version: 66.06
glider: 148
mission: 12
dive: 294
start: 7 25 113 16 52 7
data:
$ID,148
$MISSION,12
$DIVE,294
$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,-1021878.2
$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,24
$R_STBD_OVSHOOT,73
$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
$GPS1,164406,2319.500,-15758.079,30,1.1,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.0
$GPS2,165113,2319.508,-15758.093,14,1.1,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK2
$TGT_LATLONG,2332.200,-15756.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.057,0.253
$KALMAN_X,-183910.1,105.8,71.3,187095.5,-539.9
$KALMAN_Y,158198.7,287.9,-203.6,-94354.9,-348.6
$MHEAD_RNG_PITCHd_Wd,2.6,23660,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.05,0.000,2,0.000,0.000,414,1627,2891,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.0,-3.5,9,121,13.85,2.40,-9.35,0.000,4,0.145,0.031,3101,3129,3396,0,0,0,0,0,0
$GC,196,-1.08,-146.0,28.4,-18.5,24,205,0.17,2.58,0.00,0.000,6,0.081,0.031,3145,1567,3397,0,0,0,0,0,0
$GC,465,-0.90,-146.0,77.5,-17.4,49,470,0.20,2.28,0.00,0.000,4,0.097,0.041,3189,168,3397,0,0,0,0,0,0
$GC,487,-0.77,-146.0,81.6,-15.7,50,492,0.12,2.10,0.00,0.000,6,0.107,0.016,3216,1585,3397,0,0,0,0,0,0
$GC,752,-0.77,-146.0,108.8,-9.5,74,760,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1588,3398,0,0,0,0,0,0
$GC,1017,-0.82,-146.0,135.0,-10.0,99,1021,0.00,2.33,0.00,0.000,4,0.000,0.051,3216,168,3399,0,0,0,0,0,0
$GC,1047,-0.87,-146.0,137.7,-10.2,101,1051,0.00,2.05,0.00,0.000,6,0.000,0.017,3216,1558,3399,0,0,0,0,0,0
$GC,1311,-0.94,-146.0,160.3,-7.6,125,1316,0.15,2.45,0.00,0.000,4,0.053,0.022,3145,3117,3399,0,0,0,0,0,0
$GC,1378,-0.94,-146.0,166.9,-9.9,131,1384,0.15,2.50,0.00,0.000,6,0.092,0.029,3180,1560,3399,0,0,0,0,0,0
$GC,1641,-0.94,-146.0,192.1,-10.0,155,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1559,3400,0,0,0,0,0,0
$GC,1887,-0.94,-146.0,217.2,-10.1,167,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1560,3399,0,0,0,0,0,0
$GC,2132,-0.94,-146.0,240.0,-9.3,173,2137,0.00,2.42,0.00,0.000,4,0.000,0.021,3180,3108,3400,0,0,0,0,0,0
$GC,2166,-1.05,-146.0,242.8,-7.6,173,2171,0.10,2.47,0.00,0.000,6,0.074,0.028,3117,1565,3399,0,0,0,0,0,0
$GC,2416,-0.93,-146.0,271.5,-11.9,179,2421,0.28,2.30,0.00,0.000,4,0.083,0.043,3183,168,3400,0,0,0,0,0,0
$GC,2489,-1.04,-146.0,278.4,-8.9,180,2493,0.10,2.10,0.00,0.000,6,0.074,0.018,3121,1544,3399,0,0,0,0,0,0
$GC,2753,-0.96,-146.0,307.2,-11.1,187,2755,0.25,0.00,0.00,0.000,6,0.081,0.000,3176,1546,3399,0,0,0,0,0,0
$GC,2999,-1.02,-146.0,326.0,-7.4,193,3003,0.00,2.53,0.00,0.000,4,0.000,0.028,3176,3130,3398,0,0,0,0,0,0
$GC,3051,-1.14,-146.0,330.0,-7.0,194,3056,0.17,2.58,0.00,0.000,6,0.045,0.034,3098,1554,3398,0,0,0,0,0,0
$GC,3333,-1.03,-146.0,362.2,-12.0,201,3335,0.28,0.00,0.00,0.000,6,0.084,0.000,3160,1555,3397,0,0,0,0,0,0
$GC,3573,-1.03,-146.0,382.8,-8.1,207,3577,0.00,2.33,0.00,0.000,4,0.000,0.059,3160,173,3395,0,0,0,0,0,0
$GC,3597,-1.03,-146.0,385.0,-9.5,207,3601,0.00,2.12,0.00,0.000,6,0.000,0.022,3160,1547,3395,0,0,0,0,0,0
$GC,3858,-1.03,-146.0,406.4,-8.3,214,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1549,3393,0,0,0,0,0,0
$GC,4100,-1.03,-146.0,426.7,-8.3,220,4104,0.00,2.60,0.00,0.000,4,0.000,0.036,3160,3140,3392,0,0,0,0,0,0
$GC,4124,-1.10,-146.0,428.7,-8.4,220,4128,0.00,2.65,0.00,0.000,6,0.000,0.038,3160,1549,3392,0,0,0,0,0,0
$GC,4384,-1.10,-146.0,447.9,-7.3,227,4388,0.00,2.62,0.00,0.000,4,0.000,0.040,3160,3137,3390,0,0,0,0,0,0
$GC,4411,-1.17,-146.0,449.6,-7.8,227,4416,0.12,2.62,0.00,0.000,6,0.062,0.044,3099,1552,3390,0,0,0,0,0,0
$GC,4674,-1.08,-146.0,475.5,-10.2,234,4679,0.22,2.38,0.00,0.000,4,0.088,0.067,3150,167,3388,0,0,0,0,0,0
$GC,4704,-1.08,-146.0,478.5,-9.5,234,4709,0.00,2.17,0.00,0.000,6,0.000,0.028,3150,1550,3387,0,0,0,0,0,0
$GC,4963,-1.08,-146.0,498.6,-7.8,241,4968,0.00,2.62,0.00,0.000,4,0.000,0.041,3150,3147,3386,0,0,0,0,0,0
$GC,4983,-1.13,-146.0,500.6,-7.8,241,4988,0.00,2.62,0.00,0.000,6,0.000,0.039,3150,1561,3386,0,0,0,0,0,0
$GC,5249,-1.13,-146.0,521.6,-8.0,248,5253,0.00,2.62,0.00,0.000,4,0.000,0.042,3150,3140,3384,0,0,0,0,0,0
$GC,5273,-1.19,-146.0,523.6,-8.3,248,5278,0.10,2.62,0.00,0.000,6,0.078,0.041,3103,1564,3384,0,0,0,0,0,0
$GC,5534,-1.13,-146.0,549.2,-10.1,255,5536,0.15,0.00,0.00,0.000,6,0.097,0.000,3137,1564,3382,0,0,0,0,0,0
$GC,5781,-1.13,-146.0,570.0,-8.4,261,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1563,3380,0,0,0,0,0,0
$GC,6021,-1.13,-146.0,590.8,-8.6,267,6025,0.00,2.62,0.00,0.000,4,0.000,0.044,3137,3140,3380,0,0,0,0,0,0
$GC,6046,-1.13,-146.0,593.0,-10.0,267,6051,0.00,2.65,0.00,0.000,6,0.000,0.045,3137,1570,3379,0,0,0,0,0,0
$GC,6308,-1.13,-146.0,615.3,-8.7,274,6312,0.00,2.45,0.00,0.000,4,0.000,0.081,3137,167,3378,0,0,0,0,0,0
$GC,6331,-1.13,-146.0,617.7,-9.8,274,6336,0.00,2.25,0.00,0.000,6,0.000,0.031,3137,1561,3377,0,0,0,0,0,0
$GC,6593,-1.13,-146.0,638.9,-8.0,281,6597,0.00,2.65,0.00,0.000,4,0.000,0.050,3137,3155,3376,0,0,0,0,0,0
$GC,6638,-1.22,-146.0,642.4,-7.4,282,6643,0.00,2.67,0.00,0.000,6,0.000,0.048,3137,1566,3376,0,0,0,0,0,0
$GC,6926,-1.22,-146.0,663.3,-7.2,289,6930,0.00,2.47,0.00,0.000,4,0.000,0.081,3137,167,3375,0,0,0,0,0,0
$GC,6963,-1.22,-146.0,666.2,-8.5,289,6969,0.00,2.30,0.00,0.000,6,0.000,0.033,3137,1579,3374,0,0,0,0,0,0
$GC,7217,-1.22,-146.0,682.8,-6.6,296,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1579,3373,0,0,0,0,0,0
$GC,7457,-1.22,-146.0,698.2,-6.3,302,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1579,3371,0,0,0,0,0,0
$GC,7701,-1.22,-146.0,713.1,-6.2,308,7705,0.00,2.65,0.00,0.000,4,0.000,0.053,3137,3152,3370,0,0,0,0,0,0
$GC,7724,-1.27,-146.0,714.5,-6.7,308,7729,0.12,2.67,0.00,0.000,6,0.064,0.049,3081,1569,3370,0,0,0,0,0,0
$GC,7989,-1.17,-146.0,737.7,-9.0,315,7994,0.22,2.47,0.00,0.000,4,0.091,0.080,3131,170,3369,0,0,0,0,0,0
$GC,8023,-1.17,-146.0,740.6,-8.1,315,8027,0.00,2.28,0.00,0.000,6,0.000,0.034,3131,1579,3368,0,0,0,0,0,0
$GC,8277,-1.17,-146.0,758.0,-7.1,321,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1579,3367,0,0,0,0,0,0
$GC,8516,-1.17,-146.0,775.6,-7.2,327,8521,0.00,2.65,0.00,0.000,4,0.000,0.052,3132,3160,3366,0,0,0,0,0,0
$GC,8535,-1.17,-146.0,776.9,-7.5,327,8540,0.00,2.70,0.00,0.000,6,0.000,0.048,3131,1572,3366,0,0,0,0,0,0
$GC,8801,-1.17,-146.0,796.6,-7.6,334,8806,0.00,2.47,0.00,0.000,4,0.000,0.083,3131,164,3365,0,0,0,0,0,0
$GC,8825,-1.17,-146.0,798.6,-8.7,334,8829,0.00,2.30,0.00,0.000,6,0.000,0.034,3131,1572,3365,0,0,0,0,0,0
$GC,9087,-1.17,-146.0,819.9,-8.3,341,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1572,3364,0,0,0,0,0,0
$GC,9329,-1.17,-146.0,840.4,-8.3,347,9334,0.00,2.67,0.00,0.000,4,0.000,0.054,3131,3161,3364,0,0,0,0,0,0
$GC,9349,-1.17,-146.0,842.1,-8.6,347,9353,0.00,2.72,0.00,0.000,6,0.000,0.049,3132,1563,3364,0,0,0,0,0,0
$GC,9613,-1.17,-146.0,862.8,-7.6,354,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1563,3363,0,0,0,0,0,0
$GC,9857,-1.17,-146.0,880.5,-7.2,360,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1563,3362,0,0,0,0,0,0
$GC,10104,-1.17,-146.0,897.9,-7.1,366,10109,0.00,2.65,0.00,0.000,4,0.000,0.045,3131,3153,3361,0,0,0,0,0,0
$STATE,10126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10126,begin apogee
$GC,10135,-0.31,0.0,900.1,8.7,366,10258,0.77,0.00,119.53,1.157,6,0.071,0.000,3312,1350,2800,0,0,0,0,0,0
$STATE,10259,end apogee,CONTROL_FINISHED_OK
$STATE,10259,begin climb
$GC,10263,1.27,146.0,903.5,0.0,369,10401,1.45,2.20,129.88,1.142,4,0.034,0.085,3667,165,2203,0,0,0,0,0,0
$GC,10447,1.01,146.0,894.3,13.2,373,10452,0.30,1.98,0.00,0.000,6,0.108,0.032,3606,1344,2200,0,0,0,0,0,0
$GC,10726,0.95,152.1,866.2,9.7,380,10737,0.00,2.10,5.25,0.786,4,0.000,0.073,3606,165,2178,0,0,0,0,0,0
$GC,10776,0.83,152.1,860.6,11.3,381,10781,0.20,1.95,0.00,0.000,6,0.106,0.032,3565,1346,2178,0,0,0,0,0,0
$GC,11060,0.88,196.0,837.6,8.0,388,11104,0.00,0.00,42.03,1.083,6,0.000,0.000,3564,1347,2000,0,0,0,0,0,0
$GC,11343,0.90,207.5,811.3,9.5,395,11359,0.00,2.15,11.45,0.963,4,0.000,0.074,3563,160,1953,0,0,0,0,0,0
$GC,11380,0.90,211.9,807.7,9.8,395,11392,0.00,1.95,5.72,0.798,6,0.000,0.031,3564,1347,1937,0,0,0,0,0,0
$GC,11634,0.97,223.1,782.8,9.5,402,11654,0.12,2.78,12.20,0.963,4,0.067,0.054,3611,2934,1888,0,0,0,0,0,0
$GC,11660,0.97,223.1,780.1,10.1,402,11665,0.00,2.75,0.00,0.000,6,0.000,0.046,3611,1335,1887,0,0,0,0,0,0
$GC,11921,0.97,223.1,750.0,11.6,409,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,1335,1886,0,0,0,0,0,0
$GC,12163,0.97,223.1,722.5,11.2,415,12167,0.00,2.67,0.00,0.000,4,0.000,0.044,3611,2928,1885,0,0,0,0,0,0
$GC,12182,0.97,223.1,720.3,10.4,415,12186,0.00,2.72,0.00,0.000,6,0.000,0.049,3611,1333,1882,0,0,0,0,0,0
$GC,12447,0.97,223.1,690.8,11.3,422,12448,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,1333,1883,0,0,0,0,0,0
$GC,12689,0.97,223.1,661.8,12.0,428,12693,0.00,2.10,0.00,0.000,4,0.000,0.085,3611,165,1882,0,0,0,0,0,0
$GC,12717,0.90,223.1,658.1,13.0,428,12722,0.15,1.92,0.00,0.000,6,0.108,0.029,3580,1351,1882,0,0,0,0,0,0
$GC,12974,0.94,223.1,631.2,10.3,435,12979,0.00,2.67,0.00,0.000,4,0.000,0.051,3580,2932,1882,0,0,0,0,0,0
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$STATE,18699,end climb,SURFACE_DEPTH_REACHED
$STATE,18699,begin surface coast
$FINISH,0.9,1.023282
$STATE,18749,end surface coast,CONTROL_FINISHED_OK
$STATE,18749,begin surface
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$10V_AH,9.9,40.884
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$FG_AHR_10Vo,0.000
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$MEM,355868
$DATA_FILE_SIZE,57278,716
$CAP_FILE_SIZE,174065,0
$CFSIZE,260165632,149954560
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$GPS,250713,220700,2322.317,-15757.395,38,1.2,38,10.2