version: 66.06
glider: 148
mission: 12
dive: 435
start: 8 26 113 4 56 12
data:
$ID,148
$MISSION,12
$DIVE,435
$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,-1024729.6
$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,3400
$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,23
$R_STBD_OVSHOOT,116
$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
$GPS1,044815,2253.733,-15751.567,36,3.6,55,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-77.1
$GPS2,045518,2253.695,-15751.634,12,1.3,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.111,-0.235
$KALMAN_X,-73956.8,-59.8,-108.9,88510.9,976.0
$KALMAN_Y,3696.1,-148.3,-535.1,13116.1,699.3
$MHEAD_RNG_PITCHd_Wd,144.6,36622,-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,-66.80,0.000,2,0.000,0.000,414,1595,2916,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-3.8,9,122,13.95,2.42,-8.73,0.000,4,0.143,0.053,3119,162,3397,0,0,0,0,0,0
$GC,164,-0.99,-146.0,24.0,-21.2,19,172,0.25,2.10,0.00,0.000,6,0.086,0.017,3177,1521,3398,0,0,0,0,0,0
$GC,435,-0.86,-146.0,64.8,-13.1,46,440,0.15,2.55,0.00,0.000,4,0.101,0.022,3211,3139,3398,0,0,0,0,0,0
$GC,482,-0.93,-146.0,70.1,-9.7,49,486,0.00,2.58,0.00,0.000,6,0.000,0.028,3211,1558,3399,0,0,0,0,0,0
$GC,750,-0.93,-146.0,94.5,-8.8,73,755,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1557,3399,0,0,0,0,0,0
$GC,1012,-0.93,-146.0,118.7,-8.8,98,1016,0.00,2.47,0.00,0.000,4,0.000,0.021,3210,3135,3400,0,0,0,0,0,0
$GC,1031,-0.93,-146.0,120.1,-8.7,99,1036,0.00,2.53,0.00,0.000,6,0.000,0.026,3211,1576,3400,0,0,0,0,0,0
$GC,1300,-0.93,-146.0,143.2,-8.5,123,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1576,3400,0,0,0,0,0,0
$GC,1565,-0.93,-146.0,167.4,-9.0,148,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1576,3400,0,0,0,0,0,0
$GC,1828,-0.93,-146.0,189.7,-8.5,173,1832,0.00,2.45,0.00,0.000,4,0.000,0.021,3210,3138,3401,0,0,0,0,0,0
$GC,1858,-1.02,-146.0,192.0,-8.6,175,1863,0.12,2.55,0.00,0.000,6,0.059,0.028,3133,1568,3400,0,0,0,0,0,0
$GC,2135,-0.88,-146.0,226.2,-12.4,186,2140,0.32,2.28,0.00,0.000,4,0.081,0.042,3206,172,3400,0,0,0,0,0,0
$GC,2174,-0.95,-146.0,230.8,-9.0,186,2180,0.00,2.15,0.00,0.000,6,0.000,0.018,3206,1589,3400,0,0,0,0,0,0
$GC,2425,-1.01,-146.0,250.8,-7.9,193,2427,0.12,0.00,0.00,0.000,6,0.062,0.000,3136,1592,3400,0,0,0,0,0,0
$GC,2670,-0.92,-146.0,277.6,-11.4,199,2672,0.28,0.00,0.00,0.000,6,0.077,0.000,3197,1591,3400,0,0,0,0,0,0
$GC,2912,-0.98,-146.0,297.1,-7.8,205,2916,0.00,2.45,0.00,0.000,4,0.000,0.025,3198,3128,3400,0,0,0,0,0,0
$GC,2932,-1.06,-146.0,298.8,-8.1,205,2937,0.12,2.50,0.00,0.000,6,0.061,0.031,3125,1589,3400,0,0,0,0,0,0
$GC,3199,-0.96,-146.0,327.4,-10.9,212,3204,0.28,2.45,0.00,0.000,4,0.078,0.028,3190,3116,3399,0,0,0,0,0,0
$GC,3233,-1.08,-146.0,330.4,-6.7,212,3238,0.10,2.53,0.00,0.000,6,0.074,0.035,3124,1588,3399,0,0,0,0,0,0
$GC,3485,-0.98,-146.0,355.4,-10.5,218,3490,0.25,2.38,0.00,0.000,4,0.081,0.053,3183,165,3397,0,0,0,0,0,0
$GC,3502,-0.93,-146.0,357.2,-10.1,218,3506,0.00,2.17,0.00,0.000,6,0.000,0.021,3183,1579,3397,0,0,0,0,0,0
$GC,3771,-0.98,-146.0,377.5,-7.4,225,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1581,3396,0,0,0,0,0,0
$GC,4019,-1.03,-146.0,394.5,-7.0,231,4023,0.00,2.50,0.00,0.000,4,0.000,0.033,3183,3132,3394,0,0,0,0,0,0
$GC,4038,-1.11,-146.0,396.1,-6.4,231,4043,0.10,2.53,0.00,0.000,6,0.074,0.035,3122,1594,3394,0,0,0,0,0,0
$GC,4306,-1.03,-146.0,421.1,-9.9,238,4311,0.22,2.40,0.00,0.000,4,0.083,0.059,3174,172,3392,0,0,0,0,0,0
$GC,4321,-0.98,-146.0,423.0,-10.1,238,4325,0.00,2.22,0.00,0.000,6,0.000,0.023,3174,1591,3392,0,0,0,0,0,0
$GC,4595,-1.03,-146.0,442.9,-7.2,245,4599,0.00,2.42,0.00,0.000,4,0.000,0.060,3174,173,3391,0,0,0,0,0,0
$GC,4625,-1.03,-146.0,445.3,-7.8,245,4629,0.00,2.25,0.00,0.000,6,0.000,0.031,3174,1601,3391,0,0,0,0,0,0
$GC,4880,-1.07,-146.0,461.6,-6.2,252,4884,0.00,2.53,0.00,0.000,4,0.000,0.038,3174,3146,3389,0,0,0,0,0,0
$GC,4918,-1.18,-146.0,464.0,-5.7,252,4924,0.12,2.58,0.00,0.000,6,0.061,0.038,3109,1596,3388,0,0,0,0,0,0
$GC,5170,-1.09,-146.0,486.9,-9.5,259,5176,0.22,2.45,0.00,0.000,4,0.084,0.067,3160,167,3387,0,0,0,0,0,0
$GC,5200,-1.09,-146.0,489.9,-8.5,259,5204,0.00,2.28,0.00,0.000,6,0.000,0.027,3160,1601,3387,0,0,0,0,0,0
$GC,5457,-1.09,-146.0,509.8,-7.9,266,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1601,3385,0,0,0,0,0,0
$GC,5700,-1.09,-146.0,531.2,-9.1,272,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1601,3384,0,0,0,0,0,0
$GC,5942,-1.09,-146.0,555.1,-9.7,278,5946,0.00,2.60,0.00,0.000,4,0.000,0.045,3160,3155,3381,0,0,0,0,0,0
$GC,5963,-1.09,-146.0,556.9,-9.3,278,5967,0.00,2.62,0.00,0.000,6,0.000,0.041,3159,1593,3382,0,0,0,0,0,0
$GC,6229,-1.09,-146.0,578.6,-7.9,285,6233,0.00,2.60,0.00,0.000,4,0.000,0.043,3160,3146,3380,0,0,0,0,0,0
$GC,6258,-1.17,-146.0,581.0,-7.1,285,6262,0.00,2.58,0.00,0.000,6,0.000,0.044,3160,1606,3380,0,0,0,0,0,0
$GC,6513,-1.17,-146.0,597.0,-6.1,292,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1606,3378,0,0,0,0,0,0
$GC,6758,-1.17,-146.0,609.6,-5.0,298,6763,0.00,2.60,0.00,0.000,4,0.000,0.044,3160,3152,3377,0,0,0,0,0,0
$GC,6796,-1.26,-146.0,611.6,-5.0,298,6802,0.15,2.62,0.00,0.000,6,0.054,0.045,3095,1604,3377,0,0,0,0,0,0
$GC,7047,-1.17,-146.0,630.2,-7.8,305,7052,0.22,2.55,0.00,0.000,4,0.085,0.080,3146,165,3376,0,0,0,0,0,0
$GC,7064,-1.10,-146.0,631.4,-8.1,305,7069,0.00,2.35,0.00,0.000,6,0.000,0.032,3145,1613,3376,0,0,0,0,0,0
$GC,7335,-1.10,-146.0,648.4,-6.4,312,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1613,3374,0,0,0,0,0,0
$GC,7579,-1.10,-146.0,666.6,-7.6,318,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1613,3373,0,0,0,0,0,0
$GC,7824,-1.10,-146.0,685.0,-7.6,324,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1613,3372,0,0,0,0,0,0
$GC,8066,-1.10,-146.0,704.4,-8.1,330,8071,0.00,2.60,0.00,0.000,4,0.000,0.055,3145,3150,3370,0,0,0,0,0,0
$GC,8085,-1.10,-146.0,706.3,-8.9,330,8090,0.00,2.62,0.00,0.000,6,0.000,0.048,3145,1604,3370,0,0,0,0,0,0
$GC,8351,-1.10,-146.0,729.2,-8.8,337,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1604,3369,0,0,0,0,0,0
$GC,8593,-1.10,-146.0,751.2,-9.0,343,8594,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1604,3369,0,0,0,0,0,0
$GC,8837,-1.10,-146.0,772.4,-8.6,349,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1604,3367,0,0,0,0,0,0
$GC,9081,-1.10,-146.0,793.0,-8.5,355,9085,0.00,2.60,0.00,0.000,4,0.000,0.045,3145,3152,3366,0,0,0,0,0,0
$GC,9107,-1.16,-146.0,795.2,-9.9,355,9111,0.00,2.65,0.00,0.000,6,0.000,0.050,3145,1598,3366,0,0,0,0,0,0
$GC,9366,-1.16,-146.0,817.8,-8.7,362,9371,0.00,2.55,0.00,0.000,4,0.000,0.085,3145,167,3365,0,0,0,0,0,0
$GC,9390,-1.16,-146.0,820.2,-10.4,362,9394,0.00,2.35,0.00,0.000,6,0.000,0.035,3145,1605,3365,0,0,0,0,0,0
$GC,9651,-1.16,-146.0,842.6,-8.5,369,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1605,3364,0,0,0,0,0,0
$GC,9893,-1.16,-146.0,862.3,-8.0,375,9898,0.00,2.60,0.00,0.000,4,0.000,0.055,3145,3152,3363,0,0,0,0,0,0
$GC,9908,-1.21,-146.0,863.7,-7.8,375,9913,0.00,2.62,0.00,0.000,6,0.000,0.048,3145,1608,3363,0,0,0,0,0,0
$GC,10179,-1.25,-146.0,883.9,-7.5,382,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1608,3362,0,0,0,0,0,0
$STATE,10418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10418,begin apogee
$GC,10425,-0.31,0.0,901.8,7.3,388,10549,0.80,0.00,120.82,1.150,6,0.064,0.000,3333,1343,2800,0,0,0,0,0,0
$STATE,10550,end apogee,CONTROL_FINISHED_OK
$STATE,10550,begin climb
$GC,10552,1.27,146.0,906.0,0.0,391,10693,1.42,2.20,131.05,1.128,4,0.031,0.084,3684,173,2203,0,0,0,0,0,0
$GC,10761,1.00,146.0,893.5,14.5,395,10765,0.32,1.95,0.00,0.000,6,0.106,0.031,3617,1357,2199,0,0,0,0,0,0
$GC,11014,0.96,164.8,869.3,9.1,401,11037,0.00,2.15,16.83,1.021,4,0.000,0.072,3617,170,2129,0,0,0,0,0,0
$GC,11062,0.84,164.8,864.0,12.1,402,11066,0.17,1.95,0.00,0.000,6,0.107,0.031,3582,1349,2128,0,0,0,0,0,0
$GC,11346,0.87,191.4,839.4,8.8,409,11374,0.00,0.00,26.05,1.047,6,0.000,0.000,3581,1350,2019,0,0,0,0,0,0
$GC,11588,0.87,191.4,814.2,10.6,415,11592,0.00,2.72,0.00,0.000,4,0.000,0.054,3581,2926,2014,0,0,0,0,0,0
$GC,11612,0.94,204.8,811.7,9.4,415,11633,0.10,2.67,13.05,0.973,6,0.079,0.048,3620,1356,1965,0,0,0,0,0,0
$GC,11876,0.94,204.8,779.9,12.2,422,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1356,1962,0,0,0,0,0,0
$GC,12118,0.94,204.8,751.4,11.5,428,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1356,1961,0,0,0,0,0,0
$GC,12361,0.94,204.8,725.6,10.4,434,12366,0.00,2.67,0.00,0.000,4,0.000,0.046,3620,2927,1960,0,0,0,0,0,0
$GC,12391,0.94,204.8,722.7,10.4,434,12396,0.00,2.70,0.00,0.000,6,0.000,0.051,3620,1353,1957,0,0,0,0,0,0
$GC,12649,0.94,207.7,697.4,9.9,441,12653,0.00,2.70,0.00,0.000,4,0.000,0.049,3620,2933,1958,0,0,0,0,0,0
$GC,12673,0.98,240.6,694.7,8.5,441,12713,0.00,2.70,34.78,0.994,6,0.000,0.051,3620,1357,1818,0,0,0,0,0,0
$GC,12981,0.98,240.6,662.4,11.0,449,12986,0.00,2.70,0.00,0.000,4,0.000,0.048,3620,2935,1813,0,0,0,0,0,0
$GC,13007,0.99,250.7,659.2,9.5,449,13025,0.00,2.72,9.80,0.863,6,0.000,0.052,3620,1365,1777,0,0,0,0,0,0
$GC,13273,0.99,250.7,629.5,11.5,456,13274,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1365,1775,0,0,0,0,0,0
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$STATE,18872,end climb,SURFACE_DEPTH_REACHED
$STATE,18872,begin surface coast
$FINISH,1.0,1.010886
$STATE,18914,end surface coast,CONTROL_FINISHED_OK
$STATE,18915,begin surface
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$SM_GC,1.73,0.00,0.00,24.10,0.000,0.000,0.420,415,1596,1209,-13.73,0.74,390.03
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$TT8_MAMPS,0.028379
$HUMID,67.99
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$TCM_TEMP,22.60
$XPDR_PINGS,7
$24V_AH,23.0,64.084
$10V_AH,9.7,61.927
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.950,181.625,452.325,24.100,0.000,25.556,35.521,200.136,1.750,0.000,14.377,1545.194,14034.357,560.633,2498.668,738.184,33.379,1587.877,0.000,2507.408,0.000,0.536,0.000
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$SENSOR_SECS,493.568,384.905,493.286,996.456,1318.709,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,57331,726
$CAP_FILE_SIZE,174108,0
$CFSIZE,260165632,139218944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260813,101339,2250.986,-15750.184,38,1.7,41,10.1