version: 66.06
glider: 148
mission: 12
dive: 413
start: 8 21 113 6 28 31
data:
$ID,148
$MISSION,12
$DIVE,413
$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,-1024339.8
$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,26
$R_STBD_OVSHOOT,89
$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
$GPS1,062014,2240.316,-15803.083,39,2.2,58,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-77.8
$GPS2,062737,2240.302,-15803.096,15,1.3,15,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.239,0.102
$KALMAN_X,-83158.0,266.3,67.5,77624.8,566.3
$KALMAN_Y,35277.1,-52.2,-108.0,-43786.9,-1568.3
$MHEAD_RNG_PITCHd_Wd,283.2,4978,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-67.15,0.000,2,0.000,0.000,415,1604,2913,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.8,9,122,13.98,2.42,-8.80,0.000,4,0.146,0.034,3116,3102,3396,0,0,0,0,0,0
$GC,236,-1.11,-146.0,35.5,-16.8,29,241,0.20,2.47,0.00,0.000,6,0.100,0.030,3159,1566,3397,0,0,0,0,0,0
$GC,506,-0.96,-146.0,79.4,-14.7,53,515,0.15,0.00,0.00,0.000,6,0.105,0.000,3192,1566,3398,0,0,0,0,0,0
$GC,769,-0.91,-146.0,113.3,-11.2,78,770,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1566,3398,0,0,0,0,0,0
$GC,1024,-0.87,-146.0,138.9,-8.9,102,1028,0.00,2.30,0.00,0.000,4,0.000,0.044,3192,165,3399,0,0,0,0,0,0
$GC,1051,-0.87,-146.0,141.6,-9.4,104,1055,0.00,2.10,0.00,0.000,6,0.000,0.017,3192,1565,3398,0,0,0,0,0,0
$GC,1320,-0.87,-146.0,163.5,-7.9,129,1324,0.00,2.45,0.00,0.000,4,0.000,0.021,3191,3121,3399,0,0,0,0,0,0
$GC,1350,-0.87,-146.0,166.0,-7.3,131,1355,0.00,2.53,0.00,0.000,6,0.000,0.028,3192,1563,3399,0,0,0,0,0,0
$GC,1615,-0.87,-146.0,188.5,-9.0,156,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1562,3399,0,0,0,0,0,0
$GC,1900,-0.87,-146.0,216.3,-9.9,172,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1562,3399,0,0,0,0,0,0
$GC,2144,-0.87,-146.0,236.1,-7.7,178,2148,0.00,2.45,0.00,0.000,4,0.000,0.022,3192,3116,3399,0,0,0,0,0,0
$GC,2193,-1.00,-146.0,239.7,-7.5,179,2197,0.00,2.53,0.00,0.000,6,0.000,0.029,3192,1559,3399,0,0,0,0,0,0
$GC,2482,-1.00,-146.0,261.8,-8.0,186,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1559,3399,0,0,0,0,0,0
$GC,2723,-1.00,-146.0,279.0,-6.7,192,2728,0.00,2.45,0.00,0.000,4,0.000,0.024,3192,3113,3399,0,0,0,0,0,0
$GC,2759,-1.11,-146.0,281.4,-6.8,192,2764,0.15,2.53,0.00,0.000,6,0.052,0.030,3114,1562,3399,0,0,0,0,0,0
$GC,3009,-0.98,-146.0,307.9,-11.0,198,3014,0.30,2.30,0.00,0.000,4,0.080,0.047,3184,166,3397,0,0,0,0,0,0
$GC,3053,-1.04,-146.0,312.0,-8.4,199,3057,0.00,2.15,0.00,0.000,6,0.000,0.021,3184,1554,3398,0,0,0,0,0,0
$GC,3345,-1.09,-146.0,335.4,-8.1,206,3349,0.00,2.55,0.00,0.000,4,0.000,0.028,3184,3140,3397,0,0,0,0,0,0
$GC,3392,-1.22,-146.0,339.5,-7.0,207,3397,0.20,2.58,0.00,0.000,6,0.042,0.034,3102,1573,3396,0,0,0,0,0,0
$GC,3678,-1.08,-146.0,373.3,-12.3,214,3680,0.28,0.00,0.00,0.000,6,0.083,0.000,3163,1573,3395,0,0,0,0,0,0
$GC,3919,-1.08,-146.0,394.1,-8.4,220,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1574,3393,0,0,0,0,0,0
$GC,4168,-1.08,-146.0,415.1,-8.6,226,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1574,3392,0,0,0,0,0,0
$GC,4409,-1.08,-146.0,435.1,-8.3,232,4413,0.00,2.58,0.00,0.000,4,0.000,0.037,3163,3130,3390,0,0,0,0,0,0
$GC,4438,-1.14,-146.0,437.4,-7.3,232,4442,0.00,2.55,0.00,0.000,6,0.000,0.037,3163,1586,3390,0,0,0,0,0,0
$GC,4693,-1.14,-146.0,456.1,-7.4,239,4697,0.00,2.45,0.00,0.000,4,0.000,0.066,3163,166,3388,0,0,0,0,0,0
$GC,4756,-1.19,-146.0,461.1,-8.0,240,4760,0.10,2.22,0.00,0.000,6,0.074,0.026,3109,1569,3387,0,0,0,0,0,0
$GC,5025,-1.10,-146.0,487.8,-9.9,247,5031,0.22,2.58,0.00,0.000,4,0.084,0.040,3160,3137,3385,0,0,0,0,0,0
$GC,5067,-1.18,-146.0,491.0,-7.3,247,5072,0.00,2.60,0.00,0.000,6,0.000,0.039,3160,1576,3385,0,0,0,0,0,0
$GC,5317,-1.18,-146.0,507.5,-6.4,254,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1576,3384,0,0,0,0,0,0
$GC,5560,-1.18,-146.0,522.9,-6.4,260,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1576,3382,0,0,0,0,0,0
$GC,5806,-1.18,-146.0,538.9,-6.6,266,5811,0.00,2.62,0.00,0.000,4,0.000,0.043,3159,3137,3380,0,0,0,0,0,0
$GC,5828,-1.24,-146.0,540.4,-7.1,266,5833,0.12,2.60,0.00,0.000,6,0.063,0.048,3103,1584,3380,0,0,0,0,0,0
$GC,6093,-1.15,-146.0,564.4,-9.3,273,6098,0.20,2.47,0.00,0.000,4,0.087,0.073,3148,168,3379,0,0,0,0,0,0
$GC,6129,-1.15,-146.0,567.5,-8.2,273,6133,0.00,2.25,0.00,0.000,6,0.000,0.029,3149,1568,3378,0,0,0,0,0,0
$GC,6379,-1.15,-146.0,584.9,-6.9,279,6383,0.00,2.65,0.00,0.000,4,0.000,0.046,3148,3151,3377,0,0,0,0,0,0
$GC,6408,-1.21,-146.0,587.1,-7.3,279,6412,0.00,2.65,0.00,0.000,6,0.000,0.044,3148,1579,3377,0,0,0,0,0,0
$GC,6668,-1.21,-146.0,606.1,-7.7,286,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1579,3376,0,0,0,0,0,0
$GC,6906,-1.21,-146.0,624.8,-7.6,292,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1579,3375,0,0,0,0,0,0
$GC,7150,-1.21,-146.0,643.1,-7.4,298,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1579,3373,0,0,0,0,0,0
$GC,7394,-1.21,-146.0,661.5,-7.6,304,7398,0.00,2.65,0.00,0.000,4,0.000,0.048,3148,3147,3372,0,0,0,0,0,0
$GC,7420,-1.26,-146.0,663.5,-8.5,304,7426,0.10,2.65,0.00,0.000,6,0.076,0.048,3100,1585,3372,0,0,0,0,0,0
$GC,7684,-1.18,-146.0,688.8,-9.9,311,7689,0.20,2.50,0.00,0.000,4,0.089,0.081,3145,165,3371,0,0,0,0,0,0
$GC,7715,-1.18,-146.0,691.7,-8.5,311,7719,0.00,2.33,0.00,0.000,6,0.000,0.035,3144,1589,3370,0,0,0,0,0,0
$GC,7972,-1.18,-146.0,710.3,-7.0,318,7976,0.00,2.65,0.00,0.000,4,0.000,0.053,3144,3159,3369,0,0,0,0,0,0
$GC,7991,-1.18,-146.0,711.8,-7.4,318,7995,0.00,2.67,0.00,0.000,6,0.000,0.048,3145,1583,3369,0,0,0,0,0,0
$GC,8257,-1.18,-146.0,728.8,-6.4,325,8261,0.00,2.50,0.00,0.000,4,0.000,0.081,3145,167,3367,0,0,0,0,0,0
$GC,8285,-1.18,-146.0,731.1,-7.3,325,8289,0.00,2.33,0.00,0.000,6,0.000,0.034,3145,1593,3367,0,0,0,0,0,0
$GC,8544,-1.18,-146.0,747.9,-6.6,332,8549,0.00,2.65,0.00,0.000,4,0.000,0.054,3144,3159,3367,0,0,0,0,0,0
$GC,8575,-1.25,-146.0,749.9,-6.6,332,8579,0.00,2.67,0.00,0.000,6,0.000,0.049,3144,1589,3366,0,0,0,0,0,0
$GC,8830,-1.25,-146.0,766.7,-6.6,339,8834,0.00,2.53,0.00,0.000,4,0.000,0.081,3145,162,3366,0,0,0,0,0,0
$GC,8867,-1.25,-146.0,769.6,-7.3,339,8873,0.00,2.33,0.00,0.000,6,0.000,0.035,3145,1587,3366,0,0,0,0,0,0
$GC,9124,-1.25,-146.0,786.0,-6.5,346,9128,0.00,2.67,0.00,0.000,4,0.000,0.055,3144,3163,3365,0,0,0,0,0,0
$GC,9143,-1.29,-146.0,787.8,-6.6,346,9148,0.12,2.65,0.00,0.000,6,0.064,0.048,3090,1589,3365,0,0,0,0,0,0
$GC,9409,-1.20,-146.0,812.3,-9.5,353,9414,0.20,2.53,0.00,0.000,4,0.090,0.080,3136,164,3364,0,0,0,0,0,0
$GC,9444,-1.20,-146.0,815.6,-9.1,353,9448,0.00,2.33,0.00,0.000,6,0.000,0.036,3136,1593,3364,0,0,0,0,0,0
$GC,9694,-1.20,-146.0,835.8,-8.0,359,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1593,3363,0,0,0,0,0,0
$GC,9938,-1.20,-146.0,854.4,-7.6,365,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1593,3362,0,0,0,0,0,0
$GC,10186,-1.20,-146.0,872.1,-7.2,371,10191,0.00,2.53,0.00,0.000,4,0.000,0.076,3136,165,3362,0,0,0,0,0,0
$GC,10215,-1.20,-146.0,874.7,-8.7,371,10219,0.00,2.35,0.00,0.000,6,0.000,0.038,3136,1591,3362,0,0,0,0,0,0
$GC,10469,-1.20,-146.0,892.7,-6.9,378,10474,0.00,2.67,0.00,0.000,4,0.000,0.056,3136,3163,3361,0,0,0,0,0,0
$GC,10489,-1.20,-146.0,894.1,-7.3,378,10493,0.00,2.70,0.00,0.000,6,0.000,0.049,3136,1580,3361,0,0,0,0,0,0
$STATE,10590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10590,begin apogee
$GC,10598,-0.31,0.0,900.9,6.8,381,10722,0.85,0.00,120.50,1.146,6,0.067,0.000,3333,1345,2800,0,0,0,0,0,0
$STATE,10723,end apogee,CONTROL_FINISHED_OK
$STATE,10723,begin climb
$GC,10726,1.27,146.0,904.3,0.0,384,10868,1.42,0.00,131.65,1.125,6,0.031,0.000,3683,1345,2203,0,0,0,0,0,0
$GC,11142,1.07,146.0,864.5,12.7,394,11146,0.22,2.12,0.00,0.000,4,0.109,0.081,3635,167,2194,0,0,0,0,0,0
$GC,11244,0.91,146.0,852.0,12.2,396,11249,0.17,1.95,0.00,0.000,6,0.114,0.031,3598,1353,2194,0,0,0,0,0,0
$GC,11523,0.93,166.0,826.0,9.1,403,11542,0.00,0.00,17.80,1.012,6,0.000,0.000,3599,1353,2122,0,0,0,0,0,0
$GC,11813,0.95,178.8,798.8,9.4,410,11828,0.00,0.00,12.98,0.965,6,0.000,0.000,3599,1355,2071,0,0,0,0,0,0
$GC,12057,0.95,178.8,774.7,10.0,416,12062,0.00,2.72,0.00,0.000,4,0.000,0.055,3599,2938,2067,0,0,0,0,0,0
$GC,12076,0.95,178.8,772.4,11.0,416,12081,0.00,2.75,0.00,0.000,6,0.000,0.049,3599,1346,2065,0,0,0,0,0,0
$GC,12342,0.95,178.8,745.3,10.4,423,12346,0.00,2.15,0.00,0.000,4,0.000,0.087,3598,159,2065,0,0,0,0,0,0
$GC,12360,0.95,178.8,743.0,10.9,423,12364,0.00,1.95,0.00,0.000,6,0.000,0.031,3599,1347,2065,0,0,0,0,0,0
$GC,12628,0.95,179.9,716.1,9.9,430,12632,0.00,2.70,0.00,0.000,4,0.000,0.055,3598,2930,2065,0,0,0,0,0,0
$GC,12642,0.95,179.9,714.5,10.0,430,12647,0.00,2.72,0.00,0.000,6,0.000,0.048,3598,1341,2063,0,0,0,0,0,0
$GC,12913,0.96,189.1,688.9,9.6,437,12925,0.00,0.00,10.00,0.883,6,0.000,0.000,3598,1341,2029,0,0,0,0,0,0
$GC,13154,0.96,189.1,664.5,10.0,443,13156,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1341,2027,0,0,0,0,0,0
$GC,13399,0.97,200.3,641.2,9.5,449,13412,0.00,0.00,11.93,0.885,6,0.000,0.000,3598,1341,1983,0,0,0,0,0,0
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$STATE,19240,end climb,SURFACE_DEPTH_REACHED
$STATE,19240,begin surface coast
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$STATE,19280,end surface coast,CONTROL_FINISHED_OK
$STATE,19280,begin surface
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$10V_AH,9.8,58.673
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,140890112
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