version: 66.06
glider: 148
mission: 12
dive: 388
start: 8 15 113 14 55 51
data:
$ID,148
$MISSION,12
$DIVE,388
$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,-1023779
$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,26
$R_STBD_OVSHOOT,83
$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
$GPS1,144656,2245.836,-15740.007,35,99.0,54,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.3
$GPS2,145454,2245.746,-15740.048,9,0.9,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.109,0.236
$KALMAN_X,-87324.8,17.7,451.1,121033.8,-1593.0
$KALMAN_Y,79437.5,-184.1,456.2,-78303.0,-2518.7
$MHEAD_RNG_PITCHd_Wd,14.8,37297,-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,-67.50,0.000,2,0.000,0.000,413,1562,2965,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.8,-6.2,9,121,13.98,2.50,-7.65,0.000,4,0.145,0.033,3118,3120,3398,0,0,0,0,0,0
$GC,202,-1.10,-146.0,33.6,-22.3,24,207,0.17,2.55,0.00,0.000,6,0.099,0.033,3157,1559,3398,0,0,0,0,0,0
$GC,470,-0.95,-146.0,75.3,-12.3,48,474,0.15,2.30,0.00,0.000,4,0.103,0.046,3190,161,3399,0,0,0,0,0,0
$GC,492,-0.83,-146.0,78.4,-12.5,49,497,0.12,2.10,0.00,0.000,6,0.107,0.016,3218,1575,3399,0,0,0,0,0,0
$GC,761,-0.83,-146.0,103.1,-9.2,73,765,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1578,3400,0,0,0,0,0,0
$GC,1022,-0.83,-146.0,127.3,-8.4,98,1026,0.00,2.33,0.00,0.000,4,0.000,0.042,3218,163,3401,0,0,0,0,0,0
$GC,1043,-0.83,-146.0,128.7,-8.4,99,1047,0.00,2.10,0.00,0.000,6,0.000,0.017,3218,1575,3401,0,0,0,0,0,0
$GC,1310,-0.83,-146.0,150.4,-8.3,123,1314,0.00,2.38,0.00,0.000,4,0.000,0.021,3218,3106,3401,0,0,0,0,0,0
$GC,1352,-0.96,-146.0,154.3,-8.6,126,1361,0.10,2.53,0.00,0.000,6,0.027,0.028,3139,1562,3401,0,0,0,0,0,0
$GC,1618,-0.84,-146.0,186.3,-12.3,151,1623,0.30,0.00,0.00,0.000,6,0.083,0.000,3210,1562,3401,0,0,0,0,0,0
$GC,1878,-0.89,-146.0,206.5,-7.4,170,1882,0.00,2.42,0.00,0.000,4,0.000,0.021,3210,3098,3401,0,0,0,0,0,0
$GC,1897,-0.95,-146.0,208.2,-7.8,170,1902,0.00,2.47,0.00,0.000,6,0.000,0.027,3210,1553,3401,0,0,0,0,0,0
$GC,2162,-1.01,-146.0,227.5,-7.3,177,2167,0.12,2.45,0.00,0.000,4,0.062,0.022,3143,3100,3401,0,0,0,0,0,0
$GC,2183,-1.01,-146.0,229.4,-9.1,177,2188,0.15,2.45,0.00,0.000,6,0.090,0.028,3180,1571,3401,0,0,0,0,0,0
$GC,2448,-1.01,-146.0,252.9,-8.7,184,2452,0.00,2.28,0.00,0.000,4,0.000,0.044,3180,173,3401,0,0,0,0,0,0
$GC,2487,-1.01,-146.0,256.5,-9.7,184,2493,0.00,2.10,0.00,0.000,6,0.000,0.018,3180,1549,3401,0,0,0,0,0,0
$GC,2740,-1.01,-146.0,277.1,-8.2,191,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1552,3400,0,0,0,0,0,0
$GC,2981,-1.01,-146.0,298.3,-8.7,197,2985,0.00,2.47,0.00,0.000,4,0.000,0.025,3180,3130,3400,0,0,0,0,0,0
$GC,3027,-1.11,-146.0,301.8,-7.6,198,3031,0.00,2.53,0.00,0.000,6,0.000,0.031,3180,1568,3400,0,0,0,0,0,0
$GC,3314,-1.11,-146.0,325.2,-8.0,205,3318,0.00,2.30,0.00,0.000,4,0.000,0.058,3179,173,3399,0,0,0,0,0,0
$GC,3352,-1.17,-146.0,328.5,-8.1,205,3360,0.10,2.17,0.00,0.000,6,0.028,0.021,3108,1556,3398,0,0,0,0,0,0
$GC,3604,-1.05,-146.0,356.7,-11.9,212,3609,0.25,2.55,0.00,0.000,4,0.082,0.028,3169,3143,3397,0,0,0,0,0,0
$GC,3638,-1.13,-146.0,360.3,-8.6,212,3643,0.00,2.55,0.00,0.000,6,0.000,0.034,3169,1581,3397,0,0,0,0,0,0
$GC,3889,-1.13,-146.0,380.1,-7.8,218,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1581,3396,0,0,0,0,0,0
$GC,4134,-1.13,-146.0,397.2,-6.8,224,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1581,3394,0,0,0,0,0,0
$GC,4376,-1.13,-146.0,412.8,-6.3,230,4380,0.00,2.55,0.00,0.000,4,0.000,0.035,3169,3137,3393,0,0,0,0,0,0
$GC,4414,-1.23,-146.0,415.4,-7.1,230,4422,0.12,2.60,0.00,0.000,6,0.025,0.037,3103,1589,3393,0,0,0,0,0,0
$GC,4666,-1.13,-146.0,438.9,-9.6,237,4668,0.22,0.00,0.00,0.000,6,0.086,0.000,3154,1589,3391,0,0,0,0,0,0
$GC,4908,-1.13,-146.0,456.6,-7.1,243,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1589,3389,0,0,0,0,0,0
$GC,5151,-1.13,-146.0,475.5,-8.0,249,5156,0.00,2.58,0.00,0.000,4,0.000,0.039,3154,3140,3388,0,0,0,0,0,0
$GC,5172,-1.13,-146.0,477.1,-8.1,249,5177,0.00,2.60,0.00,0.000,6,0.000,0.038,3154,1571,3387,0,0,0,0,0,0
$GC,5441,-1.13,-146.0,498.2,-8.1,256,5445,0.00,2.42,0.00,0.000,4,0.000,0.071,3155,167,3386,0,0,0,0,0,0
$GC,5479,-1.13,-146.0,502.1,-9.3,256,5485,0.00,2.22,0.00,0.000,6,0.000,0.028,3154,1568,3386,0,0,0,0,0,0
$GC,5731,-1.13,-146.0,523.0,-8.2,263,5735,0.00,2.60,0.00,0.000,4,0.000,0.041,3154,3152,3384,0,0,0,0,0,0
$GC,5769,-1.22,-146.0,526.4,-8.6,263,5775,0.00,2.62,0.00,0.000,6,0.000,0.041,3154,1590,3384,0,0,0,0,0,0
$GC,6019,-1.22,-146.0,546.4,-8.0,270,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1589,3382,0,0,0,0,0,0
$GC,6267,-1.22,-146.0,564.7,-7.4,276,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1590,3380,0,0,0,0,0,0
$GC,6507,-1.22,-146.0,582.3,-7.3,282,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1590,3379,0,0,0,0,0,0
$GC,6750,-1.22,-146.0,599.3,-6.9,288,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1589,3378,0,0,0,0,0,0
$GC,6994,-1.22,-146.0,616.3,-7.0,294,6998,0.00,2.65,0.00,0.000,4,0.000,0.046,3154,3147,3377,0,0,0,0,0,0
$GC,7015,-1.27,-146.0,617.6,-6.6,294,7022,0.15,2.65,0.00,0.000,6,0.056,0.047,3092,1583,3377,0,0,0,0,0,0
$GC,7287,-1.19,-146.0,643.0,-9.7,301,7292,0.20,2.53,0.00,0.000,4,0.090,0.080,3138,160,3375,0,0,0,0,0,0
$GC,7331,-1.19,-146.0,647.5,-9.1,302,7335,0.00,2.30,0.00,0.000,6,0.000,0.033,3138,1585,3375,0,0,0,0,0,0
$GC,7622,-1.19,-146.0,669.6,-7.7,309,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1585,3373,0,0,0,0,0,0
$GC,7864,-1.19,-146.0,688.6,-7.8,315,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1585,3373,0,0,0,0,0,0
$GC,8110,-1.19,-146.0,707.3,-7.6,321,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1585,3371,0,0,0,0,0,0
$GC,8353,-1.19,-146.0,725.7,-7.5,327,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1585,3370,0,0,0,0,0,0
$GC,8595,-1.19,-146.0,743.5,-7.4,333,8596,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1585,3369,0,0,0,0,0,0
$GC,8839,-1.19,-146.0,761.8,-7.4,339,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1585,3367,0,0,0,0,0,0
$GC,9082,-1.19,-146.0,780.2,-7.5,345,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1585,3367,0,0,0,0,0,0
$GC,9330,-1.19,-146.0,798.3,-7.5,351,9331,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1585,3366,0,0,0,0,0,0
$GC,9570,-1.19,-146.0,816.6,-7.5,357,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1585,3365,0,0,0,0,0,0
$GC,9813,-1.19,-146.0,834.2,-7.1,363,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1585,3365,0,0,0,0,0,0
$GC,10057,-1.19,-146.0,851.1,-6.9,369,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1585,3364,0,0,0,0,0,0
$GC,10303,-1.19,-146.0,867.5,-6.8,375,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1585,3363,0,0,0,0,0,0
$GC,10547,-1.19,-146.0,884.4,-6.9,381,10548,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1585,3362,0,0,0,0,0,0
$STATE,10786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10786,begin apogee
$GC,10792,-0.31,0.0,900.9,6.7,387,10917,0.82,0.00,121.03,1.154,6,0.070,0.000,3330,1340,2800,0,0,0,0,0,0
$STATE,10918,end apogee,CONTROL_FINISHED_OK
$STATE,10918,begin climb
$GC,10922,1.27,146.0,903.9,0.0,390,11064,1.42,2.20,131.55,1.132,4,0.032,0.081,3679,173,2203,0,0,0,0,0,0
$GC,11087,1.01,146.0,896.1,12.8,393,11092,0.28,1.95,0.00,0.000,6,0.111,0.031,3622,1354,2201,0,0,0,0,0,0
$GC,11337,0.92,146.0,869.0,10.5,399,11341,0.00,2.12,0.00,0.000,4,0.000,0.074,3622,173,2194,0,0,0,0,0,0
$GC,11365,0.78,146.0,865.7,11.4,399,11370,0.25,1.95,0.00,0.000,6,0.100,0.031,3570,1353,2194,0,0,0,0,0,0
$GC,11626,0.84,189.5,844.5,8.0,406,11671,0.00,2.20,39.35,1.072,4,0.000,0.074,3570,174,2027,0,0,0,0,0,0
$GC,11701,0.85,198.9,837.6,9.6,407,11718,0.00,1.95,10.35,0.942,6,0.000,0.031,3570,1347,1988,0,0,0,0,0,0
$GC,12009,0.94,226.3,810.5,8.7,415,12042,0.15,2.78,26.80,1.039,4,0.059,0.052,3623,2937,1877,0,0,0,0,0,0
$GC,12073,0.94,226.3,803.4,10.7,416,12077,0.00,2.75,0.00,0.000,6,0.000,0.049,3623,1349,1873,0,0,0,0,0,0
$GC,12343,0.94,226.3,772.7,11.4,423,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,3623,1349,1872,0,0,0,0,0,0
$GC,12585,0.94,226.3,745.8,11.0,429,12590,0.00,2.67,0.00,0.000,4,0.000,0.044,3623,2936,1870,0,0,0,0,0,0
$GC,12609,0.96,239.0,743.1,9.4,429,12627,0.00,2.75,12.18,0.943,6,0.000,0.051,3623,1350,1825,0,0,0,0,0,0
$GC,12877,0.96,239.0,713.7,11.4,436,12878,0.00,0.00,0.00,0.000,6,0.000,0.000,3623,1350,1823,0,0,0,0,0,0
$GC,13114,0.96,239.0,683.4,12.5,442,13116,0.00,0.00,0.00,0.000,6,0.000,0.000,3623,1350,1822,0,0,0,0,0,0
$GC,13358,0.96,239.0,652.9,12.6,448,13363,0.00,2.70,0.00,0.000,4,0.000,0.044,3623,2931,1821,0,0,0,0,0,0
$GC,13379,0.96,239.0,650.4,12.0,448,13384,0.00,2.72,0.00,0.000,6,0.000,0.050,3622,1357,1819,0,0,0,0,0,0
$GC,13643,0.96,239.0,616.5,12.8,455,13647,0.00,2.65,0.00,0.000,4,0.000,0.044,3622,2935,1819,0,0,0,0,0,0
$GC,13671,0.96,239.0,612.9,12.1,455,13676,0.00,2.70,0.00,0.000,6,0.000,0.051,3623,1363,1818,0,0,0,0,0,0
$GC,13927,0.96,239.0,582.4,11.8,462,13929,0.00,0.00,0.00,0.000,6,0.000,0.000,3623,1363,1818,0,0,0,0,0,0
$GC,14170,0.96,239.0,554.5,11.4,468,14171,0.00,0.00,0.00,0.000,6,0.000,0.000,3623,1363,1818,0,0,0,0,0,0
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$STATE,19199,end climb,SURFACE_DEPTH_REACHED
$STATE,19199,begin surface coast
$FINISH,1.0,1.023186
$STATE,19240,end surface coast,CONTROL_FINISHED_OK
$STATE,19240,begin surface
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$TT8_MAMPS,0.027612
$HUMID,66.81
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.50
$XPDR_PINGS,11
$24V_AH,23.0,57.190
$10V_AH,9.9,54.935
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.150,168.450,416.250,42.700,0.000,30.044,34.978,245.193,2.750,0.000,15.578,1536.220,14302.254,531.218,2612.815,795.889,33.370,1594.633,0.000,2614.820,0.000,0.536,0.000
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$SENSOR_SECS,494.771,376.542,489.415,1006.918,1357.365,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,57389,728
$CAP_FILE_SIZE,172811,0
$CFSIZE,260165632,142778368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150813,201900,2246.874,-15738.953,39,1.1,39,10.1