version: 66.06
glider: 148
mission: 12
dive: 125
start: 6 17 113 9 27 3
data:
$ID,148
$MISSION,12
$DIVE,125
$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,380
$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,-1018574.8
$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,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,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,107
$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
$GPS1,091623,2259.249,-15741.916,43,1.6,60,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-77.6
$GPS2,092606,2259.336,-15741.945,12,1.4,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.116,-0.232
$KALMAN_X,-132176.0,184.3,56.9,162872.9,-1216.0
$KALMAN_Y,50732.1,-172.4,-343.7,-23647.5,1374.9
$MHEAD_RNG_PITCHd_Wd,196.5,53914,-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,-67.70,0.000,2,0.000,0.000,413,1593,3005,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.4,-5.0,9,121,13.88,2.35,-7.00,0.000,4,0.146,0.047,3101,166,3398,0,0,0,0,0,0
$GC,232,-0.99,-146.0,42.4,-19.7,27,240,0.25,2.10,0.00,0.000,6,0.085,0.017,3160,1538,3399,0,0,0,0,0,0
$GC,500,-0.90,-146.0,75.0,-11.4,52,505,0.12,2.53,0.00,0.000,4,0.110,0.021,3188,3132,3399,0,0,0,0,0,0
$GC,524,-0.90,-146.0,78.4,-11.0,53,533,0.00,2.55,0.00,0.000,6,0.000,0.026,3188,1568,3399,0,0,0,0,0,0
$GC,786,-0.90,-146.0,103.2,-9.6,78,787,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1568,3400,0,0,0,0,0,0
$GC,1041,-0.90,-146.0,128.8,-9.9,102,1045,0.00,2.45,0.00,0.000,4,0.000,0.021,3188,3136,3400,0,0,0,0,0,0
$GC,1068,-0.90,-146.0,131.4,-9.7,104,1073,0.00,2.53,0.00,0.000,6,0.000,0.027,3188,1569,3400,0,0,0,0,0,0
$GC,1334,-0.90,-146.0,154.2,-8.8,128,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1569,3400,0,0,0,0,0,0
$GC,1596,-0.90,-146.0,176.8,-8.6,153,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1568,3400,0,0,0,0,0,0
$GC,1852,-0.90,-146.0,198.5,-8.4,177,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1569,3400,0,0,0,0,0,0
$GC,2116,-0.95,-146.0,218.3,-7.3,185,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1569,3400,0,0,0,0,0,0
$GC,2360,-1.00,-146.0,235.2,-6.9,191,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1569,3400,0,0,0,0,0,0
$GC,2603,-1.07,-146.0,256.1,-8.6,197,2605,0.15,0.00,0.00,0.000,6,0.055,0.000,3121,1569,3400,0,0,0,0,0,0
$GC,2848,-0.99,-146.0,283.8,-11.4,203,2850,0.20,0.00,0.00,0.000,6,0.089,0.000,3167,1568,3400,0,0,0,0,0,0
$GC,3091,-1.04,-146.0,299.6,-6.1,209,3095,0.00,2.47,0.00,0.000,4,0.000,0.025,3167,3122,3400,0,0,0,0,0,0
$GC,3124,-1.15,-146.0,302.0,-7.1,209,3129,0.15,2.50,0.00,0.000,6,0.053,0.031,3096,1578,3400,0,0,0,0,0,0
$GC,3376,-1.05,-146.0,330.2,-11.8,215,3381,0.25,2.47,0.00,0.000,4,0.086,0.027,3156,3119,3399,0,0,0,0,0,0
$GC,3391,-1.00,-146.0,332.1,-11.5,215,3395,0.00,2.50,0.00,0.000,6,0.000,0.033,3156,1578,3399,0,0,0,0,0,0
$GC,3662,-1.05,-146.0,351.4,-7.1,222,3666,0.00,2.38,0.00,0.000,4,0.000,0.057,3156,167,3398,0,0,0,0,0,0
$GC,3718,-1.13,-146.0,356.3,-8.3,223,3722,0.00,2.17,0.00,0.000,6,0.000,0.021,3156,1562,3398,0,0,0,0,0,0
$GC,3991,-1.18,-146.0,377.3,-7.7,230,3993,0.12,0.00,0.00,0.000,6,0.065,0.000,3099,1565,3396,0,0,0,0,0,0
$GC,4236,-1.12,-146.0,402.0,-10.4,236,4241,0.17,2.58,0.00,0.000,4,0.092,0.036,3140,3135,3395,0,0,0,0,0,0
$GC,4289,-1.22,-146.0,407.2,-9.0,237,4294,0.00,2.60,0.00,0.000,6,0.000,0.040,3140,1564,3395,0,0,0,0,0,0
$GC,4569,-1.22,-146.0,432.0,-8.8,244,4573,0.00,2.38,0.00,0.000,4,0.000,0.065,3141,164,3392,0,0,0,0,0,0
$GC,4599,-1.22,-146.0,434.7,-8.8,244,4603,0.00,2.22,0.00,0.000,6,0.000,0.025,3141,1572,3392,0,0,0,0,0,0
$GC,4853,-1.22,-146.0,454.4,-7.5,251,4857,0.00,2.55,0.00,0.000,4,0.000,0.037,3141,3141,3391,0,0,0,0,0,0
$GC,4883,-1.30,-146.0,456.5,-7.6,251,4889,0.17,2.60,0.00,0.000,6,0.048,0.038,3061,1566,3390,0,0,0,0,0,0
$GC,5139,-1.17,-146.0,485.4,-11.7,258,5144,0.28,2.40,0.00,0.000,4,0.089,0.068,3127,165,3388,0,0,0,0,0,0
$GC,5191,-1.17,-146.0,490.4,-8.7,259,5196,0.00,2.22,0.00,0.000,6,0.000,0.028,3127,1569,3388,0,0,0,0,0,0
$GC,5471,-1.17,-146.0,511.1,-7.5,266,5475,0.00,2.42,0.00,0.000,4,0.000,0.067,3127,165,3386,0,0,0,0,0,0
$GC,5503,-1.17,-146.0,514.1,-8.4,266,5508,0.00,2.22,0.00,0.000,6,0.000,0.030,3127,1560,3386,0,0,0,0,0,0
$GC,5753,-1.17,-146.0,534.2,-8.0,272,5758,0.00,2.62,0.00,0.000,4,0.000,0.044,3127,3152,3384,0,0,0,0,0,0
$GC,5799,-1.26,-146.0,537.5,-7.4,273,5803,0.00,2.62,0.00,0.000,6,0.000,0.042,3127,1572,3384,0,0,0,0,0,0
$GC,6086,-1.26,-146.0,558.6,-7.3,280,6090,0.00,2.45,0.00,0.000,4,0.000,0.075,3127,167,3382,0,0,0,0,0,0
$GC,6125,-1.26,-146.0,561.7,-8.2,280,6130,0.00,2.28,0.00,0.000,6,0.000,0.031,3127,1576,3382,0,0,0,0,0,0
$GC,6375,-1.26,-146.0,579.6,-7.1,287,6379,0.00,2.60,0.00,0.000,4,0.000,0.044,3128,3156,3381,0,0,0,0,0,0
$GC,6389,-1.26,-146.0,580.6,-6.7,287,6394,0.00,2.65,0.00,0.000,6,0.000,0.042,3127,1574,3380,0,0,0,0,0,0
$GC,6660,-1.26,-146.0,599.1,-6.9,294,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1574,3378,0,0,0,0,0,0
$GC,6902,-1.26,-146.0,616.6,-7.2,300,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1573,3377,0,0,0,0,0,0
$GC,7146,-1.26,-146.0,635.3,-7.7,306,7150,0.00,2.67,0.00,0.000,4,0.000,0.046,3127,3159,3376,0,0,0,0,0,0
$GC,7160,-1.26,-146.0,636.6,-7.9,306,7165,0.00,2.67,0.00,0.000,6,0.000,0.045,3127,1566,3376,0,0,0,0,0,0
$GC,7431,-1.26,-146.0,658.0,-8.2,313,7435,0.00,2.47,0.00,0.000,4,0.000,0.081,3127,164,3375,0,0,0,0,0,0
$GC,7454,-1.26,-146.0,660.3,-9.5,313,7458,0.00,2.28,0.00,0.000,6,0.000,0.031,3127,1572,3374,0,0,0,0,0,0
$GC,7719,-1.26,-146.0,680.7,-7.4,320,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1572,3373,0,0,0,0,0,0
$GC,7965,-1.26,-146.0,696.2,-6.1,326,7969,0.00,2.65,0.00,0.000,4,0.000,0.050,3127,3155,3372,0,0,0,0,0,0
$GC,7989,-1.32,-146.0,697.8,-6.5,326,7994,0.12,2.67,0.00,0.000,6,0.063,0.048,3066,1577,3372,0,0,0,0,0,0
$GC,8250,-1.23,-146.0,718.8,-8.3,333,8255,0.22,2.47,0.00,0.000,4,0.092,0.078,3116,172,3370,0,0,0,0,0,0
$GC,8290,-1.23,-146.0,721.9,-7.3,333,8295,0.00,2.28,0.00,0.000,6,0.000,0.033,3116,1570,3370,0,0,0,0,0,0
$GC,8540,-1.23,-146.0,738.7,-6.8,340,8544,0.00,2.67,0.00,0.000,4,0.000,0.050,3116,3154,3370,0,0,0,0,0,0
$GC,8554,-1.23,-146.0,739.8,-7.2,340,8559,0.00,2.67,0.00,0.000,6,0.000,0.046,3116,1574,3370,0,0,0,0,0,0
$GC,8825,-1.23,-146.0,760.4,-8.0,347,8829,0.00,2.47,0.00,0.000,4,0.000,0.081,3116,171,3369,0,0,0,0,0,0
$GC,8853,-1.23,-146.0,763.1,-8.9,347,8857,0.00,2.28,0.00,0.000,6,0.000,0.033,3117,1571,3368,0,0,0,0,0,0
$GC,9107,-1.23,-146.0,785.4,-8.8,354,9112,0.00,2.65,0.00,0.000,4,0.000,0.051,3116,3155,3367,0,0,0,0,0,0
$GC,9128,-1.23,-146.0,787.1,-9.8,354,9133,0.00,2.67,0.00,0.000,6,0.000,0.048,3117,1566,3367,0,0,0,0,0,0
$GC,9392,-1.23,-146.0,810.2,-8.6,361,9396,0.00,2.45,0.00,0.000,4,0.000,0.081,3116,165,3366,0,0,0,0,0,0
$GC,9420,-1.23,-146.0,812.9,-9.2,361,9425,0.00,2.30,0.00,0.000,6,0.000,0.034,3116,1576,3366,0,0,0,0,0,0
$GC,9677,-1.23,-146.0,833.4,-8.0,368,9681,0.00,2.47,0.00,0.000,4,0.000,0.074,3117,162,3365,0,0,0,0,0,0
$GC,9695,-1.23,-146.0,835.3,-8.8,368,9700,0.00,2.30,0.00,0.000,6,0.000,0.034,3116,1568,3365,0,0,0,0,0,0
$GC,9964,-1.23,-146.0,855.9,-7.5,375,9968,0.00,2.65,0.00,0.000,4,0.000,0.052,3116,3157,3365,0,0,0,0,0,0
$GC,9985,-1.23,-146.0,857.4,-7.1,375,9989,0.00,2.70,0.00,0.000,6,0.000,0.048,3117,1563,3365,0,0,0,0,0,0
$GC,10249,-1.23,-146.0,876.2,-7.0,382,10253,0.00,2.47,0.00,0.000,4,0.000,0.081,3116,161,3364,0,0,0,0,0,0
$GC,10268,-1.23,-146.0,877.7,-7.8,382,10272,0.00,2.30,0.00,0.000,6,0.000,0.034,3116,1575,3363,0,0,0,0,0,0
$GC,10533,-1.23,-146.0,893.6,-5.9,389,10538,0.00,2.65,0.00,0.000,4,0.000,0.052,3116,3153,3363,0,0,0,0,0,0
$GC,10548,-1.23,-146.0,894.7,-5.8,389,10552,0.00,2.70,0.00,0.000,6,0.000,0.048,3117,1561,3363,0,0,0,0,0,0
$STATE,10651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10651,begin apogee
$GC,10659,-0.31,0.0,900.8,5.9,392,10782,0.88,0.00,119.18,1.159,6,0.074,0.000,3318,1339,2800,0,0,0,0,0,0
$STATE,10782,end apogee,CONTROL_FINISHED_OK
$STATE,10783,begin climb
$GC,10785,1.27,146.0,903.2,0.0,395,10926,1.45,2.15,130.40,1.137,4,0.030,0.081,3673,173,2203,0,0,0,0,0,0
$GC,11032,0.98,146.0,879.5,16.4,401,11036,0.30,1.95,0.00,0.000,6,0.100,0.031,3599,1345,2198,0,0,0,0,0,0
$GC,11324,0.90,146.0,846.7,10.7,408,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1346,2193,0,0,0,0,0,0
$GC,11569,0.82,146.0,821.7,10.2,414,11574,0.17,2.10,0.00,0.000,4,0.107,0.072,3562,165,2191,0,0,0,0,0,0
$GC,11626,0.77,149.9,815.7,9.8,415,11630,0.00,1.95,0.00,0.000,6,0.000,0.031,3562,1342,2191,0,0,0,0,0,0
$GC,11903,0.82,188.2,792.4,8.2,422,11946,0.00,2.20,37.45,1.060,4,0.000,0.073,3562,167,2031,0,0,0,0,0,0
$GC,11977,0.82,188.2,785.5,12.2,423,11981,0.00,1.95,0.00,0.000,6,0.000,0.031,3562,1346,2030,0,0,0,0,0,0
$GC,12241,0.82,192.3,759.3,9.8,430,12250,0.00,2.72,4.03,0.652,4,0.000,0.051,3562,2938,2016,0,0,0,0,0,0
$GC,12280,0.89,192.3,755.8,10.2,430,12286,0.00,2.75,0.00,0.000,6,0.000,0.049,3562,1342,2014,0,0,0,0,0,0
$GC,12530,0.92,212.9,732.7,9.1,437,12559,0.10,2.17,20.88,0.996,4,0.082,0.084,3601,161,1931,0,0,0,0,0,0
$GC,12576,0.84,212.9,728.0,11.2,438,12581,0.15,1.95,0.00,0.000,6,0.110,0.031,3569,1343,1931,0,0,0,0,0,0
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$STATE,18973,end climb,SURFACE_DEPTH_REACHED
$STATE,18973,begin surface coast
$FINISH,0.8,1.023214
$STATE,19019,end surface coast,CONTROL_FINISHED_OK
$STATE,19019,begin surface
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$TCM_TEMP,21.90
$XPDR_PINGS,16
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$10V_AH,9.9,15.864
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.450,221.875,397.825,46.625,0.000,23.490,42.871,363.278,4.000,0.000,17.057,1598.792,14167.199,568.519,2442.198,892.020,33.401,1656.335,0.000,2435.285,0.000,0.535,0.000
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$MEM,355680
$DATA_FILE_SIZE,54151,729
$CAP_FILE_SIZE,189294,0
$CFSIZE,260165632,162988032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170613,144655,2257.562,-15743.635,38,3.1,57,10.1