version: 66.06
glider: 148
mission: 12
dive: 199
start: 7 4 113 4 26 42
data:
$ID,148
$MISSION,12
$DIVE,199
$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,-1020131.9
$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,27
$R_STBD_OVSHOOT,133
$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
$GPS1,041423,2304.034,-15744.761,38,1.4,38,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-76.5
$GPS2,042549,2304.171,-15744.768,15,1.6,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE2
$TGT_LATLONG,2307.000,-15736.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,0.019
$KALMAN_X,-224518.2,24.9,-305.7,250920.6,-384.8
$KALMAN_Y,124198.2,94.7,331.4,-89101.1,1164.7
$MHEAD_RNG_PITCHd_Wd,75.8,15825,-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,-66.93,0.000,2,0.000,0.000,413,1621,2973,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.4,-4.7,9,123,14.12,2.45,-7.40,0.000,4,0.154,0.054,3103,170,3398,0,0,0,0,0,0
$GC,233,-0.97,-146.0,42.0,-21.5,26,237,0.32,2.03,0.00,0.000,6,0.097,0.018,3172,1503,3398,0,0,0,0,0,0
$GC,502,-0.89,-146.0,78.8,-12.8,50,510,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1505,3399,0,0,0,0,0,0
$GC,766,-0.83,-146.0,112.7,-13.3,75,771,0.12,2.47,0.00,0.000,4,0.110,0.021,3201,3069,3399,0,0,0,0,0,0
$GC,820,-0.96,-146.0,118.0,-10.0,79,825,0.10,2.42,0.00,0.000,6,0.071,0.028,3128,1553,3399,0,0,0,0,0,0
$GC,1086,-0.80,-146.0,157.2,-14.9,103,1091,0.35,2.25,0.00,0.000,4,0.086,0.041,3206,170,3400,0,0,0,0,0,0
$GC,1108,-0.72,-146.0,160.8,-14.0,104,1114,0.10,2.00,0.00,0.000,6,0.114,0.017,3230,1545,3400,0,0,0,0,0,0
$GC,1371,-0.85,-146.0,178.2,-6.0,129,1373,0.12,0.00,0.00,0.000,6,0.062,0.000,3158,1547,3400,0,0,0,0,0,0
$GC,1624,-0.79,-146.0,204.9,-10.8,150,1629,0.25,2.40,0.00,0.000,4,0.082,0.020,3220,3089,3400,0,0,0,0,0,0
$GC,1653,-0.92,-146.0,207.7,-7.7,150,1658,0.15,2.45,0.00,0.000,6,0.051,0.028,3137,1568,3400,0,0,0,0,0,0
$GC,1915,-0.82,-146.0,237.5,-12.0,157,1917,0.32,0.00,0.00,0.000,6,0.081,0.000,3206,1568,3400,0,0,0,0,0,0
$GC,2157,-0.92,-146.0,255.7,-7.1,163,2161,0.00,2.38,0.00,0.000,4,0.000,0.021,3206,3088,3400,0,0,0,0,0,0
$GC,2186,-1.08,-146.0,258.2,-7.0,163,2191,0.22,2.45,0.00,0.000,6,0.038,0.028,3104,1572,3400,0,0,0,0,0,0
$GC,2443,-0.93,-146.0,291.9,-13.7,170,2448,0.32,2.30,0.00,0.000,4,0.082,0.044,3178,174,3400,0,0,0,0,0,0
$GC,2518,-1.02,-146.0,300.3,-8.9,171,2523,0.00,2.05,0.00,0.000,6,0.000,0.019,3178,1526,3399,0,0,0,0,0,0
$GC,2779,-1.09,-146.0,319.2,-7.1,178,2784,0.12,2.55,0.00,0.000,4,0.063,0.027,3118,3129,3399,0,0,0,0,0,0
$GC,2818,-1.09,-146.0,323.1,-8.9,178,2824,0.12,2.55,0.00,0.000,6,0.097,0.032,3148,1568,3399,0,0,0,0,0,0
$GC,3068,-1.09,-146.0,343.0,-8.1,185,3072,0.00,2.33,0.00,0.000,4,0.000,0.052,3148,161,3398,0,0,0,0,0,0
$GC,3088,-1.09,-146.0,344.7,-8.6,185,3092,0.00,2.17,0.00,0.000,6,0.000,0.020,3148,1567,3398,0,0,0,0,0,0
$GC,3356,-1.09,-146.0,367.4,-8.2,192,3361,0.00,2.53,0.00,0.000,4,0.000,0.031,3148,3133,3397,0,0,0,0,0,0
$GC,3419,-1.16,-146.0,372.0,-6.5,193,3424,0.00,2.58,0.00,0.000,6,0.000,0.036,3148,1574,3396,0,0,0,0,0,0
$GC,3689,-1.16,-146.0,389.9,-6.8,200,3693,0.00,2.35,0.00,0.000,4,0.000,0.060,3148,171,3395,0,0,0,0,0,0
$GC,3737,-1.16,-146.0,394.0,-8.2,201,3741,0.00,2.17,0.00,0.000,6,0.000,0.023,3148,1562,3394,0,0,0,0,0,0
$GC,4028,-1.16,-146.0,417.6,-8.6,208,4033,0.00,2.55,0.00,0.000,4,0.000,0.034,3148,3145,3393,0,0,0,0,0,0
$GC,4049,-1.16,-146.0,419.7,-8.6,208,4053,0.00,2.60,0.00,0.000,6,0.000,0.036,3148,1571,3393,0,0,0,0,0,0
$GC,4313,-1.16,-146.0,441.4,-8.0,215,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1572,3391,0,0,0,0,0,0
$GC,4557,-1.16,-146.0,460.8,-8.0,221,4561,0.00,2.58,0.00,0.000,4,0.000,0.039,3148,3138,3389,0,0,0,0,0,0
$GC,4578,-1.21,-146.0,462.5,-8.1,221,4583,0.12,2.58,0.00,0.000,6,0.064,0.037,3088,1571,3389,0,0,0,0,0,0
$GC,4843,-1.11,-146.0,489.7,-10.2,228,4845,0.22,0.00,0.00,0.000,6,0.089,0.000,3140,1571,3387,0,0,0,0,0,0
$GC,5086,-1.11,-146.0,509.4,-8.0,234,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1571,3386,0,0,0,0,0,0
$GC,5332,-1.11,-146.0,528.3,-7.7,240,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1571,3384,0,0,0,0,0,0
$GC,5574,-1.11,-146.0,548.2,-8.4,246,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1571,3382,0,0,0,0,0,0
$GC,5818,-1.11,-146.0,568.4,-8.4,252,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1571,3381,0,0,0,0,0,0
$GC,6061,-1.11,-146.0,589.0,-8.4,258,6066,0.00,2.62,0.00,0.000,4,0.000,0.046,3140,3134,3379,0,0,0,0,0,0
$GC,6077,-1.11,-146.0,590.4,-8.3,258,6082,0.00,2.62,0.00,0.000,6,0.000,0.044,3140,1574,3379,0,0,0,0,0,0
$GC,6350,-1.11,-146.0,613.0,-8.4,265,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1574,3378,0,0,0,0,0,0
$GC,6593,-1.11,-146.0,634.0,-8.6,271,6598,0.00,2.62,0.00,0.000,4,0.000,0.044,3140,3141,3377,0,0,0,0,0,0
$GC,6619,-1.18,-146.0,636.3,-9.2,271,6624,0.00,2.62,0.00,0.000,6,0.000,0.047,3140,1579,3376,0,0,0,0,0,0
$GC,6879,-1.18,-146.0,656.5,-7.6,278,6883,0.00,2.50,0.00,0.000,4,0.000,0.083,3139,168,3375,0,0,0,0,0,0
$GC,6931,-1.23,-146.0,660.8,-8.6,279,6935,0.10,2.28,0.00,0.000,6,0.075,0.032,3092,1570,3375,0,0,0,0,0,0
$GC,7215,-1.17,-146.0,685.1,-8.7,286,7216,0.17,0.00,0.00,0.000,6,0.094,0.000,3131,1570,3373,0,0,0,0,0,0
$GC,7456,-1.17,-146.0,700.6,-6.1,292,7461,0.00,2.65,0.00,0.000,4,0.000,0.051,3131,3150,3372,0,0,0,0,0,0
$GC,7482,-1.22,-146.0,702.2,-6.3,292,7487,0.00,2.65,0.00,0.000,6,0.000,0.048,3131,1575,3372,0,0,0,0,0,0
$GC,7743,-1.22,-146.0,717.6,-5.9,299,7747,0.00,2.47,0.00,0.000,4,0.000,0.081,3131,170,3371,0,0,0,0,0,0
$GC,7786,-1.22,-146.0,720.5,-7.2,300,7790,0.00,2.28,0.00,0.000,6,0.000,0.033,3131,1583,3370,0,0,0,0,0,0
$GC,8078,-1.22,-146.0,739.5,-6.9,307,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1584,3370,0,0,0,0,0,0
$GC,8320,-1.22,-146.0,757.9,-7.6,313,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1583,3368,0,0,0,0,0,0
$GC,8564,-1.22,-146.0,775.6,-7.2,319,8569,0.00,2.65,0.00,0.000,4,0.000,0.051,3131,3154,3367,0,0,0,0,0,0
$GC,8590,-1.29,-146.0,777.7,-8.7,319,8595,0.12,2.67,0.00,0.000,6,0.066,0.048,3076,1577,3367,0,0,0,0,0,0
$GC,8851,-1.21,-146.0,801.7,-9.2,326,8856,0.20,2.50,0.00,0.000,4,0.093,0.081,3121,167,3366,0,0,0,0,0,0
$GC,8895,-1.21,-146.0,805.4,-8.6,327,8899,0.00,2.28,0.00,0.000,6,0.000,0.035,3120,1574,3366,0,0,0,0,0,0
$GC,9187,-1.21,-146.0,824.5,-6.5,334,9192,0.00,2.65,0.00,0.000,4,0.000,0.053,3121,3158,3365,0,0,0,0,0,0
$GC,9225,-1.30,-146.0,827.2,-6.2,334,9231,0.00,2.70,0.00,0.000,6,0.000,0.049,3121,1572,3365,0,0,0,0,0,0
$GC,9477,-1.30,-146.0,842.1,-5.9,341,9481,0.00,2.47,0.00,0.000,4,0.000,0.082,3121,169,3364,0,0,0,0,0,0
$GC,9520,-1.30,-146.0,844.9,-6.7,342,9524,0.00,2.30,0.00,0.000,6,0.000,0.035,3121,1578,3364,0,0,0,0,0,0
$GC,9811,-1.30,-146.0,860.4,-5.4,349,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1578,3363,0,0,0,0,0,0
$GC,10056,-1.30,-146.0,874.0,-5.6,355,10060,0.00,2.50,0.00,0.000,4,0.000,0.076,3121,161,3362,0,0,0,0,0,0
$GC,10075,-1.30,-146.0,875.5,-6.3,355,10079,0.00,2.30,0.00,0.000,6,0.000,0.035,3121,1567,3362,0,0,0,0,0,0
$GC,10343,-1.30,-146.0,891.7,-6.1,362,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1567,3362,0,0,0,0,0,0
$STATE,10503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10503,begin apogee
$GC,10511,-0.31,0.0,901.2,5.8,366,10633,0.85,0.00,118.95,1.154,6,0.073,0.000,3316,1338,2800,0,0,0,0,0,0
$STATE,10634,end apogee,CONTROL_FINISHED_OK
$STATE,10634,begin climb
$GC,10637,1.27,146.0,903.5,0.0,369,10775,1.42,2.12,129.52,1.135,4,0.031,0.077,3665,176,2203,0,0,0,0,0,0
$GC,10866,1.00,146.0,883.4,15.7,374,10870,0.30,1.92,0.00,0.000,6,0.110,0.031,3605,1354,2199,0,0,0,0,0,0
$GC,11146,0.92,146.0,852.0,11.0,381,11149,0.00,2.10,0.00,0.000,4,0.000,0.072,3605,175,2193,0,0,0,0,0,0
$GC,11203,0.78,146.0,845.0,12.9,382,11208,0.25,1.92,0.00,0.000,6,0.102,0.030,3553,1347,2193,0,0,0,0,0,0
$GC,11481,0.82,184.7,821.3,8.2,389,11524,0.00,2.17,34.00,1.065,4,0.000,0.074,3553,176,2047,0,0,0,0,0,0
$GC,11569,0.82,184.7,813.4,10.9,390,11578,0.00,1.95,0.00,0.000,6,0.000,0.031,3553,1343,2044,0,0,0,0,0,0
$GC,11824,0.91,216.2,791.2,8.5,397,11861,0.12,2.83,29.98,1.043,4,0.067,0.055,3598,2932,1917,0,0,0,0,0,0
$GC,11904,0.92,225.1,782.2,9.6,398,11921,0.00,2.70,9.20,0.908,6,0.000,0.048,3597,1360,1881,0,0,0,0,0,0
$GC,12208,0.92,225.1,746.6,11.9,406,12213,0.00,2.67,0.00,0.000,4,0.000,0.048,3598,2930,1878,0,0,0,0,0,0
$GC,12229,0.92,225.1,743.7,10.9,406,12233,0.00,2.70,0.00,0.000,6,0.000,0.050,3598,1356,1877,0,0,0,0,0,0
$GC,12492,0.92,225.1,712.6,12.0,413,12497,0.00,2.67,0.00,0.000,4,0.000,0.048,3597,2929,1877,0,0,0,0,0,0
$GC,12516,0.92,225.1,709.6,11.6,413,12521,0.00,2.70,0.00,0.000,6,0.000,0.051,3598,1365,1875,0,0,0,0,0,0
$GC,12776,0.92,225.1,678.3,12.2,420,12780,0.00,2.15,0.00,0.000,4,0.000,0.083,3598,161,1875,0,0,0,0,0,0
$GC,12829,0.87,225.1,670.8,12.3,421,12833,0.12,1.95,0.00,0.000,6,0.113,0.029,3573,1363,1875,0,0,0,0,0,0
$GC,13107,0.87,225.1,641.0,10.5,428,13111,0.00,2.62,0.00,0.000,4,0.000,0.051,3572,2926,1874,0,0,0,0,0,0
$GC,13146,0.96,225.1,636.9,11.1,428,13152,0.10,2.70,0.00,0.000,6,0.078,0.050,3614,1354,1872,0,0,0,0,0,0
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$STATE,18506,end climb,SURFACE_DEPTH_REACHED
$STATE,18506,begin surface coast
$FINISH,1.2,1.023334
$STATE,18552,end surface coast,CONTROL_FINISHED_OK
$STATE,18552,begin surface
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$SM_GC,2.07,0.00,0.00,34.03,0.000,0.000,0.431,414,1589,1249,-13.67,0.54,380.21
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$TT8_MAMPS,0.026845
$HUMID,64.96
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.20
$XPDR_PINGS,23
$24V_AH,23.3,29.053
$10V_AH,9.9,25.938
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,35.425,206.075,414.325,34.025,0.000,54.565,80.666,323.144,5.750,0.000,17.068,1554.119,13361.523,530.816,2904.596,935.508,33.371,1660.243,0.000,2905.285,0.000,0.536,0.000
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$SENSOR_SECS,470.986,564.607,705.930,1106.600,1560.424,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,57353,688
$CAP_FILE_SIZE,188004,0
$CFSIZE,260165632,157339648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040713,093826,2305.613,-15742.728,31,2.3,50,10.1