version: 66.06
glider: 148
mission: 12
dive: 364
start: 8 10 113 3 56 37
data:
$ID,148
$MISSION,12
$DIVE,364
$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,-1023278.6
$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,25
$R_STBD_OVSHOOT,44
$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
$GPS1,034729,2245.134,-15807.728,36,1.5,42,10.0
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-75.8
$GPS2,035543,2245.156,-15807.765,14,1.4,14,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.030,0.258
$KALMAN_X,-105557.5,-539.6,24.5,92923.9,1116.5
$KALMAN_Y,107334.8,422.9,-17.4,-107432.6,-944.9
$MHEAD_RNG_PITCHd_Wd,343.3,36156,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,88,0.00,0.00,-66.93,0.000,2,0.000,0.000,409,1659,2921,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.4,-4.4,9,123,14.12,2.38,-8.82,0.000,4,0.149,0.030,3119,3157,3396,0,0,0,0,0,0
$GC,204,-1.13,-146.0,28.5,-16.8,25,213,0.12,2.62,0.00,0.000,6,0.080,0.031,3152,1572,3397,0,0,0,0,0,0
$GC,473,-0.95,-146.0,76.8,-17.4,50,482,0.17,0.00,0.00,0.000,6,0.103,0.000,3190,1572,3397,0,0,0,0,0,0
$GC,740,-0.89,-146.0,113.5,-12.2,75,744,0.00,2.53,0.00,0.000,4,0.000,0.022,3190,3163,3398,0,0,0,0,0,0
$GC,791,-0.96,-146.0,119.7,-11.5,79,796,0.00,2.60,0.00,0.000,6,0.000,0.028,3190,1567,3398,0,0,0,0,0,0
$GC,1058,-0.91,-146.0,149.2,-10.0,103,1062,0.00,2.30,0.00,0.000,4,0.000,0.043,3190,164,3398,0,0,0,0,0,0
$GC,1127,-0.91,-146.0,156.6,-11.2,109,1131,0.00,2.17,0.00,0.000,6,0.000,0.017,3190,1604,3398,0,0,0,0,0,0
$GC,1394,-0.91,-146.0,183.1,-10.1,133,1398,0.00,2.35,0.00,0.000,4,0.000,0.021,3190,3132,3398,0,0,0,0,0,0
$GC,1420,-0.91,-146.0,186.3,-11.0,135,1424,0.00,2.50,0.00,0.000,6,0.000,0.028,3190,1572,3399,0,0,0,0,0,0
$GC,1684,-0.91,-146.0,213.6,-10.4,151,1688,0.00,2.28,0.00,0.000,4,0.000,0.043,3190,172,3398,0,0,0,0,0,0
$GC,1721,-0.91,-146.0,218.2,-11.3,151,1726,0.00,2.10,0.00,0.000,6,0.000,0.018,3190,1574,3398,0,0,0,0,0,0
$GC,1973,-0.91,-146.0,242.6,-9.6,158,1977,0.00,2.40,0.00,0.000,4,0.000,0.022,3190,3117,3398,0,0,0,0,0,0
$GC,2029,-1.01,-146.0,247.5,-7.4,159,2034,0.00,2.47,0.00,0.000,6,0.000,0.028,3190,1575,3399,0,0,0,0,0,0
$GC,2309,-1.01,-146.0,270.2,-8.6,166,2313,0.00,2.30,0.00,0.000,4,0.000,0.044,3190,167,3399,0,0,0,0,0,0
$GC,2353,-1.06,-146.0,274.6,-9.4,167,2357,0.00,2.12,0.00,0.000,6,0.000,0.018,3190,1581,3399,0,0,0,0,0,0
$GC,2640,-1.06,-146.0,298.6,-7.9,174,2644,0.00,2.40,0.00,0.000,4,0.000,0.025,3190,3123,3398,0,0,0,0,0,0
$GC,2666,-1.14,-146.0,300.6,-8.3,174,2671,0.15,2.50,0.00,0.000,6,0.051,0.028,3113,1568,3398,0,0,0,0,0,0
$GC,2931,-1.01,-146.0,329.4,-11.3,181,2933,0.30,0.00,0.00,0.000,6,0.081,0.000,3181,1568,3398,0,0,0,0,0,0
$GC,3170,-1.06,-146.0,350.1,-8.4,187,3174,0.00,2.30,0.00,0.000,4,0.000,0.051,3181,165,3398,0,0,0,0,0,0
$GC,3196,-1.12,-146.0,352.3,-9.0,187,3200,0.10,2.15,0.00,0.000,6,0.074,0.020,3122,1564,3397,0,0,0,0,0,0
$GC,3461,-1.05,-146.0,380.6,-10.7,194,3466,0.22,2.50,0.00,0.000,4,0.082,0.031,3173,3129,3396,0,0,0,0,0,0
$GC,3492,-1.13,-146.0,383.5,-8.2,194,3496,0.00,2.50,0.00,0.000,6,0.000,0.036,3173,1585,3396,0,0,0,0,0,0
$GC,3750,-1.18,-146.0,402.5,-7.5,201,3755,0.12,2.53,0.00,0.000,4,0.062,0.037,3111,3127,3395,0,0,0,0,0,0
$GC,3774,-1.18,-146.0,405.0,-9.5,201,3779,0.15,2.53,0.00,0.000,6,0.090,0.035,3146,1585,3395,0,0,0,0,0,0
$GC,4037,-1.18,-146.0,427.8,-8.8,208,4041,0.00,2.53,0.00,0.000,4,0.000,0.038,3146,3129,3393,0,0,0,0,0,0
$GC,4060,-1.18,-146.0,430.3,-9.9,208,4065,0.00,2.50,0.00,0.000,6,0.000,0.036,3146,1592,3393,0,0,0,0,0,0
$GC,4320,-1.18,-146.0,452.3,-8.4,215,4324,0.00,2.53,0.00,0.000,4,0.000,0.038,3146,3132,3391,0,0,0,0,0,0
$GC,4345,-1.18,-146.0,454.4,-8.7,215,4350,0.00,2.55,0.00,0.000,6,0.000,0.038,3146,1588,3391,0,0,0,0,0,0
$GC,4605,-1.18,-146.0,475.2,-8.1,222,4609,0.00,2.45,0.00,0.000,4,0.000,0.070,3146,166,3389,0,0,0,0,0,0
$GC,4638,-1.18,-146.0,478.2,-9.1,222,4642,0.00,2.22,0.00,0.000,6,0.000,0.029,3146,1574,3388,0,0,0,0,0,0
$GC,4890,-1.18,-146.0,499.3,-8.4,228,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1574,3387,0,0,0,0,0,0
$GC,5133,-1.18,-146.0,517.1,-7.0,234,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1574,3385,0,0,0,0,0,0
$GC,5375,-1.18,-146.0,533.5,-6.6,240,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1574,3384,0,0,0,0,0,0
$GC,5621,-1.18,-146.0,549.9,-6.9,246,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1574,3382,0,0,0,0,0,0
$GC,5864,-1.18,-146.0,568.9,-8.1,252,5869,0.00,2.62,0.00,0.000,4,0.000,0.048,3146,3148,3380,0,0,0,0,0,0
$GC,5895,-1.22,-146.0,571.5,-8.2,252,5900,0.00,2.62,0.00,0.000,6,0.000,0.045,3146,1596,3380,0,0,0,0,0,0
$GC,6150,-1.22,-146.0,594.4,-9.0,259,6154,0.00,2.47,0.00,0.000,4,0.000,0.078,3145,169,3378,0,0,0,0,0,0
$GC,6175,-1.22,-146.0,596.8,-11.1,259,6179,0.00,2.28,0.00,0.000,6,0.000,0.032,3146,1591,3378,0,0,0,0,0,0
$GC,6437,-1.22,-146.0,621.3,-9.4,266,6441,0.00,2.60,0.00,0.000,4,0.000,0.048,3146,3162,3376,0,0,0,0,0,0
$GC,6461,-1.22,-146.0,623.7,-9.3,266,6465,0.00,2.65,0.00,0.000,6,0.000,0.046,3146,1593,3376,0,0,0,0,0,0
$GC,6722,-1.22,-146.0,645.3,-8.2,273,6727,0.00,2.60,0.00,0.000,4,0.000,0.044,3146,3161,3375,0,0,0,0,0,0
$GC,6741,-1.22,-146.0,647.1,-8.6,273,6746,0.00,2.65,0.00,0.000,6,0.000,0.048,3146,1594,3375,0,0,0,0,0,0
$GC,7006,-1.22,-146.0,665.0,-6.6,280,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1594,3373,0,0,0,0,0,0
$GC,7255,-1.22,-146.0,681.0,-6.6,286,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1594,3373,0,0,0,0,0,0
$GC,7493,-1.22,-146.0,697.9,-6.9,292,7497,0.00,2.60,0.00,0.000,4,0.000,0.044,3146,3157,3370,0,0,0,0,0,0
$GC,7512,-1.22,-146.0,699.4,-8.2,292,7517,0.00,2.62,0.00,0.000,6,0.000,0.049,3146,1602,3371,0,0,0,0,0,0
$GC,7778,-1.22,-146.0,719.5,-7.8,299,7782,0.00,2.55,0.00,0.000,4,0.000,0.085,3146,166,3369,0,0,0,0,0,0
$GC,7825,-1.28,-146.0,723.7,-7.6,300,7830,0.10,2.33,0.00,0.000,6,0.075,0.036,3095,1602,3368,0,0,0,0,0,0
$GC,8109,-1.21,-146.0,752.8,-10.4,307,8111,0.17,0.00,0.00,0.000,6,0.092,0.000,3135,1602,3368,0,0,0,0,0,0
$GC,8354,-1.21,-146.0,773.5,-8.4,313,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1602,3366,0,0,0,0,0,0
$GC,8596,-1.21,-146.0,792.7,-7.7,319,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1602,3366,0,0,0,0,0,0
$GC,8840,-1.21,-146.0,811.0,-7.5,325,8844,0.00,2.55,0.00,0.000,4,0.000,0.077,3135,159,3365,0,0,0,0,0,0
$GC,8865,-1.21,-146.0,812.8,-8.3,325,8869,0.00,2.38,0.00,0.000,6,0.000,0.037,3135,1605,3365,0,0,0,0,0,0
$GC,9125,-1.21,-146.0,830.3,-6.6,332,9129,0.00,2.62,0.00,0.000,4,0.000,0.055,3135,3160,3364,0,0,0,0,0,0
$GC,9158,-1.28,-146.0,832.5,-6.8,332,9163,0.00,2.65,0.00,0.000,6,0.000,0.050,3135,1600,3364,0,0,0,0,0,0
$GC,9410,-1.28,-146.0,848.2,-6.3,338,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1600,3363,0,0,0,0,0,0
$GC,9652,-1.28,-146.0,864.0,-6.6,344,9656,0.00,2.60,0.00,0.000,4,0.000,0.046,3135,3161,3362,0,0,0,0,0,0
$GC,9681,-1.33,-146.0,865.9,-6.4,344,9686,0.10,2.65,0.00,0.000,6,0.076,0.050,3088,1602,3362,0,0,0,0,0,0
$GC,9941,-1.26,-146.0,888.6,-9.1,351,9946,0.17,2.58,0.00,0.000,4,0.093,0.085,3127,164,3361,0,0,0,0,0,0
$GC,10003,-1.26,-146.0,894.6,-9.0,352,10007,0.00,2.35,0.00,0.000,6,0.000,0.037,3127,1596,3361,0,0,0,0,0,0
$STATE,10106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10106,begin apogee
$GC,10113,-0.31,0.0,902.7,7.6,355,10236,0.88,0.00,119.88,1.148,6,0.071,0.000,3330,1338,2800,0,0,0,0,0,0
$STATE,10237,end apogee,CONTROL_FINISHED_OK
$STATE,10237,begin climb
$GC,10241,1.27,146.0,906.5,0.0,358,10380,1.42,2.15,130.77,1.127,4,0.032,0.080,3682,166,2202,0,0,0,0,0,0
$GC,10479,1.00,146.0,888.9,15.3,363,10484,0.25,1.98,0.00,0.000,6,0.094,0.031,3619,1352,2198,0,0,0,0,0,0
$GC,10749,0.94,155.7,862.6,9.6,370,10762,0.00,2.10,8.38,0.912,4,0.000,0.073,3619,174,2165,0,0,0,0,0,0
$GC,10796,0.80,155.7,858.3,10.2,371,10800,0.22,1.92,0.00,0.000,6,0.104,0.031,3573,1349,2164,0,0,0,0,0,0
$GC,11083,0.86,203.8,834.8,7.8,378,11136,0.00,2.78,45.58,1.071,4,0.000,0.051,3573,2934,1968,0,0,0,0,0,0
$GC,11175,1.00,235.4,826.9,8.5,380,11216,0.17,2.72,30.95,1.042,6,0.053,0.050,3630,1360,1840,0,0,0,0,0,0
$GC,11460,0.94,235.4,789.5,13.5,387,11462,0.12,0.00,0.00,0.000,6,0.115,0.000,3604,1360,1834,0,0,0,0,0,0
$GC,11700,0.94,235.4,759.4,12.3,393,11701,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1360,1832,0,0,0,0,0,0
$GC,11944,0.94,235.4,728.9,12.5,399,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1360,1831,0,0,0,0,0,0
$GC,12188,0.94,235.4,699.8,11.8,405,12189,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1360,1830,0,0,0,0,0,0
$GC,12435,0.94,235.4,672.8,11.1,411,12440,0.00,2.62,0.00,0.000,4,0.000,0.041,3604,2933,1830,0,0,0,0,0,0
$GC,12479,1.01,235.4,667.9,10.3,412,12484,0.00,2.72,0.00,0.000,6,0.000,0.052,3604,1349,1826,0,0,0,0,0,0
$GC,12766,1.01,235.4,636.5,10.9,419,12770,0.00,2.12,0.00,0.000,4,0.000,0.085,3604,163,1826,0,0,0,0,0,0
$GC,12810,1.01,235.4,631.4,12.2,420,12814,0.00,1.92,0.00,0.000,6,0.000,0.029,3604,1360,1826,0,0,0,0,0,0
$GC,13101,1.01,235.4,601.5,10.1,427,13105,0.00,2.60,0.00,0.000,4,0.000,0.047,3604,2927,1826,0,0,0,0,0,0
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$STATE,18420,end climb,SURFACE_DEPTH_REACHED
$STATE,18420,begin surface coast
$FINISH,1.1,1.023323
$STATE,18454,end surface coast,CONTROL_FINISHED_OK
$STATE,18454,begin surface
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$HUMID,66.85
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$TCM_TEMP,22.40
$XPDR_PINGS,9
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$10V_AH,9.8,51.238
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.425,199.200,392.775,48.125,0.000,24.038,41.345,265.824,2.250,0.000,16.221,1543.474,13560.345,517.575,2576.258,815.289,33.386,1594.805,0.000,2578.352,0.000,0.536,0.000
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$MEM,355416
$DATA_FILE_SIZE,54202,700
$CAP_FILE_SIZE,179265,0
$CFSIZE,260165632,144646144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100813,090724,2247.662,-15807.665,75,1.4,75,10.1