version: 66.06
glider: 148
mission: 12
dive: 228
start: 7 10 113 18 9 7
data:
$ID,148
$MISSION,12
$DIVE,228
$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,-1020619.3
$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,29
$R_STBD_OVSHOOT,89
$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
$GPS1,175805,2245.692,-15706.633,30,0.8,30,10.1
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,1
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-76.8
$GPS2,180813,2245.682,-15706.655,14,1.5,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE_40
$TGT_LATLONG,2239.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.156,-0.208
$KALMAN_X,-229351.7,155.9,53.5,320348.5,733.8
$KALMAN_Y,170936.5,-117.7,-161.0,-169366.4,1087.6
$MHEAD_RNG_PITCHd_Wd,133.1,20627,-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,15,-1.27,-146.0,0.0,0.0,0,77,0.00,0.00,-59.88,0.000,2,0.000,0.000,412,1596,2775,0,0,0,0,0,0
$GC,81,-1.27,-146.0,3.0,-3.7,8,113,13.90,2.38,-12.38,0.000,4,0.147,0.052,3101,164,3395,0,0,0,0,0,0
$GC,132,-0.65,-146.0,15.5,-25.7,14,140,0.60,2.15,0.00,0.000,6,0.085,0.016,3237,1563,3396,0,0,0,0,0,0
$GC,413,-0.65,-146.0,49.9,-11.7,47,417,0.00,2.42,0.00,0.000,4,0.000,0.021,3237,3121,3396,0,0,0,0,0,0
$GC,436,-0.65,-146.0,53.0,-11.1,48,445,0.00,2.53,0.00,0.000,6,0.000,0.028,3237,1574,3396,0,0,0,0,0,0
$GC,705,-0.70,-146.0,77.6,-8.9,73,713,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1573,3397,0,0,0,0,0,0
$GC,968,-0.78,-146.0,100.4,-7.6,98,969,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1573,3397,0,0,0,0,0,0
$GC,1222,-0.86,-146.0,121.3,-8.4,122,1227,0.17,2.33,0.00,0.000,4,0.048,0.044,3157,170,3398,0,0,0,0,0,0
$GC,1243,-0.86,-146.0,123.0,-8.6,123,1248,0.17,2.12,0.00,0.000,6,0.100,0.016,3195,1599,3398,0,0,0,0,0,0
$GC,1507,-0.86,-146.0,150.1,-10.0,147,1511,0.00,2.35,0.00,0.000,4,0.000,0.021,3195,3102,3398,0,0,0,0,0,0
$GC,1534,-0.86,-146.0,153.0,-9.8,149,1538,0.00,2.47,0.00,0.000,6,0.000,0.027,3195,1567,3399,0,0,0,0,0,0
$GC,1798,-0.86,-146.0,179.2,-10.2,173,1802,0.00,2.30,0.00,0.000,4,0.000,0.043,3195,164,3399,0,0,0,0,0,0
$GC,1817,-0.86,-146.0,181.8,-10.9,174,1826,0.00,2.12,0.00,0.000,6,0.000,0.017,3195,1579,3399,0,0,0,0,0,0
$GC,2086,-0.86,-146.0,207.5,-9.3,194,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1581,3399,0,0,0,0,0,0
$GC,2328,-0.86,-146.0,229.9,-9.2,200,2332,0.00,2.38,0.00,0.000,4,0.000,0.021,3195,3107,3399,0,0,0,0,0,0
$GC,2357,-0.94,-146.0,232.7,-9.6,200,2361,0.00,2.50,0.00,0.000,6,0.000,0.028,3195,1564,3399,0,0,0,0,0,0
$GC,2614,-0.99,-146.0,254.7,-8.6,207,2619,0.12,2.30,0.00,0.000,4,0.063,0.046,3129,175,3399,0,0,0,0,0,0
$GC,2638,-0.92,-146.0,257.8,-12.0,207,2643,0.25,2.08,0.00,0.000,6,0.087,0.018,3185,1552,3399,0,0,0,0,0,0
$GC,2903,-0.97,-146.0,280.2,-8.1,214,2907,0.00,2.45,0.00,0.000,4,0.000,0.023,3185,3122,3399,0,0,0,0,0,0
$GC,2938,-1.10,-146.0,283.2,-7.0,214,2943,0.17,2.47,0.00,0.000,6,0.048,0.029,3098,1582,3399,0,0,0,0,0,0
$GC,3192,-0.97,-146.0,313.3,-12.9,220,3197,0.30,2.33,0.00,0.000,4,0.083,0.045,3170,164,3398,0,0,0,0,0,0
$GC,3238,-1.04,-146.0,318.4,-10.0,221,3242,0.00,2.15,0.00,0.000,6,0.000,0.019,3170,1557,3398,0,0,0,0,0,0
$GC,3525,-1.09,-146.0,342.2,-8.1,228,3530,0.00,2.53,0.00,0.000,4,0.000,0.029,3170,3144,3398,0,0,0,0,0,0
$GC,3554,-1.18,-146.0,344.5,-7.6,228,3559,0.17,2.58,0.00,0.000,6,0.046,0.035,3085,1579,3398,0,0,0,0,0,0
$GC,3816,-1.05,-146.0,374.5,-11.8,235,3821,0.28,2.38,0.00,0.000,4,0.084,0.055,3150,165,3396,0,0,0,0,0,0
$GC,3831,-0.95,-146.0,377.2,-12.0,235,3836,0.12,2.20,0.00,0.000,6,0.105,0.021,3178,1581,3396,0,0,0,0,0,0
$GC,4103,-1.03,-146.0,396.0,-6.9,242,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1581,3395,0,0,0,0,0,0
$GC,4345,-1.12,-146.0,412.9,-6.9,248,4350,0.17,2.53,0.00,0.000,4,0.048,0.035,3104,3133,3393,0,0,0,0,0,0
$GC,4369,-1.12,-146.0,415.2,-9.6,248,4374,0.15,2.55,0.00,0.000,6,0.088,0.037,3140,1578,3393,0,0,0,0,0,0
$GC,4631,-1.12,-146.0,437.7,-8.7,255,4635,0.00,2.40,0.00,0.000,4,0.000,0.067,3139,171,3391,0,0,0,0,0,0
$GC,4678,-1.12,-146.0,441.8,-9.1,256,4682,0.00,2.22,0.00,0.000,6,0.000,0.026,3139,1575,3391,0,0,0,0,0,0
$GC,4965,-1.12,-146.0,465.4,-7.9,263,4969,0.00,2.42,0.00,0.000,4,0.000,0.064,3140,165,3389,0,0,0,0,0,0
$GC,4986,-1.12,-146.0,467.2,-8.9,263,4990,0.00,2.25,0.00,0.000,6,0.000,0.027,3140,1579,3388,0,0,0,0,0,0
$GC,5254,-1.12,-146.0,490.5,-8.9,270,5259,0.00,2.58,0.00,0.000,4,0.000,0.048,3140,3142,3386,0,0,0,0,0,0
$GC,5302,-1.21,-146.0,494.5,-8.7,271,5306,0.00,2.60,0.00,0.000,6,0.000,0.041,3139,1586,3386,0,0,0,0,0,0
$GC,5591,-1.21,-146.0,520.2,-8.8,278,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1586,3384,0,0,0,0,0,0
$GC,5833,-1.21,-146.0,539.0,-7.7,284,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1586,3382,0,0,0,0,0,0
$GC,6076,-1.21,-146.0,558.3,-7.9,290,6080,0.00,2.47,0.00,0.000,4,0.000,0.075,3139,167,3380,0,0,0,0,0,0
$GC,6111,-1.21,-146.0,561.2,-8.8,290,6115,0.00,2.28,0.00,0.000,6,0.000,0.030,3139,1580,3380,0,0,0,0,0,0
$GC,6370,-1.21,-146.0,582.3,-8.2,297,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1581,3378,0,0,0,0,0,0
$GC,6614,-1.21,-146.0,603.0,-8.6,303,6618,0.00,2.60,0.00,0.000,4,0.000,0.047,3139,3149,3377,0,0,0,0,0,0
$GC,6630,-1.21,-146.0,604.4,-8.8,303,6634,0.00,2.65,0.00,0.000,6,0.000,0.044,3140,1581,3377,0,0,0,0,0,0
$GC,6902,-1.21,-146.0,626.9,-8.3,310,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1581,3376,0,0,0,0,0,0
$GC,7146,-1.21,-146.0,644.5,-7.0,316,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1581,3374,0,0,0,0,0,0
$GC,7390,-1.25,-146.0,660.4,-6.6,322,7392,0.12,0.00,0.00,0.000,6,0.064,0.000,3083,1580,3372,0,0,0,0,0,0
$GC,7635,-1.18,-146.0,682.2,-9.3,328,7637,0.20,0.00,0.00,0.000,6,0.089,0.000,3128,1580,3371,0,0,0,0,0,0
$GC,7877,-1.18,-146.0,700.8,-7.5,334,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1580,3370,0,0,0,0,0,0
$GC,8121,-1.18,-146.0,718.1,-7.1,340,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1578,3369,0,0,0,0,0,0
$GC,8367,-1.18,-146.0,735.5,-7.1,346,8371,0.00,2.50,0.00,0.000,4,0.000,0.082,3128,169,3367,0,0,0,0,0,0
$GC,8395,-1.18,-146.0,738.1,-8.4,346,8399,0.00,2.33,0.00,0.000,6,0.000,0.033,3128,1596,3367,0,0,0,0,0,0
$GC,8650,-1.18,-146.0,756.9,-7.4,353,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1597,3366,0,0,0,0,0,0
$GC,8895,-1.18,-146.0,775.9,-7.8,359,8900,0.00,2.53,0.00,0.000,4,0.000,0.076,3128,166,3365,0,0,0,0,0,0
$GC,8914,-1.18,-146.0,777.6,-7.9,359,8918,0.00,2.33,0.00,0.000,6,0.000,0.034,3128,1590,3365,0,0,0,0,0,0
$GC,9178,-1.18,-146.0,798.7,-8.0,366,9179,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1590,3364,0,0,0,0,0,0
$GC,9422,-1.18,-146.0,818.0,-7.9,372,9426,0.00,2.65,0.00,0.000,4,0.000,0.054,3128,3158,3363,0,0,0,0,0,0
$GC,9443,-1.22,-146.0,819.7,-8.2,372,9447,0.00,2.67,0.00,0.000,6,0.000,0.048,3128,1585,3363,0,0,0,0,0,0
$GC,9712,-1.22,-146.0,840.2,-7.7,379,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1585,3362,0,0,0,0,0,0
$GC,9955,-1.22,-146.0,858.7,-7.6,385,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1585,3361,0,0,0,0,0,0
$GC,10201,-1.22,-146.0,877.1,-7.5,391,10205,0.00,2.50,0.00,0.000,4,0.000,0.081,3128,169,3361,0,0,0,0,0,0
$GC,10229,-1.22,-146.0,880.0,-8.5,391,10233,0.00,2.30,0.00,0.000,6,0.000,0.034,3128,1590,3361,0,0,0,0,0,0
$GC,10483,-1.22,-146.0,898.2,-7.1,398,10485,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1591,3360,0,0,0,0,0,0
$STATE,10521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10521,begin apogee
$GC,10529,-0.31,0.0,900.9,7.0,399,10652,0.82,0.00,119.07,1.153,6,0.069,0.000,3320,1344,2800,0,0,0,0,0,0
$STATE,10653,end apogee,CONTROL_FINISHED_OK
$STATE,10653,begin climb
$GC,10655,1.27,146.0,904.3,0.0,402,10795,1.42,2.17,129.93,1.131,4,0.033,0.077,3669,176,2203,0,0,0,0,0,0
$GC,10889,1.01,146.0,884.7,16.1,407,10894,0.30,1.95,0.00,0.000,6,0.113,0.031,3607,1355,2198,0,0,0,0,0,0
$GC,11165,0.93,146.0,853.8,11.0,414,11169,0.00,2.12,0.00,0.000,4,0.000,0.073,3607,170,2193,0,0,0,0,0,0
$GC,11222,0.79,146.0,846.5,12.3,415,11227,0.22,1.92,0.00,0.000,6,0.104,0.030,3560,1345,2193,0,0,0,0,0,0
$GC,11498,0.84,185.7,823.4,8.2,422,11542,0.00,2.78,35.33,1.063,4,0.000,0.051,3560,2936,2041,0,0,0,0,0,0
$GC,11559,0.96,237.6,818.3,7.6,423,11616,0.15,2.78,49.95,1.064,6,0.058,0.050,3611,1349,1830,0,0,0,0,0,0
$GC,11884,0.91,237.6,779.2,12.2,431,11889,0.12,2.67,0.00,0.000,4,0.112,0.044,3586,2929,1822,0,0,0,0,0,0
$GC,11913,0.92,240.2,775.8,9.9,431,11918,0.00,2.75,0.00,0.000,6,0.000,0.051,3585,1347,1819,0,0,0,0,0,0
$GC,12168,0.92,240.2,748.7,10.7,438,12171,0.00,2.12,0.00,0.000,4,0.000,0.087,3585,165,1819,0,0,0,0,0,0
$GC,12197,0.92,240.2,745.4,11.8,438,12201,0.00,1.95,0.00,0.000,6,0.000,0.030,3585,1359,1819,0,0,0,0,0,0
$GC,12460,0.92,240.2,716.6,11.1,445,12461,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1360,1818,0,0,0,0,0,0
$GC,12703,0.92,240.2,690.1,10.8,451,12708,0.00,2.67,0.00,0.000,4,0.000,0.052,3585,2934,1818,0,0,0,0,0,0
$GC,12742,0.99,240.2,685.5,10.8,451,12748,0.00,2.75,0.00,0.000,6,0.000,0.049,3585,1337,1815,0,0,0,0,0,0
$GC,12992,0.99,240.2,658.1,10.9,458,12993,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1337,1814,0,0,0,0,0,0
$GC,13236,0.99,240.2,631.5,10.9,464,13240,0.00,2.67,0.00,0.000,4,0.000,0.044,3585,2934,1815,0,0,0,0,0,0
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$STATE,18895,end climb,SURFACE_DEPTH_REACHED
$STATE,18895,begin surface coast
$FINISH,1.2,1.023305
$STATE,18929,end surface coast,CONTROL_FINISHED_OK
$STATE,18929,begin surface
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$HUMID,64.88
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$10V_AH,9.9,30.893
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.225,177.250,388.675,49.325,0.000,31.167,39.659,359.917,4.250,0.000,15.539,1573.691,13682.845,510.090,2908.617,927.063,33.372,1585.088,0.000,2928.138,0.000,0.537,0.000
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$MEM,355932
$DATA_FILE_SIZE,60519,743
$CAP_FILE_SIZE,176905,0
$CFSIZE,260165632,155029504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100713,232753,2243.866,-15703.805,63,1.6,80,10.1