version: 66.06
glider: 148
mission: 12
dive: 389
start: 8 15 113 20 28 16
data:
$ID,148
$MISSION,12
$DIVE,389
$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,-1023793.9
$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,27
$R_STBD_OVSHOOT,110
$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
$GPS1,201900,2246.874,-15738.953,39,1.1,39,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-78.0
$GPS2,202719,2246.849,-15739.067,12,1.4,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.047,0.255
$KALMAN_X,-87119.6,41.6,-104.4,123025.5,-45.5
$KALMAN_Y,77989.5,25.4,-514.7,-74056.3,-190.4
$MHEAD_RNG_PITCHd_Wd,0.3,34969,-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,-67.18,0.000,2,0.000,0.000,406,1604,2935,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.4,-4.8,9,121,14.18,2.38,-8.45,0.000,4,0.150,0.032,3119,3090,3398,0,0,0,0,0,0
$GC,204,-1.08,-146.0,30.0,-17.6,25,213,0.15,2.53,0.00,0.000,6,0.078,0.032,3157,1568,3398,0,0,0,0,0,0
$GC,471,-0.93,-146.0,78.1,-14.4,50,480,0.17,0.00,0.00,0.000,6,0.100,0.000,3195,1568,3399,0,0,0,0,0,0
$GC,737,-0.93,-146.0,107.8,-10.0,75,741,0.00,2.38,0.00,0.000,4,0.000,0.021,3195,3088,3400,0,0,0,0,0,0
$GC,778,-0.93,-146.0,111.7,-9.6,78,782,0.00,2.45,0.00,0.000,6,0.000,0.028,3195,1560,3400,0,0,0,0,0,0
$GC,1041,-0.93,-146.0,136.5,-9.6,102,1045,0.00,2.40,0.00,0.000,4,0.000,0.021,3195,3092,3401,0,0,0,0,0,0
$GC,1064,-0.93,-146.0,139.0,-10.2,103,1069,0.00,2.45,0.00,0.000,6,0.000,0.026,3195,1575,3401,0,0,0,0,0,0
$GC,1327,-0.93,-146.0,164.1,-9.2,128,1331,0.00,2.40,0.00,0.000,4,0.000,0.021,3194,3095,3401,0,0,0,0,0,0
$GC,1349,-0.93,-146.0,166.2,-9.7,129,1358,0.00,2.47,0.00,0.000,6,0.000,0.027,3195,1581,3401,0,0,0,0,0,0
$GC,1617,-0.93,-146.0,189.3,-8.1,154,1621,0.00,2.35,0.00,0.000,4,0.000,0.021,3195,3090,3401,0,0,0,0,0,0
$GC,1655,-1.02,-146.0,192.4,-7.3,157,1659,0.00,2.40,0.00,0.000,6,0.000,0.028,3194,1592,3401,0,0,0,0,0,0
$GC,1921,-1.02,-146.0,213.0,-7.8,170,1925,0.00,2.33,0.00,0.000,4,0.000,0.044,3195,166,3400,0,0,0,0,0,0
$GC,1954,-1.08,-146.0,216.0,-8.6,170,1959,0.12,2.10,0.00,0.000,6,0.061,0.018,3125,1577,3401,0,0,0,0,0,0
$GC,2211,-0.95,-146.0,247.0,-12.5,177,2216,0.25,2.42,0.00,0.000,4,0.084,0.021,3186,3120,3401,0,0,0,0,0,0
$GC,2246,-1.03,-146.0,250.9,-9.1,177,2250,0.00,2.45,0.00,0.000,6,0.000,0.028,3186,1597,3401,0,0,0,0,0,0
$GC,2496,-1.03,-146.0,272.1,-8.6,183,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1597,3401,0,0,0,0,0,0
$GC,2741,-1.03,-146.0,290.7,-7.3,189,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1597,3400,0,0,0,0,0,0
$GC,2984,-1.07,-146.0,307.4,-6.9,195,2988,0.00,2.40,0.00,0.000,4,0.000,0.028,3186,3110,3399,0,0,0,0,0,0
$GC,3022,-1.19,-146.0,310.0,-6.7,195,3032,0.15,2.47,0.00,0.000,6,0.024,0.030,3109,1610,3399,0,0,0,0,0,0
$GC,3274,-1.07,-146.0,337.2,-11.2,202,3276,0.25,0.00,0.00,0.000,6,0.084,0.000,3165,1610,3397,0,0,0,0,0,0
$GC,3515,-1.07,-146.0,359.2,-9.0,208,3520,0.00,2.40,0.00,0.000,4,0.000,0.055,3165,170,3396,0,0,0,0,0,0
$GC,3539,-1.07,-146.0,361.7,-10.9,208,3543,0.00,2.15,0.00,0.000,6,0.000,0.021,3165,1568,3396,0,0,0,0,0,0
$GC,3800,-1.07,-146.0,384.5,-8.8,215,3804,0.00,2.55,0.00,0.000,4,0.000,0.033,3165,3138,3395,0,0,0,0,0,0
$GC,3852,-1.17,-146.0,389.2,-8.1,216,3857,0.00,2.53,0.00,0.000,6,0.000,0.036,3165,1598,3394,0,0,0,0,0,0
$GC,4130,-1.17,-146.0,410.8,-7.8,223,4134,0.00,2.40,0.00,0.000,4,0.000,0.061,3165,172,3393,0,0,0,0,0,0
$GC,4160,-1.17,-146.0,413.1,-7.7,223,4164,0.00,2.22,0.00,0.000,6,0.000,0.023,3165,1599,3392,0,0,0,0,0,0
$GC,4419,-1.17,-146.0,431.7,-7.0,230,4424,0.00,2.50,0.00,0.000,4,0.000,0.041,3165,3143,3390,0,0,0,0,0,0
$GC,4448,-1.24,-146.0,433.7,-7.0,230,4453,0.15,2.55,0.00,0.000,6,0.054,0.035,3100,1602,3390,0,0,0,0,0,0
$GC,4706,-1.13,-146.0,459.3,-10.4,237,4711,0.22,2.47,0.00,0.000,4,0.087,0.065,3151,172,3389,0,0,0,0,0,0
$GC,4753,-1.13,-146.0,464.0,-9.0,238,4757,0.00,2.25,0.00,0.000,6,0.000,0.027,3151,1594,3388,0,0,0,0,0,0
$GC,5037,-1.13,-146.0,485.4,-7.4,245,5042,0.00,2.58,0.00,0.000,4,0.000,0.044,3152,3151,3387,0,0,0,0,0,0
$GC,5062,-1.18,-146.0,487.6,-8.2,245,5066,0.00,2.58,0.00,0.000,6,0.000,0.043,3151,1598,3387,0,0,0,0,0,0
$GC,5321,-1.18,-146.0,506.5,-7.3,252,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1598,3385,0,0,0,0,0,0
$GC,5567,-1.18,-146.0,524.5,-7.4,258,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1598,3383,0,0,0,0,0,0
$GC,5809,-1.18,-146.0,543.3,-7.8,264,5813,0.00,2.50,0.00,0.000,4,0.000,0.074,3151,170,3382,0,0,0,0,0,0
$GC,5846,-1.18,-146.0,546.5,-9.1,264,5852,0.00,2.28,0.00,0.000,6,0.000,0.029,3151,1598,3381,0,0,0,0,0,0
$GC,6103,-1.18,-146.0,566.0,-7.9,271,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1599,3380,0,0,0,0,0,0
$GC,6340,-1.18,-146.0,586.2,-8.3,277,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1599,3379,0,0,0,0,0,0
$GC,6584,-1.18,-146.0,608.5,-9.2,283,6588,0.00,2.60,0.00,0.000,4,0.000,0.045,3152,3159,3377,0,0,0,0,0,0
$GC,6613,-1.24,-146.0,611.3,-9.3,283,6617,0.00,2.65,0.00,0.000,6,0.000,0.047,3151,1600,3377,0,0,0,0,0,0
$GC,6870,-1.24,-146.0,635.1,-9.4,290,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1600,3376,0,0,0,0,0,0
$GC,7114,-1.24,-146.0,656.1,-8.5,296,7118,0.00,2.60,0.00,0.000,4,0.000,0.044,3151,3151,3374,0,0,0,0,0,0
$GC,7147,-1.34,-146.0,659.2,-7.9,296,7152,0.17,2.62,0.00,0.000,6,0.051,0.048,3084,1598,3375,0,0,0,0,0,0
$GC,7399,-1.23,-146.0,685.3,-10.6,302,7404,0.20,2.55,0.00,0.000,4,0.090,0.081,3131,161,3373,0,0,0,0,0,0
$GC,7465,-1.23,-146.0,691.6,-8.9,303,7470,0.00,2.35,0.00,0.000,6,0.000,0.035,3131,1597,3373,0,0,0,0,0,0
$GC,7731,-1.23,-146.0,710.9,-7.2,310,7736,0.00,2.62,0.00,0.000,4,0.000,0.051,3131,3158,3372,0,0,0,0,0,0
$GC,7755,-1.23,-146.0,712.9,-7.9,310,7760,0.00,2.65,0.00,0.000,6,0.000,0.048,3131,1602,3372,0,0,0,0,0,0
$GC,8015,-1.23,-146.0,731.0,-7.0,317,8019,0.00,2.53,0.00,0.000,4,0.000,0.081,3131,167,3371,0,0,0,0,0,0
$GC,8063,-1.23,-146.0,734.9,-8.4,318,8068,0.00,2.33,0.00,0.000,6,0.000,0.035,3131,1603,3370,0,0,0,0,0,0
$GC,8346,-1.23,-146.0,755.8,-7.3,325,8350,0.00,2.53,0.00,0.000,4,0.000,0.075,3131,161,3369,0,0,0,0,0,0
$GC,8379,-1.23,-146.0,758.6,-9.2,325,8383,0.00,2.38,0.00,0.000,6,0.000,0.036,3130,1605,3369,0,0,0,0,0,0
$GC,8635,-1.23,-146.0,778.1,-7.9,331,8640,0.00,2.60,0.00,0.000,4,0.000,0.052,3131,3165,3368,0,0,0,0,0,0
$GC,8664,-1.23,-146.0,781.1,-8.7,331,8668,0.00,2.65,0.00,0.000,6,0.000,0.054,3130,1597,3367,0,0,0,0,0,0
$GC,8919,-1.23,-146.0,802.2,-8.4,338,8923,0.00,2.55,0.00,0.000,4,0.000,0.082,3131,160,3367,0,0,0,0,0,0
$GC,8967,-1.23,-146.0,806.6,-10.4,339,8971,0.00,2.35,0.00,0.000,6,0.000,0.036,3131,1601,3366,0,0,0,0,0,0
$GC,9253,-1.23,-146.0,830.2,-8.3,346,9257,0.00,2.62,0.00,0.000,4,0.000,0.052,3131,3158,3366,0,0,0,0,0,0
$GC,9277,-1.23,-146.0,832.5,-8.8,346,9281,0.00,2.65,0.00,0.000,6,0.000,0.049,3131,1596,3366,0,0,0,0,0,0
$GC,9536,-1.23,-146.0,853.0,-7.9,353,9540,0.00,2.55,0.00,0.000,4,0.000,0.081,3131,160,3365,0,0,0,0,0,0
$GC,9564,-1.23,-146.0,855.5,-8.5,353,9569,0.00,2.38,0.00,0.000,6,0.000,0.035,3131,1605,3365,0,0,0,0,0,0
$GC,9819,-1.23,-146.0,875.7,-7.9,360,9823,0.00,2.62,0.00,0.000,4,0.000,0.053,3131,3158,3364,0,0,0,0,0,0
$GC,9840,-1.23,-146.0,877.3,-8.2,360,9845,0.00,2.65,0.00,0.000,6,0.000,0.049,3131,1595,3364,0,0,0,0,0,0
$GC,10104,-1.23,-146.0,898.3,-7.9,367,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1595,3363,0,0,0,0,0,0
$STATE,10142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10142,begin apogee
$GC,10148,-0.31,0.0,901.5,7.9,368,10273,0.88,0.00,121.12,1.146,6,0.070,0.000,3332,1348,2800,0,0,0,0,0,0
$STATE,10274,end apogee,CONTROL_FINISHED_OK
$STATE,10274,begin climb
$GC,10278,1.27,146.0,905.8,0.0,371,10420,1.42,2.20,131.70,1.127,4,0.033,0.084,3682,165,2203,0,0,0,0,0,0
$GC,10457,1.00,146.0,897.2,13.2,375,10462,0.30,1.95,0.00,0.000,6,0.106,0.031,3621,1355,2200,0,0,0,0,0,0
$GC,10736,0.94,151.9,869.0,9.7,382,10743,0.00,0.00,4.85,0.748,6,0.000,0.000,3621,1356,2180,0,0,0,0,0,0
$GC,10980,0.88,162.0,845.7,9.5,388,10997,0.15,2.20,11.10,0.964,4,0.114,0.075,3590,146,2139,0,0,0,0,0,0
$GC,11048,0.84,166.3,839.0,9.8,389,11060,0.00,2.00,5.62,0.796,6,0.000,0.031,3590,1358,2122,0,0,0,0,0,0
$GC,11321,0.87,185.4,814.0,9.1,396,11342,0.00,0.00,18.90,1.015,6,0.000,0.000,3590,1358,2044,0,0,0,0,0,0
$GC,11565,0.87,188.7,790.4,9.8,402,11574,0.00,2.12,4.32,0.690,4,0.000,0.072,3590,167,2029,0,0,0,0,0,0
$GC,11608,0.87,188.7,785.6,10.6,403,11612,0.00,1.92,0.00,0.000,6,0.000,0.031,3590,1338,2029,0,0,0,0,0,0
$GC,11901,0.87,190.1,756.5,9.9,410,11902,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1339,2028,0,0,0,0,0,0
$GC,12145,0.87,190.1,732.3,10.0,416,12149,0.00,2.08,0.00,0.000,4,0.000,0.073,3590,168,2027,0,0,0,0,0,0
$GC,12163,0.87,190.1,729.9,10.8,416,12167,0.00,1.92,0.00,0.000,6,0.000,0.030,3590,1345,2027,0,0,0,0,0,0
$GC,12431,0.87,190.1,701.9,10.4,423,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1345,2026,0,0,0,0,0,0
$GC,12677,0.88,194.2,677.5,9.8,429,12689,0.00,2.15,6.05,0.775,4,0.000,0.071,3590,167,2007,0,0,0,0,0,0
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$STATE,18627,end climb,SURFACE_DEPTH_REACHED
$STATE,18627,begin surface coast
$FINISH,0.9,1.010247
$STATE,18679,end surface coast,CONTROL_FINISHED_OK
$STATE,18679,begin surface
$SM_CCo,18705,55.62,0.429,0,0,1209,390.03
$SM_GC,1.86,0.00,0.00,55.62,0.000,0.000,0.429,417,1647,1209,-13.72,2.15,390.03
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$TT8_MAMPS,0.027612
$HUMID,65.83
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.70
$XPDR_PINGS,11
$24V_AH,23.0,57.334
$10V_AH,9.9,55.086
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.100,214.050,399.600,55.625,0.000,27.469,34.594,271.520,2.750,0.000,14.301,1561.115,13699.415,558.648,2595.886,837.885,33.399,1644.549,0.000,2599.446,0.000,0.536,0.000
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$SENSOR_SECS,488.051,382.877,486.023,1001.254,1320.735,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,57348,717
$CAP_FILE_SIZE,182065,0
$CFSIZE,260165632,142688256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160813,014206,2248.948,-15738.942,26,1.2,26,10.1