version: 66.06
glider: 148
mission: 12
dive: 447
start: 8 28 113 22 9 30
data:
$ID,148
$MISSION,12
$DIVE,447
$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,-1025002.6
$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,109
$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
$GPS1,220106,2247.969,-15739.201,38,0.9,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-77.7
$GPS2,220836,2247.972,-15739.276,10,1.0,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.082,0.246
$KALMAN_X,-81172.2,35.8,-277.1,116907.5,-710.2
$KALMAN_Y,-11326.1,-56.1,68.8,16839.1,-658.6
$MHEAD_RNG_PITCHd_Wd,8.4,32993,-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,-67.30,0.000,2,0.000,0.000,417,1604,2912,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.1,9,122,13.90,2.38,-8.90,0.000,4,0.142,0.031,3116,3086,3396,0,0,0,0,0,0
$GC,188,-1.07,-146.0,27.4,-18.5,23,197,0.17,2.53,0.00,0.000,6,0.080,0.033,3160,1570,3396,0,0,0,0,0,0
$GC,468,-0.91,-146.0,76.2,-14.8,49,473,0.17,2.40,0.00,0.000,4,0.100,0.022,3199,3095,3397,0,0,0,0,0,0
$GC,490,-0.81,-146.0,79.9,-13.9,50,495,0.10,2.45,0.00,0.000,6,0.107,0.028,3223,1568,3397,0,0,0,0,0,0
$GC,755,-0.81,-146.0,107.7,-9.8,74,763,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1569,3398,0,0,0,0,0,0
$GC,1020,-0.81,-146.0,131.1,-7.4,99,1024,0.00,2.28,0.00,0.000,4,0.000,0.043,3224,172,3399,0,0,0,0,0,0
$GC,1058,-0.88,-146.0,134.5,-8.7,102,1063,0.00,2.08,0.00,0.000,6,0.000,0.016,3224,1569,3399,0,0,0,0,0,0
$GC,1330,-0.94,-146.0,155.2,-8.0,127,1335,0.12,2.42,0.00,0.000,4,0.063,0.021,3149,3105,3399,0,0,0,0,0,0
$GC,1369,-0.94,-146.0,159.3,-11.1,130,1374,0.20,2.47,0.00,0.000,6,0.083,0.028,3195,1566,3400,0,0,0,0,0,0
$GC,1635,-0.94,-146.0,186.8,-9.7,154,1639,0.00,2.28,0.00,0.000,4,0.000,0.044,3196,169,3400,0,0,0,0,0,0
$GC,1659,-0.94,-146.0,189.7,-10.5,156,1663,0.00,2.08,0.00,0.000,6,0.000,0.017,3195,1575,3400,0,0,0,0,0,0
$GC,1926,-0.94,-146.0,216.1,-9.8,169,1930,0.00,2.40,0.00,0.000,4,0.000,0.021,3195,3115,3400,0,0,0,0,0,0
$GC,1977,-1.06,-146.0,220.8,-8.1,170,1982,0.12,2.47,0.00,0.000,6,0.062,0.028,3126,1583,3400,0,0,0,0,0,0
$GC,2260,-0.92,-146.0,256.9,-13.2,177,2265,0.30,2.40,0.00,0.000,4,0.085,0.021,3195,3104,3400,0,0,0,0,0,0
$GC,2284,-0.92,-146.0,260.3,-10.6,177,2288,0.00,2.45,0.00,0.000,6,0.000,0.028,3195,1584,3400,0,0,0,0,0,0
$GC,2544,-0.97,-146.0,280.3,-7.6,184,2548,0.00,2.33,0.00,0.000,4,0.000,0.049,3195,169,3399,0,0,0,0,0,0
$GC,2578,-0.97,-146.0,283.1,-8.4,184,2583,0.00,2.12,0.00,0.000,6,0.000,0.018,3195,1569,3399,0,0,0,0,0,0
$GC,2829,-1.03,-146.0,300.6,-7.0,190,2833,0.00,2.45,0.00,0.000,4,0.000,0.025,3195,3130,3399,0,0,0,0,0,0
$GC,2867,-1.16,-146.0,303.2,-6.5,190,2875,0.17,2.53,0.00,0.000,6,0.021,0.031,3114,1601,3399,0,0,0,0,0,0
$GC,3119,-1.04,-146.0,331.2,-11.6,197,3124,0.25,2.40,0.00,0.000,4,0.085,0.049,3174,160,3398,0,0,0,0,0,0
$GC,3167,-1.09,-146.0,336.4,-9.8,198,3171,0.00,2.20,0.00,0.000,6,0.000,0.021,3173,1580,3397,0,0,0,0,0,0
$GC,3451,-1.09,-146.0,360.4,-8.7,205,3455,0.00,2.38,0.00,0.000,4,0.000,0.051,3174,160,3396,0,0,0,0,0,0
$GC,3480,-1.09,-146.0,363.2,-9.3,205,3484,0.00,2.20,0.00,0.000,6,0.000,0.021,3174,1581,3396,0,0,0,0,0,0
$GC,3734,-1.09,-146.0,384.7,-8.4,212,3738,0.00,2.55,0.00,0.000,4,0.000,0.033,3173,3148,3394,0,0,0,0,0,0
$GC,3765,-1.17,-146.0,387.2,-7.5,212,3770,0.12,2.58,0.00,0.000,6,0.061,0.037,3112,1584,3394,0,0,0,0,0,0
$GC,4020,-1.05,-146.0,416.1,-11.5,219,4025,0.25,2.40,0.00,0.000,4,0.087,0.060,3171,165,3392,0,0,0,0,0,0
$GC,4059,-1.05,-146.0,419.9,-8.8,219,4064,0.00,2.25,0.00,0.000,6,0.000,0.025,3172,1582,3392,0,0,0,0,0,0
$GC,4314,-1.05,-146.0,437.9,-6.9,226,4318,0.00,2.55,0.00,0.000,4,0.000,0.037,3171,3149,3390,0,0,0,0,0,0
$GC,4366,-1.16,-146.0,441.5,-6.0,227,4371,0.10,2.58,0.00,0.000,6,0.074,0.038,3117,1589,3390,0,0,0,0,0,0
$GC,4647,-1.06,-146.0,466.2,-8.8,234,4652,0.22,2.45,0.00,0.000,4,0.088,0.065,3167,169,3388,0,0,0,0,0,0
$GC,4692,-1.11,-146.0,469.9,-7.1,235,4696,0.00,2.25,0.00,0.000,6,0.000,0.028,3167,1592,3388,0,0,0,0,0,0
$GC,4979,-1.11,-146.0,489.2,-6.9,242,4983,0.00,2.55,0.00,0.000,4,0.000,0.041,3164,3147,3386,0,0,0,0,0,0
$GC,5015,-1.20,-146.0,491.6,-7.0,242,5021,0.12,2.60,0.00,0.000,6,0.062,0.039,3106,1590,3386,0,0,0,0,0,0
$GC,5266,-1.09,-146.0,517.2,-10.5,248,5271,0.25,2.47,0.00,0.000,4,0.086,0.069,3166,165,3385,0,0,0,0,0,0
$GC,5312,-1.14,-146.0,521.4,-8.2,249,5316,0.00,2.25,0.00,0.000,6,0.000,0.030,3164,1578,3384,0,0,0,0,0,0
$GC,5603,-1.14,-146.0,543.9,-7.8,256,5607,0.00,2.60,0.00,0.000,4,0.000,0.044,3164,3156,3382,0,0,0,0,0,0
$GC,5638,-1.24,-146.0,546.8,-7.8,256,5643,0.15,2.62,0.00,0.000,6,0.054,0.044,3099,1582,3382,0,0,0,0,0,0
$GC,5890,-1.13,-146.0,573.8,-11.1,262,5895,0.25,2.47,0.00,0.000,4,0.086,0.074,3159,169,3380,0,0,0,0,0,0
$GC,5934,-1.13,-146.0,578.3,-9.1,263,5938,0.00,2.28,0.00,0.000,6,0.000,0.031,3158,1578,3379,0,0,0,0,0,0
$GC,6223,-1.13,-146.0,600.5,-7.7,270,6227,0.00,2.62,0.00,0.000,4,0.000,0.046,3159,3152,3378,0,0,0,0,0,0
$GC,6256,-1.22,-146.0,603.3,-8.0,270,6261,0.12,2.65,0.00,0.000,6,0.064,0.045,3101,1578,3378,0,0,0,0,0,0
$GC,6509,-1.13,-146.0,627.4,-9.8,276,6514,0.22,2.50,0.00,0.000,4,0.088,0.078,3152,166,3376,0,0,0,0,0,0
$GC,6549,-1.13,-146.0,631.2,-8.2,276,6555,0.00,2.30,0.00,0.000,6,0.000,0.033,3151,1579,3376,0,0,0,0,0,0
$GC,6800,-1.13,-146.0,649.3,-7.1,283,6804,0.00,2.65,0.00,0.000,4,0.000,0.051,3152,3157,3374,0,0,0,0,0,0
$GC,6828,-1.19,-146.0,651.4,-7.1,283,6833,0.00,2.65,0.00,0.000,6,0.000,0.047,3151,1582,3374,0,0,0,0,0,0
$GC,7085,-1.19,-146.0,669.3,-7.2,290,7089,0.00,2.50,0.00,0.000,4,0.000,0.081,3152,169,3373,0,0,0,0,0,0
$GC,7123,-1.19,-146.0,672.6,-8.3,290,7131,0.00,2.33,0.00,0.000,6,0.000,0.035,3151,1575,3373,0,0,0,0,0,0
$GC,7373,-1.19,-146.0,690.7,-7.4,297,7377,0.00,2.65,0.00,0.000,4,0.000,0.054,3152,3154,3371,0,0,0,0,0,0
$GC,7404,-1.25,-146.0,692.9,-7.4,297,7409,0.10,2.65,0.00,0.000,6,0.076,0.048,3101,1585,3371,0,0,0,0,0,0
$GC,7660,-1.18,-146.0,717.8,-9.8,304,7662,0.17,0.00,0.00,0.000,6,0.093,0.000,3141,1585,3369,0,0,0,0,0,0
$GC,7905,-1.18,-146.0,737.3,-7.8,310,7909,0.00,2.50,0.00,0.000,4,0.000,0.082,3142,166,3369,0,0,0,0,0,0
$GC,7933,-1.18,-146.0,739.9,-9.6,310,7937,0.00,2.33,0.00,0.000,6,0.000,0.035,3141,1590,3369,0,0,0,0,0,0
$GC,8192,-1.18,-146.0,758.1,-7.0,317,8197,0.00,2.65,0.00,0.000,4,0.000,0.054,3141,3151,3368,0,0,0,0,0,0
$GC,8216,-1.18,-146.0,759.7,-8.0,317,8221,0.00,2.67,0.00,0.000,6,0.000,0.049,3142,1585,3368,0,0,0,0,0,0
$GC,8477,-1.18,-146.0,776.2,-6.3,324,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1585,3366,0,0,0,0,0,0
$GC,8719,-1.18,-146.0,792.3,-6.6,330,8724,0.00,2.62,0.00,0.000,4,0.000,0.045,3141,3156,3365,0,0,0,0,0,0
$GC,8738,-1.18,-146.0,793.7,-7.6,330,8743,0.00,2.67,0.00,0.000,6,0.000,0.049,3141,1586,3365,0,0,0,0,0,0
$GC,9005,-1.18,-146.0,813.2,-7.6,337,9009,0.00,2.53,0.00,0.000,4,0.000,0.084,3142,166,3364,0,0,0,0,0,0
$GC,9033,-1.18,-146.0,815.9,-9.0,337,9037,0.00,2.33,0.00,0.000,6,0.000,0.035,3141,1586,3364,0,0,0,0,0,0
$GC,9288,-1.18,-146.0,836.7,-8.2,344,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1586,3363,0,0,0,0,0,0
$GC,9533,-1.18,-146.0,856.7,-8.2,350,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1586,3362,0,0,0,0,0,0
$GC,9778,-1.18,-146.0,876.8,-8.2,356,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1586,3361,0,0,0,0,0,0
$GC,10019,-1.18,-146.0,895.9,-7.7,362,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1586,3360,0,0,0,0,0,0
$STATE,10097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10098,begin apogee
$GC,10106,-0.31,0.0,901.7,7.4,364,10230,0.82,0.00,120.90,1.147,6,0.069,0.000,3332,1340,2800,0,0,0,0,0,0
$STATE,10231,end apogee,CONTROL_FINISHED_OK
$STATE,10231,begin climb
$GC,10234,1.27,146.0,905.2,0.0,367,10377,1.45,2.20,132.50,1.127,4,0.031,0.080,3683,174,2202,0,0,0,0,0,0
$GC,10455,1.00,146.0,889.0,14.7,372,10459,0.30,1.95,0.00,0.000,6,0.107,0.032,3621,1351,2198,0,0,0,0,0,0
$GC,10719,0.93,146.0,859.6,10.7,379,10723,0.00,2.10,0.00,0.000,4,0.000,0.074,3621,177,2193,0,0,0,0,0,0
$GC,10777,0.79,146.0,853.0,12.6,380,10782,0.17,1.95,0.00,0.000,6,0.085,0.032,3572,1344,2193,0,0,0,0,0,0
$GC,11057,0.85,193.8,830.2,7.8,387,11105,0.00,2.15,43.62,1.068,4,0.000,0.076,3572,167,2009,0,0,0,0,0,0
$GC,11120,0.90,230.5,824.9,8.3,388,11162,0.10,1.98,36.08,1.048,6,0.080,0.032,3611,1353,1860,0,0,0,0,0,0
$GC,11425,0.90,230.5,791.8,11.1,396,11430,0.00,2.72,0.00,0.000,4,0.000,0.056,3611,2929,1852,0,0,0,0,0,0
$GC,11449,0.92,251.6,788.8,9.0,396,11474,0.00,2.70,19.45,0.999,6,0.000,0.049,3611,1358,1774,0,0,0,0,0,0
$GC,11756,0.92,251.6,753.3,11.9,404,11760,0.00,2.70,0.00,0.000,4,0.000,0.046,3611,2935,1771,0,0,0,0,0,0
$GC,11784,0.92,251.6,749.3,11.7,404,11788,0.00,2.75,0.00,0.000,6,0.000,0.051,3611,1354,1767,0,0,0,0,0,0
$GC,12043,0.92,251.6,717.6,12.6,411,12044,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,1353,1767,0,0,0,0,0,0
$GC,12282,0.92,251.6,686.6,12.7,417,12287,0.00,2.70,0.00,0.000,4,0.000,0.048,3611,2934,1767,0,0,0,0,0,0
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$STATE,18322,end climb,SURFACE_DEPTH_REACHED
$STATE,18323,begin surface coast
$FINISH,1.0,1.001924
$STATE,18365,end surface coast,CONTROL_FINISHED_OK
$STATE,18365,begin surface
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$SM_GC,2.05,0.00,0.00,38.72,0.000,0.000,0.425,417,1605,1209,-13.72,0.99,390.03
$IRIDIUM_FIX,2237.01,-15737.19,221102,161609
$TT8_MAMPS,0.027612
$HUMID,68.07
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.40
$XPDR_PINGS,7
$24V_AH,23.0,65.914
$10V_AH,9.7,63.748
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.925,232.625,422.500,38.725,0.000,23.897,45.040,216.575,1.750,0.000,16.983,1563.257,13357.032,589.946,2577.194,780.037,33.380,1679.851,0.000,2576.900,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,57403,699
$CAP_FILE_SIZE,187335,0
$CFSIZE,260165632,138268672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290813,031817,2250.085,-15738.796,37,1.4,54,10.1