version: 66.06
glider: 148
mission: 12
dive: 121
start: 6 16 113 11 35 54
data:
$ID,148
$MISSION,12
$DIVE,121
$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,-1018503.6
$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,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,19
$R_STBD_OVSHOOT,128
$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
$GPS1,065743,2303.520,-15734.919,901,99.0,901,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-76.6
$GPS2,113501,2305.620,-15734.975,12,1.9,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.103,-0.238
$KALMAN_X,-130803.6,9.7,-170.7,173804.5,-1011.4
$KALMAN_Y,47547.9,-524.3,74.6,-8882.6,1765.2
$MHEAD_RNG_PITCHd_Wd,193.4,70535,-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,-146.0,0.0,0.0,0,84,0.00,0.00,-66.62,0.000,2,0.000,0.000,414,1604,2978,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-4.8,9,122,13.93,2.42,-7.47,0.000,4,0.149,0.054,3101,162,3398,0,0,0,0,0,0
$GC,222,-1.02,-146.0,36.8,-21.0,26,227,0.28,2.05,0.00,0.000,6,0.097,0.017,3160,1513,3398,0,0,0,0,0,0
$GC,491,-0.93,-146.0,79.5,-12.6,50,496,0.10,2.42,0.00,0.000,4,0.121,0.021,3182,3072,3398,0,0,0,0,0,0
$GC,565,-1.00,-146.0,87.8,-8.7,56,574,0.00,2.45,0.00,0.000,6,0.000,0.028,3182,1567,3398,0,0,0,0,0,0
$GC,831,-1.00,-146.0,115.0,-10.6,81,835,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1568,3398,0,0,0,0,0,0
$GC,1092,-1.00,-146.0,141.3,-10.1,106,1096,0.00,2.38,0.00,0.000,4,0.000,0.021,3182,3082,3398,0,0,0,0,0,0
$GC,1120,-1.00,-146.0,143.7,-9.5,108,1124,0.00,2.42,0.00,0.000,6,0.000,0.028,3182,1575,3398,0,0,0,0,0,0
$GC,1391,-1.00,-146.0,168.6,-10.2,133,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1575,3398,0,0,0,0,0,0
$GC,1652,-1.00,-146.0,195.8,-10.6,158,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1575,3398,0,0,0,0,0,0
$GC,1908,-1.00,-146.0,220.7,-9.5,168,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1575,3398,0,0,0,0,0,0
$GC,2153,-1.04,-146.0,241.6,-8.4,174,2154,0.10,0.00,0.00,0.000,6,0.075,0.000,3126,1575,3398,0,0,0,0,0,0
$GC,2396,-0.97,-146.0,267.6,-10.7,180,2401,0.22,2.30,0.00,0.000,4,0.087,0.043,3176,166,3398,0,0,0,0,0,0
$GC,2442,-1.05,-146.0,271.3,-7.4,181,2446,0.00,2.05,0.00,0.000,6,0.000,0.018,3176,1525,3398,0,0,0,0,0,0
$GC,2729,-1.11,-146.0,293.5,-8.2,188,2734,0.15,2.53,0.00,0.000,4,0.056,0.025,3110,3123,3397,0,0,0,0,0,0
$GC,2768,-1.11,-146.0,297.7,-10.4,188,2775,0.15,2.50,0.00,0.000,6,0.093,0.031,3144,1580,3397,0,0,0,0,0,0
$GC,3019,-1.11,-146.0,320.3,-8.5,195,3023,0.00,2.33,0.00,0.000,4,0.000,0.050,3144,164,3396,0,0,0,0,0,0
$GC,3051,-1.11,-146.0,323.1,-8.0,195,3055,0.00,2.12,0.00,0.000,6,0.000,0.019,3144,1557,3396,0,0,0,0,0,0
$GC,3303,-1.11,-146.0,341.9,-7.7,201,3307,0.00,2.50,0.00,0.000,4,0.000,0.029,3145,3136,3396,0,0,0,0,0,0
$GC,3322,-1.11,-146.0,343.5,-7.7,201,3326,0.00,2.55,0.00,0.000,6,0.000,0.035,3144,1577,3395,0,0,0,0,0,0
$GC,3586,-1.11,-146.0,365.0,-8.1,208,3590,0.00,2.53,0.00,0.000,4,0.000,0.032,3144,3143,3394,0,0,0,0,0,0
$GC,3616,-1.17,-146.0,367.2,-6.9,208,3621,0.00,2.55,0.00,0.000,6,0.000,0.038,3144,1591,3394,0,0,0,0,0,0
$GC,3871,-1.17,-146.0,386.4,-7.6,215,3876,0.00,2.40,0.00,0.000,4,0.000,0.061,3144,162,3392,0,0,0,0,0,0
$GC,3918,-1.23,-146.0,390.6,-9.8,216,3923,0.12,2.20,0.00,0.000,6,0.062,0.022,3085,1581,3391,0,0,0,0,0,0
$GC,4203,-1.14,-146.0,421.0,-10.7,223,4208,0.22,2.53,0.00,0.000,4,0.090,0.034,3135,3140,3390,0,0,0,0,0,0
$GC,4228,-1.14,-146.0,423.7,-9.4,223,4232,0.00,2.55,0.00,0.000,6,0.000,0.036,3135,1580,3390,0,0,0,0,0,0
$GC,4489,-1.14,-146.0,444.4,-7.9,230,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1580,3388,0,0,0,0,0,0
$GC,4731,-1.14,-146.0,461.7,-7.0,236,4735,0.00,2.42,0.00,0.000,4,0.000,0.068,3135,167,3386,0,0,0,0,0,0
$GC,4797,-1.19,-146.0,467.1,-8.4,237,4801,0.00,2.22,0.00,0.000,6,0.000,0.028,3135,1580,3385,0,0,0,0,0,0
$GC,5061,-1.19,-146.0,486.8,-7.6,244,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1580,3383,0,0,0,0,0,0
$GC,5304,-1.19,-146.0,506.2,-7.9,250,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1580,3382,0,0,0,0,0,0
$GC,5548,-1.19,-146.0,525.4,-7.8,256,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1580,3380,0,0,0,0,0,0
$GC,5793,-1.19,-146.0,543.8,-7.6,262,5798,0.00,2.42,0.00,0.000,4,0.000,0.071,3135,175,3379,0,0,0,0,0,0
$GC,5812,-1.19,-146.0,545.4,-7.4,262,5817,0.00,2.22,0.00,0.000,6,0.000,0.029,3135,1573,3378,0,0,0,0,0,0
$GC,6076,-1.19,-146.0,563.4,-6.7,269,6080,0.00,2.60,0.00,0.000,4,0.000,0.043,3135,3149,3376,0,0,0,0,0,0
$GC,6093,-1.24,-146.0,564.3,-6.4,269,6097,0.00,2.62,0.00,0.000,6,0.000,0.042,3135,1578,3377,0,0,0,0,0,0
$GC,6362,-1.24,-146.0,581.0,-6.2,276,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1578,3375,0,0,0,0,0,0
$GC,6606,-1.29,-146.0,596.4,-6.4,282,6611,0.12,2.45,0.00,0.000,4,0.065,0.077,3081,172,3373,0,0,0,0,0,0
$GC,6651,-1.21,-146.0,600.5,-10.3,283,6656,0.17,2.25,0.00,0.000,6,0.097,0.031,3120,1578,3373,0,0,0,0,0,0
$GC,6939,-1.21,-146.0,623.3,-7.8,290,6943,0.00,2.62,0.00,0.000,4,0.000,0.045,3120,3161,3372,0,0,0,0,0,0
$GC,6973,-1.28,-146.0,626.1,-7.5,290,6977,0.00,2.67,0.00,0.000,6,0.000,0.047,3120,1577,3372,0,0,0,0,0,0
$GC,7224,-1.28,-146.0,646.6,-8.1,296,7228,0.00,2.47,0.00,0.000,4,0.000,0.080,3120,168,3370,0,0,0,0,0,0
$GC,7249,-1.28,-146.0,649.0,-9.1,296,7254,0.00,2.30,0.00,0.000,6,0.000,0.032,3120,1583,3370,0,0,0,0,0,0
$GC,7509,-1.28,-146.0,670.3,-8.1,303,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1584,3369,0,0,0,0,0,0
$GC,7754,-1.28,-146.0,688.5,-7.4,309,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1584,3367,0,0,0,0,0,0
$GC,7996,-1.28,-146.0,706.3,-7.3,315,8000,0.00,2.47,0.00,0.000,4,0.000,0.075,3120,172,3366,0,0,0,0,0,0
$GC,8029,-1.28,-146.0,708.7,-8.1,315,8033,0.00,2.30,0.00,0.000,6,0.000,0.034,3121,1581,3366,0,0,0,0,0,0
$GC,8281,-1.28,-146.0,725.7,-6.9,321,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1582,3364,0,0,0,0,0,0
$GC,8525,-1.28,-146.0,742.6,-6.9,327,8529,0.00,2.45,0.00,0.000,4,0.000,0.074,3120,172,3363,0,0,0,0,0,0
$GC,8548,-1.28,-146.0,744.6,-8.5,327,8552,0.00,2.30,0.00,0.000,6,0.000,0.034,3120,1580,3363,0,0,0,0,0,0
$GC,8813,-1.28,-146.0,764.2,-7.5,334,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1580,3362,0,0,0,0,0,0
$GC,9056,-1.28,-146.0,782.6,-7.5,340,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1580,3361,0,0,0,0,0,0
$GC,9299,-1.28,-146.0,800.9,-7.5,346,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1580,3361,0,0,0,0,0,0
$GC,9543,-1.28,-146.0,818.8,-7.2,352,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1580,3360,0,0,0,0,0,0
$GC,9788,-1.28,-146.0,835.7,-6.9,358,9793,0.00,2.45,0.00,0.000,4,0.000,0.074,3120,172,3359,0,0,0,0,0,0
$GC,9818,-1.28,-146.0,838.1,-8.7,358,9822,0.00,2.30,0.00,0.000,6,0.000,0.034,3120,1578,3359,0,0,0,0,0,0
$GC,10073,-1.32,-146.0,855.0,-6.5,365,10075,0.10,0.00,0.00,0.000,6,0.077,0.000,3073,1579,3358,0,0,0,0,0,0
$GC,10319,-1.27,-146.0,874.9,-8.2,371,10324,0.15,2.47,0.00,0.000,4,0.104,0.074,3107,170,3358,0,0,0,0,0,0
$GC,10353,-1.27,-146.0,877.9,-8.2,371,10357,0.00,2.30,0.00,0.000,6,0.000,0.035,3107,1574,3357,0,0,0,0,0,0
$GC,10603,-1.27,-146.0,894.1,-6.4,377,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1574,3357,0,0,0,0,0,0
$STATE,10722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10722,begin apogee
$GC,10730,-0.31,0.0,902.0,6.5,380,10851,0.93,0.00,117.38,1.162,6,0.077,0.000,3317,1342,2800,0,0,0,0,0,0
$STATE,10851,end apogee,CONTROL_FINISHED_OK
$STATE,10852,begin climb
$GC,10854,1.27,146.0,905.1,0.0,383,10993,1.42,2.17,129.32,1.137,4,0.031,0.077,3666,174,2203,0,0,0,0,0,0
$GC,11082,0.99,146.0,885.8,16.7,388,11087,0.30,1.95,0.00,0.000,6,0.112,0.031,3604,1350,2198,0,0,0,0,0,0
$GC,11357,0.90,146.0,854.5,11.0,395,11362,0.10,2.10,0.00,0.000,4,0.132,0.072,3582,174,2193,0,0,0,0,0,0
$GC,11386,0.80,146.0,850.9,11.7,395,11390,0.10,1.95,0.00,0.000,6,0.129,0.031,3561,1356,2193,0,0,0,0,0,0
$GC,11645,0.83,173.0,827.8,8.8,402,11674,0.00,2.17,23.95,1.052,4,0.000,0.074,3561,173,2094,0,0,0,0,0,0
$GC,11730,0.83,173.0,819.8,10.5,403,11736,0.00,1.95,0.00,0.000,6,0.000,0.031,3561,1352,2093,0,0,0,0,0,0
$GC,11980,0.85,185.2,795.8,9.4,410,11994,0.00,0.00,11.82,0.966,6,0.000,0.000,3560,1353,2044,0,0,0,0,0,0
$GC,12225,0.85,186.4,771.7,9.9,416,12230,0.00,2.67,0.00,0.000,4,0.000,0.052,3560,2934,2040,0,0,0,0,0,0
$GC,12264,0.95,207.1,767.6,9.0,416,12293,0.12,2.72,21.23,1.015,6,0.067,0.048,3608,1347,1955,0,0,0,0,0,0
$GC,12559,0.89,207.1,731.7,12.5,424,12563,0.12,2.15,0.00,0.000,4,0.115,0.086,3580,163,1952,0,0,0,0,0,0
$GC,12588,0.84,207.1,727.7,13.1,424,12591,0.00,1.92,0.00,0.000,6,0.000,0.030,3580,1352,1952,0,0,0,0,0,0
$GC,12846,0.84,207.1,699.2,10.9,431,12847,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1353,1951,0,0,0,0,0,0
$GC,13091,0.84,207.1,673.3,10.6,437,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1353,1950,0,0,0,0,0,0
$GC,13334,0.84,213.0,649.1,9.7,443,13342,0.00,0.00,6.20,0.779,6,0.000,0.000,3581,1354,1931,0,0,0,0,0,0
$GC,13577,0.85,217.9,625.4,9.8,449,13590,0.00,2.72,6.05,0.761,4,0.000,0.049,3580,2925,1911,0,0,0,0,0,0
$GC,13649,0.92,217.9,618.5,10.2,450,13654,0.00,2.72,0.00,0.000,6,0.000,0.048,3581,1342,1908,0,0,0,0,0,0
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$STATE,19074,end climb,SURFACE_DEPTH_REACHED
$STATE,19075,begin surface coast
$FINISH,1.0,1.023294
$STATE,19121,end surface coast,CONTROL_FINISHED_OK
$STATE,19121,begin surface
$SM_CCo,19146,46.30,0.434,0,0,1249,380.21
$SM_GC,1.77,0.00,0.00,46.30,0.000,0.000,0.434,418,1570,1249,-13.65,0.00,380.21
$IRIDIUM_FIX,2253.38,-15741.91,100902,070720
$TT8_MAMPS,0.027612
$HUMID,64.80
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.80
$XPDR_PINGS,11
$24V_AH,23.3,17.381
$10V_AH,9.9,15.334
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.250,169.600,390.000,46.300,0.000,31.216,42.896,190.661,2.750,0.000,14.387,1555.630,14463.321,522.609,2359.304,705.532,33.372,1568.732,0.000,2353.896,0.000,0.537,0.000
$DEVICE_MAMPS,148.798,85.904,1162.005,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,488.483,332.858,426.597,717.953,977.489,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,54222,717
$CAP_FILE_SIZE,174342,0
$CFSIZE,260165632,163311616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160613,165723,2303.932,-15735.923,37,1.2,54,10.1