version: 66.06
glider: 146
mission: 8
dive: 473
start: 4 28 113 19 54 55
data:
$ID,146
$MISSION,8
$DIVE,473
$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,-318222.06
$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,33
$R_STBD_OVSHOOT,25
$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
$GPS1,193936,1927.893,-8113.705,40,1.1,40,-3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-72.8
$GPS2,195401,1927.866,-8113.656,13,1.5,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,-0.111
$KALMAN_X,-92931.5,151.8,131.0,81720.9,773.4
$KALMAN_Y,113640.0,58.1,561.2,-106303.2,-1156.3
$MHEAD_RNG_PITCHd_Wd,119.0,11682,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.27,-146.0,0.0,0.0,0,97,0.00,0.00,-70.88,0.000,2,0.000,0.000,455,2136,3529,0,0,0,0,0,0
$GC,100,-1.27,-146.0,4.0,-5.9,9,126,13.70,2.47,-4.62,0.000,4,0.160,0.048,2977,634,3788,0,0,0,0,0,0
$GC,177,-1.04,-146.0,27.6,-20.5,19,187,0.22,2.50,0.00,0.000,6,0.083,0.016,3030,2241,3788,0,0,0,0,0,0
$GC,458,-0.95,-146.0,69.3,-14.0,45,463,0.10,2.65,0.00,0.000,4,0.115,0.044,3053,632,3788,0,0,0,0,0,0
$GC,556,-0.95,-146.0,83.2,-12.5,52,565,0.00,2.42,0.00,0.000,6,0.000,0.016,3053,2192,3788,0,0,0,0,0,0
$GC,823,-0.95,-146.0,112.8,-11.1,77,827,0.00,2.55,0.00,0.000,4,0.000,0.044,3053,629,3789,0,0,0,0,0,0
$GC,856,-0.95,-146.0,116.6,-11.2,79,860,0.00,2.38,0.00,0.000,6,0.000,0.025,3053,2185,3789,0,0,0,0,0,0
$GC,1125,-0.95,-146.0,143.6,-9.5,103,1130,0.00,2.55,0.00,0.000,4,0.000,0.040,3053,3780,3789,0,0,0,0,0,0
$GC,1149,-1.01,-146.0,146.1,-8.0,104,1159,0.00,2.53,0.00,0.000,6,0.000,0.021,3053,2185,3790,0,0,0,0,0,0
$GC,1415,-1.09,-146.0,164.7,-7.0,129,1424,0.12,0.00,0.00,0.000,6,0.064,0.000,2990,2185,3790,0,0,0,0,0,0
$GC,1681,-1.09,-146.0,189.9,-9.2,154,1686,0.15,2.53,0.00,0.000,4,0.084,0.047,3027,644,3790,0,0,0,0,0,0
$GC,1736,-1.17,-146.0,194.4,-8.2,158,1741,0.10,2.38,0.00,0.000,6,0.078,0.019,2972,2182,3790,0,0,0,0,0,0
$GC,1999,-1.17,-146.0,218.6,-9.0,168,2004,0.15,2.55,0.00,0.000,4,0.087,0.036,3008,3773,3790,0,0,0,0,0,0
$GC,2032,-1.24,-146.0,221.3,-7.7,168,2038,0.00,2.45,0.00,0.000,6,0.000,0.021,3008,2193,3790,0,0,0,0,0,0
$GC,2285,-1.28,-146.0,238.9,-7.1,175,2290,0.12,2.60,0.00,0.000,4,0.066,0.051,2949,633,3789,0,0,0,0,0,0
$GC,2303,-1.28,-146.0,240.5,-7.2,175,2308,0.15,2.42,0.00,0.000,6,0.091,0.020,2983,2206,3789,0,0,0,0,0,0
$GC,2564,-1.28,-146.0,261.5,-7.9,182,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2206,3788,0,0,0,0,0,0
$GC,2810,-1.28,-146.0,281.3,-8.1,188,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2206,3788,0,0,0,0,0,0
$GC,3051,-1.28,-146.0,301.0,-8.2,194,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2206,3787,0,0,0,0,0,0
$GC,3295,-1.28,-146.0,321.1,-8.3,200,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2206,3786,0,0,0,0,0,0
$GC,3541,-1.28,-146.0,341.8,-8.5,206,3546,0.00,2.65,0.00,0.000,4,0.000,0.057,2984,636,3785,0,0,0,0,0,0
$GC,3558,-1.28,-146.0,343.4,-8.3,206,3562,0.00,2.42,0.00,0.000,6,0.000,0.025,2983,2177,3784,0,0,0,0,0,0
$GC,3818,-1.28,-146.0,365.0,-8.3,213,3823,0.00,2.62,0.00,0.000,4,0.000,0.047,2983,3784,3783,0,0,0,0,0,0
$GC,3834,-1.28,-146.0,366.4,-8.3,213,3839,0.00,2.53,0.00,0.000,6,0.000,0.032,2983,2200,3783,0,0,0,0,0,0
$GC,4097,-1.28,-146.0,387.6,-8.2,220,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2200,3782,0,0,0,0,0,0
$GC,4339,-1.28,-146.0,407.9,-8.5,226,4343,0.00,2.60,0.00,0.000,4,0.000,0.054,2983,3778,3781,0,0,0,0,0,0
$GC,4354,-1.28,-146.0,409.4,-8.5,226,4359,0.00,2.53,0.00,0.000,6,0.000,0.033,2983,2208,3781,0,0,0,0,0,0
$GC,4618,-1.28,-146.0,430.9,-8.2,233,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2208,3781,0,0,0,0,0,0
$GC,4859,-1.28,-146.0,450.5,-8.0,239,4864,0.00,2.65,0.00,0.000,4,0.000,0.056,2983,3776,3779,0,0,0,0,0,0
$GC,4881,-1.28,-146.0,452.4,-8.6,239,4885,0.00,2.55,0.00,0.000,6,0.000,0.042,2983,2203,3779,0,0,0,0,0,0
$GC,5139,-1.28,-146.0,472.4,-7.8,246,5143,0.00,2.80,0.00,0.000,4,0.000,0.087,2983,628,3778,0,0,0,0,0,0
$GC,5160,-1.28,-146.0,474.5,-8.3,246,5164,0.00,2.55,0.00,0.000,6,0.000,0.044,2983,2191,3778,0,0,0,0,0,0
$GC,5415,-1.28,-146.0,494.1,-7.6,253,5420,0.00,2.72,0.00,0.000,4,0.000,0.076,2983,628,3777,0,0,0,0,0,0
$GC,5450,-1.28,-146.0,496.6,-8.0,253,5456,0.00,2.58,0.00,0.000,6,0.000,0.046,2984,2190,3777,0,0,0,0,0,0
$GC,5700,-1.28,-146.0,515.7,-7.6,260,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2190,3776,0,0,0,0,0,0
$GC,5944,-1.28,-146.0,534.0,-7.6,266,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2190,3775,0,0,0,0,0,0
$GC,6188,-1.28,-146.0,552.2,-7.6,272,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2190,3773,0,0,0,0,0,0
$GC,6434,-1.28,-146.0,570.6,-7.6,278,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2190,3772,0,0,0,0,0,0
$GC,6675,-1.28,-146.0,589.0,-7.5,284,6680,0.00,2.90,0.00,0.000,4,0.000,0.095,2984,3797,3771,0,0,0,0,0,0
$GC,6691,-1.28,-146.0,590.2,-7.4,284,6695,0.00,2.72,0.00,0.000,6,0.000,0.057,2983,2185,3771,0,0,0,0,0,0
$GC,6954,-1.28,-146.0,609.2,-7.2,291,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2185,3770,0,0,0,0,0,0
$GC,7195,-1.28,-146.0,627.2,-7.4,297,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2186,3768,0,0,0,0,0,0
$GC,7439,-1.28,-146.0,645.2,-7.4,303,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2185,3768,0,0,0,0,0,0
$GC,7683,-1.32,-146.0,663.4,-7.5,309,7684,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2185,3766,0,0,0,0,0,0
$GC,7929,-1.36,-146.0,682.3,-7.7,315,7934,0.00,3.03,0.00,0.000,4,0.000,0.112,2983,3789,3765,0,0,0,0,0,0
$GC,7974,-1.42,-146.0,686.4,-7.9,316,7979,0.15,2.92,0.00,0.000,6,0.059,0.100,2929,2201,3765,0,0,0,0,0,0
$GC,8253,-1.35,-146.0,713.5,-10.0,323,8255,0.17,0.00,0.00,0.000,6,0.089,0.000,2969,2201,3763,0,0,0,0,0,0
$GC,8496,-1.35,-146.0,732.8,-7.8,329,8497,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2199,3762,0,0,0,0,0,0
$GC,8740,-1.35,-146.0,752.0,-8.0,335,8744,0.00,2.90,0.00,0.000,4,0.000,0.096,2969,3795,3761,0,0,0,0,0,0
$GC,8761,-1.35,-146.0,754.0,-8.7,335,8766,0.00,2.83,0.00,0.000,6,0.000,0.074,2969,2191,3761,0,0,0,0,0,0
$GC,9019,-1.35,-146.0,774.1,-7.8,342,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2192,3760,0,0,0,0,0,0
$GC,9260,-1.35,-146.0,793.2,-7.7,348,9264,0.00,2.85,0.00,0.000,4,0.000,0.093,2969,3790,3759,0,0,0,0,0,0
$GC,9299,-1.35,-146.0,796.2,-7.9,349,9304,0.00,2.78,0.00,0.000,6,0.000,0.072,2969,2202,3759,0,0,0,0,0,0
$GC,9585,-1.35,-146.0,818.0,-7.4,356,9586,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2202,3757,0,0,0,0,0,0
$GC,9826,-1.35,-146.0,836.4,-7.5,362,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2201,3756,0,0,0,0,0,0
$GC,10071,-1.35,-146.0,854.7,-7.6,368,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2200,3755,0,0,0,0,0,0
$GC,10316,-1.35,-146.0,872.8,-7.3,374,10321,0.00,2.85,0.00,0.000,4,0.000,0.083,2969,3797,3753,0,0,0,0,0,0
$GC,10355,-1.35,-146.0,876.2,-8.0,375,10360,0.00,2.78,0.00,0.000,6,0.000,0.067,2969,2209,3753,0,0,0,0,0,0
$GC,10638,-1.35,-146.0,897.3,-7.4,382,10643,0.00,2.83,0.00,0.000,4,0.000,0.088,2969,3790,3752,0,0,0,0,0,0
$GC,10662,-1.35,-146.0,899.0,-7.9,382,10667,0.00,2.75,0.00,0.000,6,0.000,0.071,2969,2213,3752,0,0,0,0,0,0
$STATE,10712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10712,begin apogee
$GC,10718,-0.31,0.0,902.9,7.3,384,10842,0.95,0.00,120.53,1.206,6,0.064,0.000,3190,2382,3190,0,0,0,0,0,0
$STATE,10843,end apogee,CONTROL_FINISHED_OK
$STATE,10843,begin climb
$GC,10846,1.27,146.0,906.0,0.0,387,10983,1.42,2.78,128.80,1.180,4,0.044,0.084,3545,3926,2593,0,0,0,0,0,0
$GC,11080,1.16,146.0,890.4,11.4,392,11085,0.15,2.75,0.00,0.000,6,0.116,0.060,3514,2363,2588,0,0,0,0,0,0
$GC,11344,1.19,169.9,866.3,8.9,399,11373,0.00,2.88,21.55,1.099,4,0.000,0.073,3514,3928,2497,0,0,0,0,0,0
$GC,11407,1.14,169.9,859.6,10.7,400,11411,0.00,2.70,0.00,0.000,6,0.000,0.057,3514,2375,2495,0,0,0,0,0,0
$GC,11670,1.15,172.5,834.2,9.9,407,11671,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2375,2492,0,0,0,0,0,0
$GC,11911,1.15,177.6,810.2,9.8,413,11921,0.00,0.00,7.97,0.957,6,0.000,0.000,3514,2375,2465,0,0,0,0,0,0
$GC,12155,1.15,177.6,785.7,10.0,419,12159,0.00,2.72,0.00,0.000,4,0.000,0.068,3514,3937,2463,0,0,0,0,0,0
$GC,12182,1.11,179.5,782.8,9.9,419,12186,0.00,2.70,0.00,0.000,6,0.000,0.056,3514,2374,2463,0,0,0,0,0,0
$GC,12434,1.12,184.0,758.4,9.8,425,12443,0.00,0.00,7.03,0.911,6,0.000,0.000,3514,2374,2440,0,0,0,0,0,0
$GC,12675,1.13,190.5,734.6,9.7,431,12685,0.00,0.00,7.57,0.922,6,0.000,0.000,3514,2374,2413,0,0,0,0,0,0
$GC,12919,1.13,195.2,710.7,9.8,437,12930,0.00,2.75,6.05,0.850,4,0.000,0.065,3514,3937,2393,0,0,0,0,0,0
$GC,12966,1.13,195.2,705.9,11.5,438,12971,0.00,2.67,0.00,0.000,6,0.000,0.053,3515,2387,2393,0,0,0,0,0,0
$GC,13244,1.14,199.5,678.2,9.8,445,13252,0.00,0.00,5.60,0.810,6,0.000,0.000,3515,2387,2376,0,0,0,0,0,0
$GC,13488,1.14,202.6,654.1,9.9,451,13498,0.00,2.70,4.40,0.705,4,0.000,0.064,3514,3928,2364,0,0,0,0,0,0
$GC,13550,1.14,202.6,647.5,11.4,452,13555,0.00,2.65,0.00,0.000,6,0.000,0.056,3514,2388,2363,0,0,0,0,0,0
$GC,13811,1.14,204.1,621.1,9.9,459,13816,0.00,3.10,0.00,0.000,4,0.000,0.120,3514,777,2363,0,0,0,0,0,0
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$FG_AHR_10Vo,0.000
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$CAP_FILE_SIZE,177490,0
$CFSIZE,260165632,94932992
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