version: 66.06
glider: 148
mission: 12
dive: 378
start: 8 13 113 8 30 48
data:
$ID,148
$MISSION,12
$DIVE,378
$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,-1023590.9
$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,27
$R_STBD_OVSHOOT,84
$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
$GPS1,082127,2252.062,-15750.374,46,3.7,65,10.1
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-73.3
$GPS2,082954,2252.039,-15750.394,10,1.3,21,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.064,-0.252
$KALMAN_X,-88677.8,287.1,-261.8,105150.6,2098.4
$KALMAN_Y,99710.9,-217.0,-535.6,-85892.0,775.8
$MHEAD_RNG_PITCHd_Wd,155.7,32912,-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,-67.38,0.000,2,0.000,0.000,412,1573,2941,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-3.6,9,121,14.05,2.35,-8.48,0.000,4,0.149,0.054,3119,174,3398,0,0,0,0,0,0
$GC,183,-1.00,-146.0,27.6,-21.3,22,193,0.25,2.12,0.00,0.000,6,0.084,0.018,3177,1536,3399,0,0,0,0,0,0
$GC,450,-0.87,-146.0,69.7,-13.5,47,456,0.15,2.58,0.00,0.000,4,0.104,0.023,3211,3154,3399,0,0,0,0,0,0
$GC,534,-0.96,-146.0,78.5,-8.6,53,539,0.00,2.55,0.00,0.000,6,0.000,0.028,3211,1580,3399,0,0,0,0,0,0
$GC,801,-0.96,-146.0,103.3,-9.8,77,805,0.00,2.30,0.00,0.000,4,0.000,0.042,3211,164,3400,0,0,0,0,0,0
$GC,831,-0.96,-146.0,106.5,-11.0,79,835,0.00,2.17,0.00,0.000,6,0.000,0.017,3210,1618,3400,0,0,0,0,0,0
$GC,1100,-0.96,-146.0,133.2,-10.0,103,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1621,3400,0,0,0,0,0,0
$GC,1361,-0.96,-146.0,160.9,-9.8,128,1365,0.00,2.35,0.00,0.000,4,0.000,0.021,3210,3127,3401,0,0,0,0,0,0
$GC,1381,-0.96,-146.0,162.8,-9.8,129,1390,0.00,2.53,0.00,0.000,6,0.000,0.026,3210,1579,3401,0,0,0,0,0,0
$GC,1648,-0.96,-146.0,187.0,-9.3,154,1652,0.00,2.42,0.00,0.000,4,0.000,0.021,3210,3123,3401,0,0,0,0,0,0
$GC,1679,-1.04,-146.0,190.3,-8.7,156,1689,0.12,2.50,0.00,0.000,6,0.023,0.028,3130,1592,3401,0,0,0,0,0,0
$GC,1962,-0.90,-146.0,226.7,-12.9,169,1967,0.30,2.30,0.00,0.000,4,0.079,0.041,3203,170,3401,0,0,0,0,0,0
$GC,1982,-0.85,-146.0,229.0,-10.8,169,1986,0.00,2.12,0.00,0.000,6,0.000,0.018,3202,1594,3401,0,0,0,0,0,0
$GC,2251,-0.91,-146.0,249.3,-7.5,176,2255,0.00,2.38,0.00,0.000,4,0.000,0.022,3202,3115,3401,0,0,0,0,0,0
$GC,2289,-1.03,-146.0,252.8,-8.4,176,2295,0.12,2.47,0.00,0.000,6,0.064,0.028,3129,1590,3401,0,0,0,0,0,0
$GC,2541,-0.94,-146.0,282.1,-12.0,183,2546,0.25,2.33,0.00,0.000,4,0.080,0.044,3192,167,3401,0,0,0,0,0,0
$GC,2570,-0.94,-146.0,285.3,-9.4,183,2574,0.00,2.15,0.00,0.000,6,0.000,0.019,3191,1584,3401,0,0,0,0,0,0
$GC,2825,-0.99,-146.0,307.6,-8.9,190,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1586,3401,0,0,0,0,0,0
$GC,3074,-1.06,-146.0,326.4,-7.3,196,3078,0.00,2.45,0.00,0.000,4,0.000,0.027,3192,3127,3400,0,0,0,0,0,0
$GC,3088,-1.13,-146.0,327.8,-6.8,196,3094,0.17,2.47,0.00,0.000,6,0.047,0.029,3112,1598,3400,0,0,0,0,0,0
$GC,3358,-1.03,-146.0,358.0,-11.7,203,3360,0.28,0.00,0.00,0.000,6,0.080,0.000,3174,1598,3398,0,0,0,0,0,0
$GC,3603,-1.03,-146.0,378.5,-7.8,209,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1598,3397,0,0,0,0,0,0
$GC,3846,-1.08,-146.0,397.2,-7.6,215,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1598,3395,0,0,0,0,0,0
$GC,4092,-1.13,-146.0,415.3,-7.3,221,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1598,3394,0,0,0,0,0,0
$GC,4335,-1.19,-146.0,434.9,-8.1,227,4340,0.15,2.53,0.00,0.000,4,0.055,0.035,3109,3122,3392,0,0,0,0,0,0
$GC,4346,-1.19,-146.0,436.1,-8.2,227,4351,0.15,2.50,0.00,0.000,6,0.091,0.032,3143,1598,3392,0,0,0,0,0,0
$GC,4620,-1.19,-146.0,462.4,-9.4,234,4624,0.00,2.53,0.00,0.000,4,0.000,0.035,3143,3121,3390,0,0,0,0,0,0
$GC,4650,-1.19,-146.0,465.0,-8.7,234,4655,0.00,2.50,0.00,0.000,6,0.000,0.037,3143,1607,3390,0,0,0,0,0,0
$GC,4910,-1.19,-146.0,486.3,-8.2,241,4914,0.00,2.50,0.00,0.000,4,0.000,0.068,3143,163,3388,0,0,0,0,0,0
$GC,4942,-1.19,-146.0,489.6,-8.6,241,4947,0.00,2.25,0.00,0.000,6,0.000,0.029,3143,1580,3388,0,0,0,0,0,0
$GC,5195,-1.19,-146.0,509.0,-7.7,247,5199,0.00,2.58,0.00,0.000,4,0.000,0.041,3143,3145,3386,0,0,0,0,0,0
$GC,5214,-1.19,-146.0,510.8,-7.9,247,5218,0.00,2.55,0.00,0.000,6,0.000,0.038,3143,1605,3386,0,0,0,0,0,0
$GC,5478,-1.19,-146.0,532.1,-8.3,254,5482,0.00,2.50,0.00,0.000,4,0.000,0.071,3143,164,3384,0,0,0,0,0,0
$GC,5523,-1.19,-146.0,536.2,-10.1,255,5527,0.00,2.33,0.00,0.000,6,0.000,0.030,3144,1602,3384,0,0,0,0,0,0
$GC,5810,-1.19,-146.0,562.5,-9.2,262,5815,0.00,2.60,0.00,0.000,4,0.000,0.044,3143,3160,3382,0,0,0,0,0,0
$GC,5839,-1.24,-146.0,565.2,-9.8,262,5844,0.00,2.62,0.00,0.000,6,0.000,0.043,3143,1601,3382,0,0,0,0,0,0
$GC,6096,-1.24,-146.0,587.0,-8.6,269,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1601,3380,0,0,0,0,0,0
$GC,6340,-1.24,-146.0,606.0,-7.7,275,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1601,3379,0,0,0,0,0,0
$GC,6584,-1.24,-146.0,621.7,-6.2,281,6588,0.00,2.62,0.00,0.000,4,0.000,0.047,3143,3152,3378,0,0,0,0,0,0
$GC,6600,-1.24,-146.0,622.8,-5.9,281,6605,0.00,2.62,0.00,0.000,6,0.000,0.045,3143,1600,3378,0,0,0,0,0,0
$GC,6869,-1.24,-146.0,639.2,-6.3,288,6873,0.00,2.55,0.00,0.000,4,0.000,0.082,3143,161,3376,0,0,0,0,0,0
$GC,6890,-1.24,-146.0,640.8,-7.9,288,6894,0.00,2.33,0.00,0.000,6,0.000,0.032,3143,1606,3376,0,0,0,0,0,0
$GC,7156,-1.24,-146.0,661.5,-8.3,295,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1607,3374,0,0,0,0,0,0
$GC,7402,-1.24,-146.0,683.7,-9.2,301,7406,0.00,2.62,0.00,0.000,4,0.000,0.052,3143,3160,3372,0,0,0,0,0,0
$GC,7416,-1.24,-146.0,685.6,-9.3,301,7421,0.00,2.62,0.00,0.000,6,0.000,0.045,3143,1610,3372,0,0,0,0,0,0
$GC,7687,-1.24,-146.0,707.8,-8.1,308,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1610,3372,0,0,0,0,0,0
$GC,7929,-1.24,-146.0,725.8,-7.1,314,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1610,3371,0,0,0,0,0,0
$GC,8172,-1.24,-146.0,742.7,-6.9,320,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1610,3369,0,0,0,0,0,0
$GC,8419,-1.24,-146.0,758.8,-6.6,326,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1609,3368,0,0,0,0,0,0
$GC,8662,-1.24,-146.0,775.4,-6.8,332,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1609,3367,0,0,0,0,0,0
$GC,8904,-1.24,-146.0,792.2,-7.0,338,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1609,3366,0,0,0,0,0,0
$GC,9147,-1.24,-146.0,809.6,-7.3,344,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1608,3365,0,0,0,0,0,0
$GC,9391,-1.24,-146.0,827.5,-7.3,350,9395,0.00,2.58,0.00,0.000,4,0.000,0.083,3143,164,3364,0,0,0,0,0,0
$GC,9412,-1.24,-146.0,829.0,-7.8,350,9416,0.00,2.38,0.00,0.000,6,0.000,0.035,3144,1611,3364,0,0,0,0,0,0
$GC,9676,-1.28,-146.0,847.1,-6.7,357,9682,0.10,2.62,0.00,0.000,4,0.077,0.053,3095,3160,3364,0,0,0,0,0,0
$GC,9693,-1.28,-146.0,848.4,-6.8,357,9699,0.10,2.65,0.00,0.000,6,0.111,0.048,3119,1604,3364,0,0,0,0,0,0
$GC,9965,-1.28,-146.0,868.7,-7.3,364,9969,0.00,2.55,0.00,0.000,4,0.000,0.082,3119,166,3362,0,0,0,0,0,0
$GC,9984,-1.28,-146.0,870.4,-8.1,364,9988,0.00,2.35,0.00,0.000,6,0.000,0.035,3119,1609,3362,0,0,0,0,0,0
$GC,10250,-1.28,-146.0,890.5,-7.7,371,10255,0.00,2.60,0.00,0.000,4,0.000,0.054,3119,3158,3362,0,0,0,0,0,0
$GC,10267,-1.28,-146.0,892.0,-7.8,371,10271,0.00,2.62,0.00,0.000,6,0.000,0.048,3119,1613,3362,0,0,0,0,0,0
$STATE,10370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10370,begin apogee
$GC,10377,-0.31,0.0,900.5,7.9,374,10500,0.93,0.00,120.20,1.147,6,0.067,0.000,3333,1346,2800,0,0,0,0,0,0
$STATE,10501,end apogee,CONTROL_FINISHED_OK
$STATE,10501,begin climb
$GC,10504,1.27,146.0,904.5,0.0,377,10641,1.45,0.00,133.00,1.128,6,0.031,0.000,3684,1346,2204,0,0,0,0,0,0
$GC,10861,1.07,146.0,874.5,12.4,386,10866,0.25,2.12,0.00,0.000,4,0.109,0.080,3633,166,2194,0,0,0,0,0,0
$GC,10890,0.91,146.0,870.2,11.8,386,10895,0.17,1.95,0.00,0.000,6,0.114,0.030,3597,1356,2194,0,0,0,0,0,0
$GC,11147,0.92,161.0,846.2,9.3,393,11167,0.00,2.15,13.18,0.990,4,0.000,0.074,3597,166,2142,0,0,0,0,0,0
$GC,11192,0.85,161.0,841.2,11.8,394,11196,0.00,1.95,0.00,0.000,6,0.000,0.031,3597,1347,2142,0,0,0,0,0,0
$GC,11487,0.85,161.0,809.8,10.8,401,11491,0.00,2.10,0.00,0.000,4,0.000,0.074,3597,168,2140,0,0,0,0,0,0
$GC,11511,0.79,161.0,806.6,10.6,401,11515,0.10,1.95,0.00,0.000,6,0.089,0.030,3566,1343,2140,0,0,0,0,0,0
$GC,11775,0.87,180.1,782.0,9.1,408,11797,0.10,0.00,18.65,1.006,6,0.080,0.000,3605,1343,2065,0,0,0,0,0,0
$GC,12020,0.87,180.1,755.4,10.9,414,12021,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,1344,2061,0,0,0,0,0,0
$GC,12262,0.87,180.1,730.0,10.2,420,12263,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,1344,2060,0,0,0,0,0,0
$GC,12508,0.87,180.1,705.6,10.1,426,12509,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,1346,2059,0,0,0,0,0,0
$GC,12750,0.88,189.2,681.8,9.6,432,12761,0.00,0.00,9.02,0.870,6,0.000,0.000,3604,1346,2028,0,0,0,0,0,0
$GC,12995,0.88,191.1,657.9,9.9,438,12996,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,1346,2026,0,0,0,0,0,0
$GC,13237,0.88,191.1,633.5,10.1,444,13238,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,1346,2025,0,0,0,0,0,0
$GC,13481,0.88,191.1,608.7,10.2,450,13484,0.00,2.08,0.00,0.000,4,0.000,0.071,3605,161,2024,0,0,0,0,0,0
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$STATE,18976,begin surface coast
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$STATE,19010,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.8,53.413
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57347,721
$CAP_FILE_SIZE,170267,0
$CFSIZE,260165632,143552512
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$GPS,130813,135006,2248.646,-15748.905,34,0.9,34,10.1