version: 66.06
glider: 148
mission: 12
dive: 421
start: 8 23 113 1 42 30
data:
$ID,148
$MISSION,12
$DIVE,421
$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,-1024473.6
$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,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,95
$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
$GPS1,013036,2248.660,-15806.977,27,1.5,27,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-78.0
$GPS2,014136,2248.587,-15807.082,9,1.6,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.012,0.259
$KALMAN_X,-79376.1,-258.3,-222.8,67870.0,691.5
$KALMAN_Y,17176.0,159.1,-183.4,-10483.4,-1480.9
$MHEAD_RNG_PITCHd_Wd,347.2,29700,-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,-67.75,0.000,2,0.000,0.000,411,1619,2945,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.3,9,123,13.93,2.38,-8.10,0.000,4,0.143,0.032,3113,3100,3397,0,0,0,0,0,0
$GC,229,-1.10,-146.0,36.1,-17.9,27,236,0.17,2.53,0.00,0.000,6,0.077,0.033,3157,1572,3397,0,0,0,0,0,0
$GC,493,-0.96,-146.0,77.1,-13.9,52,498,0.15,2.42,0.00,0.000,4,0.104,0.022,3190,3102,3398,0,0,0,0,0,0
$GC,528,-0.89,-146.0,81.3,-13.4,54,533,0.00,2.50,0.00,0.000,6,0.000,0.029,3189,1558,3398,0,0,0,0,0,0
$GC,791,-0.85,-146.0,112.1,-11.1,78,796,0.12,2.30,0.00,0.000,4,0.104,0.044,3217,170,3398,0,0,0,0,0,0
$GC,835,-0.85,-146.0,116.5,-10.7,81,839,0.00,2.08,0.00,0.000,6,0.000,0.017,3217,1566,3398,0,0,0,0,0,0
$GC,1101,-0.85,-146.0,141.3,-9.0,105,1105,0.00,2.47,0.00,0.000,4,0.000,0.022,3217,3123,3399,0,0,0,0,0,0
$GC,1144,-0.97,-146.0,145.3,-8.6,108,1153,0.10,2.53,0.00,0.000,6,0.025,0.028,3130,1580,3399,0,0,0,0,0,0
$GC,1408,-0.81,-146.0,181.4,-15.1,133,1414,0.38,0.00,0.00,0.000,6,0.079,0.000,3218,1580,3399,0,0,0,0,0,0
$GC,1689,-0.87,-146.0,208.2,-9.2,154,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1580,3399,0,0,0,0,0,0
$GC,1931,-0.95,-146.0,227.2,-7.4,160,1936,0.12,2.42,0.00,0.000,4,0.061,0.022,3144,3115,3399,0,0,0,0,0,0
$GC,1969,-0.95,-146.0,231.0,-10.7,160,1977,0.17,2.53,0.00,0.000,6,0.059,0.029,3191,1578,3399,0,0,0,0,0,0
$GC,2221,-0.95,-146.0,251.1,-8.0,167,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1579,3399,0,0,0,0,0,0
$GC,2463,-0.95,-146.0,270.3,-7.9,173,2467,0.00,2.42,0.00,0.000,4,0.000,0.023,3191,3115,3399,0,0,0,0,0,0
$GC,2489,-1.02,-146.0,272.3,-9.0,173,2493,0.00,2.47,0.00,0.000,6,0.000,0.029,3191,1582,3399,0,0,0,0,0,0
$GC,2750,-1.06,-146.0,292.6,-8.0,180,2755,0.10,2.35,0.00,0.000,4,0.074,0.050,3129,163,3398,0,0,0,0,0,0
$GC,2800,-0.95,-146.0,298.9,-13.4,181,2805,0.28,2.15,0.00,0.000,6,0.081,0.019,3191,1559,3398,0,0,0,0,0,0
$GC,3087,-1.01,-146.0,322.5,-8.1,188,3091,0.00,2.53,0.00,0.000,4,0.000,0.026,3190,3139,3397,0,0,0,0,0,0
$GC,3125,-1.13,-146.0,325.8,-7.7,188,3131,0.15,2.55,0.00,0.000,6,0.052,0.031,3114,1587,3397,0,0,0,0,0,0
$GC,3375,-1.02,-146.0,353.0,-11.0,195,3380,0.25,2.38,0.00,0.000,4,0.081,0.051,3175,164,3395,0,0,0,0,0,0
$GC,3425,-1.02,-146.0,357.2,-8.9,196,3429,0.00,2.20,0.00,0.000,6,0.000,0.021,3175,1587,3396,0,0,0,0,0,0
$GC,3712,-1.02,-146.0,379.1,-7.4,203,3716,0.00,2.50,0.00,0.000,4,0.000,0.031,3175,3138,3394,0,0,0,0,0,0
$GC,3747,-1.12,-146.0,381.7,-7.3,203,3751,0.00,2.58,0.00,0.000,6,0.000,0.035,3175,1584,3394,0,0,0,0,0,0
$GC,3997,-1.12,-146.0,400.8,-7.7,209,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1584,3393,0,0,0,0,0,0
$GC,4241,-1.12,-146.0,419.0,-7.4,215,4245,0.00,2.55,0.00,0.000,4,0.000,0.035,3175,3134,3391,0,0,0,0,0,0
$GC,4262,-1.18,-146.0,420.6,-8.3,215,4267,0.15,2.55,0.00,0.000,6,0.054,0.036,3106,1594,3390,0,0,0,0,0,0
$GC,4527,-1.07,-146.0,449.1,-11.0,222,4532,0.25,2.45,0.00,0.000,4,0.083,0.064,3166,172,3389,0,0,0,0,0,0
$GC,4580,-1.13,-146.0,454.1,-8.8,223,4584,0.00,2.25,0.00,0.000,6,0.000,0.026,3166,1589,3389,0,0,0,0,0,0
$GC,4864,-1.13,-146.0,477.2,-8.3,230,4869,0.00,2.55,0.00,0.000,4,0.000,0.040,3166,3149,3387,0,0,0,0,0,0
$GC,4917,-1.23,-146.0,481.6,-8.0,231,4922,0.15,2.60,0.00,0.000,6,0.054,0.038,3101,1590,3387,0,0,0,0,0,0
$GC,5198,-1.13,-146.0,508.9,-9.8,238,5203,0.22,2.45,0.00,0.000,4,0.087,0.071,3152,169,3385,0,0,0,0,0,0
$GC,5236,-1.13,-146.0,512.6,-8.2,238,5242,0.00,2.25,0.00,0.000,6,0.000,0.028,3152,1588,3385,0,0,0,0,0,0
$GC,5487,-1.13,-146.0,530.3,-7.1,245,5491,0.00,2.60,0.00,0.000,4,0.000,0.043,3152,3154,3383,0,0,0,0,0,0
$GC,5522,-1.20,-146.0,532.8,-7.0,245,5526,0.00,2.62,0.00,0.000,6,0.000,0.042,3152,1591,3383,0,0,0,0,0,0
$GC,5774,-1.20,-146.0,552.6,-8.1,251,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1591,3381,0,0,0,0,0,0
$GC,6016,-1.20,-146.0,573.3,-8.6,257,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1591,3380,0,0,0,0,0,0
$GC,6262,-1.20,-146.0,593.2,-8.0,263,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1591,3378,0,0,0,0,0,0
$GC,6503,-1.20,-146.0,612.0,-7.6,269,6508,0.00,2.62,0.00,0.000,4,0.000,0.045,3152,3155,3377,0,0,0,0,0,0
$GC,6532,-1.27,-146.0,614.2,-7.0,269,6537,0.12,2.65,0.00,0.000,6,0.064,0.047,3095,1594,3377,0,0,0,0,0,0
$GC,6793,-1.17,-146.0,639.2,-9.9,276,6798,0.22,2.55,0.00,0.000,4,0.087,0.082,3146,164,3375,0,0,0,0,0,0
$GC,6854,-1.17,-146.0,645.1,-8.6,277,6859,0.00,2.35,0.00,0.000,6,0.000,0.035,3145,1599,3374,0,0,0,0,0,0
$GC,7123,-1.17,-146.0,664.2,-7.2,284,7127,0.00,2.62,0.00,0.000,4,0.000,0.054,3146,3154,3373,0,0,0,0,0,0
$GC,7144,-1.17,-146.0,665.7,-7.4,284,7148,0.00,2.65,0.00,0.000,6,0.000,0.046,3146,1587,3373,0,0,0,0,0,0
$GC,7412,-1.17,-146.0,684.7,-7.4,291,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1587,3371,0,0,0,0,0,0
$GC,7654,-1.17,-146.0,702.7,-7.4,297,7658,0.00,2.50,0.00,0.000,4,0.000,0.083,3146,166,3370,0,0,0,0,0,0
$GC,7684,-1.17,-146.0,705.3,-8.8,297,7688,0.00,2.35,0.00,0.000,6,0.000,0.035,3146,1601,3370,0,0,0,0,0,0
$GC,7938,-1.17,-146.0,724.6,-7.6,304,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1601,3368,0,0,0,0,0,0
$GC,8184,-1.17,-146.0,743.3,-7.7,310,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1601,3368,0,0,0,0,0,0
$GC,8432,-1.17,-146.0,761.3,-7.3,316,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1601,3366,0,0,0,0,0,0
$GC,8670,-1.17,-146.0,779.1,-7.5,322,8674,0.00,2.55,0.00,0.000,4,0.000,0.077,3145,163,3365,0,0,0,0,0,0
$GC,8713,-1.17,-146.0,782.9,-9.0,323,8717,0.00,2.33,0.00,0.000,6,0.000,0.036,3146,1590,3365,0,0,0,0,0,0
$GC,9002,-1.17,-146.0,804.7,-7.7,330,9006,0.00,2.67,0.00,0.000,4,0.000,0.056,3146,3164,3364,0,0,0,0,0,0
$GC,9022,-1.22,-146.0,806.6,-8.5,330,9026,0.00,2.67,0.00,0.000,6,0.000,0.048,3146,1582,3364,0,0,0,0,0,0
$GC,9286,-1.22,-146.0,826.5,-7.4,337,9290,0.00,2.53,0.00,0.000,4,0.000,0.085,3146,164,3363,0,0,0,0,0,0
$GC,9321,-1.22,-146.0,829.0,-8.1,337,9325,0.00,2.35,0.00,0.000,6,0.000,0.036,3146,1594,3363,0,0,0,0,0,0
$GC,9571,-1.22,-146.0,845.2,-6.3,343,9575,0.00,2.62,0.00,0.000,4,0.000,0.055,3146,3155,3362,0,0,0,0,0,0
$GC,9590,-1.27,-146.0,846.5,-6.2,343,9596,0.10,2.67,0.00,0.000,6,0.076,0.049,3097,1586,3362,0,0,0,0,0,0
$GC,9862,-1.20,-146.0,866.7,-7.5,350,9867,0.17,2.53,0.00,0.000,4,0.095,0.083,3136,164,3361,0,0,0,0,0,0
$GC,9910,-1.20,-146.0,870.2,-6.3,351,9914,0.00,2.33,0.00,0.000,6,0.000,0.036,3136,1591,3361,0,0,0,0,0,0
$GC,10196,-1.20,-146.0,885.9,-5.3,358,10201,0.00,2.67,0.00,0.000,4,0.000,0.056,3136,3163,3360,0,0,0,0,0,0
$GC,10218,-1.20,-146.0,887.0,-5.7,358,10222,0.00,2.70,0.00,0.000,6,0.000,0.054,3136,1582,3360,0,0,0,0,0,0
$STATE,10479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10479,begin apogee
$GC,10486,-0.31,0.0,901.6,5.6,365,10609,0.85,0.00,120.25,1.151,6,0.067,0.000,3332,1348,2800,0,0,0,0,0,0
$STATE,10610,end apogee,CONTROL_FINISHED_OK
$STATE,10610,begin climb
$GC,10615,1.27,146.0,903.5,0.0,368,10757,1.45,2.22,131.73,1.127,4,0.031,0.086,3684,170,2203,0,0,0,0,0,0
$GC,10781,0.99,146.0,893.9,14.5,372,10786,0.32,1.98,0.00,0.000,6,0.107,0.032,3618,1356,2202,0,0,0,0,0,0
$GC,11057,0.92,146.0,864.4,10.5,379,11061,0.00,2.12,0.00,0.000,4,0.000,0.074,3617,168,2194,0,0,0,0,0,0
$GC,11073,0.82,146.0,862.5,10.2,379,11078,0.17,1.95,0.00,0.000,6,0.106,0.031,3581,1352,2194,0,0,0,0,0,0
$GC,11346,0.88,190.1,840.0,8.0,386,11389,0.00,0.00,40.47,1.071,6,0.000,0.000,3580,1353,2024,0,0,0,0,0,0
$GC,11626,0.90,210.5,814.6,9.1,393,11647,0.00,0.00,19.90,1.018,6,0.000,0.000,3581,1353,1941,0,0,0,0,0,0
$GC,11869,0.92,228.6,792.4,9.2,399,11889,0.00,0.00,18.23,1.002,6,0.000,0.000,3581,1353,1868,0,0,0,0,0,0
$GC,12114,0.98,238.6,769.2,9.5,405,12131,0.15,2.78,10.57,0.925,4,0.059,0.054,3633,2938,1827,0,0,0,0,0,0
$GC,12143,0.94,238.6,766.0,11.4,405,12150,0.15,2.72,0.00,0.000,6,0.101,0.048,3602,1356,1824,0,0,0,0,0,0
$GC,12405,0.94,238.6,737.1,10.8,412,12406,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1356,1823,0,0,0,0,0,0
$GC,12651,0.94,238.6,710.3,11.1,418,12652,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,1357,1823,0,0,0,0,0,0
$GC,12892,0.94,238.6,683.8,10.8,424,12897,0.00,2.67,0.00,0.000,4,0.000,0.044,3601,2935,1822,0,0,0,0,0,0
$GC,12911,0.94,238.6,681.6,10.5,424,12916,0.00,2.72,0.00,0.000,6,0.000,0.051,3601,1355,1820,0,0,0,0,0,0
$GC,13178,0.94,240.7,655.1,9.9,431,13182,0.00,2.67,0.00,0.000,4,0.000,0.048,3601,2928,1820,0,0,0,0,0,0
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$STATE,18943,end climb,SURFACE_DEPTH_REACHED
$STATE,18943,begin surface coast
$FINISH,0.9,0.999595
$STATE,18976,end surface coast,CONTROL_FINISHED_OK
$STATE,18976,begin surface
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$TT8_MAMPS,0.027612
$HUMID,68.15
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.30
$XPDR_PINGS,6
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$10V_AH,9.8,59.865
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.625,207.425,451.025,23.225,0.000,54.527,69.393,304.323,1.500,0.000,15.791,1540.515,14114.982,594.824,2486.096,934.738,33.370,1635.147,0.000,2503.273,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,57171,703
$CAP_FILE_SIZE,186330,0
$CFSIZE,260165632,140271616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230813,070059,2250.454,-15807.163,37,1.7,43,10.1