version: 66.06
glider: 148
mission: 12
dive: 82
start: 6 7 113 18 56 1
data:
$ID,148
$MISSION,12
$DIVE,82
$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,-1016774.7
$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,27
$R_STBD_OVSHOOT,44
$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
$GPS1,183953,2251.121,-15807.166,37,1.3,54,10.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.9
$GPS2,185509,2251.118,-15807.256,13,2.2,32,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.098,0.240
$KALMAN_X,-81066.3,-285.4,-194.1,69259.3,-989.5
$KALMAN_Y,17024.8,-129.2,-15.9,-5522.8,-219.8
$MHEAD_RNG_PITCHd_Wd,12.1,25125,-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,17,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-73.50,0.000,2,0.000,0.000,412,1557,3183,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.0,-6.5,10,121,13.98,2.53,-3.62,0.000,4,0.149,0.030,3102,3164,3397,0,0,0,0,0,0
$GC,139,-0.25,-146.0,21.2,-42.3,15,148,0.98,2.65,0.00,0.000,6,0.081,0.033,3323,1572,3397,0,0,0,0,0,0
$GC,425,-0.53,-146.0,38.7,-4.6,47,430,0.22,2.33,0.00,0.000,4,0.038,0.044,3242,168,3398,0,0,0,0,0,0
$GC,459,-0.68,-146.0,41.1,-7.7,49,464,0.00,2.15,0.00,0.000,6,0.000,0.017,3242,1612,3398,0,0,0,0,0,0
$GC,729,-0.80,-146.0,61.5,-6.9,73,734,0.12,2.35,0.00,0.000,4,0.064,0.022,3178,3112,3398,0,0,0,0,0,0
$GC,750,-0.89,-146.0,63.2,-6.7,74,754,0.00,2.50,0.00,0.000,6,0.000,0.028,3178,1555,3398,0,0,0,0,0,0
$GC,1014,-0.89,-146.0,87.6,-10.0,98,1018,0.00,2.25,0.00,0.000,4,0.000,0.042,3177,166,3399,0,0,0,0,0,0
$GC,1054,-0.89,-146.0,91.8,-11.1,101,1058,0.00,2.08,0.00,0.000,6,0.000,0.017,3177,1564,3399,0,0,0,0,0,0
$GC,1322,-0.89,-146.0,119.6,-10.1,125,1326,0.00,2.40,0.00,0.000,4,0.000,0.021,3178,3114,3399,0,0,0,0,0,0
$GC,1363,-0.97,-146.0,124.3,-9.3,128,1372,0.00,2.55,0.00,0.000,6,0.000,0.028,3178,1557,3399,0,0,0,0,0,0
$GC,1629,-0.97,-146.0,150.1,-10.4,153,1633,0.00,2.25,0.00,0.000,4,0.000,0.043,3178,169,3399,0,0,0,0,0,0
$GC,1649,-0.97,-146.0,152.3,-10.4,154,1653,0.00,2.08,0.00,0.000,6,0.000,0.017,3178,1579,3399,0,0,0,0,0,0
$GC,1916,-0.97,-146.0,180.7,-10.8,178,1920,0.00,2.38,0.00,0.000,4,0.000,0.021,3178,3112,3399,0,0,0,0,0,0
$GC,1956,-1.05,-146.0,184.9,-9.8,181,1960,0.00,2.50,0.00,0.000,6,0.000,0.028,3178,1565,3399,0,0,0,0,0,0
$GC,2233,-1.05,-146.0,211.8,-9.5,198,2237,0.00,2.25,0.00,0.000,4,0.000,0.044,3178,172,3399,0,0,0,0,0,0
$GC,2265,-1.05,-146.0,215.2,-10.0,198,2269,0.00,2.10,0.00,0.000,6,0.000,0.018,3178,1570,3399,0,0,0,0,0,0
$GC,2522,-1.09,-146.0,236.8,-8.2,205,2527,0.12,2.42,0.00,0.000,4,0.064,0.022,3105,3119,3399,0,0,0,0,0,0
$GC,2555,-1.04,-146.0,240.5,-10.6,205,2560,0.22,2.47,0.00,0.000,6,0.086,0.030,3156,1581,3399,0,0,0,0,0,0
$GC,2805,-1.04,-146.0,262.4,-8.7,211,2809,0.00,2.30,0.00,0.000,4,0.000,0.046,3156,173,3399,0,0,0,0,0,0
$GC,2895,-1.04,-146.0,270.2,-8.3,212,2900,0.00,2.10,0.00,0.000,6,0.000,0.019,3156,1550,3398,0,0,0,0,0,0
$GC,3145,-1.04,-146.0,289.7,-7.9,219,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1553,3398,0,0,0,0,0,0
$GC,3390,-1.04,-146.0,309.0,-7.9,225,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1552,3397,0,0,0,0,0,0
$GC,3632,-1.04,-146.0,328.5,-8.2,231,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1553,3396,0,0,0,0,0,0
$GC,3876,-1.09,-146.0,348.0,-7.9,237,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1553,3395,0,0,0,0,0,0
$GC,4120,-1.15,-146.0,364.9,-6.9,243,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1553,3394,0,0,0,0,0,0
$GC,4365,-1.21,-146.0,384.6,-8.4,249,4367,0.15,0.00,0.00,0.000,6,0.055,0.000,3089,1553,3393,0,0,0,0,0,0
$GC,4607,-1.13,-146.0,412.3,-11.5,255,4612,0.22,2.55,0.00,0.000,4,0.091,0.032,3139,3120,3391,0,0,0,0,0,0
$GC,4637,-1.20,-146.0,415.1,-8.2,255,4641,0.00,2.55,0.00,0.000,6,0.000,0.037,3139,1571,3391,0,0,0,0,0,0
$GC,4893,-1.20,-146.0,434.2,-7.3,262,4897,0.00,2.40,0.00,0.000,4,0.000,0.064,3139,166,3389,0,0,0,0,0,0
$GC,4940,-1.20,-146.0,438.1,-8.5,263,4944,0.00,2.20,0.00,0.000,6,0.000,0.025,3139,1551,3389,0,0,0,0,0,0
$GC,5222,-1.20,-146.0,456.5,-6.3,270,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1553,3387,0,0,0,0,0,0
$GC,5468,-1.25,-146.0,473.9,-7.5,276,5470,0.12,0.00,0.00,0.000,6,0.064,0.000,3077,1553,3385,0,0,0,0,0,0
$GC,5711,-1.16,-146.0,499.1,-10.6,282,5713,0.25,0.00,0.00,0.000,6,0.091,0.000,3133,1553,3383,0,0,0,0,0,0
$GC,5953,-1.16,-146.0,518.7,-7.8,288,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1553,3382,0,0,0,0,0,0
$GC,6198,-1.16,-146.0,535.9,-7.0,294,6203,0.00,2.65,0.00,0.000,4,0.000,0.045,3133,3141,3380,0,0,0,0,0,0
$GC,6227,-1.24,-146.0,538.0,-6.3,294,6232,0.00,2.65,0.00,0.000,6,0.000,0.041,3133,1565,3380,0,0,0,0,0,0
$GC,6482,-1.24,-146.0,554.5,-6.6,301,6486,0.00,2.42,0.00,0.000,4,0.000,0.074,3133,162,3378,0,0,0,0,0,0
$GC,6507,-1.24,-146.0,556.3,-7.2,301,6512,0.00,2.25,0.00,0.000,6,0.000,0.031,3133,1568,3378,0,0,0,0,0,0
$GC,6766,-1.24,-146.0,574.4,-7.0,308,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1568,3377,0,0,0,0,0,0
$GC,7011,-1.29,-146.0,593.0,-7.6,314,7016,0.12,2.65,0.00,0.000,4,0.064,0.047,3078,3155,3375,0,0,0,0,0,0
$GC,7046,-1.29,-146.0,596.1,-9.4,314,7051,0.12,2.67,0.00,0.000,6,0.107,0.045,3105,1573,3375,0,0,0,0,0,0
$GC,7296,-1.29,-146.0,618.4,-8.8,320,7300,0.00,2.45,0.00,0.000,4,0.000,0.077,3105,172,3374,0,0,0,0,0,0
$GC,7315,-1.29,-146.0,620.1,-8.9,320,7319,0.00,2.28,0.00,0.000,6,0.000,0.034,3105,1581,3374,0,0,0,0,0,0
$GC,7580,-1.29,-146.0,643.0,-8.5,327,7584,0.00,2.47,0.00,0.000,4,0.000,0.073,3105,170,3372,0,0,0,0,0,0
$GC,7599,-1.29,-146.0,644.9,-9.1,327,7603,0.00,2.30,0.00,0.000,6,0.000,0.034,3105,1580,3372,0,0,0,0,0,0
$GC,7863,-1.29,-146.0,668.6,-9.2,334,7867,0.00,2.47,0.00,0.000,4,0.000,0.074,3105,166,3371,0,0,0,0,0,0
$GC,7888,-1.29,-146.0,671.2,-10.8,334,7892,0.00,2.30,0.00,0.000,6,0.000,0.035,3105,1571,3370,0,0,0,0,0,0
$GC,8147,-1.29,-146.0,696.9,-9.8,341,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1571,3369,0,0,0,0,0,0
$GC,8390,-1.29,-146.0,719.3,-9.1,347,8395,0.00,2.47,0.00,0.000,4,0.000,0.074,3105,167,3368,0,0,0,0,0,0
$GC,8420,-1.29,-146.0,722.1,-9.7,347,8424,0.00,2.30,0.00,0.000,6,0.000,0.035,3105,1569,3368,0,0,0,0,0,0
$GC,8674,-1.29,-146.0,743.6,-8.2,354,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1569,3367,0,0,0,0,0,0
$GC,8918,-1.29,-146.0,762.8,-7.9,360,8923,0.00,2.67,0.00,0.000,4,0.000,0.051,3105,3156,3366,0,0,0,0,0,0
$GC,8937,-1.29,-146.0,764.5,-8.5,360,8942,0.00,2.67,0.00,0.000,6,0.000,0.048,3105,1568,3366,0,0,0,0,0,0
$GC,9203,-1.29,-146.0,785.7,-8.1,367,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1568,3365,0,0,0,0,0,0
$GC,9445,-1.29,-146.0,805.4,-8.0,373,9449,0.00,2.47,0.00,0.000,4,0.000,0.082,3105,170,3364,0,0,0,0,0,0
$GC,9473,-1.29,-146.0,807.9,-9.2,373,9477,0.00,2.28,0.00,0.000,6,0.000,0.035,3105,1568,3363,0,0,0,0,0,0
$GC,9734,-1.29,-146.0,827.9,-7.7,380,9738,0.00,2.47,0.00,0.000,4,0.000,0.075,3105,166,3362,0,0,0,0,0,0
$GC,9757,-1.29,-146.0,830.1,-8.7,380,9761,0.00,2.28,0.00,0.000,6,0.000,0.035,3105,1563,3362,0,0,0,0,0,0
$GC,10017,-1.29,-146.0,849.8,-7.5,387,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1563,3362,0,0,0,0,0,0
$GC,10262,-1.29,-146.0,869.1,-8.0,393,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1563,3361,0,0,0,0,0,0
$GC,10504,-1.29,-146.0,888.8,-8.2,399,10508,0.00,2.45,0.00,0.000,4,0.000,0.076,3105,163,3360,0,0,0,0,0,0
$GC,10537,-1.29,-146.0,891.6,-9.2,399,10541,0.00,2.28,0.00,0.000,6,0.000,0.036,3105,1557,3360,0,0,0,0,0,0
$STATE,10662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10662,begin apogee
$GC,10670,-0.31,0.0,901.1,7.5,402,10791,0.93,0.00,118.10,1.170,6,0.082,0.000,3314,1341,2800,0,0,0,0,0,0
$STATE,10792,end apogee,CONTROL_FINISHED_OK
$STATE,10792,begin climb
$GC,10795,1.27,146.0,904.2,0.0,405,10933,1.45,2.17,129.38,1.144,4,0.032,0.079,3671,177,2204,0,0,0,0,0,0
$GC,10980,0.97,146.0,890.2,16.8,409,10985,0.38,1.98,0.00,0.000,6,0.111,0.032,3596,1349,2200,0,0,0,0,0,0
$GC,11254,0.89,146.0,857.4,11.9,416,11258,0.00,2.08,0.00,0.000,4,0.000,0.073,3595,176,2193,0,0,0,0,0,0
$GC,11297,0.76,146.0,851.9,14.7,416,11304,0.22,1.92,0.00,0.000,6,0.104,0.031,3549,1356,2193,0,0,0,0,0,0
$GC,11547,0.77,154.2,827.0,9.6,423,11560,0.00,2.15,6.28,0.846,4,0.000,0.073,3549,182,2171,0,0,0,0,0,0
$GC,11598,0.77,154.2,821.6,10.8,424,11602,0.00,1.90,0.00,0.000,6,0.000,0.031,3549,1346,2171,0,0,0,0,0,0
$GC,11885,0.80,178.0,795.7,8.9,431,11910,0.00,0.00,23.50,1.045,6,0.000,0.000,3549,1347,2074,0,0,0,0,0,0
$GC,12129,0.82,198.4,773.4,9.1,437,12150,0.00,0.00,19.83,1.019,6,0.000,0.000,3549,1347,1991,0,0,0,0,0,0
$GC,12374,0.89,208.4,750.2,9.5,443,12391,0.12,2.78,10.32,0.931,4,0.068,0.051,3594,2926,1950,0,0,0,0,0,0
$GC,12415,0.89,208.4,745.6,12.0,443,12420,0.00,2.72,0.00,0.000,6,0.000,0.048,3594,1341,1947,0,0,0,0,0,0
$GC,12664,0.89,208.4,716.4,11.6,450,12666,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1341,1946,0,0,0,0,0,0
$GC,12909,0.89,208.4,688.5,11.3,456,12910,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1341,1945,0,0,0,0,0,0
$GC,13152,0.89,208.4,661.5,11.2,462,13153,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1341,1945,0,0,0,0,0,0
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$STATE,19015,end climb,SURFACE_DEPTH_REACHED
$STATE,19015,begin surface coast
$FINISH,0.8,1.015611
$STATE,19061,end surface coast,CONTROL_FINISHED_OK
$STATE,19061,begin surface
$SM_CCo,19084,58.15,0.446,0,0,1249,380.21
$SM_GC,1.74,0.00,0.00,58.15,0.000,0.000,0.446,411,1598,1249,-13.69,0.79,380.21
$IRIDIUM_FIX,2244.02,-15808.88,010902,181808
$TT8_MAMPS,0.027612
$HUMID,62.56
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.90
$XPDR_PINGS,20
$24V_AH,23.3,11.635
$10V_AH,9.9,10.181
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.075,197.700,377.950,58.150,0.000,90.721,105.042,414.075,5.000,0.000,34.992,1565.804,14416.043,549.145,2455.988,1060.276,33.369,1583.778,0.000,2433.388,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,503.000,361.849,453.368,852.295,1164.519,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,57324,738
$CAP_FILE_SIZE,184272,0
$CFSIZE,260165632,166248448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080613,001635,2253.345,-15807.657,44,1.2,49,10.1