version: 66.06
glider: 148
mission: 12
dive: 409
start: 8 20 113 8 51 12
data:
$ID,148
$MISSION,12
$DIVE,409
$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,-1024264.1
$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,58
$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
$GPS1,084306,2246.024,-15754.533,71,1.2,71,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-77.6
$GPS2,085018,2245.968,-15754.546,10,1.0,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.260,0.006
$KALMAN_X,-86661.3,-225.8,90.3,96208.7,706.8
$KALMAN_Y,45290.6,44.7,109.5,-43623.3,-2170.2
$MHEAD_RNG_PITCHd_Wd,261.3,22038,-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,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.43,0.000,2,0.000,0.000,412,1643,3156,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.1,-6.5,10,122,14.15,2.38,-3.92,0.000,4,0.150,0.033,3119,3148,3397,0,0,0,0,0,0
$GC,256,-1.11,-146.0,44.9,-17.4,29,261,0.17,2.60,0.00,0.000,6,0.098,0.032,3157,1561,3398,0,0,0,0,0,0
$GC,524,-0.96,-146.0,86.6,-13.2,53,529,0.15,2.33,0.00,0.000,4,0.106,0.044,3189,160,3399,0,0,0,0,0,0
$GC,546,-0.83,-146.0,90.5,-13.0,54,556,0.10,2.17,0.00,0.000,6,0.082,0.017,3216,1598,3398,0,0,0,0,0,0
$GC,814,-0.83,-146.0,116.5,-9.1,79,819,0.00,2.35,0.00,0.000,4,0.000,0.021,3216,3111,3399,0,0,0,0,0,0
$GC,842,-0.83,-146.0,119.5,-9.4,81,847,0.00,2.50,0.00,0.000,6,0.000,0.028,3216,1567,3400,0,0,0,0,0,0
$GC,1111,-0.83,-146.0,144.4,-9.6,105,1115,0.00,2.28,0.00,0.000,4,0.000,0.043,3216,172,3400,0,0,0,0,0,0
$GC,1140,-0.83,-146.0,147.1,-9.4,107,1144,0.00,2.08,0.00,0.000,6,0.000,0.017,3216,1574,3400,0,0,0,0,0,0
$GC,1405,-0.83,-146.0,169.3,-8.7,131,1409,0.00,2.42,0.00,0.000,4,0.000,0.021,3216,3116,3401,0,0,0,0,0,0
$GC,1450,-0.97,-146.0,173.3,-7.5,135,1455,0.12,2.50,0.00,0.000,6,0.060,0.028,3138,1575,3401,0,0,0,0,0,0
$GC,1724,-0.83,-146.0,206.4,-12.7,157,1729,0.35,2.30,0.00,0.000,4,0.079,0.041,3216,172,3401,0,0,0,0,0,0
$GC,1739,-0.74,-146.0,208.8,-12.7,157,1744,0.10,2.10,0.00,0.000,6,0.107,0.018,3241,1592,3401,0,0,0,0,0,0
$GC,2009,-0.88,-146.0,226.5,-6.7,164,2014,0.15,2.40,0.00,0.000,4,0.053,0.022,3160,3105,3401,0,0,0,0,0,0
$GC,2040,-0.88,-146.0,229.2,-9.5,164,2045,0.20,2.47,0.00,0.000,6,0.076,0.028,3208,1579,3401,0,0,0,0,0,0
$GC,2298,-0.95,-146.0,247.2,-6.7,171,2302,0.00,2.35,0.00,0.000,4,0.000,0.047,3207,166,3401,0,0,0,0,0,0
$GC,2343,-1.07,-146.0,250.3,-6.5,172,2348,0.17,2.10,0.00,0.000,6,0.047,0.018,3125,1569,3401,0,0,0,0,0,0
$GC,2631,-0.95,-146.0,282.2,-11.3,179,2636,0.28,2.45,0.00,0.000,4,0.079,0.023,3190,3118,3400,0,0,0,0,0,0
$GC,2670,-1.07,-146.0,285.6,-7.3,179,2676,0.10,2.53,0.00,0.000,6,0.074,0.031,3124,1577,3400,0,0,0,0,0,0
$GC,2924,-0.98,-146.0,312.8,-11.1,186,2929,0.25,2.38,0.00,0.000,4,0.080,0.048,3186,161,3399,0,0,0,0,0,0
$GC,2948,-0.98,-146.0,316.0,-10.8,186,2952,0.00,2.15,0.00,0.000,6,0.000,0.021,3187,1557,3399,0,0,0,0,0,0
$GC,3210,-1.04,-146.0,335.6,-7.4,193,3214,0.00,2.55,0.00,0.000,4,0.000,0.029,3186,3141,3398,0,0,0,0,0,0
$GC,3254,-1.18,-146.0,338.7,-6.3,194,3259,0.17,2.58,0.00,0.000,6,0.048,0.035,3107,1580,3398,0,0,0,0,0,0
$GC,3544,-1.07,-146.0,370.4,-11.3,201,3546,0.28,0.00,0.00,0.000,6,0.081,0.000,3170,1580,3396,0,0,0,0,0,0
$GC,3787,-1.07,-146.0,390.3,-7.9,207,3791,0.00,2.55,0.00,0.000,4,0.000,0.035,3170,3137,3395,0,0,0,0,0,0
$GC,3816,-1.14,-146.0,392.7,-7.7,207,3820,0.00,2.55,0.00,0.000,6,0.000,0.036,3171,1588,3395,0,0,0,0,0,0
$GC,4071,-1.14,-146.0,410.5,-7.0,214,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1588,3393,0,0,0,0,0,0
$GC,4317,-1.19,-146.0,426.8,-6.7,220,4322,0.12,2.60,0.00,0.000,4,0.064,0.038,3112,3140,3391,0,0,0,0,0,0
$GC,4345,-1.19,-146.0,430.0,-10.3,220,4351,0.12,2.58,0.00,0.000,6,0.094,0.038,3141,1593,3391,0,0,0,0,0,0
$GC,4601,-1.19,-146.0,454.6,-9.5,227,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1593,3389,0,0,0,0,0,0
$GC,4847,-1.19,-146.0,476.3,-8.9,233,4851,0.00,2.58,0.00,0.000,4,0.000,0.041,3141,3138,3387,0,0,0,0,0,0
$GC,4880,-1.19,-146.0,479.2,-8.6,233,4884,0.00,2.58,0.00,0.000,6,0.000,0.039,3141,1596,3388,0,0,0,0,0,0
$GC,5130,-1.19,-146.0,497.9,-7.4,239,5134,0.00,2.47,0.00,0.000,4,0.000,0.071,3141,169,3386,0,0,0,0,0,0
$GC,5164,-1.19,-146.0,500.7,-8.3,239,5169,0.00,2.25,0.00,0.000,6,0.000,0.028,3141,1577,3385,0,0,0,0,0,0
$GC,5415,-1.19,-146.0,520.8,-8.1,245,5419,0.00,2.58,0.00,0.000,4,0.000,0.044,3141,3146,3383,0,0,0,0,0,0
$GC,5453,-1.25,-146.0,524.0,-8.5,245,5461,0.00,2.62,0.00,0.000,6,0.000,0.041,3141,1600,3384,0,0,0,0,0,0
$GC,5705,-1.25,-146.0,543.9,-8.0,252,5709,0.00,2.50,0.00,0.000,4,0.000,0.074,3141,166,3382,0,0,0,0,0,0
$GC,5738,-1.25,-146.0,547.2,-9.6,252,5742,0.00,2.30,0.00,0.000,6,0.000,0.030,3141,1597,3382,0,0,0,0,0,0
$GC,5988,-1.25,-146.0,568.5,-8.5,258,5992,0.00,2.58,0.00,0.000,4,0.000,0.044,3141,3149,3380,0,0,0,0,0,0
$GC,6013,-1.25,-146.0,570.5,-8.0,258,6018,0.00,2.62,0.00,0.000,6,0.000,0.044,3141,1593,3380,0,0,0,0,0,0
$GC,6273,-1.25,-146.0,592.6,-8.6,265,6277,0.00,2.60,0.00,0.000,4,0.000,0.044,3141,3153,3379,0,0,0,0,0,0
$GC,6297,-1.25,-146.0,594.7,-9.0,265,6301,0.00,2.62,0.00,0.000,6,0.000,0.045,3141,1604,3378,0,0,0,0,0,0
$GC,6558,-1.25,-146.0,615.5,-7.9,272,6563,0.00,2.53,0.00,0.000,4,0.000,0.078,3141,167,3377,0,0,0,0,0,0
$GC,6591,-1.25,-146.0,618.3,-8.3,272,6596,0.00,2.33,0.00,0.000,6,0.000,0.032,3141,1601,3377,0,0,0,0,0,0
$GC,6841,-1.25,-146.0,636.7,-7.3,278,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1601,3376,0,0,0,0,0,0
$GC,7087,-1.25,-146.0,654.5,-7.3,284,7091,0.00,2.53,0.00,0.000,4,0.000,0.074,3142,167,3374,0,0,0,0,0,0
$GC,7106,-1.25,-146.0,656.2,-8.2,284,7110,0.00,2.33,0.00,0.000,6,0.000,0.034,3141,1593,3373,0,0,0,0,0,0
$GC,7372,-1.25,-146.0,676.3,-7.8,291,7377,0.00,2.60,0.00,0.000,4,0.000,0.051,3141,3153,3372,0,0,0,0,0,0
$GC,7398,-1.25,-146.0,678.4,-7.9,291,7402,0.00,2.65,0.00,0.000,6,0.000,0.048,3141,1594,3372,0,0,0,0,0,0
$GC,7658,-1.25,-146.0,698.6,-7.6,298,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1594,3371,0,0,0,0,0,0
$GC,7901,-1.25,-146.0,716.7,-7.4,304,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1594,3370,0,0,0,0,0,0
$GC,8145,-1.25,-146.0,735.7,-7.9,310,8149,0.00,2.53,0.00,0.000,4,0.000,0.081,3141,167,3369,0,0,0,0,0,0
$GC,8175,-1.25,-146.0,738.4,-9.7,310,8180,0.00,2.35,0.00,0.000,6,0.000,0.036,3141,1601,3368,0,0,0,0,0,0
$GC,8430,-1.25,-146.0,760.8,-8.8,317,8434,0.00,2.60,0.00,0.000,4,0.000,0.053,3141,3155,3368,0,0,0,0,0,0
$GC,8459,-1.31,-146.0,763.4,-8.8,317,8464,0.12,2.65,0.00,0.000,6,0.064,0.049,3088,1598,3367,0,0,0,0,0,0
$GC,8716,-1.22,-146.0,789.8,-10.4,324,8722,0.20,2.55,0.00,0.000,4,0.090,0.081,3133,162,3367,0,0,0,0,0,0
$GC,8769,-1.22,-146.0,795.0,-9.0,325,8773,0.00,2.35,0.00,0.000,6,0.000,0.035,3133,1597,3366,0,0,0,0,0,0
$GC,9053,-1.22,-146.0,816.5,-7.7,332,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1597,3366,0,0,0,0,0,0
$GC,9295,-1.22,-146.0,835.7,-7.9,338,9299,0.00,2.53,0.00,0.000,4,0.000,0.076,3133,167,3365,0,0,0,0,0,0
$GC,9323,-1.22,-146.0,838.2,-8.7,338,9327,0.00,2.35,0.00,0.000,6,0.000,0.037,3133,1593,3365,0,0,0,0,0,0
$GC,9579,-1.22,-146.0,858.4,-7.9,345,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1594,3364,0,0,0,0,0,0
$GC,9824,-1.22,-146.0,877.6,-7.8,351,9828,0.00,2.67,0.00,0.000,4,0.000,0.054,3133,3162,3363,0,0,0,0,0,0
$GC,9848,-1.22,-146.0,879.6,-8.6,351,9852,0.00,2.70,0.00,0.000,6,0.000,0.050,3133,1586,3363,0,0,0,0,0,0
$GC,10109,-1.22,-146.0,899.9,-7.9,358,10113,0.00,2.08,0.00,0.000,3,0.000,0.079,3133,400,3362,0,0,0,0,0,0
$STATE,10114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10114,begin apogee
$GC,10122,-0.31,0.0,900.4,7.9,358,10246,0.85,0.00,120.55,1.150,6,0.072,0.000,3331,1364,2800,0,0,0,0,0,0
$STATE,10247,end apogee,CONTROL_FINISHED_OK
$STATE,10247,begin climb
$GC,10249,1.27,146.0,905.4,0.0,361,10391,1.48,2.20,132.43,1.131,4,0.033,0.076,3682,164,2204,0,0,0,0,0,0
$GC,10425,1.00,146.0,897.3,13.4,365,10430,0.30,1.98,0.00,0.000,6,0.110,0.033,3621,1347,2201,0,0,0,0,0,0
$GC,10690,0.94,155.7,871.7,9.6,372,10701,0.00,0.00,8.77,0.925,6,0.000,0.000,3621,1347,2165,0,0,0,0,0,0
$GC,10935,0.87,159.7,847.8,9.8,378,10943,0.15,0.00,5.07,0.766,6,0.109,0.000,3589,1348,2148,0,0,0,0,0,0
$GC,11177,0.90,184.1,826.2,8.9,384,11204,0.00,0.00,23.92,1.041,6,0.000,0.000,3590,1348,2049,0,0,0,0,0,0
$GC,11471,0.92,198.2,799.6,9.3,391,11491,0.00,2.17,14.15,0.980,4,0.000,0.074,3589,174,1991,0,0,0,0,0,0
$GC,11510,0.92,198.2,794.7,11.4,391,11516,0.00,1.98,0.00,0.000,6,0.000,0.031,3589,1360,1990,0,0,0,0,0,0
$GC,11760,0.92,198.2,769.1,10.2,398,11765,0.00,2.67,0.00,0.000,4,0.000,0.051,3589,2932,1987,0,0,0,0,0,0
$GC,11781,0.92,198.2,766.9,10.7,398,11786,0.00,2.72,0.00,0.000,6,0.000,0.050,3589,1358,1985,0,0,0,0,0,0
$GC,12045,0.92,198.2,739.0,10.4,405,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1358,1985,0,0,0,0,0,0
$GC,12291,0.93,203.9,714.7,9.7,411,12303,0.00,2.22,5.68,0.770,4,0.000,0.087,3589,165,1968,0,0,0,0,0,0
$GC,12315,0.95,220.8,712.3,9.2,411,12340,0.00,1.98,18.50,0.967,6,0.000,0.029,3589,1369,1898,0,0,0,0,0,0
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$STATE,18549,begin surface coast
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$10V_AH,9.8,58.071
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$FG_AHR_10Vo,0.000
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$CAP_FILE_SIZE,180091,0
$CFSIZE,260165632,141201408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200813,140336,2244.421,-15756.957,41,1.1,41,10.1