version: 66.06
glider: 146
mission: 8
dive: 445
start: 4 22 113 6 44 31
data:
$ID,146
$MISSION,8
$DIVE,445
$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,-316172.59
$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,31
$R_STBD_OVSHOOT,19
$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
$GPS1,063623,1926.632,-8117.663,24,1.0,41,-3.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-75.5
$GPS2,064336,1926.609,-8117.587,13,1.2,13,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.255,-0.049
$KALMAN_X,-162467.5,86.1,89.1,144504.4,1793.8
$KALMAN_Y,132631.5,-150.8,-123.6,-126710.7,-601.2
$MHEAD_RNG_PITCHd_Wd,104.7,17196,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.38,0.000,2,0.000,0.000,463,2198,3500,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-5.2,9,123,13.77,2.58,-5.00,0.000,4,0.161,0.050,2976,626,3787,0,0,0,0,0,0
$GC,141,-0.36,-146.0,22.1,-39.3,14,150,0.90,2.53,0.00,0.000,6,0.081,0.015,3176,2253,3787,0,0,0,0,0,0
$GC,427,-0.57,-146.0,43.7,-5.7,43,432,0.17,2.70,0.00,0.000,4,0.052,0.045,3106,630,3787,0,0,0,0,0,0
$GC,487,-0.68,-146.0,49.0,-8.7,47,491,0.00,2.40,0.00,0.000,6,0.000,0.016,3106,2190,3787,0,0,0,0,0,0
$GC,758,-0.74,-146.0,74.3,-9.5,71,767,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2190,3788,0,0,0,0,0,0
$GC,1019,-0.81,-146.0,98.7,-8.8,96,1021,0.10,0.00,0.00,0.000,6,0.077,0.000,3052,2190,3789,0,0,0,0,0,0
$GC,1278,-0.81,-146.0,126.8,-9.6,120,1287,0.12,0.00,0.00,0.000,6,0.094,0.000,3083,2190,3789,0,0,0,0,0,0
$GC,1545,-0.92,-146.0,145.9,-6.3,145,1550,0.10,2.58,0.00,0.000,4,0.077,0.045,3026,625,3789,0,0,0,0,0,0
$GC,1565,-0.99,-146.0,147.6,-6.8,146,1569,0.00,2.40,0.00,0.000,6,0.000,0.017,3026,2193,3789,0,0,0,0,0,0
$GC,1833,-0.99,-146.0,171.4,-7.6,171,1837,0.00,2.58,0.00,0.000,4,0.000,0.045,3026,627,3790,0,0,0,0,0,0
$GC,1855,-0.99,-146.0,173.5,-8.6,172,1861,0.00,2.35,0.00,0.000,6,0.000,0.025,3026,2178,3789,0,0,0,0,0,0
$GC,2121,-1.05,-146.0,193.3,-7.2,197,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2178,3790,0,0,0,0,0,0
$GC,2377,-1.11,-146.0,211.5,-6.9,210,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2178,3790,0,0,0,0,0,0
$GC,2621,-1.18,-146.0,227.1,-6.5,216,2626,0.10,2.55,0.00,0.000,4,0.077,0.039,2971,3768,3790,0,0,0,0,0,0
$GC,2649,-1.18,-146.0,229.7,-9.5,216,2654,0.15,2.50,0.00,0.000,6,0.084,0.025,3008,2159,3790,0,0,0,0,0,0
$GC,2899,-1.22,-146.0,249.5,-8.0,222,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2159,3790,0,0,0,0,0,0
$GC,3145,-1.26,-146.0,267.9,-7.4,228,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2159,3789,0,0,0,0,0,0
$GC,3386,-1.31,-146.0,285.6,-7.3,234,3388,0.15,0.00,0.00,0.000,6,0.057,0.000,2945,2159,3788,0,0,0,0,0,0
$GC,3630,-1.24,-146.0,310.0,-10.3,240,3635,0.20,2.62,0.00,0.000,4,0.081,0.038,2992,3764,3786,0,0,0,0,0,0
$GC,3654,-1.24,-146.0,312.3,-10.0,240,3659,0.00,2.50,0.00,0.000,6,0.000,0.030,2992,2172,3787,0,0,0,0,0,0
$GC,3910,-1.24,-146.0,333.7,-8.3,247,3914,0.00,2.60,0.00,0.000,4,0.000,0.043,2992,3763,3786,0,0,0,0,0,0
$GC,3926,-1.24,-146.0,335.1,-8.2,247,3930,0.00,2.50,0.00,0.000,6,0.000,0.024,2992,2181,3786,0,0,0,0,0,0
$GC,4189,-1.24,-146.0,355.3,-7.7,254,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2181,3785,0,0,0,0,0,0
$GC,4430,-1.24,-146.0,374.1,-7.6,260,4434,0.00,2.60,0.00,0.000,4,0.000,0.043,2992,3764,3784,0,0,0,0,0,0
$GC,4446,-1.24,-146.0,375.3,-7.5,260,4450,0.00,2.50,0.00,0.000,6,0.000,0.028,2992,2190,3784,0,0,0,0,0,0
$GC,4706,-1.24,-146.0,395.4,-7.7,267,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2191,3783,0,0,0,0,0,0
$GC,4953,-1.24,-146.0,415.0,-8.1,273,4957,0.00,2.67,0.00,0.000,4,0.000,0.072,2992,631,3782,0,0,0,0,0,0
$GC,4970,-1.24,-146.0,416.6,-8.0,273,4974,0.00,2.45,0.00,0.000,6,0.000,0.037,2993,2161,3782,0,0,0,0,0,0
$GC,5231,-1.24,-146.0,438.0,-8.1,280,5235,0.00,2.70,0.00,0.000,4,0.000,0.051,2992,3786,3780,0,0,0,0,0,0
$GC,5249,-1.24,-146.0,439.5,-7.9,280,5254,0.00,2.60,0.00,0.000,6,0.000,0.033,2992,2186,3781,0,0,0,0,0,0
$GC,5510,-1.24,-146.0,459.6,-7.7,287,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2185,3780,0,0,0,0,0,0
$GC,5754,-1.27,-146.0,477.9,-7.5,293,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2185,3778,0,0,0,0,0,0
$GC,6000,-1.31,-146.0,495.0,-7.1,299,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2186,3777,0,0,0,0,0,0
$GC,6241,-1.35,-146.0,512.1,-7.1,305,6246,0.12,2.75,0.00,0.000,4,0.067,0.065,2943,3785,3776,0,0,0,0,0,0
$GC,6258,-1.35,-146.0,513.6,-7.5,305,6263,0.10,2.67,0.00,0.000,6,0.105,0.053,2966,2193,3777,0,0,0,0,0,0
$GC,6521,-1.35,-146.0,535.7,-8.5,312,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2194,3775,0,0,0,0,0,0
$GC,6763,-1.35,-146.0,556.1,-8.4,318,6767,0.00,2.75,0.00,0.000,4,0.000,0.073,2967,3785,3774,0,0,0,0,0,0
$GC,6784,-1.35,-146.0,558.0,-8.9,318,6788,0.00,2.70,0.00,0.000,6,0.000,0.060,2966,2193,3773,0,0,0,0,0,0
$GC,7043,-1.35,-146.0,579.6,-8.4,325,7048,0.00,2.97,0.00,0.000,4,0.000,0.120,2966,627,3772,0,0,0,0,0,0
$GC,7059,-1.35,-146.0,581.4,-8.6,325,7063,0.00,2.60,0.00,0.000,6,0.000,0.054,2966,2181,3772,0,0,0,0,0,0
$GC,7320,-1.35,-146.0,602.9,-8.1,332,7324,0.00,2.90,0.00,0.000,4,0.000,0.097,2966,3794,3771,0,0,0,0,0,0
$GC,7335,-1.35,-146.0,604.3,-8.3,332,7340,0.00,2.75,0.00,0.000,6,0.000,0.061,2966,2193,3771,0,0,0,0,0,0
$GC,7598,-1.35,-146.0,626.1,-8.5,339,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2193,3769,0,0,0,0,0,0
$GC,7840,-1.35,-146.0,647.3,-8.8,345,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2193,3768,0,0,0,0,0,0
$GC,8083,-1.35,-146.0,669.0,-8.8,351,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2194,3767,0,0,0,0,0,0
$GC,8330,-1.35,-146.0,690.2,-8.6,357,8334,0.00,3.05,0.00,0.000,4,0.000,0.118,2966,3793,3766,0,0,0,0,0,0
$GC,8351,-1.35,-146.0,692.4,-9.1,357,8356,0.00,2.92,0.00,0.000,6,0.000,0.100,2966,2207,3765,0,0,0,0,0,0
$GC,8606,-1.35,-146.0,713.7,-8.3,364,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2207,3764,0,0,0,0,0,0
$GC,8850,-1.35,-146.0,733.0,-7.8,370,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2207,3762,0,0,0,0,0,0
$GC,9096,-1.35,-146.0,752.2,-7.8,376,9101,0.00,2.88,0.00,0.000,4,0.000,0.097,2966,3796,3762,0,0,0,0,0,0
$GC,9118,-1.35,-146.0,754.2,-7.8,376,9122,0.00,2.83,0.00,0.000,6,0.000,0.073,2966,2193,3761,0,0,0,0,0,0
$GC,9373,-1.35,-146.0,774.1,-7.7,383,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2193,3760,0,0,0,0,0,0
$GC,9619,-1.35,-146.0,792.0,-7.3,389,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2192,3759,0,0,0,0,0,0
$GC,9860,-1.35,-146.0,809.2,-7.2,395,9865,0.00,2.88,0.00,0.000,4,0.000,0.085,2966,3794,3759,0,0,0,0,0,0
$GC,9887,-1.35,-146.0,811.3,-7.7,395,9892,0.00,2.80,0.00,0.000,6,0.000,0.069,2966,2196,3758,0,0,0,0,0,0
$GC,10140,-1.35,-146.0,830.3,-7.7,401,10141,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2196,3757,0,0,0,0,0,0
$GC,10381,-1.35,-146.0,849.0,-7.7,407,10385,0.00,2.85,0.00,0.000,4,0.000,0.086,2966,3794,3756,0,0,0,0,0,0
$GC,10402,-1.35,-146.0,850.7,-7.8,407,10407,0.00,2.78,0.00,0.000,6,0.000,0.068,2966,2204,3756,0,0,0,0,0,0
$GC,10658,-1.35,-146.0,870.3,-7.7,414,10659,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2203,3754,0,0,0,0,0,0
$GC,10904,-1.35,-146.0,889.1,-7.8,420,10909,0.00,2.83,0.00,0.000,4,0.000,0.084,2966,3799,3753,0,0,0,0,0,0
$GC,10959,-1.35,-146.0,894.0,-8.1,421,10964,0.00,2.78,0.00,0.000,6,0.000,0.074,2966,2213,3753,0,0,0,0,0,0
$STATE,11061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11061,begin apogee
$GC,11070,-0.31,0.0,902.0,7.8,424,11194,0.98,0.00,120.28,1.216,6,0.068,0.000,3190,2382,3190,0,0,0,0,0,0
$STATE,11194,end apogee,CONTROL_FINISHED_OK
$STATE,11194,begin climb
$GC,11197,1.27,146.0,905.6,0.0,427,11334,1.42,2.85,128.35,1.185,4,0.035,0.079,3542,3931,2592,0,0,0,0,0,0
$GC,11458,1.15,146.0,887.1,11.6,433,11463,0.15,2.72,0.00,0.000,6,0.116,0.059,3513,2365,2587,0,0,0,0,0,0
$GC,11730,1.17,159.5,861.3,9.4,440,11750,0.00,2.85,12.23,1.041,4,0.000,0.067,3513,3931,2538,0,0,0,0,0,0
$GC,11792,1.11,159.5,854.8,10.7,441,11797,0.00,2.67,0.00,0.000,6,0.000,0.054,3513,2373,2537,0,0,0,0,0,0
$GC,12059,1.13,171.5,828.7,9.4,448,12073,0.00,0.00,11.82,1.032,6,0.000,0.000,3513,2373,2490,0,0,0,0,0,0
$GC,12305,1.14,178.8,805.2,9.7,454,12319,0.00,2.78,8.20,0.958,4,0.000,0.067,3513,3923,2459,0,0,0,0,0,0
$GC,12343,1.10,178.8,801.1,10.1,454,12348,0.00,2.67,0.00,0.000,6,0.000,0.049,3513,2376,2458,0,0,0,0,0,0
$GC,12593,1.11,185.3,776.5,9.7,461,12607,0.00,2.80,7.22,0.923,4,0.000,0.067,3513,3930,2434,0,0,0,0,0,0
$GC,12626,1.11,185.3,773.2,10.1,461,12631,0.00,2.67,0.00,0.000,6,0.000,0.050,3513,2384,2433,0,0,0,0,0,0
$GC,12876,1.12,190.3,748.4,9.8,467,12884,0.00,0.00,6.00,0.862,6,0.000,0.000,3513,2384,2414,0,0,0,0,0,0
$GC,13120,1.12,192.9,724.3,9.9,473,13129,0.00,2.70,4.15,0.700,4,0.000,0.065,3513,3930,2403,0,0,0,0,0,0
$GC,13176,1.12,192.9,718.5,11.7,474,13181,0.00,2.65,0.00,0.000,6,0.000,0.051,3513,2391,2402,0,0,0,0,0,0
$GC,13448,1.12,196.2,691.4,9.8,481,13455,0.00,0.00,4.62,0.743,6,0.000,0.000,3513,2391,2390,0,0,0,0,0,0
$GC,13692,1.12,196.2,667.2,10.0,487,13696,0.00,2.67,0.00,0.000,4,0.000,0.063,3513,3936,2389,0,0,0,0,0,0
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