version: 66.06
glider: 148
mission: 12
dive: 396
start: 8 17 113 10 59 31
data:
$ID,148
$MISSION,12
$DIVE,396
$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,-1023942.4
$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,26
$R_STBD_OVSHOOT,26
$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
$GPS1,105107,2258.878,-15736.716,69,1.7,82,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-78.3
$GPS2,105837,2258.829,-15736.729,10,1.3,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.116,0.232
$KALMAN_X,-91051.3,-17.7,321.5,130588.8,-1217.6
$KALMAN_Y,68916.3,-17.2,-694.2,-42571.3,550.4
$MHEAD_RNG_PITCHd_Wd,16.4,12426,-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,17,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.18,0.000,2,0.000,0.000,408,1658,2906,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.4,-4.4,9,121,14.43,2.42,-8.82,0.000,4,0.158,0.033,3116,3170,3397,0,0,0,0,0,0
$GC,157,-1.03,-146.0,22.8,-20.0,18,166,0.22,2.62,0.00,0.000,6,0.082,0.029,3171,1571,3397,0,0,0,0,0,0
$GC,436,-0.90,-146.0,67.1,-13.5,46,441,0.15,2.30,0.00,0.000,4,0.104,0.044,3204,172,3398,0,0,0,0,0,0
$GC,460,-0.80,-146.0,71.2,-13.5,47,469,0.00,2.22,0.00,0.000,6,0.000,0.017,3204,1630,3398,0,0,0,0,0,0
$GC,723,-0.80,-146.0,97.4,-10.8,72,725,0.10,0.00,0.00,0.000,6,0.117,0.000,3227,1634,3399,0,0,0,0,0,0
$GC,976,-0.80,-146.0,119.1,-8.0,96,980,0.00,2.40,0.00,0.000,4,0.000,0.042,3226,170,3399,0,0,0,0,0,0
$GC,998,-0.80,-146.0,120.9,-8.1,97,1003,0.00,2.17,0.00,0.000,6,0.000,0.017,3227,1634,3399,0,0,0,0,0,0
$GC,1263,-0.85,-146.0,141.0,-7.9,122,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1637,3399,0,0,0,0,0,0
$GC,1526,-0.90,-146.0,159.2,-7.1,147,1530,0.00,2.40,0.00,0.000,4,0.000,0.042,3227,172,3400,0,0,0,0,0,0
$GC,1562,-0.97,-146.0,162.1,-7.6,150,1567,0.17,2.20,0.00,0.000,6,0.047,0.017,3140,1625,3399,0,0,0,0,0,0
$GC,1827,-0.83,-146.0,195.0,-13.7,174,1837,0.32,0.00,0.00,0.000,6,0.078,0.000,3215,1628,3399,0,0,0,0,0,0
$GC,2079,-0.87,-146.0,219.7,-9.7,184,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1628,3399,0,0,0,0,0,0
$GC,2323,-0.95,-146.0,240.0,-8.0,190,2327,0.00,2.40,0.00,0.000,4,0.000,0.044,3214,167,3399,0,0,0,0,0,0
$GC,2342,-1.01,-146.0,241.7,-8.5,190,2347,0.15,2.17,0.00,0.000,6,0.054,0.018,3138,1620,3399,0,0,0,0,0,0
$GC,2609,-0.91,-146.0,269.7,-10.6,197,2614,0.25,2.38,0.00,0.000,4,0.080,0.042,3198,169,3400,0,0,0,0,0,0
$GC,2638,-0.91,-146.0,272.8,-9.0,197,2642,0.00,2.10,0.00,0.000,6,0.000,0.019,3198,1542,3399,0,0,0,0,0,0
$GC,2894,-0.98,-146.0,290.5,-7.0,204,2899,0.00,2.50,0.00,0.000,4,0.000,0.025,3197,3134,3399,0,0,0,0,0,0
$GC,2951,-1.14,-146.0,295.1,-7.4,205,2956,0.20,2.55,0.00,0.000,6,0.042,0.030,3107,1569,3399,0,0,0,0,0,0
$GC,3227,-1.00,-146.0,328.3,-12.6,212,3232,0.30,2.53,0.00,0.000,4,0.083,0.028,3177,3134,3398,0,0,0,0,0,0
$GC,3251,-1.00,-146.0,331.2,-10.4,212,3256,0.00,2.55,0.00,0.000,6,0.000,0.033,3177,1577,3398,0,0,0,0,0,0
$GC,3511,-1.00,-146.0,352.2,-8.0,219,3515,0.00,2.50,0.00,0.000,4,0.000,0.032,3178,3122,3397,0,0,0,0,0,0
$GC,3532,-1.06,-146.0,353.7,-7.4,219,3537,0.00,2.53,0.00,0.000,6,0.000,0.035,3178,1577,3396,0,0,0,0,0,0
$GC,3802,-1.11,-146.0,373.0,-7.2,226,3806,0.00,2.38,0.00,0.000,4,0.000,0.061,3177,163,3394,0,0,0,0,0,0
$GC,3840,-1.17,-146.0,376.5,-8.0,226,3846,0.15,2.17,0.00,0.000,6,0.053,0.021,3105,1565,3395,0,0,0,0,0,0
$GC,4092,-1.05,-146.0,402.5,-10.6,233,4097,0.25,2.58,0.00,0.000,4,0.084,0.035,3165,3145,3393,0,0,0,0,0,0
$GC,4145,-1.16,-146.0,407.0,-6.9,234,4149,0.00,2.58,0.00,0.000,6,0.000,0.042,3165,1582,3393,0,0,0,0,0,0
$GC,4428,-1.16,-146.0,429.3,-8.4,241,4433,0.00,2.55,0.00,0.000,4,0.000,0.038,3165,3138,3390,0,0,0,0,0,0
$GC,4448,-1.21,-146.0,431.6,-9.1,241,4453,0.12,2.55,0.00,0.000,6,0.062,0.036,3101,1584,3391,0,0,0,0,0,0
$GC,4713,-1.09,-146.0,463.4,-12.3,248,4718,0.25,2.42,0.00,0.000,4,0.087,0.064,3160,167,3389,0,0,0,0,0,0
$GC,4748,-1.09,-146.0,467.3,-10.6,248,4752,0.00,2.25,0.00,0.000,6,0.000,0.028,3160,1591,3389,0,0,0,0,0,0
$GC,4998,-1.09,-146.0,488.6,-8.4,254,5002,0.00,2.55,0.00,0.000,4,0.000,0.041,3160,3142,3387,0,0,0,0,0,0
$GC,5022,-1.15,-146.0,490.6,-8.3,254,5027,0.00,2.58,0.00,0.000,6,0.000,0.044,3160,1587,3387,0,0,0,0,0,0
$GC,5286,-1.15,-146.0,510.7,-7.7,261,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1587,3385,0,0,0,0,0,0
$GC,5526,-1.15,-146.0,529.7,-7.8,267,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1587,3383,0,0,0,0,0,0
$GC,5769,-1.15,-146.0,548.5,-7.7,273,5774,0.00,2.60,0.00,0.000,4,0.000,0.044,3159,3140,3382,0,0,0,0,0,0
$GC,5795,-1.21,-146.0,550.4,-8.6,273,5800,0.10,2.60,0.00,0.000,6,0.074,0.043,3114,1595,3382,0,0,0,0,0,0
$GC,6058,-1.14,-146.0,575.5,-9.9,280,6060,0.17,0.00,0.00,0.000,6,0.093,0.000,3153,1595,3380,0,0,0,0,0,0
$GC,6303,-1.14,-146.0,594.5,-7.6,286,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1596,3379,0,0,0,0,0,0
$GC,6543,-1.14,-146.0,613.1,-7.6,292,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1595,3377,0,0,0,0,0,0
$GC,6788,-1.14,-146.0,631.7,-7.6,298,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1596,3375,0,0,0,0,0,0
$GC,7030,-1.14,-146.0,650.2,-7.5,304,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1596,3374,0,0,0,0,0,0
$GC,7274,-1.14,-146.0,668.9,-7.6,310,7278,0.00,2.62,0.00,0.000,4,0.000,0.051,3153,3148,3373,0,0,0,0,0,0
$GC,7295,-1.19,-146.0,670.5,-8.7,310,7300,0.00,2.62,0.00,0.000,6,0.000,0.048,3153,1596,3372,0,0,0,0,0,0
$GC,7561,-1.19,-146.0,689.7,-7.2,317,7566,0.00,2.53,0.00,0.000,4,0.000,0.083,3153,166,3371,0,0,0,0,0,0
$GC,7585,-1.19,-146.0,691.4,-7.6,317,7590,0.00,2.30,0.00,0.000,6,0.000,0.035,3153,1584,3371,0,0,0,0,0,0
$GC,7847,-1.19,-146.0,710.7,-7.3,324,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1584,3370,0,0,0,0,0,0
$GC,8089,-1.24,-146.0,727.0,-6.6,330,8091,0.10,0.00,0.00,0.000,6,0.077,0.000,3101,1584,3368,0,0,0,0,0,0
$GC,8335,-1.17,-146.0,747.8,-8.6,336,8337,0.20,0.00,0.00,0.000,6,0.090,0.000,3146,1584,3367,0,0,0,0,0,0
$GC,8578,-1.17,-146.0,763.5,-6.3,342,8582,0.00,2.53,0.00,0.000,4,0.000,0.077,3146,161,3366,0,0,0,0,0,0
$GC,8601,-1.17,-146.0,765.3,-7.1,342,8605,0.00,2.35,0.00,0.000,6,0.000,0.035,3146,1596,3366,0,0,0,0,0,0
$GC,8865,-1.17,-146.0,781.4,-6.0,349,8869,0.00,2.65,0.00,0.000,4,0.000,0.054,3146,3158,3365,0,0,0,0,0,0
$GC,8896,-1.24,-146.0,783.3,-6.4,349,8900,0.00,2.65,0.00,0.000,6,0.000,0.050,3146,1594,3365,0,0,0,0,0,0
$GC,9153,-1.24,-146.0,799.7,-6.6,356,9157,0.00,2.53,0.00,0.000,4,0.000,0.081,3146,169,3364,0,0,0,0,0,0
$GC,9200,-1.24,-146.0,803.5,-7.2,357,9204,0.00,2.33,0.00,0.000,6,0.000,0.035,3146,1592,3364,0,0,0,0,0,0
$GC,9484,-1.24,-146.0,822.6,-6.8,364,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1592,3362,0,0,0,0,0,0
$GC,9726,-1.24,-146.0,839.3,-6.9,370,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1592,3362,0,0,0,0,0,0
$GC,9973,-1.24,-146.0,856.8,-7.2,376,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1592,3361,0,0,0,0,0,0
$GC,10214,-1.28,-146.0,874.7,-7.4,382,10216,0.10,0.00,0.00,0.000,6,0.077,0.000,3096,1592,3360,0,0,0,0,0,0
$GC,10459,-1.22,-146.0,897.6,-9.5,388,10461,0.17,0.00,0.00,0.000,6,0.092,0.000,3135,1592,3359,0,0,0,0,0,0
$STATE,10495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10495,begin apogee
$GC,10501,-0.31,0.0,900.9,9.3,389,10625,0.85,0.00,120.72,1.154,6,0.068,0.000,3332,1343,2800,0,0,0,0,0,0
$STATE,10626,end apogee,CONTROL_FINISHED_OK
$STATE,10626,begin climb
$GC,10629,1.27,146.0,904.9,0.0,392,10770,1.42,2.20,131.95,1.131,4,0.031,0.081,3686,172,2204,0,0,0,0,0,0
$GC,10848,1.00,146.0,889.7,14.1,397,10853,0.32,1.98,0.00,0.000,6,0.107,0.031,3620,1362,2199,0,0,0,0,0,0
$GC,11138,0.93,147.9,860.0,9.9,404,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1362,2193,0,0,0,0,0,0
$GC,11380,0.87,151.3,836.0,9.8,410,11389,0.15,2.15,3.78,0.636,4,0.113,0.074,3589,176,2183,0,0,0,0,0,0
$GC,11450,0.82,151.3,829.0,10.6,411,11453,0.00,1.92,0.00,0.000,6,0.000,0.031,3588,1342,2183,0,0,0,0,0,0
$GC,11718,0.87,190.2,806.4,8.2,418,11758,0.00,0.00,38.40,1.061,6,0.000,0.000,3589,1343,2024,0,0,0,0,0,0
$GC,12003,0.89,202.5,780.3,9.4,425,12017,0.00,0.00,12.20,0.956,6,0.000,0.000,3589,1343,1974,0,0,0,0,0,0
$GC,12248,0.90,213.9,757.2,9.5,431,12267,0.00,2.78,12.38,0.949,4,0.000,0.054,3589,2931,1925,0,0,0,0,0,0
$GC,12287,0.97,226.7,753.1,9.4,431,12309,0.10,2.72,13.55,0.951,6,0.078,0.050,3629,1357,1874,0,0,0,0,0,0
$GC,12585,0.97,226.7,717.6,12.0,439,12587,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,1357,1872,0,0,0,0,0,0
$GC,12826,0.97,226.7,689.0,11.7,445,12830,0.00,2.15,0.00,0.000,4,0.000,0.087,3629,166,1871,0,0,0,0,0,0
$GC,12860,0.89,226.7,684.9,13.2,445,12865,0.17,1.95,0.00,0.000,6,0.105,0.031,3592,1352,1871,0,0,0,0,0,0
$GC,13115,0.90,236.1,660.2,9.6,451,13131,0.00,2.78,9.68,0.870,4,0.000,0.053,3592,2931,1836,0,0,0,0,0,0
$GC,13169,1.04,265.5,654.5,8.6,452,13204,0.15,2.75,28.33,0.962,6,0.059,0.051,3646,1354,1717,0,0,0,0,0,0
$GC,13451,1.00,265.5,617.9,13.6,459,13453,0.15,0.00,0.00,0.000,6,0.108,0.000,3614,1354,1713,0,0,0,0,0,0
$GC,13691,1.00,265.5,588.7,11.7,465,13695,0.00,2.67,0.00,0.000,4,0.000,0.045,3614,2931,1712,0,0,0,0,0,0
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$STATE,18769,end climb,SURFACE_DEPTH_REACHED
$STATE,18770,begin surface coast
$FINISH,1.0,1.010029
$STATE,18816,end surface coast,CONTROL_FINISHED_OK
$STATE,18816,begin surface
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$XPDR_PINGS,13
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$10V_AH,9.8,56.142
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355484
$DATA_FILE_SIZE,57323,729
$CAP_FILE_SIZE,176036,0
$CFSIZE,260165632,142172160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170813,161528,2300.689,-15735.985,37,1.4,41,10.1