version: 66.06
glider: 148
mission: 12
dive: 237
start: 7 12 113 18 57 58
data:
$ID,148
$MISSION,12
$DIVE,237
$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,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,-1020803.8
$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,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
$GPS1,184607,2246.184,-15700.817,41,1.7,41,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.9
$GPS2,185706,2246.159,-15700.867,13,1.7,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE_30
$TGT_LATLONG,2306.000,-15703.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.032,0.257
$KALMAN_X,-222153.5,168.3,-233.3,323314.3,221.4
$KALMAN_Y,164762.2,120.6,-31.1,-162684.8,-1051.0
$MHEAD_RNG_PITCHd_Wd,342.8,36925,-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,-1.28,-145.5,0.0,0.0,0,86,0.00,0.00,-67.45,0.000,2,0.000,0.000,416,1604,2943,0,0,0,0,0,0
$GC,90,-1.28,-146.0,3.3,-4.6,9,123,13.77,2.38,-7.95,0.000,4,0.144,0.034,3101,3091,3398,0,0,0,0,0,0
$GC,177,-1.08,-146.0,27.8,-20.0,21,187,0.17,2.50,0.00,0.000,6,0.089,0.030,3143,1571,3399,0,0,0,0,0,0
$GC,456,-0.87,-146.0,78.1,-17.6,47,461,0.22,2.33,0.00,0.000,4,0.102,0.041,3192,158,3399,0,0,0,0,0,0
$GC,488,-0.74,-146.0,83.4,-14.6,49,492,0.12,2.10,0.00,0.000,6,0.110,0.016,3221,1564,3400,0,0,0,0,0,0
$GC,756,-0.74,-146.0,104.9,-7.9,73,761,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1568,3400,0,0,0,0,0,0
$GC,1018,-0.79,-146.0,126.3,-8.0,98,1022,0.00,2.40,0.00,0.000,4,0.000,0.021,3222,3113,3400,0,0,0,0,0,0
$GC,1059,-0.93,-146.0,128.9,-6.8,101,1064,0.15,2.47,0.00,0.000,6,0.051,0.034,3143,1568,3400,0,0,0,0,0,0
$GC,1321,-0.80,-146.0,162.7,-14.0,125,1323,0.30,0.00,0.00,0.000,6,0.086,0.000,3211,1567,3400,0,0,0,0,0,0
$GC,1579,-0.85,-146.0,185.2,-7.9,149,1583,0.00,2.30,0.00,0.000,4,0.000,0.044,3210,167,3400,0,0,0,0,0,0
$GC,1609,-0.90,-146.0,187.6,-8.8,151,1613,0.00,2.08,0.00,0.000,6,0.000,0.018,3210,1566,3400,0,0,0,0,0,0
$GC,1890,-0.96,-146.0,210.6,-8.1,168,1895,0.15,2.42,0.00,0.000,4,0.054,0.021,3139,3119,3400,0,0,0,0,0,0
$GC,1923,-0.96,-146.0,214.4,-10.1,168,1928,0.15,2.50,0.00,0.000,6,0.094,0.029,3175,1574,3400,0,0,0,0,0,0
$GC,2173,-0.96,-146.0,237.2,-9.0,174,2177,0.00,2.40,0.00,0.000,4,0.000,0.022,3175,3112,3401,0,0,0,0,0,0
$GC,2203,-0.96,-146.0,239.8,-9.5,174,2207,0.00,2.45,0.00,0.000,6,0.000,0.027,3176,1577,3400,0,0,0,0,0,0
$GC,2462,-0.96,-146.0,261.5,-8.2,181,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1577,3400,0,0,0,0,0,0
$GC,2701,-0.96,-146.0,284.4,-9.7,187,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1577,3401,0,0,0,0,0,0
$GC,2945,-0.96,-146.0,305.9,-8.6,193,2949,0.00,2.33,0.00,0.000,4,0.000,0.048,3176,174,3400,0,0,0,0,0,0
$GC,2970,-0.96,-146.0,307.8,-8.0,193,2974,0.00,2.12,0.00,0.000,6,0.000,0.019,3175,1571,3400,0,0,0,0,0,0
$GC,3230,-1.01,-146.0,325.3,-6.6,200,3234,0.00,2.47,0.00,0.000,4,0.000,0.027,3176,3136,3400,0,0,0,0,0,0
$GC,3263,-1.14,-146.0,327.6,-6.0,200,3269,0.17,2.53,0.00,0.000,6,0.048,0.033,3097,1596,3400,0,0,0,0,0,0
$GC,3517,-1.02,-146.0,355.0,-11.6,206,3522,0.25,2.38,0.00,0.000,4,0.089,0.053,3156,173,3399,0,0,0,0,0,0
$GC,3565,-1.02,-146.0,360.2,-9.1,207,3569,0.00,2.17,0.00,0.000,6,0.000,0.021,3156,1578,3398,0,0,0,0,0,0
$GC,3849,-1.02,-146.0,383.5,-8.4,214,3853,0.00,2.50,0.00,0.000,4,0.000,0.033,3156,3138,3396,0,0,0,0,0,0
$GC,3893,-1.13,-146.0,387.5,-8.5,215,3897,0.00,2.55,0.00,0.000,6,0.000,0.037,3156,1597,3397,0,0,0,0,0,0
$GC,4183,-1.13,-146.0,410.9,-8.0,222,4188,0.00,2.53,0.00,0.000,4,0.000,0.036,3156,3144,3394,0,0,0,0,0,0
$GC,4203,-1.18,-146.0,412.6,-7.5,222,4208,0.12,2.55,0.00,0.000,6,0.062,0.037,3094,1591,3394,0,0,0,0,0,0
$GC,4468,-1.08,-146.0,439.4,-10.3,229,4473,0.25,2.42,0.00,0.000,4,0.089,0.064,3153,170,3392,0,0,0,0,0,0
$GC,4527,-1.15,-146.0,444.3,-7.6,230,4531,0.00,2.22,0.00,0.000,6,0.000,0.025,3153,1591,3392,0,0,0,0,0,0
$GC,4801,-1.15,-146.0,463.2,-7.1,237,4806,0.00,2.53,0.00,0.000,4,0.000,0.038,3153,3143,3390,0,0,0,0,0,0
$GC,4845,-1.27,-146.0,466.5,-6.3,238,4850,0.17,2.58,0.00,0.000,6,0.048,0.039,3080,1595,3390,0,0,0,0,0,0
$GC,5135,-1.15,-146.0,498.1,-11.3,245,5140,0.25,2.47,0.00,0.000,4,0.094,0.069,3138,168,3388,0,0,0,0,0,0
$GC,5181,-1.15,-146.0,502.7,-8.7,246,5185,0.00,2.28,0.00,0.000,6,0.000,0.030,3138,1598,3387,0,0,0,0,0,0
$GC,5470,-1.15,-146.0,526.8,-8.3,253,5474,0.00,2.58,0.00,0.000,4,0.000,0.044,3138,3152,3385,0,0,0,0,0,0
$GC,5514,-1.24,-146.0,530.4,-7.4,254,5519,0.10,2.58,0.00,0.000,6,0.074,0.043,3088,1603,3385,0,0,0,0,0,0
$GC,5806,-1.16,-146.0,561.2,-10.9,261,5811,0.20,2.50,0.00,0.000,4,0.099,0.073,3131,168,3382,0,0,0,0,0,0
$GC,5826,-1.12,-146.0,563.9,-11.0,261,5830,0.00,2.30,0.00,0.000,6,0.000,0.030,3131,1608,3382,0,0,0,0,0,0
$GC,6094,-1.12,-146.0,586.7,-8.4,268,6098,0.00,2.53,0.00,0.000,4,0.000,0.071,3131,164,3380,0,0,0,0,0,0
$GC,6129,-1.12,-146.0,589.7,-9.6,268,6133,0.00,2.30,0.00,0.000,6,0.000,0.031,3131,1593,3380,0,0,0,0,0,0
$GC,6379,-1.12,-146.0,610.0,-8.0,274,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1593,3378,0,0,0,0,0,0
$GC,6623,-1.12,-146.0,630.1,-8.3,280,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1594,3377,0,0,0,0,0,0
$GC,6872,-1.12,-146.0,649.5,-8.0,286,6876,0.00,2.50,0.00,0.000,4,0.000,0.074,3131,170,3375,0,0,0,0,0,0
$GC,6934,-1.12,-146.0,655.4,-9.1,287,6938,0.00,2.30,0.00,0.000,6,0.000,0.033,3131,1592,3375,0,0,0,0,0,0
$GC,7203,-1.12,-146.0,676.2,-7.6,294,7207,0.00,2.62,0.00,0.000,4,0.000,0.051,3131,3153,3373,0,0,0,0,0,0
$GC,7240,-1.20,-146.0,679.0,-7.2,294,7244,0.00,2.65,0.00,0.000,6,0.000,0.048,3131,1592,3373,0,0,0,0,0,0
$GC,7490,-1.20,-146.0,698.2,-7.7,300,7494,0.00,2.50,0.00,0.000,4,0.000,0.080,3131,170,3372,0,0,0,0,0,0
$GC,7527,-1.20,-146.0,701.5,-8.4,300,7537,0.00,2.35,0.00,0.000,6,0.000,0.034,3131,1595,3372,0,0,0,0,0,0
$GC,7779,-1.20,-146.0,720.9,-7.9,307,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1595,3371,0,0,0,0,0,0
$GC,8021,-1.20,-146.0,740.7,-8.0,313,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1595,3369,0,0,0,0,0,0
$GC,8265,-1.20,-146.0,759.7,-7.7,319,8269,0.00,2.53,0.00,0.000,4,0.000,0.076,3131,165,3368,0,0,0,0,0,0
$GC,8313,-1.20,-146.0,763.7,-9.2,320,8317,0.00,2.33,0.00,0.000,6,0.000,0.035,3131,1596,3368,0,0,0,0,0,0
$GC,8597,-1.20,-146.0,784.6,-7.2,327,8601,0.00,2.62,0.00,0.000,4,0.000,0.051,3131,3159,3366,0,0,0,0,0,0
$GC,8616,-1.25,-146.0,786.1,-7.0,327,8621,0.00,2.67,0.00,0.000,6,0.000,0.048,3131,1585,3367,0,0,0,0,0,0
$GC,8882,-1.25,-146.0,804.6,-6.9,334,8886,0.00,2.50,0.00,0.000,4,0.000,0.082,3131,169,3365,0,0,0,0,0,0
$GC,8910,-1.25,-146.0,806.8,-8.1,334,8915,0.00,2.35,0.00,0.000,6,0.000,0.035,3131,1603,3365,0,0,0,0,0,0
$GC,9167,-1.25,-146.0,823.9,-6.6,341,9172,0.00,2.62,0.00,0.000,4,0.000,0.054,3131,3160,3364,0,0,0,0,0,0
$GC,9193,-1.31,-146.0,825.7,-7.4,341,9198,0.12,2.67,0.00,0.000,6,0.070,0.049,3085,1586,3364,0,0,0,0,0,0
$GC,9454,-1.25,-146.0,848.9,-9.1,348,9459,0.12,2.53,0.00,0.000,4,0.118,0.081,3112,167,3363,0,0,0,0,0,0
$GC,9506,-1.25,-146.0,853.9,-9.5,349,9510,0.00,2.33,0.00,0.000,6,0.000,0.035,3112,1589,3363,0,0,0,0,0,0
$GC,9792,-1.25,-146.0,878.6,-9.0,356,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1589,3362,0,0,0,0,0,0
$STATE,10029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10030,begin apogee
$GC,10036,-0.31,0.0,900.3,8.9,362,10159,0.90,0.00,119.15,1.150,6,0.072,0.000,3318,1342,2800,0,0,0,0,0,0
$STATE,10159,end apogee,CONTROL_FINISHED_OK
$STATE,10159,begin climb
$GC,10164,1.28,146.0,905.1,0.0,365,10304,1.42,2.17,130.52,1.129,4,0.031,0.078,3664,177,2203,0,0,0,0,0,0
$GC,10327,1.01,146.0,898.7,12.0,368,10332,0.28,1.95,0.00,0.000,6,0.110,0.031,3608,1353,2201,0,0,0,0,0,0
$GC,10577,0.94,146.0,872.8,10.1,374,10581,0.00,2.12,0.00,0.000,4,0.000,0.074,3607,170,2194,0,0,0,0,0,0
$GC,10592,0.83,146.0,871.2,10.2,374,10596,0.20,1.95,0.00,0.000,6,0.106,0.030,3566,1355,2194,0,0,0,0,0,0
$GC,10865,0.86,172.2,847.4,8.8,381,10893,0.00,2.20,23.17,1.049,4,0.000,0.074,3566,174,2098,0,0,0,0,0,0
$GC,10909,0.88,185.4,842.8,9.4,382,10929,0.00,1.95,13.82,0.992,6,0.000,0.030,3566,1350,2043,0,0,0,0,0,0
$GC,11200,0.88,186.4,814.2,10.0,389,11204,0.00,2.70,0.00,0.000,4,0.000,0.052,3566,2935,2038,0,0,0,0,0,0
$GC,11219,0.94,194.2,812.1,9.6,389,11235,0.10,2.72,8.27,0.903,6,0.078,0.049,3608,1356,2008,0,0,0,0,0,0
$GC,11490,0.89,194.2,780.3,12.1,396,11492,0.12,0.00,0.00,0.000,6,0.112,0.000,3580,1357,2006,0,0,0,0,0,0
$GC,11731,0.89,194.2,753.8,10.6,402,11735,0.00,2.15,0.00,0.000,4,0.000,0.086,3580,162,2005,0,0,0,0,0,0
$GC,11758,0.89,194.2,750.5,11.8,402,11762,0.00,1.95,0.00,0.000,6,0.000,0.030,3580,1354,2005,0,0,0,0,0,0
$GC,12017,0.90,200.1,724.9,9.7,409,12029,0.00,2.72,6.72,0.828,4,0.000,0.053,3580,2920,1984,0,0,0,0,0,0
$GC,12041,0.93,228.7,722.6,8.7,409,12077,0.00,2.72,28.83,1.001,6,0.000,0.049,3580,1346,1867,0,0,0,0,0,0
$GC,12351,0.94,231.7,691.8,9.9,417,12355,0.00,2.65,0.00,0.000,4,0.000,0.044,3580,2926,1863,0,0,0,0,0,0
$GC,12376,0.99,236.3,689.3,9.8,417,12389,0.00,2.72,7.40,0.828,6,0.000,0.052,3580,1354,1836,0,0,0,0,0,0
$GC,12634,0.99,236.3,662.5,10.4,423,12635,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1354,1834,0,0,0,0,0,0
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$STATE,18410,end climb,SURFACE_DEPTH_REACHED
$STATE,18410,begin surface coast
$FINISH,0.9,1.023168
$STATE,18454,end surface coast,CONTROL_FINISHED_OK
$STATE,18454,begin surface
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$TT8_MAMPS,0.027612
$HUMID,64.05
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.60
$XPDR_PINGS,19
$24V_AH,23.3,34.811
$10V_AH,9.9,32.369
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.950,212.325,411.900,45.250,0.000,49.528,80.666,296.970,4.750,0.000,17.584,1559.089,13575.871,536.065,2592.557,908.110,33.376,1630.079,0.000,2588.866,0.000,0.537,0.000
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$SENSOR_SECS,478.265,368.765,476.610,974.943,1289.951,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355816
$DATA_FILE_SIZE,57330,702
$CAP_FILE_SIZE,186906,0
$CFSIZE,260165632,154312704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130713,000829,2248.481,-15701.059,65,1.2,65,10.1