version: 66.06
glider: 148
mission: 12
dive: 217
start: 7 8 113 5 44 6
data:
$ID,148
$MISSION,12
$DIVE,217
$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,-1020439.7
$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,93
$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
$GPS1,053543,2258.125,-15728.881,37,2.2,56,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-78.2
$GPS2,054314,2258.257,-15728.896,10,2.2,29,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOEmid
$TGT_LATLONG,2249.500,-15724.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.092,-0.243
$KALMAN_X,-240109.8,-126.1,-254.2,293714.4,-174.5
$KALMAN_Y,150691.2,377.8,-63.9,-126441.4,1489.8
$MHEAD_RNG_PITCHd_Wd,149.1,18244,-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,-67.50,0.000,2,0.000,0.000,414,1616,2980,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.3,-3.8,9,123,14.05,2.45,-7.28,0.000,4,0.152,0.054,3101,170,3398,0,0,0,0,0,0
$GC,190,-0.98,-146.0,33.8,-21.0,22,198,0.28,2.12,0.00,0.000,6,0.084,0.017,3166,1545,3398,0,0,0,0,0,0
$GC,460,-0.85,-146.0,70.8,-14.7,47,465,0.15,2.53,0.00,0.000,4,0.104,0.022,3199,3140,3399,0,0,0,0,0,0
$GC,529,-0.93,-146.0,78.6,-10.0,52,534,0.00,2.53,0.00,0.000,6,0.000,0.028,3199,1567,3400,0,0,0,0,0,0
$GC,792,-0.93,-146.0,105.7,-10.6,76,796,0.00,2.30,0.00,0.000,4,0.000,0.043,3199,162,3400,0,0,0,0,0,0
$GC,824,-0.93,-146.0,109.5,-11.0,78,833,0.00,2.17,0.00,0.000,6,0.000,0.016,3199,1596,3400,0,0,0,0,0,0
$GC,1092,-0.93,-146.0,135.2,-9.7,103,1096,0.00,2.38,0.00,0.000,4,0.000,0.021,3199,3122,3401,0,0,0,0,0,0
$GC,1120,-0.93,-146.0,138.3,-10.2,105,1125,0.00,2.50,0.00,0.000,6,0.000,0.027,3199,1575,3401,0,0,0,0,0,0
$GC,1383,-0.93,-146.0,162.6,-8.9,129,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1575,3401,0,0,0,0,0,0
$GC,1638,-0.93,-146.0,185.7,-8.8,153,1642,0.00,2.40,0.00,0.000,4,0.000,0.021,3199,3114,3401,0,0,0,0,0,0
$GC,1657,-0.98,-146.0,187.2,-8.6,154,1662,0.12,2.47,0.00,0.000,6,0.059,0.027,3123,1572,3401,0,0,0,0,0,0
$GC,1923,-0.84,-146.0,222.8,-13.7,167,1928,0.32,2.28,0.00,0.000,4,0.083,0.041,3197,170,3401,0,0,0,0,0,0
$GC,1952,-0.84,-146.0,226.6,-10.3,167,1956,0.00,2.12,0.00,0.000,6,0.000,0.018,3197,1584,3401,0,0,0,0,0,0
$GC,2207,-0.91,-146.0,247.8,-8.0,174,2211,0.00,2.38,0.00,0.000,4,0.000,0.021,3197,3119,3401,0,0,0,0,0,0
$GC,2228,-1.00,-146.0,249.3,-7.5,174,2233,0.12,2.45,0.00,0.000,6,0.059,0.027,3119,1582,3401,0,0,0,0,0,0
$GC,2496,-0.89,-146.0,278.5,-11.0,181,2498,0.32,0.00,0.00,0.000,6,0.081,0.000,3188,1583,3401,0,0,0,0,0,0
$GC,2742,-0.98,-146.0,297.3,-7.4,187,2746,0.00,2.42,0.00,0.000,4,0.000,0.025,3188,3117,3401,0,0,0,0,0,0
$GC,2766,-1.09,-146.0,299.5,-7.5,187,2771,0.17,2.47,0.00,0.000,6,0.045,0.030,3102,1585,3401,0,0,0,0,0,0
$GC,3027,-0.97,-146.0,325.8,-9.8,194,3029,0.32,0.00,0.00,0.000,6,0.081,0.000,3172,1585,3400,0,0,0,0,0,0
$GC,3272,-1.03,-146.0,341.2,-6.2,200,3276,0.00,2.38,0.00,0.000,4,0.000,0.053,3172,167,3400,0,0,0,0,0,0
$GC,3305,-1.09,-146.0,343.5,-6.8,200,3310,0.10,2.17,0.00,0.000,6,0.073,0.021,3114,1577,3400,0,0,0,0,0,0
$GC,3555,-1.02,-146.0,368.4,-10.4,206,3557,0.22,0.00,0.00,0.000,6,0.084,0.000,3164,1580,3398,0,0,0,0,0,0
$GC,3801,-1.06,-146.0,387.4,-7.5,212,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1580,3396,0,0,0,0,0,0
$GC,4043,-1.12,-146.0,404.8,-7.0,218,4048,0.10,2.40,0.00,0.000,4,0.077,0.058,3113,166,3395,0,0,0,0,0,0
$GC,4065,-1.12,-146.0,406.6,-8.8,218,4069,0.12,2.20,0.00,0.000,6,0.102,0.023,3141,1586,3395,0,0,0,0,0,0
$GC,4331,-1.12,-146.0,429.7,-8.7,225,4335,0.00,2.40,0.00,0.000,4,0.000,0.061,3142,167,3393,0,0,0,0,0,0
$GC,4359,-1.12,-146.0,432.7,-10.1,225,4363,0.00,2.22,0.00,0.000,6,0.000,0.025,3141,1580,3392,0,0,0,0,0,0
$GC,4618,-1.12,-146.0,454.6,-8.6,232,4622,0.00,2.42,0.00,0.000,4,0.000,0.063,3141,166,3391,0,0,0,0,0,0
$GC,4647,-1.12,-146.0,457.6,-10.2,232,4651,0.00,2.22,0.00,0.000,6,0.000,0.027,3141,1577,3391,0,0,0,0,0,0
$GC,4902,-1.12,-146.0,478.9,-8.4,239,4906,0.00,2.58,0.00,0.000,4,0.000,0.039,3141,3154,3389,0,0,0,0,0,0
$GC,4916,-1.12,-146.0,480.3,-8.4,239,4921,0.00,2.58,0.00,0.000,6,0.000,0.036,3141,1581,3388,0,0,0,0,0,0
$GC,5187,-1.12,-146.0,502.6,-8.3,246,5191,0.00,2.58,0.00,0.000,4,0.000,0.040,3141,3146,3387,0,0,0,0,0,0
$GC,5206,-1.12,-146.0,504.4,-8.3,246,5210,0.00,2.60,0.00,0.000,6,0.000,0.038,3141,1583,3387,0,0,0,0,0,0
$GC,5473,-1.12,-146.0,524.8,-7.8,253,5478,0.00,2.42,0.00,0.000,4,0.000,0.071,3141,170,3385,0,0,0,0,0,0
$GC,5494,-1.12,-146.0,526.7,-8.1,253,5498,0.00,2.25,0.00,0.000,6,0.000,0.029,3141,1582,3385,0,0,0,0,0,0
$GC,5763,-1.12,-146.0,546.4,-7.2,260,5767,0.00,2.58,0.00,0.000,4,0.000,0.042,3141,3150,3383,0,0,0,0,0,0
$GC,5777,-1.12,-146.0,547.6,-7.3,260,5781,0.00,2.62,0.00,0.000,6,0.000,0.041,3141,1576,3384,0,0,0,0,0,0
$GC,6048,-1.12,-146.0,566.5,-7.1,267,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1576,3382,0,0,0,0,0,0
$GC,6289,-1.12,-146.0,582.5,-6.5,273,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1576,3381,0,0,0,0,0,0
$GC,6533,-1.12,-146.0,597.8,-6.2,279,6537,0.00,2.47,0.00,0.000,4,0.000,0.078,3141,167,3379,0,0,0,0,0,0
$GC,6558,-1.12,-146.0,599.6,-7.5,279,6563,0.00,2.28,0.00,0.000,6,0.000,0.031,3142,1581,3378,0,0,0,0,0,0
$GC,6822,-1.12,-146.0,616.8,-6.7,286,6826,0.00,2.62,0.00,0.000,4,0.000,0.048,3141,3154,3377,0,0,0,0,0,0
$GC,6841,-1.17,-146.0,618.6,-7.7,286,6846,0.00,2.62,0.00,0.000,6,0.000,0.045,3141,1587,3377,0,0,0,0,0,0
$GC,7109,-1.17,-146.0,638.3,-7.5,293,7113,0.00,2.50,0.00,0.000,4,0.000,0.081,3141,165,3376,0,0,0,0,0,0
$GC,7147,-1.22,-146.0,641.7,-9.1,293,7152,0.00,2.30,0.00,0.000,6,0.000,0.033,3141,1584,3376,0,0,0,0,0,0
$GC,7397,-1.22,-146.0,662.2,-8.2,300,7401,0.00,2.60,0.00,0.000,4,0.000,0.051,3141,3152,3375,0,0,0,0,0,0
$GC,7413,-1.27,-146.0,663.5,-8.2,300,7419,0.15,2.65,0.00,0.000,6,0.057,0.046,3078,1583,3375,0,0,0,0,0,0
$GC,7687,-1.18,-146.0,693.3,-11.0,307,7692,0.22,2.50,0.00,0.000,4,0.092,0.079,3128,168,3373,0,0,0,0,0,0
$GC,7748,-1.18,-146.0,699.7,-9.3,308,7752,0.00,2.28,0.00,0.000,6,0.000,0.034,3128,1577,3372,0,0,0,0,0,0
$GC,8018,-1.18,-146.0,720.8,-7.7,315,8023,0.00,2.62,0.00,0.000,4,0.000,0.052,3129,3155,3371,0,0,0,0,0,0
$GC,8033,-1.18,-146.0,722.1,-7.2,315,8037,0.00,2.67,0.00,0.000,6,0.000,0.047,3129,1574,3371,0,0,0,0,0,0
$GC,8305,-1.18,-146.0,740.3,-6.6,322,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1574,3370,0,0,0,0,0,0
$GC,8551,-1.18,-146.0,754.3,-5.6,328,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1574,3369,0,0,0,0,0,0
$GC,8793,-1.18,-146.0,769.0,-6.1,334,8797,0.00,2.47,0.00,0.000,4,0.000,0.081,3128,168,3368,0,0,0,0,0,0
$GC,8812,-1.18,-146.0,770.6,-6.8,334,8816,0.00,2.30,0.00,0.000,6,0.000,0.034,3128,1577,3368,0,0,0,0,0,0
$GC,9077,-1.18,-146.0,787.5,-6.5,341,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1577,3367,0,0,0,0,0,0
$GC,9319,-1.18,-146.0,804.0,-6.9,347,9323,0.00,2.47,0.00,0.000,4,0.000,0.075,3128,170,3366,0,0,0,0,0,0
$GC,9333,-1.18,-146.0,805.0,-6.9,347,9337,0.00,2.28,0.00,0.000,6,0.000,0.034,3128,1570,3366,0,0,0,0,0,0
$GC,9608,-1.18,-146.0,824.7,-7.4,354,9612,0.00,2.67,0.00,0.000,4,0.000,0.054,3128,3156,3365,0,0,0,0,0,0
$GC,9627,-1.18,-146.0,826.4,-7.6,354,9632,0.00,2.70,0.00,0.000,6,0.000,0.048,3128,1567,3365,0,0,0,0,0,0
$GC,9895,-1.18,-146.0,846.9,-8.0,361,9896,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1567,3364,0,0,0,0,0,0
$GC,10140,-1.18,-146.0,866.4,-7.8,367,10145,0.00,2.62,0.00,0.000,4,0.000,0.044,3128,3157,3363,0,0,0,0,0,0
$GC,10160,-1.23,-146.0,868.3,-7.1,367,10164,0.00,2.70,0.00,0.000,6,0.000,0.048,3128,1569,3363,0,0,0,0,0,0
$GC,10424,-1.23,-146.0,887.8,-7.4,374,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1569,3362,0,0,0,0,0,0
$STATE,10628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10628,begin apogee
$GC,10636,-0.31,0.0,902.1,7.0,379,10759,0.82,0.00,119.62,1.160,6,0.071,0.000,3318,1349,2800,0,0,0,0,0,0
$STATE,10760,end apogee,CONTROL_FINISHED_OK
$STATE,10760,begin climb
$GC,10762,1.27,146.0,906.3,0.0,382,10901,1.40,2.22,129.85,1.138,4,0.030,0.085,3662,167,2203,0,0,0,0,0,0
$GC,11000,1.01,146.0,888.6,14.6,387,11004,0.20,1.98,0.00,0.000,6,0.100,0.031,3608,1349,2198,0,0,0,0,0,0
$GC,11279,0.92,146.0,860.2,10.2,394,11280,0.10,0.00,0.00,0.000,6,0.130,0.000,3588,1350,2193,0,0,0,0,0,0
$GC,11521,0.89,158.7,837.0,9.4,400,11534,0.00,0.00,10.93,0.972,6,0.000,0.000,3588,1350,2151,0,0,0,0,0,0
$GC,11765,0.89,160.2,813.1,9.9,406,11770,0.00,2.70,0.00,0.000,4,0.000,0.052,3588,2931,2149,0,0,0,0,0,0
$GC,11784,0.91,178.5,810.7,9.2,406,11809,0.00,2.72,19.02,1.026,6,0.000,0.049,3588,1356,2072,0,0,0,0,0,0
$GC,12099,0.92,179.7,779.3,9.9,414,12103,0.00,2.15,0.00,0.000,4,0.000,0.086,3588,161,2069,0,0,0,0,0,0
$GC,12137,0.84,179.7,774.5,11.4,414,12146,0.00,1.98,0.00,0.000,6,0.000,0.031,3587,1356,2069,0,0,0,0,0,0
$GC,12393,0.84,179.7,748.8,10.4,421,12394,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1356,2067,0,0,0,0,0,0
$GC,12635,0.84,179.8,724.1,10.0,427,12636,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1357,2066,0,0,0,0,0,0
$GC,12878,0.87,199.7,701.6,9.1,433,12900,0.00,0.00,20.33,0.981,6,0.000,0.000,3588,1357,1985,0,0,0,0,0,0
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$STATE,19263,end climb,SURFACE_DEPTH_REACHED
$STATE,19263,begin surface coast
$FINISH,0.9,1.009722
$STATE,19304,end surface coast,CONTROL_FINISHED_OK
$STATE,19304,begin surface
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$HUMID,65.67
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$TCM_TEMP,22.30
$XPDR_PINGS,18
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$10V_AH,9.9,28.984
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.725,202.650,463.400,3.525,0.000,30.597,36.134,205.791,4.500,0.000,31.960,1548.607,14125.779,532.382,2793.919,771.838,33.371,1621.921,0.000,2803.392,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355800
$DATA_FILE_SIZE,57357,714
$CAP_FILE_SIZE,180468,0
$CFSIZE,260165632,155914240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080713,110735,2257.312,-15727.838,33,1.7,33,10.1