version: 66.06
glider: 148
mission: 12
dive: 131
start: 6 18 113 19 2 59
data:
$ID,148
$MISSION,12
$DIVE,131
$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,-1018717.4
$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,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,80
$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
$GPS1,183806,2248.845,-15756.433,62,1.8,62,10.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.5
$GPS2,190202,2248.837,-15756.687,10,1.2,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.148,-0.213
$KALMAN_X,-138697.6,-371.9,-66.2,144900.8,-589.4
$KALMAN_Y,52558.8,-280.6,-193.6,-44951.3,673.8
$MHEAD_RNG_PITCHd_Wd,204.7,22174,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.97,0.000,2,0.000,0.000,412,1598,2991,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.3,-4.1,9,120,13.95,2.42,-7.47,0.000,4,0.146,0.055,3105,167,3398,0,0,0,0,0,0
$GC,201,-0.99,-146.0,33.4,-23.0,24,206,0.30,2.12,0.00,0.000,6,0.097,0.016,3169,1561,3398,0,0,0,0,0,0
$GC,469,-0.93,-146.0,74.7,-12.0,48,473,0.00,2.47,0.00,0.000,4,0.000,0.021,3170,3138,3398,0,0,0,0,0,0
$GC,492,-0.93,-146.0,78.0,-10.9,49,501,0.00,2.58,0.00,0.000,6,0.000,0.028,3170,1565,3398,0,0,0,0,0,0
$GC,753,-0.93,-146.0,105.4,-10.5,74,754,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1565,3398,0,0,0,0,0,0
$GC,1009,-0.93,-146.0,132.6,-9.8,98,1014,0.00,2.45,0.00,0.000,4,0.000,0.021,3170,3133,3399,0,0,0,0,0,0
$GC,1029,-0.93,-146.0,134.2,-9.7,99,1034,0.00,2.50,0.00,0.000,6,0.000,0.027,3170,1570,3398,0,0,0,0,0,0
$GC,1292,-0.93,-146.0,160.3,-10.6,123,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1570,3398,0,0,0,0,0,0
$GC,1547,-0.93,-146.0,188.5,-9.9,147,1551,0.00,2.47,0.00,0.000,4,0.000,0.022,3170,3137,3399,0,0,0,0,0,0
$GC,1573,-0.93,-146.0,191.3,-10.2,149,1577,0.00,2.50,0.00,0.000,6,0.000,0.028,3169,1579,3399,0,0,0,0,0,0
$GC,1839,-0.93,-146.0,214.5,-8.8,162,1843,0.00,2.30,0.00,0.000,4,0.000,0.044,3170,166,3399,0,0,0,0,0,0
$GC,1899,-0.93,-146.0,220.8,-9.7,163,1903,0.00,2.15,0.00,0.000,6,0.000,0.017,3170,1592,3398,0,0,0,0,0,0
$GC,2167,-0.93,-146.0,245.7,-9.1,170,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1595,3398,0,0,0,0,0,0
$GC,2412,-0.93,-146.0,266.4,-8.3,176,2417,0.00,2.33,0.00,0.000,4,0.000,0.045,3170,174,3398,0,0,0,0,0,0
$GC,2431,-0.93,-146.0,268.1,-7.9,176,2435,0.00,2.15,0.00,0.000,6,0.000,0.018,3170,1595,3398,0,0,0,0,0,0
$GC,2695,-0.93,-146.0,287.2,-7.0,183,2699,0.00,2.40,0.00,0.000,4,0.000,0.024,3170,3124,3397,0,0,0,0,0,0
$GC,2729,-1.03,-146.0,289.8,-7.7,183,2734,0.00,2.47,0.00,0.000,6,0.000,0.030,3170,1591,3397,0,0,0,0,0,0
$GC,2985,-1.08,-146.0,309.9,-8.0,190,2989,0.00,2.35,0.00,0.000,4,0.000,0.050,3170,168,3396,0,0,0,0,0,0
$GC,3022,-1.14,-146.0,313.5,-9.0,190,3029,0.15,2.17,0.00,0.000,6,0.053,0.021,3091,1567,3396,0,0,0,0,0,0
$GC,3274,-1.04,-146.0,342.5,-11.8,197,3279,0.28,2.53,0.00,0.000,4,0.087,0.028,3156,3149,3395,0,0,0,0,0,0
$GC,3289,-0.99,-146.0,344.5,-11.4,197,3294,0.00,2.58,0.00,0.000,6,0.000,0.033,3156,1582,3395,0,0,0,0,0,0
$GC,3560,-1.04,-146.0,364.5,-7.4,204,3564,0.00,2.38,0.00,0.000,4,0.000,0.057,3156,174,3394,0,0,0,0,0,0
$GC,3594,-1.10,-146.0,367.5,-8.5,204,3598,0.00,2.20,0.00,0.000,6,0.000,0.021,3156,1577,3393,0,0,0,0,0,0
$GC,3844,-1.15,-146.0,388.6,-8.7,210,3849,0.10,2.55,0.00,0.000,4,0.077,0.033,3104,3143,3391,0,0,0,0,0,0
$GC,3861,-1.15,-146.0,390.4,-8.9,210,3867,0.12,2.58,0.00,0.000,6,0.101,0.035,3133,1584,3392,0,0,0,0,0,0
$GC,4131,-1.15,-146.0,413.3,-8.1,217,4135,0.00,2.40,0.00,0.000,4,0.000,0.062,3133,163,3390,0,0,0,0,0,0
$GC,4154,-1.15,-146.0,415.3,-8.4,217,4159,0.00,2.22,0.00,0.000,6,0.000,0.023,3133,1591,3389,0,0,0,0,0,0
$GC,4420,-1.15,-146.0,437.9,-9.1,224,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1593,3387,0,0,0,0,0,0
$GC,4662,-1.15,-146.0,462.8,-10.3,230,4666,0.00,2.45,0.00,0.000,4,0.000,0.065,3133,167,3386,0,0,0,0,0,0
$GC,4722,-1.15,-146.0,468.8,-9.9,231,4726,0.00,2.20,0.00,0.000,6,0.000,0.027,3133,1563,3385,0,0,0,0,0,0
$GC,4992,-1.15,-146.0,489.8,-7.5,238,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1563,3383,0,0,0,0,0,0
$GC,5234,-1.15,-146.0,509.1,-8.0,244,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1563,3382,0,0,0,0,0,0
$GC,5478,-1.15,-146.0,528.7,-7.9,250,5482,0.00,2.62,0.00,0.000,4,0.000,0.043,3133,3148,3380,0,0,0,0,0,0
$GC,5499,-1.15,-146.0,530.3,-7.8,250,5503,0.00,2.65,0.00,0.000,6,0.000,0.041,3133,1569,3380,0,0,0,0,0,0
$GC,5763,-1.15,-146.0,550.7,-7.7,257,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1569,3378,0,0,0,0,0,0
$GC,6007,-1.15,-146.0,571.5,-8.7,263,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1570,3376,0,0,0,0,0,0
$GC,6250,-1.15,-146.0,592.3,-8.5,269,6255,0.00,2.65,0.00,0.000,4,0.000,0.043,3133,3153,3374,0,0,0,0,0,0
$GC,6267,-1.15,-146.0,593.6,-7.9,269,6271,0.00,2.65,0.00,0.000,6,0.000,0.044,3133,1574,3374,0,0,0,0,0,0
$GC,6536,-1.15,-146.0,616.1,-8.3,276,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1574,3372,0,0,0,0,0,0
$GC,6779,-1.15,-146.0,635.3,-7.7,282,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1574,3372,0,0,0,0,0,0
$GC,7024,-1.20,-146.0,651.6,-6.4,288,7028,0.00,2.62,0.00,0.000,4,0.000,0.044,3133,3147,3371,0,0,0,0,0,0
$GC,7038,-1.25,-146.0,652.6,-5.6,288,7043,0.00,2.65,0.00,0.000,6,0.000,0.046,3133,1578,3370,0,0,0,0,0,0
$GC,7308,-1.30,-146.0,666.7,-5.2,295,7313,0.12,2.50,0.00,0.000,4,0.064,0.082,3081,170,3369,0,0,0,0,0,0
$GC,7337,-1.23,-146.0,668.9,-9.0,295,7342,0.15,2.28,0.00,0.000,6,0.104,0.034,3114,1571,3368,0,0,0,0,0,0
$GC,7598,-1.23,-146.0,687.2,-7.1,302,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1572,3367,0,0,0,0,0,0
$GC,7841,-1.23,-146.0,704.5,-7.2,308,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1572,3366,0,0,0,0,0,0
$GC,8086,-1.23,-146.0,721.6,-7.1,314,8091,0.00,2.45,0.00,0.000,4,0.000,0.075,3114,168,3365,0,0,0,0,0,0
$GC,8106,-1.23,-146.0,723.5,-8.8,314,8110,0.00,2.30,0.00,0.000,6,0.000,0.033,3114,1580,3365,0,0,0,0,0,0
$GC,8369,-1.23,-146.0,744.9,-8.4,321,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1580,3363,0,0,0,0,0,0
$GC,8615,-1.23,-146.0,766.7,-8.9,327,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1580,3363,0,0,0,0,0,0
$GC,8857,-1.23,-146.0,786.4,-7.9,333,8861,0.00,2.47,0.00,0.000,4,0.000,0.076,3114,164,3362,0,0,0,0,0,0
$GC,8894,-1.23,-146.0,789.6,-8.2,333,8900,0.00,2.30,0.00,0.000,6,0.000,0.035,3114,1573,3361,0,0,0,0,0,0
$GC,9146,-1.23,-146.0,807.0,-6.6,340,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1574,3361,0,0,0,0,0,0
$GC,9388,-1.23,-146.0,822.0,-6.0,346,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1574,3361,0,0,0,0,0,0
$GC,9632,-1.23,-146.0,837.1,-6.3,352,9636,0.00,2.45,0.00,0.000,4,0.000,0.075,3114,170,3360,0,0,0,0,0,0
$GC,9651,-1.23,-146.0,838.5,-6.9,352,9655,0.00,2.28,0.00,0.000,6,0.000,0.034,3114,1565,3360,0,0,0,0,0,0
$GC,9916,-1.23,-146.0,857.5,-7.3,359,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1565,3359,0,0,0,0,0,0
$GC,10158,-1.23,-146.0,875.8,-7.6,365,10163,0.00,2.45,0.00,0.000,4,0.000,0.075,3114,171,3358,0,0,0,0,0,0
$GC,10177,-1.23,-146.0,877.3,-8.0,365,10182,0.00,2.28,0.00,0.000,6,0.000,0.034,3114,1563,3358,0,0,0,0,0,0
$GC,10443,-1.23,-146.0,895.9,-6.9,372,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1564,3357,0,0,0,0,0,0
$STATE,10520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10520,begin apogee
$GC,10526,-0.31,0.0,901.3,6.8,374,10648,0.88,0.00,118.55,1.158,6,0.072,0.000,3315,1345,2800,0,0,0,0,0,0
$STATE,10649,end apogee,CONTROL_FINISHED_OK
$STATE,10649,begin climb
$GC,10651,1.27,146.0,904.5,0.0,377,10788,1.45,0.00,131.05,1.136,6,0.031,0.000,3671,1344,2204,0,0,0,0,0,0
$GC,11048,1.05,146.0,862.8,13.9,387,11050,0.28,0.00,0.00,0.000,6,0.110,0.000,3614,1345,2193,0,0,0,0,0,0
$GC,11293,0.94,146.0,835.0,11.3,393,11297,0.12,2.10,0.00,0.000,4,0.123,0.077,3590,169,2191,0,0,0,0,0,0
$GC,11349,0.82,146.0,828.4,11.3,394,11354,0.12,1.95,0.00,0.000,6,0.122,0.031,3565,1353,2191,0,0,0,0,0,0
$GC,11627,0.86,183.3,804.8,8.3,401,11666,0.00,0.00,33.28,1.058,6,0.000,0.000,3565,1355,2051,0,0,0,0,0,0
$GC,11912,0.87,189.7,778.3,9.7,408,11924,0.00,2.75,6.50,0.835,4,0.000,0.050,3565,2929,2026,0,0,0,0,0,0
$GC,11944,0.90,215.4,774.9,8.8,408,11976,0.00,2.72,26.00,1.028,6,0.000,0.049,3565,1360,1920,0,0,0,0,0,0
$GC,12248,0.90,215.4,742.7,10.6,416,12249,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1360,1916,0,0,0,0,0,0
$GC,12489,0.90,215.4,716.7,10.7,422,12493,0.00,2.65,0.00,0.000,4,0.000,0.042,3565,2934,1915,0,0,0,0,0,0
$GC,12507,0.90,215.4,714.5,10.3,422,12512,0.00,2.72,0.00,0.000,6,0.000,0.049,3565,1353,1912,0,0,0,0,0,0
$GC,12773,0.90,215.4,685.2,11.1,429,12777,0.00,2.65,0.00,0.000,4,0.000,0.043,3565,2932,1912,0,0,0,0,0,0
$GC,12806,0.98,215.4,681.3,10.2,429,12815,0.15,2.72,0.00,0.000,6,0.060,0.050,3618,1354,1910,0,0,0,0,0,0
$GC,13059,0.91,215.4,648.6,12.9,436,13061,0.17,0.00,0.00,0.000,6,0.104,0.000,3582,1354,1910,0,0,0,0,0,0
$GC,13304,0.91,215.9,624.0,10.0,442,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1354,1910,0,0,0,0,0,0
$GC,13546,0.92,223.4,600.5,9.7,448,13559,0.00,2.70,7.05,0.786,4,0.000,0.043,3581,2927,1889,0,0,0,0,0,0
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$STATE,18672,end climb,SURFACE_DEPTH_REACHED
$STATE,18672,begin surface coast
$FINISH,0.8,1.017592
$STATE,18729,end surface coast,CONTROL_FINISHED_OK
$STATE,18730,begin surface
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$HUMID,64.68
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$TCM_TEMP,21.90
$XPDR_PINGS,17
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$10V_AH,9.9,16.665
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,32.675,188.000,430.100,26.525,0.000,137.808,260.893,635.338,4.250,0.000,13.281,1501.181,14464.992,548.798,2223.170,1475.053,33.371,1559.502,0.000,2220.766,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,54259,696
$CAP_FILE_SIZE,182861,0
$CFSIZE,260165632,162537472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190613,001755,2246.711,-15759.124,52,99.0,71,10.1