version: 66.06
glider: 148
mission: 12
dive: 164
start: 6 26 113 6 27 6
data:
$ID,148
$MISSION,12
$DIVE,164
$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,-1019483.6
$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,26
$R_STBD_OVSHOOT,66
$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
$GPS1,061844,2246.998,-15743.502,38,3.2,57,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-74.4
$GPS2,062614,2246.975,-15743.563,11,2.4,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.071,-0.250
$KALMAN_X,-183102.9,85.8,-193.8,211377.0,-236.1
$KALMAN_Y,70747.3,205.4,-401.4,-66873.2,2848.9
$MHEAD_RNG_PITCHd_Wd,154.0,18384,-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,-67.50,0.000,2,0.000,0.000,412,1601,2958,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.3,9,121,14.62,2.42,-8.02,0.000,4,0.168,0.055,3103,163,3398,0,0,0,0,0,0
$GC,300,-0.97,-146.0,50.9,-20.1,34,305,0.32,2.12,0.00,0.000,6,0.093,0.017,3173,1574,3399,0,0,0,0,0,0
$GC,568,-0.92,-146.0,80.1,-10.7,58,572,0.00,2.42,0.00,0.000,4,0.000,0.021,3173,3140,3400,0,0,0,0,0,0
$GC,609,-0.92,-146.0,84.7,-9.3,61,613,0.00,2.53,0.00,0.000,6,0.000,0.028,3173,1565,3400,0,0,0,0,0,0
$GC,876,-0.92,-146.0,114.3,-11.0,85,881,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1565,3400,0,0,0,0,0,0
$GC,1137,-0.92,-146.0,143.1,-10.2,110,1141,0.00,2.25,0.00,0.000,4,0.000,0.043,3173,172,3401,0,0,0,0,0,0
$GC,1160,-0.92,-146.0,145.7,-11.3,111,1165,0.00,2.17,0.00,0.000,6,0.000,0.017,3174,1617,3401,0,0,0,0,0,0
$GC,1426,-0.92,-146.0,172.9,-10.3,136,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1621,3401,0,0,0,0,0,0
$GC,1688,-0.92,-146.0,200.0,-10.6,161,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1621,3401,0,0,0,0,0,0
$GC,1941,-0.92,-146.0,225.1,-9.9,168,1946,0.00,2.40,0.00,0.000,4,0.000,0.044,3173,167,3402,0,0,0,0,0,0
$GC,1969,-0.92,-146.0,228.2,-10.6,168,1973,0.00,2.15,0.00,0.000,6,0.000,0.018,3173,1587,3402,0,0,0,0,0,0
$GC,2225,-0.92,-146.0,252.7,-9.7,175,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1590,3401,0,0,0,0,0,0
$GC,2467,-0.92,-146.0,275.5,-9.2,181,2472,0.00,2.40,0.00,0.000,4,0.000,0.023,3174,3123,3402,0,0,0,0,0,0
$GC,2482,-0.97,-146.0,276.9,-8.7,181,2486,0.00,2.47,0.00,0.000,6,0.000,0.027,3173,1589,3402,0,0,0,0,0,0
$GC,2753,-1.02,-146.0,297.2,-7.2,188,2757,0.00,2.35,0.00,0.000,4,0.000,0.049,3173,168,3402,0,0,0,0,0,0
$GC,2776,-1.02,-146.0,299.2,-8.2,188,2780,0.00,2.12,0.00,0.000,6,0.000,0.020,3174,1565,3402,0,0,0,0,0,0
$GC,3036,-1.08,-146.0,318.8,-7.7,195,3041,0.10,2.50,0.00,0.000,4,0.076,0.028,3120,3138,3402,0,0,0,0,0,0
$GC,3081,-1.08,-146.0,322.8,-10.0,196,3087,0.12,2.50,0.00,0.000,6,0.100,0.031,3148,1592,3402,0,0,0,0,0,0
$GC,3369,-1.08,-146.0,345.5,-7.3,203,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1592,3400,0,0,0,0,0,0
$GC,3613,-1.08,-146.0,365.6,-8.6,209,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1592,3399,0,0,0,0,0,0
$GC,3858,-1.08,-146.0,388.6,-9.4,215,3863,0.00,2.47,0.00,0.000,4,0.000,0.032,3148,3127,3398,0,0,0,0,0,0
$GC,3902,-1.18,-146.0,392.5,-7.7,216,3907,0.00,2.53,0.00,0.000,6,0.000,0.038,3148,1589,3398,0,0,0,0,0,0
$GC,4189,-1.18,-146.0,413.2,-7.0,223,4193,0.00,2.42,0.00,0.000,4,0.000,0.062,3148,162,3396,0,0,0,0,0,0
$GC,4219,-1.18,-146.0,415.3,-7.1,223,4223,0.00,2.22,0.00,0.000,6,0.000,0.023,3148,1591,3395,0,0,0,0,0,0
$GC,4478,-1.18,-146.0,432.9,-6.8,230,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1592,3394,0,0,0,0,0,0
$GC,4722,-1.18,-146.0,449.5,-6.7,236,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1592,3392,0,0,0,0,0,0
$GC,4966,-1.23,-146.0,464.5,-6.1,242,4968,0.12,0.00,0.00,0.000,6,0.064,0.000,3093,1592,3391,0,0,0,0,0,0
$GC,5209,-1.16,-146.0,486.4,-9.3,248,5214,0.17,2.47,0.00,0.000,4,0.095,0.066,3132,171,3389,0,0,0,0,0,0
$GC,5248,-1.16,-146.0,489.9,-8.5,248,5253,0.00,2.25,0.00,0.000,6,0.000,0.029,3132,1582,3388,0,0,0,0,0,0
$GC,5499,-1.16,-146.0,509.0,-7.7,255,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1583,3387,0,0,0,0,0,0
$GC,5741,-1.16,-146.0,527.3,-7.4,261,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1583,3386,0,0,0,0,0,0
$GC,5985,-1.16,-146.0,545.5,-7.5,267,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1582,3385,0,0,0,0,0,0
$GC,6229,-1.16,-146.0,563.6,-7.5,273,6233,0.00,2.60,0.00,0.000,4,0.000,0.044,3132,3160,3383,0,0,0,0,0,0
$GC,6255,-1.21,-146.0,565.5,-8.5,273,6259,0.00,2.62,0.00,0.000,6,0.000,0.044,3132,1598,3383,0,0,0,0,0,0
$GC,6514,-1.21,-146.0,584.3,-7.2,280,6519,0.00,2.58,0.00,0.000,4,0.000,0.043,3132,3150,3381,0,0,0,0,0,0
$GC,6529,-1.21,-146.0,585.4,-7.5,280,6533,0.00,2.62,0.00,0.000,6,0.000,0.043,3132,1591,3381,0,0,0,0,0,0
$GC,6799,-1.21,-146.0,604.8,-7.3,287,6803,0.00,2.47,0.00,0.000,4,0.000,0.078,3132,169,3380,0,0,0,0,0,0
$GC,6832,-1.21,-146.0,607.5,-8.2,287,6836,0.00,2.33,0.00,0.000,6,0.000,0.031,3132,1601,3379,0,0,0,0,0,0
$GC,7082,-1.21,-146.0,625.9,-7.4,293,7086,0.00,2.50,0.00,0.000,4,0.000,0.073,3132,165,3378,0,0,0,0,0,0
$GC,7127,-1.21,-146.0,629.4,-8.7,294,7131,0.00,2.33,0.00,0.000,6,0.000,0.031,3131,1597,3378,0,0,0,0,0,0
$GC,7418,-1.21,-146.0,651.1,-7.4,301,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1598,3376,0,0,0,0,0,0
$GC,7663,-1.21,-146.0,670.8,-8.2,307,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1598,3375,0,0,0,0,0,0
$GC,7906,-1.21,-146.0,691.1,-8.2,313,7910,0.00,2.50,0.00,0.000,4,0.000,0.074,3132,167,3374,0,0,0,0,0,0
$GC,7922,-1.21,-146.0,692.5,-8.2,313,7926,0.00,2.33,0.00,0.000,6,0.000,0.032,3132,1593,3374,0,0,0,0,0,0
$GC,8190,-1.21,-146.0,712.4,-7.1,320,8195,0.00,2.62,0.00,0.000,4,0.000,0.051,3132,3156,3373,0,0,0,0,0,0
$GC,8230,-1.31,-146.0,714.9,-6.4,320,8236,0.15,2.67,0.00,0.000,6,0.056,0.048,3071,1586,3372,0,0,0,0,0,0
$GC,8484,-1.22,-146.0,737.2,-9.1,327,8489,0.22,2.53,0.00,0.000,4,0.095,0.079,3119,162,3372,0,0,0,0,0,0
$GC,8566,-1.22,-146.0,743.8,-8.0,328,8570,0.00,2.30,0.00,0.000,6,0.000,0.034,3119,1584,3371,0,0,0,0,0,0
$GC,8820,-1.22,-146.0,759.0,-5.9,335,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1584,3371,0,0,0,0,0,0
$GC,9064,-1.22,-146.0,773.8,-6.2,341,9068,0.00,2.50,0.00,0.000,4,0.000,0.074,3119,165,3370,0,0,0,0,0,0
$GC,9079,-1.22,-146.0,774.9,-6.3,341,9083,0.00,2.30,0.00,0.000,6,0.000,0.033,3119,1585,3369,0,0,0,0,0,0
$GC,9353,-1.22,-146.0,793.5,-7.0,348,9357,0.00,2.65,0.00,0.000,4,0.000,0.050,3119,3163,3368,0,0,0,0,0,0
$GC,9372,-1.22,-146.0,795.0,-7.7,348,9376,0.00,2.67,0.00,0.000,6,0.000,0.046,3119,1584,3368,0,0,0,0,0,0
$GC,9637,-1.22,-146.0,814.0,-7.3,355,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1584,3367,0,0,0,0,0,0
$GC,9879,-1.22,-146.0,832.6,-7.7,361,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1583,3367,0,0,0,0,0,0
$GC,10123,-1.22,-146.0,850.4,-7.2,367,10124,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1584,3366,0,0,0,0,0,0
$GC,10367,-1.22,-146.0,866.7,-6.5,373,10368,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1584,3365,0,0,0,0,0,0
$GC,10612,-1.22,-146.0,881.6,-6.0,379,10617,0.00,2.50,0.00,0.000,4,0.000,0.081,3119,169,3365,0,0,0,0,0,0
$GC,10656,-1.26,-146.0,884.6,-5.9,380,10660,0.00,2.30,0.00,0.000,6,0.000,0.034,3119,1578,3364,0,0,0,0,0,0
$STATE,10940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10940,begin apogee
$GC,10948,-0.31,0.0,900.9,5.5,387,11071,0.85,0.00,119.65,1.164,6,0.073,0.000,3316,1344,2800,0,0,0,0,0,0
$STATE,11072,end apogee,CONTROL_FINISHED_OK
$STATE,11072,begin climb
$GC,11075,1.27,146.0,903.1,0.0,390,11215,1.45,2.17,130.12,1.140,4,0.029,0.077,3670,180,2204,0,0,0,0,0,0
$GC,11341,0.99,146.0,876.2,17.0,396,11346,0.32,1.95,0.00,0.000,6,0.110,0.031,3603,1360,2198,0,0,0,0,0,0
$GC,11607,0.90,146.0,848.7,10.0,403,11612,0.10,2.12,0.00,0.000,4,0.130,0.073,3581,170,2193,0,0,0,0,0,0
$GC,11707,0.81,152.4,838.8,9.7,405,11719,0.00,1.92,5.20,0.781,6,0.000,0.030,3581,1343,2178,0,0,0,0,0,0
$GC,11989,0.87,198.9,816.2,7.9,412,12035,0.00,0.00,43.97,1.076,6,0.000,0.000,3581,1344,1989,0,0,0,0,0,0
$GC,12275,0.88,205.5,789.5,9.7,419,12287,0.00,2.75,6.95,0.858,4,0.000,0.051,3581,2938,1961,0,0,0,0,0,0
$GC,12316,0.88,205.5,785.4,10.4,419,12322,0.00,2.78,0.00,0.000,6,0.000,0.049,3581,1342,1958,0,0,0,0,0,0
$GC,12567,0.88,205.5,759.7,10.5,426,12568,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1342,1957,0,0,0,0,0,0
$GC,12809,0.88,205.5,732.8,11.1,432,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1342,1957,0,0,0,0,0,0
$GC,13053,0.88,205.5,705.4,11.4,438,13054,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1342,1957,0,0,0,0,0,0
$GC,13298,0.88,205.5,676.5,11.9,444,13299,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1342,1956,0,0,0,0,0,0
$GC,13540,0.88,205.5,647.9,11.8,450,13545,0.00,2.67,0.00,0.000,4,0.000,0.041,3581,2930,1957,0,0,0,0,0,0
$GC,13584,0.94,205.5,643.0,10.3,451,13588,0.00,2.75,0.00,0.000,6,0.000,0.051,3581,1338,1954,0,0,0,0,0,0
$GC,13872,0.94,205.5,610.7,11.2,458,13873,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1338,1954,0,0,0,0,0,0
$GC,14115,0.94,205.5,583.6,11.1,464,14119,0.00,2.08,0.00,0.000,4,0.000,0.080,3581,165,1954,0,0,0,0,0,0
$GC,14221,0.94,205.5,570.6,11.8,466,14225,0.00,1.90,0.00,0.000,6,0.000,0.028,3581,1346,1954,0,0,0,0,0,0
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$STATE,19476,end climb,SURFACE_DEPTH_REACHED
$STATE,19476,begin surface coast
$FINISH,0.8,1.023594
$STATE,19516,end surface coast,CONTROL_FINISHED_OK
$STATE,19517,begin surface
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$TT8_MAMPS,0.027612
$HUMID,63.42
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.20
$XPDR_PINGS,12
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$10V_AH,9.9,21.040
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.200,181.700,398.225,46.950,0.000,23.608,33.873,223.481,3.000,0.000,32.846,1568.416,14749.201,536.419,2444.548,730.308,33.373,1601.646,0.000,2423.499,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,54044,729
$CAP_FILE_SIZE,177410,0
$CFSIZE,260165632,160034816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260613,115454,2245.631,-15742.893,36,1.6,36,10.1