version: 66.06
glider: 146
mission: 8
dive: 487
start: 5 2 113 1 50 43
data:
$ID,146
$MISSION,8
$DIVE,487
$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,-318539.53
$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,56
$R_STBD_OVSHOOT,38
$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
$GPS1,013935,1926.594,-8117.667,38,0.9,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-75.6
$GPS2,014948,1926.577,-8117.560,10,2.0,15,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.258,-0.025
$KALMAN_X,-56143.8,117.2,10.0,38280.2,1633.2
$KALMAN_Y,102246.9,-66.3,32.5,-96628.2,-1002.1
$MHEAD_RNG_PITCHd_Wd,99.2,17137,-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,-70.55,0.000,2,0.000,0.000,465,2181,3514,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.1,-5.8,9,119,13.68,2.58,-4.88,0.000,4,0.159,0.039,2978,3790,3784,0,0,0,0,0,0
$GC,153,-0.90,-146.0,23.0,-26.8,16,163,0.35,2.50,0.00,0.000,6,0.075,0.026,3060,2239,3785,0,0,0,0,0,0
$GC,430,-0.84,-146.0,61.7,-13.0,43,435,0.00,2.62,0.00,0.000,4,0.000,0.046,3060,632,3785,0,0,0,0,0,0
$GC,502,-0.84,-146.0,71.5,-12.4,48,507,0.00,2.42,0.00,0.000,6,0.000,0.015,3060,2216,3785,0,0,0,0,0,0
$GC,767,-0.84,-146.0,102.8,-11.1,72,772,0.00,2.60,0.00,0.000,4,0.000,0.045,3060,628,3786,0,0,0,0,0,0
$GC,812,-0.84,-146.0,107.8,-11.0,75,816,0.00,2.35,0.00,0.000,6,0.000,0.016,3060,2179,3786,0,0,0,0,0,0
$GC,1079,-0.84,-146.0,135.7,-10.8,99,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2179,3787,0,0,0,0,0,0
$GC,1345,-0.92,-146.0,158.7,-8.0,124,1350,0.00,2.53,0.00,0.000,4,0.000,0.045,3060,630,3788,0,0,0,0,0,0
$GC,1366,-1.01,-146.0,160.4,-7.4,125,1370,0.00,2.38,0.00,0.000,6,0.000,0.021,3060,2187,3788,0,0,0,0,0,0
$GC,1634,-1.12,-146.0,179.2,-6.5,150,1636,0.20,0.00,0.00,0.000,6,0.045,0.000,2980,2188,3788,0,0,0,0,0,0
$GC,1899,-1.12,-146.0,204.5,-9.8,172,1900,0.15,0.00,0.00,0.000,6,0.086,0.000,3016,2188,3788,0,0,0,0,0,0
$GC,2140,-1.17,-146.0,223.2,-7.3,178,2145,0.00,2.55,0.00,0.000,4,0.000,0.047,3016,627,3788,0,0,0,0,0,0
$GC,2163,-1.23,-146.0,225.0,-7.6,178,2168,0.10,2.35,0.00,0.000,6,0.078,0.020,2961,2166,3788,0,0,0,0,0,0
$GC,2421,-1.18,-146.0,249.5,-9.7,185,2423,0.17,0.00,0.00,0.000,6,0.082,0.000,3003,2167,3788,0,0,0,0,0,0
$GC,2662,-1.18,-146.0,268.7,-7.7,191,2666,0.00,2.58,0.00,0.000,4,0.000,0.041,3003,3772,3787,0,0,0,0,0,0
$GC,2689,-1.22,-146.0,270.9,-8.1,191,2693,0.00,2.53,0.00,0.000,6,0.000,0.023,3003,2145,3787,0,0,0,0,0,0
$GC,2942,-1.26,-146.0,290.0,-7.5,197,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2146,3786,0,0,0,0,0,0
$GC,3183,-1.30,-146.0,308.2,-7.6,203,3188,0.12,2.67,0.00,0.000,4,0.064,0.046,2948,3771,3786,0,0,0,0,0,0
$GC,3200,-1.30,-146.0,309.7,-7.9,203,3205,0.12,2.53,0.00,0.000,6,0.094,0.022,2978,2161,3786,0,0,0,0,0,0
$GC,3463,-1.30,-146.0,331.5,-8.3,210,3468,0.00,2.62,0.00,0.000,4,0.000,0.051,2977,3775,3784,0,0,0,0,0,0
$GC,3485,-1.30,-146.0,333.7,-8.7,210,3489,0.00,2.53,0.00,0.000,6,0.000,0.031,2977,2176,3785,0,0,0,0,0,0
$GC,3740,-1.30,-146.0,353.4,-7.7,217,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2176,3783,0,0,0,0,0,0
$GC,3986,-1.30,-146.0,372.6,-7.9,223,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2176,3783,0,0,0,0,0,0
$GC,4227,-1.30,-146.0,393.1,-8.4,229,4232,0.00,2.65,0.00,0.000,4,0.000,0.058,2977,3768,3781,0,0,0,0,0,0
$GC,4249,-1.30,-146.0,395.1,-8.9,229,4253,0.00,2.58,0.00,0.000,6,0.000,0.035,2977,2162,3782,0,0,0,0,0,0
$GC,4506,-1.30,-146.0,417.5,-8.9,236,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2162,3781,0,0,0,0,0,0
$GC,4748,-1.30,-146.0,439.2,-9.0,242,4752,0.00,2.67,0.00,0.000,4,0.000,0.056,2978,3765,3780,0,0,0,0,0,0
$GC,4763,-1.30,-146.0,440.8,-9.3,242,4768,0.00,2.58,0.00,0.000,6,0.000,0.034,2977,2172,3780,0,0,0,0,0,0
$GC,5026,-1.30,-146.0,463.1,-8.3,249,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2172,3778,0,0,0,0,0,0
$GC,5268,-1.30,-146.0,482.2,-7.7,255,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2172,3777,0,0,0,0,0,0
$GC,5512,-1.30,-146.0,499.7,-7.1,261,5516,0.00,2.72,0.00,0.000,4,0.000,0.061,2978,3771,3777,0,0,0,0,0,0
$GC,5535,-1.30,-146.0,501.4,-7.6,261,5539,0.00,2.65,0.00,0.000,6,0.000,0.048,2977,2178,3777,0,0,0,0,0,0
$GC,5792,-1.30,-146.0,521.5,-7.9,268,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2178,3776,0,0,0,0,0,0
$GC,6033,-1.30,-146.0,541.5,-8.2,274,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2178,3774,0,0,0,0,0,0
$GC,6277,-1.30,-146.0,561.4,-8.1,280,6282,0.00,2.88,0.00,0.000,4,0.000,0.117,2977,626,3772,0,0,0,0,0,0
$GC,6293,-1.30,-146.0,562.8,-8.1,280,6297,0.00,2.50,0.00,0.000,6,0.000,0.052,2977,2143,3772,0,0,0,0,0,0
$GC,6556,-1.30,-146.0,583.4,-7.7,287,6561,0.00,2.88,0.00,0.000,4,0.000,0.091,2977,3765,3771,0,0,0,0,0,0
$GC,6596,-1.30,-146.0,586.5,-7.7,288,6600,0.00,2.70,0.00,0.000,6,0.000,0.058,2978,2172,3771,0,0,0,0,0,0
$GC,6881,-1.30,-146.0,606.7,-7.1,295,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2172,3770,0,0,0,0,0,0
$GC,7122,-1.30,-146.0,624.3,-7.3,301,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2172,3769,0,0,0,0,0,0
$GC,7366,-1.30,-146.0,643.2,-7.8,307,7371,0.00,2.88,0.00,0.000,4,0.000,0.092,2978,3761,3768,0,0,0,0,0,0
$GC,7388,-1.30,-146.0,645.1,-8.8,307,7392,0.00,2.80,0.00,0.000,6,0.000,0.082,2977,2177,3767,0,0,0,0,0,0
$GC,7645,-1.30,-146.0,666.0,-8.2,314,7650,0.00,2.88,0.00,0.000,4,0.000,0.097,2977,3761,3766,0,0,0,0,0,0
$GC,7664,-1.30,-146.0,667.7,-8.2,314,7668,0.00,2.83,0.00,0.000,6,0.000,0.091,2978,2190,3766,0,0,0,0,0,0
$GC,7924,-1.30,-146.0,688.4,-8.0,321,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2189,3764,0,0,0,0,0,0
$GC,8171,-1.30,-146.0,708.0,-8.1,327,8176,0.00,3.00,0.00,0.000,4,0.000,0.122,2977,3759,3763,0,0,0,0,0,0
$GC,8198,-1.30,-146.0,710.6,-8.3,327,8203,0.00,2.92,0.00,0.000,6,0.000,0.105,2977,2189,3763,0,0,0,0,0,0
$GC,8448,-1.30,-146.0,729.8,-7.5,333,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2189,3762,0,0,0,0,0,0
$GC,8692,-1.30,-146.0,747.8,-7.5,339,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2187,3761,0,0,0,0,0,0
$GC,8938,-1.30,-146.0,766.1,-7.6,345,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2185,3760,0,0,0,0,0,0
$GC,9179,-1.30,-146.0,783.7,-7.2,351,9184,0.00,2.85,0.00,0.000,4,0.000,0.099,2977,3761,3759,0,0,0,0,0,0
$GC,9225,-1.35,-146.0,787.2,-8.0,352,9230,0.00,2.75,0.00,0.000,6,0.000,0.075,2978,2193,3759,0,0,0,0,0,0
$GC,9505,-1.35,-146.0,809.0,-7.9,359,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2193,3757,0,0,0,0,0,0
$GC,9746,-1.35,-146.0,827.6,-7.6,365,9751,0.00,2.80,0.00,0.000,4,0.000,0.087,2977,3766,3756,0,0,0,0,0,0
$GC,9768,-1.35,-146.0,829.4,-8.0,365,9772,0.00,2.72,0.00,0.000,6,0.000,0.078,2977,2206,3756,0,0,0,0,0,0
$GC,10026,-1.38,-146.0,848.1,-7.2,372,10031,0.00,2.78,0.00,0.000,4,0.000,0.089,2977,3762,3755,0,0,0,0,0,0
$GC,10042,-1.38,-146.0,849.5,-7.0,372,10046,0.00,2.72,0.00,0.000,6,0.000,0.074,2978,2204,3754,0,0,0,0,0,0
$GC,10303,-1.42,-146.0,867.2,-6.7,379,10305,0.12,0.00,0.00,0.000,6,0.069,0.000,2929,2204,3753,0,0,0,0,0,0
$GC,10549,-1.37,-146.0,887.8,-8.5,385,10555,0.15,2.80,0.00,0.000,4,0.097,0.088,2962,3762,3752,0,0,0,0,0,0
$GC,10583,-1.37,-146.0,890.8,-8.4,385,10588,0.00,2.70,0.00,0.000,6,0.000,0.070,2962,2223,3752,0,0,0,0,0,0
$STATE,10708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10708,begin apogee
$GC,10717,-0.31,0.0,900.2,7.4,389,10841,1.00,0.00,120.32,1.202,6,0.067,0.000,3192,2344,3189,0,0,0,0,0,0
$STATE,10841,end apogee,CONTROL_FINISHED_OK
$STATE,10842,begin climb
$GC,10844,1.27,146.0,903.3,0.0,392,10981,1.42,2.90,128.68,1.170,4,0.034,0.083,3547,3936,2593,0,0,0,0,0,0
$GC,11100,1.15,146.0,884.4,11.3,398,11106,0.17,2.72,0.00,0.000,6,0.113,0.064,3514,2370,2587,0,0,0,0,0,0
$GC,11378,1.18,166.1,858.9,9.1,405,11403,0.00,2.85,18.15,1.075,4,0.000,0.070,3514,3931,2511,0,0,0,0,0,0
$GC,11424,1.14,167.9,854.9,9.9,406,11428,0.00,2.70,0.00,0.000,6,0.000,0.059,3513,2367,2510,0,0,0,0,0,0
$GC,11707,1.15,180.2,827.6,9.4,413,11726,0.00,2.78,13.75,1.039,4,0.000,0.068,3513,3932,2455,0,0,0,0,0,0
$GC,11746,1.14,198.5,823.9,9.2,413,11770,0.00,2.67,18.70,1.065,6,0.000,0.048,3513,2376,2380,0,0,0,0,0,0
$GC,12039,1.14,198.5,792.6,10.8,421,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2377,2376,0,0,0,0,0,0
$GC,12282,1.14,198.5,766.5,10.6,427,12287,0.00,2.70,0.00,0.000,4,0.000,0.064,3514,3939,2374,0,0,0,0,0,0
$GC,12311,1.14,198.5,763.5,10.9,427,12316,0.00,2.67,0.00,0.000,6,0.000,0.051,3513,2368,2373,0,0,0,0,0,0
$GC,12561,1.14,199.1,738.1,10.0,433,12562,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2368,2373,0,0,0,0,0,0
$GC,12804,1.14,199.1,713.6,10.1,439,12806,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2368,2372,0,0,0,0,0,0
$GC,13048,1.14,199.1,688.5,10.3,445,13049,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2368,2371,0,0,0,0,0,0
$GC,13292,1.14,199.1,663.4,10.2,451,13296,0.00,2.67,0.00,0.000,4,0.000,0.064,3514,3931,2371,0,0,0,0,0,0
$GC,13324,1.14,199.1,659.8,10.9,451,13330,0.00,2.65,0.00,0.000,6,0.000,0.053,3513,2367,2370,0,0,0,0,0,0
$GC,13574,1.14,202.1,635.1,9.9,458,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2367,2370,0,0,0,0,0,0
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$CFSIZE,260165632,93900800
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