version: 66.06
glider: 148
mission: 12
dive: 147
start: 6 22 113 8 5 43
data:
$ID,148
$MISSION,12
$DIVE,147
$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,-1019034.3
$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,24
$R_STBD_OVSHOOT,55
$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
$GPS1,074936,2304.862,-15804.377,34,1.7,34,10.1
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.3
$GPS2,080447,2304.890,-15804.420,10,1.6,27,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.236,-0.108
$KALMAN_X,-165340.5,-165.8,309.6,157745.6,-1716.2
$KALMAN_Y,47201.8,347.1,427.8,-11125.7,-763.7
$MHEAD_RNG_PITCHd_Wd,104.5,66645,-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,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.80,0.000,2,0.000,0.000,410,1646,2972,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.2,-4.3,9,120,14.65,2.50,-7.80,0.000,4,0.168,0.054,3103,163,3399,0,0,0,0,0,0
$GC,139,-0.56,-146.0,18.5,-29.3,15,149,0.70,2.20,0.00,0.000,6,0.091,0.017,3257,1591,3400,0,0,0,0,0,0
$GC,429,-0.64,-146.0,46.7,-8.5,48,434,0.00,2.40,0.00,0.000,4,0.000,0.021,3257,3130,3399,0,0,0,0,0,0
$GC,465,-0.82,-146.0,49.6,-6.9,50,474,0.17,2.55,0.00,0.000,6,0.031,0.028,3196,1566,3400,0,0,0,0,0,0
$GC,732,-0.82,-146.0,78.4,-9.9,75,736,0.00,2.28,0.00,0.000,4,0.000,0.042,3195,171,3400,0,0,0,0,0,0
$GC,784,-0.82,-146.0,83.6,-9.4,79,788,0.00,2.12,0.00,0.000,6,0.000,0.017,3195,1582,3400,0,0,0,0,0,0
$GC,1050,-0.82,-146.0,107.0,-8.8,103,1054,0.00,2.38,0.00,0.000,4,0.000,0.021,3195,3115,3400,0,0,0,0,0,0
$GC,1081,-0.87,-146.0,109.5,-8.2,105,1085,0.00,2.47,0.00,0.000,6,0.000,0.027,3195,1565,3400,0,0,0,0,0,0
$GC,1347,-0.87,-146.0,131.5,-8.6,129,1351,0.00,2.25,0.00,0.000,4,0.000,0.051,3195,172,3401,0,0,0,0,0,0
$GC,1378,-0.87,-146.0,134.1,-9.6,131,1382,0.00,2.10,0.00,0.000,6,0.000,0.017,3195,1578,3401,0,0,0,0,0,0
$GC,1641,-0.87,-146.0,156.3,-8.3,155,1645,0.00,2.40,0.00,0.000,4,0.000,0.021,3195,3112,3401,0,0,0,0,0,0
$GC,1681,-0.99,-146.0,159.2,-7.6,158,1686,0.10,2.50,0.00,0.000,6,0.081,0.028,3158,1561,3401,0,0,0,0,0,0
$GC,1946,-0.93,-146.0,186.1,-10.5,182,1950,0.10,2.28,0.00,0.000,4,0.124,0.043,3180,168,3401,0,0,0,0,0,0
$GC,1974,-0.93,-146.0,189.4,-11.1,184,1978,0.00,2.10,0.00,0.000,6,0.000,0.017,3180,1567,3401,0,0,0,0,0,0
$GC,2251,-0.93,-146.0,215.9,-9.3,198,2255,0.00,2.40,0.00,0.000,4,0.000,0.022,3180,3114,3401,0,0,0,0,0,0
$GC,2270,-0.93,-146.0,218.0,-10.0,198,2274,0.00,2.50,0.00,0.000,6,0.000,0.026,3180,1565,3401,0,0,0,0,0,0
$GC,2533,-0.93,-146.0,240.6,-8.4,205,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1565,3401,0,0,0,0,0,0
$GC,2779,-0.99,-146.0,259.7,-7.6,211,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1565,3400,0,0,0,0,0,0
$GC,3021,-1.05,-146.0,278.9,-7.7,217,3026,0.10,2.45,0.00,0.000,4,0.076,0.024,3116,3112,3400,0,0,0,0,0,0
$GC,3073,-1.05,-146.0,284.3,-10.3,218,3078,0.17,2.47,0.00,0.000,6,0.092,0.030,3155,1576,3400,0,0,0,0,0,0
$GC,3354,-1.05,-146.0,307.8,-8.1,225,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1576,3399,0,0,0,0,0,0
$GC,3596,-1.05,-146.0,327.8,-8.0,231,3600,0.00,2.47,0.00,0.000,4,0.000,0.030,3154,3108,3399,0,0,0,0,0,0
$GC,3620,-1.11,-146.0,329.8,-8.8,231,3624,0.00,2.53,0.00,0.000,6,0.000,0.034,3155,1573,3399,0,0,0,0,0,0
$GC,3881,-1.11,-146.0,349.3,-7.6,238,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1573,3397,0,0,0,0,0,0
$GC,4123,-1.11,-146.0,366.3,-6.9,244,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1573,3395,0,0,0,0,0,0
$GC,4367,-1.16,-146.0,383.1,-7.0,250,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1572,3394,0,0,0,0,0,0
$GC,4612,-1.21,-146.0,401.6,-7.8,256,4617,0.15,2.53,0.00,0.000,4,0.056,0.036,3092,3100,3392,0,0,0,0,0,0
$GC,4628,-1.21,-146.0,403.3,-8.0,256,4633,0.12,2.53,0.00,0.000,6,0.105,0.035,3120,1574,3392,0,0,0,0,0,0
$GC,4897,-1.21,-146.0,428.4,-9.2,263,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1574,3390,0,0,0,0,0,0
$GC,5142,-1.21,-146.0,450.6,-9.1,269,5146,0.00,2.38,0.00,0.000,4,0.000,0.067,3120,173,3388,0,0,0,0,0,0
$GC,5175,-1.21,-146.0,454.1,-10.1,269,5179,0.00,2.15,0.00,0.000,6,0.000,0.027,3120,1535,3388,0,0,0,0,0,0
$GC,5425,-1.21,-146.0,477.0,-9.1,275,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1535,3386,0,0,0,0,0,0
$GC,5670,-1.21,-146.0,498.3,-8.4,281,5674,0.00,2.67,0.00,0.000,4,0.000,0.044,3120,3145,3384,0,0,0,0,0,0
$GC,5685,-1.21,-146.0,499.6,-8.3,281,5689,0.00,2.58,0.00,0.000,6,0.000,0.037,3120,1583,3384,0,0,0,0,0,0
$GC,5953,-1.21,-146.0,522.7,-8.6,288,5958,0.00,2.45,0.00,0.000,4,0.000,0.073,3120,171,3383,0,0,0,0,0,0
$GC,5983,-1.21,-146.0,525.4,-9.7,288,5987,0.00,2.28,0.00,0.000,6,0.000,0.031,3120,1577,3382,0,0,0,0,0,0
$GC,6238,-1.21,-146.0,547.9,-8.8,295,6242,0.00,2.62,0.00,0.000,4,0.000,0.044,3120,3157,3381,0,0,0,0,0,0
$GC,6257,-1.21,-146.0,549.8,-9.1,295,6261,0.00,2.65,0.00,0.000,6,0.000,0.041,3119,1578,3380,0,0,0,0,0,0
$GC,6522,-1.21,-146.0,573.1,-8.8,302,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1578,3379,0,0,0,0,0,0
$GC,6765,-1.21,-146.0,593.4,-8.2,308,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1578,3377,0,0,0,0,0,0
$GC,7009,-1.21,-146.0,613.5,-8.3,314,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1578,3376,0,0,0,0,0,0
$GC,7252,-1.21,-146.0,634.8,-8.7,320,7256,0.00,2.47,0.00,0.000,4,0.000,0.080,3120,172,3375,0,0,0,0,0,0
$GC,7277,-1.21,-146.0,637.2,-11.1,320,7281,0.00,2.30,0.00,0.000,6,0.000,0.033,3120,1582,3374,0,0,0,0,0,0
$GC,7538,-1.21,-146.0,659.1,-8.3,327,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1583,3373,0,0,0,0,0,0
$GC,7782,-1.21,-146.0,678.1,-7.7,333,7786,0.00,2.45,0.00,0.000,4,0.000,0.072,3120,172,3372,0,0,0,0,0,0
$GC,7807,-1.21,-146.0,680.2,-9.6,333,7811,0.00,2.30,0.00,0.000,6,0.000,0.033,3120,1580,3371,0,0,0,0,0,0
$GC,8066,-1.21,-146.0,700.2,-7.5,340,8070,0.00,2.47,0.00,0.000,4,0.000,0.073,3120,169,3370,0,0,0,0,0,0
$GC,8085,-1.21,-146.0,701.9,-8.6,340,8089,0.00,2.28,0.00,0.000,6,0.000,0.032,3120,1577,3370,0,0,0,0,0,0
$GC,8350,-1.21,-146.0,720.9,-7.1,347,8351,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1577,3369,0,0,0,0,0,0
$GC,8593,-1.21,-146.0,736.5,-6.3,353,8594,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1577,3368,0,0,0,0,0,0
$GC,8836,-1.21,-146.0,751.4,-6.1,359,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1577,3367,0,0,0,0,0,0
$GC,9080,-1.21,-146.0,766.7,-6.4,365,9084,0.00,2.45,0.00,0.000,4,0.000,0.074,3120,172,3366,0,0,0,0,0,0
$GC,9105,-1.21,-146.0,768.2,-7.3,365,9109,0.00,2.30,0.00,0.000,6,0.000,0.034,3120,1579,3365,0,0,0,0,0,0
$GC,9364,-1.21,-146.0,786.5,-7.1,372,9365,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1579,3365,0,0,0,0,0,0
$GC,9608,-1.21,-146.0,803.7,-7.1,378,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1579,3364,0,0,0,0,0,0
$GC,9853,-1.21,-146.0,821.0,-7.2,384,9858,0.00,2.45,0.00,0.000,4,0.000,0.074,3120,172,3363,0,0,0,0,0,0
$GC,9882,-1.21,-146.0,823.3,-7.5,384,9886,0.00,2.30,0.00,0.000,6,0.000,0.035,3120,1573,3363,0,0,0,0,0,0
$GC,10136,-1.21,-146.0,841.2,-6.9,391,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1573,3362,0,0,0,0,0,0
$GC,10380,-1.21,-146.0,857.9,-6.8,397,10381,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1573,3362,0,0,0,0,0,0
$GC,10625,-1.21,-146.0,874.1,-6.6,403,10626,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1573,3361,0,0,0,0,0,0
$GC,10868,-1.25,-146.0,889.7,-6.4,409,10869,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1573,3361,0,0,0,0,0,0
$STATE,11027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11027,begin apogee
$GC,11034,-0.31,0.0,900.3,6.5,413,11156,0.85,0.00,118.55,1.160,6,0.073,0.000,3315,1342,2800,0,0,0,0,0,0
$STATE,11156,end apogee,CONTROL_FINISHED_OK
$STATE,11156,begin climb
$GC,11160,1.27,146.0,903.2,0.0,416,11299,1.42,2.17,129.60,1.136,4,0.032,0.077,3666,175,2203,0,0,0,0,0,0
$GC,11422,0.99,146.0,878.0,16.9,422,11426,0.30,1.95,0.00,0.000,6,0.111,0.031,3604,1354,2199,0,0,0,0,0,0
$GC,11709,0.90,146.0,843.8,11.5,429,11713,0.00,2.10,0.00,0.000,4,0.000,0.072,3603,176,2193,0,0,0,0,0,0
$GC,11762,0.75,146.0,837.0,13.1,430,11766,0.17,1.95,0.00,0.000,6,0.081,0.031,3552,1344,2193,0,0,0,0,0,0
$GC,12049,0.78,168.4,810.2,9.0,437,12071,0.00,0.00,20.05,1.029,6,0.000,0.000,3552,1345,2113,0,0,0,0,0,0
$GC,12294,0.78,169.8,786.2,9.9,443,12295,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1346,2108,0,0,0,0,0,0
$GC,12536,0.79,178.2,762.6,9.6,449,12548,0.00,0.00,9.68,0.922,6,0.000,0.000,3552,1346,2073,0,0,0,0,0,0
$GC,12780,0.82,195.6,739.7,9.2,455,12804,0.00,2.10,16.95,0.983,4,0.000,0.071,3552,176,2003,0,0,0,0,0,0
$GC,12837,0.82,202.9,734.1,9.7,456,12852,0.00,1.92,8.88,0.887,6,0.000,0.029,3552,1344,1971,0,0,0,0,0,0
$GC,13114,0.89,214.4,708.0,9.5,463,13132,0.12,2.75,11.85,0.923,4,0.068,0.052,3597,2930,1924,0,0,0,0,0,0
$GC,13162,0.89,214.4,702.5,10.7,464,13167,0.00,2.72,0.00,0.000,6,0.000,0.048,3597,1354,1921,0,0,0,0,0,0
$GC,13445,0.89,214.4,667.8,12.4,471,13449,0.00,2.12,0.00,0.000,4,0.000,0.084,3597,166,1921,0,0,0,0,0,0
$GC,13482,0.82,214.4,662.6,13.9,471,13488,0.15,1.92,0.00,0.000,6,0.107,0.029,3565,1345,1921,0,0,0,0,0,0
$GC,13733,0.82,214.4,635.4,10.8,478,13734,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1346,1920,0,0,0,0,0,0
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$STATE,19206,end climb,SURFACE_DEPTH_REACHED
$STATE,19206,begin surface coast
$FINISH,0.8,1.001242
$STATE,19236,end surface coast,CONTROL_FINISHED_OK
$STATE,19236,begin surface
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$XPDR_PINGS,20
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$10V_AH,9.9,18.741
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,57409,737
$CAP_FILE_SIZE,179941,0
$CFSIZE,260165632,161333248
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$GPS,220613,132926,2303.445,-15802.257,53,3.6,72,10.1