version: 66.06
glider: 148
mission: 12
dive: 443
start: 8 28 113 0 32 57
data:
$ID,148
$MISSION,12
$DIVE,443
$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,660
$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,-1024922.6
$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,26
$R_STBD_OVSHOOT,44
$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
$GPS1,002059,2240.953,-15738.708,47,1.0,47,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-77.1
$GPS2,003201,2240.924,-15738.746,13,1.4,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.012,0.259
$KALMAN_X,-75723.1,-323.2,-179.8,112635.5,155.4
$KALMAN_Y,-6973.9,73.5,295.8,-916.8,-1638.3
$MHEAD_RNG_PITCHd_Wd,352.6,45738,-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,-67.85,0.000,2,0.000,0.000,411,1663,2990,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.8,-5.7,9,122,14.12,2.40,-7.18,0.000,4,0.150,0.035,3116,3157,3397,0,0,0,0,0,0
$GC,133,-0.28,-146.0,19.2,-37.1,14,143,0.98,2.65,0.00,0.000,6,0.081,0.030,3335,1563,3398,0,0,0,0,0,0
$GC,420,-0.48,-146.0,41.2,-5.8,47,425,0.17,2.33,0.00,0.000,4,0.046,0.046,3253,162,3398,0,0,0,0,0,0
$GC,455,-0.53,-146.0,44.0,-9.6,49,460,0.12,2.17,0.00,0.000,6,0.095,0.016,3283,1617,3399,0,0,0,0,0,0
$GC,725,-0.60,-146.0,64.1,-6.7,73,729,0.00,2.33,0.00,0.000,4,0.000,0.021,3283,3114,3399,0,0,0,0,0,0
$GC,746,-0.76,-146.0,65.8,-5.5,74,756,0.17,2.53,0.00,0.000,6,0.025,0.028,3193,1564,3399,0,0,0,0,0,0
$GC,1014,-0.69,-146.0,93.3,-12.2,99,1019,0.25,2.28,0.00,0.000,4,0.079,0.041,3254,166,3399,0,0,0,0,0,0
$GC,1084,-0.87,-146.0,100.4,-8.3,105,1089,0.17,2.10,0.00,0.000,6,0.046,0.015,3167,1590,3400,0,0,0,0,0,0
$GC,1349,-0.77,-146.0,131.6,-10.9,129,1354,0.28,2.38,0.00,0.000,4,0.077,0.020,3229,3099,3400,0,0,0,0,0,0
$GC,1401,-0.93,-146.0,136.4,-6.6,133,1408,0.12,2.47,0.00,0.000,6,0.060,0.028,3145,1569,3401,0,0,0,0,0,0
$GC,1665,-0.80,-146.0,165.2,-11.0,158,1670,0.32,2.28,0.00,0.000,4,0.081,0.049,3222,172,3401,0,0,0,0,0,0
$GC,1685,-0.75,-146.0,167.4,-9.4,159,1694,0.00,2.08,0.00,0.000,6,0.000,0.017,3222,1551,3401,0,0,0,0,0,0
$GC,1953,-0.82,-146.0,186.1,-7.9,184,1957,0.00,2.42,0.00,0.000,4,0.000,0.021,3222,3109,3401,0,0,0,0,0,0
$GC,1991,-0.96,-146.0,189.4,-7.8,187,1996,0.12,2.47,0.00,0.000,6,0.061,0.027,3143,1561,3401,0,0,0,0,0,0
$GC,2247,-0.83,-146.0,224.8,-14.3,199,2249,0.38,0.00,0.00,0.000,6,0.078,0.000,3221,1561,3401,0,0,0,0,0,0
$GC,2489,-0.92,-146.0,244.2,-7.1,205,2491,0.10,0.00,0.00,0.000,6,0.074,0.000,3155,1562,3401,0,0,0,0,0,0
$GC,2737,-0.87,-146.0,265.5,-8.7,211,2739,0.25,0.00,0.00,0.000,6,0.076,0.000,3213,1562,3400,0,0,0,0,0,0
$GC,2978,-0.97,-146.0,280.5,-6.2,217,2983,0.10,2.45,0.00,0.000,4,0.074,0.024,3151,3100,3400,0,0,0,0,0,0
$GC,2998,-0.97,-146.0,282.5,-8.6,217,3003,0.17,2.47,0.00,0.000,6,0.081,0.029,3191,1567,3400,0,0,0,0,0,0
$GC,3265,-1.02,-146.0,305.6,-8.7,224,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1566,3399,0,0,0,0,0,0
$GC,3507,-1.07,-146.0,322.5,-6.6,230,3509,0.10,0.00,0.00,0.000,6,0.075,0.000,3132,1567,3397,0,0,0,0,0,0
$GC,3755,-0.99,-146.0,347.2,-10.4,236,3757,0.22,0.00,0.00,0.000,6,0.081,0.000,3183,1567,3396,0,0,0,0,0,0
$GC,3996,-1.04,-146.0,366.4,-7.6,242,4000,0.00,2.33,0.00,0.000,4,0.000,0.054,3183,173,3395,0,0,0,0,0,0
$GC,4016,-1.09,-146.0,368.2,-7.9,242,4020,0.00,2.10,0.00,0.000,6,0.000,0.021,3182,1538,3394,0,0,0,0,0,0
$GC,4284,-1.14,-146.0,386.4,-6.5,249,4290,0.15,2.60,0.00,0.000,4,0.054,0.031,3111,3136,3393,0,0,0,0,0,0
$GC,4348,-1.14,-146.0,391.5,-7.8,250,4353,0.17,2.58,0.00,0.000,6,0.085,0.036,3151,1582,3392,0,0,0,0,0,0
$GC,4617,-1.14,-146.0,412.1,-7.9,257,4621,0.00,2.40,0.00,0.000,4,0.000,0.061,3151,165,3391,0,0,0,0,0,0
$GC,4659,-1.14,-146.0,416.0,-9.0,257,4665,0.00,2.22,0.00,0.000,6,0.000,0.024,3151,1575,3390,0,0,0,0,0,0
$GC,4911,-1.14,-146.0,435.9,-7.9,264,4915,0.00,2.58,0.00,0.000,4,0.000,0.038,3151,3149,3389,0,0,0,0,0,0
$GC,4945,-1.19,-146.0,439.0,-8.1,264,4949,0.00,2.60,0.00,0.000,6,0.000,0.036,3151,1579,3388,0,0,0,0,0,0
$GC,5195,-1.19,-146.0,459.0,-8.0,270,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1579,3387,0,0,0,0,0,0
$GC,5443,-1.19,-146.0,478.1,-7.8,276,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1579,3385,0,0,0,0,0,0
$GC,5682,-1.19,-146.0,497.2,-8.0,282,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1579,3384,0,0,0,0,0,0
$GC,5926,-1.19,-146.0,518.1,-8.6,288,5931,0.00,2.60,0.00,0.000,4,0.000,0.044,3151,3137,3382,0,0,0,0,0,0
$GC,5947,-1.19,-146.0,519.9,-9.5,288,5952,0.00,2.58,0.00,0.000,6,0.000,0.039,3151,1587,3382,0,0,0,0,0,0
$GC,6211,-1.19,-146.0,542.7,-8.5,295,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1587,3380,0,0,0,0,0,0
$GC,6460,-1.19,-146.0,563.0,-8.3,301,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1587,3379,0,0,0,0,0,0
$GC,6699,-1.19,-146.0,584.6,-9.0,307,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1587,3377,0,0,0,0,0,0
$GC,6944,-1.19,-146.0,606.3,-9.1,313,6949,0.00,2.62,0.00,0.000,4,0.000,0.044,3151,3143,3375,0,0,0,0,0,0
$GC,6973,-1.25,-146.0,609.1,-8.3,313,6978,0.10,2.65,0.00,0.000,6,0.077,0.046,3099,1580,3376,0,0,0,0,0,0
$GC,7231,-1.17,-146.0,636.1,-10.6,320,7236,0.20,2.60,0.00,0.000,4,0.090,0.043,3144,3140,3373,0,0,0,0,0,0
$GC,7262,-1.17,-146.0,638.9,-8.0,320,7266,0.00,2.62,0.00,0.000,6,0.000,0.047,3144,1592,3373,0,0,0,0,0,0
$GC,7517,-1.17,-146.0,658.1,-7.6,327,7521,0.00,2.53,0.00,0.000,4,0.000,0.081,3144,165,3372,0,0,0,0,0,0
$GC,7542,-1.17,-146.0,660.3,-8.3,327,7547,0.00,2.30,0.00,0.000,6,0.000,0.033,3144,1579,3371,0,0,0,0,0,0
$GC,7804,-1.17,-146.0,679.2,-7.2,334,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1580,3370,0,0,0,0,0,0
$GC,8045,-1.17,-146.0,695.9,-6.8,340,8050,0.00,2.47,0.00,0.000,4,0.000,0.076,3144,165,3369,0,0,0,0,0,0
$GC,8069,-1.17,-146.0,697.6,-7.6,340,8073,0.00,2.35,0.00,0.000,6,0.000,0.035,3144,1599,3369,0,0,0,0,0,0
$GC,8330,-1.17,-146.0,716.0,-7.1,347,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1599,3368,0,0,0,0,0,0
$GC,8572,-1.17,-146.0,735.6,-8.2,353,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1598,3367,0,0,0,0,0,0
$GC,8816,-1.17,-146.0,756.6,-8.7,359,8820,0.00,2.60,0.00,0.000,4,0.000,0.051,3144,3157,3365,0,0,0,0,0,0
$GC,8842,-1.22,-146.0,758.8,-9.2,359,8847,0.00,2.65,0.00,0.000,6,0.000,0.049,3144,1589,3365,0,0,0,0,0,0
$GC,9104,-1.22,-146.0,780.2,-8.1,366,9109,0.00,2.53,0.00,0.000,4,0.000,0.083,3144,165,3365,0,0,0,0,0,0
$GC,9135,-1.22,-146.0,782.9,-8.1,366,9139,0.00,2.33,0.00,0.000,6,0.000,0.035,3144,1595,3364,0,0,0,0,0,0
$GC,9391,-1.22,-146.0,802.2,-7.4,373,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1595,3363,0,0,0,0,0,0
$GC,9633,-1.22,-146.0,819.5,-7.0,379,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1595,3363,0,0,0,0,0,0
$GC,9877,-1.22,-146.0,836.6,-7.0,385,9881,0.00,2.62,0.00,0.000,4,0.000,0.051,3144,3164,3361,0,0,0,0,0,0
$GC,9901,-1.28,-146.0,838.5,-7.8,385,9906,0.10,2.70,0.00,0.000,6,0.075,0.049,3092,1586,3361,0,0,0,0,0,0
$GC,10164,-1.20,-146.0,862.8,-9.7,392,10169,0.20,2.53,0.00,0.000,4,0.090,0.081,3136,164,3361,0,0,0,0,0,0
$GC,10216,-1.20,-146.0,867.9,-9.4,393,10221,0.00,2.33,0.00,0.000,6,0.000,0.041,3136,1586,3360,0,0,0,0,0,0
$GC,10496,-1.20,-146.0,888.1,-7.1,400,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1586,3360,0,0,0,0,0,0
$STATE,10694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10694,begin apogee
$GC,10701,-0.31,0.0,901.6,6.6,405,10825,0.85,0.00,120.35,1.151,6,0.072,0.000,3330,1339,2800,0,0,0,0,0,0
$STATE,10826,end apogee,CONTROL_FINISHED_OK
$STATE,10826,begin climb
$GC,10828,1.27,146.0,904.2,0.0,408,10968,1.42,2.12,131.45,1.128,4,0.033,0.078,3680,172,2202,0,0,0,0,0,0
$GC,11046,1.01,146.0,887.1,15.4,413,11050,0.30,1.92,0.00,0.000,6,0.107,0.032,3620,1350,2198,0,0,0,0,0,0
$GC,11334,0.94,146.0,852.8,11.6,420,11337,0.00,2.10,0.00,0.000,4,0.000,0.074,3619,173,2192,0,0,0,0,0,0
$GC,11405,0.81,146.0,843.0,13.5,421,11410,0.20,1.90,0.00,0.000,6,0.107,0.031,3578,1348,2192,0,0,0,0,0,0
$GC,11666,0.81,146.0,814.8,10.7,428,11671,0.00,2.67,0.00,0.000,4,0.000,0.051,3578,2928,2190,0,0,0,0,0,0
$GC,11685,0.82,153.2,812.4,9.7,428,11698,0.00,2.72,5.15,0.767,6,0.000,0.051,3578,1352,2175,0,0,0,0,0,0
$GC,11954,0.82,153.2,784.5,10.4,435,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1353,2174,0,0,0,0,0,0
$GC,12199,0.84,166.9,761.4,9.4,441,12219,0.00,2.22,14.60,0.976,4,0.000,0.087,3578,166,2118,0,0,0,0,0,0
$GC,12244,0.84,166.9,756.9,10.1,442,12247,0.00,1.95,0.00,0.000,6,0.000,0.031,3578,1349,2118,0,0,0,0,0,0
$GC,12537,0.89,207.5,732.3,8.1,449,12582,0.00,2.80,38.40,1.019,4,0.000,0.051,3578,2931,1953,0,0,0,0,0,0
$GC,12617,1.05,248.5,725.5,8.1,450,12664,0.20,2.78,39.92,1.006,6,0.049,0.051,3639,1346,1786,0,0,0,0,0,0
$GC,12915,1.00,248.5,688.3,12.8,458,12916,0.00,0.00,0.00,0.000,6,0.000,0.000,3639,1347,1779,0,0,0,0,0,0
$GC,13158,0.96,248.5,657.0,12.9,464,13163,0.15,2.10,0.00,0.000,4,0.109,0.083,3609,164,1777,0,0,0,0,0,0
$GC,13188,0.96,248.5,653.2,12.3,464,13192,0.00,1.92,0.00,0.000,6,0.000,0.031,3609,1351,1778,0,0,0,0,0,0
$GC,13449,0.96,248.5,625.6,10.4,471,13454,0.00,2.70,0.00,0.000,4,0.000,0.051,3609,2934,1776,0,0,0,0,0,0
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$STATE,18785,end climb,SURFACE_DEPTH_REACHED
$STATE,18785,begin surface coast
$FINISH,1.0,1.012668
$STATE,18826,end surface coast,CONTROL_FINISHED_OK
$STATE,18826,begin surface
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$TCM_TEMP,22.40
$XPDR_PINGS,6
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$10V_AH,9.7,63.155
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,36.175,187.275,427.775,34.275,0.000,88.113,96.671,190.252,1.500,0.000,15.087,1577.355,13917.726,529.737,2640.640,870.775,33.375,1599.124,0.000,2651.808,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,57417,739
$CAP_FILE_SIZE,179397,0
$CFSIZE,260165632,138592256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280813,054919,2242.571,-15739.334,35,3.6,54,10.1