version: 66.06
glider: 146
mission: 7
dive: 58
start: 5 31 112 20 51 51
data:
$ID,146
$MISSION,7
$DIVE,58
$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,-288921.66
$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,30
$R_STBD_OVSHOOT,46
$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
$GPS1,203031,2247.493,-15808.772,40,1.1,40,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-69.0
$GPS2,205056,2247.520,-15808.874,12,1.0,12,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.060,0.245
$KALMAN_X,-88388.4,-346.2,-92.8,80033.5,-90.4
$KALMAN_Y,-22377.0,-195.6,-55.2,35477.3,-281.1
$MHEAD_RNG_PITCHd_Wd,3.6,32103,-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,-88.60,0.000,6,0.000,0.000,472,2199,3506,0,0,0,0,0,0
$GC,120,-1.31,-136.3,2.3,-6.4,12,138,13.02,2.55,0.00,0.000,4,0.171,0.030,2837,3779,3506,0,0,0,0,0,0
$GC,288,-1.12,-136.3,31.9,-13.5,36,296,0.17,2.53,0.00,0.000,6,0.106,0.024,2877,2201,3507,0,0,0,0,0,0
$GC,557,-1.03,-136.3,59.5,-10.5,61,562,0.12,2.58,0.00,0.000,4,0.123,0.046,2903,635,3507,0,0,0,0,0,0
$GC,592,-0.97,-136.3,63.3,-9.7,63,597,0.00,2.42,0.00,0.000,6,0.000,0.017,2903,2216,3507,0,0,0,0,0,0
$GC,861,-0.97,-136.3,87.1,-9.2,87,865,0.00,2.47,0.00,0.000,4,0.000,0.041,2903,3770,3507,0,0,0,0,0,0
$GC,882,-0.97,-136.3,89.9,-9.5,88,891,0.00,2.47,0.00,0.000,6,0.000,0.024,2903,2209,3507,0,0,0,0,0,0
$GC,1148,-0.97,-136.3,112.1,-8.5,113,1153,0.00,2.53,0.00,0.000,4,0.000,0.035,2903,3773,3508,0,0,0,0,0,0
$GC,1182,-0.97,-136.3,115.3,-9.5,115,1187,0.00,2.47,0.00,0.000,6,0.000,0.025,2903,2193,3507,0,0,0,0,0,0
$GC,1449,-0.97,-136.3,137.6,-7.8,139,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2193,3508,0,0,0,0,0,0
$GC,1712,-0.97,-136.3,158.8,-7.6,164,1716,0.00,2.58,0.00,0.000,4,0.000,0.054,2903,633,3508,0,0,0,0,0,0
$GC,1837,-0.97,-136.3,168.8,-7.9,174,1846,0.00,2.47,0.00,0.000,6,0.000,0.022,2903,2218,3508,0,0,0,0,0,0
$GC,2105,-0.97,-136.3,186.9,-7.1,199,2109,0.00,2.47,0.00,0.000,4,0.000,0.041,2902,3778,3508,0,0,0,0,0,0
$GC,2126,-1.01,-136.3,189.1,-7.5,200,2132,0.00,2.42,0.00,0.000,6,0.000,0.027,2903,2219,3508,0,0,0,0,0,0
$GC,2386,-1.01,-136.3,205.2,-6.2,219,2390,0.00,2.60,0.00,0.000,4,0.000,0.057,2903,636,3508,0,0,0,0,0,0
$GC,2429,-1.01,-136.3,208.5,-7.3,220,2434,0.00,2.42,0.00,0.000,6,0.000,0.018,2903,2213,3508,0,0,0,0,0,0
$GC,2708,-1.05,-136.3,224.8,-5.7,227,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2213,3508,0,0,0,0,0,0
$GC,2954,-1.10,-136.3,239.7,-6.3,233,2958,0.00,2.50,0.00,0.000,4,0.000,0.038,2902,3773,3507,0,0,0,0,0,0
$GC,3043,-1.15,-136.3,246.1,-6.9,235,3047,0.00,2.45,0.00,0.000,6,0.000,0.029,2902,2206,3507,0,0,0,0,0,0
$GC,3322,-1.20,-136.3,262.4,-5.6,242,3324,0.15,0.00,0.00,0.000,6,0.064,0.000,2850,2206,3506,0,0,0,0,0,0
$GC,3564,-1.15,-136.3,279.5,-7.0,248,3569,0.12,2.65,0.00,0.000,4,0.115,0.061,2877,640,3505,0,0,0,0,0,0
$GC,3678,-1.15,-136.3,288.6,-7.9,250,3682,0.00,2.47,0.00,0.000,6,0.000,0.022,2877,2212,3505,0,0,0,0,0,0
$GC,3934,-1.15,-136.3,305.9,-6.7,257,3939,0.00,2.58,0.00,0.000,4,0.000,0.041,2877,3790,3504,0,0,0,0,0,0
$GC,3990,-1.15,-136.3,310.0,-6.9,258,3994,0.00,2.45,0.00,0.000,6,0.000,0.024,2877,2235,3504,0,0,0,0,0,0
$GC,4258,-1.15,-136.3,325.4,-5.7,265,4262,0.00,2.55,0.00,0.000,4,0.000,0.044,2877,3787,3502,0,0,0,0,0,0
$GC,4319,-1.15,-136.3,329.6,-6.4,266,4323,0.00,2.45,0.00,0.000,6,0.000,0.026,2877,2242,3502,0,0,0,0,0,0
$GC,4579,-1.15,-136.3,346.0,-6.6,273,4584,0.00,2.80,0.00,0.000,4,0.000,0.071,2877,624,3501,0,0,0,0,0,0
$GC,4630,-1.15,-136.3,349.4,-7.1,274,4635,0.00,2.58,0.00,0.000,6,0.000,0.033,2877,2226,3501,0,0,0,0,0,0
$GC,4902,-1.15,-136.3,364.7,-5.1,281,4907,0.00,2.75,0.00,0.000,4,0.000,0.064,2877,622,3499,0,0,0,0,0,0
$GC,4946,-1.15,-136.3,367.1,-5.2,282,4951,0.00,2.58,0.00,0.000,6,0.000,0.035,2877,2231,3499,0,0,0,0,0,0
$GC,5227,-1.19,-136.3,380.5,-4.8,289,5231,0.00,2.60,0.00,0.000,4,0.000,0.052,2877,3798,3497,0,0,0,0,0,0
$GC,5248,-1.19,-136.3,381.8,-5.2,289,5252,0.00,2.53,0.00,0.000,6,0.000,0.030,2877,2239,3497,0,0,0,0,0,0
$GC,5503,-1.23,-136.3,394.7,-5.1,296,5508,0.00,2.58,0.00,0.000,4,0.000,0.048,2877,3790,3496,0,0,0,0,0,0
$GC,5532,-1.23,-136.3,396.3,-5.8,296,5536,0.00,2.47,0.00,0.000,6,0.000,0.031,2877,2257,3496,0,0,0,0,0,0
$GC,5783,-1.27,-136.3,410.2,-5.6,302,5788,0.10,2.92,0.00,0.000,4,0.084,0.088,2838,627,3495,0,0,0,0,0,0
$GC,5840,-1.21,-136.3,414.2,-6.9,303,5846,0.12,2.62,0.00,0.000,6,0.117,0.038,2863,2238,3494,0,0,0,0,0,0
$GC,6107,-1.21,-136.3,431.2,-6.2,310,6112,0.00,2.62,0.00,0.000,4,0.000,0.063,2863,3794,3493,0,0,0,0,0,0
$GC,6180,-1.21,-136.3,436.2,-7.2,311,6184,0.00,2.55,0.00,0.000,6,0.000,0.045,2863,2245,3493,0,0,0,0,0,0
$GC,6432,-1.21,-136.3,450.0,-5.3,317,6437,0.00,2.97,0.00,0.000,4,0.000,0.098,2863,616,3491,0,0,0,0,0,0
$GC,6465,-1.21,-136.3,452.0,-5.9,317,6470,0.00,2.65,0.00,0.000,6,0.000,0.039,2863,2236,3491,0,0,0,0,0,0
$GC,6715,-1.21,-136.3,463.2,-4.5,324,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2236,3490,0,0,0,0,0,0
$GC,6960,-1.21,-136.3,474.5,-4.7,330,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2236,3489,0,0,0,0,0,0
$GC,7202,-1.21,-136.3,486.8,-5.0,336,7206,0.00,2.67,0.00,0.000,4,0.000,0.065,2864,3794,3488,0,0,0,0,0,0
$GC,7257,-1.21,-136.3,489.9,-5.4,337,7261,0.00,2.62,0.00,0.000,6,0.000,0.051,2863,2226,3488,0,0,0,0,0,0
$GC,7526,-1.21,-136.3,503.1,-4.8,344,7531,0.00,2.97,0.00,0.000,4,0.000,0.111,2863,625,3487,0,0,0,0,0,0
$GC,7576,-1.21,-136.3,505.7,-5.3,345,7580,0.00,2.67,0.00,0.000,6,0.000,0.045,2863,2227,3486,0,0,0,0,0,0
$GC,7848,-1.21,-136.3,516.6,-4.0,352,7852,0.00,2.72,0.00,0.000,4,0.000,0.075,2864,3801,3485,0,0,0,0,0,0
$GC,7944,-1.21,-136.3,521.2,-5.0,354,7948,0.00,2.65,0.00,0.000,6,0.000,0.054,2863,2227,3484,0,0,0,0,0,0
$GC,8216,-1.21,-136.3,534.1,-4.9,361,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2227,3483,0,0,0,0,0,0
$GC,8460,-1.24,-136.3,548.0,-5.8,367,8465,0.00,3.05,0.00,0.000,4,0.000,0.119,2864,624,3482,0,0,0,0,0,0
$GC,8562,-1.24,-136.3,555.1,-7.1,369,8566,0.00,2.67,0.00,0.000,6,0.000,0.050,2863,2222,3482,0,0,0,0,0,0
$GC,8829,-1.28,-136.3,570.9,-5.6,376,8833,0.00,2.83,0.00,0.000,4,0.000,0.093,2864,3792,3481,0,0,0,0,0,0
$GC,8910,-1.28,-136.3,575.7,-5.9,377,8915,0.00,2.70,0.00,0.000,6,0.000,0.058,2863,2217,3481,0,0,0,0,0,0
$GC,9160,-1.32,-136.3,588.6,-5.0,384,9164,0.00,2.75,0.00,0.000,4,0.000,0.078,2864,3794,3479,0,0,0,0,0,0
$GC,9175,-1.32,-136.3,589.4,-4.7,384,9180,0.00,2.72,0.00,0.000,6,0.000,0.062,2864,2217,3479,0,0,0,0,0,0
$GC,9439,-1.36,-136.3,602.1,-4.8,391,9444,0.12,3.03,0.00,0.000,4,0.080,0.118,2825,622,3479,0,0,0,0,0,0
$GC,9558,-1.29,-136.3,609.8,-6.7,393,9564,0.10,2.70,0.00,0.000,6,0.130,0.062,2845,2205,3477,0,0,0,0,0,0
$GC,9810,-1.29,-136.3,624.1,-5.6,399,9815,0.00,2.90,0.00,0.000,4,0.000,0.106,2845,3796,3477,0,0,0,0,0,0
$GC,9837,-1.29,-136.3,626.0,-6.0,399,9842,0.00,2.80,0.00,0.000,6,0.000,0.074,2845,2208,3476,0,0,0,0,0,0
$GC,10087,-1.29,-136.3,640.3,-5.7,405,10092,0.00,2.88,0.00,0.000,4,0.000,0.091,2846,3796,3475,0,0,0,0,0,0
$GC,10144,-1.29,-136.3,644.1,-6.9,406,10149,0.00,2.83,0.00,0.000,6,0.000,0.088,2845,2227,3475,0,0,0,0,0,0
$GC,10410,-1.29,-136.3,659.2,-5.5,413,10415,0.00,2.88,0.00,0.000,4,0.000,0.103,2845,3801,3475,0,0,0,0,0,0
$GC,10450,-1.29,-136.3,661.4,-6.6,414,10454,0.00,2.85,0.00,0.000,6,0.000,0.091,2845,2240,3475,0,0,0,0,0,0
$GC,10735,-1.29,-136.3,675.5,-4.8,421,10740,0.00,3.22,0.00,0.000,4,0.000,0.143,2845,622,3474,0,0,0,0,0,0
$GC,10779,-1.29,-136.3,677.7,-5.3,422,10783,0.00,2.90,0.00,0.000,6,0.000,0.087,2845,2238,3474,0,0,0,0,0,0
$GC,11058,-1.29,-136.3,689.4,-4.1,429,11063,0.00,2.97,0.00,0.000,4,0.000,0.123,2845,3795,3473,0,0,0,0,0,0
$GC,11124,-1.29,-136.3,692.6,-5.0,430,11129,0.00,2.90,0.00,0.000,6,0.000,0.104,2845,2246,3473,0,0,0,0,0,0
$STATE,11336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11336,begin apogee
$GC,11342,-0.31,0.0,701.5,4.1,436,11458,0.98,0.00,108.93,1.118,6,0.097,0.000,3063,2200,2950,0,0,0,0,0,0
$STATE,11459,end apogee,CONTROL_FINISHED_OK
$STATE,11459,begin climb
$GC,11463,1.31,136.3,701.1,0.0,439,11593,1.50,3.00,119.28,1.085,4,0.065,0.107,3409,3790,2392,0,0,0,0,0,0
$GC,11630,1.21,136.3,683.8,13.4,443,11635,0.00,3.05,0.00,0.000,6,0.000,0.104,3409,2201,2388,0,0,0,0,0,0
$GC,11913,1.11,136.3,646.4,12.9,450,11919,0.17,2.95,0.00,0.000,4,0.126,0.094,3374,3789,2383,0,0,0,0,0,0
$GC,11935,1.04,136.3,643.6,11.4,450,11940,0.00,2.90,0.00,0.000,6,0.000,0.083,3374,2199,2382,0,0,0,0,0,0
$GC,12192,1.04,136.3,616.9,10.4,457,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2199,2381,0,0,0,0,0,0
$GC,12434,1.04,136.3,591.4,10.4,463,12438,0.00,3.00,0.00,0.000,4,0.000,0.116,3374,609,2380,0,0,0,0,0,0
$GC,12461,0.99,136.3,588.1,11.7,463,12466,0.15,2.75,0.00,0.000,6,0.128,0.054,3346,2215,2378,0,0,0,0,0,0
$GC,12713,1.02,136.3,562.6,10.4,469,12717,0.00,2.80,0.00,0.000,4,0.000,0.083,3345,3786,2378,0,0,0,0,0,0
$GC,12728,1.02,136.3,560.5,10.8,469,12733,0.00,2.70,0.00,0.000,6,0.000,0.057,3346,2210,2377,0,0,0,0,0,0
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$STATE,17981,end climb,SURFACE_DEPTH_REACHED
$STATE,17981,begin surface coast
$FINISH,-0.7,1.023500
$STATE,18024,end surface coast,CONTROL_FINISHED_OK
$STATE,18024,begin surface
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$XPDR_PINGS,85
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$10V_AH,10.3,7.996
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,356236
$DATA_FILE_SIZE,57204,731
$CAP_FILE_SIZE,194052,0
$CFSIZE,260165632,143474688
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$GPS,010612,015606,2249.054,-15809.249,34,1.8,34,10.1