version: 66.06
glider: 148
mission: 12
dive: 254
start: 7 16 113 15 59 24
data:
$ID,148
$MISSION,12
$DIVE,254
$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,-1021136.6
$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,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,91
$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
$GPS1,154805,2305.229,-15723.265,33,1.1,33,10.2
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.4
$GPS2,155830,2305.285,-15723.281,11,2.0,16,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.254,0.054
$KALMAN_X,-214519.0,69.8,110.0,277147.8,783.0
$KALMAN_Y,161898.1,268.4,336.4,-124914.1,-930.8
$MHEAD_RNG_PITCHd_Wd,271.9,20679,-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,-66.97,0.000,2,0.000,0.000,412,1590,2928,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.4,-5.0,9,120,14.60,2.42,-8.60,0.000,4,0.167,0.031,3101,3104,3397,0,0,0,0,0,0
$GC,235,-1.08,-146.0,39.2,-19.6,28,244,0.17,2.53,0.00,0.000,6,0.083,0.031,3145,1569,3397,0,0,0,0,0,0
$GC,501,-0.90,-146.0,83.6,-15.2,53,506,0.20,0.00,0.00,0.000,6,0.098,0.000,3188,1568,3397,0,0,0,0,0,0
$GC,765,-0.85,-146.0,114.4,-11.3,78,769,0.00,2.30,0.00,0.000,4,0.000,0.044,3188,168,3398,0,0,0,0,0,0
$GC,787,-0.80,-146.0,116.6,-11.6,79,791,0.10,2.08,0.00,0.000,6,0.117,0.018,3211,1575,3398,0,0,0,0,0,0
$GC,1055,-0.80,-146.0,142.1,-8.9,103,1059,0.00,2.40,0.00,0.000,4,0.000,0.021,3211,3106,3398,0,0,0,0,0,0
$GC,1091,-0.89,-146.0,145.8,-8.3,106,1095,0.00,2.47,0.00,0.000,6,0.000,0.028,3211,1561,3398,0,0,0,0,0,0
$GC,1359,-0.89,-146.0,167.5,-8.3,130,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1561,3399,0,0,0,0,0,0
$GC,1623,-0.94,-146.0,190.1,-7.8,155,1627,0.12,2.45,0.00,0.000,4,0.063,0.022,3148,3114,3399,0,0,0,0,0,0
$GC,1657,-0.94,-146.0,193.5,-9.8,157,1663,0.15,2.47,0.00,0.000,6,0.091,0.029,3183,1572,3399,0,0,0,0,0,0
$GC,1941,-0.94,-146.0,219.0,-9.0,170,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1572,3399,0,0,0,0,0,0
$GC,2187,-0.94,-146.0,242.1,-9.7,176,2191,0.00,2.40,0.00,0.000,4,0.000,0.021,3183,3106,3399,0,0,0,0,0,0
$GC,2208,-0.99,-146.0,244.1,-8.9,176,2213,0.00,2.47,0.00,0.000,6,0.000,0.028,3183,1575,3399,0,0,0,0,0,0
$GC,2472,-0.99,-146.0,266.3,-8.4,183,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1575,3399,0,0,0,0,0,0
$GC,2716,-1.03,-146.0,284.6,-7.4,189,2720,0.00,2.33,0.00,0.000,4,0.000,0.048,3183,170,3398,0,0,0,0,0,0
$GC,2742,-1.03,-146.0,286.6,-8.7,189,2746,0.10,2.10,0.00,0.000,6,0.074,0.020,3120,1554,3399,0,0,0,0,0,0
$GC,3005,-0.95,-146.0,314.6,-10.8,196,3011,0.25,2.50,0.00,0.000,4,0.084,0.027,3181,3130,3398,0,0,0,0,0,0
$GC,3058,-1.09,-146.0,319.5,-7.1,197,3063,0.15,2.53,0.00,0.000,6,0.053,0.031,3108,1584,3399,0,0,0,0,0,0
$GC,3339,-1.00,-146.0,350.5,-11.4,204,3344,0.25,2.38,0.00,0.000,4,0.082,0.053,3170,170,3397,0,0,0,0,0,0
$GC,3369,-1.00,-146.0,353.5,-8.9,204,3373,0.00,2.17,0.00,0.000,6,0.000,0.021,3170,1582,3397,0,0,0,0,0,0
$GC,3631,-1.06,-146.0,371.0,-6.7,211,3635,0.00,2.50,0.00,0.000,4,0.000,0.032,3170,3143,3396,0,0,0,0,0,0
$GC,3660,-1.18,-146.0,373.4,-6.3,211,3665,0.17,2.55,0.00,0.000,6,0.045,0.037,3091,1598,3395,0,0,0,0,0,0
$GC,3915,-1.06,-146.0,400.0,-10.9,218,3917,0.28,0.00,0.00,0.000,6,0.084,0.000,3153,1598,3394,0,0,0,0,0,0
$GC,4161,-1.06,-146.0,419.9,-7.8,224,4165,0.00,2.53,0.00,0.000,4,0.000,0.037,3153,3147,3391,0,0,0,0,0,0
$GC,4189,-1.14,-146.0,422.3,-7.6,224,4194,0.00,2.58,0.00,0.000,6,0.000,0.038,3153,1598,3391,0,0,0,0,0,0
$GC,4446,-1.14,-146.0,442.4,-8.0,231,4451,0.00,2.45,0.00,0.000,4,0.000,0.067,3153,172,3389,0,0,0,0,0,0
$GC,4486,-1.18,-146.0,445.9,-8.7,231,4492,0.12,2.22,0.00,0.000,6,0.063,0.025,3092,1591,3389,0,0,0,0,0,0
$GC,4736,-1.08,-146.0,473.2,-11.0,238,4741,0.25,2.45,0.00,0.000,4,0.084,0.064,3153,172,3387,0,0,0,0,0,0
$GC,4772,-1.08,-146.0,476.4,-8.4,238,4776,0.00,2.25,0.00,0.000,6,0.000,0.028,3153,1593,3387,0,0,0,0,0,0
$GC,5022,-1.08,-146.0,495.2,-7.5,244,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1593,3385,0,0,0,0,0,0
$GC,5266,-1.13,-146.0,512.7,-7.1,250,5270,0.00,2.55,0.00,0.000,4,0.000,0.044,3153,3151,3383,0,0,0,0,0,0
$GC,5301,-1.23,-146.0,515.1,-6.6,250,5306,0.15,2.60,0.00,0.000,6,0.056,0.041,3085,1597,3383,0,0,0,0,0,0
$GC,5556,-1.13,-146.0,540.2,-10.2,256,5561,0.22,2.50,0.00,0.000,4,0.088,0.072,3136,165,3381,0,0,0,0,0,0
$GC,5619,-1.13,-146.0,546.4,-8.7,257,5623,0.00,2.30,0.00,0.000,6,0.000,0.031,3137,1591,3381,0,0,0,0,0,0
$GC,5889,-1.13,-146.0,566.8,-7.4,264,5893,0.00,2.60,0.00,0.000,4,0.000,0.045,3136,3155,3379,0,0,0,0,0,0
$GC,5933,-1.21,-146.0,570.1,-6.9,265,5937,0.00,2.65,0.00,0.000,6,0.000,0.045,3136,1586,3379,0,0,0,0,0,0
$GC,6222,-1.21,-146.0,591.2,-7.4,272,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1586,3377,0,0,0,0,0,0
$GC,6464,-1.21,-146.0,608.4,-7.0,278,6468,0.00,2.60,0.00,0.000,4,0.000,0.044,3136,3151,3376,0,0,0,0,0,0
$GC,6483,-1.21,-146.0,609.7,-6.7,278,6487,0.00,2.60,0.00,0.000,6,0.000,0.045,3136,1599,3376,0,0,0,0,0,0
$GC,6748,-1.21,-146.0,627.5,-6.6,285,6753,0.00,2.53,0.00,0.000,4,0.000,0.080,3136,167,3373,0,0,0,0,0,0
$GC,6781,-1.21,-146.0,629.9,-7.8,285,6786,0.00,2.33,0.00,0.000,6,0.000,0.032,3136,1601,3373,0,0,0,0,0,0
$GC,7034,-1.21,-146.0,647.1,-7.0,291,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1600,3372,0,0,0,0,0,0
$GC,7275,-1.21,-146.0,665.5,-7.6,297,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1601,3370,0,0,0,0,0,0
$GC,7520,-1.21,-146.0,684.4,-7.8,303,7525,0.00,2.53,0.00,0.000,4,0.000,0.075,3136,165,3369,0,0,0,0,0,0
$GC,7544,-1.21,-146.0,686.7,-8.9,303,7548,0.00,2.33,0.00,0.000,6,0.000,0.033,3136,1594,3369,0,0,0,0,0,0
$GC,7803,-1.21,-146.0,705.9,-7.2,310,7808,0.00,2.50,0.00,0.000,4,0.000,0.075,3136,163,3368,0,0,0,0,0,0
$GC,7833,-1.21,-146.0,708.1,-8.2,310,7838,0.00,2.33,0.00,0.000,6,0.000,0.035,3136,1585,3367,0,0,0,0,0,0
$GC,8088,-1.21,-146.0,725.4,-6.8,317,8092,0.00,2.65,0.00,0.000,4,0.000,0.051,3136,3158,3367,0,0,0,0,0,0
$GC,8107,-1.26,-146.0,726.9,-7.0,317,8113,0.10,2.67,0.00,0.000,6,0.075,0.048,3085,1584,3367,0,0,0,0,0,0
$GC,8375,-1.18,-146.0,750.7,-9.2,324,8380,0.17,2.53,0.00,0.000,4,0.095,0.081,3125,165,3365,0,0,0,0,0,0
$GC,8427,-1.18,-146.0,755.6,-7.9,325,8431,0.00,2.30,0.00,0.000,6,0.000,0.032,3125,1588,3365,0,0,0,0,0,0
$GC,8711,-1.18,-146.0,776.9,-7.4,332,8715,0.00,2.62,0.00,0.000,4,0.000,0.052,3125,3150,3364,0,0,0,0,0,0
$GC,8740,-1.24,-146.0,779.2,-7.5,332,8744,0.00,2.67,0.00,0.000,6,0.000,0.048,3125,1579,3363,0,0,0,0,0,0
$GC,8995,-1.24,-146.0,797.0,-6.9,339,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1579,3363,0,0,0,0,0,0
$GC,9240,-1.24,-146.0,813.7,-6.8,345,9244,0.00,2.50,0.00,0.000,4,0.000,0.081,3125,164,3362,0,0,0,0,0,0
$GC,9278,-1.24,-146.0,816.6,-7.5,345,9287,0.00,2.35,0.00,0.000,6,0.000,0.032,3125,1594,3362,0,0,0,0,0,0
$GC,9528,-1.24,-146.0,834.0,-6.9,352,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1594,3362,0,0,0,0,0,0
$GC,9771,-1.24,-146.0,850.5,-6.7,358,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1594,3361,0,0,0,0,0,0
$GC,10017,-1.24,-146.0,866.1,-6.3,364,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1594,3360,0,0,0,0,0,0
$GC,10259,-1.24,-146.0,881.8,-6.5,370,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1594,3359,0,0,0,0,0,0
$GC,10507,-1.24,-146.0,898.0,-6.6,376,10508,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1594,3359,0,0,0,0,0,0
$STATE,10540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10540,begin apogee
$GC,10548,-0.31,0.0,900.6,6.5,377,10671,0.82,0.00,118.82,1.155,6,0.067,0.000,3317,1336,2800,0,0,0,0,0,0
$STATE,10671,end apogee,CONTROL_FINISHED_OK
$STATE,10672,begin climb
$GC,10674,1.27,146.0,903.6,0.0,380,10815,1.42,2.17,130.52,1.134,4,0.032,0.078,3667,175,2202,0,0,0,0,0,0
$GC,10900,1.02,146.0,885.0,16.0,385,10904,0.30,1.95,0.00,0.000,6,0.108,0.030,3607,1359,2198,0,0,0,0,0,0
$GC,11180,0.95,146.0,854.1,10.9,392,11181,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,1360,2192,0,0,0,0,0,0
$GC,11422,0.88,146.3,829.4,10.0,398,11424,0.15,0.00,0.00,0.000,6,0.111,0.000,3575,1360,2190,0,0,0,0,0,0
$GC,11665,0.91,172.7,808.0,8.8,404,11693,0.00,2.20,23.15,1.039,4,0.000,0.074,3575,175,2095,0,0,0,0,0,0
$GC,11755,0.91,172.7,799.5,10.3,405,11763,0.00,1.95,0.00,0.000,6,0.000,0.029,3575,1348,2094,0,0,0,0,0,0
$GC,12005,0.93,185.4,775.2,9.4,412,12019,0.00,0.00,12.65,0.968,6,0.000,0.000,3575,1349,2044,0,0,0,0,0,0
$GC,12248,0.94,191.2,751.5,9.7,418,12261,0.00,2.75,6.57,0.831,4,0.000,0.051,3575,2926,2020,0,0,0,0,0,0
$GC,12287,1.00,195.0,747.8,9.8,418,12300,0.12,2.72,5.45,0.769,6,0.067,0.049,3622,1353,2003,0,0,0,0,0,0
$GC,12591,0.93,195.0,712.3,11.8,426,12596,0.15,2.17,0.00,0.000,4,0.108,0.086,3589,158,2002,0,0,0,0,0,0
$GC,12613,0.87,195.0,709.4,12.0,426,12617,0.00,1.98,0.00,0.000,6,0.000,0.029,3589,1354,2002,0,0,0,0,0,0
$GC,12881,0.87,195.0,681.7,10.1,433,12885,0.00,2.10,0.00,0.000,4,0.000,0.072,3589,165,2001,0,0,0,0,0,0
$GC,12941,0.87,195.0,674.8,11.6,434,12945,0.00,1.92,0.00,0.000,6,0.000,0.028,3589,1350,2001,0,0,0,0,0,0
$GC,13217,0.87,195.0,646.3,10.5,441,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1352,2000,0,0,0,0,0,0
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$STATE,19290,end climb,SURFACE_DEPTH_REACHED
$STATE,19290,begin surface coast
$FINISH,1.0,1.023354
$STATE,19343,end surface coast,CONTROL_FINISHED_OK
$STATE,19343,begin surface
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$SM_GC,1.94,0.00,0.00,53.83,0.000,0.000,0.429,414,1557,1210,-13.67,-0.37,390.03
$IRIDIUM_FIX,2255.72,-15734.52,101002,161616
$TT8_MAMPS,0.027612
$HUMID,63.30
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.70
$XPDR_PINGS,18
$24V_AH,23.3,37.495
$10V_AH,9.9,34.939
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.800,208.725,396.100,53.825,0.000,47.109,81.992,270.763,4.500,0.000,18.218,1622.931,14281.492,537.431,2690.853,904.948,33.376,1657.069,0.000,2692.403,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,501.928,399.218,503.291,1030.899,1360.789,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,57436,736
$CAP_FILE_SIZE,190673,0
$CFSIZE,260165632,152993792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160713,212430,2305.257,-15725.182,41,1.4,41,10.1