version: 66.06
glider: 148
mission: 12
dive: 102
start: 6 12 113 7 48 45
data:
$ID,148
$MISSION,12
$DIVE,102
$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,-1017226.5
$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,26
$R_STBD_OVSHOOT,92
$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
$GPS1,073356,2244.659,-15744.019,23,99.0,42,10.1
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-75.8
$GPS2,074751,2244.742,-15744.030,8,2.8,27,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.138,-0.220
$KALMAN_X,-105188.2,74.3,-477.9,132965.8,216.4
$KALMAN_Y,22371.7,290.7,-168.0,-22955.1,1058.7
$MHEAD_RNG_PITCHd_Wd,137.7,15587,-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,-67.60,0.000,2,0.000,0.000,413,1605,3044,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.8,-6.6,9,121,14.02,2.42,-6.07,0.000,4,0.150,0.051,3102,164,3399,0,0,0,0,0,0
$GC,233,-1.05,-146.0,42.0,-18.7,26,242,0.20,2.12,0.00,0.000,6,0.079,0.018,3151,1534,3399,0,0,0,0,0,0
$GC,501,-0.97,-146.0,76.2,-12.4,51,506,0.10,2.55,0.00,0.000,4,0.123,0.024,3172,3141,3399,0,0,0,0,0,0
$GC,609,-1.06,-146.0,87.1,-7.8,60,619,0.00,2.55,0.00,0.000,6,0.000,0.028,3172,1581,3399,0,0,0,0,0,0
$GC,875,-1.06,-146.0,111.0,-9.7,85,879,0.00,2.33,0.00,0.000,4,0.000,0.043,3172,164,3400,0,0,0,0,0,0
$GC,925,-1.06,-146.0,116.6,-10.3,89,931,0.00,2.15,0.00,0.000,6,0.000,0.017,3172,1604,3400,0,0,0,0,0,0
$GC,1188,-1.06,-146.0,142.5,-11.5,114,1192,0.00,2.35,0.00,0.000,4,0.000,0.021,3172,3120,3400,0,0,0,0,0,0
$GC,1216,-1.06,-146.0,145.7,-11.1,116,1221,0.00,2.47,0.00,0.000,6,0.000,0.027,3172,1577,3400,0,0,0,0,0,0
$GC,1479,-1.06,-146.0,173.3,-10.0,140,1483,0.00,2.28,0.00,0.000,4,0.000,0.043,3172,173,3400,0,0,0,0,0,0
$GC,1494,-1.06,-146.0,175.1,-10.4,141,1498,0.00,2.12,0.00,0.000,6,0.000,0.017,3172,1608,3400,0,0,0,0,0,0
$GC,1782,-1.06,-146.0,205.1,-10.6,165,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1610,3399,0,0,0,0,0,0
$GC,2023,-1.06,-146.0,228.5,-9.3,171,2027,0.00,2.33,0.00,0.000,4,0.000,0.021,3172,3100,3400,0,0,0,0,0,0
$GC,2038,-1.06,-146.0,230.0,-9.5,171,2043,0.00,2.45,0.00,0.000,6,0.000,0.025,3172,1577,3400,0,0,0,0,0,0
$GC,2312,-1.06,-146.0,255.8,-9.9,178,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1577,3400,0,0,0,0,0,0
$GC,2556,-1.10,-146.0,277.6,-8.5,184,2557,0.12,0.00,0.00,0.000,6,0.063,0.000,3109,1577,3399,0,0,0,0,0,0
$GC,2800,-1.03,-146.0,307.8,-12.8,190,2802,0.22,0.00,0.00,0.000,6,0.088,0.000,3159,1577,3399,0,0,0,0,0,0
$GC,3043,-1.07,-146.0,328.5,-7.8,196,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1577,3398,0,0,0,0,0,0
$GC,3287,-1.12,-146.0,343.0,-5.6,202,3291,0.00,2.35,0.00,0.000,4,0.000,0.052,3160,169,3398,0,0,0,0,0,0
$GC,3306,-1.12,-146.0,344.3,-6.9,202,3310,0.00,2.12,0.00,0.000,6,0.000,0.020,3160,1547,3397,0,0,0,0,0,0
$GC,3571,-1.18,-146.0,360.1,-6.0,209,3576,0.15,2.55,0.00,0.000,4,0.056,0.031,3097,3129,3396,0,0,0,0,0,0
$GC,3600,-1.18,-146.0,362.4,-7.7,209,3606,0.12,2.55,0.00,0.000,6,0.102,0.036,3126,1590,3396,0,0,0,0,0,0
$GC,3858,-1.18,-146.0,382.3,-8.2,216,3862,0.00,2.40,0.00,0.000,4,0.000,0.060,3126,169,3394,0,0,0,0,0,0
$GC,3877,-1.18,-146.0,384.2,-9.0,216,3881,0.00,2.20,0.00,0.000,6,0.000,0.021,3126,1574,3394,0,0,0,0,0,0
$GC,4141,-1.18,-146.0,409.8,-9.8,223,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1574,3393,0,0,0,0,0,0
$GC,4386,-1.18,-146.0,431.5,-8.8,229,4390,0.00,2.42,0.00,0.000,4,0.000,0.062,3126,161,3391,0,0,0,0,0,0
$GC,4416,-1.18,-146.0,434.4,-10.0,229,4420,0.00,2.25,0.00,0.000,6,0.000,0.026,3126,1575,3391,0,0,0,0,0,0
$GC,4670,-1.18,-146.0,455.2,-8.1,236,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1576,3389,0,0,0,0,0,0
$GC,4914,-1.18,-146.0,475.3,-8.4,242,4918,0.00,2.58,0.00,0.000,4,0.000,0.039,3126,3143,3386,0,0,0,0,0,0
$GC,4930,-1.18,-146.0,476.6,-8.0,242,4934,0.00,2.60,0.00,0.000,6,0.000,0.037,3126,1578,3387,0,0,0,0,0,0
$GC,5199,-1.18,-146.0,497.8,-7.6,249,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1578,3385,0,0,0,0,0,0
$GC,5442,-1.18,-146.0,516.6,-7.7,255,5447,0.00,2.45,0.00,0.000,4,0.000,0.073,3126,167,3383,0,0,0,0,0,0
$GC,5463,-1.18,-146.0,518.3,-8.7,255,5467,0.00,2.25,0.00,0.000,6,0.000,0.031,3126,1574,3383,0,0,0,0,0,0
$GC,5727,-1.18,-146.0,540.5,-8.3,262,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1575,3381,0,0,0,0,0,0
$GC,5970,-1.18,-146.0,560.4,-8.0,268,5975,0.00,2.45,0.00,0.000,4,0.000,0.071,3126,173,3380,0,0,0,0,0,0
$GC,6015,-1.18,-146.0,564.3,-9.5,269,6019,0.00,2.28,0.00,0.000,6,0.000,0.032,3126,1573,3380,0,0,0,0,0,0
$GC,6302,-1.18,-146.0,586.7,-7.7,276,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1574,3378,0,0,0,0,0,0
$GC,6546,-1.18,-146.0,603.6,-6.7,282,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1574,3377,0,0,0,0,0,0
$GC,6791,-1.18,-146.0,617.7,-5.6,288,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1574,3375,0,0,0,0,0,0
$GC,7033,-1.18,-146.0,629.8,-4.7,294,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1574,3373,0,0,0,0,0,0
$GC,7277,-1.18,-146.0,641.0,-4.6,300,7281,0.00,2.47,0.00,0.000,4,0.000,0.075,3126,168,3372,0,0,0,0,0,0
$GC,7301,-1.18,-146.0,642.4,-7.2,300,7305,0.00,2.28,0.00,0.000,6,0.000,0.033,3126,1568,3372,0,0,0,0,0,0
$GC,7566,-1.23,-146.0,656.8,-5.8,307,7570,0.00,2.45,0.00,0.000,4,0.000,0.073,3126,173,3371,0,0,0,0,0,0
$GC,7585,-1.23,-146.0,658.2,-6.1,307,7589,0.00,2.28,0.00,0.000,6,0.000,0.032,3126,1569,3371,0,0,0,0,0,0
$GC,7851,-1.28,-146.0,675.4,-6.5,314,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1569,3370,0,0,0,0,0,0
$GC,8096,-1.32,-146.0,691.8,-6.8,320,8098,0.12,0.00,0.00,0.000,6,0.064,0.000,3073,1569,3368,0,0,0,0,0,0
$GC,8338,-1.26,-146.0,715.0,-9.8,326,8343,0.17,2.47,0.00,0.000,4,0.100,0.074,3111,172,3368,0,0,0,0,0,0
$GC,8372,-1.26,-146.0,718.3,-9.0,326,8376,0.00,2.28,0.00,0.000,6,0.000,0.034,3111,1561,3367,0,0,0,0,0,0
$GC,8624,-1.26,-146.0,738.9,-8.3,332,8628,0.00,2.70,0.00,0.000,4,0.000,0.054,3111,3159,3366,0,0,0,0,0,0
$GC,8654,-1.32,-146.0,741.3,-8.8,332,8659,0.00,2.70,0.00,0.000,6,0.000,0.048,3111,1571,3366,0,0,0,0,0,0
$GC,8911,-1.32,-146.0,761.0,-7.6,339,8915,0.00,2.45,0.00,0.000,4,0.000,0.081,3111,169,3365,0,0,0,0,0,0
$GC,8925,-1.32,-146.0,762.3,-7.5,339,8929,0.00,2.28,0.00,0.000,6,0.000,0.031,3111,1572,3365,0,0,0,0,0,0
$GC,9194,-1.32,-146.0,782.2,-7.5,346,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1572,3364,0,0,0,0,0,0
$GC,9437,-1.32,-146.0,800.2,-7.4,352,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1572,3363,0,0,0,0,0,0
$GC,9682,-1.32,-146.0,819.3,-7.9,358,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1572,3363,0,0,0,0,0,0
$GC,9924,-1.32,-146.0,838.6,-7.9,364,9929,0.00,2.47,0.00,0.000,4,0.000,0.075,3111,168,3361,0,0,0,0,0,0
$GC,9968,-1.32,-146.0,842.4,-8.7,365,9972,0.00,2.28,0.00,0.000,6,0.000,0.034,3111,1561,3362,0,0,0,0,0,0
$GC,10257,-1.32,-146.0,865.2,-7.8,372,10261,0.00,2.45,0.00,0.000,4,0.000,0.074,3111,169,3361,0,0,0,0,0,0
$GC,10285,-1.32,-146.0,867.8,-8.7,372,10289,0.00,2.28,0.00,0.000,6,0.000,0.034,3111,1558,3360,0,0,0,0,0,0
$GC,10540,-1.32,-146.0,886.1,-7.1,379,10544,0.00,2.45,0.00,0.000,4,0.000,0.075,3111,166,3360,0,0,0,0,0,0
$GC,10556,-1.32,-146.0,887.3,-7.0,379,10560,0.00,2.28,0.00,0.000,6,0.000,0.035,3111,1566,3360,0,0,0,0,0,0
$STATE,10740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10740,begin apogee
$GC,10747,-0.31,0.0,900.6,6.9,384,10868,0.90,0.00,118.20,1.170,6,0.079,0.000,3315,1336,2800,0,0,0,0,0,0
$STATE,10869,end apogee,CONTROL_FINISHED_OK
$STATE,10869,begin climb
$GC,10873,1.27,146.0,903.7,0.0,387,11011,1.42,2.15,129.12,1.144,4,0.029,0.077,3668,179,2203,0,0,0,0,0,0
$GC,11096,0.98,146.0,884.2,16.9,392,11101,0.35,1.95,0.00,0.000,6,0.113,0.031,3598,1356,2200,0,0,0,0,0,0
$GC,11375,0.89,146.0,850.5,12.1,399,11378,0.00,2.12,0.00,0.000,4,0.000,0.073,3598,172,2194,0,0,0,0,0,0
$GC,11518,0.75,146.0,830.3,13.4,402,11523,0.22,1.92,0.00,0.000,6,0.106,0.030,3550,1341,2193,0,0,0,0,0,0
$GC,11797,0.75,150.1,801.8,9.8,409,11800,0.00,2.08,0.00,0.000,4,0.000,0.073,3550,176,2191,0,0,0,0,0,0
$GC,11825,0.75,150.1,798.8,10.2,409,11829,0.00,1.90,0.00,0.000,6,0.000,0.030,3550,1344,2191,0,0,0,0,0,0
$GC,12084,0.78,174.9,775.8,8.9,416,12112,0.00,0.00,25.75,1.039,6,0.000,0.000,3550,1345,2085,0,0,0,0,0,0
$GC,12328,0.80,183.8,753.1,9.6,422,12338,0.00,0.00,8.80,0.904,6,0.000,0.000,3549,1346,2050,0,0,0,0,0,0
$GC,12573,0.84,183.8,728.5,10.2,428,12578,0.00,2.72,0.00,0.000,4,0.000,0.052,3550,2938,2047,0,0,0,0,0,0
$GC,12607,0.92,186.8,724.8,9.9,428,12616,0.15,2.75,0.00,0.000,6,0.060,0.048,3600,1338,2046,0,0,0,0,0,0
$GC,12860,0.86,186.8,693.7,12.2,435,12862,0.12,0.00,0.00,0.000,6,0.116,0.000,3575,1339,2046,0,0,0,0,0,0
$GC,13105,0.88,203.4,670.2,9.2,441,13129,0.00,2.17,18.75,0.963,4,0.000,0.083,3574,176,1970,0,0,0,0,0,0
$GC,13150,0.91,224.4,665.7,9.0,442,13178,0.00,1.92,21.10,0.961,6,0.000,0.029,3574,1346,1885,0,0,0,0,0,0
$GC,13440,0.92,237.3,638.5,9.4,449,13460,0.00,2.72,13.20,0.904,4,0.000,0.048,3574,2932,1830,0,0,0,0,0,0
$GC,13480,1.00,259.3,634.4,9.0,449,13509,0.12,2.78,20.90,0.936,6,0.067,0.047,3619,1331,1742,0,0,0,0,0,0
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$STATE,18744,end climb,SURFACE_DEPTH_REACHED
$STATE,18744,begin surface coast
$FINISH,0.8,1.010594
$STATE,18789,end surface coast,CONTROL_FINISHED_OK
$STATE,18789,begin surface
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$HUMID,62.71
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$TCM_TEMP,22.10
$XPDR_PINGS,10
$24V_AH,23.3,14.574
$10V_AH,9.9,12.830
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.100,193.850,394.175,44.950,0.000,54.890,75.227,460.085,2.500,0.000,30.098,1550.829,14066.256,528.253,2474.655,1064.653,33.368,1608.648,0.000,2452.781,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,54191,706
$CAP_FILE_SIZE,185854,0
$CFSIZE,260165632,164741120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120613,130429,2242.824,-15743.092,37,1.1,42,10.1