version: 66.06
glider: 148
mission: 12
dive: 291
start: 7 25 113 0 33 32
data:
$ID,148
$MISSION,12
$DIVE,291
$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,-1021815.4
$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,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,66
$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
$GPS1,002215,2312.700,-15755.777,37,3.1,56,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-78.4
$GPS2,003237,2312.661,-15755.794,11,1.0,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK2
$TGT_LATLONG,2332.200,-15756.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.085,0.245
$KALMAN_X,-183807.8,-651.3,265.9,191482.8,1406.7
$KALMAN_Y,159002.2,-420.9,196.7,-107522.6,-470.7
$MHEAD_RNG_PITCHd_Wd,330.7,36205,-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,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.50,0.000,2,0.000,0.000,416,1628,2941,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.5,-5.0,9,123,13.82,2.42,-8.27,0.000,4,0.144,0.034,3104,3140,3398,0,0,0,0,0,0
$GC,246,-1.08,-146.0,38.3,-16.7,29,252,0.20,2.55,0.00,0.000,6,0.100,0.028,3146,1560,3399,0,0,0,0,0,0
$GC,516,-0.94,-146.0,79.4,-13.8,53,521,0.15,2.47,0.00,0.000,4,0.107,0.021,3179,3135,3400,0,0,0,0,0,0
$GC,537,-0.86,-146.0,83.4,-12.8,54,547,0.05,2.55,0.00,0.000,6,0.090,0.028,3197,1581,3400,0,0,0,0,0,0
$GC,805,-0.86,-146.0,110.5,-10.4,79,809,0.00,2.30,0.00,0.000,4,0.000,0.044,3197,170,3401,0,0,0,0,0,0
$GC,853,-0.86,-146.0,115.7,-10.2,83,857,0.00,2.15,0.00,0.000,6,0.000,0.017,3197,1597,3401,0,0,0,0,0,0
$GC,1121,-0.86,-146.0,138.6,-8.3,107,1125,0.00,2.40,0.00,0.000,4,0.000,0.021,3197,3125,3401,0,0,0,0,0,0
$GC,1172,-0.98,-146.0,143.6,-8.0,111,1178,0.12,2.50,0.00,0.000,6,0.059,0.028,3124,1581,3401,0,0,0,0,0,0
$GC,1440,-0.83,-146.0,177.6,-13.9,136,1445,0.32,2.30,0.00,0.000,4,0.082,0.041,3202,168,3401,0,0,0,0,0,0
$GC,1486,-0.88,-146.0,183.9,-10.1,140,1490,0.00,2.10,0.00,0.000,6,0.000,0.018,3202,1588,3401,0,0,0,0,0,0
$GC,1756,-0.94,-146.0,207.2,-8.5,159,1761,0.10,2.40,0.00,0.000,4,0.075,0.022,3142,3115,3401,0,0,0,0,0,0
$GC,1802,-0.94,-146.0,212.1,-10.8,160,1807,0.17,2.50,0.00,0.000,6,0.084,0.029,3183,1576,3401,0,0,0,0,0,0
$GC,2090,-0.94,-146.0,239.2,-9.1,167,2094,0.00,2.33,0.00,0.000,4,0.000,0.045,3184,164,3401,0,0,0,0,0,0
$GC,2138,-1.02,-146.0,243.4,-9.1,168,2143,0.10,2.12,0.00,0.000,6,0.074,0.018,3122,1582,3401,0,0,0,0,0,0
$GC,2421,-0.92,-146.0,273.3,-10.2,175,2426,0.28,2.42,0.00,0.000,4,0.080,0.022,3186,3118,3401,0,0,0,0,0,0
$GC,2470,-1.06,-146.0,276.5,-6.7,176,2475,0.15,2.50,0.00,0.000,6,0.052,0.030,3109,1580,3401,0,0,0,0,0,0
$GC,2758,-0.95,-146.0,306.6,-10.5,183,2763,0.28,2.35,0.00,0.000,4,0.081,0.047,3176,167,3400,0,0,0,0,0,0
$GC,2846,-1.05,-146.0,314.5,-8.7,184,2852,0.00,2.15,0.00,0.000,6,0.000,0.020,3176,1554,3400,0,0,0,0,0,0
$GC,3099,-1.10,-146.0,334.8,-8.1,191,3104,0.12,2.55,0.00,0.000,4,0.064,0.030,3113,3143,3398,0,0,0,0,0,0
$GC,3147,-1.10,-146.0,339.9,-10.1,192,3152,0.15,2.58,0.00,0.000,6,0.090,0.035,3147,1576,3398,0,0,0,0,0,0
$GC,3432,-1.10,-146.0,362.4,-7.3,199,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1576,3397,0,0,0,0,0,0
$GC,3674,-1.10,-146.0,378.9,-6.6,205,3678,0.00,2.55,0.00,0.000,4,0.000,0.033,3147,3136,3395,0,0,0,0,0,0
$GC,3693,-1.10,-146.0,380.3,-7.2,205,3697,0.00,2.58,0.00,0.000,6,0.000,0.037,3147,1575,3395,0,0,0,0,0,0
$GC,3959,-1.10,-146.0,400.4,-7.9,212,3963,0.00,2.38,0.00,0.000,4,0.000,0.063,3148,172,3393,0,0,0,0,0,0
$GC,3982,-1.10,-146.0,402.7,-9.6,212,3986,0.00,2.20,0.00,0.000,6,0.000,0.023,3147,1588,3393,0,0,0,0,0,0
$GC,4242,-1.10,-146.0,423.1,-7.9,219,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1591,3391,0,0,0,0,0,0
$GC,4487,-1.10,-146.0,440.1,-6.8,225,4491,0.00,2.45,0.00,0.000,4,0.000,0.063,3147,165,3390,0,0,0,0,0,0
$GC,4520,-1.10,-146.0,442.7,-7.0,225,4524,0.00,2.20,0.00,0.000,6,0.000,0.026,3147,1565,3390,0,0,0,0,0,0
$GC,4772,-1.10,-146.0,459.2,-6.4,231,4777,0.00,2.58,0.00,0.000,4,0.000,0.037,3148,3150,3388,0,0,0,0,0,0
$GC,4821,-1.19,-146.0,462.3,-6.1,232,4826,0.00,2.62,0.00,0.000,6,0.000,0.039,3148,1578,3388,0,0,0,0,0,0
$GC,5104,-1.19,-146.0,482.4,-7.1,239,5109,0.10,2.45,0.00,0.000,4,0.076,0.070,3096,170,3385,0,0,0,0,0,0
$GC,5153,-1.09,-146.0,487.5,-11.0,240,5158,0.22,2.28,0.00,0.000,6,0.087,0.029,3146,1588,3385,0,0,0,0,0,0
$GC,5437,-1.09,-146.0,509.9,-7.7,247,5441,0.00,2.58,0.00,0.000,4,0.000,0.041,3146,3149,3383,0,0,0,0,0,0
$GC,5470,-1.17,-146.0,512.5,-8.1,247,5475,0.00,2.62,0.00,0.000,6,0.000,0.041,3146,1584,3383,0,0,0,0,0,0
$GC,5722,-1.17,-146.0,530.8,-7.5,253,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1584,3381,0,0,0,0,0,0
$GC,5964,-1.17,-146.0,548.0,-7.1,259,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1584,3379,0,0,0,0,0,0
$GC,6208,-1.17,-146.0,565.3,-7.1,265,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1584,3378,0,0,0,0,0,0
$GC,6456,-1.17,-146.0,583.1,-7.4,271,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1584,3376,0,0,0,0,0,0
$GC,6697,-1.17,-146.0,601.9,-7.7,277,6701,0.00,2.62,0.00,0.000,4,0.000,0.044,3147,3145,3376,0,0,0,0,0,0
$GC,6726,-1.25,-146.0,604.5,-8.4,277,6731,0.15,2.65,0.00,0.000,6,0.056,0.048,3083,1583,3375,0,0,0,0,0,0
$GC,6982,-1.15,-146.0,632.3,-11.4,284,6987,0.22,2.50,0.00,0.000,4,0.089,0.080,3134,169,3374,0,0,0,0,0,0
$GC,7031,-1.15,-146.0,637.2,-9.2,285,7035,0.00,2.28,0.00,0.000,6,0.000,0.032,3134,1570,3374,0,0,0,0,0,0
$GC,7314,-1.15,-146.0,661.3,-8.4,292,7318,0.00,2.67,0.00,0.000,4,0.000,0.050,3134,3160,3372,0,0,0,0,0,0
$GC,7361,-1.23,-146.0,664.9,-8.0,293,7365,0.00,2.70,0.00,0.000,6,0.000,0.048,3134,1573,3372,0,0,0,0,0,0
$GC,7648,-1.23,-146.0,687.4,-7.5,300,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1573,3370,0,0,0,0,0,0
$GC,7894,-1.23,-146.0,705.5,-7.3,306,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1573,3369,0,0,0,0,0,0
$GC,8137,-1.23,-146.0,722.3,-6.9,312,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1573,3369,0,0,0,0,0,0
$GC,8379,-1.23,-146.0,738.8,-6.8,318,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1572,3367,0,0,0,0,0,0
$GC,8623,-1.23,-146.0,755.1,-6.6,324,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1572,3366,0,0,0,0,0,0
$GC,8867,-1.23,-146.0,771.1,-6.6,330,8871,0.00,2.65,0.00,0.000,4,0.000,0.044,3134,3154,3365,0,0,0,0,0,0
$GC,8893,-1.29,-146.0,772.7,-7.9,330,8898,0.12,2.67,0.00,0.000,6,0.064,0.050,3080,1586,3365,0,0,0,0,0,0
$GC,9153,-1.20,-146.0,797.5,-9.8,337,9159,0.17,2.55,0.00,0.000,4,0.094,0.084,3120,162,3364,0,0,0,0,0,0
$GC,9199,-1.20,-146.0,801.6,-8.8,338,9204,0.00,2.33,0.00,0.000,6,0.000,0.035,3120,1587,3364,0,0,0,0,0,0
$GC,9486,-1.20,-146.0,823.9,-7.6,345,9487,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1587,3363,0,0,0,0,0,0
$GC,9733,-1.20,-146.0,841.2,-7.0,351,9737,0.00,2.50,0.00,0.000,4,0.000,0.075,3120,167,3362,0,0,0,0,0,0
$GC,9753,-1.20,-146.0,842.8,-7.2,351,9757,0.00,2.33,0.00,0.000,6,0.000,0.034,3120,1589,3362,0,0,0,0,0,0
$GC,10022,-1.20,-146.0,862.1,-7.1,358,10026,0.00,2.62,0.00,0.000,4,0.000,0.051,3120,3160,3361,0,0,0,0,0,0
$GC,10046,-1.20,-146.0,863.8,-8.3,358,10050,0.00,2.70,0.00,0.000,6,0.000,0.050,3120,1578,3361,0,0,0,0,0,0
$GC,10307,-1.20,-146.0,882.0,-7.1,365,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1578,3361,0,0,0,0,0,0
$GC,10551,-1.20,-146.0,898.8,-6.8,371,10556,0.00,2.50,0.00,0.000,4,0.000,0.083,3120,167,3360,0,0,0,0,0,0
$STATE,10568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10568,begin apogee
$GC,10576,-0.31,0.0,900.4,7.5,371,10699,0.82,0.00,118.95,1.152,6,0.072,0.000,3314,1354,2800,0,0,0,0,0,0
$STATE,10699,end apogee,CONTROL_FINISHED_OK
$STATE,10699,begin climb
$GC,10704,1.27,146.0,903.2,0.0,374,10843,1.42,2.20,130.40,1.130,4,0.031,0.076,3666,164,2204,0,0,0,0,0,0
$GC,10913,1.02,146.0,887.8,14.8,378,10918,0.28,1.98,0.00,0.000,6,0.107,0.031,3609,1358,2200,0,0,0,0,0,0
$GC,11164,0.94,146.0,860.8,10.7,384,11167,0.00,2.12,0.00,0.000,4,0.000,0.073,3608,167,2194,0,0,0,0,0,0
$GC,11193,0.81,146.0,857.4,12.0,384,11198,0.22,1.95,0.00,0.000,6,0.104,0.031,3562,1351,2194,0,0,0,0,0,0
$GC,11452,0.85,179.4,835.1,8.5,391,11487,0.00,0.00,30.27,1.062,6,0.000,0.000,3562,1352,2067,0,0,0,0,0,0
$GC,11732,0.89,209.4,810.3,8.6,398,11767,0.00,2.15,28.62,1.046,4,0.000,0.073,3562,166,1945,0,0,0,0,0,0
$GC,11797,0.89,209.4,804.1,10.1,399,11801,0.00,1.98,0.00,0.000,6,0.000,0.031,3561,1356,1944,0,0,0,0,0,0
$GC,12071,0.98,232.1,779.6,9.0,406,12100,0.15,2.78,22.17,1.015,4,0.059,0.052,3613,2924,1852,0,0,0,0,0,0
$GC,12120,0.98,232.1,773.5,11.7,407,12125,0.00,2.72,0.00,0.000,6,0.000,0.049,3612,1351,1849,0,0,0,0,0,0
$GC,12403,0.98,232.1,737.4,12.9,414,12408,0.00,2.70,0.00,0.000,4,0.000,0.044,3613,2931,1847,0,0,0,0,0,0
$GC,12422,0.98,232.1,734.8,12.0,414,12426,0.00,2.75,0.00,0.000,6,0.000,0.051,3613,1347,1846,0,0,0,0,0,0
$GC,12692,0.98,232.1,699.7,13.3,421,12693,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,1347,1846,0,0,0,0,0,0
$GC,12929,0.98,232.1,669.0,12.4,427,12931,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,1347,1845,0,0,0,0,0,0
$GC,13173,0.98,232.1,641.5,11.2,433,13178,0.00,2.67,0.00,0.000,4,0.000,0.042,3613,2941,1845,0,0,0,0,0,0
$GC,13187,0.98,232.1,639.7,11.3,433,13192,0.00,2.70,0.00,0.000,6,0.000,0.048,3613,1356,1843,0,0,0,0,0,0
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$STATE,18969,end climb,SURFACE_DEPTH_REACHED
$STATE,18969,begin surface coast
$FINISH,1.0,0.999330
$STATE,19013,end surface coast,CONTROL_FINISHED_OK
$STATE,19013,begin surface
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$10V_AH,9.9,40.438
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.525,189.175,408.625,42.675,0.000,58.066,76.583,262.559,3.500,0.000,13.397,1546.081,14144.409,528.341,2588.053,884.779,33.379,1603.119,0.000,2596.492,0.000,0.536,0.000
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$MEM,355932
$DATA_FILE_SIZE,57255,710
$CAP_FILE_SIZE,179171,0
$CFSIZE,260165632,150179840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250713,055305,2314.656,-15756.923,40,2.0,52,10.1