version: 66.06
glider: 148
mission: 12
dive: 223
start: 7 9 113 14 50 13
data:
$ID,148
$MISSION,12
$DIVE,223
$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,-1020526.4
$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,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
$GPS1,143535,2252.316,-15718.608,32,1.4,32,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-76.5
$GPS2,144919,2252.411,-15718.595,12,1.3,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE_40
$TGT_LATLONG,2239.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,-0.177
$KALMAN_X,-236697.3,137.9,326.9,307044.1,104.5
$KALMAN_Y,163696.2,334.2,82.5,-150370.6,816.7
$MHEAD_RNG_PITCHd_Wd,122.9,44488,-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,17,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-67.07,0.000,2,0.000,0.000,413,1558,3029,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.8,-5.5,9,114,13.85,0.00,-6.47,0.000,6,0.146,0.000,3101,1559,3398,0,0,0,0,0,0
$GC,383,-1.01,-146.0,71.8,-17.4,41,388,0.25,2.42,0.00,0.000,4,0.103,0.018,3159,3115,3398,0,0,0,0,0,0
$GC,414,-0.88,-146.0,76.9,-14.7,43,419,0.15,2.50,0.00,0.000,6,0.094,0.028,3193,1567,3399,0,0,0,0,0,0
$GC,682,-0.88,-146.0,105.4,-11.0,67,686,0.00,2.30,0.00,0.000,4,0.000,0.043,3193,165,3399,0,0,0,0,0,0
$GC,730,-0.93,-146.0,110.9,-10.9,71,734,0.00,2.08,0.00,0.000,6,0.000,0.017,3193,1553,3399,0,0,0,0,0,0
$GC,997,-0.93,-146.0,138.8,-11.0,95,1001,0.00,2.25,0.00,0.000,4,0.000,0.042,3193,171,3400,0,0,0,0,0,0
$GC,1016,-0.93,-146.0,141.6,-10.2,96,1024,0.00,2.08,0.00,0.000,6,0.000,0.018,3193,1558,3399,0,0,0,0,0,0
$GC,1284,-0.93,-146.0,166.8,-9.4,121,1288,0.00,2.28,0.00,0.000,4,0.000,0.043,3193,164,3399,0,0,0,0,0,0
$GC,1308,-0.93,-146.0,169.8,-9.9,123,1312,0.00,2.03,0.00,0.000,6,0.000,0.018,3193,1513,3399,0,0,0,0,0,0
$GC,1581,-0.93,-146.0,194.3,-9.5,148,1585,0.00,2.22,0.00,0.000,4,0.000,0.043,3193,164,3399,0,0,0,0,0,0
$GC,1609,-0.93,-146.0,197.7,-9.7,150,1617,0.00,2.03,0.00,0.000,6,0.000,0.018,3193,1509,3399,0,0,0,0,0,0
$GC,1880,-0.93,-146.0,221.4,-8.6,159,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1509,3399,0,0,0,0,0,0
$GC,2124,-0.99,-146.0,241.0,-7.9,165,2129,0.10,2.50,0.00,0.000,4,0.077,0.022,3135,3102,3399,0,0,0,0,0,0
$GC,2150,-0.99,-146.0,243.5,-10.8,165,2155,0.15,2.55,0.00,0.000,6,0.091,0.028,3170,1516,3399,0,0,0,0,0,0
$GC,2414,-0.99,-146.0,267.2,-9.3,172,2418,0.00,2.22,0.00,0.000,4,0.000,0.047,3170,167,3399,0,0,0,0,0,0
$GC,2453,-1.04,-146.0,271.0,-8.4,172,2459,0.00,2.00,0.00,0.000,6,0.000,0.019,3170,1479,3399,0,0,0,0,0,0
$GC,2704,-1.04,-146.0,291.0,-7.7,179,2708,0.00,2.55,0.00,0.000,4,0.000,0.026,3170,3098,3398,0,0,0,0,0,0
$GC,2765,-1.15,-146.0,295.7,-8.2,180,2770,0.15,2.58,0.00,0.000,6,0.051,0.031,3092,1519,3398,0,0,0,0,0,0
$GC,3040,-1.02,-146.0,328.0,-12.6,187,3042,0.30,0.00,0.00,0.000,6,0.085,0.000,3159,1519,3397,0,0,0,0,0,0
$GC,3282,-1.02,-146.0,348.6,-7.8,193,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1519,3396,0,0,0,0,0,0
$GC,3526,-1.07,-146.0,367.2,-7.5,199,3531,0.00,2.55,0.00,0.000,4,0.000,0.031,3159,3086,3395,0,0,0,0,0,0
$GC,3547,-1.12,-146.0,369.0,-7.6,199,3552,0.00,2.58,0.00,0.000,6,0.000,0.036,3159,1527,3395,0,0,0,0,0,0
$GC,3812,-1.17,-146.0,388.7,-7.3,206,3817,0.12,2.55,0.00,0.000,4,0.063,0.036,3098,3080,3393,0,0,0,0,0,0
$GC,3841,-1.13,-146.0,391.6,-10.1,206,3846,0.17,2.58,0.00,0.000,6,0.088,0.038,3138,1528,3393,0,0,0,0,0,0
$GC,4099,-1.13,-146.0,413.3,-8.7,213,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1528,3391,0,0,0,0,0,0
$GC,4341,-1.13,-146.0,433.7,-8.3,219,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1528,3389,0,0,0,0,0,0
$GC,4584,-1.13,-146.0,452.8,-7.7,225,4589,0.00,2.55,0.00,0.000,4,0.000,0.041,3138,3078,3387,0,0,0,0,0,0
$GC,4624,-1.20,-146.0,455.8,-7.5,225,4633,0.00,2.58,0.00,0.000,6,0.000,0.039,3138,1545,3387,0,0,0,0,0,0
$GC,4878,-1.20,-146.0,475.1,-7.9,232,4882,0.00,2.53,0.00,0.000,4,0.000,0.041,3138,3077,3385,0,0,0,0,0,0
$GC,4913,-1.27,-146.0,478.1,-7.7,232,4918,0.12,2.55,0.00,0.000,6,0.064,0.040,3077,1536,3385,0,0,0,0,0,0
$GC,5168,-1.15,-146.0,504.2,-10.6,238,5170,0.25,0.00,0.00,0.000,6,0.091,0.000,3133,1535,3383,0,0,0,0,0,0
$GC,5410,-1.15,-146.0,524.4,-8.2,244,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1535,3381,0,0,0,0,0,0
$GC,5654,-1.15,-146.0,545.2,-8.7,250,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1535,3380,0,0,0,0,0,0
$GC,5899,-1.15,-146.0,565.6,-8.3,256,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1535,3378,0,0,0,0,0,0
$GC,6141,-1.15,-146.0,584.6,-7.7,262,6146,0.00,2.60,0.00,0.000,4,0.000,0.048,3133,3077,3377,0,0,0,0,0,0
$GC,6180,-1.24,-146.0,587.9,-7.4,262,6185,0.00,2.60,0.00,0.000,6,0.000,0.047,3132,1541,3377,0,0,0,0,0,0
$GC,6432,-1.24,-146.0,606.3,-7.4,269,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1541,3375,0,0,0,0,0,0
$GC,6674,-1.24,-146.0,623.6,-7.1,275,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1541,3374,0,0,0,0,0,0
$GC,6917,-1.24,-146.0,641.1,-7.1,281,6922,0.00,2.55,0.00,0.000,4,0.000,0.046,3132,3077,3372,0,0,0,0,0,0
$GC,6946,-1.30,-146.0,643.4,-8.3,281,6951,0.12,2.58,0.00,0.000,6,0.064,0.048,3077,1554,3372,0,0,0,0,0,0
$GC,7203,-1.21,-146.0,668.5,-10.0,288,7208,0.20,2.45,0.00,0.000,4,0.097,0.080,3121,168,3370,0,0,0,0,0,0
$GC,7219,-1.14,-146.0,670.4,-10.1,288,7223,0.00,2.12,0.00,0.000,6,0.000,0.031,3121,1486,3371,0,0,0,0,0,0
$GC,7493,-1.14,-146.0,691.8,-7.9,295,7497,0.00,2.67,0.00,0.000,4,0.000,0.054,3121,3076,3369,0,0,0,0,0,0
$GC,7523,-1.19,-146.0,694.6,-8.1,295,7528,0.00,2.58,0.00,0.000,6,0.000,0.048,3121,1557,3370,0,0,0,0,0,0
$GC,7778,-1.19,-146.0,712.4,-6.9,302,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1557,3368,0,0,0,0,0,0
$GC,8022,-1.19,-146.0,728.9,-6.7,308,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1557,3367,0,0,0,0,0,0
$GC,8267,-1.19,-146.0,744.6,-6.4,314,8271,0.00,2.45,0.00,0.000,4,0.000,0.081,3121,167,3366,0,0,0,0,0,0
$GC,8286,-1.19,-146.0,746.1,-6.9,314,8290,0.00,2.15,0.00,0.000,6,0.000,0.032,3121,1495,3365,0,0,0,0,0,0
$GC,8550,-1.19,-146.0,763.7,-6.7,321,8554,0.00,2.67,0.00,0.000,4,0.000,0.054,3121,3079,3364,0,0,0,0,0,0
$GC,8582,-1.24,-146.0,765.7,-7.1,321,8586,0.00,2.58,0.00,0.000,6,0.000,0.049,3121,1565,3364,0,0,0,0,0,0
$GC,8840,-1.24,-146.0,783.9,-7.3,328,8844,0.00,2.45,0.00,0.000,4,0.000,0.081,3121,164,3363,0,0,0,0,0,0
$GC,8859,-1.24,-146.0,785.7,-7.9,328,8863,0.00,2.15,0.00,0.000,6,0.000,0.033,3121,1491,3363,0,0,0,0,0,0
$GC,9125,-1.24,-146.0,807.1,-8.2,335,9129,0.00,2.65,0.00,0.000,4,0.000,0.055,3121,3076,3362,0,0,0,0,0,0
$GC,9172,-1.31,-146.0,811.3,-8.6,336,9176,0.00,2.58,0.00,0.000,6,0.000,0.049,3121,1563,3362,0,0,0,0,0,0
$GC,9460,-1.31,-146.0,835.2,-8.6,343,9464,0.00,2.47,0.00,0.000,4,0.000,0.081,3121,162,3361,0,0,0,0,0,0
$GC,9479,-1.31,-146.0,837.4,-8.6,343,9482,0.00,2.17,0.00,0.000,6,0.000,0.034,3121,1502,3361,0,0,0,0,0,0
$GC,9747,-1.31,-146.0,859.9,-8.1,350,9751,0.00,2.67,0.00,0.000,4,0.000,0.055,3121,3084,3361,0,0,0,0,0,0
$GC,9777,-1.36,-146.0,862.4,-8.7,350,9782,0.12,2.58,0.00,0.000,6,0.065,0.049,3066,1570,3360,0,0,0,0,0,0
$GC,10033,-1.26,-146.0,889.5,-10.8,357,10038,0.20,2.47,0.00,0.000,4,0.098,0.080,3110,170,3360,0,0,0,0,0,0
$GC,10053,-1.20,-146.0,891.6,-9.9,357,10057,0.00,2.17,0.00,0.000,6,0.000,0.035,3109,1504,3360,0,0,0,0,0,0
$STATE,10196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10196,begin apogee
$GC,10204,-0.31,0.0,902.6,7.8,361,10326,0.90,0.00,118.90,1.157,6,0.073,0.000,3316,1342,2800,0,0,0,0,0,0
$STATE,10327,end apogee,CONTROL_FINISHED_OK
$STATE,10327,begin climb
$GC,10330,1.27,146.0,905.8,0.0,364,10469,1.42,2.10,129.48,1.137,4,0.031,0.076,3666,179,2202,0,0,0,0,0,0
$GC,10577,1.00,146.0,882.7,16.6,369,10581,0.30,1.83,0.00,0.000,6,0.110,0.031,3606,1285,2198,0,0,0,0,0,0
$GC,10842,0.92,146.0,852.0,11.5,376,10847,0.00,2.70,0.00,0.000,4,0.000,0.055,3606,2862,2192,0,0,0,0,0,0
$GC,10866,0.87,146.0,848.4,10.7,376,10872,0.15,2.60,0.00,0.000,6,0.108,0.048,3574,1355,2190,0,0,0,0,0,0
$GC,11126,0.89,160.3,823.6,9.3,383,11140,0.00,0.00,11.98,0.981,6,0.000,0.000,3574,1355,2146,0,0,0,0,0,0
$GC,11372,0.92,185.6,801.8,8.8,389,11398,0.00,0.00,24.85,1.042,6,0.000,0.000,3574,1355,2042,0,0,0,0,0,0
$GC,11614,0.94,204.4,779.8,9.1,395,11638,0.00,2.62,18.05,1.005,4,0.000,0.044,3574,2853,1966,0,0,0,0,0,0
$GC,11661,1.03,236.4,775.9,8.5,396,11698,0.15,2.60,31.33,1.032,6,0.060,0.051,3624,1352,1836,0,0,0,0,0,0
$GC,11943,0.96,236.4,740.3,13.0,402,11948,0.15,2.17,0.00,0.000,4,0.109,0.087,3593,162,1831,0,0,0,0,0,0
$GC,11992,0.96,236.4,734.7,12.0,403,11995,0.00,1.83,0.00,0.000,6,0.000,0.029,3593,1284,1831,0,0,0,0,0,0
$GC,12283,0.96,236.4,700.5,11.5,410,12287,0.00,2.67,0.00,0.000,4,0.000,0.053,3593,2857,1829,0,0,0,0,0,0
$GC,12334,1.02,236.4,694.7,10.3,411,12339,0.00,2.60,0.00,0.000,6,0.000,0.051,3593,1354,1826,0,0,0,0,0,0
$GC,12617,1.02,236.4,664.0,11.1,418,12618,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,1354,1826,0,0,0,0,0,0
$GC,12859,1.02,236.4,637.7,10.7,424,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,1354,1826,0,0,0,0,0,0
$GC,13103,1.02,236.4,610.4,11.3,430,13104,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,1354,1826,0,0,0,0,0,0
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$STATE,18636,end climb,SURFACE_DEPTH_REACHED
$STATE,18636,begin surface coast
$FINISH,1.3,1.023266
$STATE,18688,end surface coast,CONTROL_FINISHED_OK
$STATE,18688,begin surface
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$TT8_MAMPS,0.027612
$HUMID,63.54
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.80
$XPDR_PINGS,29
$24V_AH,23.3,32.521
$10V_AH,9.9,30.024
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.675,204.725,372.800,50.550,0.000,82.287,106.945,337.347,7.250,0.000,13.618,1576.045,13574.507,528.742,2859.885,1037.264,33.368,1612.571,0.000,2877.423,0.000,0.537,0.000
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$SENSOR_SECS,487.843,583.699,735.425,1139.738,1599.473,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,57460,713
$CAP_FILE_SIZE,188119,0
$CFSIZE,260165632,155422720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090713,200506,2251.590,-15716.226,87,2.0,87,10.1