version: 66.06
glider: 148
mission: 12
dive: 35
start: 5 28 113 6 17 53
data:
$ID,148
$MISSION,12
$DIVE,35
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1015698.4
$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,3380
$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,1560
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2855
$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
$GPS1,060936,2302.250,-15800.012,31,1.3,31,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.9
$GPS2,061700,2302.284,-15800.016,10,1.3,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.064,-0.252
$KALMAN_X,-9901.4,62.7,-410.6,10317.0,1634.9
$KALMAN_Y,6493.6,289.1,-299.1,25548.0,1309.7
$MHEAD_RNG_PITCHd_Wd,155.7,58022,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.07,0.000,2,0.000,0.000,414,1635,3027,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.5,-5.2,9,123,14.05,2.47,-7.22,0.000,4,0.150,0.052,3097,164,3451,0,0,0,0,0,0
$GC,200,-0.97,-146.0,36.3,-19.3,23,205,0.32,2.20,0.00,0.000,6,0.095,0.019,3167,1597,3452,0,0,0,0,0,0
$GC,469,-0.88,-146.0,71.5,-12.3,47,474,0.10,2.45,0.00,0.000,4,0.121,0.025,3188,3133,3453,0,0,0,0,0,0
$GC,501,-0.88,-146.0,75.5,-10.5,49,505,0.00,2.55,0.00,0.000,6,0.000,0.029,3188,1547,3453,0,0,0,0,0,0
$GC,769,-0.88,-146.0,101.1,-9.9,73,773,0.00,2.50,0.00,0.000,4,0.000,0.025,3188,3130,3453,0,0,0,0,0,0
$GC,788,-0.88,-146.0,103.6,-9.5,74,796,0.00,2.58,0.00,0.000,6,0.000,0.028,3188,1559,3454,0,0,0,0,0,0
$GC,1055,-0.88,-146.0,129.1,-9.6,99,1060,0.00,2.47,0.00,0.000,4,0.000,0.024,3188,3131,3454,0,0,0,0,0,0
$GC,1071,-0.88,-146.0,131.2,-9.1,100,1075,0.00,2.53,0.00,0.000,6,0.000,0.028,3188,1557,3454,0,0,0,0,0,0
$GC,1337,-0.88,-146.0,155.7,-9.0,124,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1557,3454,0,0,0,0,0,0
$GC,1602,-0.94,-146.0,180.6,-8.9,149,1606,0.00,2.47,0.00,0.000,4,0.000,0.024,3189,3132,3455,0,0,0,0,0,0
$GC,1621,-1.03,-146.0,182.6,-8.4,150,1631,0.10,2.55,0.00,0.000,6,0.028,0.028,3115,1573,3455,0,0,0,0,0,0
$GC,1889,-0.88,-146.0,216.6,-13.0,167,1891,0.32,0.00,0.00,0.000,6,0.086,0.000,3187,1573,3455,0,0,0,0,0,0
$GC,2131,-0.98,-146.0,236.5,-7.6,173,2136,0.00,2.45,0.00,0.000,4,0.000,0.025,3187,3129,3455,0,0,0,0,0,0
$GC,2151,-1.11,-146.0,238.0,-7.0,173,2156,0.20,2.55,0.00,0.000,6,0.041,0.029,3097,1559,3455,0,0,0,0,0,0
$GC,2417,-0.94,-146.0,271.4,-12.9,180,2419,0.35,0.00,0.00,0.000,6,0.083,0.000,3174,1559,3455,0,0,0,0,0,0
$GC,2660,-1.03,-146.0,291.6,-8.1,186,2664,0.00,2.50,0.00,0.000,4,0.000,0.028,3174,3124,3455,0,0,0,0,0,0
$GC,2676,-1.14,-146.0,292.8,-8.0,186,2681,0.17,2.53,0.00,0.000,6,0.049,0.031,3094,1565,3455,0,0,0,0,0,0
$GC,2946,-1.01,-146.0,323.0,-11.1,193,2948,0.30,0.00,0.00,0.000,6,0.085,0.000,3160,1565,3455,0,0,0,0,0,0
$GC,3190,-1.10,-146.0,340.3,-7.0,199,3194,0.00,2.55,0.00,0.000,4,0.000,0.033,3160,3130,3454,0,0,0,0,0,0
$GC,3210,-1.22,-146.0,341.8,-7.6,199,3216,0.20,2.55,0.00,0.000,6,0.043,0.035,3081,1579,3454,0,0,0,0,0,0
$GC,3476,-1.06,-146.0,372.9,-12.1,206,3481,0.28,2.53,0.00,0.000,4,0.092,0.035,3145,3125,3453,0,0,0,0,0,0
$GC,3500,-1.06,-146.0,375.4,-8.7,206,3504,0.00,2.53,0.00,0.000,6,0.000,0.035,3144,1584,3453,0,0,0,0,0,0
$GC,3761,-1.06,-146.0,394.2,-7.3,213,3765,0.00,2.40,0.00,0.000,4,0.000,0.063,3145,175,3451,0,0,0,0,0,0
$GC,3780,-1.06,-146.0,395.9,-7.6,213,3784,0.00,2.20,0.00,0.000,6,0.000,0.025,3145,1578,3451,0,0,0,0,0,0
$GC,4044,-1.06,-146.0,415.3,-7.5,220,4048,0.00,2.53,0.00,0.000,4,0.000,0.038,3145,3128,3450,0,0,0,0,0,0
$GC,4064,-1.15,-146.0,416.9,-8.2,220,4069,0.00,2.53,0.00,0.000,6,0.000,0.036,3145,1589,3450,0,0,0,0,0,0
$GC,4329,-1.22,-146.0,437.1,-7.6,227,4334,0.12,2.45,0.00,0.000,4,0.065,0.068,3091,165,3447,0,0,0,0,0,0
$GC,4369,-1.11,-146.0,441.2,-11.9,227,4375,0.20,2.25,0.00,0.000,6,0.092,0.029,3137,1577,3447,0,0,0,0,0,0
$GC,4619,-1.11,-146.0,460.9,-7.8,234,4623,0.00,2.55,0.00,0.000,4,0.000,0.042,3137,3136,3446,0,0,0,0,0,0
$GC,4638,-1.18,-146.0,462.4,-7.5,234,4643,0.00,2.58,0.00,0.000,6,0.000,0.038,3137,1588,3446,0,0,0,0,0,0
$GC,4904,-1.18,-146.0,482.6,-7.7,241,4908,0.00,2.45,0.00,0.000,4,0.000,0.074,3137,172,3444,0,0,0,0,0,0
$GC,4937,-1.18,-146.0,485.5,-8.4,241,4941,0.00,2.28,0.00,0.000,6,0.000,0.031,3136,1591,3444,0,0,0,0,0,0
$GC,5187,-1.18,-146.0,503.4,-7.0,247,5191,0.00,2.58,0.00,0.000,4,0.000,0.046,3137,3140,3442,0,0,0,0,0,0
$GC,5203,-1.24,-146.0,504.5,-7.1,247,5208,0.12,2.60,0.00,0.000,6,0.063,0.041,3092,1588,3442,0,0,0,0,0,0
$GC,5473,-1.16,-146.0,532.1,-10.7,254,5478,0.17,2.50,0.00,0.000,4,0.102,0.077,3130,169,3440,0,0,0,0,0,0
$GC,5497,-1.16,-146.0,534.8,-10.4,254,5501,0.00,2.28,0.00,0.000,6,0.000,0.035,3130,1582,3440,0,0,0,0,0,0
$GC,5758,-1.16,-146.0,554.5,-7.5,261,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1583,3438,0,0,0,0,0,0
$GC,6000,-1.16,-146.0,572.5,-7.3,267,6004,0.00,2.60,0.00,0.000,4,0.000,0.049,3130,3142,3437,0,0,0,0,0,0
$GC,6020,-1.24,-146.0,574.1,-8.3,267,6024,0.00,2.65,0.00,0.000,6,0.000,0.047,3130,1580,3437,0,0,0,0,0,0
$GC,6285,-1.24,-146.0,594.6,-8.1,274,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1580,3435,0,0,0,0,0,0
$GC,6527,-1.24,-146.0,613.7,-7.8,280,6532,0.00,2.65,0.00,0.000,4,0.000,0.050,3130,3147,3434,0,0,0,0,0,0
$GC,6547,-1.31,-146.0,615.3,-8.1,280,6552,0.15,2.65,0.00,0.000,6,0.056,0.048,3082,1587,3434,0,0,0,0,0,0
$GC,6813,-1.23,-146.0,641.3,-9.9,287,6819,0.15,2.55,0.00,0.000,4,0.110,0.084,3114,163,3432,0,0,0,0,0,0
$GC,6830,-1.23,-146.0,643.0,-9.5,287,6834,0.00,2.35,0.00,0.000,6,0.000,0.038,3113,1592,3432,0,0,0,0,0,0
$GC,7099,-1.23,-146.0,663.5,-7.6,294,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1592,3430,0,0,0,0,0,0
$GC,7344,-1.23,-146.0,681.9,-7.7,300,7348,0.00,2.65,0.00,0.000,4,0.000,0.059,3113,3145,3430,0,0,0,0,0,0
$GC,7358,-1.23,-146.0,683.3,-7.6,300,7363,0.00,2.65,0.00,0.000,6,0.000,0.049,3113,1589,3429,0,0,0,0,0,0
$GC,7627,-1.23,-146.0,704.3,-8.0,307,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1589,3428,0,0,0,0,0,0
$GC,7872,-1.23,-146.0,723.9,-8.0,313,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1588,3427,0,0,0,0,0,0
$GC,8114,-1.23,-146.0,741.7,-7.2,319,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1589,3426,0,0,0,0,0,0
$GC,8358,-1.23,-146.0,758.6,-6.9,325,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1588,3425,0,0,0,0,0,0
$GC,8602,-1.23,-146.0,774.9,-6.6,331,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1588,3424,0,0,0,0,0,0
$GC,8847,-1.23,-146.0,790.8,-6.5,337,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1588,3423,0,0,0,0,0,0
$GC,9089,-1.23,-146.0,808.2,-7.4,343,9094,0.00,2.65,0.00,0.000,4,0.000,0.051,3113,3146,3422,0,0,0,0,0,0
$GC,9109,-1.29,-146.0,809.8,-8.5,343,9113,0.00,2.65,0.00,0.000,6,0.000,0.052,3114,1587,3422,0,0,0,0,0,0
$GC,9374,-1.29,-146.0,829.7,-7.6,350,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1586,3421,0,0,0,0,0,0
$GC,9617,-1.29,-146.0,846.8,-6.9,356,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1587,3421,0,0,0,0,0,0
$GC,9860,-1.29,-146.0,864.6,-7.3,362,9861,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1587,3420,0,0,0,0,0,0
$GC,10104,-1.29,-146.0,883.1,-7.6,368,10105,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1587,3418,0,0,0,0,0,0
$STATE,10345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10345,begin apogee
$GC,10352,-0.31,0.0,902.4,7.8,374,10473,0.88,0.00,118.18,1.180,6,0.075,0.000,3313,1298,2855,0,0,0,0,0,0
$STATE,10474,end apogee,CONTROL_FINISHED_OK
$STATE,10474,begin climb
$GC,10477,1.27,146.0,907.1,0.0,377,10616,1.42,2.10,129.45,1.155,4,0.036,0.087,3657,166,2259,0,0,0,0,0,0
$GC,10746,0.87,146.0,889.2,14.3,383,10751,0.43,1.90,0.00,0.000,6,0.115,0.034,3572,1308,2254,0,0,0,0,0,0
$GC,11026,0.91,178.4,865.1,8.5,390,11058,0.00,0.00,29.65,1.091,6,0.000,0.000,3572,1309,2127,0,0,0,0,0,0
$GC,11268,0.91,178.4,840.9,10.2,396,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1310,2122,0,0,0,0,0,0
$GC,11512,0.91,178.4,815.6,10.3,402,11513,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1310,2121,0,0,0,0,0,0
$GC,11757,0.91,178.4,790.8,10.1,408,11758,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1311,2119,0,0,0,0,0,0
$GC,12000,0.92,184.2,767.2,9.7,414,12012,0.00,2.75,5.32,0.788,4,0.000,0.058,3572,2882,2103,0,0,0,0,0,0
$GC,12022,0.97,222.9,765.0,8.2,414,12067,0.00,2.75,37.53,1.063,6,0.000,0.054,3572,1297,1945,0,0,0,0,0,0
$GC,12331,0.97,224.9,734.1,9.9,422,12332,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1297,1940,0,0,0,0,0,0
$GC,12574,0.97,224.9,709.3,10.2,428,12579,0.00,2.70,0.00,0.000,4,0.000,0.047,3572,2881,1939,0,0,0,0,0,0
$GC,12593,0.99,239.4,707.3,9.3,428,12616,0.10,2.75,15.62,0.974,6,0.081,0.053,3610,1289,1879,0,0,0,0,0,0
$GC,12863,0.89,239.4,671.8,13.5,435,12870,0.17,2.72,0.00,0.000,4,0.108,0.047,3575,2877,1876,0,0,0,0,0,0
$GC,12898,0.98,239.4,666.6,11.5,435,12903,0.00,2.72,0.00,0.000,6,0.000,0.054,3575,1303,1874,0,0,0,0,0,0
$GC,13150,0.98,239.4,635.7,12.6,441,13151,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1303,1874,0,0,0,0,0,0
$GC,13392,0.98,239.4,606.3,11.8,447,13396,0.00,2.67,0.00,0.000,4,0.000,0.047,3575,2878,1874,0,0,0,0,0,0
$GC,13420,1.04,239.4,602.8,11.0,447,13427,0.15,2.70,0.00,0.000,6,0.061,0.054,3630,1306,1871,0,0,0,0,0,0
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$STATE,18585,end climb,SURFACE_DEPTH_REACHED
$STATE,18585,begin surface coast
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$STATE,18625,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.8,3.980
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$FG_AHR_10Vo,0.000
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$MEM,355536
$DATA_FILE_SIZE,54190,704
$CAP_FILE_SIZE,179862,0
$CFSIZE,260165632,169836544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280513,113105,2300.464,-15758.600,58,1.8,58,10.1