version: 66.06
glider: 148
mission: 12
dive: 129
start: 6 18 113 7 45 6
data:
$ID,148
$MISSION,12
$DIVE,129
$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,561.4917
$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,-1018680.2
$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,101
$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
$GPS1,071720,2252.926,-15751.309,37,2.2,56,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-78.0
$GPS2,074413,2252.908,-15751.454,13,1.3,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.152,-0.210
$KALMAN_X,-135984.6,114.1,3.6,150571.0,-976.9
$KALMAN_Y,52326.8,68.2,-258.2,-37465.6,346.6
$MHEAD_RNG_PITCHd_Wd,205.8,33852,-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,-67.03,0.000,2,0.000,0.000,413,1570,3045,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.6,-5.2,9,116,13.93,2.38,-6.07,0.000,4,0.147,0.052,3103,167,3398,0,0,0,0,0,0
$GC,264,-1.07,-146.0,48.2,-20.4,29,269,0.22,2.10,0.00,0.000,6,0.102,0.018,3151,1527,3399,0,0,0,0,0,0
$GC,532,-0.96,-146.0,86.9,-14.2,53,537,0.10,2.58,0.00,0.000,4,0.123,0.021,3173,3153,3399,0,0,0,0,0,0
$GC,564,-0.96,-146.0,92.4,-12.2,55,569,0.00,2.58,0.00,0.000,6,0.000,0.028,3172,1553,3399,0,0,0,0,0,0
$GC,828,-0.96,-146.0,121.6,-9.8,80,833,0.00,2.53,0.00,0.000,4,0.000,0.021,3173,3150,3399,0,0,0,0,0,0
$GC,848,-0.96,-146.0,123.6,-9.9,81,853,0.00,2.53,0.00,0.000,6,0.000,0.026,3173,1570,3399,0,0,0,0,0,0
$GC,1116,-0.96,-146.0,150.2,-10.7,105,1120,0.00,2.30,0.00,0.000,4,0.000,0.044,3173,165,3399,0,0,0,0,0,0
$GC,1152,-0.96,-146.0,154.9,-11.5,108,1156,0.00,2.17,0.00,0.000,6,0.000,0.016,3173,1602,3399,0,0,0,0,0,0
$GC,1414,-0.96,-146.0,182.4,-10.2,132,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1605,3399,0,0,0,0,0,0
$GC,1687,-0.96,-146.0,208.7,-9.6,152,1691,0.00,2.33,0.00,0.000,4,0.000,0.041,3173,175,3398,0,0,0,0,0,0
$GC,1705,-0.96,-146.0,210.9,-10.2,152,1709,0.00,2.10,0.00,0.000,6,0.000,0.017,3173,1586,3398,0,0,0,0,0,0
$GC,1975,-0.96,-146.0,234.5,-8.8,159,1979,0.00,2.38,0.00,0.000,4,0.000,0.021,3172,3103,3398,0,0,0,0,0,0
$GC,2013,-1.07,-146.0,237.8,-8.0,159,2018,0.00,2.45,0.00,0.000,6,0.000,0.028,3173,1570,3398,0,0,0,0,0,0
$GC,2263,-1.07,-146.0,257.2,-7.7,166,2267,0.00,2.33,0.00,0.000,4,0.000,0.046,3173,169,3398,0,0,0,0,0,0
$GC,2292,-1.07,-146.0,259.6,-8.6,166,2296,0.00,2.10,0.00,0.000,6,0.000,0.018,3173,1553,3397,0,0,0,0,0,0
$GC,2547,-1.12,-146.0,277.2,-6.8,173,2552,0.12,2.47,0.00,0.000,4,0.064,0.024,3091,3126,3397,0,0,0,0,0,0
$GC,2567,-1.12,-146.0,279.0,-8.3,173,2572,0.22,2.53,0.00,0.000,6,0.090,0.029,3141,1569,3397,0,0,0,0,0,0
$GC,2833,-1.12,-146.0,302.9,-9.4,180,2837,0.00,2.30,0.00,0.000,4,0.000,0.049,3141,169,3396,0,0,0,0,0,0
$GC,2884,-1.12,-146.0,308.6,-11.3,181,2888,0.00,2.15,0.00,0.000,6,0.000,0.020,3141,1558,3396,0,0,0,0,0,0
$GC,3162,-1.12,-146.0,334.2,-8.9,188,3166,0.00,2.50,0.00,0.000,4,0.000,0.028,3141,3139,3394,0,0,0,0,0,0
$GC,3178,-1.12,-146.0,335.6,-8.1,188,3182,0.00,2.58,0.00,0.000,6,0.000,0.033,3141,1568,3395,0,0,0,0,0,0
$GC,3447,-1.12,-146.0,355.7,-7.3,195,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1568,3393,0,0,0,0,0,0
$GC,3690,-1.12,-146.0,376.2,-8.6,201,3694,0.00,2.38,0.00,0.000,4,0.000,0.058,3141,163,3392,0,0,0,0,0,0
$GC,3710,-1.12,-146.0,378.1,-10.1,201,3714,0.00,2.20,0.00,0.000,6,0.000,0.021,3142,1570,3391,0,0,0,0,0,0
$GC,3974,-1.12,-146.0,402.7,-9.2,208,3978,0.00,2.55,0.00,0.000,4,0.000,0.034,3141,3146,3390,0,0,0,0,0,0
$GC,4007,-1.22,-146.0,405.8,-8.6,208,4012,0.00,2.60,0.00,0.000,6,0.000,0.039,3141,1571,3390,0,0,0,0,0,0
$GC,4259,-1.22,-146.0,425.5,-7.7,214,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1571,3388,0,0,0,0,0,0
$GC,4501,-1.22,-146.0,442.0,-6.6,220,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1571,3386,0,0,0,0,0,0
$GC,4745,-1.22,-146.0,461.4,-8.3,226,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1571,3384,0,0,0,0,0,0
$GC,4990,-1.22,-146.0,484.5,-9.7,232,4995,0.00,2.60,0.00,0.000,4,0.000,0.041,3141,3141,3382,0,0,0,0,0,0
$GC,5028,-1.32,-146.0,488.4,-9.4,232,5035,0.20,2.62,0.00,0.000,6,0.044,0.041,3077,1573,3382,0,0,0,0,0,0
$GC,5278,-1.23,-146.0,517.6,-11.8,239,5283,0.17,2.45,0.00,0.000,4,0.101,0.072,3115,171,3380,0,0,0,0,0,0
$GC,5340,-1.23,-146.0,524.1,-10.2,240,5344,0.00,2.22,0.00,0.000,6,0.000,0.030,3116,1555,3380,0,0,0,0,0,0
$GC,5608,-1.23,-146.0,545.7,-7.7,247,5613,0.00,2.65,0.00,0.000,4,0.000,0.044,3116,3156,3378,0,0,0,0,0,0
$GC,5636,-1.23,-146.0,548.0,-7.8,247,5641,0.00,2.65,0.00,0.000,6,0.000,0.044,3116,1576,3378,0,0,0,0,0,0
$GC,5893,-1.23,-146.0,568.4,-8.2,254,5897,0.00,2.45,0.00,0.000,4,0.000,0.075,3116,169,3376,0,0,0,0,0,0
$GC,5940,-1.23,-146.0,573.0,-9.6,255,5944,0.00,2.28,0.00,0.000,6,0.000,0.031,3115,1580,3376,0,0,0,0,0,0
$GC,6222,-1.23,-146.0,597.5,-8.7,262,6226,0.00,2.62,0.00,0.000,4,0.000,0.045,3116,3158,3375,0,0,0,0,0,0
$GC,6243,-1.23,-146.0,599.3,-9.3,262,6247,0.00,2.67,0.00,0.000,6,0.000,0.044,3116,1572,3374,0,0,0,0,0,0
$GC,6507,-1.23,-146.0,620.5,-8.1,269,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1572,3372,0,0,0,0,0,0
$GC,6750,-1.23,-146.0,640.2,-8.3,275,6755,0.00,2.47,0.00,0.000,4,0.000,0.079,3116,164,3371,0,0,0,0,0,0
$GC,6780,-1.23,-146.0,642.7,-9.3,275,6784,0.00,2.28,0.00,0.000,6,0.000,0.031,3116,1572,3371,0,0,0,0,0,0
$GC,7035,-1.23,-146.0,662.9,-7.7,282,7039,0.00,2.65,0.00,0.000,4,0.000,0.048,3116,3156,3369,0,0,0,0,0,0
$GC,7055,-1.23,-146.0,664.5,-7.8,282,7060,0.00,2.67,0.00,0.000,6,0.000,0.046,3116,1576,3369,0,0,0,0,0,0
$GC,7321,-1.23,-146.0,683.4,-7.2,289,7325,0.00,2.47,0.00,0.000,4,0.000,0.079,3115,171,3368,0,0,0,0,0,0
$GC,7345,-1.23,-146.0,685.5,-9.1,289,7349,0.00,2.28,0.00,0.000,6,0.000,0.032,3116,1576,3368,0,0,0,0,0,0
$GC,7604,-1.23,-146.0,706.2,-8.2,296,7608,0.00,2.47,0.00,0.000,4,0.000,0.074,3116,165,3366,0,0,0,0,0,0
$GC,7625,-1.23,-146.0,708.1,-9.5,296,7629,0.00,2.28,0.00,0.000,6,0.000,0.032,3115,1578,3366,0,0,0,0,0,0
$GC,7893,-1.23,-146.0,730.6,-8.1,303,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1578,3365,0,0,0,0,0,0
$GC,8137,-1.23,-146.0,747.3,-6.6,309,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1578,3364,0,0,0,0,0,0
$GC,8382,-1.23,-146.0,762.2,-6.1,315,8386,0.00,2.45,0.00,0.000,4,0.000,0.074,3116,172,3363,0,0,0,0,0,0
$GC,8419,-1.23,-146.0,764.9,-7.6,315,8425,0.00,2.30,0.00,0.000,6,0.000,0.035,3115,1580,3362,0,0,0,0,0,0
$GC,8669,-1.23,-146.0,780.8,-6.3,322,8674,0.00,2.62,0.00,0.000,4,0.000,0.051,3116,3158,3361,0,0,0,0,0,0
$GC,8695,-1.28,-146.0,782.4,-6.8,322,8700,0.00,2.67,0.00,0.000,6,0.000,0.048,3116,1580,3362,0,0,0,0,0,0
$GC,8955,-1.28,-146.0,799.0,-6.4,329,8959,0.00,2.47,0.00,0.000,4,0.000,0.081,3115,167,3361,0,0,0,0,0,0
$GC,8998,-1.28,-146.0,802.0,-6.8,330,9002,0.00,2.30,0.00,0.000,6,0.000,0.033,3116,1582,3361,0,0,0,0,0,0
$GC,9286,-1.28,-146.0,821.2,-6.6,337,9291,0.00,2.62,0.00,0.000,4,0.000,0.051,3116,3155,3360,0,0,0,0,0,0
$GC,9301,-1.28,-146.0,822.4,-6.7,337,9305,0.00,2.67,0.00,0.000,6,0.000,0.047,3116,1567,3360,0,0,0,0,0,0
$GC,9570,-1.28,-146.0,839.8,-6.4,344,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1567,3359,0,0,0,0,0,0
$GC,9815,-1.28,-146.0,855.7,-6.6,350,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1567,3358,0,0,0,0,0,0
$GC,10057,-1.28,-146.0,872.7,-7.0,356,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1567,3357,0,0,0,0,0,0
$GC,10301,-1.28,-146.0,890.9,-7.5,362,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1567,3357,0,0,0,0,0,0
$STATE,10420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10420,begin apogee
$GC,10427,-0.31,0.0,900.1,7.6,365,10548,0.88,0.00,117.88,1.163,6,0.072,0.000,3317,1348,2800,0,0,0,0,0,0
$STATE,10549,end apogee,CONTROL_FINISHED_OK
$STATE,10549,begin climb
$GC,10553,1.27,146.0,904.4,0.0,368,10693,1.45,2.17,130.50,1.141,4,0.032,0.083,3666,172,2203,0,0,0,0,0,0
$GC,10765,0.99,146.0,890.5,16.3,373,10770,0.32,1.95,0.00,0.000,6,0.113,0.030,3600,1356,2199,0,0,0,0,0,0
$GC,11039,0.90,146.0,862.4,10.1,380,11043,0.00,2.12,0.00,0.000,4,0.000,0.073,3600,166,2193,0,0,0,0,0,0
$GC,11087,0.76,146.0,857.0,11.5,381,11091,0.22,1.95,0.00,0.000,6,0.104,0.031,3554,1352,2193,0,0,0,0,0,0
$GC,11369,0.82,187.8,833.6,8.1,388,11412,0.00,2.72,37.20,1.080,4,0.000,0.049,3553,2928,2033,0,0,0,0,0,0
$GC,11449,0.92,201.7,827.1,9.4,389,11470,0.12,2.72,14.02,0.996,6,0.067,0.048,3599,1354,1976,0,0,0,0,0,0
$GC,11753,0.87,201.7,790.4,12.3,397,11755,0.12,0.00,0.00,0.000,6,0.113,0.000,3573,1354,1972,0,0,0,0,0,0
$GC,11996,0.87,201.7,763.1,11.1,403,12001,0.00,2.67,0.00,0.000,4,0.000,0.044,3574,2930,1970,0,0,0,0,0,0
$GC,12021,0.87,201.7,760.4,10.1,403,12026,0.00,2.72,0.00,0.000,6,0.000,0.050,3573,1352,1968,0,0,0,0,0,0
$GC,12281,0.87,201.7,732.9,10.7,410,12282,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1352,1967,0,0,0,0,0,0
$GC,12524,0.87,201.7,706.9,10.7,416,12528,0.00,2.12,0.00,0.000,4,0.000,0.086,3573,163,1967,0,0,0,0,0,0
$GC,12549,0.87,201.7,704.1,11.8,416,12552,0.00,1.95,0.00,0.000,6,0.000,0.031,3573,1358,1967,0,0,0,0,0,0
$GC,12816,0.87,201.7,675.4,10.7,423,12821,0.00,2.65,0.00,0.000,4,0.000,0.049,3573,2929,1967,0,0,0,0,0,0
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$STATE,18531,end climb,SURFACE_DEPTH_REACHED
$STATE,18531,begin surface coast
$FINISH,0.8,1.020572
$STATE,18577,end surface coast,CONTROL_FINISHED_OK
$STATE,18578,begin surface
$SM_CCo,18603,180.85,0.427,4,0,511,561.49
$SM_GC,1.56,0.00,0.00,180.85,0.000,0.000,0.427,414,1642,511,-13.67,2.01,561.49
$IRIDIUM_FIX,2241.69,-15751.94,120902,070732
$TT8_MAMPS,0.027612
$HUMID,60.04
$INTERNAL_PRESSURE,9.32063
$TCM_TEMP,22.20
$XPDR_PINGS,39
$24V_AH,23.3,18.622
$10V_AH,9.9,16.400
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,32.400,207.225,386.900,180.850,0.000,152.159,177.295,855.064,9.750,0.000,14.616,1527.154,14164.496,695.353,2346.365,1674.842,33.369,1731.195,0.000,2344.143,0.000,0.536,0.000
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$SENSOR_SECS,476.482,330.000,418.629,731.139,996.397,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,54093,699
$CAP_FILE_SIZE,192593,0
$CFSIZE,260165632,162656256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,180613,125954,2251.131,-15753.935,40,1.5,40,10.1