version: 66.06
glider: 148
mission: 12
dive: 168
start: 6 27 113 4 13 55
data:
$ID,148
$MISSION,12
$DIVE,168
$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,-1019539.5
$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,89
$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
$GPS1,040544,2241.757,-15740.010,38,2.7,57,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-78.5
$GPS2,041301,2241.806,-15740.040,10,1.1,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.106,-0.237
$KALMAN_X,-185965.8,-119.7,-0.6,220280.6,-392.7
$KALMAN_Y,77287.4,162.3,-352.9,-82992.0,1898.0
$MHEAD_RNG_PITCHd_Wd,145.8,7075,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-67.38,0.000,2,0.000,0.000,417,1578,2968,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.3,-4.5,9,121,13.88,2.35,-7.75,0.000,4,0.147,0.051,3101,162,3398,0,0,0,0,0,0
$GC,150,-0.93,-146.0,21.6,-23.9,17,160,0.32,2.12,0.00,0.000,6,0.087,0.018,3176,1535,3399,0,0,0,0,0,0
$GC,426,-0.84,-146.0,64.5,-14.8,45,431,0.12,2.55,0.00,0.000,4,0.111,0.021,3204,3144,3399,0,0,0,0,0,0
$GC,492,-0.98,-146.0,71.8,-8.3,50,497,0.15,2.55,0.00,0.000,6,0.051,0.028,3125,1571,3399,0,0,0,0,0,0
$GC,757,-0.81,-146.0,107.7,-14.4,74,762,0.35,2.28,0.00,0.000,4,0.086,0.041,3206,174,3400,0,0,0,0,0,0
$GC,796,-0.81,-146.0,112.4,-10.4,77,800,0.00,2.15,0.00,0.000,6,0.000,0.016,3205,1601,3400,0,0,0,0,0,0
$GC,1064,-0.86,-146.0,132.9,-7.8,101,1069,0.00,2.35,0.00,0.000,4,0.000,0.021,3206,3116,3401,0,0,0,0,0,0
$GC,1084,-0.94,-146.0,135.1,-7.8,102,1093,0.08,2.50,0.00,0.000,6,0.032,0.027,3134,1584,3400,0,0,0,0,0,0
$GC,1351,-0.83,-146.0,167.2,-12.3,127,1357,0.28,0.00,0.00,0.000,6,0.086,0.000,3200,1584,3401,0,0,0,0,0,0
$GC,1615,-0.89,-146.0,190.9,-8.6,152,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1583,3401,0,0,0,0,0,0
$GC,1883,-0.95,-146.0,215.4,-9.5,166,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1584,3401,0,0,0,0,0,0
$GC,2125,-1.02,-146.0,236.5,-8.5,172,2127,0.15,0.00,0.00,0.000,6,0.054,0.000,3130,1584,3401,0,0,0,0,0,0
$GC,2368,-0.95,-146.0,264.4,-12.0,178,2370,0.20,0.00,0.00,0.000,6,0.085,0.000,3177,1584,3401,0,0,0,0,0,0
$GC,2614,-1.01,-146.0,285.7,-8.3,184,2618,0.00,2.35,0.00,0.000,4,0.000,0.048,3177,167,3401,0,0,0,0,0,0
$GC,2633,-1.08,-146.0,287.5,-8.5,184,2638,0.12,2.12,0.00,0.000,6,0.062,0.019,3112,1575,3401,0,0,0,0,0,0
$GC,2898,-1.00,-146.0,315.8,-10.7,191,2903,0.25,2.45,0.00,0.000,4,0.084,0.026,3173,3121,3401,0,0,0,0,0,0
$GC,2919,-1.00,-146.0,317.9,-9.5,191,2924,0.00,2.50,0.00,0.000,6,0.000,0.031,3173,1580,3401,0,0,0,0,0,0
$GC,3184,-1.08,-146.0,335.9,-6.6,198,3188,0.00,2.35,0.00,0.000,4,0.000,0.054,3173,170,3401,0,0,0,0,0,0
$GC,3203,-1.13,-146.0,337.4,-7.4,198,3208,0.15,2.17,0.00,0.000,6,0.054,0.020,3103,1576,3401,0,0,0,0,0,0
$GC,3474,-1.05,-146.0,364.3,-10.2,205,3476,0.22,0.00,0.00,0.000,6,0.086,0.000,3154,1579,3399,0,0,0,0,0,0
$GC,3716,-1.05,-146.0,384.0,-8.0,211,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1579,3398,0,0,0,0,0,0
$GC,3960,-1.11,-146.0,402.7,-7.6,217,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1579,3396,0,0,0,0,0,0
$GC,4205,-1.16,-146.0,421.6,-7.8,223,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1579,3395,0,0,0,0,0,0
$GC,4447,-1.21,-146.0,441.3,-8.0,229,4452,0.15,2.55,0.00,0.000,4,0.057,0.037,3090,3126,3393,0,0,0,0,0,0
$GC,4467,-1.21,-146.0,443.4,-10.1,229,4472,0.12,2.55,0.00,0.000,6,0.103,0.037,3120,1593,3393,0,0,0,0,0,0
$GC,4733,-1.21,-146.0,467.3,-8.9,236,4738,0.00,2.53,0.00,0.000,4,0.000,0.038,3121,3129,3391,0,0,0,0,0,0
$GC,4748,-1.21,-146.0,468.7,-8.3,236,4752,0.00,2.55,0.00,0.000,6,0.000,0.036,3120,1593,3391,0,0,0,0,0,0
$GC,5016,-1.21,-146.0,490.7,-8.2,243,5021,0.00,2.47,0.00,0.000,4,0.000,0.069,3121,165,3389,0,0,0,0,0,0
$GC,5046,-1.21,-146.0,493.2,-9.7,243,5050,0.00,2.25,0.00,0.000,6,0.000,0.028,3121,1573,3389,0,0,0,0,0,0
$GC,5301,-1.21,-146.0,513.7,-7.9,250,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1573,3387,0,0,0,0,0,0
$GC,5544,-1.21,-146.0,533.9,-8.4,256,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1573,3386,0,0,0,0,0,0
$GC,5790,-1.21,-146.0,554.7,-8.5,262,5794,0.00,2.62,0.00,0.000,4,0.000,0.049,3121,3146,3384,0,0,0,0,0,0
$GC,5804,-1.21,-146.0,556.2,-8.3,262,5809,0.00,2.60,0.00,0.000,6,0.000,0.041,3121,1594,3384,0,0,0,0,0,0
$GC,6073,-1.21,-146.0,578.4,-8.1,269,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1594,3383,0,0,0,0,0,0
$GC,6317,-1.21,-146.0,597.8,-8.0,275,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1594,3382,0,0,0,0,0,0
$GC,6562,-1.21,-146.0,616.8,-7.8,281,6567,0.00,2.50,0.00,0.000,4,0.000,0.078,3121,169,3380,0,0,0,0,0,0
$GC,6586,-1.21,-146.0,619.1,-9.9,281,6590,0.00,2.30,0.00,0.000,6,0.000,0.031,3121,1587,3380,0,0,0,0,0,0
$GC,6845,-1.21,-146.0,638.8,-7.4,288,6850,0.00,2.47,0.00,0.000,4,0.000,0.072,3121,164,3379,0,0,0,0,0,0
$GC,6866,-1.21,-146.0,640.4,-8.0,288,6870,0.00,2.30,0.00,0.000,6,0.000,0.031,3121,1580,3379,0,0,0,0,0,0
$GC,7130,-1.21,-146.0,660.6,-7.8,295,7134,0.00,2.45,0.00,0.000,4,0.000,0.073,3121,171,3377,0,0,0,0,0,0
$GC,7181,-1.21,-146.0,665.3,-9.4,296,7185,0.00,2.30,0.00,0.000,6,0.000,0.035,3120,1580,3377,0,0,0,0,0,0
$GC,7460,-1.21,-146.0,687.5,-8.1,303,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1580,3375,0,0,0,0,0,0
$GC,7703,-1.21,-146.0,706.9,-7.9,309,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1580,3374,0,0,0,0,0,0
$GC,7946,-1.21,-146.0,726.2,-8.0,315,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1580,3373,0,0,0,0,0,0
$GC,8192,-1.21,-146.0,746.4,-8.3,321,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1580,3372,0,0,0,0,0,0
$GC,8434,-1.21,-146.0,767.1,-8.5,327,8438,0.00,2.47,0.00,0.000,4,0.000,0.075,3121,172,3371,0,0,0,0,0,0
$GC,8479,-1.21,-146.0,771.1,-8.9,328,8483,0.00,2.30,0.00,0.000,6,0.000,0.035,3121,1576,3371,0,0,0,0,0,0
$GC,8767,-1.21,-146.0,795.3,-8.3,335,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1576,3370,0,0,0,0,0,0
$GC,9009,-1.21,-146.0,815.2,-8.1,341,9014,0.00,2.47,0.00,0.000,4,0.000,0.074,3121,170,3369,0,0,0,0,0,0
$GC,9033,-1.21,-146.0,817.2,-9.2,341,9037,0.00,2.28,0.00,0.000,6,0.000,0.035,3121,1574,3368,0,0,0,0,0,0
$GC,9293,-1.21,-146.0,836.1,-7.1,348,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1574,3368,0,0,0,0,0,0
$GC,9536,-1.21,-146.0,851.3,-6.2,354,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1574,3367,0,0,0,0,0,0
$GC,9779,-1.21,-146.0,865.1,-5.6,360,9784,0.00,2.47,0.00,0.000,4,0.000,0.074,3121,170,3366,0,0,0,0,0,0
$GC,9798,-1.21,-146.0,866.2,-6.1,360,9802,0.00,2.30,0.00,0.000,6,0.000,0.035,3121,1572,3366,0,0,0,0,0,0
$GC,10064,-1.21,-146.0,880.6,-5.4,367,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1572,3365,0,0,0,0,0,0
$GC,10306,-1.21,-146.0,894.3,-5.7,373,10310,0.00,2.45,0.00,0.000,4,0.000,0.074,3121,170,3365,0,0,0,0,0,0
$GC,10329,-1.21,-146.0,895.8,-6.9,373,10333,0.00,2.30,0.00,0.000,6,0.000,0.035,3120,1570,3364,0,0,0,0,0,0
$STATE,10427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10427,begin apogee
$GC,10435,-0.31,0.0,901.7,5.9,376,10558,0.85,0.00,119.72,1.160,6,0.074,0.000,3316,1340,2800,0,0,0,0,0,0
$STATE,10559,end apogee,CONTROL_FINISHED_OK
$STATE,10559,begin climb
$GC,10562,1.27,146.0,904.6,0.0,379,10702,1.45,2.12,129.35,1.136,4,0.036,0.077,3664,169,2204,0,0,0,0,0,0
$GC,10800,0.99,146.0,885.2,14.5,384,10804,0.30,1.98,0.00,0.000,6,0.113,0.031,3604,1359,2199,0,0,0,0,0,0
$GC,11066,0.91,146.6,857.8,10.0,391,11070,0.00,2.12,0.00,0.000,4,0.000,0.072,3604,165,2194,0,0,0,0,0,0
$GC,11150,0.76,146.6,848.5,11.5,392,11156,0.25,1.95,0.00,0.000,6,0.105,0.030,3552,1351,2194,0,0,0,0,0,0
$GC,11401,0.84,210.7,830.3,7.0,399,11462,0.00,0.00,59.17,1.088,6,0.000,0.000,3552,1351,1941,0,0,0,0,0,0
$GC,11684,0.92,231.7,805.9,9.0,406,11707,0.15,0.00,20.45,1.024,6,0.060,0.000,3604,1352,1855,0,0,0,0,0,0
$GC,11927,0.92,231.7,776.7,12.2,412,11928,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1353,1850,0,0,0,0,0,0
$GC,12171,0.92,231.7,745.0,13.1,418,12175,0.00,2.70,0.00,0.000,4,0.000,0.053,3604,2931,1849,0,0,0,0,0,0
$GC,12196,0.92,231.7,741.7,12.1,418,12200,0.00,2.72,0.00,0.000,6,0.000,0.048,3604,1349,1847,0,0,0,0,0,0
$GC,12455,0.92,231.7,705.8,14.1,425,12460,0.00,2.67,0.00,0.000,4,0.000,0.044,3604,2931,1847,0,0,0,0,0,0
$GC,12493,0.92,231.7,700.5,13.8,425,12498,0.00,2.72,0.00,0.000,6,0.000,0.051,3604,1352,1845,0,0,0,0,0,0
$GC,12744,0.92,231.7,667.2,13.3,432,12745,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1352,1845,0,0,0,0,0,0
$GC,12986,0.92,231.7,634.6,13.3,438,12990,0.00,2.12,0.00,0.000,4,0.000,0.082,3604,162,1845,0,0,0,0,0,0
$GC,13010,0.85,231.7,631.2,14.0,438,13014,0.10,1.95,0.00,0.000,6,0.074,0.029,3570,1350,1845,0,0,0,0,0,0
$GC,13276,0.90,231.7,601.8,10.8,445,13280,0.00,2.67,0.00,0.000,4,0.000,0.047,3570,2936,1845,0,0,0,0,0,0
$GC,13309,0.99,233.6,598.1,9.9,445,13314,0.12,2.72,0.00,0.000,6,0.067,0.049,3621,1352,1843,0,0,0,0,0,0
$GC,13559,0.93,233.6,568.0,11.8,451,13564,0.15,2.12,0.00,0.000,4,0.109,0.077,3590,159,1843,0,0,0,0,0,0
$GC,13585,0.89,233.6,565.1,10.6,451,13589,0.00,1.98,0.00,0.000,6,0.000,0.028,3590,1364,1843,0,0,0,0,0,0
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$STATE,18399,end climb,SURFACE_DEPTH_REACHED
$STATE,18399,begin surface coast
$FINISH,0.9,1.019784
$STATE,18448,end surface coast,CONTROL_FINISHED_OK
$STATE,18448,begin surface
$SM_CCo,18473,42.05,0.430,0,0,1249,380.21
$SM_GC,1.70,0.00,0.00,42.05,0.000,0.000,0.430,414,1567,1249,-13.67,-0.08,380.21
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$TT8_MAMPS,0.027612
$HUMID,63.58
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,21.90
$XPDR_PINGS,18
$24V_AH,23.3,24.454
$10V_AH,9.9,21.555
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.775,175.850,396.175,42.050,0.000,23.337,43.052,220.470,4.500,0.000,12.370,1504.646,13888.751,542.717,2288.562,718.371,33.364,1562.528,0.000,2283.055,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,470.339,318.998,407.126,703.228,957.578,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,54245,691
$CAP_FILE_SIZE,173497,0
$CFSIZE,260165632,159739904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270613,092356,2240.768,-15739.339,24,2.7,43,10.1