version: 66.06
glider: 148
mission: 10
dive: 640
start: 10 6 111 1 17 16
data:
$ID,148
$MISSION,10
$DIVE,640
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,660
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52523
$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,400
$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,-890690.5
$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,2990
$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,1720
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2955
$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,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,010537,2234.330,-15815.459,66,1.5,66,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.7
$GPS2,011620,2234.263,-15815.615,10,1.1,10,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.175,0.156
$KALMAN_X,-148894.8,34.2,57.3,65469.9,-1885.2
$KALMAN_Y,-96910.4,221.9,151.0,34098.3,-1862.0
$MHEAD_RNG_PITCHd_Wd,38.3,33267,-19.8,-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,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-67.75,0.000,2,0.000,0.000,410,1678,3093,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.1,-3.8,9,117,12.40,2.62,-6.50,0.000,4,0.167,0.033,2685,3323,3433,0,0,0,0,0,0
$GC,154,-1.22,-116.8,17.9,-15.3,17,165,0.15,2.58,0.00,0.000,6,0.079,0.025,2723,1742,3434,0,0,0,0,0,0
$GC,438,-1.15,-116.8,55.5,-12.2,48,442,0.00,2.55,0.00,0.000,4,0.000,0.039,2723,170,3435,0,0,0,0,0,0
$GC,483,-1.15,-116.8,61.2,-11.6,51,488,0.00,2.45,0.00,0.000,6,0.000,0.018,2723,1753,3435,0,0,0,0,0,0
$GC,752,-1.15,-116.8,88.2,-10.0,75,756,0.00,2.42,0.00,0.000,4,0.000,0.024,2723,3291,3436,0,0,0,0,0,0
$GC,834,-1.27,-116.8,96.4,-8.7,82,844,0.00,2.53,0.00,0.000,6,0.000,0.022,2720,1719,3436,0,0,0,0,0,0
$GC,1103,-1.33,-116.8,120.0,-8.1,107,1107,0.00,2.50,0.00,0.000,4,0.000,0.041,2720,176,3436,0,0,0,0,0,0
$GC,1125,-1.33,-116.8,122.4,-8.7,108,1135,0.00,2.40,0.00,0.000,6,0.000,0.018,2720,1721,3437,0,0,0,0,0,0
$GC,1393,-1.41,-116.8,140.5,-6.8,133,1398,0.17,2.47,0.00,0.000,4,0.047,0.025,2640,3296,3438,0,0,0,0,0,0
$GC,1412,-1.41,-116.8,142.2,-7.2,134,1418,0.15,2.55,0.00,0.000,6,0.071,0.023,2679,1709,3437,0,0,0,0,0,0
$GC,1681,-1.41,-116.8,163.0,-8.1,159,1685,0.00,2.47,0.00,0.000,4,0.000,0.041,2681,178,3438,0,0,0,0,0,0
$GC,1731,-1.41,-116.8,167.2,-9.6,163,1736,0.00,2.35,0.00,0.000,6,0.000,0.017,2681,1710,3438,0,0,0,0,0,0
$GC,1999,-1.41,-116.8,191.4,-9.4,187,2003,0.00,2.45,0.00,0.000,4,0.000,0.024,2681,3284,3438,0,0,0,0,0,0
$GC,2026,-1.41,-116.8,194.5,-9.8,189,2030,0.00,2.53,0.00,0.000,6,0.000,0.023,2680,1699,3438,0,0,0,0,0,0
$GC,2299,-1.41,-116.8,219.1,-9.1,200,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1699,3438,0,0,0,0,0,0
$GC,2543,-1.41,-116.8,238.2,-7.4,206,2548,0.00,2.53,0.00,0.000,4,0.000,0.043,2680,178,3438,0,0,0,0,0,0
$GC,2563,-1.41,-116.8,239.8,-7.4,206,2567,0.00,2.33,0.00,0.000,6,0.000,0.018,2681,1700,3438,0,0,0,0,0,0
$GC,2832,-1.41,-116.8,259.3,-7.4,213,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1703,3438,0,0,0,0,0,0
$GC,3075,-1.41,-116.8,280.0,-8.7,219,3079,0.00,2.50,0.00,0.000,4,0.000,0.028,2681,3282,3436,0,0,0,0,0,0
$GC,3122,-1.52,-116.8,284.0,-8.6,220,3127,0.10,2.58,0.00,0.000,6,0.077,0.025,2620,1684,3437,0,0,0,0,0,0
$GC,3407,-1.39,-116.8,315.0,-11.0,227,3412,0.25,2.53,0.00,0.000,4,0.087,0.046,2679,179,3436,0,0,0,0,0,0
$GC,3437,-1.46,-116.8,317.9,-8.1,227,3441,0.00,2.35,0.00,0.000,6,0.000,0.020,2679,1686,3435,0,0,0,0,0,0
$GC,3696,-1.46,-116.8,335.8,-6.6,234,3700,0.00,2.58,0.00,0.000,4,0.000,0.031,2679,3291,3434,0,0,0,0,0,0
$GC,3722,-1.53,-116.8,337.5,-7.3,234,3726,0.00,2.60,0.00,0.000,6,0.000,0.027,2679,1684,3434,0,0,0,0,0,0
$GC,3981,-1.53,-116.8,352.9,-5.9,241,3986,0.00,2.65,0.00,0.000,4,0.000,0.033,2679,3291,3432,0,0,0,0,0,0
$GC,4007,-1.61,-116.8,354.6,-7.3,241,4012,0.17,2.58,0.00,0.000,6,0.049,0.028,2595,1692,3432,0,0,0,0,0,0
$GC,4272,-1.42,-116.8,380.5,-10.3,248,4279,0.35,2.53,0.00,0.000,4,0.086,0.051,2681,177,3431,0,0,0,0,0,0
$GC,4297,-1.42,-116.8,383.0,-9.0,248,4302,0.00,2.40,0.00,0.000,6,0.000,0.021,2681,1695,3431,0,0,0,0,0,0
$GC,4559,-1.42,-116.8,402.3,-7.7,255,4563,0.00,2.60,0.00,0.000,4,0.000,0.037,2681,3300,3429,0,0,0,0,0,0
$GC,4578,-1.49,-116.8,404.1,-8.0,255,4583,0.00,2.58,0.00,0.000,6,0.000,0.028,2681,1700,3429,0,0,0,0,0,0
$GC,4843,-1.55,-116.8,426.4,-8.8,262,4849,0.12,2.65,0.00,0.000,4,0.064,0.039,2625,3301,3427,0,0,0,0,0,0
$GC,4881,-1.55,-116.8,430.8,-12.0,262,4887,0.12,2.60,0.00,0.000,6,0.104,0.031,2652,1697,3427,0,0,0,0,0,0
$GC,5131,-1.55,-116.8,457.3,-10.8,269,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1697,3425,0,0,0,0,0,0
$GC,5376,-1.55,-116.8,481.9,-9.9,275,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1697,3423,0,0,0,0,0,0
$GC,5618,-1.55,-116.8,504.6,-9.3,281,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1697,3422,0,0,0,0,0,0
$GC,5863,-1.55,-116.8,527.1,-9.0,287,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1697,3421,0,0,0,0,0,0
$GC,6106,-1.55,-116.8,548.0,-8.5,293,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1697,3419,0,0,0,0,0,0
$GC,6351,-1.55,-116.8,568.0,-8.2,299,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1697,3417,0,0,0,0,0,0
$GC,6594,-1.55,-116.8,586.5,-7.4,305,6599,0.00,2.67,0.00,0.000,4,0.000,0.074,2648,170,3417,0,0,0,0,0,0
$GC,6631,-1.55,-116.8,589.7,-8.8,305,6637,0.00,2.47,0.00,0.000,6,0.000,0.032,2649,1695,3416,0,0,0,0,0,0
$GC,6881,-1.55,-116.8,608.8,-7.7,312,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1695,3415,0,0,0,0,0,0
$GC,7127,-1.55,-116.8,629.8,-8.7,318,7131,0.00,2.72,0.00,0.000,4,0.000,0.053,2649,3307,3413,0,0,0,0,0,0
$GC,7146,-1.55,-116.8,631.8,-8.9,318,7151,0.00,2.67,0.00,0.000,6,0.000,0.037,2650,1707,3413,0,0,0,0,0,0
$GC,7420,-1.55,-116.8,655.2,-8.7,325,7424,0.00,2.67,0.00,0.000,4,0.000,0.046,2650,3301,3411,0,0,0,0,0,0
$GC,7446,-1.55,-116.8,657.4,-8.4,325,7451,0.00,2.67,0.00,0.000,6,0.000,0.039,2650,1710,3411,0,0,0,0,0,0
$GC,7711,-1.55,-116.8,677.7,-7.6,332,7715,0.00,2.70,0.00,0.000,4,0.000,0.047,2650,3311,3410,0,0,0,0,0,0
$GC,7744,-1.55,-116.8,680.3,-7.5,332,7748,0.00,2.67,0.00,0.000,6,0.000,0.040,2650,1710,3410,0,0,0,0,0,0
$GC,7996,-1.55,-116.8,698.5,-7.3,338,8000,0.00,2.70,0.00,0.000,4,0.000,0.077,2651,166,3409,0,0,0,0,0,0
$GC,8026,-1.55,-116.8,701.0,-8.3,338,8030,0.00,2.50,0.00,0.000,6,0.000,0.033,2648,1711,3408,0,0,0,0,0,0
$GC,8281,-1.55,-116.8,718.9,-7.0,345,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1711,3407,0,0,0,0,0,0
$GC,8527,-1.55,-116.8,736.6,-7.5,351,8531,0.00,2.67,0.00,0.000,4,0.000,0.055,2650,3304,3406,0,0,0,0,0,0
$GC,8541,-1.55,-116.8,738.1,-7.8,351,8547,0.00,2.67,0.00,0.000,6,0.000,0.038,2651,1711,3406,0,0,0,0,0,0
$GC,8815,-1.55,-116.8,760.4,-8.3,358,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1710,3405,0,0,0,0,0,0
$GC,9061,-1.55,-116.8,780.8,-8.4,364,9066,0.00,2.70,0.00,0.000,4,0.000,0.076,2634,172,3404,0,0,0,0,0,0
$GC,9091,-1.55,-116.8,783.5,-9.6,364,9096,0.00,2.53,0.00,0.000,6,0.000,0.035,2640,1715,3403,0,0,0,0,0,0
$GC,9346,-1.55,-116.8,804.7,-8.3,371,9347,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1715,3403,0,0,0,0,0,0
$GC,9591,-1.55,-116.8,825.5,-8.5,377,9595,0.00,2.72,0.00,0.000,4,0.000,0.071,2622,165,3402,0,0,0,0,0,0
$GC,9617,-1.55,-116.8,827.9,-10.0,377,9623,0.15,2.55,0.00,0.000,6,0.074,0.035,2649,1704,3402,0,0,0,0,0,0
$GC,9883,-1.71,-116.8,846.8,-6.9,384,9885,0.25,0.00,0.00,0.000,6,0.041,0.000,2593,1704,3401,0,0,0,0,0,0
$GC,10127,-1.61,-116.8,870.4,-10.0,390,10134,0.20,2.67,0.00,0.000,4,0.097,0.070,2643,172,3400,0,0,0,0,0,0
$GC,10153,-1.61,-116.8,872.7,-10.5,390,10157,0.00,2.50,0.00,0.000,6,0.000,0.035,2642,1706,3400,0,0,0,0,0,0
$GC,10417,-1.61,-116.8,894.4,-8.1,397,10418,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1706,3399,0,0,0,0,0,0
$STATE,10495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10495,begin apogee
$GC,10501,-0.31,0.0,900.9,7.9,399,10601,1.25,0.00,96.57,1.165,6,0.073,0.000,2922,1707,2955,0,0,0,0,0,0
$STATE,10602,end apogee,CONTROL_FINISHED_OK
$STATE,10602,begin climb
$GC,10606,1.38,116.8,903.3,0.0,401,10718,1.50,0.00,107.50,1.144,6,0.025,0.000,3309,1707,2478,0,0,0,0,0,0
$GC,10935,1.00,116.8,881.0,10.6,409,10937,0.45,0.00,0.00,0.000,6,0.104,0.000,3210,1707,2469,0,0,0,0,0,0
$GC,11177,0.93,174.7,863.7,6.7,415,11233,0.00,0.00,53.62,1.105,6,0.000,0.000,3208,1707,2242,0,0,0,0,0,0
$GC,11461,0.85,200.3,840.2,8.5,422,11488,0.15,0.00,24.60,1.058,6,0.115,0.000,3176,1707,2138,0,0,0,0,0,0
$GC,11704,0.89,233.3,820.9,8.1,428,11743,0.00,0.00,32.45,1.066,6,0.000,0.000,3176,1708,2003,0,0,0,0,0,0
$GC,11989,0.90,243.1,794.6,9.4,435,12005,0.00,2.80,10.12,0.940,4,0.000,0.059,3176,3276,1963,0,0,0,0,0,0
$GC,12043,0.90,243.1,789.0,10.2,436,12047,0.00,2.67,0.00,0.000,6,0.000,0.038,3179,1700,1959,0,0,0,0,0,0
$GC,12322,0.90,246.7,762.2,9.8,443,12332,0.00,2.78,4.43,0.701,4,0.000,0.050,3179,3281,1947,0,0,0,0,0,0
$GC,12351,0.91,253.2,759.0,9.6,443,12364,0.00,2.70,8.02,0.882,6,0.000,0.040,3180,1696,1922,0,0,0,0,0,0
$GC,12610,0.91,253.2,732.9,10.2,449,12614,0.00,2.72,0.00,0.000,4,0.000,0.053,3181,3283,1920,0,0,0,0,0,0
$GC,12648,0.98,253.2,728.8,10.4,449,12655,0.10,2.67,0.00,0.000,6,0.078,0.042,3221,1701,1918,0,0,0,0,0,0
$GC,12898,0.90,253.2,698.5,12.3,456,12904,0.15,2.78,0.00,0.000,4,0.110,0.054,3189,3276,1918,0,0,0,0,0,0
$GC,12949,0.97,254.2,693.1,9.9,457,12954,0.00,2.67,0.00,0.000,6,0.000,0.044,3189,1706,1916,0,0,0,0,0,0
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$STATE,18923,end climb,SURFACE_DEPTH_REACHED
$STATE,18923,begin surface coast
$FINISH,0.9,1.023263
$STATE,18967,end surface coast,CONTROL_FINISHED_OK
$STATE,18967,begin surface
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$HUMID,67.87
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$TCM_TEMP,19.70
$XPDR_PINGS,0
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$10V_AH,9.8,67.622
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355984
$DATA_FILE_SIZE,57280,730
$CAP_FILE_SIZE,185181,0
$CFSIZE,260165632,102334464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061011,063627,2234.764,-15815.041,51,2.4,70,10.0