version: 66.06
glider: 148
mission: 12
dive: 184
start: 6 30 113 18 13 9
data:
$ID,148
$MISSION,12
$DIVE,184
$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,-1019838.4
$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,28
$R_STBD_OVSHOOT,99
$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
$GPS1,180336,2256.155,-15745.698,27,0.9,27,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.7
$GPS2,181212,2256.157,-15745.766,9,0.9,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.148,-0.213
$KALMAN_X,-205780.2,112.1,209.5,229879.3,-1414.4
$KALMAN_Y,105342.6,-275.3,72.8,-84451.6,409.6
$MHEAD_RNG_PITCHd_Wd,204.7,45128,-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,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-66.82,0.000,2,0.000,0.000,415,1589,2960,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-3.8,9,121,13.82,2.40,-7.95,0.000,4,0.146,0.055,3101,168,3399,0,0,0,0,0,0
$GC,288,-1.05,-146.0,52.6,-19.0,32,293,0.25,2.08,0.00,0.000,6,0.100,0.016,3155,1550,3399,0,0,0,0,0,0
$GC,551,-0.93,-146.0,87.9,-13.5,56,556,0.12,2.47,0.00,0.000,4,0.110,0.021,3182,3126,3400,0,0,0,0,0,0
$GC,602,-0.99,-146.0,93.4,-8.7,60,607,0.00,2.50,0.00,0.000,6,0.000,0.028,3182,1568,3400,0,0,0,0,0,0
$GC,865,-0.99,-146.0,117.5,-8.9,84,866,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1568,3401,0,0,0,0,0,0
$GC,1119,-0.99,-146.0,142.8,-10.8,108,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1568,3401,0,0,0,0,0,0
$GC,1373,-0.99,-146.0,166.0,-7.4,132,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1568,3401,0,0,0,0,0,0
$GC,1629,-0.99,-146.0,187.8,-10.3,156,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1568,3401,0,0,0,0,0,0
$GC,1907,-0.99,-146.0,215.6,-9.6,171,1911,0.00,2.42,0.00,0.000,4,0.000,0.021,3182,3120,3401,0,0,0,0,0,0
$GC,1973,-1.12,-146.0,219.7,-5.8,172,1978,0.17,2.50,0.00,0.000,6,0.047,0.028,3091,1571,3402,0,0,0,0,0,0
$GC,2239,-0.93,-146.0,252.4,-13.1,179,2244,0.40,2.28,0.00,0.000,4,0.087,0.042,3178,169,3401,0,0,0,0,0,0
$GC,2287,-1.00,-146.0,258.6,-10.2,180,2291,0.00,2.12,0.00,0.000,6,0.000,0.018,3179,1564,3402,0,0,0,0,0,0
$GC,2571,-1.05,-146.0,281.6,-7.4,187,2576,0.10,2.45,0.00,0.000,4,0.075,0.024,3124,3132,3402,0,0,0,0,0,0
$GC,2591,-1.05,-146.0,283.3,-7.6,187,2596,0.15,2.50,0.00,0.000,6,0.092,0.029,3158,1573,3401,0,0,0,0,0,0
$GC,2856,-1.05,-146.0,302.8,-7.4,194,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1573,3401,0,0,0,0,0,0
$GC,3101,-1.05,-146.0,323.7,-9.1,200,3105,0.00,2.33,0.00,0.000,4,0.000,0.051,3158,167,3400,0,0,0,0,0,0
$GC,3138,-1.10,-146.0,328.1,-10.8,200,3144,0.00,2.17,0.00,0.000,6,0.000,0.021,3158,1563,3400,0,0,0,0,0,0
$GC,3388,-1.10,-146.0,351.5,-8.8,207,3393,0.00,2.55,0.00,0.000,4,0.000,0.031,3158,3146,3399,0,0,0,0,0,0
$GC,3414,-1.17,-146.0,353.5,-8.9,207,3419,0.12,2.58,0.00,0.000,6,0.062,0.035,3090,1584,3399,0,0,0,0,0,0
$GC,3675,-1.07,-146.0,378.7,-9.5,214,3680,0.25,2.40,0.00,0.000,4,0.086,0.058,3150,171,3397,0,0,0,0,0,0
$GC,3710,-1.07,-146.0,381.5,-8.0,214,3714,0.00,2.22,0.00,0.000,6,0.000,0.023,3150,1587,3397,0,0,0,0,0,0
$GC,3960,-1.07,-146.0,402.3,-8.7,220,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1587,3396,0,0,0,0,0,0
$GC,4204,-1.07,-146.0,423.8,-8.5,226,4208,0.00,2.55,0.00,0.000,4,0.000,0.037,3150,3146,3394,0,0,0,0,0,0
$GC,4234,-1.14,-146.0,426.0,-7.4,226,4239,0.00,2.60,0.00,0.000,6,0.000,0.038,3150,1571,3394,0,0,0,0,0,0
$GC,4489,-1.14,-146.0,442.4,-6.3,233,4493,0.00,2.38,0.00,0.000,4,0.000,0.067,3150,174,3392,0,0,0,0,0,0
$GC,4512,-1.14,-146.0,444.1,-7.5,233,4517,0.00,2.22,0.00,0.000,6,0.000,0.025,3150,1580,3392,0,0,0,0,0,0
$GC,4774,-1.19,-146.0,461.4,-7.0,240,4778,0.10,2.42,0.00,0.000,4,0.077,0.063,3101,167,3390,0,0,0,0,0,0
$GC,4803,-1.11,-146.0,464.2,-9.7,240,4808,0.17,2.22,0.00,0.000,6,0.091,0.027,3141,1562,3390,0,0,0,0,0,0
$GC,5063,-1.11,-146.0,486.1,-8.5,247,5067,0.00,2.60,0.00,0.000,4,0.000,0.039,3141,3147,3388,0,0,0,0,0,0
$GC,5098,-1.21,-146.0,489.1,-9.1,247,5102,0.00,2.60,0.00,0.000,6,0.000,0.040,3141,1574,3388,0,0,0,0,0,0
$GC,5348,-1.21,-146.0,509.9,-8.2,253,5352,0.00,2.42,0.00,0.000,4,0.000,0.073,3141,169,3386,0,0,0,0,0,0
$GC,5397,-1.26,-146.0,513.9,-8.2,254,5401,0.12,2.25,0.00,0.000,6,0.064,0.029,3086,1573,3386,0,0,0,0,0,0
$GC,5686,-1.17,-146.0,540.2,-8.9,261,5691,0.20,2.62,0.00,0.000,4,0.093,0.042,3130,3153,3384,0,0,0,0,0,0
$GC,5704,-1.12,-146.0,541.7,-8.5,261,5708,0.00,2.65,0.00,0.000,6,0.000,0.041,3130,1571,3384,0,0,0,0,0,0
$GC,5974,-1.12,-146.0,561.8,-7.6,268,5978,0.00,2.45,0.00,0.000,4,0.000,0.075,3130,167,3383,0,0,0,0,0,0
$GC,6002,-1.12,-146.0,564.4,-9.4,268,6006,0.00,2.25,0.00,0.000,6,0.000,0.028,3130,1572,3383,0,0,0,0,0,0
$GC,6257,-1.12,-146.0,586.7,-9.0,275,6261,0.00,2.62,0.00,0.000,4,0.000,0.044,3130,3151,3381,0,0,0,0,0,0
$GC,6273,-1.12,-146.0,588.0,-8.8,275,6277,0.00,2.65,0.00,0.000,6,0.000,0.044,3130,1566,3381,0,0,0,0,0,0
$GC,6542,-1.12,-146.0,611.5,-8.6,282,6546,0.00,2.62,0.00,0.000,4,0.000,0.041,3130,3153,3379,0,0,0,0,0,0
$GC,6570,-1.19,-146.0,613.9,-8.3,282,6575,0.00,2.67,0.00,0.000,6,0.000,0.047,3130,1574,3379,0,0,0,0,0,0
$GC,6827,-1.19,-146.0,634.2,-7.9,289,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1574,3378,0,0,0,0,0,0
$GC,7069,-1.19,-146.0,650.7,-6.6,295,7073,0.00,2.47,0.00,0.000,4,0.000,0.081,3130,171,3377,0,0,0,0,0,0
$GC,7120,-1.19,-146.0,654.5,-7.4,296,7125,0.00,2.28,0.00,0.000,6,0.000,0.032,3130,1570,3376,0,0,0,0,0,0
$GC,7401,-1.19,-146.0,671.4,-5.9,303,7406,0.00,2.45,0.00,0.000,4,0.000,0.075,3130,168,3375,0,0,0,0,0,0
$GC,7420,-1.19,-146.0,672.9,-6.9,303,7425,0.00,2.28,0.00,0.000,6,0.000,0.032,3129,1572,3374,0,0,0,0,0,0
$GC,7684,-1.19,-146.0,689.6,-6.5,310,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1571,3373,0,0,0,0,0,0
$GC,7930,-1.19,-146.0,707.3,-7.5,316,7934,0.00,2.65,0.00,0.000,4,0.000,0.051,3130,3151,3372,0,0,0,0,0,0
$GC,7954,-1.25,-146.0,709.5,-7.7,316,7958,0.00,2.70,0.00,0.000,6,0.000,0.049,3130,1561,3372,0,0,0,0,0,0
$GC,8213,-1.25,-146.0,730.2,-8.0,323,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1561,3371,0,0,0,0,0,0
$GC,8459,-1.25,-146.0,748.3,-7.5,329,8463,0.00,2.65,0.00,0.000,4,0.000,0.044,3130,3155,3370,0,0,0,0,0,0
$GC,8479,-1.30,-146.0,750.0,-7.4,329,8486,0.12,2.70,0.00,0.000,6,0.063,0.049,3073,1570,3370,0,0,0,0,0,0
$GC,8746,-1.22,-146.0,775.0,-9.4,336,8751,0.20,2.50,0.00,0.000,4,0.095,0.081,3117,162,3369,0,0,0,0,0,0
$GC,8795,-1.22,-146.0,779.3,-9.4,337,8799,0.00,2.30,0.00,0.000,6,0.000,0.034,3117,1571,3368,0,0,0,0,0,0
$GC,9078,-1.22,-146.0,799.2,-6.8,344,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1571,3367,0,0,0,0,0,0
$GC,9321,-1.22,-146.0,815.4,-6.7,350,9325,0.00,2.47,0.00,0.000,4,0.000,0.075,3117,168,3367,0,0,0,0,0,0
$GC,9346,-1.22,-146.0,817.4,-8.8,350,9350,0.00,2.30,0.00,0.000,6,0.000,0.035,3117,1573,3367,0,0,0,0,0,0
$GC,9610,-1.22,-146.0,835.8,-6.9,357,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1573,3366,0,0,0,0,0,0
$GC,9854,-1.22,-146.0,852.6,-7.0,363,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1573,3365,0,0,0,0,0,0
$GC,10099,-1.22,-146.0,870.9,-7.5,369,10104,0.00,2.47,0.00,0.000,4,0.000,0.076,3117,161,3364,0,0,0,0,0,0
$GC,10118,-1.22,-146.0,872.6,-8.0,369,10123,0.00,2.30,0.00,0.000,6,0.000,0.034,3117,1565,3364,0,0,0,0,0,0
$GC,10382,-1.22,-146.0,892.0,-7.2,376,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1566,3364,0,0,0,0,0,0
$STATE,10501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10501,begin apogee
$GC,10509,-0.31,0.0,900.1,6.8,379,10633,0.88,0.00,119.95,1.154,6,0.074,0.000,3318,1337,2800,0,0,0,0,0,0
$STATE,10634,end apogee,CONTROL_FINISHED_OK
$STATE,10634,begin climb
$GC,10636,1.27,146.0,902.8,0.0,382,10775,1.42,2.15,130.27,1.134,4,0.031,0.080,3667,174,2203,0,0,0,0,0,0
$GC,10906,0.99,146.0,875.3,16.9,388,10911,0.32,1.92,0.00,0.000,6,0.111,0.030,3601,1352,2198,0,0,0,0,0,0
$GC,11186,0.90,146.0,842.2,11.7,395,11190,0.00,2.10,0.00,0.000,4,0.000,0.073,3601,173,2192,0,0,0,0,0,0
$GC,11265,0.76,146.0,832.0,14.0,396,11269,0.22,1.90,0.00,0.000,6,0.104,0.030,3554,1346,2192,0,0,0,0,0,0
$GC,11516,0.79,170.4,809.1,8.9,402,11540,0.00,0.00,21.58,1.032,6,0.000,0.000,3554,1346,2105,0,0,0,0,0,0
$GC,11804,0.83,195.6,783.0,8.8,409,11830,0.00,0.00,24.10,1.027,6,0.000,0.000,3554,1346,2002,0,0,0,0,0,0
$GC,12048,0.85,214.9,761.0,9.1,415,12073,0.00,2.17,19.12,0.997,4,0.000,0.074,3554,174,1922,0,0,0,0,0,0
$GC,12107,0.85,218.6,755.1,9.8,416,12118,0.00,1.95,5.30,0.755,6,0.000,0.030,3554,1351,1908,0,0,0,0,0,0
$GC,12383,0.92,226.3,728.2,9.6,423,12399,0.12,2.72,8.32,0.874,4,0.068,0.051,3600,2937,1876,0,0,0,0,0,0
$GC,12448,0.92,226.3,720.8,12.5,424,12452,0.00,2.72,0.00,0.000,6,0.000,0.048,3600,1355,1873,0,0,0,0,0,0
$GC,12716,0.92,226.3,689.2,11.5,431,12718,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1355,1873,0,0,0,0,0,0
$GC,12960,0.92,226.3,663.2,10.5,437,12964,0.00,2.12,0.00,0.000,4,0.000,0.084,3600,165,1872,0,0,0,0,0,0
$GC,13017,0.85,226.3,656.7,11.7,438,13022,0.15,1.95,0.00,0.000,6,0.109,0.029,3570,1365,1872,0,0,0,0,0,0
$GC,13295,0.85,226.3,628.7,10.2,445,13299,0.00,2.12,0.00,0.000,4,0.000,0.071,3570,159,1871,0,0,0,0,0,0
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$STATE,18790,end climb,SURFACE_DEPTH_REACHED
$STATE,18790,begin surface coast
$FINISH,0.9,1.010754
$STATE,18824,end surface coast,CONTROL_FINISHED_OK
$STATE,18824,begin surface
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$TT8_MAMPS,0.026845
$HUMID,64.92
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$TCM_TEMP,22.00
$XPDR_PINGS,10
$24V_AH,23.3,26.815
$10V_AH,9.9,23.622
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,54397,704
$CAP_FILE_SIZE,186075,0
$CFSIZE,260165632,158502912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300613,232905,2254.775,-15748.353,39,1.6,44,10.1