version: 66.06
glider: 148
mission: 12
dive: 261
start: 7 18 113 6 23 25
data:
$ID,148
$MISSION,12
$DIVE,261
$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,-1021265.7
$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,28
$R_STBD_OVSHOOT,126
$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
$GPS1,061029,2308.687,-15734.247,111,1.6,116,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-75.1
$GPS2,062231,2308.718,-15734.177,9,2.0,9,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE_UP1
$TGT_LATLONG,2320.900,-15734.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.028,0.263
$KALMAN_X,-204519.6,34.2,331.3,248354.1,562.1
$KALMAN_Y,163150.4,-23.5,441.4,-119625.2,-574.3
$MHEAD_RNG_PITCHd_Wd,343.8,22564,-17.1,-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,-1.25,-146.0,0.0,0.0,0,85,0.00,0.00,-67.18,0.000,2,0.000,0.000,410,1619,2940,0,0,0,0,0,0
$GC,89,-1.25,-146.0,3.3,-5.0,9,122,14.18,2.33,-8.12,0.000,4,0.153,0.034,3107,3074,3397,0,0,0,0,0,0
$GC,170,-1.02,-146.0,26.9,-21.4,20,180,0.22,2.47,0.00,0.000,6,0.081,0.031,3161,1570,3397,0,0,0,0,0,0
$GC,450,-0.86,-146.0,75.0,-15.8,46,454,0.17,2.38,0.00,0.000,4,0.100,0.021,3199,3081,3398,0,0,0,0,0,0
$GC,473,-0.80,-146.0,79.4,-13.3,47,482,0.00,2.45,0.00,0.000,6,0.000,0.028,3199,1578,3398,0,0,0,0,0,0
$GC,737,-0.80,-146.0,105.3,-9.1,72,742,0.00,2.33,0.00,0.000,4,0.000,0.043,3200,161,3398,0,0,0,0,0,0
$GC,759,-0.80,-146.0,107.9,-9.8,73,765,0.00,2.05,0.00,0.000,6,0.000,0.017,3199,1556,3398,0,0,0,0,0,0
$GC,1022,-0.80,-146.0,132.2,-9.1,98,1026,0.00,2.40,0.00,0.000,4,0.000,0.021,3199,3105,3399,0,0,0,0,0,0
$GC,1065,-0.87,-146.0,135.9,-9.4,101,1070,0.00,2.47,0.00,0.000,6,0.000,0.028,3199,1570,3399,0,0,0,0,0,0
$GC,1328,-0.87,-146.0,161.7,-9.5,125,1333,0.00,2.33,0.00,0.000,4,0.000,0.044,3199,165,3399,0,0,0,0,0,0
$GC,1360,-0.87,-146.0,165.2,-10.5,127,1365,0.00,2.10,0.00,0.000,6,0.000,0.018,3200,1562,3399,0,0,0,0,0,0
$GC,1623,-0.87,-146.0,188.6,-8.4,152,1627,0.00,2.42,0.00,0.000,4,0.000,0.021,3199,3124,3398,0,0,0,0,0,0
$GC,1664,-0.99,-146.0,192.0,-7.9,155,1672,0.10,2.45,0.00,0.000,6,0.028,0.028,3111,1595,3399,0,0,0,0,0,0
$GC,1937,-0.80,-146.0,229.6,-14.3,167,1942,0.40,2.33,0.00,0.000,4,0.084,0.041,3206,165,3399,0,0,0,0,0,0
$GC,1981,-0.89,-146.0,234.7,-9.4,168,1986,0.00,2.12,0.00,0.000,6,0.000,0.018,3206,1586,3398,0,0,0,0,0,0
$GC,2270,-0.97,-146.0,257.0,-7.7,175,2275,0.12,2.42,0.00,0.000,4,0.062,0.022,3134,3132,3398,0,0,0,0,0,0
$GC,2295,-0.97,-146.0,259.6,-10.1,175,2300,0.17,2.50,0.00,0.000,6,0.086,0.028,3175,1586,3399,0,0,0,0,0,0
$GC,2556,-0.97,-146.0,280.9,-7.9,182,2561,0.00,2.35,0.00,0.000,4,0.000,0.048,3175,162,3398,0,0,0,0,0,0
$GC,2575,-0.97,-146.0,282.6,-7.8,182,2579,0.00,2.17,0.00,0.000,6,0.000,0.019,3176,1596,3398,0,0,0,0,0,0
$GC,2839,-0.97,-146.0,304.0,-8.1,189,2843,0.00,2.40,0.00,0.000,4,0.000,0.025,3176,3125,3398,0,0,0,0,0,0
$GC,2869,-1.04,-146.0,306.3,-8.2,189,2874,0.00,2.47,0.00,0.000,6,0.000,0.032,3175,1600,3398,0,0,0,0,0,0
$GC,3129,-1.04,-146.0,326.2,-7.8,196,3133,0.00,2.40,0.00,0.000,4,0.000,0.052,3176,161,3397,0,0,0,0,0,0
$GC,3181,-1.09,-146.0,330.6,-7.8,197,3186,0.12,2.20,0.00,0.000,6,0.061,0.021,3111,1594,3396,0,0,0,0,0,0
$GC,3461,-1.00,-146.0,357.5,-9.8,204,3467,0.25,2.47,0.00,0.000,4,0.081,0.031,3173,3131,3395,0,0,0,0,0,0
$GC,3514,-1.13,-146.0,361.7,-6.7,205,3519,0.15,2.55,0.00,0.000,6,0.054,0.037,3099,1594,3395,0,0,0,0,0,0
$GC,3795,-1.02,-146.0,391.8,-11.3,212,3800,0.25,2.45,0.00,0.000,4,0.084,0.061,3160,164,3393,0,0,0,0,0,0
$GC,3857,-1.08,-146.0,397.6,-8.8,213,3861,0.00,2.22,0.00,0.000,6,0.000,0.024,3160,1581,3392,0,0,0,0,0,0
$GC,4127,-1.08,-146.0,417.9,-7.5,220,4131,0.00,2.55,0.00,0.000,4,0.000,0.035,3160,3154,3390,0,0,0,0,0,0
$GC,4160,-1.18,-146.0,420.5,-7.4,220,4165,0.15,2.60,0.00,0.000,6,0.053,0.038,3090,1593,3390,0,0,0,0,0,0
$GC,4414,-1.06,-146.0,447.0,-11.0,226,4419,0.25,2.45,0.00,0.000,4,0.085,0.065,3151,165,3388,0,0,0,0,0,0
$GC,4446,-1.06,-146.0,450.2,-8.5,226,4450,0.00,2.28,0.00,0.000,6,0.000,0.025,3151,1607,3388,0,0,0,0,0,0
$GC,4701,-1.06,-146.0,468.8,-7.0,233,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1608,3386,0,0,0,0,0,0
$GC,4944,-1.06,-146.0,485.8,-7.1,239,4949,0.00,2.50,0.00,0.000,4,0.000,0.040,3151,3143,3384,0,0,0,0,0,0
$GC,4975,-1.13,-146.0,488.0,-7.6,239,4979,0.00,2.58,0.00,0.000,6,0.000,0.041,3151,1605,3384,0,0,0,0,0,0
$GC,5232,-1.13,-146.0,506.9,-7.5,246,5236,0.00,2.50,0.00,0.000,4,0.000,0.072,3151,168,3382,0,0,0,0,0,0
$GC,5289,-1.18,-146.0,511.6,-7.8,247,5293,0.10,2.30,0.00,0.000,6,0.076,0.029,3099,1601,3382,0,0,0,0,0,0
$GC,5565,-1.09,-146.0,537.8,-9.9,254,5567,0.22,0.00,0.00,0.000,6,0.086,0.000,3149,1601,3380,0,0,0,0,0,0
$GC,5806,-1.09,-146.0,557.3,-7.8,260,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1601,3378,0,0,0,0,0,0
$GC,6054,-1.09,-146.0,576.6,-8.0,266,6058,0.00,2.50,0.00,0.000,4,0.000,0.072,3149,170,3377,0,0,0,0,0,0
$GC,6078,-1.09,-146.0,578.9,-9.0,266,6082,0.00,2.30,0.00,0.000,6,0.000,0.031,3149,1598,3377,0,0,0,0,0,0
$GC,6341,-1.09,-146.0,598.6,-7.4,273,6346,0.00,2.55,0.00,0.000,4,0.000,0.044,3149,3150,3375,0,0,0,0,0,0
$GC,6372,-1.18,-146.0,600.7,-7.5,273,6376,0.00,2.62,0.00,0.000,6,0.000,0.046,3149,1600,3375,0,0,0,0,0,0
$GC,6627,-1.18,-146.0,617.9,-6.6,280,6631,0.00,2.53,0.00,0.000,4,0.000,0.079,3149,165,3373,0,0,0,0,0,0
$GC,6646,-1.18,-146.0,619.2,-6.4,280,6650,0.00,2.30,0.00,0.000,6,0.000,0.030,3149,1602,3374,0,0,0,0,0,0
$GC,6913,-1.18,-146.0,634.6,-5.7,287,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1602,3371,0,0,0,0,0,0
$GC,7155,-1.18,-146.0,650.3,-6.6,293,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1602,3370,0,0,0,0,0,0
$GC,7399,-1.22,-146.0,668.4,-7.5,299,7401,0.12,0.00,0.00,0.000,6,0.065,0.000,3094,1602,3369,0,0,0,0,0,0
$GC,7643,-1.15,-146.0,691.3,-9.4,305,7648,0.17,2.55,0.00,0.000,4,0.094,0.074,3134,165,3368,0,0,0,0,0,0
$GC,7673,-1.15,-146.0,694.1,-9.0,305,7678,0.00,2.35,0.00,0.000,6,0.000,0.034,3134,1606,3367,0,0,0,0,0,0
$GC,7928,-1.15,-146.0,711.2,-6.4,312,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1606,3366,0,0,0,0,0,0
$GC,8172,-1.15,-146.0,727.0,-6.6,318,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1606,3365,0,0,0,0,0,0
$GC,8417,-1.15,-146.0,745.0,-7.5,324,8422,0.00,2.53,0.00,0.000,4,0.000,0.075,3134,164,3364,0,0,0,0,0,0
$GC,8450,-1.15,-146.0,748.1,-8.6,324,8454,0.00,2.35,0.00,0.000,6,0.000,0.035,3134,1599,3364,0,0,0,0,0,0
$GC,8700,-1.15,-146.0,767.2,-7.6,330,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1600,3363,0,0,0,0,0,0
$GC,8948,-1.15,-146.0,784.8,-7.1,336,8953,0.00,2.60,0.00,0.000,4,0.000,0.051,3134,3163,3363,0,0,0,0,0,0
$GC,8972,-1.20,-146.0,786.9,-8.1,336,8977,0.00,2.67,0.00,0.000,6,0.000,0.049,3134,1594,3363,0,0,0,0,0,0
$GC,9232,-1.20,-146.0,804.0,-6.6,343,9236,0.00,2.53,0.00,0.000,4,0.000,0.083,3134,167,3362,0,0,0,0,0,0
$GC,9262,-1.20,-146.0,805.9,-7.2,343,9266,0.00,2.33,0.00,0.000,6,0.000,0.033,3134,1600,3361,0,0,0,0,0,0
$GC,9517,-1.20,-146.0,822.7,-6.5,350,9518,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1600,3360,0,0,0,0,0,0
$GC,9763,-1.20,-146.0,838.5,-6.5,356,9767,0.00,2.60,0.00,0.000,4,0.000,0.051,3134,3152,3360,0,0,0,0,0,0
$GC,9787,-1.25,-146.0,840.3,-7.3,356,9791,0.00,2.65,0.00,0.000,6,0.000,0.049,3134,1597,3360,0,0,0,0,0,0
$GC,10048,-1.25,-146.0,857.5,-6.7,363,10052,0.00,2.53,0.00,0.000,4,0.000,0.082,3134,168,3359,0,0,0,0,0,0
$GC,10076,-1.25,-146.0,859.7,-7.8,363,10080,0.00,2.33,0.00,0.000,6,0.000,0.034,3134,1604,3359,0,0,0,0,0,0
$GC,10333,-1.25,-146.0,877.4,-7.0,370,10337,0.00,2.53,0.00,0.000,4,0.000,0.075,3134,169,3358,0,0,0,0,0,0
$GC,10356,-1.25,-146.0,879.4,-8.6,370,10360,0.00,2.35,0.00,0.000,6,0.000,0.035,3134,1602,3358,0,0,0,0,0,0
$GC,10615,-1.25,-146.0,897.1,-6.7,377,10620,0.00,2.60,0.00,0.000,4,0.000,0.051,3134,3154,3358,0,0,0,0,0,0
$GC,10637,-1.31,-146.0,898.6,-7.5,377,10642,0.15,2.67,0.00,0.000,6,0.058,0.055,3072,1587,3358,0,0,0,0,0,0
$STATE,10655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10655,begin apogee
$GC,10661,-0.31,0.0,900.3,8.2,378,10783,1.08,0.00,118.35,1.159,6,0.077,0.000,3313,1340,2800,0,0,0,0,0,0
$STATE,10784,end apogee,CONTROL_FINISHED_OK
$STATE,10784,begin climb
$GC,10787,1.25,146.0,903.7,0.0,381,10927,1.42,2.22,129.65,1.137,4,0.035,0.084,3662,167,2203,0,0,0,0,0,0
$GC,11011,0.99,146.0,887.0,14.9,386,11016,0.30,1.95,0.00,0.000,6,0.107,0.030,3601,1354,2199,0,0,0,0,0,0
$GC,11292,0.93,151.9,859.1,9.7,393,11303,0.00,2.12,5.00,0.767,4,0.000,0.072,3601,163,2179,0,0,0,0,0,0
$GC,11355,0.81,151.9,851.7,10.8,394,11360,0.15,1.98,0.00,0.000,6,0.089,0.031,3560,1346,2179,0,0,0,0,0,0
$GC,11633,0.87,203.5,830.0,7.7,401,11684,0.00,0.00,49.08,1.080,6,0.000,0.000,3560,1347,1970,0,0,0,0,0,0
$GC,11921,0.93,212.2,803.2,9.6,408,11932,0.12,0.00,8.82,0.918,6,0.068,0.000,3604,1348,1934,0,0,0,0,0,0
$GC,12164,0.93,212.2,773.9,12.2,414,12165,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1348,1931,0,0,0,0,0,0
$GC,12406,0.93,212.2,745.4,11.6,420,12410,0.00,2.70,0.00,0.000,4,0.000,0.050,3605,2938,1930,0,0,0,0,0,0
$GC,12425,0.93,212.2,743.1,11.0,420,12429,0.00,2.75,0.00,0.000,6,0.000,0.048,3604,1340,1928,0,0,0,0,0,0
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$STATE,19295,end climb,SURFACE_DEPTH_REACHED
$STATE,19295,begin surface coast
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$STATE,19347,end surface coast,CONTROL_FINISHED_OK
$STATE,19347,begin surface
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$XPDR_PINGS,19
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$10V_AH,9.9,35.980
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355716
$DATA_FILE_SIZE,57509,726
$CAP_FILE_SIZE,189037,0
$CFSIZE,260165632,152453120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,114824,2311.638,-15734.085,48,1.7,49,10.2