version: 66.06
glider: 148
mission: 12
dive: 227
start: 7 10 113 12 44 37
data:
$ID,148
$MISSION,12
$DIVE,227
$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,-1020603.1
$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,26
$R_STBD_OVSHOOT,78
$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
$GPS1,123554,2247.625,-15708.897,44,1.4,44,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-76.7
$GPS2,124343,2247.601,-15708.869,13,2.0,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE_40
$TGT_LATLONG,2239.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.141,-0.218
$KALMAN_X,-230919.3,291.5,239.8,317807.3,796.9
$KALMAN_Y,170269.8,175.8,-182.1,-165416.4,1314.2
$MHEAD_RNG_PITCHd_Wd,137.1,25793,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,90,0.00,0.00,-67.75,0.000,2,0.000,0.000,413,1617,3043,0,0,0,0,0,0
$GC,93,-1.27,-146.0,4.2,-7.1,9,125,14.52,2.42,-5.90,0.000,4,0.166,0.051,3102,170,3398,0,0,0,0,0,0
$GC,174,-0.97,-146.0,30.9,-23.6,20,183,0.28,2.15,0.00,0.000,6,0.085,0.018,3166,1561,3398,0,0,0,0,0,0
$GC,443,-0.86,-146.0,70.1,-12.0,45,447,0.12,2.47,0.00,0.000,4,0.110,0.023,3194,3134,3399,0,0,0,0,0,0
$GC,486,-0.86,-146.0,75.7,-10.3,48,491,0.00,2.53,0.00,0.000,6,0.000,0.028,3194,1567,3399,0,0,0,0,0,0
$GC,749,-0.86,-146.0,103.9,-11.3,72,753,0.00,2.28,0.00,0.000,4,0.000,0.041,3194,162,3400,0,0,0,0,0,0
$GC,789,-0.86,-146.0,108.1,-10.7,75,793,0.00,2.17,0.00,0.000,6,0.000,0.016,3194,1597,3400,0,0,0,0,0,0
$GC,1057,-0.86,-146.0,133.4,-9.4,99,1062,0.00,2.38,0.00,0.000,4,0.000,0.021,3194,3125,3400,0,0,0,0,0,0
$GC,1085,-0.86,-146.0,136.5,-9.9,101,1090,0.00,2.50,0.00,0.000,6,0.000,0.027,3195,1570,3401,0,0,0,0,0,0
$GC,1350,-0.86,-146.0,162.5,-10.4,125,1354,0.00,2.45,0.00,0.000,4,0.000,0.022,3194,3124,3401,0,0,0,0,0,0
$GC,1365,-0.86,-146.0,164.4,-9.9,126,1369,0.00,2.47,0.00,0.000,6,0.000,0.025,3194,1573,3401,0,0,0,0,0,0
$GC,1628,-0.86,-146.0,188.5,-8.4,150,1632,0.00,2.28,0.00,0.000,4,0.000,0.043,3194,171,3401,0,0,0,0,0,0
$GC,1679,-0.91,-146.0,192.8,-9.5,154,1683,0.00,2.12,0.00,0.000,6,0.000,0.017,3194,1583,3401,0,0,0,0,0,0
$GC,1937,-0.91,-146.0,213.6,-8.1,166,1941,0.00,2.38,0.00,0.000,4,0.000,0.021,3194,3117,3401,0,0,0,0,0,0
$GC,1962,-0.98,-146.0,216.1,-8.7,166,1967,0.00,2.47,0.00,0.000,6,0.000,0.026,3194,1583,3401,0,0,0,0,0,0
$GC,2222,-1.03,-146.0,236.3,-7.9,173,2227,0.15,2.45,0.00,0.000,4,0.055,0.022,3126,3124,3401,0,0,0,0,0,0
$GC,2238,-1.03,-146.0,237.8,-7.4,173,2243,0.15,2.45,0.00,0.000,6,0.096,0.026,3160,1586,3401,0,0,0,0,0,0
$GC,2509,-1.03,-146.0,263.0,-9.3,180,2513,0.00,2.33,0.00,0.000,4,0.000,0.045,3160,173,3401,0,0,0,0,0,0
$GC,2532,-1.03,-146.0,265.7,-10.7,180,2536,0.00,2.12,0.00,0.000,6,0.000,0.018,3160,1579,3401,0,0,0,0,0,0
$GC,2799,-1.03,-146.0,290.7,-9.6,187,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1582,3401,0,0,0,0,0,0
$GC,3044,-1.03,-146.0,311.7,-8.4,193,3049,0.00,2.45,0.00,0.000,4,0.000,0.027,3160,3126,3400,0,0,0,0,0,0
$GC,3064,-1.08,-146.0,313.8,-8.4,193,3068,0.00,2.53,0.00,0.000,6,0.000,0.030,3160,1580,3401,0,0,0,0,0,0
$GC,3328,-1.08,-146.0,335.2,-8.0,200,3332,0.00,2.38,0.00,0.000,4,0.000,0.052,3160,164,3400,0,0,0,0,0,0
$GC,3362,-1.08,-146.0,337.9,-8.0,200,3366,0.00,2.17,0.00,0.000,6,0.000,0.021,3160,1559,3399,0,0,0,0,0,0
$GC,3612,-1.08,-146.0,356.5,-7.4,206,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1560,3398,0,0,0,0,0,0
$GC,3856,-1.08,-146.0,374.3,-7.3,212,3861,0.00,2.55,0.00,0.000,4,0.000,0.033,3160,3143,3397,0,0,0,0,0,0
$GC,3882,-1.15,-146.0,376.1,-7.7,212,3888,0.12,2.58,0.00,0.000,6,0.063,0.037,3095,1591,3397,0,0,0,0,0,0
$GC,4143,-1.06,-146.0,402.1,-10.3,219,4148,0.25,2.42,0.00,0.000,4,0.087,0.058,3155,166,3395,0,0,0,0,0,0
$GC,4167,-1.06,-146.0,404.7,-10.8,219,4171,0.00,2.22,0.00,0.000,6,0.000,0.023,3155,1594,3395,0,0,0,0,0,0
$GC,4432,-1.06,-146.0,425.9,-8.0,226,4436,0.00,2.53,0.00,0.000,4,0.000,0.036,3155,3144,3393,0,0,0,0,0,0
$GC,4446,-1.06,-146.0,427.6,-8.2,226,4451,0.00,2.55,0.00,0.000,6,0.000,0.034,3155,1582,3393,0,0,0,0,0,0
$GC,4715,-1.10,-146.0,447.9,-7.4,233,4720,0.00,2.58,0.00,0.000,4,0.000,0.038,3155,3139,3391,0,0,0,0,0,0
$GC,4741,-1.17,-146.0,449.7,-8.1,233,4746,0.10,2.58,0.00,0.000,6,0.073,0.038,3101,1592,3391,0,0,0,0,0,0
$GC,5002,-1.10,-146.0,473.6,-8.9,240,5007,0.20,2.47,0.00,0.000,4,0.091,0.067,3145,167,3389,0,0,0,0,0,0
$GC,5065,-1.10,-146.0,479.1,-8.8,241,5069,0.00,2.25,0.00,0.000,6,0.000,0.027,3145,1589,3389,0,0,0,0,0,0
$GC,5335,-1.10,-146.0,500.2,-8.0,248,5340,0.00,2.58,0.00,0.000,4,0.000,0.043,3145,3151,3387,0,0,0,0,0,0
$GC,5369,-1.18,-146.0,503.1,-8.2,248,5373,0.00,2.60,0.00,0.000,6,0.000,0.040,3145,1595,3387,0,0,0,0,0,0
$GC,5621,-1.18,-146.0,524.0,-8.3,254,5625,0.00,2.60,0.00,0.000,4,0.000,0.044,3145,3150,3386,0,0,0,0,0,0
$GC,5640,-1.23,-146.0,525.6,-7.8,254,5645,0.12,2.60,0.00,0.000,6,0.064,0.041,3086,1597,3386,0,0,0,0,0,0
$GC,5905,-1.15,-146.0,552.2,-10.1,261,5910,0.20,2.50,0.00,0.000,4,0.091,0.072,3133,164,3383,0,0,0,0,0,0
$GC,5956,-1.15,-146.0,557.2,-9.6,262,5960,0.00,2.33,0.00,0.000,6,0.000,0.030,3133,1604,3383,0,0,0,0,0,0
$GC,6239,-1.15,-146.0,579.7,-7.8,269,6243,0.00,2.58,0.00,0.000,4,0.000,0.047,3133,3154,3381,0,0,0,0,0,0
$GC,6253,-1.15,-146.0,580.9,-7.7,269,6257,0.00,2.62,0.00,0.000,6,0.000,0.043,3133,1592,3382,0,0,0,0,0,0
$GC,6523,-1.15,-146.0,602.0,-7.9,276,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1592,3380,0,0,0,0,0,0
$GC,6765,-1.15,-146.0,620.5,-7.5,282,6770,0.00,2.50,0.00,0.000,4,0.000,0.078,3133,167,3378,0,0,0,0,0,0
$GC,6795,-1.15,-146.0,623.0,-8.5,282,6800,0.00,2.30,0.00,0.000,6,0.000,0.032,3133,1600,3378,0,0,0,0,0,0
$GC,7055,-1.15,-146.0,641.2,-7.0,289,7056,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1600,3377,0,0,0,0,0,0
$GC,7297,-1.15,-146.0,658.1,-7.0,295,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1600,3375,0,0,0,0,0,0
$GC,7541,-1.15,-146.0,676.8,-7.8,301,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1600,3375,0,0,0,0,0,0
$GC,7786,-1.15,-146.0,697.6,-8.6,307,7791,0.00,2.60,0.00,0.000,4,0.000,0.055,3133,3151,3374,0,0,0,0,0,0
$GC,7801,-1.15,-146.0,699.4,-8.3,307,7805,0.00,2.62,0.00,0.000,6,0.000,0.045,3133,1601,3373,0,0,0,0,0,0
$GC,8070,-1.15,-146.0,722.4,-8.6,314,8074,0.00,2.53,0.00,0.000,4,0.000,0.080,3133,167,3372,0,0,0,0,0,0
$GC,8089,-1.15,-146.0,724.3,-9.3,314,8093,0.00,2.35,0.00,0.000,6,0.000,0.033,3133,1610,3372,0,0,0,0,0,0
$GC,8355,-1.15,-146.0,747.2,-8.8,321,8359,0.00,2.53,0.00,0.000,4,0.000,0.075,3133,164,3371,0,0,0,0,0,0
$GC,8387,-1.15,-146.0,750.7,-10.4,321,8391,0.00,2.35,0.00,0.000,6,0.000,0.035,3133,1599,3371,0,0,0,0,0,0
$GC,8637,-1.15,-146.0,771.4,-8.2,327,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1599,3370,0,0,0,0,0,0
$GC,8883,-1.19,-146.0,789.6,-7.5,333,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1599,3368,0,0,0,0,0,0
$GC,9125,-1.24,-146.0,806.9,-7.1,339,9129,0.00,2.53,0.00,0.000,4,0.000,0.076,3133,167,3368,0,0,0,0,0,0
$GC,9144,-1.24,-146.0,808.5,-7.4,339,9148,0.00,2.33,0.00,0.000,6,0.000,0.041,3133,1594,3367,0,0,0,0,0,0
$GC,9414,-1.29,-146.0,826.6,-6.8,346,9416,0.12,0.00,0.00,0.000,6,0.065,0.000,3081,1594,3367,0,0,0,0,0,0
$GC,9656,-1.23,-146.0,847.3,-8.6,352,9661,0.17,2.53,0.00,0.000,4,0.094,0.074,3120,168,3366,0,0,0,0,0,0
$GC,9686,-1.23,-146.0,850.2,-8.2,352,9690,0.00,2.33,0.00,0.000,6,0.000,0.035,3120,1596,3366,0,0,0,0,0,0
$GC,9942,-1.23,-146.0,867.4,-6.6,359,9946,0.00,2.65,0.00,0.000,4,0.000,0.056,3120,3156,3365,0,0,0,0,0,0
$GC,9961,-1.23,-146.0,868.9,-7.1,359,9965,0.00,2.67,0.00,0.000,6,0.000,0.048,3120,1584,3365,0,0,0,0,0,0
$GC,10225,-1.23,-146.0,886.8,-6.8,366,10229,0.00,2.50,0.00,0.000,4,0.000,0.081,3120,168,3364,0,0,0,0,0,0
$GC,10241,-1.23,-146.0,887.9,-6.9,366,10245,0.00,2.30,0.00,0.000,6,0.000,0.034,3120,1593,3363,0,0,0,0,0,0
$STATE,10430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10430,begin apogee
$GC,10437,-0.31,0.0,901.6,7.1,371,10559,0.85,0.00,119.53,1.154,6,0.070,0.000,3317,1335,2800,0,0,0,0,0,0
$STATE,10560,end apogee,CONTROL_FINISHED_OK
$STATE,10560,begin climb
$GC,10564,1.27,146.0,905.0,0.0,374,10703,1.42,2.15,129.80,1.132,4,0.028,0.077,3669,182,2202,0,0,0,0,0,0
$GC,10765,0.99,146.0,891.7,14.8,378,10770,0.32,1.95,0.00,0.000,6,0.109,0.031,3603,1362,2199,0,0,0,0,0,0
$GC,11029,0.92,146.0,864.5,10.3,385,11030,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1363,2193,0,0,0,0,0,0
$GC,11273,0.86,146.0,839.6,10.3,391,11275,0.15,0.00,0.00,0.000,6,0.109,0.000,3572,1362,2192,0,0,0,0,0,0
$GC,11518,0.89,169.0,817.3,8.9,397,11540,0.00,0.00,20.25,1.033,6,0.000,0.000,3572,1363,2111,0,0,0,0,0,0
$GC,11760,0.89,175.4,794.0,9.7,403,11772,0.00,2.17,6.70,0.850,4,0.000,0.074,3572,178,2085,0,0,0,0,0,0
$GC,11824,0.89,175.4,786.9,10.2,404,11828,0.00,1.95,0.00,0.000,6,0.000,0.030,3571,1348,2084,0,0,0,0,0,0
$GC,12098,0.92,194.8,761.8,9.1,411,12123,0.00,2.78,19.33,1.006,4,0.000,0.054,3571,2926,2004,0,0,0,0,0,0
$GC,12149,1.01,219.4,757.0,8.9,412,12184,0.15,2.75,24.38,1.011,6,0.059,0.050,3624,1350,1905,0,0,0,0,0,0
$GC,12431,0.94,219.4,723.3,12.4,419,12435,0.17,2.12,0.00,0.000,4,0.104,0.085,3587,165,1901,0,0,0,0,0,0
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$STATE,18636,end climb,SURFACE_DEPTH_REACHED
$STATE,18636,begin surface coast
$FINISH,0.9,1.019605
$STATE,18670,end surface coast,CONTROL_FINISHED_OK
$STATE,18671,begin surface
$SM_CCo,18697,37.62,0.427,0,0,1249,380.21
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$IRIDIUM_FIX,2241.69,-15708.96,041002,070710
$TT8_MAMPS,0.027612
$HUMID,64.49
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.30
$XPDR_PINGS,29
$24V_AH,23.3,33.118
$10V_AH,9.9,30.715
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.175,225.425,411.150,37.625,0.000,28.079,32.793,237.816,7.250,0.000,14.707,1557.423,13516.517,546.416,2761.970,811.537,33.373,1620.786,0.000,2785.333,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,473.407,567.784,714.151,1090.133,1542.596,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356004
$DATA_FILE_SIZE,57348,691
$CAP_FILE_SIZE,185816,0
$CFSIZE,260165632,155099136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100713,175805,2245.692,-15706.633,30,0.8,30,10.1