version: 66.06
glider: 148
mission: 12
dive: 165
start: 6 26 113 12 2 49
data:
$ID,148
$MISSION,12
$DIVE,165
$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,-1019498.8
$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,25
$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
$GPS1,115454,2245.631,-15742.893,36,1.6,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-76.5
$GPS2,120155,2245.631,-15742.916,13,1.2,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,-0.190
$KALMAN_X,-183729.8,300.0,49.1,212657.9,-742.4
$KALMAN_Y,71960.9,121.6,496.5,-71383.5,-217.3
$MHEAD_RNG_PITCHd_Wd,127.0,15694,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.35,0.000,2,0.000,0.000,414,1578,3198,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.4,-7.4,10,121,13.90,2.35,-3.22,0.000,4,0.146,0.048,3103,168,3397,0,0,0,0,0,0
$GC,157,-0.84,-146.0,28.4,-29.5,18,167,0.43,2.12,0.00,0.000,6,0.084,0.018,3199,1537,3398,0,0,0,0,0,0
$GC,426,-0.84,-146.0,63.6,-11.8,43,430,0.00,2.50,0.00,0.000,4,0.000,0.021,3199,3142,3398,0,0,0,0,0,0
$GC,448,-0.84,-146.0,67.2,-11.9,44,457,0.00,2.58,0.00,0.000,6,0.000,0.028,3199,1562,3398,0,0,0,0,0,0
$GC,714,-0.84,-146.0,93.9,-9.3,69,719,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1562,3399,0,0,0,0,0,0
$GC,977,-0.84,-146.0,116.3,-8.9,94,978,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1562,3399,0,0,0,0,0,0
$GC,1232,-0.84,-146.0,137.9,-8.5,118,1236,0.00,2.47,0.00,0.000,4,0.000,0.028,3199,3143,3400,0,0,0,0,0,0
$GC,1265,-0.93,-146.0,140.6,-7.8,120,1274,0.00,2.58,0.00,0.000,6,0.000,0.028,3199,1569,3400,0,0,0,0,0,0
$GC,1532,-0.98,-146.0,161.2,-7.6,145,1537,0.12,0.00,0.00,0.000,6,0.063,0.000,3136,1569,3400,0,0,0,0,0,0
$GC,1796,-0.89,-146.0,192.5,-11.5,170,1801,0.25,2.47,0.00,0.000,4,0.090,0.020,3195,3148,3401,0,0,0,0,0,0
$GC,1816,-0.89,-146.0,195.3,-11.7,171,1825,0.00,2.58,0.00,0.000,6,0.000,0.027,3195,1568,3401,0,0,0,0,0,0
$GC,2080,-0.95,-146.0,215.7,-7.7,182,2084,0.00,2.28,0.00,0.000,4,0.000,0.044,3195,169,3401,0,0,0,0,0,0
$GC,2108,-1.03,-146.0,218.2,-7.8,182,2113,0.15,2.12,0.00,0.000,6,0.054,0.018,3124,1597,3401,0,0,0,0,0,0
$GC,2368,-0.93,-146.0,246.4,-11.1,189,2373,0.25,2.38,0.00,0.000,4,0.084,0.021,3181,3121,3401,0,0,0,0,0,0
$GC,2418,-1.07,-146.0,250.4,-7.2,190,2423,0.12,2.47,0.00,0.000,6,0.061,0.028,3108,1574,3401,0,0,0,0,0,0
$GC,2702,-0.98,-146.0,281.4,-11.1,197,2704,0.28,0.00,0.00,0.000,6,0.085,0.000,3170,1574,3401,0,0,0,0,0,0
$GC,2947,-1.02,-146.0,299.6,-7.0,203,2951,0.00,2.42,0.00,0.000,4,0.000,0.026,3170,3106,3401,0,0,0,0,0,0
$GC,2971,-1.11,-146.0,301.6,-8.2,203,2976,0.12,2.50,0.00,0.000,6,0.061,0.031,3099,1577,3401,0,0,0,0,0,0
$GC,3231,-1.01,-146.0,329.1,-10.7,210,3236,0.25,2.30,0.00,0.000,4,0.087,0.050,3159,170,3400,0,0,1,0,0,0
$GC,3267,-1.06,-146.0,332.4,-8.3,210,3271,0.00,2.12,0.00,0.000,6,0.000,0.021,3159,1557,3400,0,0,0,0,0,0
$GC,3518,-1.12,-146.0,350.3,-7.0,216,3522,0.00,2.55,0.00,0.000,4,0.000,0.030,3159,3144,3398,0,0,0,0,0,0
$GC,3542,-1.21,-146.0,352.3,-7.8,216,3547,0.17,2.55,0.00,0.000,6,0.047,0.035,3077,1598,3399,0,0,0,0,0,0
$GC,3804,-1.08,-146.0,380.8,-11.2,223,3809,0.30,2.40,0.00,0.000,4,0.086,0.058,3148,169,3397,0,0,0,0,0,0
$GC,3848,-1.13,-146.0,385.0,-7.9,224,3853,0.00,2.22,0.00,0.000,6,0.000,0.022,3148,1588,3397,0,0,0,0,0,0
$GC,4137,-1.13,-146.0,406.1,-7.6,231,4141,0.00,2.50,0.00,0.000,4,0.000,0.035,3148,3139,3394,0,0,0,0,0,0
$GC,4161,-1.20,-146.0,408.2,-9.1,231,4166,0.10,2.58,0.00,0.000,6,0.074,0.044,3091,1592,3395,0,0,0,0,0,0
$GC,4421,-1.11,-146.0,434.9,-10.4,238,4426,0.22,2.42,0.00,0.000,4,0.092,0.064,3140,168,3392,0,0,0,0,0,0
$GC,4457,-1.11,-146.0,438.1,-8.5,238,4461,0.00,2.25,0.00,0.000,6,0.000,0.026,3140,1585,3393,0,0,0,0,0,0
$GC,4707,-1.11,-146.0,458.1,-8.0,244,4711,0.00,2.55,0.00,0.000,4,0.000,0.038,3140,3142,3391,0,0,0,0,0,0
$GC,4733,-1.17,-146.0,460.1,-8.3,244,4737,0.00,2.58,0.00,0.000,6,0.000,0.039,3140,1594,3391,0,0,0,0,0,0
$GC,4992,-1.17,-146.0,481.2,-8.1,251,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1594,3389,0,0,0,0,0,0
$GC,5236,-1.17,-146.0,500.1,-7.6,257,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1594,3387,0,0,0,0,0,0
$GC,5480,-1.17,-146.0,517.2,-7.0,263,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1594,3385,0,0,0,0,0,0
$GC,5725,-1.17,-146.0,534.0,-6.8,269,5729,0.00,2.47,0.00,0.000,4,0.000,0.075,3140,165,3384,0,0,0,0,0,0
$GC,5753,-1.17,-146.0,536.3,-7.8,269,5757,0.00,2.30,0.00,0.000,6,0.000,0.030,3140,1590,3384,0,0,0,0,0,0
$GC,6008,-1.17,-146.0,553.2,-6.7,276,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1590,3382,0,0,0,0,0,0
$GC,6254,-1.22,-146.0,569.5,-6.8,282,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1590,3381,0,0,0,0,0,0
$GC,6496,-1.27,-146.0,586.7,-7.1,288,6501,0.12,2.62,0.00,0.000,4,0.065,0.046,3085,3150,3379,0,0,0,0,0,0
$GC,6511,-1.27,-146.0,588.0,-7.3,288,6516,0.10,2.62,0.00,0.000,6,0.118,0.044,3108,1595,3379,0,0,0,0,0,0
$GC,6782,-1.27,-146.0,611.2,-8.5,295,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1595,3377,0,0,0,0,0,0
$GC,7024,-1.27,-146.0,631.7,-8.5,301,7029,0.00,2.62,0.00,0.000,4,0.000,0.046,3108,3154,3375,0,0,0,0,0,0
$GC,7039,-1.27,-146.0,633.1,-8.6,301,7043,0.00,2.62,0.00,0.000,6,0.000,0.045,3108,1600,3375,0,0,0,0,0,0
$GC,7309,-1.27,-146.0,656.2,-8.7,308,7313,0.00,2.53,0.00,0.000,4,0.000,0.081,3108,167,3374,0,0,0,0,0,0
$GC,7343,-1.27,-146.0,659.6,-10.2,308,7347,0.00,2.33,0.00,0.000,6,0.000,0.034,3108,1591,3374,0,0,0,0,0,0
$GC,7593,-1.27,-146.0,681.0,-8.5,314,7598,0.00,2.62,0.00,0.000,4,0.000,0.051,3108,3160,3373,0,0,0,0,0,0
$GC,7614,-1.27,-146.0,682.7,-8.0,314,7618,0.00,2.65,0.00,0.000,6,0.000,0.047,3108,1595,3373,0,0,0,0,0,0
$GC,7878,-1.27,-146.0,703.5,-7.7,321,7882,0.00,2.53,0.00,0.000,4,0.000,0.081,3108,163,3371,0,0,0,0,0,0
$GC,7906,-1.27,-146.0,705.9,-9.0,321,7910,0.00,2.35,0.00,0.000,6,0.000,0.034,3108,1601,3371,0,0,0,0,0,0
$GC,8161,-1.27,-146.0,723.9,-7.1,328,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1601,3370,0,0,0,0,0,0
$GC,8405,-1.27,-146.0,740.9,-6.9,334,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1601,3369,0,0,0,0,0,0
$GC,8648,-1.27,-146.0,757.9,-6.9,340,8653,0.00,2.53,0.00,0.000,4,0.000,0.074,3108,167,3368,0,0,0,0,0,0
$GC,8663,-1.27,-146.0,758.9,-7.0,340,8667,0.00,2.33,0.00,0.000,6,0.000,0.033,3108,1597,3368,0,0,0,0,0,0
$GC,8937,-1.27,-146.0,779.6,-7.6,347,8941,0.00,2.62,0.00,0.000,4,0.000,0.053,3108,3157,3367,0,0,0,0,0,0
$GC,8956,-1.27,-146.0,781.2,-7.8,347,8961,0.00,2.65,0.00,0.000,6,0.000,0.048,3108,1595,3367,0,0,0,0,0,0
$GC,9220,-1.27,-146.0,801.1,-7.6,354,9225,0.00,2.50,0.00,0.000,4,0.000,0.081,3108,169,3366,0,0,0,0,0,0
$GC,9298,-1.27,-146.0,807.7,-9.2,355,9302,0.00,2.33,0.00,0.000,6,0.000,0.035,3108,1587,3365,0,0,0,0,0,0
$GC,9553,-1.27,-146.0,828.5,-8.1,362,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1587,3365,0,0,0,0,0,0
$GC,9796,-1.27,-146.0,848.1,-8.1,368,9801,0.00,2.50,0.00,0.000,4,0.000,0.075,3108,170,3364,0,0,0,0,0,0
$GC,9812,-1.27,-146.0,849.5,-7.9,368,9816,0.00,2.33,0.00,0.000,6,0.000,0.034,3108,1587,3364,0,0,0,0,0,0
$GC,10081,-1.27,-146.0,871.5,-8.2,375,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1587,3364,0,0,0,0,0,0
$GC,10324,-1.27,-146.0,890.2,-7.6,381,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1588,3363,0,0,0,0,0,0
$STATE,10484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10484,begin apogee
$GC,10492,-0.31,0.0,901.9,7.2,385,10615,0.90,0.00,119.28,1.165,6,0.074,0.000,3314,1342,2800,0,0,0,0,0,0
$STATE,10616,end apogee,CONTROL_FINISHED_OK
$STATE,10616,begin climb
$GC,10618,1.27,146.0,905.2,0.0,388,10762,1.48,2.20,130.73,1.141,4,0.031,0.078,3674,174,2203,0,0,0,0,0,0
$GC,10875,0.98,146.0,880.7,17.0,394,10880,0.38,1.95,0.00,0.000,6,0.109,0.032,3598,1349,2198,0,0,0,0,0,0
$GC,11154,0.90,146.0,849.3,10.9,401,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1350,2192,0,0,0,0,0,0
$GC,11399,0.83,146.0,823.2,10.5,407,11404,0.15,2.12,0.00,0.000,4,0.110,0.074,3566,167,2191,0,0,0,0,0,0
$GC,11451,0.76,146.0,817.6,10.6,408,11455,0.00,1.95,0.00,0.000,6,0.000,0.031,3566,1353,2191,0,0,0,0,0,0
$GC,11734,0.81,185.4,793.9,8.2,415,11777,0.00,2.17,34.47,1.059,4,0.000,0.074,3566,180,2044,0,0,0,0,0,0
$GC,11837,0.81,185.4,783.8,10.9,417,11840,0.00,1.90,0.00,0.000,6,0.000,0.030,3566,1344,2042,0,0,0,0,0,0
$GC,12115,0.83,195.8,757.5,9.5,424,12132,0.00,2.80,10.55,0.937,4,0.000,0.055,3566,2933,2000,0,0,0,0,0,0
$GC,12162,0.89,203.3,752.8,9.7,425,12178,0.00,2.72,8.45,0.890,6,0.000,0.050,3566,1349,1971,0,0,0,0,0,0
$GC,12453,0.89,203.3,721.3,10.9,432,12454,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1349,1968,0,0,0,0,0,0
$GC,12695,0.89,203.3,694.6,11.0,438,12696,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1349,1968,0,0,0,0,0,0
$GC,12939,0.90,209.3,670.3,9.7,444,12947,0.00,0.00,6.53,0.808,6,0.000,0.000,3566,1349,1946,0,0,0,0,0,0
$GC,13182,0.94,243.4,649.1,8.4,450,13222,0.10,0.00,33.42,0.981,6,0.081,0.000,3607,1349,1806,0,0,0,0,0,0
$GC,13467,0.94,243.4,619.4,10.5,457,13472,0.00,2.67,0.00,0.000,4,0.000,0.044,3607,2940,1802,0,0,0,0,0,0
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$STATE,18557,end climb,SURFACE_DEPTH_REACHED
$STATE,18557,begin surface coast
$FINISH,1.0,1.023556
$STATE,18603,end surface coast,CONTROL_FINISHED_OK
$STATE,18603,begin surface
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$SM_GC,1.68,0.00,0.00,47.78,0.000,0.000,0.438,412,1567,1249,-13.68,-0.08,380.21
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$TT8_MAMPS,0.027612
$HUMID,65.08
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.70
$XPDR_PINGS,13
$24V_AH,23.3,24.032
$10V_AH,9.9,21.169
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.400,175.875,389.250,47.775,0.000,24.476,34.799,203.803,3.250,0.000,14.583,1518.875,13963.315,566.239,2338.829,701.252,33.373,1582.710,0.000,2337.213,0.000,0.536,0.000
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$SENSOR_SECS,484.357,335.633,429.890,760.783,1035.378,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,54086,711
$CAP_FILE_SIZE,169451,0
$CFSIZE,260165632,159965184
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260613,171529,2244.271,-15741.793,37,1.9,43,10.1