version: 66.06
glider: 148
mission: 12
dive: 188
start: 7 1 113 16 17 0
data:
$ID,148
$MISSION,12
$DIVE,188
$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,-1019905.3
$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,27
$R_STBD_OVSHOOT,46
$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
$GPS1,160555,2249.490,-15754.629,28,2.2,47,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-76.6
$GPS2,161606,2249.459,-15754.728,13,1.0,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.182,-0.185
$KALMAN_X,-210674.2,96.1,-6.2,219689.9,-614.7
$KALMAN_Y,108466.9,-271.1,200.4,-100110.8,-24.2
$MHEAD_RNG_PITCHd_Wd,214.4,25425,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-67.40,0.000,2,0.000,0.000,413,1629,2962,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.2,-3.8,9,122,14.62,2.47,-7.88,0.000,4,0.169,0.054,3102,172,3398,0,0,0,0,0,0
$GC,276,-1.04,-146.0,44.6,-17.9,31,281,0.25,2.17,0.00,0.000,6,0.104,0.017,3155,1595,3400,0,0,0,0,0,0
$GC,545,-0.93,-146.0,77.4,-11.8,55,550,0.12,2.42,0.00,0.000,4,0.112,0.022,3181,3138,3400,0,0,0,0,0,0
$GC,568,-0.89,-146.0,81.0,-10.9,56,577,0.00,2.55,0.00,0.000,6,0.000,0.028,3181,1572,3400,0,0,0,0,0,0
$GC,833,-0.89,-146.0,108.0,-10.4,81,837,0.00,2.30,0.00,0.000,4,0.000,0.042,3181,161,3401,0,0,0,0,0,0
$GC,863,-0.89,-146.0,111.1,-11.2,83,867,0.00,2.15,0.00,0.000,6,0.000,0.017,3181,1584,3400,0,0,0,0,0,0
$GC,1129,-0.89,-146.0,138.3,-10.5,107,1133,0.00,2.40,0.00,0.000,4,0.000,0.021,3181,3120,3401,0,0,0,0,0,0
$GC,1171,-0.97,-146.0,143.2,-11.1,110,1180,0.00,2.55,0.00,0.000,6,0.000,0.028,3181,1566,3401,0,0,0,0,0,0
$GC,1433,-0.97,-146.0,171.2,-10.3,135,1437,0.00,2.30,0.00,0.000,4,0.000,0.043,3181,166,3401,0,0,0,0,0,0
$GC,1462,-0.97,-146.0,174.7,-11.2,137,1468,0.00,2.12,0.00,0.000,6,0.000,0.017,3181,1577,3401,0,0,0,0,0,0
$GC,1727,-0.97,-146.0,200.0,-8.3,162,1731,0.00,2.40,0.00,0.000,4,0.000,0.021,3182,3117,3401,0,0,0,0,0,0
$GC,1760,-1.07,-146.0,202.9,-7.1,162,1765,0.12,2.53,0.00,0.000,6,0.062,0.028,3127,1558,3401,0,0,0,0,0,0
$GC,2012,-0.96,-146.0,228.1,-10.5,168,2017,0.22,2.28,0.00,0.000,4,0.090,0.043,3176,168,3401,0,0,0,0,0,0
$GC,2050,-0.96,-146.0,232.0,-8.8,168,2056,0.00,2.10,0.00,0.000,6,0.000,0.018,3176,1568,3401,0,0,0,0,0,0
$GC,2301,-1.01,-146.0,252.1,-8.3,175,2305,0.00,2.30,0.00,0.000,4,0.000,0.046,3176,175,3401,0,0,0,0,0,0
$GC,2321,-1.06,-146.0,253.6,-7.8,175,2326,0.00,2.08,0.00,0.000,6,0.000,0.018,3176,1557,3401,0,0,0,0,0,0
$GC,2586,-1.11,-146.0,270.8,-6.8,182,2591,0.15,2.50,0.00,0.000,4,0.055,0.025,3101,3123,3401,0,0,0,0,0,0
$GC,2616,-1.11,-146.0,273.9,-11.3,182,2621,0.17,2.53,0.00,0.000,6,0.091,0.031,3141,1564,3401,0,0,0,0,0,0
$GC,2871,-1.11,-146.0,304.1,-12.7,189,2875,0.00,2.30,0.00,0.000,4,0.000,0.050,3141,172,3400,0,0,0,0,0,0
$GC,2927,-1.11,-146.0,311.2,-12.5,190,2931,0.00,2.12,0.00,0.000,6,0.000,0.020,3141,1538,3400,0,0,0,0,0,0
$GC,3201,-1.11,-146.0,337.4,-8.7,197,3206,0.00,2.60,0.00,0.000,4,0.000,0.030,3141,3147,3399,0,0,0,0,0,0
$GC,3239,-1.18,-146.0,340.3,-7.1,197,3245,0.00,2.60,0.00,0.000,6,0.000,0.035,3141,1561,3399,0,0,0,0,0,0
$GC,3490,-1.18,-146.0,360.3,-8.5,204,3494,0.00,2.35,0.00,0.000,4,0.000,0.058,3141,169,3398,0,0,0,0,0,0
$GC,3552,-1.18,-146.0,366.3,-9.5,205,3556,0.00,2.17,0.00,0.000,6,0.000,0.023,3141,1554,3397,0,0,0,0,0,0
$GC,3825,-1.18,-146.0,392.4,-9.7,212,3829,0.00,2.58,0.00,0.000,4,0.000,0.034,3141,3141,3396,0,0,0,0,0,0
$GC,3863,-1.28,-146.0,396.2,-9.1,212,3869,0.15,2.60,0.00,0.000,6,0.055,0.038,3090,1556,3395,0,0,0,0,0,0
$GC,4114,-1.18,-146.0,422.2,-10.4,219,4119,0.17,2.38,0.00,0.000,4,0.099,0.064,3127,171,3394,0,0,0,0,0,0
$GC,4158,-1.18,-146.0,426.6,-9.3,220,4162,0.00,2.17,0.00,0.000,6,0.000,0.025,3127,1544,3394,0,0,0,0,0,0
$GC,4447,-1.18,-146.0,449.5,-7.9,227,4451,0.00,2.62,0.00,0.000,4,0.000,0.038,3127,3153,3392,0,0,0,0,0,0
$GC,4475,-1.18,-146.0,452.0,-7.7,227,4480,0.00,2.67,0.00,0.000,6,0.000,0.038,3127,1550,3392,0,0,0,0,0,0
$GC,4730,-1.18,-146.0,474.0,-8.8,234,4734,0.00,2.38,0.00,0.000,4,0.000,0.069,3127,170,3390,0,0,0,0,0,0
$GC,4765,-1.18,-146.0,477.2,-9.8,234,4769,0.00,2.20,0.00,0.000,6,0.000,0.028,3127,1544,3390,0,0,0,0,0,0
$GC,5015,-1.18,-146.0,499.6,-8.8,240,5019,0.00,2.65,0.00,0.000,4,0.000,0.041,3127,3147,3388,0,0,0,0,0,0
$GC,5044,-1.22,-146.0,502.1,-7.9,240,5048,0.00,2.67,0.00,0.000,6,0.000,0.041,3127,1549,3387,0,0,0,0,0,0
$GC,5300,-1.22,-146.0,522.9,-8.2,247,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1549,3386,0,0,0,0,0,0
$GC,5542,-1.22,-146.0,545.0,-9.2,253,5547,0.00,2.67,0.00,0.000,4,0.000,0.043,3127,3147,3385,0,0,0,0,0,0
$GC,5557,-1.22,-146.0,546.5,-9.3,253,5562,0.00,2.67,0.00,0.000,6,0.000,0.042,3127,1553,3385,0,0,0,0,0,0
$GC,5827,-1.22,-146.0,571.8,-9.4,260,5831,0.00,2.40,0.00,0.000,4,0.000,0.076,3127,169,3383,0,0,0,0,0,0
$GC,5855,-1.22,-146.0,574.7,-9.8,260,5860,0.00,2.22,0.00,0.000,6,0.000,0.030,3127,1553,3383,0,0,0,0,0,0
$GC,6115,-1.22,-146.0,595.8,-8.0,267,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1553,3381,0,0,0,0,0,0
$GC,6360,-1.22,-146.0,615.1,-7.9,273,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1553,3380,0,0,0,0,0,0
$GC,6602,-1.22,-146.0,633.1,-7.2,279,6607,0.00,2.65,0.00,0.000,4,0.000,0.047,3127,3153,3378,0,0,0,0,0,0
$GC,6621,-1.22,-146.0,634.5,-7.8,279,6626,0.00,2.70,0.00,0.000,6,0.000,0.047,3127,1557,3378,0,0,0,0,0,0
$GC,6887,-1.22,-146.0,655.5,-8.2,286,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1557,3377,0,0,0,0,0,0
$GC,7132,-1.22,-146.0,676.9,-8.9,292,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1557,3376,0,0,0,0,0,0
$GC,7374,-1.22,-146.0,695.8,-7.5,298,7379,0.00,2.65,0.00,0.000,4,0.000,0.044,3127,3149,3375,0,0,0,0,0,0
$GC,7403,-1.29,-146.0,697.9,-6.8,298,7408,0.00,2.70,0.00,0.000,6,0.000,0.049,3127,1558,3374,0,0,0,0,0,0
$GC,7660,-1.29,-146.0,713.2,-5.8,305,7664,0.00,2.47,0.00,0.000,4,0.000,0.084,3127,165,3373,0,0,0,0,0,0
$GC,7693,-1.29,-146.0,715.5,-6.0,305,7697,0.00,2.28,0.00,0.000,6,0.000,0.034,3127,1558,3373,0,0,0,0,0,0
$GC,7943,-1.29,-146.0,729.9,-5.7,311,7947,0.00,2.67,0.00,0.000,4,0.000,0.051,3127,3154,3372,0,0,0,0,0,0
$GC,7969,-1.34,-146.0,731.4,-6.4,311,7976,0.15,2.72,0.00,0.000,6,0.056,0.048,3079,1555,3372,0,0,0,0,0,0
$GC,8231,-1.26,-146.0,752.1,-8.1,318,8236,0.15,2.47,0.00,0.000,4,0.110,0.082,3111,168,3371,0,0,0,0,0,0
$GC,8256,-1.26,-146.0,754.1,-8.7,318,8260,0.00,2.28,0.00,0.000,6,0.000,0.034,3111,1559,3371,0,0,0,0,0,0
$GC,8517,-1.26,-146.0,772.8,-7.5,325,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1559,3369,0,0,0,0,0,0
$GC,8758,-1.26,-146.0,792.2,-8.1,331,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1558,3369,0,0,0,0,0,0
$GC,9002,-1.26,-146.0,811.1,-7.7,337,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1559,3368,0,0,0,0,0,0
$GC,9247,-1.26,-146.0,828.2,-7.0,343,9252,0.00,2.70,0.00,0.000,4,0.000,0.052,3111,3154,3367,0,0,0,0,0,0
$GC,9271,-1.26,-146.0,830.1,-8.1,343,9276,0.00,2.72,0.00,0.000,6,0.000,0.049,3111,1558,3367,0,0,0,0,0,0
$GC,9531,-1.26,-146.0,847.9,-6.9,350,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1558,3366,0,0,0,0,0,0
$GC,9776,-1.26,-146.0,866.1,-7.7,356,9781,0.00,2.47,0.00,0.000,4,0.000,0.082,3111,164,3365,0,0,0,0,0,0
$GC,9800,-1.26,-146.0,868.7,-10.3,356,9804,0.00,2.30,0.00,0.000,6,0.000,0.034,3111,1569,3365,0,0,0,0,0,0
$GC,10059,-1.26,-146.0,889.7,-8.0,363,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1570,3365,0,0,0,0,0,0
$STATE,10218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10218,begin apogee
$GC,10225,-0.31,0.0,902.3,7.7,367,10348,0.90,0.00,119.80,1.160,6,0.075,0.000,3317,1338,2800,0,0,0,0,0,0
$STATE,10349,end apogee,CONTROL_FINISHED_OK
$STATE,10349,begin climb
$GC,10353,1.27,146.0,905.9,0.0,370,10489,1.45,0.00,131.57,1.137,6,0.034,0.000,3668,1338,2204,0,0,0,0,0,0
$GC,10705,1.06,146.0,873.9,13.1,379,10710,0.25,2.10,0.00,0.000,4,0.113,0.075,3612,170,2194,0,0,0,0,0,0
$GC,10773,0.89,146.0,865.6,11.6,380,10777,0.15,1.95,0.00,0.000,6,0.118,0.030,3582,1354,2194,0,0,0,0,0,0
$GC,11037,0.90,155.6,839.9,9.6,387,11050,0.00,2.12,8.05,0.910,4,0.000,0.074,3581,178,2164,0,0,0,0,0,0
$GC,11071,0.82,155.6,836.3,10.8,387,11074,0.00,1.92,0.00,0.000,6,0.000,0.030,3581,1345,2164,0,0,0,0,0,0
$GC,11329,0.82,160.4,810.7,9.8,394,11337,0.00,0.00,5.82,0.815,6,0.000,0.000,3581,1346,2146,0,0,0,0,0,0
$GC,11573,0.85,179.9,788.2,9.1,400,11598,0.00,2.78,19.27,1.018,4,0.000,0.050,3581,2939,2065,0,0,0,0,0,0
$GC,11624,0.87,193.1,783.4,9.4,401,11644,0.00,2.72,13.45,0.971,6,0.000,0.049,3581,1358,2012,0,0,0,0,0,0
$GC,11908,0.88,203.3,755.3,9.5,408,11924,0.00,2.22,10.57,0.930,4,0.000,0.085,3581,166,1971,0,0,0,0,0,0
$GC,11941,0.83,203.3,752.1,10.2,408,11944,0.00,1.95,0.00,0.000,6,0.000,0.029,3581,1351,1970,0,0,0,0,0,0
$GC,12200,0.84,209.5,726.7,9.7,415,12212,0.00,2.72,7.07,0.839,4,0.000,0.051,3582,2929,1945,0,0,0,0,0,0
$GC,12226,0.88,241.9,724.0,8.5,415,12264,0.00,2.72,32.12,1.011,6,0.000,0.048,3582,1344,1813,0,0,0,0,0,0
$GC,12528,0.88,241.9,693.1,10.4,423,12533,0.00,2.70,0.00,0.000,4,0.000,0.044,3581,2932,1808,0,0,0,0,0,0
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$STATE,18421,end climb,SURFACE_DEPTH_REACHED
$STATE,18421,begin surface coast
$FINISH,1.7,1.023278
$STATE,18437,end surface coast,CONTROL_FINISHED_OK
$STATE,18437,begin surface
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$XPDR_PINGS,6
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$10V_AH,9.9,24.146
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.650,231.775,392.600,52.575,0.000,30.823,39.739,387.680,1.500,0.000,15.031,1552.528,13686.932,601.155,2358.993,918.869,33.371,1644.252,0.000,2353.410,0.000,0.536,0.000
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$MEM,355592
$DATA_FILE_SIZE,54089,701
$CAP_FILE_SIZE,185468,0
$CFSIZE,260165632,158195712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010713,212654,2247.667,-15757.414,35,1.6,35,10.1