version: 66.06
glider: 148
mission: 9
dive: 579
start: 1 25 111 7 15 49
data:
$ID,148
$MISSION,9
$DIVE,579
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$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,650
$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,52499
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-870794.06
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2860
$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,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,78
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$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,-11.449877
$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,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,065924,2247.383,-15758.413,32,1.2,50,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-68.2
$GPS2,071455,2247.317,-15758.416,13,1.5,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.252,0.064
$KALMAN_X,-112458.4,210.7,-162.6,132111.8,-155.5
$KALMAN_Y,-214663.8,13.9,-31.0,339546.1,-1503.0
$MHEAD_RNG_PITCHd_Wd,274.2,7849,-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,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,88,0.00,0.00,-67.57,0.000,2,0.000,0.000,412,1827,3217,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.2,-3.4,9,123,11.45,2.47,-10.27,0.000,4,0.152,0.044,2574,3330,3719,0,0,0,0,0,0
$GC,247,-1.21,-146.0,30.0,-13.9,32,256,0.05,2.50,0.00,0.000,6,0.099,0.025,2590,1789,3721,0,0,0,0,0,0
$GC,516,-1.11,-146.0,67.3,-15.0,57,521,0.12,2.50,0.00,0.000,4,0.113,0.031,2617,3335,3721,0,0,0,0,0,0
$GC,548,-1.11,-146.0,72.3,-12.3,59,552,0.00,2.45,0.00,0.000,6,0.000,0.023,2617,1791,3721,0,0,0,0,0,0
$GC,814,-1.11,-146.0,102.0,-9.6,83,818,0.00,2.50,0.00,0.000,4,0.000,0.029,2617,3342,3722,0,0,0,0,0,0
$GC,844,-1.11,-146.0,104.9,-9.7,85,848,0.00,2.45,0.00,0.000,6,0.000,0.022,2617,1792,3722,0,0,0,0,0,0
$GC,1112,-1.21,-146.0,126.5,-7.6,109,1116,0.00,2.47,0.00,0.000,4,0.000,0.029,2617,3345,3722,0,0,0,0,0,0
$GC,1169,-1.40,-146.0,131.1,-7.1,114,1174,0.25,2.45,0.00,0.000,6,0.035,0.023,2505,1807,3723,0,0,0,0,0,0
$GC,1430,-1.13,-146.0,171.0,-16.7,138,1443,0.52,2.58,0.00,0.000,4,0.084,0.036,2607,208,3723,0,0,0,0,0,0
$GC,1465,-1.22,-146.0,175.4,-12.1,141,1470,0.00,2.45,0.00,0.000,6,0.000,0.020,2606,1777,3724,0,0,0,0,0,0
$GC,1728,-1.33,-146.0,200.1,-9.4,165,1733,0.15,2.55,0.00,0.000,4,0.054,0.030,2533,3369,3724,0,0,0,0,0,0
$GC,1814,-1.26,-146.0,211.2,-13.7,166,1821,0.22,2.47,0.00,0.000,6,0.084,0.022,2584,1814,3724,0,0,0,0,0,0
$GC,2064,-1.26,-146.0,238.0,-10.5,173,2068,0.00,2.47,0.00,0.000,4,0.000,0.031,2585,3362,3724,0,0,0,0,0,0
$GC,2082,-1.26,-146.0,240.1,-11.1,173,2087,0.00,2.45,0.00,0.000,6,0.000,0.022,2585,1810,3724,0,0,0,0,0,0
$GC,2348,-1.26,-146.0,266.6,-10.3,180,2352,0.00,2.53,0.00,0.000,4,0.000,0.031,2584,3367,3724,0,0,0,0,0,0
$GC,2376,-1.33,-146.0,269.7,-10.0,180,2380,0.00,2.47,0.00,0.000,6,0.000,0.024,2584,1821,3724,0,0,0,0,0,0
$GC,2630,-1.40,-146.0,295.3,-10.2,187,2635,0.12,2.53,0.00,0.000,4,0.064,0.034,2519,3367,3724,0,0,0,0,0,0
$GC,2689,-1.33,-146.0,302.5,-12.9,188,2694,0.22,2.45,0.00,0.000,6,0.087,0.025,2569,1841,3724,0,0,0,0,0,0
$GC,2963,-1.33,-146.0,328.7,-9.0,195,2967,0.00,2.47,0.00,0.000,4,0.000,0.036,2569,3359,3723,0,0,0,0,0,0
$GC,2984,-1.33,-146.0,330.6,-9.5,195,2988,0.00,2.42,0.00,0.000,6,0.000,0.025,2569,1848,3722,0,0,0,0,0,0
$GC,3247,-1.33,-146.0,355.7,-9.6,202,3251,0.00,2.47,0.00,0.000,4,0.000,0.038,2569,3358,3722,0,0,0,0,0,0
$GC,3291,-1.41,-146.0,360.2,-9.2,203,3295,0.00,2.42,0.00,0.000,6,0.000,0.027,2569,1855,3722,0,0,0,0,0,0
$GC,3579,-1.41,-146.0,388.3,-9.8,210,3584,0.00,2.75,0.00,0.000,4,0.000,0.054,2569,219,3720,0,0,0,0,0,0
$GC,3603,-1.41,-146.0,391.0,-10.9,210,3607,0.00,2.60,0.00,0.000,6,0.000,0.025,2569,1845,3719,0,0,0,0,0,0
$GC,3862,-1.41,-146.0,415.0,-9.1,217,3866,0.00,2.47,0.00,0.000,4,0.000,0.041,2569,3356,3719,0,0,0,0,0,0
$GC,3887,-1.41,-146.0,417.3,-10.2,217,3891,0.00,2.42,0.00,0.000,6,0.000,0.028,2569,1847,3718,0,0,0,0,0,0
$GC,4146,-1.41,-146.0,439.1,-8.1,224,4150,0.00,2.78,0.00,0.000,4,0.000,0.061,2569,220,3717,0,0,0,0,0,0
$GC,4179,-1.51,-146.0,442.0,-9.4,224,4184,0.17,2.60,0.00,0.000,6,0.050,0.028,2496,1832,3717,0,0,0,0,0,0
$GC,4431,-1.37,-146.0,470.9,-11.9,230,4436,0.25,2.55,0.00,0.000,4,0.092,0.045,2555,3370,3715,0,0,0,0,0,0
$GC,4455,-1.37,-146.0,474.0,-10.9,230,4459,0.00,2.45,0.00,0.000,6,0.000,0.028,2555,1847,3715,0,0,0,0,0,0
$GC,4716,-1.37,-146.0,499.0,-9.9,237,4721,0.00,2.55,0.00,0.000,4,0.000,0.048,2555,3367,3713,0,0,0,0,0,0
$GC,4741,-1.37,-146.0,501.6,-10.6,237,4746,0.00,2.47,0.00,0.000,6,0.000,0.031,2555,1855,3713,0,0,0,0,0,0
$GC,5000,-1.37,-146.0,525.8,-9.2,244,5005,0.00,2.83,0.00,0.000,4,0.000,0.067,2555,215,3711,0,0,0,0,0,0
$GC,5024,-1.37,-146.0,528.1,-9.6,244,5028,0.00,2.67,0.00,0.000,6,0.000,0.034,2555,1844,3711,0,0,0,0,0,0
$GC,5285,-1.37,-146.0,550.0,-8.4,251,5290,0.00,2.58,0.00,0.000,4,0.000,0.053,2555,3373,3709,0,0,0,0,0,0
$GC,5313,-1.37,-146.0,552.7,-8.7,251,5318,0.00,2.50,0.00,0.000,6,0.000,0.033,2555,1854,3710,0,0,0,0,0,0
$GC,5568,-1.37,-146.0,574.5,-8.7,258,5572,0.00,2.83,0.00,0.000,4,0.000,0.069,2555,220,3708,0,0,0,0,0,0
$GC,5589,-1.37,-146.0,576.3,-8.8,258,5593,0.00,2.67,0.00,0.000,6,0.000,0.036,2555,1842,3708,0,0,0,0,0,0
$GC,5853,-1.37,-146.0,600.0,-9.1,265,5857,0.00,2.60,0.00,0.000,4,0.000,0.058,2555,3370,3706,0,0,0,0,0,0
$GC,5886,-1.46,-146.0,603.1,-9.5,265,5890,0.00,2.50,0.00,0.000,6,0.000,0.036,2555,1858,3706,0,0,0,0,0,0
$GC,6138,-1.46,-146.0,625.9,-9.1,271,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1858,3705,0,0,0,0,0,0
$GC,6379,-1.46,-146.0,646.6,-8.3,277,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1853,3703,0,0,0,0,0,0
$GC,6623,-1.52,-146.0,665.1,-7.5,283,6629,0.12,2.60,0.00,0.000,4,0.067,0.053,2497,3373,3701,0,0,0,0,0,0
$GC,6647,-1.52,-146.0,667.2,-9.5,283,6652,0.15,2.50,0.00,0.000,6,0.102,0.036,2529,1867,3701,0,0,0,0,0,0
$GC,6911,-1.52,-146.0,690.3,-8.6,290,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1866,3700,0,0,0,0,0,0
$GC,7155,-1.52,-146.0,710.0,-8.0,296,7160,0.00,2.55,0.00,0.000,4,0.000,0.052,2529,3367,3699,0,0,0,0,0,0
$GC,7194,-1.52,-146.0,713.1,-8.2,296,7200,0.00,2.47,0.00,0.000,6,0.000,0.037,2529,1875,3698,0,0,0,0,0,0
$GC,7444,-1.52,-146.0,733.0,-8.0,303,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1874,3698,0,0,0,0,0,0
$GC,7688,-1.52,-146.0,754.8,-9.1,309,7692,0.00,2.53,0.00,0.000,4,0.000,0.052,2529,3365,3696,0,0,0,0,0,0
$GC,7733,-1.52,-146.0,758.9,-9.3,310,7737,0.00,2.47,0.00,0.000,6,0.000,0.038,2529,1876,3696,0,0,0,0,0,0
$GC,8020,-1.52,-146.0,786.7,-9.6,317,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1876,3694,0,0,0,0,0,0
$GC,8265,-1.52,-146.0,810.1,-9.6,323,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1876,3693,0,0,0,0,0,0
$GC,8507,-1.52,-146.0,833.1,-9.6,329,8511,0.00,2.53,0.00,0.000,4,0.000,0.053,2529,3370,3691,0,0,0,0,0,0
$GC,8528,-1.52,-146.0,835.0,-9.7,329,8532,0.00,2.47,0.00,0.000,6,0.000,0.037,2529,1882,3691,0,0,0,0,0,0
$GC,8791,-1.52,-146.0,858.6,-8.8,336,8798,0.00,2.95,0.00,0.000,4,0.000,0.077,2529,215,3691,0,0,0,0,0,0
$GC,8821,-1.52,-146.0,861.6,-10.2,336,8826,0.00,2.75,0.00,0.000,6,0.000,0.044,2529,1861,3690,0,0,0,0,0,0
$GC,9078,-1.52,-146.0,882.8,-8.2,343,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1861,3689,0,0,0,0,0,0
$STATE,9317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9318,begin apogee
$GC,9323,-0.31,0.0,901.4,7.5,349,9452,1.17,0.00,124.47,1.186,6,0.078,0.000,2792,1680,3119,0,0,0,0,0,0
$STATE,9452,end apogee,CONTROL_FINISHED_OK
$STATE,9453,begin climb
$GC,9455,1.27,146.0,904.5,0.0,352,9605,1.45,2.72,134.85,1.160,4,0.028,0.074,3151,181,2523,0,0,0,0,0,0
$GC,9611,0.84,146.0,901.9,10.4,356,9618,0.52,2.53,0.00,0.000,6,0.114,0.039,3046,1666,2521,0,0,0,0,0,0
$GC,9898,0.77,169.0,875.5,8.9,363,9927,0.00,2.70,20.92,1.075,4,0.000,0.070,3046,184,2430,0,0,0,0,0,0
$GC,10010,0.59,169.0,863.6,10.7,365,10016,0.28,2.53,0.00,0.000,6,0.100,0.038,2989,1681,2427,0,0,0,0,0,0
$GC,10277,0.74,233.1,844.2,7.0,372,10349,0.15,2.78,61.55,1.113,4,0.058,0.070,3047,184,2168,0,0,0,0,0,0
$GC,10384,0.63,233.1,833.3,12.9,374,10389,0.25,2.53,0.00,0.000,6,0.099,0.040,2996,1673,2166,0,0,0,0,0,0
$GC,10653,0.77,281.1,811.0,7.8,381,10703,0.12,0.00,46.58,1.087,6,0.068,0.000,3043,1673,1974,0,0,0,0,0,0
$GC,10936,0.77,281.1,781.4,10.7,388,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1674,1966,0,0,0,0,0,0
$GC,11182,0.77,281.1,754.4,11.1,394,11187,0.00,2.80,0.00,0.000,4,0.000,0.067,3043,3266,1964,0,0,0,0,0,0
$GC,11201,0.77,281.1,752.0,11.2,394,11206,0.00,2.67,0.00,0.000,6,0.000,0.038,3043,1687,1962,0,0,0,0,0,0
$GC,11465,0.77,281.1,721.8,11.5,401,11470,0.00,2.72,0.00,0.000,4,0.000,0.081,3043,168,1961,0,0,0,0,0,0
$GC,11488,0.77,281.1,718.8,12.0,401,11493,0.00,2.53,0.00,0.000,6,0.000,0.040,3043,1675,1961,0,0,0,0,0,0
$GC,11749,0.77,281.1,688.9,11.5,408,11754,0.00,2.80,0.00,0.000,4,0.000,0.067,3043,3268,1961,0,0,0,0,0,0
$GC,11772,0.77,281.1,685.7,11.1,408,11777,0.00,2.70,0.00,0.000,6,0.000,0.039,3043,1675,1960,0,0,0,0,0,0
$GC,12032,0.77,281.1,657.0,11.0,415,12033,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1676,1960,0,0,0,0,0,0
$GC,12277,0.77,281.1,631.1,10.6,421,12281,0.00,2.67,0.00,0.000,4,0.000,0.081,3043,169,1960,0,0,0,0,0,0
$GC,12302,0.77,281.1,628.3,10.9,421,12306,0.00,2.53,0.00,0.000,6,0.000,0.038,3043,1683,1960,0,0,0,0,0,0
$GC,12561,0.77,283.4,602.2,9.9,428,12566,0.00,2.72,0.00,0.000,4,0.000,0.064,3043,3264,1960,0,0,0,0,0,0
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$STATE,17764,begin surface coast
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$10V_AH,9.8,67.061
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$CFSIZE,260165632,138436608
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