version: 66.06
glider: 148
mission: 12
dive: 183
start: 6 30 113 12 56 27
data:
$ID,148
$MISSION,12
$DIVE,183
$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,-1019822.1
$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,71
$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
$GPS1,124653,2257.557,-15743.337,40,1.8,40,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-76.5
$GPS2,125530,2257.623,-15743.377,13,1.0,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.196,-0.170
$KALMAN_X,-204352.9,-90.1,-491.1,233427.3,798.7
$KALMAN_Y,104547.4,193.0,37.1,-81375.3,830.0
$MHEAD_RNG_PITCHd_Wd,218.9,50002,-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,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.88,0.000,2,0.000,0.000,412,1558,3008,0,0,0,0,0,0
$GC,88,-1.27,-146.0,4.0,-6.7,9,120,13.93,2.35,-6.68,0.000,4,0.148,0.054,3102,162,3399,0,0,0,0,0,0
$GC,275,-1.09,-146.0,52.9,-17.3,30,284,0.15,2.15,0.00,0.000,6,0.083,0.017,3139,1567,3400,0,0,0,0,0,0
$GC,541,-0.95,-146.0,86.9,-13.4,55,546,0.17,2.47,0.00,0.000,4,0.101,0.022,3177,3131,3401,0,0,0,0,0,0
$GC,601,-1.04,-146.0,93.6,-8.9,60,605,0.00,2.53,0.00,0.000,6,0.000,0.029,3177,1564,3401,0,0,0,0,0,0
$GC,863,-1.04,-146.0,120.6,-10.7,84,867,0.00,2.28,0.00,0.000,4,0.000,0.043,3177,163,3401,0,0,0,0,0,0
$GC,906,-1.04,-146.0,124.8,-11.6,87,910,0.00,2.15,0.00,0.000,6,0.000,0.017,3177,1581,3401,0,0,0,0,0,0
$GC,1169,-1.04,-146.0,152.3,-9.9,111,1173,0.00,2.40,0.00,0.000,4,0.000,0.021,3177,3126,3401,0,0,0,0,0,0
$GC,1199,-1.09,-146.0,155.5,-9.6,113,1205,0.12,2.53,0.00,0.000,6,0.062,0.028,3113,1568,3401,0,0,0,0,0,0
$GC,1463,-0.93,-146.0,194.8,-15.2,138,1473,0.30,0.00,0.00,0.000,6,0.086,0.000,3180,1568,3402,0,0,0,0,0,0
$GC,1745,-0.93,-146.0,221.9,-8.5,148,1749,0.00,2.42,0.00,0.000,4,0.000,0.021,3179,3121,3401,0,0,0,0,0,0
$GC,1777,-1.00,-146.0,224.1,-7.1,148,1781,0.00,2.47,0.00,0.000,6,0.000,0.028,3179,1572,3402,0,0,0,0,0,0
$GC,2032,-1.00,-146.0,244.7,-8.3,155,2036,0.00,2.28,0.00,0.000,4,0.000,0.045,3179,172,3402,0,0,0,0,0,0
$GC,2093,-1.07,-146.0,250.1,-8.1,156,2097,0.12,2.12,0.00,0.000,6,0.062,0.018,3114,1577,3402,0,0,0,0,0,0
$GC,2363,-0.97,-146.0,279.3,-11.3,163,2368,0.25,2.42,0.00,0.000,4,0.083,0.022,3174,3119,3402,0,0,0,0,0,0
$GC,2413,-1.11,-146.0,284.0,-8.5,164,2418,0.12,2.53,0.00,0.000,6,0.061,0.030,3099,1568,3402,0,0,0,0,0,0
$GC,2698,-0.99,-146.0,318.7,-12.0,171,2703,0.28,2.30,0.00,0.000,4,0.084,0.048,3163,172,3402,0,0,0,0,0,0
$GC,2755,-1.08,-146.0,324.0,-7.9,172,2759,0.00,2.12,0.00,0.000,6,0.000,0.020,3163,1546,3402,0,0,0,0,0,0
$GC,3030,-1.13,-146.0,341.2,-6.1,179,3035,0.10,2.58,0.00,0.000,4,0.077,0.031,3108,3133,3400,0,0,0,0,0,0
$GC,3059,-1.13,-146.0,343.5,-8.1,179,3064,0.12,2.60,0.00,0.000,6,0.097,0.036,3138,1563,3400,0,0,0,0,0,0
$GC,3316,-1.13,-146.0,365.0,-8.9,186,3321,0.00,2.33,0.00,0.000,4,0.000,0.058,3138,169,3399,0,0,0,0,0,0
$GC,3372,-1.13,-146.0,371.4,-11.4,187,3376,0.00,2.17,0.00,0.000,6,0.000,0.022,3138,1555,3399,0,0,0,0,0,0
$GC,3645,-1.13,-146.0,398.0,-9.6,194,3649,0.00,2.58,0.00,0.000,4,0.000,0.034,3138,3143,3397,0,0,0,0,0,0
$GC,3663,-1.13,-146.0,399.3,-8.8,194,3667,0.00,2.60,0.00,0.000,6,0.000,0.036,3138,1560,3397,0,0,0,0,0,0
$GC,3931,-1.13,-146.0,420.1,-7.5,201,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1560,3395,0,0,0,0,0,0
$GC,4175,-1.13,-146.0,440.0,-8.5,207,4179,0.00,2.40,0.00,0.000,4,0.000,0.067,3138,164,3393,0,0,0,0,0,0
$GC,4198,-1.13,-146.0,442.5,-10.1,207,4202,0.00,2.22,0.00,0.000,6,0.000,0.026,3138,1561,3394,0,0,0,0,0,0
$GC,4459,-1.13,-146.0,466.0,-8.9,214,4463,0.00,2.60,0.00,0.000,4,0.000,0.040,3138,3146,3391,0,0,0,0,0,0
$GC,4497,-1.21,-146.0,469.6,-8.5,214,4503,0.00,2.62,0.00,0.000,6,0.000,0.039,3138,1570,3391,0,0,0,0,0,0
$GC,4749,-1.21,-146.0,490.8,-8.4,221,4753,0.00,2.42,0.00,0.000,4,0.000,0.071,3139,169,3390,0,0,0,0,0,0
$GC,4800,-1.26,-146.0,495.3,-7.9,222,4805,0.12,2.20,0.00,0.000,6,0.063,0.028,3082,1556,3389,0,0,0,0,0,0
$GC,5079,-1.16,-146.0,521.1,-9.1,229,5086,0.22,2.65,0.00,0.000,4,0.091,0.041,3132,3156,3387,0,0,0,0,0,0
$GC,5098,-1.16,-146.0,522.6,-7.8,229,5102,0.00,2.67,0.00,0.000,6,0.000,0.040,3132,1554,3387,0,0,0,0,0,0
$GC,5367,-1.16,-146.0,540.0,-6.8,236,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1554,3386,0,0,0,0,0,0
$GC,5610,-1.16,-146.0,559.9,-8.5,242,5615,0.00,2.67,0.00,0.000,4,0.000,0.042,3132,3153,3384,0,0,0,0,0,0
$GC,5631,-1.16,-146.0,561.7,-9.3,242,5636,0.00,2.67,0.00,0.000,6,0.000,0.043,3132,1565,3384,0,0,0,0,0,0
$GC,5895,-1.16,-146.0,582.1,-7.4,249,5900,0.00,2.45,0.00,0.000,4,0.000,0.075,3132,161,3382,0,0,0,0,0,0
$GC,5919,-1.16,-146.0,584.0,-8.3,249,5923,0.00,2.28,0.00,0.000,6,0.000,0.029,3132,1575,3382,0,0,0,0,0,0
$GC,6184,-1.16,-146.0,602.2,-6.9,256,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1575,3381,0,0,0,0,0,0
$GC,6426,-1.16,-146.0,620.5,-7.6,262,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1575,3380,0,0,0,0,0,0
$GC,6670,-1.16,-146.0,639.2,-7.5,268,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1575,3378,0,0,0,0,0,0
$GC,6914,-1.16,-146.0,653.7,-5.6,274,6918,0.00,2.62,0.00,0.000,4,0.000,0.050,3132,3148,3377,0,0,0,0,0,0
$GC,6935,-1.21,-146.0,654.7,-5.3,274,6939,0.00,2.70,0.00,0.000,6,0.000,0.047,3132,1555,3378,0,0,0,0,0,0
$GC,7199,-1.21,-146.0,670.1,-5.7,281,7203,0.00,2.45,0.00,0.000,4,0.000,0.081,3132,167,3376,0,0,0,0,0,0
$GC,7249,-1.26,-146.0,673.2,-6.3,282,7254,0.00,2.25,0.00,0.000,6,0.000,0.033,3133,1551,3375,0,0,0,0,0,0
$GC,7532,-1.26,-146.0,689.8,-5.9,289,7536,0.00,2.70,0.00,0.000,4,0.000,0.051,3132,3157,3374,0,0,0,0,0,0
$GC,7576,-1.36,-146.0,692.4,-5.9,290,7583,0.17,2.70,0.00,0.000,6,0.051,0.054,3062,1563,3374,0,0,0,0,0,0
$GC,7869,-1.25,-146.0,718.7,-9.3,297,7874,0.22,2.45,0.00,0.000,4,0.095,0.080,3111,164,3372,0,0,0,0,0,0
$GC,7898,-1.25,-146.0,721.4,-7.7,297,7903,0.00,2.28,0.00,0.000,6,0.000,0.035,3112,1561,3372,0,0,0,0,0,0
$GC,8155,-1.25,-146.0,739.2,-7.0,304,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1562,3371,0,0,0,0,0,0
$GC,8397,-1.25,-146.0,757.9,-7.9,310,8401,0.00,2.67,0.00,0.000,4,0.000,0.051,3112,3156,3370,0,0,0,0,0,0
$GC,8425,-1.25,-146.0,760.2,-7.9,310,8430,0.00,2.70,0.00,0.000,6,0.000,0.048,3112,1559,3370,0,0,0,0,0,0
$GC,8680,-1.25,-146.0,781.0,-8.2,317,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1559,3369,0,0,0,0,0,0
$GC,8926,-1.25,-146.0,799.3,-7.3,323,8930,0.00,2.65,0.00,0.000,4,0.000,0.044,3112,3156,3368,0,0,0,0,0,0
$GC,8950,-1.25,-146.0,801.1,-7.8,323,8954,0.00,2.70,0.00,0.000,6,0.000,0.049,3112,1564,3368,0,0,0,0,0,0
$GC,9209,-1.25,-146.0,817.9,-6.5,330,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1564,3367,0,0,0,0,0,0
$GC,9454,-1.25,-146.0,834.7,-7.1,336,9456,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1564,3367,0,0,0,0,0,0
$GC,9697,-1.25,-146.0,853.2,-7.6,342,9701,0.00,2.47,0.00,0.000,4,0.000,0.082,3112,164,3365,0,0,0,0,0,0
$GC,9720,-1.25,-146.0,855.3,-9.2,342,9724,0.00,2.30,0.00,0.000,6,0.000,0.035,3112,1573,3366,0,0,0,0,0,0
$GC,9981,-1.25,-146.0,874.8,-7.5,349,9982,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1573,3365,0,0,0,0,0,0
$GC,10223,-1.25,-146.0,892.0,-7.0,355,10227,0.00,2.47,0.00,0.000,4,0.000,0.075,3112,166,3364,0,0,0,0,0,0
$GC,10256,-1.25,-146.0,894.6,-8.3,355,10260,0.00,2.28,0.00,0.000,6,0.000,0.035,3112,1569,3364,0,0,0,0,0,0
$STATE,10341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10341,begin apogee
$GC,10349,-0.31,0.0,900.8,7.3,357,10472,0.90,0.00,119.78,1.160,6,0.071,0.000,3320,1338,2800,0,0,0,0,0,0
$STATE,10473,end apogee,CONTROL_FINISHED_OK
$STATE,10473,begin climb
$GC,10476,1.27,146.0,903.7,0.0,360,10614,1.40,2.15,130.07,1.137,4,0.030,0.080,3666,172,2203,0,0,0,0,0,0
$GC,10745,0.98,146.0,876.8,17.2,366,10750,0.32,1.95,0.00,0.000,6,0.111,0.031,3600,1355,2198,0,0,0,0,0,0
$GC,11025,0.90,146.0,843.8,11.7,373,11029,0.00,2.10,0.00,0.000,4,0.000,0.072,3599,176,2193,0,0,0,0,0,0
$GC,11108,0.76,146.0,833.0,12.8,374,11113,0.22,1.92,0.00,0.000,6,0.107,0.031,3554,1350,2193,0,0,0,0,0,0
$GC,11358,0.80,175.2,810.7,8.7,380,11391,0.00,2.17,26.08,1.045,4,0.000,0.073,3553,177,2084,0,0,0,0,0,0
$GC,11404,0.84,208.7,806.7,8.5,381,11441,0.00,1.92,32.40,1.043,6,0.000,0.029,3553,1346,1949,0,0,0,0,0,0
$GC,11690,0.91,228.2,780.2,9.1,387,11715,0.12,2.75,19.05,1.002,4,0.068,0.051,3599,2929,1868,0,0,0,0,0,0
$GC,11739,0.91,228.2,774.6,10.0,388,11743,0.00,2.75,0.00,0.000,6,0.000,0.049,3599,1351,1865,0,0,0,0,0,0
$GC,12017,0.91,228.2,743.6,11.1,395,12021,0.00,2.67,0.00,0.000,4,0.000,0.044,3598,2936,1864,0,0,0,0,0,0
$GC,12046,0.91,228.2,740.0,11.6,395,12051,0.00,2.72,0.00,0.000,6,0.000,0.049,3598,1355,1861,0,0,0,0,0,0
$GC,12301,0.91,228.2,706.0,13.5,402,12302,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1355,1860,0,0,0,0,0,0
$GC,12545,0.91,228.2,672.6,13.7,408,12546,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1355,1860,0,0,0,0,0,0
$GC,12790,0.91,228.2,643.1,11.7,414,12791,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1355,1860,0,0,0,0,0,0
$GC,13032,0.91,228.2,618.1,10.1,420,13036,0.00,2.67,0.00,0.000,4,0.000,0.044,3598,2936,1860,0,0,0,0,0,0
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$STATE,18256,end climb,SURFACE_DEPTH_REACHED
$STATE,18256,begin surface coast
$FINISH,0.8,0.999939
$STATE,18305,end surface coast,CONTROL_FINISHED_OK
$STATE,18305,begin surface
$SM_CCo,18329,30.75,0.426,0,0,1249,380.21
$SM_GC,1.66,0.00,0.00,30.75,0.000,0.000,0.426,416,1590,1249,-13.66,0.54,380.21
$IRIDIUM_FIX,2251.04,-15742.79,240902,070757
$TT8_MAMPS,0.027612
$HUMID,64.68
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.20
$XPDR_PINGS,17
$24V_AH,23.3,26.668
$10V_AH,9.9,23.493
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.225,192.800,410.750,30.750,0.000,25.535,40.703,299.329,4.250,0.000,14.955,1494.775,13721.432,533.721,2324.639,797.799,33.375,1586.083,0.000,2309.982,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,82.069,1159.704,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
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$SENSOR_SECS,460.726,308.242,393.152,688.537,937.405,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,51014,676
$CAP_FILE_SIZE,175324,0
$CFSIZE,260165632,158597120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300613,180336,2256.155,-15745.698,27,0.9,27,10.1