version: 66.06
glider: 148
mission: 12
dive: 105
start: 6 13 113 0 12 40
data:
$ID,148
$MISSION,12
$DIVE,105
$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,-1017290.3
$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,27
$R_STBD_OVSHOOT,93
$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
$GPS1,235224,2241.492,-15740.671,39,1.2,39,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.5
$GPS2,001148,2241.559,-15740.800,12,1.7,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.200,-0.166
$KALMAN_X,-109602.8,-271.5,47.1,142721.9,-635.6
$KALMAN_Y,25130.0,226.6,502.9,-32215.1,-206.6
$MHEAD_RNG_PITCHd_Wd,119.5,7510,-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,-146.0,0.0,0.0,0,78,0.00,0.00,-60.17,0.000,2,0.000,0.000,412,1582,2809,0,0,0,0,0,0
$GC,83,-1.27,-146.0,3.3,-4.6,8,115,13.95,2.38,-11.07,0.000,4,0.146,0.058,3104,165,3395,0,0,0,0,0,0
$GC,151,-0.93,-146.0,20.8,-21.8,17,161,0.30,2.12,0.00,0.000,6,0.079,0.017,3175,1542,3395,0,0,0,0,0,0
$GC,428,-0.93,-146.0,58.1,-9.8,46,432,0.00,2.47,0.00,0.000,4,0.000,0.021,3175,3138,3396,0,0,0,0,0,0
$GC,471,-1.00,-146.0,62.0,-8.7,49,475,0.00,2.53,0.00,0.000,6,0.000,0.028,3175,1567,3396,0,0,0,0,0,0
$GC,739,-1.00,-146.0,87.5,-9.9,73,743,0.00,2.30,0.00,0.000,4,0.000,0.042,3175,164,3396,0,0,0,0,0,0
$GC,786,-1.00,-146.0,92.6,-10.6,77,790,0.00,2.12,0.00,0.000,6,0.000,0.016,3175,1592,3396,0,0,0,0,0,0
$GC,1052,-1.00,-146.0,118.9,-10.0,101,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1595,3396,0,0,0,0,0,0
$GC,1315,-1.00,-146.0,147.1,-10.9,126,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1595,3396,0,0,0,0,0,0
$GC,1568,-1.00,-146.0,174.5,-10.8,150,1572,0.00,2.38,0.00,0.000,4,0.000,0.021,3175,3123,3396,0,0,0,0,0,0
$GC,1591,-1.00,-146.0,176.9,-10.4,151,1596,0.00,2.53,0.00,0.000,6,0.000,0.026,3175,1559,3396,0,0,0,0,0,0
$GC,1854,-1.00,-146.0,200.3,-8.2,176,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1559,3396,0,0,0,0,0,0
$GC,2096,-1.00,-146.0,219.3,-7.8,182,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1559,3396,0,0,0,0,0,0
$GC,2341,-1.00,-146.0,239.8,-8.8,188,2345,0.00,2.45,0.00,0.000,4,0.000,0.021,3175,3122,3396,0,0,0,0,0,0
$GC,2360,-1.05,-146.0,241.7,-8.7,188,2365,0.00,2.50,0.00,0.000,6,0.000,0.026,3175,1570,3396,0,0,0,0,0,0
$GC,2625,-1.10,-146.0,262.2,-7.2,195,2627,0.12,0.00,0.00,0.000,6,0.064,0.000,3115,1570,3396,0,0,0,0,0,0
$GC,2870,-1.04,-146.0,285.1,-9.6,201,2872,0.20,0.00,0.00,0.000,6,0.089,0.000,3160,1570,3396,0,0,0,0,0,0
$GC,3112,-1.09,-146.0,304.4,-7.9,207,3116,0.00,2.50,0.00,0.000,4,0.000,0.028,3160,3118,3395,0,0,0,0,0,0
$GC,3132,-1.16,-146.0,306.0,-8.0,207,3137,0.12,2.53,0.00,0.000,6,0.061,0.031,3090,1571,3395,0,0,0,0,0,0
$GC,3398,-1.07,-146.0,334.6,-11.1,214,3403,0.25,2.33,0.00,0.000,4,0.084,0.051,3150,168,3394,0,0,0,0,0,0
$GC,3423,-1.07,-146.0,337.3,-9.9,214,3427,0.00,2.12,0.00,0.000,6,0.000,0.021,3150,1552,3394,0,0,0,0,0,0
$GC,3684,-1.12,-146.0,355.4,-6.4,221,3688,0.00,2.30,0.00,0.000,4,0.000,0.054,3150,175,3392,0,0,0,0,0,0
$GC,3702,-1.12,-146.0,356.6,-6.3,221,3707,0.00,2.17,0.00,0.000,6,0.000,0.021,3150,1573,3392,0,0,0,0,0,0
$GC,3967,-1.17,-146.0,371.5,-5.7,228,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1576,3390,0,0,0,0,0,0
$GC,4212,-1.22,-146.0,389.3,-7.4,234,4214,0.15,0.00,0.00,0.000,6,0.057,0.000,3085,1575,3389,0,0,0,0,0,0
$GC,4454,-1.15,-146.0,413.9,-10.2,240,4456,0.22,0.00,0.00,0.000,6,0.087,0.000,3135,1575,3387,0,0,0,0,0,0
$GC,4698,-1.15,-146.0,432.1,-7.4,246,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1575,3385,0,0,0,0,0,0
$GC,4941,-1.15,-146.0,450.7,-7.7,252,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1576,3383,0,0,0,0,0,0
$GC,5186,-1.15,-146.0,470.3,-7.9,258,5190,0.00,2.40,0.00,0.000,4,0.000,0.067,3135,178,3382,0,0,0,0,0,0
$GC,5210,-1.15,-146.0,472.3,-9.2,258,5214,0.00,2.17,0.00,0.000,6,0.000,0.027,3135,1550,3381,0,0,0,0,0,0
$GC,5469,-1.15,-146.0,492.5,-7.7,265,5474,0.00,2.38,0.00,0.000,4,0.000,0.067,3135,178,3379,0,0,0,0,0,0
$GC,5499,-1.15,-146.0,494.8,-7.6,265,5503,0.00,2.22,0.00,0.000,6,0.000,0.029,3135,1558,3379,0,0,0,0,0,0
$GC,5754,-1.19,-146.0,513.8,-7.4,272,5758,0.00,2.65,0.00,0.000,4,0.000,0.043,3135,3154,3377,0,0,0,0,0,0
$GC,5773,-1.25,-146.0,515.3,-7.7,272,5778,0.00,2.65,0.00,0.000,6,0.000,0.038,3135,1565,3377,0,0,0,0,0,0
$GC,6040,-1.30,-146.0,533.5,-6.8,279,6042,0.15,0.00,0.00,0.000,6,0.058,0.000,3073,1564,3376,0,0,0,0,0,0
$GC,6283,-1.21,-146.0,557.2,-10.2,285,6285,0.20,0.00,0.00,0.000,6,0.094,0.000,3118,1564,3374,0,0,0,0,0,0
$GC,6525,-1.21,-146.0,577.8,-8.4,291,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1564,3372,0,0,0,0,0,0
$GC,6770,-1.21,-146.0,598.7,-8.5,297,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1564,3371,0,0,0,0,0,0
$GC,7013,-1.21,-146.0,618.5,-8.0,303,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1564,3370,0,0,0,0,0,0
$GC,7256,-1.21,-146.0,637.3,-7.8,309,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1565,3369,0,0,0,0,0,0
$GC,7500,-1.21,-146.0,656.3,-8.0,315,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1565,3367,0,0,0,0,0,0
$GC,7745,-1.21,-146.0,677.0,-8.6,321,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1563,3366,0,0,0,0,0,0
$GC,7988,-1.21,-146.0,698.0,-8.5,327,7992,0.00,2.47,0.00,0.000,4,0.000,0.083,3118,169,3364,0,0,0,0,0,0
$GC,8025,-1.21,-146.0,701.6,-9.5,327,8032,0.00,2.28,0.00,0.000,6,0.000,0.034,3118,1563,3364,0,0,0,0,0,0
$GC,8277,-1.21,-146.0,721.9,-8.1,334,8281,0.00,2.45,0.00,0.000,4,0.000,0.074,3118,170,3363,0,0,0,0,0,0
$GC,8296,-1.21,-146.0,723.7,-8.5,334,8300,0.00,2.28,0.00,0.000,6,0.000,0.032,3118,1567,3363,0,0,0,0,0,0
$GC,8560,-1.21,-146.0,743.5,-7.3,341,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1567,3362,0,0,0,0,0,0
$GC,8805,-1.21,-146.0,761.2,-7.3,347,8809,0.00,2.45,0.00,0.000,4,0.000,0.074,3118,172,3362,0,0,0,0,0,0
$GC,8828,-1.21,-146.0,763.2,-8.7,347,8832,0.00,2.25,0.00,0.000,6,0.000,0.037,3118,1554,3361,0,0,0,0,0,0
$GC,9087,-1.21,-146.0,783.0,-7.6,354,9092,0.00,2.67,0.00,0.000,4,0.000,0.051,3118,3155,3360,0,0,0,0,0,0
$GC,9104,-1.26,-146.0,784.2,-7.7,354,9108,0.00,2.72,0.00,0.000,6,0.000,0.047,3118,1550,3360,0,0,0,0,0,0
$GC,9373,-1.31,-146.0,803.8,-7.2,361,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1549,3359,0,0,0,0,0,0
$GC,9617,-1.35,-146.0,821.4,-7.2,367,9619,0.12,0.00,0.00,0.000,6,0.065,0.000,3064,1549,3358,0,0,0,0,0,0
$GC,9862,-1.28,-146.0,844.6,-9.7,373,9864,0.17,0.00,0.00,0.000,6,0.099,0.000,3104,1549,3358,0,0,0,0,0,0
$GC,10104,-1.28,-146.0,864.4,-8.0,379,10105,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1549,3357,0,0,0,0,0,0
$GC,10348,-1.28,-146.0,883.9,-7.9,385,10349,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1549,3357,0,0,0,0,0,0
$STATE,10589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10589,begin apogee
$GC,10597,-0.31,0.0,902.6,7.6,391,10718,0.95,0.00,117.53,1.170,6,0.081,0.000,3318,1343,2800,0,0,0,0,0,0
$STATE,10718,end apogee,CONTROL_FINISHED_OK
$STATE,10719,begin climb
$GC,10721,1.27,146.0,906.7,0.0,394,10860,1.45,2.20,129.80,1.143,4,0.031,0.083,3670,175,2203,0,0,0,0,0,0
$GC,10928,0.98,146.0,892.1,16.2,399,10933,0.35,1.95,0.00,0.000,6,0.112,0.031,3600,1355,2200,0,0,0,0,0,0
$GC,11211,0.89,146.0,861.9,10.2,406,11215,0.10,2.10,0.00,0.000,4,0.134,0.072,3580,167,2194,0,0,0,0,0,0
$GC,11237,0.78,147.5,859.3,9.9,406,11241,0.12,1.95,0.00,0.000,6,0.123,0.031,3556,1353,2194,0,0,0,0,0,0
$GC,11496,0.85,198.3,838.5,7.7,413,11550,0.00,2.80,46.75,1.095,4,0.000,0.053,3555,2926,1990,0,0,0,0,0,0
$GC,11593,0.97,226.5,830.8,8.7,415,11628,0.17,2.72,27.33,1.058,6,0.053,0.048,3611,1361,1876,0,0,0,0,0,0
$GC,11873,0.90,226.5,798.5,11.8,422,11877,0.15,2.17,0.00,0.000,4,0.109,0.084,3580,166,1870,0,0,0,0,0,0
$GC,11898,0.85,226.5,795.3,12.0,422,11903,0.00,1.98,0.00,0.000,6,0.000,0.032,3580,1348,1870,0,0,0,0,0,0
$GC,12162,0.86,229.2,768.8,9.9,429,12167,0.00,2.70,0.00,0.000,4,0.000,0.051,3580,2932,1868,0,0,0,0,0,0
$GC,12190,0.86,233.9,766.0,9.8,429,12205,0.00,2.70,6.68,0.844,6,0.000,0.048,3580,1351,1846,0,0,0,0,0,0
$GC,12450,0.86,234.8,740.5,10.0,436,12455,0.00,2.65,0.00,0.000,4,0.000,0.044,3581,2931,1845,0,0,0,0,0,0
$GC,12474,0.87,239.7,737.7,9.8,436,12486,0.00,2.70,6.90,0.843,6,0.000,0.051,3580,1364,1822,0,0,0,0,0,0
$GC,12736,0.87,239.7,709.4,11.1,443,12737,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1365,1820,0,0,0,0,0,0
$GC,12981,0.87,239.7,680.1,12.2,449,12985,0.00,2.15,0.00,0.000,4,0.000,0.083,3581,163,1820,0,0,0,0,0,0
$GC,13004,0.87,239.7,676.7,12.7,449,13008,0.00,1.98,0.00,0.000,6,0.000,0.031,3581,1374,1820,0,0,0,0,0,0
$GC,13267,0.87,239.7,641.9,13.2,456,13272,0.00,2.62,0.00,0.000,4,0.000,0.048,3581,2931,1820,0,0,0,0,0,0
$GC,13283,0.87,239.7,640.0,12.8,456,13288,0.00,2.67,0.00,0.000,6,0.000,0.045,3581,1361,1818,0,0,0,0,0,0
$GC,13552,0.87,239.7,605.5,12.8,463,13553,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1361,1818,0,0,0,0,0,0
$GC,13795,0.87,239.7,575.7,12.1,469,13800,0.00,2.60,0.00,0.000,4,0.000,0.041,3581,2927,1818,0,0,0,0,0,0
$GC,13828,0.93,239.7,571.8,10.8,469,13833,0.00,2.67,0.00,0.000,6,0.000,0.048,3580,1363,1816,0,0,0,0,0,0
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$STATE,18650,end climb,SURFACE_DEPTH_REACHED
$STATE,18650,begin surface coast
$FINISH,0.8,1.011770
$STATE,18684,end surface coast,CONTROL_FINISHED_OK
$STATE,18684,begin surface
$SM_CCo,18708,43.12,0.442,0,0,1249,380.21
$SM_GC,1.97,0.00,0.00,43.12,0.000,0.000,0.442,408,1585,1249,-13.69,0.42,380.21
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$TT8_MAMPS,0.027612
$HUMID,64.25
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.90
$XPDR_PINGS,14
$24V_AH,23.3,15.037
$10V_AH,9.9,13.229
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.450,171.200,401.500,43.125,0.000,115.168,155.615,515.101,3.500,0.000,31.969,1510.110,14316.178,537.910,2282.491,1258.881,33.367,1519.414,0.000,2271.877,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.809,342.445,431.537,757.719,1028.104,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,54297,713
$CAP_FILE_SIZE,181366,0
$CFSIZE,260165632,164515840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130613,052720,2240.536,-15739.362,66,99.0,85,10.1