version: 66.06
glider: 146
mission: 8
dive: 440
start: 4 21 113 3 43 14
data:
$ID,146
$MISSION,8
$DIVE,440
$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,-316096.31
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,033505,1925.452,-8112.277,32,1.1,32,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-75.6
$GPS2,034218,1925.447,-8112.239,9,1.6,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.253,0.060
$KALMAN_X,-173303.0,281.1,15.8,164558.9,1311.6
$KALMAN_Y,137498.0,-271.7,-27.1,-133711.4,-156.6
$MHEAD_RNG_PITCHd_Wd,287.2,10464,-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,19,-1.27,-146.0,0.0,0.0,0,84,0.00,0.00,-62.62,0.000,2,0.000,0.000,460,2154,3261,0,0,0,0,0,0
$GC,87,-1.27,-146.0,3.0,-2.8,8,121,13.52,2.55,-10.73,0.000,4,0.156,0.054,2976,628,3785,0,0,0,0,0,0
$GC,327,-1.08,-146.0,50.6,-18.0,35,332,0.22,2.47,0.00,0.000,6,0.101,0.015,3024,2240,3786,0,0,0,0,0,0
$GC,596,-0.97,-146.0,84.1,-12.9,59,601,0.10,2.65,0.00,0.000,4,0.119,0.044,3048,627,3787,0,0,0,0,0,0
$GC,639,-0.91,-146.0,90.5,-11.9,62,644,0.00,2.42,0.00,0.000,6,0.000,0.016,3048,2202,3787,0,0,0,0,0,0
$GC,905,-0.87,-146.0,119.4,-11.3,86,914,0.10,0.00,0.00,0.000,6,0.114,0.000,3072,2202,3787,0,0,0,0,0,0
$GC,1171,-0.95,-146.0,141.0,-6.8,111,1176,0.00,2.58,0.00,0.000,4,0.000,0.044,3072,626,3788,0,0,0,0,0,0
$GC,1196,-1.05,-146.0,143.0,-6.9,112,1205,0.15,2.45,0.00,0.000,6,0.026,0.018,3000,2205,3788,0,0,0,0,0,0
$GC,1458,-1.05,-146.0,167.3,-9.1,137,1463,0.12,2.50,0.00,0.000,4,0.094,0.041,3031,3773,3788,0,0,0,0,0,0
$GC,1517,-1.12,-146.0,172.0,-7.6,141,1527,0.00,2.47,0.00,0.000,6,0.000,0.020,3031,2203,3789,0,0,0,0,0,0
$GC,1785,-1.17,-146.0,191.7,-7.3,166,1790,0.12,2.53,0.00,0.000,4,0.064,0.036,2975,3773,3789,0,0,0,0,0,0
$GC,1833,-1.12,-146.0,196.7,-10.4,169,1839,0.17,2.42,0.00,0.000,6,0.081,0.018,3017,2213,3789,0,0,0,0,0,0
$GC,2085,-1.16,-146.0,216.5,-7.8,179,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2214,3789,0,0,0,0,0,0
$GC,2328,-1.21,-146.0,233.0,-6.6,185,2333,0.00,2.58,0.00,0.000,4,0.000,0.048,3017,648,3789,0,0,0,0,0,0
$GC,2353,-1.27,-146.0,234.6,-6.8,185,2358,0.15,2.45,0.00,0.000,6,0.056,0.020,2954,2222,3789,0,0,0,0,0,0
$GC,2609,-1.20,-146.0,257.6,-9.1,192,2614,0.20,2.53,0.00,0.000,4,0.081,0.045,2999,3779,3789,0,0,0,0,0,0
$GC,2673,-1.25,-146.0,262.9,-7.6,193,2677,0.00,2.40,0.00,0.000,6,0.000,0.023,3000,2235,3789,0,0,0,0,0,0
$GC,2934,-1.25,-146.0,282.4,-7.5,200,2938,0.00,2.65,0.00,0.000,4,0.000,0.059,3000,640,3788,0,0,0,0,0,0
$GC,2960,-1.25,-146.0,284.6,-7.9,200,2965,0.00,2.50,0.00,0.000,6,0.000,0.028,2999,2239,3788,0,0,0,0,0,0
$GC,3213,-1.25,-146.0,303.2,-7.5,206,3217,0.00,2.53,0.00,0.000,4,0.000,0.042,2999,3788,3787,0,0,0,0,0,0
$GC,3234,-1.25,-146.0,305.0,-7.0,206,3239,0.00,2.45,0.00,0.000,6,0.000,0.021,2999,2231,3787,0,0,0,0,0,0
$GC,3490,-1.25,-146.0,324.2,-7.6,213,3494,0.00,2.65,0.00,0.000,4,0.000,0.059,2999,640,3786,0,0,0,0,0,0
$GC,3519,-1.25,-146.0,326.3,-7.6,213,3524,0.00,2.53,0.00,0.000,6,0.000,0.031,2999,2230,3786,0,0,0,0,0,0
$GC,3769,-1.25,-146.0,345.6,-7.7,219,3774,0.00,2.55,0.00,0.000,4,0.000,0.051,2999,3789,3785,0,0,0,0,0,0
$GC,3810,-1.30,-146.0,348.9,-7.9,220,3814,0.00,2.45,0.00,0.000,6,0.000,0.024,2999,2244,3785,0,0,0,0,0,0
$GC,4096,-1.33,-146.0,370.4,-7.6,227,4101,0.12,2.78,0.00,0.000,4,0.067,0.070,2947,630,3784,0,0,0,0,0,0
$GC,4112,-1.33,-146.0,372.3,-7.8,227,4117,0.10,2.58,0.00,0.000,6,0.111,0.035,2969,2236,3784,0,0,0,0,0,0
$GC,4373,-1.33,-146.0,395.4,-8.8,234,4377,0.00,2.55,0.00,0.000,4,0.000,0.051,2968,3789,3783,0,0,0,0,0,0
$GC,4408,-1.33,-146.0,398.6,-9.7,234,4416,0.00,2.45,0.00,0.000,6,0.000,0.033,2969,2250,3783,0,0,0,0,0,0
$GC,4658,-1.33,-146.0,421.0,-8.8,241,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2250,3782,0,0,0,0,0,0
$GC,4902,-1.33,-146.0,441.9,-8.5,247,4906,0.00,2.58,0.00,0.000,4,0.000,0.054,2969,3789,3781,0,0,0,0,0,0
$GC,4931,-1.33,-146.0,444.4,-9.0,247,4936,0.00,2.53,0.00,0.000,6,0.000,0.039,2969,2241,3781,0,0,0,0,0,0
$GC,5181,-1.33,-146.0,465.5,-8.4,253,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2241,3780,0,0,0,0,0,0
$GC,5425,-1.33,-146.0,485.6,-8.2,259,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2241,3779,0,0,0,0,0,0
$GC,5669,-1.33,-146.0,505.5,-8.2,265,5673,0.00,2.65,0.00,0.000,4,0.000,0.066,2969,3787,3778,0,0,0,0,0,0
$GC,5698,-1.33,-146.0,507.8,-8.5,265,5703,0.00,2.55,0.00,0.000,6,0.000,0.044,2969,2245,3777,0,0,0,0,0,0
$GC,5948,-1.33,-146.0,528.8,-8.4,271,5953,0.00,3.03,0.00,0.000,4,0.000,0.110,2969,623,3777,0,0,0,0,0,0
$GC,5975,-1.33,-146.0,531.3,-9.0,271,5980,0.00,2.70,0.00,0.000,6,0.000,0.048,2969,2233,3777,0,0,0,0,0,0
$GC,6228,-1.33,-146.0,552.0,-8.2,277,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2232,3775,0,0,0,0,0,0
$GC,6469,-1.33,-146.0,572.3,-8.4,283,6474,0.00,2.75,0.00,0.000,4,0.000,0.084,2968,3793,3774,0,0,0,0,0,0
$GC,6490,-1.33,-146.0,574.3,-8.8,283,6495,0.00,2.62,0.00,0.000,6,0.000,0.054,2969,2245,3774,0,0,0,0,0,0
$GC,6748,-1.33,-146.0,594.8,-8.0,290,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2245,3772,0,0,0,0,0,0
$GC,6989,-1.33,-146.0,614.5,-8.1,296,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2245,3771,0,0,0,0,0,0
$GC,7233,-1.33,-146.0,633.6,-7.9,302,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2245,3770,0,0,0,0,0,0
$GC,7477,-1.33,-146.0,653.6,-8.3,308,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2245,3769,0,0,0,0,0,0
$GC,7723,-1.33,-146.0,674.1,-8.4,314,7727,0.00,2.92,0.00,0.000,4,0.000,0.116,2969,3792,3767,0,0,0,0,0,0
$GC,7744,-1.33,-146.0,676.3,-8.7,314,7749,0.00,2.83,0.00,0.000,6,0.000,0.092,2969,2247,3767,0,0,0,0,0,0
$GC,8002,-1.33,-146.0,696.7,-8.1,321,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2248,3766,0,0,0,0,0,0
$GC,8245,-1.33,-146.0,715.8,-7.8,327,8250,0.00,3.35,0.00,0.000,4,0.000,0.156,2969,619,3765,0,0,0,0,0,0
$GC,8267,-1.33,-146.0,717.8,-7.9,327,8272,0.00,3.05,0.00,0.000,6,0.000,0.107,2969,2243,3764,0,0,0,0,0,0
$GC,8522,-1.33,-146.0,737.1,-7.5,334,8527,0.00,3.15,0.00,0.000,4,0.000,0.150,2969,3798,3763,0,0,0,0,0,0
$GC,8564,-1.33,-146.0,740.1,-7.9,335,8569,0.00,2.75,0.00,0.000,6,0.000,0.081,2969,2255,3762,0,0,0,0,0,0
$GC,8847,-1.33,-146.0,760.6,-7.2,342,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2255,3761,0,0,0,0,0,0
$GC,9091,-1.33,-146.0,778.5,-7.5,348,9092,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2254,3761,0,0,0,0,0,0
$GC,9335,-1.33,-146.0,796.4,-7.3,354,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2254,3760,0,0,0,0,0,0
$GC,9581,-1.33,-146.0,814.3,-7.4,360,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2253,3759,0,0,0,0,0,0
$GC,9822,-1.33,-146.0,832.7,-7.6,366,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2253,3757,0,0,0,0,0,0
$GC,10066,-1.33,-146.0,850.9,-7.4,372,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2250,3756,0,0,0,0,0,0
$GC,10310,-1.33,-146.0,869.6,-7.6,378,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2250,3755,0,0,0,0,0,0
$GC,10556,-1.33,-146.0,888.0,-7.6,384,10561,0.00,3.08,0.00,0.000,4,0.000,0.117,2969,619,3754,0,0,0,0,0,0
$GC,10583,-1.33,-146.0,890.4,-8.2,384,10588,0.00,2.85,0.00,0.000,6,0.000,0.067,2969,2267,3754,0,0,0,0,0,0
$STATE,10749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10749,begin apogee
$GC,10755,-0.31,0.0,902.8,7.4,388,10880,0.95,0.00,120.80,1.218,6,0.066,0.000,3190,2378,3189,0,0,0,0,0,0
$STATE,10881,end apogee,CONTROL_FINISHED_OK
$STATE,10881,begin climb
$GC,10886,1.27,146.0,905.9,0.0,391,11023,1.42,2.90,128.75,1.186,4,0.034,0.088,3545,3935,2593,0,0,0,0,0,0
$GC,11128,1.14,146.0,889.0,11.9,396,11134,0.17,2.75,0.00,0.000,6,0.113,0.060,3511,2358,2588,0,0,0,0,0,0
$GC,11378,1.17,168.8,865.9,8.9,402,11401,0.00,0.00,20.65,1.099,6,0.000,0.000,3511,2358,2502,0,0,0,0,0,0
$GC,11624,1.18,179.5,842.8,9.5,408,11637,0.00,0.00,10.80,1.019,6,0.000,0.000,3511,2358,2458,0,0,0,0,0,0
$GC,11865,1.18,179.5,818.4,10.0,414,11870,0.00,2.75,0.00,0.000,4,0.000,0.060,3511,3939,2455,0,0,0,0,0,0
$GC,11898,1.15,179.5,814.9,10.0,414,11903,0.00,2.67,0.00,0.000,6,0.000,0.050,3511,2365,2454,0,0,0,0,0,0
$GC,12148,1.16,186.2,790.4,9.7,421,12162,0.00,2.80,7.40,0.933,4,0.000,0.060,3510,3938,2430,0,0,0,0,0,0
$GC,12187,1.16,186.2,786.7,10.0,421,12192,0.00,2.72,0.00,0.000,6,0.000,0.055,3511,2367,2429,0,0,0,0,0,0
$GC,12437,1.17,198.6,762.6,9.4,428,12451,0.00,0.00,13.07,1.022,6,0.000,0.000,3511,2367,2380,0,0,0,0,0,0
$GC,12680,1.18,206.0,739.1,9.7,434,12690,0.00,0.00,8.27,0.937,6,0.000,0.000,3511,2367,2349,0,0,0,0,0,0
$GC,12927,1.18,208.6,714.9,9.9,440,12936,0.00,2.75,3.97,0.673,4,0.000,0.064,3511,3939,2339,0,0,0,0,0,0
$GC,12947,1.18,208.6,712.4,10.1,440,12951,0.00,2.70,0.00,0.000,6,0.000,0.055,3511,2373,2338,0,0,0,0,0,0
$GC,13212,1.18,208.6,686.0,10.1,447,13214,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2373,2337,0,0,0,0,0,0
$GC,13454,1.18,208.6,661.2,10.2,453,13455,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2373,2337,0,0,0,0,0,0
$GC,13695,1.18,208.6,636.7,10.1,459,13697,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2373,2336,0,0,0,0,0,0
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57079,749
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$CFSIZE,260165632,97337344
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