version: 66.06
glider: 146
mission: 8
dive: 446
start: 4 22 113 12 33 50
data:
$ID,146
$MISSION,8
$DIVE,446
$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,-316206.44
$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,69
$R_STBD_OVSHOOT,26
$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
$GPS1,122430,1926.472,-8113.287,39,1.6,39,-3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-76.1
$GPS2,123257,1926.426,-8113.175,11,2.1,30,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,-0.064
$KALMAN_X,-159614.7,148.5,269.4,149111.5,1478.0
$KALMAN_Y,132339.5,123.6,415.6,-127582.8,-1208.9
$MHEAD_RNG_PITCHd_Wd,108.1,9718,-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,-70.30,0.000,2,0.000,0.000,457,2159,3509,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-4.9,9,123,13.55,0.00,-4.82,0.000,6,0.159,0.000,2977,2159,3789,0,0,0,0,0,0
$GC,391,-1.07,-146.0,69.7,-17.5,40,396,0.22,2.45,0.00,0.000,4,0.100,0.043,3026,669,3790,0,0,0,0,0,0
$GC,440,-0.97,-146.0,77.8,-14.6,43,450,0.08,2.45,0.00,0.000,6,0.084,0.017,3047,2239,3789,0,0,0,0,0,0
$GC,705,-0.92,-146.0,110.8,-12.2,68,710,0.00,2.58,0.00,0.000,4,0.000,0.044,3048,670,3790,0,0,0,0,0,0
$GC,726,-0.86,-146.0,113.1,-11.7,69,731,0.10,2.38,0.00,0.000,6,0.118,0.016,3070,2217,3790,0,0,0,0,0,0
$GC,996,-0.93,-146.0,138.2,-8.1,93,1000,0.00,2.53,0.00,0.000,4,0.000,0.044,3070,665,3790,0,0,0,0,0,0
$GC,1037,-1.03,-146.0,142.1,-7.5,96,1041,0.15,2.35,0.00,0.000,6,0.055,0.018,3002,2193,3790,0,0,0,0,0,0
$GC,1298,-1.03,-146.0,167.1,-9.2,120,1300,0.15,0.00,0.00,0.000,6,0.087,0.000,3039,2193,3791,0,0,0,0,0,0
$GC,1557,-1.10,-146.0,186.2,-7.0,144,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2193,3791,0,0,0,0,0,0
$GC,1817,-1.17,-146.0,203.1,-6.0,166,1819,0.15,0.00,0.00,0.000,6,0.058,0.000,2972,2193,3792,0,0,0,0,0,0
$GC,2061,-1.13,-146.0,223.5,-8.7,172,2066,0.17,2.53,0.00,0.000,4,0.081,0.036,3014,3767,3792,0,0,0,0,0,0
$GC,2085,-1.13,-146.0,225.7,-9.2,172,2089,0.00,2.42,0.00,0.000,6,0.000,0.022,3014,2215,3791,0,0,0,0,0,0
$GC,2340,-1.18,-146.0,244.7,-7.5,179,2345,0.00,2.58,0.00,0.000,4,0.000,0.055,3014,643,3791,0,0,0,0,0,0
$GC,2368,-1.24,-146.0,247.1,-8.3,179,2373,0.10,2.40,0.00,0.000,6,0.075,0.027,2960,2191,3791,0,0,0,0,0,0
$GC,2621,-1.19,-146.0,270.3,-9.3,185,2623,0.17,0.00,0.00,0.000,6,0.083,0.000,3001,2191,3791,0,0,0,0,0,0
$GC,2862,-1.23,-146.0,288.3,-7.2,191,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2191,3790,0,0,0,0,0,0
$GC,3108,-1.23,-146.0,306.0,-7.4,197,3112,0.00,2.58,0.00,0.000,4,0.000,0.053,3001,641,3789,0,0,0,0,0,0
$GC,3135,-1.26,-146.0,308.4,-7.7,197,3140,0.00,2.42,0.00,0.000,6,0.000,0.025,3001,2185,3789,0,0,0,0,0,0
$GC,3386,-1.30,-146.0,327.1,-7.5,203,3388,0.10,0.00,0.00,0.000,6,0.079,0.000,2953,2185,3788,0,0,0,0,0,0
$GC,3632,-1.24,-146.0,348.9,-9.0,209,3637,0.15,2.62,0.00,0.000,4,0.089,0.058,2988,643,3788,0,0,0,0,0,0
$GC,3648,-1.24,-146.0,350.6,-9.0,209,3653,0.00,2.42,0.00,0.000,6,0.000,0.024,2989,2177,3787,0,0,0,0,0,0
$GC,3910,-1.24,-146.0,371.2,-7.9,216,3914,0.00,2.65,0.00,0.000,4,0.000,0.052,2989,3793,3787,0,0,0,0,0,0
$GC,3935,-1.24,-146.0,373.0,-7.9,216,3940,0.00,2.53,0.00,0.000,6,0.000,0.026,2989,2194,3787,0,0,0,0,0,0
$GC,4190,-1.24,-146.0,393.2,-7.8,223,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2194,3785,0,0,0,0,0,0
$GC,4434,-1.24,-146.0,412.0,-7.7,229,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2194,3784,0,0,0,0,0,0
$GC,4678,-1.24,-146.0,430.9,-7.8,235,4682,0.00,2.72,0.00,0.000,4,0.000,0.081,2989,632,3783,0,0,0,0,0,0
$GC,4707,-1.24,-146.0,433.4,-8.5,235,4711,0.00,2.47,0.00,0.000,6,0.000,0.032,2988,2177,3783,0,0,0,0,0,0
$GC,4957,-1.24,-146.0,453.6,-7.9,241,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2178,3782,0,0,0,0,0,0
$GC,5201,-1.24,-146.0,471.7,-7.4,247,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2177,3781,0,0,0,0,0,0
$GC,5447,-1.24,-146.0,489.2,-7.2,253,5451,0.00,2.72,0.00,0.000,4,0.000,0.071,2989,3788,3779,0,0,0,0,0,0
$GC,5463,-1.24,-146.0,490.6,-7.1,253,5467,0.00,2.67,0.00,0.000,6,0.000,0.046,2989,2182,3780,0,0,0,0,0,0
$GC,5723,-1.24,-146.0,509.7,-7.3,260,5728,0.00,2.72,0.00,0.000,4,0.000,0.066,2989,3790,3778,0,0,0,0,0,0
$GC,5759,-1.29,-146.0,512.2,-7.3,260,5764,0.00,2.70,0.00,0.000,6,0.000,0.051,2989,2179,3778,0,0,0,0,0,0
$GC,6009,-1.29,-146.0,531.2,-7.5,267,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2179,3777,0,0,0,0,0,0
$GC,6252,-1.29,-146.0,550.5,-7.9,273,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2179,3776,0,0,0,0,0,0
$GC,6497,-1.33,-146.0,568.0,-6.9,279,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2179,3775,0,0,0,0,0,0
$GC,6743,-1.37,-146.0,584.7,-7.0,285,6745,0.12,0.00,0.00,0.000,6,0.068,0.000,2937,2179,3773,0,0,0,0,0,0
$GC,6984,-1.31,-146.0,606.9,-9.4,291,6990,0.17,2.92,0.00,0.000,4,0.087,0.090,2976,3789,3773,0,0,0,0,0,0
$GC,7006,-1.31,-146.0,609.1,-8.9,291,7011,0.00,2.78,0.00,0.000,6,0.000,0.074,2976,2184,3772,0,0,0,0,0,0
$GC,7264,-1.31,-146.0,629.0,-7.8,298,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2184,3771,0,0,0,0,0,0
$GC,7505,-1.31,-146.0,647.9,-7.8,304,7510,0.00,2.92,0.00,0.000,4,0.000,0.097,2976,3788,3770,0,0,0,0,0,0
$GC,7534,-1.31,-146.0,650.1,-8.3,304,7538,0.00,2.88,0.00,0.000,6,0.000,0.084,2976,2186,3770,0,0,0,0,0,0
$GC,7786,-1.31,-146.0,669.8,-7.8,310,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2186,3768,0,0,0,0,0,0
$GC,8027,-1.31,-146.0,688.8,-7.7,316,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2186,3767,0,0,0,0,0,0
$GC,8271,-1.31,-146.0,707.8,-7.8,322,8276,0.00,3.08,0.00,0.000,4,0.000,0.122,2976,3789,3766,0,0,0,0,0,0
$GC,8287,-1.31,-146.0,709.2,-7.8,322,8292,0.00,3.03,0.00,0.000,6,0.000,0.114,2976,2189,3765,0,0,0,0,0,0
$GC,8551,-1.31,-146.0,729.7,-7.9,329,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2189,3764,0,0,0,0,0,0
$GC,8792,-1.31,-146.0,749.1,-8.0,335,8797,0.00,3.20,0.00,0.000,4,0.000,0.143,2976,3791,3763,0,0,0,0,0,0
$GC,8808,-1.31,-146.0,750.6,-8.0,335,8812,0.00,2.88,0.00,0.000,6,0.000,0.085,2976,2188,3763,0,0,0,0,0,0
$GC,9071,-1.31,-146.0,772.0,-8.2,342,9076,0.00,3.05,0.00,0.000,4,0.000,0.133,2976,620,3762,0,0,0,0,0,0
$GC,9092,-1.31,-146.0,774.2,-8.9,342,9097,0.00,2.72,0.00,0.000,6,0.000,0.069,2976,2175,3761,0,0,0,0,0,0
$GC,9348,-1.31,-146.0,794.2,-7.8,349,9352,0.00,2.95,0.00,0.000,4,0.000,0.101,2976,3800,3760,0,0,0,0,0,0
$GC,9390,-1.35,-146.0,797.5,-8.5,350,9395,0.00,2.80,0.00,0.000,6,0.000,0.074,2976,2197,3760,0,0,0,0,0,0
$GC,9673,-1.35,-146.0,818.0,-7.1,357,9674,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2197,3759,0,0,0,0,0,0
$GC,9917,-1.35,-146.0,834.8,-6.9,363,9922,0.00,2.88,0.00,0.000,4,0.000,0.086,2976,3801,3758,0,0,0,0,0,0
$GC,9946,-1.35,-146.0,836.9,-8.0,363,9951,0.00,2.78,0.00,0.000,6,0.000,0.074,2976,2205,3758,0,0,0,0,0,0
$GC,10201,-1.35,-146.0,855.4,-7.4,369,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2205,3757,0,0,0,0,0,0
$GC,10440,-1.39,-146.0,872.8,-7.1,375,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2204,3756,0,0,0,0,0,0
$GC,10687,-1.43,-146.0,889.4,-6.7,381,10692,0.12,2.85,0.00,0.000,4,0.070,0.081,2933,3800,3755,0,0,0,0,0,0
$GC,10732,-1.39,-146.0,893.4,-8.2,382,10737,0.10,2.75,0.00,0.000,6,0.107,0.067,2957,2211,3755,0,0,0,0,0,0
$STATE,10845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10845,begin apogee
$GC,10853,-0.31,0.0,902.0,7.3,385,10978,1.02,0.00,120.97,1.213,6,0.067,0.000,3193,2384,3190,0,0,0,0,0,0
$STATE,10979,end apogee,CONTROL_FINISHED_OK
$STATE,10979,begin climb
$GC,10981,1.27,146.0,904.8,0.0,388,11119,1.42,2.83,128.85,1.183,4,0.035,0.084,3545,3933,2593,0,0,0,0,0,0
$GC,11243,1.15,146.0,884.4,12.9,394,11248,0.17,2.75,0.00,0.000,6,0.114,0.063,3511,2364,2587,0,0,0,0,0,0
$GC,11515,1.17,162.2,858.5,9.2,401,11532,0.00,0.00,14.70,1.058,6,0.000,0.000,3511,2364,2528,0,0,0,0,0,0
$GC,11761,1.18,169.3,835.2,9.7,407,11771,0.00,0.00,7.47,0.939,6,0.000,0.000,3511,2364,2500,0,0,0,0,0,0
$GC,12003,1.18,169.3,810.8,10.1,413,12007,0.00,2.72,0.00,0.000,4,0.000,0.061,3511,3928,2497,0,0,0,0,0,0
$GC,12052,1.18,169.3,805.1,11.2,414,12056,0.00,2.65,0.00,0.000,6,0.000,0.047,3511,2376,2497,0,0,0,0,0,0
$GC,12326,1.20,185.3,779.5,9.3,421,12344,0.00,0.00,16.05,1.051,6,0.000,0.000,3511,2376,2434,0,0,0,0,0,0
$GC,12567,1.22,200.5,756.8,9.3,427,12585,0.00,0.00,15.48,1.038,6,0.000,0.000,3511,2376,2372,0,0,0,0,0,0
$GC,12811,1.22,205.2,733.1,9.8,433,12819,0.00,0.00,5.72,0.831,6,0.000,0.000,3511,2376,2353,0,0,0,0,0,0
$GC,13057,1.22,205.2,708.7,10.1,439,13062,0.00,2.70,0.00,0.000,4,0.000,0.059,3511,3935,2351,0,0,0,0,0,0
$GC,13078,1.22,205.2,706.2,10.6,439,13082,0.00,2.65,0.00,0.000,6,0.000,0.051,3511,2375,2350,0,0,0,0,0,0
$GC,13340,1.23,206.2,679.8,10.0,446,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2376,2350,0,0,0,0,0,0
$GC,13590,1.23,213.6,656.1,9.7,452,13601,0.00,0.00,9.15,0.919,6,0.000,0.000,3511,2376,2319,0,0,0,0,0,0
$GC,13827,1.23,213.6,631.4,10.3,458,13831,0.00,2.67,0.00,0.000,4,0.000,0.061,3511,3930,2317,0,0,0,0,0,0
$GC,13853,1.23,213.6,628.2,10.6,458,13858,0.00,2.62,0.00,0.000,6,0.000,0.047,3511,2383,2316,0,0,0,0,0,0
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,96907264
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