version: 66.06
glider: 148
mission: 12
dive: 65
start: 6 4 113 0 6 29
data:
$ID,148
$MISSION,12
$DIVE,65
$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,-1016353.4
$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,1580
$C_ROLL_CLIMB,1360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,85
$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
$GPS1,235353,2300.982,-15739.517,91,1.2,91,10.1
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,2
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-76.7
$GPS2,000537,2300.989,-15739.634,17,1.4,17,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.095,-0.242
$KALMAN_X,-56214.6,199.9,57.6,90839.9,-2147.1
$KALMAN_Y,27041.4,-310.7,-241.9,3148.1,1089.7
$MHEAD_RNG_PITCHd_Wd,191.5,58906,-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,-67.60,0.000,2,0.000,0.000,411,1603,2943,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.0,-4.5,9,121,14.12,2.42,-8.48,0.000,4,0.152,0.055,3104,165,3398,0,0,0,0,0,0
$GC,212,-1.01,-146.0,32.8,-20.3,26,217,0.28,2.15,0.00,0.000,6,0.096,0.018,3163,1553,3399,0,0,0,0,0,0
$GC,480,-0.94,-146.0,68.6,-12.3,50,485,0.00,2.53,0.00,0.000,4,0.000,0.021,3163,3156,3399,0,0,0,0,0,0
$GC,534,-0.99,-146.0,75.6,-10.9,54,538,0.00,2.58,0.00,0.000,6,0.000,0.030,3163,1577,3399,0,0,0,0,0,0
$GC,799,-0.94,-146.0,105.7,-12.0,78,803,0.00,2.30,0.00,0.000,4,0.000,0.044,3163,165,3399,0,0,0,0,0,0
$GC,826,-0.88,-146.0,109.7,-12.8,80,830,0.12,2.20,0.00,0.000,6,0.107,0.018,3192,1614,3400,0,0,0,0,0,0
$GC,1099,-0.88,-146.0,134.3,-8.5,105,1103,0.00,2.38,0.00,0.000,4,0.000,0.044,3192,168,3400,0,0,0,0,0,0
$GC,1129,-0.88,-146.0,137.7,-9.6,107,1135,0.00,2.15,0.00,0.000,6,0.000,0.018,3192,1592,3400,0,0,0,0,0,0
$GC,1393,-0.88,-146.0,158.3,-8.5,132,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1595,3401,0,0,0,0,0,0
$GC,1660,-0.93,-146.0,182.4,-9.7,157,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1595,3401,0,0,0,0,0,0
$GC,1920,-0.98,-146.0,207.5,-8.7,176,1924,0.00,2.40,0.00,0.000,4,0.000,0.023,3192,3129,3400,0,0,0,0,0,0
$GC,1939,-1.06,-146.0,209.2,-8.1,176,1944,0.17,2.50,0.00,0.000,6,0.046,0.028,3107,1571,3401,0,0,0,0,0,0
$GC,2204,-0.94,-146.0,240.8,-12.5,183,2209,0.30,2.28,0.00,0.000,4,0.086,0.044,3178,173,3400,0,0,0,0,0,0
$GC,2244,-1.00,-146.0,245.3,-9.9,183,2250,0.00,2.10,0.00,0.000,6,0.000,0.018,3178,1569,3401,0,0,0,0,0,0
$GC,2495,-1.07,-146.0,266.1,-7.7,190,2500,0.12,2.47,0.00,0.000,4,0.064,0.025,3118,3133,3401,0,0,0,0,0,0
$GC,2539,-1.07,-146.0,269.1,-6.3,191,2544,0.15,2.50,0.00,0.000,6,0.094,0.031,3152,1587,3400,0,0,0,0,0,0
$GC,2828,-1.07,-146.0,285.4,-6.0,198,2832,0.00,2.33,0.00,0.000,4,0.000,0.049,3152,170,3401,0,0,0,0,0,0
$GC,2843,-1.07,-146.0,286.9,-7.5,198,2847,0.00,2.17,0.00,0.000,6,0.000,0.020,3152,1589,3400,0,0,0,0,0,0
$GC,3112,-1.07,-146.0,313.8,-10.4,205,3116,0.00,2.35,0.00,0.000,4,0.000,0.051,3152,172,3399,0,0,0,0,0,0
$GC,3144,-1.07,-146.0,317.5,-10.6,205,3148,0.00,2.17,0.00,0.000,6,0.000,0.021,3152,1563,3399,0,0,0,0,0,0
$GC,3395,-1.11,-146.0,341.8,-9.8,211,3399,0.00,2.55,0.00,0.000,4,0.000,0.031,3152,3156,3398,0,0,0,0,0,0
$GC,3429,-1.22,-146.0,345.4,-10.5,211,3435,0.15,2.58,0.00,0.000,6,0.055,0.035,3076,1581,3398,0,0,0,0,0,0
$GC,3680,-1.10,-146.0,376.7,-12.2,217,3685,0.28,2.38,0.00,0.000,4,0.087,0.058,3141,165,3397,0,0,0,0,0,0
$GC,3741,-1.10,-146.0,382.5,-8.5,218,3745,0.00,2.22,0.00,0.000,6,0.000,0.024,3141,1576,3396,0,0,0,0,0,0
$GC,4011,-1.10,-146.0,403.5,-7.9,225,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1579,3395,0,0,0,0,0,0
$GC,4253,-1.10,-146.0,420.9,-7.1,231,4257,0.00,2.40,0.00,0.000,4,0.000,0.061,3140,172,3393,0,0,0,0,0,0
$GC,4272,-1.10,-146.0,422.5,-7.6,231,4276,0.00,2.22,0.00,0.000,6,0.000,0.025,3141,1575,3393,0,0,0,0,0,0
$GC,4542,-1.10,-146.0,443.8,-8.2,238,4546,0.00,2.58,0.00,0.000,4,0.000,0.037,3141,3151,3391,0,0,0,0,0,0
$GC,4561,-1.15,-146.0,445.6,-8.8,238,4566,0.00,2.60,0.00,0.000,6,0.000,0.036,3141,1570,3391,0,0,0,0,0,0
$GC,4826,-1.20,-146.0,465.7,-7.3,245,4830,0.00,2.40,0.00,0.000,4,0.000,0.069,3141,166,3389,0,0,0,0,0,0
$GC,4846,-1.20,-146.0,467.3,-7.9,245,4850,0.00,2.22,0.00,0.000,6,0.000,0.026,3141,1575,3389,0,0,0,0,0,0
$GC,5110,-1.25,-146.0,489.0,-8.3,252,5112,0.12,0.00,0.00,0.000,6,0.066,0.000,3086,1575,3387,0,0,0,0,0,0
$GC,5354,-1.18,-146.0,513.7,-10.0,258,5356,0.17,0.00,0.00,0.000,6,0.095,0.000,3126,1576,3386,0,0,0,0,0,0
$GC,5599,-1.18,-146.0,530.2,-6.6,264,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1576,3384,0,0,0,0,0,0
$GC,5841,-1.18,-146.0,547.6,-7.4,270,5845,0.00,2.42,0.00,0.000,4,0.000,0.071,3126,176,3383,0,0,0,0,0,0
$GC,5865,-1.18,-146.0,549.8,-9.4,270,5869,0.00,2.28,0.00,0.000,6,0.000,0.032,3126,1576,3383,0,0,0,0,0,0
$GC,6130,-1.18,-146.0,568.7,-7.1,277,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1577,3381,0,0,0,0,0,0
$GC,6374,-1.18,-146.0,586.1,-7.3,283,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1577,3380,0,0,0,0,0,0
$GC,6616,-1.18,-146.0,605.9,-8.2,289,6620,0.00,2.45,0.00,0.000,4,0.000,0.074,3126,174,3379,0,0,0,0,0,0
$GC,6650,-1.18,-146.0,608.8,-9.4,289,6655,0.00,2.28,0.00,0.000,6,0.000,0.034,3126,1568,3378,0,0,0,0,0,0
$GC,6900,-1.18,-146.0,628.6,-7.8,295,6905,0.00,2.67,0.00,0.000,4,0.000,0.048,3126,3168,3377,0,0,0,0,0,0
$GC,6925,-1.24,-146.0,630.6,-8.3,295,6929,0.00,2.70,0.00,0.000,6,0.000,0.046,3126,1573,3377,0,0,0,0,0,0
$GC,7186,-1.24,-146.0,650.7,-7.8,302,7190,0.00,2.45,0.00,0.000,4,0.000,0.081,3126,172,3376,0,0,0,0,0,0
$GC,7211,-1.24,-146.0,653.1,-8.9,302,7215,0.00,2.30,0.00,0.000,6,0.000,0.035,3126,1579,3375,0,0,0,0,0,0
$GC,7470,-1.24,-146.0,671.2,-6.8,309,7474,0.00,2.67,0.00,0.000,4,0.000,0.051,3126,3160,3374,0,0,0,0,0,0
$GC,7486,-1.29,-146.0,672.1,-6.3,309,7491,0.00,2.67,0.00,0.000,6,0.000,0.048,3126,1571,3374,0,0,0,0,0,0
$GC,7755,-1.29,-146.0,687.7,-5.6,316,7760,0.00,2.45,0.00,0.000,4,0.000,0.082,3126,173,3373,0,0,0,0,0,0
$GC,7774,-1.29,-146.0,688.9,-5.8,316,7779,0.00,2.30,0.00,0.000,6,0.000,0.035,3126,1578,3372,0,0,0,0,0,0
$GC,8040,-1.33,-146.0,707.0,-7.3,323,8042,0.12,0.00,0.00,0.000,6,0.066,0.000,3073,1578,3371,0,0,0,0,0,0
$GC,8282,-1.26,-146.0,735.1,-11.8,329,8287,0.17,2.47,0.00,0.000,4,0.098,0.076,3111,172,3371,0,0,0,0,0,0
$GC,8306,-1.26,-146.0,738.2,-12.2,329,8310,0.00,2.30,0.00,0.000,6,0.000,0.035,3111,1580,3370,0,0,0,0,0,0
$GC,8571,-1.26,-146.0,764.1,-9.7,336,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1580,3370,0,0,0,0,0,0
$GC,8813,-1.26,-146.0,785.7,-8.6,342,8817,0.00,2.50,0.00,0.000,4,0.000,0.077,3111,170,3369,0,0,0,0,0,0
$GC,8846,-1.26,-146.0,788.6,-9.0,342,8851,0.00,2.30,0.00,0.000,6,0.000,0.036,3111,1580,3368,0,0,0,0,0,0
$GC,9098,-1.26,-146.0,807.4,-7.3,348,9102,0.00,2.47,0.00,0.000,4,0.000,0.077,3111,170,3368,0,0,0,0,0,0
$GC,9117,-1.26,-146.0,809.0,-7.5,348,9121,0.00,2.28,0.00,0.000,6,0.000,0.035,3111,1571,3368,0,0,0,0,0,0
$GC,9381,-1.26,-146.0,827.8,-7.2,355,9382,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1571,3366,0,0,0,0,0,0
$GC,9625,-1.26,-146.0,846.1,-7.5,361,9629,0.00,2.67,0.00,0.000,4,0.000,0.052,3112,3164,3366,0,0,0,0,0,0
$GC,9641,-1.26,-146.0,847.3,-7.4,361,9645,0.00,2.70,0.00,0.000,6,0.000,0.049,3111,1570,3366,0,0,0,0,0,0
$GC,9910,-1.26,-146.0,868.4,-8.0,368,9911,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1570,3364,0,0,0,0,0,0
$GC,10153,-1.26,-146.0,888.2,-8.1,374,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1570,3363,0,0,0,0,0,0
$STATE,10313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10313,begin apogee
$GC,10321,-0.31,0.0,900.9,7.7,378,10444,0.90,0.00,119.45,1.167,6,0.074,0.000,3316,1350,2800,0,0,0,0,0,0
$STATE,10444,end apogee,CONTROL_FINISHED_OK
$STATE,10445,begin climb
$GC,10447,1.27,146.0,904.5,0.0,381,10590,1.45,2.25,130.65,1.142,4,0.031,0.084,3672,167,2203,0,0,0,0,0,0
$GC,10648,0.96,146.0,889.0,16.8,386,10653,0.38,1.98,0.00,0.000,6,0.114,0.031,3597,1363,2200,0,0,0,0,0,0
$GC,10936,0.88,146.0,853.0,12.3,393,10940,0.00,2.15,0.00,0.000,4,0.000,0.074,3597,166,2194,0,0,0,0,0,0
$GC,10975,0.74,146.0,847.8,13.7,393,10981,0.25,1.98,0.00,0.000,6,0.104,0.031,3545,1362,2194,0,0,0,0,0,0
$GC,11225,0.75,153.6,822.8,9.6,400,11237,0.00,2.75,5.90,0.818,4,0.000,0.051,3545,2937,2173,0,0,0,0,0,0
$GC,11263,0.85,183.7,819.4,8.6,400,11300,0.10,2.72,29.02,1.065,6,0.081,0.049,3585,1365,2050,0,0,0,0,0,0
$GC,11559,0.85,183.7,786.3,11.2,408,11563,0.00,2.17,0.00,0.000,4,0.000,0.084,3585,159,2045,0,0,0,0,0,0
$GC,11607,0.77,183.7,780.7,11.1,409,11612,0.15,1.98,0.00,0.000,6,0.112,0.031,3554,1358,2045,0,0,0,0,0,0
$GC,11890,0.82,225.9,756.7,8.1,416,11932,0.00,0.00,40.17,1.051,6,0.000,0.000,3554,1359,1879,0,0,0,0,0,0
$GC,12174,0.88,234.0,730.5,9.6,423,12190,0.10,2.75,8.32,0.880,4,0.081,0.051,3593,2938,1844,0,0,0,0,0,0
$GC,12202,0.88,234.0,727.4,11.0,423,12206,0.00,2.75,0.00,0.000,6,0.000,0.048,3593,1357,1843,0,0,0,0,0,0
$GC,12461,0.88,234.0,695.0,12.5,430,12462,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,1357,1842,0,0,0,0,0,0
$GC,12705,0.88,234.0,666.5,11.3,436,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1357,1841,0,0,0,0,0,0
$GC,12950,0.88,234.0,639.6,11.1,442,12954,0.00,2.67,0.00,0.000,4,0.000,0.044,3593,2945,1841,0,0,0,0,0,0
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$STATE,18454,end climb,SURFACE_DEPTH_REACHED
$STATE,18454,begin surface coast
$FINISH,0.7,1.023544
$STATE,18496,end surface coast,CONTROL_FINISHED_OK
$STATE,18496,begin surface
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$SM_GC,1.62,0.00,0.00,25.67,0.000,0.000,0.439,411,1620,1209,-13.68,1.10,390.03
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$TT8_MAMPS,0.027612
$HUMID,64.76
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$TCM_TEMP,21.70
$XPDR_PINGS,14
$24V_AH,23.2,9.126
$10V_AH,9.8,7.949
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.450,186.275,434.825,25.675,0.000,61.589,73.272,342.332,3.500,0.000,19.381,1503.492,13964.372,566.801,2277.234,928.917,33.366,1591.792,0.000,2278.912,0.000,0.535,0.000
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$SENSOR_SECS,475.588,331.182,424.272,718.010,979.732,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,54263,699
$CAP_FILE_SIZE,177619,0
$CFSIZE,260165632,167559168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040613,051700,2259.203,-15741.344,43,1.1,43,10.1