version: 66.06
glider: 148
mission: 12
dive: 251
start: 7 15 113 23 49 37
data:
$ID,148
$MISSION,12
$DIVE,251
$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,390
$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,-1021086.3
$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,25
$R_STBD_OVSHOOT,98
$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
$GPS1,234106,2305.328,-15716.908,31,1.3,31,10.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-77.6
$GPS2,234843,2305.395,-15716.908,13,1.6,13,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.260,-0.004
$KALMAN_X,-217266.3,79.9,-222.9,291106.7,1019.6
$KALMAN_Y,162360.9,-189.0,-68.4,-124312.6,83.2
$MHEAD_RNG_PITCHd_Wd,258.9,31534,-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,17,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.12,0.000,2,0.000,0.000,411,1581,2895,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.4,-5.2,9,121,13.93,2.40,-9.40,0.000,4,0.148,0.054,3102,163,3395,0,0,0,0,0,0
$GC,253,-0.97,-146.0,42.6,-21.7,30,258,0.32,2.08,0.00,0.000,6,0.093,0.018,3173,1537,3395,0,0,0,0,0,0
$GC,517,-0.87,-146.0,82.5,-12.8,54,522,0.10,2.53,0.00,0.000,4,0.120,0.021,3193,3150,3396,0,0,0,0,0,0
$GC,561,-0.92,-146.0,87.6,-10.6,57,566,0.00,2.58,0.00,0.000,6,0.000,0.028,3194,1561,3396,0,0,0,0,0,0
$GC,830,-0.92,-146.0,117.3,-11.3,81,834,0.00,2.25,0.00,0.000,4,0.000,0.042,3193,173,3397,0,0,0,0,0,0
$GC,848,-0.92,-146.0,120.1,-10.5,82,857,0.00,2.17,0.00,0.000,6,0.000,0.017,3194,1613,3397,0,0,0,0,0,0
$GC,1114,-0.92,-146.0,148.0,-10.6,107,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1616,3398,0,0,0,0,0,0
$GC,1375,-0.92,-146.0,175.9,-10.5,132,1379,0.00,2.38,0.00,0.000,4,0.000,0.041,3194,172,3398,0,0,0,0,0,0
$GC,1405,-0.92,-146.0,179.4,-11.7,134,1410,0.00,2.08,0.00,0.000,6,0.000,0.017,3193,1567,3398,0,0,0,0,0,0
$GC,1685,-0.92,-146.0,208.8,-10.4,155,1689,0.00,2.42,0.00,0.000,4,0.000,0.021,3193,3114,3398,0,0,0,0,0,0
$GC,1737,-1.04,-146.0,213.3,-8.8,156,1742,0.15,2.50,0.00,0.000,6,0.053,0.028,3116,1567,3398,0,0,0,0,0,0
$GC,2027,-0.89,-146.0,250.4,-12.8,163,2032,0.30,2.28,0.00,0.000,4,0.084,0.041,3187,168,3398,0,0,0,0,0,0
$GC,2047,-0.81,-146.0,253.0,-11.6,163,2052,0.10,2.10,0.00,0.000,6,0.114,0.018,3210,1579,3398,0,0,0,0,0,0
$GC,2314,-0.90,-146.0,272.0,-7.2,170,2318,0.00,2.40,0.00,0.000,4,0.000,0.022,3210,3121,3398,0,0,0,0,0,0
$GC,2366,-1.08,-146.0,276.3,-7.2,171,2371,0.25,2.50,0.00,0.000,6,0.035,0.028,3108,1577,3398,0,0,0,0,0,0
$GC,2645,-0.94,-146.0,312.4,-13.9,178,2650,0.28,2.33,0.00,0.000,4,0.082,0.045,3174,168,3398,0,0,0,0,0,0
$GC,2709,-1.00,-146.0,318.9,-9.0,179,2713,0.00,2.12,0.00,0.000,6,0.000,0.019,3174,1552,3398,0,0,0,0,0,0
$GC,2980,-1.06,-146.0,337.2,-6.2,186,2984,0.00,2.53,0.00,0.000,4,0.000,0.028,3174,3133,3398,0,0,0,0,0,0
$GC,3015,-1.19,-146.0,339.5,-6.7,186,3020,0.20,2.55,0.00,0.000,6,0.044,0.033,3092,1579,3398,0,0,0,0,0,0
$GC,3265,-1.07,-146.0,369.2,-12.8,192,3270,0.25,2.38,0.00,0.000,4,0.084,0.054,3153,172,3397,0,0,0,0,0,0
$GC,3317,-1.07,-146.0,375.0,-10.0,193,3321,0.00,2.17,0.00,0.000,6,0.000,0.021,3153,1564,3397,0,0,0,0,0,0
$GC,3601,-1.07,-146.0,397.3,-7.6,200,3605,0.00,2.55,0.00,0.000,4,0.000,0.034,3153,3137,3395,0,0,0,0,0,0
$GC,3639,-1.16,-146.0,400.3,-7.3,200,3647,0.00,2.60,0.00,0.000,6,0.000,0.038,3153,1585,3395,0,0,0,0,0,0
$GC,3891,-1.16,-146.0,420.3,-8.4,207,3895,0.00,2.40,0.00,0.000,4,0.000,0.064,3153,170,3393,0,0,0,0,0,0
$GC,3952,-1.21,-146.0,426.0,-9.6,208,3957,0.12,2.22,0.00,0.000,6,0.063,0.025,3091,1582,3393,0,0,0,0,0,0
$GC,4226,-1.09,-146.0,457.9,-11.7,215,4231,0.25,2.42,0.00,0.000,4,0.084,0.063,3151,168,3390,0,0,0,0,0,0
$GC,4256,-1.09,-146.0,461.3,-10.1,215,4260,0.00,2.22,0.00,0.000,6,0.000,0.028,3151,1568,3390,0,0,0,0,0,0
$GC,4511,-1.09,-146.0,482.0,-7.8,222,4515,0.00,2.60,0.00,0.000,4,0.000,0.039,3151,3151,3389,0,0,0,0,0,0
$GC,4537,-1.16,-146.0,483.8,-8.2,222,4541,0.00,2.62,0.00,0.000,6,0.000,0.045,3151,1576,3389,0,0,0,0,0,0
$GC,4798,-1.16,-146.0,502.7,-7.4,229,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1577,3387,0,0,0,0,0,0
$GC,5040,-1.16,-146.0,521.1,-7.7,235,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1576,3385,0,0,0,0,0,0
$GC,5288,-1.16,-146.0,540.8,-8.1,241,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1577,3382,0,0,0,0,0,0
$GC,5529,-1.21,-146.0,559.1,-7.4,247,5534,0.12,2.47,0.00,0.000,4,0.065,0.074,3096,170,3381,0,0,0,0,0,0
$GC,5558,-1.12,-146.0,562.0,-10.7,247,5563,0.20,2.28,0.00,0.000,6,0.088,0.031,3141,1579,3380,0,0,0,0,0,0
$GC,5814,-1.12,-146.0,582.2,-7.7,254,5818,0.00,2.62,0.00,0.000,4,0.000,0.044,3141,3157,3379,0,0,0,0,0,0
$GC,5840,-1.17,-146.0,584.2,-8.6,254,5844,0.00,2.67,0.00,0.000,6,0.000,0.045,3141,1572,3379,0,0,0,0,0,0
$GC,6102,-1.17,-146.0,604.6,-7.9,261,6106,0.00,2.45,0.00,0.000,4,0.000,0.077,3141,172,3377,0,0,0,0,0,0
$GC,6163,-1.22,-146.0,610.0,-9.1,262,6167,0.00,2.28,0.00,0.000,6,0.000,0.031,3141,1580,3377,0,0,0,0,0,0
$GC,6437,-1.22,-146.0,630.6,-7.5,269,6442,0.00,2.62,0.00,0.000,4,0.000,0.047,3141,3154,3376,0,0,0,0,0,0
$GC,6476,-1.31,-146.0,633.5,-7.0,269,6482,0.17,2.67,0.00,0.000,6,0.050,0.047,3071,1575,3375,0,0,0,0,0,0
$GC,6730,-1.20,-146.0,659.3,-10.5,276,6735,0.22,2.47,0.00,0.000,4,0.089,0.077,3122,169,3373,0,0,0,0,0,0
$GC,6759,-1.20,-146.0,662.6,-9.4,276,6763,0.00,2.28,0.00,0.000,6,0.000,0.032,3122,1573,3373,0,0,0,0,0,0
$GC,7014,-1.20,-146.0,681.8,-7.4,283,7018,0.00,2.62,0.00,0.000,4,0.000,0.051,3122,3150,3372,0,0,0,0,0,0
$GC,7036,-1.20,-146.0,683.4,-7.5,283,7041,0.00,2.67,0.00,0.000,6,0.000,0.048,3122,1573,3372,0,0,0,0,0,0
$GC,7300,-1.20,-146.0,704.1,-7.9,290,7304,0.00,2.45,0.00,0.000,4,0.000,0.080,3122,170,3370,0,0,0,0,0,0
$GC,7333,-1.20,-146.0,707.0,-9.0,290,7337,0.00,2.25,0.00,0.000,6,0.000,0.032,3122,1574,3370,0,0,0,0,0,0
$GC,7589,-1.20,-146.0,728.5,-8.5,297,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1574,3369,0,0,0,0,0,0
$GC,7831,-1.20,-146.0,749.2,-8.3,303,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1574,3368,0,0,0,0,0,0
$GC,8075,-1.20,-146.0,768.9,-8.1,309,8079,0.00,2.47,0.00,0.000,4,0.000,0.074,3122,167,3366,0,0,0,0,0,0
$GC,8099,-1.20,-146.0,771.0,-8.5,309,8103,0.00,2.28,0.00,0.000,6,0.000,0.033,3122,1566,3366,0,0,0,0,0,0
$GC,8369,-1.20,-146.0,789.9,-6.8,316,8373,0.00,2.67,0.00,0.000,4,0.000,0.052,3122,3157,3365,0,0,0,0,0,0
$GC,8388,-1.20,-146.0,791.6,-6.8,316,8393,0.00,2.70,0.00,0.000,6,0.000,0.048,3122,1567,3365,0,0,0,0,0,0
$GC,8652,-1.20,-146.0,809.1,-6.7,323,8657,0.00,2.47,0.00,0.000,4,0.000,0.081,3122,167,3364,0,0,0,0,0,0
$GC,8692,-1.20,-146.0,812.2,-8.0,323,8697,0.00,2.28,0.00,0.000,6,0.000,0.033,3122,1564,3364,0,0,0,0,0,0
$GC,8942,-1.20,-146.0,831.6,-7.7,330,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1564,3363,0,0,0,0,0,0
$GC,9188,-1.20,-146.0,851.0,-8.1,336,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1564,3362,0,0,0,0,0,0
$GC,9431,-1.20,-146.0,869.1,-7.2,342,9435,0.00,2.47,0.00,0.000,4,0.000,0.076,3122,163,3362,0,0,0,0,0,0
$GC,9455,-1.20,-146.0,871.1,-8.5,342,9459,0.00,2.28,0.00,0.000,6,0.000,0.035,3122,1558,3362,0,0,0,0,0,0
$GC,9719,-1.20,-146.0,889.8,-6.9,349,9723,0.00,2.70,0.00,0.000,4,0.000,0.055,3122,3154,3361,0,0,0,0,0,0
$GC,9744,-1.20,-146.0,891.6,-7.5,349,9749,0.00,2.72,0.00,0.000,6,0.000,0.050,3122,1561,3361,0,0,0,0,0,0
$STATE,9879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9879,begin apogee
$GC,9886,-0.31,0.0,901.1,6.9,353,10008,0.85,0.00,118.90,1.149,6,0.068,0.000,3318,1342,2800,0,0,0,0,0,0
$STATE,10009,end apogee,CONTROL_FINISHED_OK
$STATE,10009,begin climb
$GC,10011,1.27,146.0,904.0,0.0,356,10152,1.42,2.22,130.07,1.127,4,0.031,0.083,3668,166,2203,0,0,0,0,0,0
$GC,10168,1.02,146.0,896.6,12.0,359,10173,0.28,1.95,0.00,0.000,6,0.110,0.032,3610,1352,2202,0,0,0,0,0,0
$GC,10428,0.95,146.0,869.6,10.2,366,10432,0.00,2.10,0.00,0.000,4,0.000,0.072,3610,172,2194,0,0,0,0,0,0
$GC,10442,0.84,146.0,867.5,10.0,366,10446,0.20,1.95,0.00,0.000,6,0.107,0.031,3569,1358,2194,0,0,0,0,0,0
$GC,10711,0.89,183.0,845.0,8.3,373,10753,0.00,2.17,33.22,1.068,4,0.000,0.072,3569,166,2053,0,0,0,0,0,0
$GC,10774,0.89,183.4,839.4,10.0,374,10777,0.00,1.95,0.00,0.000,6,0.000,0.031,3569,1346,2052,0,0,0,0,0,0
$GC,11048,0.92,208.6,814.9,8.8,381,11075,0.00,0.00,24.90,1.040,6,0.000,0.000,3569,1345,1949,0,0,0,0,0,0
$GC,11292,0.93,215.8,791.6,9.7,387,11301,0.00,0.00,7.60,0.872,6,0.000,0.000,3569,1346,1920,0,0,0,0,0,0
$GC,11534,0.93,215.8,767.2,10.0,393,11538,0.00,2.72,0.00,0.000,4,0.000,0.054,3569,2935,1917,0,0,0,0,0,0
$GC,11558,1.03,248.2,764.7,8.5,393,11595,0.17,2.72,31.00,1.029,6,0.054,0.050,3627,1350,1788,0,0,0,0,0,0
$GC,11868,0.98,248.2,723.4,13.9,401,11870,0.12,0.00,0.00,0.000,6,0.114,0.000,3601,1350,1783,0,0,0,0,0,0
$GC,12108,0.98,248.2,692.8,12.5,407,12112,0.00,2.70,0.00,0.000,4,0.000,0.045,3601,2929,1782,0,0,0,0,0,0
$GC,12161,1.04,248.2,686.5,11.5,408,12166,0.00,2.72,0.00,0.000,6,0.000,0.050,3600,1350,1779,0,0,0,0,0,0
$GC,12439,1.04,248.2,652.1,12.3,415,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1350,1779,0,0,0,0,0,0
$GC,12687,1.04,248.2,621.6,12.4,421,12692,0.00,2.67,0.00,0.000,4,0.000,0.045,3600,2932,1779,0,0,0,0,0,0
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$STATE,18132,end climb,SURFACE_DEPTH_REACHED
$STATE,18132,begin surface coast
$FINISH,0.9,1.009770
$STATE,18173,end surface coast,CONTROL_FINISHED_OK
$STATE,18173,begin surface
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$TCM_TEMP,22.70
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$10V_AH,9.9,34.484
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355816
$DATA_FILE_SIZE,54174,692
$CAP_FILE_SIZE,178613,0
$CFSIZE,260165632,153243648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160713,045505,2305.333,-15718.907,36,1.3,36,10.2