version: 66.06
glider: 146
mission: 7
dive: 57
start: 5 31 112 15 33 3
data:
$ID,146
$MISSION,7
$DIVE,57
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,233
$T_MISSION,500
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52355
$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,380
$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,-288906.69
$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,3130
$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,2210
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,40
$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,2950
$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,-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,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,0.0043256786
$SEABIRD_T_H,0.0006194216
$SEABIRD_T_I,2.1253354e-05
$SEABIRD_T_J,2.0307182e-06
$SEABIRD_C_G,-9.7992477
$SEABIRD_C_H,1.0845563
$SEABIRD_C_I,-0.0017217569
$SEABIRD_C_J,0.00021252052
$GPS1,152007,2246.122,-15808.272,26,1.2,26,10.0
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-65.2
$GPS2,153208,2246.121,-15808.364,11,1.2,11,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.027,0.250
$KALMAN_X,-86762.5,-452.8,-438.1,79727.8,361.2
$KALMAN_Y,-21457.9,-315.5,1.2,32028.2,295.4
$MHEAD_RNG_PITCHd_Wd,356.1,34453,-18.2,-10.014
$D_GRID,700
$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,-1.31,-136.3,0.0,0.0,0,115,0.00,0.00,-90.20,0.000,6,0.000,0.000,467,2200,3506,0,0,0,0,0,0
$GC,120,-1.31,-136.3,1.6,-3.5,12,137,13.02,2.58,0.00,0.000,4,0.170,0.032,2836,3796,3506,0,0,0,0,0,0
$GC,227,-1.10,-136.3,24.0,-15.1,27,237,0.20,2.55,0.00,0.000,6,0.103,0.023,2882,2203,3507,0,0,0,0,0,0
$GC,508,-1.03,-136.3,55.9,-11.1,55,513,0.10,2.60,0.00,0.000,4,0.131,0.045,2903,635,3507,0,0,0,0,0,0
$GC,542,-0.97,-136.3,59.6,-10.4,57,547,0.00,2.45,0.00,0.000,6,0.000,0.017,2903,2228,3507,0,0,0,0,0,0
$GC,811,-0.97,-136.3,83.3,-9.2,81,815,0.00,2.47,0.00,0.000,4,0.000,0.035,2903,3774,3507,0,0,0,0,0,0
$GC,832,-0.97,-136.3,86.0,-9.2,82,841,0.00,2.47,0.00,0.000,6,0.000,0.021,2903,2221,3508,0,0,0,0,0,0
$GC,1100,-0.97,-136.3,106.4,-7.3,107,1105,0.00,2.50,0.00,0.000,4,0.000,0.038,2903,3767,3508,0,0,0,0,0,0
$GC,1122,-0.97,-136.3,108.6,-7.1,108,1131,0.00,2.47,0.00,0.000,6,0.000,0.023,2902,2215,3508,0,0,0,0,0,0
$GC,1388,-0.97,-136.3,128.5,-8.5,133,1392,0.00,2.53,0.00,0.000,4,0.000,0.035,2903,3775,3508,0,0,0,0,0,0
$GC,1434,-0.97,-136.3,133.0,-9.2,136,1443,0.00,2.45,0.00,0.000,6,0.000,0.021,2902,2236,3508,0,0,0,0,0,0
$GC,1697,-0.97,-136.3,154.3,-8.3,161,1702,0.00,2.65,0.00,0.000,4,0.000,0.055,2903,635,3508,0,0,0,0,0,0
$GC,1766,-0.97,-136.3,159.7,-8.5,166,1770,0.00,2.45,0.00,0.000,6,0.000,0.025,2902,2232,3508,0,0,0,0,0,0
$GC,2033,-0.97,-136.3,177.8,-6.1,190,2037,0.00,2.65,0.00,0.000,4,0.000,0.053,2902,637,3509,0,0,0,0,0,0
$GC,2114,-0.97,-136.3,183.4,-6.7,196,2120,0.00,2.40,0.00,0.000,6,0.000,0.025,2903,2199,3509,0,0,0,0,0,0
$GC,2377,-1.01,-136.3,200.0,-5.2,221,2382,0.00,2.50,0.00,0.000,4,0.000,0.041,2903,3772,3508,0,0,0,0,0,0
$GC,2469,-1.06,-136.3,206.2,-7.2,223,2473,0.00,2.45,0.00,0.000,6,0.000,0.028,2902,2212,3508,0,0,0,0,0,0
$GC,2747,-1.11,-136.3,222.6,-5.8,230,2751,0.00,2.60,0.00,0.000,4,0.000,0.058,2903,640,3509,0,0,0,0,0,0
$GC,2774,-1.11,-136.3,224.4,-6.0,230,2778,0.00,2.42,0.00,0.000,6,0.000,0.020,2903,2207,3509,0,0,0,0,0,0
$GC,3031,-1.17,-136.3,239.7,-5.9,237,3036,0.12,2.62,0.00,0.000,4,0.070,0.057,2858,631,3508,0,0,0,0,0,0
$GC,3087,-1.12,-136.3,244.3,-8.8,238,3092,0.12,2.45,0.00,0.000,6,0.114,0.021,2885,2207,3508,0,0,0,0,0,0
$GC,3356,-1.12,-136.3,264.4,-7.6,245,3360,0.00,2.65,0.00,0.000,4,0.000,0.060,2885,638,3507,0,0,0,0,0,0
$GC,3382,-1.12,-136.3,267.0,-9.0,245,3387,0.00,2.45,0.00,0.000,6,0.000,0.026,2885,2198,3508,0,0,0,0,0,0
$GC,3633,-1.12,-136.3,283.8,-6.4,251,3637,0.00,2.58,0.00,0.000,4,0.000,0.041,2885,3782,3507,0,0,0,0,0,0
$GC,3700,-1.12,-136.3,288.0,-6.1,252,3705,0.00,2.47,0.00,0.000,6,0.000,0.028,2885,2224,3506,0,0,0,0,0,0
$GC,3956,-1.15,-136.3,299.9,-4.5,259,3960,0.00,2.70,0.00,0.000,4,0.000,0.067,2885,635,3505,0,0,0,0,0,0
$GC,3983,-1.15,-136.3,301.3,-5.4,259,3987,0.00,2.47,0.00,0.000,6,0.000,0.031,2885,2202,3505,0,0,0,0,0,0
$GC,4235,-1.20,-136.3,314.2,-5.2,265,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2202,3504,0,0,0,0,0,0
$GC,4477,-1.24,-136.3,325.3,-4.4,271,4482,0.12,2.60,0.00,0.000,4,0.073,0.043,2843,3786,3503,0,0,0,0,0,0
$GC,4522,-1.20,-136.3,327.9,-6.2,272,4527,0.12,2.55,0.00,0.000,6,0.114,0.031,2869,2200,3503,0,0,0,0,0,0
$GC,4801,-1.20,-136.3,341.9,-4.9,279,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2200,3501,0,0,0,0,0,0
$GC,5043,-1.20,-136.3,355.9,-5.9,285,5048,0.00,2.60,0.00,0.000,4,0.000,0.042,2869,3784,3500,0,0,0,0,0,0
$GC,5065,-1.20,-136.3,357.5,-7.1,285,5069,0.00,2.53,0.00,0.000,6,0.000,0.030,2869,2213,3500,0,0,0,0,0,0
$GC,5322,-1.20,-136.3,374.2,-6.6,292,5326,0.00,2.60,0.00,0.000,4,0.000,0.050,2869,3783,3498,0,0,0,0,0,0
$GC,5371,-1.20,-136.3,378.0,-7.2,293,5376,0.00,2.53,0.00,0.000,6,0.000,0.038,2869,2220,3498,0,0,0,0,0,0
$GC,5644,-1.20,-136.3,394.6,-5.9,300,5648,0.00,2.58,0.00,0.000,4,0.000,0.046,2869,3783,3496,0,0,0,0,0,0
$GC,5678,-1.20,-136.3,396.9,-7.1,300,5684,0.00,2.53,0.00,0.000,6,0.000,0.039,2869,2239,3496,0,0,0,0,0,0
$GC,5928,-1.20,-136.3,413.2,-6.4,307,5933,0.00,2.90,0.00,0.000,4,0.000,0.093,2869,617,3495,0,0,0,0,0,0
$GC,5949,-1.20,-136.3,414.7,-6.7,307,5954,0.00,2.65,0.00,0.000,6,0.000,0.035,2869,2245,3495,0,0,0,0,0,0
$GC,6207,-1.20,-136.3,431.5,-6.5,314,6211,0.00,2.58,0.00,0.000,4,0.000,0.061,2869,3790,3494,0,0,0,0,0,0
$GC,6222,-1.20,-136.3,432.7,-6.4,314,6227,0.00,2.55,0.00,0.000,6,0.000,0.042,2869,2238,3494,0,0,0,0,0,0
$GC,6483,-1.20,-136.3,448.6,-5.9,321,6488,0.00,2.95,0.00,0.000,4,0.000,0.099,2869,625,3492,0,0,0,0,0,0
$GC,6569,-1.20,-136.3,453.9,-6.5,323,6574,0.00,2.65,0.00,0.000,6,0.000,0.044,2869,2230,3491,0,0,0,0,0,0
$GC,6852,-1.20,-136.3,469.0,-5.2,330,6857,0.00,2.65,0.00,0.000,4,0.000,0.065,2869,3798,3490,0,0,0,0,0,0
$GC,6869,-1.20,-136.3,470.0,-5.2,330,6874,0.00,2.60,0.00,0.000,6,0.000,0.048,2869,2225,3491,0,0,0,0,0,0
$GC,7132,-1.24,-136.3,483.7,-5.1,337,7137,0.00,2.65,0.00,0.000,4,0.000,0.058,2869,3798,3490,0,0,0,0,0,0
$GC,7182,-1.24,-136.3,486.8,-6.4,338,7186,0.00,2.58,0.00,0.000,6,0.000,0.050,2869,2249,3489,0,0,0,0,0,0
$GC,7456,-1.28,-136.3,500.8,-5.1,345,7460,0.00,2.62,0.00,0.000,4,0.000,0.065,2869,3794,3488,0,0,0,0,0,0
$GC,7495,-1.28,-136.3,503.2,-6.2,346,7499,0.00,2.60,0.00,0.000,6,0.000,0.053,2870,2250,3488,0,0,0,0,0,0
$GC,7779,-1.32,-136.3,518.0,-5.3,353,7784,0.12,3.08,0.00,0.000,4,0.080,0.111,2831,619,3487,0,0,0,0,0,0
$GC,7814,-1.25,-136.3,520.3,-7.3,353,7820,0.12,2.72,0.00,0.000,6,0.119,0.051,2856,2246,3487,0,0,0,0,0,0
$GC,8066,-1.25,-136.3,535.4,-5.9,360,8071,0.00,2.92,0.00,0.000,4,0.000,0.096,2856,624,3486,0,0,0,0,0,0
$GC,8110,-1.25,-136.3,538.4,-6.6,361,8114,0.00,2.70,0.00,0.000,6,0.000,0.051,2856,2245,3485,0,0,0,0,0,0
$GC,8389,-1.25,-136.3,554.1,-5.6,368,8394,0.00,2.78,0.00,0.000,4,0.000,0.086,2856,3797,3484,0,0,0,0,0,0
$GC,8411,-1.25,-136.3,555.5,-5.9,368,8415,0.00,2.65,0.00,0.000,6,0.000,0.054,2855,2242,3484,0,0,0,0,0,0
$GC,8666,-1.25,-136.3,569.4,-5.6,375,8671,0.00,3.05,0.00,0.000,4,0.000,0.111,2856,618,3483,0,0,0,0,0,0
$GC,8695,-1.25,-136.3,571.1,-6.1,375,8699,0.00,2.72,0.00,0.000,6,0.000,0.049,2856,2234,3483,0,0,0,0,0,0
$GC,8945,-1.25,-136.3,586.9,-6.5,381,8949,0.00,2.95,0.00,0.000,4,0.000,0.097,2856,620,3482,0,0,0,0,0,0
$GC,8994,-1.25,-136.3,590.8,-7.7,382,8999,0.00,2.70,0.00,0.000,6,0.000,0.058,2856,2222,3482,0,0,0,0,0,0
$GC,9268,-1.25,-136.3,609.0,-6.4,389,9273,0.00,2.88,0.00,0.000,4,0.000,0.101,2856,3795,3481,0,0,0,0,0,0
$GC,9300,-1.25,-136.3,611.3,-6.8,389,9306,0.00,2.78,0.00,0.000,6,0.000,0.071,2856,2219,3481,0,0,0,0,0,0
$GC,9550,-1.25,-136.3,624.3,-4.8,396,9555,0.00,2.83,0.00,0.000,4,0.000,0.091,2855,3801,3480,0,0,0,0,0,0
$GC,9596,-1.25,-136.3,626.6,-5.4,397,9601,0.00,2.78,0.00,0.000,6,0.000,0.076,2856,2228,3479,0,0,0,0,0,0
$GC,9874,-1.25,-136.3,638.9,-4.4,404,9878,0.00,3.12,0.00,0.000,4,0.000,0.127,2856,613,3479,0,0,0,0,0,0
$GC,9897,-1.25,-136.3,640.0,-4.7,404,9902,0.00,2.83,0.00,0.000,6,0.000,0.069,2855,2224,3479,0,0,0,0,0,0
$GC,10152,-1.28,-136.3,651.6,-4.5,411,10157,0.00,2.92,0.00,0.000,4,0.000,0.109,2856,3803,3478,0,0,0,0,0,0
$GC,10180,-1.28,-136.3,653.1,-5.3,411,10184,0.00,2.88,0.00,0.000,6,0.000,0.085,2856,2215,3477,0,0,0,0,0,0
$GC,10432,-1.32,-136.3,664.3,-4.5,417,10433,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2215,3476,0,0,0,0,0,0
$GC,10674,-1.37,-136.3,675.9,-4.8,423,10676,0.10,0.00,0.00,0.000,6,0.093,0.000,2824,2214,3475,0,0,0,0,0,0
$GC,10917,-1.37,-136.3,690.5,-6.1,429,10922,0.00,3.00,0.00,0.000,4,0.000,0.113,2824,3797,3475,0,0,0,0,0,0
$GC,10997,-1.33,-136.3,695.9,-7.2,430,11003,0.00,2.97,0.00,0.000,6,0.000,0.107,2824,2223,3475,0,0,0,0,0,0
$STATE,11082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11082,begin apogee
$GC,11088,-0.31,0.0,701.8,6.6,433,11204,1.05,0.00,110.25,1.118,6,0.092,0.000,3059,2193,2948,0,0,0,0,0,0
$STATE,11205,end apogee,CONTROL_FINISHED_OK
$STATE,11205,begin climb
$GC,11208,1.31,136.3,703.3,0.0,436,11332,1.55,0.00,120.55,1.082,6,0.056,0.000,3414,2193,2394,0,0,0,0,0,0
$GC,11570,1.19,136.3,662.7,13.0,445,11576,0.12,3.00,0.00,0.000,4,0.274,0.095,3391,3793,2384,0,0,0,0,0,0
$GC,11593,1.10,136.3,659.5,12.7,445,11598,0.00,2.95,0.00,0.000,6,0.000,0.091,3391,2207,2383,0,0,0,0,0,0
$GC,11848,1.04,136.3,629.3,11.7,452,11854,0.17,3.08,0.00,0.000,4,0.123,0.119,3357,609,2382,0,0,0,0,0,0
$GC,11866,0.98,136.3,627.3,11.9,452,11871,0.00,2.80,0.00,0.000,6,0.000,0.061,3357,2209,2381,0,0,0,0,0,0
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$STATE,17595,end climb,SURFACE_DEPTH_REACHED
$STATE,17595,begin surface coast
$FINISH,-0.6,1.023739
$STATE,17638,end surface coast,CONTROL_FINISHED_OK
$STATE,17638,begin surface
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$10V_AH,10.3,7.844
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,356040
$DATA_FILE_SIZE,54337,711
$CAP_FILE_SIZE,186219,0
$CFSIZE,260165632,143560704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310512,203031,2247.493,-15808.772,40,1.1,40,10.1