version: 66.06
glider: 148
mission: 12
dive: 350
start: 8 7 113 1 30 55
data:
$ID,148
$MISSION,12
$DIVE,350
$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,-1022998.2
$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,23
$R_STBD_OVSHOOT,29
$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
$GPS1,012255,2255.468,-15744.522,33,99.0,52,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-77.6
$GPS2,013001,2255.431,-15744.575,14,1.9,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.230,-0.121
$KALMAN_X,-122419.2,-20.9,278.5,148603.8,630.7
$KALMAN_Y,131285.5,-270.3,-453.8,-111211.0,-472.8
$MHEAD_RNG_PITCHd_Wd,232.1,45882,-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,-67.10,0.000,2,0.000,0.000,413,1661,2908,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.2,-3.5,9,122,13.85,2.50,-8.98,0.000,4,0.143,0.049,3104,167,3396,0,0,0,0,0,0
$GC,242,-0.95,-146.0,41.8,-22.8,29,247,0.32,2.20,0.00,0.000,6,0.098,0.017,3174,1604,3397,0,0,0,0,0,0
$GC,510,-0.81,-146.0,84.5,-13.9,53,515,0.15,2.42,0.00,0.000,4,0.105,0.021,3207,3142,3398,0,0,0,0,0,0
$GC,543,-0.81,-146.0,89.0,-9.4,55,549,0.00,2.58,0.00,0.000,6,0.000,0.028,3207,1555,3398,0,0,0,0,0,0
$GC,807,-0.81,-146.0,113.8,-9.9,80,811,0.00,2.28,0.00,0.000,4,0.000,0.042,3207,167,3399,0,0,0,0,0,0
$GC,834,-0.81,-146.0,117.0,-11.3,82,838,0.00,2.12,0.00,0.000,6,0.000,0.016,3206,1589,3398,0,0,0,0,0,0
$GC,1107,-0.81,-146.0,144.9,-10.2,107,1111,0.00,2.38,0.00,0.000,4,0.000,0.021,3207,3118,3399,0,0,0,0,0,0
$GC,1146,-0.90,-146.0,149.4,-8.7,110,1155,0.00,2.53,0.00,0.000,6,0.000,0.028,3207,1571,3399,0,0,0,0,0,0
$GC,1409,-0.90,-146.0,174.5,-10.6,135,1413,0.00,2.30,0.00,0.000,4,0.000,0.043,3206,167,3399,0,0,0,0,0,0
$GC,1429,-0.90,-146.0,176.4,-10.2,136,1433,0.00,2.10,0.00,0.000,6,0.000,0.017,3207,1576,3399,0,0,0,0,0,0
$GC,1722,-0.90,-146.0,204.0,-8.6,160,1726,0.00,2.38,0.00,0.000,4,0.000,0.021,3207,3107,3400,0,0,0,0,0,0
$GC,1743,-0.97,-146.0,205.8,-8.6,160,1748,0.15,2.50,0.00,0.000,6,0.057,0.027,3123,1558,3399,0,0,0,0,0,0
$GC,2008,-0.82,-146.0,240.5,-13.7,167,2010,0.38,0.00,0.00,0.000,6,0.078,0.000,3206,1558,3399,0,0,0,0,0,0
$GC,2252,-0.90,-146.0,259.2,-7.1,173,2257,0.00,2.42,0.00,0.000,4,0.000,0.022,3206,3104,3399,0,0,0,0,0,0
$GC,2280,-1.01,-146.0,261.2,-7.6,173,2285,0.17,2.50,0.00,0.000,6,0.048,0.028,3125,1562,3399,0,0,0,0,0,0
$GC,2540,-0.90,-146.0,292.0,-12.1,180,2545,0.25,2.30,0.00,0.000,4,0.081,0.044,3186,170,3400,0,0,0,0,0,0
$GC,2619,-1.00,-146.0,299.4,-8.4,181,2623,0.00,2.10,0.00,0.000,6,0.000,0.019,3186,1536,3399,0,0,0,0,0,0
$GC,2874,-1.06,-146.0,318.6,-7.7,188,2879,0.15,2.58,0.00,0.000,4,0.054,0.028,3115,3137,3399,0,0,0,0,0,0
$GC,2924,-1.06,-146.0,323.4,-10.0,189,2929,0.17,2.60,0.00,0.000,6,0.084,0.033,3156,1557,3399,0,0,0,0,0,0
$GC,3213,-1.06,-146.0,349.8,-9.1,196,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1557,3397,0,0,0,0,0,0
$GC,3451,-1.06,-146.0,370.7,-8.4,202,3455,0.00,2.58,0.00,0.000,4,0.000,0.031,3156,3133,3396,0,0,0,0,0,0
$GC,3486,-1.13,-146.0,373.2,-7.1,202,3491,0.00,2.60,0.00,0.000,6,0.000,0.036,3156,1564,3396,0,0,0,0,0,0
$GC,3736,-1.13,-146.0,393.7,-8.2,208,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1564,3394,0,0,0,0,0,0
$GC,3980,-1.13,-146.0,414.2,-8.6,214,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1564,3392,0,0,0,0,0,0
$GC,4224,-1.13,-146.0,435.4,-8.6,220,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1564,3390,0,0,0,0,0,0
$GC,4474,-1.13,-146.0,455.1,-8.1,226,4478,0.00,2.58,0.00,0.000,4,0.000,0.038,3156,3120,3388,0,0,0,0,0,0
$GC,4517,-1.22,-146.0,459.0,-7.9,227,4522,0.15,2.60,0.00,0.000,6,0.057,0.038,3086,1567,3388,0,0,0,0,0,0
$GC,4806,-1.09,-146.0,494.0,-12.7,234,4811,0.25,2.42,0.00,0.000,4,0.084,0.068,3148,173,3386,0,0,0,0,0,0
$GC,4839,-1.09,-146.0,497.8,-9.9,234,4843,0.00,2.20,0.00,0.000,6,0.000,0.029,3148,1543,3386,0,0,0,0,0,0
$GC,5089,-1.09,-146.0,518.1,-7.9,240,5094,0.00,2.67,0.00,0.000,4,0.000,0.042,3147,3155,3384,0,0,0,0,0,0
$GC,5115,-1.09,-146.0,520.1,-8.7,240,5120,0.00,2.67,0.00,0.000,6,0.000,0.040,3148,1560,3384,0,0,0,0,0,0
$GC,5375,-1.09,-146.0,540.5,-7.8,247,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1560,3382,0,0,0,0,0,0
$GC,5618,-1.09,-146.0,559.7,-7.7,253,5623,0.00,2.67,0.00,0.000,4,0.000,0.043,3147,3155,3381,0,0,0,0,0,0
$GC,5637,-1.09,-146.0,561.1,-7.6,253,5642,0.00,2.67,0.00,0.000,6,0.000,0.043,3148,1564,3381,0,0,0,0,0,0
$GC,5903,-1.09,-146.0,579.1,-6.7,260,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1563,3379,0,0,0,0,0,0
$GC,6148,-1.09,-146.0,595.0,-6.6,266,6152,0.00,2.62,0.00,0.000,4,0.000,0.044,3148,3145,3377,0,0,0,0,0,0
$GC,6172,-1.09,-146.0,597.0,-7.6,266,6176,0.00,2.67,0.00,0.000,6,0.000,0.045,3147,1560,3378,0,0,0,0,0,0
$GC,6434,-1.09,-146.0,615.5,-7.4,273,6438,0.00,2.67,0.00,0.000,4,0.000,0.043,3147,3155,3376,0,0,0,0,0,0
$GC,6453,-1.09,-146.0,617.2,-8.3,273,6457,0.00,2.70,0.00,0.000,6,0.000,0.046,3147,1564,3376,0,0,0,0,0,0
$GC,6717,-1.09,-146.0,636.8,-7.4,280,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1565,3375,0,0,0,0,0,0
$GC,6967,-1.09,-146.0,654.3,-7.2,286,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1564,3374,0,0,0,0,0,0
$GC,7204,-1.09,-146.0,672.2,-7.3,292,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1564,3372,0,0,0,0,0,0
$GC,7448,-1.09,-146.0,689.7,-7.2,298,7452,0.00,2.65,0.00,0.000,4,0.000,0.046,3147,3148,3371,0,0,0,0,0,0
$GC,7474,-1.15,-146.0,691.7,-8.8,298,7479,0.00,2.70,0.00,0.000,6,0.000,0.049,3148,1568,3370,0,0,0,0,0,0
$GC,7736,-1.15,-146.0,710.0,-7.0,305,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1567,3370,0,0,0,0,0,0
$GC,7980,-1.15,-146.0,726.4,-6.6,311,7984,0.00,2.65,0.00,0.000,4,0.000,0.047,3148,3151,3369,0,0,0,0,0,0
$GC,8009,-1.22,-146.0,728.6,-6.9,311,8014,0.12,2.70,0.00,0.000,6,0.064,0.051,3090,1573,3369,0,0,0,0,0,0
$GC,8267,-1.14,-146.0,751.7,-9.2,318,8272,0.20,2.53,0.00,0.000,4,0.091,0.086,3135,167,3368,0,0,0,0,0,0
$GC,8291,-1.14,-146.0,754.2,-8.4,318,8295,0.00,2.30,0.00,0.000,6,0.000,0.035,3134,1573,3367,0,0,0,0,0,0
$GC,8552,-1.14,-146.0,773.5,-7.4,325,8557,0.00,2.67,0.00,0.000,4,0.000,0.054,3135,3160,3366,0,0,0,0,0,0
$GC,8572,-1.14,-146.0,775.1,-7.8,325,8576,0.00,2.70,0.00,0.000,6,0.000,0.048,3135,1574,3366,0,0,0,0,0,0
$GC,8836,-1.14,-146.0,793.2,-6.9,332,8840,0.00,2.50,0.00,0.000,4,0.000,0.083,3135,165,3365,0,0,0,0,0,0
$GC,8857,-1.14,-146.0,794.7,-7.0,332,8861,0.00,2.33,0.00,0.000,6,0.000,0.035,3135,1581,3365,0,0,0,0,0,0
$GC,9120,-1.14,-146.0,813.4,-7.0,339,9125,0.00,2.67,0.00,0.000,4,0.000,0.054,3134,3156,3364,0,0,0,0,0,0
$GC,9144,-1.14,-146.0,815.2,-7.7,339,9149,0.00,2.67,0.00,0.000,6,0.000,0.049,3134,1579,3364,0,0,0,0,0,0
$GC,9411,-1.14,-146.0,834.0,-7.3,346,9412,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1578,3363,0,0,0,0,0,0
$GC,9648,-1.14,-146.0,852.2,-7.5,352,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1578,3363,0,0,0,0,0,0
$GC,9891,-1.14,-146.0,870.3,-7.4,358,9892,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1578,3362,0,0,0,0,0,0
$GC,10135,-1.14,-146.0,888.0,-7.3,364,10140,0.00,2.67,0.00,0.000,4,0.000,0.051,3134,3162,3361,0,0,0,0,0,0
$GC,10151,-1.14,-146.0,889.1,-7.1,364,10156,0.00,2.70,0.00,0.000,6,0.000,0.048,3135,1577,3361,0,0,0,0,0,0
$STATE,10336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10336,begin apogee
$GC,10343,-0.31,0.0,901.8,6.6,369,10466,0.80,0.00,119.85,1.150,6,0.070,0.000,3320,1342,2800,0,0,0,0,0,0
$STATE,10467,end apogee,CONTROL_FINISHED_OK
$STATE,10467,begin climb
$GC,10469,1.27,146.0,904.7,0.0,372,10610,1.42,2.20,130.45,1.129,4,0.032,0.086,3672,177,2203,0,0,0,0,0,0
$GC,10762,1.03,146.0,877.4,16.2,378,10767,0.30,1.95,0.00,0.000,6,0.109,0.030,3611,1358,2198,0,0,0,0,0,0
$GC,11023,0.97,146.5,850.1,10.0,385,11027,0.00,2.10,0.00,0.000,4,0.000,0.072,3611,173,2194,0,0,0,0,0,0
$GC,11057,0.86,146.5,846.5,11.7,385,11062,0.17,1.92,0.00,0.000,6,0.107,0.031,3573,1343,2194,0,0,0,0,0,0
$GC,11313,0.92,194.5,825.9,7.8,392,11359,0.00,0.00,44.12,1.070,6,0.000,0.000,3573,1344,2006,0,0,0,0,0,0
$GC,11603,0.98,204.1,799.1,9.6,399,11615,0.10,0.00,9.65,0.923,6,0.079,0.000,3612,1345,1967,0,0,0,0,0,0
$GC,11842,0.98,204.1,771.2,11.6,405,11847,0.00,2.72,0.00,0.000,4,0.000,0.055,3612,2941,1964,0,0,0,0,0,0
$GC,11857,0.98,204.1,769.4,11.5,405,11861,0.00,2.75,0.00,0.000,6,0.000,0.046,3612,1342,1962,0,0,0,0,0,0
$GC,12125,0.98,204.1,739.5,11.1,412,12126,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,1342,1962,0,0,0,0,0,0
$GC,12371,0.98,204.1,713.6,10.5,418,12375,0.00,2.70,0.00,0.000,4,0.000,0.044,3612,2939,1961,0,0,0,0,0,0
$GC,12399,0.98,208.9,710.4,9.8,418,12413,0.00,2.75,4.78,0.709,6,0.000,0.050,3611,1343,1948,0,0,0,0,0,0
$GC,12657,0.98,208.9,683.2,10.6,425,12661,0.00,2.12,0.00,0.000,4,0.000,0.084,3612,158,1947,0,0,0,0,0,0
$GC,12677,0.94,208.9,681.0,11.1,425,12682,0.10,1.95,0.00,0.000,6,0.123,0.030,3590,1354,1947,0,0,0,0,0,0
$GC,12951,0.96,225.4,654.9,9.2,432,12970,0.00,0.00,17.65,0.937,6,0.000,0.000,3590,1354,1880,0,0,0,0,0,0
$GC,13241,0.96,225.4,625.8,10.3,439,13245,0.00,2.65,0.00,0.000,4,0.000,0.051,3590,2929,1877,0,0,0,0,0,0
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$STATE,18924,end climb,SURFACE_DEPTH_REACHED
$STATE,18924,begin surface coast
$FINISH,0.9,1.023294
$STATE,18971,end surface coast,CONTROL_FINISHED_OK
$STATE,18971,begin surface
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$10V_AH,9.9,49.192
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355472
$DATA_FILE_SIZE,57444,716
$CAP_FILE_SIZE,182214,0
$CFSIZE,260165632,145698816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070813,064950,2253.501,-15746.009,37,4.4,56,10.1