version: 66.06
glider: 148
mission: 12
dive: 93
start: 6 10 113 6 17 50
data:
$ID,148
$MISSION,12
$DIVE,93
$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,-1017050.8
$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,28
$R_STBD_OVSHOOT,118
$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
$GPS1,060259,2256.955,-15756.124,40,99.0,59,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.5
$GPS2,061658,2256.986,-15756.225,42,1.3,47,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.112,-0.235
$KALMAN_X,-94006.6,-237.6,-656.5,101451.8,1486.0
$KALMAN_Y,18957.5,70.2,-74.3,3271.8,436.2
$MHEAD_RNG_PITCHd_Wd,144.5,46387,-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,15,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-73.55,0.000,2,0.000,0.000,411,1608,3215,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.3,-7.0,10,121,14.00,2.35,-3.00,0.000,4,0.149,0.056,3103,167,3398,0,0,0,0,0,0
$GC,133,0.07,-146.0,20.3,-44.2,14,142,1.33,2.10,0.00,0.000,6,0.093,0.017,3393,1559,3399,0,0,0,0,0,0
$GC,421,-0.45,-146.0,46.2,-9.3,48,427,0.45,2.40,0.00,0.000,4,0.060,0.019,3284,3102,3399,0,0,0,0,0,0
$GC,579,-0.92,-146.0,59.2,-8.1,61,591,0.43,2.50,0.00,0.000,6,0.073,0.026,3183,1553,3399,0,0,0,0,0,0
$GC,845,-0.92,-146.0,83.2,-10.3,86,849,0.00,2.22,0.00,0.000,4,0.000,0.043,3182,176,3400,0,0,0,0,0,0
$GC,925,-0.92,-146.0,91.5,-10.3,93,929,0.00,2.03,0.00,0.000,6,0.000,0.016,3182,1548,3400,0,0,0,0,0,0
$GC,1191,-0.92,-146.0,120.0,-11.4,117,1195,0.00,2.42,0.00,0.000,4,0.000,0.021,3182,3116,3400,0,0,0,0,0,0
$GC,1221,-0.98,-146.0,123.3,-11.0,119,1226,0.00,2.53,0.00,0.000,6,0.000,0.028,3182,1555,3401,0,0,0,0,0,0
$GC,1484,-0.98,-146.0,153.2,-10.5,143,1488,0.00,2.25,0.00,0.000,4,0.000,0.043,3182,162,3401,0,0,0,0,0,0
$GC,1514,-0.98,-146.0,155.9,-10.8,145,1519,0.00,2.08,0.00,0.000,6,0.000,0.017,3182,1562,3401,0,0,0,0,0,0
$GC,1781,-0.98,-146.0,178.4,-6.6,169,1785,0.00,2.40,0.00,0.000,4,0.000,0.021,3181,3112,3401,0,0,0,0,0,0
$GC,1811,-1.06,-146.0,180.5,-6.5,171,1821,0.10,2.53,0.00,0.000,6,0.034,0.028,3134,1565,3401,0,0,0,0,0,0
$GC,2102,-0.98,-146.0,209.5,-11.0,193,2107,0.17,2.30,0.00,0.000,4,0.102,0.044,3171,166,3401,0,0,0,0,0,0
$GC,2135,-0.98,-146.0,213.4,-10.1,193,2139,0.00,2.08,0.00,0.000,6,0.000,0.018,3171,1556,3401,0,0,0,0,0,0
$GC,2386,-0.98,-146.0,239.3,-11.0,199,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1558,3401,0,0,0,0,0,0
$GC,2629,-0.98,-146.0,262.1,-8.9,205,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1558,3400,0,0,0,0,0,0
$GC,2873,-1.03,-146.0,277.2,-6.0,211,2877,0.00,2.28,0.00,0.000,4,0.000,0.046,3171,168,3400,0,0,0,0,0,0
$GC,2893,-1.03,-146.0,278.8,-8.0,211,2897,0.00,2.10,0.00,0.000,6,0.000,0.019,3171,1556,3400,0,0,0,0,0,0
$GC,3162,-1.10,-146.0,302.3,-9.1,218,3167,0.10,2.50,0.00,0.000,4,0.077,0.026,3115,3125,3399,0,0,0,0,0,0
$GC,3196,-1.10,-146.0,305.5,-9.0,218,3201,0.12,2.53,0.00,0.000,6,0.099,0.033,3145,1572,3399,0,0,0,0,0,0
$GC,3447,-1.10,-146.0,325.7,-8.1,224,3451,0.00,2.33,0.00,0.000,4,0.000,0.051,3145,163,3398,0,0,0,0,0,0
$GC,3475,-1.10,-146.0,328.5,-9.4,224,3479,0.00,2.15,0.00,0.000,6,0.000,0.021,3145,1555,3398,0,0,0,0,0,0
$GC,3734,-1.10,-146.0,350.7,-8.9,231,3739,0.00,2.58,0.00,0.000,4,0.000,0.031,3145,3150,3397,0,0,0,0,0,0
$GC,3769,-1.19,-146.0,353.9,-9.1,231,3774,0.00,2.62,0.00,0.000,6,0.000,0.037,3145,1568,3397,0,0,0,0,0,0
$GC,4021,-1.19,-146.0,377.1,-9.1,237,4025,0.00,2.35,0.00,0.000,4,0.000,0.059,3145,165,3396,0,0,0,0,0,0
$GC,4044,-1.19,-146.0,379.7,-9.5,237,4049,0.00,2.22,0.00,0.000,6,0.000,0.022,3145,1576,3396,0,0,0,0,0,0
$GC,4305,-1.19,-146.0,402.4,-8.6,244,4309,0.00,2.38,0.00,0.000,4,0.000,0.059,3145,171,3394,0,0,0,0,0,0
$GC,4324,-1.19,-146.0,404.1,-8.7,244,4328,0.00,2.20,0.00,0.000,6,0.000,0.023,3145,1578,3393,0,0,0,0,0,0
$GC,4593,-1.24,-146.0,425.5,-7.8,251,4594,0.12,0.00,0.00,0.000,6,0.066,0.000,3087,1580,3392,0,0,0,0,0,0
$GC,4837,-1.16,-146.0,450.6,-10.5,257,4842,0.20,2.45,0.00,0.000,4,0.094,0.064,3131,166,3390,0,0,0,0,0,0
$GC,4871,-1.16,-146.0,454.1,-9.5,257,4875,0.00,2.22,0.00,0.000,6,0.000,0.027,3131,1562,3390,0,0,0,0,0,0
$GC,5121,-1.16,-146.0,472.6,-7.3,263,5126,0.00,2.60,0.00,0.000,4,0.000,0.040,3131,3144,3389,0,0,0,0,0,0
$GC,5142,-1.16,-146.0,474.0,-7.1,263,5146,0.00,2.60,0.00,0.000,6,0.000,0.036,3131,1575,3389,0,0,0,0,0,0
$GC,5406,-1.16,-146.0,492.7,-7.3,270,5410,0.00,2.58,0.00,0.000,4,0.000,0.039,3131,3143,3386,0,0,0,0,0,0
$GC,5420,-1.16,-146.0,493.9,-7.3,270,5425,0.00,2.58,0.00,0.000,6,0.000,0.037,3131,1576,3386,0,0,0,0,0,0
$GC,5691,-1.16,-146.0,513.8,-7.4,277,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1576,3385,0,0,0,0,0,0
$GC,5933,-1.16,-146.0,533.6,-8.2,283,5937,0.00,2.42,0.00,0.000,4,0.000,0.073,3131,174,3383,0,0,0,0,0,0
$GC,5947,-1.16,-146.0,534.7,-8.1,283,5951,0.00,2.25,0.00,0.000,6,0.000,0.028,3131,1576,3383,0,0,0,0,0,0
$GC,6221,-1.16,-146.0,556.1,-7.7,290,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1577,3382,0,0,0,0,0,0
$GC,6463,-1.16,-146.0,573.3,-7.0,296,6467,0.00,2.45,0.00,0.000,4,0.000,0.069,3131,170,3380,0,0,0,0,0,0
$GC,6506,-1.16,-146.0,576.5,-8.2,297,6511,0.00,2.25,0.00,0.000,6,0.000,0.031,3131,1562,3380,0,0,0,0,0,0
$GC,6795,-1.16,-146.0,596.2,-6.8,304,6799,0.00,2.62,0.00,0.000,4,0.000,0.044,3131,3151,3378,0,0,0,0,0,0
$GC,6810,-1.16,-146.0,597.3,-6.8,304,6814,0.00,2.62,0.00,0.000,6,0.000,0.042,3131,1574,3378,0,0,0,0,0,0
$GC,7080,-1.16,-146.0,617.6,-7.6,311,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1574,3376,0,0,0,0,0,0
$GC,7326,-1.21,-146.0,637.2,-8.0,317,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1574,3375,0,0,0,0,0,0
$GC,7569,-1.25,-146.0,654.2,-6.7,323,7574,0.00,2.45,0.00,0.000,4,0.000,0.079,3131,171,3373,0,0,0,0,0,0
$GC,7593,-1.25,-146.0,656.0,-7.3,323,7597,0.00,2.28,0.00,0.000,6,0.000,0.031,3131,1575,3373,0,0,0,0,0,0
$GC,7854,-1.30,-146.0,671.1,-5.7,330,7856,0.12,0.00,0.00,0.000,6,0.065,0.000,3077,1575,3372,0,0,0,0,0,0
$GC,8096,-1.23,-146.0,689.0,-7.5,336,8098,0.17,0.00,0.00,0.000,6,0.103,0.000,3115,1575,3371,0,0,0,0,0,0
$GC,8340,-1.23,-146.0,702.6,-5.4,342,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1575,3371,0,0,0,0,0,0
$GC,8585,-1.23,-146.0,715.6,-5.5,348,8589,0.00,2.47,0.00,0.000,4,0.000,0.074,3115,169,3369,0,0,0,0,0,0
$GC,8618,-1.23,-146.0,717.8,-6.4,348,8622,0.00,2.28,0.00,0.000,6,0.000,0.033,3115,1576,3369,0,0,0,0,0,0
$GC,8868,-1.23,-146.0,734.5,-7.0,354,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1577,3368,0,0,0,0,0,0
$GC,9111,-1.23,-146.0,753.2,-7.7,360,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1577,3367,0,0,0,0,0,0
$GC,9357,-1.23,-146.0,773.6,-8.5,366,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1577,3366,0,0,0,0,0,0
$GC,9599,-1.23,-146.0,794.3,-8.4,372,9603,0.00,2.47,0.00,0.000,4,0.000,0.075,3115,170,3366,0,0,0,0,0,0
$GC,9618,-1.23,-146.0,796.1,-9.4,372,9622,0.00,2.30,0.00,0.000,6,0.000,0.033,3115,1577,3365,0,0,0,0,0,0
$GC,9883,-1.23,-146.0,816.5,-7.7,379,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1577,3364,0,0,0,0,0,0
$GC,10125,-1.23,-146.0,834.4,-7.4,385,10130,0.00,2.45,0.00,0.000,4,0.000,0.075,3115,173,3364,0,0,0,0,0,0
$GC,10149,-1.23,-146.0,836.5,-7.8,385,10153,0.00,2.30,0.00,0.000,6,0.000,0.034,3115,1577,3364,0,0,0,0,0,0
$GC,10410,-1.23,-146.0,855.6,-7.4,392,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1577,3363,0,0,0,0,0,0
$GC,10652,-1.23,-146.0,871.8,-6.5,398,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1577,3363,0,0,0,0,0,0
$GC,10896,-1.23,-146.0,886.4,-5.9,404,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1577,3362,0,0,0,0,0,0
$STATE,11137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11137,begin apogee
$GC,11143,-0.31,0.0,900.5,5.8,410,11265,0.90,0.00,118.53,1.171,6,0.082,0.000,3317,1346,2800,0,0,0,0,0,0
$STATE,11266,end apogee,CONTROL_FINISHED_OK
$STATE,11266,begin climb
$GC,11270,1.27,146.0,902.8,0.0,413,11408,1.45,2.17,129.85,1.145,4,0.031,0.081,3671,170,2203,0,0,0,0,0,0
$GC,11576,0.97,146.0,869.3,15.7,420,11581,0.38,1.95,0.00,0.000,6,0.111,0.030,3596,1353,2197,0,0,0,0,0,0
$GC,11847,0.90,146.0,839.3,10.8,427,11851,0.00,2.10,0.00,0.000,4,0.000,0.072,3595,169,2193,0,0,0,0,0,0
$GC,11876,0.76,146.0,835.9,10.9,427,11881,0.22,1.95,0.00,0.000,6,0.103,0.030,3549,1353,2193,0,0,0,0,0,0
$GC,12131,0.80,182.9,813.9,8.3,434,12169,0.00,0.00,32.80,1.071,6,0.000,0.000,3549,1353,2054,0,0,0,0,0,0
$GC,12415,0.82,197.0,787.9,9.4,441,12431,0.00,0.00,14.07,0.992,6,0.000,0.000,3549,1354,1996,0,0,0,0,0,0
$GC,12658,0.89,210.5,765.1,9.4,447,12675,0.12,0.00,13.75,0.982,6,0.068,0.000,3592,1354,1941,0,0,0,0,0,0
$GC,12903,0.89,210.5,736.9,11.8,453,12904,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1354,1938,0,0,0,0,0,0
$GC,13146,0.89,210.5,708.0,11.8,459,13151,0.00,2.67,0.00,0.000,4,0.000,0.047,3592,2934,1937,0,0,0,0,0,0
$GC,13179,0.89,210.5,703.9,12.2,459,13184,0.00,2.72,0.00,0.000,6,0.000,0.048,3592,1352,1934,0,0,0,0,0,0
$GC,13429,0.89,210.5,676.1,11.1,465,13433,0.00,2.10,0.00,0.000,4,0.000,0.084,3592,166,1934,0,0,0,0,0,0
$GC,13472,0.82,210.5,671.0,11.9,465,13478,0.12,1.92,0.00,0.000,6,0.116,0.029,3565,1346,1934,0,0,0,0,0,0
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$STATE,19086,end climb,SURFACE_DEPTH_REACHED
$STATE,19086,begin surface coast
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$STATE,19128,end surface coast,CONTROL_FINISHED_OK
$STATE,19128,begin surface
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$10V_AH,9.9,11.633
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355668
$DATA_FILE_SIZE,53984,728
$CAP_FILE_SIZE,182071,0
$CFSIZE,260165632,165425152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100613,113946,2254.422,-15755.229,62,3.7,81,10.1