version: 66.06
glider: 148
mission: 12
dive: 171
start: 6 27 113 20 24 49
data:
$ID,148
$MISSION,12
$DIVE,171
$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,-1019582.5
$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,28
$R_STBD_OVSHOOT,82
$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
$GPS1,201405,2242.595,-15737.921,38,1.6,43,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-76.9
$GPS2,202355,2242.631,-15738.039,12,1.1,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.016,0.259
$KALMAN_X,-188112.6,-171.1,-588.3,226482.7,404.6
$KALMAN_Y,82769.3,38.5,-29.3,-87150.2,1945.6
$MHEAD_RNG_PITCHd_Wd,353.5,42458,-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,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,84,0.00,0.00,-66.95,0.000,2,0.000,0.000,417,1627,2945,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.0,-3.5,9,120,13.95,2.40,-8.50,0.000,4,0.148,0.035,3102,3118,3398,0,0,0,0,0,0
$GC,188,-1.12,-146.0,26.1,-16.7,23,198,0.12,2.55,0.00,0.000,6,0.084,0.032,3135,1573,3399,0,0,0,0,0,0
$GC,462,-0.94,-146.0,69.1,-16.8,49,467,0.20,2.30,0.00,0.000,4,0.101,0.041,3178,167,3399,0,0,0,0,0,0
$GC,485,-0.80,-146.0,73.2,-17.0,50,490,0.15,2.10,0.00,0.000,6,0.108,0.017,3210,1586,3399,0,0,0,0,0,0
$GC,749,-0.85,-146.0,100.7,-9.7,74,750,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1588,3400,0,0,0,0,0,0
$GC,1003,-0.91,-146.0,123.0,-8.3,98,1008,0.10,2.38,0.00,0.000,4,0.075,0.021,3153,3102,3400,0,0,0,0,0,0
$GC,1023,-0.91,-146.0,124.7,-8.7,99,1028,0.15,2.47,0.00,0.000,6,0.092,0.027,3188,1556,3400,0,0,0,0,0,0
$GC,1288,-0.91,-146.0,149.4,-8.5,123,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1556,3400,0,0,0,0,0,0
$GC,1552,-0.91,-146.0,172.3,-8.7,148,1556,0.00,2.25,0.00,0.000,4,0.000,0.044,3188,172,3400,0,0,0,0,0,0
$GC,1576,-0.91,-146.0,175.0,-10.4,150,1580,0.00,2.05,0.00,0.000,6,0.000,0.018,3188,1556,3400,0,0,0,0,0,0
$GC,1849,-0.91,-146.0,197.7,-7.8,175,1853,0.00,2.40,0.00,0.000,4,0.000,0.021,3188,3102,3400,0,0,0,0,0,0
$GC,1882,-1.02,-146.0,200.8,-7.2,177,1887,0.12,2.47,0.00,0.000,6,0.061,0.028,3118,1559,3400,0,0,0,0,0,0
$GC,2134,-0.90,-146.0,229.6,-11.9,183,2139,0.30,2.42,0.00,0.000,4,0.086,0.021,3187,3102,3400,0,0,0,0,0,0
$GC,2153,-0.90,-146.0,231.9,-10.7,183,2158,0.00,2.45,0.00,0.000,6,0.000,0.027,3187,1568,3400,0,0,0,0,0,0
$GC,2418,-0.96,-146.0,252.4,-7.7,190,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1568,3400,0,0,0,0,0,0
$GC,2663,-1.03,-146.0,272.0,-8.1,196,2668,0.12,2.33,0.00,0.000,4,0.063,0.048,3126,176,3400,0,0,0,0,0,0
$GC,2719,-0.95,-146.0,279.1,-13.6,197,2724,0.22,2.08,0.00,0.000,6,0.085,0.018,3177,1550,3400,0,0,0,0,0,0
$GC,2995,-1.02,-146.0,300.7,-7.4,204,3000,0.00,2.47,0.00,0.000,4,0.000,0.025,3178,3128,3400,0,0,0,0,0,0
$GC,3033,-1.18,-146.0,303.9,-7.1,204,3040,0.22,2.50,0.00,0.000,6,0.040,0.031,3077,1583,3399,0,0,0,0,0,0
$GC,3283,-1.04,-146.0,335.1,-13.1,211,3289,0.32,2.35,0.00,0.000,4,0.087,0.050,3154,168,3398,0,0,0,0,0,0
$GC,3329,-1.04,-146.0,339.8,-9.4,212,3333,0.00,2.15,0.00,0.000,6,0.000,0.021,3154,1569,3398,0,0,0,0,0,0
$GC,3616,-1.04,-146.0,359.6,-6.6,219,3620,0.00,2.50,0.00,0.000,4,0.000,0.031,3154,3133,3397,0,0,0,0,0,0
$GC,3637,-1.10,-146.0,361.1,-7.3,219,3642,0.00,2.55,0.00,0.000,6,0.000,0.036,3154,1574,3397,0,0,0,0,0,0
$GC,3902,-1.14,-146.0,382.0,-8.1,226,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1574,3396,0,0,0,0,0,0
$GC,4145,-1.19,-146.0,400.4,-7.3,232,4147,0.12,0.00,0.00,0.000,6,0.064,0.000,3095,1574,3395,0,0,0,0,0,0
$GC,4390,-1.11,-146.0,425.0,-10.5,238,4392,0.20,0.00,0.00,0.000,6,0.089,0.000,3141,1574,3392,0,0,0,0,0,0
$GC,4633,-1.11,-146.0,445.7,-8.5,244,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1574,3391,0,0,0,0,0,0
$GC,4876,-1.11,-146.0,467.3,-8.7,250,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1574,3389,0,0,0,0,0,0
$GC,5120,-1.11,-146.0,486.6,-7.7,256,5124,0.00,2.60,0.00,0.000,4,0.000,0.044,3141,3133,3387,0,0,0,0,0,0
$GC,5136,-1.11,-146.0,487.8,-7.7,256,5141,0.00,2.58,0.00,0.000,6,0.000,0.037,3140,1575,3387,0,0,0,0,0,0
$GC,5405,-1.11,-146.0,509.4,-8.3,263,5409,0.00,2.42,0.00,0.000,4,0.000,0.071,3141,167,3386,0,0,0,0,0,0
$GC,5442,-1.11,-146.0,513.0,-9.7,263,5448,0.00,2.22,0.00,0.000,6,0.000,0.028,3141,1566,3385,0,0,0,0,0,0
$GC,5694,-1.11,-146.0,534.8,-8.9,270,5698,0.00,2.60,0.00,0.000,4,0.000,0.044,3141,3146,3384,0,0,0,0,0,0
$GC,5728,-1.20,-146.0,537.9,-8.1,270,5732,0.00,2.62,0.00,0.000,6,0.000,0.042,3141,1578,3384,0,0,0,0,0,0
$GC,5978,-1.20,-146.0,556.8,-7.3,276,5982,0.00,2.47,0.00,0.000,4,0.000,0.076,3141,162,3382,0,0,0,0,0,0
$GC,6026,-1.26,-146.0,560.5,-7.7,277,6031,0.12,2.28,0.00,0.000,6,0.063,0.033,3086,1568,3382,0,0,0,0,0,0
$GC,6310,-1.19,-146.0,584.1,-8.3,284,6315,0.17,2.65,0.00,0.000,4,0.098,0.048,3124,3161,3380,0,0,0,0,0,0
$GC,6341,-1.19,-146.0,586.2,-6.4,284,6345,0.00,2.67,0.00,0.000,6,0.000,0.044,3124,1572,3380,0,0,0,0,0,0
$GC,6596,-1.19,-146.0,602.5,-6.5,291,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1572,3379,0,0,0,0,0,0
$GC,6840,-1.19,-146.0,620.3,-7.4,297,6844,0.00,2.65,0.00,0.000,4,0.000,0.046,3124,3159,3378,0,0,0,0,0,0
$GC,6865,-1.24,-146.0,622.2,-9.0,297,6870,0.00,2.67,0.00,0.000,6,0.000,0.047,3124,1580,3377,0,0,0,0,0,0
$GC,7125,-1.24,-146.0,641.9,-7.8,304,7129,0.00,2.50,0.00,0.000,4,0.000,0.081,3124,166,3376,0,0,0,0,0,0
$GC,7190,-1.24,-146.0,647.6,-8.9,305,7194,0.00,2.30,0.00,0.000,6,0.000,0.033,3124,1578,3375,0,0,0,0,0,0
$GC,7457,-1.24,-146.0,668.9,-8.0,312,7461,0.00,2.67,0.00,0.000,4,0.000,0.052,3124,3160,3374,0,0,0,0,0,0
$GC,7476,-1.24,-146.0,670.7,-8.4,312,7481,0.00,2.70,0.00,0.000,6,0.000,0.046,3124,1569,3374,0,0,0,0,0,0
$GC,7740,-1.24,-146.0,689.5,-6.8,319,7744,0.00,2.45,0.00,0.000,4,0.000,0.080,3124,167,3373,0,0,0,0,0,0
$GC,7770,-1.24,-146.0,691.5,-7.8,319,7774,0.00,2.30,0.00,0.000,6,0.000,0.034,3124,1577,3373,0,0,0,0,0,0
$GC,8031,-1.24,-146.0,707.0,-5.8,326,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1577,3371,0,0,0,0,0,0
$GC,8273,-1.24,-146.0,721.3,-6.0,332,8277,0.00,2.47,0.00,0.000,4,0.000,0.074,3124,169,3370,0,0,0,0,0,0
$GC,8298,-1.24,-146.0,723.1,-7.5,332,8302,0.00,2.30,0.00,0.000,6,0.000,0.034,3124,1576,3370,0,0,0,0,0,0
$GC,8557,-1.24,-146.0,740.7,-6.8,339,8562,0.00,2.65,0.00,0.000,4,0.000,0.053,3124,3159,3369,0,0,0,0,0,0
$GC,8586,-1.32,-146.0,742.7,-7.3,339,8593,0.12,2.70,0.00,0.000,6,0.064,0.049,3068,1573,3369,0,0,0,0,0,0
$GC,8845,-1.23,-146.0,766.1,-9.4,346,8851,0.22,2.47,0.00,0.000,4,0.093,0.079,3117,170,3368,0,0,0,0,0,0
$GC,8879,-1.23,-146.0,769.2,-7.9,346,8883,0.00,2.30,0.00,0.000,6,0.000,0.035,3118,1575,3368,0,0,0,0,0,0
$GC,9129,-1.23,-146.0,785.4,-6.4,352,9134,0.00,2.67,0.00,0.000,4,0.000,0.054,3117,3157,3366,0,0,0,0,0,0
$GC,9155,-1.28,-146.0,787.0,-6.6,352,9160,0.00,2.67,0.00,0.000,6,0.000,0.048,3117,1572,3366,0,0,0,0,0,0
$GC,9415,-1.28,-146.0,804.1,-6.8,359,9419,0.00,2.47,0.00,0.000,4,0.000,0.081,3118,171,3365,0,0,0,0,0,0
$GC,9448,-1.28,-146.0,806.7,-8.2,359,9452,0.00,2.33,0.00,0.000,6,0.000,0.035,3117,1586,3365,0,0,0,0,0,0
$GC,9699,-1.28,-146.0,824.9,-7.3,365,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1587,3365,0,0,0,0,0,0
$GC,9941,-1.28,-146.0,843.9,-7.7,371,9946,0.00,2.50,0.00,0.000,4,0.000,0.075,3118,169,3364,0,0,0,0,0,0
$GC,9971,-1.28,-146.0,846.3,-8.7,371,9975,0.00,2.33,0.00,0.000,6,0.000,0.035,3118,1585,3363,0,0,0,0,0,0
$GC,10227,-1.28,-146.0,865.9,-7.5,378,10232,0.00,2.67,0.00,0.000,4,0.000,0.055,3118,3161,3362,0,0,0,0,0,0
$GC,10252,-1.33,-146.0,868.0,-8.6,378,10257,0.10,2.70,0.00,0.000,6,0.074,0.050,3063,1579,3363,0,0,0,0,0,0
$GC,10513,-1.25,-146.0,892.2,-9.3,385,10518,0.22,2.50,0.00,0.000,4,0.092,0.081,3113,169,3362,0,0,0,0,0,0
$GC,10571,-1.25,-146.0,897.0,-8.0,386,10575,0.00,2.33,0.00,0.000,6,0.000,0.036,3113,1581,3362,0,0,0,0,0,0
$STATE,10638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10638,begin apogee
$GC,10645,-0.31,0.0,901.8,6.7,388,10767,0.88,0.00,119.15,1.160,6,0.073,0.000,3314,1337,2800,0,0,0,0,0,0
$STATE,10768,end apogee,CONTROL_FINISHED_OK
$STATE,10768,begin climb
$GC,10772,1.27,146.0,904.2,0.0,391,10910,1.45,2.15,129.55,1.135,4,0.031,0.077,3670,178,2203,0,0,0,0,0,0
$GC,10967,0.98,146.0,888.3,17.6,395,10972,0.35,1.95,0.00,0.000,6,0.107,0.032,3599,1351,2199,0,0,0,0,0,0
$GC,11227,0.90,146.0,856.5,11.9,402,11231,0.00,2.10,0.00,0.000,4,0.000,0.071,3598,174,2193,0,0,0,0,0,0
$GC,11280,0.78,146.0,849.7,13.4,403,11285,0.20,1.95,0.00,0.000,6,0.106,0.031,3557,1355,2194,0,0,0,0,0,0
$GC,11563,0.78,149.8,821.1,9.8,410,11567,0.00,2.10,0.00,0.000,4,0.000,0.074,3557,176,2191,0,0,0,0,0,0
$GC,11600,0.74,149.8,817.0,10.6,410,11606,0.00,1.92,0.00,0.000,6,0.000,0.031,3557,1346,2191,0,0,0,0,0,0
$GC,11852,0.75,159.9,793.1,9.5,417,11865,0.00,0.00,11.57,0.967,6,0.000,0.000,3557,1345,2148,0,0,0,0,0,0
$GC,12094,0.78,180.0,770.7,9.1,423,12119,0.00,2.78,19.80,1.013,4,0.000,0.054,3557,2933,2066,0,0,0,0,0,0
$GC,12136,0.86,214.5,767.1,8.4,424,12178,0.00,2.78,33.83,1.035,6,0.000,0.049,3557,1340,1924,0,0,0,0,0,0
$GC,12426,0.92,225.3,739.6,9.5,431,12443,0.12,2.78,10.80,0.924,4,0.069,0.047,3604,2935,1880,0,0,0,0,0,0
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$STATE,18506,end climb,SURFACE_DEPTH_REACHED
$STATE,18506,begin surface coast
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$STATE,18542,end surface coast,CONTROL_FINISHED_OK
$STATE,18543,begin surface
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$10V_AH,9.9,21.941
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$FG_AHR_10Vo,0.000
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$MEM,355576
$DATA_FILE_SIZE,54283,704
$CAP_FILE_SIZE,189760,0
$CFSIZE,260165632,159494144
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$GPS,280613,013626,2246.410,-15738.739,28,99.0,47,10.1