version: 66.06
glider: 148
mission: 12
dive: 363
start: 8 9 113 22 45 1
data:
$ID,148
$MISSION,12
$DIVE,363
$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,-1023261.7
$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,3400
$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,84
$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
$GPS1,223626,2243.068,-15806.852,39,2.6,58,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-77.3
$GPS2,224409,2243.000,-15806.935,10,99.0,29,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.099,0.240
$KALMAN_X,-105566.8,-543.5,-329.1,94705.8,2135.8
$KALMAN_Y,108039.8,-117.4,150.5,-111756.1,-873.7
$MHEAD_RNG_PITCHd_Wd,327.6,39937,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.53,0.000,2,0.000,0.000,414,1556,2966,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.7,-6.3,9,123,13.90,2.53,-7.62,0.000,4,0.145,0.034,3116,3116,3399,0,0,0,0,0,0
$GC,214,-1.11,-146.0,34.0,-16.7,26,224,0.15,2.55,0.00,0.000,6,0.081,0.032,3154,1575,3400,0,0,0,0,0,0
$GC,484,-0.94,-146.0,77.7,-15.0,51,489,0.17,2.45,0.00,0.000,4,0.104,0.023,3191,3116,3400,0,0,0,0,0,0
$GC,518,-0.90,-146.0,82.6,-12.0,53,522,0.00,2.53,0.00,0.000,6,0.000,0.034,3191,1565,3400,0,0,0,0,0,0
$GC,786,-0.84,-146.0,113.4,-12.2,77,791,0.12,2.47,0.00,0.000,4,0.108,0.022,3219,3114,3401,0,0,0,0,0,0
$GC,817,-0.84,-146.0,116.8,-9.8,79,821,0.00,2.47,0.00,0.000,6,0.000,0.028,3219,1585,3401,0,0,0,0,0,0
$GC,1085,-0.84,-146.0,141.4,-9.5,103,1089,0.00,2.30,0.00,0.000,4,0.000,0.049,3219,172,3402,0,0,0,0,0,0
$GC,1125,-0.90,-146.0,145.9,-9.7,106,1134,0.00,2.12,0.00,0.000,6,0.000,0.017,3219,1580,3402,0,0,0,0,0,0
$GC,1389,-0.90,-146.0,168.6,-8.8,131,1394,0.00,2.38,0.00,0.000,4,0.000,0.021,3219,3110,3402,0,0,0,0,0,0
$GC,1420,-1.03,-146.0,171.5,-8.5,133,1426,0.17,2.47,0.00,0.000,6,0.044,0.028,3126,1579,3401,0,0,0,0,0,0
$GC,1694,-0.87,-146.0,206.8,-13.6,156,1699,0.32,2.30,0.00,0.000,4,0.081,0.040,3203,162,3402,0,0,0,0,0,0
$GC,1720,-0.87,-146.0,210.3,-10.3,156,1724,0.00,2.15,0.00,0.000,6,0.000,0.018,3203,1592,3402,0,0,0,0,0,0
$GC,1984,-0.92,-146.0,234.7,-9.2,163,1989,0.00,2.38,0.00,0.000,4,0.000,0.022,3204,3116,3402,0,0,0,0,0,0
$GC,2014,-1.03,-146.0,237.3,-8.8,163,2019,0.12,2.47,0.00,0.000,6,0.060,0.028,3128,1589,3402,0,0,0,0,0,0
$GC,2271,-0.92,-146.0,268.3,-12.0,170,2276,0.28,2.40,0.00,0.000,4,0.080,0.021,3194,3113,3402,0,0,0,0,0,0
$GC,2286,-0.92,-146.0,270.4,-11.9,170,2290,0.00,2.45,0.00,0.000,6,0.000,0.026,3194,1596,3402,0,0,0,0,0,0
$GC,2557,-0.99,-146.0,289.5,-7.2,177,2561,0.00,2.40,0.00,0.000,4,0.000,0.024,3194,3115,3402,0,0,0,0,0,0
$GC,2581,-1.09,-146.0,291.6,-8.0,177,2586,0.12,2.45,0.00,0.000,6,0.061,0.028,3122,1607,3402,0,0,0,0,0,0
$GC,2841,-0.99,-146.0,319.1,-10.8,184,2846,0.25,2.40,0.00,0.000,4,0.081,0.048,3184,168,3401,0,0,0,0,0,0
$GC,2887,-1.06,-146.0,323.1,-8.5,185,2892,0.00,2.15,0.00,0.000,6,0.000,0.021,3184,1577,3401,0,0,0,0,0,0
$GC,3177,-1.12,-146.0,342.3,-6.8,192,3182,0.12,2.50,0.00,0.000,4,0.063,0.030,3116,3138,3399,0,0,0,0,0,0
$GC,3198,-1.12,-146.0,344.2,-8.0,192,3203,0.17,2.50,0.00,0.000,6,0.086,0.031,3157,1610,3400,0,0,0,0,0,0
$GC,3463,-1.12,-146.0,367.8,-8.9,199,3467,0.00,2.42,0.00,0.000,4,0.000,0.055,3157,172,3399,0,0,0,0,0,0
$GC,3478,-1.12,-146.0,369.2,-9.0,199,3482,0.00,2.25,0.00,0.000,6,0.000,0.021,3157,1613,3398,0,0,0,0,0,0
$GC,3755,-1.12,-146.0,390.7,-7.5,206,3759,0.00,2.47,0.00,0.000,4,0.000,0.035,3157,3143,3397,0,0,0,0,0,0
$GC,3784,-1.18,-146.0,393.1,-7.2,206,3788,0.00,2.53,0.00,0.000,6,0.000,0.041,3157,1616,3396,0,0,0,0,0,0
$GC,4039,-1.18,-146.0,411.4,-7.2,213,4043,0.00,2.47,0.00,0.000,4,0.000,0.035,3157,3136,3395,0,0,0,0,0,0
$GC,4059,-1.18,-146.0,412.8,-7.4,213,4064,0.00,2.50,0.00,0.000,6,0.000,0.035,3157,1623,3395,0,0,0,0,0,0
$GC,4328,-1.18,-146.0,431.9,-7.3,220,4332,0.00,2.50,0.00,0.000,4,0.000,0.064,3157,172,3393,0,0,0,0,0,0
$GC,4365,-1.18,-146.0,435.3,-9.6,220,4373,0.00,2.30,0.00,0.000,6,0.000,0.025,3157,1606,3393,0,0,0,0,0,0
$GC,4617,-1.18,-146.0,457.0,-8.8,227,4622,0.00,2.50,0.00,0.000,4,0.000,0.038,3157,3143,3391,0,0,0,0,0,0
$GC,4641,-1.23,-146.0,459.4,-10.3,227,4646,0.10,2.53,0.00,0.000,6,0.074,0.038,3098,1622,3391,0,0,0,0,0,0
$GC,4904,-1.13,-146.0,489.9,-11.8,234,4909,0.25,2.53,0.00,0.000,4,0.086,0.074,3158,167,3389,0,0,0,0,0,0
$GC,4954,-1.18,-146.0,495.1,-9.7,235,4958,0.00,2.33,0.00,0.000,6,0.000,0.031,3159,1613,3388,0,0,0,0,0,0
$GC,5241,-1.18,-146.0,517.4,-7.5,242,5245,0.00,2.53,0.00,0.000,4,0.000,0.044,3158,3149,3387,0,0,0,0,0,0
$GC,5272,-1.25,-146.0,519.8,-8.5,242,5277,0.15,2.53,0.00,0.000,6,0.054,0.042,3095,1626,3387,0,0,0,0,0,0
$GC,5527,-1.16,-146.0,545.6,-10.2,249,5533,0.22,2.55,0.00,0.000,4,0.087,0.073,3146,173,3385,0,0,0,0,0,0
$GC,5566,-1.16,-146.0,549.4,-9.5,249,5571,0.00,2.35,0.00,0.000,6,0.000,0.031,3146,1626,3385,0,0,0,0,0,0
$GC,5822,-1.16,-146.0,569.0,-7.9,256,5826,0.00,2.53,0.00,0.000,4,0.000,0.045,3146,3158,3382,0,0,0,0,0,0
$GC,5866,-1.24,-146.0,572.6,-7.5,257,5870,0.00,2.58,0.00,0.000,6,0.000,0.044,3146,1629,3383,0,0,0,0,0,0
$GC,6153,-1.24,-146.0,591.6,-6.2,264,6158,0.00,2.55,0.00,0.000,4,0.000,0.077,3146,174,3382,0,0,0,0,0,0
$GC,6198,-1.24,-146.0,594.2,-6.0,265,6202,0.00,2.35,0.00,0.000,6,0.000,0.032,3146,1623,3381,0,0,0,0,0,0
$GC,6485,-1.24,-146.0,610.2,-5.5,272,6490,0.00,2.55,0.00,0.000,4,0.000,0.047,3146,3153,3379,0,0,0,0,0,0
$GC,6519,-1.31,-146.0,612.0,-5.5,272,6524,0.12,2.58,0.00,0.000,6,0.062,0.046,3085,1629,3379,0,0,0,0,0,0
$GC,6775,-1.20,-146.0,635.6,-9.6,279,6780,0.22,2.55,0.00,0.000,4,0.088,0.077,3136,174,3377,0,0,0,0,0,0
$GC,6804,-1.20,-146.0,638.4,-8.4,279,6808,0.00,2.38,0.00,0.000,6,0.000,0.034,3136,1627,3377,0,0,0,0,0,0
$GC,7065,-1.20,-146.0,657.7,-7.7,286,7069,0.00,2.58,0.00,0.000,4,0.000,0.076,3136,169,3376,0,0,0,0,0,0
$GC,7093,-1.20,-146.0,660.8,-9.5,286,7098,0.00,2.38,0.00,0.000,6,0.000,0.036,3136,1613,3375,0,0,0,0,0,0
$GC,7348,-1.20,-146.0,681.8,-8.3,293,7353,0.00,2.60,0.00,0.000,4,0.000,0.053,3136,3157,3375,0,0,0,0,0,0
$GC,7369,-1.20,-146.0,683.7,-9.0,293,7373,0.00,2.60,0.00,0.000,6,0.000,0.047,3136,1623,3375,0,0,0,0,0,0
$GC,7633,-1.20,-146.0,706.3,-8.5,300,7638,0.00,2.58,0.00,0.000,4,0.000,0.081,3136,170,3374,0,0,0,0,0,0
$GC,7680,-1.20,-146.0,710.3,-8.9,301,7684,0.00,2.38,0.00,0.000,6,0.000,0.036,3136,1619,3373,0,0,0,0,0,0
$GC,7969,-1.20,-146.0,735.5,-8.6,308,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1618,3372,0,0,0,0,0,0
$GC,8211,-1.20,-146.0,754.8,-8.0,314,8215,0.00,2.58,0.00,0.000,4,0.000,0.077,3136,166,3370,0,0,0,0,0,0
$GC,8230,-1.20,-146.0,756.4,-8.4,314,8234,0.00,2.38,0.00,0.000,6,0.000,0.035,3135,1616,3370,0,0,0,0,0,0
$GC,8498,-1.20,-146.0,776.5,-7.6,321,8502,0.00,2.58,0.00,0.000,4,0.000,0.054,3136,3155,3370,0,0,0,0,0,0
$GC,8522,-1.20,-146.0,778.7,-8.0,321,8526,0.00,2.62,0.00,0.000,6,0.000,0.048,3136,1616,3370,0,0,0,0,0,0
$GC,8782,-1.20,-146.0,798.7,-7.7,328,8786,0.00,2.58,0.00,0.000,4,0.000,0.081,3135,165,3368,0,0,0,0,0,0
$GC,8816,-1.20,-146.0,801.8,-9.9,328,8821,0.00,2.38,0.00,0.000,6,0.000,0.036,3136,1620,3368,0,0,0,0,0,0
$GC,9067,-1.20,-146.0,822.4,-8.2,334,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1620,3367,0,0,0,0,0,0
$GC,9310,-1.20,-146.0,841.2,-7.6,340,9315,0.00,2.58,0.00,0.000,4,0.000,0.077,3136,167,3367,0,0,0,0,0,0
$GC,9336,-1.20,-146.0,843.2,-8.2,340,9340,0.00,2.38,0.00,0.000,6,0.000,0.036,3136,1610,3367,0,0,0,0,0,0
$GC,9595,-1.20,-146.0,862.0,-7.0,347,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1611,3366,0,0,0,0,0,0
$GC,9839,-1.20,-146.0,877.6,-6.2,353,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1611,3365,0,0,0,0,0,0
$GC,10083,-1.20,-146.0,891.5,-5.7,359,10087,0.00,2.55,0.00,0.000,4,0.000,0.077,3136,162,3365,0,0,0,0,0,0
$GC,10113,-1.20,-146.0,893.3,-7.0,359,10117,0.00,2.38,0.00,0.000,6,0.000,0.036,3135,1606,3364,0,0,0,0,0,0
$STATE,10243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10243,begin apogee
$GC,10249,-0.31,0.0,900.6,5.6,363,10374,0.85,0.00,120.72,1.146,6,0.070,0.000,3331,1335,2800,0,0,0,0,0,0
$STATE,10374,end apogee,CONTROL_FINISHED_OK
$STATE,10374,begin climb
$GC,10379,1.27,146.0,901.8,0.0,366,10518,1.42,2.15,130.18,1.123,4,0.032,0.081,3682,173,2203,0,0,0,0,0,0
$GC,10592,1.00,146.0,883.1,17.0,371,10597,0.30,1.98,0.00,0.000,6,0.110,0.031,3622,1364,2199,0,0,0,0,0,0
$GC,10880,0.93,146.0,847.4,12.0,378,10884,0.00,2.15,0.00,0.000,4,0.000,0.075,3622,170,2193,0,0,0,0,0,0
$GC,10952,0.80,146.0,838.2,13.6,379,10956,0.22,1.95,0.00,0.000,6,0.104,0.031,3575,1355,2193,0,0,0,0,0,0
$GC,11214,0.83,172.1,814.0,8.8,386,11242,0.00,2.17,23.33,1.029,4,0.000,0.076,3575,174,2098,0,0,0,0,0,0
$GC,11281,0.83,172.1,807.4,10.8,387,11285,0.00,1.95,0.00,0.000,6,0.000,0.031,3575,1350,2097,0,0,0,0,0,0
$GC,11549,0.88,209.7,784.4,8.3,394,11592,0.00,2.80,35.47,1.036,4,0.000,0.056,3575,2938,1944,0,0,0,0,0,0
$GC,11623,1.03,253.2,778.2,8.0,395,11671,0.20,2.75,41.78,1.029,6,0.048,0.050,3637,1348,1767,0,0,0,0,0,0
$GC,11926,0.98,253.2,737.7,13.7,403,11932,0.12,2.72,0.00,0.000,4,0.116,0.048,3613,2931,1761,0,0,0,0,0,0
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$STATE,17965,end climb,SURFACE_DEPTH_REACHED
$STATE,17965,begin surface coast
$FINISH,1.0,1.007847
$STATE,17999,end surface coast,CONTROL_FINISHED_OK
$STATE,17999,begin surface
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$10V_AH,9.8,51.090
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355440
$DATA_FILE_SIZE,54158,678
$CAP_FILE_SIZE,184566,0
$CFSIZE,260165632,144711680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100813,034729,2245.134,-15807.728,36,1.5,42,10.0