version: 66.06
glider: 148
mission: 12
dive: 276
start: 7 21 113 15 48 28
data:
$ID,148
$MISSION,12
$DIVE,276
$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,390
$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,-1021561.8
$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,108
$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
$GPS1,153714,2318.615,-15758.117,39,2.9,58,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.0
$GPS2,154736,2318.634,-15758.090,10,1.6,20,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYT1
$TGT_LATLONG,2332.500,-15900.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.230,0.120
$KALMAN_X,-199089.5,-115.5,-134.9,202708.3,492.6
$KALMAN_Y,158887.1,222.0,13.6,-96817.3,-1276.8
$MHEAD_RNG_PITCHd_Wd,287.5,108205,-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,-67.35,0.000,2,0.000,0.000,416,1573,2944,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.3,-4.5,9,122,13.80,2.42,-8.18,0.000,4,0.144,0.033,3103,3095,3398,0,0,0,0,0,0
$GC,247,-1.11,-146.0,40.6,-19.3,29,253,0.17,2.50,0.00,0.000,6,0.100,0.032,3141,1560,3398,0,0,0,0,0,0
$GC,516,-0.93,-146.0,83.5,-13.6,53,521,0.17,0.00,0.00,0.000,6,0.101,0.000,3180,1560,3399,0,0,0,0,0,0
$GC,780,-0.87,-146.0,114.6,-11.5,78,785,0.00,2.40,0.00,0.000,4,0.000,0.021,3180,3095,3400,0,0,0,0,0,0
$GC,802,-0.87,-146.0,117.8,-12.4,79,807,0.00,2.47,0.00,0.000,6,0.000,0.028,3180,1566,3400,0,0,0,0,0,0
$GC,1066,-0.87,-146.0,147.5,-9.6,104,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1566,3400,0,0,0,0,0,0
$GC,1327,-0.87,-146.0,174.6,-11.1,129,1331,0.00,2.40,0.00,0.000,4,0.000,0.021,3180,3091,3400,0,0,0,0,0,0
$GC,1348,-0.87,-146.0,176.2,-10.7,130,1352,0.00,2.42,0.00,0.000,6,0.000,0.028,3180,1580,3400,0,0,0,0,0,0
$GC,1631,-0.87,-146.0,204.5,-9.9,153,1635,0.00,2.33,0.00,0.000,4,0.000,0.044,3180,167,3400,0,0,0,0,0,0
$GC,1677,-0.87,-146.0,209.8,-11.4,154,1681,0.00,2.10,0.00,0.000,6,0.000,0.018,3180,1562,3400,0,0,0,0,0,0
$GC,1963,-0.87,-146.0,235.4,-8.7,161,1967,0.00,2.45,0.00,0.000,4,0.000,0.022,3180,3117,3400,0,0,0,0,0,0
$GC,2007,-0.98,-146.0,239.2,-7.3,162,2011,0.00,2.47,0.00,0.000,6,0.000,0.028,3180,1593,3400,0,0,0,0,0,0
$GC,2296,-0.98,-146.0,262.2,-8.2,169,2300,0.00,2.40,0.00,0.000,4,0.000,0.023,3180,3118,3400,0,0,0,0,0,0
$GC,2316,-1.03,-146.0,263.9,-8.4,169,2321,0.00,2.45,0.00,0.000,6,0.000,0.028,3180,1594,3400,0,0,0,0,0,0
$GC,2583,-1.03,-146.0,285.7,-8.3,176,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1594,3399,0,0,0,0,0,0
$GC,2826,-1.08,-146.0,305.0,-7.6,182,2831,0.12,2.40,0.00,0.000,4,0.061,0.050,3116,165,3399,0,0,0,0,0,0
$GC,2860,-0.98,-146.0,308.9,-11.0,182,2865,0.25,2.20,0.00,0.000,6,0.083,0.020,3174,1588,3398,0,0,0,0,0,0
$GC,3110,-1.03,-146.0,330.0,-8.4,188,3115,0.00,2.45,0.00,0.000,4,0.000,0.028,3173,3133,3397,0,0,0,0,0,0
$GC,3156,-1.15,-146.0,333.6,-8.5,189,3161,0.17,2.47,0.00,0.000,6,0.046,0.034,3093,1612,3397,0,0,0,0,0,0
$GC,3447,-1.02,-146.0,367.5,-11.4,196,3452,0.28,2.45,0.00,0.000,4,0.083,0.054,3160,165,3395,0,0,0,0,0,0
$GC,3497,-1.08,-146.0,372.4,-8.4,197,3501,0.00,2.25,0.00,0.000,6,0.000,0.021,3160,1597,3395,0,0,0,0,0,0
$GC,3779,-1.08,-146.0,394.0,-7.7,204,3784,0.00,2.50,0.00,0.000,4,0.000,0.033,3160,3152,3393,0,0,0,0,0,0
$GC,3805,-1.14,-146.0,395.9,-8.5,204,3810,0.10,2.55,0.00,0.000,6,0.074,0.037,3104,1612,3393,0,0,0,0,0,0
$GC,4070,-1.05,-146.0,423.6,-11.0,211,4072,0.22,0.00,0.00,0.000,6,0.084,0.000,3155,1612,3391,0,0,0,0,0,0
$GC,4309,-1.05,-146.0,442.5,-7.5,217,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1612,3390,0,0,0,0,0,0
$GC,4553,-1.05,-146.0,462.8,-8.6,223,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1612,3388,0,0,0,0,0,0
$GC,4798,-1.05,-146.0,483.3,-8.4,229,4802,0.00,2.47,0.00,0.000,4,0.000,0.068,3155,168,3386,0,0,0,0,0,0
$GC,4826,-1.05,-146.0,486.0,-9.2,229,4831,0.00,2.30,0.00,0.000,6,0.000,0.026,3155,1615,3386,0,0,0,0,0,0
$GC,5083,-1.05,-146.0,504.4,-7.1,236,5088,0.00,2.50,0.00,0.000,4,0.000,0.039,3155,3142,3385,0,0,0,0,0,0
$GC,5109,-1.11,-146.0,506.4,-7.9,236,5114,0.00,2.55,0.00,0.000,6,0.000,0.038,3154,1608,3385,0,0,0,0,0,0
$GC,5369,-1.11,-146.0,525.8,-7.5,243,5373,0.00,2.50,0.00,0.000,4,0.000,0.072,3155,170,3383,0,0,0,0,0,0
$GC,5397,-1.11,-146.0,528.3,-8.4,243,5401,0.00,2.30,0.00,0.000,6,0.000,0.028,3155,1607,3383,0,0,0,0,0,0
$GC,5654,-1.17,-146.0,547.6,-7.6,250,5659,0.10,2.55,0.00,0.000,4,0.076,0.041,3104,3154,3382,0,0,0,0,0,0
$GC,5678,-1.17,-146.0,550.1,-9.8,250,5683,0.12,2.58,0.00,0.000,6,0.099,0.042,3133,1621,3382,0,0,0,0,0,0
$GC,5940,-1.17,-146.0,570.8,-7.8,257,5944,0.00,2.55,0.00,0.000,4,0.000,0.076,3133,162,3381,0,0,0,0,0,0
$GC,5992,-1.17,-146.0,575.4,-8.3,258,5996,0.00,2.35,0.00,0.000,6,0.000,0.030,3133,1620,3380,0,0,0,0,0,0
$GC,6269,-1.17,-146.0,598.1,-8.4,265,6274,0.00,2.53,0.00,0.000,4,0.000,0.071,3133,170,3379,0,0,0,0,0,0
$GC,6317,-1.17,-146.0,601.8,-8.9,266,6321,0.00,2.35,0.00,0.000,6,0.000,0.032,3133,1618,3379,0,0,0,0,0,0
$GC,6606,-1.17,-146.0,626.4,-8.4,273,6610,0.00,2.58,0.00,0.000,4,0.000,0.047,3133,3158,3377,0,0,0,0,0,0
$GC,6629,-1.17,-146.0,628.8,-9.3,273,6634,0.00,2.60,0.00,0.000,6,0.000,0.046,3133,1619,3377,0,0,0,0,0,0
$GC,6891,-1.17,-146.0,651.0,-8.5,280,6895,0.00,2.58,0.00,0.000,4,0.000,0.081,3133,165,3376,0,0,0,0,0,0
$GC,6938,-1.17,-146.0,655.3,-8.7,281,6942,0.00,2.38,0.00,0.000,6,0.000,0.035,3133,1619,3375,0,0,0,0,0,0
$GC,7222,-1.17,-146.0,676.4,-7.4,288,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1620,3373,0,0,0,0,0,0
$GC,7464,-1.17,-146.0,694.0,-7.3,294,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1620,3372,0,0,0,0,0,0
$GC,7708,-1.17,-146.0,711.5,-7.1,300,7712,0.00,2.55,0.00,0.000,4,0.000,0.076,3133,166,3371,0,0,0,0,0,0
$GC,7736,-1.17,-146.0,714.0,-8.4,300,7741,0.00,2.38,0.00,0.000,6,0.000,0.035,3133,1614,3371,0,0,0,0,0,0
$GC,7993,-1.17,-146.0,731.8,-7.0,307,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1614,3370,0,0,0,0,0,0
$GC,8237,-1.17,-146.0,749.2,-7.3,313,8241,0.00,2.53,0.00,0.000,4,0.000,0.076,3133,170,3368,0,0,0,0,0,0
$GC,8274,-1.17,-146.0,752.4,-8.6,313,8280,0.00,2.35,0.00,0.000,6,0.000,0.035,3133,1605,3368,0,0,0,0,0,0
$GC,8526,-1.17,-146.0,772.3,-8.0,320,8530,0.00,2.58,0.00,0.000,4,0.000,0.051,3133,3155,3367,0,0,0,0,0,0
$GC,8564,-1.25,-146.0,775.5,-7.9,320,8572,0.00,2.67,0.00,0.000,6,0.000,0.049,3133,1605,3367,0,0,0,0,0,0
$GC,8814,-1.25,-146.0,794.9,-7.7,327,8819,0.00,2.55,0.00,0.000,4,0.000,0.084,3133,166,3366,0,0,0,0,0,0
$GC,8853,-1.25,-146.0,798.1,-8.7,327,8859,0.00,2.35,0.00,0.000,6,0.000,0.035,3133,1608,3366,0,0,0,0,0,0
$GC,9104,-1.25,-146.0,816.1,-7.0,334,9108,0.00,2.60,0.00,0.000,4,0.000,0.051,3133,3153,3365,0,0,0,0,0,0
$GC,9128,-1.30,-146.0,817.7,-6.8,334,9133,0.12,2.65,0.00,0.000,6,0.064,0.049,3078,1600,3365,0,0,0,0,0,0
$GC,9393,-1.22,-146.0,841.5,-9.4,341,9395,0.17,0.00,0.00,0.000,6,0.096,0.000,3117,1600,3363,0,0,0,0,0,0
$GC,9632,-1.22,-146.0,860.8,-7.8,347,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1600,3363,0,0,0,0,0,0
$GC,9877,-1.22,-146.0,880.2,-7.9,353,9882,0.00,2.55,0.00,0.000,4,0.000,0.082,3117,163,3362,0,0,0,0,0,0
$GC,9907,-1.22,-146.0,883.0,-9.0,353,9912,0.00,2.38,0.00,0.000,6,0.000,0.035,3117,1612,3362,0,0,0,0,0,0
$STATE,10119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10119,begin apogee
$GC,10125,-0.31,0.0,900.5,8.1,359,10248,0.85,0.00,119.18,1.153,6,0.069,0.000,3315,1338,2800,0,0,0,0,0,0
$STATE,10249,end apogee,CONTROL_FINISHED_OK
$STATE,10249,begin climb
$GC,10251,1.27,146.0,904.8,0.0,362,10391,1.45,2.12,129.23,1.135,4,0.034,0.079,3668,170,2202,0,0,0,0,0,0
$GC,10575,1.01,146.0,874.5,14.2,369,10580,0.30,1.95,0.00,0.000,6,0.111,0.030,3607,1356,2196,0,0,0,0,0,0
$GC,10854,0.95,147.5,846.4,9.9,376,10857,0.00,2.10,0.00,0.000,4,0.000,0.072,3607,176,2191,0,0,0,0,0,0
$GC,10902,0.82,147.5,840.6,12.3,377,10906,0.20,1.92,0.00,0.000,6,0.105,0.030,3566,1348,2191,0,0,0,0,0,0
$GC,11184,0.87,185.5,816.9,8.2,384,11227,0.00,2.78,34.75,1.063,4,0.000,0.051,3566,2921,2042,0,0,0,0,0,0
$GC,11246,0.96,221.0,811.7,8.4,385,11288,0.12,2.72,34.53,1.048,6,0.067,0.048,3613,1357,1898,0,0,0,0,0,0
$GC,11566,0.96,221.0,771.7,12.5,393,11567,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,1357,1892,0,0,0,0,0,0
$GC,11812,0.96,221.0,741.0,12.7,399,11813,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,1357,1890,0,0,0,0,0,0
$GC,12054,0.96,221.0,709.4,13.1,405,12057,0.00,2.15,0.00,0.000,4,0.000,0.084,3613,164,1889,0,0,0,0,0,0
$GC,12072,0.90,221.0,706.7,13.4,405,12077,0.15,1.95,0.00,0.000,6,0.107,0.029,3582,1362,1889,0,0,0,0,0,0
$GC,12338,0.90,221.0,676.7,11.1,412,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1363,1889,0,0,0,0,0,0
$GC,12580,0.90,221.0,651.9,10.1,418,12584,0.00,2.10,0.00,0.000,4,0.000,0.071,3582,161,1887,0,0,0,0,0,0
$GC,12608,0.90,221.0,649.0,11.3,418,12611,0.00,1.95,0.00,0.000,6,0.000,0.028,3582,1361,1887,0,0,0,0,0,0
$GC,12868,0.91,227.4,624.2,9.7,425,12875,0.00,0.00,4.82,0.684,6,0.000,0.000,3582,1362,1873,0,0,0,0,0,0
$GC,13114,0.91,227.4,599.1,10.3,431,13119,0.00,2.62,0.00,0.000,4,0.000,0.045,3582,2926,1872,0,0,0,0,0,0
$GC,13133,0.97,227.4,596.6,10.2,431,13138,0.00,2.70,0.00,0.000,6,0.000,0.046,3582,1345,1871,0,0,0,0,0,0
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$STATE,18537,end climb,SURFACE_DEPTH_REACHED
$STATE,18537,begin surface coast
$FINISH,1.0,1.023258
$STATE,18579,end surface coast,CONTROL_FINISHED_OK
$STATE,18579,begin surface
$SM_CCo,18605,41.92,0.430,0,0,1209,390.03
$SM_GC,1.65,0.00,0.00,41.92,0.000,0.000,0.430,411,1613,1209,-13.68,1.22,390.03
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$TT8_MAMPS,0.027612
$HUMID,65.43
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.20
$XPDR_PINGS,13
$24V_AH,23.2,40.776
$10V_AH,9.9,38.213
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.725,197.600,409.350,41.925,0.000,27.220,41.276,389.037,3.250,0.000,22.123,1543.374,13680.221,527.385,2587.199,917.728,33.370,1615.905,0.000,2573.726,0.000,0.536,0.000
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$SENSOR_SECS,477.440,365.769,467.185,955.118,1256.515,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,57350,701
$CAP_FILE_SIZE,182171,0
$CFSIZE,260165632,151314432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210713,210035,2319.586,-15800.175,39,1.2,39,10.1