version: 66.06
glider: 148
mission: 12
dive: 48
start: 5 31 113 4 38 12
data:
$ID,148
$MISSION,12
$DIVE,48
$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,-1015933.1
$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,1590
$C_ROLL_CLIMB,1340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2900
$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
$GPS1,041800,2241.065,-15741.979,39,1.4,39,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-76.6
$GPS2,043719,2240.787,-15742.206,11,1.0,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,-0.132
$KALMAN_X,-14853.6,-131.5,-106.4,45590.7,-679.0
$KALMAN_Y,14647.7,-110.9,-313.2,-21994.6,553.5
$MHEAD_RNG_PITCHd_Wd,110.4,8550,-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,-67.22,0.000,2,0.000,0.000,412,1615,3073,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.5,-5.2,9,121,14.73,2.42,-7.10,0.000,4,0.169,0.050,3103,162,3497,0,0,0,0,0,0
$GC,200,-1.03,-146.0,36.4,-22.6,23,205,0.25,2.20,0.00,0.000,6,0.103,0.019,3156,1581,3497,0,0,0,0,0,0
$GC,468,-0.93,-146.0,79.5,-15.8,47,473,0.10,2.55,0.00,0.000,4,0.125,0.026,3178,3173,3497,0,0,0,0,0,0
$GC,508,-0.93,-146.0,86.2,-13.6,50,512,0.00,2.58,0.00,0.000,6,0.000,0.030,3178,1582,3497,0,0,0,0,0,0
$GC,768,-0.93,-146.0,115.3,-10.6,74,772,0.00,2.30,0.00,0.000,4,0.000,0.043,3178,163,3497,0,0,0,0,0,0
$GC,800,-0.93,-146.0,118.8,-11.3,76,811,0.00,2.22,0.00,0.000,6,0.000,0.018,3179,1609,3498,0,0,0,0,0,0
$GC,1067,-0.93,-146.0,145.5,-9.8,101,1071,0.00,2.42,0.00,0.000,4,0.000,0.024,3178,3149,3498,0,0,0,0,0,0
$GC,1097,-0.98,-146.0,148.4,-9.5,103,1101,0.00,2.50,0.00,0.000,6,0.000,0.030,3178,1596,3498,0,0,0,0,0,0
$GC,1365,-0.98,-146.0,174.2,-9.7,127,1369,0.00,2.33,0.00,0.000,4,0.000,0.045,3178,166,3498,0,0,0,0,0,0
$GC,1402,-0.98,-146.0,178.2,-9.7,130,1406,0.00,2.20,0.00,0.000,6,0.000,0.018,3178,1610,3498,0,0,0,0,0,0
$GC,1675,-0.98,-146.0,204.0,-9.5,152,1679,0.00,2.40,0.00,0.000,4,0.000,0.023,3178,3152,3498,0,0,0,0,0,0
$GC,1708,-1.11,-146.0,207.4,-8.2,152,1713,0.15,2.50,0.00,0.000,6,0.053,0.028,3100,1597,3498,0,0,0,0,0,0
$GC,1960,-0.97,-146.0,242.6,-14.8,158,1965,0.30,2.33,0.00,0.000,4,0.089,0.042,3170,165,3498,0,0,0,0,0,0
$GC,1984,-0.97,-146.0,245.9,-11.7,158,1988,0.00,2.20,0.00,0.000,6,0.000,0.019,3170,1596,3498,0,0,0,0,0,0
$GC,2243,-1.01,-146.0,265.3,-7.1,165,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1599,3497,0,0,0,0,0,0
$GC,2489,-1.07,-146.0,285.2,-8.2,171,2493,0.00,2.45,0.00,0.000,4,0.000,0.027,3170,3151,3497,0,0,0,0,0,0
$GC,2517,-1.18,-146.0,287.6,-7.6,171,2523,0.17,2.50,0.00,0.000,6,0.046,0.031,3084,1609,3497,0,0,0,0,0,0
$GC,2773,-1.06,-146.0,318.4,-12.4,178,2778,0.28,2.38,0.00,0.000,4,0.087,0.051,3149,172,3497,0,0,0,0,0,0
$GC,2832,-1.12,-146.0,324.6,-9.1,179,2836,0.00,2.20,0.00,0.000,6,0.000,0.022,3149,1588,3496,0,0,0,0,0,0
$GC,3109,-1.12,-146.0,349.5,-8.8,186,3114,0.00,2.58,0.00,0.000,4,0.000,0.036,3149,3167,3495,0,0,0,0,0,0
$GC,3135,-1.20,-146.0,351.5,-8.4,186,3140,0.12,2.58,0.00,0.000,6,0.062,0.035,3082,1592,3495,0,0,0,0,0,0
$GC,3395,-1.11,-146.0,380.1,-11.2,193,3400,0.25,2.58,0.00,0.000,4,0.089,0.036,3142,3163,3493,0,0,0,0,0,0
$GC,3421,-1.11,-146.0,382.4,-8.6,193,3426,0.00,2.60,0.00,0.000,6,0.000,0.037,3142,1594,3493,0,0,0,0,0,0
$GC,3683,-1.15,-146.0,402.4,-7.9,200,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1594,3491,0,0,0,0,0,0
$GC,3925,-1.20,-146.0,422.8,-8.4,206,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1594,3489,0,0,0,0,0,0
$GC,4169,-1.25,-146.0,443.4,-8.4,212,4171,0.12,0.00,0.00,0.000,6,0.065,0.000,3083,1594,3487,0,0,0,0,0,0
$GC,4413,-1.18,-146.0,469.2,-10.5,218,4415,0.20,0.00,0.00,0.000,6,0.094,0.000,3128,1594,3486,0,0,0,0,0,0
$GC,4656,-1.18,-146.0,488.2,-7.8,224,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1594,3484,0,0,0,0,0,0
$GC,4899,-1.18,-146.0,508.6,-8.5,230,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1594,3482,0,0,0,0,0,0
$GC,5143,-1.18,-146.0,529.7,-8.7,236,5148,0.00,2.60,0.00,0.000,4,0.000,0.048,3128,3150,3480,0,0,0,0,0,0
$GC,5164,-1.22,-146.0,531.5,-8.9,236,5169,0.00,2.58,0.00,0.000,6,0.000,0.041,3128,1616,3480,0,0,0,0,0,0
$GC,5428,-1.22,-146.0,551.8,-7.6,243,5433,0.00,2.55,0.00,0.000,4,0.000,0.077,3128,165,3479,0,0,0,0,0,0
$GC,5462,-1.22,-146.0,554.5,-8.2,243,5466,0.00,2.33,0.00,0.000,6,0.000,0.035,3128,1589,3478,0,0,0,0,0,0
$GC,5713,-1.22,-146.0,571.7,-6.9,249,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1589,3476,0,0,0,0,0,0
$GC,5955,-1.22,-146.0,587.4,-6.4,255,5960,0.00,2.67,0.00,0.000,4,0.000,0.048,3127,3172,3475,0,0,0,0,0,0
$GC,5980,-1.28,-146.0,589.1,-7.2,255,5985,0.10,2.65,0.00,0.000,6,0.076,0.045,3080,1604,3475,0,0,0,0,0,0
$GC,6241,-1.22,-146.0,614.5,-10.1,262,6243,0.17,0.00,0.00,0.000,6,0.103,0.000,3117,1603,3474,0,0,0,0,0,0
$GC,6484,-1.22,-146.0,636.8,-9.0,268,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1604,3472,0,0,0,0,0,0
$GC,6727,-1.22,-146.0,659.4,-9.3,274,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1604,3471,0,0,0,0,0,0
$GC,6972,-1.22,-146.0,681.4,-9.0,280,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1602,3470,0,0,0,0,0,0
$GC,7215,-1.22,-146.0,702.5,-8.6,286,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1602,3468,0,0,0,0,0,0
$GC,7458,-1.22,-146.0,723.6,-8.5,292,7463,0.00,2.55,0.00,0.000,4,0.000,0.084,3118,170,3467,0,0,0,0,0,0
$GC,7473,-1.22,-146.0,724.8,-8.6,292,7477,0.00,2.38,0.00,0.000,6,0.000,0.036,3118,1614,3467,0,0,0,0,0,0
$GC,7744,-1.22,-146.0,746.6,-7.9,299,7749,0.00,2.58,0.00,0.000,4,0.000,0.077,3118,162,3466,0,0,0,0,0,0
$GC,7763,-1.22,-146.0,748.3,-8.3,299,7768,0.00,2.40,0.00,0.000,6,0.000,0.038,3117,1617,3466,0,0,0,0,0,0
$GC,8027,-1.22,-146.0,769.5,-8.2,306,8032,0.00,2.62,0.00,0.000,4,0.000,0.055,3118,3177,3465,0,0,0,0,0,0
$GC,8048,-1.28,-146.0,771.2,-9.1,306,8053,0.00,2.65,0.00,0.000,6,0.000,0.050,3118,1610,3465,0,0,0,0,0,0
$GC,8313,-1.28,-146.0,794.4,-8.8,313,8317,0.00,2.58,0.00,0.000,4,0.000,0.083,3118,162,3464,0,0,0,0,0,0
$GC,8336,-1.28,-146.0,796.7,-9.6,313,8340,0.00,2.40,0.00,0.000,6,0.000,0.037,3118,1618,3464,0,0,0,0,0,0
$GC,8597,-1.33,-146.0,819.0,-8.5,320,8602,0.00,2.55,0.00,0.000,4,0.000,0.077,3118,169,3463,0,0,0,0,0,0
$GC,8626,-1.33,-146.0,822.0,-9.7,320,8631,0.10,2.38,0.00,0.000,6,0.076,0.038,3073,1604,3462,0,0,0,0,0,0
$GC,8883,-1.28,-146.0,848.0,-10.4,327,8888,0.15,2.67,0.00,0.000,4,0.105,0.054,3105,3176,3462,0,0,0,0,0,0
$GC,8900,-1.28,-146.0,849.7,-9.7,327,8904,0.00,2.67,0.00,0.000,6,0.000,0.049,3105,1594,3461,0,0,0,0,0,0
$GC,9169,-1.28,-146.0,869.9,-7.3,334,9173,0.00,2.53,0.00,0.000,4,0.000,0.083,3106,169,3461,0,0,0,0,0,0
$GC,9189,-1.28,-146.0,871.4,-7.6,334,9193,0.00,2.35,0.00,0.000,6,0.000,0.037,3105,1609,3460,0,0,0,0,0,0
$GC,9457,-1.28,-146.0,890.1,-7.0,341,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1608,3460,0,0,0,0,0,0
$STATE,9617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9617,begin apogee
$GC,9623,-0.31,0.0,901.9,7.3,345,9744,0.93,0.00,116.72,1.170,6,0.071,0.000,3318,1335,2900,0,0,0,0,0,0
$STATE,9744,end apogee,CONTROL_FINISHED_OK
$STATE,9745,begin climb
$GC,9748,1.27,146.0,906.5,0.0,348,9887,1.42,2.17,129.38,1.146,4,0.031,0.081,3667,176,2303,0,0,0,0,0,0
$GC,9908,0.94,146.0,905.4,10.0,351,9912,0.38,1.95,0.00,0.000,6,0.120,0.034,3594,1346,2301,0,0,0,0,0,0
$GC,10158,0.88,176.4,883.9,8.6,357,10187,0.00,0.00,27.17,1.086,6,0.000,0.000,3594,1346,2180,0,0,0,0,0,0
$GC,10402,0.81,183.2,860.3,9.7,363,10415,0.15,2.17,6.80,0.876,4,0.124,0.077,3565,176,2153,0,0,0,0,0,0
$GC,10454,0.76,185.3,855.5,9.9,364,10458,0.00,1.95,0.00,0.000,6,0.000,0.034,3565,1348,2153,0,0,0,0,0,0
$GC,10741,0.81,228.5,832.2,8.0,371,10789,0.00,2.75,42.80,1.091,4,0.000,0.054,3565,2921,1968,0,0,0,0,0,0
$GC,10816,0.83,245.4,825.8,9.2,372,10841,0.00,2.78,17.08,1.023,6,0.000,0.052,3565,1340,1899,0,0,0,0,0,0
$GC,11120,0.83,245.4,794.9,10.2,380,11124,0.00,2.15,0.00,0.000,4,0.000,0.087,3564,167,1894,0,0,0,0,0,0
$GC,11149,0.83,245.4,791.6,11.5,380,11153,0.00,1.95,0.00,0.000,6,0.000,0.034,3565,1345,1894,0,0,0,0,0,0
$GC,11408,0.83,245.4,763.9,10.7,387,11413,0.00,2.67,0.00,0.000,4,0.000,0.054,3565,2920,1892,0,0,0,0,0,0
$GC,11446,0.90,245.4,759.7,10.9,387,11452,0.00,2.72,0.00,0.000,6,0.000,0.051,3565,1346,1890,0,0,0,0,0,0
$GC,11698,0.90,245.4,731.7,11.4,394,11702,0.00,2.15,0.00,0.000,4,0.000,0.088,3565,165,1889,0,0,0,0,0,0
$GC,11734,0.90,245.4,726.5,13.1,394,11740,0.00,1.92,0.00,0.000,6,0.000,0.034,3565,1346,1889,0,0,0,0,0,0
$GC,11984,0.90,245.4,694.4,13.1,401,11989,0.00,2.70,0.00,0.000,4,0.000,0.054,3565,2924,1890,0,0,0,0,0,0
$GC,12003,0.90,245.4,691.7,13.7,401,12008,0.00,2.72,0.00,0.000,6,0.000,0.050,3565,1339,1888,0,0,0,0,0,0
$GC,12268,0.90,245.4,656.2,13.5,408,12269,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1338,1888,0,0,0,0,0,0
$GC,12511,0.90,245.4,624.3,12.8,414,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1339,1888,0,0,0,0,0,0
$GC,12754,0.90,245.4,594.8,12.0,420,12759,0.00,2.67,0.00,0.000,4,0.000,0.044,3564,2925,1888,0,0,0,0,0,0
$GC,12790,0.98,245.4,591.1,11.0,420,12799,0.15,2.72,0.00,0.000,6,0.061,0.051,3622,1340,1886,0,0,0,0,0,0
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$STATE,17861,end climb,SURFACE_DEPTH_REACHED
$STATE,17861,begin surface coast
$FINISH,1.0,1.023406
$STATE,17902,end surface coast,CONTROL_FINISHED_OK
$STATE,17902,begin surface
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$SM_GC,1.50,0.00,0.00,22.67,0.000,0.000,0.441,415,1604,1310,-13.67,0.40,390.03
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$TT8_MAMPS,0.027612
$HUMID,63.19
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.10
$XPDR_PINGS,20
$24V_AH,23.2,6.454
$10V_AH,9.8,5.691
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.775,198.425,451.125,22.675,0.000,140.934,190.926,409.525,5.000,0.000,12.836,1471.544,13638.813,543.787,2248.907,1195.890,33.371,1586.380,0.000,2240.555,0.000,0.536,0.000
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$SENSOR_SECS,456.390,312.307,398.584,685.093,934.081,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,50907,671
$CAP_FILE_SIZE,184990,0
$CFSIZE,260165632,168853504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310513,093836,2239.921,-15740.708,33,1.1,33,10.1