version: 66.06
glider: 148
mission: 12
dive: 359
start: 8 9 113 2 17 54
data:
$ID,148
$MISSION,12
$DIVE,359
$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,-1023181.7
$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,3400
$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,88
$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
$GPS1,020942,2241.733,-15801.643,31,1.4,37,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-76.6
$GPS2,021700,2241.819,-15801.649,9,1.1,14,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.251,0.067
$KALMAN_X,-111173.8,-63.3,367.5,108144.8,939.0
$KALMAN_Y,112032.1,374.1,154.5,-118434.9,-2381.0
$MHEAD_RNG_PITCHd_Wd,275.0,7826,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-67.10,0.000,2,0.000,0.000,408,1602,2928,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.5,-5.1,9,122,14.12,2.42,-8.32,0.000,4,0.150,0.035,3117,3108,3398,0,0,0,0,0,0
$GC,170,-1.08,-146.0,26.6,-18.2,20,179,0.17,2.55,0.00,0.000,6,0.081,0.032,3161,1571,3399,0,0,0,0,0,0
$GC,449,-0.91,-146.0,72.4,-13.9,46,454,0.17,2.33,0.00,0.000,4,0.099,0.044,3200,167,3399,0,0,0,0,0,0
$GC,506,-0.91,-146.0,80.1,-11.9,50,510,0.00,2.05,0.00,0.000,6,0.000,0.016,3200,1557,3400,0,0,0,0,0,0
$GC,771,-0.91,-146.0,109.9,-10.8,74,775,0.00,2.42,0.00,0.000,4,0.000,0.021,3200,3116,3400,0,0,0,0,0,0
$GC,812,-0.96,-146.0,114.1,-10.9,77,817,0.00,2.50,0.00,0.000,6,0.000,0.028,3200,1562,3400,0,0,0,0,0,0
$GC,1080,-0.96,-146.0,142.8,-10.7,101,1084,0.00,2.30,0.00,0.000,4,0.000,0.043,3200,161,3401,0,0,0,0,0,0
$GC,1118,-0.96,-146.0,148.0,-10.7,104,1127,0.00,2.15,0.00,0.000,6,0.000,0.017,3200,1575,3401,0,0,0,0,0,0
$GC,1381,-0.96,-146.0,172.8,-9.4,129,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1578,3401,0,0,0,0,0,0
$GC,1636,-0.96,-146.0,196.2,-9.4,153,1641,0.00,2.40,0.00,0.000,4,0.000,0.021,3200,3118,3401,0,0,0,0,0,0
$GC,1686,-1.07,-146.0,200.4,-8.4,157,1691,0.15,2.50,0.00,0.000,6,0.053,0.028,3122,1569,3401,0,0,0,0,0,0
$GC,1976,-0.90,-146.0,240.9,-14.1,164,1981,0.32,2.28,0.00,0.000,4,0.084,0.041,3197,170,3401,0,0,0,0,0,0
$GC,2040,-0.95,-146.0,247.5,-9.3,165,2044,0.00,2.12,0.00,0.000,6,0.000,0.018,3197,1573,3401,0,0,0,0,0,0
$GC,2310,-0.95,-146.0,268.0,-7.7,172,2314,0.00,2.40,0.00,0.000,4,0.000,0.021,3197,3120,3401,0,0,0,0,0,0
$GC,2343,-1.08,-146.0,270.7,-7.5,172,2348,0.15,2.50,0.00,0.000,6,0.054,0.028,3117,1574,3401,0,0,0,0,0,0
$GC,2593,-0.95,-146.0,302.0,-13.1,178,2598,0.32,2.30,0.00,0.000,4,0.080,0.043,3192,164,3401,0,0,0,0,0,0
$GC,2619,-0.95,-146.0,304.8,-10.5,178,2624,0.00,2.12,0.00,0.000,6,0.000,0.019,3192,1564,3401,0,0,0,0,0,0
$GC,2879,-1.01,-146.0,323.8,-6.9,185,2883,0.00,2.50,0.00,0.000,4,0.000,0.026,3192,3140,3401,0,0,0,0,0,0
$GC,2925,-1.15,-146.0,326.7,-6.5,186,2930,0.17,2.53,0.00,0.000,6,0.047,0.030,3107,1587,3401,0,0,0,0,0,0
$GC,3215,-1.03,-146.0,360.1,-12.0,193,3220,0.28,2.38,0.00,0.000,4,0.083,0.051,3174,171,3400,0,0,0,0,0,0
$GC,3268,-1.10,-146.0,365.6,-9.0,194,3272,0.00,2.15,0.00,0.000,6,0.000,0.020,3174,1567,3400,0,0,0,0,0,0
$GC,3550,-1.15,-146.0,386.9,-7.6,201,3555,0.10,2.55,0.00,0.000,4,0.074,0.033,3114,3136,3399,0,0,0,0,0,0
$GC,3575,-1.15,-146.0,389.3,-8.9,201,3580,0.15,2.58,0.00,0.000,6,0.089,0.035,3150,1576,3398,0,0,0,0,0,0
$GC,3837,-1.15,-146.0,410.1,-8.3,208,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1576,3397,0,0,0,0,0,0
$GC,4079,-1.15,-146.0,433.0,-9.6,214,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1576,3396,0,0,0,0,0,0
$GC,4322,-1.15,-146.0,454.0,-8.3,220,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1576,3393,0,0,0,0,0,0
$GC,4570,-1.15,-146.0,472.4,-7.5,226,4575,0.00,2.58,0.00,0.000,4,0.000,0.042,3150,3131,3392,0,0,0,0,0,0
$GC,4587,-1.15,-146.0,474.1,-7.5,226,4591,0.00,2.55,0.00,0.000,6,0.000,0.041,3150,1593,3392,0,0,0,0,0,0
$GC,4856,-1.15,-146.0,495.1,-7.8,233,4860,0.00,2.47,0.00,0.000,4,0.000,0.071,3150,168,3389,0,0,0,0,0,0
$GC,4875,-1.15,-146.0,496.9,-8.7,233,4879,0.00,2.25,0.00,0.000,6,0.000,0.028,3150,1577,3389,0,0,0,0,0,0
$GC,5140,-1.15,-146.0,519.5,-8.7,240,5145,0.00,2.60,0.00,0.000,4,0.000,0.041,3150,3154,3387,0,0,0,0,0,0
$GC,5188,-1.24,-146.0,523.3,-8.7,241,5192,0.00,2.60,0.00,0.000,6,0.000,0.042,3150,1603,3387,0,0,0,0,0,0
$GC,5477,-1.24,-146.0,545.5,-7.5,248,5481,0.00,2.50,0.00,0.000,4,0.000,0.074,3150,163,3385,0,0,0,0,0,0
$GC,5524,-1.24,-146.0,549.7,-9.0,249,5528,0.00,2.33,0.00,0.000,6,0.000,0.030,3150,1600,3384,0,0,0,0,0,0
$GC,5811,-1.24,-146.0,570.2,-7.3,256,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1601,3382,0,0,0,0,0,0
$GC,6052,-1.24,-146.0,588.4,-7.5,262,6056,0.00,2.53,0.00,0.000,4,0.000,0.072,3150,163,3381,0,0,0,0,0,0
$GC,6080,-1.24,-146.0,591.1,-8.5,262,6084,0.00,2.30,0.00,0.000,6,0.000,0.031,3150,1593,3381,0,0,0,0,0,0
$GC,6335,-1.24,-146.0,612.1,-8.3,269,6339,0.00,2.60,0.00,0.000,4,0.000,0.047,3150,3155,3379,0,0,0,0,0,0
$GC,6356,-1.24,-146.0,613.7,-8.3,269,6360,0.00,2.65,0.00,0.000,6,0.000,0.045,3150,1586,3379,0,0,0,0,0,0
$GC,6622,-1.24,-146.0,634.4,-7.7,276,6626,0.00,2.50,0.00,0.000,4,0.000,0.081,3150,169,3377,0,0,0,0,0,0
$GC,6650,-1.24,-146.0,636.9,-7.5,276,6655,0.00,2.33,0.00,0.000,6,0.000,0.034,3150,1591,3377,0,0,0,0,0,0
$GC,6907,-1.24,-146.0,654.9,-6.8,283,6911,0.00,2.62,0.00,0.000,4,0.000,0.050,3150,3159,3376,0,0,0,0,0,0
$GC,6931,-1.30,-146.0,656.7,-7.6,283,6936,0.15,2.65,0.00,0.000,6,0.055,0.047,3079,1595,3376,0,0,0,0,0,0
$GC,7193,-1.19,-146.0,683.2,-10.5,290,7198,0.25,2.53,0.00,0.000,4,0.089,0.080,3140,164,3374,0,0,0,0,0,0
$GC,7241,-1.19,-146.0,687.4,-9.4,291,7246,0.00,2.35,0.00,0.000,6,0.000,0.035,3139,1598,3374,0,0,0,0,0,0
$GC,7529,-1.19,-146.0,712.8,-9.0,298,7533,0.00,2.62,0.00,0.000,4,0.000,0.052,3139,3160,3373,0,0,0,0,0,0
$GC,7553,-1.24,-146.0,715.2,-9.9,298,7558,0.00,2.65,0.00,0.000,6,0.000,0.048,3140,1597,3373,0,0,0,0,0,0
$GC,7815,-1.24,-146.0,739.4,-9.4,305,7819,0.00,2.55,0.00,0.000,4,0.000,0.083,3139,160,3371,0,0,0,0,0,0
$GC,7843,-1.24,-146.0,742.5,-10.0,305,7847,0.00,2.38,0.00,0.000,6,0.000,0.035,3139,1607,3371,0,0,0,0,0,0
$GC,8098,-1.24,-146.0,764.2,-8.3,312,8102,0.00,2.60,0.00,0.000,4,0.000,0.053,3140,3156,3369,0,0,0,0,0,0
$GC,8143,-1.33,-146.0,767.6,-7.4,313,8148,0.12,2.65,0.00,0.000,6,0.062,0.050,3083,1598,3370,0,0,0,0,0,0
$GC,8434,-1.22,-146.0,795.3,-9.5,320,8439,0.22,2.55,0.00,0.000,4,0.091,0.081,3133,164,3368,0,0,0,0,0,0
$GC,8502,-1.22,-146.0,801.1,-8.7,321,8506,0.00,2.35,0.00,0.000,6,0.000,0.035,3133,1600,3368,0,0,0,0,0,0
$GC,8766,-1.22,-146.0,818.0,-6.4,328,8771,0.00,2.60,0.00,0.000,4,0.000,0.053,3133,3157,3367,0,0,0,0,0,0
$GC,8806,-1.29,-146.0,820.5,-6.9,328,8812,0.00,2.65,0.00,0.000,6,0.000,0.050,3133,1602,3367,0,0,0,0,0,0
$GC,9056,-1.29,-146.0,837.2,-6.7,335,9061,0.00,2.55,0.00,0.000,4,0.000,0.082,3133,167,3366,0,0,0,0,0,0
$GC,9085,-1.29,-146.0,839.4,-7.4,335,9089,0.00,2.38,0.00,0.000,6,0.000,0.035,3133,1611,3366,0,0,0,0,0,0
$GC,9341,-1.29,-146.0,857.6,-7.2,342,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1611,3365,0,0,0,0,0,0
$GC,9583,-1.29,-146.0,875.6,-7.5,348,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1611,3364,0,0,0,0,0,0
$GC,9828,-1.29,-146.0,894.2,-7.7,354,9833,0.00,2.58,0.00,0.000,4,0.000,0.077,3133,160,3364,0,0,0,0,0,0
$GC,9861,-1.29,-146.0,897.3,-8.9,354,9866,0.00,2.38,0.00,0.000,6,0.000,0.036,3133,1600,3363,0,0,0,0,0,0
$STATE,9906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9906,begin apogee
$GC,9914,-0.31,0.0,900.9,7.9,355,10038,0.85,0.00,120.38,1.144,6,0.070,0.000,3331,1340,2800,0,0,0,0,0,0
$STATE,10039,end apogee,CONTROL_FINISHED_OK
$STATE,10039,begin climb
$GC,10041,1.27,146.0,904.6,0.0,358,10181,1.45,2.17,130.60,1.124,4,0.032,0.081,3687,180,2204,0,0,0,0,0,0
$GC,10262,1.00,146.0,888.2,14.8,363,10267,0.32,1.95,0.00,0.000,6,0.109,0.031,3620,1358,2200,0,0,0,0,0,0
$GC,10553,0.93,151.9,859.7,9.7,370,10560,0.00,0.00,4.82,0.742,6,0.000,0.000,3620,1359,2180,0,0,0,0,0,0
$GC,10798,0.86,152.2,835.3,10.0,376,10803,0.15,2.12,0.00,0.000,4,0.111,0.074,3588,177,2178,0,0,0,0,0,0
$GC,10852,0.80,152.2,829.4,11.1,377,10856,0.00,1.95,0.00,0.000,6,0.000,0.030,3588,1347,2178,0,0,0,0,0,0
$GC,11134,0.84,185.4,805.3,8.5,384,11171,0.00,2.78,31.90,1.045,4,0.000,0.051,3588,2937,2043,0,0,0,0,0,0
$GC,11186,0.86,196.1,800.4,9.5,384,11203,0.00,2.75,11.50,0.939,6,0.000,0.049,3588,1358,2000,0,0,0,0,0,0
$GC,11464,0.86,196.1,772.8,10.3,391,11468,0.00,2.15,0.00,0.000,4,0.000,0.085,3588,166,1995,0,0,0,0,0,0
$GC,11524,0.86,196.1,765.1,11.6,392,11528,0.00,1.95,0.00,0.000,6,0.000,0.030,3588,1355,1995,0,0,0,0,0,0
$GC,11799,0.87,202.7,738.2,9.7,399,11811,0.00,2.75,6.57,0.815,4,0.000,0.051,3588,2932,1973,0,0,0,0,0,0
$GC,11826,0.91,234.7,735.4,8.5,399,11864,0.00,2.75,32.05,1.002,6,0.000,0.049,3588,1344,1843,0,0,0,0,0,0
$GC,12133,0.91,234.7,704.3,10.5,407,12137,0.00,2.67,0.00,0.000,4,0.000,0.044,3588,2926,1837,0,0,0,0,0,0
$GC,12152,0.96,236.0,701.6,9.9,407,12157,0.00,2.72,0.00,0.000,6,0.000,0.054,3588,1347,1835,0,0,0,0,0,0
$GC,12416,0.96,236.0,673.9,10.5,414,12421,0.00,2.67,0.00,0.000,4,0.000,0.045,3588,2926,1835,0,0,0,0,0,0
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$STATE,18330,end climb,SURFACE_DEPTH_REACHED
$STATE,18330,begin surface coast
$FINISH,0.9,1.022839
$STATE,18380,end surface coast,CONTROL_FINISHED_OK
$STATE,18380,begin surface
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$TT8_MAMPS,0.027612
$HUMID,65.79
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$TCM_TEMP,22.20
$XPDR_PINGS,9
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$10V_AH,9.9,50.511
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.050,214.500,430.725,41.550,0.000,29.819,34.981,210.383,2.250,0.000,16.360,1556.010,13386.260,543.905,2638.727,747.070,33.372,1661.674,0.000,2630.648,0.000,0.537,0.000
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$MEM,355440
$DATA_FILE_SIZE,54130,695
$CAP_FILE_SIZE,183350,0
$CFSIZE,260165632,145018880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090813,072656,2242.043,-15803.461,32,3.2,51,10.0