version: 66.06
glider: 148
mission: 12
dive: 139
start: 6 20 113 12 57 24
data:
$ID,148
$MISSION,12
$DIVE,139
$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,-1018892.8
$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,21
$R_STBD_OVSHOOT,31
$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
$GPS1,124844,2247.349,-15807.226,38,2.4,57,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-76.2
$GPS2,125631,2247.365,-15807.253,12,1.7,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.114,0.233
$KALMAN_X,-151026.8,-19.8,-42.1,138807.4,-1479.6
$KALMAN_Y,47775.0,18.0,-127.5,-43267.0,-284.9
$MHEAD_RNG_PITCHd_Wd,16.0,31980,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,96,0.00,0.00,-74.28,0.000,2,0.000,0.000,410,1664,3213,0,0,0,0,0,0
$GC,99,-1.27,-146.0,4.3,-7.8,10,124,14.15,2.40,-2.95,0.000,4,0.154,0.032,3102,3167,3395,0,0,0,0,0,0
$GC,136,0.06,-146.0,21.8,-46.0,14,145,1.30,2.65,0.00,0.000,6,0.087,0.031,3390,1567,3396,0,0,0,0,0,0
$GC,424,-0.48,-146.0,46.9,-10.7,48,429,0.45,2.30,0.00,0.000,4,0.054,0.044,3278,168,3397,0,0,0,0,0,0
$GC,626,-0.91,-146.0,63.6,-9.2,64,635,0.35,2.20,0.00,0.000,6,0.035,0.016,3182,1645,3398,0,0,0,0,0,0
$GC,892,-0.91,-146.0,88.1,-10.6,89,896,0.00,2.40,0.00,0.000,4,0.000,0.021,3181,3176,3399,0,0,0,0,0,0
$GC,933,-1.01,-146.0,93.0,-10.1,92,942,0.00,2.65,0.00,0.000,6,0.000,0.029,3181,1557,3399,0,0,0,0,0,0
$GC,1200,-1.01,-146.0,118.9,-9.5,117,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1557,3399,0,0,0,0,0,0
$GC,1463,-1.01,-146.0,144.0,-9.4,142,1467,0.00,2.25,0.00,0.000,4,0.000,0.043,3181,170,3399,0,0,0,0,0,0
$GC,1490,-1.01,-146.0,146.8,-9.9,144,1494,0.00,2.15,0.00,0.000,6,0.000,0.017,3181,1614,3399,0,0,0,0,0,0
$GC,1761,-1.01,-146.0,171.6,-9.4,169,1765,0.00,2.38,0.00,0.000,4,0.000,0.043,3181,164,3399,0,0,0,0,0,0
$GC,1800,-1.01,-146.0,175.4,-10.1,172,1805,0.00,2.10,0.00,0.000,6,0.000,0.017,3181,1568,3399,0,0,0,0,0,0
$GC,2093,-1.01,-146.0,204.3,-9.7,196,2098,0.00,2.42,0.00,0.000,4,0.000,0.021,3181,3121,3399,0,0,0,0,0,0
$GC,2133,-1.12,-146.0,208.0,-8.8,196,2139,0.17,2.53,0.00,0.000,6,0.065,0.028,3130,1553,3399,0,0,0,0,0,0
$GC,2383,-1.03,-146.0,236.9,-11.8,203,2388,0.15,2.28,0.00,0.000,4,0.107,0.044,3161,174,3399,0,0,0,0,0,0
$GC,2469,-1.03,-146.0,244.7,-8.2,204,2474,0.00,2.03,0.00,0.000,6,0.000,0.017,3161,1537,3400,0,0,0,0,0,0
$GC,2719,-1.03,-146.0,264.5,-8.3,211,2723,0.00,2.47,0.00,0.000,4,0.000,0.023,3161,3130,3400,0,0,0,0,0,0
$GC,2763,-1.14,-146.0,268.2,-8.3,212,2768,0.10,2.53,0.00,0.000,6,0.074,0.029,3113,1553,3400,0,0,0,0,0,0
$GC,3052,-1.06,-146.0,301.7,-11.8,219,3054,0.20,0.00,0.00,0.000,6,0.097,0.000,3156,1553,3399,0,0,0,0,0,0
$GC,3295,-1.06,-146.0,323.4,-8.3,225,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1553,3399,0,0,0,0,0,0
$GC,3538,-1.06,-146.0,342.4,-7.7,231,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1553,3398,0,0,0,0,0,0
$GC,3784,-1.11,-146.0,361.8,-8.0,237,3789,0.00,2.50,0.00,0.000,4,0.000,0.030,3156,3108,3397,0,0,0,0,0,0
$GC,3804,-1.18,-146.0,363.5,-7.9,237,3809,0.12,2.55,0.00,0.000,6,0.063,0.036,3099,1552,3397,0,0,0,0,0,0
$GC,4069,-1.11,-146.0,391.8,-11.0,244,4074,0.20,2.55,0.00,0.000,4,0.097,0.033,3142,3114,3395,0,0,0,0,0,0
$GC,4105,-1.20,-146.0,394.9,-7.6,244,4109,0.00,2.58,0.00,0.000,6,0.000,0.039,3142,1553,3395,0,0,0,0,0,0
$GC,4355,-1.20,-146.0,414.7,-7.8,250,4359,0.00,2.35,0.00,0.000,4,0.000,0.064,3142,166,3393,0,0,0,0,0,0
$GC,4392,-1.20,-146.0,417.8,-8.2,250,4398,0.00,2.12,0.00,0.000,6,0.000,0.024,3142,1533,3393,0,0,0,0,0,0
$GC,4644,-1.20,-146.0,436.0,-7.3,257,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1533,3391,0,0,0,0,0,0
$GC,4886,-1.20,-146.0,452.5,-6.7,263,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1534,3390,0,0,0,0,0,0
$GC,5130,-1.20,-146.0,468.8,-6.6,269,5134,0.00,2.62,0.00,0.000,4,0.000,0.038,3142,3146,3388,0,0,0,0,0,0
$GC,5151,-1.26,-146.0,470.2,-7.5,269,5156,0.12,2.62,0.00,0.000,6,0.062,0.038,3087,1556,3388,0,0,0,0,0,0
$GC,5416,-1.18,-146.0,495.4,-9.8,276,5422,0.17,2.62,0.00,0.000,4,0.106,0.041,3126,3137,3386,0,0,0,0,0,0
$GC,5432,-1.18,-146.0,497.0,-9.5,276,5436,0.00,2.62,0.00,0.000,6,0.000,0.038,3126,1559,3386,0,0,0,0,0,0
$GC,5702,-1.18,-146.0,517.7,-7.7,283,5706,0.00,2.40,0.00,0.000,4,0.000,0.072,3126,165,3384,0,0,0,0,0,0
$GC,5740,-1.18,-146.0,521.2,-9.0,283,5745,0.00,2.20,0.00,0.000,6,0.000,0.030,3125,1546,3383,0,0,0,0,0,0
$GC,5990,-1.18,-146.0,541.1,-7.9,290,5994,0.00,2.65,0.00,0.000,4,0.000,0.042,3126,3151,3382,0,0,0,0,0,0
$GC,6025,-1.26,-146.0,543.8,-7.5,290,6029,0.00,2.67,0.00,0.000,6,0.000,0.044,3125,1560,3382,0,0,0,0,0,0
$GC,6275,-1.26,-146.0,563.4,-7.8,296,6279,0.00,2.42,0.00,0.000,4,0.000,0.074,3125,169,3380,0,0,0,0,0,0
$GC,6331,-1.26,-146.0,568.6,-9.6,297,6335,0.00,2.25,0.00,0.000,6,0.000,0.031,3125,1561,3380,0,0,0,0,0,0
$GC,6605,-1.26,-146.0,590.6,-8.1,304,6610,0.00,2.65,0.00,0.000,4,0.000,0.045,3125,3156,3379,0,0,0,0,0,0
$GC,6634,-1.33,-146.0,593.2,-8.5,304,6639,0.12,2.67,0.00,0.000,6,0.063,0.045,3077,1559,3379,0,0,0,0,0,0
$GC,6892,-1.25,-146.0,619.9,-10.7,311,6897,0.15,2.45,0.00,0.000,4,0.116,0.078,3109,172,3377,0,0,0,0,0,0
$GC,6935,-1.25,-146.0,624.6,-10.4,312,6939,0.00,2.25,0.00,0.000,6,0.000,0.033,3109,1558,3376,0,0,0,0,0,0
$GC,7222,-1.25,-146.0,650.2,-8.9,319,7227,0.00,2.67,0.00,0.000,4,0.000,0.049,3109,3155,3375,0,0,0,0,0,0
$GC,7254,-1.25,-146.0,652.7,-8.0,319,7258,0.00,2.72,0.00,0.000,6,0.000,0.054,3109,1553,3374,0,0,0,0,0,0
$GC,7509,-1.25,-146.0,674.1,-8.4,326,7513,0.00,2.42,0.00,0.000,4,0.000,0.080,3109,167,3373,0,0,0,0,0,0
$GC,7528,-1.25,-146.0,675.8,-8.3,326,7532,0.00,2.25,0.00,0.000,6,0.000,0.033,3109,1563,3373,0,0,0,0,0,0
$GC,7798,-1.25,-146.0,696.6,-7.6,333,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1563,3371,0,0,0,0,0,0
$GC,8040,-1.25,-146.0,714.3,-7.1,339,8044,0.00,2.45,0.00,0.000,4,0.000,0.075,3109,172,3370,0,0,0,0,0,0
$GC,8068,-1.25,-146.0,716.4,-8.0,339,8072,0.00,2.22,0.00,0.000,6,0.000,0.034,3109,1550,3371,0,0,0,0,0,0
$GC,8329,-1.25,-146.0,734.7,-7.0,346,8333,0.00,2.70,0.00,0.000,4,0.000,0.051,3109,3155,3369,0,0,0,0,0,0
$GC,8358,-1.30,-146.0,736.8,-6.6,346,8362,0.00,2.70,0.00,0.000,6,0.000,0.048,3109,1556,3369,0,0,0,0,0,0
$GC,8613,-1.30,-146.0,754.0,-6.9,353,8617,0.00,2.45,0.00,0.000,4,0.000,0.081,3109,171,3368,0,0,0,0,0,0
$GC,8643,-1.30,-146.0,756.2,-8.2,353,8647,0.00,2.28,0.00,0.000,6,0.000,0.034,3109,1563,3368,0,0,0,0,0,0
$GC,8902,-1.30,-146.0,775.2,-7.3,360,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1563,3367,0,0,0,0,0,0
$GC,9147,-1.30,-146.0,793.6,-7.6,366,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1563,3366,0,0,0,0,0,0
$GC,9389,-1.30,-146.0,812.4,-7.6,372,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1563,3365,0,0,0,0,0,0
$GC,9634,-1.30,-146.0,831.4,-7.8,378,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1563,3364,0,0,0,0,0,0
$GC,9876,-1.30,-146.0,849.4,-7.4,384,9881,0.00,2.45,0.00,0.000,4,0.000,0.076,3109,164,3363,0,0,0,0,0,0
$GC,9905,-1.30,-146.0,851.7,-7.6,384,9909,0.00,2.28,0.00,0.000,6,0.000,0.035,3109,1550,3363,0,0,0,0,0,0
$GC,10161,-1.30,-146.0,870.6,-7.5,391,10165,0.00,2.67,0.00,0.000,4,0.000,0.052,3109,3155,3362,0,0,0,0,0,0
$GC,10194,-1.37,-146.0,873.4,-7.8,391,10199,0.00,2.70,0.00,0.000,6,0.000,0.050,3109,1556,3362,0,0,0,0,0,0
$GC,10445,-1.37,-146.0,892.3,-7.7,397,10449,0.00,2.45,0.00,0.000,4,0.000,0.082,3109,168,3362,0,0,0,0,0,0
$GC,10474,-1.37,-146.0,894.8,-9.1,397,10478,0.00,2.25,0.00,0.000,6,0.000,0.035,3109,1559,3361,0,0,0,0,0,0
$STATE,10563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10564,begin apogee
$GC,10570,-0.31,0.0,902.6,8.4,400,10692,0.93,0.00,119.03,1.164,6,0.078,0.000,3318,1342,2800,0,0,0,0,0,0
$STATE,10693,end apogee,CONTROL_FINISHED_OK
$STATE,10693,begin climb
$GC,10696,1.27,146.0,907.3,0.0,403,10836,1.42,2.20,129.60,1.140,4,0.035,0.077,3668,169,2203,0,0,0,0,0,0
$GC,10926,0.98,146.0,890.9,14.4,408,10931,0.32,1.95,0.00,0.000,6,0.111,0.031,3602,1362,2198,0,0,0,0,0,0
$GC,11200,0.90,146.0,862.5,10.0,415,11204,0.00,2.12,0.00,0.000,4,0.000,0.071,3601,176,2192,0,0,0,0,0,0
$GC,11219,0.78,146.0,860.3,11.2,415,11224,0.22,1.92,0.00,0.000,6,0.102,0.031,3555,1359,2192,0,0,0,0,0,0
$GC,11485,0.82,178.8,837.4,8.5,422,11516,0.00,0.00,29.27,1.068,6,0.000,0.000,3555,1360,2071,0,0,0,0,0,0
$GC,11727,0.82,178.8,813.3,10.0,428,11728,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1360,2066,0,0,0,0,0,0
$GC,11971,0.82,178.8,788.4,10.3,434,11975,0.00,2.67,0.00,0.000,4,0.000,0.049,3555,2932,2064,0,0,0,0,0,0
$GC,11986,0.82,178.8,786.9,10.2,434,11991,0.00,2.70,0.00,0.000,6,0.000,0.047,3555,1352,2062,0,0,0,0,0,0
$GC,12255,0.82,183.6,760.1,9.8,441,12261,0.00,0.00,4.40,0.700,6,0.000,0.000,3555,1352,2051,0,0,0,0,0,0
$GC,12499,0.84,199.0,737.0,9.3,447,12522,0.00,2.70,16.33,0.983,4,0.000,0.041,3555,2928,1987,0,0,0,0,0,0
$GC,12535,0.96,254.8,734.0,7.4,447,12596,0.17,2.75,52.72,1.034,6,0.053,0.048,3613,1345,1761,0,0,0,0,0,0
$GC,12876,0.91,254.8,689.1,13.4,456,12881,0.15,2.70,0.00,0.000,4,0.106,0.045,3582,2927,1755,0,0,0,0,0,0
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$STATE,18727,end climb,SURFACE_DEPTH_REACHED
$STATE,18727,begin surface coast
$FINISH,1.0,1.011685
$STATE,18767,end surface coast,CONTROL_FINISHED_OK
$STATE,18767,begin surface
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$HUMID,64.13
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.80
$XPDR_PINGS,11
$24V_AH,23.3,20.092
$10V_AH,9.9,17.699
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,35.275,216.425,395.900,43.625,0.000,30.637,38.025,247.359,2.750,0.000,14.227,1561.672,13953.282,553.914,2449.542,777.330,33.374,1637.932,0.000,2450.973,0.000,0.536,0.000
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$SENSOR_SECS,492.520,348.494,443.850,792.977,1095.387,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,54149,724
$CAP_FILE_SIZE,181487,0
$CFSIZE,260165632,161931264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200613,181236,2249.282,-15807.212,33,1.0,33,10.1