version: 66.06
glider: 148
mission: 12
dive: 453
start: 8 30 113 6 41 19
data:
$ID,148
$MISSION,12
$DIVE,453
$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,660
$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,-1025122.2
$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,3410
$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,1355
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,40
$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
$GPS1,063259,2258.836,-15745.979,37,1.0,42,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.9
$GPS2,064025,2258.853,-15745.996,10,1.1,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.038,0.257
$KALMAN_X,-87693.6,15.4,198.1,111499.5,-1286.2
$KALMAN_Y,-17907.3,134.9,-36.6,43488.2,-1300.9
$MHEAD_RNG_PITCHd_Wd,341.5,163508,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.20,0.000,2,0.000,0.000,414,1608,2898,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.2,-4.0,9,123,14.00,2.53,-9.25,0.000,4,0.143,0.037,3129,3158,3396,0,0,0,0,0,0
$GC,197,-1.12,-146.0,27.7,-17.1,24,207,0.12,2.65,0.00,0.000,6,0.078,0.031,3162,1565,3397,0,0,0,0,0,0
$GC,477,-0.94,-146.0,74.8,-14.2,50,486,0.20,0.00,0.00,0.000,6,0.091,0.000,3207,1564,3397,0,0,0,0,0,0
$GC,742,-0.94,-146.0,104.2,-10.2,75,746,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1564,3398,0,0,0,0,0,0
$GC,1005,-0.94,-146.0,129.5,-8.9,100,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1564,3399,0,0,0,0,0,0
$GC,1261,-0.94,-146.0,152.1,-9.2,124,1265,0.00,2.53,0.00,0.000,4,0.000,0.021,3207,3169,3399,0,0,0,0,0,0
$GC,1282,-0.94,-146.0,154.2,-8.9,125,1287,0.00,2.60,0.00,0.000,6,0.000,0.028,3207,1568,3400,0,0,0,0,0,0
$GC,1545,-0.94,-146.0,177.6,-8.8,150,1549,0.00,2.30,0.00,0.000,4,0.000,0.044,3208,169,3400,0,0,0,0,0,0
$GC,1567,-0.94,-146.0,179.7,-9.3,151,1573,0.00,2.17,0.00,0.000,6,0.000,0.017,3208,1619,3400,0,0,0,0,0,0
$GC,1839,-0.94,-146.0,204.5,-8.8,174,1843,0.00,2.35,0.00,0.000,4,0.000,0.021,3208,3128,3399,0,0,0,0,0,0
$GC,1872,-1.06,-146.0,207.4,-7.4,174,1878,0.12,2.53,0.00,0.000,6,0.059,0.028,3131,1572,3400,0,0,0,0,0,0
$GC,2124,-0.92,-146.0,239.2,-13.3,180,2129,0.32,2.30,0.00,0.000,4,0.081,0.042,3208,166,3400,0,0,0,0,0,0
$GC,2153,-0.92,-146.0,242.9,-10.9,180,2157,0.00,2.12,0.00,0.000,6,0.000,0.018,3208,1576,3400,0,0,0,0,0,0
$GC,2410,-1.01,-146.0,264.9,-8.6,187,2414,0.00,2.42,0.00,0.000,4,0.000,0.023,3207,3124,3400,0,0,0,0,0,0
$GC,2448,-1.17,-146.0,268.0,-7.6,187,2454,0.22,2.50,0.00,0.000,6,0.037,0.028,3108,1585,3400,0,0,0,0,0,0
$GC,2698,-1.02,-146.0,296.6,-11.6,194,2703,0.32,2.35,0.00,0.000,4,0.081,0.045,3185,169,3399,0,0,0,0,0,0
$GC,2744,-1.02,-146.0,301.1,-8.0,195,2748,0.00,2.15,0.00,0.000,6,0.000,0.020,3185,1569,3399,0,0,0,0,0,0
$GC,3031,-1.02,-146.0,322.8,-7.5,202,3036,0.00,2.50,0.00,0.000,4,0.000,0.028,3184,3136,3398,0,0,0,0,0,0
$GC,3071,-1.13,-146.0,325.6,-6.7,202,3077,0.00,2.58,0.00,0.000,6,0.000,0.034,3185,1579,3398,0,0,0,0,0,0
$GC,3324,-1.18,-146.0,343.8,-7.3,209,3328,0.15,2.38,0.00,0.000,4,0.054,0.056,3116,168,3396,0,0,0,0,0,0
$GC,3376,-1.06,-146.0,349.8,-12.0,210,3381,0.28,2.20,0.00,0.000,6,0.079,0.021,3177,1571,3396,0,0,0,0,0,0
$GC,3656,-1.06,-146.0,370.4,-7.1,217,3661,0.00,2.55,0.00,0.000,4,0.000,0.032,3177,3150,3394,0,0,0,0,0,0
$GC,3695,-1.17,-146.0,373.1,-7.0,217,3701,0.10,2.62,0.00,0.000,6,0.072,0.038,3116,1572,3394,0,0,0,0,0,0
$GC,3945,-1.07,-146.0,398.1,-10.5,224,3950,0.25,2.38,0.00,0.000,4,0.083,0.058,3177,165,3392,0,0,0,0,0,0
$GC,3967,-1.07,-146.0,400.1,-9.2,224,3971,0.00,2.22,0.00,0.000,6,0.000,0.022,3177,1593,3392,0,0,0,0,0,0
$GC,4233,-1.12,-146.0,419.9,-7.5,231,4238,0.00,2.53,0.00,0.000,4,0.000,0.036,3176,3145,3390,0,0,0,0,0,0
$GC,4264,-1.21,-146.0,422.4,-7.3,231,4269,0.12,2.60,0.00,0.000,6,0.061,0.038,3112,1576,3390,0,0,0,0,0,0
$GC,4520,-1.11,-146.0,448.3,-10.2,238,4525,0.25,2.42,0.00,0.000,4,0.084,0.064,3172,165,3388,0,0,0,0,0,0
$GC,4568,-1.17,-146.0,452.5,-7.0,239,4572,0.00,2.25,0.00,0.000,6,0.000,0.026,3173,1578,3388,0,0,0,0,0,0
$GC,4855,-1.22,-146.0,472.6,-7.3,246,4860,0.12,2.58,0.00,0.000,4,0.062,0.041,3106,3143,3386,0,0,0,0,0,0
$GC,4903,-1.22,-146.0,477.4,-9.7,247,4908,0.17,2.60,0.00,0.000,6,0.084,0.039,3147,1585,3386,0,0,0,0,0,0
$GC,5188,-1.22,-146.0,502.2,-8.8,254,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1585,3384,0,0,0,0,0,0
$GC,5430,-1.22,-146.0,522.8,-8.2,260,5434,0.00,2.62,0.00,0.000,4,0.000,0.047,3147,3140,3383,0,0,0,0,0,0
$GC,5454,-1.22,-146.0,524.9,-9.0,260,5458,0.00,2.62,0.00,0.000,6,0.000,0.041,3147,1581,3382,0,0,0,0,0,0
$GC,5715,-1.22,-146.0,545.6,-7.8,267,5719,0.00,2.47,0.00,0.000,4,0.000,0.074,3148,168,3381,0,0,0,0,0,0
$GC,5739,-1.22,-146.0,547.7,-8.7,267,5743,0.00,2.30,0.00,0.000,6,0.000,0.032,3148,1586,3380,0,0,0,0,0,0
$GC,5998,-1.22,-146.0,567.7,-7.7,274,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1586,3379,0,0,0,0,0,0
$GC,6244,-1.22,-146.0,585.6,-7.3,280,6248,0.00,2.47,0.00,0.000,4,0.000,0.072,3148,171,3378,0,0,0,0,0,0
$GC,6272,-1.22,-146.0,588.2,-8.7,280,6276,0.00,2.30,0.00,0.000,6,0.000,0.035,3147,1588,3378,0,0,0,0,0,0
$GC,6527,-1.22,-146.0,607.3,-7.7,287,6531,0.00,2.65,0.00,0.000,4,0.000,0.051,3147,3157,3376,0,0,0,0,0,0
$GC,6567,-1.29,-146.0,610.4,-7.7,287,6572,0.00,2.67,0.00,0.000,6,0.000,0.047,3147,1586,3376,0,0,0,0,0,0
$GC,6817,-1.29,-146.0,629.4,-7.6,294,6821,0.00,2.50,0.00,0.000,4,0.000,0.081,3148,165,3374,0,0,0,0,0,0
$GC,6854,-1.29,-146.0,632.8,-8.6,294,6860,0.00,2.35,0.00,0.000,6,0.000,0.037,3148,1593,3374,0,0,0,0,0,0
$GC,7110,-1.29,-146.0,653.1,-8.2,301,7114,0.00,2.53,0.00,0.000,4,0.000,0.076,3147,165,3372,0,0,0,0,0,0
$GC,7129,-1.29,-146.0,655.2,-8.5,301,7133,0.00,2.33,0.00,0.000,6,0.000,0.036,3148,1586,3372,0,0,0,0,0,0
$GC,7398,-1.29,-146.0,678.1,-8.5,308,7402,0.00,2.65,0.00,0.000,4,0.000,0.055,3148,3153,3371,0,0,0,0,0,0
$GC,7438,-1.36,-146.0,681.5,-8.6,308,7444,0.15,2.67,0.00,0.000,6,0.058,0.048,3089,1585,3371,0,0,0,0,0,0
$GC,7688,-1.25,-146.0,708.7,-11.1,315,7693,0.22,2.53,0.00,0.000,4,0.088,0.081,3140,165,3369,0,0,0,0,0,0
$GC,7712,-1.25,-146.0,711.3,-9.9,315,7716,0.00,2.33,0.00,0.000,6,0.000,0.038,3139,1589,3369,0,0,0,0,0,0
$GC,7973,-1.25,-146.0,733.0,-8.4,322,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1589,3367,0,0,0,0,0,0
$GC,8215,-1.25,-146.0,752.5,-7.9,328,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1589,3367,0,0,0,0,0,0
$GC,8459,-1.25,-146.0,770.7,-7.3,334,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1588,3366,0,0,0,0,0,0
$GC,8703,-1.25,-146.0,788.4,-7.1,340,8707,0.00,2.65,0.00,0.000,4,0.000,0.055,3139,3158,3365,0,0,0,0,0,0
$GC,8733,-1.31,-146.0,790.3,-7.0,340,8738,0.00,2.67,0.00,0.000,6,0.000,0.050,3139,1596,3365,0,0,0,0,0,0
$GC,8988,-1.31,-146.0,807.7,-6.6,347,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1595,3364,0,0,0,0,0,0
$GC,9234,-1.31,-146.0,823.5,-6.5,353,9239,0.00,2.55,0.00,0.000,4,0.000,0.084,3140,166,3363,0,0,0,0,0,0
$GC,9255,-1.31,-146.0,825.2,-7.9,353,9260,0.00,2.35,0.00,0.000,6,0.000,0.038,3139,1596,3363,0,0,0,0,0,0
$GC,9519,-1.31,-146.0,843.8,-7.1,360,9524,0.00,2.65,0.00,0.000,4,0.000,0.054,3139,3156,3362,0,0,0,0,0,0
$GC,9538,-1.31,-146.0,845.3,-8.0,360,9543,0.00,2.67,0.00,0.000,6,0.000,0.049,3139,1590,3362,0,0,0,0,0,0
$GC,9804,-1.31,-146.0,865.4,-7.7,367,9809,0.00,2.53,0.00,0.000,4,0.000,0.084,3140,168,3361,0,0,0,0,0,0
$GC,9833,-1.31,-146.0,868.0,-9.2,367,9837,0.00,2.35,0.00,0.000,6,0.000,0.038,3139,1605,3360,0,0,0,0,0,0
$GC,10087,-1.31,-146.0,887.3,-7.5,374,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1606,3360,0,0,0,0,0,0
$STATE,10288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10288,begin apogee
$GC,10296,-0.31,0.0,901.8,7.1,379,10420,0.88,0.00,120.57,1.154,6,0.071,0.000,3339,1345,2800,0,0,0,0,0,0
$STATE,10421,end apogee,CONTROL_FINISHED_OK
$STATE,10421,begin climb
$GC,10424,1.27,146.0,904.9,0.0,382,10567,1.45,2.12,131.88,1.133,4,0.033,0.079,3694,178,2202,0,0,0,0,0,0
$GC,10617,0.98,146.0,892.9,15.5,386,10622,0.35,1.98,0.00,0.000,6,0.108,0.035,3624,1359,2199,0,0,0,0,0,0
$GC,10882,0.90,146.0,864.4,10.4,393,10886,0.00,2.10,0.00,0.000,4,0.000,0.074,3623,177,2193,0,0,0,0,0,0
$GC,10981,0.76,146.0,853.0,11.9,395,10986,0.22,1.95,0.00,0.000,6,0.105,0.034,3577,1355,2192,0,0,0,0,0,0
$GC,11261,0.82,193.7,830.4,7.8,402,11310,0.00,2.20,42.88,1.074,4,0.000,0.075,3577,181,2009,0,0,0,0,0,0
$GC,11342,0.82,193.7,823.0,10.6,403,11346,0.00,1.95,0.00,0.000,6,0.000,0.035,3577,1346,2008,0,0,0,0,0,0
$GC,11596,0.83,203.0,798.5,9.6,410,11613,0.00,2.78,9.40,0.926,4,0.000,0.056,3577,2935,1971,0,0,0,0,0,0
$GC,11653,0.95,223.4,793.3,9.1,411,11682,0.17,2.75,20.77,1.013,6,0.052,0.051,3634,1360,1889,0,0,0,0,0,0
$GC,11937,0.88,223.4,756.8,13.5,418,11944,0.15,2.75,0.00,0.000,4,0.108,0.051,3603,2941,1884,0,0,0,0,0,0
$GC,11975,0.94,223.4,751.8,11.9,418,11979,0.00,2.75,0.00,0.000,6,0.000,0.051,3603,1358,1882,0,0,0,0,0,0
$GC,12224,0.94,223.4,723.3,11.2,424,12225,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1358,1882,0,0,0,0,0,0
$GC,12468,0.94,223.4,696.3,11.0,430,12473,0.00,2.72,0.00,0.000,4,0.000,0.050,3604,2944,1881,0,0,0,0,0,0
$GC,12499,0.95,235.7,693.3,9.4,430,12517,0.00,2.75,12.07,0.919,6,0.000,0.058,3603,1360,1837,0,0,0,0,0,0
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$STATE,18917,end climb,SURFACE_DEPTH_REACHED
$STATE,18917,begin surface coast
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$STATE,18969,end surface coast,CONTROL_FINISHED_OK
$STATE,18970,begin surface
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$10V_AH,9.8,64.662
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$FG_AHR_10Vo,0.000
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$MEM,355948
$DATA_FILE_SIZE,57499,736
$CAP_FILE_SIZE,186103,0
$CFSIZE,260165632,137793536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300813,120005,2300.811,-15747.087,48,0.9,48,10.1