version: 66.06
glider: 148
mission: 12
dive: 222
start: 7 9 113 9 13 48
data:
$ID,148
$MISSION,12
$DIVE,222
$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,-1020512.2
$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,96
$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
$GPS1,090456,2253.114,-15721.388,23,4.0,42,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-79.3
$GPS2,091254,2253.232,-15721.367,10,1.3,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE_40
$TGT_LATLONG,2239.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.192
$KALMAN_X,-237874.3,17.0,43.3,303884.4,630.5
$KALMAN_Y,161475.4,359.8,352.9,-146925.3,1076.5
$MHEAD_RNG_PITCHd_Wd,127.7,49288,-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,16,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.10,0.000,2,0.000,0.000,413,1610,2971,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.6,-5.6,9,121,13.82,2.42,-7.57,0.000,4,0.145,0.051,3102,161,3398,0,0,0,0,0,0
$GC,272,-1.04,-146.0,48.2,-19.1,31,282,0.22,2.12,0.00,0.000,6,0.088,0.016,3154,1552,3398,0,0,0,0,0,0
$GC,535,-0.91,-146.0,85.7,-13.6,56,540,0.15,2.30,0.00,0.000,4,0.107,0.042,3187,168,3399,0,0,0,0,0,0
$GC,683,-0.91,-146.0,102.9,-10.2,69,689,0.00,2.12,0.00,0.000,6,0.000,0.017,3187,1577,3399,0,0,0,0,0,0
$GC,944,-0.91,-146.0,129.1,-10.0,94,948,0.00,2.40,0.00,0.000,4,0.000,0.021,3187,3122,3400,0,0,0,0,0,0
$GC,986,-0.97,-146.0,133.4,-10.1,97,992,0.00,2.50,0.00,0.000,6,0.000,0.028,3187,1579,3401,0,0,0,0,0,0
$GC,1251,-0.97,-146.0,158.7,-9.4,122,1255,0.00,2.30,0.00,0.000,4,0.000,0.043,3187,164,3400,0,0,0,0,0,0
$GC,1295,-0.97,-146.0,163.4,-10.2,126,1299,0.00,2.15,0.00,0.000,6,0.000,0.017,3187,1584,3400,0,0,0,0,0,0
$GC,1559,-0.97,-146.0,185.7,-8.7,150,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1586,3400,0,0,0,0,0,0
$GC,1836,-0.97,-146.0,212.7,-9.8,168,1841,0.00,2.33,0.00,0.000,4,0.000,0.043,3187,166,3400,0,0,0,0,0,0
$GC,1861,-0.97,-146.0,215.3,-10.5,168,1865,0.00,2.12,0.00,0.000,6,0.000,0.018,3187,1588,3401,0,0,0,0,0,0
$GC,2125,-0.97,-146.0,238.4,-8.6,175,2129,0.00,2.38,0.00,0.000,4,0.000,0.021,3187,3117,3401,0,0,0,0,0,0
$GC,2144,-1.03,-146.0,240.3,-8.1,175,2149,0.12,2.47,0.00,0.000,6,0.062,0.026,3117,1581,3400,0,0,0,0,0,0
$GC,2410,-0.92,-146.0,269.6,-11.4,182,2415,0.25,2.45,0.00,0.000,4,0.085,0.022,3179,3120,3401,0,0,0,0,0,0
$GC,2426,-0.87,-146.0,271.5,-11.0,182,2430,0.00,2.50,0.00,0.000,6,0.000,0.027,3179,1571,3401,0,0,0,0,0,0
$GC,2695,-0.93,-146.0,291.7,-7.7,189,2699,0.00,2.45,0.00,0.000,4,0.000,0.025,3179,3121,3401,0,0,0,0,0,0
$GC,2711,-0.99,-146.0,292.8,-7.3,189,2716,0.00,2.50,0.00,0.000,6,0.000,0.029,3179,1584,3400,0,0,0,0,0,0
$GC,2984,-1.06,-146.0,311.0,-6.7,196,2989,0.12,2.38,0.00,0.000,4,0.063,0.052,3116,162,3400,0,0,0,0,0,0
$GC,3003,-1.06,-146.0,313.1,-8.7,196,3008,0.17,2.17,0.00,0.000,6,0.091,0.019,3155,1575,3400,0,0,0,0,0,0
$GC,3270,-1.06,-146.0,335.8,-8.5,203,3274,0.00,2.47,0.00,0.000,4,0.000,0.030,3155,3128,3399,0,0,0,0,0,0
$GC,3317,-1.15,-146.0,339.7,-7.7,204,3321,0.00,2.55,0.00,0.000,6,0.000,0.034,3155,1577,3399,0,0,0,0,0,0
$GC,3605,-1.15,-146.0,361.4,-7.7,211,3609,0.00,2.38,0.00,0.000,4,0.000,0.056,3155,168,3398,0,0,0,0,0,0
$GC,3656,-1.15,-146.0,366.4,-8.5,212,3660,0.00,2.17,0.00,0.000,6,0.000,0.021,3155,1574,3397,0,0,0,0,0,0
$GC,3935,-1.15,-146.0,387.9,-7.6,219,3939,0.00,2.53,0.00,0.000,4,0.000,0.033,3155,3146,3396,0,0,0,0,0,0
$GC,3982,-1.26,-146.0,391.2,-7.7,220,3988,0.17,2.58,0.00,0.000,6,0.047,0.038,3075,1593,3396,0,0,0,0,0,0
$GC,4271,-1.12,-146.0,425.1,-11.9,227,4276,0.25,2.42,0.00,0.000,4,0.089,0.061,3136,170,3393,0,0,0,0,0,0
$GC,4352,-1.12,-146.0,433.4,-10.1,228,4356,0.00,2.20,0.00,0.000,6,0.000,0.025,3136,1576,3393,0,0,0,0,0,0
$GC,4602,-1.12,-146.0,454.6,-8.3,234,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1577,3391,0,0,0,0,0,0
$GC,4846,-1.12,-146.0,472.2,-6.9,240,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1577,3390,0,0,0,0,0,0
$GC,5091,-1.12,-146.0,488.3,-6.6,246,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1577,3388,0,0,0,0,0,0
$GC,5333,-1.12,-146.0,506.0,-7.4,252,5338,0.00,2.58,0.00,0.000,4,0.000,0.041,3136,3147,3387,0,0,0,0,0,0
$GC,5371,-1.20,-146.0,508.9,-6.9,252,5381,0.00,2.65,0.00,0.000,6,0.000,0.040,3136,1577,3386,0,0,0,0,0,0
$GC,5627,-1.20,-146.0,527.7,-7.6,259,5632,0.00,2.60,0.00,0.000,4,0.000,0.041,3136,3139,3385,0,0,0,0,0,0
$GC,5646,-1.20,-146.0,529.7,-7.5,259,5651,0.00,2.60,0.00,0.000,6,0.000,0.040,3136,1580,3385,0,0,0,0,0,0
$GC,5910,-1.20,-146.0,550.2,-7.9,266,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1580,3383,0,0,0,0,0,0
$GC,6156,-1.20,-146.0,570.0,-8.1,272,6160,0.00,2.47,0.00,0.000,4,0.000,0.075,3136,163,3381,0,0,0,0,0,0
$GC,6216,-1.20,-146.0,575.4,-9.0,273,6221,0.00,2.25,0.00,0.000,6,0.000,0.030,3136,1563,3381,0,0,0,0,0,0
$GC,6489,-1.20,-146.0,595.9,-7.8,280,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1563,3379,0,0,0,0,0,0
$GC,6734,-1.20,-146.0,615.3,-8.1,286,6739,0.00,2.45,0.00,0.000,4,0.000,0.073,3136,164,3377,0,0,0,0,0,0
$GC,6753,-1.20,-146.0,617.6,-8.8,286,6758,0.00,2.28,0.00,0.000,6,0.000,0.030,3136,1570,3377,0,0,0,0,0,0
$GC,7017,-1.20,-146.0,637.7,-7.3,293,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1571,3377,0,0,0,0,0,0
$GC,7262,-1.20,-146.0,653.6,-6.4,299,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1570,3376,0,0,0,0,0,0
$GC,7505,-1.20,-146.0,668.0,-5.9,305,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1570,3374,0,0,0,0,0,0
$GC,7748,-1.20,-146.0,682.9,-6.3,311,7753,0.00,2.67,0.00,0.000,4,0.000,0.052,3136,3151,3373,0,0,0,0,0,0
$GC,7772,-1.25,-146.0,684.5,-7.3,311,7778,0.10,2.70,0.00,0.000,6,0.074,0.048,3087,1563,3373,0,0,0,0,0,0
$GC,8035,-1.18,-146.0,708.4,-9.5,318,8037,0.17,0.00,0.00,0.000,6,0.098,0.000,3126,1563,3372,0,0,0,0,0,0
$GC,8276,-1.18,-146.0,727.8,-7.9,324,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1563,3370,0,0,0,0,0,0
$GC,8520,-1.18,-146.0,747.7,-8.2,330,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1563,3370,0,0,0,0,0,0
$GC,8765,-1.18,-146.0,767.2,-7.9,336,8770,0.00,2.65,0.00,0.000,4,0.000,0.044,3126,3156,3368,0,0,0,0,0,0
$GC,8796,-1.24,-146.0,769.6,-7.7,336,8801,0.00,2.70,0.00,0.000,6,0.000,0.049,3126,1570,3368,0,0,0,0,0,0
$GC,9055,-1.24,-146.0,788.9,-7.4,343,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1570,3367,0,0,0,0,0,0
$GC,9300,-1.24,-146.0,806.2,-7.0,349,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1570,3366,0,0,0,0,0,0
$GC,9542,-1.24,-146.0,822.8,-6.7,355,9546,0.00,2.50,0.00,0.000,4,0.000,0.084,3126,164,3366,0,0,0,0,0,0
$GC,9556,-1.24,-146.0,824.1,-7.0,355,9560,0.00,2.30,0.00,0.000,6,0.000,0.032,3126,1578,3365,0,0,0,0,0,0
$GC,9825,-1.24,-146.0,842.4,-6.8,362,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1578,3365,0,0,0,0,0,0
$GC,10070,-1.24,-146.0,859.4,-7.1,368,10074,0.00,2.47,0.00,0.000,4,0.000,0.075,3126,171,3364,0,0,0,0,0,0
$GC,10089,-1.24,-146.0,861.2,-8.2,368,10093,0.00,2.28,0.00,0.000,6,0.000,0.033,3126,1566,3364,0,0,0,0,0,0
$GC,10353,-1.24,-146.0,880.1,-7.2,375,10358,0.00,2.67,0.00,0.000,4,0.000,0.053,3126,3155,3363,0,0,0,0,0,0
$GC,10375,-1.29,-146.0,881.6,-7.3,375,10380,0.10,2.70,0.00,0.000,6,0.074,0.048,3079,1568,3363,0,0,0,0,0,0
$STATE,10596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10596,begin apogee
$GC,10603,-0.31,0.0,902.0,9.2,381,10726,1.05,0.00,119.55,1.157,6,0.077,0.000,3317,1348,2800,0,0,0,0,0,0
$STATE,10727,end apogee,CONTROL_FINISHED_OK
$STATE,10727,begin climb
$GC,10731,1.27,146.0,905.6,0.0,384,10869,1.42,2.20,129.43,1.138,4,0.033,0.084,3664,164,2203,0,0,0,0,0,0
$GC,10910,1.00,146.0,895.9,15.9,388,10915,0.30,1.98,0.00,0.000,6,0.111,0.031,3604,1359,2200,0,0,0,0,0,0
$GC,11198,0.92,146.0,865.1,10.2,395,11199,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1359,2193,0,0,0,0,0,0
$GC,11442,0.85,146.0,838.9,10.8,401,11446,0.15,2.12,0.00,0.000,4,0.112,0.072,3572,165,2192,0,0,0,0,0,0
$GC,11509,0.80,146.0,831.7,11.2,402,11513,0.00,1.95,0.00,0.000,6,0.000,0.030,3572,1343,2191,0,0,0,0,0,0
$GC,11781,0.81,155.4,806.0,9.6,409,11790,0.00,0.00,7.32,0.884,6,0.000,0.000,3572,1344,2166,0,0,0,0,0,0
$GC,12027,0.81,156.6,781.8,9.9,415,12030,0.00,2.08,0.00,0.000,4,0.000,0.073,3572,169,2164,0,0,0,0,0,0
$GC,12064,0.76,156.6,777.0,11.4,415,12068,0.10,1.92,0.00,0.000,6,0.130,0.029,3551,1350,2164,0,0,0,0,0,0
$GC,12323,0.83,171.6,753.1,9.3,422,12347,0.00,2.72,16.52,0.993,4,0.000,0.051,3552,2932,2098,0,0,0,0,0,0
$GC,12369,0.93,185.5,748.4,9.4,423,12390,0.15,2.75,14.18,0.968,6,0.059,0.050,3605,1350,2042,0,0,0,0,0,0
$GC,12665,0.89,185.5,713.6,11.9,430,12666,0.12,0.00,0.00,0.000,6,0.114,0.000,3579,1350,2038,0,0,0,0,0,0
$GC,12908,0.89,185.5,688.6,10.0,436,12912,0.00,2.15,0.00,0.000,4,0.000,0.084,3579,162,2037,0,0,0,0,0,0
$GC,12936,0.89,185.5,685.1,10.9,436,12939,0.00,1.92,0.00,0.000,6,0.000,0.029,3579,1350,2037,0,0,0,0,0,0
$GC,13195,0.92,210.3,661.8,8.9,443,13223,0.00,2.72,23.17,0.965,4,0.000,0.049,3579,2924,1941,0,0,0,0,0,0
$GC,13265,1.03,234.5,655.7,8.9,444,13297,0.12,2.72,24.05,0.956,6,0.066,0.051,3629,1342,1843,0,0,0,0,0,0
$GC,13575,0.96,234.5,615.5,13.2,452,13577,0.15,0.00,0.00,0.000,6,0.111,0.000,3597,1342,1839,0,0,0,0,0,0
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$STATE,19115,end climb,SURFACE_DEPTH_REACHED
$STATE,19115,begin surface coast
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$STATE,19161,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.9,29.852
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,60534,729
$CAP_FILE_SIZE,182120,0
$CFSIZE,260165632,155508736
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