version: 66.06
glider: 148
mission: 12
dive: 53
start: 6 1 113 6 11 46
data:
$ID,148
$MISSION,12
$DIVE,53
$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,380
$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,-1016037.6
$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,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,1600
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,29
$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
$GPS1,055944,2243.845,-15739.502,36,99.0,55,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-76.0
$GPS2,061054,2243.846,-15739.585,21,2.0,32,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.149,0.213
$KALMAN_X,-25495.4,-326.3,-116.7,60915.9,-1863.8
$KALMAN_Y,16543.3,40.3,-184.3,-18522.2,737.9
$MHEAD_RNG_PITCHd_Wd,24.8,40599,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.25,0.000,2,0.000,0.000,417,1700,2980,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-4.6,9,122,13.98,2.42,-7.35,0.000,4,0.149,0.036,3104,3206,3397,0,0,0,0,0,0
$GC,158,-1.00,-146.0,25.0,-23.9,18,167,0.25,2.67,0.00,0.000,6,0.085,0.033,3162,1601,3398,0,0,0,0,0,0
$GC,433,-0.93,-146.0,62.7,-11.2,44,437,0.00,2.35,0.00,0.000,4,0.000,0.044,3162,159,3397,0,0,0,0,0,0
$GC,464,-0.82,-146.0,67.3,-13.4,46,469,0.20,2.25,0.00,0.000,6,0.099,0.018,3206,1640,3397,0,0,0,0,0,0
$GC,729,-0.88,-146.0,92.3,-9.1,70,733,0.00,2.42,0.00,0.000,4,0.000,0.044,3206,163,3398,0,0,0,0,0,0
$GC,770,-0.94,-146.0,96.4,-10.4,73,775,0.12,2.20,0.00,0.000,6,0.063,0.018,3145,1609,3398,0,0,0,0,0,0
$GC,1038,-0.86,-146.0,130.7,-12.6,97,1043,0.22,2.42,0.00,0.000,4,0.094,0.022,3194,3162,3399,0,0,0,0,0,0
$GC,1087,-1.00,-146.0,136.2,-8.8,101,1093,0.12,2.55,0.00,0.000,6,0.061,0.029,3130,1591,3399,0,0,0,0,0,0
$GC,1349,-0.89,-146.0,172.0,-14.2,125,1354,0.25,2.30,0.00,0.000,4,0.094,0.041,3187,172,3399,0,0,0,0,0,0
$GC,1395,-0.95,-146.0,177.5,-10.6,129,1399,0.00,2.15,0.00,0.000,6,0.000,0.018,3187,1597,3399,0,0,0,0,0,0
$GC,1689,-1.00,-146.0,204.1,-8.3,153,1694,0.00,2.45,0.00,0.000,4,0.000,0.024,3187,3168,3399,0,0,0,0,0,0
$GC,1714,-1.10,-146.0,206.3,-7.5,153,1719,0.17,2.53,0.00,0.000,6,0.050,0.028,3104,1593,3399,0,0,0,0,0,0
$GC,1974,-0.97,-146.0,237.9,-12.5,160,1976,0.32,0.00,0.00,0.000,6,0.087,0.000,3174,1592,3399,0,0,0,0,0,0
$GC,2219,-1.03,-146.0,258.6,-8.3,166,2224,0.00,2.47,0.00,0.000,4,0.000,0.025,3174,3166,3399,0,0,0,0,0,0
$GC,2253,-1.15,-146.0,261.3,-7.5,166,2258,0.17,2.53,0.00,0.000,6,0.053,0.030,3100,1600,3399,0,0,0,0,0,0
$GC,2503,-1.06,-146.0,291.3,-12.3,172,2508,0.25,2.35,0.00,0.000,4,0.091,0.047,3159,167,3399,0,0,0,0,0,0
$GC,2552,-1.13,-146.0,296.8,-10.7,173,2556,0.00,2.20,0.00,0.000,6,0.000,0.022,3159,1586,3399,0,0,0,0,0,0
$GC,2835,-1.18,-146.0,321.5,-8.3,180,2840,0.12,2.55,0.00,0.000,4,0.064,0.031,3100,3178,3398,0,0,0,0,0,0
$GC,2893,-1.18,-146.0,327.2,-9.6,181,2898,0.12,2.58,0.00,0.000,6,0.100,0.034,3129,1608,3398,0,0,0,0,0,0
$GC,3167,-1.18,-146.0,350.5,-8.2,188,3172,0.00,2.42,0.00,0.000,4,0.000,0.058,3129,163,3397,0,0,0,0,0,0
$GC,3234,-1.18,-146.0,356.5,-9.2,189,3238,0.00,2.25,0.00,0.000,6,0.000,0.024,3129,1601,3396,0,0,0,0,0,0
$GC,3498,-1.18,-146.0,380.8,-9.3,196,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1602,3395,0,0,0,0,0,0
$GC,3741,-1.18,-146.0,404.7,-10.1,202,3745,0.00,2.42,0.00,0.000,4,0.000,0.061,3129,172,3394,0,0,0,0,0,0
$GC,3766,-1.18,-146.0,407.3,-10.6,202,3770,0.00,2.28,0.00,0.000,6,0.000,0.026,3129,1600,3393,0,0,0,0,0,0
$GC,4025,-1.18,-146.0,430.9,-8.8,209,4029,0.00,2.60,0.00,0.000,4,0.000,0.038,3129,3180,3392,0,0,0,0,0,0
$GC,4077,-1.28,-146.0,435.5,-8.5,210,4082,0.10,2.60,0.00,0.000,6,0.076,0.038,3067,1602,3391,0,0,0,0,0,0
$GC,4358,-1.16,-146.0,464.1,-10.1,217,4363,0.25,2.47,0.00,0.000,4,0.091,0.069,3127,160,3389,0,0,0,0,0,0
$GC,4414,-1.16,-146.0,469.0,-7.4,218,4419,0.00,2.33,0.00,0.000,6,0.000,0.030,3127,1602,3389,0,0,0,0,0,0
$GC,4689,-1.16,-146.0,487.3,-6.7,225,4694,0.00,2.62,0.00,0.000,4,0.000,0.043,3127,3186,3386,0,0,0,0,0,0
$GC,4708,-1.16,-146.0,488.9,-7.4,225,4713,0.00,2.60,0.00,0.000,6,0.000,0.044,3127,1609,3387,0,0,0,0,0,0
$GC,4972,-1.16,-146.0,506.3,-6.7,232,4977,0.00,2.50,0.00,0.000,4,0.000,0.074,3127,170,3385,0,0,0,0,0,0
$GC,5021,-1.16,-146.0,509.8,-7.5,233,5025,0.00,2.30,0.00,0.000,6,0.000,0.033,3127,1602,3385,0,0,0,0,0,0
$GC,5303,-1.16,-146.0,529.5,-6.9,240,5308,0.00,2.60,0.00,0.000,4,0.000,0.045,3127,3181,3382,0,0,0,0,0,0
$GC,5332,-1.23,-146.0,531.5,-6.9,240,5337,0.00,2.62,0.00,0.000,6,0.000,0.042,3126,1602,3383,0,0,0,0,0,0
$GC,5589,-1.23,-146.0,549.3,-7.2,247,5593,0.00,2.50,0.00,0.000,4,0.000,0.077,3126,165,3381,0,0,0,0,0,0
$GC,5612,-1.23,-146.0,551.4,-8.5,247,5617,0.00,2.35,0.00,0.000,6,0.000,0.035,3127,1603,3381,0,0,0,0,0,0
$GC,5872,-1.23,-146.0,570.6,-7.4,254,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1604,3379,0,0,0,0,0,0
$GC,6117,-1.23,-146.0,588.1,-7.3,260,6121,0.00,2.53,0.00,0.000,4,0.000,0.074,3127,169,3378,0,0,0,0,0,0
$GC,6140,-1.23,-146.0,590.1,-8.5,260,6144,0.00,2.35,0.00,0.000,6,0.000,0.035,3126,1603,3378,0,0,0,0,0,0
$GC,6400,-1.23,-146.0,609.9,-7.7,267,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1604,3376,0,0,0,0,0,0
$GC,6645,-1.23,-146.0,628.9,-7.7,273,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1604,3375,0,0,0,0,0,0
$GC,6887,-1.23,-146.0,645.3,-6.6,279,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1604,3374,0,0,0,0,0,0
$GC,7133,-1.28,-146.0,662.8,-7.3,285,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1603,3373,0,0,0,0,0,0
$GC,7375,-1.32,-146.0,681.2,-7.6,291,7377,0.12,0.00,0.00,0.000,6,0.065,0.000,3074,1603,3371,0,0,0,0,0,0
$GC,7620,-1.25,-146.0,705.6,-10.3,297,7625,0.17,2.55,0.00,0.000,4,0.099,0.078,3112,169,3370,0,0,0,0,0,0
$GC,7658,-1.25,-146.0,709.5,-10.1,297,7663,0.00,2.35,0.00,0.000,6,0.000,0.038,3112,1595,3370,0,0,0,0,0,0
$GC,7908,-1.25,-146.0,728.8,-7.6,304,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1595,3369,0,0,0,0,0,0
$GC,8153,-1.25,-146.0,746.8,-7.3,310,8157,0.00,2.53,0.00,0.000,4,0.000,0.077,3112,167,3368,0,0,0,0,0,0
$GC,8172,-1.25,-146.0,748.5,-7.7,310,8176,0.00,2.35,0.00,0.000,6,0.000,0.038,3112,1597,3368,0,0,0,0,0,0
$GC,8435,-1.25,-146.0,764.2,-5.8,317,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1597,3367,0,0,0,0,0,0
$GC,8681,-1.25,-146.0,777.6,-5.5,323,8685,0.00,2.53,0.00,0.000,4,0.000,0.077,3112,169,3367,0,0,0,0,0,0
$GC,8718,-1.25,-146.0,780.1,-6.7,323,8724,0.00,2.35,0.00,0.000,6,0.000,0.044,3112,1591,3366,0,0,0,0,0,0
$GC,8968,-1.25,-146.0,793.6,-5.5,330,8973,0.00,2.72,0.00,0.000,4,0.000,0.056,3112,3191,3365,0,0,0,0,0,0
$GC,8987,-1.25,-146.0,794.8,-5.6,330,8992,0.00,2.72,0.00,0.000,6,0.000,0.050,3112,1592,3365,0,0,0,0,0,0
$GC,9253,-1.25,-146.0,811.0,-6.4,337,9257,0.00,2.50,0.00,0.000,4,0.000,0.083,3112,169,3364,0,0,0,0,0,0
$GC,9309,-1.25,-146.0,815.8,-9.1,338,9313,0.00,2.33,0.00,0.000,6,0.000,0.036,3112,1590,3364,0,0,0,0,0,0
$GC,9588,-1.25,-146.0,839.0,-8.6,345,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1589,3364,0,0,0,0,0,0
$GC,9830,-1.25,-146.0,859.9,-8.6,351,9835,0.00,2.70,0.00,0.000,4,0.000,0.052,3112,3187,3363,0,0,0,0,0,0
$GC,9864,-1.33,-146.0,862.9,-9.5,351,9869,0.00,2.70,0.00,0.000,6,0.000,0.051,3112,1592,3363,0,0,0,0,0,0
$GC,10116,-1.33,-146.0,884.0,-8.5,357,10120,0.00,2.50,0.00,0.000,4,0.000,0.082,3112,169,3362,0,0,0,0,0,0
$GC,10159,-1.33,-146.0,888.1,-8.7,358,10163,0.00,2.30,0.00,0.000,6,0.000,0.036,3112,1589,3361,0,0,0,0,0,0
$STATE,10321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10321,begin apogee
$GC,10328,-0.31,0.0,901.7,8.1,362,10450,0.90,0.00,118.60,1.170,6,0.073,0.000,3318,1343,2800,0,0,0,0,0,0
$STATE,10450,end apogee,CONTROL_FINISHED_OK
$STATE,10450,begin climb
$GC,10454,1.27,146.0,906.6,0.0,365,10593,1.40,2.20,129.10,1.149,4,0.028,0.081,3662,177,2203,0,0,0,0,0,0
$GC,10717,0.98,146.0,885.5,16.2,371,10722,0.32,1.95,0.00,0.000,6,0.117,0.032,3598,1354,2199,0,0,0,0,0,0
$GC,11006,0.89,146.0,853.3,11.2,378,11010,0.00,2.70,0.00,0.000,4,0.000,0.054,3598,2931,2193,0,0,0,0,0,0
$GC,11039,0.89,146.0,849.2,11.0,378,11043,0.00,2.72,0.00,0.000,6,0.000,0.050,3598,1358,2190,0,0,0,0,0,0
$GC,11289,0.81,146.0,819.5,11.9,384,11294,0.17,2.17,0.00,0.000,4,0.113,0.087,3562,163,2191,0,0,0,0,0,0
$GC,11324,0.74,146.0,815.0,14.0,384,11328,0.00,1.95,0.00,0.000,6,0.000,0.033,3563,1359,2190,0,0,0,0,0,0
$GC,11578,0.74,146.0,787.1,11.0,391,11582,0.00,2.12,0.00,0.000,4,0.000,0.076,3562,162,2190,0,0,0,0,0,0
$GC,11606,0.68,146.0,783.8,12.3,391,11610,0.15,1.95,0.00,0.000,6,0.114,0.032,3532,1347,2190,0,0,0,0,0,0
$GC,11863,0.76,163.9,760.0,9.2,398,11883,0.00,2.20,15.27,0.997,4,0.000,0.077,3532,167,2130,0,0,0,0,0,0
$GC,11925,0.78,178.2,753.7,9.3,399,11945,0.00,1.95,14.25,0.981,6,0.000,0.033,3532,1344,2073,0,0,0,0,0,0
$GC,12198,0.90,218.1,730.7,8.2,406,12243,0.20,2.83,38.00,1.035,4,0.053,0.054,3595,2929,1910,0,0,0,0,0,0
$GC,12259,0.90,218.1,724.0,10.8,407,12264,0.00,2.78,0.00,0.000,6,0.000,0.050,3595,1345,1906,0,0,0,0,0,0
$GC,12528,0.90,218.1,691.9,11.9,414,12532,0.00,2.12,0.00,0.000,4,0.000,0.087,3595,160,1904,0,0,0,0,0,0
$GC,12550,0.83,218.1,689.5,12.5,414,12554,0.15,1.95,0.00,0.000,6,0.111,0.032,3565,1344,1904,0,0,0,0,0,0
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$STATE,18512,end climb,SURFACE_DEPTH_REACHED
$STATE,18513,begin surface coast
$FINISH,0.7,1.007428
$STATE,18554,end surface coast,CONTROL_FINISHED_OK
$STATE,18554,begin surface
$SM_CCo,18578,42.42,0.448,0,0,1250,380.21
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$TT8_MAMPS,0.027612
$HUMID,61.85
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.10
$XPDR_PINGS,18
$24V_AH,23.2,7.167
$10V_AH,9.8,6.336
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.500,221.150,403.100,42.425,0.000,56.432,80.340,295.116,4.500,0.000,34.170,1544.500,13837.693,546.083,2465.395,886.969,33.371,1663.393,0.000,2435.384,0.000,0.536,0.000
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$SENSOR_SECS,470.248,322.239,408.538,723.718,986.423,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,54392,691
$CAP_FILE_SIZE,189547,0
$CFSIZE,260165632,168468480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010613,112350,2246.355,-15739.825,40,5.3,59,10.1