version: 66.06
glider: 148
mission: 12
dive: 77
start: 6 6 113 15 42 1
data:
$ID,148
$MISSION,12
$DIVE,77
$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,-1016674.6
$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,1575
$C_ROLL_CLIMB,1360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,100
$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
$GPS1,152923,2240.874,-15806.229,38,2.0,38,10.0
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-76.9
$GPS2,154109,2240.898,-15806.276,47,2.1,66,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.075,0.249
$KALMAN_X,-71116.8,-222.1,-138.3,60861.8,-1134.2
$KALMAN_Y,19528.8,-90.2,239.3,-27256.8,-1277.0
$MHEAD_RNG_PITCHd_Wd,6.8,43720,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-74.75,0.000,2,0.000,0.000,415,1606,3174,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.9,-6.7,10,123,14.00,2.35,-3.60,0.000,4,0.149,0.034,3104,3101,3396,0,0,0,0,0,0
$GC,194,-1.13,-146.0,33.8,-17.2,23,199,0.15,2.50,0.00,0.000,6,0.106,0.031,3137,1565,3397,0,0,0,0,0,0
$GC,463,-0.98,-146.0,75.2,-14.5,47,468,0.15,2.33,0.00,0.000,4,0.110,0.042,3169,163,3397,0,0,0,0,0,0
$GC,518,-0.98,-146.0,83.6,-11.9,51,524,0.00,2.10,0.00,0.000,6,0.000,0.017,3169,1553,3397,0,0,0,0,0,0
$GC,781,-0.98,-146.0,112.4,-10.5,76,785,0.00,2.45,0.00,0.000,4,0.000,0.021,3169,3126,3397,0,0,0,0,0,0
$GC,812,-0.98,-146.0,115.8,-9.7,78,820,0.00,2.55,0.00,0.000,6,0.000,0.028,3169,1563,3397,0,0,0,0,0,0
$GC,1078,-0.98,-146.0,139.3,-8.9,103,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1563,3397,0,0,0,0,0,0
$GC,1339,-0.98,-146.0,165.8,-10.8,128,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1563,3397,0,0,0,0,0,0
$GC,1595,-0.98,-146.0,192.9,-10.1,152,1599,0.00,2.45,0.00,0.000,4,0.000,0.021,3169,3131,3397,0,0,0,0,0,0
$GC,1626,-1.04,-146.0,196.0,-9.8,154,1633,0.00,2.50,0.00,0.000,6,0.000,0.028,3169,1563,3398,0,0,0,0,0,0
$GC,1877,-1.04,-146.0,220.9,-10.2,164,1881,0.00,2.25,0.00,0.000,4,0.000,0.044,3169,172,3398,0,0,0,0,0,0
$GC,1920,-1.04,-146.0,225.3,-10.1,165,1924,0.00,2.10,0.00,0.000,6,0.000,0.018,3168,1558,3398,0,0,0,0,0,0
$GC,2208,-1.04,-146.0,251.5,-9.1,172,2212,0.00,2.45,0.00,0.000,4,0.000,0.022,3169,3133,3398,0,0,0,0,0,0
$GC,2252,-1.17,-146.0,254.9,-7.4,173,2257,0.15,2.53,0.00,0.000,6,0.054,0.029,3094,1562,3398,0,0,0,0,0,0
$GC,2541,-1.05,-146.0,290.3,-12.8,180,2543,0.28,0.00,0.00,0.000,6,0.087,0.000,3154,1562,3398,0,0,0,0,0,0
$GC,2784,-1.05,-146.0,311.4,-8.0,186,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1562,3397,0,0,0,0,0,0
$GC,3027,-1.05,-146.0,330.0,-7.6,192,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1563,3397,0,0,0,0,0,0
$GC,3272,-1.05,-146.0,347.8,-7.3,198,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1563,3395,0,0,0,0,0,0
$GC,3515,-1.10,-146.0,364.0,-6.7,204,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1563,3394,0,0,0,0,0,0
$GC,3759,-1.15,-146.0,382.0,-7.5,210,3763,0.00,2.55,0.00,0.000,4,0.000,0.031,3154,3125,3392,0,0,0,0,0,0
$GC,3794,-1.27,-146.0,384.5,-6.9,210,3799,0.20,2.55,0.00,0.000,6,0.044,0.038,3073,1572,3392,0,0,0,0,0,0
$GC,4044,-1.15,-146.0,413.9,-12.1,216,4049,0.25,2.38,0.00,0.000,4,0.091,0.061,3132,173,3390,0,0,0,0,0,0
$GC,4096,-1.15,-146.0,419.6,-10.8,217,4100,0.00,2.12,0.00,0.000,6,0.000,0.024,3132,1533,3390,0,0,0,0,0,0
$GC,4375,-1.15,-146.0,443.1,-8.4,224,4379,0.00,2.62,0.00,0.000,4,0.000,0.038,3132,3147,3388,0,0,0,0,0,0
$GC,4394,-1.15,-146.0,444.9,-8.1,224,4398,0.00,2.62,0.00,0.000,6,0.000,0.035,3132,1557,3388,0,0,0,0,0,0
$GC,4658,-1.15,-146.0,463.5,-6.9,231,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1557,3386,0,0,0,0,0,0
$GC,4903,-1.15,-146.0,480.1,-6.9,237,4907,0.00,2.62,0.00,0.000,4,0.000,0.038,3132,3144,3385,0,0,0,0,0,0
$GC,4927,-1.21,-146.0,481.9,-7.9,237,4932,0.00,2.60,0.00,0.000,6,0.000,0.038,3132,1566,3385,0,0,0,0,0,0
$GC,5187,-1.21,-146.0,499.7,-7.0,244,5191,0.00,2.42,0.00,0.000,4,0.000,0.072,3133,167,3382,0,0,0,0,0,0
$GC,5235,-1.21,-146.0,503.4,-8.0,245,5239,0.00,2.22,0.00,0.000,6,0.000,0.030,3132,1553,3382,0,0,0,0,0,0
$GC,5517,-1.21,-146.0,523.4,-7.2,252,5522,0.00,2.65,0.00,0.000,4,0.000,0.043,3132,3152,3381,0,0,0,0,0,0
$GC,5566,-1.32,-146.0,526.7,-6.8,253,5572,0.15,2.65,0.00,0.000,6,0.054,0.041,3068,1569,3380,0,0,0,0,0,0
$GC,5850,-1.22,-146.0,554.7,-10.0,260,5855,0.22,2.42,0.00,0.000,4,0.096,0.074,3117,169,3378,0,0,0,0,0,0
$GC,5888,-1.22,-146.0,558.2,-8.4,260,5894,0.00,2.25,0.00,0.000,6,0.000,0.032,3117,1569,3378,0,0,0,0,0,0
$GC,6140,-1.22,-146.0,577.2,-7.7,267,6144,0.00,2.45,0.00,0.000,4,0.000,0.070,3117,164,3377,0,0,0,0,0,0
$GC,6164,-1.22,-146.0,579.5,-9.5,267,6168,0.00,2.25,0.00,0.000,6,0.000,0.035,3117,1560,3377,0,0,0,0,0,0
$GC,6427,-1.22,-146.0,599.8,-7.6,274,6432,0.00,2.67,0.00,0.000,4,0.000,0.046,3118,3163,3375,0,0,0,0,0,0
$GC,6458,-1.28,-146.0,602.1,-7.2,274,6462,0.00,2.67,0.00,0.000,6,0.000,0.045,3117,1567,3375,0,0,0,0,0,0
$GC,6713,-1.28,-146.0,620.8,-7.4,281,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1567,3374,0,0,0,0,0,0
$GC,6956,-1.28,-146.0,637.8,-7.0,287,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1567,3372,0,0,0,0,0,0
$GC,7201,-1.28,-146.0,654.0,-6.6,293,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1567,3371,0,0,0,0,0,0
$GC,7444,-1.28,-146.0,671.0,-7.1,299,7448,0.00,2.67,0.00,0.000,4,0.000,0.048,3117,3159,3370,0,0,0,0,0,0
$GC,7463,-1.28,-146.0,672.6,-8.1,299,7467,0.00,2.67,0.00,0.000,6,0.000,0.047,3118,1568,3370,0,0,0,0,0,0
$GC,7729,-1.28,-146.0,692.3,-7.5,306,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1568,3369,0,0,0,0,0,0
$GC,7974,-1.28,-146.0,710.6,-7.5,312,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1569,3367,0,0,0,0,0,0
$GC,8216,-1.28,-146.0,728.0,-7.2,318,8220,0.00,2.65,0.00,0.000,4,0.000,0.045,3117,3160,3366,0,0,0,0,0,0
$GC,8240,-1.33,-146.0,729.8,-7.3,318,8245,0.00,2.67,0.00,0.000,6,0.000,0.048,3118,1572,3366,0,0,0,0,0,0
$GC,8502,-1.33,-146.0,747.8,-7.0,325,8506,0.00,2.47,0.00,0.000,4,0.000,0.083,3117,172,3365,0,0,0,0,0,0
$GC,8539,-1.33,-146.0,751.0,-7.9,325,8545,0.00,2.28,0.00,0.000,6,0.000,0.035,3118,1574,3365,0,0,0,0,0,0
$GC,8789,-1.33,-146.0,768.4,-6.9,332,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1574,3364,0,0,0,0,0,0
$GC,9034,-1.33,-146.0,784.1,-6.3,338,9038,0.00,2.45,0.00,0.000,4,0.000,0.075,3117,172,3363,0,0,0,0,0,0
$GC,9058,-1.33,-146.0,786.1,-8.6,338,9062,0.00,2.28,0.00,0.000,6,0.000,0.035,3117,1569,3363,0,0,0,0,0,0
$GC,9321,-1.33,-146.0,802.8,-6.4,345,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1568,3362,0,0,0,0,0,0
$GC,9567,-1.33,-146.0,818.5,-6.5,351,9571,0.00,2.67,0.00,0.000,4,0.000,0.053,3118,3164,3362,0,0,0,0,0,0
$GC,9597,-1.41,-146.0,820.5,-7.2,351,9604,0.17,2.72,0.00,0.000,6,0.048,0.051,3051,1564,3362,0,0,0,0,0,0
$GC,9855,-1.31,-146.0,843.6,-9.2,358,9860,0.22,2.47,0.00,0.000,4,0.097,0.081,3100,168,3360,0,0,0,0,0,0
$GC,9914,-1.31,-146.0,848.7,-9.7,359,9918,0.00,2.28,0.00,0.000,6,0.000,0.036,3101,1565,3360,0,0,0,0,0,0
$GC,10187,-1.31,-146.0,869.1,-7.4,366,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1565,3359,0,0,0,0,0,0
$GC,10430,-1.31,-146.0,888.4,-8.0,372,10434,0.00,2.47,0.00,0.000,4,0.000,0.076,3100,162,3359,0,0,0,0,0,0
$GC,10464,-1.31,-146.0,891.3,-10.1,372,10468,0.00,2.28,0.00,0.000,6,0.000,0.036,3101,1560,3358,0,0,0,0,0,0
$STATE,10589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10589,begin apogee
$GC,10596,-0.31,0.0,901.5,8.1,375,10717,0.95,0.00,118.07,1.176,6,0.074,0.000,3317,1355,2800,0,0,0,0,0,0
$STATE,10718,end apogee,CONTROL_FINISHED_OK
$STATE,10718,begin climb
$GC,10721,1.27,146.0,905.6,0.0,378,10863,1.45,2.20,130.38,1.149,4,0.030,0.078,3668,177,2203,0,0,0,0,0,0
$GC,10947,0.98,146.0,887.6,15.9,383,10952,0.35,1.95,0.00,0.000,6,0.114,0.031,3597,1366,2199,0,0,0,0,0,0
$GC,11213,0.89,146.0,859.3,10.6,390,11217,0.00,2.10,0.00,0.000,4,0.000,0.073,3597,176,2193,0,0,0,0,0,0
$GC,11274,0.75,146.0,851.7,12.4,391,11278,0.22,1.92,0.00,0.000,6,0.104,0.031,3550,1353,2193,0,0,0,0,0,0
$GC,11544,0.77,162.0,826.7,9.3,398,11564,0.00,2.20,13.68,1.014,4,0.000,0.073,3549,176,2139,0,0,0,0,0,0
$GC,11611,0.77,162.0,819.5,11.7,399,11615,0.00,1.95,0.00,0.000,6,0.000,0.031,3549,1354,2138,0,0,0,0,0,0
$GC,11879,0.80,186.4,795.4,8.9,406,11908,0.00,2.80,23.35,1.049,4,0.000,0.055,3550,2940,2039,0,0,0,0,0,0
$GC,11921,0.84,223.7,791.9,8.3,407,11963,0.00,2.72,36.20,1.061,6,0.000,0.048,3549,1355,1886,0,0,0,0,0,0
$GC,12209,0.92,234.2,764.2,9.5,414,12226,0.15,2.78,10.20,0.935,4,0.061,0.046,3599,2935,1845,0,0,0,0,0,0
$GC,12242,0.92,234.2,760.2,10.9,414,12246,0.00,2.72,0.00,0.000,6,0.000,0.050,3598,1356,1842,0,0,0,0,0,0
$GC,12496,0.92,234.2,729.5,11.9,421,12500,0.00,2.12,0.00,0.000,4,0.000,0.085,3599,164,1841,0,0,0,0,0,0
$GC,12520,0.85,234.2,726.3,12.1,421,12524,0.15,1.98,0.00,0.000,6,0.107,0.031,3568,1366,1841,0,0,0,0,0,0
$GC,12785,0.85,234.2,698.4,10.6,428,12790,0.00,2.67,0.00,0.000,4,0.000,0.051,3568,2938,1840,0,0,0,0,0,0
$GC,12832,0.94,234.2,693.1,10.6,429,12837,0.00,2.70,0.00,0.000,6,0.000,0.055,3568,1357,1837,0,0,0,0,0,0
$GC,13116,0.94,234.2,661.6,11.2,436,13121,0.00,2.65,0.00,0.000,4,0.000,0.045,3568,2935,1837,0,0,0,0,0,0
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$STATE,18474,end climb,SURFACE_DEPTH_REACHED
$STATE,18475,begin surface coast
$FINISH,0.8,1.012826
$STATE,18510,end surface coast,CONTROL_FINISHED_OK
$STATE,18510,begin surface
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$10V_AH,9.9,9.492
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$FG_AHR_10Vo,0.000
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$MEM,355520
$DATA_FILE_SIZE,54081,688
$CAP_FILE_SIZE,178024,0
$CFSIZE,260165632,166637568
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$GPS,060613,205403,2243.076,-15806.509,85,1.3,94,10.0