version: 66.06
glider: 148
mission: 12
dive: 225
start: 7 10 113 1 51 22
data:
$ID,148
$MISSION,12
$DIVE,225
$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,-1020556.4
$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,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,88
$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
$GPS1,014224,2250.109,-15713.926,91,1.7,91,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.1
$GPS2,015025,2250.156,-15713.935,13,0.9,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE_40
$TGT_LATLONG,2239.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.193
$KALMAN_X,-234479.5,85.7,455.7,312709.6,-191.9
$KALMAN_Y,167479.6,-335.2,94.5,-157663.5,1373.7
$MHEAD_RNG_PITCHd_Wd,127.9,35562,-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,15,-1.27,-146.0,0.0,0.0,0,77,0.00,0.00,-59.62,0.000,2,0.000,0.000,411,1592,2770,0,0,0,0,0,0
$GC,81,-1.27,-146.0,3.1,-3.1,8,112,13.90,2.38,-12.25,0.000,4,0.146,0.053,3103,160,3395,0,0,0,0,0,0
$GC,148,-0.93,-146.0,19.5,-22.5,17,157,0.32,2.15,0.00,0.000,6,0.086,0.017,3177,1550,3396,0,0,0,0,0,0
$GC,429,-0.82,-146.0,59.5,-13.1,47,434,0.12,2.50,0.00,0.000,4,0.113,0.022,3206,3140,3395,0,0,0,0,0,0
$GC,486,-0.88,-146.0,65.5,-8.7,51,490,0.00,2.53,0.00,0.000,6,0.000,0.027,3206,1566,3396,0,0,0,0,0,0
$GC,752,-0.88,-146.0,90.0,-9.2,75,757,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1566,3397,0,0,0,0,0,0
$GC,1015,-0.88,-146.0,114.2,-9.8,100,1019,0.00,2.28,0.00,0.000,4,0.000,0.042,3206,171,3397,0,0,0,0,0,0
$GC,1036,-0.88,-146.0,116.7,-10.2,101,1042,0.00,2.15,0.00,0.000,6,0.000,0.017,3206,1612,3397,0,0,0,0,0,0
$GC,1299,-0.88,-146.0,141.0,-9.0,126,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1615,3398,0,0,0,0,0,0
$GC,1554,-0.88,-146.0,162.5,-8.6,150,1558,0.00,2.38,0.00,0.000,4,0.000,0.041,3206,171,3398,0,0,0,0,0,0
$GC,1574,-0.88,-146.0,164.1,-9.0,151,1578,0.00,2.10,0.00,0.000,6,0.000,0.017,3206,1588,3398,0,0,0,0,0,0
$GC,1843,-0.93,-146.0,189.2,-10.0,175,1848,0.10,2.38,0.00,0.000,4,0.075,0.022,3147,3105,3398,0,0,0,0,0,0
$GC,1889,-0.93,-146.0,195.4,-11.7,179,1894,0.15,2.45,0.00,0.000,6,0.091,0.027,3182,1587,3398,0,0,0,0,0,0
$GC,2140,-0.93,-146.0,222.7,-10.8,188,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1587,3398,0,0,0,0,0,0
$GC,2386,-0.93,-146.0,245.5,-8.9,194,2390,0.00,2.33,0.00,0.000,4,0.000,0.044,3183,168,3398,0,0,0,0,0,0
$GC,2423,-0.93,-146.0,249.0,-8.8,194,2427,0.00,2.10,0.00,0.000,6,0.000,0.018,3182,1579,3398,0,0,0,0,0,0
$GC,2673,-0.93,-146.0,267.8,-7.7,200,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1582,3398,0,0,0,0,0,0
$GC,2919,-0.99,-146.0,288.8,-8.8,206,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1582,3398,0,0,0,0,0,0
$GC,3161,-1.06,-146.0,307.8,-7.9,212,3166,0.12,2.45,0.00,0.000,4,0.064,0.028,3117,3110,3397,0,0,0,0,0,0
$GC,3194,-1.06,-146.0,311.5,-10.9,212,3200,0.17,2.50,0.00,0.000,6,0.086,0.031,3157,1581,3397,0,0,0,0,0,0
$GC,3446,-1.06,-146.0,334.2,-8.9,218,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1582,3396,0,0,0,0,0,0
$GC,3688,-1.06,-146.0,354.8,-8.5,224,3692,0.00,2.45,0.00,0.000,4,0.000,0.031,3157,3106,3395,0,0,0,0,0,0
$GC,3712,-1.11,-146.0,357.0,-9.1,224,3716,0.00,2.50,0.00,0.000,6,0.000,0.035,3158,1586,3396,0,0,0,0,0,0
$GC,3978,-1.11,-146.0,376.3,-7.2,231,3982,0.00,2.38,0.00,0.000,4,0.000,0.058,3158,167,3394,0,0,0,0,0,0
$GC,4001,-1.11,-146.0,378.2,-7.5,231,4006,0.00,2.15,0.00,0.000,6,0.000,0.021,3158,1547,3394,0,0,0,0,0,0
$GC,4269,-1.16,-146.0,396.6,-6.9,238,4274,0.10,2.60,0.00,0.000,4,0.076,0.034,3102,3141,3391,0,0,0,0,0,0
$GC,4291,-1.16,-146.0,398.6,-8.2,238,4296,0.12,2.60,0.00,0.000,6,0.100,0.036,3132,1571,3392,0,0,0,0,0,0
$GC,4556,-1.16,-146.0,421.6,-8.6,245,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1572,3390,0,0,0,0,0,0
$GC,4800,-1.16,-146.0,445.1,-9.8,251,4804,0.00,2.60,0.00,0.000,4,0.000,0.039,3132,3136,3388,0,0,0,0,0,0
$GC,4845,-1.23,-146.0,449.5,-9.2,252,4850,0.00,2.58,0.00,0.000,6,0.000,0.038,3132,1593,3388,0,0,0,0,0,0
$GC,5136,-1.23,-146.0,477.7,-9.6,259,5140,0.00,2.45,0.00,0.000,4,0.000,0.068,3132,164,3386,0,0,0,0,0,0
$GC,5164,-1.23,-146.0,481.1,-10.7,259,5168,0.00,2.28,0.00,0.000,6,0.000,0.028,3133,1589,3386,0,0,0,0,0,0
$GC,5425,-1.23,-146.0,504.6,-8.9,266,5429,0.00,2.45,0.00,0.000,4,0.000,0.067,3132,168,3384,0,0,0,0,0,0
$GC,5449,-1.23,-146.0,507.3,-9.9,266,5453,0.00,2.28,0.00,0.000,6,0.000,0.028,3132,1587,3383,0,0,0,0,0,0
$GC,5708,-1.23,-146.0,529.5,-8.4,273,5712,0.00,2.47,0.00,0.000,4,0.000,0.068,3132,161,3382,0,0,0,0,0,0
$GC,5742,-1.23,-146.0,532.5,-8.8,273,5747,0.00,2.28,0.00,0.000,6,0.000,0.030,3132,1576,3381,0,0,0,0,0,0
$GC,5992,-1.23,-146.0,553.0,-8.1,279,5997,0.00,2.60,0.00,0.000,4,0.000,0.044,3132,3155,3380,0,0,0,0,0,0
$GC,6007,-1.23,-146.0,554.2,-7.7,279,6011,0.00,2.65,0.00,0.000,6,0.000,0.041,3132,1574,3379,0,0,0,0,0,0
$GC,6282,-1.23,-146.0,576.0,-8.2,286,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1574,3378,0,0,0,0,0,0
$GC,6524,-1.23,-146.0,595.3,-7.7,292,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1574,3377,0,0,0,0,0,0
$GC,6767,-1.23,-146.0,613.6,-7.6,298,6772,0.00,2.65,0.00,0.000,4,0.000,0.044,3133,3151,3375,0,0,0,0,0,0
$GC,6798,-1.29,-146.0,616.1,-7.6,298,6803,0.12,2.65,0.00,0.000,6,0.064,0.047,3076,1588,3375,0,0,0,0,0,0
$GC,7054,-1.20,-146.0,641.4,-10.1,305,7059,0.20,2.50,0.00,0.000,4,0.096,0.078,3122,170,3373,0,0,0,0,0,0
$GC,7078,-1.20,-146.0,643.8,-9.3,305,7082,0.00,2.30,0.00,0.000,6,0.000,0.032,3122,1589,3373,0,0,0,0,0,0
$GC,7341,-1.20,-146.0,665.5,-8.5,312,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1590,3372,0,0,0,0,0,0
$GC,7583,-1.20,-146.0,687.6,-9.1,318,7587,0.00,2.47,0.00,0.000,4,0.000,0.074,3122,170,3370,0,0,0,0,0,0
$GC,7612,-1.20,-146.0,690.4,-10.4,318,7616,0.00,2.30,0.00,0.000,6,0.000,0.033,3121,1582,3370,0,0,0,0,0,0
$GC,7872,-1.20,-146.0,712.0,-8.2,325,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1582,3369,0,0,0,0,0,0
$GC,8114,-1.20,-146.0,731.2,-7.9,331,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1582,3368,0,0,0,0,0,0
$GC,8358,-1.20,-146.0,749.0,-7.1,337,8362,0.00,2.65,0.00,0.000,4,0.000,0.053,3122,3153,3367,0,0,0,0,0,0
$GC,8377,-1.20,-146.0,750.7,-7.6,337,8381,0.00,2.67,0.00,0.000,6,0.000,0.048,3122,1577,3367,0,0,0,0,0,0
$GC,8643,-1.20,-146.0,768.8,-6.9,344,8647,0.00,2.62,0.00,0.000,4,0.000,0.044,3121,3159,3365,0,0,0,0,0,0
$GC,8667,-1.20,-146.0,770.7,-7.8,344,8671,0.00,2.67,0.00,0.000,6,0.000,0.048,3122,1586,3365,0,0,0,0,0,0
$GC,8926,-1.20,-146.0,788.4,-6.9,351,8930,0.00,2.50,0.00,0.000,4,0.000,0.082,3122,170,3364,0,0,0,0,0,0
$GC,8956,-1.20,-146.0,790.7,-8.1,351,8960,0.00,2.33,0.00,0.000,6,0.000,0.032,3122,1601,3363,0,0,0,0,0,0
$GC,9215,-1.20,-146.0,808.6,-6.9,358,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1601,3363,0,0,0,0,0,0
$GC,9459,-1.20,-146.0,826.1,-7.2,364,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1601,3362,0,0,0,0,0,0
$GC,9704,-1.20,-146.0,844.1,-7.4,370,9709,0.00,2.53,0.00,0.000,4,0.000,0.075,3122,168,3361,0,0,0,0,0,0
$GC,9719,-1.20,-146.0,845.7,-7.4,370,9723,0.00,2.33,0.00,0.000,6,0.000,0.032,3122,1595,3361,0,0,0,0,0,0
$GC,9987,-1.20,-146.0,865.1,-7.1,377,9988,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1595,3361,0,0,0,0,0,0
$GC,10233,-1.20,-146.0,882.0,-6.9,383,10237,0.00,2.62,0.00,0.000,4,0.000,0.053,3122,3157,3360,0,0,0,0,0,0
$GC,10252,-1.20,-146.0,883.5,-6.9,383,10256,0.00,2.67,0.00,0.000,6,0.000,0.048,3122,1586,3360,0,0,0,0,0,0
$STATE,10513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10513,begin apogee
$GC,10520,-0.31,0.0,900.9,6.7,390,10642,0.85,0.00,118.72,1.157,6,0.070,0.000,3318,1348,2800,0,0,0,0,0,0
$STATE,10643,end apogee,CONTROL_FINISHED_OK
$STATE,10643,begin climb
$GC,10647,1.27,146.0,904.1,0.0,393,10787,1.45,2.22,130.82,1.134,4,0.029,0.082,3672,170,2203,0,0,0,0,0,0
$GC,10812,0.98,146.0,895.1,14.0,397,10817,0.35,1.95,0.00,0.000,6,0.108,0.029,3600,1352,2200,0,0,0,0,0,0
$GC,11088,0.91,146.0,866.0,10.4,404,11092,0.00,2.10,0.00,0.000,4,0.000,0.072,3600,172,2193,0,0,0,0,0,0
$GC,11129,0.79,146.0,860.8,12.9,404,11136,0.20,1.92,0.00,0.000,6,0.106,0.029,3559,1351,2192,0,0,0,0,0,0
$GC,11380,0.82,171.6,838.3,8.8,411,11408,0.00,2.17,22.55,1.048,4,0.000,0.073,3559,178,2100,0,0,0,0,0,0
$GC,11449,0.82,171.6,831.6,11.8,412,11453,0.00,1.92,0.00,0.000,6,0.000,0.029,3559,1350,2098,0,0,0,0,0,0
$GC,11717,0.85,194.1,807.1,9.0,419,11741,0.00,0.00,21.67,1.033,6,0.000,0.000,3559,1350,2007,0,0,0,0,0,0
$GC,11963,0.92,212.7,784.8,9.1,425,11984,0.12,0.00,18.42,1.009,6,0.067,0.000,3606,1352,1932,0,0,0,0,0,0
$GC,12204,0.92,212.7,757.6,11.4,431,12209,0.00,2.70,0.00,0.000,4,0.000,0.051,3605,2936,1927,0,0,0,0,0,0
$GC,12223,0.92,212.7,755.3,10.7,431,12228,0.00,2.75,0.00,0.000,6,0.000,0.048,3605,1342,1926,0,0,0,0,0,0
$GC,12489,0.92,212.7,724.9,11.6,438,12490,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,1343,1925,0,0,0,0,0,0
$GC,12731,0.92,212.7,695.9,11.8,444,12732,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,1342,1925,0,0,0,0,0,0
$GC,12975,0.92,212.7,668.5,11.2,450,12978,0.00,2.10,0.00,0.000,4,0.000,0.083,3606,167,1925,0,0,0,0,0,0
$GC,13012,0.85,212.7,664.0,12.1,450,13020,0.15,1.92,0.00,0.000,6,0.082,0.028,3569,1340,1925,0,0,0,0,0,0
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$STATE,18727,end climb,SURFACE_DEPTH_REACHED
$STATE,18727,begin surface coast
$FINISH,1.1,1.023276
$STATE,18777,end surface coast,CONTROL_FINISHED_OK
$STATE,18777,begin surface
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$XPDR_PINGS,17
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$10V_AH,9.9,30.380
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,356004
$DATA_FILE_SIZE,60555,721
$CAP_FILE_SIZE,174678,0
$CFSIZE,260165632,155271168
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$GPS,100713,070654,2249.273,-15711.389,50,1.7,50,10.1