version: 66.06
glider: 148
mission: 12
dive: 452
start: 8 30 113 1 5 4
data:
$ID,148
$MISSION,12
$DIVE,452
$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,660
$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,-1025109.2
$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,3410
$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,1355
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,79
$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
$GPS1,005335,2257.164,-15744.614,36,1.8,36,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-78.1
$GPS2,010412,2257.187,-15744.663,9,1.7,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.092,0.243
$KALMAN_X,-86645.5,22.4,-244.5,113159.9,-345.2
$KALMAN_Y,-16761.2,81.6,156.1,39121.5,-1017.4
$MHEAD_RNG_PITCHd_Wd,329.2,167308,-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,-67.22,0.000,2,0.000,0.000,412,1626,2914,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.5,9,123,14.18,2.40,-8.93,0.000,4,0.148,0.033,3129,3117,3397,0,0,0,0,0,0
$GC,237,-1.12,-146.0,34.6,-17.1,29,242,0.17,2.55,0.00,0.000,6,0.099,0.032,3167,1568,3398,0,0,0,0,0,0
$GC,507,-0.97,-146.0,77.0,-14.2,53,512,0.15,2.33,0.00,0.000,4,0.103,0.044,3202,166,3398,0,0,0,0,0,0
$GC,529,-0.84,-146.0,80.7,-13.9,54,534,0.12,2.10,0.00,0.000,6,0.104,0.017,3230,1580,3398,0,0,0,0,0,0
$GC,793,-0.84,-146.0,105.3,-8.4,78,797,0.00,2.40,0.00,0.000,4,0.000,0.021,3230,3121,3399,0,0,0,0,0,0
$GC,824,-0.95,-146.0,107.9,-7.8,80,834,0.08,2.53,0.00,0.000,6,0.035,0.028,3159,1577,3399,0,0,0,0,0,0
$GC,1092,-0.84,-146.0,139.3,-11.6,105,1097,0.28,0.00,0.00,0.000,6,0.081,0.000,3225,1577,3399,0,0,0,0,0,0
$GC,1359,-0.90,-146.0,162.0,-7.7,130,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1577,3400,0,0,0,0,0,0
$GC,1624,-0.96,-146.0,182.8,-7.2,155,1629,0.10,2.45,0.00,0.000,4,0.076,0.022,3163,3123,3400,0,0,0,0,0,0
$GC,1664,-0.96,-146.0,186.8,-9.3,158,1671,0.17,2.50,0.00,0.000,6,0.079,0.028,3206,1574,3400,0,0,0,0,0,0
$GC,1945,-0.96,-146.0,211.1,-8.9,176,1949,0.00,2.33,0.00,0.000,4,0.000,0.044,3207,166,3400,0,0,0,0,0,0
$GC,1978,-0.96,-146.0,214.5,-8.7,176,1982,0.00,2.12,0.00,0.000,6,0.000,0.018,3206,1585,3400,0,0,0,0,0,0
$GC,2229,-1.00,-146.0,236.1,-8.7,182,2233,0.00,2.42,0.00,0.000,4,0.000,0.021,3206,3120,3400,0,0,0,0,0,0
$GC,2284,-1.15,-146.0,240.7,-8.2,183,2289,0.20,2.50,0.00,0.000,6,0.042,0.028,3112,1586,3400,0,0,0,0,0,0
$GC,2567,-0.99,-146.0,277.1,-12.9,190,2569,0.38,0.00,0.00,0.000,6,0.081,0.000,3195,1586,3400,0,0,0,0,0,0
$GC,2815,-1.05,-146.0,298.6,-8.3,196,2820,0.00,2.42,0.00,0.000,4,0.000,0.025,3195,3114,3399,0,0,0,0,0,0
$GC,2846,-1.15,-146.0,301.3,-7.7,196,2851,0.15,2.45,0.00,0.000,6,0.054,0.030,3115,1600,3399,0,0,0,0,0,0
$GC,3102,-1.01,-146.0,327.9,-10.3,203,3107,0.30,2.38,0.00,0.000,4,0.081,0.049,3186,164,3398,0,0,0,0,0,0
$GC,3152,-1.09,-146.0,331.5,-6.5,204,3156,0.00,2.15,0.00,0.000,6,0.000,0.020,3185,1567,3398,0,0,0,0,0,0
$GC,3438,-1.13,-146.0,347.3,-5.7,211,3442,0.00,2.53,0.00,0.000,4,0.000,0.029,3184,3145,3396,0,0,0,0,0,0
$GC,3471,-1.24,-146.0,349.5,-5.6,211,3477,0.20,2.58,0.00,0.000,6,0.043,0.035,3101,1581,3396,0,0,0,0,0,0
$GC,3724,-1.10,-146.0,376.4,-11.5,217,3729,0.28,2.40,0.00,0.000,4,0.084,0.054,3167,167,3395,0,0,0,0,0,0
$GC,3762,-1.10,-146.0,380.9,-10.0,217,3768,0.00,2.22,0.00,0.000,6,0.000,0.021,3167,1589,3394,0,0,0,0,0,0
$GC,4014,-1.10,-146.0,400.7,-7.8,224,4018,0.00,2.42,0.00,0.000,4,0.000,0.058,3166,169,3392,0,0,0,0,0,0
$GC,4047,-1.10,-146.0,403.5,-7.8,224,4051,0.00,2.22,0.00,0.000,6,0.000,0.023,3166,1581,3392,0,0,0,0,0,0
$GC,4297,-1.10,-146.0,422.7,-7.6,230,4301,0.00,2.53,0.00,0.000,4,0.000,0.035,3166,3140,3391,0,0,0,0,0,0
$GC,4337,-1.18,-146.0,425.7,-7.0,230,4345,0.00,2.60,0.00,0.000,6,0.000,0.037,3166,1586,3390,0,0,0,0,0,0
$GC,4587,-1.18,-146.0,444.8,-7.7,237,4591,0.00,2.42,0.00,0.000,4,0.000,0.066,3166,170,3388,0,0,0,0,0,0
$GC,4620,-1.18,-146.0,447.7,-9.2,237,4624,0.00,2.22,0.00,0.000,6,0.000,0.026,3166,1586,3389,0,0,0,0,0,0
$GC,4872,-1.18,-146.0,467.2,-7.8,243,4877,0.00,2.55,0.00,0.000,4,0.000,0.039,3166,3141,3386,0,0,0,0,0,0
$GC,4891,-1.18,-146.0,468.8,-7.5,243,4896,0.00,2.60,0.00,0.000,6,0.000,0.037,3166,1576,3387,0,0,0,0,0,0
$GC,5156,-1.18,-146.0,487.8,-7.4,250,5160,0.00,2.60,0.00,0.000,4,0.000,0.040,3165,3150,3385,0,0,0,0,0,0
$GC,5182,-1.24,-146.0,489.7,-8.2,250,5187,0.10,2.60,0.00,0.000,6,0.074,0.045,3114,1592,3385,0,0,0,0,0,0
$GC,5442,-1.15,-146.0,516.9,-10.7,257,5444,0.20,0.00,0.00,0.000,6,0.090,0.000,3157,1592,3383,0,0,0,0,0,0
$GC,5686,-1.15,-146.0,538.1,-8.3,263,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1592,3382,0,0,0,0,0,0
$GC,5931,-1.15,-146.0,557.1,-7.7,269,5936,0.00,2.58,0.00,0.000,4,0.000,0.044,3157,3140,3380,0,0,0,0,0,0
$GC,5951,-1.15,-146.0,558.8,-7.7,269,5955,0.00,2.60,0.00,0.000,6,0.000,0.042,3157,1592,3380,0,0,0,0,0,0
$GC,6218,-1.15,-146.0,578.5,-7.4,276,6222,0.00,2.50,0.00,0.000,4,0.000,0.076,3158,166,3378,0,0,0,0,0,0
$GC,6263,-1.15,-146.0,581.8,-7.5,277,6267,0.00,2.30,0.00,0.000,6,0.000,0.031,3157,1588,3378,0,0,0,0,0,0
$GC,6550,-1.15,-146.0,600.3,-6.1,284,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1588,3376,0,0,0,0,0,0
$GC,6794,-1.15,-146.0,615.0,-6.0,290,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1588,3375,0,0,0,0,0,0
$GC,7042,-1.15,-146.0,631.5,-7.0,296,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1587,3374,0,0,0,0,0,0
$GC,7281,-1.15,-146.0,649.6,-7.4,302,7285,0.00,2.62,0.00,0.000,4,0.000,0.049,3157,3151,3372,0,0,0,0,0,0
$GC,7327,-1.25,-146.0,653.0,-7.8,303,7331,0.00,2.62,0.00,0.000,6,0.000,0.048,3157,1591,3372,0,0,0,0,0,0
$GC,7616,-1.25,-146.0,673.4,-7.0,310,7620,0.00,2.53,0.00,0.000,4,0.000,0.082,3158,165,3371,0,0,0,0,0,0
$GC,7649,-1.25,-146.0,676.2,-7.2,310,7653,0.00,2.33,0.00,0.000,6,0.000,0.035,3157,1586,3370,0,0,0,0,0,0
$GC,7903,-1.25,-146.0,691.6,-6.0,316,7907,0.00,2.65,0.00,0.000,4,0.000,0.051,3157,3156,3369,0,0,0,0,0,0
$GC,7940,-1.35,-146.0,693.7,-5.3,316,7949,0.17,2.67,0.00,0.000,6,0.051,0.051,3090,1589,3369,0,0,0,0,0,0
$GC,8193,-1.23,-146.0,716.2,-9.1,323,8198,0.22,2.53,0.00,0.000,4,0.089,0.081,3140,168,3367,0,0,0,0,0,0
$GC,8227,-1.23,-146.0,719.1,-8.5,323,8232,0.00,2.35,0.00,0.000,6,0.000,0.036,3139,1596,3366,0,0,0,0,0,0
$GC,8479,-1.23,-146.0,735.2,-6.5,329,8484,0.00,2.65,0.00,0.000,4,0.000,0.052,3139,3162,3366,0,0,0,0,0,0
$GC,8513,-1.30,-146.0,737.6,-6.2,329,8517,0.00,2.67,0.00,0.000,6,0.000,0.049,3139,1596,3366,0,0,0,0,0,0
$GC,8763,-1.30,-146.0,753.7,-6.6,335,8767,0.00,2.53,0.00,0.000,4,0.000,0.082,3140,167,3365,0,0,0,0,0,0
$GC,8789,-1.30,-146.0,755.7,-8.3,335,8793,0.00,2.35,0.00,0.000,6,0.000,0.037,3139,1596,3365,0,0,0,0,0,0
$GC,9048,-1.30,-146.0,773.1,-6.8,342,9052,0.00,2.62,0.00,0.000,4,0.000,0.052,3140,3165,3364,0,0,0,0,0,0
$GC,9072,-1.30,-146.0,774.8,-7.6,342,9076,0.00,2.67,0.00,0.000,6,0.000,0.049,3140,1596,3364,0,0,0,0,0,0
$GC,9333,-1.30,-146.0,793.8,-7.5,349,9337,0.00,2.55,0.00,0.000,4,0.000,0.083,3140,161,3363,0,0,0,0,0,0
$GC,9371,-1.30,-146.0,797.3,-8.5,349,9376,0.00,2.35,0.00,0.000,6,0.000,0.037,3140,1600,3362,0,0,0,0,0,0
$GC,9623,-1.30,-146.0,817.3,-8.0,356,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1600,3362,0,0,0,0,0,0
$GC,9866,-1.30,-146.0,836.0,-7.6,362,9871,0.00,2.53,0.00,0.000,4,0.000,0.077,3140,165,3361,0,0,0,0,0,0
$GC,9890,-1.30,-146.0,838.2,-9.4,362,9894,0.00,2.33,0.00,0.000,6,0.000,0.038,3140,1589,3360,0,0,0,0,0,0
$GC,10149,-1.30,-146.0,856.4,-6.8,369,10154,0.00,2.65,0.00,0.000,4,0.000,0.054,3140,3161,3360,0,0,0,0,0,0
$GC,10170,-1.30,-146.0,857.6,-6.3,369,10175,0.00,2.70,0.00,0.000,6,0.000,0.050,3139,1584,3360,0,0,0,0,0,0
$GC,10439,-1.30,-146.0,875.2,-6.6,376,10443,0.00,2.53,0.00,0.000,4,0.000,0.084,3140,165,3359,0,0,0,0,0,0
$GC,10463,-1.30,-146.0,877.1,-7.7,376,10467,0.00,2.35,0.00,0.000,6,0.000,0.037,3140,1592,3359,0,0,0,0,0,0
$GC,10724,-1.30,-146.0,893.8,-6.3,383,10728,0.00,2.62,0.00,0.000,4,0.000,0.054,3139,3157,3358,0,0,0,0,0,0
$GC,10753,-1.36,-146.0,895.9,-7.2,383,10758,0.10,2.67,0.00,0.000,6,0.077,0.050,3092,1593,3358,0,0,0,0,0,0
$STATE,10847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10847,begin apogee
$GC,10853,-0.31,0.0,903.5,8.4,386,10978,1.10,0.00,120.55,1.157,6,0.074,0.000,3341,1345,2800,0,0,0,0,0,0
$STATE,10978,end apogee,CONTROL_FINISHED_OK
$STATE,10979,begin climb
$GC,10983,1.27,146.0,906.4,0.0,389,11120,1.45,0.00,132.90,1.136,6,0.032,0.000,3692,1346,2204,0,0,0,0,0,0
$GC,11330,1.05,146.0,874.3,13.4,398,11335,0.25,2.10,0.00,0.000,4,0.113,0.081,3637,169,2195,0,0,0,0,0,0
$GC,11361,0.88,146.0,870.4,11.9,398,11366,0.17,1.98,0.00,0.000,6,0.114,0.032,3602,1364,2194,0,0,0,0,0,0
$GC,11616,0.90,165.3,846.6,9.1,405,11641,0.00,2.25,17.48,1.026,4,0.000,0.075,3602,165,2124,0,0,0,0,0,0
$GC,11682,0.82,165.3,840.0,11.6,406,11686,0.00,1.95,0.00,0.000,6,0.000,0.033,3602,1345,2123,0,0,0,0,0,0
$GC,11955,0.84,179.4,813.9,9.4,413,11976,0.00,2.20,13.60,0.989,4,0.000,0.074,3602,169,2067,0,0,0,0,0,0
$GC,12011,0.76,179.4,808.4,11.3,414,12016,0.12,1.95,0.00,0.000,6,0.118,0.032,3577,1344,2067,0,0,0,0,0,0
$GC,12293,0.80,211.3,784.1,8.5,421,12329,0.00,2.20,31.00,1.039,4,0.000,0.075,3577,166,1938,0,0,0,0,0,0
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$STATE,19477,end climb,SURFACE_DEPTH_REACHED
$STATE,19477,begin surface coast
$FINISH,0.8,1.005879
$STATE,19530,end surface coast,CONTROL_FINISHED_OK
$STATE,19530,begin surface
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$TT8_MAMPS,0.027612
$HUMID,67.44
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.50
$XPDR_PINGS,8
$24V_AH,23.0,66.684
$10V_AH,9.7,64.506
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,35.275,263.875,435.875,33.625,0.000,56.025,84.933,264.336,2.000,0.000,17.394,1656.208,14288.983,608.798,2708.008,954.732,33.373,1764.884,0.000,2711.785,0.000,0.536,0.000
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$MEM,355972
$DATA_FILE_SIZE,57518,732
$CAP_FILE_SIZE,205054,0
$CFSIZE,260165632,137859072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300813,063259,2258.836,-15745.979,37,1.0,42,10.1