version: 66.06
glider: 148
mission: 12
dive: 411
start: 8 20 113 19 28 42
data:
$ID,148
$MISSION,12
$DIVE,411
$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,-1024308.2
$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,34
$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
$GPS1,191705,2243.030,-15759.263,34,0.9,34,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-77.0
$GPS2,192748,2242.976,-15759.297,11,1.0,29,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.258,0.029
$KALMAN_X,-85711.0,191.9,-71.5,86891.0,676.6
$KALMAN_Y,40484.9,-293.3,182.1,-44094.5,-2117.3
$MHEAD_RNG_PITCHd_Wd,266.4,12339,-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,-67.65,0.000,2,0.000,0.000,412,1624,2942,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.2,-4.5,9,123,14.15,2.45,-8.30,0.000,4,0.150,0.054,3116,170,3398,0,0,0,0,0,0
$GC,276,-0.97,-146.0,48.1,-20.8,32,281,0.32,2.17,0.00,0.000,6,0.096,0.017,3185,1604,3398,0,0,0,0,0,0
$GC,541,-0.88,-146.0,84.9,-12.0,56,550,0.10,0.00,0.00,0.000,6,0.120,0.000,3207,1606,3399,0,0,0,0,0,0
$GC,808,-0.88,-146.0,112.9,-9.6,81,812,0.00,2.40,0.00,0.000,4,0.000,0.021,3208,3136,3400,0,0,0,0,0,0
$GC,828,-0.88,-146.0,115.5,-10.5,82,837,0.00,2.55,0.00,0.000,6,0.000,0.027,3208,1571,3400,0,0,0,0,0,0
$GC,1094,-0.88,-146.0,141.0,-10.2,107,1099,0.00,2.47,0.00,0.000,4,0.000,0.021,3208,3134,3400,0,0,0,0,0,0
$GC,1124,-0.93,-146.0,144.0,-11.1,109,1128,0.00,2.53,0.00,0.000,6,0.000,0.028,3208,1575,3400,0,0,0,0,0,0
$GC,1392,-0.93,-146.0,169.9,-8.7,133,1396,0.00,2.30,0.00,0.000,4,0.000,0.043,3208,171,3400,0,0,0,0,0,0
$GC,1420,-0.93,-146.0,173.3,-10.3,135,1429,0.00,2.17,0.00,0.000,6,0.000,0.017,3208,1598,3400,0,0,0,0,0,0
$GC,1688,-0.93,-146.0,195.1,-8.2,160,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1602,3400,0,0,0,0,0,0
$GC,1953,-0.93,-146.0,217.0,-8.3,171,1957,0.00,2.38,0.00,0.000,4,0.000,0.022,3208,3120,3400,0,0,0,0,0,0
$GC,2002,-1.06,-146.0,221.1,-7.8,172,2007,0.17,2.45,0.00,0.000,6,0.046,0.027,3119,1588,3400,0,0,0,0,0,0
$GC,2285,-0.92,-146.0,253.4,-11.3,179,2287,0.38,0.00,0.00,0.000,6,0.080,0.000,3200,1587,3400,0,0,0,0,0,0
$GC,2529,-0.98,-146.0,272.2,-7.6,185,2533,0.00,2.42,0.00,0.000,4,0.000,0.024,3200,3120,3400,0,0,0,0,0,0
$GC,2564,-1.13,-146.0,274.9,-8.1,185,2569,0.20,2.47,0.00,0.000,6,0.044,0.029,3122,1596,3400,0,0,0,0,0,0
$GC,2817,-1.01,-146.0,304.9,-12.5,191,2822,0.25,2.38,0.00,0.000,4,0.084,0.046,3182,166,3399,0,0,0,0,0,0
$GC,2852,-1.01,-146.0,308.7,-9.2,191,2856,0.00,2.17,0.00,0.000,6,0.000,0.020,3182,1586,3399,0,0,0,0,0,0
$GC,3105,-1.06,-146.0,327.8,-7.7,197,3109,0.00,2.47,0.00,0.000,4,0.000,0.028,3182,3133,3398,0,0,0,0,0,0
$GC,3143,-1.19,-146.0,331.0,-7.6,197,3149,0.17,2.50,0.00,0.000,6,0.047,0.032,3100,1608,3398,0,0,0,0,0,0
$GC,3395,-1.06,-146.0,359.5,-11.7,204,3400,0.28,2.40,0.00,0.000,4,0.084,0.053,3166,170,3396,0,0,0,0,0,0
$GC,3415,-0.99,-146.0,362.1,-11.4,204,3419,0.00,2.25,0.00,0.000,6,0.000,0.021,3165,1617,3396,0,0,0,0,0,0
$GC,3682,-0.99,-146.0,384.3,-8.4,211,3686,0.00,2.45,0.00,0.000,4,0.000,0.035,3166,3130,3395,0,0,0,0,0,0
$GC,3722,-1.08,-146.0,387.8,-8.0,211,3728,0.00,2.50,0.00,0.000,6,0.000,0.035,3165,1616,3394,0,0,0,0,0,0
$GC,3972,-1.08,-146.0,407.8,-8.0,218,3977,0.00,2.47,0.00,0.000,4,0.000,0.062,3165,167,3393,0,0,0,0,0,0
$GC,4016,-1.08,-146.0,411.4,-7.9,219,4020,0.00,2.22,0.00,0.000,6,0.000,0.022,3165,1597,3393,0,0,0,0,0,0
$GC,4309,-1.08,-146.0,434.6,-8.3,226,4314,0.00,2.55,0.00,0.000,4,0.000,0.038,3165,3148,3390,0,0,0,0,0,0
$GC,4344,-1.17,-146.0,438.2,-8.4,226,4349,0.00,2.55,0.00,0.000,6,0.000,0.042,3166,1610,3390,0,0,0,0,0,0
$GC,4594,-1.17,-146.0,457.9,-7.8,232,4599,0.00,2.47,0.00,0.000,4,0.000,0.067,3166,170,3388,0,0,0,0,0,0
$GC,4625,-1.17,-146.0,460.3,-8.6,232,4629,0.00,2.25,0.00,0.000,6,0.000,0.025,3165,1605,3388,0,0,0,0,0,0
$GC,4880,-1.21,-146.0,478.2,-6.9,239,4885,0.12,2.53,0.00,0.000,4,0.062,0.041,3105,3141,3386,0,0,0,0,0,0
$GC,4909,-1.21,-146.0,480.9,-9.8,239,4914,0.15,2.55,0.00,0.000,6,0.090,0.038,3140,1608,3386,0,0,0,0,0,0
$GC,5169,-1.21,-146.0,503.1,-8.7,246,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1608,3384,0,0,0,0,0,0
$GC,5408,-1.21,-146.0,524.5,-8.7,252,5413,0.00,2.53,0.00,0.000,4,0.000,0.073,3140,162,3382,0,0,0,0,0,0
$GC,5446,-1.21,-146.0,528.0,-9.5,252,5451,0.00,2.30,0.00,0.000,6,0.000,0.037,3140,1605,3382,0,0,0,0,0,0
$GC,5698,-1.21,-146.0,547.8,-7.6,259,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1605,3380,0,0,0,0,0,0
$GC,5940,-1.21,-146.0,566.4,-7.4,265,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1605,3379,0,0,0,0,0,0
$GC,6187,-1.21,-146.0,584.7,-7.6,271,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1605,3378,0,0,0,0,0,0
$GC,6429,-1.21,-146.0,602.6,-7.3,277,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1605,3376,0,0,0,0,0,0
$GC,6671,-1.21,-146.0,621.6,-7.9,283,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1605,3375,0,0,0,0,0,0
$GC,6915,-1.21,-146.0,640.8,-7.9,289,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1605,3373,0,0,0,0,0,0
$GC,7158,-1.21,-146.0,658.9,-7.3,295,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1605,3372,0,0,0,0,0,0
$GC,7409,-1.21,-146.0,678.2,-8.1,301,7413,0.00,2.58,0.00,0.000,4,0.000,0.079,3140,164,3371,0,0,0,0,0,0
$GC,7446,-1.21,-146.0,682.1,-9.0,301,7452,0.00,2.38,0.00,0.000,6,0.000,0.035,3140,1608,3371,0,0,0,0,0,0
$GC,7696,-1.21,-146.0,702.9,-8.4,308,7701,0.00,2.62,0.00,0.000,4,0.000,0.054,3140,3163,3370,0,0,0,0,0,0
$GC,7719,-1.21,-146.0,704.6,-8.4,308,7724,0.00,2.65,0.00,0.000,6,0.000,0.048,3140,1608,3370,0,0,0,0,0,0
$GC,7983,-1.21,-146.0,726.1,-7.9,315,7988,0.00,2.55,0.00,0.000,4,0.000,0.082,3140,168,3368,0,0,0,0,0,0
$GC,8021,-1.21,-146.0,729.5,-9.1,315,8031,0.00,2.40,0.00,0.000,6,0.000,0.036,3140,1611,3368,0,0,0,0,0,0
$GC,8273,-1.21,-146.0,748.4,-7.5,322,8277,0.00,2.60,0.00,0.000,4,0.000,0.054,3140,3158,3368,0,0,0,0,0,0
$GC,8306,-1.28,-146.0,750.9,-7.6,322,8311,0.00,2.62,0.00,0.000,6,0.000,0.054,3140,1607,3368,0,0,0,0,0,0
$GC,8557,-1.28,-146.0,768.1,-6.8,328,8561,0.00,2.55,0.00,0.000,4,0.000,0.082,3140,167,3367,0,0,0,0,0,0
$GC,8591,-1.28,-146.0,770.6,-7.5,328,8596,0.00,2.38,0.00,0.000,6,0.000,0.036,3140,1614,3366,0,0,0,0,0,0
$GC,8842,-1.28,-146.0,786.4,-6.3,334,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1614,3366,0,0,0,0,0,0
$GC,9085,-1.28,-146.0,801.5,-6.2,340,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1614,3365,0,0,0,0,0,0
$GC,9333,-1.28,-146.0,815.9,-5.9,346,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1614,3364,0,0,0,0,0,0
$GC,9574,-1.28,-146.0,830.3,-6.1,352,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1614,3363,0,0,0,0,0,0
$GC,9816,-1.28,-146.0,846.2,-6.6,358,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1614,3362,0,0,0,0,0,0
$GC,10060,-1.28,-146.0,862.2,-6.6,364,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1614,3362,0,0,0,0,0,0
$GC,10304,-1.28,-146.0,879.6,-7.1,370,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1614,3361,0,0,0,0,0,0
$GC,10554,-1.28,-146.0,897.8,-7.4,376,10558,0.00,2.58,0.00,0.000,4,0.000,0.076,3140,161,3360,0,0,0,0,0,0
$STATE,10575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10575,begin apogee
$GC,10583,-0.31,0.0,900.1,8.6,376,10707,0.80,0.00,120.30,1.149,6,0.070,0.000,3328,1351,2800,0,0,0,0,0,0
$STATE,10707,end apogee,CONTROL_FINISHED_OK
$STATE,10708,begin climb
$GC,10712,1.27,146.0,903.8,0.0,379,10853,1.42,2.22,131.18,1.128,4,0.031,0.076,3678,167,2203,0,0,0,0,0,0
$GC,10871,1.03,146.0,898.5,11.8,382,10876,0.25,1.98,0.00,0.000,6,0.111,0.035,3627,1347,2202,0,0,0,0,0,0
$GC,11127,0.94,146.4,872.1,10.0,389,11131,0.00,2.10,0.00,0.000,4,0.000,0.074,3626,169,2194,0,0,0,0,0,0
$GC,11170,0.80,146.4,867.2,11.4,390,11175,0.25,1.95,0.00,0.000,6,0.103,0.032,3574,1351,2194,0,0,0,0,0,0
$GC,11459,0.84,180.0,842.7,8.5,397,11496,0.00,2.80,30.52,1.059,4,0.000,0.054,3575,2927,2065,0,0,0,0,0,0
$GC,11527,0.97,221.7,836.9,8.1,398,11575,0.15,2.75,40.55,1.062,6,0.058,0.050,3626,1350,1896,0,0,0,0,0,0
$GC,11841,0.92,221.7,799.6,12.2,406,11846,0.12,2.70,0.00,0.000,4,0.113,0.048,3601,2931,1889,0,0,0,0,0,0
$GC,11861,0.92,221.7,796.6,11.9,406,11865,0.00,2.70,0.00,0.000,6,0.000,0.050,3600,1356,1886,0,0,0,0,0,0
$GC,12126,0.92,221.7,768.1,10.9,413,12131,0.00,2.70,0.00,0.000,4,0.000,0.047,3601,2937,1886,0,0,0,0,0,0
$GC,12147,0.92,223.8,765.9,9.9,413,12152,0.00,2.72,0.00,0.000,6,0.000,0.051,3601,1362,1884,0,0,0,0,0,0
$GC,12411,0.92,223.8,738.1,10.5,420,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1362,1884,0,0,0,0,0,0
$GC,12659,0.92,223.8,711.7,11.0,426,12663,0.00,2.65,0.00,0.000,4,0.000,0.047,3601,2935,1883,0,0,0,0,0,0
$GC,12678,0.92,223.8,709.1,10.2,426,12682,0.00,2.72,0.00,0.000,6,0.000,0.051,3601,1359,1882,0,0,0,0,0,0
$GC,12943,0.92,223.8,679.0,11.5,433,12944,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1359,1882,0,0,0,0,0,0
$GC,13187,0.92,223.8,652.2,11.1,439,13188,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1359,1882,0,0,0,0,0,0
$GC,13429,0.92,223.8,626.7,10.3,445,13433,0.00,2.67,0.00,0.000,4,0.000,0.048,3601,2938,1882,0,0,0,0,0,0
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$STATE,18947,begin surface coast
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$STATE,19000,end surface coast,CONTROL_FINISHED_OK
$STATE,19000,begin surface
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$10V_AH,9.7,58.369
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355436
$DATA_FILE_SIZE,57435,719
$CAP_FILE_SIZE,180304,0
$CFSIZE,260165632,141045760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210813,004735,2241.673,-15801.053,29,1.2,29,10.0