version: 66.06
glider: 148
mission: 12
dive: 376
start: 8 12 113 21 26 50
data:
$ID,148
$MISSION,12
$DIVE,376
$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,-1023530.8
$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,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
$GPS1,211453,2257.736,-15755.739,38,1.3,38,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.6
$GPS2,212555,2257.755,-15755.763,11,1.6,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.119,-0.231
$KALMAN_X,-92455.4,25.0,20.4,99742.3,1599.0
$KALMAN_Y,102036.2,-171.2,85.0,-78300.7,-163.8
$MHEAD_RNG_PITCHd_Wd,142.7,46923,-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,14,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-66.97,0.000,2,0.000,0.000,413,1575,2917,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.0,-3.1,9,123,14.23,2.38,-8.77,0.000,4,0.153,0.053,3116,168,3399,0,0,0,0,0,0
$GC,135,-0.34,-146.0,17.2,-31.5,14,144,0.90,2.15,0.00,0.000,6,0.088,0.017,3317,1578,3399,0,0,0,0,0,0
$GC,423,-0.50,-146.0,39.7,-6.2,49,428,0.12,2.42,0.00,0.000,4,0.058,0.021,3236,3119,3400,0,0,0,0,0,0
$GC,458,-0.59,-146.0,42.6,-9.1,51,463,0.15,2.55,0.00,0.000,6,0.087,0.030,3273,1554,3400,0,0,0,0,0,0
$GC,728,-0.69,-146.0,62.7,-6.7,75,733,0.10,2.47,0.00,0.000,4,0.074,0.022,3210,3113,3401,0,0,0,0,0,0
$GC,759,-0.75,-146.0,65.5,-8.7,77,764,0.10,2.50,0.00,0.000,6,0.105,0.028,3235,1573,3400,0,0,0,0,0,0
$GC,1028,-0.80,-146.0,90.2,-9.7,101,1032,0.00,2.28,0.00,0.000,4,0.000,0.043,3235,173,3401,0,0,0,0,0,0
$GC,1057,-0.80,-146.0,93.9,-10.2,103,1063,0.00,2.12,0.00,0.000,6,0.000,0.016,3235,1596,3401,0,0,0,0,0,0
$GC,1321,-0.87,-146.0,114.6,-7.9,128,1323,0.10,0.00,0.00,0.000,6,0.074,0.000,3172,1598,3401,0,0,0,0,0,0
$GC,1577,-0.79,-146.0,144.6,-11.9,152,1586,0.25,0.00,0.00,0.000,6,0.078,0.000,3229,1598,3401,0,0,0,0,0,0
$GC,1843,-0.85,-146.0,168.0,-8.6,177,1847,0.00,2.35,0.00,0.000,4,0.000,0.021,3229,3109,3401,0,0,0,0,0,0
$GC,1873,-0.97,-146.0,171.0,-8.6,179,1879,0.17,2.45,0.00,0.000,6,0.045,0.026,3138,1574,3401,0,0,0,0,0,0
$GC,2136,-0.84,-146.0,205.6,-13.4,201,2141,0.30,2.30,0.00,0.000,4,0.078,0.041,3212,163,3401,0,0,0,0,0,0
$GC,2171,-0.84,-146.0,210.2,-10.1,201,2175,0.00,2.10,0.00,0.000,6,0.000,0.017,3212,1570,3401,0,0,0,0,0,0
$GC,2422,-0.90,-146.0,231.5,-8.3,207,2426,0.00,2.42,0.00,0.000,4,0.000,0.021,3212,3125,3401,0,0,0,0,0,0
$GC,2463,-1.05,-146.0,234.4,-6.9,207,2469,0.17,2.50,0.00,0.000,6,0.047,0.027,3121,1577,3401,0,0,0,0,0,0
$GC,2714,-0.92,-146.0,263.6,-12.1,214,2716,0.32,0.00,0.00,0.000,6,0.077,0.000,3197,1577,3401,0,0,0,0,0,0
$GC,2958,-0.99,-146.0,283.6,-7.8,220,2962,0.00,2.30,0.00,0.000,4,0.000,0.046,3197,164,3401,0,0,0,0,0,0
$GC,2974,-1.04,-146.0,285.0,-7.8,220,2979,0.10,2.15,0.00,0.000,6,0.074,0.018,3135,1587,3401,0,0,0,0,0,0
$GC,3243,-0.97,-146.0,315.0,-11.0,227,3248,0.25,2.45,0.00,0.000,4,0.077,0.025,3196,3133,3401,0,0,0,0,0,0
$GC,3291,-1.12,-146.0,319.1,-7.6,228,3297,0.17,2.50,0.00,0.000,6,0.047,0.029,3116,1596,3401,0,0,0,0,0,0
$GC,3577,-1.03,-146.0,351.1,-11.5,235,3582,0.25,2.38,0.00,0.000,4,0.083,0.050,3178,173,3399,0,0,0,0,0,0
$GC,3611,-1.07,-146.0,355.0,-9.6,235,3615,0.00,2.17,0.00,0.000,6,0.000,0.020,3178,1595,3399,0,0,0,0,0,0
$GC,3867,-1.13,-146.0,374.0,-7.4,241,3872,0.10,2.47,0.00,0.000,4,0.074,0.031,3118,3129,3398,0,0,0,0,0,0
$GC,3882,-1.13,-146.0,375.8,-7.0,241,3887,0.15,2.47,0.00,0.000,6,0.087,0.032,3155,1602,3398,0,0,0,0,0,0
$GC,4152,-1.13,-146.0,398.5,-8.5,248,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1602,3396,0,0,0,0,0,0
$GC,4397,-1.13,-146.0,420.5,-9.0,254,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1602,3394,0,0,0,0,0,0
$GC,4639,-1.13,-146.0,442.0,-8.6,260,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1602,3392,0,0,0,0,0,0
$GC,4885,-1.13,-146.0,462.6,-8.5,266,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1602,3391,0,0,0,0,0,0
$GC,5128,-1.13,-146.0,482.4,-8.0,272,5132,0.00,2.53,0.00,0.000,4,0.000,0.041,3155,3122,3389,0,0,0,0,0,0
$GC,5149,-1.13,-146.0,484.1,-7.9,272,5153,0.00,2.50,0.00,0.000,6,0.000,0.038,3154,1604,3389,0,0,0,0,0,0
$GC,5413,-1.13,-146.0,502.2,-6.6,279,5417,0.00,2.47,0.00,0.000,4,0.000,0.069,3155,169,3387,0,0,0,0,0,0
$GC,5441,-1.13,-146.0,504.4,-8.6,279,5446,0.00,2.25,0.00,0.000,6,0.000,0.028,3155,1576,3387,0,0,0,0,0,0
$GC,5702,-1.13,-146.0,523.8,-7.9,286,5707,0.00,2.60,0.00,0.000,4,0.000,0.041,3154,3150,3385,0,0,0,0,0,0
$GC,5721,-1.13,-146.0,526.0,-8.4,286,5726,0.00,2.58,0.00,0.000,6,0.000,0.039,3155,1591,3385,0,0,0,0,0,0
$GC,5985,-1.13,-146.0,547.7,-8.1,293,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1591,3383,0,0,0,0,0,0
$GC,6231,-1.13,-146.0,566.4,-7.6,299,6235,0.00,2.60,0.00,0.000,4,0.000,0.041,3154,3150,3381,0,0,0,0,0,0
$GC,6246,-1.13,-146.0,567.7,-7.4,299,6250,0.00,2.58,0.00,0.000,6,0.000,0.041,3154,1597,3382,0,0,0,0,0,0
$GC,6517,-1.13,-146.0,586.8,-7.2,306,6521,0.00,2.50,0.00,0.000,4,0.000,0.076,3155,166,3380,0,0,0,0,0,0
$GC,6538,-1.13,-146.0,588.6,-7.7,306,6542,0.00,2.28,0.00,0.000,6,0.000,0.030,3154,1591,3380,0,0,0,0,0,0
$GC,6802,-1.17,-146.0,607.3,-7.0,313,6806,0.00,2.58,0.00,0.000,4,0.000,0.045,3154,3153,3378,0,0,0,0,0,0
$GC,6836,-1.26,-146.0,609.8,-7.3,313,6841,0.12,2.62,0.00,0.000,6,0.064,0.044,3098,1595,3378,0,0,0,0,0,0
$GC,7086,-1.18,-146.0,632.9,-9.5,319,7091,0.20,2.53,0.00,0.000,4,0.089,0.077,3142,163,3376,0,0,0,0,0,0
$GC,7117,-1.18,-146.0,636.0,-9.2,319,7121,0.00,2.33,0.00,0.000,6,0.000,0.032,3142,1596,3376,0,0,0,0,0,0
$GC,7376,-1.18,-146.0,655.1,-7.5,326,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1596,3375,0,0,0,0,0,0
$GC,7616,-1.18,-146.0,671.5,-6.6,332,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1596,3373,0,0,0,0,0,0
$GC,7859,-1.18,-146.0,687.3,-6.5,338,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1596,3372,0,0,0,0,0,0
$GC,8103,-1.18,-146.0,702.8,-6.4,344,8107,0.00,2.62,0.00,0.000,4,0.000,0.051,3142,3156,3371,0,0,0,0,0,0
$GC,8129,-1.24,-146.0,704.6,-8.0,344,8134,0.00,2.65,0.00,0.000,6,0.000,0.048,3142,1597,3371,0,0,0,0,0,0
$GC,8391,-1.24,-146.0,722.8,-7.1,351,8396,0.00,2.53,0.00,0.000,4,0.000,0.081,3142,168,3370,0,0,0,0,0,0
$GC,8415,-1.24,-146.0,724.8,-8.7,351,8419,0.00,2.33,0.00,0.000,6,0.000,0.033,3142,1600,3370,0,0,0,0,0,0
$GC,8679,-1.24,-146.0,743.9,-7.3,358,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1600,3368,0,0,0,0,0,0
$GC,8922,-1.24,-146.0,761.5,-7.2,364,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1600,3367,0,0,0,0,0,0
$GC,9166,-1.24,-146.0,778.1,-6.7,370,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1600,3366,0,0,0,0,0,0
$GC,9415,-1.24,-146.0,792.4,-5.8,376,9416,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1600,3366,0,0,0,0,0,0
$GC,9656,-1.24,-146.0,806.3,-5.8,382,9660,0.00,2.62,0.00,0.000,4,0.000,0.051,3142,3153,3365,0,0,0,0,0,0
$GC,9670,-1.24,-146.0,807.5,-6.1,382,9675,0.00,2.65,0.00,0.000,6,0.000,0.048,3142,1597,3365,0,0,0,0,0,0
$GC,9939,-1.24,-146.0,825.4,-6.9,389,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1597,3364,0,0,0,0,0,0
$GC,10185,-1.24,-146.0,843.5,-7.6,395,10189,0.00,2.62,0.00,0.000,4,0.000,0.044,3142,3158,3363,0,0,0,0,0,0
$GC,10199,-1.24,-146.0,844.9,-7.6,395,10204,0.00,2.65,0.00,0.000,6,0.000,0.048,3142,1599,3363,0,0,0,0,0,0
$GC,10468,-1.28,-146.0,865.2,-7.6,402,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1599,3362,0,0,0,0,0,0
$GC,10714,-1.33,-146.0,883.0,-7.2,408,10719,0.15,2.65,0.00,0.000,4,0.058,0.044,3081,3162,3361,0,0,0,0,0,0
$GC,10743,-1.28,-146.0,885.7,-10.0,408,10749,0.17,2.67,0.00,0.000,6,0.091,0.051,3121,1598,3362,0,0,0,0,0,0
$STATE,10955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10956,begin apogee
$GC,10962,-0.31,0.0,901.3,7.1,414,11086,0.93,0.00,120.40,1.147,6,0.072,0.000,3334,1350,2800,0,0,0,0,0,0
$STATE,11087,end apogee,CONTROL_FINISHED_OK
$STATE,11087,begin climb
$GC,11091,1.27,146.0,903.5,0.0,417,11233,1.42,2.17,131.75,1.124,4,0.036,0.086,3680,167,2202,0,0,0,0,0,0
$GC,11308,1.01,146.0,885.2,15.8,422,11312,0.28,1.95,0.00,0.000,6,0.110,0.030,3624,1351,2199,0,0,0,0,0,0
$GC,11595,0.94,146.0,850.5,11.9,429,11596,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,1351,2193,0,0,0,0,0,0
$GC,11841,0.86,146.0,822.4,11.4,435,11845,0.17,2.10,0.00,0.000,4,0.104,0.072,3587,168,2191,0,0,0,0,0,0
$GC,11865,0.80,146.0,819.4,10.8,435,11869,0.00,1.95,0.00,0.000,6,0.000,0.030,3587,1361,2191,0,0,0,0,0,0
$GC,12133,0.82,164.9,794.2,9.1,442,12153,0.00,0.00,16.62,0.999,6,0.000,0.000,3587,1362,2125,0,0,0,0,0,0
$GC,12424,0.85,192.6,768.4,8.7,449,12456,0.00,2.22,26.23,1.019,4,0.000,0.074,3587,166,2013,0,0,0,0,0,0
$GC,12521,0.85,192.6,758.5,11.3,451,12524,0.00,1.95,0.00,0.000,6,0.000,0.030,3587,1347,2013,0,0,0,0,0,0
$GC,12809,0.87,204.9,731.7,9.4,458,12825,0.00,0.00,12.75,0.938,6,0.000,0.000,3586,1349,1963,0,0,0,0,0,0
$GC,13099,0.87,204.9,701.9,10.4,465,13100,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1350,1960,0,0,0,0,0,0
$GC,13346,0.87,204.9,675.5,10.9,471,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1350,1959,0,0,0,0,0,0
$GC,13586,0.87,204.9,648.6,11.1,477,13587,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1351,1959,0,0,0,0,0,0
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$STATE,19299,end climb,SURFACE_DEPTH_REACHED
$STATE,19300,begin surface coast
$FINISH,0.9,1.011708
$STATE,19342,end surface coast,CONTROL_FINISHED_OK
$STATE,19342,begin surface
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$10V_AH,9.9,53.108
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,35.575,167.100,426.075,32.250,0.000,26.238,35.223,437.427,2.250,0.000,12.843,1575.855,14358.891,532.704,2580.578,1002.676,33.375,1553.844,0.000,2607.299,0.000,0.536,0.000
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$MEM,355704
$DATA_FILE_SIZE,60353,745
$CAP_FILE_SIZE,177069,0
$CFSIZE,260165632,143704064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130813,025135,2254.853,-15753.246,39,1.5,44,10.1