version: 66.06
glider: 146
mission: 8
dive: 466
start: 4 27 113 3 6 56
data:
$ID,146
$MISSION,8
$DIVE,466
$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,-316546.19
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,025505,1923.954,-8107.803,23,2.0,23,-3.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-74.1
$GPS2,030603,1923.943,-8107.716,10,99.0,29,-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,-103163.9,29.7,-214.1,102804.9,3383.9
$KALMAN_Y,118300.9,273.8,-212.2,-117652.9,-711.3
$MHEAD_RNG_PITCHd_Wd,287.1,18830,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-63.45,0.000,2,0.000,0.000,459,2143,3302,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.2,8,122,13.70,2.55,-9.80,0.000,4,0.160,0.058,2980,629,3788,0,0,0,0,0,0
$GC,317,-1.08,-146.0,48.8,-17.5,34,322,0.20,2.47,0.00,0.000,6,0.098,0.017,3022,2233,3789,0,0,0,0,0,0
$GC,582,-0.97,-146.0,87.0,-13.9,58,587,0.12,2.65,0.00,0.000,4,0.106,0.045,3051,630,3789,0,0,0,0,0,0
$GC,618,-0.91,-146.0,92.5,-12.5,60,627,0.00,2.45,0.00,0.000,6,0.000,0.016,3051,2212,3789,0,0,0,0,0,0
$GC,883,-0.91,-146.0,121.6,-11.3,85,887,0.00,2.60,0.00,0.000,4,0.000,0.046,3051,623,3789,0,0,0,0,0,0
$GC,919,-0.91,-146.0,126.0,-11.5,87,924,0.00,2.42,0.00,0.000,6,0.000,0.022,3051,2204,3789,0,0,0,0,0,0
$GC,1182,-0.95,-146.0,150.4,-7.6,112,1186,0.00,2.47,0.00,0.000,4,0.000,0.034,3051,3776,3790,0,0,0,0,0,0
$GC,1228,-1.04,-146.0,153.8,-8.3,115,1233,0.00,2.47,0.00,0.000,6,0.000,0.022,3052,2186,3790,0,0,0,0,0,0
$GC,1495,-1.13,-146.0,173.2,-6.9,139,1500,0.15,2.55,0.00,0.000,4,0.057,0.048,2982,633,3790,0,0,0,0,0,0
$GC,1555,-1.08,-146.0,179.3,-10.3,143,1561,0.17,2.40,0.00,0.000,6,0.085,0.023,3022,2202,3790,0,0,0,0,0,0
$GC,1817,-1.13,-146.0,199.1,-7.1,168,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2203,3790,0,0,0,0,0,0
$GC,2082,-1.18,-146.0,219.4,-7.7,176,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2203,3790,0,0,0,0,0,0
$GC,2324,-1.25,-146.0,234.8,-6.2,182,2329,0.15,2.58,0.00,0.000,4,0.057,0.055,2960,640,3790,0,0,0,0,0,0
$GC,2345,-1.25,-146.0,236.6,-7.6,182,2351,0.12,2.38,0.00,0.000,6,0.095,0.023,2989,2179,3790,0,0,0,0,0,0
$GC,2603,-1.25,-146.0,257.2,-8.0,189,2608,0.00,2.58,0.00,0.000,4,0.000,0.041,2989,3775,3790,0,0,0,0,0,0
$GC,2625,-1.25,-146.0,259.3,-8.6,189,2629,0.00,2.45,0.00,0.000,6,0.000,0.021,2989,2197,3790,0,0,0,0,0,0
$GC,2882,-1.25,-146.0,280.0,-8.0,196,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2198,3789,0,0,0,0,0,0
$GC,3126,-1.25,-146.0,299.4,-7.9,202,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2198,3788,0,0,0,0,0,0
$GC,3367,-1.25,-146.0,318.4,-7.8,208,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2198,3787,0,0,0,0,0,0
$GC,3611,-1.25,-146.0,337.6,-8.0,214,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2198,3787,0,0,0,0,0,0
$GC,3855,-1.25,-146.0,356.5,-7.7,220,3859,0.00,2.62,0.00,0.000,4,0.000,0.065,2989,642,3785,0,0,0,0,0,0
$GC,3884,-1.25,-146.0,358.9,-8.5,220,3889,0.00,2.45,0.00,0.000,6,0.000,0.029,2989,2188,3785,0,0,0,0,0,0
$GC,4135,-1.25,-146.0,378.5,-7.8,226,4139,0.00,2.62,0.00,0.000,4,0.000,0.048,2989,3790,3784,0,0,0,0,0,0
$GC,4167,-1.25,-146.0,381.4,-8.8,226,4173,0.00,2.53,0.00,0.000,6,0.000,0.034,2989,2214,3784,0,0,0,0,0,0
$GC,4420,-1.25,-146.0,401.6,-8.1,233,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2214,3783,0,0,0,0,0,0
$GC,4661,-1.25,-146.0,421.1,-8.1,239,4665,0.00,2.60,0.00,0.000,4,0.000,0.058,2989,3781,3783,0,0,0,0,0,0
$GC,4717,-1.29,-146.0,425.8,-8.8,240,4721,0.00,2.53,0.00,0.000,6,0.000,0.034,2989,2212,3782,0,0,0,0,0,0
$GC,4985,-1.29,-146.0,447.6,-8.2,247,4990,0.00,2.78,0.00,0.000,4,0.000,0.084,2990,627,3781,0,0,0,0,0,0
$GC,5041,-1.34,-146.0,452.6,-8.4,248,5045,0.00,2.55,0.00,0.000,6,0.000,0.041,2989,2196,3781,0,0,0,0,0,0
$GC,5307,-1.34,-146.0,473.7,-7.9,255,5312,0.00,2.72,0.00,0.000,4,0.000,0.064,2989,3794,3780,0,0,0,0,0,0
$GC,5338,-1.38,-146.0,476.0,-7.8,255,5343,0.12,2.65,0.00,0.000,6,0.067,0.046,2936,2203,3780,0,0,0,0,0,0
$GC,5589,-1.30,-146.0,500.0,-9.7,261,5594,0.17,2.75,0.00,0.000,4,0.086,0.071,2976,3788,3779,0,0,0,0,0,0
$GC,5622,-1.30,-146.0,503.1,-8.8,261,5628,0.00,2.62,0.00,0.000,6,0.000,0.050,2976,2217,3778,0,0,0,0,0,0
$GC,5874,-1.30,-146.0,521.9,-7.6,268,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2216,3778,0,0,0,0,0,0
$GC,6116,-1.30,-146.0,540.4,-7.5,274,6120,0.00,3.00,0.00,0.000,4,0.000,0.115,2976,623,3776,0,0,0,0,0,0
$GC,6137,-1.30,-146.0,542.2,-8.5,274,6142,0.00,2.65,0.00,0.000,6,0.000,0.052,2976,2217,3776,0,0,0,0,0,0
$GC,6395,-1.30,-146.0,562.5,-8.0,281,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2218,3775,0,0,0,0,0,0
$GC,6636,-1.30,-146.0,582.1,-8.0,287,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2218,3775,0,0,0,0,0,0
$GC,6880,-1.30,-146.0,602.4,-8.3,293,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2218,3773,0,0,0,0,0,0
$GC,7126,-1.30,-146.0,622.2,-8.1,299,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2218,3772,0,0,0,0,0,0
$GC,7367,-1.30,-146.0,641.3,-7.8,305,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2218,3771,0,0,0,0,0,0
$GC,7611,-1.30,-146.0,659.7,-7.5,311,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2218,3769,0,0,0,0,0,0
$GC,7854,-1.30,-146.0,677.8,-7.4,317,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2218,3768,0,0,0,0,0,0
$GC,8101,-1.30,-146.0,695.6,-7.3,323,8106,0.00,3.12,0.00,0.000,4,0.000,0.146,2976,3795,3766,0,0,0,0,0,0
$GC,8122,-1.30,-146.0,697.6,-7.5,323,8127,0.00,2.95,0.00,0.000,6,0.000,0.107,2976,2221,3767,0,0,0,0,0,0
$GC,8377,-1.30,-146.0,717.5,-7.9,330,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2222,3765,0,0,0,0,0,0
$GC,8621,-1.30,-146.0,736.0,-7.6,336,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2222,3764,0,0,0,0,0,0
$GC,8867,-1.30,-146.0,754.3,-7.5,342,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2221,3763,0,0,0,0,0,0
$GC,9109,-1.30,-146.0,772.0,-7.1,348,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2222,3762,0,0,0,0,0,0
$GC,9352,-1.30,-146.0,789.2,-7.3,354,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2222,3760,0,0,0,0,0,0
$GC,9596,-1.30,-146.0,806.7,-7.2,360,9601,0.00,3.47,0.00,0.000,4,0.000,0.193,2976,3792,3760,0,0,0,0,0,0
$GC,9632,-1.30,-146.0,809.4,-7.6,360,9638,0.00,2.72,0.00,0.000,6,0.000,0.065,2976,2207,3760,0,0,0,0,0,0
$GC,9885,-1.30,-146.0,827.3,-7.1,367,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2207,3758,0,0,0,0,0,0
$GC,10125,-1.30,-146.0,844.8,-7.1,373,10130,0.00,2.83,0.00,0.000,4,0.000,0.087,2976,3794,3757,0,0,0,0,0,0
$GC,10149,-1.30,-146.0,846.3,-6.9,373,10154,0.00,2.75,0.00,0.000,6,0.000,0.074,2976,2219,3757,0,0,0,0,0,0
$GC,10404,-1.30,-146.0,864.2,-6.8,380,10409,0.00,2.80,0.00,0.000,4,0.000,0.086,2976,3794,3755,0,0,0,0,0,0
$GC,10426,-1.30,-146.0,865.8,-7.2,380,10430,0.00,2.72,0.00,0.000,6,0.000,0.071,2976,2228,3755,0,0,0,0,0,0
$GC,10683,-1.30,-146.0,883.5,-6.9,387,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2228,3754,0,0,0,0,0,0
$STATE,10922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10922,begin apogee
$GC,10928,-0.31,0.0,900.8,7.1,393,11053,0.93,0.00,121.22,1.206,6,0.074,0.000,3189,2379,3190,0,0,0,0,0,0
$STATE,11054,end apogee,CONTROL_FINISHED_OK
$STATE,11054,begin climb
$GC,11056,1.27,146.0,903.5,0.0,396,11195,1.45,2.88,129.85,1.177,4,0.036,0.081,3545,3936,2593,0,0,0,0,0,0
$GC,11223,1.14,146.0,895.4,10.3,400,11228,0.17,2.75,0.00,0.000,6,0.129,0.060,3511,2367,2591,0,0,0,0,0,0
$GC,11504,1.17,170.9,870.2,8.8,407,11528,0.00,0.00,22.80,1.100,6,0.000,0.000,3510,2368,2493,0,0,0,0,0,0
$GC,11745,1.19,191.8,848.1,9.0,413,11771,0.00,2.83,20.58,1.085,4,0.000,0.071,3510,3938,2407,0,0,0,0,0,0
$GC,11830,1.19,191.8,840.1,10.1,415,11835,0.00,2.72,0.00,0.000,6,0.000,0.053,3510,2365,2405,0,0,0,0,0,0
$GC,12113,1.20,197.9,812.7,9.7,422,12121,0.00,0.00,6.35,0.884,6,0.000,0.000,3510,2365,2383,0,0,0,0,0,0
$GC,12357,1.20,197.9,787.9,10.2,428,12358,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2365,2381,0,0,0,0,0,0
$GC,12603,1.20,197.9,762.5,10.4,434,12607,0.00,2.72,0.00,0.000,4,0.000,0.065,3511,3935,2381,0,0,0,0,0,0
$GC,12620,1.20,197.9,760.6,10.3,434,12624,0.00,2.67,0.00,0.000,6,0.000,0.053,3510,2372,2379,0,0,0,0,0,0
$GC,12880,1.20,197.9,733.6,10.2,441,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2372,2379,0,0,0,0,0,0
$GC,13124,1.20,197.9,707.9,10.6,447,13128,0.00,2.70,0.00,0.000,4,0.000,0.061,3510,3935,2378,0,0,0,0,0,0
$GC,13142,1.20,197.9,706.0,11.0,447,13146,0.00,2.67,0.00,0.000,6,0.000,0.054,3510,2369,2378,0,0,0,0,0,0
$GC,13402,1.20,197.9,678.6,10.4,454,13406,0.00,2.72,0.00,0.000,4,0.000,0.066,3510,3931,2378,0,0,0,0,0,0
$GC,13441,1.20,197.9,674.3,10.5,455,13445,0.00,2.65,0.00,0.000,6,0.000,0.051,3511,2381,2378,0,0,0,0,0,0
$GC,13726,1.21,201.3,645.8,9.8,462,13732,0.00,0.00,3.70,0.614,6,0.000,0.000,3511,2381,2369,0,0,0,0,0,0
$GC,13968,1.22,209.8,622.2,9.6,468,13979,0.00,0.00,9.95,0.908,6,0.000,0.000,3511,2381,2334,0,0,0,0,0,0
$GC,14212,1.22,214.9,598.3,9.8,474,14220,0.00,0.00,6.25,0.795,6,0.000,0.000,3511,2381,2314,0,0,0,0,0,0
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$STATE,19817,end climb,SURFACE_DEPTH_REACHED
$STATE,19817,begin surface coast
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$10V_AH,9.9,58.522
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57359,754
$CAP_FILE_SIZE,165964,0
$CFSIZE,260165632,95457280
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