version: 66.06
glider: 148
mission: 12
dive: 358
start: 8 8 113 20 51 1
data:
$ID,148
$MISSION,12
$DIVE,358
$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,-1023164.7
$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,3395
$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,28
$R_STBD_OVSHOOT,30
$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
$GPS1,203923,2241.790,-15800.263,41,1.5,58,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-77.8
$GPS2,205007,2241.761,-15800.366,12,1.2,12,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.250,0.071
$KALMAN_X,-113084.2,-85.3,13.5,112622.9,1189.6
$KALMAN_Y,113578.0,-39.1,212.8,-119725.0,-2078.9
$MHEAD_RNG_PITCHd_Wd,275.8,9907,-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,-67.75,0.000,2,0.000,0.000,416,1644,2976,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.8,-6.2,9,123,13.90,2.50,-7.38,0.000,4,0.145,0.061,3114,173,3398,0,0,0,0,0,0
$GC,253,-0.97,-146.0,45.6,-21.0,29,258,0.32,2.17,0.00,0.000,6,0.097,0.017,3182,1609,3399,0,0,0,0,0,0
$GC,521,-0.88,-146.0,82.9,-11.8,53,525,0.00,2.38,0.00,0.000,4,0.000,0.049,3182,164,3399,0,0,0,0,0,0
$GC,542,-0.79,-146.0,86.3,-11.6,54,552,0.15,2.15,0.00,0.000,6,0.074,0.017,3222,1593,3399,0,0,0,0,0,0
$GC,810,-0.79,-146.0,111.3,-9.2,79,814,0.00,2.35,0.00,0.000,4,0.000,0.021,3222,3107,3400,0,0,0,0,0,0
$GC,846,-0.89,-146.0,114.8,-8.1,82,850,0.00,2.50,0.00,0.000,6,0.000,0.027,3222,1564,3399,0,0,0,0,0,0
$GC,1111,-0.89,-146.0,136.8,-8.4,106,1115,0.00,2.30,0.00,0.000,4,0.000,0.043,3222,167,3400,0,0,0,0,0,0
$GC,1138,-0.89,-146.0,139.4,-8.6,108,1142,0.00,2.08,0.00,0.000,6,0.000,0.017,3222,1571,3400,0,0,0,0,0,0
$GC,1409,-0.89,-146.0,159.8,-8.2,133,1413,0.00,2.38,0.00,0.000,4,0.000,0.021,3222,3100,3400,0,0,0,0,0,0
$GC,1450,-0.99,-146.0,162.9,-7.8,136,1455,0.17,2.47,0.00,0.000,6,0.048,0.028,3134,1565,3400,0,0,0,0,0,0
$GC,1715,-0.84,-146.0,196.8,-13.1,160,1720,0.32,2.28,0.00,0.000,4,0.081,0.041,3207,170,3400,0,0,0,0,0,0
$GC,1783,-0.91,-146.0,204.3,-8.8,163,1787,0.00,2.10,0.00,0.000,6,0.000,0.017,3207,1566,3400,0,0,0,0,0,0
$GC,2052,-0.96,-146.0,224.8,-7.4,170,2056,0.00,2.45,0.00,0.000,4,0.000,0.022,3207,3121,3400,0,0,0,0,0,0
$GC,2083,-1.03,-146.0,227.0,-7.2,170,2088,0.15,2.55,0.00,0.000,6,0.051,0.027,3124,1546,3400,0,0,0,0,0,0
$GC,2338,-0.89,-146.0,258.9,-12.9,177,2340,0.35,0.00,0.00,0.000,6,0.078,0.000,3200,1546,3400,0,0,0,0,0,0
$GC,2582,-0.96,-146.0,277.8,-7.4,183,2587,0.00,2.47,0.00,0.000,4,0.000,0.022,3200,3115,3400,0,0,0,0,0,0
$GC,2613,-1.08,-146.0,280.1,-7.5,183,2618,0.17,2.55,0.00,0.000,6,0.046,0.028,3113,1550,3400,0,0,0,0,0,0
$GC,2868,-0.96,-146.0,310.1,-12.0,190,2870,0.32,0.00,0.00,0.000,6,0.077,0.000,3185,1550,3399,0,0,0,0,0,0
$GC,3119,-1.02,-146.0,330.3,-8.2,196,3123,0.00,2.50,0.00,0.000,4,0.000,0.027,3185,3111,3398,0,0,0,0,0,0
$GC,3170,-1.16,-146.0,334.7,-7.2,197,3176,0.17,2.53,0.00,0.000,6,0.048,0.033,3104,1574,3398,0,0,0,0,0,0
$GC,3449,-1.05,-146.0,365.9,-11.4,204,3451,0.28,0.00,0.00,0.000,6,0.082,0.000,3165,1574,3397,0,0,0,0,0,0
$GC,3695,-1.05,-146.0,385.9,-8.1,210,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1574,3396,0,0,0,0,0,0
$GC,3939,-1.05,-146.0,404.7,-7.8,216,3943,0.00,2.53,0.00,0.000,4,0.000,0.033,3166,3111,3394,0,0,0,0,0,0
$GC,3963,-1.10,-146.0,406.9,-8.3,216,3968,0.00,2.53,0.00,0.000,6,0.000,0.036,3165,1574,3394,0,0,0,0,0,0
$GC,4225,-1.10,-146.0,427.0,-7.9,223,4229,0.00,2.50,0.00,0.000,4,0.000,0.036,3165,3101,3392,0,0,0,0,0,0
$GC,4249,-1.16,-146.0,429.1,-8.1,223,4254,0.10,2.53,0.00,0.000,6,0.074,0.036,3110,1578,3392,0,0,0,0,0,0
$GC,4509,-1.08,-146.0,456.4,-10.7,230,4514,0.22,2.45,0.00,0.000,4,0.085,0.067,3160,163,3390,0,0,0,0,0,0
$GC,4540,-1.08,-146.0,459.3,-9.4,230,4544,0.00,2.17,0.00,0.000,6,0.000,0.026,3160,1533,3390,0,0,0,0,0,0
$GC,4794,-1.08,-146.0,479.3,-7.7,237,4799,0.00,2.65,0.00,0.000,4,0.000,0.042,3160,3150,3388,0,0,0,0,0,0
$GC,4814,-1.13,-146.0,480.7,-7.3,237,4819,0.00,2.60,0.00,0.000,6,0.000,0.042,3160,1575,3388,0,0,0,0,0,0
$GC,5080,-1.13,-146.0,498.6,-6.8,244,5084,0.00,2.45,0.00,0.000,4,0.000,0.072,3160,163,3386,0,0,0,0,0,0
$GC,5104,-1.13,-146.0,500.9,-8.8,244,5108,0.00,2.28,0.00,0.000,6,0.000,0.028,3160,1580,3386,0,0,0,0,0,0
$GC,5365,-1.13,-146.0,522.2,-8.3,251,5370,0.00,2.60,0.00,0.000,4,0.000,0.041,3160,3156,3384,0,0,0,0,0,0
$GC,5391,-1.19,-146.0,524.6,-8.5,251,5396,0.12,2.62,0.00,0.000,6,0.063,0.041,3099,1576,3383,0,0,0,0,0,0
$GC,5651,-1.11,-146.0,552.7,-11.0,258,5653,0.22,0.00,0.00,0.000,6,0.087,0.000,3152,1576,3382,0,0,0,0,0,0
$GC,5897,-1.11,-146.0,570.6,-7.2,264,5901,0.00,2.47,0.00,0.000,4,0.000,0.077,3151,166,3380,0,0,0,0,0,0
$GC,5921,-1.11,-146.0,572.8,-8.9,264,5925,0.00,2.28,0.00,0.000,6,0.000,0.030,3151,1575,3380,0,0,0,0,0,0
$GC,6184,-1.11,-146.0,591.9,-7.3,271,6189,0.00,2.62,0.00,0.000,4,0.000,0.046,3151,3151,3378,0,0,0,0,0,0
$GC,6224,-1.21,-146.0,595.0,-7.1,271,6230,0.00,2.65,0.00,0.000,6,0.000,0.047,3152,1585,3378,0,0,0,0,0,0
$GC,6474,-1.21,-146.0,613.5,-7.4,278,6478,0.00,2.50,0.00,0.000,4,0.000,0.080,3151,166,3377,0,0,0,0,0,0
$GC,6502,-1.21,-146.0,615.7,-7.7,278,6507,0.00,2.33,0.00,0.000,6,0.000,0.032,3151,1591,3376,0,0,0,0,0,0
$GC,6759,-1.21,-146.0,634.1,-7.1,285,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1591,3375,0,0,0,0,0,0
$GC,7003,-1.21,-146.0,651.7,-7.2,291,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1591,3374,0,0,0,0,0,0
$GC,7245,-1.21,-146.0,669.9,-7.4,297,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1592,3372,0,0,0,0,0,0
$GC,7488,-1.21,-146.0,688.2,-7.5,303,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1591,3371,0,0,0,0,0,0
$GC,7734,-1.25,-146.0,705.5,-7.0,309,7739,0.12,2.55,0.00,0.000,4,0.065,0.077,3096,164,3370,0,0,0,0,0,0
$GC,7759,-1.17,-146.0,707.9,-9.6,309,7764,0.20,2.33,0.00,0.000,6,0.093,0.035,3140,1580,3369,0,0,0,0,0,0
$GC,8023,-1.17,-146.0,726.2,-6.8,316,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1581,3369,0,0,0,0,0,0
$GC,8265,-1.17,-146.0,742.6,-6.8,322,8269,0.00,2.67,0.00,0.000,4,0.000,0.054,3140,3163,3367,0,0,0,0,0,0
$GC,8298,-1.25,-146.0,745.0,-6.4,322,8303,0.00,2.70,0.00,0.000,6,0.000,0.051,3140,1584,3367,0,0,0,0,0,0
$GC,8548,-1.25,-146.0,761.5,-6.7,328,8553,0.00,2.53,0.00,0.000,4,0.000,0.084,3140,164,3366,0,0,0,0,0,0
$GC,8606,-1.25,-146.0,765.7,-7.2,329,8610,0.00,2.33,0.00,0.000,6,0.000,0.035,3140,1592,3366,0,0,0,0,0,0
$GC,8886,-1.25,-146.0,785.4,-7.1,336,8890,0.00,2.65,0.00,0.000,4,0.000,0.052,3140,3164,3365,0,0,0,0,0,0
$GC,8915,-1.31,-146.0,787.5,-6.6,336,8922,0.12,2.70,0.00,0.000,6,0.063,0.050,3081,1583,3365,0,0,0,0,0,0
$GC,9174,-1.22,-146.0,811.8,-9.6,343,9180,0.20,2.53,0.00,0.000,4,0.091,0.081,3128,164,3364,0,0,0,0,0,0
$GC,9227,-1.22,-146.0,816.6,-9.0,344,9231,0.00,2.33,0.00,0.000,6,0.000,0.035,3128,1581,3363,0,0,0,0,0,0
$GC,9509,-1.22,-146.0,836.9,-7.3,351,9513,0.00,2.67,0.00,0.000,4,0.000,0.054,3129,3161,3363,0,0,0,0,0,0
$GC,9532,-1.22,-146.0,839.2,-8.9,351,9537,0.00,2.67,0.00,0.000,6,0.000,0.050,3129,1583,3363,0,0,0,0,0,0
$GC,9792,-1.22,-146.0,858.2,-7.4,358,9796,0.00,2.50,0.00,0.000,4,0.000,0.084,3128,167,3363,0,0,0,0,0,0
$GC,9818,-1.22,-146.0,860.1,-8.6,358,9822,0.00,2.33,0.00,0.000,6,0.000,0.035,3128,1583,3363,0,0,0,0,0,0
$GC,10077,-1.22,-146.0,879.2,-7.3,365,10081,0.00,2.50,0.00,0.000,4,0.000,0.077,3128,169,3362,0,0,0,0,0,0
$GC,10096,-1.22,-146.0,880.9,-8.6,365,10100,0.00,2.30,0.00,0.000,6,0.000,0.036,3128,1579,3361,0,0,0,0,0,0
$GC,10362,-1.22,-146.0,900.0,-7.3,372,10363,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1579,3361,0,0,0,0,0,0
$STATE,10398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10398,begin apogee
$GC,10404,-0.31,0.0,903.1,7.2,373,10528,0.85,0.00,120.07,1.151,6,0.071,0.000,3325,1345,2800,0,0,0,0,0,0
$STATE,10529,end apogee,CONTROL_FINISHED_OK
$STATE,10529,begin climb
$GC,10531,1.27,146.0,906.4,0.0,376,10672,1.42,2.20,130.85,1.131,4,0.030,0.081,3680,173,2203,0,0,0,0,0,0
$GC,10782,1.00,146.0,885.9,15.5,381,10786,0.32,1.95,0.00,0.000,6,0.105,0.031,3614,1364,2197,0,0,0,0,0,0
$GC,11037,0.94,148.9,859.7,9.9,388,11041,0.00,2.15,0.00,0.000,4,0.000,0.075,3613,166,2192,0,0,0,0,0,0
$GC,11118,0.83,148.9,850.7,11.9,389,11123,0.17,1.95,0.00,0.000,6,0.107,0.031,3577,1349,2192,0,0,0,0,0,0
$GC,11375,0.88,194.0,829.9,7.9,396,11424,0.00,2.80,43.08,1.069,4,0.000,0.056,3577,2934,2008,0,0,0,0,0,0
$GC,11457,0.97,194.0,822.6,10.1,397,11463,0.12,2.72,0.00,0.000,6,0.067,0.050,3622,1360,2004,0,0,0,0,0,0
$GC,11709,0.92,194.0,793.8,11.8,404,11714,0.12,2.17,0.00,0.000,4,0.110,0.086,3596,164,2002,0,0,0,0,0,0
$GC,11743,0.88,194.0,789.4,12.2,404,11746,0.00,1.95,0.00,0.000,6,0.000,0.031,3596,1351,2002,0,0,0,0,0,0
$GC,12000,0.88,194.0,761.2,11.1,411,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,1352,2000,0,0,0,0,0,0
$GC,12240,0.88,194.0,733.2,11.6,417,12241,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,1352,2000,0,0,0,0,0,0
$GC,12484,0.88,194.0,706.7,10.7,423,12488,0.00,2.67,0.00,0.000,4,0.000,0.051,3596,2930,2000,0,0,0,0,0,0
$GC,12509,0.88,194.0,704.1,11.0,423,12514,0.00,2.72,0.00,0.000,6,0.000,0.049,3596,1343,1996,0,0,0,0,0,0
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$STATE,18924,end climb,SURFACE_DEPTH_REACHED
$STATE,18924,begin surface coast
$FINISH,0.9,1.009824
$STATE,18971,end surface coast,CONTROL_FINISHED_OK
$STATE,18971,begin surface
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$10V_AH,9.9,50.363
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57180,716
$CAP_FILE_SIZE,199228,0
$CFSIZE,260165632,145084416
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