version: 66.06
glider: 148
mission: 12
dive: 64
start: 6 3 113 18 50 48
data:
$ID,148
$MISSION,12
$DIVE,64
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,950
$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,600
$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,52665
$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,390
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1016333.4
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3385
$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,0.028999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1590
$C_ROLL_CLIMB,1360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,71
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2800
$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,0.0043645771
$SEABIRD_T_H,0.00062944926
$SEABIRD_T_I,2.4626779e-05
$SEABIRD_T_J,2.6951686e-06
$SEABIRD_C_G,-9.9698391
$SEABIRD_C_H,1.1487522
$SEABIRD_C_I,-0.0018401047
$SEABIRD_C_J,0.00022632178
$GPS1,184200,2303.265,-15737.168,88,1.9,88,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-76.1
$GPS2,184955,2303.251,-15737.193,13,1.2,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.142,-0.218
$KALMAN_X,-54771.6,263.7,168.2,93390.3,-1703.0
$KALMAN_Y,26847.6,-133.8,41.9,7076.9,271.0
$MHEAD_RNG_PITCHd_Wd,203.0,64797,-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,16,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,-66.90,0.000,2,0.000,0.000,409,1580,2918,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.0,-4.0,9,123,14.88,2.38,-8.77,0.000,4,0.174,0.054,3101,172,3396,0,0,0,0,0,0
$GC,225,-1.01,-146.0,35.8,-19.8,27,230,0.28,2.15,0.00,0.000,6,0.097,0.018,3161,1574,3396,0,0,0,0,0,0
$GC,494,-0.92,-146.0,73.4,-13.6,51,499,0.10,2.53,0.00,0.000,4,0.127,0.024,3182,3173,3397,0,0,0,0,0,0
$GC,549,-1.03,-146.0,78.8,-6.6,55,554,0.00,2.55,0.00,0.000,6,0.000,0.029,3182,1596,3397,0,0,0,0,0,0
$GC,818,-1.03,-146.0,93.0,-5.0,79,822,0.00,2.35,0.00,0.000,4,0.000,0.044,3182,167,3398,0,0,0,0,0,0
$GC,886,-1.03,-146.0,97.9,-7.7,85,890,0.00,2.20,0.00,0.000,6,0.000,0.018,3182,1615,3398,0,0,0,0,0,0
$GC,1154,-1.03,-146.0,121.7,-11.6,109,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1618,3399,0,0,0,0,0,0
$GC,1414,-1.03,-146.0,153.9,-10.3,134,1419,0.00,2.38,0.00,0.000,4,0.000,0.043,3182,163,3398,0,0,0,0,0,0
$GC,1434,-1.03,-146.0,156.0,-10.6,135,1443,0.00,2.20,0.00,0.000,6,0.000,0.018,3182,1608,3399,0,0,0,0,0,0
$GC,1701,-1.03,-146.0,175.1,-6.6,160,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1610,3399,0,0,0,0,0,0
$GC,1964,-1.03,-146.0,197.5,-9.8,185,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1610,3398,0,0,0,0,0,0
$GC,2238,-1.03,-146.0,221.1,-8.0,194,2242,0.00,2.40,0.00,0.000,4,0.000,0.023,3182,3137,3399,0,0,0,0,0,0
$GC,2262,-1.12,-146.0,222.8,-6.8,194,2267,0.17,2.53,0.00,0.000,6,0.045,0.028,3122,1580,3399,0,0,0,0,0,0
$GC,2524,-1.04,-146.0,253.6,-12.6,201,2528,0.17,2.30,0.00,0.000,4,0.100,0.045,3158,173,3399,0,0,0,0,0,0
$GC,2571,-1.10,-146.0,259.6,-10.8,202,2575,0.00,2.12,0.00,0.000,6,0.000,0.019,3158,1569,3399,0,0,0,0,0,0
$GC,2855,-1.10,-146.0,280.9,-6.0,209,2859,0.00,2.53,0.00,0.000,4,0.000,0.026,3158,3160,3398,0,0,0,0,0,0
$GC,2869,-1.10,-146.0,281.9,-5.7,209,2874,0.00,2.55,0.00,0.000,6,0.000,0.028,3158,1576,3399,0,0,0,0,0,0
$GC,3138,-1.10,-146.0,301.7,-8.2,216,3142,0.00,2.33,0.00,0.000,4,0.000,0.051,3158,166,3398,0,0,0,0,0,0
$GC,3186,-1.17,-146.0,306.2,-9.3,217,3191,0.12,2.20,0.00,0.000,6,0.063,0.021,3097,1574,3398,0,0,0,0,0,0
$GC,3470,-1.08,-146.0,337.9,-10.9,224,3475,0.22,2.35,0.00,0.000,4,0.091,0.051,3148,176,3397,0,0,0,0,0,0
$GC,3494,-1.08,-146.0,340.3,-9.3,224,3498,0.00,2.20,0.00,0.000,6,0.000,0.022,3148,1578,3397,0,0,0,0,0,0
$GC,3755,-1.08,-146.0,361.3,-8.2,231,3759,0.00,2.55,0.00,0.000,4,0.000,0.032,3148,3169,3396,0,0,0,0,0,0
$GC,3764,-1.08,-146.0,362.4,-8.0,231,3769,0.00,2.60,0.00,0.000,6,0.000,0.030,3148,1574,3396,0,0,0,0,0,0
$GC,4040,-1.08,-146.0,383.1,-7.6,238,4044,0.00,2.35,0.00,0.000,4,0.000,0.058,3148,168,3394,0,0,0,0,0,0
$GC,4079,-1.14,-146.0,386.2,-7.9,238,4085,0.00,2.20,0.00,0.000,6,0.000,0.023,3148,1562,3394,0,0,0,0,0,0
$GC,4329,-1.18,-146.0,403.3,-6.8,245,4334,0.00,2.60,0.00,0.000,4,0.000,0.035,3148,3165,3393,0,0,0,0,0,0
$GC,4360,-1.28,-146.0,405.4,-6.9,245,4365,0.17,2.65,0.00,0.000,6,0.048,0.038,3066,1571,3393,0,0,0,0,0,0
$GC,4616,-1.16,-146.0,434.8,-12.2,252,4618,0.30,0.00,0.00,0.000,6,0.091,0.000,3132,1571,3391,0,0,0,0,0,0
$GC,4859,-1.16,-146.0,459.1,-9.7,258,4863,0.00,2.40,0.00,0.000,4,0.000,0.068,3133,166,3389,0,0,0,0,0,0
$GC,4911,-1.16,-146.0,464.3,-10.6,259,4916,0.00,2.22,0.00,0.000,6,0.000,0.028,3132,1567,3389,0,0,0,0,0,0
$GC,5194,-1.16,-146.0,487.1,-7.7,266,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1567,3386,0,0,0,0,0,0
$GC,5437,-1.16,-146.0,505.4,-7.7,272,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1567,3385,0,0,0,0,0,0
$GC,5683,-1.16,-146.0,523.8,-7.3,278,5687,0.00,2.67,0.00,0.000,4,0.000,0.045,3132,3170,3384,0,0,0,0,0,0
$GC,5707,-1.22,-146.0,525.7,-7.7,278,5712,0.00,2.70,0.00,0.000,6,0.000,0.041,3132,1563,3383,0,0,0,0,0,0
$GC,5967,-1.22,-146.0,544.0,-7.0,285,5971,0.00,2.42,0.00,0.000,4,0.000,0.077,3132,169,3382,0,0,0,0,0,0
$GC,5981,-1.22,-146.0,545.2,-7.4,285,5985,0.00,2.28,0.00,0.000,6,0.000,0.030,3132,1577,3382,0,0,0,0,0,0
$GC,6255,-1.22,-146.0,565.7,-7.7,292,6260,0.00,2.45,0.00,0.000,4,0.000,0.071,3132,165,3380,0,0,0,0,0,0
$GC,6303,-1.28,-146.0,569.9,-9.1,293,6307,0.10,2.28,0.00,0.000,6,0.077,0.033,3086,1559,3380,0,0,0,0,0,0
$GC,6589,-1.22,-146.0,596.9,-9.3,300,6594,0.15,2.42,0.00,0.000,4,0.104,0.072,3118,170,3379,0,0,0,0,0,0
$GC,6628,-1.22,-146.0,600.6,-8.2,300,6633,0.00,2.28,0.00,0.000,6,0.000,0.034,3118,1561,3378,0,0,0,0,0,0
$GC,6879,-1.22,-146.0,616.9,-6.4,307,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1561,3377,0,0,0,0,0,0
$GC,7121,-1.22,-146.0,633.7,-7.0,313,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1561,3375,0,0,0,0,0,0
$GC,7365,-1.22,-146.0,651.7,-7.6,319,7370,0.00,2.72,0.00,0.000,4,0.000,0.050,3118,3179,3374,0,0,0,0,0,0
$GC,7391,-1.27,-146.0,653.9,-9.1,319,7395,0.00,2.78,0.00,0.000,6,0.000,0.048,3118,1550,3374,0,0,0,0,0,0
$GC,7652,-1.27,-146.0,676.4,-8.9,326,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1550,3373,0,0,0,0,0,0
$GC,7894,-1.27,-146.0,697.7,-8.5,332,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1549,3372,0,0,0,0,0,0
$GC,8138,-1.27,-146.0,715.9,-7.3,338,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1549,3370,0,0,0,0,0,0
$GC,8381,-1.27,-146.0,732.5,-6.7,344,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1549,3370,0,0,0,0,0,0
$GC,8627,-1.27,-146.0,749.3,-6.9,350,8631,0.00,2.72,0.00,0.000,4,0.000,0.045,3118,3173,3368,0,0,0,0,0,0
$GC,8647,-1.27,-146.0,750.9,-7.6,350,8652,0.00,2.72,0.00,0.000,6,0.000,0.049,3118,1558,3368,0,0,0,0,0,0
$GC,8912,-1.27,-146.0,770.2,-7.5,357,8916,0.00,2.45,0.00,0.000,4,0.000,0.083,3118,169,3367,0,0,0,0,0,0
$GC,8941,-1.27,-146.0,772.6,-7.7,357,8946,0.00,2.28,0.00,0.000,6,0.000,0.035,3118,1556,3367,0,0,0,0,0,0
$GC,9196,-1.27,-146.0,792.0,-7.5,364,9201,0.00,2.75,0.00,0.000,4,0.000,0.051,3118,3182,3366,0,0,0,0,0,0
$GC,9225,-1.35,-146.0,794.2,-7.3,364,9232,0.12,2.75,0.00,0.000,6,0.062,0.050,3057,1559,3366,0,0,0,0,0,0
$GC,9483,-1.25,-146.0,819.0,-9.8,371,9488,0.25,2.47,0.00,0.000,4,0.096,0.081,3111,165,3365,0,0,0,0,0,0
$GC,9517,-1.25,-146.0,822.1,-8.1,371,9521,0.00,2.30,0.00,0.000,6,0.000,0.035,3112,1568,3365,0,0,0,0,0,0
$GC,9768,-1.25,-146.0,839.2,-6.7,377,9769,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1568,3364,0,0,0,0,0,0
$GC,10010,-1.25,-146.0,856.7,-7.3,383,10015,0.00,2.47,0.00,0.000,4,0.000,0.076,3112,166,3364,0,0,0,0,0,0
$GC,10048,-1.25,-146.0,859.8,-8.3,383,10053,0.00,2.28,0.00,0.000,6,0.000,0.035,3111,1554,3363,0,0,0,0,0,0
$GC,10298,-1.25,-146.0,878.6,-7.5,390,10302,0.00,2.45,0.00,0.000,4,0.000,0.075,3111,166,3362,0,0,0,0,0,0
$GC,10318,-1.25,-146.0,880.3,-8.3,390,10322,0.00,2.25,0.00,0.000,6,0.000,0.035,3112,1550,3362,0,0,0,0,0,0
$GC,10587,-1.25,-146.0,899.7,-6.9,397,10591,0.00,2.08,0.00,0.000,3,0.000,0.048,3111,2805,3362,0,0,0,0,0,0
$STATE,10591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10591,begin apogee
$GC,10600,-0.31,0.0,900.1,6.9,397,10722,0.88,0.00,118.60,1.170,6,0.074,0.000,3315,1360,2800,0,0,0,0,0,0
$STATE,10723,end apogee,CONTROL_FINISHED_OK
$STATE,10723,begin climb
$GC,10727,1.27,146.0,903.8,0.0,400,10866,1.45,2.22,130.43,1.143,4,0.033,0.083,3668,162,2203,0,0,0,0,0,0
$GC,10913,0.98,146.0,890.0,16.0,404,10918,0.35,2.03,0.00,0.000,6,0.115,0.031,3598,1391,2201,0,0,0,0,0,0
$GC,11183,0.89,146.0,858.8,11.1,411,11187,0.00,2.20,0.00,0.000,4,0.000,0.074,3598,166,2194,0,0,0,0,0,0
$GC,11293,0.75,146.0,845.0,13.7,413,11297,0.22,1.98,0.00,0.000,6,0.108,0.032,3550,1346,2193,0,0,0,0,0,0
$GC,11566,0.77,164.9,819.0,9.1,420,11589,0.00,2.15,16.70,1.019,4,0.000,0.074,3550,169,2126,0,0,0,0,0,0
$GC,11605,0.77,164.9,815.4,10.9,420,11611,0.00,1.98,0.00,0.000,6,0.000,0.032,3550,1357,2126,0,0,0,0,0,0
$GC,11855,0.81,193.2,793.0,8.7,427,11884,0.00,0.00,26.85,1.049,6,0.000,0.000,3550,1357,2012,0,0,0,0,0,0
$GC,12099,0.84,215.9,771.2,9.0,433,12127,0.00,2.80,22.20,1.024,4,0.000,0.053,3550,2930,1919,0,0,0,0,0,0
$GC,12148,0.96,256.4,766.7,8.1,434,12194,0.17,2.78,38.03,1.042,6,0.054,0.050,3610,1343,1755,0,0,0,0,0,0
$GC,12477,0.90,256.4,717.7,15.5,442,12479,0.12,0.00,0.00,0.000,6,0.117,0.000,3584,1343,1749,0,0,0,0,0,0
$GC,12720,0.90,256.4,685.0,13.1,448,12724,0.00,2.72,0.00,0.000,4,0.000,0.045,3584,2945,1747,0,0,0,0,0,0
$GC,12738,0.90,256.4,682.6,11.5,448,12743,0.00,2.75,0.00,0.000,6,0.000,0.049,3584,1353,1744,0,0,0,0,0,0
$GC,13004,0.90,256.4,652.9,10.9,455,13009,0.00,2.70,0.00,0.000,4,0.000,0.046,3584,2940,1744,0,0,0,0,0,0
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$STATE,17954,end climb,SURFACE_DEPTH_REACHED
$STATE,17954,begin surface coast
$FINISH,0.8,1.023584
$STATE,17987,end surface coast,CONTROL_FINISHED_OK
$STATE,17987,begin surface
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$HUMID,64.29
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$XPDR_PINGS,11
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$10V_AH,9.8,7.819
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355548
$DATA_FILE_SIZE,54037,688
$CAP_FILE_SIZE,178840,0
$CFSIZE,260165632,167628800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030613,235353,2300.982,-15739.517,91,1.2,91,10.1