version: 66.06
glider: 148
mission: 12
dive: 94
start: 6 10 113 11 51 18
data:
$ID,148
$MISSION,12
$DIVE,94
$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,380
$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,-1017087
$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,24
$R_STBD_OVSHOOT,82
$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
$GPS1,113946,2254.422,-15755.229,62,3.7,81,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-76.7
$GPS2,115026,2254.424,-15755.270,14,2.1,33,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.225,-0.130
$KALMAN_X,-95550.4,23.1,291.0,103427.8,-1336.4
$KALMAN_Y,18527.5,-58.6,-20.5,-966.0,-339.0
$MHEAD_RNG_PITCHd_Wd,109.8,41843,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-67.22,0.000,2,0.000,0.000,413,1561,2990,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.4,-4.9,9,123,14.48,2.33,-7.30,0.000,4,0.163,0.050,3104,161,3398,0,0,0,0,0,0
$GC,185,-1.04,-146.0,29.4,-21.3,22,195,0.20,2.17,0.00,0.000,6,0.088,0.018,3151,1550,3399,0,0,0,0,0,0
$GC,452,-0.94,-146.0,71.0,-14.6,47,457,0.12,2.53,0.00,0.000,4,0.115,0.022,3178,3143,3399,0,0,0,0,0,0
$GC,475,-0.88,-146.0,74.7,-15.5,48,480,0.00,2.55,0.00,0.000,6,0.000,0.027,3178,1557,3399,0,0,0,0,0,0
$GC,738,-0.88,-146.0,109.1,-12.0,72,739,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1557,3399,0,0,0,0,0,0
$GC,993,-0.88,-146.0,137.0,-10.5,96,997,0.00,2.47,0.00,0.000,4,0.000,0.021,3178,3144,3400,0,0,0,0,0,0
$GC,1020,-0.93,-146.0,139.7,-10.0,98,1024,0.00,2.53,0.00,0.000,6,0.000,0.027,3178,1573,3399,0,0,0,0,0,0
$GC,1284,-0.93,-146.0,166.4,-10.9,122,1288,0.00,2.28,0.00,0.000,4,0.000,0.043,3178,167,3400,0,0,0,0,0,0
$GC,1314,-0.93,-146.0,170.1,-11.3,124,1319,0.00,2.15,0.00,0.000,6,0.000,0.017,3178,1596,3400,0,0,0,0,0,0
$GC,1577,-0.93,-146.0,194.9,-8.9,149,1581,0.00,2.35,0.00,0.000,4,0.000,0.021,3178,3114,3400,0,0,0,0,0,0
$GC,1608,-0.98,-146.0,197.2,-8.3,151,1612,0.00,2.47,0.00,0.000,6,0.000,0.028,3178,1569,3400,0,0,0,0,0,0
$GC,1890,-0.98,-146.0,217.7,-6.9,160,1894,0.00,2.28,0.00,0.000,4,0.000,0.044,3178,166,3400,0,0,0,0,0,0
$GC,1940,-1.06,-146.0,221.2,-7.5,161,1944,0.10,2.08,0.00,0.000,6,0.075,0.018,3121,1554,3400,0,0,0,0,0,0
$GC,2231,-0.99,-146.0,248.8,-10.0,168,2236,0.20,2.47,0.00,0.000,4,0.092,0.021,3167,3122,3400,0,0,0,0,0,0
$GC,2251,-0.99,-146.0,251.4,-10.5,168,2255,0.00,2.55,0.00,0.000,6,0.000,0.028,3166,1549,3400,0,0,0,0,0,0
$GC,2516,-0.99,-146.0,273.1,-7.9,175,2521,0.00,2.47,0.00,0.000,4,0.000,0.025,3167,3117,3400,0,0,0,0,0,0
$GC,2531,-1.04,-146.0,274.2,-7.2,175,2535,0.00,2.53,0.00,0.000,6,0.000,0.029,3167,1550,3400,0,0,0,0,0,0
$GC,2800,-1.10,-146.0,293.4,-7.0,182,2805,0.00,2.50,0.00,0.000,4,0.000,0.026,3167,3113,3399,0,0,0,0,0,0
$GC,2827,-1.18,-146.0,295.5,-8.6,182,2833,0.15,2.53,0.00,0.000,6,0.056,0.033,3098,1561,3399,0,0,0,0,0,0
$GC,3088,-1.08,-146.0,328.8,-13.3,189,3093,0.22,2.30,0.00,0.000,4,0.091,0.050,3148,173,3398,0,0,0,0,0,0
$GC,3123,-1.08,-146.0,333.4,-13.2,189,3127,0.00,2.12,0.00,0.000,6,0.000,0.021,3149,1536,3398,0,0,0,0,0,0
$GC,3373,-1.08,-146.0,356.1,-8.4,195,3377,0.00,2.28,0.00,0.000,4,0.000,0.054,3148,174,3397,0,0,0,0,0,0
$GC,3387,-1.08,-146.0,357.1,-7.1,195,3391,0.00,2.17,0.00,0.000,6,0.000,0.021,3149,1570,3398,0,0,0,0,0,0
$GC,3657,-1.08,-146.0,372.8,-5.6,202,3661,0.00,2.55,0.00,0.000,4,0.000,0.033,3149,3133,3395,0,0,0,0,0,0
$GC,3676,-1.14,-146.0,374.0,-5.9,202,3681,0.00,2.60,0.00,0.000,6,0.000,0.037,3149,1566,3395,0,0,0,0,0,0
$GC,3941,-1.18,-146.0,391.4,-7.0,209,3945,0.00,2.38,0.00,0.000,4,0.000,0.061,3149,166,3394,0,0,0,0,0,0
$GC,3985,-1.25,-146.0,395.0,-7.8,209,3991,0.15,2.17,0.00,0.000,6,0.056,0.023,3086,1549,3393,0,0,0,0,0,0
$GC,4235,-1.16,-146.0,420.7,-10.2,216,4240,0.20,2.60,0.00,0.000,4,0.091,0.037,3131,3142,3392,0,0,0,0,0,0
$GC,4279,-1.26,-146.0,424.5,-8.1,217,4284,0.00,2.62,0.00,0.000,6,0.000,0.041,3131,1566,3392,0,0,0,0,0,0
$GC,4568,-1.26,-146.0,448.4,-8.6,224,4572,0.00,2.40,0.00,0.000,4,0.000,0.068,3131,171,3390,0,0,0,0,0,0
$GC,4605,-1.26,-146.0,452.1,-9.8,224,4610,0.00,2.20,0.00,0.000,6,0.000,0.027,3131,1562,3390,0,0,0,0,0,0
$GC,4861,-1.26,-146.0,474.6,-8.7,231,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1563,3388,0,0,0,0,0,0
$GC,5104,-1.26,-146.0,492.2,-6.9,237,5108,0.00,2.42,0.00,0.000,4,0.000,0.067,3131,165,3386,0,0,0,0,0,0
$GC,5127,-1.26,-146.0,494.1,-8.3,237,5131,0.00,2.25,0.00,0.000,6,0.000,0.030,3131,1560,3387,0,0,0,0,0,0
$GC,5391,-1.26,-146.0,512.8,-7.3,244,5395,0.00,2.62,0.00,0.000,4,0.000,0.042,3131,3150,3385,0,0,0,0,0,0
$GC,5412,-1.26,-146.0,514.5,-8.4,244,5416,0.00,2.65,0.00,0.000,6,0.000,0.040,3130,1560,3384,0,0,0,0,0,0
$GC,5676,-1.26,-146.0,536.2,-8.3,251,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1560,3383,0,0,0,0,0,0
$GC,5920,-1.26,-146.0,557.0,-8.5,257,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1560,3381,0,0,0,0,0,0
$GC,6165,-1.26,-146.0,577.7,-8.4,263,6169,0.00,2.45,0.00,0.000,4,0.000,0.077,3131,163,3380,0,0,0,0,0,0
$GC,6209,-1.30,-146.0,581.7,-8.9,264,6213,0.12,2.25,0.00,0.000,6,0.065,0.031,3079,1555,3379,0,0,0,0,0,0
$GC,6497,-1.23,-146.0,610.7,-9.8,271,6501,0.17,2.42,0.00,0.000,4,0.097,0.072,3118,173,3378,0,0,0,0,0,0
$GC,6518,-1.23,-146.0,612.6,-9.0,271,6522,0.00,2.25,0.00,0.000,6,0.000,0.031,3118,1560,3378,0,0,0,0,0,0
$GC,6782,-1.23,-146.0,631.7,-7.0,278,6786,0.00,2.65,0.00,0.000,4,0.000,0.047,3118,3153,3377,0,0,0,0,0,0
$GC,6802,-1.23,-146.0,633.3,-7.5,278,6807,0.00,2.70,0.00,0.000,6,0.000,0.046,3118,1557,3377,0,0,0,0,0,0
$GC,7067,-1.23,-146.0,652.5,-7.3,285,7071,0.00,2.67,0.00,0.000,4,0.000,0.044,3117,3153,3376,0,0,0,0,0,0
$GC,7086,-1.23,-146.0,654.0,-7.6,285,7090,0.00,2.70,0.00,0.000,6,0.000,0.046,3117,1557,3376,0,0,0,0,0,0
$GC,7352,-1.23,-146.0,672.6,-7.0,292,7356,0.00,2.45,0.00,0.000,4,0.000,0.081,3117,170,3374,0,0,0,0,0,0
$GC,7380,-1.23,-146.0,675.0,-8.6,292,7384,0.00,2.25,0.00,0.000,6,0.000,0.031,3118,1552,3373,0,0,0,0,0,0
$GC,7634,-1.23,-146.0,693.5,-7.4,299,7638,0.00,2.45,0.00,0.000,4,0.000,0.074,3117,163,3372,0,0,0,0,0,0
$GC,7653,-1.23,-146.0,695.1,-8.3,299,7657,0.00,2.28,0.00,0.000,6,0.000,0.033,3118,1556,3372,0,0,0,0,0,0
$GC,7918,-1.23,-146.0,716.2,-8.1,306,7923,0.00,2.70,0.00,0.000,4,0.000,0.050,3117,3161,3371,0,0,0,0,0,0
$GC,7943,-1.28,-146.0,718.4,-8.7,306,7947,0.00,2.72,0.00,0.000,6,0.000,0.048,3118,1559,3371,0,0,0,0,0,0
$GC,8202,-1.28,-146.0,740.0,-8.4,313,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1558,3370,0,0,0,0,0,0
$GC,8447,-1.28,-146.0,759.0,-7.7,319,8452,0.00,2.67,0.00,0.000,4,0.000,0.045,3118,3153,3369,0,0,0,0,0,0
$GC,8462,-1.28,-146.0,760.3,-7.4,319,8467,0.00,2.70,0.00,0.000,6,0.000,0.047,3118,1562,3369,0,0,0,0,0,0
$GC,8731,-1.28,-146.0,779.1,-6.9,326,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1562,3368,0,0,0,0,0,0
$GC,8976,-1.28,-146.0,794.6,-6.2,332,8980,0.00,2.47,0.00,0.000,4,0.000,0.082,3117,165,3367,0,0,0,0,0,0
$GC,9000,-1.28,-146.0,796.3,-7.0,332,9004,0.00,2.28,0.00,0.000,6,0.000,0.033,3117,1556,3367,0,0,0,0,0,0
$GC,9259,-1.28,-146.0,810.8,-5.2,339,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1556,3366,0,0,0,0,0,0
$GC,9504,-1.28,-146.0,823.0,-5.0,345,9509,0.00,2.70,0.00,0.000,4,0.000,0.051,3117,3163,3365,0,0,0,0,0,0
$GC,9538,-1.37,-146.0,825.0,-5.9,345,9547,0.12,2.70,0.00,0.000,6,0.064,0.049,3062,1565,3365,0,0,0,0,0,0
$GC,9792,-1.30,-146.0,847.4,-9.4,352,9797,0.17,2.47,0.00,0.000,4,0.100,0.081,3101,169,3365,0,0,0,0,0,0
$GC,9822,-1.30,-146.0,850.4,-9.8,352,9826,0.00,2.28,0.00,0.000,6,0.000,0.034,3101,1563,3364,0,0,0,0,0,0
$GC,10077,-1.30,-146.0,873.6,-9.3,359,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1563,3364,0,0,0,0,0,0
$GC,10320,-1.30,-146.0,897.7,-9.9,365,10325,0.00,2.45,0.00,0.000,4,0.000,0.075,3101,163,3363,0,0,0,0,0,0
$STATE,10341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10342,begin apogee
$GC,10351,-0.31,0.0,900.4,10.9,365,10473,0.93,0.00,118.62,1.172,6,0.081,0.000,3314,1359,2800,0,0,0,0,0,0
$STATE,10474,end apogee,CONTROL_FINISHED_OK
$STATE,10474,begin climb
$GC,10477,1.27,146.0,905.8,0.0,368,10615,1.48,2.22,130.38,1.146,4,0.031,0.077,3668,166,2204,0,0,0,0,0,0
$GC,10684,0.97,146.0,893.9,15.8,373,10688,0.35,1.98,0.00,0.000,6,0.113,0.031,3598,1356,2200,0,0,0,0,0,0
$GC,10948,0.88,146.0,864.9,11.0,380,10952,0.00,2.12,0.00,0.000,4,0.000,0.074,3597,167,2194,0,0,0,0,0,0
$GC,10997,0.74,146.0,858.5,13.6,381,11002,0.25,1.95,0.00,0.000,6,0.104,0.031,3546,1354,2193,0,0,0,0,0,0
$GC,11284,0.74,146.0,827.7,10.6,388,11286,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1355,2191,0,0,0,0,0,0
$GC,11528,0.74,146.0,802.4,10.4,394,11532,0.00,2.67,0.00,0.000,4,0.000,0.049,3546,2938,2190,0,0,0,0,0,0
$GC,11573,0.85,163.0,798.1,9.2,395,11594,0.10,2.72,13.98,1.002,6,0.078,0.050,3586,1354,2136,0,0,0,0,0,0
$GC,11865,0.80,163.0,764.4,11.5,402,11870,0.12,2.15,0.00,0.000,4,0.114,0.085,3560,166,2134,0,0,0,0,0,0
$GC,11910,0.80,163.0,759.1,12.0,403,11913,0.00,1.92,0.00,0.000,6,0.000,0.030,3560,1356,2134,0,0,0,0,0,0
$GC,12201,0.83,182.5,731.2,9.1,410,12225,0.00,2.72,18.95,1.000,4,0.000,0.050,3560,2926,2055,0,0,0,0,0,0
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$STATE,18611,end climb,SURFACE_DEPTH_REACHED
$STATE,18611,begin surface coast
$FINISH,0.8,1.023451
$STATE,18658,end surface coast,CONTROL_FINISHED_OK
$STATE,18658,begin surface
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$HUMID,64.05
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.60
$XPDR_PINGS,20
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$10V_AH,9.9,11.764
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.050,236.700,406.200,34.650,0.000,28.495,46.221,395.665,5.000,0.000,35.651,1572.273,13841.329,564.898,2446.945,922.786,33.370,1678.743,0.000,2411.573,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,54039,694
$CAP_FILE_SIZE,192434,0
$CFSIZE,260165632,165343232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100613,170446,2252.845,-15754.129,37,1.7,47,10.1