version: 66.06
glider: 146
mission: 7
dive: 63
start: 6 1 112 23 33 51
data:
$ID,146
$MISSION,7
$DIVE,63
$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,-289039.53
$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,3144
$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,31
$R_STBD_OVSHOOT,42
$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
$GPS1,230936,2254.541,-15809.045,94,1.3,94,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-66.6
$GPS2,233256,2254.759,-15809.140,15,1.4,15,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.093,0.234
$KALMAN_X,-94359.1,-327.2,-203.1,85642.7,15.1
$KALMAN_Y,-25248.7,-189.1,61.8,51623.1,-274.9
$MHEAD_RNG_PITCHd_Wd,11.7,19487,-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,-88.38,0.000,6,0.000,0.000,465,2173,3505,0,0,0,0,0,0
$GC,118,-1.31,-136.3,2.3,-6.6,12,136,13.18,2.58,0.00,0.000,4,0.173,0.038,2851,622,3506,0,0,0,0,0,0
$GC,149,0.04,-136.3,11.6,-27.3,15,159,1.33,2.50,0.00,0.000,6,0.084,0.018,3148,2218,3506,0,0,0,0,0,0
$GC,490,-0.59,-136.3,28.6,-6.3,64,500,0.55,2.55,0.00,0.000,4,0.053,0.038,3008,3773,3506,0,0,0,0,0,0
$GC,565,-0.78,-136.3,32.8,-5.6,71,570,0.15,2.40,0.00,0.000,6,0.061,0.020,2951,2230,3507,0,0,0,0,0,0
$GC,832,-0.84,-136.3,51.6,-7.1,95,837,0.00,2.60,0.00,0.000,4,0.000,0.045,2951,632,3507,0,0,0,0,0,0
$GC,930,-0.92,-136.3,59.7,-8.5,102,939,0.00,2.50,0.00,0.000,6,0.000,0.017,2951,2235,3507,0,0,0,0,0,0
$GC,1197,-1.01,-136.3,78.0,-7.0,127,1202,0.12,2.62,0.00,0.000,4,0.068,0.047,2902,641,3507,0,0,0,0,0,0
$GC,1240,-1.01,-136.3,82.2,-9.9,130,1245,0.10,2.45,0.00,0.000,6,0.123,0.017,2922,2227,3507,0,0,0,0,0,0
$GC,1502,-1.05,-136.3,103.2,-7.3,154,1506,0.00,2.60,0.00,0.000,4,0.000,0.044,2923,634,3507,0,0,0,0,0,0
$GC,1548,-1.09,-136.3,106.4,-8.1,157,1553,0.00,2.40,0.00,0.000,6,0.000,0.018,2923,2199,3507,0,0,0,0,0,0
$GC,1815,-1.15,-136.3,126.1,-7.1,181,1820,0.12,2.60,0.00,0.000,4,0.070,0.044,2878,633,3507,0,0,0,0,0,0
$GC,1858,-1.09,-136.3,129.8,-9.1,184,1863,0.12,2.40,0.00,0.000,6,0.108,0.019,2904,2192,3507,0,0,0,0,0,0
$GC,2119,-1.09,-136.3,148.1,-6.9,208,2123,0.00,2.55,0.00,0.000,4,0.000,0.045,2904,642,3507,0,0,0,0,0,0
$GC,2144,-1.09,-136.3,149.9,-7.4,209,2150,0.00,2.35,0.00,0.000,6,0.000,0.023,2905,2179,3507,0,0,0,0,0,0
$GC,2407,-1.09,-136.3,168.2,-6.7,234,2411,0.00,2.53,0.00,0.000,4,0.000,0.051,2904,637,3507,0,0,0,0,0,0
$GC,2439,-1.09,-136.3,170.6,-7.4,236,2444,0.00,2.35,0.00,0.000,6,0.000,0.021,2905,2175,3507,0,0,0,0,0,0
$GC,2703,-1.14,-136.3,188.5,-6.6,260,2707,0.00,2.55,0.00,0.000,4,0.000,0.038,2904,3769,3507,0,0,0,0,0,0
$GC,2780,-1.20,-136.3,193.9,-6.7,266,2784,0.00,2.47,0.00,0.000,6,0.000,0.028,2904,2175,3507,0,0,0,0,0,0
$GC,3036,-1.24,-136.3,211.8,-6.7,278,3041,0.12,2.58,0.00,0.000,4,0.068,0.035,2855,3772,3507,0,0,0,0,0,0
$GC,3063,-1.20,-136.3,214.1,-7.7,278,3068,0.12,2.45,0.00,0.000,6,0.107,0.028,2883,2195,3507,0,0,0,0,0,0
$GC,3315,-1.20,-136.3,230.0,-6.1,284,3320,0.00,2.58,0.00,0.000,4,0.000,0.056,2882,641,3506,0,0,0,0,0,0
$GC,3354,-1.20,-136.3,232.6,-6.2,285,3359,0.00,2.40,0.00,0.000,6,0.000,0.027,2883,2182,3506,0,0,0,0,0,0
$GC,3640,-1.20,-136.3,249.3,-5.9,292,3644,0.00,2.60,0.00,0.000,4,0.000,0.060,2883,633,3505,0,0,0,0,0,0
$GC,3689,-1.20,-136.3,252.7,-6.6,293,3694,0.00,2.40,0.00,0.000,6,0.000,0.021,2883,2179,3505,0,0,0,0,0,0
$GC,3962,-1.20,-136.3,268.1,-5.4,300,3966,0.00,2.58,0.00,0.000,4,0.000,0.047,2883,3780,3504,0,0,0,0,0,0
$GC,4030,-1.20,-136.3,271.9,-5.9,301,4034,0.00,2.50,0.00,0.000,6,0.000,0.030,2883,2199,3504,0,0,0,0,0,0
$GC,4285,-1.20,-136.3,285.9,-5.6,308,4289,0.00,2.62,0.00,0.000,4,0.000,0.064,2883,628,3503,0,0,0,0,0,0
$GC,4324,-1.20,-136.3,288.4,-6.6,309,4329,0.00,2.47,0.00,0.000,6,0.000,0.028,2882,2199,3502,0,0,0,0,0,0
$GC,4609,-1.20,-136.3,307.4,-6.8,316,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2200,3502,0,0,0,0,0,0
$GC,4851,-1.24,-136.3,325.0,-7.2,322,4856,0.00,2.60,0.00,0.000,4,0.000,0.044,2883,3789,3501,0,0,0,0,0,0
$GC,4930,-1.24,-136.3,330.6,-6.7,323,4936,0.00,2.50,0.00,0.000,6,0.000,0.028,2882,2221,3500,0,0,0,0,0,0
$GC,5183,-1.28,-136.3,345.8,-5.8,330,5187,0.00,2.55,0.00,0.000,4,0.000,0.044,2883,3787,3499,0,0,0,0,0,0
$GC,5215,-1.28,-136.3,348.1,-6.3,330,5221,0.00,2.47,0.00,0.000,6,0.000,0.031,2883,2240,3499,0,0,0,0,0,0
$GC,5466,-1.33,-136.3,361.6,-5.3,337,5471,0.12,2.80,0.00,0.000,4,0.075,0.072,2842,629,3497,0,0,0,0,0,0
$GC,5553,-1.26,-136.3,367.4,-7.1,339,5558,0.12,2.53,0.00,0.000,6,0.117,0.029,2868,2213,3497,0,0,0,0,0,0
$GC,5837,-1.26,-136.3,384.4,-5.9,346,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2213,3495,0,0,0,0,0,0
$GC,6082,-1.26,-136.3,400.2,-6.6,352,6086,0.00,2.72,0.00,0.000,4,0.000,0.071,2868,630,3494,0,0,0,0,0,0
$GC,6193,-1.26,-136.3,408.6,-7.3,354,6198,0.00,2.58,0.00,0.000,6,0.000,0.040,2868,2214,3494,0,0,0,0,0,0
$GC,6451,-1.26,-136.3,424.8,-6.1,361,6455,0.00,2.67,0.00,0.000,4,0.000,0.057,2868,3800,3492,0,0,0,0,0,0
$GC,6524,-1.26,-136.3,429.5,-6.9,362,6529,0.00,2.58,0.00,0.000,6,0.000,0.042,2868,2238,3492,0,0,0,0,0,0
$GC,6774,-1.26,-136.3,442.7,-5.0,368,6779,0.00,2.62,0.00,0.000,4,0.000,0.051,2868,3801,3491,0,0,0,0,0,0
$GC,6793,-1.26,-136.3,443.6,-4.8,368,6797,0.00,2.62,0.00,0.000,6,0.000,0.044,2868,2221,3491,0,0,0,0,0,0
$GC,7053,-1.26,-136.3,457.3,-5.4,375,7054,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2221,3489,0,0,0,0,0,0
$GC,7297,-1.26,-136.3,470.8,-5.7,381,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2221,3488,0,0,0,0,0,0
$GC,7541,-1.30,-136.3,484.5,-5.5,387,7545,0.00,2.67,0.00,0.000,4,0.000,0.059,2868,3790,3487,0,0,0,0,0,0
$GC,7598,-1.30,-136.3,487.7,-5.8,388,7602,0.00,2.60,0.00,0.000,6,0.000,0.051,2868,2232,3487,0,0,0,0,0,0
$GC,7865,-1.34,-136.3,500.7,-4.7,395,7869,0.00,2.95,0.00,0.000,4,0.000,0.106,2868,624,3486,0,0,0,0,0,0
$GC,7886,-1.34,-136.3,501.7,-4.4,395,7891,0.00,2.67,0.00,0.000,6,0.000,0.043,2868,2236,3485,0,0,0,0,0,0
$GC,8143,-1.38,-136.3,513.9,-4.8,402,8149,0.12,2.92,0.00,0.000,4,0.074,0.091,2827,621,3484,0,0,0,0,0,0
$GC,8190,-1.31,-136.3,517.0,-7.5,403,8195,0.15,2.67,0.00,0.000,6,0.113,0.050,2857,2225,3483,0,0,0,0,0,0
$GC,8470,-1.31,-136.3,533.5,-6.0,410,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2225,3482,0,0,0,0,0,0
$GC,8712,-1.31,-136.3,549.3,-6.5,416,8716,0.00,2.90,0.00,0.000,4,0.000,0.100,2857,622,3481,0,0,0,0,0,0
$GC,8751,-1.31,-136.3,551.9,-7.6,417,8756,0.00,2.65,0.00,0.000,6,0.000,0.051,2857,2214,3481,0,0,0,0,0,0
$GC,9036,-1.31,-136.3,569.5,-6.1,424,9040,0.00,2.83,0.00,0.000,4,0.000,0.089,2857,3794,3480,0,0,0,0,0,0
$GC,9075,-1.31,-136.3,572.1,-6.5,425,9079,0.00,2.67,0.00,0.000,6,0.000,0.058,2857,2218,3480,0,0,0,0,0,0
$GC,9358,-1.31,-136.3,590.3,-6.5,432,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2219,3479,0,0,0,0,0,0
$GC,9604,-1.31,-136.3,604.9,-5.9,438,9608,0.00,2.80,0.00,0.000,4,0.000,0.084,2857,3801,3478,0,0,0,0,0,0
$GC,9630,-1.31,-136.3,606.8,-6.4,438,9635,0.00,2.75,0.00,0.000,6,0.000,0.072,2857,2224,3478,0,0,0,0,0,0
$GC,9885,-1.35,-136.3,621.3,-5.8,444,9889,0.00,2.80,0.00,0.000,4,0.000,0.082,2857,3794,3477,0,0,0,0,0,0
$GC,9921,-1.35,-136.3,623.6,-5.6,444,9926,0.00,2.75,0.00,0.000,6,0.000,0.079,2857,2239,3477,0,0,0,0,0,0
$GC,10171,-1.39,-136.3,637.4,-5.3,451,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2239,3476,0,0,0,0,0,0
$GC,10415,-1.43,-136.3,649.3,-4.8,457,10420,0.10,3.17,0.00,0.000,4,0.091,0.134,2825,620,3474,0,0,0,0,0,0
$GC,10451,-1.37,-136.3,651.3,-6.0,457,10457,0.10,2.83,0.00,0.000,6,0.128,0.075,2844,2222,3474,0,0,0,0,0,0
$GC,10701,-1.37,-136.3,663.0,-4.4,464,10705,0.00,3.08,0.00,0.000,4,0.000,0.121,2844,622,3473,0,0,0,0,0,0
$GC,10774,-1.37,-136.3,666.7,-5.3,465,10779,0.00,2.80,0.00,0.000,6,0.000,0.077,2844,2205,3473,0,0,0,0,0,0
$GC,11025,-1.37,-136.3,678.6,-4.7,471,11029,0.00,3.00,0.00,0.000,4,0.000,0.123,2844,3799,3473,0,0,0,0,0,0
$GC,11068,-1.37,-136.3,681.1,-5.8,472,11073,0.00,2.92,0.00,0.000,6,0.000,0.102,2844,2209,3472,0,0,0,0,0,0
$GC,11348,-1.37,-136.3,696.4,-5.8,479,11353,0.00,3.03,0.00,0.000,4,0.000,0.118,2844,3800,3472,0,0,0,0,0,0
$GC,11369,-1.37,-136.3,697.9,-6.2,479,11374,0.00,2.97,0.00,0.000,6,0.000,0.107,2845,2221,3472,0,0,0,0,0,0
$STATE,11419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11419,begin apogee
$GC,11425,-0.31,0.0,701.0,6.1,481,11541,1.02,0.00,109.07,1.111,6,0.084,0.000,3075,2200,2950,0,0,0,0,0,0
$STATE,11542,end apogee,CONTROL_FINISHED_OK
$STATE,11542,begin climb
$GC,11546,1.31,136.3,702.2,0.0,484,11670,1.50,0.00,119.25,1.080,6,0.054,0.000,3423,2200,2394,0,0,0,0,0,0
$GC,11912,1.19,136.3,660.4,13.1,493,11916,0.00,2.95,0.00,0.000,4,0.000,0.099,3424,3787,2384,0,0,0,0,0,0
$GC,11929,1.06,136.3,657.9,13.5,493,11935,0.25,2.92,0.00,0.000,6,0.135,0.094,3377,2204,2384,0,0,0,0,0,0
$GC,12190,1.06,136.3,626.8,11.8,500,12195,0.00,3.08,0.00,0.000,4,0.000,0.117,3376,606,2382,0,0,0,0,0,0
$GC,12223,1.01,136.3,622.5,12.2,500,12229,0.00,2.78,0.00,0.000,6,0.000,0.062,3376,2202,2381,0,0,0,0,0,0
$GC,12475,1.01,136.3,593.1,11.7,507,12479,0.00,2.85,0.00,0.000,4,0.000,0.088,3377,3784,2381,0,0,0,0,0,0
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$STATE,17855,end climb,SURFACE_DEPTH_REACHED
$STATE,17855,begin surface coast
$FINISH,-0.6,1.023823
$STATE,17908,end surface coast,CONTROL_FINISHED_OK
$STATE,17908,begin surface
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$10V_AH,10.3,8.776
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,356220
$DATA_FILE_SIZE,60562,766
$CAP_FILE_SIZE,196378,0
$CFSIZE,260165632,143081472
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$GPS,020612,043631,2256.694,-15808.698,38,1.0,38,10.1