATE,10948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10948,begin apogee
$GC,10956,-0.31,0.0,901.9,8.0,412,11081,1.00,0.00,121.38,1.216,6,0.066,0.000,3190,2382,3189,0,0,0,0,0,0
$STATE,11082,end apogee,CONTROL_FINISHED_OK
$STATE,11082,begin climb
$GC,11085,1.27,146.0,905.6,0.0,415,11222,1.45,2.75,128.43,1.184,4,0.035,0.079,3549,3927,2592,0,0,0,0,0,0
$GC,11284,1.14,146.0,894.4,11.5,419,11289,0.20,2.72,0.00,0.000,6,0.110,0.059,3510,2363,2588,0,0,0,0,0,0
$GC,11534,1.18,179.3,872.8,8.5,425,11569,0.00,2.83,29.98,1.128,4,0.000,0.070,3510,3934,2459,0,0,0,0,0,0
$GC,11605,1.14,179.3,866.0,10.8,425,11610,0.00,2.70,0.00,0.000,6,0.000,0.051,3510,2378,2457,0,0,0,0,0,0
$GC,11855,1.14,179.3,840.3,10.3,431,11860,0.00,3.08,0.00,0.000,4,0.000,0.118,3510,783,2453,0,0,0,0,0,0
$GC,11881,1.10,179.3,837.8,11.0,431,11885,0.00,2.72,0.00,0.000,6,0.000,0.051,3510,2372,2452,0,0,0,0,0,0
$GC,12135,1.10,179.3,811.0,10.3,438,12140,0.00,2.72,0.00,0.000,4,0.000,0.073,3509,3937,2452,0,0,0,0,0,0
$GC,12186,1.10,179.3,805.4,11.3,439,12190,0.00,2.62,0.00,0.000,6,0.000,0.046,3509,2380,2451,0,0,0,0,0,0
$GC,12460,1.11,189.4,779.1,9.5,446,12472,0.00,0.00,9.70,0.992,6,0.000,0.000,3510,2380,2417,0,0,0,0,0,0
$GC,12704,1.12,191.8,755.0,9.9,452,12709,0.00,2.70,0.00,0.000,4,0.000,0.061,3510,3945,2415,0,0,0,0,0,0
$GC,12726,1.12,191.8,752.2,11.3,452,12730,0.00,2.62,0.00,0.000,6,0.000,0.049,3510,2387,2414,0,0,0,0,0,0
$GC,12987,1.12,197.5,726.5,9.7,459,12998,0.00,0.00,8.65,0.944,6,0.000,0.000,3509,2388,2385,0,0,0,0,0,0
$GC,13233,1.13,204.6,703.0,9.7,465,13244,0.00,0.00,8.45,0.927,6,0.000,0.000,3510,2387,2355,0,0,0,0,0,0
$GC,13475,1.13,204.6,678.1,10.3,471,13476,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2388,2353,0,0,0,0,0,0
$GC,13718,1.13,204.6,653.1,10.2,477,13723,0.00,3.10,0.00,0.000,4,0.000,0.118,3510,774,2352,0,0,0,0,0,0
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$10V_AH,10.0,54.071
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57335,758
$CAP_FILE_SIZE,178318,0
$CFSIZE,260165632,97968128
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