version: 66.06
glider: 148
mission: 12
dive: 375
start: 8 12 113 15 57 57
data:
$ID,148
$MISSION,12
$DIVE,375
$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,-1023517.3
$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,3400
$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,25
$R_STBD_OVSHOOT,88
$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
$GPS1,153925,2300.250,-15758.023,74,2.2,93,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-75.8
$GPS2,155703,2300.156,-15758.014,11,99.0,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.128,-0.226
$KALMAN_X,-94106.3,181.1,-20.4,97429.8,954.4
$KALMAN_Y,102692.5,-47.6,-340.2,-74214.6,306.8
$MHEAD_RNG_PITCHd_Wd,140.4,52802,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-66.75,0.000,2,0.000,0.000,410,1574,2935,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.3,-4.2,9,122,14.05,2.38,-8.32,0.000,4,0.146,0.054,3118,161,3398,0,0,0,0,0,0
$GC,140,-0.62,-146.0,19.1,-30.4,15,149,0.62,2.12,0.00,0.000,6,0.084,0.017,3259,1549,3399,0,0,0,0,0,0
$GC,422,-0.62,-146.0,54.7,-10.8,45,426,0.00,2.47,0.00,0.000,4,0.000,0.021,3259,3133,3399,0,0,0,0,0,0
$GC,467,-0.79,-146.0,59.7,-9.3,48,477,0.10,2.55,0.00,0.000,6,0.031,0.028,3208,1578,3399,0,0,0,0,0,0
$GC,736,-0.79,-146.0,87.4,-9.7,73,740,0.00,2.42,0.00,0.000,4,0.000,0.021,3207,3123,3399,0,0,0,0,0,0
$GC,764,-0.79,-146.0,90.5,-9.9,75,768,0.00,2.47,0.00,0.000,6,0.000,0.027,3207,1579,3399,0,0,0,0,0,0
$GC,1032,-0.79,-146.0,118.3,-10.8,99,1036,0.00,2.30,0.00,0.000,4,0.000,0.042,3207,163,3399,0,0,0,0,0,0
$GC,1046,-0.79,-146.0,120.6,-10.8,100,1051,0.00,2.12,0.00,0.000,6,0.000,0.017,3208,1613,3399,0,0,0,0,0,0
$GC,1318,-0.79,-146.0,146.0,-9.0,125,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1616,3400,0,0,0,0,0,0
$GC,1580,-0.79,-146.0,169.3,-9.2,150,1585,0.00,2.33,0.00,0.000,4,0.000,0.021,3207,3099,3399,0,0,0,0,0,0
$GC,1599,-0.79,-146.0,170.8,-8.8,151,1603,0.00,2.45,0.00,0.000,6,0.000,0.025,3208,1567,3400,0,0,0,0,0,0
$GC,1867,-0.79,-146.0,194.8,-9.4,175,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1567,3400,0,0,0,0,0,0
$GC,2120,-0.84,-146.0,216.9,-8.2,185,2124,0.00,2.40,0.00,0.000,4,0.000,0.021,3208,3098,3399,0,0,0,0,0,0
$GC,2158,-0.97,-146.0,219.9,-7.6,185,2165,0.00,2.47,0.00,0.000,6,0.000,0.028,3207,1581,3399,0,0,0,0,0,0
$GC,2410,-1.03,-146.0,239.3,-8.1,192,2415,0.12,2.35,0.00,0.000,4,0.061,0.045,3138,164,3399,0,0,0,0,0,0
$GC,2439,-0.92,-146.0,242.7,-11.8,192,2444,0.28,2.10,0.00,0.000,6,0.082,0.018,3199,1556,3399,0,0,0,0,0,0
$GC,2697,-0.97,-146.0,264.3,-8.1,199,2701,0.00,2.47,0.00,0.000,4,0.000,0.023,3199,3123,3399,0,0,0,0,0,0
$GC,2716,-1.04,-146.0,266.1,-7.8,199,2721,0.10,2.47,0.00,0.000,6,0.072,0.027,3135,1577,3399,0,0,0,0,0,0
$GC,2983,-0.96,-146.0,293.8,-10.5,206,2985,0.25,0.00,0.00,0.000,6,0.080,0.000,3190,1576,3398,0,0,0,0,0,0
$GC,3227,-1.03,-146.0,313.3,-7.8,212,3231,0.00,2.45,0.00,0.000,4,0.000,0.025,3190,3116,3397,0,0,0,0,0,0
$GC,3264,-1.16,-146.0,316.3,-7.2,212,3271,0.17,2.50,0.00,0.000,6,0.047,0.031,3108,1586,3397,0,0,0,0,0,0
$GC,3515,-1.05,-146.0,344.3,-11.4,219,3520,0.28,2.35,0.00,0.000,4,0.081,0.050,3174,170,3396,0,0,0,0,0,0
$GC,3560,-1.05,-146.0,348.2,-8.1,220,3565,0.00,2.12,0.00,0.000,6,0.000,0.020,3174,1559,3395,0,0,0,0,0,0
$GC,3847,-1.05,-146.0,368.5,-7.1,227,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1562,3393,0,0,0,0,0,0
$GC,4091,-1.10,-146.0,389.0,-8.6,233,4096,0.00,2.53,0.00,0.000,4,0.000,0.032,3174,3130,3392,0,0,0,0,0,0
$GC,4113,-1.16,-146.0,390.8,-9.1,233,4118,0.12,2.55,0.00,0.000,6,0.061,0.034,3109,1584,3392,0,0,0,0,0,0
$GC,4378,-1.08,-146.0,421.4,-11.7,240,4383,0.25,2.40,0.00,0.000,4,0.083,0.060,3170,170,3390,0,0,0,0,0,0
$GC,4435,-1.16,-146.0,427.0,-9.2,241,4440,0.10,2.20,0.00,0.000,6,0.075,0.025,3118,1559,3389,0,0,0,0,0,0
$GC,4718,-1.09,-146.0,455.4,-10.2,248,4720,0.22,0.00,0.00,0.000,6,0.084,0.000,3162,1559,3387,0,0,0,0,0,0
$GC,4961,-1.09,-146.0,474.8,-7.9,254,4966,0.00,2.60,0.00,0.000,4,0.000,0.038,3162,3143,3386,0,0,0,0,0,0
$GC,4992,-1.16,-146.0,477.3,-8.4,254,4997,0.00,2.60,0.00,0.000,6,0.000,0.039,3162,1573,3386,0,0,0,0,0,0
$GC,5250,-1.16,-146.0,498.2,-8.3,261,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1573,3383,0,0,0,0,0,0
$GC,5491,-1.16,-146.0,515.9,-7.1,267,5495,0.00,2.65,0.00,0.000,4,0.000,0.042,3162,3146,3382,0,0,0,0,0,0
$GC,5508,-1.20,-146.0,516.9,-6.6,267,5513,0.10,2.65,0.00,0.000,6,0.074,0.044,3109,1561,3382,0,0,0,0,0,0
$GC,5778,-1.14,-146.0,540.2,-8.6,274,5783,0.17,2.45,0.00,0.000,4,0.090,0.073,3151,163,3379,0,0,0,0,0,0
$GC,5795,-1.09,-146.0,541.5,-8.2,274,5799,0.00,2.25,0.00,0.000,6,0.000,0.028,3151,1567,3379,0,0,0,0,0,0
$GC,6066,-1.09,-146.0,558.8,-6.5,281,6070,0.00,2.62,0.00,0.000,4,0.000,0.043,3151,3153,3378,0,0,0,0,0,0
$GC,6086,-1.09,-146.0,560.4,-7.4,281,6090,0.00,2.65,0.00,0.000,6,0.000,0.042,3151,1569,3377,0,0,0,0,0,0
$GC,6351,-1.09,-146.0,578.4,-6.9,288,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1569,3376,0,0,0,0,0,0
$GC,6593,-1.09,-146.0,595.9,-7.2,294,6598,0.00,2.65,0.00,0.000,4,0.000,0.044,3151,3151,3374,0,0,0,0,0,0
$GC,6618,-1.15,-146.0,597.8,-8.3,294,6622,0.00,2.65,0.00,0.000,6,0.000,0.046,3151,1570,3374,0,0,0,0,0,0
$GC,6883,-1.15,-146.0,619.1,-8.4,301,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1570,3372,0,0,0,0,0,0
$GC,7121,-1.15,-146.0,638.6,-7.9,307,7126,0.00,2.62,0.00,0.000,4,0.000,0.044,3151,3149,3371,0,0,0,0,0,0
$GC,7138,-1.20,-146.0,640.0,-7.7,307,7142,0.00,2.65,0.00,0.000,6,0.000,0.045,3151,1579,3371,0,0,0,0,0,0
$GC,7407,-1.20,-146.0,659.2,-7.0,314,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1579,3369,0,0,0,0,0,0
$GC,7652,-1.20,-146.0,675.9,-6.7,320,7657,0.00,2.62,0.00,0.000,4,0.000,0.043,3150,3150,3368,0,0,0,0,0,0
$GC,7681,-1.28,-146.0,678.0,-6.0,320,7686,0.12,2.67,0.00,0.000,6,0.064,0.055,3097,1580,3368,0,0,0,0,0,0
$GC,7939,-1.21,-146.0,701.4,-9.3,327,7941,0.17,0.00,0.00,0.000,6,0.091,0.000,3137,1580,3367,0,0,0,0,0,0
$GC,8180,-1.21,-146.0,719.8,-7.5,333,8185,0.00,2.62,0.00,0.000,4,0.000,0.045,3137,3156,3365,0,0,0,0,0,0
$GC,8204,-1.21,-146.0,721.6,-8.6,333,8209,0.00,2.67,0.00,0.000,6,0.000,0.050,3137,1583,3366,0,0,0,0,0,0
$GC,8464,-1.21,-146.0,741.9,-7.9,340,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1583,3365,0,0,0,0,0,0
$GC,8714,-1.21,-146.0,761.3,-8.0,346,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1583,3363,0,0,0,0,0,0
$GC,8951,-1.21,-146.0,780.6,-7.8,352,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1583,3362,0,0,0,0,0,0
$GC,9195,-1.21,-146.0,799.5,-7.8,358,9199,0.00,2.65,0.00,0.000,4,0.000,0.046,3137,3148,3361,0,0,0,0,0,0
$GC,9221,-1.26,-146.0,801.5,-9.6,358,9226,0.00,2.67,0.00,0.000,6,0.000,0.051,3137,1587,3361,0,0,0,0,0,0
$GC,9481,-1.26,-146.0,820.7,-7.5,365,9485,0.00,2.53,0.00,0.000,4,0.000,0.085,3137,166,3360,0,0,0,0,0,0
$GC,9514,-1.26,-146.0,823.4,-8.8,365,9518,0.00,2.33,0.00,0.000,6,0.000,0.035,3137,1586,3360,0,0,0,0,0,0
$GC,9768,-1.26,-146.0,842.2,-7.4,371,9769,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1586,3359,0,0,0,0,0,0
$GC,10008,-1.26,-146.0,860.0,-7.2,377,10012,0.00,2.65,0.00,0.000,4,0.000,0.054,3137,3161,3358,0,0,0,0,0,0
$GC,10022,-1.26,-146.0,861.1,-7.2,377,10027,0.00,2.70,0.00,0.000,6,0.000,0.048,3137,1576,3358,0,0,0,0,0,0
$GC,10293,-1.26,-146.0,879.5,-6.7,384,10297,0.00,2.62,0.00,0.000,4,0.000,0.046,3137,3154,3358,0,0,0,0,0,0
$GC,10327,-1.33,-146.0,882.0,-7.3,384,10332,0.12,2.67,0.00,0.000,6,0.065,0.050,3085,1584,3357,0,0,0,0,0,0
$STATE,10533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10533,begin apogee
$GC,10540,-0.31,0.0,900.5,9.1,389,10663,1.08,0.00,119.38,1.146,6,0.074,0.000,3329,1345,2800,0,0,0,0,0,0
$STATE,10664,end apogee,CONTROL_FINISHED_OK
$STATE,10664,begin climb
$GC,10668,1.27,146.0,903.6,0.0,392,10808,1.45,2.17,131.12,1.125,4,0.034,0.085,3683,166,2205,0,0,0,0,0,0
$GC,10898,1.00,146.0,885.0,14.5,397,10903,0.30,1.95,0.00,0.000,6,0.107,0.031,3621,1352,2201,0,0,0,0,0,0
$GC,11168,0.93,146.0,856.5,10.2,404,11172,0.00,2.70,0.00,0.000,4,0.000,0.053,3620,2928,2196,0,0,0,0,0,0
$GC,11194,0.92,172.6,854.0,8.8,404,11226,0.00,2.70,24.52,1.045,6,0.000,0.048,3620,1349,2096,0,0,0,0,0,0
$GC,11501,0.87,172.6,821.3,10.7,412,11506,0.15,2.17,0.00,0.000,4,0.110,0.088,3589,161,2091,0,0,0,0,0,0
$GC,11550,0.87,172.6,816.0,10.5,413,11554,0.00,1.95,0.00,0.000,6,0.000,0.031,3589,1354,2090,0,0,0,0,0,0
$GC,11837,0.88,181.5,788.3,9.6,420,11850,0.00,2.12,8.62,0.903,4,0.000,0.072,3589,165,2059,0,0,0,0,0,0
$GC,11914,0.88,181.5,780.3,10.3,421,11918,0.00,1.92,0.00,0.000,6,0.000,0.030,3589,1341,2059,0,0,0,0,0,0
$GC,12173,0.90,198.8,756.1,9.2,428,12197,0.00,2.80,17.48,0.986,4,0.000,0.054,3589,2925,1988,0,0,0,0,0,0
$GC,12218,0.98,227.0,751.8,8.7,429,12255,0.10,2.75,28.45,1.009,6,0.078,0.050,3628,1341,1874,0,0,0,0,0,0
$GC,12513,0.98,227.0,718.5,11.5,436,12514,0.00,0.00,0.00,0.000,6,0.000,0.000,3628,1341,1869,0,0,0,0,0,0
$GC,12749,0.98,227.0,690.9,11.4,442,12753,0.00,2.70,0.00,0.000,4,0.000,0.044,3628,2928,1868,0,0,0,0,0,0
$GC,12779,0.99,233.4,687.7,9.7,442,12793,0.00,2.75,6.00,0.770,6,0.000,0.051,3628,1340,1848,0,0,0,0,0,0
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$STATE,18835,end climb,SURFACE_DEPTH_REACHED
$STATE,18835,begin surface coast
$FINISH,1.0,1.023294
$STATE,18870,end surface coast,CONTROL_FINISHED_OK
$STATE,18870,begin surface
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$10V_AH,9.9,52.948
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355876
$DATA_FILE_SIZE,57317,728
$CAP_FILE_SIZE,188658,0
$CFSIZE,260165632,143773696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120813,211453,2257.736,-15755.739,38,1.3,38,10.1