version: 66.06
glider: 148
mission: 10
dive: 682
start: 10 15 111 9 3 28
data:
$ID,148
$MISSION,10
$DIVE,682
$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,-891513.19
$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,2980
$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,33
$R_STBD_OVSHOOT,23
$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
$GPS1,084907,2213.873,-15802.888,157,1.0,157,10.0
$_CALLS,1
$_XMS_NAKs,27
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.8
$GPS2,090232,2213.938,-15803.027,12,1.9,12,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.121,-0.201
$KALMAN_X,-193149.6,10.4,-46.5,131274.3,521.2
$KALMAN_Y,-134938.4,-222.9,-167.5,35254.2,174.9
$MHEAD_RNG_PITCHd_Wd,201.0,45160,-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,19,-1.38,-116.8,0.0,0.0,0,80,0.00,0.00,-58.25,0.000,2,0.000,0.000,411,1741,2863,0,0,0,0,0,0
$GC,83,-1.38,-116.8,3.4,-7.1,11,119,11.73,2.62,-11.98,0.000,4,0.146,0.051,2675,174,3433,0,0,0,0,0,0
$GC,234,-1.18,-116.8,30.5,-16.3,41,239,0.20,2.45,0.00,0.000,6,0.100,0.018,2719,1755,3434,0,0,0,0,0,0
$GC,498,-1.07,-116.8,64.3,-14.6,65,503,0.12,2.60,0.00,0.000,4,0.110,0.039,2746,165,3434,0,0,0,0,0,0
$GC,529,-1.07,-116.8,69.1,-15.9,67,533,0.00,2.40,0.00,0.000,6,0.000,0.017,2746,1736,3435,0,0,0,0,0,0
$GC,793,-1.16,-116.8,97.6,-9.4,91,799,0.00,2.58,0.00,0.000,4,0.000,0.039,2747,176,3435,0,0,0,0,0,0
$GC,843,-1.35,-116.8,103.0,-10.5,96,848,0.25,2.33,0.00,0.000,6,0.036,0.016,2644,1713,3435,0,0,0,0,0,0
$GC,1105,-1.20,-116.8,134.4,-9.8,120,1110,0.30,2.50,0.00,0.000,4,0.082,0.038,2715,168,3436,0,0,0,0,0,0
$GC,1126,-1.20,-116.8,136.4,-9.0,121,1131,0.00,2.30,0.00,0.000,6,0.000,0.016,2715,1692,3436,0,0,0,0,0,0
$GC,1390,-1.28,-116.8,155.9,-8.3,146,1395,0.00,2.47,0.00,0.000,4,0.000,0.024,2715,3268,3437,0,0,0,0,0,0
$GC,1456,-1.43,-116.8,161.9,-8.9,153,1461,0.20,2.47,0.00,0.000,6,0.041,0.023,2617,1683,3437,0,0,0,0,0,0
$GC,1717,-1.24,-116.8,193.1,-11.3,177,1729,0.43,2.42,0.00,0.000,4,0.084,0.039,2708,172,3437,0,0,0,0,0,0
$GC,1750,-1.33,-116.8,196.1,-9.1,180,1755,0.00,2.33,0.00,0.000,6,0.000,0.018,2708,1693,3437,0,0,0,0,0,0
$GC,2020,-1.42,-116.8,213.9,-6.9,191,2025,0.15,2.50,0.00,0.000,4,0.053,0.041,2634,170,3437,0,0,0,0,0,0
$GC,2039,-1.42,-116.8,216.2,-10.1,191,2044,0.15,2.30,0.00,0.000,6,0.099,0.018,2668,1687,3437,0,0,0,0,0,0
$GC,2306,-1.42,-116.8,240.5,-9.1,198,2310,0.00,2.47,0.00,0.000,4,0.000,0.025,2668,3286,3437,0,0,0,0,0,0
$GC,2345,-1.42,-116.8,243.9,-8.0,198,2351,0.00,2.53,0.00,0.000,6,0.000,0.024,2668,1678,3437,0,0,0,0,0,0
$GC,2595,-1.42,-116.8,265.3,-8.9,205,2599,0.00,2.42,0.00,0.000,4,0.000,0.044,2668,174,3436,0,0,0,0,0,0
$GC,2619,-1.42,-116.8,267.8,-10.6,205,2624,0.00,2.30,0.00,0.000,6,0.000,0.018,2668,1682,3437,0,0,0,0,0,0
$GC,2880,-1.42,-116.8,289.9,-8.4,212,2884,0.00,2.53,0.00,0.000,4,0.000,0.026,2668,3289,3436,0,0,0,0,0,0
$GC,2954,-1.49,-116.8,296.4,-7.6,213,2958,0.00,2.53,0.00,0.000,6,0.000,0.025,2668,1686,3435,0,0,0,0,0,0
$GC,3210,-1.49,-116.8,318.3,-8.7,220,3214,0.00,2.45,0.00,0.000,4,0.000,0.048,2668,179,3434,0,0,0,0,0,0
$GC,3235,-1.49,-116.8,320.6,-9.3,220,3239,0.00,2.33,0.00,0.000,6,0.000,0.020,2668,1686,3434,0,0,0,0,0,0
$GC,3495,-1.49,-116.8,344.7,-9.3,227,3499,0.00,2.55,0.00,0.000,4,0.000,0.031,2668,3291,3433,0,0,0,0,0,0
$GC,3529,-1.49,-116.8,347.8,-8.5,227,3533,0.00,2.53,0.00,0.000,6,0.000,0.027,2668,1699,3432,0,0,0,0,0,0
$GC,3780,-1.49,-116.8,366.7,-7.2,233,3784,0.00,2.53,0.00,0.000,4,0.000,0.054,2668,170,3431,0,0,0,0,0,0
$GC,3803,-1.49,-116.8,368.6,-8.1,233,3809,0.00,2.38,0.00,0.000,6,0.000,0.021,2668,1685,3431,0,0,0,0,0,0
$GC,4069,-1.49,-116.8,388.2,-7.8,240,4074,0.00,2.55,0.00,0.000,4,0.000,0.033,2668,3294,3429,0,0,0,0,0,0
$GC,4116,-1.58,-116.8,392.1,-8.3,241,4122,0.10,2.60,0.00,0.000,6,0.030,0.031,2593,1701,3429,0,0,0,0,0,0
$GC,4407,-1.39,-116.8,425.5,-12.0,248,4414,0.32,2.58,0.00,0.000,4,0.091,0.059,2670,168,3427,0,0,0,0,0,0
$GC,4457,-1.45,-116.8,430.8,-9.1,249,4461,0.00,2.40,0.00,0.000,6,0.000,0.024,2669,1696,3426,0,0,0,0,0,0
$GC,4740,-1.45,-116.8,452.4,-7.4,256,4744,0.00,2.58,0.00,0.000,4,0.000,0.038,2670,3300,3424,0,0,0,0,0,0
$GC,4764,-1.45,-116.8,454.3,-7.9,256,4769,0.00,2.60,0.00,0.000,6,0.000,0.034,2670,1703,3424,0,0,0,0,0,0
$GC,5025,-1.45,-116.8,476.7,-9.0,263,5029,0.00,2.60,0.00,0.000,4,0.000,0.068,2670,174,3423,0,0,0,0,0,0
$GC,5048,-1.45,-116.8,479.2,-10.1,263,5054,0.00,2.42,0.00,0.000,6,0.000,0.027,2670,1683,3423,0,0,0,0,0,0
$GC,5314,-1.45,-116.8,502.9,-8.7,270,5319,0.00,2.65,0.00,0.000,4,0.000,0.044,2670,3305,3420,0,0,0,0,0,0
$GC,5348,-1.55,-116.8,505.8,-8.2,270,5353,0.12,2.62,0.00,0.000,6,0.062,0.035,2603,1699,3420,0,0,0,0,0,0
$GC,5599,-1.39,-116.8,532.3,-10.9,276,5606,0.28,2.62,0.00,0.000,4,0.089,0.068,2668,166,3418,0,0,0,0,0,0
$GC,5650,-1.47,-116.8,537.4,-9.1,277,5654,0.00,2.45,0.00,0.000,6,0.000,0.031,2668,1689,3418,0,0,0,0,0,0
$GC,5932,-1.47,-116.8,558.3,-7.2,284,5937,0.00,2.67,0.00,0.000,4,0.000,0.048,2668,3317,3416,0,0,0,0,0,0
$GC,6003,-1.56,-116.8,563.3,-7.2,285,6009,0.12,2.65,0.00,0.000,6,0.064,0.036,2606,1703,3415,0,0,0,0,0,0
$GC,6265,-1.42,-116.8,586.9,-9.3,292,6272,0.25,2.65,0.00,0.000,4,0.089,0.071,2665,165,3414,0,0,0,0,0,0
$GC,6285,-1.42,-116.8,588.4,-7.8,292,6290,0.00,2.50,0.00,0.000,6,0.000,0.032,2666,1699,3414,0,0,0,0,0,0
$GC,6559,-1.42,-116.8,610.9,-8.4,299,6564,0.00,2.70,0.00,0.000,4,0.000,0.050,2666,3306,3412,0,0,0,0,0,0
$GC,6594,-1.53,-116.8,614.0,-9.1,299,6600,0.00,2.67,0.00,0.000,6,0.000,0.039,2666,1705,3412,0,0,0,0,0,0
$GC,6856,-1.53,-116.8,636.7,-8.7,306,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1705,3410,0,0,0,0,0,0
$GC,7099,-1.53,-116.8,655.4,-7.5,312,7104,0.00,2.67,0.00,0.000,4,0.000,0.076,2666,173,3408,0,0,0,0,0,0
$GC,7123,-1.53,-116.8,657.2,-8.1,312,7128,0.00,2.53,0.00,0.000,6,0.000,0.035,2666,1712,3408,0,0,0,0,0,0
$GC,7389,-1.53,-116.8,674.0,-6.2,319,7395,0.00,2.70,0.00,0.000,4,0.000,0.071,2665,176,3407,0,0,0,0,0,0
$GC,7409,-1.53,-116.8,675.4,-6.3,319,7414,0.00,2.50,0.00,0.000,6,0.000,0.035,2666,1711,3407,0,0,0,0,0,0
$GC,7677,-1.53,-116.8,692.4,-6.6,326,7682,0.00,2.65,0.00,0.000,4,0.000,0.070,2666,173,3405,0,0,0,0,0,0
$GC,7706,-1.53,-116.8,694.7,-8.3,326,7711,0.00,2.50,0.00,0.000,6,0.000,0.035,2666,1708,3405,0,0,0,0,0,0
$GC,7962,-1.53,-116.8,713.4,-7.4,333,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1708,3404,0,0,0,0,0,0
$GC,8205,-1.53,-116.8,731.8,-7.6,339,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1707,3403,0,0,0,0,0,0
$GC,8449,-1.59,-116.8,750.1,-7.4,345,8455,0.15,2.72,0.00,0.000,4,0.059,0.055,2609,3304,3402,0,0,0,0,0,0
$GC,8485,-1.53,-116.8,753.1,-8.3,345,8491,0.12,2.70,0.00,0.000,6,0.074,0.042,2642,1699,3401,0,0,0,0,0,0
$GC,8746,-1.53,-116.8,773.3,-7.5,352,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1699,3400,0,0,0,0,0,0
$GC,8991,-1.53,-116.8,792.0,-7.8,358,8996,0.00,2.67,0.00,0.000,4,0.000,0.046,2642,3307,3399,0,0,0,0,0,0
$GC,9048,-1.53,-116.8,796.5,-7.8,359,9052,0.00,2.62,0.00,0.000,6,0.000,0.042,2642,1718,3399,0,0,0,0,0,0
$GC,9321,-1.53,-116.8,819.1,-8.5,366,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1718,3398,0,0,0,0,0,0
$GC,9566,-1.53,-116.8,840.0,-8.6,372,9571,0.00,2.67,0.00,0.000,4,0.000,0.048,2642,3315,3397,0,0,0,0,0,0
$GC,9583,-1.53,-116.8,841.6,-8.4,372,9588,0.00,2.65,0.00,0.000,6,0.000,0.041,2642,1722,3397,0,0,0,0,0,0
$GC,9851,-1.53,-116.8,864.2,-8.5,379,9856,0.00,2.72,0.00,0.000,4,0.000,0.078,2640,169,3396,0,0,0,0,0,0
$GC,9915,-1.53,-116.8,870.0,-10.4,380,9919,0.00,2.53,0.00,0.000,6,0.000,0.036,2641,1719,3396,0,0,0,0,0,0
$GC,10185,-1.53,-116.8,890.7,-7.5,387,10189,0.00,2.70,0.00,0.000,4,0.000,0.071,2639,172,3395,0,0,0,0,0,0
$GC,10204,-1.53,-116.8,892.4,-8.3,387,10209,0.00,2.53,0.00,0.000,6,0.000,0.036,2640,1705,3395,0,0,0,0,0,0
$STATE,10350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10350,begin apogee
$GC,10357,-0.31,0.0,902.5,6.7,391,10457,1.20,0.00,96.22,1.161,6,0.077,0.000,2910,1705,2955,0,0,0,0,0,0
$STATE,10458,end apogee,CONTROL_FINISHED_OK
$STATE,10458,begin climb
$GC,10460,1.38,116.8,903.6,0.0,393,10577,1.55,2.78,107.78,1.138,4,0.028,0.057,3304,3286,2477,0,0,0,0,0,0
$GC,10611,1.05,116.8,895.5,12.6,397,10619,0.47,2.67,0.00,0.000,6,0.114,0.038,3209,1702,2471,0,0,0,0,0,0
$GC,10883,0.94,116.8,867.4,10.2,404,10890,0.12,2.75,0.00,0.000,4,0.137,0.081,3176,170,2467,0,0,0,0,0,0
$GC,10939,0.81,118.8,861.9,9.9,405,10945,0.08,2.55,0.00,0.000,6,0.104,0.035,3161,1698,2465,0,0,0,0,0,0
$GC,11224,0.88,172.1,840.9,6.9,412,11281,0.00,2.80,50.15,1.092,4,0.000,0.071,3162,171,2253,0,0,0,0,0,0
$GC,11310,0.89,176.5,833.6,9.7,414,11324,0.00,2.53,5.43,0.787,6,0.000,0.035,3162,1694,2235,0,0,0,0,0,0
$GC,11604,0.91,195.3,807.3,8.9,421,11628,0.00,2.83,18.52,1.019,4,0.000,0.058,3163,3282,2157,0,0,0,0,0,0
$GC,11698,0.92,202.8,798.9,9.6,423,11715,0.00,2.67,8.30,0.897,6,0.000,0.038,3165,1691,2127,0,0,0,0,0,0
$GC,11988,0.94,222.4,772.2,8.9,430,12013,0.00,2.80,19.70,1.008,4,0.000,0.051,3165,3285,2047,0,0,0,0,0,0
$GC,12074,1.05,243.0,764.4,8.8,431,12103,0.17,2.67,20.88,1.004,6,0.054,0.041,3225,1708,1964,0,0,0,0,0,0
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$STATE,18897,end climb,SURFACE_DEPTH_REACHED
$STATE,18897,begin surface coast
$FINISH,0.8,1.011781
$STATE,18936,end surface coast,CONTROL_FINISHED_OK
$STATE,18936,begin surface
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$TCM_TEMP,20.50
$XPDR_PINGS,0
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$10V_AH,9.8,72.882
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,356112
$DATA_FILE_SIZE,57381,752
$CAP_FILE_SIZE,205633,0
$CFSIZE,260165632,99045376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151011,142200,2212.316,-15803.869,66,1.6,71,10.0