version: 66.06
glider: 148
mission: 12
dive: 146
start: 6 22 113 2 28 43
data:
$ID,148
$MISSION,12
$DIVE,146
$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,-1019001.6
$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,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,25
$R_STBD_OVSHOOT,105
$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
$GPS1,021652,2302.085,-15805.518,23,1.3,40,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-76.7
$GPS2,022749,2302.127,-15805.639,12,1.2,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.166,0.200
$KALMAN_X,-163993.7,-96.3,-196.9,154760.7,-1184.5
$KALMAN_Y,46500.7,48.9,-65.8,-14745.9,469.9
$MHEAD_RNG_PITCHd_Wd,29.5,4702,-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,-67.00,0.000,2,0.000,0.000,417,1605,2991,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.5,-6.0,9,120,13.90,2.40,-7.22,0.000,4,0.147,0.052,3102,174,3399,0,0,0,0,0,0
$GC,133,-0.31,-146.0,18.6,-35.0,14,141,0.95,2.08,0.00,0.000,6,0.091,0.017,3313,1552,3399,0,0,0,0,0,0
$GC,423,-0.55,-146.0,35.7,-5.0,52,428,0.20,2.45,0.00,0.000,4,0.045,0.021,3242,3106,3399,0,0,0,0,0,0
$GC,468,-0.72,-146.0,38.5,-6.9,55,472,0.00,2.47,0.00,0.000,6,0.000,0.028,3241,1565,3399,0,0,0,0,0,0
$GC,736,-0.83,-146.0,60.1,-8.5,79,741,0.17,2.30,0.00,0.000,4,0.049,0.044,3166,166,3400,0,0,0,0,0,0
$GC,793,-0.77,-146.0,67.3,-14.4,83,797,0.22,2.10,0.00,0.000,6,0.090,0.016,3216,1584,3400,0,0,0,0,0,0
$GC,1060,-0.84,-146.0,91.4,-8.0,107,1064,0.00,2.38,0.00,0.000,4,0.000,0.021,3216,3108,3401,0,0,0,0,0,0
$GC,1112,-1.02,-146.0,95.3,-7.5,111,1117,0.22,2.45,0.00,0.000,6,0.038,0.027,3116,1575,3401,0,0,0,0,0,0
$GC,1379,-0.84,-146.0,132.5,-15.3,135,1384,0.35,2.28,0.00,0.000,4,0.087,0.041,3193,172,3401,0,0,0,0,0,0
$GC,1429,-0.89,-146.0,139.2,-11.6,139,1434,0.00,2.10,0.00,0.000,6,0.000,0.017,3193,1575,3401,0,0,0,0,0,0
$GC,1696,-0.89,-146.0,166.0,-10.6,163,1700,0.00,2.38,0.00,0.000,4,0.000,0.021,3193,3113,3402,0,0,0,0,0,0
$GC,1736,-1.01,-146.0,170.1,-10.4,166,1741,0.12,2.45,0.00,0.000,6,0.061,0.028,3115,1574,3402,0,0,0,0,0,0
$GC,2017,-0.86,-146.0,212.0,-14.7,186,2022,0.35,2.28,0.00,0.000,4,0.087,0.041,3193,172,3402,0,0,0,0,0,0
$GC,2042,-0.86,-146.0,215.4,-11.7,186,2046,0.00,2.10,0.00,0.000,6,0.000,0.018,3193,1572,3401,0,0,0,0,0,0
$GC,2302,-0.93,-146.0,235.4,-7.3,193,2306,0.00,2.33,0.00,0.000,4,0.000,0.044,3192,166,3401,0,0,0,0,0,0
$GC,2326,-1.00,-146.0,237.4,-8.2,193,2330,0.10,2.08,0.00,0.000,6,0.074,0.018,3134,1564,3402,0,0,0,0,0,0
$GC,2587,-0.94,-146.0,264.6,-10.7,200,2589,0.20,0.00,0.00,0.000,6,0.088,0.000,3179,1566,3401,0,0,0,0,0,0
$GC,2829,-1.00,-146.0,286.2,-8.5,206,2834,0.00,2.42,0.00,0.000,4,0.000,0.024,3179,3113,3401,0,0,0,0,0,0
$GC,2873,-1.15,-146.0,289.7,-7.2,207,2878,0.20,2.55,0.00,0.000,6,0.042,0.031,3092,1554,3401,0,0,0,0,0,0
$GC,3163,-1.03,-146.0,322.0,-11.5,214,3165,0.30,0.00,0.00,0.000,6,0.087,0.000,3157,1553,3401,0,0,0,0,0,0
$GC,3405,-1.03,-146.0,341.7,-7.9,220,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1554,3400,0,0,0,0,0,0
$GC,3649,-1.03,-146.0,360.9,-7.7,226,3653,0.00,2.50,0.00,0.000,4,0.000,0.030,3157,3111,3398,0,0,0,0,0,0
$GC,3670,-1.09,-146.0,362.5,-8.2,226,3674,0.00,2.55,0.00,0.000,6,0.000,0.037,3157,1557,3398,0,0,0,0,0,0
$GC,3934,-1.14,-146.0,381.6,-7.3,233,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1557,3397,0,0,0,0,0,0
$GC,4178,-1.19,-146.0,399.0,-7.4,239,4180,0.15,0.00,0.00,0.000,6,0.057,0.000,3093,1557,3395,0,0,0,0,0,0
$GC,4423,-1.11,-146.0,424.3,-10.7,245,4425,0.22,0.00,0.00,0.000,6,0.088,0.000,3143,1557,3394,0,0,0,0,0,0
$GC,4665,-1.11,-146.0,442.0,-7.1,251,4669,0.00,2.55,0.00,0.000,4,0.000,0.038,3144,3103,3392,0,0,0,0,0,0
$GC,4694,-1.20,-146.0,444.3,-7.4,251,4698,0.00,2.55,0.00,0.000,6,0.000,0.040,3144,1562,3392,0,0,0,0,0,0
$GC,4950,-1.20,-146.0,463.8,-8.0,258,4954,0.00,2.40,0.00,0.000,4,0.000,0.071,3143,164,3390,0,0,0,0,0,0
$GC,5007,-1.24,-146.0,469.1,-9.0,259,5011,0.12,2.15,0.00,0.000,6,0.064,0.028,3085,1515,3390,0,0,0,0,0,0
$GC,5282,-1.16,-146.0,497.0,-10.3,266,5287,0.22,2.58,0.00,0.000,4,0.092,0.040,3135,3095,3388,0,0,0,0,0,0
$GC,5302,-1.16,-146.0,499.0,-8.8,266,5306,0.00,2.55,0.00,0.000,6,0.000,0.038,3135,1560,3388,0,0,0,0,0,0
$GC,5566,-1.16,-146.0,518.0,-7.2,273,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1560,3386,0,0,0,0,0,0
$GC,5811,-1.16,-146.0,535.1,-7.1,279,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1560,3385,0,0,0,0,0,0
$GC,6053,-1.16,-146.0,551.9,-7.0,285,6058,0.00,2.55,0.00,0.000,4,0.000,0.041,3135,3094,3383,0,0,0,0,0,0
$GC,6077,-1.21,-146.0,553.8,-7.9,285,6082,0.00,2.55,0.00,0.000,6,0.000,0.044,3135,1565,3383,0,0,0,0,0,0
$GC,6339,-1.21,-146.0,573.0,-7.6,292,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1565,3381,0,0,0,0,0,0
$GC,6581,-1.21,-146.0,593.9,-8.8,298,6585,0.00,2.55,0.00,0.000,4,0.000,0.041,3135,3095,3380,0,0,0,0,0,0
$GC,6609,-1.28,-146.0,596.5,-8.5,298,6614,0.12,2.58,0.00,0.000,6,0.061,0.045,3073,1570,3380,0,0,0,0,0,0
$GC,6866,-1.19,-146.0,626.3,-11.9,305,6871,0.25,2.45,0.00,0.000,4,0.093,0.078,3132,171,3378,0,0,0,0,0,0
$GC,6904,-1.19,-146.0,630.7,-10.8,305,6910,0.00,2.17,0.00,0.000,6,0.000,0.031,3132,1516,3378,0,0,0,0,0,0
$GC,7154,-1.19,-146.0,651.5,-8.2,312,7159,0.00,2.60,0.00,0.000,4,0.000,0.047,3132,3094,3376,0,0,0,0,0,0
$GC,7180,-1.26,-146.0,653.4,-8.8,312,7185,0.00,2.55,0.00,0.000,6,0.000,0.046,3132,1573,3376,0,0,0,0,0,0
$GC,7442,-1.30,-146.0,672.4,-7.1,319,7447,0.12,2.47,0.00,0.000,4,0.065,0.080,3080,167,3374,0,0,0,0,0,0
$GC,7476,-1.20,-146.0,675.8,-10.0,319,7481,0.20,2.20,0.00,0.000,6,0.095,0.032,3124,1522,3374,0,0,0,0,0,0
$GC,7728,-1.20,-146.0,693.6,-6.9,325,7732,0.00,2.72,0.00,0.000,4,0.000,0.049,3124,3160,3374,0,0,0,0,0,0
$GC,7756,-1.28,-146.0,695.8,-6.7,325,7761,0.00,2.67,0.00,0.000,6,0.000,0.048,3124,1572,3374,0,0,0,0,0,0
$GC,8011,-1.28,-146.0,712.9,-6.7,332,8016,0.00,2.45,0.00,0.000,4,0.000,0.081,3124,172,3372,0,0,0,0,0,0
$GC,8050,-1.28,-146.0,715.7,-7.9,332,8056,0.00,2.30,0.00,0.000,6,0.000,0.034,3124,1579,3372,0,0,0,0,0,0
$GC,8301,-1.28,-146.0,733.8,-7.3,339,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1580,3371,0,0,0,0,0,0
$GC,8544,-1.28,-146.0,751.1,-7.1,345,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1580,3370,0,0,0,0,0,0
$GC,8790,-1.28,-146.0,767.1,-6.5,351,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1580,3369,0,0,0,0,0,0
$GC,9032,-1.28,-146.0,781.8,-5.9,357,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1580,3368,0,0,0,0,0,0
$GC,9275,-1.28,-146.0,796.5,-6.0,363,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1580,3367,0,0,0,0,0,0
$GC,9519,-1.28,-146.0,811.3,-6.2,369,9523,0.00,2.47,0.00,0.000,4,0.000,0.075,3124,172,3367,0,0,0,0,0,0
$GC,9544,-1.28,-146.0,813.0,-8.4,369,9548,0.00,2.28,0.00,0.000,6,0.000,0.033,3124,1576,3366,0,0,0,0,0,0
$GC,9804,-1.32,-146.0,828.7,-6.1,376,9806,0.12,0.00,0.00,0.000,6,0.064,0.000,3073,1576,3366,0,0,0,0,0,0
$GC,10048,-1.26,-146.0,848.9,-8.4,382,10053,0.17,2.50,0.00,0.000,4,0.097,0.075,3111,167,3365,0,0,0,0,0,0
$GC,10088,-1.26,-146.0,852.2,-8.0,382,10093,0.00,2.30,0.00,0.000,6,0.000,0.035,3111,1572,3364,0,0,0,0,0,0
$GC,10338,-1.26,-146.0,868.5,-6.4,389,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1572,3364,0,0,0,0,0,0
$GC,10581,-1.26,-146.0,884.2,-6.5,395,10582,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1572,3364,0,0,0,0,0,0
$STATE,10822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10822,begin apogee
$GC,10831,-0.31,0.0,901.0,6.9,401,10953,0.90,0.00,119.12,1.157,6,0.077,0.000,3316,1340,2800,0,0,0,0,0,0
$STATE,10954,end apogee,CONTROL_FINISHED_OK
$STATE,10954,begin climb
$GC,10957,1.27,146.0,904.8,0.0,404,11100,1.48,2.20,130.43,1.134,4,0.034,0.077,3671,169,2203,0,0,0,0,0,0
$GC,11133,0.97,146.0,896.1,13.6,408,11138,0.35,1.98,0.00,0.000,6,0.110,0.031,3599,1356,2200,0,0,0,0,0,0
$GC,11398,0.92,168.0,871.5,9.0,415,11420,0.00,0.00,20.08,1.050,6,0.000,0.000,3598,1356,2115,0,0,0,0,0,0
$GC,11643,0.88,187.1,849.2,9.1,421,11668,0.10,2.20,18.15,1.032,4,0.130,0.074,3578,172,2036,0,0,0,0,0,0
$GC,11694,0.84,212.9,844.4,8.8,422,11726,0.00,1.95,25.73,1.052,6,0.000,0.030,3578,1349,1932,0,0,0,0,0,0
$GC,11980,0.86,223.0,817.7,9.5,429,11993,0.00,0.00,10.55,0.953,6,0.000,0.000,3578,1348,1890,0,0,0,0,0,0
$GC,12220,0.86,223.0,791.4,11.1,435,12225,0.00,2.70,0.00,0.000,4,0.000,0.049,3578,2936,1887,0,0,0,0,0,0
$GC,12234,0.86,223.0,789.7,11.1,435,12239,0.00,2.70,0.00,0.000,6,0.000,0.045,3578,1347,1885,0,0,0,0,0,0
$GC,12505,0.86,223.0,758.8,11.8,442,12509,0.00,2.65,0.00,0.000,4,0.000,0.041,3578,2930,1885,0,0,0,0,0,0
$GC,12524,0.86,223.0,756.3,11.2,442,12528,0.00,2.72,0.00,0.000,6,0.000,0.049,3578,1352,1883,0,0,0,0,0,0
$GC,12788,0.86,223.0,723.4,12.7,449,12792,0.00,2.67,0.00,0.000,4,0.000,0.044,3577,2929,1883,0,0,0,0,0,0
$GC,12802,0.86,223.0,721.4,13.0,449,12806,0.00,2.72,0.00,0.000,6,0.000,0.048,3577,1344,1882,0,0,0,0,0,0
$GC,13072,0.86,223.0,688.2,12.3,456,13073,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1344,1882,0,0,0,0,0,0
$GC,13314,0.86,223.0,659.3,11.7,462,13318,0.00,2.67,0.00,0.000,4,0.000,0.042,3578,2936,1882,0,0,0,0,0,0
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$STATE,19079,end climb,SURFACE_DEPTH_REACHED
$STATE,19079,begin surface coast
$FINISH,1.0,1.023402
$STATE,19119,end surface coast,CONTROL_FINISHED_OK
$STATE,19119,begin surface
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$HUMID,63.23
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$XPDR_PINGS,14
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$10V_AH,9.9,18.602
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,35.875,187.675,423.250,32.625,0.000,54.793,74.788,260.220,3.500,0.000,13.778,1586.888,14338.426,557.524,2444.425,898.564,33.373,1583.433,0.000,2448.927,0.000,0.537,0.000
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$MEM,355512
$DATA_FILE_SIZE,57270,743
$CAP_FILE_SIZE,180148,0
$CFSIZE,260165632,161406976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220613,074936,2304.862,-15804.377,34,1.7,34,10.1