version: 66.06
glider: 148
mission: 12
dive: 461
start: 9 1 113 2 4 43
data:
$ID,148
$MISSION,12
$DIVE,461
$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,-1025240.6
$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,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,27
$R_STBD_OVSHOOT,124
$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
$GPS1,015606,2315.425,-15755.012,31,1.0,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.4
$GPS2,020349,2315.462,-15755.021,14,1.4,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.153,0.210
$KALMAN_X,-90580.5,127.7,-109.3,99158.4,230.2
$KALMAN_Y,-21904.9,69.8,-231.3,78506.5,308.4
$MHEAD_RNG_PITCHd_Wd,313.7,129287,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.47,0.000,2,0.000,0.000,409,1603,3172,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-6.9,10,122,14.15,2.38,-3.60,0.000,4,0.147,0.048,3128,156,3397,0,0,0,0,0,0
$GC,258,-1.00,-146.0,49.2,-20.2,28,263,0.28,2.08,0.00,0.000,6,0.093,0.017,3188,1509,3398,0,0,0,0,0,0
$GC,523,-0.93,-146.0,86.5,-10.7,52,527,0.00,2.45,0.00,0.000,4,0.000,0.021,3188,3081,3398,0,0,0,0,0,0
$GC,575,-0.93,-146.0,92.6,-10.0,56,584,0.00,2.50,0.00,0.000,6,0.000,0.028,3188,1558,3399,0,0,0,0,0,0
$GC,844,-0.89,-146.0,120.3,-11.1,81,849,0.12,0.00,0.00,0.000,6,0.101,0.000,3217,1558,3399,0,0,0,0,0,0
$GC,1107,-0.89,-146.0,145.9,-9.7,106,1111,0.00,2.38,0.00,0.000,4,0.000,0.021,3217,3074,3400,0,0,0,0,0,0
$GC,1151,-0.99,-146.0,149.3,-8.6,109,1156,0.10,2.47,0.00,0.000,6,0.073,0.028,3149,1550,3400,0,0,0,0,0,0
$GC,1416,-0.88,-146.0,181.3,-11.7,133,1421,0.30,2.40,0.00,0.000,4,0.082,0.020,3216,3074,3400,0,0,0,0,0,0
$GC,1444,-0.88,-146.0,184.4,-9.9,135,1448,0.00,2.42,0.00,0.000,6,0.000,0.028,3216,1570,3400,0,0,0,0,0,0
$GC,1740,-0.94,-146.0,206.4,-7.3,157,1744,0.00,2.33,0.00,0.000,4,0.000,0.046,3216,173,3400,0,0,0,0,0,0
$GC,1779,-1.01,-146.0,209.5,-7.6,157,1786,0.12,2.05,0.00,0.000,6,0.061,0.017,3147,1537,3400,0,0,0,0,0,0
$GC,2030,-0.93,-146.0,235.3,-10.5,164,2035,0.25,2.50,0.00,0.000,4,0.081,0.021,3207,3113,3400,0,0,0,0,0,0
$GC,2064,-1.05,-146.0,238.3,-7.7,164,2069,0.12,2.50,0.00,0.000,6,0.061,0.028,3136,1579,3400,0,0,0,0,0,0
$GC,2316,-0.95,-146.0,268.0,-12.6,170,2321,0.28,2.33,0.00,0.000,4,0.081,0.044,3201,164,3399,0,0,0,0,0,0
$GC,2345,-0.95,-146.0,271.9,-11.3,170,2349,0.00,2.15,0.00,0.000,6,0.000,0.019,3201,1559,3400,0,0,0,0,0,0
$GC,2602,-1.02,-146.0,294.4,-8.8,177,2606,0.00,2.50,0.00,0.000,4,0.000,0.025,3200,3141,3399,0,0,0,0,0,0
$GC,2658,-1.16,-146.0,299.1,-7.6,178,2664,0.20,2.55,0.00,0.000,6,0.044,0.031,3111,1586,3399,0,0,0,0,0,0
$GC,2933,-1.03,-146.0,330.0,-11.4,185,2938,0.30,2.38,0.00,0.000,4,0.082,0.048,3182,166,3397,0,0,0,0,0,0
$GC,2959,-1.03,-146.0,332.6,-9.7,185,2963,0.00,2.20,0.00,0.000,6,0.000,0.021,3182,1581,3397,0,0,0,0,0,0
$GC,3218,-1.03,-146.0,351.4,-7.1,192,3223,0.00,2.47,0.00,0.000,4,0.000,0.029,3182,3134,3396,0,0,0,0,0,0
$GC,3258,-1.14,-146.0,354.2,-6.9,192,3264,0.00,2.55,0.00,0.000,6,0.000,0.037,3183,1590,3396,0,0,0,0,0,0
$GC,3509,-1.14,-146.0,372.8,-7.5,199,3513,0.00,2.42,0.00,0.000,4,0.000,0.058,3182,161,3394,0,0,0,0,0,0
$GC,3532,-1.14,-146.0,374.7,-8.1,199,3536,0.00,2.25,0.00,0.000,6,0.000,0.021,3182,1597,3394,0,0,0,0,0,0
$GC,3796,-1.19,-146.0,393.3,-7.1,206,3801,0.15,2.50,0.00,0.000,4,0.055,0.033,3115,3140,3393,0,0,0,0,0,0
$GC,3840,-1.19,-146.0,397.8,-10.1,207,3845,0.15,2.58,0.00,0.000,6,0.090,0.038,3151,1593,3392,0,0,0,0,0,0
$GC,4128,-1.19,-146.0,422.8,-8.6,214,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1593,3391,0,0,0,0,0,0
$GC,4374,-1.19,-146.0,442.2,-7.8,220,4378,0.00,2.53,0.00,0.000,4,0.000,0.037,3151,3132,3389,0,0,0,0,0,0
$GC,4402,-1.19,-146.0,444.5,-7.5,220,4407,0.00,2.55,0.00,0.000,6,0.000,0.038,3151,1593,3389,0,0,0,0,0,0
$GC,4657,-1.19,-146.0,463.3,-7.5,227,4661,0.00,2.55,0.00,0.000,4,0.000,0.038,3151,3131,3388,0,0,0,0,0,0
$GC,4683,-1.19,-146.0,465.3,-8.4,227,4687,0.00,2.55,0.00,0.000,6,0.000,0.038,3151,1598,3388,0,0,0,0,0,0
$GC,4942,-1.19,-146.0,487.1,-8.5,234,4947,0.00,2.47,0.00,0.000,4,0.000,0.070,3151,170,3386,0,0,0,0,0,0
$GC,4961,-1.19,-146.0,489.0,-9.8,234,4966,0.00,2.28,0.00,0.000,6,0.000,0.028,3150,1589,3386,0,0,0,0,0,0
$GC,5232,-1.19,-146.0,510.7,-8.2,241,5237,0.00,2.55,0.00,0.000,4,0.000,0.041,3150,3147,3384,0,0,0,0,0,0
$GC,5270,-1.25,-146.0,514.5,-7.7,241,5276,0.00,2.60,0.00,0.000,6,0.000,0.042,3150,1601,3384,0,0,0,0,0,0
$GC,5521,-1.25,-146.0,533.8,-7.7,248,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1600,3383,0,0,0,0,0,0
$GC,5766,-1.25,-146.0,551.3,-7.1,254,5771,0.00,2.60,0.00,0.000,4,0.000,0.043,3150,3153,3381,0,0,0,0,0,0
$GC,5795,-1.25,-146.0,553.6,-7.2,254,5799,0.00,2.60,0.00,0.000,6,0.000,0.043,3151,1611,3381,0,0,0,0,0,0
$GC,6052,-1.25,-146.0,573.4,-8.0,261,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1611,3379,0,0,0,0,0,0
$GC,6293,-1.25,-146.0,593.3,-8.1,267,6298,0.00,2.60,0.00,0.000,4,0.000,0.043,3150,3151,3378,0,0,0,0,0,0
$GC,6324,-1.31,-146.0,596.0,-8.9,267,6329,0.12,2.60,0.00,0.000,6,0.064,0.046,3093,1615,3378,0,0,0,0,0,0
$GC,6580,-1.20,-146.0,624.1,-11.2,274,6585,0.25,2.58,0.00,0.000,4,0.086,0.078,3153,163,3376,0,0,0,0,0,0
$GC,6639,-1.20,-146.0,629.5,-7.9,275,6643,0.00,2.35,0.00,0.000,6,0.000,0.035,3153,1602,3376,0,0,0,0,0,0
$GC,6918,-1.20,-146.0,650.3,-7.3,282,6923,0.00,2.60,0.00,0.000,4,0.000,0.050,3152,3161,3374,0,0,0,0,0,0
$GC,6954,-1.29,-146.0,653.1,-7.8,282,6959,0.10,2.62,0.00,0.000,6,0.076,0.047,3101,1615,3374,0,0,0,0,0,0
$GC,7207,-1.21,-146.0,676.9,-9.8,288,7212,0.20,2.58,0.00,0.000,4,0.088,0.081,3147,165,3373,0,0,0,0,0,0
$GC,7251,-1.21,-146.0,681.1,-7.6,289,7255,0.00,2.38,0.00,0.000,6,0.000,0.037,3147,1613,3372,0,0,0,0,0,0
$GC,7543,-1.21,-146.0,702.3,-7.4,296,7547,0.00,2.60,0.00,0.000,4,0.000,0.052,3147,3166,3371,0,0,0,0,0,0
$GC,7581,-1.29,-146.0,705.3,-6.5,296,7587,0.00,2.65,0.00,0.000,6,0.000,0.048,3147,1613,3371,0,0,0,0,0,0
$GC,7831,-1.29,-146.0,723.5,-7.2,303,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1612,3370,0,0,0,0,0,0
$GC,8077,-1.29,-146.0,740.5,-6.9,309,8078,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1612,3368,0,0,0,0,0,0
$GC,8318,-1.29,-146.0,757.1,-6.8,315,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1613,3367,0,0,0,0,0,0
$GC,8565,-1.29,-146.0,772.6,-6.3,321,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1613,3366,0,0,0,0,0,0
$GC,8806,-1.29,-146.0,788.2,-6.4,327,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1612,3366,0,0,0,0,0,0
$GC,9052,-1.29,-146.0,805.9,-7.4,333,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1611,3365,0,0,0,0,0,0
$GC,9293,-1.29,-146.0,824.9,-7.8,339,9298,0.00,2.60,0.00,0.000,4,0.000,0.046,3147,3163,3364,0,0,0,0,0,0
$GC,9322,-1.37,-146.0,827.3,-8.9,339,9327,0.15,2.65,0.00,0.000,6,0.057,0.050,3087,1614,3364,0,0,0,0,0,0
$GC,9584,-1.28,-146.0,853.6,-10.6,346,9590,0.20,2.58,0.00,0.000,4,0.091,0.084,3132,161,3363,0,0,0,0,0,0
$GC,9618,-1.28,-146.0,857.7,-10.0,346,9622,0.00,2.40,0.00,0.000,6,0.000,0.038,3132,1617,3363,0,0,0,0,0,0
$GC,9868,-1.28,-146.0,878.2,-8.1,352,9873,0.00,2.60,0.00,0.000,4,0.000,0.054,3132,3157,3362,0,0,0,0,0,0
$GC,9891,-1.28,-146.0,879.8,-8.4,352,9896,0.00,2.65,0.00,0.000,6,0.000,0.049,3132,1603,3362,0,0,0,0,0,0
$STATE,10153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10153,begin apogee
$GC,10159,-0.31,0.0,900.8,7.9,359,10284,0.90,0.00,121.32,1.151,6,0.068,0.000,3341,1352,2800,0,0,0,0,0,0
$STATE,10285,end apogee,CONTROL_FINISHED_OK
$STATE,10285,begin climb
$GC,10287,1.27,146.0,905.1,0.0,362,10429,1.42,2.22,132.23,1.130,4,0.032,0.084,3689,170,2203,0,0,0,0,0,0
$GC,10440,1.02,146.0,899.7,12.4,365,10445,0.28,1.98,0.00,0.000,6,0.110,0.031,3634,1360,2201,0,0,0,0,0,0
$GC,10704,0.93,146.0,869.7,11.8,372,10708,0.10,2.12,0.00,0.000,4,0.128,0.073,3613,168,2193,0,0,0,0,0,0
$GC,10747,0.82,146.0,863.6,13.5,373,10752,0.12,1.95,0.00,0.000,6,0.118,0.031,3588,1355,2193,0,0,0,0,0,0
$GC,11036,0.82,146.0,831.4,11.3,380,11040,0.00,2.12,0.00,0.000,4,0.000,0.074,3588,165,2190,0,0,0,0,0,0
$GC,11069,0.76,146.0,827.2,12.5,380,11073,0.00,1.95,0.00,0.000,6,0.000,0.031,3588,1348,2190,0,0,0,0,0,0
$GC,11323,0.76,146.0,799.8,10.5,387,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1349,2189,0,0,0,0,0,0
$GC,11569,0.79,167.5,777.3,9.0,393,11594,0.00,2.17,18.50,1.007,4,0.000,0.074,3588,173,2117,0,0,0,0,0,0
$GC,11604,0.79,173.6,774.0,9.7,393,11616,0.00,1.95,7.70,0.865,6,0.000,0.031,3587,1346,2091,0,0,0,0,0,0
$GC,11908,0.83,203.2,747.9,8.6,401,11941,0.00,2.15,28.30,1.016,4,0.000,0.072,3588,169,1970,0,0,0,0,0,0
$GC,11958,0.85,215.7,743.0,9.4,402,11978,0.00,1.95,13.57,0.942,6,0.000,0.031,3588,1343,1920,0,0,0,0,0,0
$GC,12238,0.85,222.7,715.8,9.7,409,12247,0.00,0.00,7.47,0.838,6,0.000,0.000,3588,1343,1891,0,0,0,0,0,0
$GC,12484,0.90,222.7,690.9,10.3,415,12485,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1345,1889,0,0,0,0,0,0
$GC,12730,0.96,227.3,666.8,9.8,421,12743,0.12,2.70,5.43,0.739,4,0.067,0.048,3633,2930,1872,0,0,0,0,0,0
$GC,12762,0.96,227.3,662.8,10.6,421,12767,0.00,2.75,0.00,0.000,6,0.000,0.050,3633,1347,1870,0,0,0,0,0,0
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$STATE,18247,end climb,SURFACE_DEPTH_REACHED
$STATE,18247,begin surface coast
$FINISH,1.0,1.009936
$STATE,18299,end surface coast,CONTROL_FINISHED_OK
$STATE,18299,begin surface
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$HUMID,68.27
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$TCM_TEMP,22.10
$XPDR_PINGS,5
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$10V_AH,9.7,65.844
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355952
$DATA_FILE_SIZE,54264,691
$CAP_FILE_SIZE,180311,0
$CFSIZE,260165632,137183232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010913,071223,2317.319,-15756.448,41,1.2,41,10.1