version: 66.06
glider: 148
mission: 12
dive: 37
start: 5 28 113 17 21 31
data:
$ID,148
$MISSION,12
$DIVE,37
$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,-1015747.7
$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,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,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2845
$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
$GPS1,170336,2258.974,-15756.587,86,1.4,86,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.7
$GPS2,172037,2259.138,-15756.593,12,1.4,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.112,-0.234
$KALMAN_X,-8784.8,5.8,-191.0,14888.6,513.4
$KALMAN_Y,8659.2,-99.0,-201.2,17840.3,1222.7
$MHEAD_RNG_PITCHd_Wd,144.4,49791,-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,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.88,0.000,2,0.000,0.000,410,1614,3056,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.4,-4.8,9,122,14.20,2.42,-6.47,0.000,4,0.154,0.051,3099,168,3443,0,0,0,0,0,0
$GC,170,-0.91,-146.0,31.0,-22.3,20,180,0.35,2.20,0.00,0.000,6,0.087,0.019,3178,1574,3443,0,0,0,0,0,0
$GC,438,-0.82,-146.0,68.4,-10.2,45,443,0.10,2.47,0.00,0.000,4,0.126,0.024,3199,3138,3444,0,0,0,0,0,0
$GC,461,-0.82,-146.0,71.6,-10.0,46,470,0.00,2.60,0.00,0.000,6,0.000,0.029,3200,1559,3444,0,0,0,0,0,0
$GC,728,-0.82,-146.0,95.7,-8.5,71,732,0.00,2.50,0.00,0.000,4,0.000,0.025,3199,3140,3444,0,0,0,0,0,0
$GC,758,-0.91,-146.0,98.3,-8.7,73,762,0.00,2.58,0.00,0.000,6,0.000,0.030,3199,1560,3444,0,0,0,0,0,0
$GC,1024,-0.91,-146.0,121.5,-9.2,97,1028,0.00,2.30,0.00,0.000,4,0.000,0.046,3200,165,3444,0,0,0,0,0,0
$GC,1054,-0.91,-146.0,124.2,-9.3,99,1058,0.00,2.15,0.00,0.000,6,0.000,0.018,3200,1587,3444,0,0,0,0,0,0
$GC,1321,-0.99,-146.0,147.7,-8.3,123,1326,0.15,0.00,0.00,0.000,6,0.055,0.000,3134,1590,3444,0,0,0,0,0,0
$GC,1589,-0.87,-146.0,180.3,-11.7,148,1594,0.25,2.40,0.00,0.000,4,0.094,0.023,3192,3117,3444,0,0,0,0,0,0
$GC,1629,-1.04,-146.0,184.8,-7.4,151,1636,0.17,2.53,0.00,0.000,6,0.052,0.029,3102,1561,3444,0,0,0,0,0,0
$GC,1917,-0.85,-146.0,222.7,-13.6,167,1922,0.38,2.28,0.00,0.000,4,0.087,0.043,3190,172,3444,0,0,0,0,0,0
$GC,1941,-0.85,-146.0,225.8,-10.5,167,1945,0.00,2.12,0.00,0.000,6,0.000,0.019,3190,1574,3444,0,0,0,0,0,0
$GC,2200,-0.97,-146.0,244.5,-7.1,174,2204,0.00,2.42,0.00,0.000,4,0.000,0.025,3190,3120,3444,0,0,0,0,0,0
$GC,2221,-1.14,-146.0,246.0,-7.3,174,2226,0.25,2.53,0.00,0.000,6,0.040,0.030,3091,1557,3444,0,0,0,0,0,0
$GC,2486,-0.96,-146.0,278.5,-12.9,181,2488,0.35,0.00,0.00,0.000,6,0.085,0.000,3169,1557,3444,0,0,0,0,0,0
$GC,2731,-1.05,-146.0,298.3,-7.7,187,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1557,3444,0,0,0,0,0,0
$GC,2974,-1.14,-146.0,317.2,-7.8,193,2979,0.15,2.53,0.00,0.000,4,0.058,0.031,3107,3119,3442,0,0,0,0,0,0
$GC,2994,-1.14,-146.0,319.1,-9.2,193,2999,0.10,2.53,0.00,0.000,6,0.112,0.033,3130,1568,3442,0,0,0,0,0,0
$GC,3260,-1.14,-146.0,343.0,-8.7,200,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1568,3440,0,0,0,0,0,0
$GC,3502,-1.14,-146.0,365.0,-9.3,206,3506,0.00,2.50,0.00,0.000,4,0.000,0.034,3130,3109,3440,0,0,0,0,0,0
$GC,3537,-1.21,-146.0,368.1,-9.0,206,3542,0.00,2.53,0.00,0.000,6,0.000,0.036,3130,1570,3439,0,0,0,0,0,0
$GC,3789,-1.21,-146.0,391.5,-9.4,212,3793,0.00,2.38,0.00,0.000,4,0.000,0.063,3130,164,3438,0,0,0,0,0,0
$GC,3808,-1.21,-146.0,393.6,-9.7,212,3812,0.00,2.17,0.00,0.000,6,0.000,0.024,3130,1552,3437,0,0,0,0,0,0
$GC,4071,-1.21,-146.0,416.2,-8.4,219,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1552,3436,0,0,0,0,0,0
$GC,4316,-1.21,-146.0,435.5,-7.9,225,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1552,3435,0,0,0,0,0,0
$GC,4559,-1.21,-146.0,456.1,-8.7,231,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1552,3432,0,0,0,0,0,0
$GC,4802,-1.21,-146.0,478.0,-9.0,237,4807,0.00,2.60,0.00,0.000,4,0.000,0.044,3130,3130,3431,0,0,0,0,0,0
$GC,4827,-1.28,-146.0,480.2,-9.6,237,4832,0.12,2.58,0.00,0.000,6,0.063,0.040,3070,1577,3431,0,0,0,0,0,0
$GC,5089,-1.13,-146.0,510.5,-12.0,244,5094,0.25,2.45,0.00,0.000,4,0.094,0.073,3128,163,3429,0,0,0,0,0,0
$GC,5127,-1.13,-146.0,514.5,-9.4,244,5133,0.00,2.25,0.00,0.000,6,0.000,0.033,3129,1561,3429,0,0,0,0,0,0
$GC,5378,-1.13,-146.0,534.2,-7.8,251,5383,0.00,2.62,0.00,0.000,4,0.000,0.048,3129,3140,3427,0,0,0,0,0,0
$GC,5393,-1.13,-146.0,535.5,-7.7,251,5397,0.00,2.62,0.00,0.000,6,0.000,0.043,3128,1564,3427,0,0,0,0,0,0
$GC,5662,-1.13,-146.0,556.0,-7.6,258,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1564,3425,0,0,0,0,0,0
$GC,5906,-1.13,-146.0,575.0,-7.7,264,5910,0.00,2.67,0.00,0.000,4,0.000,0.049,3128,3145,3424,0,0,0,0,0,0
$GC,5927,-1.20,-146.0,576.5,-7.9,264,5931,0.00,2.65,0.00,0.000,6,0.000,0.047,3128,1574,3424,0,0,0,0,0,0
$GC,6191,-1.20,-146.0,596.7,-7.6,271,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1574,3422,0,0,0,0,0,0
$GC,6434,-1.20,-146.0,616.7,-8.4,277,6439,0.00,2.65,0.00,0.000,4,0.000,0.050,3129,3146,3420,0,0,0,0,0,0
$GC,6460,-1.30,-146.0,618.8,-8.7,277,6465,0.12,2.65,0.00,0.000,6,0.062,0.050,3066,1581,3421,0,0,0,0,0,0
$GC,6720,-1.17,-146.0,647.5,-11.2,284,6726,0.25,2.50,0.00,0.000,4,0.096,0.084,3124,167,3419,0,0,0,0,0,0
$GC,6761,-1.24,-146.0,651.5,-9.7,284,6766,0.00,2.33,0.00,0.000,6,0.000,0.041,3124,1574,3418,0,0,0,0,0,0
$GC,7011,-1.24,-146.0,671.2,-7.8,291,7015,0.00,2.67,0.00,0.000,4,0.000,0.057,3124,3145,3417,0,0,0,0,0,0
$GC,7030,-1.31,-146.0,672.6,-7.8,291,7035,0.12,2.67,0.00,0.000,6,0.063,0.050,3067,1575,3417,0,0,0,0,0,0
$GC,7298,-1.19,-146.0,699.1,-9.9,298,7303,0.22,2.47,0.00,0.000,4,0.100,0.082,3117,171,3415,0,0,0,0,0,0
$GC,7318,-1.19,-146.0,701.2,-9.7,298,7322,0.00,2.33,0.00,0.000,6,0.000,0.039,3117,1578,3415,0,0,0,0,0,0
$GC,7582,-1.19,-146.0,721.4,-7.6,305,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1578,3414,0,0,0,0,0,0
$GC,7827,-1.19,-146.0,740.1,-7.7,311,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1578,3413,0,0,0,0,0,0
$GC,8069,-1.19,-146.0,759.2,-7.9,317,8074,0.00,2.65,0.00,0.000,4,0.000,0.058,3117,3142,3412,0,0,0,0,0,0
$GC,8098,-1.29,-146.0,761.6,-8.1,317,8103,0.00,2.67,0.00,0.000,6,0.000,0.052,3117,1580,3412,0,0,0,0,0,0
$GC,8355,-1.29,-146.0,780.3,-7.2,324,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1580,3411,0,0,0,0,0,0
$GC,8597,-1.29,-146.0,796.8,-6.7,330,8601,0.00,2.53,0.00,0.000,4,0.000,0.085,3117,164,3410,0,0,0,0,0,0
$GC,8616,-1.29,-146.0,798.2,-7.4,330,8620,0.00,2.35,0.00,0.000,6,0.000,0.040,3117,1585,3409,0,0,0,0,0,0
$GC,8880,-1.29,-146.0,814.7,-6.1,337,8884,0.00,2.65,0.00,0.000,4,0.000,0.058,3117,3149,3408,0,0,0,0,0,0
$GC,8896,-1.29,-146.0,815.7,-6.3,337,8900,0.00,2.67,0.00,0.000,6,0.000,0.051,3116,1581,3409,0,0,0,0,0,0
$GC,9164,-1.29,-146.0,833.8,-6.9,344,9168,0.00,2.53,0.00,0.000,4,0.000,0.085,3117,164,3407,0,0,0,0,0,0
$GC,9188,-1.29,-146.0,835.8,-8.1,344,9192,0.00,2.35,0.00,0.000,6,0.000,0.039,3117,1584,3407,0,0,0,0,0,0
$GC,9449,-1.29,-146.0,855.5,-7.7,351,9453,0.00,2.65,0.00,0.000,4,0.000,0.059,3117,3147,3406,0,0,0,0,0,0
$GC,9474,-1.38,-146.0,857.5,-8.2,351,9481,0.17,2.67,0.00,0.000,6,0.052,0.052,3055,1585,3406,0,0,0,0,0,0
$GC,9737,-1.26,-146.0,884.7,-10.6,358,9742,0.22,2.50,0.00,0.000,4,0.100,0.082,3104,169,3405,0,0,0,0,0,0
$GC,9776,-1.26,-146.0,888.4,-9.1,358,9782,0.00,2.35,0.00,0.000,6,0.000,0.039,3104,1586,3405,0,0,0,0,0,0
$STATE,9942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9942,begin apogee
$GC,9949,-0.31,0.0,901.9,7.9,363,10070,0.90,0.00,117.60,1.174,6,0.075,0.000,3311,1288,2845,0,0,0,0,0,0
$STATE,10071,end apogee,CONTROL_FINISHED_OK
$STATE,10071,begin climb
$GC,10075,1.27,146.0,905.7,0.0,366,10214,1.42,2.05,128.75,1.148,4,0.034,0.081,3658,173,2250,0,0,0,0,0,0
$GC,10225,0.90,146.0,901.7,10.8,369,10230,0.40,1.90,0.00,0.000,6,0.116,0.035,3578,1304,2248,0,0,0,0,0,0
$GC,10485,0.83,146.0,874.5,10.3,376,10489,0.00,2.05,0.00,0.000,4,0.000,0.078,3578,166,2240,0,0,0,0,0,0
$GC,10523,0.67,146.0,870.2,11.5,376,10527,0.25,1.90,0.00,0.000,6,0.105,0.035,3527,1308,2240,0,0,0,0,0,0
$GC,10774,0.81,191.8,849.7,7.9,382,10823,0.12,2.75,41.42,1.098,4,0.070,0.058,3566,2870,2062,0,0,0,0,0,0
$GC,10842,0.81,191.8,843.0,10.5,383,10847,0.00,2.75,0.00,0.000,6,0.000,0.054,3566,1309,2058,0,0,0,0,0,0
$GC,11099,0.81,191.8,817.1,10.1,390,11103,0.00,2.08,0.00,0.000,4,0.000,0.090,3566,164,2055,0,0,0,0,0,0
$GC,11146,0.81,191.8,811.8,10.7,391,11149,0.00,1.88,0.00,0.000,6,0.000,0.035,3566,1294,2055,0,0,0,0,0,0
$GC,11437,0.82,202.8,783.5,9.5,398,11453,0.00,2.83,10.05,0.950,4,0.000,0.059,3566,2882,2018,0,0,0,0,0,0
$GC,11484,0.90,207.1,779.1,9.8,399,11497,0.00,2.78,5.72,0.807,6,0.000,0.054,3566,1295,1999,0,0,0,0,0,0
$GC,11775,0.90,207.1,749.5,10.4,406,11779,0.00,2.72,0.00,0.000,4,0.000,0.048,3566,2886,1997,0,0,0,0,0,0
$GC,11795,0.91,214.6,747.5,9.7,406,11811,0.00,2.78,8.15,0.896,6,0.000,0.053,3566,1291,1970,0,0,0,0,0,0
$GC,12061,0.91,214.6,718.0,11.3,413,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1291,1969,0,0,0,0,0,0
$GC,12304,0.91,214.6,689.4,11.9,419,12309,0.00,2.70,0.00,0.000,4,0.000,0.047,3566,2880,1968,0,0,0,0,0,0
$GC,12349,1.01,214.6,684.4,12.2,420,12356,0.15,2.75,0.00,0.000,6,0.067,0.054,3611,1298,1965,0,0,0,0,0,0
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$STATE,18483,end climb,SURFACE_DEPTH_REACHED
$STATE,18483,begin surface coast
$FINISH,0.8,1.014867
$STATE,18535,end surface coast,CONTROL_FINISHED_OK
$STATE,18535,begin surface
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$10V_AH,9.9,4.258
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355828
$DATA_FILE_SIZE,54139,707
$CAP_FILE_SIZE,189163,0
$CFSIZE,260165632,169672704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280513,223256,2257.634,-15755.168,28,99.0,47,10.1