version: 66.06
glider: 148
mission: 12
dive: 351
start: 8 7 113 6 58 19
data:
$ID,148
$MISSION,12
$DIVE,351
$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,390
$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,-1023013.2
$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,26
$R_STBD_OVSHOOT,97
$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
$GPS1,064950,2253.501,-15746.009,37,4.4,56,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-77.1
$GPS2,065725,2253.499,-15745.985,12,1.5,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.253,-0.060
$KALMAN_X,-120597.5,154.8,-23.6,144496.0,1395.1
$KALMAN_Y,129205.7,38.5,-64.2,-113412.9,-1133.4
$MHEAD_RNG_PITCHd_Wd,246.5,41826,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-66.65,0.000,2,0.000,0.000,412,1604,2938,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.8,-6.3,9,122,14.45,2.42,-8.12,0.000,4,0.163,0.053,3103,168,3399,0,0,0,0,0,0
$GC,229,-0.96,-146.0,41.5,-22.6,27,234,0.32,2.10,0.00,0.000,6,0.094,0.017,3174,1543,3399,0,0,0,0,0,0
$GC,498,-0.84,-146.0,84.6,-13.3,51,503,0.12,2.50,0.00,0.000,4,0.106,0.021,3201,3137,3401,0,0,0,0,0,0
$GC,529,-0.84,-146.0,88.6,-10.6,53,534,0.00,2.55,0.00,0.000,6,0.000,0.027,3201,1563,3400,0,0,0,0,0,0
$GC,798,-0.84,-146.0,115.5,-10.0,77,802,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1563,3401,0,0,0,0,0,0
$GC,1059,-0.84,-146.0,142.3,-9.8,102,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1563,3402,0,0,0,0,0,0
$GC,1315,-0.84,-146.0,167.1,-10.1,126,1319,0.00,2.50,0.00,0.000,4,0.000,0.021,3201,3144,3402,0,0,0,0,0,0
$GC,1334,-0.84,-146.0,168.7,-9.6,127,1338,0.00,2.53,0.00,0.000,6,0.000,0.027,3201,1572,3402,0,0,0,0,0,0
$GC,1602,-0.84,-146.0,193.3,-9.2,151,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1573,3402,0,0,0,0,0,0
$GC,1875,-0.84,-146.0,220.7,-9.6,163,1880,0.00,2.47,0.00,0.000,4,0.000,0.021,3201,3144,3402,0,0,0,0,0,0
$GC,1899,-0.90,-146.0,222.9,-9.5,163,1904,0.00,2.53,0.00,0.000,6,0.000,0.028,3201,1582,3402,0,0,0,0,0,0
$GC,2161,-0.90,-146.0,243.8,-8.1,170,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1582,3402,0,0,0,0,0,0
$GC,2405,-0.95,-146.0,262.7,-7.7,176,2407,0.10,0.00,0.00,0.000,6,0.072,0.000,3138,1582,3402,0,0,0,0,0,0
$GC,2646,-0.86,-146.0,289.7,-11.5,182,2648,0.25,0.00,0.00,0.000,6,0.080,0.000,3195,1582,3401,0,0,0,0,0,0
$GC,2892,-0.93,-146.0,309.3,-7.8,188,2896,0.00,2.45,0.00,0.000,4,0.000,0.025,3195,3132,3401,0,0,0,0,0,0
$GC,2913,-1.01,-146.0,311.1,-7.9,188,2919,0.12,2.53,0.00,0.000,6,0.061,0.029,3126,1582,3401,0,0,0,0,0,0
$GC,3178,-0.93,-146.0,339.2,-10.8,195,3183,0.25,2.38,0.00,0.000,4,0.079,0.048,3187,162,3400,0,0,0,0,0,0
$GC,3200,-0.93,-146.0,341.2,-9.8,195,3204,0.00,2.20,0.00,0.000,6,0.000,0.020,3187,1585,3400,0,0,0,0,0,0
$GC,3464,-0.99,-146.0,360.0,-6.9,202,3468,0.00,2.50,0.00,0.000,4,0.000,0.030,3187,3139,3399,0,0,0,0,0,0
$GC,3490,-1.08,-146.0,361.7,-7.5,202,3495,0.15,2.55,0.00,0.000,6,0.054,0.034,3112,1588,3399,0,0,0,0,0,0
$GC,3752,-0.99,-146.0,388.9,-10.6,209,3754,0.25,0.00,0.00,0.000,6,0.081,0.000,3170,1588,3397,0,0,0,0,0,0
$GC,3994,-0.99,-146.0,408.6,-8.1,215,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1588,3396,0,0,0,0,0,0
$GC,4240,-0.99,-146.0,427.6,-7.7,221,4244,0.00,2.53,0.00,0.000,4,0.000,0.036,3170,3126,3394,0,0,0,0,0,0
$GC,4266,-1.06,-146.0,429.8,-8.8,221,4271,0.00,2.55,0.00,0.000,6,0.000,0.037,3170,1592,3394,0,0,0,0,0,0
$GC,4526,-1.11,-146.0,448.1,-6.8,228,4528,0.12,0.00,0.00,0.000,6,0.064,0.000,3110,1592,3392,0,0,0,0,0,0
$GC,4769,-1.03,-146.0,473.5,-10.7,234,4771,0.22,0.00,0.00,0.000,6,0.082,0.000,3161,1592,3390,0,0,0,0,0,0
$GC,5015,-1.03,-146.0,492.4,-7.6,240,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1592,3389,0,0,0,0,0,0
$GC,5259,-1.03,-146.0,510.5,-7.5,246,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1592,3387,0,0,0,0,0,0
$GC,5501,-1.07,-146.0,528.7,-7.5,252,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1592,3386,0,0,0,0,0,0
$GC,5746,-1.12,-146.0,546.2,-7.2,258,5751,0.00,2.58,0.00,0.000,4,0.000,0.044,3161,3119,3384,0,0,0,0,0,0
$GC,5766,-1.19,-146.0,547.9,-7.9,258,5771,0.15,2.58,0.00,0.000,6,0.054,0.042,3094,1591,3384,0,0,0,0,0,0
$GC,6031,-1.09,-146.0,574.3,-10.1,265,6036,0.22,2.50,0.00,0.000,4,0.084,0.076,3146,169,3381,0,0,0,0,0,0
$GC,6057,-1.09,-146.0,576.9,-10.3,265,6061,0.00,2.25,0.00,0.000,6,0.000,0.031,3146,1566,3382,0,0,0,0,0,0
$GC,6316,-1.09,-146.0,596.6,-7.5,272,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1566,3380,0,0,0,0,0,0
$GC,6560,-1.09,-146.0,613.1,-6.7,278,6565,0.00,2.65,0.00,0.000,4,0.000,0.044,3146,3161,3378,0,0,0,0,0,0
$GC,6600,-1.18,-146.0,615.8,-6.6,278,6606,0.00,2.65,0.00,0.000,6,0.000,0.048,3146,1600,3378,0,0,0,0,0,0
$GC,6850,-1.18,-146.0,632.9,-6.8,285,6854,0.00,2.53,0.00,0.000,4,0.000,0.081,3146,165,3377,0,0,0,0,0,0
$GC,6883,-1.18,-146.0,635.5,-8.1,285,6887,0.00,2.35,0.00,0.000,6,0.000,0.032,3146,1609,3376,0,0,0,0,0,0
$GC,7138,-1.18,-146.0,654.6,-7.6,291,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1610,3375,0,0,0,0,0,0
$GC,7377,-1.18,-146.0,672.4,-7.2,297,7381,0.00,2.58,0.00,0.000,4,0.000,0.050,3146,3156,3375,0,0,0,0,0,0
$GC,7396,-1.18,-146.0,673.8,-6.6,297,7401,0.00,2.65,0.00,0.000,6,0.000,0.046,3146,1591,3374,0,0,0,0,0,0
$GC,7662,-1.18,-146.0,691.2,-6.5,304,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1590,3373,0,0,0,0,0,0
$GC,7904,-1.18,-146.0,707.0,-6.6,310,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1591,3372,0,0,0,0,0,0
$GC,8153,-1.18,-146.0,724.0,-7.0,316,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1590,3370,0,0,0,0,0,0
$GC,8391,-1.18,-146.0,742.0,-7.5,322,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1590,3370,0,0,0,0,0,0
$GC,8637,-1.18,-146.0,758.6,-6.7,328,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1590,3369,0,0,0,0,0,0
$GC,8879,-1.18,-146.0,774.0,-6.3,334,8883,0.00,2.62,0.00,0.000,4,0.000,0.044,3146,3157,3368,0,0,0,0,0,0
$GC,8912,-1.27,-146.0,776.2,-6.6,334,8918,0.15,2.65,0.00,0.000,6,0.055,0.049,3082,1600,3368,0,0,0,0,0,0
$GC,9165,-1.18,-146.0,799.6,-9.8,340,9170,0.20,2.55,0.00,0.000,4,0.090,0.083,3127,167,3367,0,0,0,0,0,0
$GC,9222,-1.18,-146.0,805.3,-9.3,341,9227,0.00,2.35,0.00,0.000,6,0.000,0.035,3127,1600,3366,0,0,0,0,0,0
$GC,9496,-1.18,-146.0,827.5,-8.1,348,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1601,3365,0,0,0,0,0,0
$GC,9741,-1.18,-146.0,847.6,-8.4,354,9746,0.00,2.55,0.00,0.000,4,0.000,0.077,3127,164,3365,0,0,0,0,0,0
$GC,9765,-1.18,-146.0,850.2,-10.8,354,9769,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1592,3364,0,0,0,0,0,0
$GC,10033,-1.18,-146.0,872.9,-8.5,361,10038,0.00,2.65,0.00,0.000,4,0.000,0.053,3127,3161,3364,0,0,0,0,0,0
$GC,10055,-1.18,-146.0,875.0,-8.4,361,10059,0.00,2.67,0.00,0.000,6,0.000,0.049,3127,1593,3364,0,0,0,0,0,0
$GC,10319,-1.18,-146.0,895.7,-7.7,368,10320,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1592,3364,0,0,0,0,0,0
$STATE,10397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10397,begin apogee
$GC,10404,-0.31,0.0,901.6,7.5,370,10527,0.82,0.00,120.15,1.147,6,0.067,0.000,3319,1345,2800,0,0,0,0,0,0
$STATE,10528,end apogee,CONTROL_FINISHED_OK
$STATE,10528,begin climb
$GC,10532,1.27,146.0,905.0,0.0,373,10671,1.40,2.17,130.73,1.128,4,0.032,0.084,3669,172,2203,0,0,0,0,0,0
$GC,10798,1.04,146.0,881.4,14.8,379,10803,0.28,1.95,0.00,0.000,6,0.108,0.031,3613,1355,2197,0,0,0,0,0,0
$GC,11083,0.97,146.0,850.8,10.8,386,11084,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,1356,2192,0,0,0,0,0,0
$GC,11327,0.91,146.0,824.2,10.9,392,11331,0.15,2.12,0.00,0.000,4,0.110,0.074,3582,162,2191,0,0,0,0,0,0
$GC,11375,0.91,146.0,818.7,11.1,393,11378,0.00,1.95,0.00,0.000,6,0.000,0.030,3582,1352,2190,0,0,0,0,0,0
$GC,11666,0.95,177.7,793.4,8.5,400,11698,0.00,2.15,27.73,1.038,4,0.000,0.074,3582,172,2075,0,0,0,0,0,0
$GC,11745,0.95,179.9,786.0,9.9,401,11748,0.00,1.95,0.00,0.000,6,0.000,0.030,3582,1351,2074,0,0,0,0,0,0
$GC,12004,0.97,189.1,761.1,9.6,408,12020,0.00,2.75,11.23,0.937,4,0.000,0.053,3582,2931,2029,0,0,0,0,0,0
$GC,12027,0.97,189.1,758.8,10.1,408,12032,0.00,2.75,0.00,0.000,6,0.000,0.047,3582,1345,2027,0,0,0,0,0,0
$GC,12287,0.99,205.8,734.2,9.2,415,12306,0.00,0.00,17.12,0.972,6,0.000,0.000,3582,1345,1961,0,0,0,0,0,0
$GC,12535,1.02,232.4,712.2,8.8,421,12568,0.10,2.78,26.40,0.987,4,0.081,0.044,3622,2928,1852,0,0,0,0,0,0
$GC,12584,1.02,232.4,706.8,10.8,422,12589,0.00,2.75,0.00,0.000,6,0.000,0.051,3622,1349,1848,0,0,0,0,0,0
$GC,12867,1.02,232.4,673.6,11.7,429,12872,0.00,2.70,0.00,0.000,4,0.000,0.045,3622,2936,1847,0,0,0,0,0,0
$GC,12888,1.02,232.4,671.2,12.1,429,12892,0.00,2.75,0.00,0.000,6,0.000,0.051,3622,1349,1845,0,0,0,0,0,0
$GC,13157,1.02,232.4,639.6,12.0,436,13161,0.00,2.12,0.00,0.000,4,0.000,0.084,3622,163,1845,0,0,0,0,0,0
$GC,13180,0.96,232.4,635.9,12.1,436,13185,0.12,1.95,0.00,0.000,6,0.114,0.029,3597,1359,1844,0,0,0,0,0,0
$GC,13441,0.96,232.4,609.1,10.3,443,13446,0.00,2.65,0.00,0.000,4,0.000,0.048,3597,2932,1844,0,0,0,0,0,0
$GC,13474,1.04,232.4,605.2,11.4,443,13479,0.00,2.70,0.00,0.000,6,0.000,0.048,3597,1355,1842,0,0,0,0,0,0
$GC,13724,1.04,232.4,577.7,11.1,449,13728,0.00,2.10,0.00,0.000,4,0.000,0.077,3597,163,1842,0,0,0,0,0,0
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$STATE,19051,end climb,SURFACE_DEPTH_REACHED
$STATE,19052,begin surface coast
$FINISH,1.0,1.023335
$STATE,19098,end surface coast,CONTROL_FINISHED_OK
$STATE,19098,begin surface
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$HUMID,66.89
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$TCM_TEMP,22.30
$XPDR_PINGS,11
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$10V_AH,9.9,49.337
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355416
$DATA_FILE_SIZE,57373,713
$CAP_FILE_SIZE,172376,0
$CFSIZE,260165632,145633280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070813,121835,2251.678,-15748.067,25,1.5,25,10.1