version: 66.06
glider: 148
mission: 12
dive: 437
start: 8 26 113 16 7 49
data:
$ID,148
$MISSION,12
$DIVE,437
$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,-1024760.1
$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,24
$R_STBD_OVSHOOT,75
$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
$GPS1,155153,2247.785,-15748.267,23,1.3,41,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-78.7
$GPS2,160655,2247.572,-15748.440,15,1.9,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.204,-0.161
$KALMAN_X,-73383.2,-113.9,144.6,93201.4,-155.9
$KALMAN_Y,508.1,-353.0,-372.8,5015.5,-312.4
$MHEAD_RNG_PITCHd_Wd,118.3,24639,-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,-67.18,0.000,2,0.000,0.000,412,1563,2955,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.2,-3.6,9,122,14.55,2.35,-7.78,0.000,4,0.160,0.055,3117,169,3398,0,0,0,0,0,0
$GC,134,-0.25,-146.0,18.8,-35.0,14,143,1.02,2.15,0.00,0.000,6,0.092,0.017,3341,1593,3399,0,0,0,0,0,0
$GC,427,-0.47,-146.0,37.0,-4.7,50,431,0.20,2.35,0.00,0.000,4,0.048,0.019,3278,3100,3399,0,0,0,0,0,0
$GC,460,-0.65,-146.0,39.3,-7.2,52,464,0.00,2.47,0.00,0.000,6,0.000,0.028,3277,1554,3399,0,0,0,0,0,0
$GC,730,-0.79,-146.0,57.1,-5.8,76,739,0.20,0.00,0.00,0.000,6,0.054,0.000,3201,1554,3400,0,0,0,0,0,0
$GC,995,-0.79,-146.0,81.8,-9.7,101,1000,0.12,2.30,0.00,0.000,4,0.097,0.050,3229,166,3401,0,0,0,0,0,0
$GC,1035,-0.84,-146.0,86.0,-9.5,104,1039,0.00,2.10,0.00,0.000,6,0.000,0.016,3229,1576,3401,0,0,0,0,0,0
$GC,1306,-0.90,-146.0,111.2,-9.7,129,1311,0.10,2.40,0.00,0.000,4,0.075,0.021,3165,3111,3401,0,0,0,0,0,0
$GC,1349,-0.90,-146.0,116.5,-11.2,132,1358,0.15,2.53,0.00,0.000,6,0.058,0.028,3207,1571,3401,0,0,0,0,0,0
$GC,1615,-0.90,-146.0,141.7,-9.3,157,1619,0.00,2.28,0.00,0.000,4,0.000,0.044,3206,170,3401,0,0,0,0,0,0
$GC,1645,-0.90,-146.0,144.6,-10.2,159,1649,0.00,2.08,0.00,0.000,6,0.000,0.016,3207,1581,3401,0,0,0,0,0,0
$GC,1910,-0.90,-146.0,169.6,-9.0,183,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1583,3401,0,0,0,0,0,0
$GC,2175,-0.90,-146.0,192.4,-8.8,208,2179,0.00,2.38,0.00,0.000,4,0.000,0.021,3207,3111,3401,0,0,0,0,0,0
$GC,2196,-0.94,-146.0,194.6,-9.4,209,2202,0.00,2.47,0.00,0.000,6,0.000,0.027,3206,1567,3401,0,0,0,0,0,0
$GC,2459,-0.94,-146.0,219.7,-9.7,220,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1567,3401,0,0,0,0,0,0
$GC,2707,-0.99,-146.0,241.0,-8.7,226,2712,0.00,2.42,0.00,0.000,4,0.000,0.021,3207,3111,3400,0,0,0,0,0,0
$GC,2756,-1.14,-146.0,245.0,-6.7,227,2761,0.22,2.50,0.00,0.000,6,0.038,0.028,3112,1570,3400,0,0,0,0,0,0
$GC,3040,-0.99,-146.0,277.8,-11.5,234,3045,0.30,2.42,0.00,0.000,4,0.084,0.022,3183,3101,3400,0,0,0,0,0,0
$GC,3066,-0.99,-146.0,280.3,-8.6,234,3071,0.00,2.47,0.00,0.000,6,0.000,0.030,3183,1580,3400,0,0,0,0,0,0
$GC,3329,-0.99,-146.0,300.4,-8.0,241,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1580,3399,0,0,0,0,0,0
$GC,3569,-0.99,-146.0,323.5,-9.5,247,3573,0.00,2.35,0.00,0.000,4,0.000,0.051,3183,172,3397,0,0,0,0,0,0
$GC,3604,-0.99,-146.0,326.7,-9.7,247,3608,0.00,2.12,0.00,0.000,6,0.000,0.020,3183,1552,3397,0,0,0,0,0,0
$GC,3854,-0.99,-146.0,345.9,-7.2,253,3859,0.00,2.53,0.00,0.000,4,0.000,0.030,3183,3133,3396,0,0,0,0,0,0
$GC,3874,-1.05,-146.0,347.2,-6.9,253,3878,0.00,2.55,0.00,0.000,6,0.000,0.035,3183,1579,3396,0,0,0,0,0,0
$GC,4140,-1.11,-146.0,363.9,-6.3,260,4142,0.10,0.00,0.00,0.000,6,0.074,0.000,3125,1579,3395,0,0,0,0,0,0
$GC,4384,-1.03,-146.0,389.4,-11.0,266,4389,0.22,2.53,0.00,0.000,4,0.081,0.032,3177,3128,3393,0,0,0,0,0,0
$GC,4423,-1.13,-146.0,393.6,-9.2,266,4430,0.10,2.58,0.00,0.000,6,0.074,0.038,3119,1585,3392,0,0,0,0,0,0
$GC,4675,-1.05,-146.0,422.2,-11.6,273,4677,0.22,0.00,0.00,0.000,6,0.086,0.000,3171,1585,3391,0,0,0,0,0,0
$GC,4917,-1.05,-146.0,444.7,-9.0,279,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1585,3390,0,0,0,0,0,0
$GC,5161,-1.05,-146.0,465.1,-8.2,285,5165,0.00,2.45,0.00,0.000,4,0.000,0.070,3171,164,3388,0,0,0,0,0,0
$GC,5186,-1.05,-146.0,467.1,-8.8,285,5191,0.00,2.22,0.00,0.000,6,0.000,0.027,3171,1562,3388,0,0,0,0,0,0
$GC,5446,-1.09,-146.0,486.3,-7.4,292,5451,0.00,2.60,0.00,0.000,4,0.000,0.041,3171,3148,3386,0,0,0,0,0,0
$GC,5480,-1.21,-146.0,488.8,-6.7,292,5485,0.15,2.58,0.00,0.000,6,0.053,0.039,3106,1592,3386,0,0,0,0,0,0
$GC,5732,-1.11,-146.0,512.7,-9.9,298,5737,0.22,2.45,0.00,0.000,4,0.090,0.070,3156,173,3384,0,0,0,0,0,0
$GC,5780,-1.11,-146.0,517.4,-8.8,299,5784,0.00,2.28,0.00,0.000,6,0.000,0.029,3156,1587,3383,0,0,0,0,0,0
$GC,6066,-1.11,-146.0,539.5,-8.1,306,6071,0.00,2.58,0.00,0.000,4,0.000,0.043,3156,3152,3382,0,0,0,0,0,0
$GC,6110,-1.20,-146.0,543.2,-8.0,307,6115,0.00,2.62,0.00,0.000,6,0.000,0.043,3156,1591,3382,0,0,0,0,0,0
$GC,6397,-1.20,-146.0,565.3,-7.6,314,6402,0.00,2.47,0.00,0.000,4,0.000,0.075,3156,163,3379,0,0,0,0,0,0
$GC,6418,-1.20,-146.0,566.9,-8.3,314,6422,0.00,2.30,0.00,0.000,6,0.000,0.032,3156,1594,3379,0,0,0,0,0,0
$GC,6689,-1.20,-146.0,588.3,-8.2,321,6693,0.00,2.50,0.00,0.000,4,0.000,0.071,3156,167,3378,0,0,0,0,0,0
$GC,6708,-1.20,-146.0,590.2,-8.3,321,6712,0.00,2.30,0.00,0.000,6,0.000,0.030,3156,1590,3377,0,0,0,0,0,0
$GC,6974,-1.20,-146.0,610.7,-7.7,328,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1590,3376,0,0,0,0,0,0
$GC,7216,-1.20,-146.0,627.9,-7.0,334,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1590,3374,0,0,0,0,0,0
$GC,7459,-1.20,-146.0,644.1,-6.7,340,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1590,3372,0,0,0,0,0,0
$GC,7710,-1.20,-146.0,660.4,-6.7,346,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1590,3371,0,0,0,0,0,0
$GC,7947,-1.20,-146.0,677.3,-7.0,352,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1590,3370,0,0,0,0,0,0
$GC,8191,-1.20,-146.0,693.9,-6.8,358,8195,0.00,2.65,0.00,0.000,4,0.000,0.052,3156,3151,3369,0,0,0,0,0,0
$GC,8210,-1.26,-146.0,695.3,-7.5,358,8215,0.12,2.65,0.00,0.000,6,0.064,0.048,3095,1596,3368,0,0,0,0,0,0
$GC,8477,-1.18,-146.0,721.0,-10.1,365,8482,0.22,2.53,0.00,0.000,4,0.089,0.081,3145,165,3367,0,0,0,0,0,0
$GC,8497,-1.18,-146.0,723.2,-9.7,365,8501,0.00,2.33,0.00,0.000,6,0.000,0.033,3145,1590,3367,0,0,0,0,0,0
$GC,8763,-1.18,-146.0,745.1,-8.2,372,8767,0.00,2.50,0.00,0.000,4,0.000,0.077,3145,165,3366,0,0,0,0,0,0
$GC,8782,-1.18,-146.0,747.0,-8.8,372,8786,0.00,2.35,0.00,0.000,6,0.000,0.035,3145,1597,3366,0,0,0,0,0,0
$GC,9046,-1.18,-146.0,769.3,-8.5,379,9050,0.00,2.65,0.00,0.000,4,0.000,0.054,3145,3160,3365,0,0,0,0,0,0
$GC,9060,-1.18,-146.0,770.6,-8.2,379,9065,0.00,2.65,0.00,0.000,6,0.000,0.047,3145,1589,3365,0,0,0,0,0,0
$GC,9333,-1.18,-146.0,790.9,-7.5,386,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1589,3363,0,0,0,0,0,0
$GC,9573,-1.18,-146.0,808.7,-7.3,392,9577,0.00,2.62,0.00,0.000,4,0.000,0.044,3145,3158,3363,0,0,0,0,0,0
$GC,9593,-1.22,-146.0,810.1,-7.1,392,9597,0.00,2.67,0.00,0.000,6,0.000,0.048,3145,1591,3363,0,0,0,0,0,0
$GC,9858,-1.22,-146.0,826.4,-6.0,399,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1591,3362,0,0,0,0,0,0
$GC,10100,-1.22,-146.0,840.7,-6.0,405,10102,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1591,3361,0,0,0,0,0,0
$GC,10346,-1.22,-146.0,855.8,-6.3,411,10351,0.00,2.53,0.00,0.000,4,0.000,0.084,3145,162,3360,0,0,0,0,0,0
$GC,10367,-1.22,-146.0,857.3,-7.1,411,10372,0.00,2.35,0.00,0.000,6,0.000,0.035,3145,1598,3359,0,0,0,0,0,0
$GC,10632,-1.27,-146.0,875.7,-7.0,418,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1598,3359,0,0,0,0,0,0
$GC,10875,-1.31,-146.0,893.3,-7.2,424,10877,0.12,0.00,0.00,0.000,6,0.064,0.000,3090,1598,3359,0,0,0,0,0,0
$STATE,10956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10956,begin apogee
$GC,10964,-0.31,0.0,901.0,8.4,426,11088,1.05,0.00,120.38,1.151,6,0.074,0.000,3329,1339,2800,0,0,0,0,0,0
$STATE,11089,end apogee,CONTROL_FINISHED_OK
$STATE,11089,begin climb
$GC,11092,1.27,146.0,905.5,0.0,429,11231,1.45,2.12,131.40,1.131,4,0.035,0.079,3681,176,2202,0,0,0,0,0,0
$GC,11343,1.01,146.0,887.0,14.0,434,11348,0.30,1.95,0.00,0.000,6,0.110,0.031,3621,1354,2198,0,0,0,0,0,0
$GC,11593,0.95,152.8,862.1,9.7,440,11606,0.00,2.20,5.55,0.802,4,0.000,0.074,3621,170,2176,0,0,0,0,0,0
$GC,11643,0.82,152.8,857.2,11.0,441,11647,0.20,1.95,0.00,0.000,6,0.107,0.031,3580,1352,2176,0,0,0,0,0,0
$GC,11932,0.87,196.5,833.4,8.0,448,11976,0.00,0.00,42.42,1.072,6,0.000,0.000,3579,1353,1998,0,0,0,0,0,0
$GC,12214,0.90,217.4,808.4,9.0,455,12236,0.00,0.00,20.62,1.018,6,0.000,0.000,3579,1353,1913,0,0,0,0,0,0
$GC,12460,0.97,236.5,786.2,9.1,461,12486,0.12,2.75,19.23,1.000,4,0.067,0.051,3626,2933,1834,0,0,0,0,0,0
$GC,12516,0.97,236.5,779.9,11.8,462,12521,0.00,2.75,0.00,0.000,6,0.000,0.050,3626,1357,1831,0,0,0,0,0,0
$GC,12789,0.97,236.5,747.3,12.1,469,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,1357,1830,0,0,0,0,0,0
$GC,13033,0.97,236.5,716.1,12.7,475,13034,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,1357,1828,0,0,0,0,0,0
$GC,13283,0.97,236.5,685.9,12.4,481,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,1357,1828,0,0,0,0,0,0
$GC,13520,0.97,236.5,654.5,13.0,487,13525,0.00,2.67,0.00,0.000,4,0.000,0.045,3627,2932,1827,0,0,0,0,0,0
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$STATE,19282,end climb,SURFACE_DEPTH_REACHED
$STATE,19282,begin surface coast
$FINISH,1.0,1.023178
$STATE,19323,end surface coast,CONTROL_FINISHED_OK
$STATE,19323,begin surface
$SM_CCo,19347,25.45,0.425,0,0,1209,390.03
$SM_GC,1.83,0.00,0.00,25.45,0.000,0.000,0.425,411,1580,1209,-13.75,0.28,390.03
$IRIDIUM_FIX,2239.35,-15749.78,201102,161633
$TT8_MAMPS,0.027612
$HUMID,69.01
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.20
$XPDR_PINGS,14
$24V_AH,23.0,64.391
$10V_AH,9.7,62.247
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,35.575,173.775,451.225,25.450,0.000,84.843,111.810,389.087,3.500,0.000,17.092,1603.004,14290.676,554.563,2721.748,1092.237,33.374,1630.112,0.000,2723.129,0.000,0.535,0.000
$DEVICE_MAMPS,160.303,84.370,1150.500,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,516.314,417.919,525.158,1139.578,1508.980,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355456
$DATA_FILE_SIZE,60607,759
$CAP_FILE_SIZE,183994,0
$CFSIZE,260165632,139051008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260813,213205,2245.801,-15746.459,36,1.4,42,10.1