version: 66.06
glider: 148
mission: 12
dive: 162
start: 6 25 113 19 45 43
data:
$ID,148
$MISSION,12
$DIVE,162
$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,-1019433.3
$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,104
$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
$GPS1,193656,2249.231,-15745.821,33,99.0,52,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-76.8
$GPS2,194451,2249.294,-15745.850,13,99.0,32,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.101,-0.239
$KALMAN_X,-181504.7,-58.2,-539.4,206368.8,332.9
$KALMAN_Y,66849.2,-169.2,444.6,-59157.3,1187.5
$MHEAD_RNG_PITCHd_Wd,146.9,24124,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.12,0.000,2,0.000,0.000,407,1582,2941,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.2,-3.5,9,123,14.02,2.38,-8.20,0.000,4,0.150,0.054,3104,168,3398,0,0,0,0,0,0
$GC,202,-0.99,-146.0,33.8,-22.8,24,207,0.30,2.08,0.00,0.000,6,0.099,0.018,3168,1535,3398,0,0,0,0,0,0
$GC,471,-0.91,-146.0,77.8,-13.6,48,476,0.00,2.50,0.00,0.000,4,0.000,0.021,3168,3143,3398,0,0,0,0,0,0
$GC,535,-0.99,-146.0,85.6,-9.1,53,540,0.00,2.50,0.00,0.000,6,0.000,0.028,3168,1578,3399,0,0,0,0,0,0
$GC,800,-0.93,-146.0,114.1,-11.1,78,804,0.00,2.28,0.00,0.000,4,0.000,0.042,3168,171,3399,0,0,0,0,0,0
$GC,847,-0.93,-146.0,120.1,-12.1,82,851,0.00,2.12,0.00,0.000,6,0.000,0.016,3168,1594,3399,0,0,0,0,0,0
$GC,1111,-0.93,-146.0,147.7,-10.3,106,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1597,3400,0,0,0,0,0,0
$GC,1372,-0.93,-146.0,178.0,-11.7,131,1376,0.00,2.35,0.00,0.000,4,0.000,0.042,3168,168,3400,0,0,0,0,0,0
$GC,1403,-0.88,-146.0,181.1,-13.5,133,1408,0.10,2.10,0.00,0.000,6,0.118,0.017,3191,1578,3400,0,0,0,0,0,0
$GC,1662,-0.92,-146.0,207.0,-8.6,151,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1581,3400,0,0,0,0,0,0
$GC,1904,-0.98,-146.0,227.9,-8.5,157,1909,0.00,2.40,0.00,0.000,4,0.000,0.021,3191,3122,3400,0,0,0,0,0,0
$GC,1950,-1.13,-146.0,231.6,-8.0,158,1955,0.22,2.53,0.00,0.000,6,0.038,0.028,3096,1559,3400,0,0,0,0,0,0
$GC,2238,-0.97,-146.0,272.7,-15.3,165,2243,0.30,2.28,0.00,0.000,4,0.090,0.043,3166,163,3400,0,0,0,0,0,0
$GC,2259,-0.89,-146.0,275.6,-13.7,165,2264,0.10,2.10,0.00,0.000,6,0.120,0.018,3189,1561,3400,0,0,0,0,0,0
$GC,2524,-0.98,-146.0,299.2,-8.1,172,2528,0.00,2.45,0.00,0.000,4,0.000,0.025,3190,3125,3400,0,0,0,0,0,0
$GC,2571,-1.16,-146.0,302.2,-6.1,173,2576,0.25,2.50,0.00,0.000,6,0.036,0.030,3090,1570,3400,0,0,0,0,0,0
$GC,2856,-1.04,-146.0,330.7,-10.5,180,2861,0.28,2.33,0.00,0.000,4,0.087,0.049,3154,176,3400,0,0,0,0,0,0
$GC,2890,-1.04,-146.0,334.0,-7.7,180,2894,0.00,2.15,0.00,0.000,6,0.000,0.020,3154,1561,3400,0,0,0,0,0,0
$GC,3141,-1.04,-146.0,350.9,-7.0,186,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1563,3399,0,0,0,0,0,0
$GC,3384,-1.04,-146.0,369.8,-7.9,192,3388,0.00,2.53,0.00,0.000,4,0.000,0.031,3154,3138,3398,0,0,0,0,0,0
$GC,3431,-1.16,-146.0,374.0,-8.5,193,3436,0.00,2.58,0.00,0.000,6,0.000,0.037,3154,1581,3398,0,0,0,0,0,0
$GC,3716,-1.21,-146.0,397.3,-8.2,200,3721,0.15,2.40,0.00,0.000,4,0.056,0.065,3088,165,3395,0,0,0,0,0,0
$GC,3800,-1.10,-146.0,407.1,-11.6,201,3807,0.25,2.22,0.00,0.000,6,0.088,0.025,3144,1571,3395,0,0,0,0,0,0
$GC,4052,-1.10,-146.0,425.8,-7.2,208,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1572,3393,0,0,0,0,0,0
$GC,4294,-1.10,-146.0,444.3,-7.6,214,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1572,3392,0,0,0,0,0,0
$GC,4538,-1.10,-146.0,464.5,-8.4,220,4542,0.00,2.40,0.00,0.000,4,0.000,0.064,3143,166,3390,0,0,0,0,0,0
$GC,4552,-1.10,-146.0,465.9,-8.4,220,4556,0.00,2.22,0.00,0.000,6,0.000,0.027,3143,1575,3390,0,0,0,0,0,0
$GC,4822,-1.10,-146.0,487.2,-7.8,227,4827,0.00,2.58,0.00,0.000,4,0.000,0.041,3143,3149,3388,0,0,0,0,0,0
$GC,4846,-1.17,-146.0,489.0,-7.3,227,4851,0.00,2.60,0.00,0.000,6,0.000,0.038,3144,1575,3388,0,0,0,0,0,0
$GC,5108,-1.22,-146.0,506.3,-6.4,234,5113,0.10,2.62,0.00,0.000,4,0.075,0.041,3093,3152,3386,0,0,0,0,0,0
$GC,5123,-1.22,-146.0,507.5,-6.1,234,5128,0.12,2.62,0.00,0.000,6,0.107,0.038,3120,1574,3386,0,0,0,0,0,0
$GC,5393,-1.22,-146.0,526.0,-6.8,241,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1574,3384,0,0,0,0,0,0
$GC,5638,-1.22,-146.0,543.5,-7.4,247,5642,0.00,2.45,0.00,0.000,4,0.000,0.075,3120,171,3383,0,0,0,0,0,0
$GC,5657,-1.22,-146.0,545.3,-8.4,247,5661,0.00,2.28,0.00,0.000,6,0.000,0.030,3120,1578,3382,0,0,0,0,0,0
$GC,5921,-1.22,-146.0,566.5,-8.3,254,5925,0.00,2.60,0.00,0.000,4,0.000,0.045,3120,3153,3381,0,0,0,0,0,0
$GC,5946,-1.22,-146.0,568.7,-9.4,254,5951,0.00,2.62,0.00,0.000,6,0.000,0.043,3120,1574,3381,0,0,0,0,0,0
$GC,6206,-1.22,-146.0,590.4,-8.4,261,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1574,3379,0,0,0,0,0,0
$GC,6449,-1.22,-146.0,610.5,-8.2,267,6454,0.00,2.47,0.00,0.000,4,0.000,0.078,3120,163,3378,0,0,0,0,0,0
$GC,6482,-1.22,-146.0,613.7,-9.8,267,6486,0.00,2.30,0.00,0.000,6,0.000,0.032,3120,1580,3377,0,0,0,0,0,0
$GC,6734,-1.22,-146.0,634.7,-8.4,273,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1580,3376,0,0,0,0,0,0
$GC,6976,-1.22,-146.0,654.8,-8.2,279,6980,0.00,2.47,0.00,0.000,4,0.000,0.073,3120,169,3375,0,0,0,0,0,0
$GC,6995,-1.22,-146.0,656.4,-8.2,279,6999,0.00,2.30,0.00,0.000,6,0.000,0.032,3120,1581,3374,0,0,0,0,0,0
$GC,7261,-1.22,-146.0,677.3,-7.9,286,7265,0.00,2.67,0.00,0.000,4,0.000,0.054,3120,3161,3373,0,0,0,0,0,0
$GC,7286,-1.22,-146.0,679.5,-8.4,286,7291,0.00,2.65,0.00,0.000,6,0.000,0.047,3120,1584,3373,0,0,0,0,0,0
$GC,7546,-1.22,-146.0,699.6,-7.8,293,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1584,3372,0,0,0,0,0,0
$GC,7791,-1.22,-146.0,717.1,-7.1,299,7795,0.00,2.50,0.00,0.000,4,0.000,0.081,3120,167,3371,0,0,0,0,0,0
$GC,7819,-1.22,-146.0,719.5,-8.3,299,7823,0.00,2.30,0.00,0.000,6,0.000,0.034,3120,1577,3371,0,0,0,0,0,0
$GC,8074,-1.22,-146.0,737.1,-6.8,306,8078,0.00,2.47,0.00,0.000,4,0.000,0.074,3120,168,3369,0,0,0,0,0,0
$GC,8090,-1.22,-146.0,738.2,-6.8,306,8094,0.00,2.30,0.00,0.000,6,0.000,0.033,3120,1578,3369,0,0,0,0,0,0
$GC,8358,-1.22,-146.0,756.6,-6.8,313,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1578,3368,0,0,0,0,0,0
$GC,8602,-1.22,-146.0,774.1,-7.1,319,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1578,3367,0,0,0,0,0,0
$GC,8845,-1.22,-146.0,791.8,-7.4,325,8850,0.00,2.67,0.00,0.000,4,0.000,0.054,3120,3161,3367,0,0,0,0,0,0
$GC,8861,-1.22,-146.0,793.0,-7.5,325,8866,0.00,2.70,0.00,0.000,6,0.000,0.048,3120,1568,3367,0,0,0,0,0,0
$GC,9130,-1.22,-146.0,811.8,-6.8,332,9135,0.00,2.47,0.00,0.000,4,0.000,0.082,3120,169,3365,0,0,0,0,0,0
$GC,9159,-1.22,-146.0,813.9,-7.4,332,9163,0.00,2.30,0.00,0.000,6,0.000,0.034,3120,1575,3365,0,0,0,0,0,0
$GC,9415,-1.22,-146.0,831.8,-7.2,339,9416,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1575,3365,0,0,0,0,0,0
$GC,9657,-1.22,-146.0,850.7,-7.9,345,9661,0.00,2.67,0.00,0.000,4,0.000,0.054,3120,3153,3364,0,0,0,0,0,0
$GC,9686,-1.29,-146.0,853.3,-9.7,345,9690,0.00,2.67,0.00,0.000,6,0.000,0.054,3120,1575,3363,0,0,0,0,0,0
$GC,9942,-1.29,-146.0,873.2,-7.8,352,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1575,3363,0,0,0,0,0,0
$GC,10184,-1.29,-146.0,892.3,-7.8,358,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1575,3362,0,0,0,0,0,0
$STATE,10303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10303,begin apogee
$GC,10310,-0.31,0.0,901.7,7.7,361,10432,0.88,0.00,119.12,1.164,6,0.082,0.000,3317,1340,2800,0,0,0,0,0,0
$STATE,10433,end apogee,CONTROL_FINISHED_OK
$STATE,10433,begin climb
$GC,10437,1.27,146.0,906.7,0.0,364,10579,1.48,2.22,130.73,1.140,4,0.039,0.084,3670,166,2204,0,0,0,0,0,0
$GC,10603,0.97,146.0,899.6,14.0,368,10608,0.35,1.98,0.00,0.000,6,0.112,0.031,3599,1354,2201,0,0,0,0,0,0
$GC,10879,0.91,166.9,874.0,9.0,375,10903,0.00,2.20,18.88,1.045,4,0.000,0.074,3599,171,2118,0,0,0,0,0,0
$GC,10946,0.79,166.9,866.9,11.3,376,10951,0.20,1.95,0.00,0.000,6,0.108,0.031,3558,1347,2118,0,0,0,0,0,0
$GC,11212,0.84,206.4,845.1,8.2,383,11255,0.00,2.78,37.15,1.078,4,0.000,0.056,3558,2933,1957,0,0,0,0,0,0
$GC,11295,0.92,206.9,837.6,10.0,384,11304,0.12,2.75,0.00,0.000,6,0.067,0.050,3603,1353,1953,0,0,0,0,0,0
$GC,11549,0.86,206.9,807.2,12.1,391,11554,0.15,2.15,0.00,0.000,4,0.110,0.087,3573,161,1952,0,0,0,0,0,0
$GC,11601,0.86,206.9,800.6,12.4,392,11604,0.00,1.95,0.00,0.000,6,0.000,0.031,3573,1345,1952,0,0,0,0,0,0
$GC,11884,0.86,206.9,770.2,10.9,399,11888,0.00,2.72,0.00,0.000,4,0.000,0.055,3573,2936,1950,0,0,0,0,0,0
$GC,11922,0.92,206.9,765.9,10.3,399,11927,0.00,2.75,0.00,0.000,6,0.000,0.050,3572,1341,1947,0,0,0,0,0,0
$GC,12171,0.92,206.9,738.8,10.8,406,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1340,1948,0,0,0,0,0,0
$GC,12417,0.92,206.9,713.0,10.7,412,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1340,1947,0,0,0,0,0,0
$GC,12659,0.92,206.9,686.5,10.9,418,12660,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1341,1947,0,0,0,0,0,0
$GC,12902,0.92,206.9,660.4,10.6,424,12904,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1341,1947,0,0,0,0,0,0
$GC,13146,0.92,206.9,633.8,10.8,430,13151,0.00,2.70,0.00,0.000,4,0.000,0.045,3573,2939,1946,0,0,0,0,0,0
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$STATE,18734,end climb,SURFACE_DEPTH_REACHED
$STATE,18734,begin surface coast
$FINISH,0.9,1.023444
$STATE,18775,end surface coast,CONTROL_FINISHED_OK
$STATE,18775,begin surface
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$TT8_MAMPS,0.027612
$HUMID,63.54
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.30
$XPDR_PINGS,17
$24V_AH,23.3,23.609
$10V_AH,9.9,20.783
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.875,199.900,393.275,44.575,0.000,31.356,35.614,236.324,4.250,0.000,34.917,1549.907,14055.292,553.879,2398.181,752.497,33.372,1618.698,0.000,2368.157,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,54298,700
$CAP_FILE_SIZE,181205,0
$CFSIZE,260165632,160178176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260613,010106,2247.883,-15744.938,36,1.3,36,10.1