version: 66.06
glider: 146
mission: 5
dive: 20
start: 8 16 110 4 56 9
data:
$ID,146
$MISSION,5
$DIVE,20
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$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,375
$T_MISSION,420
$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,1.0275
$MASS,52407
$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,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$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,-247558.81
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3010
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1760
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,60
$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,3001
$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,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$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,13
$ALTIM_PULSE,4
$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,0.0043563824
$SEABIRD_T_H,0.00063101487
$SEABIRD_T_I,2.4083547e-05
$SEABIRD_T_J,2.5612533e-06
$SEABIRD_C_G,-9.9059887
$SEABIRD_C_H,1.1423759
$SEABIRD_C_I,-0.0019893181
$SEABIRD_C_J,0.00023308786
$GPS1,044837,2205.863,-15812.180,35,0.9,35,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-67.9
$GPS2,045514,2205.880,-15812.210,9,1.7,9,9.9
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,STNA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,0.205
$KALMAN_X,-364.4,233.3,-91.5,-2526.3,-1284.8
$KALMAN_Y,9012.2,434.5,392.8,36998.5,680.0
$MHEAD_RNG_PITCHd_Wd,21.5,75391,-14.1,-8.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-85.95,0.000,2,0.000,0.000,482,1719,3448,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.0,-5.4,11,133,11.88,2.60,-2.60,0.000,4,0.147,0.044,2771,3322,3601,0,0,0,0,0,0
$GC,177,-0.86,-146.0,25.6,-19.9,20,187,0.20,2.55,0.00,0.000,6,0.074,0.044,2820,1783,3602,0,0,0,0,0,0
$GC,454,-0.81,-146.0,56.4,-11.8,47,459,0.00,2.78,0.00,0.000,4,0.000,0.067,2820,175,3602,0,0,0,0,0,0
$GC,512,-0.81,-146.0,63.3,-11.7,51,516,0.00,2.42,0.00,0.000,6,0.000,0.015,2820,1767,3602,0,0,0,0,0,0
$GC,779,-0.81,-146.0,89.6,-10.2,75,784,0.00,2.75,0.00,0.000,4,0.000,0.067,2820,174,3603,0,0,0,0,0,0
$GC,812,-0.81,-146.0,93.3,-11.2,77,816,0.00,2.38,0.00,0.000,6,0.000,0.016,2820,1756,3603,0,0,0,0,0,0
$GC,1078,-0.81,-146.0,119.2,-9.0,101,1082,0.00,2.42,0.00,0.000,4,0.000,0.028,2820,3306,3604,0,0,0,0,0,0
$GC,1136,-0.90,-146.0,123.6,-7.2,105,1141,0.00,2.50,0.00,0.000,6,0.000,0.035,2820,1745,3604,0,0,0,0,0,0
$GC,1403,-0.95,-146.0,141.5,-6.4,129,1407,0.00,2.67,0.00,0.000,4,0.000,0.070,2820,184,3604,0,0,0,0,0,0
$GC,1462,-1.05,-146.0,145.8,-6.5,133,1468,0.17,2.38,0.00,0.000,6,0.062,0.023,2769,1752,3604,0,0,0,0,0,0
$GC,1724,-1.01,-146.0,169.4,-9.1,158,1729,0.10,2.45,0.00,0.000,4,0.120,0.032,2790,3309,3604,0,0,0,0,0,0
$GC,1747,-1.01,-146.0,171.6,-8.5,159,1756,0.00,2.53,0.00,0.000,6,0.000,0.030,2790,1753,3604,0,0,0,0,0,0
$GC,2014,-1.01,-146.0,191.5,-7.3,184,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1753,3604,0,0,0,0,0,0
$GC,2299,-1.01,-146.0,212.0,-7.1,200,2304,0.00,2.47,0.00,0.000,4,0.000,0.028,2790,3310,3604,0,0,0,0,0,0
$GC,2322,-1.01,-146.0,213.7,-7.1,200,2327,0.00,2.50,0.00,0.000,6,0.000,0.033,2790,1746,3604,0,0,0,0,0,0
$GC,2578,-1.01,-146.0,233.0,-7.5,207,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1746,3604,0,0,0,0,0,0
$GC,2822,-1.01,-146.0,250.9,-7.3,213,2826,0.00,2.75,0.00,0.000,4,0.000,0.082,2790,186,3604,0,0,0,0,0,0
$GC,2863,-1.05,-146.0,253.9,-7.9,214,2867,0.00,2.38,0.00,0.000,6,0.000,0.020,2790,1724,3604,0,0,0,0,0,0
$GC,3146,-1.09,-146.0,275.8,-7.9,221,3150,0.00,2.60,0.00,0.000,4,0.000,0.036,2791,3328,3603,0,0,0,0,0,0
$GC,3202,-1.18,-146.0,280.6,-8.5,222,3208,0.15,2.60,0.00,0.000,6,0.069,0.041,2744,1744,3603,0,0,0,0,0,0
$GC,3469,-1.14,-146.0,304.1,-8.5,229,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1744,3602,0,0,0,0,0,0
$GC,3714,-1.10,-146.0,326.8,-9.5,235,3716,0.12,0.00,0.00,0.000,6,0.114,0.000,2769,1744,3601,0,0,0,0,0,0
$GC,3956,-1.10,-146.0,347.7,-8.3,241,3961,0.00,2.62,0.00,0.000,4,0.000,0.051,2769,3332,3600,0,0,0,0,0,0
$GC,4001,-1.17,-146.0,351.2,-8.1,242,4006,0.00,2.67,0.00,0.000,6,0.000,0.056,2769,1750,3600,0,0,0,0,0,0
$GC,4279,-1.17,-146.0,370.2,-6.8,249,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1749,3598,0,0,0,0,0,0
$GC,4522,-1.17,-146.0,386.3,-6.6,255,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1749,3597,0,0,0,0,0,0
$GC,4768,-1.21,-146.0,403.7,-7.1,261,4773,0.10,2.95,0.00,0.000,4,0.094,0.107,2741,172,3596,0,0,0,0,0,0
$GC,4790,-1.21,-146.0,405.7,-8.0,261,4794,0.00,2.50,0.00,0.000,6,0.000,0.034,2741,1732,3596,0,0,0,0,0,0
$GC,5044,-1.21,-146.0,427.4,-8.6,268,5049,0.00,2.70,0.00,0.000,4,0.000,0.061,2741,3345,3594,0,0,0,0,0,0
$GC,5096,-1.21,-146.0,431.7,-8.6,269,5101,0.00,2.70,0.00,0.000,6,0.000,0.057,2741,1763,3594,0,0,0,0,0,0
$GC,5368,-1.21,-146.0,454.9,-8.5,276,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1763,3591,0,0,0,0,0,0
$GC,5611,-1.21,-146.0,475.2,-8.3,282,5616,0.00,2.67,0.00,0.000,4,0.000,0.055,2740,3338,3590,0,0,0,0,0,0
$GC,5656,-1.21,-146.0,479.1,-8.5,283,5661,0.00,2.70,0.00,0.000,6,0.000,0.065,2741,1768,3589,0,0,0,0,0,0
$GC,5934,-1.21,-146.0,500.9,-7.8,290,5939,0.00,3.12,0.00,0.000,4,0.000,0.137,2740,175,3588,0,0,0,0,0,0
$GC,5950,-1.21,-146.0,502.2,-7.6,290,5954,0.00,2.62,0.00,0.000,6,0.000,0.043,2741,1764,3587,0,0,0,0,0,0
$GC,6212,-1.21,-146.0,521.6,-7.5,297,6216,0.00,2.78,0.00,0.000,4,0.000,0.084,2740,3345,3586,0,0,0,0,0,0
$GC,6239,-1.21,-146.0,523.7,-7.1,297,6243,0.00,2.75,0.00,0.000,6,0.000,0.071,2740,1768,3586,0,0,0,0,0,0
$GC,6489,-1.21,-146.0,542.0,-7.3,303,6493,0.00,2.70,0.00,0.000,4,0.000,0.065,2741,3345,3584,0,0,0,0,0,0
$GC,6511,-1.21,-146.0,543.8,-8.3,303,6516,0.00,2.75,0.00,0.000,6,0.000,0.071,2741,1784,3584,0,0,0,0,0,0
$GC,6766,-1.21,-146.0,564.3,-7.9,310,6771,0.00,3.17,0.00,0.000,4,0.000,0.139,2741,174,3582,0,0,0,0,0,0
$GC,6787,-1.21,-146.0,566.1,-8.0,310,6792,0.00,2.70,0.00,0.000,6,0.000,0.056,2741,1786,3582,0,0,0,0,0,0
$GC,7044,-1.21,-146.0,585.0,-7.3,317,7049,0.00,2.83,0.00,0.000,4,0.000,0.097,2741,3350,3580,0,0,0,0,0,0
$GC,7071,-1.21,-146.0,587.3,-8.1,317,7076,0.00,2.78,0.00,0.000,6,0.000,0.079,2741,1783,3580,0,0,0,0,0,0
$GC,7321,-1.21,-146.0,605.7,-7.3,323,7326,0.00,3.20,0.00,0.000,4,0.000,0.143,2740,173,3579,0,0,0,0,0,0
$GC,7354,-1.21,-146.0,608.4,-8.2,323,7360,0.00,2.78,0.00,0.000,6,0.000,0.063,2741,1784,3579,0,0,0,0,0,0
$GC,7606,-1.21,-146.0,625.8,-6.9,330,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1784,3578,0,0,0,0,0,0
$GC,7848,-1.21,-146.0,642.2,-6.8,336,7853,0.00,2.90,0.00,0.000,4,0.000,0.107,2741,3347,3576,0,0,0,0,0,0
$GC,7880,-1.21,-146.0,644.4,-6.6,336,7886,0.00,2.92,0.00,0.000,6,0.000,0.101,2741,1777,3575,0,0,0,0,0,0
$GC,8132,-1.21,-146.0,661.2,-6.7,343,8136,0.00,2.88,0.00,0.000,4,0.000,0.104,2740,3346,3574,0,0,0,0,0,0
$GC,8159,-1.25,-146.0,663.3,-7.5,343,8164,0.00,2.92,0.00,0.000,6,0.000,0.114,2741,1791,3574,0,0,0,0,0,0
$GC,8409,-1.25,-146.0,681.1,-7.2,349,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1791,3573,0,0,0,0,0,0
$GC,8654,-1.25,-146.0,700.0,-7.8,355,8659,0.00,2.97,0.00,0.000,4,0.000,0.120,2740,3352,3572,0,0,0,0,0,0
$GC,8703,-1.30,-146.0,704.2,-8.3,356,8708,0.00,3.08,0.00,0.000,6,0.000,0.129,2740,1793,3572,0,0,0,0,0,0
$GC,8977,-1.30,-146.0,725.4,-7.9,363,8978,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1793,3570,0,0,0,0,0,0
$GC,9220,-1.30,-146.0,745.8,-8.4,369,9225,0.00,3.67,0.00,0.000,4,0.000,0.199,2741,171,3569,0,0,0,0,0,0
$GC,9253,-1.30,-146.0,749.1,-10.2,369,9259,0.00,3.10,0.00,0.000,6,0.000,0.119,2741,1786,3569,0,0,0,0,0,0
$GC,9503,-1.30,-146.0,769.3,-7.9,376,9508,0.00,3.20,0.00,0.000,4,0.000,0.159,2741,3349,3568,0,0,0,0,0,0
$GC,9545,-1.36,-146.0,772.3,-7.9,377,9550,0.12,2.78,0.00,0.000,6,0.082,0.079,2708,1796,3568,0,0,0,0,0,0
$GC,9828,-1.36,-146.0,795.5,-7.9,384,9833,0.00,2.70,0.00,0.000,4,0.000,0.071,2708,3360,3567,0,0,0,0,0,0
$GC,9872,-1.36,-146.0,799.3,-8.0,385,9876,0.00,2.75,0.00,0.000,6,0.000,0.079,2708,1802,3567,0,0,0,0,0,0
$GC,10150,-1.36,-146.0,822.4,-8.5,392,10155,0.00,3.25,0.00,0.000,4,0.000,0.145,2707,173,3566,0,0,0,0,0,0
$GC,10178,-1.31,-146.0,825.2,-9.4,392,10182,0.00,2.78,0.00,0.000,6,0.000,0.058,2707,1811,3566,0,0,0,0,0,0
$GC,10427,-1.31,-146.0,846.4,-8.3,398,10432,0.00,2.78,0.00,0.000,4,0.000,0.094,2707,3355,3565,0,0,0,0,0,0
$GC,10474,-1.31,-146.0,850.3,-8.9,399,10478,0.00,2.72,0.00,0.000,6,0.000,0.081,2707,1812,3565,0,0,0,0,0,0
$GC,10751,-1.31,-146.0,874.2,-8.5,406,10756,0.00,3.20,0.00,0.000,4,0.000,0.135,2707,173,3564,0,0,0,0,0,0
$GC,10791,-1.27,-146.0,878.0,-10.2,407,10796,0.12,2.80,0.00,0.000,6,0.121,0.058,2732,1816,3564,0,0,0,0,0,0
$STATE,11072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11072,begin apogee
$GC,11079,-0.31,0.0,900.8,7.8,414,11205,0.95,0.00,122.93,1.269,6,0.088,0.000,2942,1816,3001,0,0,0,0,0,0
$STATE,11206,end apogee,CONTROL_FINISHED_OK
$STATE,11206,begin climb
$GC,11208,1.06,146.0,905.3,0.0,417,11349,1.25,3.03,132.00,1.235,4,0.042,0.107,3243,242,2404,0,0,0,0,0,0
$GC,11355,0.79,156.0,901.9,7.6,420,11372,0.30,2.75,10.20,1.044,6,0.130,0.048,3187,1835,2365,0,0,0,0,0,0
$GC,11617,0.68,156.0,878.7,9.0,427,11622,0.15,2.88,0.00,0.000,4,0.143,0.086,3161,3426,2356,0,0,0,0,0,0
$GC,11650,0.68,156.0,875.5,9.0,427,11656,0.00,2.85,0.00,0.000,6,0.000,0.073,3161,1828,2354,0,0,0,0,0,0
$GC,11900,0.63,156.0,853.9,8.7,434,11905,0.00,3.12,0.00,0.000,4,0.000,0.133,3161,240,2353,0,0,0,0,0,0
$GC,11923,0.53,156.0,851.8,9.0,434,11928,0.17,2.67,0.00,0.000,6,0.138,0.041,3128,1838,2352,0,0,0,0,0,0
$GC,12179,0.55,176.0,832.7,7.3,441,12203,0.00,2.92,17.95,1.142,4,0.000,0.081,3128,3418,2282,0,0,0,0,0,0
$GC,12237,0.60,176.0,828.2,8.0,442,12242,0.00,2.80,0.00,0.000,6,0.000,0.064,3128,1835,2280,0,0,0,0,0,0
$GC,12503,0.64,212.6,809.9,6.6,449,12543,0.10,0.00,34.97,1.171,6,0.114,0.000,3147,1835,2134,0,0,0,0,0,0
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$STATE,21849,end climb,SURFACE_DEPTH_REACHED
$STATE,21849,begin surface coast
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$10V_AH,10.3,5.670
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,182059008
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