version: 66.06
glider: 148
mission: 12
dive: 30
start: 5 27 113 4 36 36
data:
$ID,148
$MISSION,12
$DIVE,30
$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,370
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1015598.6
$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,3380
$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,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1560
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,86
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2870
$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
$GPS1,042529,2257.749,-15804.794,36,2.0,41,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-76.2
$GPS2,043543,2257.821,-15804.812,14,1.2,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.027,0.258
$KALMAN_X,-12730.1,7.8,-251.6,4858.6,-281.7
$KALMAN_Y,2729.7,128.9,-133.8,21041.4,568.9
$MHEAD_RNG_PITCHd_Wd,355.9,12287,-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,-146.0,0.0,0.0,0,78,0.00,0.00,-59.95,0.000,2,0.000,0.000,416,1590,2946,0,0,0,0,0,0
$GC,83,-1.27,-146.0,3.4,-4.6,8,115,14.05,2.42,-8.93,0.000,4,0.150,0.031,3096,3103,3467,0,0,0,0,0,0
$GC,259,-1.08,-146.0,44.2,-15.2,29,264,0.22,2.53,0.00,0.000,6,0.094,0.033,3145,1549,3467,0,0,0,0,0,0
$GC,528,-0.91,-146.0,82.0,-13.4,53,533,0.15,0.00,0.00,0.000,6,0.110,0.000,3178,1549,3467,0,0,0,0,0,0
$GC,789,-0.91,-146.0,110.1,-9.6,78,793,0.00,2.45,0.00,0.000,4,0.000,0.024,3178,3104,3468,0,0,0,0,0,0
$GC,834,-1.01,-146.0,114.0,-8.0,81,840,0.00,2.50,0.00,0.000,6,0.000,0.030,3178,1566,3468,0,0,0,0,0,0
$GC,1097,-1.01,-146.0,137.7,-9.6,106,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1566,3468,0,0,0,0,0,0
$GC,1355,-1.01,-146.0,161.1,-9.1,130,1359,0.00,2.42,0.00,0.000,4,0.000,0.024,3178,3106,3468,0,0,0,0,0,0
$GC,1394,-1.13,-146.0,164.7,-9.1,133,1399,0.20,2.47,0.00,0.000,6,0.044,0.030,3088,1568,3469,0,0,0,0,0,0
$GC,1667,-0.86,-146.0,207.7,-16.4,155,1672,0.45,2.28,0.00,0.000,4,0.088,0.042,3189,166,3468,0,0,0,0,0,0
$GC,1701,-0.94,-146.0,212.4,-11.0,155,1705,0.00,2.10,0.00,0.000,6,0.000,0.019,3189,1558,3469,0,0,0,0,0,0
$GC,1952,-1.06,-146.0,232.5,-8.0,161,1957,0.17,2.47,0.00,0.000,4,0.051,0.025,3123,3116,3469,0,0,0,0,0,0
$GC,1982,-1.06,-146.0,235.5,-10.1,161,1987,0.12,2.50,0.00,0.000,6,0.102,0.030,3151,1564,3469,0,0,0,0,0,0
$GC,2237,-1.06,-146.0,258.4,-8.7,168,2242,0.00,2.45,0.00,0.000,4,0.000,0.027,3150,3113,3469,0,0,0,0,0,0
$GC,2256,-1.06,-146.0,260.3,-9.4,168,2261,0.00,2.50,0.00,0.000,6,0.000,0.031,3151,1569,3469,0,0,0,0,0,0
$GC,2522,-1.06,-146.0,283.3,-8.7,175,2526,0.00,2.45,0.00,0.000,4,0.000,0.028,3151,3110,3469,0,0,0,0,0,0
$GC,2541,-1.12,-146.0,285.2,-8.6,175,2545,0.00,2.50,0.00,0.000,6,0.000,0.031,3150,1576,3469,0,0,0,0,0,0
$GC,2806,-1.12,-146.0,307.0,-8.3,182,2811,0.00,2.33,0.00,0.000,4,0.000,0.053,3151,168,3468,0,0,0,0,0,0
$GC,2834,-1.12,-146.0,309.8,-9.4,182,2839,0.00,2.17,0.00,0.000,6,0.000,0.024,3151,1555,3468,0,0,0,0,0,0
$GC,3094,-1.12,-146.0,332.3,-8.9,189,3098,0.00,2.30,0.00,0.000,4,0.000,0.054,3151,176,3467,0,0,0,0,0,0
$GC,3112,-1.12,-146.0,334.1,-9.4,189,3117,0.00,2.17,0.00,0.000,6,0.000,0.025,3150,1567,3466,0,0,0,0,0,0
$GC,3378,-1.18,-146.0,357.0,-8.5,196,3383,0.12,2.58,0.00,0.000,4,0.066,0.037,3097,3138,3465,0,0,0,0,0,0
$GC,3411,-1.18,-146.0,360.6,-10.0,196,3417,0.12,2.55,0.00,0.000,6,0.106,0.035,3124,1574,3465,0,0,0,0,0,0
$GC,3663,-1.18,-146.0,385.3,-9.8,202,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1574,3463,0,0,0,0,0,0
$GC,3905,-1.18,-146.0,408.6,-9.5,208,3909,0.00,2.58,0.00,0.000,4,0.000,0.038,3124,3140,3462,0,0,0,0,0,0
$GC,3929,-1.18,-146.0,410.9,-10.0,208,3933,0.00,2.60,0.00,0.000,6,0.000,0.036,3124,1570,3462,0,0,0,0,0,0
$GC,4190,-1.18,-146.0,434.5,-9.3,215,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1569,3461,0,0,0,0,0,0
$GC,4432,-1.18,-146.0,457.1,-9.0,221,4436,0.00,2.60,0.00,0.000,4,0.000,0.044,3125,3127,3459,0,0,0,0,0,0
$GC,4461,-1.24,-146.0,459.7,-9.0,221,4465,0.00,2.58,0.00,0.000,6,0.000,0.039,3124,1570,3458,0,0,0,0,0,0
$GC,4716,-1.24,-146.0,481.5,-8.6,228,4720,0.00,2.58,0.00,0.000,4,0.000,0.042,3124,3128,3457,0,0,0,0,0,0
$GC,4746,-1.30,-146.0,484.0,-7.9,228,4751,0.12,2.55,0.00,0.000,6,0.064,0.041,3064,1587,3457,0,0,0,0,0,0
$GC,5001,-1.14,-146.0,512.9,-11.4,235,5007,0.28,2.47,0.00,0.000,4,0.095,0.075,3128,165,3455,0,0,0,0,0,0
$GC,5027,-1.14,-146.0,515.6,-9.8,235,5031,0.00,2.28,0.00,0.000,6,0.000,0.034,3128,1575,3455,0,0,0,0,0,0
$GC,5291,-1.14,-146.0,536.7,-7.8,242,5296,0.00,2.60,0.00,0.000,4,0.000,0.048,3128,3140,3454,0,0,0,0,0,0
$GC,5329,-1.28,-146.0,539.8,-7.8,242,5335,0.12,2.60,0.00,0.000,6,0.061,0.046,3065,1590,3453,0,0,0,0,0,0
$GC,5581,-1.13,-146.0,567.9,-11.6,249,5586,0.28,2.50,0.00,0.000,4,0.093,0.079,3129,164,3451,0,0,0,0,0,0
$GC,5615,-1.19,-146.0,571.6,-9.7,249,5619,0.00,2.35,0.00,0.000,6,0.000,0.037,3129,1596,3451,0,0,0,0,0,0
$GC,5865,-1.19,-146.0,591.4,-7.9,255,5869,0.00,2.58,0.00,0.000,4,0.000,0.052,3129,3141,3450,0,0,0,0,0,0
$GC,5900,-1.33,-146.0,594.0,-7.7,255,5905,0.17,2.60,0.00,0.000,6,0.049,0.048,3056,1594,3450,0,0,0,0,0,0
$GC,6150,-1.16,-146.0,623.1,-11.9,261,6155,0.28,2.53,0.00,0.000,4,0.097,0.081,3120,170,3449,0,0,0,0,0,0
$GC,6200,-1.23,-146.0,628.0,-8.8,262,6204,0.00,2.33,0.00,0.000,6,0.000,0.039,3120,1592,3448,0,0,0,0,0,0
$GC,6482,-1.23,-146.0,650.6,-7.8,269,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1592,3446,0,0,0,0,0,0
$GC,6726,-1.23,-146.0,669.2,-7.6,275,6730,0.00,2.65,0.00,0.000,4,0.000,0.059,3120,3144,3445,0,0,0,0,0,0
$GC,6751,-1.31,-146.0,671.1,-8.0,275,6757,0.12,2.65,0.00,0.000,6,0.064,0.051,3060,1589,3444,0,0,0,0,0,0
$GC,7013,-1.17,-146.0,698.4,-10.8,282,7018,0.25,2.50,0.00,0.000,4,0.100,0.081,3118,169,3443,0,0,0,0,0,0
$GC,7070,-1.26,-146.0,704.1,-9.5,283,7075,0.00,2.33,0.00,0.000,6,0.000,0.040,3118,1579,3443,0,0,0,0,0,0
$GC,7345,-1.26,-146.0,726.8,-8.3,290,7349,0.00,2.65,0.00,0.000,4,0.000,0.057,3118,3149,3442,0,0,0,0,0,0
$GC,7383,-1.39,-146.0,729.9,-7.5,290,7389,0.17,2.70,0.00,0.000,6,0.054,0.053,3057,1573,3442,0,0,0,0,0,0
$GC,7635,-1.39,-146.0,755.7,-9.9,297,7639,0.00,2.67,0.00,0.000,4,0.000,0.051,3057,3153,3441,0,0,0,0,0,0
$GC,7714,-1.57,-146.0,762.6,-8.4,298,7719,0.00,2.65,0.00,0.000,6,0.000,0.051,3057,1593,3441,0,0,0,0,0,0
$GC,7965,-1.65,-146.0,783.6,-8.4,304,7970,0.15,2.62,0.00,0.000,4,0.056,0.047,2996,3148,3439,0,0,0,0,0,0
$GC,8028,-1.50,-146.0,789.2,-8.7,305,8035,0.25,2.60,0.00,0.000,6,0.098,0.053,3051,1626,3439,0,0,0,0,0,0
$GC,8300,-1.50,-146.0,809.8,-7.4,312,8304,0.00,2.55,0.00,0.000,4,0.000,0.048,3051,3146,3438,0,0,0,0,0,0
$GC,8424,-1.50,-146.0,819.1,-7.9,314,8428,0.00,2.67,0.00,0.000,6,0.000,0.053,3051,1588,3437,0,0,0,0,0,0
$GC,8679,-1.50,-146.0,837.8,-7.3,321,8683,0.00,2.55,0.00,0.000,4,0.000,0.089,3051,166,3437,0,0,0,0,0,0
$GC,8819,-1.35,-146.0,849.0,-7.6,324,8824,0.15,2.30,0.00,0.000,6,0.117,0.038,3082,1570,3436,0,0,0,0,0,0
$GC,9110,-1.49,-146.0,870.5,-7.4,331,9115,0.12,2.50,0.00,0.000,4,0.065,0.082,3032,168,3435,0,0,0,0,0,0
$GC,9150,-1.30,-146.0,874.3,-9.7,331,9156,0.30,2.28,0.00,0.000,6,0.099,0.039,3096,1559,3434,0,0,0,0,0,0
$GC,9400,-1.48,-146.0,892.3,-7.1,338,9407,0.15,2.72,0.00,0.000,4,0.056,0.058,3035,3151,3434,0,0,0,0,0,0
$STATE,9493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9497,begin apogee
$GC,9506,-0.31,0.0,900.2,8.9,340,9627,1.23,0.00,117.30,1.178,6,0.089,0.000,3309,1303,2870,0,0,0,0,0,0
$STATE,9628,end apogee,CONTROL_FINISHED_OK
$STATE,9628,begin climb
$GC,9631,1.27,146.0,906.7,0.0,343,9772,1.48,2.80,128.93,1.151,4,0.033,0.048,3665,2878,2271,0,0,0,0,0,0
$GC,9992,0.97,146.0,883.4,10.6,351,9999,0.35,2.78,0.00,0.000,6,0.117,0.055,3596,1297,2263,0,0,0,0,0,0
$GC,10268,0.83,171.9,859.0,8.8,358,10297,0.17,2.78,22.40,1.075,4,0.120,0.045,3561,2873,2169,0,0,0,0,0,0
$GC,10338,0.87,206.7,853.6,8.4,359,10379,0.00,2.75,32.97,1.088,6,0.000,0.058,3561,1304,2028,0,0,0,0,0,0
$GC,10649,0.89,226.2,825.0,9.1,367,10673,0.00,2.17,19.05,1.040,4,0.000,0.094,3561,169,1947,0,0,0,0,0,0
$GC,10897,0.81,226.2,798.8,10.4,372,10900,0.00,1.85,0.00,0.000,6,0.000,0.035,3561,1289,1946,0,0,0,0,0,0
$GC,11171,0.83,238.8,773.5,9.4,379,11191,0.00,2.08,13.05,0.984,4,0.000,0.078,3561,164,1895,0,0,0,0,0,0
$GC,11254,0.77,238.8,764.4,11.9,380,11257,0.00,1.85,0.00,0.000,6,0.000,0.035,3561,1280,1894,0,0,0,0,0,0
$GC,11508,0.77,238.8,737.2,10.8,387,11511,0.00,2.03,0.00,0.000,4,0.000,0.079,3561,157,1892,0,0,0,0,0,0
$GC,11712,0.77,238.8,711.1,12.2,391,11716,0.00,1.83,0.00,0.000,6,0.000,0.035,3561,1264,1893,0,0,0,0,0,0
$GC,11986,0.77,238.8,682.0,10.5,398,11989,0.00,1.98,0.00,0.000,4,0.000,0.078,3561,164,1891,0,0,0,0,0,0
$GC,12235,0.77,238.8,652.2,11.3,403,12238,0.00,1.77,0.00,0.000,6,0.000,0.034,3561,1249,1891,0,0,0,0,0,0
$GC,12508,0.77,238.8,624.5,10.1,410,12512,0.00,1.95,0.00,0.000,4,0.000,0.077,3561,157,1890,0,0,0,0,0,0
$GC,12684,0.77,238.8,604.2,11.8,413,12687,0.00,1.75,0.00,0.000,6,0.000,0.032,3561,1232,1890,0,0,0,0,0,0
$GC,12939,0.78,246.8,579.4,9.6,420,12951,0.00,1.92,7.90,0.815,4,0.000,0.074,3561,164,1863,0,0,0,0,0,0
$GC,13086,0.78,246.8,563.2,10.1,423,13089,0.00,1.70,0.00,0.000,6,0.000,0.031,3561,1226,1863,0,0,0,0,0,0
$GC,13370,0.85,253.7,536.1,9.7,430,13382,0.00,1.92,7.95,0.792,4,0.000,0.073,3561,157,1835,0,0,0,0,0,0
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$GC,14381,0.95,289.4,428.1,13.3,454,14385,0.17,1.88,0.00,0.000,4,0.110,0.068,3589,155,1686,0,0,0,0,0,0
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$STATE,18299,end climb,SURFACE_DEPTH_REACHED
$STATE,18299,begin surface coast
$FINISH,0.7,1.023152
$STATE,18339,end surface coast,CONTROL_FINISHED_OK
$STATE,18339,begin surface
$SM_CCo,18364,25.88,0.448,0,0,1360,370.16
$SM_GC,1.63,0.00,0.00,25.88,0.000,0.000,0.448,419,1577,1360,-13.63,0.48,370.16
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$TT8_MAMPS,0.027612
$HUMID,62.16
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.50
$XPDR_PINGS,52
$24V_AH,23.2,3.665
$10V_AH,9.8,3.332
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,36.100,216.575,434.050,25.875,0.000,50.274,72.373,266.821,13.000,0.000,16.105,1633.351,13066.592,536.500,2900.494,856.961,33.353,1838.854,0.000,2869.841,0.000,0.537,0.000
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$SENSOR_SECS,471.857,330.287,424.455,757.586,1030.966,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,54154,694
$CAP_FILE_SIZE,199019,0
$CFSIZE,260165632,170205184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270513,094435,2300.571,-15803.948,44,1.9,48,10.1