version: 66.06
glider: 148
mission: 12
dive: 214
start: 7 7 113 12 59 1
data:
$ID,148
$MISSION,12
$DIVE,214
$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,-1020378.9
$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,48
$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
$GPS1,125056,2302.178,-15731.054,29,99.0,48,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-79.1
$GPS2,125807,2302.164,-15731.129,12,1.1,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOEmid
$TGT_LATLONG,2249.500,-15724.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.137,-0.221
$KALMAN_X,-237718.4,-145.3,312.0,286956.1,-889.0
$KALMAN_Y,146191.0,223.7,-170.0,-114434.6,941.2
$MHEAD_RNG_PITCHd_Wd,138.1,26423,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.05,0.000,2,0.000,0.000,411,1622,2927,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-3.7,9,121,14.07,2.45,-8.62,0.000,4,0.152,0.054,3102,168,3397,0,0,0,0,0,0
$GC,212,-0.95,-146.0,34.3,-21.1,26,217,0.35,2.17,0.00,0.000,6,0.097,0.017,3176,1598,3398,0,0,0,0,0,0
$GC,481,-0.85,-146.0,70.9,-11.2,50,490,0.10,0.00,0.00,0.000,6,0.123,0.000,3198,1601,3399,0,0,0,0,0,0
$GC,746,-0.85,-146.0,95.2,-8.5,75,750,0.00,2.35,0.00,0.000,4,0.000,0.044,3197,168,3399,0,0,0,0,0,0
$GC,800,-0.85,-146.0,99.4,-8.0,79,804,0.00,2.10,0.00,0.000,6,0.000,0.017,3198,1585,3399,0,0,0,0,0,0
$GC,1066,-0.85,-146.0,122.6,-9.1,103,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1587,3400,0,0,0,0,0,0
$GC,1329,-0.85,-146.0,147.8,-9.2,128,1333,0.00,2.33,0.00,0.000,4,0.000,0.043,3197,164,3400,0,0,0,0,0,0
$GC,1360,-0.85,-146.0,151.0,-10.0,130,1366,0.00,2.10,0.00,0.000,6,0.000,0.017,3198,1563,3400,0,0,0,0,0,0
$GC,1625,-0.85,-146.0,175.3,-9.2,155,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1566,3401,0,0,0,0,0,0
$GC,1886,-0.85,-146.0,199.4,-8.3,180,1890,0.00,2.30,0.00,0.000,4,0.000,0.044,3198,161,3400,0,0,0,0,0,0
$GC,1902,-0.85,-146.0,200.8,-8.1,180,1906,0.00,2.08,0.00,0.000,6,0.000,0.018,3197,1576,3400,0,0,0,0,0,0
$GC,2176,-0.90,-146.0,220.1,-6.7,187,2181,0.00,2.38,0.00,0.000,4,0.000,0.021,3197,3099,3400,0,0,0,0,0,0
$GC,2191,-0.96,-146.0,221.7,-7.2,187,2196,0.10,2.50,0.00,0.000,6,0.072,0.027,3126,1544,3400,0,0,0,0,0,0
$GC,2462,-0.85,-146.0,252.1,-11.4,194,2467,0.32,2.25,0.00,0.000,4,0.081,0.043,3198,166,3400,0,0,0,0,0,0
$GC,2510,-0.97,-146.0,256.2,-7.2,195,2515,0.12,2.05,0.00,0.000,6,0.061,0.018,3130,1547,3400,0,0,0,0,0,0
$GC,2799,-0.90,-146.0,283.3,-10.3,202,2804,0.25,2.45,0.00,0.000,4,0.081,0.030,3191,3108,3400,0,0,0,0,0,0
$GC,2833,-1.03,-146.0,287.0,-7.5,202,2838,0.12,2.53,0.00,0.000,6,0.061,0.031,3114,1554,3400,0,0,0,0,0,0
$GC,3087,-0.94,-146.0,312.0,-10.2,208,3089,0.30,0.00,0.00,0.000,6,0.079,0.000,3180,1555,3400,0,0,0,0,0,0
$GC,3333,-1.01,-146.0,329.1,-7.2,214,3337,0.00,2.33,0.00,0.000,4,0.000,0.054,3180,168,3399,0,0,0,0,0,0
$GC,3348,-1.09,-146.0,330.9,-7.7,214,3352,0.15,2.08,0.00,0.000,6,0.054,0.020,3108,1531,3399,0,0,0,0,0,0
$GC,3617,-1.01,-146.0,360.6,-11.2,221,3619,0.25,0.00,0.00,0.000,6,0.082,0.000,3165,1533,3398,0,0,0,0,0,0
$GC,3862,-1.06,-146.0,380.2,-7.7,227,3867,0.00,2.55,0.00,0.000,4,0.000,0.031,3165,3125,3396,0,0,0,0,0,0
$GC,3891,-1.17,-146.0,382.3,-6.3,227,3896,0.15,2.60,0.00,0.000,6,0.053,0.037,3094,1551,3396,0,0,0,0,0,0
$GC,4149,-1.05,-146.0,406.9,-10.0,234,4154,0.25,2.38,0.00,0.000,4,0.086,0.061,3154,161,3394,0,0,0,0,0,0
$GC,4169,-1.00,-146.0,409.1,-9.7,234,4173,0.00,2.15,0.00,0.000,6,0.000,0.022,3154,1547,3394,0,0,0,0,0,0
$GC,4441,-1.00,-146.0,427.4,-6.8,241,4446,0.00,2.58,0.00,0.000,4,0.000,0.035,3154,3147,3392,0,0,0,0,0,0
$GC,4462,-1.06,-146.0,429.1,-7.6,241,4467,0.00,2.65,0.00,0.000,6,0.000,0.038,3154,1547,3392,0,0,0,0,0,0
$GC,4726,-1.06,-146.0,449.0,-7.7,248,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1547,3390,0,0,0,0,0,0
$GC,4970,-1.06,-146.0,468.8,-8.1,254,4974,0.00,2.38,0.00,0.000,4,0.000,0.069,3154,171,3388,0,0,0,0,0,0
$GC,4996,-1.06,-146.0,470.8,-8.5,254,5000,0.00,2.15,0.00,0.000,6,0.000,0.026,3154,1546,3388,0,0,0,0,0,0
$GC,5255,-1.10,-146.0,490.7,-7.5,261,5260,0.00,2.60,0.00,0.000,4,0.000,0.040,3154,3145,3387,0,0,0,0,0,0
$GC,5275,-1.17,-146.0,492.2,-7.5,261,5280,0.10,2.65,0.00,0.000,6,0.077,0.039,3099,1554,3387,0,0,0,0,0,0
$GC,5546,-1.10,-146.0,518.9,-10.3,268,5551,0.20,2.42,0.00,0.000,4,0.091,0.073,3145,167,3385,0,0,0,0,0,0
$GC,5579,-1.10,-146.0,522.9,-10.1,268,5583,0.00,2.20,0.00,0.000,6,0.000,0.028,3145,1555,3384,0,0,0,0,0,0
$GC,5834,-1.10,-146.0,543.0,-7.8,274,5838,0.00,2.42,0.00,0.000,4,0.000,0.070,3145,164,3383,0,0,0,0,0,0
$GC,5850,-1.10,-146.0,544.6,-7.6,274,5854,0.00,2.22,0.00,0.000,6,0.000,0.028,3144,1552,3383,0,0,0,0,0,0
$GC,6118,-1.10,-146.0,564.1,-7.2,281,6122,0.00,2.62,0.00,0.000,4,0.000,0.043,3144,3146,3381,0,0,0,0,0,0
$GC,6142,-1.16,-146.0,565.9,-7.4,281,6147,0.00,2.67,0.00,0.000,6,0.000,0.044,3145,1556,3381,0,0,0,0,0,0
$GC,6403,-1.16,-146.0,581.9,-6.0,288,6408,0.00,2.42,0.00,0.000,4,0.000,0.075,3145,167,3379,0,0,0,0,0,0
$GC,6422,-1.16,-146.0,583.1,-5.7,288,6426,0.00,2.22,0.00,0.000,6,0.000,0.029,3145,1554,3379,0,0,0,0,0,0
$GC,6694,-1.16,-146.0,597.9,-5.5,295,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1554,3378,0,0,0,0,0,0
$GC,6940,-1.16,-146.0,612.1,-6.0,301,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1555,3376,0,0,0,0,0,0
$GC,7184,-1.16,-146.0,627.6,-6.4,307,7188,0.00,2.42,0.00,0.000,4,0.000,0.074,3144,169,3375,0,0,0,0,0,0
$GC,7199,-1.16,-146.0,629.2,-6.6,307,7203,0.00,2.22,0.00,0.000,6,0.000,0.031,3145,1552,3375,0,0,0,0,0,0
$GC,7474,-1.21,-146.0,648.0,-7.0,314,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1552,3374,0,0,0,0,0,0
$GC,7717,-1.26,-146.0,666.1,-7.4,320,7718,0.15,0.00,0.00,0.000,6,0.058,0.000,3086,1552,3373,0,0,0,0,0,0
$GC,7960,-1.18,-146.0,691.0,-10.4,326,7962,0.17,0.00,0.00,0.000,6,0.095,0.000,3126,1552,3371,0,0,0,0,0,0
$GC,8203,-1.18,-146.0,711.5,-8.2,332,8208,0.00,2.45,0.00,0.000,4,0.000,0.076,3126,164,3370,0,0,0,0,0,0
$GC,8224,-1.18,-146.0,713.3,-9.7,332,8229,0.00,2.25,0.00,0.000,6,0.000,0.033,3126,1549,3370,0,0,0,0,0,0
$GC,8488,-1.18,-146.0,734.8,-8.0,339,8493,0.00,2.67,0.00,0.000,4,0.000,0.051,3126,3157,3369,0,0,0,0,0,0
$GC,8503,-1.18,-146.0,735.9,-7.7,339,8507,0.00,2.72,0.00,0.000,6,0.000,0.050,3126,1549,3369,0,0,0,0,0,0
$GC,8778,-1.18,-146.0,754.6,-6.8,346,8782,0.00,2.45,0.00,0.000,4,0.000,0.082,3127,165,3368,0,0,0,0,0,0
$GC,8797,-1.18,-146.0,756.6,-7.2,346,8801,0.00,2.28,0.00,0.000,6,0.000,0.034,3126,1563,3368,0,0,0,0,0,0
$GC,9061,-1.18,-146.0,773.4,-6.2,353,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1563,3367,0,0,0,0,0,0
$GC,9306,-1.18,-146.0,788.0,-6.0,359,9310,0.00,2.45,0.00,0.000,4,0.000,0.076,3126,169,3366,0,0,0,0,0,0
$GC,9325,-1.18,-146.0,789.4,-6.5,359,9329,0.00,2.25,0.00,0.000,6,0.000,0.033,3126,1554,3365,0,0,0,0,0,0
$GC,9589,-1.18,-146.0,805.1,-6.0,366,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1554,3364,0,0,0,0,0,0
$GC,9834,-1.18,-146.0,821.0,-6.6,372,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1554,3364,0,0,0,0,0,0
$GC,10076,-1.18,-146.0,837.4,-6.7,378,10081,0.00,2.45,0.00,0.000,4,0.000,0.077,3126,165,3363,0,0,0,0,0,0
$GC,10110,-1.18,-146.0,839.9,-7.8,378,10114,0.00,2.25,0.00,0.000,6,0.000,0.035,3127,1546,3363,0,0,0,0,0,0
$GC,10361,-1.18,-146.0,857.2,-7.0,384,10366,0.00,2.67,0.00,0.000,4,0.000,0.051,3127,3153,3363,0,0,0,0,0,0
$GC,10376,-1.18,-146.0,858.4,-6.9,384,10381,0.00,2.72,0.00,0.000,6,0.000,0.048,3127,1549,3363,0,0,0,0,0,0
$GC,10648,-1.18,-146.0,876.6,-6.8,391,10653,0.00,2.45,0.00,0.000,4,0.000,0.083,3126,165,3362,0,0,0,0,0,0
$GC,10664,-1.18,-146.0,878.0,-6.8,391,10668,0.00,2.25,0.00,0.000,6,0.000,0.034,3126,1548,3362,0,0,0,0,0,0
$GC,10933,-1.18,-146.0,896.5,-6.9,398,10937,0.00,2.67,0.00,0.000,4,0.000,0.051,3126,3154,3362,0,0,0,0,0,0
$GC,10957,-1.24,-146.0,898.3,-8.3,398,10962,0.00,2.75,0.00,0.000,6,0.000,0.050,3126,1539,3362,0,0,0,0,0,0
$STATE,11015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11015,begin apogee
$GC,11024,-0.31,0.0,902.0,6.6,400,11146,0.82,0.00,119.15,1.157,6,0.070,0.000,3316,1347,2800,0,0,0,0,0,0
$STATE,11147,end apogee,CONTROL_FINISHED_OK
$STATE,11147,begin climb
$GC,11149,1.27,146.0,906.0,0.0,403,11288,1.40,2.20,129.90,1.137,4,0.031,0.084,3660,175,2203,0,0,0,0,0,0
$GC,11364,1.01,146.0,892.0,13.4,407,11370,0.28,1.95,0.00,0.000,6,0.112,0.031,3606,1357,2198,0,0,0,0,0,0
$GC,11616,0.94,156.3,867.7,9.5,414,11626,0.00,0.00,9.10,0.939,6,0.000,0.000,3606,1358,2162,0,0,0,0,0,0
$GC,11858,0.86,165.3,844.4,9.6,420,11870,0.15,0.00,9.48,0.943,6,0.110,0.000,3574,1358,2126,0,0,0,0,0,0
$GC,12101,0.89,189.5,822.8,8.9,426,12129,0.00,2.17,23.50,1.045,4,0.000,0.074,3574,171,2027,0,0,0,0,0,0
$GC,12157,0.85,189.5,817.3,10.6,427,12161,0.00,1.95,0.00,0.000,6,0.000,0.030,3574,1350,2025,0,0,0,0,0,0
$GC,12438,0.85,189.5,788.3,10.3,434,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1350,2022,0,0,0,0,0,0
$GC,12682,0.85,189.5,763.1,10.3,440,12687,0.00,2.70,0.00,0.000,4,0.000,0.051,3574,2941,2021,0,0,0,0,0,0
$GC,12705,0.86,198.5,761.0,9.6,440,12721,0.00,2.72,8.93,0.904,6,0.000,0.049,3574,1342,1990,0,0,0,0,0,0
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$STATE,19546,end climb,SURFACE_DEPTH_REACHED
$STATE,19546,begin surface coast
$FINISH,0.8,1.004302
$STATE,19593,end surface coast,CONTROL_FINISHED_OK
$STATE,19593,begin surface
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$TCM_TEMP,22.40
$XPDR_PINGS,19
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$10V_AH,9.9,28.459
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.325,195.800,396.950,41.100,0.000,28.204,33.873,209.000,4.750,0.000,13.811,1624.265,14260.498,526.185,2918.729,750.691,33.371,1613.219,0.000,2930.840,0.000,0.536,0.000
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$MEM,355788
$DATA_FILE_SIZE,60422,752
$CAP_FILE_SIZE,185282,0
$CFSIZE,260165632,156151808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070713,182800,2300.541,-15730.312,37,1.7,37,10.1