version: 66.06
glider: 148
mission: 12
dive: 444
start: 8 28 113 5 57 37
data:
$ID,148
$MISSION,12
$DIVE,444
$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,-1024935.5
$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,45
$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
$GPS1,054919,2242.571,-15739.334,35,3.6,54,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-78.9
$GPS2,055643,2242.534,-15739.389,10,1.5,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.076,0.248
$KALMAN_X,-77186.2,-392.4,50.6,112840.2,-783.1
$KALMAN_Y,-8115.0,92.4,-273.8,3751.4,-767.4
$MHEAD_RNG_PITCHd_Wd,7.0,42940,-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,-67.15,0.000,2,0.000,0.000,412,1656,2928,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-4.3,9,122,14.60,2.40,-8.35,0.000,4,0.162,0.030,3116,3161,3397,0,0,0,0,0,0
$GC,170,-1.06,-146.0,25.0,-18.4,20,179,0.20,2.65,0.00,0.000,6,0.080,0.032,3165,1570,3397,0,0,0,0,0,0
$GC,452,-0.88,-146.0,69.2,-12.7,47,457,0.20,2.33,0.00,0.000,4,0.096,0.041,3210,167,3397,0,0,0,0,0,0
$GC,486,-0.76,-146.0,73.7,-11.2,49,491,0.10,2.15,0.00,0.000,6,0.115,0.016,3232,1605,3397,0,0,0,0,0,0
$GC,754,-0.76,-146.0,94.4,-8.0,73,759,0.00,2.35,0.00,0.000,4,0.000,0.021,3232,3117,3398,0,0,0,0,0,0
$GC,785,-0.87,-146.0,97.7,-7.7,75,790,0.00,2.50,0.00,0.000,6,0.000,0.028,3232,1563,3398,0,0,0,0,0,0
$GC,1050,-0.92,-146.0,122.2,-10.0,100,1059,0.15,0.00,0.00,0.000,6,0.054,0.000,3153,1563,3398,0,0,0,0,0,0
$GC,1313,-0.80,-146.0,158.8,-12.5,125,1318,0.28,2.45,0.00,0.000,4,0.080,0.020,3220,3121,3399,0,0,0,0,0,0
$GC,1346,-0.87,-146.0,162.3,-9.7,127,1352,0.00,2.53,0.00,0.000,6,0.000,0.028,3220,1563,3399,0,0,0,0,0,0
$GC,1610,-0.93,-146.0,180.5,-6.3,152,1614,0.10,2.30,0.00,0.000,4,0.076,0.044,3156,166,3399,0,0,0,0,0,0
$GC,1651,-0.84,-146.0,184.7,-11.3,155,1660,0.25,2.10,0.00,0.000,6,0.081,0.017,3215,1570,3399,0,0,0,0,0,0
$GC,1913,-0.90,-146.0,203.9,-7.6,177,1917,0.00,2.42,0.00,0.000,4,0.000,0.021,3215,3124,3399,0,0,0,0,0,0
$GC,1942,-1.03,-146.0,206.3,-7.3,177,1947,0.17,2.53,0.00,0.000,6,0.048,0.028,3153,1568,3399,0,0,0,0,0,0
$GC,2199,-0.97,-146.0,233.8,-11.1,184,2204,0.17,2.30,0.00,0.000,4,0.090,0.045,3192,170,3399,0,0,0,0,0,0
$GC,2223,-0.97,-146.0,236.7,-11.1,184,2227,0.00,2.10,0.00,0.000,6,0.000,0.018,3192,1576,3399,0,0,0,0,0,0
$GC,2487,-1.01,-146.0,258.5,-8.3,191,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1579,3399,0,0,0,0,0,0
$GC,2726,-1.06,-146.0,277.8,-7.6,197,2731,0.10,2.45,0.00,0.000,4,0.075,0.024,3129,3122,3399,0,0,0,0,0,0
$GC,2756,-1.06,-146.0,280.6,-9.8,197,2761,0.17,2.53,0.00,0.000,6,0.085,0.030,3170,1564,3399,0,0,0,0,0,0
$GC,3013,-1.06,-146.0,302.7,-8.6,204,3018,0.00,2.47,0.00,0.000,4,0.000,0.025,3168,3117,3398,0,0,0,0,0,0
$GC,3037,-1.06,-146.0,304.9,-9.0,204,3041,0.00,2.50,0.00,0.000,6,0.000,0.033,3170,1583,3398,0,0,0,0,0,0
$GC,3300,-1.06,-146.0,328.6,-9.6,211,3304,0.00,2.35,0.00,0.000,4,0.000,0.053,3169,165,3397,0,0,0,0,0,0
$GC,3330,-1.06,-146.0,331.9,-10.1,211,3334,0.00,2.15,0.00,0.000,6,0.000,0.021,3170,1559,3396,0,0,0,0,0,0
$GC,3589,-1.06,-146.0,355.7,-9.1,218,3593,0.00,2.53,0.00,0.000,4,0.000,0.030,3169,3139,3395,0,0,0,0,0,0
$GC,3627,-1.17,-146.0,359.0,-8.3,218,3633,0.10,2.58,0.00,0.000,6,0.073,0.036,3108,1575,3395,0,0,0,0,0,0
$GC,3879,-1.06,-146.0,386.0,-11.0,225,3881,0.28,0.00,0.00,0.000,6,0.084,0.000,3170,1575,3394,0,0,0,0,0,0
$GC,4123,-1.06,-146.0,403.2,-6.5,231,4127,0.00,2.38,0.00,0.000,4,0.000,0.067,3170,170,3392,0,0,0,0,0,0
$GC,4151,-1.06,-146.0,405.4,-7.8,231,4155,0.00,2.20,0.00,0.000,6,0.000,0.023,3170,1584,3392,0,0,0,0,0,0
$GC,4412,-1.06,-146.0,422.6,-6.9,238,4417,0.00,2.53,0.00,0.000,4,0.000,0.035,3170,3140,3391,0,0,0,0,0,0
$GC,4433,-1.11,-146.0,424.2,-7.4,238,4438,0.00,2.58,0.00,0.000,6,0.000,0.043,3171,1577,3390,0,0,0,0,0,0
$GC,4697,-1.11,-146.0,443.6,-7.6,245,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1576,3389,0,0,0,0,0,0
$GC,4945,-1.11,-146.0,461.1,-7.1,251,4950,0.00,2.60,0.00,0.000,4,0.000,0.040,3170,3144,3387,0,0,0,0,0,0
$GC,4976,-1.20,-146.0,463.3,-6.5,251,4981,0.15,2.60,0.00,0.000,6,0.054,0.038,3102,1588,3386,0,0,0,0,0,0
$GC,5232,-1.10,-146.0,488.1,-10.0,258,5237,0.25,2.45,0.00,0.000,4,0.087,0.067,3164,166,3385,0,0,0,0,0,0
$GC,5282,-1.10,-146.0,492.2,-7.3,259,5286,0.00,2.25,0.00,0.000,6,0.000,0.028,3161,1580,3385,0,0,0,0,0,0
$GC,5571,-1.10,-146.0,511.5,-6.6,266,5575,0.00,2.62,0.00,0.000,4,0.000,0.043,3162,3155,3383,0,0,0,0,0,0
$GC,5595,-1.16,-146.0,513.6,-8.6,266,5600,0.00,2.62,0.00,0.000,6,0.000,0.039,3161,1588,3383,0,0,0,0,0,0
$GC,5857,-1.16,-146.0,533.6,-7.8,273,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1588,3381,0,0,0,0,0,0
$GC,6098,-1.16,-146.0,552.1,-7.5,279,6103,0.00,2.60,0.00,0.000,4,0.000,0.043,3162,3150,3380,0,0,0,0,0,0
$GC,6123,-1.22,-146.0,554.0,-8.7,279,6128,0.12,2.62,0.00,0.000,6,0.062,0.042,3101,1590,3380,0,0,0,0,0,0
$GC,6390,-1.14,-146.0,580.7,-10.3,286,6395,0.22,2.50,0.00,0.000,4,0.087,0.074,3153,165,3378,0,0,0,0,0,0
$GC,6428,-1.14,-146.0,585.2,-9.3,286,6434,0.00,2.28,0.00,0.000,6,0.000,0.031,3152,1587,3378,0,0,0,0,0,0
$GC,6680,-1.14,-146.0,604.6,-7.7,293,6685,0.00,2.62,0.00,0.000,4,0.000,0.047,3152,3156,3377,0,0,0,0,0,0
$GC,6718,-1.22,-146.0,607.6,-7.3,293,6724,0.00,2.65,0.00,0.000,6,0.000,0.046,3151,1593,3376,0,0,0,0,0,0
$GC,6968,-1.22,-146.0,626.0,-7.3,300,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1593,3375,0,0,0,0,0,0
$GC,7214,-1.22,-146.0,643.3,-7.0,306,7219,0.00,2.60,0.00,0.000,4,0.000,0.045,3152,3147,3373,0,0,0,0,0,0
$GC,7250,-1.30,-146.0,645.7,-7.1,306,7255,0.15,2.65,0.00,0.000,6,0.055,0.048,3091,1591,3373,0,0,0,0,0,0
$GC,7500,-1.19,-146.0,670.0,-9.8,312,7505,0.22,2.50,0.00,0.000,4,0.091,0.080,3142,166,3371,0,0,0,0,0,0
$GC,7523,-1.14,-146.0,671.9,-9.2,312,7527,0.00,2.33,0.00,0.000,6,0.000,0.033,3141,1593,3371,0,0,0,0,0,0
$GC,7787,-1.14,-146.0,691.1,-7.1,319,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1594,3371,0,0,0,0,0,0
$GC,8030,-1.14,-146.0,708.1,-6.9,325,8035,0.00,2.50,0.00,0.000,4,0.000,0.076,3141,167,3369,0,0,0,0,0,0
$GC,8061,-1.14,-146.0,710.4,-7.9,325,8065,0.00,2.33,0.00,0.000,6,0.000,0.035,3141,1597,3369,0,0,0,0,0,0
$GC,8315,-1.14,-146.0,728.9,-7.3,332,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1598,3367,0,0,0,0,0,0
$GC,8559,-1.14,-146.0,747.1,-7.5,338,8563,0.00,2.53,0.00,0.000,4,0.000,0.077,3142,162,3367,0,0,0,0,0,0
$GC,8587,-1.14,-146.0,749.6,-8.9,338,8591,0.00,2.33,0.00,0.000,6,0.000,0.036,3141,1589,3367,0,0,0,0,0,0
$GC,8844,-1.14,-146.0,769.0,-7.6,345,8848,0.00,2.65,0.00,0.000,4,0.000,0.054,3141,3159,3366,0,0,0,0,0,0
$GC,8868,-1.14,-146.0,771.1,-8.8,345,8872,0.00,2.70,0.00,0.000,6,0.000,0.049,3141,1583,3366,0,0,0,0,0,0
$GC,9127,-1.14,-146.0,790.2,-7.4,352,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1583,3365,0,0,0,0,0,0
$GC,9371,-1.14,-146.0,807.9,-7.3,358,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1583,3364,0,0,0,0,0,0
$GC,9615,-1.14,-146.0,824.6,-6.8,364,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1583,3363,0,0,0,0,0,0
$GC,9858,-1.14,-146.0,840.7,-6.6,370,9863,0.00,2.67,0.00,0.000,4,0.000,0.047,3141,3157,3362,0,0,0,0,0,0
$GC,9885,-1.19,-146.0,842.5,-8.0,370,9889,0.00,2.70,0.00,0.000,6,0.000,0.051,3141,1586,3362,0,0,0,0,0,0
$GC,10144,-1.19,-146.0,859.5,-6.5,377,10149,0.00,2.53,0.00,0.000,4,0.000,0.084,3141,166,3361,0,0,0,0,0,0
$GC,10177,-1.19,-146.0,862.0,-7.8,377,10182,0.00,2.33,0.00,0.000,6,0.000,0.036,3141,1593,3361,0,0,0,0,0,0
$GC,10429,-1.19,-146.0,879.6,-7.0,383,10434,0.00,2.62,0.00,0.000,4,0.000,0.055,3141,3153,3360,0,0,0,0,0,0
$GC,10458,-1.26,-146.0,881.7,-7.1,383,10463,0.00,2.67,0.00,0.000,6,0.000,0.050,3141,1589,3360,0,0,0,0,0,0
$GC,10713,-1.26,-146.0,899.5,-7.1,390,10718,0.00,2.53,0.00,0.000,4,0.000,0.083,3141,165,3359,0,0,0,0,0,0
$STATE,10721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10721,begin apogee
$GC,10731,-0.31,0.0,900.1,6.9,390,10855,0.80,0.00,120.30,1.149,6,0.068,0.000,3329,1362,2800,0,0,0,0,0,0
$STATE,10855,end apogee,CONTROL_FINISHED_OK
$STATE,10856,begin climb
$GC,10858,1.27,146.0,904.1,0.0,393,10998,1.45,2.20,131.43,1.129,4,0.035,0.075,3677,161,2204,0,0,0,0,0,0
$GC,11019,1.02,146.0,898.1,12.0,396,11024,0.25,1.98,0.00,0.000,6,0.110,0.034,3626,1345,2202,0,0,0,0,0,0
$GC,11271,0.94,146.0,872.1,10.1,402,11275,0.00,2.12,0.00,0.000,4,0.000,0.074,3625,163,2195,0,0,0,0,0,0
$GC,11322,0.79,146.0,866.0,12.1,403,11327,0.25,1.92,0.00,0.000,6,0.102,0.032,3574,1342,2194,0,0,0,0,0,0
$GC,11601,0.84,182.6,842.7,8.3,410,11642,0.00,0.00,33.50,1.065,6,0.000,0.000,3573,1342,2053,0,0,0,0,0,0
$GC,11886,0.90,192.6,816.1,9.5,417,11903,0.10,2.83,10.07,0.937,4,0.079,0.058,3615,2929,2014,0,0,0,0,0,0
$GC,11914,0.91,200.2,812.8,9.6,417,11931,0.00,2.75,8.68,0.900,6,0.000,0.049,3615,1341,1983,0,0,0,0,0,0
$GC,12177,0.91,200.2,781.7,11.9,424,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,3615,1341,1979,0,0,0,0,0,0
$GC,12419,0.91,200.2,752.8,11.8,430,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,3615,1341,1979,0,0,0,0,0,0
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$STATE,18776,end climb,SURFACE_DEPTH_REACHED
$STATE,18776,begin surface coast
$FINISH,1.0,1.023300
$STATE,18822,end surface coast,CONTROL_FINISHED_OK
$STATE,18822,begin surface
$SM_CCo,18846,49.12,0.433,0,0,1209,390.03
$SM_GC,1.77,0.00,0.00,49.12,0.000,0.000,0.433,413,1604,1209,-13.74,0.96,390.03
$IRIDIUM_FIX,2234.68,-15738.08,221102,000024
$TT8_MAMPS,0.027612
$HUMID,68.66
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.80
$XPDR_PINGS,9
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$10V_AH,9.8,63.304
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,35.000,224.725,410.150,49.125,0.000,29.818,38.945,210.111,2.250,0.000,12.294,1568.124,13857.085,562.196,2563.965,779.853,33.378,1644.798,0.000,2564.493,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,488.808,380.131,484.763,994.679,1309.021,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,57485,718
$CAP_FILE_SIZE,185461,0
$CFSIZE,260165632,138502144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280813,111359,2244.640,-15739.396,36,1.0,41,10.1