version: 66.06
glider: 148
mission: 12
dive: 281
start: 7 22 113 18 58 43
data:
$ID,148
$MISSION,12
$DIVE,281
$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,-1021661.2
$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,27
$R_STBD_OVSHOOT,103
$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
$GPS1,184926,2322.429,-15809.706,34,99.0,53,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-76.4
$GPS2,185749,2322.386,-15809.705,14,1.2,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK
$TGT_LATLONG,2309.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.168,-0.198
$KALMAN_X,-197463.3,100.3,-275.7,181162.8,860.6
$KALMAN_Y,157386.1,-107.8,-41.4,-87973.2,-264.7
$MHEAD_RNG_PITCHd_Wd,129.6,35237,-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,19,-1.27,-146.0,0.0,0.0,0,89,0.00,0.00,-66.93,0.000,2,0.000,0.000,413,1585,2927,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.3,-4.6,9,124,13.85,2.38,-8.80,0.000,4,0.145,0.052,3101,168,3397,0,0,0,0,0,0
$GC,148,-0.78,-146.0,19.9,-27.4,16,158,0.47,2.10,0.00,0.000,6,0.086,0.017,3209,1535,3397,0,0,0,0,0,0
$GC,425,-0.70,-146.0,61.7,-14.7,45,430,0.10,2.50,0.00,0.000,4,0.117,0.021,3232,3134,3397,0,0,0,0,0,0
$GC,446,-0.70,-146.0,64.4,-12.2,46,450,0.00,2.53,0.00,0.000,6,0.000,0.028,3232,1563,3398,0,0,0,0,0,0
$GC,711,-0.76,-146.0,86.8,-8.5,70,715,0.00,2.28,0.00,0.000,4,0.000,0.043,3232,164,3398,0,0,0,0,0,0
$GC,733,-0.81,-146.0,89.3,-9.2,71,739,0.10,2.12,0.00,0.000,6,0.074,0.016,3174,1601,3398,0,0,0,0,0,0
$GC,997,-0.74,-146.0,119.6,-11.4,96,1007,0.22,0.00,0.00,0.000,6,0.084,0.000,3225,1604,3399,0,0,0,0,0,0
$GC,1265,-0.82,-146.0,140.4,-6.9,121,1269,0.00,2.33,0.00,0.000,4,0.000,0.021,3226,3104,3399,0,0,0,0,0,0
$GC,1296,-0.94,-146.0,142.5,-7.4,123,1301,0.20,2.47,0.00,0.000,6,0.041,0.028,3127,1557,3399,0,0,0,0,0,0
$GC,1559,-0.78,-146.0,175.4,-12.8,147,1564,0.38,2.25,0.00,0.000,4,0.081,0.041,3210,173,3400,0,0,0,0,0,0
$GC,1591,-0.78,-146.0,178.9,-9.7,149,1596,0.00,2.05,0.00,0.000,6,0.000,0.017,3210,1565,3400,0,0,0,0,0,0
$GC,1854,-0.84,-146.0,200.4,-8.7,174,1859,0.00,2.40,0.00,0.000,4,0.000,0.021,3210,3108,3400,0,0,0,0,0,0
$GC,1885,-0.98,-146.0,202.9,-7.9,174,1890,0.17,2.47,0.00,0.000,6,0.045,0.028,3124,1572,3399,0,0,0,0,0,0
$GC,2144,-0.85,-146.0,235.9,-13.2,181,2146,0.35,0.00,0.00,0.000,6,0.077,0.000,3201,1572,3400,0,0,0,0,0,0
$GC,2384,-0.93,-146.0,255.5,-7.3,187,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1572,3399,0,0,0,0,0,0
$GC,2630,-1.01,-146.0,273.8,-7.5,193,2632,0.15,0.00,0.00,0.000,6,0.054,0.000,3130,1572,3399,0,0,0,0,0,0
$GC,2871,-0.94,-146.0,298.9,-10.5,199,2876,0.22,2.33,0.00,0.000,4,0.081,0.045,3182,172,3398,0,0,0,0,0,0
$GC,2886,-0.94,-146.0,300.5,-9.9,199,2891,0.00,2.10,0.00,0.000,6,0.000,0.020,3182,1556,3399,0,0,0,0,0,0
$GC,3164,-1.00,-146.0,321.6,-8.0,206,3168,0.00,2.50,0.00,0.000,4,0.000,0.026,3182,3122,3398,0,0,0,0,0,0
$GC,3183,-1.07,-146.0,323.8,-8.9,206,3188,0.12,2.53,0.00,0.000,6,0.061,0.031,3114,1580,3397,0,0,0,0,0,0
$GC,3448,-0.98,-146.0,355.2,-11.9,213,3453,0.25,2.50,0.00,0.000,4,0.083,0.029,3175,3122,3396,0,0,0,0,0,0
$GC,3461,-0.90,-146.0,356.5,-11.4,213,3465,0.00,2.55,0.00,0.000,6,0.000,0.032,3175,1570,3396,0,0,0,0,0,0
$GC,3734,-0.97,-146.0,377.3,-7.3,220,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1570,3395,0,0,0,0,0,0
$GC,3983,-1.03,-146.0,394.0,-6.9,226,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1570,3393,0,0,0,0,0,0
$GC,4223,-1.10,-146.0,410.7,-6.7,232,4225,0.12,0.00,0.00,0.000,6,0.064,0.000,3116,1570,3391,0,0,0,0,0,0
$GC,4465,-1.03,-146.0,434.2,-9.9,238,4467,0.20,0.00,0.00,0.000,6,0.086,0.000,3161,1570,3390,0,0,0,0,0,0
$GC,4709,-1.08,-146.0,453.4,-7.6,244,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1570,3388,0,0,0,0,0,0
$GC,4955,-1.13,-146.0,471.0,-7.2,250,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1570,3387,0,0,0,0,0,0
$GC,5200,-1.18,-146.0,487.9,-6.9,256,5205,0.15,2.45,0.00,0.000,4,0.057,0.071,3099,177,3385,0,0,0,0,0,0
$GC,5220,-1.13,-146.0,490.1,-8.8,256,5225,0.17,2.20,0.00,0.000,6,0.094,0.026,3138,1556,3385,0,0,0,0,0,0
$GC,5491,-1.13,-146.0,511.8,-8.0,263,5496,0.00,2.62,0.00,0.000,4,0.000,0.042,3138,3144,3383,0,0,0,0,0,0
$GC,5520,-1.18,-146.0,514.3,-7.6,263,5525,0.00,2.60,0.00,0.000,6,0.000,0.041,3138,1593,3383,0,0,0,0,0,0
$GC,5775,-1.18,-146.0,534.3,-7.9,270,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1593,3382,0,0,0,0,0,0
$GC,6023,-1.18,-146.0,552.9,-7.6,276,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1592,3380,0,0,0,0,0,0
$GC,6262,-1.18,-146.0,571.5,-7.6,282,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1593,3379,0,0,0,0,0,0
$GC,6506,-1.18,-146.0,590.4,-7.7,288,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1593,3377,0,0,0,0,0,0
$GC,6750,-1.18,-146.0,609.3,-7.8,294,6754,0.00,2.53,0.00,0.000,4,0.000,0.079,3138,166,3376,0,0,0,0,0,0
$GC,6771,-1.18,-146.0,610.9,-7.6,294,6775,0.00,2.28,0.00,0.000,6,0.000,0.031,3138,1580,3376,0,0,0,0,0,0
$GC,7042,-1.18,-146.0,631.3,-7.4,301,7047,0.00,2.65,0.00,0.000,4,0.000,0.047,3138,3157,3375,0,0,0,0,0,0
$GC,7067,-1.22,-146.0,633.5,-8.8,301,7071,0.00,2.65,0.00,0.000,6,0.000,0.046,3138,1587,3375,0,0,0,0,0,0
$GC,7328,-1.22,-146.0,652.2,-7.3,308,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1587,3373,0,0,0,0,0,0
$GC,7570,-1.22,-146.0,670.1,-7.4,314,7574,0.00,2.65,0.00,0.000,4,0.000,0.044,3138,3159,3371,0,0,0,0,0,0
$GC,7589,-1.22,-146.0,671.6,-7.3,314,7593,0.00,2.65,0.00,0.000,6,0.000,0.052,3138,1589,3372,0,0,0,0,0,0
$GC,7859,-1.22,-146.0,692.0,-7.8,321,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1588,3370,0,0,0,0,0,0
$GC,8098,-1.22,-146.0,710.0,-7.3,327,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1589,3369,0,0,0,0,0,0
$GC,8342,-1.22,-146.0,726.7,-6.7,333,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1588,3368,0,0,0,0,0,0
$GC,8586,-1.22,-146.0,742.4,-6.4,339,8590,0.00,2.53,0.00,0.000,4,0.000,0.084,3138,167,3367,0,0,0,0,0,0
$GC,8611,-1.22,-146.0,744.2,-7.4,339,8615,0.00,2.33,0.00,0.000,6,0.000,0.034,3138,1593,3367,0,0,0,0,0,0
$GC,8880,-1.22,-146.0,762.2,-6.9,346,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1594,3366,0,0,0,0,0,0
$GC,9119,-1.22,-146.0,779.8,-7.3,352,9124,0.00,2.62,0.00,0.000,4,0.000,0.050,3138,3157,3365,0,0,0,0,0,0
$GC,9150,-1.29,-146.0,782.2,-7.6,352,9155,0.15,2.67,0.00,0.000,6,0.056,0.049,3078,1586,3365,0,0,0,0,0,0
$GC,9405,-1.20,-146.0,808.0,-10.1,359,9410,0.20,2.53,0.00,0.000,4,0.092,0.081,3123,165,3364,0,0,0,0,0,0
$GC,9426,-1.16,-146.0,810.0,-9.6,359,9430,0.00,2.35,0.00,0.000,6,0.000,0.034,3123,1603,3363,0,0,0,0,0,0
$GC,9698,-1.16,-146.0,830.1,-7.3,366,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1603,3363,0,0,0,0,0,0
$GC,9938,-1.16,-146.0,846.6,-6.7,372,9942,0.00,2.53,0.00,0.000,4,0.000,0.074,3123,170,3362,0,0,0,0,0,0
$GC,9966,-1.16,-146.0,848.7,-6.6,372,9970,0.00,2.33,0.00,0.000,6,0.000,0.035,3123,1593,3362,0,0,0,0,0,0
$GC,10227,-1.16,-146.0,866.3,-6.8,379,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1593,3361,0,0,0,0,0,0
$GC,10469,-1.16,-146.0,881.9,-6.4,385,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1593,3360,0,0,0,0,0,0
$GC,10717,-1.16,-146.0,897.7,-6.5,391,10722,0.00,2.53,0.00,0.000,4,0.000,0.076,3123,164,3360,0,0,0,0,0,0
$STATE,10743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10743,begin apogee
$GC,10753,-0.31,0.0,900.1,7.9,391,10875,0.80,0.00,118.80,1.154,6,0.071,0.000,3312,1355,2800,0,0,0,0,0,0
$STATE,10876,end apogee,CONTROL_FINISHED_OK
$STATE,10876,begin climb
$GC,10879,1.27,146.0,902.3,0.0,394,11018,1.45,2.22,129.75,1.131,4,0.032,0.077,3665,169,2203,0,0,0,0,0,0
$GC,11210,1.02,146.0,869.0,14.9,401,11215,0.28,1.95,0.00,0.000,6,0.107,0.031,3609,1349,2196,0,0,0,0,0,0
$GC,11479,0.95,146.0,840.7,10.2,408,11483,0.00,2.10,0.00,0.000,4,0.000,0.074,3609,162,2192,0,0,0,0,0,0
$GC,11517,0.82,146.0,836.3,12.3,408,11523,0.22,1.95,0.00,0.000,6,0.103,0.031,3562,1346,2191,0,0,0,0,0,0
$GC,11768,0.88,194.2,816.3,7.8,415,11819,0.00,2.15,43.65,1.068,4,0.000,0.074,3562,166,2007,0,0,0,0,0,0
$GC,11833,0.92,227.5,810.5,8.5,416,11871,0.10,1.98,32.62,1.042,6,0.082,0.031,3600,1353,1872,0,0,0,0,0,0
$GC,12135,0.92,227.5,775.2,11.9,424,12140,0.00,2.70,0.00,0.000,4,0.000,0.050,3600,2938,1865,0,0,0,0,0,0
$GC,12154,0.92,227.5,772.7,12.3,424,12159,0.00,2.75,0.00,0.000,6,0.000,0.048,3600,1344,1863,0,0,0,0,0,0
$GC,12421,0.92,227.5,741.1,12.0,431,12425,0.00,2.70,0.00,0.000,4,0.000,0.044,3600,2937,1862,0,0,0,0,0,0
$GC,12441,0.92,227.5,738.4,10.7,431,12446,0.00,2.75,0.00,0.000,6,0.000,0.049,3601,1346,1860,0,0,0,0,0,0
$GC,12705,0.92,227.5,706.4,12.2,438,12709,0.00,2.15,0.00,0.000,4,0.000,0.088,3601,162,1860,0,0,0,0,0,0
$GC,12794,0.92,227.5,694.3,13.2,440,12798,0.00,1.92,0.00,0.000,6,0.000,0.030,3601,1345,1860,0,0,0,0,0,0
$GC,13088,0.92,227.5,659.5,11.6,447,13089,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1346,1860,0,0,0,0,0,0
$GC,13329,0.92,227.5,631.7,11.3,453,13333,0.00,2.67,0.00,0.000,4,0.000,0.048,3601,2926,1859,0,0,0,0,0,0
$GC,13354,0.92,227.5,628.8,10.7,453,13358,0.00,2.70,0.00,0.000,6,0.000,0.047,3601,1339,1857,0,0,0,0,0,0
$GC,13615,0.92,227.5,598.8,11.6,460,13618,0.00,2.08,0.00,0.000,4,0.000,0.081,3601,166,1858,0,0,0,0,0,0
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$STATE,18906,end climb,SURFACE_DEPTH_REACHED
$STATE,18906,begin surface coast
$FINISH,0.9,1.023174
$STATE,18956,end surface coast,CONTROL_FINISHED_OK
$STATE,18956,begin surface
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$SM_GC,1.74,0.00,0.00,43.08,0.000,0.000,0.429,413,1558,1209,-13.67,-0.31,390.03
$IRIDIUM_FIX,2316.83,-15826.74,161002,131328
$TT8_MAMPS,0.027612
$HUMID,65.51
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.50
$XPDR_PINGS,16
$24V_AH,23.2,41.489
$10V_AH,9.9,38.962
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.925,169.000,408.450,43.075,0.000,24.335,35.071,283.658,4.000,0.000,16.339,1550.902,14071.308,521.169,2564.045,810.873,33.372,1557.511,0.000,2571.431,0.000,0.536,0.000
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$SENSOR_SECS,495.873,391.199,493.989,1035.921,1370.428,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355820
$DATA_FILE_SIZE,57362,728
$CAP_FILE_SIZE,172386,0
$CFSIZE,260165632,150937600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230713,001706,2320.522,-15806.907,37,1.6,37,10.1