version: 66.06
glider: 148
mission: 12
dive: 434
start: 8 25 113 23 29 28
data:
$ID,148
$MISSION,12
$DIVE,434
$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,-1024714.6
$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,93
$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
$GPS1,232106,2256.268,-15754.034,28,1.4,28,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-77.3
$GPS2,232834,2256.241,-15754.067,17,1.4,17,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.199,-0.166
$KALMAN_X,-74988.5,-78.2,382.4,84916.4,30.8
$KALMAN_Y,4386.3,-127.3,462.6,16118.4,-1262.5
$MHEAD_RNG_PITCHd_Wd,119.8,42908,-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,-67.15,0.000,2,0.000,0.000,408,1581,2985,0,0,0,0,0,0
$GC,89,-1.27,-146.0,4.1,-7.1,9,122,14.70,2.38,-7.05,0.000,4,0.163,0.054,3116,170,3398,0,0,0,0,0,0
$GC,146,-0.77,-146.0,23.0,-29.5,16,154,0.50,2.12,0.00,0.000,6,0.086,0.017,3228,1553,3398,0,0,0,0,0,0
$GC,417,-0.72,-146.0,61.8,-12.0,43,421,0.00,2.45,0.00,0.000,4,0.000,0.021,3229,3130,3399,0,0,0,0,0,0
$GC,461,-0.81,-146.0,66.2,-8.9,46,465,0.00,2.53,0.00,0.000,6,0.000,0.028,3229,1559,3399,0,0,0,0,0,0
$GC,726,-0.81,-146.0,90.9,-8.4,70,730,0.00,2.25,0.00,0.000,4,0.000,0.044,3229,172,3400,0,0,0,0,0,0
$GC,745,-0.81,-146.0,92.5,-8.6,71,749,0.00,2.10,0.00,0.000,6,0.000,0.017,3229,1604,3399,0,0,0,0,0,0
$GC,1012,-0.81,-146.0,112.4,-7.0,95,1016,0.00,2.33,0.00,0.000,4,0.000,0.021,3229,3105,3400,0,0,0,0,0,0
$GC,1043,-0.89,-146.0,114.4,-7.1,97,1048,0.10,2.45,0.00,0.000,6,0.076,0.027,3159,1571,3400,0,0,0,0,0,0
$GC,1308,-0.77,-146.0,146.0,-12.7,121,1313,0.30,2.28,0.00,0.000,4,0.080,0.041,3229,173,3401,0,0,0,0,0,0
$GC,1379,-0.89,-146.0,152.9,-7.6,127,1384,0.10,2.08,0.00,0.000,6,0.074,0.016,3165,1569,3401,0,0,0,0,0,0
$GC,1644,-0.81,-146.0,182.7,-10.8,151,1649,0.25,2.40,0.00,0.000,4,0.078,0.021,3225,3110,3401,0,0,0,0,0,0
$GC,1687,-0.95,-146.0,186.5,-7.1,154,1695,0.10,2.45,0.00,0.000,6,0.028,0.027,3146,1577,3401,0,0,0,0,0,0
$GC,1972,-0.84,-146.0,219.1,-11.7,170,1975,0.30,0.00,0.00,0.000,6,0.077,0.000,3214,1577,3401,0,0,0,0,0,0
$GC,2221,-0.91,-146.0,241.2,-8.8,176,2225,0.00,2.40,0.00,0.000,4,0.000,0.022,3214,3105,3401,0,0,0,0,0,0
$GC,2245,-1.02,-146.0,243.6,-8.4,176,2250,0.15,2.47,0.00,0.000,6,0.054,0.028,3132,1574,3401,0,0,0,0,0,0
$GC,2505,-0.90,-146.0,273.0,-11.3,183,2510,0.30,2.42,0.00,0.000,4,0.079,0.022,3200,3106,3401,0,0,0,0,0,0
$GC,2541,-1.03,-146.0,275.9,-7.3,183,2546,0.10,2.45,0.00,0.000,6,0.074,0.029,3126,1581,3401,0,0,0,0,0,0
$GC,2791,-0.91,-146.0,303.7,-11.6,189,2794,0.35,0.00,0.00,0.000,6,0.077,0.000,3200,1581,3401,0,0,0,0,0,0
$GC,3037,-0.98,-146.0,323.0,-7.6,195,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1581,3400,0,0,0,0,0,0
$GC,3282,-1.06,-146.0,340.5,-7.2,201,3286,0.12,2.45,0.00,0.000,4,0.063,0.029,3134,3097,3399,0,0,0,0,0,0
$GC,3311,-1.06,-146.0,343.3,-9.3,201,3316,0.15,2.47,0.00,0.000,6,0.086,0.035,3170,1584,3399,0,0,0,0,0,0
$GC,3568,-1.06,-146.0,364.6,-8.3,208,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1584,3398,0,0,0,0,0,0
$GC,3810,-1.06,-146.0,384.6,-8.2,214,3814,0.00,2.45,0.00,0.000,4,0.000,0.032,3170,3099,3396,0,0,0,0,0,0
$GC,3829,-1.11,-146.0,386.1,-8.1,214,3834,0.00,2.47,0.00,0.000,6,0.000,0.035,3170,1587,3396,0,0,0,0,0,0
$GC,4097,-1.11,-146.0,404.3,-6.9,221,4101,0.00,2.40,0.00,0.000,4,0.000,0.061,3170,166,3395,0,0,0,0,0,0
$GC,4121,-1.11,-146.0,406.5,-8.1,221,4125,0.00,2.15,0.00,0.000,6,0.000,0.023,3170,1538,3395,0,0,0,0,0,0
$GC,4385,-1.11,-146.0,425.5,-7.2,228,4389,0.00,2.60,0.00,0.000,4,0.000,0.036,3170,3149,3392,0,0,0,0,0,0
$GC,4420,-1.20,-146.0,428.1,-6.6,228,4425,0.12,2.58,0.00,0.000,6,0.061,0.038,3104,1583,3392,0,0,0,0,0,0
$GC,4672,-1.09,-146.0,454.4,-11.0,234,4678,0.25,2.42,0.00,0.000,4,0.083,0.064,3164,169,3391,0,0,0,0,0,0
$GC,4717,-1.09,-146.0,458.7,-8.1,235,4721,0.00,2.25,0.00,0.000,6,0.000,0.026,3164,1584,3390,0,0,0,0,0,0
$GC,5005,-1.09,-146.0,478.6,-6.7,242,5010,0.00,2.55,0.00,0.000,4,0.000,0.041,3164,3147,3389,0,0,0,0,0,0
$GC,5030,-1.15,-146.0,480.4,-7.4,242,5034,0.00,2.60,0.00,0.000,6,0.000,0.038,3164,1586,3388,0,0,0,0,0,0
$GC,5291,-1.15,-146.0,496.7,-6.2,249,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1586,3386,0,0,0,0,0,0
$GC,5533,-1.15,-146.0,513.1,-6.9,255,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1586,3385,0,0,0,0,0,0
$GC,5779,-1.15,-146.0,530.6,-7.2,261,5783,0.00,2.62,0.00,0.000,4,0.000,0.044,3164,3147,3383,0,0,0,0,0,0
$GC,5812,-1.24,-146.0,533.1,-6.6,261,5818,0.15,2.62,0.00,0.000,6,0.054,0.042,3099,1588,3383,0,0,0,0,0,0
$GC,6065,-1.15,-146.0,557.3,-10.0,267,6070,0.22,2.47,0.00,0.000,4,0.085,0.072,3150,169,3381,0,0,0,0,0,0
$GC,6109,-1.15,-146.0,561.2,-8.0,268,6113,0.00,2.28,0.00,0.000,6,0.000,0.031,3150,1577,3381,0,0,0,0,0,0
$GC,6396,-1.15,-146.0,580.4,-6.5,275,6400,0.00,2.62,0.00,0.000,4,0.000,0.045,3150,3151,3379,0,0,0,0,0,0
$GC,6434,-1.22,-146.0,583.1,-7.1,275,6442,0.00,2.67,0.00,0.000,6,0.000,0.044,3150,1583,3379,0,0,0,0,0,0
$GC,6684,-1.22,-146.0,601.9,-7.7,282,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1583,3378,0,0,0,0,0,0
$GC,6930,-1.22,-146.0,623.0,-8.7,288,6934,0.00,2.50,0.00,0.000,4,0.000,0.079,3150,165,3376,0,0,0,0,0,0
$GC,6963,-1.22,-146.0,626.4,-9.3,288,6967,0.00,2.33,0.00,0.000,6,0.000,0.033,3149,1593,3376,0,0,0,0,0,0
$GC,7213,-1.22,-146.0,647.8,-8.5,294,7217,0.00,2.60,0.00,0.000,4,0.000,0.052,3150,3149,3374,0,0,0,0,0,0
$GC,7244,-1.29,-146.0,650.3,-8.5,294,7249,0.12,2.65,0.00,0.000,6,0.064,0.049,3094,1586,3374,0,0,0,0,0,0
$GC,7504,-1.21,-146.0,678.0,-10.9,301,7509,0.17,2.50,0.00,0.000,4,0.091,0.081,3136,167,3372,0,0,0,0,0,0
$GC,7542,-1.21,-146.0,682.6,-9.5,301,7548,0.00,2.33,0.00,0.000,6,0.000,0.034,3135,1593,3372,0,0,0,0,0,0
$GC,7794,-1.21,-146.0,701.6,-7.3,308,7799,0.00,2.65,0.00,0.000,4,0.000,0.055,3135,3158,3371,0,0,0,0,0,0
$GC,7809,-1.21,-146.0,703.0,-6.9,308,7813,0.00,2.65,0.00,0.000,6,0.000,0.049,3135,1582,3371,0,0,0,0,0,0
$GC,8078,-1.21,-146.0,720.1,-6.4,315,8082,0.00,2.50,0.00,0.000,4,0.000,0.081,3136,167,3370,0,0,0,0,0,0
$GC,8099,-1.21,-146.0,721.5,-6.9,315,8103,0.00,2.33,0.00,0.000,6,0.000,0.034,3136,1592,3369,0,0,0,0,0,0
$GC,8362,-1.21,-146.0,739.4,-6.7,322,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1592,3368,0,0,0,0,0,0
$GC,8606,-1.21,-146.0,756.7,-7.2,328,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1592,3367,0,0,0,0,0,0
$GC,8852,-1.21,-146.0,774.7,-7.5,334,8856,0.00,2.65,0.00,0.000,4,0.000,0.056,3135,3151,3366,0,0,0,0,0,0
$GC,8866,-1.21,-146.0,776.1,-7.4,334,8871,0.00,2.65,0.00,0.000,6,0.000,0.048,3135,1580,3366,0,0,0,0,0,0
$GC,9138,-1.21,-146.0,796.4,-7.6,341,9142,0.00,2.50,0.00,0.000,4,0.000,0.082,3136,168,3366,0,0,0,0,0,0
$GC,9161,-1.21,-146.0,798.7,-9.1,341,9165,0.00,2.30,0.00,0.000,6,0.000,0.035,3135,1588,3365,0,0,0,0,0,0
$GC,9423,-1.21,-146.0,817.9,-7.4,348,9424,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1588,3364,0,0,0,0,0,0
$GC,9664,-1.21,-146.0,835.6,-7.2,354,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1588,3364,0,0,0,0,0,0
$GC,9908,-1.21,-146.0,852.1,-6.8,360,9912,0.00,2.65,0.00,0.000,4,0.000,0.057,3135,3151,3363,0,0,0,0,0,0
$GC,9924,-1.21,-146.0,853.3,-6.7,360,9929,0.00,2.67,0.00,0.000,6,0.000,0.048,3135,1581,3363,0,0,0,0,0,0
$GC,10193,-1.21,-146.0,870.7,-6.3,367,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1581,3362,0,0,0,0,0,0
$GC,10437,-1.21,-146.0,886.3,-6.4,373,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1581,3361,0,0,0,0,0,0
$STATE,10678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10678,begin apogee
$GC,10686,-0.31,0.0,901.9,6.4,379,10810,0.85,0.00,120.90,1.153,6,0.067,0.000,3332,1346,2800,0,0,0,0,0,0
$STATE,10811,end apogee,CONTROL_FINISHED_OK
$STATE,10811,begin climb
$GC,10814,1.27,146.0,904.9,0.0,382,10953,1.42,2.17,131.05,1.132,4,0.032,0.084,3680,165,2204,0,0,0,0,0,0
$GC,11027,1.01,146.0,888.7,15.6,387,11031,0.28,1.98,0.00,0.000,6,0.111,0.032,3624,1358,2199,0,0,0,0,0,0
$GC,11316,0.94,146.0,856.5,10.9,394,11320,0.00,2.15,0.00,0.000,4,0.000,0.074,3624,163,2193,0,0,0,0,0,0
$GC,11340,0.80,146.0,853.4,11.4,394,11344,0.22,1.95,0.00,0.000,6,0.104,0.033,3578,1345,2193,0,0,0,0,0,0
$GC,11602,0.84,173.4,829.9,8.7,401,11629,0.00,0.00,24.95,1.045,6,0.000,0.000,3577,1347,2093,0,0,0,0,0,0
$GC,11845,0.84,175.9,806.2,9.9,407,11849,0.00,2.10,0.00,0.000,4,0.000,0.075,3577,170,2088,0,0,0,0,0,0
$GC,11863,0.84,175.9,803.9,11.6,407,11867,0.00,1.95,0.00,0.000,6,0.000,0.032,3577,1353,2088,0,0,0,0,0,0
$GC,12136,0.85,181.5,777.2,9.7,414,12146,0.00,0.00,7.93,0.882,6,0.000,0.000,3577,1354,2060,0,0,0,0,0,0
$GC,12382,0.86,191.7,753.8,9.5,420,12395,0.00,0.00,11.12,0.938,6,0.000,0.000,3577,1354,2018,0,0,0,0,0,0
$GC,12626,0.92,206.0,731.1,9.3,426,12647,0.10,2.80,14.62,0.960,4,0.079,0.057,3617,2938,1960,0,0,0,0,0,0
$GC,12672,0.92,206.0,726.1,11.0,427,12677,0.00,2.75,0.00,0.000,6,0.000,0.049,3617,1355,1956,0,0,0,0,0,0
$GC,12962,0.92,206.0,694.7,10.9,434,12966,0.00,2.15,0.00,0.000,4,0.000,0.085,3617,160,1956,0,0,0,0,0,0
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$STATE,18921,end climb,SURFACE_DEPTH_REACHED
$STATE,18921,begin surface coast
$FINISH,1.1,1.010631
$STATE,18967,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,12
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$10V_AH,9.7,61.778
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57421,714
$CAP_FILE_SIZE,187385,0
$CFSIZE,260165632,139276288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260813,044815,2253.733,-15751.567,36,3.6,55,10.1