version: 66.06
glider: 148
mission: 12
dive: 324
start: 8 1 113 7 48 12
data:
$ID,148
$MISSION,12
$DIVE,324
$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,-1022530.4
$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,42
$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
$GPS1,073556,2317.615,-15742.200,37,2.3,56,10.2
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-75.5
$GPS2,074718,2317.525,-15742.169,10,1.5,10,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK7
$TGT_LATLONG,2321.000,-15753.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.257,0.037
$KALMAN_X,-151978.2,-67.3,61.2,182540.2,653.7
$KALMAN_Y,154161.6,-340.1,-235.8,-93321.0,649.0
$MHEAD_RNG_PITCHd_Wd,268.0,20312,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.18,0.000,2,0.000,0.000,412,1666,2959,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.6,-5.2,9,122,13.88,2.55,-7.62,0.000,4,0.145,0.054,3104,163,3398,0,0,0,0,0,0
$GC,221,-0.95,-146.0,41.7,-24.5,25,226,0.32,2.20,0.00,0.000,6,0.091,0.017,3176,1594,3399,0,0,0,0,0,0
$GC,491,-0.84,-146.0,81.6,-12.2,49,496,0.12,2.42,0.00,0.000,4,0.107,0.021,3204,3147,3399,0,0,0,0,0,0
$GC,524,-0.89,-146.0,86.1,-8.8,51,530,0.00,2.53,0.00,0.000,6,0.000,0.027,3204,1572,3400,0,0,0,0,0,0
$GC,789,-0.89,-146.0,109.8,-9.7,76,799,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1572,3400,0,0,0,0,0,0
$GC,1053,-0.89,-146.0,135.1,-9.5,101,1058,0.00,2.45,0.00,0.000,4,0.000,0.021,3204,3140,3400,0,0,0,0,0,0
$GC,1074,-0.89,-146.0,137.3,-10.0,102,1083,0.00,2.55,0.00,0.000,6,0.000,0.027,3204,1580,3400,0,0,0,0,0,0
$GC,1340,-0.89,-146.0,163.9,-10.8,127,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1579,3401,0,0,0,0,0,0
$GC,1603,-0.89,-146.0,190.6,-9.7,152,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1579,3400,0,0,0,0,0,0
$GC,1873,-0.89,-146.0,213.6,-8.3,166,1877,0.00,2.45,0.00,0.000,4,0.000,0.021,3204,3144,3400,0,0,0,0,0,0
$GC,1897,-0.98,-146.0,215.8,-7.8,166,1902,0.15,2.55,0.00,0.000,6,0.053,0.028,3125,1570,3400,0,0,0,0,0,0
$GC,2159,-0.84,-146.0,246.9,-12.4,173,2161,0.35,0.00,0.00,0.000,6,0.079,0.000,3203,1570,3400,0,0,0,0,0,0
$GC,2402,-0.92,-146.0,263.7,-6.5,179,2406,0.00,2.50,0.00,0.000,4,0.000,0.024,3203,3140,3400,0,0,0,0,0,0
$GC,2426,-1.04,-146.0,265.3,-6.6,179,2431,0.20,2.53,0.00,0.000,6,0.044,0.028,3114,1574,3400,0,0,0,0,0,0
$GC,2690,-0.91,-146.0,295.2,-12.2,186,2695,0.30,2.33,0.00,0.000,4,0.081,0.045,3186,168,3400,0,0,0,0,0,0
$GC,2738,-0.97,-146.0,300.5,-8.8,187,2742,0.00,2.17,0.00,0.000,6,0.000,0.020,3185,1576,3400,0,0,0,0,0,0
$GC,3023,-1.03,-146.0,321.4,-7.2,194,3028,0.10,2.53,0.00,0.000,4,0.076,0.028,3125,3144,3399,0,0,0,0,0,0
$GC,3056,-1.03,-146.0,324.6,-9.5,194,3062,0.15,2.55,0.00,0.000,6,0.091,0.033,3160,1575,3399,0,0,0,0,0,0
$GC,3306,-1.03,-146.0,345.8,-8.6,200,3311,0.00,2.35,0.00,0.000,4,0.000,0.054,3161,167,3397,0,0,0,0,0,0
$GC,3354,-1.03,-146.0,349.6,-8.9,201,3358,0.00,2.15,0.00,0.000,6,0.000,0.021,3161,1570,3397,0,0,0,0,0,0
$GC,3641,-1.03,-146.0,370.9,-7.2,208,3645,0.00,2.53,0.00,0.000,4,0.000,0.031,3160,3144,3394,0,0,0,0,0,0
$GC,3671,-1.09,-146.0,373.1,-7.0,208,3676,0.00,2.60,0.00,0.000,6,0.000,0.036,3161,1572,3394,0,0,0,0,0,0
$GC,3926,-1.09,-146.0,392.3,-7.7,215,3930,0.00,2.38,0.00,0.000,4,0.000,0.061,3162,170,3393,0,0,0,0,0,0
$GC,3949,-1.09,-146.0,394.6,-9.6,215,3953,0.00,2.17,0.00,0.000,6,0.000,0.022,3161,1575,3393,0,0,0,0,0,0
$GC,4215,-1.09,-146.0,417.9,-8.9,222,4219,0.00,2.55,0.00,0.000,4,0.000,0.035,3160,3144,3391,0,0,0,0,0,0
$GC,4253,-1.18,-146.0,421.3,-8.6,222,4259,0.15,2.60,0.00,0.000,6,0.054,0.038,3090,1577,3390,0,0,0,0,0,0
$GC,4503,-1.05,-146.0,450.5,-12.0,229,4508,0.25,2.40,0.00,0.000,4,0.087,0.064,3151,172,3388,0,0,0,0,0,0
$GC,4549,-1.05,-146.0,454.9,-8.8,230,4553,0.00,2.20,0.00,0.000,6,0.000,0.026,3151,1570,3388,0,0,0,0,0,0
$GC,4837,-1.05,-146.0,478.0,-8.0,237,4842,0.00,2.60,0.00,0.000,4,0.000,0.041,3150,3148,3386,0,0,0,0,0,0
$GC,4862,-1.10,-146.0,480.0,-8.5,237,4866,0.00,2.60,0.00,0.000,6,0.000,0.038,3150,1584,3386,0,0,0,0,0,0
$GC,5123,-1.10,-146.0,499.3,-7.5,244,5127,0.00,2.45,0.00,0.000,4,0.000,0.071,3150,170,3385,0,0,0,0,0,0
$GC,5156,-1.10,-146.0,502.4,-8.8,244,5160,0.00,2.25,0.00,0.000,6,0.000,0.029,3150,1587,3384,0,0,0,0,0,0
$GC,5406,-1.10,-146.0,521.3,-7.6,250,5410,0.00,2.55,0.00,0.000,4,0.000,0.042,3150,3145,3383,0,0,0,0,0,0
$GC,5422,-1.10,-146.0,522.6,-7.7,250,5427,0.00,2.60,0.00,0.000,6,0.000,0.039,3150,1578,3383,0,0,0,0,0,0
$GC,5691,-1.10,-146.0,543.4,-7.7,257,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1578,3381,0,0,0,0,0,0
$GC,5935,-1.10,-146.0,562.2,-7.7,263,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1578,3379,0,0,0,0,0,0
$GC,6180,-1.10,-146.0,581.3,-7.8,269,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1578,3378,0,0,0,0,0,0
$GC,6424,-1.10,-146.0,598.6,-6.9,275,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1578,3376,0,0,0,0,0,0
$GC,6668,-1.10,-146.0,615.0,-6.7,281,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1578,3375,0,0,0,0,0,0
$GC,6910,-1.10,-146.0,632.0,-7.0,287,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1578,3374,0,0,0,0,0,0
$GC,7155,-1.10,-146.0,649.7,-7.3,293,7159,0.00,2.67,0.00,0.000,4,0.000,0.049,3150,3153,3372,0,0,0,0,0,0
$GC,7179,-1.16,-146.0,651.6,-8.5,293,7184,0.00,2.67,0.00,0.000,6,0.000,0.048,3150,1580,3372,0,0,0,0,0,0
$GC,7439,-1.16,-146.0,668.4,-6.3,300,7443,0.00,2.50,0.00,0.000,4,0.000,0.084,3150,173,3370,0,0,0,0,0,0
$GC,7480,-1.16,-146.0,671.1,-7.2,300,7490,0.00,2.30,0.00,0.000,6,0.000,0.034,3150,1567,3370,0,0,0,0,0,0
$GC,7730,-1.16,-146.0,688.3,-6.9,307,7735,0.00,2.67,0.00,0.000,4,0.000,0.052,3150,3157,3369,0,0,0,0,0,0
$GC,7754,-1.22,-146.0,690.1,-8.2,307,7761,0.15,2.67,0.00,0.000,6,0.054,0.048,3085,1581,3369,0,0,0,0,0,0
$GC,8017,-1.12,-146.0,716.0,-10.3,314,8019,0.25,0.00,0.00,0.000,6,0.088,0.000,3140,1581,3368,0,0,0,0,0,0
$GC,8260,-1.12,-146.0,734.7,-7.5,320,8264,0.00,2.50,0.00,0.000,4,0.000,0.083,3140,170,3367,0,0,0,0,0,0
$GC,8306,-1.12,-146.0,738.1,-8.0,321,8310,0.00,2.30,0.00,0.000,6,0.000,0.035,3140,1582,3367,0,0,0,0,0,0
$GC,8594,-1.12,-146.0,760.0,-7.6,328,8596,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1583,3365,0,0,0,0,0,0
$GC,8836,-1.12,-146.0,777.5,-7.2,334,8841,0.00,2.65,0.00,0.000,4,0.000,0.052,3140,3156,3364,0,0,0,0,0,0
$GC,8856,-1.17,-146.0,779.0,-7.7,334,8861,0.00,2.67,0.00,0.000,6,0.000,0.048,3140,1584,3364,0,0,0,0,0,0
$GC,9124,-1.17,-146.0,796.7,-6.7,341,9129,0.00,2.53,0.00,0.000,4,0.000,0.084,3141,163,3364,0,0,0,0,0,0
$GC,9157,-1.17,-146.0,799.5,-8.1,341,9162,0.00,2.33,0.00,0.000,6,0.000,0.035,3140,1581,3364,0,0,0,0,0,0
$GC,9408,-1.17,-146.0,817.1,-7.1,347,9412,0.00,2.65,0.00,0.000,4,0.000,0.052,3140,3157,3362,0,0,0,0,0,0
$GC,9443,-1.26,-146.0,819.5,-7.0,347,9448,0.12,2.67,0.00,0.000,6,0.064,0.049,3084,1586,3363,0,0,0,0,0,0
$GC,9694,-1.18,-146.0,843.1,-9.7,353,9699,0.20,2.53,0.00,0.000,4,0.093,0.081,3128,165,3362,0,0,0,0,0,0
$GC,9752,-1.18,-146.0,848.6,-9.3,354,9756,0.00,2.33,0.00,0.000,6,0.000,0.035,3128,1586,3361,0,0,0,0,0,0
$GC,10033,-1.18,-146.0,869.6,-7.5,361,10038,0.00,2.65,0.00,0.000,4,0.000,0.055,3128,3165,3360,0,0,0,0,0,0
$GC,10057,-1.18,-146.0,871.8,-8.1,361,10062,0.00,2.70,0.00,0.000,6,0.000,0.049,3128,1579,3360,0,0,0,0,0,0
$GC,10319,-1.18,-146.0,889.7,-6.9,368,10323,0.00,2.50,0.00,0.000,4,0.000,0.083,3128,167,3359,0,0,0,0,0,0
$GC,10352,-1.18,-146.0,892.3,-7.4,368,10356,0.00,2.30,0.00,0.000,6,0.000,0.035,3128,1581,3359,0,0,0,0,0,0
$STATE,10481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10481,begin apogee
$GC,10487,-0.31,0.0,901.6,7.3,371,10610,0.82,0.00,119.47,1.154,6,0.070,0.000,3319,1337,2800,0,0,0,0,0,0
$STATE,10611,end apogee,CONTROL_FINISHED_OK
$STATE,10611,begin climb
$GC,10615,1.27,146.0,905.4,0.0,374,10754,1.42,2.15,130.68,1.135,4,0.033,0.079,3667,167,2204,0,0,0,0,0,0
$GC,10885,1.02,146.0,883.0,13.4,380,10890,0.28,1.98,0.00,0.000,6,0.110,0.032,3611,1362,2198,0,0,0,0,0,0
$GC,11172,0.95,146.4,854.3,10.0,387,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,1363,2193,0,0,0,0,0,0
$GC,11412,0.88,146.4,828.6,10.9,393,11417,0.15,2.12,0.00,0.000,4,0.110,0.073,3578,169,2192,0,0,0,0,0,0
$GC,11437,0.83,146.4,825.8,11.5,393,11440,0.00,1.92,0.00,0.000,6,0.000,0.031,3578,1344,2192,0,0,0,0,0,0
$GC,11702,0.85,165.8,801.3,9.1,400,11726,0.00,2.80,17.52,1.016,4,0.000,0.054,3578,2926,2122,0,0,0,0,0,0
$GC,11741,0.88,188.2,797.6,9.0,400,11768,0.00,2.75,21.85,1.022,6,0.000,0.050,3578,1360,2032,0,0,0,0,0,0
$GC,12036,0.90,205.7,770.2,9.2,408,12060,0.00,2.20,17.25,0.994,4,0.000,0.086,3578,160,1961,0,0,0,0,0,0
$GC,12070,0.95,242.9,766.6,8.3,408,12111,0.00,1.98,36.45,1.031,6,0.000,0.031,3578,1352,1809,0,0,0,0,0,0
$GC,12366,1.00,242.9,736.4,10.5,416,12371,0.10,2.72,0.00,0.000,4,0.079,0.054,3617,2931,1802,0,0,0,0,0,0
$GC,12401,1.00,242.9,731.8,13.0,416,12406,0.00,2.75,0.00,0.000,6,0.000,0.051,3617,1345,1799,0,0,0,0,0,0
$GC,12651,1.00,242.9,699.5,13.0,422,12652,0.00,0.00,0.00,0.000,6,0.000,0.000,3617,1345,1799,0,0,0,0,0,0
$GC,12894,1.00,242.9,667.8,12.8,428,12899,0.00,2.70,0.00,0.000,4,0.000,0.046,3617,2934,1798,0,0,0,0,0,0
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$STATE,18768,end climb,SURFACE_DEPTH_REACHED
$STATE,18768,begin surface coast
$FINISH,1.0,1.010004
$STATE,18820,end surface coast,CONTROL_FINISHED_OK
$STATE,18820,begin surface
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$TT8_MAMPS,0.027612
$HUMID,66.42
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.80
$XPDR_PINGS,10
$24V_AH,23.2,47.779
$10V_AH,9.8,45.349
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.350,214.575,409.925,42.900,0.000,50.355,75.666,330.288,2.500,0.000,11.959,1572.691,13862.123,550.202,2627.366,950.478,33.376,1672.859,0.000,2632.402,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,483.222,377.172,478.573,975.743,1289.419,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,57151,710
$CAP_FILE_SIZE,187877,0
$CFSIZE,260165632,147664896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010813,130441,2317.247,-15744.316,40,1.6,57,10.2