version: 66.06
glider: 148
mission: 12
dive: 287
start: 7 24 113 3 57 43
data:
$ID,148
$MISSION,12
$DIVE,287
$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,561.4917
$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,-1021750
$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,25
$R_STBD_OVSHOOT,96
$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
$GPS1,034109,2311.396,-15756.150,42,1.6,49,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.7
$GPS2,035649,2311.442,-15756.101,10,1.3,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK
$TGT_LATLONG,2309.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.075,-0.249
$KALMAN_X,-190710.8,190.4,359.4,196915.7,-146.0
$KALMAN_Y,159971.7,-265.5,-430.1,-110278.5,1590.5
$MHEAD_RNG_PITCHd_Wd,153.2,4895,-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,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-66.85,0.000,2,0.000,0.000,408,1575,2933,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.6,9,121,14.43,2.35,-8.55,0.000,4,0.163,0.049,3104,161,3397,0,0,0,0,0,0
$GC,153,-0.88,-146.0,21.2,-24.7,17,162,0.35,2.12,0.00,0.000,6,0.084,0.017,3185,1546,3397,0,0,0,0,0,0
$GC,433,-0.77,-146.0,65.1,-13.1,45,442,0.15,0.00,0.00,0.000,6,0.098,0.000,3219,1549,3397,0,0,0,0,0,0
$GC,697,-0.77,-146.0,91.3,-9.4,70,702,0.00,2.47,0.00,0.000,4,0.000,0.021,3219,3143,3398,0,0,0,0,0,0
$GC,717,-0.77,-146.0,93.1,-9.0,71,722,0.00,2.55,0.00,0.000,6,0.000,0.027,3219,1560,3398,0,0,0,0,0,0
$GC,984,-0.77,-146.0,115.6,-8.8,95,988,0.00,2.28,0.00,0.000,4,0.000,0.043,3219,170,3398,0,0,0,0,0,0
$GC,1016,-0.77,-146.0,118.9,-9.3,97,1022,0.00,2.12,0.00,0.000,6,0.000,0.017,3219,1606,3398,0,0,0,0,0,0
$GC,1280,-0.83,-146.0,139.6,-7.8,122,1284,0.00,2.33,0.00,0.000,4,0.000,0.021,3219,3108,3398,0,0,0,0,0,0
$GC,1301,-0.91,-146.0,140.9,-7.5,123,1306,0.15,2.45,0.00,0.000,6,0.051,0.027,3138,1582,3398,0,0,0,0,0,0
$GC,1563,-0.78,-146.0,175.0,-13.6,147,1568,0.32,2.30,0.00,0.000,4,0.081,0.041,3213,165,3398,0,0,0,0,0,0
$GC,1621,-0.87,-146.0,181.1,-9.4,152,1625,0.00,2.10,0.00,0.000,6,0.000,0.017,3213,1579,3398,0,0,0,0,0,0
$GC,1893,-0.94,-146.0,203.1,-7.5,174,1898,0.15,2.40,0.00,0.000,4,0.054,0.021,3141,3115,3398,0,0,0,0,0,0
$GC,1939,-0.94,-146.0,207.4,-10.5,175,1944,0.17,2.45,0.00,0.000,6,0.087,0.028,3182,1581,3398,0,0,0,0,0,0
$GC,2227,-0.94,-146.0,231.6,-8.2,182,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1581,3398,0,0,0,0,0,0
$GC,2471,-0.94,-146.0,248.9,-7.0,188,2475,0.00,2.42,0.00,0.000,4,0.000,0.021,3182,3121,3397,0,0,0,0,0,0
$GC,2487,-0.98,-146.0,249.9,-6.9,188,2491,0.00,2.45,0.00,0.000,6,0.000,0.027,3181,1586,3398,0,0,0,0,0,0
$GC,2756,-0.98,-146.0,269.4,-7.7,195,2760,0.00,2.33,0.00,0.000,4,0.000,0.048,3182,167,3397,0,0,0,0,0,0
$GC,2808,-1.04,-146.0,273.6,-9.2,196,2813,0.10,2.12,0.00,0.000,6,0.074,0.019,3122,1569,3397,0,0,0,0,0,0
$GC,3097,-0.96,-146.0,306.7,-11.0,203,3102,0.25,2.50,0.00,0.000,4,0.082,0.026,3182,3140,3395,0,0,0,0,0,0
$GC,3122,-1.02,-146.0,309.1,-8.7,203,3127,0.00,2.55,0.00,0.000,6,0.000,0.031,3182,1579,3396,0,0,0,0,0,0
$GC,3384,-1.08,-146.0,327.6,-7.1,210,3386,0.15,0.00,0.00,0.000,6,0.055,0.000,3115,1579,3394,0,0,0,0,0,0
$GC,3628,-0.99,-146.0,353.5,-10.8,216,3633,0.22,2.35,0.00,0.000,4,0.084,0.054,3167,170,3393,0,0,0,0,0,0
$GC,3672,-1.07,-146.0,357.8,-9.0,217,3676,0.00,2.17,0.00,0.000,6,0.000,0.021,3167,1567,3392,0,0,0,0,0,0
$GC,3961,-1.11,-146.0,380.5,-8.0,224,3966,0.10,2.55,0.00,0.000,4,0.076,0.032,3114,3142,3390,0,0,0,0,0,0
$GC,3995,-1.11,-146.0,384.0,-9.7,224,4000,0.12,2.60,0.00,0.000,6,0.098,0.038,3143,1575,3390,0,0,0,0,0,0
$GC,4247,-1.11,-146.0,406.3,-8.8,230,4251,0.00,2.38,0.00,0.000,4,0.000,0.062,3143,165,3389,0,0,0,0,0,0
$GC,4279,-1.11,-146.0,409.7,-9.9,230,4283,0.00,2.22,0.00,0.000,6,0.000,0.024,3143,1578,3388,0,0,0,0,0,0
$GC,4534,-1.11,-146.0,432.1,-8.9,237,4538,0.00,2.55,0.00,0.000,4,0.000,0.035,3143,3140,3387,0,0,0,0,0,0
$GC,4569,-1.17,-146.0,435.0,-8.3,237,4573,0.00,2.60,0.00,0.000,6,0.000,0.038,3142,1572,3386,0,0,0,0,0,0
$GC,4819,-1.17,-146.0,455.3,-8.1,243,4823,0.00,2.38,0.00,0.000,4,0.000,0.067,3143,171,3384,0,0,0,0,0,0
$GC,4853,-1.17,-146.0,458.4,-9.1,243,4858,0.00,2.20,0.00,0.000,6,0.000,0.027,3143,1572,3385,0,0,0,0,0,0
$GC,5105,-1.17,-146.0,479.4,-8.3,249,5110,0.00,2.58,0.00,0.000,4,0.000,0.039,3143,3140,3382,0,0,0,0,0,0
$GC,5129,-1.17,-146.0,481.7,-10.3,249,5133,0.00,2.60,0.00,0.000,6,0.000,0.039,3143,1574,3382,0,0,0,0,0,0
$GC,5393,-1.17,-146.0,503.5,-8.4,256,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1574,3380,0,0,0,0,0,0
$GC,5634,-1.17,-146.0,523.1,-8.0,262,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1574,3379,0,0,0,0,0,0
$GC,5875,-1.17,-146.0,542.4,-7.9,268,5880,0.00,2.62,0.00,0.000,4,0.000,0.043,3142,3140,3377,0,0,0,0,0,0
$GC,5890,-1.17,-146.0,543.7,-8.2,268,5894,0.00,2.60,0.00,0.000,6,0.000,0.041,3143,1583,3377,0,0,0,0,0,0
$GC,6159,-1.17,-146.0,566.7,-8.7,275,6163,0.00,2.47,0.00,0.000,4,0.000,0.077,3143,168,3376,0,0,0,0,0,0
$GC,6187,-1.17,-146.0,569.3,-8.9,275,6191,0.00,2.25,0.00,0.000,6,0.000,0.029,3143,1573,3375,0,0,0,0,0,0
$GC,6442,-1.17,-146.0,590.6,-8.3,282,6446,0.00,2.62,0.00,0.000,4,0.000,0.044,3143,3152,3374,0,0,0,0,0,0
$GC,6472,-1.23,-146.0,592.9,-8.0,282,6478,0.12,2.65,0.00,0.000,6,0.064,0.045,3085,1581,3374,0,0,0,0,0,0
$GC,6728,-1.13,-146.0,618.7,-10.3,289,6733,0.22,2.47,0.00,0.000,4,0.087,0.078,3136,164,3372,0,0,0,0,0,0
$GC,6757,-1.13,-146.0,621.6,-9.0,289,6762,0.00,2.30,0.00,0.000,6,0.000,0.031,3136,1584,3372,0,0,0,0,0,0
$GC,7018,-1.13,-146.0,641.8,-7.9,296,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1584,3370,0,0,0,0,0,0
$GC,7257,-1.13,-146.0,662.3,-8.4,302,7262,0.00,2.47,0.00,0.000,4,0.000,0.073,3136,170,3369,0,0,0,0,0,0
$GC,7272,-1.13,-146.0,663.6,-8.2,302,7276,0.00,2.30,0.00,0.000,6,0.000,0.031,3136,1588,3369,0,0,0,0,0,0
$GC,7542,-1.13,-146.0,685.0,-7.8,309,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1589,3368,0,0,0,0,0,0
$GC,7784,-1.13,-146.0,702.9,-7.2,315,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1589,3367,0,0,0,0,0,0
$GC,8030,-1.13,-146.0,720.3,-7.2,321,8034,0.00,2.47,0.00,0.000,4,0.000,0.075,3136,168,3365,0,0,0,0,0,0
$GC,8049,-1.13,-146.0,722.1,-7.7,321,8053,0.00,2.28,0.00,0.000,6,0.000,0.033,3136,1579,3365,0,0,0,0,0,0
$GC,8314,-1.13,-146.0,741.3,-7.5,328,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1579,3364,0,0,0,0,0,0
$GC,8556,-1.13,-146.0,760.1,-7.9,334,8561,0.00,2.62,0.00,0.000,4,0.000,0.049,3135,3156,3363,0,0,0,0,0,0
$GC,8576,-1.13,-146.0,761.7,-8.1,334,8580,0.00,2.67,0.00,0.000,6,0.000,0.048,3136,1579,3363,0,0,0,0,0,0
$GC,8844,-1.13,-146.0,780.2,-7.0,341,8848,0.00,2.50,0.00,0.000,4,0.000,0.083,3136,168,3362,0,0,0,0,0,0
$GC,8887,-1.13,-146.0,784.0,-7.9,342,8891,0.00,2.30,0.00,0.000,6,0.000,0.034,3136,1581,3362,0,0,0,0,0,0
$GC,9174,-1.13,-146.0,804.5,-7.1,349,9178,0.00,2.62,0.00,0.000,4,0.000,0.049,3136,3162,3361,0,0,0,0,0,0
$GC,9200,-1.19,-146.0,806.2,-7.2,349,9204,0.00,2.70,0.00,0.000,6,0.000,0.050,3136,1576,3361,0,0,0,0,0,0
$GC,9462,-1.19,-146.0,824.2,-6.9,356,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1576,3360,0,0,0,0,0,0
$GC,9703,-1.19,-146.0,840.3,-6.5,362,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1576,3358,0,0,0,0,0,0
$GC,9948,-1.19,-146.0,855.6,-6.3,368,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1576,3358,0,0,0,0,0,0
$GC,10190,-1.19,-146.0,871.8,-6.7,374,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1576,3357,0,0,0,0,0,0
$GC,10434,-1.19,-146.0,888.2,-6.7,380,10438,0.00,2.47,0.00,0.000,4,0.000,0.084,3136,166,3357,0,0,0,0,0,0
$GC,10458,-1.19,-146.0,890.0,-8.7,380,10462,0.00,2.30,0.00,0.000,6,0.000,0.034,3136,1575,3356,0,0,0,0,0,0
$STATE,10633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10633,begin apogee
$GC,10641,-0.31,0.0,901.8,6.6,385,10762,0.77,0.00,117.97,1.153,6,0.074,0.000,3314,1343,2800,0,0,0,0,0,0
$STATE,10763,end apogee,CONTROL_FINISHED_OK
$STATE,10763,begin climb
$GC,10766,1.27,146.0,905.2,0.0,388,10905,1.45,2.15,130.00,1.130,4,0.034,0.077,3669,184,2204,0,0,0,0,0,0
$GC,11083,1.01,146.0,875.5,15.3,395,11088,0.30,1.90,0.00,0.000,6,0.108,0.030,3608,1354,2197,0,0,0,0,0,0
$GC,11366,0.94,146.0,845.7,10.2,402,11370,0.00,2.10,0.00,0.000,4,0.000,0.072,3607,176,2192,0,0,0,0,0,0
$GC,11419,0.82,146.0,839.8,11.1,403,11424,0.15,1.95,0.00,0.000,6,0.089,0.031,3565,1345,2192,0,0,0,0,0,0
$GC,11702,0.86,179.8,815.3,8.4,410,11733,0.00,0.00,30.02,1.051,6,0.000,0.000,3565,1345,2067,0,0,0,0,0,0
$GC,11948,0.88,199.7,793.1,9.1,416,11973,0.00,2.80,19.38,1.012,4,0.000,0.052,3565,2940,1984,0,0,0,0,0,0
$GC,12010,1.00,215.1,787.5,9.3,417,12032,0.15,2.75,15.48,0.981,6,0.059,0.050,3617,1359,1923,0,0,0,0,0,0
$GC,12278,0.95,215.1,756.0,11.8,423,12282,0.12,2.17,0.00,0.000,4,0.112,0.087,3592,165,1919,0,0,0,0,0,0
$GC,12331,0.95,215.1,749.6,10.6,424,12334,0.00,1.95,0.00,0.000,6,0.000,0.032,3592,1350,1919,0,0,0,0,0,0
$GC,12615,0.95,215.1,720.0,10.4,431,12619,0.00,2.70,0.00,0.000,4,0.000,0.051,3592,2937,1917,0,0,0,0,0,0
$GC,12638,0.95,215.1,717.2,11.2,431,12643,0.00,2.72,0.00,0.000,6,0.000,0.048,3592,1341,1915,0,0,0,0,0,0
$GC,12899,0.95,215.1,688.0,11.5,438,12903,0.00,2.12,0.00,0.000,4,0.000,0.087,3592,159,1915,0,0,0,0,0,0
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$STATE,19044,end climb,SURFACE_DEPTH_REACHED
$STATE,19044,begin surface coast
$FINISH,1.1,1.023199
$STATE,19084,end surface coast,CONTROL_FINISHED_OK
$STATE,19084,begin surface
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$IRIDIUM_FIX,2305.10,-15755.81,181002,040450
$TT8_MAMPS,0.027612
$HUMID,61.22
$INTERNAL_PRESSURE,9.34993
$TCM_TEMP,22.80
$XPDR_PINGS,9
$24V_AH,23.2,42.376
$10V_AH,9.9,39.856
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.525,215.500,399.750,177.150,0.000,140.117,400.399,0.000,2.250,0.000,12.138,1606.245,14198.468,693.832,2700.457,1032.974,33.375,1819.979,0.000,2705.820,0.000,0.537,0.000
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$SENSOR_SECS,491.110,386.132,485.776,1014.402,1339.542,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,57126,721
$CAP_FILE_SIZE,185350,0
$CFSIZE,260165632,150446080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,240713,092036,2309.623,-15753.810,28,1.1,28,10.1