version: 66.06
glider: 148
mission: 12
dive: 191
start: 7 2 113 8 29 16
data:
$ID,148
$MISSION,12
$DIVE,191
$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,-1019970.9
$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,37
$R_STBD_OVSHOOT,91
$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
$GPS1,082041,2247.594,-15757.033,31,1.9,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.8
$GPS2,082824,2247.570,-15757.089,13,1.2,31,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE2
$TGT_LATLONG,2307.000,-15736.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.202,0.163
$KALMAN_X,-213210.3,-41.3,-177.0,218502.5,-514.5
$KALMAN_Y,109760.5,361.8,-132.1,-105208.6,182.7
$MHEAD_RNG_PITCHd_Wd,41.0,50844,-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,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.35,0.000,2,0.000,0.000,417,1557,2980,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.6,-5.0,9,123,13.85,2.50,-7.25,0.000,4,0.147,0.035,3101,3103,3399,0,0,0,0,0,0
$GC,134,-0.33,-146.0,19.5,-37.4,14,144,0.93,2.50,0.00,0.000,6,0.084,0.033,3310,1574,3399,0,0,0,0,0,0
$GC,417,-0.54,-146.0,40.4,-5.0,47,425,0.17,0.00,0.00,0.000,6,0.046,0.000,3216,1574,3400,0,0,0,0,0,0
$GC,683,-0.54,-146.0,61.2,-6.8,72,692,0.22,0.00,0.00,0.000,6,0.084,0.000,3268,1574,3400,0,0,0,0,0,0
$GC,952,-0.74,-146.0,73.4,-5.3,97,961,0.17,0.00,0.00,0.000,6,0.047,0.000,3191,1573,3401,0,0,0,0,0,0
$GC,1215,-0.74,-146.0,99.2,-10.0,122,1220,0.15,2.45,0.00,0.000,4,0.095,0.022,3225,3113,3402,0,0,0,0,0,0
$GC,1239,-0.79,-146.0,101.5,-9.3,123,1245,0.00,2.47,0.00,0.000,6,0.000,0.026,3224,1568,3402,0,0,0,0,0,0
$GC,1503,-0.87,-146.0,121.1,-7.3,148,1507,0.12,2.30,0.00,0.000,4,0.063,0.044,3163,164,3402,0,0,0,0,0,0
$GC,1525,-0.87,-146.0,122.5,-7.0,149,1529,0.15,2.08,0.00,0.000,6,0.099,0.017,3196,1582,3402,0,0,0,0,0,0
$GC,1789,-0.87,-146.0,148.2,-10.1,173,1793,0.00,2.38,0.00,0.000,4,0.000,0.022,3196,3099,3402,0,0,0,0,0,0
$GC,1808,-0.92,-146.0,150.6,-10.6,174,1818,0.00,2.47,0.00,0.000,6,0.000,0.026,3196,1575,3402,0,0,0,0,0,0
$GC,2076,-0.92,-146.0,176.4,-9.3,199,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1575,3403,0,0,0,0,0,0
$GC,2341,-0.98,-146.0,198.5,-7.5,224,2346,0.10,2.42,0.00,0.000,4,0.077,0.022,3135,3102,3402,0,0,0,0,0,0
$GC,2361,-0.98,-146.0,200.7,-9.1,225,2366,0.17,2.42,0.00,0.000,6,0.091,0.027,3175,1581,3403,0,0,0,0,0,0
$GC,2628,-0.98,-146.0,221.9,-7.7,232,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1581,3403,0,0,0,0,0,0
$GC,2873,-0.98,-146.0,242.0,-8.6,238,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1581,3403,0,0,0,0,0,0
$GC,3115,-0.98,-146.0,263.9,-8.8,244,3119,0.00,2.40,0.00,0.000,4,0.000,0.023,3175,3105,3403,0,0,0,0,0,0
$GC,3135,-1.03,-146.0,266.0,-9.7,244,3139,0.00,2.45,0.00,0.000,6,0.000,0.027,3175,1573,3402,0,0,0,0,0,0
$GC,3401,-1.09,-146.0,287.6,-7.9,251,3406,0.12,2.45,0.00,0.000,4,0.064,0.025,3114,3098,3402,0,0,0,0,0,0
$GC,3416,-1.09,-146.0,289.2,-7.4,251,3421,0.15,2.45,0.00,0.000,6,0.097,0.029,3149,1588,3402,0,0,0,0,0,0
$GC,3685,-1.09,-146.0,308.5,-6.6,258,3689,0.00,2.35,0.00,0.000,4,0.000,0.051,3149,164,3402,0,0,0,0,0,0
$GC,3734,-1.09,-146.0,311.8,-7.7,259,3738,0.00,2.12,0.00,0.000,6,0.000,0.020,3149,1557,3402,0,0,0,0,0,0
$GC,4021,-1.09,-146.0,334.1,-8.0,266,4025,0.00,2.50,0.00,0.000,4,0.000,0.030,3149,3134,3400,0,0,0,0,0,0
$GC,4054,-1.16,-146.0,336.7,-7.3,266,4059,0.00,2.53,0.00,0.000,6,0.000,0.034,3149,1596,3400,0,0,0,0,0,0
$GC,4306,-1.16,-146.0,355.2,-7.3,272,4310,0.00,2.38,0.00,0.000,4,0.000,0.056,3148,170,3399,0,0,0,0,0,0
$GC,4352,-1.16,-146.0,358.7,-6.9,273,4357,0.00,2.17,0.00,0.000,6,0.000,0.022,3149,1580,3399,0,0,0,0,0,0
$GC,4639,-1.16,-146.0,375.9,-6.1,280,4643,0.00,2.53,0.00,0.000,4,0.000,0.033,3149,3145,3397,0,0,0,0,0,0
$GC,4672,-1.24,-146.0,378.2,-6.1,280,4677,0.15,2.58,0.00,0.000,6,0.054,0.037,3093,1590,3397,0,0,0,0,0,0
$GC,4926,-1.14,-146.0,401.4,-9.8,286,4931,0.20,2.40,0.00,0.000,4,0.094,0.059,3137,167,3395,0,0,0,0,0,0
$GC,4985,-1.14,-146.0,407.1,-8.9,287,4989,0.00,2.22,0.00,0.000,6,0.000,0.023,3137,1581,3395,0,0,0,0,0,0
$GC,5258,-1.14,-146.0,428.9,-7.9,294,5262,0.00,2.53,0.00,0.000,4,0.000,0.038,3137,3140,3393,0,0,0,0,0,0
$GC,5277,-1.14,-146.0,430.5,-8.3,294,5282,0.00,2.58,0.00,0.000,6,0.000,0.037,3137,1588,3392,0,0,0,0,0,0
$GC,5547,-1.14,-146.0,450.1,-7.4,301,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1588,3391,0,0,0,0,0,0
$GC,5787,-1.14,-146.0,468.5,-7.5,307,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1588,3389,0,0,0,0,0,0
$GC,6031,-1.14,-146.0,488.3,-8.4,313,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1588,3388,0,0,0,0,0,0
$GC,6278,-1.14,-146.0,507.3,-7.7,319,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1588,3386,0,0,0,0,0,0
$GC,6519,-1.14,-146.0,525.2,-7.4,325,6523,0.00,2.60,0.00,0.000,4,0.000,0.048,3137,3134,3385,0,0,0,0,0,0
$GC,6543,-1.19,-146.0,527.4,-9.0,325,6547,0.00,2.55,0.00,0.000,6,0.000,0.040,3137,1599,3385,0,0,0,0,0,0
$GC,6802,-1.19,-146.0,549.4,-8.9,332,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1599,3383,0,0,0,0,0,0
$GC,7049,-1.19,-146.0,571.7,-9.2,338,7053,0.00,2.47,0.00,0.000,4,0.000,0.075,3137,169,3382,0,0,0,0,0,0
$GC,7072,-1.19,-146.0,574.4,-10.6,338,7077,0.00,2.30,0.00,0.000,6,0.000,0.031,3137,1595,3381,0,0,0,0,0,0
$GC,7336,-1.19,-146.0,596.4,-8.2,345,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1595,3380,0,0,0,0,0,0
$GC,7582,-1.19,-146.0,614.3,-7.1,351,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1595,3378,0,0,0,0,0,0
$GC,7824,-1.24,-146.0,630.5,-6.5,357,7826,0.10,0.00,0.00,0.000,6,0.076,0.000,3089,1595,3377,0,0,0,0,0,0
$GC,8068,-1.18,-146.0,650.5,-8.2,363,8073,0.17,2.50,0.00,0.000,4,0.096,0.074,3128,169,3376,0,0,0,0,0,0
$GC,8116,-1.23,-146.0,653.6,-6.4,364,8121,0.00,2.30,0.00,0.000,6,0.000,0.035,3128,1595,3376,0,0,0,0,0,0
$GC,8403,-1.23,-146.0,671.5,-6.1,371,8408,0.00,2.62,0.00,0.000,4,0.000,0.054,3128,3159,3375,0,0,0,0,0,0
$GC,8437,-1.31,-146.0,673.7,-6.7,371,8442,0.12,2.65,0.00,0.000,6,0.064,0.048,3073,1599,3375,0,0,0,0,0,0
$GC,8689,-1.22,-146.0,695.7,-9.0,377,8694,0.20,2.53,0.00,0.000,4,0.098,0.079,3118,170,3373,0,0,0,0,0,0
$GC,8715,-1.22,-146.0,698.3,-10.0,377,8719,0.00,2.35,0.00,0.000,6,0.000,0.035,3117,1606,3373,0,0,0,0,0,0
$GC,8976,-1.22,-146.0,718.8,-8.0,384,8980,0.00,2.53,0.00,0.000,4,0.000,0.074,3117,170,3372,0,0,0,0,0,0
$GC,9004,-1.22,-146.0,721.5,-9.5,384,9009,0.00,2.33,0.00,0.000,6,0.000,0.035,3117,1602,3372,0,0,0,0,0,0
$GC,9263,-1.22,-146.0,742.5,-8.2,391,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1602,3371,0,0,0,0,0,0
$GC,9505,-1.22,-146.0,763.0,-8.4,397,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1602,3370,0,0,0,0,0,0
$GC,9751,-1.22,-146.0,783.3,-8.3,403,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1602,3369,0,0,0,0,0,0
$GC,9994,-1.22,-146.0,803.3,-8.3,409,9998,0.00,2.65,0.00,0.000,4,0.000,0.054,3118,3162,3368,0,0,0,0,0,0
$GC,10018,-1.22,-146.0,805.9,-9.7,409,10022,0.00,2.67,0.00,0.000,6,0.000,0.048,3118,1593,3368,0,0,0,0,0,0
$GC,10279,-1.22,-146.0,827.0,-8.1,416,10283,0.00,2.53,0.00,0.000,4,0.000,0.082,3117,166,3367,0,0,0,0,0,0
$GC,10303,-1.22,-146.0,829.2,-9.2,416,10307,0.00,2.35,0.00,0.000,6,0.000,0.035,3118,1599,3367,0,0,0,0,0,0
$GC,10562,-1.22,-146.0,849.4,-7.6,423,10563,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1599,3366,0,0,0,0,0,0
$GC,10807,-1.22,-146.0,867.4,-7.4,429,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1599,3365,0,0,0,0,0,0
$GC,11049,-1.22,-146.0,884.8,-7.1,435,11054,0.00,2.50,0.00,0.000,4,0.000,0.074,3117,167,3365,0,0,0,0,0,0
$GC,11096,-1.22,-146.0,888.2,-7.9,436,11100,0.00,2.33,0.00,0.000,6,0.000,0.035,3117,1598,3364,0,0,0,0,0,0
$STATE,11299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11299,begin apogee
$GC,11306,-0.31,0.0,902.3,6.7,441,11429,0.88,0.00,119.40,1.162,6,0.075,0.000,3318,1338,2800,0,0,0,0,0,0
$STATE,11429,end apogee,CONTROL_FINISHED_OK
$STATE,11429,begin climb
$GC,11432,1.27,146.0,905.1,0.0,444,11570,1.42,2.17,129.50,1.137,4,0.035,0.078,3664,172,2203,0,0,0,0,0,0
$GC,11724,1.00,146.0,875.7,16.5,450,11729,0.30,1.95,0.00,0.000,6,0.113,0.030,3603,1351,2197,0,0,0,0,0,0
$GC,11988,0.91,146.0,845.6,11.3,457,11992,0.00,2.10,0.00,0.000,4,0.000,0.072,3603,172,2192,0,0,0,0,0,0
$GC,12062,0.77,146.0,835.9,11.5,458,12067,0.22,1.92,0.00,0.000,6,0.103,0.030,3555,1345,2192,0,0,0,0,0,0
$GC,12319,0.81,179.9,813.9,8.4,465,12351,0.00,0.00,30.15,1.056,6,0.000,0.000,3555,1346,2066,0,0,0,0,0,0
$GC,12561,0.83,197.1,791.8,9.2,471,12585,0.00,2.75,16.90,1.003,4,0.000,0.053,3555,2930,1994,0,0,0,0,0,0
$GC,12595,0.88,197.1,788.5,10.5,471,12606,0.10,2.75,0.00,0.000,6,0.077,0.048,3595,1353,1992,0,0,0,0,0,0
$GC,12851,0.88,197.1,759.4,11.8,478,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,1353,1991,0,0,0,0,0,0
$GC,13094,0.88,197.1,730.5,11.8,484,13098,0.00,2.67,0.00,0.000,4,0.000,0.044,3595,2931,1989,0,0,0,0,0,0
$GC,13108,0.88,197.1,728.6,11.7,484,13113,0.00,2.75,0.00,0.000,6,0.000,0.051,3595,1342,1988,0,0,0,0,0,0
$GC,13378,0.88,197.1,696.9,11.9,491,13382,0.00,2.10,0.00,0.000,4,0.000,0.085,3595,162,1988,0,0,0,0,0,0
$GC,13421,0.81,197.1,691.2,13.9,492,13426,0.17,1.95,0.00,0.000,6,0.102,0.028,3559,1363,1988,0,0,0,0,0,0
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$STATE,19505,end climb,SURFACE_DEPTH_REACHED
$STATE,19505,begin surface coast
$FINISH,0.8,1.006051
$STATE,19539,end surface coast,CONTROL_FINISHED_OK
$STATE,19539,begin surface
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$SM_GC,1.70,0.00,0.00,30.17,0.000,0.000,0.435,414,1640,1248,-13.67,1.98,380.21
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$TT8_MAMPS,0.027612
$HUMID,65.90
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.80
$XPDR_PINGS,22
$24V_AH,23.3,27.874
$10V_AH,9.9,24.625
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,35.275,204.925,430.725,30.175,0.000,29.966,34.978,216.451,5.500,0.000,32.976,1658.709,14108.037,548.474,2949.743,777.747,33.374,1705.236,0.000,2944.850,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,522.717,379.585,481.494,1308.293,1680.941,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,60489,767
$CAP_FILE_SIZE,187749,0
$CFSIZE,260165632,157958144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020713,135706,2250.147,-15755.747,34,1.0,34,10.1