version: 66.06
glider: 148
mission: 12
dive: 175
start: 6 28 113 17 49 37
data:
$ID,148
$MISSION,12
$DIVE,175
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1019678.3
$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,3385
$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,0.028999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2800
$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
$GPS1,174036,2256.173,-15738.873,39,1.3,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-77.7
$GPS2,174843,2256.135,-15738.951,8,1.8,8,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.225,0.131
$KALMAN_X,-195818.8,240.0,92.0,231544.4,-2326.6
$KALMAN_Y,90603.0,-66.8,-573.5,-69320.1,2548.4
$MHEAD_RNG_PITCHd_Wd,49.7,18237,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.10,0.000,2,0.000,0.000,413,1638,2920,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.6,9,122,13.90,2.42,-8.93,0.000,4,0.146,0.031,3101,3160,3397,0,0,0,0,0,0
$GC,152,-1.01,-146.0,20.2,-22.9,17,161,0.25,2.62,0.00,0.000,6,0.080,0.038,3161,1571,3397,0,0,0,0,0,0
$GC,432,-0.91,-146.0,59.1,-11.0,46,441,0.10,0.00,0.00,0.000,6,0.125,0.000,3184,1571,3398,0,0,0,0,0,0
$GC,697,-0.91,-146.0,85.0,-9.0,71,701,0.00,2.28,0.00,0.000,4,0.000,0.043,3185,167,3399,0,0,0,0,0,0
$GC,727,-0.86,-146.0,87.7,-9.7,73,732,0.00,2.17,0.00,0.000,6,0.000,0.017,3184,1600,3399,0,0,0,0,0,0
$GC,994,-0.86,-146.0,113.4,-9.8,97,998,0.00,2.38,0.00,0.000,4,0.000,0.021,3185,3125,3399,0,0,0,0,0,0
$GC,1032,-0.92,-146.0,117.3,-9.2,100,1037,0.00,2.50,0.00,0.000,6,0.000,0.028,3185,1568,3399,0,0,0,0,0,0
$GC,1295,-0.92,-146.0,144.2,-11.0,124,1299,0.00,2.28,0.00,0.000,4,0.000,0.043,3184,166,3399,0,0,0,0,0,0
$GC,1316,-0.92,-146.0,147.0,-11.6,125,1322,0.00,2.12,0.00,0.000,6,0.000,0.017,3185,1598,3399,0,0,0,0,0,0
$GC,1580,-0.92,-146.0,174.3,-10.1,150,1584,0.00,2.35,0.00,0.000,4,0.000,0.021,3185,3113,3400,0,0,0,0,0,0
$GC,1607,-0.97,-146.0,177.3,-10.8,152,1611,0.00,2.45,0.00,0.000,6,0.000,0.027,3184,1575,3400,0,0,0,0,0,0
$GC,1871,-0.97,-146.0,199.9,-8.0,176,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1575,3400,0,0,0,0,0,0
$GC,2121,-0.97,-146.0,220.5,-8.1,183,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1575,3400,0,0,0,0,0,0
$GC,2365,-0.97,-146.0,238.9,-7.2,189,2369,0.00,2.28,0.00,0.000,4,0.000,0.044,3185,174,3400,0,0,0,0,0,0
$GC,2391,-1.02,-146.0,240.9,-9.0,189,2395,0.00,2.10,0.00,0.000,6,0.000,0.018,3185,1578,3400,0,0,0,0,0,0
$GC,2655,-1.08,-146.0,262.1,-8.1,196,2660,0.15,2.42,0.00,0.000,4,0.055,0.023,3120,3122,3400,0,0,0,0,0,0
$GC,2689,-1.08,-146.0,265.4,-9.2,196,2694,0.12,2.45,0.00,0.000,6,0.102,0.028,3149,1588,3400,0,0,0,0,0,0
$GC,2940,-1.08,-146.0,285.9,-8.1,202,2944,0.00,2.33,0.00,0.000,4,0.000,0.047,3149,173,3400,0,0,0,0,0,0
$GC,2959,-1.08,-146.0,287.8,-8.7,202,2963,0.00,2.12,0.00,0.000,6,0.000,0.019,3149,1574,3400,0,0,0,0,0,0
$GC,3228,-1.08,-146.0,309.0,-8.1,209,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1577,3400,0,0,0,0,0,0
$GC,3473,-1.08,-146.0,329.5,-8.5,215,3477,0.00,2.33,0.00,0.000,4,0.000,0.048,3149,165,3398,0,0,0,0,0,0
$GC,3501,-1.08,-146.0,332.1,-7.9,215,3505,0.00,2.17,0.00,0.000,6,0.000,0.021,3149,1575,3399,0,0,0,0,0,0
$GC,3755,-1.08,-146.0,353.0,-8.4,222,3759,0.00,2.50,0.00,0.000,4,0.000,0.031,3149,3136,3397,0,0,0,0,0,0
$GC,3800,-1.19,-146.0,356.6,-7.4,223,3806,0.10,2.55,0.00,0.000,6,0.076,0.036,3090,1586,3397,0,0,0,0,0,0
$GC,4091,-1.09,-146.0,385.7,-9.8,230,4096,0.25,2.38,0.00,0.000,4,0.088,0.056,3149,169,3395,0,0,0,0,0,0
$GC,4140,-1.15,-146.0,390.0,-7.6,231,4144,0.00,2.22,0.00,0.000,6,0.000,0.024,3149,1580,3395,0,0,0,0,0,0
$GC,4425,-1.20,-146.0,407.6,-6.3,238,4426,0.10,0.00,0.00,0.000,6,0.077,0.000,3098,1581,3394,0,0,0,0,0,0
$GC,4666,-1.13,-146.0,432.8,-10.7,244,4668,0.17,0.00,0.00,0.000,6,0.094,0.000,3137,1581,3392,0,0,0,0,0,0
$GC,4911,-1.13,-146.0,453.2,-8.0,250,4916,0.00,2.55,0.00,0.000,4,0.000,0.038,3137,3144,3390,0,0,0,0,0,0
$GC,4930,-1.13,-146.0,454.8,-7.6,250,4935,0.00,2.60,0.00,0.000,6,0.000,0.037,3137,1575,3390,0,0,0,0,0,0
$GC,5194,-1.13,-146.0,474.5,-7.6,257,5198,0.00,2.42,0.00,0.000,4,0.000,0.068,3137,167,3389,0,0,0,0,0,0
$GC,5219,-1.13,-146.0,476.5,-9.3,257,5224,0.00,2.25,0.00,0.000,6,0.000,0.027,3137,1577,3388,0,0,0,0,0,0
$GC,5479,-1.13,-146.0,498.2,-8.5,264,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1577,3386,0,0,0,0,0,0
$GC,5722,-1.13,-146.0,521.9,-9.9,270,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1577,3385,0,0,0,0,0,0
$GC,5968,-1.13,-146.0,544.2,-8.9,276,5972,0.00,2.65,0.00,0.000,4,0.000,0.049,3137,3153,3383,0,0,0,0,0,0
$GC,6015,-1.24,-146.0,548.6,-8.4,277,6019,0.00,2.62,0.00,0.000,6,0.000,0.044,3137,1577,3383,0,0,0,0,0,0
$GC,6298,-1.24,-146.0,573.4,-8.9,284,6302,0.00,2.47,0.00,0.000,4,0.000,0.076,3137,162,3381,0,0,0,0,0,0
$GC,6365,-1.28,-146.0,579.7,-9.7,285,6370,0.15,2.28,0.00,0.000,6,0.056,0.031,3077,1570,3381,0,0,0,0,0,0
$GC,6630,-1.20,-146.0,608.6,-10.8,292,6632,0.20,0.00,0.00,0.000,6,0.095,0.000,3121,1570,3380,0,0,0,0,0,0
$GC,6875,-1.20,-146.0,629.2,-8.2,298,6879,0.00,2.70,0.00,0.000,4,0.000,0.052,3121,3158,3378,0,0,0,0,0,0
$GC,6894,-1.20,-146.0,630.8,-7.8,298,6899,0.00,2.70,0.00,0.000,6,0.000,0.045,3121,1557,3379,0,0,0,0,0,0
$GC,7158,-1.20,-146.0,652.0,-8.0,305,7163,0.00,2.67,0.00,0.000,4,0.000,0.047,3121,3158,3376,0,0,0,0,0,0
$GC,7179,-1.20,-146.0,653.5,-8.1,305,7184,0.00,2.70,0.00,0.000,6,0.000,0.047,3121,1560,3377,0,0,0,0,0,0
$GC,7445,-1.20,-146.0,674.9,-8.1,312,7449,0.00,2.42,0.00,0.000,4,0.000,0.081,3121,171,3374,0,0,0,0,0,0
$GC,7496,-1.20,-146.0,679.7,-10.4,313,7500,0.00,2.25,0.00,0.000,6,0.000,0.035,3121,1563,3374,0,0,0,0,0,0
$GC,7775,-1.20,-146.0,702.5,-8.3,320,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1564,3373,0,0,0,0,0,0
$GC,8017,-1.20,-146.0,722.2,-8.0,326,8022,0.00,2.70,0.00,0.000,4,0.000,0.056,3122,3153,3372,0,0,0,0,0,0
$GC,8051,-1.28,-146.0,725.0,-7.5,326,8056,0.00,2.67,0.00,0.000,6,0.000,0.048,3122,1567,3372,0,0,0,0,0,0
$GC,8303,-1.28,-146.0,745.0,-8.0,332,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1567,3371,0,0,0,0,0,0
$GC,8545,-1.28,-146.0,763.7,-7.6,338,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1567,3369,0,0,0,0,0,0
$GC,8788,-1.28,-146.0,782.4,-7.8,344,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1567,3369,0,0,0,0,0,0
$GC,9032,-1.28,-146.0,802.2,-8.1,350,9037,0.00,2.67,0.00,0.000,4,0.000,0.048,3121,3154,3368,0,0,0,0,0,0
$GC,9048,-1.28,-146.0,803.5,-8.1,350,9053,0.00,2.70,0.00,0.000,6,0.000,0.048,3121,1564,3368,0,0,0,0,0,0
$GC,9317,-1.28,-146.0,825.4,-8.2,357,9321,0.00,2.47,0.00,0.000,4,0.000,0.082,3121,165,3366,0,0,0,0,0,0
$GC,9345,-1.28,-146.0,827.9,-8.8,357,9349,0.00,2.30,0.00,0.000,6,0.000,0.035,3121,1571,3366,0,0,0,0,0,0
$GC,9602,-1.28,-146.0,847.3,-7.5,364,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1572,3366,0,0,0,0,0,0
$GC,9844,-1.32,-146.0,865.0,-7.1,370,9846,0.10,0.00,0.00,0.000,6,0.077,0.000,3077,1571,3365,0,0,0,0,0,0
$GC,10088,-1.28,-146.0,887.0,-9.1,376,10093,0.12,2.50,0.00,0.000,4,0.110,0.074,3105,162,3364,0,0,0,0,0,0
$GC,10133,-1.28,-146.0,890.7,-7.3,377,10138,0.00,2.30,0.00,0.000,6,0.000,0.036,3105,1566,3363,0,0,0,0,0,0
$STATE,10296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10296,begin apogee
$GC,10302,-0.31,0.0,902.5,6.9,381,10425,0.93,0.00,119.60,1.154,6,0.076,0.000,3317,1336,2800,0,0,0,0,0,0
$STATE,10426,end apogee,CONTROL_FINISHED_OK
$STATE,10426,begin climb
$GC,10430,1.27,146.0,905.4,0.0,384,10572,1.45,2.17,130.32,1.133,4,0.030,0.077,3667,173,2203,0,0,0,0,0,0
$GC,10614,0.98,146.0,892.8,15.1,388,10619,0.32,1.95,0.00,0.000,6,0.109,0.031,3601,1350,2199,0,0,0,0,0,0
$GC,10871,0.90,146.0,865.0,10.4,395,10875,0.00,2.10,0.00,0.000,4,0.000,0.072,3601,172,2193,0,0,0,0,0,0
$GC,10917,0.76,146.0,859.2,13.0,396,10922,0.22,1.95,0.00,0.000,6,0.105,0.031,3554,1355,2193,0,0,0,0,0,0
$GC,11202,0.80,175.2,834.3,8.6,403,11234,0.00,2.17,25.90,1.056,4,0.000,0.072,3554,182,2084,0,0,0,0,0,0
$GC,11253,0.80,179.2,829.3,9.8,404,11265,0.00,1.95,5.12,0.763,6,0.000,0.031,3554,1356,2069,0,0,0,0,0,0
$GC,11535,0.82,191.9,803.0,9.4,411,11550,0.00,0.00,12.85,0.977,6,0.000,0.000,3554,1357,2017,0,0,0,0,0,0
$GC,11777,0.84,204.0,780.0,9.4,417,11797,0.00,2.75,12.48,0.964,4,0.000,0.055,3554,2938,1966,0,0,0,0,0,0
$GC,11807,0.91,221.6,777.1,9.2,417,11833,0.12,2.75,18.30,0.997,6,0.067,0.048,3600,1352,1896,0,0,0,0,0,0
$GC,12111,0.91,221.6,740.3,12.2,425,12115,0.00,2.70,0.00,0.000,4,0.000,0.048,3599,2936,1892,0,0,0,0,0,0
$GC,12139,0.91,221.6,736.7,12.4,425,12143,0.00,2.72,0.00,0.000,6,0.000,0.049,3599,1356,1889,0,0,0,0,0,0
$GC,12394,0.91,221.6,705.7,12.2,432,12395,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1356,1889,0,0,0,0,0,0
$GC,12639,0.91,221.6,675.9,12.1,438,12643,0.00,2.12,0.00,0.000,4,0.000,0.084,3600,166,1889,0,0,0,0,0,0
$GC,12667,0.82,221.6,671.9,13.9,438,12671,0.17,1.95,0.00,0.000,6,0.104,0.029,3563,1363,1889,0,0,0,0,0,0
$GC,12922,0.87,221.6,644.9,10.4,445,12926,0.00,2.65,0.00,0.000,4,0.000,0.051,3563,2929,1888,0,0,0,0,0,0
$GC,12947,0.97,247.2,642.5,8.8,445,12977,0.15,2.70,23.35,0.949,6,0.058,0.051,3619,1356,1792,0,0,0,0,0,0
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$STATE,18480,end climb,SURFACE_DEPTH_REACHED
$STATE,18480,begin surface coast
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$STATE,18527,end surface coast,CONTROL_FINISHED_OK
$STATE,18527,begin surface
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$XPDR_PINGS,12
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$10V_AH,9.9,22.460
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355624
$DATA_FILE_SIZE,53964,708
$CAP_FILE_SIZE,183819,0
$CFSIZE,260165632,159195136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280613,230105,2258.989,-15738.036,35,0.9,40,10.1