version: 66.06
glider: 148
mission: 12
dive: 347
start: 8 6 113 9 4 8
data:
$ID,148
$MISSION,12
$DIVE,347
$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,-1022943.8
$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,24
$R_STBD_OVSHOOT,119
$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
$GPS1,085236,2302.448,-15740.009,59,1.1,59,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-76.7
$GPS2,090313,2302.421,-15739.947,12,1.1,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.246,-0.084
$KALMAN_X,-126971.4,309.3,40.1,160968.2,988.4
$KALMAN_Y,137147.2,0.6,280.4,-105139.2,-1613.0
$MHEAD_RNG_PITCHd_Wd,240.9,60252,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.25,0.000,2,0.000,0.000,409,1599,2922,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.4,9,123,14.00,2.38,-8.70,0.000,4,0.148,0.031,3104,3084,3397,0,0,0,0,0,0
$GC,234,-1.08,-146.0,35.1,-17.1,29,239,0.20,2.47,0.00,0.000,6,0.098,0.031,3147,1561,3397,0,0,0,0,0,0
$GC,502,-0.88,-146.0,83.6,-15.4,53,507,0.22,2.30,0.00,0.000,4,0.096,0.039,3195,160,3397,0,0,0,0,0,0
$GC,636,-0.88,-146.0,98.3,-8.8,65,640,0.00,2.05,0.00,0.000,6,0.000,0.016,3195,1553,3398,0,0,0,0,0,0
$GC,904,-0.88,-146.0,125.6,-9.9,89,908,0.00,2.25,0.00,0.000,4,0.000,0.041,3195,166,3398,0,0,0,0,0,0
$GC,1004,-0.93,-146.0,136.3,-8.5,98,1013,0.00,2.12,0.00,0.000,6,0.000,0.016,3195,1569,3399,0,0,0,0,0,0
$GC,1268,-0.93,-146.0,160.5,-9.2,123,1272,0.00,2.45,0.00,0.000,4,0.000,0.021,3195,3120,3399,0,0,0,0,0,0
$GC,1304,-1.01,-146.0,163.9,-8.1,126,1309,0.12,2.50,0.00,0.000,6,0.061,0.027,3125,1569,3399,0,0,0,0,0,0
$GC,1565,-0.84,-146.0,198.5,-13.2,150,1570,0.30,2.28,0.00,0.000,4,0.084,0.041,3196,170,3399,0,0,0,0,0,0
$GC,1610,-0.84,-146.0,203.5,-10.0,152,1615,0.00,2.10,0.00,0.000,6,0.000,0.017,3196,1568,3399,0,0,0,0,0,0
$GC,1899,-0.84,-146.0,229.6,-8.7,159,1903,0.00,2.42,0.00,0.000,4,0.000,0.021,3196,3125,3399,0,0,0,0,0,0
$GC,1946,-0.97,-146.0,233.3,-7.0,160,1951,0.10,2.53,0.00,0.000,6,0.074,0.028,3130,1567,3399,0,0,0,0,0,0
$GC,2232,-0.87,-146.0,264.9,-11.7,167,2236,0.25,2.28,0.00,0.000,4,0.083,0.042,3189,168,3399,0,0,0,0,0,0
$GC,2247,-0.80,-146.0,267.0,-12.0,167,2251,0.00,2.12,0.00,0.000,6,0.000,0.018,3189,1584,3399,0,0,0,0,0,0
$GC,2515,-0.86,-146.0,287.6,-7.1,174,2520,0.00,2.40,0.00,0.000,4,0.000,0.024,3189,3117,3399,0,0,0,0,0,0
$GC,2537,-0.93,-146.0,288.9,-6.7,174,2541,0.00,2.50,0.00,0.000,6,0.000,0.029,3189,1581,3398,0,0,0,0,0,0
$GC,2806,-1.00,-146.0,306.8,-7.1,181,2810,0.00,2.45,0.00,0.000,4,0.000,0.026,3189,3119,3397,0,0,0,0,0,0
$GC,2830,-1.09,-146.0,309.2,-8.7,181,2835,0.17,2.50,0.00,0.000,6,0.046,0.031,3108,1579,3397,0,0,0,0,0,0
$GC,3092,-0.97,-146.0,339.8,-12.0,188,3097,0.25,2.38,0.00,0.000,4,0.082,0.051,3169,164,3396,0,0,0,0,0,0
$GC,3126,-0.97,-146.0,343.2,-8.8,188,3130,0.00,2.17,0.00,0.000,6,0.000,0.021,3170,1563,3396,0,0,0,0,0,0
$GC,3378,-0.97,-146.0,363.0,-8.0,194,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1566,3394,0,0,0,0,0,0
$GC,3621,-0.97,-146.0,384.0,-8.4,200,3626,0.00,2.53,0.00,0.000,4,0.000,0.033,3170,3137,3393,0,0,0,0,0,0
$GC,3650,-1.04,-146.0,386.8,-8.5,200,3655,0.00,2.55,0.00,0.000,6,0.000,0.035,3170,1587,3393,0,0,0,0,0,0
$GC,3905,-1.04,-146.0,406.4,-7.6,207,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1587,3391,0,0,0,0,0,0
$GC,4151,-1.04,-146.0,424.9,-7.6,213,4155,0.00,2.55,0.00,0.000,4,0.000,0.036,3170,3133,3389,0,0,0,0,0,0
$GC,4175,-1.11,-146.0,427.1,-9.2,213,4180,0.12,2.55,0.00,0.000,6,0.061,0.037,3105,1595,3389,0,0,0,0,0,0
$GC,4435,-1.02,-146.0,454.9,-10.9,220,4437,0.25,0.00,0.00,0.000,6,0.084,0.000,3161,1595,3387,0,0,0,0,0,0
$GC,4685,-1.02,-146.0,474.0,-7.7,226,4689,0.00,2.55,0.00,0.000,4,0.000,0.041,3162,3140,3386,0,0,0,0,0,0
$GC,4704,-1.07,-146.0,476.0,-7.3,226,4709,0.00,2.58,0.00,0.000,6,0.000,0.037,3162,1591,3385,0,0,0,0,0,0
$GC,4968,-1.07,-146.0,495.3,-7.5,233,4973,0.00,2.55,0.00,0.000,4,0.000,0.040,3162,3140,3384,0,0,0,0,0,0
$GC,4985,-1.11,-146.0,496.6,-7.8,233,4990,0.00,2.55,0.00,0.000,6,0.000,0.038,3162,1605,3384,0,0,0,0,0,0
$GC,5254,-1.11,-146.0,517.9,-8.0,240,5258,0.00,2.47,0.00,0.000,4,0.000,0.073,3162,170,3382,0,0,0,0,0,0
$GC,5273,-1.11,-146.0,519.5,-8.3,240,5277,0.00,2.28,0.00,0.000,6,0.000,0.028,3161,1589,3382,0,0,0,0,0,0
$GC,5539,-1.16,-146.0,540.3,-7.8,247,5541,0.12,0.00,0.00,0.000,6,0.064,0.000,3104,1589,3380,0,0,0,0,0,0
$GC,5781,-1.08,-146.0,565.7,-10.6,253,5786,0.20,2.60,0.00,0.000,4,0.087,0.041,3149,3154,3378,0,0,0,0,0,0
$GC,5796,-1.08,-146.0,567.4,-10.3,253,5801,0.00,2.60,0.00,0.000,6,0.000,0.042,3149,1602,3378,0,0,0,0,0,0
$GC,6067,-1.08,-146.0,587.8,-7.5,260,6071,0.00,2.53,0.00,0.000,4,0.000,0.077,3149,168,3377,0,0,0,0,0,0
$GC,6086,-1.08,-146.0,589.5,-7.7,260,6090,0.00,2.30,0.00,0.000,6,0.000,0.031,3149,1603,3377,0,0,0,0,0,0
$GC,6351,-1.08,-146.0,606.7,-6.4,267,6356,0.00,2.58,0.00,0.000,4,0.000,0.045,3149,3151,3375,0,0,0,0,0,0
$GC,6380,-1.14,-146.0,608.7,-6.4,267,6385,0.00,2.62,0.00,0.000,6,0.000,0.047,3149,1603,3375,0,0,0,0,0,0
$GC,6635,-1.14,-146.0,625.6,-6.9,274,6639,0.00,2.55,0.00,0.000,4,0.000,0.081,3149,167,3374,0,0,0,0,0,0
$GC,6674,-1.14,-146.0,628.8,-8.4,274,6680,0.00,2.35,0.00,0.000,6,0.000,0.033,3149,1608,3374,0,0,0,0,0,0
$GC,6927,-1.14,-146.0,648.7,-7.9,281,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1608,3372,0,0,0,0,0,0
$GC,7168,-1.14,-146.0,667.3,-7.6,287,7169,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1608,3370,0,0,0,0,0,0
$GC,7412,-1.14,-146.0,684.5,-6.9,293,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1608,3369,0,0,0,0,0,0
$GC,7657,-1.14,-146.0,700.0,-6.3,299,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1608,3368,0,0,0,0,0,0
$GC,7899,-1.14,-146.0,715.1,-6.3,305,7904,0.00,2.55,0.00,0.000,4,0.000,0.078,3149,161,3367,0,0,0,0,0,0
$GC,7932,-1.14,-146.0,717.6,-7.6,305,7937,0.00,2.38,0.00,0.000,6,0.000,0.035,3149,1606,3367,0,0,0,0,0,0
$GC,8187,-1.19,-146.0,735.8,-7.5,311,8191,0.00,2.62,0.00,0.000,4,0.000,0.052,3149,3162,3365,0,0,0,0,0,0
$GC,8206,-1.25,-146.0,737.8,-7.9,311,8212,0.15,2.65,0.00,0.000,6,0.055,0.049,3087,1604,3365,0,0,0,0,0,0
$GC,8471,-1.16,-146.0,764.7,-10.5,318,8477,0.20,2.58,0.00,0.000,4,0.092,0.083,3132,161,3364,0,0,0,0,0,0
$GC,8512,-1.16,-146.0,768.6,-9.3,318,8517,0.00,2.38,0.00,0.000,6,0.000,0.035,3132,1606,3364,0,0,0,0,0,0
$GC,8762,-1.16,-146.0,789.0,-7.9,325,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1606,3364,0,0,0,0,0,0
$GC,9010,-1.16,-146.0,807.4,-7.4,331,9014,0.00,2.62,0.00,0.000,4,0.000,0.053,3132,3162,3362,0,0,0,0,0,0
$GC,9031,-1.16,-146.0,809.2,-7.2,331,9035,0.00,2.67,0.00,0.000,6,0.000,0.049,3132,1594,3362,0,0,0,0,0,0
$GC,9295,-1.16,-146.0,827.8,-7.0,338,9299,0.00,2.53,0.00,0.000,4,0.000,0.084,3132,166,3361,0,0,0,0,0,0
$GC,9314,-1.16,-146.0,829.2,-7.8,338,9318,0.00,2.35,0.00,0.000,6,0.000,0.035,3132,1599,3361,0,0,0,0,0,0
$GC,9580,-1.16,-146.0,846.9,-6.6,345,9584,0.00,2.62,0.00,0.000,4,0.000,0.051,3132,3159,3360,0,0,0,0,0,0
$GC,9594,-1.16,-146.0,848.1,-6.4,345,9599,0.00,2.65,0.00,0.000,6,0.000,0.048,3132,1598,3360,0,0,0,0,0,0
$GC,9863,-1.16,-146.0,865.2,-6.2,352,9867,0.00,2.55,0.00,0.000,4,0.000,0.084,3132,166,3359,0,0,0,0,0,0
$GC,9884,-1.16,-146.0,866.7,-7.7,352,9888,0.00,2.33,0.00,0.000,6,0.000,0.035,3132,1599,3359,0,0,0,0,0,0
$GC,10148,-1.16,-146.0,884.3,-6.6,359,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1599,3359,0,0,0,0,0,0
$GC,10392,-1.16,-146.0,899.9,-6.3,365,10393,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1599,3358,0,0,0,0,0,0
$STATE,10432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10432,begin apogee
$GC,10438,-0.31,0.0,902.6,6.3,366,10561,0.80,0.00,119.55,1.161,6,0.067,0.000,3317,1340,2800,0,0,0,0,0,0
$STATE,10562,end apogee,CONTROL_FINISHED_OK
$STATE,10562,begin climb
$GC,10566,1.27,146.0,905.0,0.0,369,10707,1.42,2.20,130.98,1.139,4,0.033,0.079,3669,174,2204,0,0,0,0,0,0
$GC,10797,1.04,146.0,885.6,15.5,374,10802,0.28,1.95,0.00,0.000,6,0.109,0.031,3614,1353,2199,0,0,0,0,0,0
$GC,11073,0.97,146.0,857.0,10.1,381,11077,0.00,2.12,0.00,0.000,4,0.000,0.074,3613,173,2193,0,0,0,0,0,0
$GC,11126,0.86,146.0,851.0,11.5,382,11130,0.20,1.95,0.00,0.000,6,0.104,0.031,3572,1355,2193,0,0,0,0,0,0
$GC,11409,0.91,189.7,827.7,8.0,389,11450,0.00,0.00,39.67,1.075,6,0.000,0.000,3572,1356,2025,0,0,0,0,0,0
$GC,11696,0.94,210.3,802.3,9.0,396,11719,0.00,0.00,20.42,1.024,6,0.000,0.000,3572,1357,1942,0,0,0,0,0,0
$GC,11936,1.01,218.4,779.1,9.6,402,11953,0.12,2.70,8.50,0.897,4,0.067,0.047,3618,2932,1909,0,0,0,0,0,0
$GC,11976,1.01,218.4,774.5,11.1,402,11982,0.00,2.75,0.00,0.000,6,0.000,0.049,3617,1353,1906,0,0,0,0,0,0
$GC,12228,1.01,218.4,743.8,12.3,409,12232,0.00,2.15,0.00,0.000,4,0.000,0.086,3617,162,1905,0,0,0,0,0,0
$GC,12246,0.95,218.4,741.0,13.1,409,12251,0.12,1.95,0.00,0.000,6,0.114,0.030,3592,1353,1905,0,0,0,0,0,0
$GC,12513,0.95,218.4,712.3,10.6,416,12517,0.00,2.67,0.00,0.000,4,0.000,0.048,3592,2936,1905,0,0,0,0,0,0
$GC,12529,0.95,218.4,710.4,10.5,416,12533,0.00,2.72,0.00,0.000,6,0.000,0.047,3592,1349,1902,0,0,0,0,0,0
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$STATE,19009,end climb,SURFACE_DEPTH_REACHED
$STATE,19009,begin surface coast
$FINISH,0.8,1.010181
$STATE,19050,end surface coast,CONTROL_FINISHED_OK
$STATE,19050,begin surface
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$SM_GC,1.92,0.00,0.00,43.65,0.000,0.000,0.428,417,1662,1210,-13.66,2.60,390.03
$IRIDIUM_FIX,2253.38,-15737.57,311002,090904
$TT8_MAMPS,0.027612
$HUMID,65.90
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.40
$XPDR_PINGS,10
$24V_AH,23.1,51.108
$10V_AH,9.8,48.744
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.200,217.925,404.075,43.650,0.000,60.346,77.970,264.868,2.500,0.000,13.631,1579.103,14098.553,566.513,2596.122,905.531,33.376,1657.219,0.000,2595.371,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,57450,716
$CAP_FILE_SIZE,189872,0
$CFSIZE,260165632,145915904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060813,142435,2300.141,-15741.694,65,1.1,65,10.1