version: 66.06
glider: 148
mission: 12
dive: 477
start: 9 4 113 16 47 55
data:
$ID,148
$MISSION,12
$DIVE,477
$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,660
$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,-1025529.9
$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,3410
$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,1355
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,125
$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
$GPS1,164006,2345.116,-15817.109,25,1.1,25,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.6
$GPS2,164701,2345.147,-15817.099,14,1.2,14,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM2
$TGT_LATLONG,2350.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.252,0.062
$KALMAN_X,-78970.9,-32.7,-139.3,50038.7,1036.2
$KALMAN_Y,-17614.3,-56.4,-21.0,129107.3,312.2
$MHEAD_RNG_PITCHd_Wd,273.6,23632,-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,-67.15,0.000,2,0.000,0.000,409,1601,2925,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.4,-4.5,9,122,14.35,2.35,-8.38,0.000,4,0.153,0.031,3127,3070,3397,0,0,0,0,0,0
$GC,235,-1.07,-146.0,38.6,-17.6,28,245,0.17,2.50,0.00,0.000,6,0.087,0.032,3171,1559,3398,0,0,0,0,0,0
$GC,505,-0.94,-146.0,79.9,-14.1,53,510,0.15,2.33,0.00,0.000,4,0.104,0.051,3204,162,3399,0,0,0,0,0,0
$GC,538,-0.94,-146.0,85.4,-12.0,55,544,0.00,2.03,0.00,0.000,6,0.000,0.016,3204,1527,3399,0,0,0,0,0,0
$GC,803,-0.94,-146.0,111.0,-9.3,80,807,0.00,2.47,0.00,0.000,4,0.000,0.021,3204,3110,3400,0,0,0,0,0,0
$GC,854,-1.05,-146.0,115.9,-8.4,84,864,0.08,2.53,0.00,0.000,6,0.034,0.029,3137,1570,3400,0,0,0,0,0,0
$GC,1122,-0.88,-146.0,150.2,-13.9,109,1127,0.32,2.30,0.00,0.000,4,0.084,0.041,3213,169,3401,0,0,0,0,0,0
$GC,1151,-0.88,-146.0,155.0,-11.3,111,1160,0.00,2.12,0.00,0.000,6,0.000,0.017,3213,1564,3401,0,0,0,0,0,0
$GC,1420,-0.93,-146.0,177.6,-7.9,136,1424,0.00,2.42,0.00,0.000,4,0.000,0.021,3213,3115,3401,0,0,0,0,0,0
$GC,1465,-1.07,-146.0,181.4,-7.6,140,1470,0.15,2.50,0.00,0.000,6,0.052,0.028,3128,1562,3401,0,0,0,0,0,0
$GC,1746,-0.91,-146.0,216.2,-12.6,157,1748,0.40,0.00,0.00,0.000,6,0.080,0.000,3210,1562,3401,0,0,0,0,0,0
$GC,1986,-0.98,-146.0,234.5,-6.8,163,1990,0.00,2.45,0.00,0.000,4,0.000,0.022,3210,3115,3401,0,0,0,0,0,0
$GC,2010,-1.10,-146.0,236.1,-7.3,163,2016,0.17,2.53,0.00,0.000,6,0.045,0.029,3117,1567,3401,0,0,0,0,0,0
$GC,2273,-0.95,-146.0,264.1,-11.2,170,2278,0.35,2.30,0.00,0.000,4,0.084,0.044,3195,165,3401,0,0,0,0,0,0
$GC,2344,-1.04,-146.0,269.9,-6.7,171,2349,0.00,2.10,0.00,0.000,6,0.000,0.019,3195,1554,3401,0,0,0,0,0,0
$GC,2606,-1.09,-146.0,285.6,-6.2,178,2611,0.10,2.53,0.00,0.000,4,0.075,0.026,3133,3135,3400,0,0,0,0,0,0
$GC,2644,-1.09,-146.0,289.2,-9.1,178,2651,0.17,2.58,0.00,0.000,6,0.087,0.031,3173,1570,3400,0,0,0,0,0,0
$GC,2895,-1.09,-146.0,310.9,-8.7,185,2899,0.00,2.38,0.00,0.000,4,0.000,0.051,3173,162,3399,0,0,0,0,0,0
$GC,2938,-1.09,-146.0,315.3,-10.2,185,2946,0.00,2.20,0.00,0.000,6,0.000,0.021,3173,1555,3398,0,0,0,0,0,0
$GC,3188,-1.09,-146.0,338.0,-9.0,192,3193,0.00,2.58,0.00,0.000,4,0.000,0.029,3173,3146,3397,0,0,0,0,0,0
$GC,3222,-1.18,-146.0,340.9,-8.2,192,3226,0.00,2.62,0.00,0.000,6,0.000,0.035,3173,1562,3397,0,0,0,0,0,0
$GC,3474,-1.18,-146.0,360.4,-7.8,198,3478,0.00,2.58,0.00,0.000,4,0.000,0.031,3173,3138,3396,0,0,0,0,0,0
$GC,3507,-1.25,-146.0,363.1,-7.0,198,3513,0.15,2.60,0.00,0.000,6,0.054,0.037,3100,1574,3396,0,0,0,0,0,0
$GC,3758,-1.11,-146.0,390.9,-11.4,204,3763,0.28,2.40,0.00,0.000,4,0.087,0.056,3165,168,3394,0,0,0,0,0,0
$GC,3793,-1.11,-146.0,394.4,-9.2,204,3798,0.00,2.17,0.00,0.000,6,0.000,0.022,3165,1563,3394,0,0,0,0,0,0
$GC,4043,-1.11,-146.0,412.8,-7.3,210,4048,0.00,2.60,0.00,0.000,4,0.000,0.035,3166,3143,3393,0,0,0,0,0,0
$GC,4081,-1.19,-146.0,415.6,-6.9,210,4091,0.00,2.65,0.00,0.000,6,0.000,0.039,3165,1577,3393,0,0,0,0,0,0
$GC,4334,-1.19,-146.0,433.9,-7.6,217,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1578,3391,0,0,0,0,0,0
$GC,4575,-1.19,-146.0,454.5,-8.6,223,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1578,3390,0,0,0,0,0,0
$GC,4819,-1.19,-146.0,475.1,-8.3,229,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1578,3388,0,0,0,0,0,0
$GC,5063,-1.19,-146.0,493.1,-7.2,235,5067,0.00,2.62,0.00,0.000,4,0.000,0.042,3165,3139,3387,0,0,0,0,0,0
$GC,5092,-1.26,-146.0,495.2,-7.0,235,5097,0.12,2.60,0.00,0.000,6,0.061,0.041,3106,1577,3387,0,0,0,0,0,0
$GC,5348,-1.16,-146.0,518.4,-9.3,242,5353,0.22,2.45,0.00,0.000,4,0.088,0.070,3156,169,3385,0,0,0,0,0,0
$GC,5384,-1.16,-146.0,521.4,-8.0,242,5388,0.00,2.25,0.00,0.000,6,0.000,0.030,3156,1568,3385,0,0,0,0,0,0
$GC,5638,-1.16,-146.0,537.6,-6.3,249,5643,0.00,2.62,0.00,0.000,4,0.000,0.043,3155,3149,3384,0,0,0,0,0,0
$GC,5677,-1.25,-146.0,540.3,-6.1,249,5682,0.00,2.65,0.00,0.000,6,0.000,0.044,3157,1580,3384,0,0,0,0,0,0
$GC,5934,-1.25,-146.0,557.6,-7.0,256,5938,0.00,2.47,0.00,0.000,4,0.000,0.074,3156,165,3382,0,0,0,0,0,0
$GC,5957,-1.25,-146.0,560.0,-8.7,256,5961,0.00,2.30,0.00,0.000,6,0.000,0.031,3156,1587,3381,0,0,0,0,0,0
$GC,6221,-1.25,-146.0,579.3,-7.4,263,6225,0.00,2.47,0.00,0.000,4,0.000,0.071,3156,171,3380,0,0,0,0,0,0
$GC,6242,-1.25,-146.0,580.9,-8.1,263,6247,0.00,2.28,0.00,0.000,6,0.000,0.031,3155,1584,3380,0,0,0,0,0,0
$GC,6506,-1.25,-146.0,603.1,-8.6,270,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1584,3378,0,0,0,0,0,0
$GC,6753,-1.25,-146.0,624.4,-8.7,276,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1584,3377,0,0,0,0,0,0
$GC,6996,-1.25,-146.0,644.7,-8.2,282,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1584,3376,0,0,0,0,0,0
$GC,7238,-1.25,-146.0,663.6,-7.7,288,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1584,3375,0,0,0,0,0,0
$GC,7481,-1.25,-146.0,680.2,-6.7,294,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1584,3374,0,0,0,0,0,0
$GC,7725,-1.25,-146.0,696.9,-6.9,300,7729,0.00,2.67,0.00,0.000,4,0.000,0.053,3155,3157,3373,0,0,0,0,0,0
$GC,7747,-1.29,-146.0,698.4,-8.2,300,7754,0.12,2.70,0.00,0.000,6,0.064,0.049,3101,1581,3372,0,0,0,0,0,0
$GC,8014,-1.21,-146.0,724.9,-10.0,307,8019,0.20,2.53,0.00,0.000,4,0.092,0.082,3145,168,3371,0,0,0,0,0,0
$GC,8052,-1.21,-146.0,728.6,-9.3,307,8058,0.00,2.30,0.00,0.000,6,0.000,0.035,3145,1574,3371,0,0,0,0,0,0
$GC,8303,-1.21,-146.0,747.6,-7.4,314,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1574,3370,0,0,0,0,0,0
$GC,8546,-1.21,-146.0,764.9,-7.0,320,8550,0.00,2.67,0.00,0.000,4,0.000,0.051,3144,3158,3369,0,0,0,0,0,0
$GC,8570,-1.21,-146.0,766.6,-7.3,320,8574,0.00,2.72,0.00,0.000,6,0.000,0.051,3145,1567,3369,0,0,0,0,0,0
$GC,8832,-1.21,-146.0,784.4,-6.8,327,8836,0.00,2.67,0.00,0.000,4,0.000,0.046,3145,3155,3368,0,0,0,0,0,0
$GC,8851,-1.21,-146.0,785.9,-7.2,327,8855,0.00,2.70,0.00,0.000,6,0.000,0.050,3145,1577,3368,0,0,0,0,0,0
$GC,9115,-1.21,-146.0,802.9,-6.4,334,9119,0.00,2.50,0.00,0.000,4,0.000,0.083,3145,168,3367,0,0,0,0,0,0
$GC,9155,-1.21,-146.0,805.7,-7.8,334,9160,0.00,2.33,0.00,0.000,6,0.000,0.036,3145,1582,3367,0,0,0,0,0,0
$GC,9407,-1.21,-146.0,821.6,-6.4,341,9412,0.00,2.65,0.00,0.000,4,0.000,0.052,3145,3157,3366,0,0,0,0,0,0
$GC,9431,-1.26,-146.0,823.4,-6.6,341,9436,0.00,2.70,0.00,0.000,6,0.000,0.050,3145,1581,3366,0,0,0,0,0,0
$GC,9693,-1.26,-146.0,840.5,-6.7,348,9697,0.00,2.53,0.00,0.000,4,0.000,0.082,3145,161,3364,0,0,0,0,0,0
$GC,9740,-1.26,-146.0,844.3,-7.7,349,9744,0.00,2.33,0.00,0.000,6,0.000,0.035,3145,1576,3365,0,0,0,0,0,0
$GC,10025,-1.26,-146.0,863.4,-6.8,356,10029,0.00,2.65,0.00,0.000,4,0.000,0.053,3145,3155,3364,0,0,0,0,0,0
$GC,10046,-1.26,-146.0,865.1,-7.2,356,10050,0.00,2.70,0.00,0.000,6,0.000,0.050,3145,1575,3364,0,0,0,0,0,0
$GC,10310,-1.26,-146.0,883.0,-6.7,363,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1575,3363,0,0,0,0,0,0
$STATE,10551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10551,begin apogee
$GC,10560,-0.31,0.0,900.0,7.1,369,10684,0.85,0.00,121.43,1.157,6,0.068,0.000,3342,1353,2800,0,0,0,0,0,0
$STATE,10685,end apogee,CONTROL_FINISHED_OK
$STATE,10685,begin climb
$GC,10688,1.27,146.0,904.5,0.0,372,10830,1.42,2.17,131.75,1.136,4,0.031,0.082,3692,171,2203,0,0,0,0,0,0
$GC,10977,0.99,146.0,880.9,14.3,378,10982,0.32,1.98,0.00,0.000,6,0.107,0.031,3626,1365,2196,0,0,0,0,0,0
$GC,11239,0.93,156.5,855.5,9.5,385,11254,0.00,2.15,8.85,0.929,4,0.000,0.073,3626,169,2163,0,0,0,0,0,0
$GC,11274,0.79,156.5,851.5,11.0,385,11279,0.20,1.98,0.00,0.000,6,0.108,0.031,3585,1362,2162,0,0,0,0,0,0
$GC,11528,0.82,180.8,829.0,8.9,391,11557,0.00,2.17,24.27,1.047,4,0.000,0.073,3585,165,2061,0,0,0,0,0,0
$GC,11620,0.82,180.8,819.6,10.0,393,11623,0.00,1.95,0.00,0.000,6,0.000,0.032,3584,1344,2060,0,0,0,0,0,0
$GC,11911,0.83,185.0,790.0,9.8,400,11917,0.00,0.00,4.35,0.697,6,0.000,0.000,3585,1345,2045,0,0,0,0,0,0
$GC,12161,0.86,208.4,768.0,8.9,406,12190,0.00,2.80,23.83,1.022,4,0.000,0.054,3585,2941,1950,0,0,0,0,0,0
$GC,12221,0.97,233.3,762.1,8.9,407,12254,0.15,2.75,25.20,1.014,6,0.058,0.050,3635,1357,1848,0,0,0,0,0,0
$GC,12537,0.93,233.3,722.9,12.7,415,12542,0.10,2.72,0.00,0.000,4,0.124,0.048,3613,2941,1843,0,0,0,0,0,0
$GC,12552,0.93,233.3,720.7,13.0,415,12557,0.00,2.72,0.00,0.000,6,0.000,0.048,3613,1355,1841,0,0,0,0,0,0
$GC,12823,0.93,233.3,690.3,11.1,422,12827,0.00,2.72,0.00,0.000,4,0.000,0.047,3613,2938,1841,0,0,0,0,0,0
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$STATE,18962,end climb,SURFACE_DEPTH_REACHED
$STATE,18962,begin surface coast
$FINISH,1.0,1.023413
$STATE,19009,end surface coast,CONTROL_FINISHED_OK
$STATE,19009,begin surface
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$HUMID,69.76
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$TCM_TEMP,22.10
$XPDR_PINGS,8
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$10V_AH,9.7,68.272
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.725,225.400,424.125,35.275,0.000,24.905,34.521,192.854,2.000,0.000,15.494,1575.688,13920.647,559.072,2655.044,765.159,33.373,1700.523,0.000,2654.896,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,57267,706
$CAP_FILE_SIZE,188964,0
$CFSIZE,260165632,135933952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040913,220726,2345.944,-15819.068,37,99.0,56,10.2