version: 66.06
glider: 148
mission: 9
dive: 575
start: 1 24 111 12 6 43
data:
$ID,148
$MISSION,9
$DIVE,575
$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,300
$T_MISSION,650
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$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,180
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-870693.88
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-11.449877
$PRESSURE_SLOPE,0.00011637
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,115506,2250.143,-15803.282,37,1.1,37,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-65.8
$GPS2,120549,2250.033,-15803.290,8,1.1,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.258,0.033
$KALMAN_X,-112822.8,93.9,79.1,123957.9,-383.3
$KALMAN_Y,-208432.1,-368.0,24.5,338675.6,-614.6
$MHEAD_RNG_PITCHd_Wd,72.6,10737,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,88,0.00,0.00,-67.60,0.000,2,0.000,0.000,409,1862,3228,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.4,-4.4,9,124,11.55,2.50,-9.77,0.000,4,0.156,0.044,2573,3373,3720,0,0,0,0,0,0
$GC,166,-1.16,-146.0,18.5,-13.5,19,175,0.12,2.58,0.00,0.000,6,0.077,0.025,2605,1790,3721,0,0,0,0,0,0
$GC,451,-1.16,-146.0,54.0,-12.4,51,455,0.00,2.58,0.00,0.000,4,0.000,0.033,2605,3373,3722,0,0,0,0,0,0
$GC,483,-1.16,-146.0,58.3,-13.3,53,487,0.00,2.53,0.00,0.000,6,0.000,0.023,2605,1790,3721,0,0,0,0,0,0
$GC,750,-1.16,-146.0,92.5,-13.1,77,754,0.00,2.58,0.00,0.000,4,0.000,0.032,2605,3372,3723,0,0,0,0,0,0
$GC,787,-1.16,-146.0,98.3,-13.3,80,791,0.00,2.50,0.00,0.000,6,0.000,0.023,2605,1803,3723,0,0,0,0,0,0
$GC,1049,-1.16,-146.0,127.0,-10.0,104,1053,0.00,2.53,0.00,0.000,4,0.000,0.031,2605,3380,3723,0,0,0,0,0,0
$GC,1068,-1.23,-146.0,128.6,-10.5,105,1072,0.00,2.50,0.00,0.000,6,0.000,0.022,2605,1805,3724,0,0,0,0,0,0
$GC,1332,-1.30,-146.0,152.1,-8.8,129,1341,0.12,0.00,0.00,0.000,6,0.064,0.000,2542,1805,3723,0,0,0,0,0,0
$GC,1600,-1.21,-146.0,183.8,-12.0,154,1606,0.25,2.55,0.00,0.000,4,0.088,0.029,2601,3379,3724,0,0,0,0,0,0
$GC,1656,-1.35,-146.0,189.8,-8.9,159,1661,0.15,2.50,0.00,0.000,6,0.052,0.024,2509,1811,3724,0,0,0,0,0,0
$GC,1940,-1.13,-146.0,232.1,-15.4,171,1947,0.50,2.60,0.00,0.000,4,0.085,0.038,2607,206,3725,0,0,0,0,0,0
$GC,1969,-1.19,-146.0,235.5,-11.2,171,1974,0.00,2.53,0.00,0.000,6,0.000,0.021,2607,1826,3725,0,0,0,0,0,0
$GC,2229,-1.32,-146.0,257.0,-8.3,178,2234,0.15,2.47,0.00,0.000,4,0.055,0.034,2541,3365,3725,0,0,0,0,0,0
$GC,2310,-1.32,-146.0,265.8,-10.6,179,2315,0.15,2.47,0.00,0.000,6,0.096,0.025,2575,1820,3725,0,0,0,0,0,0
$GC,2560,-1.32,-146.0,291.9,-10.4,185,2564,0.00,2.62,0.00,0.000,4,0.000,0.046,2575,215,3725,0,0,0,0,0,0
$GC,2574,-1.32,-146.0,293.5,-10.0,185,2578,0.00,2.55,0.00,0.000,6,0.000,0.021,2575,1831,3725,0,0,0,0,0,0
$GC,2844,-1.32,-146.0,321.0,-10.1,192,2848,0.00,2.47,0.00,0.000,4,0.000,0.037,2575,3363,3725,0,0,0,0,0,0
$GC,2867,-1.32,-146.0,323.6,-9.7,192,2872,0.00,2.47,0.00,0.000,6,0.000,0.026,2575,1824,3725,0,0,0,0,0,0
$GC,3127,-1.32,-146.0,347.9,-9.5,199,3131,0.00,2.53,0.00,0.000,4,0.000,0.038,2574,3372,3723,0,0,0,0,0,0
$GC,3156,-1.32,-146.0,350.8,-11.1,199,3161,0.00,2.47,0.00,0.000,6,0.000,0.027,2574,1836,3723,0,0,0,0,0,0
$GC,3410,-1.32,-146.0,376.4,-10.1,206,3415,0.00,2.53,0.00,0.000,4,0.000,0.041,2575,3361,3722,0,0,0,0,0,0
$GC,3429,-1.32,-146.0,378.5,-10.7,206,3433,0.00,2.47,0.00,0.000,6,0.000,0.027,2574,1830,3722,0,0,0,0,0,0
$GC,3694,-1.32,-146.0,404.4,-9.7,213,3699,0.00,2.53,0.00,0.000,4,0.000,0.043,2575,3360,3720,0,0,0,0,0,0
$GC,3713,-1.32,-146.0,406.5,-10.0,213,3717,0.00,2.42,0.00,0.000,6,0.000,0.027,2575,1847,3720,0,0,0,0,0,0
$GC,3977,-1.39,-146.0,429.6,-8.5,220,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1847,3719,0,0,0,0,0,0
$GC,4221,-1.47,-146.0,448.9,-7.7,226,4226,0.15,2.55,0.00,0.000,4,0.058,0.048,2514,3357,3717,0,0,0,0,0,0
$GC,4270,-1.47,-146.0,453.9,-10.6,227,4275,0.12,2.47,0.00,0.000,6,0.107,0.031,2541,1844,3717,0,0,0,0,0,0
$GC,4552,-1.47,-146.0,483.2,-10.4,234,4557,0.00,2.58,0.00,0.000,4,0.000,0.052,2541,3361,3715,0,0,0,0,0,0
$GC,4582,-1.47,-146.0,486.5,-11.4,234,4586,0.00,2.47,0.00,0.000,6,0.000,0.031,2541,1843,3715,0,0,0,0,0,0
$GC,4836,-1.47,-146.0,512.5,-10.1,241,4841,0.00,2.78,0.00,0.000,4,0.000,0.066,2541,218,3713,0,0,0,0,0,0
$GC,4869,-1.47,-146.0,515.9,-10.2,241,4874,0.00,2.62,0.00,0.000,6,0.000,0.037,2541,1831,3713,0,0,0,0,0,0
$GC,5121,-1.47,-146.0,539.9,-9.5,247,5125,0.00,2.60,0.00,0.000,4,0.000,0.055,2541,3372,3712,0,0,0,0,0,0
$GC,5153,-1.47,-146.0,543.5,-9.9,247,5158,0.00,2.47,0.00,0.000,6,0.000,0.035,2541,1856,3712,0,0,0,0,0,0
$GC,5403,-1.47,-146.0,567.4,-9.7,253,5408,0.00,2.55,0.00,0.000,4,0.000,0.051,2541,3373,3710,0,0,0,0,0,0
$GC,5422,-1.47,-146.0,569.2,-9.4,253,5426,0.00,2.47,0.00,0.000,6,0.000,0.032,2541,1865,3710,0,0,0,0,0,0
$GC,5688,-1.47,-146.0,590.7,-8.0,260,5692,0.00,2.53,0.00,0.000,4,0.000,0.050,2541,3372,3709,0,0,0,0,0,0
$GC,5712,-1.47,-146.0,592.9,-9.0,260,5716,0.00,2.47,0.00,0.000,6,0.000,0.035,2541,1870,3708,0,0,0,0,0,0
$GC,5972,-1.47,-146.0,615.0,-8.7,267,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1871,3707,0,0,0,0,0,0
$GC,6214,-1.47,-146.0,637.4,-9.3,273,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1871,3705,0,0,0,0,0,0
$GC,6458,-1.47,-146.0,658.8,-8.8,279,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1871,3704,0,0,0,0,0,0
$GC,6702,-1.47,-146.0,680.7,-9.0,285,6706,0.00,2.55,0.00,0.000,4,0.000,0.056,2541,3372,3703,0,0,0,0,0,0
$GC,6727,-1.47,-146.0,683.1,-10.2,285,6731,0.00,2.50,0.00,0.000,6,0.000,0.038,2541,1869,3703,0,0,0,0,0,0
$GC,6988,-1.47,-146.0,708.6,-9.9,292,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1869,3701,0,0,0,0,0,0
$GC,7231,-1.47,-146.0,732.5,-9.7,298,7236,0.00,2.58,0.00,0.000,4,0.000,0.054,2541,3377,3699,0,0,0,0,0,0
$GC,7250,-1.47,-146.0,734.5,-10.6,298,7254,0.00,2.50,0.00,0.000,6,0.000,0.038,2542,1876,3699,0,0,0,0,0,0
$GC,7515,-1.47,-146.0,758.2,-9.0,305,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1876,3698,0,0,0,0,0,0
$GC,7757,-1.47,-146.0,779.4,-8.5,311,7761,0.00,2.53,0.00,0.000,4,0.000,0.053,2541,3372,3697,0,0,0,0,0,0
$GC,7791,-1.54,-146.0,782.3,-8.6,311,7795,0.00,2.50,0.00,0.000,6,0.000,0.040,2541,1879,3697,0,0,0,0,0,0
$GC,8042,-1.54,-146.0,804.1,-8.9,317,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1879,3696,0,0,0,0,0,0
$GC,8284,-1.54,-146.0,826.1,-8.9,323,8288,0.00,2.55,0.00,0.000,4,0.000,0.054,2541,3373,3695,0,0,0,0,0,0
$GC,8317,-1.60,-146.0,829.1,-8.6,323,8322,0.12,2.50,0.00,0.000,6,0.068,0.040,2472,1880,3695,0,0,0,0,0,0
$GC,8569,-1.45,-146.0,858.6,-12.2,329,8576,0.30,2.95,0.00,0.000,4,0.095,0.075,2538,213,3693,0,0,0,0,0,0
$GC,8591,-1.45,-146.0,861.3,-11.4,329,8595,0.00,2.78,0.00,0.000,6,0.000,0.044,2539,1868,3693,0,0,0,0,0,0
$GC,8855,-1.45,-146.0,883.4,-8.3,336,8859,0.00,2.60,0.00,0.000,4,0.000,0.069,2539,3370,3692,0,0,0,0,0,0
$GC,8890,-1.53,-146.0,886.2,-8.6,336,8894,0.00,2.47,0.00,0.000,6,0.000,0.039,2538,1882,3692,0,0,0,0,0,0
$STATE,9097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9097,begin apogee
$GC,9103,-0.31,0.0,903.3,8.3,341,9230,1.12,0.00,124.20,1.185,6,0.080,0.000,2790,1685,3120,0,0,0,0,0,0
$STATE,9231,end apogee,CONTROL_FINISHED_OK
$STATE,9231,begin climb
$GC,9235,1.27,146.0,907.9,0.0,344,9380,1.45,2.80,134.05,1.163,4,0.028,0.050,3141,3267,2522,0,0,0,0,0,0
$GC,9413,0.95,146.0,905.4,10.3,348,9420,0.35,2.70,0.00,0.000,6,0.108,0.040,3070,1689,2518,0,0,0,0,0,0
$GC,9691,0.83,183.1,881.9,8.3,355,9734,0.15,2.83,34.42,1.109,4,0.114,0.084,3040,167,2372,0,0,0,0,0,0
$GC,9845,0.70,196.5,868.5,9.4,358,9866,0.12,2.53,13.18,1.018,6,0.123,0.039,3016,1666,2319,0,0,0,0,0,0
$GC,10122,0.79,271.5,849.2,6.5,365,10204,0.00,2.72,71.70,1.118,4,0.000,0.069,3016,166,2012,0,0,0,0,0,0
$GC,10224,0.81,284.6,841.2,9.4,367,10244,0.00,2.55,13.85,1.007,6,0.000,0.041,3015,1665,1960,0,0,0,0,0,0
$GC,10499,0.83,304.4,816.5,9.1,374,10525,0.10,2.92,19.60,1.042,4,0.080,0.070,3059,3270,1878,0,0,0,0,0,0
$GC,10559,0.83,304.4,809.8,12.0,375,10564,0.00,2.75,0.00,0.000,6,0.000,0.041,3059,1666,1874,0,0,0,0,0,0
$GC,10828,0.83,304.4,777.1,12.2,382,10829,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1666,1872,0,0,0,0,0,0
$GC,11071,0.83,304.4,747.4,12.1,388,11076,0.00,2.83,0.00,0.000,4,0.000,0.060,3060,3270,1870,0,0,0,0,0,0
$GC,11101,0.83,304.4,744.1,13.0,388,11106,0.00,2.72,0.00,0.000,6,0.000,0.044,3059,1670,1869,0,0,0,0,0,0
$GC,11356,0.83,304.4,714.1,11.8,395,11360,0.00,2.70,0.00,0.000,4,0.000,0.081,3059,164,1869,0,0,0,0,0,0
$GC,11402,0.83,304.4,707.9,13.5,396,11406,0.00,2.53,0.00,0.000,6,0.000,0.041,3059,1666,1868,0,0,0,0,0,0
$GC,11686,0.83,304.4,673.0,12.4,403,11690,0.00,2.83,0.00,0.000,4,0.000,0.068,3059,3273,1868,0,0,0,0,0,0
$GC,11700,0.83,304.4,670.7,12.5,403,11704,0.00,2.70,0.00,0.000,6,0.000,0.038,3059,1662,1867,0,0,0,0,0,0
$GC,11968,0.83,304.4,637.5,12.5,410,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1662,1867,0,0,0,0,0,0
$GC,12214,0.83,304.4,606.4,12.7,416,12218,0.00,2.67,0.00,0.000,4,0.000,0.078,3059,161,1867,0,0,0,0,0,0
$GC,12264,0.83,304.4,599.2,13.1,417,12269,0.00,2.53,0.00,0.000,6,0.000,0.039,3059,1671,1866,0,0,0,0,0,0
$GC,12542,0.83,304.4,566.1,11.6,424,12546,0.00,2.75,0.00,0.000,4,0.000,0.066,3060,3263,1866,0,0,0,0,0,0
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$STATE,17364,begin surface coast
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