version: 66.06
glider: 148
mission: 12
dive: 371
start: 8 11 113 18 8 11
data:
$ID,148
$MISSION,12
$DIVE,371
$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,-1023413.2
$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,28
$R_STBD_OVSHOOT,123
$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
$GPS1,175535,2300.613,-15804.898,80,1.8,80,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-73.3
$GPS2,180717,2300.619,-15804.935,15,1.3,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.029,0.258
$KALMAN_X,-100337.3,-17.5,-197.3,92227.3,916.0
$KALMAN_Y,104183.7,-187.3,104.5,-75154.2,-622.2
$MHEAD_RNG_PITCHd_Wd,343.5,7130,-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,17,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.12,0.000,2,0.000,0.000,414,1609,2919,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.5,-4.5,9,121,13.90,2.33,-8.75,0.000,4,0.145,0.029,3116,3077,3396,0,0,0,0,0,0
$GC,223,-1.09,-146.0,35.2,-18.0,27,228,0.22,2.47,0.00,0.000,6,0.097,0.031,3165,1563,3397,0,0,0,0,0,0
$GC,493,-0.96,-146.0,78.0,-14.1,51,498,0.12,2.28,0.00,0.000,4,0.111,0.042,3192,169,3397,0,0,0,0,0,0
$GC,557,-0.96,-146.0,87.4,-11.9,56,567,0.00,2.05,0.00,0.000,6,0.000,0.017,3192,1522,3397,0,0,0,0,0,0
$GC,824,-0.96,-146.0,117.7,-11.4,81,828,0.00,2.47,0.00,0.000,4,0.000,0.021,3192,3114,3398,0,0,0,0,0,0
$GC,865,-1.02,-146.0,122.8,-9.6,84,873,0.00,2.55,0.00,0.000,6,0.000,0.028,3191,1554,3398,0,0,0,0,0,0
$GC,1131,-1.02,-146.0,151.1,-10.4,109,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1553,3399,0,0,0,0,0,0
$GC,1392,-1.02,-146.0,176.4,-9.7,134,1397,0.00,2.45,0.00,0.000,4,0.000,0.021,3192,3114,3399,0,0,0,0,0,0
$GC,1422,-1.02,-146.0,178.9,-10.1,136,1426,0.00,2.53,0.00,0.000,6,0.000,0.027,3192,1554,3399,0,0,0,0,0,0
$GC,1712,-1.02,-146.0,209.0,-10.8,157,1717,0.00,2.45,0.00,0.000,4,0.000,0.021,3192,3116,3399,0,0,0,0,0,0
$GC,1736,-1.02,-146.0,211.8,-10.9,157,1740,0.00,2.47,0.00,0.000,6,0.000,0.027,3192,1569,3399,0,0,0,0,0,0
$GC,1997,-1.02,-146.0,238.1,-10.0,164,2001,0.00,2.30,0.00,0.000,4,0.000,0.045,3192,170,3399,0,0,0,0,0,0
$GC,2039,-1.02,-146.0,242.6,-10.1,165,2043,0.00,2.10,0.00,0.000,6,0.000,0.018,3192,1578,3399,0,0,0,0,0,0
$GC,2327,-1.07,-146.0,269.5,-9.2,172,2332,0.10,2.40,0.00,0.000,4,0.076,0.023,3133,3105,3398,0,0,0,0,0,0
$GC,2368,-1.07,-146.0,273.6,-10.8,172,2374,0.15,2.50,0.00,0.000,6,0.092,0.029,3169,1566,3399,0,0,0,0,0,0
$GC,2618,-1.07,-146.0,296.7,-9.0,179,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1566,3398,0,0,0,0,0,0
$GC,2862,-1.07,-146.0,317.3,-8.4,185,2866,0.00,2.45,0.00,0.000,4,0.000,0.025,3169,3107,3398,0,0,0,0,0,0
$GC,2902,-1.14,-146.0,320.8,-8.6,185,2909,0.00,2.53,0.00,0.000,6,0.000,0.031,3169,1578,3398,0,0,0,0,0,0
$GC,3152,-1.14,-146.0,341.8,-8.3,192,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1577,3397,0,0,0,0,0,0
$GC,3395,-1.14,-146.0,362.3,-8.5,198,3400,0.00,2.45,0.00,0.000,4,0.000,0.030,3169,3096,3395,0,0,0,0,0,0
$GC,3435,-1.23,-146.0,365.5,-7.5,198,3441,0.15,2.50,0.00,0.000,6,0.052,0.035,3102,1578,3395,0,0,0,0,0,0
$GC,3685,-1.11,-146.0,393.7,-11.5,205,3690,0.25,2.40,0.00,0.000,4,0.084,0.058,3164,166,3394,0,0,0,0,0,0
$GC,3740,-1.17,-146.0,399.0,-9.1,206,3744,0.00,2.15,0.00,0.000,6,0.000,0.022,3164,1539,3393,0,0,0,0,0,0
$GC,4018,-1.17,-146.0,422.0,-8.4,213,4022,0.00,2.60,0.00,0.000,4,0.000,0.036,3164,3146,3392,0,0,0,0,0,0
$GC,4070,-1.28,-146.0,426.3,-8.0,214,4075,0.17,2.58,0.00,0.000,6,0.048,0.038,3090,1589,3391,0,0,0,0,0,0
$GC,4353,-1.16,-146.0,460.5,-12.7,221,4358,0.25,2.45,0.00,0.000,4,0.085,0.065,3150,167,3389,0,0,0,0,0,0
$GC,4386,-1.16,-146.0,464.9,-10.7,221,4390,0.00,2.22,0.00,0.000,6,0.000,0.028,3150,1576,3389,0,0,0,0,0,0
$GC,4636,-1.16,-146.0,486.2,-8.3,227,4641,0.00,2.58,0.00,0.000,4,0.000,0.041,3150,3147,3387,0,0,0,0,0,0
$GC,4657,-1.16,-146.0,487.7,-7.7,227,4662,0.00,2.60,0.00,0.000,6,0.000,0.038,3150,1584,3388,0,0,0,0,0,0
$GC,4923,-1.16,-146.0,506.9,-7.1,234,4928,0.00,2.47,0.00,0.000,4,0.000,0.071,3150,161,3385,0,0,0,0,0,0
$GC,4947,-1.16,-146.0,508.7,-7.9,234,4951,0.00,2.30,0.00,0.000,6,0.000,0.028,3150,1594,3385,0,0,0,0,0,0
$GC,5217,-1.16,-146.0,527.9,-7.3,241,5222,0.00,2.58,0.00,0.000,4,0.000,0.043,3150,3155,3383,0,0,0,0,0,0
$GC,5261,-1.24,-146.0,531.9,-7.8,242,5266,0.00,2.62,0.00,0.000,6,0.000,0.042,3150,1595,3383,0,0,0,0,0,0
$GC,5550,-1.24,-146.0,555.7,-8.6,249,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1595,3381,0,0,0,0,0,0
$GC,5792,-1.24,-146.0,575.8,-8.1,255,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1595,3379,0,0,0,0,0,0
$GC,6038,-1.24,-146.0,595.7,-8.1,261,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1595,3378,0,0,0,0,0,0
$GC,6280,-1.24,-146.0,614.6,-7.8,267,6284,0.00,2.62,0.00,0.000,4,0.000,0.047,3150,3148,3376,0,0,0,0,0,0
$GC,6306,-1.30,-146.0,616.4,-8.4,267,6311,0.15,2.65,0.00,0.000,6,0.055,0.047,3087,1593,3376,0,0,0,0,0,0
$GC,6568,-1.20,-146.0,643.9,-10.9,274,6573,0.22,2.55,0.00,0.000,4,0.087,0.082,3138,163,3374,0,0,0,0,0,0
$GC,6608,-1.20,-146.0,648.0,-9.7,274,6614,0.00,2.35,0.00,0.000,6,0.000,0.034,3138,1601,3374,0,0,0,0,0,0
$GC,6860,-1.20,-146.0,669.8,-8.7,281,6865,0.00,2.60,0.00,0.000,4,0.000,0.051,3138,3157,3372,0,0,0,0,0,0
$GC,6875,-1.20,-146.0,671.3,-8.7,281,6880,0.00,2.65,0.00,0.000,6,0.000,0.046,3138,1591,3372,0,0,0,0,0,0
$GC,7144,-1.20,-146.0,693.5,-8.1,288,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1592,3371,0,0,0,0,0,0
$GC,7390,-1.20,-146.0,710.9,-6.9,294,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1591,3370,0,0,0,0,0,0
$GC,7631,-1.20,-146.0,725.6,-5.9,300,7636,0.00,2.62,0.00,0.000,4,0.000,0.043,3138,3165,3368,0,0,0,0,0,0
$GC,7651,-1.20,-146.0,726.9,-6.8,300,7655,0.00,2.67,0.00,0.000,6,0.000,0.048,3138,1595,3368,0,0,0,0,0,0
$GC,7917,-1.20,-146.0,742.5,-6.1,307,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1595,3367,0,0,0,0,0,0
$GC,8158,-1.20,-146.0,758.2,-6.6,313,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1595,3366,0,0,0,0,0,0
$GC,8402,-1.20,-146.0,774.9,-6.9,319,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1595,3365,0,0,0,0,0,0
$GC,8646,-1.20,-146.0,792.4,-7.2,325,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1595,3364,0,0,0,0,0,0
$GC,8896,-1.20,-146.0,811.2,-7.7,331,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1595,3363,0,0,0,0,0,0
$GC,9133,-1.20,-146.0,830.6,-8.1,337,9135,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1594,3362,0,0,0,0,0,0
$GC,9377,-1.20,-146.0,850.0,-8.0,343,9378,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1594,3362,0,0,0,0,0,0
$GC,9621,-1.20,-146.0,868.5,-7.5,349,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1594,3360,0,0,0,0,0,0
$GC,9867,-1.20,-146.0,885.9,-7.1,355,9871,0.00,2.55,0.00,0.000,4,0.000,0.085,3138,166,3359,0,0,0,0,0,0
$GC,9891,-1.20,-146.0,887.9,-8.3,355,9895,0.00,2.35,0.00,0.000,6,0.000,0.035,3138,1599,3359,0,0,0,0,0,0
$STATE,10066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10066,begin apogee
$GC,10072,-0.31,0.0,900.1,6.9,360,10195,0.82,0.00,119.72,1.149,6,0.067,0.000,3330,1339,2800,0,0,0,0,0,0
$STATE,10196,end apogee,CONTROL_FINISHED_OK
$STATE,10196,begin climb
$GC,10200,1.27,146.0,903.3,0.0,363,10341,1.42,2.17,131.38,1.128,4,0.031,0.081,3681,179,2204,0,0,0,0,0,0
$GC,10435,1.01,146.0,884.0,15.3,368,10440,0.30,1.92,0.00,0.000,6,0.114,0.030,3620,1354,2199,0,0,0,0,0,0
$GC,10704,0.94,146.0,854.4,10.8,375,10708,0.00,2.12,0.00,0.000,4,0.000,0.074,3620,172,2193,0,0,0,0,0,0
$GC,10752,0.80,146.0,849.2,12.2,376,10757,0.22,1.92,0.00,0.000,6,0.105,0.030,3573,1357,2193,0,0,0,0,0,0
$GC,11040,0.83,169.8,822.2,8.9,383,11068,0.00,2.22,21.45,1.032,4,0.000,0.075,3573,174,2106,0,0,0,0,0,0
$GC,11129,0.83,169.8,813.5,10.9,384,11135,0.00,1.92,0.00,0.000,6,0.000,0.030,3573,1341,2104,0,0,0,0,0,0
$GC,11383,0.85,186.3,789.9,9.2,391,11404,0.00,2.78,15.65,0.989,4,0.000,0.050,3573,2933,2039,0,0,0,0,0,0
$GC,11427,0.94,205.0,785.7,9.1,392,11451,0.12,2.72,18.92,0.999,6,0.067,0.049,3620,1355,1964,0,0,0,0,0,0
$GC,11717,0.94,205.0,750.2,12.5,399,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1356,1959,0,0,0,0,0,0
$GC,11959,0.94,205.0,719.9,12.4,405,11960,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1355,1958,0,0,0,0,0,0
$GC,12207,0.94,205.0,690.7,11.9,411,12208,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1355,1957,0,0,0,0,0,0
$GC,12447,0.94,205.0,664.1,10.6,417,12448,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1355,1957,0,0,0,0,0,0
$GC,12691,0.95,210.8,640.0,9.7,423,12703,0.00,2.20,5.68,0.741,4,0.000,0.084,3620,166,1940,0,0,0,0,0,0
$GC,12713,0.93,240.6,637.6,8.6,423,12750,0.00,1.95,29.92,0.953,6,0.000,0.028,3620,1362,1818,0,0,0,0,0,0
$GC,13027,0.93,240.6,603.8,11.2,431,13028,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1363,1813,0,0,0,0,0,0
$GC,13267,0.93,240.6,575.7,11.6,437,13268,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1364,1813,0,0,0,0,0,0
$GC,13512,0.93,240.6,547.3,11.7,443,13517,0.00,2.65,0.00,0.000,4,0.000,0.044,3620,2935,1812,0,0,0,0,0,0
$GC,13526,0.93,240.6,545.3,11.5,443,13531,0.00,2.70,0.00,0.000,6,0.000,0.044,3620,1340,1810,0,0,0,0,0,0
$GC,13795,0.93,240.6,514.3,11.6,450,13800,0.00,2.67,0.00,0.000,4,0.000,0.037,3620,2929,1810,0,0,0,0,0,0
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$STATE,18635,end climb,SURFACE_DEPTH_REACHED
$STATE,18635,begin surface coast
$FINISH,1.0,1.016444
$STATE,18688,end surface coast,CONTROL_FINISHED_OK
$STATE,18688,begin surface
$SM_CCo,18713,56.12,0.423,0,0,1209,390.03
$SM_GC,1.90,0.00,0.00,56.12,0.000,0.000,0.423,415,1593,1209,-13.74,0.65,390.03
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$TT8_MAMPS,0.027612
$HUMID,64.64
$INTERNAL_PRESSURE,9.41829
$TCM_TEMP,22.90
$XPDR_PINGS,9
$24V_AH,23.1,54.585
$10V_AH,9.8,52.305
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,32.575,178.350,382.475,56.125,0.000,51.953,78.458,341.095,2.250,0.000,16.491,1529.082,13878.446,530.214,2575.822,947.881,33.370,1582.910,0.000,2578.879,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,488.882,384.270,486.056,1021.002,1347.610,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355380
$DATA_FILE_SIZE,57385,718
$CAP_FILE_SIZE,173801,0
$CFSIZE,260165632,144097280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110813,232225,2303.032,-15804.138,25,1.2,43,10.1