version: 66.06
glider: 148
mission: 12
dive: 267
start: 7 19 113 14 50 34
data:
$ID,148
$MISSION,12
$DIVE,267
$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,-1021382.2
$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,26
$R_STBD_OVSHOOT,78
$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
$GPS1,142802,2320.610,-15737.800,73,1.6,73,10.2
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.1
$GPS2,144942,2320.824,-15737.949,9,1.3,14,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYT1
$TGT_LATLONG,2332.500,-15900.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.249,-0.073
$KALMAN_X,-203508.6,-27.1,-437.3,241734.4,901.5
$KALMAN_Y,171668.4,-22.0,-431.7,-104840.2,1858.9
$MHEAD_RNG_PITCHd_Wd,243.6,140978,-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,18,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-66.10,0.000,2,0.000,0.000,414,1580,2942,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.7,-5.7,9,122,14.45,2.38,-8.20,0.000,4,0.163,0.050,3102,162,3397,0,0,0,0,0,0
$GC,254,-0.95,-146.0,43.1,-19.6,30,259,0.35,2.12,0.00,0.000,6,0.098,0.016,3176,1570,3398,0,0,0,0,0,0
$GC,518,-0.85,-146.0,85.6,-13.3,54,523,0.10,2.45,0.00,0.000,4,0.120,0.021,3200,3125,3398,0,0,0,0,0,0
$GC,540,-0.79,-146.0,88.1,-12.7,55,544,0.00,2.53,0.00,0.000,6,0.000,0.026,3199,1560,3398,0,0,0,0,0,0
$GC,808,-0.79,-146.0,114.9,-8.6,79,813,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1560,3399,0,0,0,0,0,0
$GC,1069,-0.79,-146.0,141.0,-9.9,104,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1560,3399,0,0,0,0,0,0
$GC,1326,-0.79,-146.0,166.5,-9.1,128,1330,0.00,2.45,0.00,0.000,4,0.000,0.020,3199,3128,3399,0,0,0,0,0,0
$GC,1362,-0.88,-146.0,169.9,-9.4,131,1366,0.00,2.53,0.00,0.000,6,0.000,0.028,3199,1568,3399,0,0,0,0,0,0
$GC,1627,-0.88,-146.0,193.0,-8.7,155,1631,0.00,2.28,0.00,0.000,4,0.000,0.044,3199,168,3400,0,0,0,0,0,0
$GC,1656,-0.88,-146.0,195.3,-8.5,157,1660,0.00,2.10,0.00,0.000,6,0.000,0.017,3199,1585,3399,0,0,0,0,0,0
$GC,1921,-0.93,-146.0,216.6,-8.3,167,1925,0.00,2.40,0.00,0.000,4,0.000,0.021,3199,3120,3400,0,0,0,0,0,0
$GC,1949,-1.03,-146.0,219.2,-8.0,167,1955,0.17,2.47,0.00,0.000,6,0.044,0.027,3109,1582,3399,0,0,0,0,0,0
$GC,2210,-0.91,-146.0,250.6,-12.1,174,2215,0.32,2.30,0.00,0.000,4,0.080,0.042,3185,167,3399,0,0,0,0,0,0
$GC,2250,-0.99,-146.0,254.8,-10.1,174,2255,0.00,2.12,0.00,0.000,6,0.000,0.018,3185,1562,3399,0,0,0,0,0,0
$GC,2504,-1.06,-146.0,275.3,-8.0,181,2506,0.12,0.00,0.00,0.000,6,0.063,0.000,3121,1565,3398,0,0,0,0,0,0
$GC,2743,-0.98,-146.0,301.1,-10.7,187,2748,0.22,2.35,0.00,0.000,4,0.086,0.048,3172,169,3398,0,0,0,0,0,0
$GC,2774,-0.98,-146.0,304.1,-10.3,187,2778,0.00,2.15,0.00,0.000,6,0.000,0.020,3172,1580,3397,0,0,0,0,0,0
$GC,3028,-0.98,-146.0,323.7,-7.6,194,3032,0.00,2.35,0.00,0.000,4,0.000,0.051,3172,175,3396,0,0,0,0,0,0
$GC,3056,-0.98,-146.0,326.0,-9.0,194,3060,0.00,2.15,0.00,0.000,6,0.000,0.020,3172,1576,3396,0,0,0,0,0,0
$GC,3315,-1.04,-146.0,345.6,-7.9,201,3320,0.00,2.38,0.00,0.000,4,0.000,0.059,3172,171,3395,0,0,0,0,0,0
$GC,3339,-1.04,-146.0,348.1,-9.0,201,3343,0.00,2.15,0.00,0.000,6,0.000,0.021,3172,1572,3394,0,0,0,0,0,0
$GC,3603,-1.09,-146.0,368.6,-7.7,208,3608,0.10,2.53,0.00,0.000,4,0.075,0.030,3117,3131,3392,0,0,0,0,0,0
$GC,3625,-1.09,-146.0,370.5,-9.3,208,3630,0.12,2.58,0.00,0.000,6,0.097,0.035,3147,1574,3392,0,0,0,0,0,0
$GC,3890,-1.09,-146.0,395.0,-9.2,215,3894,0.00,2.40,0.00,0.000,4,0.000,0.059,3147,163,3390,0,0,0,0,0,0
$GC,3924,-1.09,-146.0,398.1,-9.3,215,3928,0.00,2.17,0.00,0.000,6,0.000,0.022,3147,1564,3390,0,0,0,0,0,0
$GC,4177,-1.09,-146.0,419.8,-8.6,221,4181,0.00,2.55,0.00,0.000,4,0.000,0.034,3146,3147,3388,0,0,0,0,0,0
$GC,4210,-1.17,-146.0,422.9,-8.3,221,4215,0.00,2.60,0.00,0.000,6,0.000,0.040,3147,1577,3388,0,0,0,0,0,0
$GC,4462,-1.17,-146.0,442.5,-7.9,227,4466,0.00,2.40,0.00,0.000,4,0.000,0.065,3147,165,3385,0,0,0,0,0,0
$GC,4492,-1.17,-146.0,445.1,-8.8,227,4496,0.00,2.25,0.00,0.000,6,0.000,0.025,3147,1582,3385,0,0,0,0,0,0
$GC,4746,-1.17,-146.0,468.8,-9.5,234,4751,0.00,2.55,0.00,0.000,4,0.000,0.037,3147,3143,3384,0,0,0,0,0,0
$GC,4799,-1.27,-146.0,473.9,-9.6,235,4804,0.17,2.60,0.00,0.000,6,0.049,0.040,3075,1587,3383,0,0,0,0,0,0
$GC,5078,-1.14,-146.0,509.7,-13.0,242,5083,0.25,2.45,0.00,0.000,4,0.086,0.070,3136,168,3381,0,0,0,0,0,0
$GC,5150,-1.14,-146.0,517.6,-10.3,243,5154,0.00,2.28,0.00,0.000,6,0.000,0.030,3136,1580,3381,0,0,0,0,0,0
$GC,5409,-1.14,-146.0,539.4,-8.1,250,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1581,3379,0,0,0,0,0,0
$GC,5657,-1.14,-146.0,560.2,-8.6,256,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1581,3377,0,0,0,0,0,0
$GC,5896,-1.14,-146.0,579.6,-7.6,262,5901,0.00,2.60,0.00,0.000,4,0.000,0.044,3136,3148,3375,0,0,0,0,0,0
$GC,5917,-1.14,-146.0,581.0,-7.2,262,5922,0.00,2.65,0.00,0.000,6,0.000,0.044,3136,1575,3376,0,0,0,0,0,0
$GC,6181,-1.14,-146.0,599.8,-7.3,269,6185,0.00,2.47,0.00,0.000,4,0.000,0.078,3136,166,3374,0,0,0,0,0,0
$GC,6214,-1.14,-146.0,602.6,-9.1,269,6218,0.00,2.28,0.00,0.000,6,0.000,0.030,3136,1577,3374,0,0,0,0,0,0
$GC,6466,-1.14,-146.0,622.7,-8.2,275,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1577,3372,0,0,0,0,0,0
$GC,6710,-1.14,-146.0,641.7,-7.7,281,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1577,3371,0,0,0,0,0,0
$GC,6951,-1.14,-146.0,659.2,-7.3,287,6956,0.00,2.47,0.00,0.000,4,0.000,0.074,3136,168,3369,0,0,0,0,0,0
$GC,6977,-1.14,-146.0,661.2,-8.4,287,6981,0.00,2.28,0.00,0.000,6,0.000,0.031,3136,1574,3369,0,0,0,0,0,0
$GC,7238,-1.14,-146.0,681.2,-7.6,294,7242,0.00,2.62,0.00,0.000,4,0.000,0.049,3135,3152,3367,0,0,0,0,0,0
$GC,7267,-1.20,-146.0,683.2,-6.8,294,7271,0.00,2.67,0.00,0.000,6,0.000,0.048,3136,1578,3368,0,0,0,0,0,0
$GC,7528,-1.20,-146.0,701.9,-7.2,301,7532,0.00,2.47,0.00,0.000,4,0.000,0.081,3136,166,3366,0,0,0,0,0,0
$GC,7556,-1.20,-146.0,704.7,-9.0,301,7560,0.00,2.30,0.00,0.000,6,0.000,0.031,3136,1582,3366,0,0,0,0,0,0
$GC,7811,-1.20,-146.0,723.8,-7.5,308,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1582,3365,0,0,0,0,0,0
$GC,8056,-1.20,-146.0,742.9,-7.8,314,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1582,3363,0,0,0,0,0,0
$GC,8298,-1.20,-146.0,762.1,-7.7,320,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1582,3363,0,0,0,0,0,0
$GC,8544,-1.20,-146.0,780.1,-7.3,326,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1582,3362,0,0,0,0,0,0
$GC,8785,-1.20,-146.0,796.7,-6.6,332,8790,0.00,2.50,0.00,0.000,4,0.000,0.075,3136,165,3361,0,0,0,0,0,0
$GC,8808,-1.20,-146.0,798.1,-6.7,332,8812,0.00,2.30,0.00,0.000,6,0.000,0.033,3136,1574,3361,0,0,0,0,0,0
$GC,9072,-1.20,-146.0,816.9,-7.2,339,9076,0.00,2.65,0.00,0.000,4,0.000,0.051,3136,3151,3361,0,0,0,0,0,0
$GC,9100,-1.28,-146.0,819.2,-8.4,339,9106,0.12,2.67,0.00,0.000,6,0.064,0.050,3082,1580,3361,0,0,0,0,0,0
$GC,9362,-1.21,-146.0,845.2,-10.4,346,9367,0.17,2.50,0.00,0.000,4,0.096,0.082,3121,166,3360,0,0,0,0,0,0
$GC,9419,-1.21,-146.0,851.3,-9.2,347,9423,0.00,2.28,0.00,0.000,6,0.000,0.033,3121,1571,3359,0,0,0,0,0,0
$GC,9698,-1.21,-146.0,872.2,-7.2,354,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1571,3359,0,0,0,0,0,0
$GC,9940,-1.21,-146.0,888.2,-6.5,360,9945,0.00,2.47,0.00,0.000,4,0.000,0.075,3121,166,3358,0,0,0,0,0,0
$GC,9964,-1.21,-146.0,889.9,-7.1,360,9968,0.00,2.28,0.00,0.000,6,0.000,0.033,3121,1565,3357,0,0,0,0,0,0
$STATE,10139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10139,begin apogee
$GC,10148,-0.31,0.0,901.3,6.4,365,10269,0.85,0.00,118.45,1.153,6,0.067,0.000,3317,1346,2800,0,0,0,0,0,0
$STATE,10270,end apogee,CONTROL_FINISHED_OK
$STATE,10270,begin climb
$GC,10273,1.27,146.0,904.1,0.0,368,10413,1.42,2.15,129.77,1.133,4,0.031,0.076,3667,170,2203,0,0,0,0,0,0
$GC,10548,1.02,146.0,879.6,14.2,374,10553,0.28,1.95,0.00,0.000,6,0.110,0.030,3610,1356,2196,0,0,0,0,0,0
$GC,10826,0.96,159.3,852.9,9.4,381,10842,0.00,2.15,11.52,0.974,4,0.000,0.072,3610,174,2150,0,0,0,0,0,0
$GC,10899,0.84,159.3,844.7,11.0,382,10904,0.20,1.92,0.00,0.000,6,0.107,0.030,3569,1346,2149,0,0,0,0,0,0
$GC,11160,0.87,190.3,822.7,8.6,389,11192,0.00,0.00,29.65,1.055,6,0.000,0.000,3569,1347,2024,0,0,0,0,0,0
$GC,11402,0.87,190.3,797.9,10.5,395,11406,0.00,2.70,0.00,0.000,4,0.000,0.051,3569,2932,2019,0,0,0,0,0,0
$GC,11448,0.96,190.3,793.5,11.1,396,11455,0.10,2.72,0.00,0.000,6,0.079,0.049,3610,1353,2017,0,0,0,0,0,0
$GC,11739,0.96,190.3,759.5,11.6,403,11743,0.00,2.15,0.00,0.000,4,0.000,0.087,3610,164,2016,0,0,0,0,0,0
$GC,11758,0.89,190.3,757.0,11.5,403,11763,0.15,1.95,0.00,0.000,6,0.109,0.030,3579,1361,2016,0,0,0,0,0,0
$GC,12022,0.90,206.2,732.0,9.3,410,12039,0.00,0.00,15.12,0.968,6,0.000,0.000,3579,1361,1959,0,0,0,0,0,0
$GC,12270,0.92,217.0,709.0,9.5,416,12284,0.00,0.00,11.60,0.919,6,0.000,0.000,3579,1362,1915,0,0,0,0,0,0
$GC,12509,0.92,217.0,684.6,10.0,422,12511,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1362,1912,0,0,0,0,0,0
$GC,12753,0.92,217.0,657.7,11.2,428,12758,0.00,2.65,0.00,0.000,4,0.000,0.051,3579,2925,1911,0,0,0,0,0,0
$GC,12779,0.98,217.0,655.0,10.4,428,12783,0.00,2.72,0.00,0.000,6,0.000,0.049,3579,1341,1909,0,0,0,0,0,0
$GC,13038,0.98,217.0,626.9,10.5,435,13039,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1340,1909,0,0,0,0,0,0
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$STATE,18625,end climb,SURFACE_DEPTH_REACHED
$STATE,18625,begin surface coast
$FINISH,1.1,1.023278
$STATE,18674,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.9,36.877
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355740
$DATA_FILE_SIZE,57486,710
$CAP_FILE_SIZE,194459,0
$CFSIZE,260165632,151990272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190713,200406,2319.834,-15740.471,26,1.4,26,10.2