version: 66.06
glider: 148
mission: 12
dive: 83
start: 6 8 113 0 25 12
data:
$ID,148
$MISSION,12
$DIVE,83
$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,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1016789.7
$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,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,112
$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
$GPS1,001635,2253.345,-15807.657,44,1.2,49,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-77.6
$GPS2,002419,2253.310,-15807.721,12,1.5,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.112,0.234
$KALMAN_X,-83557.8,-278.8,-221.7,70982.3,-1033.6
$KALMAN_Y,16567.2,-1.9,43.7,-1195.6,-465.9
$MHEAD_RNG_PITCHd_Wd,15.5,21337,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,97,0.00,0.00,-75.00,0.000,2,0.000,0.000,410,1598,3233,0,0,0,0,0,0
$GC,100,-1.27,-146.0,4.4,-8.1,10,124,14.48,2.35,-2.65,0.000,4,0.162,0.035,3104,3084,3396,0,0,0,0,0,0
$GC,173,-1.11,-146.0,31.4,-20.8,20,182,0.12,2.53,0.00,0.000,6,0.074,0.037,3138,1572,3397,0,0,0,0,0,0
$GC,442,-1.00,-146.0,69.4,-13.0,45,450,0.12,0.00,0.00,0.000,6,0.113,0.000,3165,1572,3397,0,0,0,0,0,0
$GC,704,-0.95,-146.0,100.3,-12.0,70,705,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1572,3398,0,0,0,0,0,0
$GC,957,-0.95,-146.0,129.9,-12.1,94,961,0.00,2.38,0.00,0.000,4,0.000,0.022,3165,3091,3398,0,0,0,0,0,0
$GC,998,-0.95,-146.0,133.9,-10.8,97,1002,0.00,2.45,0.00,0.000,6,0.000,0.029,3165,1562,3399,0,0,0,0,0,0
$GC,1266,-0.95,-146.0,164.2,-11.7,121,1270,0.00,2.28,0.00,0.000,4,0.000,0.044,3165,172,3399,0,0,0,0,0,0
$GC,1302,-0.95,-146.0,169.0,-12.1,124,1306,0.00,2.03,0.00,0.000,6,0.000,0.018,3165,1530,3399,0,0,0,0,0,0
$GC,1570,-0.95,-146.0,197.0,-10.1,148,1574,0.00,2.47,0.00,0.000,4,0.000,0.022,3165,3121,3399,0,0,0,0,0,0
$GC,1608,-1.02,-146.0,200.8,-8.8,151,1612,0.00,2.47,0.00,0.000,6,0.000,0.028,3165,1571,3399,0,0,0,0,0,0
$GC,1860,-1.02,-146.0,225.0,-9.7,157,1864,0.00,2.28,0.00,0.000,4,0.000,0.044,3165,169,3399,0,0,0,0,0,0
$GC,1884,-1.02,-146.0,227.7,-10.9,157,1888,0.00,2.12,0.00,0.000,6,0.000,0.018,3165,1587,3399,0,0,0,0,0,0
$GC,2143,-1.02,-146.0,251.2,-8.7,164,2147,0.00,2.40,0.00,0.000,4,0.000,0.023,3164,3128,3399,0,0,0,0,0,0
$GC,2157,-1.02,-146.0,252.5,-8.4,164,2162,0.00,2.47,0.00,0.000,6,0.000,0.027,3165,1577,3399,0,0,0,0,0,0
$GC,2428,-1.06,-146.0,274.6,-8.3,171,2432,0.00,2.45,0.00,0.000,4,0.000,0.025,3165,3116,3399,0,0,0,0,0,0
$GC,2452,-1.15,-146.0,276.7,-8.1,171,2457,0.12,2.50,0.00,0.000,6,0.063,0.031,3093,1581,3399,0,0,0,0,0,0
$GC,2712,-1.04,-146.0,306.9,-11.9,178,2717,0.25,2.33,0.00,0.000,4,0.091,0.048,3152,169,3399,0,0,0,0,0,0
$GC,2761,-1.04,-146.0,312.0,-9.2,179,2765,0.00,2.15,0.00,0.000,6,0.000,0.020,3152,1551,3399,0,0,0,0,0,0
$GC,3044,-1.04,-146.0,340.0,-10.0,186,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1554,3398,0,0,0,0,0,0
$GC,3287,-1.04,-146.0,362.0,-8.9,192,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1554,3397,0,0,0,0,0,0
$GC,3533,-1.09,-146.0,381.0,-7.7,198,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1554,3395,0,0,0,0,0,0
$GC,3775,-1.14,-146.0,398.5,-7.0,204,3779,0.00,2.33,0.00,0.000,4,0.000,0.058,3152,173,3394,0,0,0,0,0,0
$GC,3808,-1.19,-146.0,400.9,-7.4,204,3813,0.12,2.17,0.00,0.000,6,0.065,0.023,3093,1571,3394,0,0,0,0,0,0
$GC,4060,-1.12,-146.0,423.8,-9.3,210,4065,0.20,2.55,0.00,0.000,4,0.093,0.035,3137,3142,3393,0,0,0,0,0,0
$GC,4080,-1.12,-146.0,425.7,-8.6,210,4084,0.00,2.58,0.00,0.000,6,0.000,0.035,3137,1571,3392,0,0,0,0,0,0
$GC,4346,-1.12,-146.0,446.0,-7.8,217,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1571,3391,0,0,0,0,0,0
$GC,4588,-1.12,-146.0,466.0,-8.2,223,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1571,3389,0,0,0,0,0,0
$GC,4831,-1.12,-146.0,484.5,-7.5,229,4836,0.00,2.60,0.00,0.000,4,0.000,0.041,3138,3143,3387,0,0,0,0,0,0
$GC,4851,-1.18,-146.0,486.0,-7.0,229,4856,0.00,2.58,0.00,0.000,6,0.000,0.038,3137,1582,3387,0,0,0,0,0,0
$GC,5117,-1.22,-146.0,505.1,-7.3,236,5121,0.00,2.42,0.00,0.000,4,0.000,0.072,3137,171,3386,0,0,0,0,0,0
$GC,5136,-1.22,-146.0,507.0,-8.3,236,5141,0.00,2.22,0.00,0.000,6,0.000,0.028,3137,1573,3386,0,0,0,0,0,0
$GC,5401,-1.27,-146.0,527.0,-7.7,243,5403,0.12,0.00,0.00,0.000,6,0.064,0.000,3081,1573,3383,0,0,0,0,0,0
$GC,5645,-1.20,-146.0,552.1,-10.6,249,5650,0.17,2.45,0.00,0.000,4,0.097,0.070,3122,165,3382,0,0,0,0,0,0
$GC,5665,-1.20,-146.0,554.2,-9.8,249,5669,0.00,2.28,0.00,0.000,6,0.000,0.031,3122,1571,3382,0,0,0,0,0,0
$GC,5933,-1.20,-146.0,577.7,-8.8,256,5938,0.00,2.62,0.00,0.000,4,0.000,0.044,3122,3152,3380,0,0,0,0,0,0
$GC,5954,-1.20,-146.0,579.6,-9.6,256,5959,0.00,2.62,0.00,0.000,6,0.000,0.047,3122,1578,3380,0,0,0,0,0,0
$GC,6218,-1.20,-146.0,603.2,-8.9,263,6222,0.00,2.47,0.00,0.000,4,0.000,0.077,3122,165,3379,0,0,0,0,0,0
$GC,6251,-1.20,-146.0,606.4,-9.6,263,6255,0.00,2.30,0.00,0.000,6,0.000,0.033,3122,1578,3379,0,0,0,0,0,0
$GC,6503,-1.20,-146.0,628.3,-8.7,269,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1578,3377,0,0,0,0,0,0
$GC,6745,-1.20,-146.0,646.4,-7.1,275,6750,0.00,2.62,0.00,0.000,4,0.000,0.048,3122,3159,3376,0,0,0,0,0,0
$GC,6764,-1.20,-146.0,647.7,-6.9,275,6769,0.00,2.67,0.00,0.000,6,0.000,0.046,3122,1575,3376,0,0,0,0,0,0
$GC,7030,-1.20,-146.0,664.0,-6.1,282,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1575,3375,0,0,0,0,0,0
$GC,7272,-1.20,-146.0,679.3,-6.3,288,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1575,3374,0,0,0,0,0,0
$GC,7516,-1.20,-146.0,695.7,-6.9,294,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1575,3373,0,0,0,0,0,0
$GC,7759,-1.20,-146.0,713.6,-7.5,300,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1575,3371,0,0,0,0,0,0
$GC,8005,-1.20,-146.0,734.0,-8.5,306,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1575,3370,0,0,0,0,0,0
$GC,8247,-1.20,-146.0,754.9,-8.4,312,8251,0.00,2.47,0.00,0.000,4,0.000,0.081,3122,172,3370,0,0,0,0,0,0
$GC,8275,-1.20,-146.0,757.4,-9.5,312,8279,0.00,2.28,0.00,0.000,6,0.000,0.034,3122,1578,3369,0,0,0,0,0,0
$GC,8531,-1.20,-146.0,779.0,-8.6,319,8535,0.00,2.62,0.00,0.000,4,0.000,0.049,3122,3156,3368,0,0,0,0,0,0
$GC,8552,-1.25,-146.0,780.9,-8.7,319,8557,0.00,2.67,0.00,0.000,6,0.000,0.048,3122,1578,3368,0,0,0,0,0,0
$GC,8816,-1.25,-146.0,801.7,-7.6,326,8821,0.00,2.47,0.00,0.000,4,0.000,0.081,3122,172,3367,0,0,0,0,0,0
$GC,8863,-1.30,-146.0,805.3,-8.4,327,8867,0.00,2.28,0.00,0.000,6,0.000,0.034,3122,1579,3367,0,0,0,0,0,0
$GC,9150,-1.34,-146.0,826.9,-7.5,334,9155,0.12,2.67,0.00,0.000,4,0.067,0.050,3069,3164,3366,0,0,0,0,0,0
$GC,9170,-1.34,-146.0,828.8,-9.6,334,9175,0.10,2.70,0.00,0.000,6,0.117,0.048,3091,1575,3366,0,0,0,0,0,0
$GC,9437,-1.34,-146.0,853.3,-9.2,341,9441,0.00,2.47,0.00,0.000,4,0.000,0.081,3091,172,3365,0,0,0,0,0,0
$GC,9460,-1.34,-146.0,856.1,-10.6,341,9464,0.00,2.28,0.00,0.000,6,0.000,0.035,3091,1571,3365,0,0,0,0,0,0
$GC,9723,-1.34,-146.0,880.0,-9.1,348,9728,0.00,2.45,0.00,0.000,4,0.000,0.074,3092,168,3364,0,0,0,0,0,0
$GC,9748,-1.34,-146.0,882.4,-10.1,348,9752,0.00,2.30,0.00,0.000,6,0.000,0.036,3091,1567,3364,0,0,0,0,0,0
$STATE,9964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9964,begin apogee
$GC,9970,-0.31,0.0,900.5,8.1,354,10093,1.00,0.00,118.95,1.166,6,0.081,0.000,3316,1345,2800,0,0,0,0,0,0
$STATE,10093,end apogee,CONTROL_FINISHED_OK
$STATE,10093,begin climb
$GC,10097,1.27,146.0,903.4,0.0,357,10239,1.45,2.12,130.62,1.141,4,0.031,0.077,3666,178,2203,0,0,0,0,0,0
$GC,10300,0.98,146.0,887.3,16.1,362,10305,0.32,1.92,0.00,0.000,6,0.114,0.031,3601,1355,2198,0,0,0,0,0,0
$GC,10585,0.90,146.0,852.3,12.1,369,10588,0.00,2.12,0.00,0.000,4,0.000,0.074,3600,170,2193,0,0,0,0,0,0
$GC,10636,0.75,146.0,845.4,13.5,370,10640,0.25,1.95,0.00,0.000,6,0.103,0.031,3549,1358,2192,0,0,0,0,0,0
$GC,10915,0.76,155.7,818.4,9.6,377,10928,0.00,2.72,7.50,0.892,4,0.000,0.050,3549,2933,2164,0,0,0,0,0,0
$GC,10938,0.82,205.3,816.1,7.7,377,10991,0.00,2.72,47.03,1.079,6,0.000,0.048,3549,1359,1963,0,0,0,0,0,0
$GC,11242,0.88,209.0,786.2,9.8,385,11252,0.12,2.17,4.25,0.684,4,0.068,0.084,3594,164,1946,0,0,0,0,0,0
$GC,11262,0.88,209.0,783.9,11.3,385,11265,0.00,1.92,0.00,0.000,6,0.000,0.029,3594,1352,1946,0,0,0,0,0,0
$GC,11529,0.88,209.0,754.6,10.6,392,11534,0.00,2.65,0.00,0.000,4,0.000,0.048,3594,2928,1944,0,0,0,0,0,0
$GC,11545,0.88,209.0,753.1,10.7,392,11549,0.00,2.70,0.00,0.000,6,0.000,0.047,3594,1351,1943,0,0,0,0,0,0
$GC,11813,0.88,209.0,724.6,10.7,399,11814,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1351,1943,0,0,0,0,0,0
$GC,12057,0.88,209.0,696.9,11.4,405,12061,0.00,2.62,0.00,0.000,4,0.000,0.042,3594,2925,1942,0,0,0,0,0,0
$GC,12091,0.88,209.0,693.0,11.2,405,12096,0.00,2.70,0.00,0.000,6,0.000,0.049,3594,1355,1941,0,0,0,0,0,0
$GC,12341,0.88,209.0,663.4,11.9,411,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1354,1941,0,0,0,0,0,0
$GC,12584,0.88,209.0,635.8,11.3,417,12589,0.00,2.65,0.00,0.000,4,0.000,0.043,3594,2928,1941,0,0,0,0,0,0
$GC,12603,0.88,209.0,633.5,11.4,417,12608,0.00,2.67,0.00,0.000,6,0.000,0.048,3594,1351,1939,0,0,0,0,0,0
$GC,12868,0.88,209.0,605.6,10.6,424,12872,0.00,2.10,0.00,0.000,4,0.000,0.081,3594,166,1939,0,0,0,0,0,0
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$STATE,18212,end climb,SURFACE_DEPTH_REACHED
$STATE,18212,begin surface coast
$FINISH,0.7,1.012276
$STATE,18262,end surface coast,CONTROL_FINISHED_OK
$STATE,18262,begin surface
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$10V_AH,9.9,10.309
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355556
$DATA_FILE_SIZE,54359,696
$CAP_FILE_SIZE,177033,0
$CFSIZE,260165632,166178816
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$GPS,080613,053206,2255.874,-15807.255,33,1.9,33,10.1