version: 66.06
glider: 148
mission: 11
dive: 123
start: 6 27 112 2 2 14
data:
$ID,148
$MISSION,11
$DIVE,123
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,300
$T_MISSION,620
$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,52645
$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,-920700.88
$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,3200
$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,1640
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2860
$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,-11.834597
$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,0.0043980083
$SEABIRD_T_H,0.00063964876
$SEABIRD_T_I,2.5234789e-05
$SEABIRD_T_J,2.6622849e-06
$SEABIRD_C_G,-10.107907
$SEABIRD_C_H,1.1475029
$SEABIRD_C_I,-0.0021076966
$SEABIRD_C_J,0.00024514741
$GPS1,015103,2248.272,-15755.227,16,8.2,36,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-72.1
$GPS2,020120,2248.269,-15755.156,11,1.2,11,10.1
$SPEED_LIMITS,0.115,0.224
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.216,-0.061
$KALMAN_X,21800.8,-1199.9,340.9,-13085.8,6990.2
$KALMAN_Y,-611.2,-129.9,770.8,462.2,-1711.3
$MHEAD_RNG_PITCHd_Wd,244.0,10252,-11.4,-6.667
$D_GRID,600
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.89,-146.0,0.0,0.0,0,94,0.00,0.00,-74.45,0.000,2,0.000,0.000,415,1594,3311,0,0,0,0,0,0
$GC,98,-0.89,-146.0,3.9,-4.4,10,123,13.57,2.62,-2.42,0.000,4,0.158,0.039,2999,3214,3457,0,0,0,0,0,0
$GC,227,-0.27,-146.0,44.6,-21.9,25,237,0.60,2.58,0.00,0.000,6,0.087,0.030,3135,1628,3458,0,0,0,0,0,0
$GC,495,0.02,-146.0,80.0,-11.5,50,500,0.28,2.35,0.00,0.000,4,0.102,0.041,3196,171,3459,0,0,0,0,0,0
$GC,526,0.09,-146.0,84.1,-8.7,52,535,0.08,2.30,0.00,0.000,6,0.098,0.020,3217,1659,3459,0,0,0,0,0,0
$GC,794,0.09,-146.0,99.7,-5.7,77,798,0.00,2.42,0.00,0.000,4,0.000,0.024,3217,3212,3460,0,0,0,0,0,0
$GC,812,0.09,-146.0,101.3,-6.0,78,820,0.00,2.55,0.00,0.000,6,0.000,0.035,3217,1632,3460,0,0,0,0,0,0
$GC,1080,0.09,-146.0,115.9,-5.9,103,1084,0.00,2.35,0.00,0.000,4,0.000,0.044,3217,170,3460,0,0,0,0,0,0
$GC,1119,-0.01,-146.0,118.7,-6.4,106,1128,0.00,2.25,0.00,0.000,6,0.000,0.018,3217,1647,3460,0,0,0,0,0,0
$GC,1386,-0.01,-146.0,134.4,-6.3,131,1390,0.00,2.38,0.00,0.000,4,0.000,0.024,3217,3192,3460,0,0,0,0,0,0
$GC,1422,-0.16,-146.0,136.9,-6.4,134,1427,0.22,2.47,0.00,0.000,6,0.046,0.026,3138,1626,3460,0,0,0,0,0,0
$GC,1683,0.05,-146.0,162.6,-9.9,158,1686,0.32,0.00,0.00,0.000,6,0.087,0.000,3210,1625,3460,0,0,0,0,0,0
$GC,1940,0.05,-146.0,177.1,-5.4,182,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1625,3460,0,0,0,0,0,0
$GC,2195,-0.01,-146.0,189.1,-4.1,206,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1625,3460,0,0,0,0,0,0
$GC,2450,-0.09,-146.0,199.4,-3.9,230,2455,0.12,2.47,0.00,0.000,4,0.062,0.025,3129,3191,3460,0,0,0,0,0,0
$GC,2475,-0.00,-146.0,201.0,-6.4,231,2480,0.30,2.47,0.00,0.000,6,0.077,0.027,3198,1637,3460,0,0,0,0,0,0
$GC,2735,-0.00,-146.0,213.2,-4.7,238,2739,0.00,2.35,0.00,0.000,4,0.000,0.046,3198,177,3460,0,0,0,0,0,0
$GC,2768,-0.09,-146.0,215.1,-5.4,238,2772,0.00,2.22,0.00,0.000,6,0.000,0.019,3198,1650,3460,0,0,0,0,0,0
$GC,3023,-0.09,-146.0,227.8,-5.0,245,3027,0.00,2.42,0.00,0.000,4,0.000,0.045,3198,169,3460,0,0,0,0,0,0
$GC,3042,-0.09,-146.0,229.0,-5.7,245,3046,0.00,2.20,0.00,0.000,6,0.000,0.020,3198,1627,3460,0,0,0,0,0,0
$GC,3311,-0.15,-146.0,243.7,-5.6,252,3316,0.12,2.47,0.00,0.000,4,0.063,0.025,3123,3199,3460,0,0,0,0,0,0
$GC,3344,-0.06,-146.0,246.5,-7.7,252,3350,0.28,2.50,0.00,0.000,6,0.077,0.028,3187,1637,3460,0,0,0,0,0,0
$GC,3595,-0.06,-146.0,260.6,-5.4,258,3599,0.00,2.38,0.00,0.000,4,0.000,0.048,3187,173,3460,0,0,0,0,0,0
$GC,3643,-0.15,-146.0,263.3,-5.0,259,3647,0.00,2.20,0.00,0.000,6,0.000,0.020,3187,1625,3460,0,0,0,0,0,0
$GC,3935,-0.15,-146.0,276.0,-4.2,266,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1628,3459,0,0,0,0,0,0
$GC,4178,-0.15,-146.0,287.3,-4.8,272,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1627,3458,0,0,0,0,0,0
$GC,4422,-0.15,-146.0,299.6,-5.1,278,4426,0.00,2.47,0.00,0.000,4,0.000,0.028,3187,3204,3457,0,0,0,0,0,0
$GC,4451,-0.29,-146.0,301.2,-5.7,278,4456,0.20,2.53,0.00,0.000,6,0.042,0.031,3098,1625,3457,0,0,0,0,0,0
$GC,4707,-0.07,-146.0,322.9,-8.7,285,4712,0.35,2.40,0.00,0.000,4,0.081,0.050,3181,174,3456,0,0,0,0,0,0
$GC,4746,-0.18,-146.0,325.6,-5.8,285,4752,0.10,2.22,0.00,0.000,6,0.074,0.023,3119,1608,3456,0,0,0,0,0,0
$GC,4997,-0.05,-146.0,344.1,-7.4,292,4999,0.30,0.00,0.00,0.000,6,0.079,0.000,3189,1612,3455,0,0,0,0,0,0
$GC,5240,-0.11,-146.0,354.8,-4.2,298,5244,0.00,2.58,0.00,0.000,4,0.000,0.032,3189,3215,3454,0,0,0,0,0,0
$GC,5264,-0.24,-146.0,355.9,-4.7,298,5269,0.17,2.60,0.00,0.000,6,0.044,0.033,3105,1617,3454,0,0,0,0,0,0
$GC,5525,-0.06,-146.0,375.5,-8.0,305,5530,0.32,2.40,0.00,0.000,4,0.081,0.055,3184,170,3452,0,0,0,0,0,0
$GC,5564,-0.19,-146.0,377.9,-4.7,305,5570,0.12,2.25,0.00,0.000,6,0.064,0.025,3118,1608,3452,0,0,0,0,0,0
$GC,5815,-0.05,-146.0,395.2,-7.1,312,5820,0.28,2.58,0.00,0.000,4,0.081,0.034,3186,3209,3451,0,0,0,0,0,0
$GC,5859,-0.22,-146.0,397.5,-4.8,313,5865,0.15,2.60,0.00,0.000,6,0.052,0.035,3119,1610,3450,0,0,0,0,0,0
$GC,6147,-0.10,-146.0,417.7,-7.2,320,6153,0.25,2.42,0.00,0.000,4,0.084,0.061,3181,166,3449,0,0,0,0,0,0
$GC,6215,-0.21,-146.0,421.5,-5.5,321,6219,0.12,2.28,0.00,0.000,6,0.061,0.025,3106,1616,3448,0,0,0,0,0,0
$GC,6479,-0.04,-146.0,441.0,-7.6,328,6486,0.35,2.58,0.00,0.000,4,0.078,0.038,3189,3209,3447,0,0,0,0,0,0
$GC,6526,-0.22,-146.0,443.3,-4.7,329,6531,0.17,2.62,0.00,0.000,6,0.049,0.036,3125,1606,3447,0,0,0,0,0,0
$GC,6814,-0.13,-146.0,462.5,-7.0,336,6819,0.20,2.45,0.00,0.000,4,0.089,0.067,3171,173,3445,0,0,0,0,0,0
$GC,6854,-0.20,-146.0,464.9,-6.0,336,6860,0.00,2.28,0.00,0.000,6,0.000,0.028,3171,1610,3445,0,0,0,0,0,0
$GC,7105,-0.26,-146.0,478.3,-5.3,343,7110,0.12,2.62,0.00,0.000,4,0.062,0.042,3096,3212,3443,0,0,0,0,0,0
$GC,7126,-0.20,-146.0,479.8,-6.8,343,7133,0.25,2.65,0.00,0.000,6,0.079,0.039,3156,1611,3443,0,0,0,0,0,0
$GC,7395,-0.20,-146.0,495.2,-5.6,350,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1611,3442,0,0,0,0,0,0
$GC,7637,-0.20,-146.0,507.6,-5.1,356,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1611,3441,0,0,0,0,0,0
$GC,7882,-0.20,-146.0,519.5,-4.9,362,7887,0.00,2.67,0.00,0.000,4,0.000,0.047,3156,3208,3440,0,0,0,0,0,0
$GC,7903,-0.20,-146.0,520.7,-5.8,362,7907,0.00,2.67,0.00,0.000,6,0.000,0.043,3156,1613,3440,0,0,0,0,0,0
$GC,8167,-0.20,-146.0,535.0,-5.4,369,8171,0.00,2.50,0.00,0.000,4,0.000,0.078,3156,168,3438,0,0,0,0,0,0
$GC,8200,-0.20,-146.0,537.0,-6.3,369,8204,0.00,2.33,0.00,0.000,6,0.000,0.033,3155,1605,3438,0,0,0,0,0,0
$GC,8452,-0.20,-146.0,550.3,-5.3,375,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1605,3437,0,0,0,0,0,0
$GC,8694,-0.20,-146.0,562.0,-4.7,381,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1606,3436,0,0,0,0,0,0
$GC,8938,-0.20,-146.0,573.1,-4.4,387,8942,0.00,2.70,0.00,0.000,4,0.000,0.049,3156,3224,3434,0,0,0,0,0,0
$GC,8963,-0.28,-146.0,574.2,-5.2,387,8968,0.00,2.72,0.00,0.000,6,0.000,0.047,3156,1605,3435,0,0,0,0,0,0
$GC,9223,-0.28,-146.0,586.8,-5.0,394,9227,0.00,2.53,0.00,0.000,4,0.000,0.081,3156,168,3433,0,0,0,0,0,0
$GC,9270,-0.34,-146.0,589.7,-6.8,395,9275,0.12,2.33,0.00,0.000,6,0.063,0.035,3097,1603,3433,0,0,0,0,0,0
$STATE,9428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9428,begin apogee
$GC,9436,-0.31,0.0,602.0,7.8,399,9553,0.15,0.00,114.82,0.966,6,0.100,0.000,3131,1694,2860,0,0,0,0,0,0
$STATE,9554,end apogee,CONTROL_FINISHED_OK
$STATE,9554,begin climb
$GC,9557,0.89,146.0,609.0,0.0,402,9690,1.17,2.83,124.80,0.941,4,0.071,0.076,3394,170,2262,0,0,0,0,0,0
$GC,9722,1.13,210.9,605.9,4.6,406,9789,0.22,2.50,56.83,0.917,6,0.044,0.035,3477,1669,2000,0,0,0,0,0,0
$GC,10048,1.13,210.9,583.6,7.3,414,10053,0.15,2.67,0.00,0.000,4,0.094,0.073,3443,170,1991,0,0,0,0,0,0
$GC,10129,1.13,210.9,577.8,7.2,415,10134,0.00,2.47,0.00,0.000,6,0.000,0.035,3443,1661,1991,0,0,0,0,0,0
$GC,10379,1.15,229.7,562.6,6.1,421,10403,0.00,2.67,16.95,0.862,4,0.000,0.072,3443,170,1921,0,0,0,0,0,0
$GC,10433,1.15,229.7,558.8,7.9,422,10437,0.00,2.47,0.00,0.000,6,0.000,0.035,3443,1660,1921,0,0,0,0,0,0
$GC,10711,1.21,229.7,539.5,7.1,429,10715,0.00,2.62,0.00,0.000,4,0.000,0.072,3443,164,1919,0,0,0,0,0,0
$GC,10781,1.21,229.7,533.7,9.1,430,10785,0.00,2.45,0.00,0.000,6,0.000,0.033,3443,1653,1918,0,0,0,0,0,0
$GC,11042,1.28,229.7,515.7,6.9,437,11047,0.15,2.62,0.00,0.000,4,0.054,0.071,3516,170,1917,0,0,0,0,0,0
$GC,11108,1.10,229.7,508.8,11.7,438,11113,0.35,2.40,0.00,0.000,6,0.082,0.039,3438,1632,1917,0,0,0,0,0,0
$GC,11375,1.24,270.7,493.5,5.4,445,11420,0.12,2.62,36.62,0.881,4,0.062,0.067,3500,165,1755,0,0,0,0,0,0
$GC,11457,1.13,270.7,486.4,10.7,446,11462,0.25,2.40,0.00,0.000,6,0.082,0.031,3444,1626,1754,0,0,0,0,0,0
$GC,11709,1.25,291.2,471.0,6.0,452,11734,0.12,2.58,19.42,0.834,4,0.062,0.065,3506,168,1672,0,0,0,0,0,0
$GC,11774,1.14,291.2,464.8,10.2,453,11779,0.28,2.38,0.00,0.000,6,0.080,0.030,3445,1617,1671,0,0,0,0,0,0
$GC,12045,1.24,300.3,446.9,6.4,460,12062,0.10,2.55,9.30,0.748,4,0.074,0.063,3493,161,1635,0,0,0,0,0,0
$GC,12077,1.16,300.3,444.0,8.4,460,12082,0.17,2.38,0.00,0.000,6,0.096,0.029,3453,1616,1635,0,0,0,0,0,0
$GC,12334,1.24,304.6,426.9,6.5,467,12346,0.00,2.50,5.28,0.614,4,0.000,0.061,3454,167,1617,0,0,0,0,0,0
$GC,12370,1.24,304.6,424.2,7.4,467,12374,0.00,2.35,0.00,0.000,6,0.000,0.028,3453,1616,1617,0,0,0,0,0,0
$GC,12620,1.36,330.3,409.2,5.9,473,12652,0.17,2.55,24.25,0.807,4,0.051,0.060,3503,167,1512,0,0,0,0,0,0
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$STATE,17446,end climb,SURFACE_DEPTH_REACHED
$STATE,17446,begin surface coast
$FINISH,1.0,1.023721
$STATE,17519,end surface coast,CONTROL_FINISHED_OK
$STATE,17519,begin surface
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$XPDR_PINGS,24
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$10V_AH,9.8,11.861
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,35.550,229.175,408.275,30.825,0.000,47.984,93.495,290.582,6.000,0.000,13.412,1677.322,12292.436,581.570,2781.170,865.679,33.349,1727.208,0.000,2780.967,0.000,0.539,0.000
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$MEM,356184
$DATA_FILE_SIZE,60603,779
$CAP_FILE_SIZE,191991,0
$CFSIZE,260165632,171479040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270612,065715,2247.194,-15755.680,67,99.0,86,10.1