version: 66.06
glider: 148
mission: 12
dive: 349
start: 8 6 113 20 10 48
data:
$ID,148
$MISSION,12
$DIVE,349
$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,-1022981.7
$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,89
$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
$GPS1,195814,2257.711,-15742.949,42,3.4,61,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-77.6
$GPS2,200956,2257.673,-15742.938,14,1.7,21,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.247,-0.079
$KALMAN_X,-123838.8,72.2,-50.6,153047.8,1296.3
$KALMAN_Y,133466.2,-386.6,171.5,-109751.5,-1121.1
$MHEAD_RNG_PITCHd_Wd,242.1,50642,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,88,0.00,0.00,-67.68,0.000,2,0.000,0.000,415,1595,2953,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.3,-3.9,9,123,13.80,2.42,-8.15,0.000,4,0.143,0.054,3104,167,3398,0,0,0,0,0,0
$GC,245,-0.96,-146.0,44.9,-22.2,28,255,0.28,2.12,0.00,0.000,6,0.082,0.018,3170,1543,3399,0,0,0,0,0,0
$GC,513,-0.83,-146.0,86.5,-14.2,53,518,0.15,0.00,0.00,0.000,6,0.101,0.000,3203,1546,3399,0,0,0,0,0,0
$GC,776,-0.83,-146.0,115.6,-10.0,78,780,0.00,2.53,0.00,0.000,4,0.000,0.021,3203,3148,3400,0,0,0,0,0,0
$GC,826,-0.93,-146.0,120.0,-8.6,82,830,0.00,2.58,0.00,0.000,6,0.000,0.028,3203,1560,3400,0,0,0,0,0,0
$GC,1089,-0.93,-146.0,143.4,-9.2,106,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1560,3400,0,0,0,0,0,0
$GC,1347,-0.93,-146.0,167.6,-9.5,130,1351,0.00,2.47,0.00,0.000,4,0.000,0.022,3203,3139,3401,0,0,0,0,0,0
$GC,1392,-1.04,-146.0,172.3,-8.7,134,1397,0.20,2.55,0.00,0.000,6,0.042,0.028,3113,1569,3401,0,0,0,0,0,0
$GC,1675,-0.86,-146.0,212.1,-14.3,154,1677,0.38,0.00,0.00,0.000,6,0.081,0.000,3196,1568,3401,0,0,0,0,0,0
$GC,1917,-0.86,-146.0,234.5,-8.5,160,1921,0.00,2.30,0.00,0.000,4,0.000,0.046,3196,171,3401,0,0,0,0,0,0
$GC,1954,-0.90,-146.0,238.4,-9.7,160,1959,0.00,2.15,0.00,0.000,6,0.000,0.018,3196,1588,3401,0,0,0,0,0,0
$GC,2211,-0.95,-146.0,259.2,-8.1,166,2215,0.00,2.40,0.00,0.000,4,0.000,0.022,3196,3123,3401,0,0,0,0,0,0
$GC,2240,-1.07,-146.0,261.9,-8.0,166,2245,0.20,2.55,0.00,0.000,6,0.041,0.029,3104,1556,3401,0,0,0,0,0,0
$GC,2495,-0.93,-146.0,293.3,-12.4,173,2501,0.30,2.50,0.00,0.000,4,0.082,0.025,3176,3124,3400,0,0,0,0,0,0
$GC,2526,-0.93,-146.0,296.0,-7.6,173,2531,0.00,2.53,0.00,0.000,6,0.000,0.030,3176,1575,3400,0,0,0,0,0,0
$GC,2781,-0.93,-146.0,316.0,-7.9,180,2786,0.00,2.47,0.00,0.000,4,0.000,0.028,3176,3122,3400,0,0,0,0,0,0
$GC,2805,-0.98,-146.0,318.3,-9.2,180,2810,0.00,2.53,0.00,0.000,6,0.000,0.032,3176,1583,3400,0,0,0,0,0,0
$GC,3067,-0.98,-146.0,338.6,-7.9,187,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1583,3398,0,0,0,0,0,0
$GC,3309,-0.98,-146.0,357.7,-7.6,193,3313,0.00,2.47,0.00,0.000,4,0.000,0.031,3176,3116,3397,0,0,0,0,0,0
$GC,3338,-1.07,-146.0,359.7,-7.4,193,3343,0.00,2.53,0.00,0.000,6,0.000,0.035,3176,1588,3396,0,0,0,0,0,0
$GC,3595,-1.07,-146.0,379.3,-8.0,200,3599,0.00,2.42,0.00,0.000,4,0.000,0.059,3176,161,3395,0,0,0,0,0,0
$GC,3641,-1.12,-146.0,383.5,-9.5,201,3646,0.15,2.17,0.00,0.000,6,0.054,0.021,3108,1570,3395,0,0,0,0,0,0
$GC,3929,-1.02,-146.0,415.0,-10.9,208,3931,0.25,0.00,0.00,0.000,6,0.083,0.000,3164,1573,3392,0,0,0,0,0,0
$GC,4174,-1.02,-146.0,434.0,-7.7,214,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1573,3391,0,0,0,0,0,0
$GC,4416,-1.02,-146.0,453.4,-8.0,220,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1573,3389,0,0,0,0,0,0
$GC,4664,-1.02,-146.0,472.8,-7.8,226,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1573,3388,0,0,0,0,0,0
$GC,4905,-1.02,-146.0,490.4,-7.1,232,4910,0.00,2.60,0.00,0.000,4,0.000,0.043,3164,3141,3386,0,0,0,0,0,0
$GC,4929,-1.09,-146.0,492.3,-7.9,232,4934,0.00,2.60,0.00,0.000,6,0.000,0.038,3164,1581,3386,0,0,0,0,0,0
$GC,5190,-1.13,-146.0,510.8,-7.1,239,5194,0.12,2.47,0.00,0.000,4,0.064,0.074,3108,170,3384,0,0,0,0,0,0
$GC,5216,-1.06,-146.0,513.3,-10.1,239,5221,0.20,2.25,0.00,0.000,6,0.087,0.029,3154,1571,3384,0,0,0,0,0,0
$GC,5479,-1.06,-146.0,533.8,-7.6,246,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1571,3382,0,0,0,0,0,0
$GC,5720,-1.06,-146.0,551.5,-7.2,252,5724,0.00,2.62,0.00,0.000,4,0.000,0.045,3154,3144,3381,0,0,0,0,0,0
$GC,5736,-1.06,-146.0,552.7,-7.4,252,5740,0.00,2.65,0.00,0.000,6,0.000,0.047,3154,1569,3381,0,0,0,0,0,0
$GC,6005,-1.06,-146.0,571.8,-7.2,259,6009,0.00,2.62,0.00,0.000,4,0.000,0.044,3154,3144,3379,0,0,0,0,0,0
$GC,6029,-1.11,-146.0,573.6,-8.2,259,6034,0.00,2.62,0.00,0.000,6,0.000,0.044,3154,1584,3379,0,0,0,0,0,0
$GC,6293,-1.11,-146.0,590.7,-6.5,266,6297,0.00,2.60,0.00,0.000,4,0.000,0.044,3153,3144,3378,0,0,0,0,0,0
$GC,6308,-1.11,-146.0,592.1,-6.3,266,6312,0.00,2.62,0.00,0.000,6,0.000,0.044,3154,1588,3378,0,0,0,0,0,0
$GC,6579,-1.11,-146.0,611.0,-7.3,273,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1588,3376,0,0,0,0,0,0
$GC,6822,-1.11,-146.0,629.6,-7.6,279,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1588,3375,0,0,0,0,0,0
$GC,7064,-1.11,-146.0,647.2,-7.2,285,7068,0.00,2.62,0.00,0.000,4,0.000,0.048,3154,3146,3374,0,0,0,0,0,0
$GC,7088,-1.18,-146.0,648.8,-8.1,285,7093,0.12,2.65,0.00,0.000,6,0.064,0.047,3089,1591,3374,0,0,0,0,0,0
$GC,7351,-1.10,-146.0,673.6,-9.7,292,7353,0.25,0.00,0.00,0.000,6,0.084,0.000,3146,1591,3372,0,0,0,0,0,0
$GC,7592,-1.10,-146.0,688.6,-5.8,298,7596,0.00,2.55,0.00,0.000,4,0.000,0.086,3146,162,3370,0,0,0,0,0,0
$GC,7613,-1.10,-146.0,690.2,-7.3,298,7617,0.00,2.33,0.00,0.000,6,0.000,0.035,3146,1596,3370,0,0,0,0,0,0
$GC,7879,-1.10,-146.0,706.8,-6.3,305,7883,0.00,2.65,0.00,0.000,4,0.000,0.055,3146,3155,3369,0,0,0,0,0,0
$GC,7908,-1.16,-146.0,708.9,-7.5,305,7912,0.00,2.65,0.00,0.000,6,0.000,0.048,3146,1601,3369,0,0,0,0,0,0
$GC,8163,-1.16,-146.0,725.8,-6.7,312,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1601,3368,0,0,0,0,0,0
$GC,8408,-1.16,-146.0,742.4,-7.0,318,8413,0.00,2.53,0.00,0.000,4,0.000,0.084,3146,169,3367,0,0,0,0,0,0
$GC,8427,-1.16,-146.0,744.1,-8.1,318,8431,0.00,2.35,0.00,0.000,6,0.000,0.035,3146,1602,3367,0,0,0,0,0,0
$GC,8691,-1.16,-146.0,761.7,-6.6,325,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1602,3365,0,0,0,0,0,0
$GC,8939,-1.16,-146.0,777.1,-6.5,331,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1602,3365,0,0,0,0,0,0
$GC,9180,-1.16,-146.0,793.9,-7.0,337,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1602,3364,0,0,0,0,0,0
$GC,9423,-1.20,-146.0,810.7,-7.0,343,9427,0.00,2.55,0.00,0.000,4,0.000,0.077,3146,163,3363,0,0,0,0,0,0
$GC,9442,-1.20,-146.0,812.3,-8.0,343,9447,0.10,2.35,0.00,0.000,6,0.077,0.036,3097,1594,3363,0,0,0,0,0,0
$GC,9709,-1.15,-146.0,836.6,-9.2,350,9714,0.15,2.67,0.00,0.000,4,0.097,0.056,3133,3155,3362,0,0,0,0,0,0
$GC,9733,-1.15,-146.0,839.0,-8.3,350,9738,0.00,2.67,0.00,0.000,6,0.000,0.049,3133,1591,3362,0,0,0,0,0,0
$GC,9993,-1.15,-146.0,858.6,-7.7,357,9997,0.00,2.53,0.00,0.000,4,0.000,0.083,3132,167,3361,0,0,0,0,0,0
$GC,10018,-1.15,-146.0,860.8,-9.0,357,10022,0.00,2.35,0.00,0.000,6,0.000,0.036,3133,1597,3361,0,0,0,0,0,0
$GC,10277,-1.15,-146.0,880.0,-7.3,364,10279,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1597,3360,0,0,0,0,0,0
$GC,10521,-1.15,-146.0,896.6,-6.8,370,10522,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1597,3359,0,0,0,0,0,0
$STATE,10601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10601,begin apogee
$GC,10610,-0.31,0.0,902.0,6.6,372,10732,0.80,0.00,119.40,1.160,6,0.067,0.000,3318,1338,2800,0,0,0,0,0,0
$STATE,10733,end apogee,CONTROL_FINISHED_OK
$STATE,10733,begin climb
$GC,10736,1.27,146.0,905.2,0.0,375,10876,1.42,2.17,130.73,1.139,4,0.033,0.080,3669,174,2203,0,0,0,0,0,0
$GC,10992,1.04,146.0,883.1,13.2,380,10997,0.28,1.95,0.00,0.000,6,0.110,0.032,3613,1352,2198,0,0,0,0,0,0
$GC,11246,0.97,146.0,857.0,10.0,386,11250,0.00,2.10,0.00,0.000,4,0.000,0.074,3613,174,2193,0,0,0,0,0,0
$GC,11293,0.86,146.0,851.2,11.8,387,11297,0.20,1.95,0.00,0.000,6,0.102,0.031,3571,1356,2193,0,0,0,0,0,0
$GC,11577,0.90,178.9,827.0,8.5,394,11613,0.00,2.17,29.27,1.064,4,0.000,0.074,3571,172,2070,0,0,0,0,0,0
$GC,11623,0.95,218.8,822.7,8.2,395,11667,0.00,1.95,39.03,1.063,6,0.000,0.031,3571,1346,1907,0,0,0,0,0,0
$GC,11951,1.01,218.8,788.9,10.6,403,11959,0.15,2.75,0.00,0.000,4,0.059,0.054,3623,2939,1900,0,0,0,0,0,0
$GC,11982,1.01,218.8,785.0,12.1,403,11987,0.00,2.75,0.00,0.000,6,0.000,0.050,3622,1350,1898,0,0,0,0,0,0
$GC,12237,1.01,218.8,751.8,13.1,410,12238,0.00,0.00,0.00,0.000,6,0.000,0.000,3623,1350,1898,0,0,0,0,0,0
$GC,12485,1.01,218.8,722.6,11.9,416,12489,0.00,2.12,0.00,0.000,4,0.000,0.086,3623,167,1896,0,0,0,0,0,0
$GC,12513,0.93,218.8,718.5,12.4,416,12518,0.17,1.95,0.00,0.000,6,0.104,0.030,3586,1358,1896,0,0,0,0,0,0
$GC,12768,0.95,238.1,694.5,9.1,423,12793,0.00,2.75,17.52,0.965,4,0.000,0.051,3586,2923,1827,0,0,0,0,0,0
$GC,12810,1.06,275.9,690.8,8.3,423,12852,0.12,2.75,36.20,0.996,6,0.066,0.049,3632,1342,1675,0,0,0,0,0,0
$GC,13096,1.06,275.9,652.4,13.9,430,13101,0.00,2.72,0.00,0.000,4,0.000,0.047,3632,2936,1670,0,0,0,0,0,0
$GC,13121,1.06,275.9,649.1,12.3,430,13126,0.00,2.75,0.00,0.000,6,0.000,0.051,3632,1352,1667,0,0,0,0,0,0
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$STATE,18515,end climb,SURFACE_DEPTH_REACHED
$STATE,18515,begin surface coast
$FINISH,0.9,1.008453
$STATE,18568,end surface coast,CONTROL_FINISHED_OK
$STATE,18568,begin surface
$SM_CCo,18591,40.92,0.426,0,0,1209,390.03
$SM_GC,1.81,0.00,0.00,40.92,0.000,0.000,0.426,413,1660,1209,-13.67,2.54,390.03
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$TT8_MAMPS,0.027612
$HUMID,66.30
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.70
$XPDR_PINGS,8
$24V_AH,23.1,51.416
$10V_AH,9.8,49.042
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.575,176.600,407.400,40.925,0.000,58.372,117.359,277.644,2.000,0.000,22.607,1497.627,13891.046,514.912,2480.825,937.495,33.372,1536.579,0.000,2479.142,0.000,0.537,0.000
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$SENSOR_SECS,482.405,373.551,475.122,991.406,1310.491,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,57295,708
$CAP_FILE_SIZE,171850,0
$CFSIZE,260165632,145793024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070813,012255,2255.468,-15744.522,33,99.0,52,10.1