version: 66.06
glider: 148
mission: 12
dive: 198
start: 7 3 113 23 0 56
data:
$ID,148
$MISSION,12
$DIVE,198
$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,380
$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,-1020114.2
$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,3385
$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,31
$R_STBD_OVSHOOT,36
$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
$GPS1,224924,2302.815,-15746.467,93,1.6,93,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-78.4
$GPS2,230001,2302.962,-15746.497,11,1.2,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE2
$TGT_LATLONG,2307.000,-15736.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,-0.022
$KALMAN_X,-222942.5,-43.1,-133.5,246280.4,-803.3
$KALMAN_Y,121957.4,196.0,-153.5,-88727.0,1998.4
$MHEAD_RNG_PITCHd_Wd,84.6,19380,-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,-67.20,0.000,2,0.000,0.000,406,1636,2969,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.0,-2.8,9,123,14.50,2.45,-7.72,0.000,4,0.163,0.052,3102,169,3398,0,0,0,0,0,0
$GC,153,-0.88,-146.0,22.5,-26.0,17,161,0.38,2.22,0.00,0.000,6,0.088,0.017,3188,1603,3398,0,0,0,0,0,0
$GC,430,-0.82,-146.0,60.3,-10.3,45,434,0.00,2.38,0.00,0.000,4,0.000,0.021,3188,3137,3399,0,0,0,0,0,0
$GC,486,-0.92,-146.0,66.3,-7.8,49,495,0.00,2.55,0.00,0.000,6,0.000,0.028,3188,1577,3399,0,0,0,0,0,0
$GC,750,-0.92,-146.0,90.5,-9.0,74,758,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1577,3400,0,0,0,0,0,0
$GC,1014,-0.92,-146.0,117.0,-10.3,99,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1577,3400,0,0,0,0,0,0
$GC,1276,-0.92,-146.0,144.6,-10.0,124,1280,0.00,2.45,0.00,0.000,4,0.000,0.021,3188,3143,3400,0,0,0,0,0,0
$GC,1298,-0.92,-146.0,146.7,-10.1,125,1304,0.00,2.50,0.00,0.000,6,0.000,0.028,3188,1576,3400,0,0,0,0,0,0
$GC,1561,-0.92,-146.0,170.6,-8.3,150,1566,0.00,2.30,0.00,0.000,4,0.000,0.044,3188,170,3401,0,0,0,0,0,0
$GC,1593,-0.92,-146.0,173.3,-8.9,152,1598,0.00,2.15,0.00,0.000,6,0.000,0.017,3188,1599,3401,0,0,0,0,0,0
$GC,1856,-0.92,-146.0,191.3,-6.5,177,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1602,3401,0,0,0,0,0,0
$GC,2116,-0.92,-146.0,208.1,-6.5,193,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1603,3400,0,0,0,0,0,0
$GC,2363,-0.98,-146.0,226.3,-7.6,199,2367,0.00,2.35,0.00,0.000,4,0.000,0.021,3188,3115,3401,0,0,0,0,0,0
$GC,2407,-1.12,-146.0,230.1,-7.4,200,2412,0.20,2.47,0.00,0.000,6,0.042,0.028,3093,1567,3401,0,0,0,0,0,0
$GC,2697,-0.96,-146.0,271.5,-15.0,207,2702,0.35,2.28,0.00,0.000,4,0.084,0.044,3174,170,3401,0,0,0,0,0,0
$GC,2759,-1.02,-146.0,278.8,-9.5,208,2763,0.00,2.10,0.00,0.000,6,0.000,0.018,3174,1559,3400,0,0,0,0,0,0
$GC,3029,-1.08,-146.0,299.3,-7.5,215,3034,0.10,2.53,0.00,0.000,4,0.077,0.026,3118,3137,3399,0,0,0,0,0,0
$GC,3073,-1.08,-146.0,303.3,-8.9,216,3079,0.15,2.53,0.00,0.000,6,0.091,0.031,3153,1574,3400,0,0,0,0,0,0
$GC,3364,-1.08,-146.0,327.5,-8.7,223,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1574,3399,0,0,0,0,0,0
$GC,3610,-1.08,-146.0,350.9,-9.6,229,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1574,3397,0,0,0,0,0,0
$GC,3853,-1.08,-146.0,373.6,-9.2,235,3857,0.00,2.38,0.00,0.000,4,0.000,0.057,3153,169,3396,0,0,0,0,0,0
$GC,3886,-1.08,-146.0,377.1,-8.9,235,3890,0.00,2.15,0.00,0.000,6,0.000,0.022,3153,1561,3396,0,0,0,0,0,0
$GC,4141,-1.08,-146.0,397.2,-7.9,241,4145,0.00,2.55,0.00,0.000,4,0.000,0.032,3153,3140,3394,0,0,0,0,0,0
$GC,4179,-1.18,-146.0,400.5,-7.0,241,4185,0.12,2.55,0.00,0.000,6,0.063,0.038,3090,1587,3394,0,0,0,0,0,0
$GC,4431,-1.09,-146.0,427.9,-11.4,248,4433,0.25,0.00,0.00,0.000,6,0.087,0.000,3146,1587,3392,0,0,0,0,0,0
$GC,4674,-1.09,-146.0,449.7,-8.8,254,4678,0.00,2.42,0.00,0.000,4,0.000,0.066,3146,172,3391,0,0,0,0,0,0
$GC,4695,-1.09,-146.0,451.6,-9.0,254,4699,0.00,2.22,0.00,0.000,6,0.000,0.025,3146,1588,3391,0,0,0,0,0,0
$GC,4959,-1.09,-146.0,473.1,-7.9,261,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1588,3388,0,0,0,0,0,0
$GC,5204,-1.09,-146.0,490.0,-6.7,267,5208,0.00,2.58,0.00,0.000,4,0.000,0.040,3146,3147,3387,0,0,0,0,0,0
$GC,5218,-1.09,-146.0,491.1,-6.2,267,5223,0.00,2.58,0.00,0.000,6,0.000,0.037,3146,1595,3387,0,0,0,0,0,0
$GC,5489,-1.09,-146.0,507.5,-6.0,274,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1595,3385,0,0,0,0,0,0
$GC,5734,-1.14,-146.0,522.8,-6.2,280,5738,0.00,2.47,0.00,0.000,4,0.000,0.077,3146,171,3384,0,0,0,0,0,0
$GC,5759,-1.14,-146.0,524.7,-7.3,280,5763,0.00,2.28,0.00,0.000,6,0.000,0.028,3146,1590,3383,0,0,0,0,0,0
$GC,6019,-1.18,-146.0,543.4,-7.4,287,6023,0.00,2.58,0.00,0.000,4,0.000,0.042,3146,3148,3382,0,0,0,0,0,0
$GC,6058,-1.31,-146.0,546.3,-7.1,287,6064,0.20,2.60,0.00,0.000,6,0.044,0.043,3082,1601,3382,0,0,0,0,0,0
$GC,6308,-1.21,-146.0,573.8,-11.5,294,6313,0.17,2.53,0.00,0.000,4,0.106,0.075,3119,165,3380,0,0,0,0,0,0
$GC,6354,-1.21,-146.0,578.9,-11.0,295,6358,0.00,2.30,0.00,0.000,6,0.000,0.031,3119,1595,3380,0,0,0,0,0,0
$GC,6647,-1.21,-146.0,609.8,-10.5,302,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1596,3378,0,0,0,0,0,0
$GC,6890,-1.21,-146.0,634.8,-10.1,308,6895,0.00,2.60,0.00,0.000,4,0.000,0.048,3119,3154,3377,0,0,0,0,0,0
$GC,6914,-1.21,-146.0,637.4,-10.8,308,6918,0.00,2.62,0.00,0.000,6,0.000,0.046,3119,1601,3377,0,0,0,0,0,0
$GC,7175,-1.21,-146.0,662.4,-9.5,315,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1601,3375,0,0,0,0,0,0
$GC,7417,-1.21,-146.0,683.0,-8.2,321,7421,0.00,2.53,0.00,0.000,4,0.000,0.081,3119,168,3375,0,0,0,0,0,0
$GC,7436,-1.21,-146.0,684.6,-8.5,321,7441,0.00,2.33,0.00,0.000,6,0.000,0.032,3119,1602,3374,0,0,0,0,0,0
$GC,7704,-1.21,-146.0,701.9,-6.1,328,7708,0.00,2.53,0.00,0.000,4,0.000,0.074,3119,166,3373,0,0,0,0,0,0
$GC,7738,-1.21,-146.0,704.3,-6.8,328,7742,0.00,2.35,0.00,0.000,6,0.000,0.034,3119,1606,3372,0,0,0,0,0,0
$GC,7993,-1.21,-146.0,718.5,-5.5,335,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1606,3371,0,0,0,0,0,0
$GC,8237,-1.21,-146.0,734.0,-6.6,341,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1606,3370,0,0,0,0,0,0
$GC,8482,-1.21,-146.0,752.9,-7.9,347,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1606,3369,0,0,0,0,0,0
$GC,8726,-1.21,-146.0,774.2,-8.8,353,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1606,3368,0,0,0,0,0,0
$GC,8968,-1.21,-146.0,796.1,-9.0,359,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1606,3367,0,0,0,0,0,0
$GC,9211,-1.21,-146.0,817.1,-8.5,365,9216,0.00,2.53,0.00,0.000,4,0.000,0.074,3119,169,3366,0,0,0,0,0,0
$GC,9234,-1.21,-146.0,818.8,-8.7,365,9238,0.00,2.35,0.00,0.000,6,0.000,0.034,3119,1604,3366,0,0,0,0,0,0
$GC,9497,-1.21,-146.0,839.5,-7.5,372,9502,0.00,2.62,0.00,0.000,4,0.000,0.052,3119,3163,3365,0,0,0,0,0,0
$GC,9512,-1.21,-146.0,840.7,-7.3,372,9517,0.00,2.62,0.00,0.000,6,0.000,0.047,3119,1601,3365,0,0,0,0,0,0
$GC,9785,-1.21,-146.0,858.1,-6.3,379,9789,0.00,2.55,0.00,0.000,4,0.000,0.082,3119,161,3364,0,0,0,0,0,0
$GC,9814,-1.21,-146.0,860.2,-7.0,379,9818,0.00,2.33,0.00,0.000,6,0.000,0.034,3119,1595,3363,0,0,0,0,0,0
$GC,10068,-1.21,-146.0,874.9,-5.6,386,10069,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1595,3363,0,0,0,0,0,0
$GC,10313,-1.21,-146.0,887.7,-5.2,392,10318,0.00,2.50,0.00,0.000,4,0.000,0.074,3119,163,3362,0,0,0,0,0,0
$GC,10357,-1.21,-146.0,890.4,-6.0,393,10361,0.00,2.33,0.00,0.000,6,0.000,0.035,3119,1596,3362,0,0,0,0,0,0
$STATE,10560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10560,begin apogee
$GC,10568,-0.31,0.0,900.6,4.8,398,10690,0.85,0.00,119.10,1.153,6,0.072,0.000,3315,1337,2800,0,0,0,0,0,0
$STATE,10691,end apogee,CONTROL_FINISHED_OK
$STATE,10691,begin climb
$GC,10694,1.27,146.0,901.3,0.0,401,10833,1.48,2.15,131.07,1.128,4,0.039,0.076,3659,178,2203,0,0,0,0,0,0
$GC,10850,1.02,146.0,890.6,14.3,405,10855,0.25,1.95,0.00,0.000,6,0.119,0.036,3610,1352,2200,0,0,0,0,0,0
$GC,11137,0.93,146.0,855.3,12.0,412,11142,0.10,2.10,0.00,0.000,4,0.135,0.071,3589,174,2193,0,0,0,0,0,0
$GC,11224,0.82,146.0,844.4,12.8,413,11230,0.12,1.92,0.00,0.000,6,0.123,0.029,3564,1345,2193,0,0,0,0,0,0
$GC,11476,0.84,164.5,820.3,9.1,420,11497,0.00,2.15,16.12,1.007,4,0.000,0.072,3563,166,2128,0,0,0,0,0,0
$GC,11512,0.88,192.3,816.7,8.7,420,11544,0.00,1.98,27.05,1.039,6,0.000,0.030,3564,1345,2015,0,0,0,0,0,0
$GC,11812,0.88,195.6,787.4,9.8,428,11816,0.00,2.70,0.00,0.000,4,0.000,0.051,3563,2932,2009,0,0,0,0,0,0
$GC,11850,0.99,226.0,783.3,8.6,428,11888,0.15,2.72,31.77,1.036,6,0.059,0.050,3619,1352,1878,0,0,0,0,0,0
$GC,12143,0.92,226.0,746.2,13.1,436,12148,0.15,2.70,0.00,0.000,4,0.110,0.045,3586,2933,1873,0,0,0,0,0,0
$GC,12182,0.97,226.0,741.2,10.3,436,12187,0.00,2.72,0.00,0.000,6,0.000,0.051,3586,1355,1870,0,0,0,0,0,0
$GC,12432,0.97,226.0,714.2,10.8,443,12433,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1355,1871,0,0,0,0,0,0
$GC,12678,0.97,226.0,688.0,10.8,449,12682,0.00,2.12,0.00,0.000,4,0.000,0.084,3586,160,1870,0,0,0,0,0,0
$GC,12715,0.97,226.0,683.1,12.1,449,12721,0.00,1.95,0.00,0.000,6,0.000,0.028,3586,1361,1869,0,0,0,0,0,0
$GC,12965,0.97,226.0,655.2,11.2,456,12969,0.00,2.65,0.00,0.000,4,0.000,0.049,3586,2931,1869,0,0,0,0,0,0
$GC,13000,1.02,226.0,651.4,10.4,456,13004,0.00,2.70,0.00,0.000,6,0.000,0.050,3586,1360,1867,0,0,0,0,0,0
$GC,13250,1.02,226.0,622.5,11.7,462,13251,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1360,1867,0,0,0,0,0,0
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$STATE,18624,end climb,SURFACE_DEPTH_REACHED
$STATE,18624,begin surface coast
$FINISH,0.9,1.009754
$STATE,18670,end surface coast,CONTROL_FINISHED_OK
$STATE,18670,begin surface
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$HUMID,64.68
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$TCM_TEMP,22.10
$XPDR_PINGS,17
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$10V_AH,9.9,25.769
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.075,186.025,418.725,32.000,0.000,61.261,89.753,265.714,4.250,0.000,13.245,1559.018,13640.274,556.925,2700.946,898.584,33.370,1611.784,0.000,2723.341,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,57463,716
$CAP_FILE_SIZE,177400,0
$CFSIZE,260165632,157421568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040713,041423,2304.034,-15744.761,38,1.4,38,10.1