version: 66.06
glider: 148
mission: 12
dive: 224
start: 7 9 113 20 21 35
data:
$ID,148
$MISSION,12
$DIVE,224
$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,-1020541.2
$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,119
$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
$GPS1,200506,2251.590,-15716.226,87,2.0,87,10.1
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.7
$GPS2,202042,2251.694,-15716.294,7,1.0,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE_40
$TGT_LATLONG,2239.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.123,-0.229
$KALMAN_X,-235703.2,189.6,-213.6,310471.8,980.9
$KALMAN_Y,165988.9,-16.3,-23.3,-153535.5,1833.2
$MHEAD_RNG_PITCHd_Wd,141.6,40499,-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,17,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-66.15,0.000,2,0.000,0.000,415,1597,2998,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.7,-5.8,9,122,13.90,2.40,-6.97,0.000,4,0.147,0.051,3101,167,3398,0,0,0,0,0,0
$GC,133,-0.27,-146.0,19.7,-37.2,14,141,0.98,2.08,0.00,0.000,6,0.091,0.017,3317,1530,3398,0,0,0,0,0,0
$GC,414,-0.47,-146.0,39.2,-5.3,47,419,0.15,2.53,0.00,0.000,4,0.053,0.022,3233,3122,3399,0,0,0,0,0,0
$GC,458,-0.60,-146.0,42.6,-8.0,50,464,0.10,2.53,0.00,0.000,6,0.104,0.028,3256,1567,3399,0,0,0,0,0,0
$GC,728,-0.70,-146.0,63.3,-8.0,74,732,0.00,2.28,0.00,0.000,4,0.000,0.043,3256,167,3399,0,0,0,0,0,0
$GC,780,-0.88,-146.0,67.8,-7.1,78,785,0.28,2.12,0.00,0.000,6,0.033,0.017,3142,1606,3399,0,0,0,0,0,0
$GC,1045,-0.73,-146.0,105.8,-15.0,102,1050,0.35,2.30,0.00,0.000,4,0.083,0.019,3221,3090,3399,0,0,0,0,0,0
$GC,1066,-0.65,-146.0,108.5,-14.8,103,1070,0.00,2.45,0.00,0.000,6,0.000,0.025,3222,1566,3400,0,0,0,0,0,0
$GC,1334,-0.72,-146.0,133.8,-9.3,127,1338,0.00,2.38,0.00,0.000,4,0.000,0.021,3221,3089,3400,0,0,0,0,0,0
$GC,1353,-0.79,-146.0,136.4,-9.7,128,1362,0.00,2.47,0.00,0.000,6,0.000,0.026,3221,1564,3400,0,0,0,0,0,0
$GC,1618,-0.86,-146.0,156.8,-7.0,153,1623,0.10,2.30,0.00,0.000,4,0.076,0.044,3160,170,3399,0,0,0,0,0,0
$GC,1639,-0.86,-146.0,158.4,-7.2,154,1644,0.15,2.08,0.00,0.000,6,0.096,0.017,3196,1570,3400,0,0,0,0,0,0
$GC,1905,-0.86,-146.0,179.7,-8.2,178,1909,0.00,2.38,0.00,0.000,4,0.000,0.022,3196,3100,3400,0,0,0,0,0,0
$GC,1954,-0.99,-146.0,184.1,-7.7,182,1960,0.12,2.45,0.00,0.000,6,0.061,0.028,3120,1580,3400,0,0,0,0,0,0
$GC,2211,-0.84,-146.0,217.6,-14.0,198,2213,0.35,0.00,0.00,0.000,6,0.083,0.000,3199,1580,3400,0,0,0,0,0,0
$GC,2454,-0.91,-146.0,238.7,-8.1,204,2458,0.00,2.38,0.00,0.000,4,0.000,0.022,3198,3098,3399,0,0,0,0,0,0
$GC,2501,-1.04,-146.0,242.2,-7.6,205,2506,0.17,2.45,0.00,0.000,6,0.046,0.028,3112,1579,3399,0,0,0,0,0,0
$GC,2790,-0.92,-146.0,275.7,-11.5,212,2795,0.30,2.30,0.00,0.000,4,0.081,0.044,3183,170,3399,0,0,0,0,0,0
$GC,2872,-1.02,-146.0,283.0,-7.8,213,2877,0.00,2.10,0.00,0.000,6,0.000,0.019,3183,1558,3399,0,0,0,0,0,0
$GC,3125,-1.09,-146.0,301.1,-7.4,219,3130,0.15,2.50,0.00,0.000,4,0.054,0.027,3112,3134,3398,0,0,0,0,0,0
$GC,3158,-1.04,-146.0,304.7,-10.4,219,3164,0.20,2.50,0.00,0.000,6,0.083,0.030,3158,1587,3398,0,0,0,0,0,0
$GC,3409,-1.04,-146.0,328.4,-9.5,225,3413,0.00,2.47,0.00,0.000,4,0.000,0.029,3157,3131,3398,0,0,0,0,0,0
$GC,3425,-1.04,-146.0,329.8,-8.9,225,3429,0.00,2.53,0.00,0.000,6,0.000,0.032,3157,1587,3397,0,0,0,0,0,0
$GC,3698,-1.04,-146.0,352.0,-8.0,232,3702,0.00,2.38,0.00,0.000,4,0.000,0.055,3157,171,3396,0,0,0,0,0,0
$GC,3717,-1.04,-146.0,353.9,-7.7,232,3721,0.00,2.17,0.00,0.000,6,0.000,0.021,3158,1574,3396,0,0,0,0,0,0
$GC,3982,-1.04,-146.0,374.7,-8.0,239,3986,0.00,2.50,0.00,0.000,4,0.000,0.033,3157,3135,3394,0,0,0,0,0,0
$GC,4020,-1.15,-146.0,377.8,-7.1,239,4026,0.10,2.55,0.00,0.000,6,0.075,0.037,3098,1594,3394,0,0,0,0,0,0
$GC,4272,-1.06,-146.0,404.5,-11.0,246,4277,0.22,2.40,0.00,0.000,4,0.086,0.060,3151,170,3392,0,0,0,0,0,0
$GC,4336,-1.12,-146.0,410.5,-7.8,247,4340,0.00,2.22,0.00,0.000,6,0.000,0.024,3151,1585,3392,0,0,0,0,0,0
$GC,4604,-1.12,-146.0,431.1,-7.5,254,4609,0.00,2.53,0.00,0.000,4,0.000,0.036,3151,3146,3390,0,0,0,0,0,0
$GC,4634,-1.19,-146.0,433.4,-7.9,254,4640,0.12,2.60,0.00,0.000,6,0.064,0.037,3091,1580,3390,0,0,0,0,0,0
$GC,4890,-1.10,-146.0,459.8,-10.5,261,4892,0.25,0.00,0.00,0.000,6,0.084,0.000,3147,1580,3387,0,0,0,0,0,0
$GC,5134,-1.10,-146.0,479.3,-8.0,267,5138,0.00,2.60,0.00,0.000,4,0.000,0.044,3147,3144,3386,0,0,0,0,0,0
$GC,5164,-1.16,-146.0,481.8,-8.0,267,5169,0.00,2.58,0.00,0.000,6,0.000,0.040,3147,1593,3386,0,0,0,0,0,0
$GC,5423,-1.16,-146.0,502.0,-7.9,274,5427,0.00,2.47,0.00,0.000,4,0.000,0.072,3147,169,3384,0,0,0,0,0,0
$GC,5481,-1.24,-146.0,507.3,-8.4,275,5486,0.15,2.22,0.00,0.000,6,0.054,0.029,3082,1575,3383,0,0,0,0,0,0
$GC,5755,-1.14,-146.0,536.8,-10.7,282,5760,0.25,2.60,0.00,0.000,4,0.087,0.043,3142,3149,3381,0,0,0,0,0,0
$GC,5770,-1.09,-146.0,538.3,-10.2,282,5775,0.00,2.62,0.00,0.000,6,0.000,0.040,3142,1579,3381,0,0,0,0,0,0
$GC,6044,-1.09,-146.0,555.9,-6.3,289,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1578,3379,0,0,0,0,0,0
$GC,6286,-1.09,-146.0,571.3,-6.4,295,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1579,3377,0,0,0,0,0,0
$GC,6530,-1.09,-146.0,587.6,-6.8,301,6534,0.00,2.65,0.00,0.000,4,0.000,0.046,3142,3151,3376,0,0,0,0,0,0
$GC,6551,-1.14,-146.0,589.4,-7.8,301,6556,0.00,2.62,0.00,0.000,6,0.000,0.044,3142,1589,3376,0,0,0,0,0,0
$GC,6817,-1.14,-146.0,609.7,-7.7,308,6821,0.00,2.50,0.00,0.000,4,0.000,0.077,3142,164,3374,0,0,0,0,0,0
$GC,6838,-1.14,-146.0,611.7,-8.9,308,6842,0.00,2.30,0.00,0.000,6,0.000,0.031,3142,1586,3374,0,0,0,0,0,0
$GC,7103,-1.14,-146.0,632.7,-8.0,315,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1587,3373,0,0,0,0,0,0
$GC,7346,-1.19,-146.0,651.3,-7.5,321,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1586,3371,0,0,0,0,0,0
$GC,7589,-1.23,-146.0,668.1,-6.9,327,7591,0.12,0.00,0.00,0.000,6,0.065,0.000,3089,1586,3370,0,0,0,0,0,0
$GC,7835,-1.17,-146.0,691.5,-9.8,333,7837,0.17,0.00,0.00,0.000,6,0.094,0.000,3129,1586,3369,0,0,0,0,0,0
$GC,8076,-1.17,-146.0,710.3,-7.6,339,8081,0.00,2.50,0.00,0.000,4,0.000,0.075,3130,164,3367,0,0,0,0,0,0
$GC,8091,-1.17,-146.0,711.5,-7.7,339,8095,0.00,2.30,0.00,0.000,6,0.000,0.032,3129,1592,3367,0,0,0,0,0,0
$GC,8365,-1.17,-146.0,731.5,-7.4,346,8370,0.00,2.50,0.00,0.000,4,0.000,0.074,3130,168,3366,0,0,0,0,0,0
$GC,8386,-1.17,-146.0,733.5,-7.9,346,8390,0.00,2.30,0.00,0.000,6,0.000,0.034,3130,1580,3366,0,0,0,0,0,0
$GC,8650,-1.17,-146.0,753.4,-7.6,353,8655,0.00,2.65,0.00,0.000,4,0.000,0.056,3130,3152,3365,0,0,0,0,0,0
$GC,8669,-1.17,-146.0,755.0,-8.1,353,8674,0.00,2.67,0.00,0.000,6,0.000,0.048,3130,1578,3365,0,0,0,0,0,0
$GC,8935,-1.17,-146.0,775.1,-7.7,360,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1578,3364,0,0,0,0,0,0
$GC,9177,-1.17,-146.0,793.6,-7.6,366,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1579,3362,0,0,0,0,0,0
$GC,9421,-1.17,-146.0,812.1,-7.6,372,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1578,3362,0,0,0,0,0,0
$GC,9666,-1.17,-146.0,829.3,-6.9,378,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1579,3361,0,0,0,0,0,0
$GC,9908,-1.17,-146.0,845.2,-6.5,384,9913,0.00,2.65,0.00,0.000,4,0.000,0.046,3129,3154,3361,0,0,0,0,0,0
$GC,9928,-1.22,-146.0,846.7,-7.6,384,9932,0.00,2.67,0.00,0.000,6,0.000,0.048,3129,1585,3360,0,0,0,0,0,0
$GC,10197,-1.22,-146.0,864.1,-6.6,391,10202,0.00,2.62,0.00,0.000,4,0.000,0.046,3129,3155,3359,0,0,0,0,0,0
$GC,10228,-1.30,-146.0,866.6,-7.1,391,10233,0.12,2.67,0.00,0.000,6,0.066,0.050,3074,1588,3359,0,0,0,0,0,0
$GC,10484,-1.22,-146.0,890.1,-9.4,398,10489,0.20,2.53,0.00,0.000,4,0.094,0.080,3118,162,3358,0,0,0,0,0,0
$GC,10538,-1.22,-146.0,894.7,-8.5,399,10542,0.00,2.33,0.00,0.000,6,0.000,0.036,3118,1583,3358,0,0,0,0,0,0
$STATE,10610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10610,begin apogee
$GC,10617,-0.31,0.0,900.2,7.4,401,10738,0.85,0.00,118.60,1.154,6,0.072,0.000,3313,1337,2800,0,0,0,0,0,0
$STATE,10739,end apogee,CONTROL_FINISHED_OK
$STATE,10739,begin climb
$GC,10744,1.27,146.0,903.7,0.0,404,10882,1.42,2.15,129.57,1.134,4,0.032,0.077,3665,180,2203,0,0,0,0,0,0
$GC,10987,1.01,146.0,883.7,15.0,409,10992,0.30,1.95,0.00,0.000,6,0.108,0.031,3605,1362,2198,0,0,0,0,0,0
$GC,11252,0.93,146.0,856.5,10.1,416,11256,0.00,2.10,0.00,0.000,4,0.000,0.072,3604,175,2193,0,0,0,0,0,0
$GC,11272,0.82,146.0,854.2,11.5,416,11277,0.20,1.95,0.00,0.000,6,0.107,0.031,3563,1360,2192,0,0,0,0,0,0
$GC,11543,0.88,187.4,831.5,8.1,423,11583,0.00,0.00,37.00,1.071,6,0.000,0.000,3563,1360,2036,0,0,0,0,0,0
$GC,11829,0.91,217.7,807.1,8.6,430,11864,0.00,0.00,29.33,1.046,6,0.000,0.000,3563,1360,1911,0,0,0,0,0,0
$GC,12110,0.98,230.6,780.9,9.4,437,12131,0.15,2.75,13.00,0.968,4,0.058,0.053,3618,2931,1858,0,0,0,0,0,0
$GC,12150,0.98,230.6,775.8,11.2,437,12156,0.00,2.75,0.00,0.000,6,0.000,0.049,3618,1355,1855,0,0,0,0,0,0
$GC,12401,0.92,230.6,743.7,13.1,444,12406,0.15,2.70,0.00,0.000,4,0.109,0.047,3587,2930,1854,0,0,0,0,0,0
$GC,12427,0.92,230.6,740.4,11.1,444,12431,0.00,2.72,0.00,0.000,6,0.000,0.051,3587,1344,1852,0,0,0,0,0,0
$GC,12690,0.92,230.6,709.8,11.9,451,12691,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1343,1852,0,0,0,0,0,0
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$STATE,18995,end climb,SURFACE_DEPTH_REACHED
$STATE,18995,begin surface coast
$FINISH,1.0,1.010479
$STATE,19047,end surface coast,CONTROL_FINISHED_OK
$STATE,19048,begin surface
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$TT8_MAMPS,0.027612
$HUMID,64.88
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.40
$XPDR_PINGS,26
$24V_AH,23.3,32.679
$10V_AH,9.9,30.209
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,36.300,209.275,399.750,42.200,0.000,80.692,114.210,432.707,6.500,0.000,14.128,1639.216,13692.046,557.573,3011.391,1137.424,33.372,1675.235,0.000,3024.642,0.000,0.537,0.000
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$SENSOR_SECS,507.423,608.372,761.690,1240.297,1736.438,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356000
$DATA_FILE_SIZE,60379,742
$CAP_FILE_SIZE,197638,0
$CFSIZE,260165632,155328512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100713,014224,2250.109,-15713.926,91,1.7,91,10.1