version: 66.06
glider: 148
mission: 12
dive: 49
start: 5 31 113 9 50 13
data:
$ID,148
$MISSION,12
$DIVE,49
$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,-1015951.6
$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,3385
$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,1590
$C_ROLL_CLIMB,1340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,97
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2820
$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
$GPS1,093836,2239.921,-15740.708,33,1.1,33,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.2
$GPS2,094919,2239.872,-15740.755,14,1.9,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,-0.106
$KALMAN_X,-16308.3,-162.7,-156.3,49602.7,-660.7
$KALMAN_Y,14851.8,-140.7,178.4,-24365.5,212.7
$MHEAD_RNG_PITCHd_Wd,104.1,5570,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-66.80,0.000,2,0.000,0.000,414,1605,3031,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-4.4,9,114,14.02,0.00,-6.72,0.000,6,0.150,0.000,3103,1605,3417,0,0,0,0,0,0
$GC,382,-1.00,-146.0,70.6,-19.8,41,391,0.25,0.00,0.00,0.000,6,0.101,0.000,3160,1605,3418,0,0,0,0,0,0
$GC,644,-0.95,-146.0,103.3,-10.2,66,649,0.00,2.38,0.00,0.000,4,0.000,0.043,3160,166,3419,0,0,0,0,0,0
$GC,673,-0.89,-146.0,106.6,-11.5,68,678,0.15,2.12,0.00,0.000,6,0.104,0.018,3193,1578,3419,0,0,0,0,0,0
$GC,946,-0.89,-146.0,131.5,-9.4,93,950,0.00,2.45,0.00,0.000,4,0.000,0.023,3193,3145,3419,0,0,0,0,0,0
$GC,977,-0.98,-146.0,135.0,-9.2,95,983,0.00,2.53,0.00,0.000,6,0.000,0.029,3193,1578,3419,0,0,0,0,0,0
$GC,1242,-1.02,-146.0,158.4,-8.6,120,1252,0.12,0.00,0.00,0.000,6,0.064,0.000,3137,1577,3420,0,0,0,0,0,0
$GC,1508,-0.93,-146.0,193.8,-14.2,145,1513,0.20,2.47,0.00,0.000,4,0.093,0.023,3181,3148,3420,0,0,0,0,0,0
$GC,1538,-0.99,-146.0,197.9,-10.1,147,1547,0.00,2.55,0.00,0.000,6,0.000,0.029,3180,1592,3420,0,0,0,0,0,0
$GC,1809,-1.04,-146.0,219.9,-7.5,156,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1592,3420,0,0,0,0,0,0
$GC,2053,-1.10,-146.0,238.7,-7.8,162,2058,0.15,2.35,0.00,0.000,4,0.056,0.048,3119,165,3420,0,0,0,0,0,0
$GC,2106,-1.10,-146.0,244.9,-12.4,163,2111,0.12,2.17,0.00,0.000,6,0.104,0.020,3147,1574,3420,0,0,0,0,0,0
$GC,2385,-1.10,-146.0,272.8,-9.6,170,2389,0.00,2.53,0.00,0.000,4,0.000,0.027,3147,3165,3420,0,0,0,0,0,0
$GC,2450,-1.19,-146.0,278.3,-7.7,171,2455,0.00,2.55,0.00,0.000,6,0.000,0.031,3147,1588,3420,0,0,0,0,0,0
$GC,2716,-1.19,-146.0,300.0,-8.5,178,2720,0.00,2.35,0.00,0.000,4,0.000,0.051,3147,171,3419,0,0,0,0,0,0
$GC,2771,-1.19,-146.0,305.6,-9.4,179,2776,0.00,2.20,0.00,0.000,6,0.000,0.021,3147,1581,3419,0,0,0,0,0,0
$GC,3050,-1.19,-146.0,328.5,-8.3,186,3054,0.00,2.35,0.00,0.000,4,0.000,0.053,3147,173,3419,0,0,0,0,0,0
$GC,3069,-1.19,-146.0,330.5,-9.3,186,3073,0.00,2.20,0.00,0.000,6,0.000,0.022,3147,1588,3419,0,0,0,0,0,0
$GC,3338,-1.19,-146.0,353.0,-8.4,193,3342,0.00,2.55,0.00,0.000,4,0.000,0.034,3147,3169,3417,0,0,0,0,0,0
$GC,3353,-1.19,-146.0,354.2,-8.2,193,3358,0.00,2.60,0.00,0.000,6,0.000,0.034,3147,1590,3417,0,0,0,0,0,0
$GC,3622,-1.19,-146.0,377.2,-8.3,200,3626,0.00,2.40,0.00,0.000,4,0.000,0.061,3147,172,3416,0,0,0,0,0,0
$GC,3650,-1.19,-146.0,379.9,-9.7,200,3655,0.00,2.22,0.00,0.000,6,0.000,0.025,3147,1592,3415,0,0,0,0,0,0
$GC,3907,-1.23,-146.0,400.6,-8.2,207,3909,0.12,0.00,0.00,0.000,6,0.064,0.000,3090,1594,3414,0,0,0,0,0,0
$GC,4149,-1.16,-146.0,426.7,-10.7,213,4154,0.20,2.60,0.00,0.000,4,0.092,0.038,3135,3168,3413,0,0,0,0,0,0
$GC,4183,-1.23,-146.0,429.8,-8.5,213,4188,0.00,2.62,0.00,0.000,6,0.000,0.037,3135,1585,3413,0,0,0,0,0,0
$GC,4434,-1.23,-146.0,447.9,-7.0,219,4438,0.00,2.42,0.00,0.000,4,0.000,0.069,3135,170,3411,0,0,0,0,0,0
$GC,4448,-1.23,-146.0,449.1,-6.7,219,4453,0.00,2.25,0.00,0.000,6,0.000,0.028,3135,1582,3411,0,0,0,0,0,0
$GC,4721,-1.23,-146.0,468.1,-6.9,226,4726,0.00,2.62,0.00,0.000,4,0.000,0.041,3135,3171,3409,0,0,0,0,0,0
$GC,4742,-1.29,-146.0,469.6,-7.9,226,4748,0.12,2.62,0.00,0.000,6,0.061,0.038,3067,1589,3409,0,0,0,0,0,0
$GC,5007,-1.18,-146.0,497.0,-10.7,233,5013,0.25,2.45,0.00,0.000,4,0.091,0.072,3127,171,3407,0,0,0,0,0,0
$GC,5074,-1.18,-146.0,502.9,-8.2,234,5078,0.00,2.28,0.00,0.000,6,0.000,0.033,3127,1574,3407,0,0,0,0,0,0
$GC,5338,-1.18,-146.0,522.6,-7.6,241,5342,0.00,2.65,0.00,0.000,4,0.000,0.045,3127,3178,3405,0,0,0,0,0,0
$GC,5357,-1.23,-146.0,524.3,-8.2,241,5362,0.00,2.70,0.00,0.000,6,0.000,0.042,3127,1572,3405,0,0,0,0,0,0
$GC,5623,-1.23,-146.0,545.7,-8.1,248,5627,0.00,2.47,0.00,0.000,4,0.000,0.079,3127,166,3403,0,0,0,0,0,0
$GC,5642,-1.23,-146.0,547.4,-8.7,248,5646,0.00,2.28,0.00,0.000,6,0.000,0.034,3127,1580,3403,0,0,0,0,0,0
$GC,5906,-1.23,-146.0,569.7,-8.4,255,5911,0.00,2.65,0.00,0.000,4,0.000,0.047,3127,3178,3401,0,0,0,0,0,0
$GC,5921,-1.23,-146.0,570.9,-8.6,255,5925,0.00,2.70,0.00,0.000,6,0.000,0.044,3127,1573,3401,0,0,0,0,0,0
$GC,6191,-1.23,-146.0,593.1,-8.3,262,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1573,3400,0,0,0,0,0,0
$GC,6434,-1.27,-146.0,612.5,-8.0,268,6438,0.00,2.47,0.00,0.000,4,0.000,0.082,3127,163,3398,0,0,0,0,0,0
$GC,6462,-1.27,-146.0,615.0,-9.1,268,6466,0.00,2.33,0.00,0.000,6,0.000,0.036,3127,1581,3398,0,0,0,0,0,0
$GC,6718,-1.32,-146.0,634.8,-7.8,275,6724,0.12,2.70,0.00,0.000,4,0.065,0.053,3072,3177,3397,0,0,0,0,0,0
$GC,6743,-1.32,-146.0,637.4,-10.0,275,6748,0.10,2.70,0.00,0.000,6,0.119,0.048,3095,1587,3397,0,0,0,0,0,0
$GC,7005,-1.32,-146.0,659.8,-8.4,282,7009,0.00,2.53,0.00,0.000,4,0.000,0.082,3095,164,3395,0,0,0,0,0,0
$GC,7030,-1.32,-146.0,662.3,-9.4,282,7034,0.00,2.35,0.00,0.000,6,0.000,0.038,3095,1589,3395,0,0,0,0,0,0
$GC,7289,-1.32,-146.0,684.5,-8.7,289,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1590,3394,0,0,0,0,0,0
$GC,7534,-1.32,-146.0,706.1,-8.9,295,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1590,3392,0,0,0,0,0,0
$GC,7777,-1.32,-146.0,728.1,-9.1,301,7781,0.00,2.50,0.00,0.000,4,0.000,0.077,3095,169,3391,0,0,0,0,0,0
$GC,7800,-1.32,-146.0,730.5,-11.0,301,7804,0.00,2.30,0.00,0.000,6,0.000,0.038,3095,1579,3391,0,0,0,0,0,0
$GC,8059,-1.32,-146.0,754.5,-9.4,308,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1579,3390,0,0,0,0,0,0
$GC,8305,-1.32,-146.0,777.3,-9.4,314,8309,0.00,2.50,0.00,0.000,4,0.000,0.078,3095,170,3389,0,0,0,0,0,0
$GC,8328,-1.32,-146.0,779.9,-11.0,314,8332,0.00,2.33,0.00,0.000,6,0.000,0.038,3095,1578,3389,0,0,0,0,0,0
$GC,8591,-1.32,-146.0,804.5,-9.1,321,8596,0.00,2.50,0.00,0.000,4,0.000,0.078,3095,170,3388,0,0,0,0,0,0
$GC,8611,-1.32,-146.0,806.5,-10.1,321,8615,0.00,2.30,0.00,0.000,6,0.000,0.038,3095,1575,3388,0,0,0,0,0,0
$GC,8877,-1.32,-146.0,830.5,-9.0,328,8878,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1576,3387,0,0,0,0,0,0
$GC,9119,-1.32,-146.0,851.6,-8.6,334,9123,0.00,2.72,0.00,0.000,4,0.000,0.055,3095,3178,3387,0,0,0,0,0,0
$GC,9134,-1.32,-146.0,853.0,-8.5,334,9138,0.00,2.75,0.00,0.000,6,0.000,0.051,3095,1568,3386,0,0,0,0,0,0
$GC,9404,-1.32,-146.0,876.2,-8.5,341,9408,0.00,2.50,0.00,0.000,4,0.000,0.084,3095,162,3385,0,0,0,0,0,0
$GC,9428,-1.32,-146.0,878.4,-9.6,341,9432,0.00,2.33,0.00,0.000,6,0.000,0.037,3095,1581,3385,0,0,0,0,0,0
$GC,9691,-1.32,-146.0,899.1,-7.7,348,9692,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1582,3384,0,0,0,0,0,0
$STATE,9729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9729,begin apogee
$GC,9737,-0.31,0.0,902.2,7.7,349,9859,0.98,0.00,118.95,1.173,6,0.077,0.000,3317,1336,2820,0,0,0,0,0,0
$STATE,9860,end apogee,CONTROL_FINISHED_OK
$STATE,9860,begin climb
$GC,9863,1.27,146.0,905.4,0.0,352,10002,1.42,2.12,129.20,1.147,4,0.034,0.081,3663,175,2222,0,0,0,0,0,0
$GC,10155,0.98,146.0,875.4,17.1,358,10160,0.32,1.95,0.00,0.000,6,0.118,0.033,3599,1350,2217,0,0,0,0,0,0
$GC,10412,0.89,146.0,845.6,11.4,365,10416,0.00,2.12,0.00,0.000,4,0.000,0.076,3598,173,2212,0,0,0,0,0,0
$GC,10455,0.74,146.0,840.0,12.7,366,10460,0.25,1.92,0.00,0.000,6,0.110,0.035,3548,1336,2212,0,0,0,0,0,0
$GC,10743,0.76,162.6,812.9,9.2,373,10763,0.00,2.83,13.98,1.007,4,0.000,0.057,3548,2923,2156,0,0,0,0,0,0
$GC,10783,0.83,187.9,809.1,8.8,373,10815,0.00,2.75,24.58,1.051,6,0.000,0.052,3547,1349,2053,0,0,0,0,0,0
$GC,11077,0.83,187.9,779.3,10.3,381,11081,0.00,2.15,0.00,0.000,4,0.000,0.088,3547,166,2048,0,0,0,0,0,0
$GC,11100,0.83,187.9,776.3,12.0,381,11104,0.00,1.95,0.00,0.000,6,0.000,0.034,3547,1347,2048,0,0,0,0,0,0
$GC,11363,0.83,187.9,749.6,10.2,388,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1347,2046,0,0,0,0,0,0
$GC,11608,0.85,203.1,726.2,9.3,394,11625,0.10,0.00,14.38,0.973,6,0.081,0.000,3584,1348,1991,0,0,0,0,0,0
$GC,11850,0.85,203.1,699.2,11.2,400,11851,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1349,1988,0,0,0,0,0,0
$GC,12094,0.85,203.1,673.1,10.6,406,12095,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1350,1988,0,0,0,0,0,0
$GC,12338,0.85,203.1,646.6,11.2,412,12342,0.00,2.67,0.00,0.000,4,0.000,0.051,3584,2921,1987,0,0,0,0,0,0
$GC,12395,0.87,217.0,640.5,9.4,413,12415,0.00,2.72,13.73,0.924,6,0.000,0.051,3584,1333,1934,0,0,0,0,0,0
$GC,12670,0.87,217.0,609.3,11.3,420,12675,0.00,2.70,0.00,0.000,4,0.000,0.044,3584,2927,1932,0,0,0,0,0,0
$GC,12689,0.87,217.0,607.0,10.9,420,12693,0.00,2.72,0.00,0.000,6,0.000,0.051,3584,1344,1931,0,0,0,0,0,0
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$STATE,17926,end climb,SURFACE_DEPTH_REACHED
$STATE,17926,begin surface coast
$FINISH,0.8,1.023447
$STATE,17960,end surface coast,CONTROL_FINISHED_OK
$STATE,17960,begin surface
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$TCM_TEMP,22.00
$XPDR_PINGS,19
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$10V_AH,9.8,5.814
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.125,206.975,409.925,38.900,0.000,62.033,83.699,276.403,4.750,0.000,17.947,1488.706,13474.242,538.056,2289.577,868.629,33.369,1597.940,0.000,2286.693,0.000,0.536,0.000
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$MEM,355516
$DATA_FILE_SIZE,50963,669
$CAP_FILE_SIZE,179572,0
$CFSIZE,260165632,168783872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310513,145235,2239.142,-15739.014,65,1.5,76,10.1