version: 66.06
glider: 148
mission: 12
dive: 154
start: 6 23 113 23 29 40
data:
$ID,148
$MISSION,12
$DIVE,154
$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,-1019184.6
$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,27
$R_STBD_OVSHOOT,78
$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
$GPS1,232005,2255.683,-15754.099,88,1.6,88,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-76.0
$GPS2,232843,2255.734,-15754.222,13,1.0,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.191,-0.175
$KALMAN_X,-170883.5,-102.6,68.0,180892.8,-905.3
$KALMAN_Y,52942.1,14.2,76.4,-33133.3,280.7
$MHEAD_RNG_PITCHd_Wd,122.4,42371,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-67.75,0.000,2,0.000,0.000,413,1608,3034,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.9,-6.7,9,122,14.02,2.45,-6.35,0.000,4,0.151,0.052,3102,162,3398,0,0,0,0,0,0
$GC,160,-0.92,-146.0,25.6,-25.2,18,169,0.35,2.15,0.00,0.000,6,0.091,0.016,3181,1567,3398,0,0,0,0,0,0
$GC,438,-0.85,-146.0,65.7,-11.0,44,442,0.00,2.45,0.00,0.000,4,0.000,0.022,3181,3133,3399,0,0,0,0,0,0
$GC,480,-0.90,-146.0,71.1,-11.1,47,485,0.00,2.53,0.00,0.000,6,0.000,0.028,3181,1564,3399,0,0,0,0,0,0
$GC,748,-0.90,-146.0,102.0,-11.1,71,752,0.00,2.25,0.00,0.000,4,0.000,0.042,3181,172,3399,0,0,0,0,0,0
$GC,767,-0.85,-146.0,105.0,-11.3,72,775,0.00,2.12,0.00,0.000,6,0.000,0.016,3181,1592,3400,0,0,0,0,0,0
$GC,1035,-0.85,-146.0,130.1,-8.9,97,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1595,3400,0,0,0,0,0,0
$GC,1296,-0.85,-146.0,154.2,-8.6,122,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1595,3400,0,0,0,0,0,0
$GC,1552,-0.85,-146.0,173.1,-7.3,146,1557,0.00,2.33,0.00,0.000,4,0.000,0.042,3181,172,3400,0,0,0,0,0,0
$GC,1572,-0.85,-146.0,174.7,-7.5,147,1581,0.00,2.10,0.00,0.000,6,0.000,0.017,3181,1574,3400,0,0,0,0,0,0
$GC,1840,-0.85,-146.0,195.8,-8.4,172,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1577,3400,0,0,0,0,0,0
$GC,2092,-0.85,-146.0,216.9,-8.3,182,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1577,3400,0,0,0,0,0,0
$GC,2335,-0.85,-146.0,239.4,-9.1,188,2339,0.00,2.33,0.00,0.000,4,0.000,0.044,3181,167,3400,0,0,0,0,0,0
$GC,2354,-0.85,-146.0,241.3,-9.6,188,2358,0.00,2.08,0.00,0.000,6,0.000,0.018,3181,1559,3400,0,0,0,0,0,0
$GC,2624,-0.90,-146.0,263.9,-8.3,195,2629,0.00,2.40,0.00,0.000,4,0.000,0.022,3181,3108,3400,0,0,0,0,0,0
$GC,2658,-1.03,-146.0,266.7,-7.6,195,2662,0.00,2.45,0.00,0.000,6,0.000,0.029,3181,1580,3400,0,0,0,0,0,0
$GC,2910,-1.10,-146.0,284.1,-6.6,201,2912,0.15,0.00,0.00,0.000,6,0.054,0.000,3112,1579,3400,0,0,0,0,0,0
$GC,3151,-1.03,-146.0,308.4,-10.0,207,3156,0.20,2.35,0.00,0.000,4,0.089,0.047,3158,168,3399,0,0,0,0,0,0
$GC,3180,-1.03,-146.0,311.3,-9.5,207,3184,0.00,2.12,0.00,0.000,6,0.000,0.020,3158,1552,3400,0,0,0,0,0,0
$GC,3437,-1.07,-146.0,330.1,-7.2,214,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1554,3399,0,0,0,0,0,0
$GC,3679,-1.12,-146.0,349.2,-7.8,220,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1554,3398,0,0,0,0,0,0
$GC,3923,-1.17,-146.0,365.5,-6.5,226,3925,0.12,0.00,0.00,0.000,6,0.064,0.000,3102,1555,3396,0,0,0,0,0,0
$GC,4168,-1.10,-146.0,388.7,-9.8,232,4170,0.17,0.00,0.00,0.000,6,0.093,0.000,3143,1555,3395,0,0,0,0,0,0
$GC,4410,-1.10,-146.0,407.5,-7.6,238,4414,0.00,2.33,0.00,0.000,4,0.000,0.059,3142,176,3393,0,0,0,0,0,0
$GC,4438,-1.10,-146.0,409.9,-8.5,238,4442,0.00,2.15,0.00,0.000,6,0.000,0.023,3142,1560,3393,0,0,0,0,0,0
$GC,4699,-1.10,-146.0,430.8,-8.2,245,4703,0.00,2.58,0.00,0.000,4,0.000,0.036,3142,3142,3391,0,0,0,0,0,0
$GC,4714,-1.10,-146.0,432.2,-8.2,245,4718,0.00,2.58,0.00,0.000,6,0.000,0.035,3142,1581,3391,0,0,0,0,0,0
$GC,4982,-1.10,-146.0,454.1,-8.1,252,4987,0.00,2.55,0.00,0.000,4,0.000,0.037,3142,3135,3389,0,0,0,0,0,0
$GC,5008,-1.16,-146.0,456.0,-8.5,252,5012,0.00,2.60,0.00,0.000,6,0.000,0.040,3142,1574,3389,0,0,0,0,0,0
$GC,5267,-1.16,-146.0,475.2,-7.4,259,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1574,3387,0,0,0,0,0,0
$GC,5512,-1.21,-146.0,492.4,-7.0,265,5516,0.00,2.40,0.00,0.000,4,0.000,0.070,3142,170,3385,0,0,0,0,0,0
$GC,5540,-1.21,-146.0,494.4,-7.0,265,5544,0.00,2.22,0.00,0.000,6,0.000,0.028,3142,1567,3385,0,0,0,0,0,0
$GC,5797,-1.26,-146.0,510.4,-6.2,272,5798,0.12,0.00,0.00,0.000,6,0.066,0.000,3089,1567,3384,0,0,0,0,0,0
$GC,6039,-1.19,-146.0,532.6,-9.3,278,6043,0.15,2.45,0.00,0.000,4,0.102,0.069,3123,169,3383,0,0,0,0,0,0
$GC,6078,-1.19,-146.0,536.3,-9.2,278,6084,0.00,2.25,0.00,0.000,6,0.000,0.030,3123,1569,3382,0,0,0,0,0,0
$GC,6328,-1.19,-146.0,557.3,-8.4,285,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1569,3381,0,0,0,0,0,0
$GC,6572,-1.19,-146.0,577.1,-8.0,291,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1568,3379,0,0,0,0,0,0
$GC,6816,-1.19,-146.0,595.7,-7.6,297,6820,0.00,2.42,0.00,0.000,4,0.000,0.073,3123,172,3378,0,0,0,0,0,0
$GC,6836,-1.19,-146.0,597.3,-7.7,297,6841,0.00,2.25,0.00,0.000,6,0.000,0.031,3123,1573,3377,0,0,0,0,0,0
$GC,7100,-1.19,-146.0,616.0,-6.9,304,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1573,3376,0,0,0,0,0,0
$GC,7344,-1.19,-146.0,633.3,-7.2,310,7348,0.00,2.45,0.00,0.000,4,0.000,0.074,3123,164,3375,0,0,0,0,0,0
$GC,7364,-1.19,-146.0,635.0,-7.8,310,7369,0.00,2.28,0.00,0.000,6,0.000,0.032,3123,1573,3374,0,0,0,0,0,0
$GC,7633,-1.19,-146.0,656.7,-8.0,317,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1573,3373,0,0,0,0,0,0
$GC,7877,-1.19,-146.0,678.2,-9.1,323,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1573,3372,0,0,0,0,0,0
$GC,8122,-1.19,-146.0,700.0,-9.0,329,8123,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1573,3371,0,0,0,0,0,0
$GC,8364,-1.19,-146.0,720.3,-8.2,335,8368,0.00,2.45,0.00,0.000,4,0.000,0.074,3123,172,3369,0,0,0,0,0,0
$GC,8396,-1.19,-146.0,723.2,-10.1,335,8401,0.00,2.28,0.00,0.000,6,0.000,0.034,3123,1563,3369,0,0,0,0,0,0
$GC,8651,-1.19,-146.0,742.7,-7.6,342,8655,0.00,2.67,0.00,0.000,4,0.000,0.053,3123,3165,3369,0,0,0,0,0,0
$GC,8674,-1.24,-146.0,744.3,-7.5,342,8679,0.00,2.72,0.00,0.000,6,0.000,0.048,3123,1560,3369,0,0,0,0,0,0
$GC,8938,-1.24,-146.0,762.8,-6.8,349,8942,0.00,2.45,0.00,0.000,4,0.000,0.082,3123,164,3368,0,0,0,0,0,0
$GC,8971,-1.24,-146.0,765.3,-7.5,349,8975,0.00,2.30,0.00,0.000,6,0.000,0.034,3123,1571,3367,0,0,0,0,0,0
$GC,9227,-1.24,-146.0,783.1,-7.0,356,9228,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1572,3366,0,0,0,0,0,0
$GC,9469,-1.29,-146.0,799.5,-6.5,362,9474,0.00,2.47,0.00,0.000,4,0.000,0.075,3123,166,3366,0,0,0,0,0,0
$GC,9488,-1.29,-146.0,801.0,-7.3,362,9492,0.00,2.28,0.00,0.000,6,0.000,0.033,3123,1563,3365,0,0,0,0,0,0
$GC,9754,-1.33,-146.0,818.4,-6.6,369,9756,0.12,0.00,0.00,0.000,6,0.065,0.000,3074,1563,3365,0,0,0,0,0,0
$GC,9996,-1.28,-146.0,839.0,-8.6,375,10001,0.15,2.47,0.00,0.000,4,0.104,0.075,3107,167,3364,0,0,0,0,0,0
$GC,10016,-1.28,-146.0,841.0,-8.2,375,10020,0.00,2.28,0.00,0.000,6,0.000,0.035,3107,1559,3363,0,0,0,0,0,0
$GC,10281,-1.28,-146.0,860.1,-7.3,382,10283,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1560,3363,0,0,0,0,0,0
$GC,10524,-1.28,-146.0,878.3,-7.5,388,10528,0.00,2.42,0.00,0.000,4,0.000,0.074,3107,170,3362,0,0,0,0,0,0
$GC,10542,-1.28,-146.0,880.0,-8.5,388,10546,0.00,2.28,0.00,0.000,6,0.000,0.035,3106,1562,3362,0,0,0,0,0,0
$STATE,10808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10808,begin apogee
$GC,10816,-0.31,0.0,900.7,7.8,395,10939,0.93,0.00,119.35,1.161,6,0.077,0.000,3317,1346,2800,0,0,0,0,0,0
$STATE,10940,end apogee,CONTROL_FINISHED_OK
$STATE,10940,begin climb
$GC,10942,1.27,146.0,904.9,0.0,398,11086,1.45,2.17,130.82,1.139,4,0.030,0.077,3672,175,2204,0,0,0,0,0,0
$GC,11175,0.98,146.0,886.8,16.4,403,11179,0.35,1.95,0.00,0.000,6,0.108,0.031,3601,1352,2199,0,0,0,0,0,0
$GC,11432,0.89,146.0,860.2,10.2,410,11435,0.00,2.10,0.00,0.000,4,0.000,0.072,3600,173,2193,0,0,0,0,0,0
$GC,11465,0.75,146.0,856.0,11.8,410,11469,0.25,1.92,0.00,0.000,6,0.103,0.030,3549,1348,2193,0,0,0,0,0,0
$GC,11714,0.80,183.5,834.9,8.3,416,11754,0.00,0.00,33.92,1.075,6,0.000,0.000,3548,1349,2051,0,0,0,0,0,0
$GC,12000,0.85,191.3,808.1,9.6,423,12011,0.10,0.00,7.80,0.890,6,0.080,0.000,3586,1349,2020,0,0,0,0,0,0
$GC,12242,0.85,191.3,779.7,11.8,429,12246,0.00,2.72,0.00,0.000,4,0.000,0.051,3586,2936,2017,0,0,0,0,0,0
$GC,12261,0.85,191.3,777.2,11.8,429,12265,0.00,2.72,0.00,0.000,6,0.000,0.048,3587,1353,2015,0,0,0,0,0,0
$GC,12526,0.85,191.3,745.4,12.2,436,12530,0.00,2.12,0.00,0.000,4,0.000,0.086,3587,167,2015,0,0,0,0,0,0
$GC,12563,0.78,191.3,740.2,13.5,436,12570,0.15,1.92,0.00,0.000,6,0.110,0.030,3556,1348,2015,0,0,0,0,0,0
$GC,12813,0.78,191.3,714.3,10.0,443,12818,0.00,2.67,0.00,0.000,4,0.000,0.050,3556,2929,2014,0,0,0,0,0,0
$GC,12867,0.88,200.9,709.2,9.6,444,12884,0.00,2.72,9.20,0.891,6,0.000,0.049,3556,1346,1981,0,0,0,0,0,0
$GC,13150,0.96,222.0,683.1,9.0,451,13179,0.15,2.20,21.80,0.976,4,0.061,0.084,3610,168,1894,0,0,0,0,0,0
$GC,13206,0.85,222.0,676.6,13.7,452,13211,0.20,1.95,0.00,0.000,6,0.105,0.029,3569,1356,1894,0,0,0,0,0,0
$GC,13485,0.87,236.6,649.2,9.3,459,13505,0.00,2.75,14.62,0.920,4,0.000,0.050,3569,2925,1834,0,0,0,0,0,0
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$STATE,18876,end climb,SURFACE_DEPTH_REACHED
$STATE,18876,begin surface coast
$FINISH,0.8,1.017493
$STATE,18911,end surface coast,CONTROL_FINISHED_OK
$STATE,18911,begin surface
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$HUMID,64.88
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$XPDR_PINGS,17
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$10V_AH,9.9,19.696
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.725,181.625,426.500,29.350,0.000,29.903,40.094,298.515,4.250,0.000,14.707,1531.872,14290.455,563.219,2267.347,825.591,33.394,1576.145,0.000,2277.089,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,54220,724
$CAP_FILE_SIZE,174457,0
$CFSIZE,260165632,160808960
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240613,044729,2254.798,-15752.919,61,1.5,61,10.1