version: 66.06
glider: 146
mission: 8
dive: 443
start: 4 21 113 20 47 32
data:
$ID,146
$MISSION,8
$DIVE,443
$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,-316140.56
$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,55
$R_STBD_OVSHOOT,22
$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
$GPS1,203929,1926.094,-8116.049,35,1.3,35,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-75.6
$GPS2,204636,1926.089,-8116.004,11,1.8,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.231,0.119
$KALMAN_X,-166514.5,102.0,180.5,151208.1,1270.1
$KALMAN_Y,134555.2,-5.6,-21.6,-129846.1,-753.4
$MHEAD_RNG_PITCHd_Wd,301.1,3873,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-70.35,0.000,2,0.000,0.000,462,2179,3511,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-5.9,9,123,13.68,2.60,-4.75,0.000,4,0.158,0.038,2978,3807,3788,0,0,0,0,0,0
$GC,248,-1.13,-146.0,43.1,-17.7,26,256,0.12,2.53,0.00,0.000,6,0.083,0.024,3011,2228,3789,0,0,0,0,0,0
$GC,519,-0.99,-146.0,80.9,-15.3,51,524,0.15,0.00,0.00,0.000,6,0.104,0.000,3045,2228,3789,0,0,0,0,0,0
$GC,781,-0.93,-146.0,115.2,-12.2,76,786,0.00,2.60,0.00,0.000,4,0.000,0.047,3045,636,3790,0,0,0,0,0,0
$GC,832,-0.93,-146.0,120.8,-12.7,79,836,0.00,2.47,0.00,0.000,6,0.000,0.024,3045,2245,3790,0,0,0,0,0,0
$GC,1098,-0.93,-146.0,147.5,-8.8,103,1102,0.00,2.65,0.00,0.000,4,0.000,0.044,3045,636,3790,0,0,0,0,0,0
$GC,1130,-0.93,-146.0,150.3,-9.1,105,1134,0.00,2.40,0.00,0.000,6,0.000,0.016,3045,2210,3790,0,0,0,0,0,0
$GC,1396,-0.99,-146.0,169.8,-7.1,129,1400,0.00,2.47,0.00,0.000,4,0.000,0.034,3044,3776,3791,0,0,0,0,0,0
$GC,1430,-1.09,-146.0,172.5,-6.9,131,1435,0.00,2.45,0.00,0.000,6,0.000,0.019,3045,2208,3790,0,0,0,0,0,0
$GC,1695,-1.17,-146.0,190.4,-6.6,156,1700,0.17,2.58,0.00,0.000,4,0.051,0.048,2971,637,3791,0,0,0,0,0,0
$GC,1760,-1.12,-146.0,196.9,-10.0,161,1765,0.20,2.42,0.00,0.000,6,0.084,0.018,3017,2210,3791,0,0,0,0,0,0
$GC,2045,-1.16,-146.0,218.5,-7.5,170,2049,0.00,2.53,0.00,0.000,4,0.000,0.037,3017,3773,3791,0,0,0,0,0,0
$GC,2067,-1.21,-146.0,220.5,-7.6,170,2071,0.00,2.42,0.00,0.000,6,0.000,0.027,3017,2222,3791,0,0,0,0,0,0
$GC,2323,-1.27,-146.0,239.6,-7.4,177,2325,0.15,0.00,0.00,0.000,6,0.057,0.000,2952,2222,3791,0,0,0,0,0,0
$GC,2568,-1.19,-146.0,263.6,-10.2,183,2574,0.20,2.60,0.00,0.000,4,0.080,0.054,3000,645,3790,0,0,0,0,0,0
$GC,2596,-1.19,-146.0,266.5,-9.2,183,2600,0.00,2.47,0.00,0.000,6,0.000,0.025,3000,2231,3790,0,0,0,0,0,0
$GC,2849,-1.19,-146.0,285.6,-7.5,189,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2231,3790,0,0,0,0,0,0
$GC,3090,-1.19,-146.0,303.8,-7.3,195,3094,0.00,2.65,0.00,0.000,4,0.000,0.059,3000,638,3789,0,0,0,0,0,0
$GC,3122,-1.19,-146.0,306.6,-8.1,195,3128,0.00,2.47,0.00,0.000,6,0.000,0.021,3000,2221,3789,0,0,0,0,0,0
$GC,3372,-1.19,-146.0,325.1,-7.4,202,3377,0.00,2.55,0.00,0.000,4,0.000,0.049,3000,3783,3788,0,0,0,0,0,0
$GC,3402,-1.19,-146.0,327.4,-8.3,202,3407,0.00,2.45,0.00,0.000,6,0.000,0.023,3000,2226,3788,0,0,0,0,0,0
$GC,3652,-1.19,-146.0,346.3,-7.6,208,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2226,3787,0,0,0,0,0,0
$GC,3896,-1.19,-146.0,364.5,-7.4,214,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2226,3786,0,0,0,0,0,0
$GC,4143,-1.23,-146.0,382.0,-7.1,220,4147,0.00,2.72,0.00,0.000,4,0.000,0.067,3000,626,3785,0,0,0,0,0,0
$GC,4182,-1.27,-146.0,385.2,-7.8,221,4187,0.00,2.50,0.00,0.000,6,0.000,0.029,2999,2204,3785,0,0,0,0,0,0
$GC,4466,-1.32,-146.0,405.1,-7.1,228,4468,0.12,0.00,0.00,0.000,6,0.067,0.000,2946,2204,3784,0,0,0,0,0,0
$GC,4712,-1.26,-146.0,428.3,-9.8,234,4714,0.17,0.00,0.00,0.000,6,0.086,0.000,2986,2205,3782,0,0,0,0,0,0
$GC,4953,-1.26,-146.0,447.3,-7.5,240,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2205,3782,0,0,0,0,0,0
$GC,5197,-1.26,-146.0,464.9,-7.2,246,5201,0.00,2.67,0.00,0.000,4,0.000,0.059,2986,3786,3781,0,0,0,0,0,0
$GC,5222,-1.26,-146.0,466.5,-7.0,246,5227,0.00,2.55,0.00,0.000,6,0.000,0.038,2987,2227,3781,0,0,0,0,0,0
$GC,5477,-1.26,-146.0,485.9,-7.6,253,5482,0.00,2.90,0.00,0.000,4,0.000,0.097,2986,620,3779,0,0,0,0,0,0
$GC,5521,-1.30,-146.0,489.5,-8.6,254,5526,0.00,2.62,0.00,0.000,6,0.000,0.041,2987,2211,3779,0,0,0,0,0,0
$GC,5801,-1.30,-146.0,511.6,-8.0,261,5806,0.00,2.72,0.00,0.000,4,0.000,0.074,2987,3797,3778,0,0,0,0,0,0
$GC,5841,-1.33,-146.0,515.1,-8.7,262,5846,0.00,2.62,0.00,0.000,6,0.000,0.050,2986,2210,3778,0,0,0,0,0,0
$GC,6125,-1.33,-146.0,536.8,-7.5,269,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2211,3777,0,0,0,0,0,0
$GC,6371,-1.33,-146.0,554.5,-7.2,275,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2211,3776,0,0,0,0,0,0
$GC,6612,-1.33,-146.0,571.5,-6.9,281,6617,0.00,3.00,0.00,0.000,4,0.000,0.114,2986,619,3774,0,0,0,0,0,0
$GC,6635,-1.33,-146.0,573.2,-8.0,281,6640,0.00,2.70,0.00,0.000,6,0.000,0.057,2986,2218,3774,0,0,0,0,0,0
$GC,6893,-1.33,-146.0,592.1,-7.4,288,6897,0.00,2.83,0.00,0.000,4,0.000,0.091,2986,3794,3772,0,0,0,0,0,0
$GC,6920,-1.37,-146.0,594.5,-8.4,288,6925,0.10,2.70,0.00,0.000,6,0.077,0.065,2940,2219,3772,0,0,0,0,0,0
$GC,7171,-1.32,-146.0,618.2,-9.7,294,7176,0.15,3.03,0.00,0.000,4,0.095,0.123,2975,626,3771,0,0,0,0,0,0
$GC,7201,-1.32,-146.0,620.9,-9.3,294,7206,0.00,2.75,0.00,0.000,6,0.000,0.062,2975,2221,3771,0,0,0,0,0,0
$GC,7451,-1.32,-146.0,642.3,-8.4,300,7456,0.00,2.90,0.00,0.000,4,0.000,0.104,2975,3800,3770,0,0,0,0,0,0
$GC,7475,-1.32,-146.0,644.4,-8.5,300,7480,0.00,2.80,0.00,0.000,6,0.000,0.077,2975,2219,3770,0,0,0,0,0,0
$GC,7733,-1.32,-146.0,665.4,-8.2,307,7737,0.00,3.08,0.00,0.000,4,0.000,0.124,2974,622,3769,0,0,0,0,0,0
$GC,7772,-1.32,-146.0,669.1,-9.3,308,7777,0.00,2.83,0.00,0.000,6,0.000,0.082,2975,2212,3768,0,0,0,0,0,0
$GC,8055,-1.32,-146.0,692.7,-8.2,315,8060,0.00,3.03,0.00,0.000,4,0.000,0.127,2975,3801,3767,0,0,0,0,0,0
$GC,8085,-1.32,-146.0,695.1,-8.3,315,8090,0.00,2.97,0.00,0.000,6,0.000,0.107,2975,2211,3767,0,0,0,0,0,0
$GC,8335,-1.32,-146.0,715.6,-8.1,321,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2211,3765,0,0,0,0,0,0
$GC,8578,-1.32,-146.0,734.8,-7.8,327,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2211,3764,0,0,0,0,0,0
$GC,8825,-1.32,-146.0,754.2,-8.0,333,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2211,3763,0,0,0,0,0,0
$GC,9066,-1.32,-146.0,773.5,-7.9,339,9071,0.00,3.35,0.00,0.000,4,0.000,0.162,2975,3794,3762,0,0,0,0,0,0
$GC,9088,-1.32,-146.0,775.2,-7.9,339,9092,0.00,2.83,0.00,0.000,6,0.000,0.078,2975,2213,3762,0,0,0,0,0,0
$GC,9343,-1.32,-146.0,794.2,-7.3,346,9347,0.00,2.88,0.00,0.000,4,0.000,0.091,2975,3805,3761,0,0,0,0,0,0
$GC,9361,-1.32,-146.0,795.6,-7.5,346,9366,0.00,2.80,0.00,0.000,6,0.000,0.073,2975,2221,3761,0,0,0,0,0,0
$GC,9622,-1.32,-146.0,814.7,-7.2,353,9623,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2220,3760,0,0,0,0,0,0
$GC,9865,-1.32,-146.0,832.2,-7.1,359,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2220,3759,0,0,0,0,0,0
$GC,10112,-1.32,-146.0,849.9,-7.3,365,10116,0.00,2.85,0.00,0.000,4,0.000,0.085,2974,3805,3758,0,0,0,0,0,0
$GC,10133,-1.32,-146.0,851.7,-6.6,365,10137,0.00,2.75,0.00,0.000,6,0.000,0.070,2975,2233,3758,0,0,0,0,0,0
$GC,10388,-1.32,-146.0,870.5,-7.4,372,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2233,3757,0,0,0,0,0,0
$GC,10634,-1.32,-146.0,888.3,-7.2,378,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2233,3756,0,0,0,0,0,0
$STATE,10791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10792,begin apogee
$GC,10798,-0.31,0.0,900.1,7.3,382,10922,0.95,0.00,121.00,1.211,6,0.069,0.000,3192,2385,3189,0,0,0,0,0,0
$STATE,10923,end apogee,CONTROL_FINISHED_OK
$STATE,10923,begin climb
$GC,10926,1.27,146.0,903.0,0.0,385,11063,1.42,2.85,128.55,1.179,4,0.035,0.085,3544,3934,2593,0,0,0,0,0,0
$GC,11137,1.15,146.0,889.9,11.9,390,11142,0.15,2.75,0.00,0.000,6,0.117,0.060,3513,2368,2588,0,0,0,0,0,0
$GC,11423,1.18,165.0,863.7,9.1,397,11442,0.00,0.00,17.33,1.075,6,0.000,0.000,3513,2369,2517,0,0,0,0,0,0
$GC,11665,1.19,176.7,840.9,9.5,403,11684,0.00,2.85,11.82,1.030,4,0.000,0.067,3512,3932,2468,0,0,0,0,0,0
$GC,11712,1.15,176.7,835.9,10.4,404,11717,0.00,2.70,0.00,0.000,6,0.000,0.051,3513,2371,2467,0,0,0,0,0,0
$GC,11993,1.15,176.7,808.0,10.1,411,11997,0.00,2.72,0.00,0.000,4,0.000,0.061,3513,3935,2465,0,0,0,0,0,0
$GC,12014,1.11,176.7,805.4,11.4,411,12018,0.00,2.67,0.00,0.000,6,0.000,0.054,3513,2379,2465,0,0,0,0,0,0
$GC,12269,1.11,176.7,779.3,10.2,418,12270,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2380,2464,0,0,0,0,0,0
$GC,12515,1.11,176.7,754.6,10.1,424,12519,0.00,2.70,0.00,0.000,4,0.000,0.061,3513,3937,2463,0,0,0,0,0,0
$GC,12548,1.07,176.7,750.9,10.5,424,12553,0.00,2.65,0.00,0.000,6,0.000,0.052,3513,2388,2462,0,0,0,0,0,0
$GC,12798,1.07,176.7,725.6,10.1,431,12799,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2388,2462,0,0,0,0,0,0
$GC,13044,1.07,181.3,701.5,9.8,437,13053,0.00,2.70,4.47,0.731,4,0.000,0.067,3513,3933,2450,0,0,0,0,0,0
$GC,13082,1.07,181.3,697.1,10.9,438,13087,0.00,2.65,0.00,0.000,6,0.000,0.049,3513,2387,2450,0,0,0,0,0,0
$GC,13366,1.07,181.3,668.3,10.1,445,13367,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2387,2450,0,0,0,0,0,0
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$STATE,19726,end climb,SURFACE_DEPTH_REACHED
$STATE,19727,begin surface coast
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57318,740
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$CFSIZE,260165632,97116160
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