version: 66.06
glider: 148
mission: 12
dive: 260
start: 7 18 113 0 47 36
data:
$ID,148
$MISSION,12
$DIVE,260
$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,390
$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,-1021253.7
$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,110
$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
$GPS1,003929,2305.566,-15734.706,59,1.6,64,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.1
$GPS2,004642,2305.628,-15734.692,9,0.9,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE_UP1
$TGT_LATLONG,2320.900,-15734.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.061,0.253
$KALMAN_X,-206217.9,376.0,-276.2,249435.9,1307.9
$KALMAN_Y,162677.5,-149.7,-114.1,-124191.4,521.0
$MHEAD_RNG_PITCHd_Wd,336.4,28309,-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,17,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.25,0.000,2,0.000,0.000,415,1589,2913,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.5,-4.9,9,121,13.88,2.40,-8.77,0.000,4,0.146,0.031,3104,3095,3399,0,0,0,0,0,0
$GC,223,-1.09,-146.0,34.2,-17.0,27,228,0.20,2.50,0.00,0.000,6,0.098,0.031,3148,1567,3399,0,0,0,0,0,0
$GC,493,-0.92,-146.0,76.9,-15.1,51,497,0.15,2.40,0.00,0.000,4,0.107,0.021,3181,3090,3400,0,0,0,0,0,0
$GC,514,-0.80,-146.0,80.6,-14.5,52,519,0.12,2.45,0.00,0.000,6,0.098,0.028,3211,1559,3400,0,0,0,0,0,0
$GC,779,-0.80,-146.0,104.5,-9.0,76,783,0.00,2.28,0.00,0.000,4,0.000,0.044,3211,175,3401,0,0,0,0,0,0
$GC,820,-0.80,-146.0,108.5,-9.7,79,824,0.00,2.03,0.00,0.000,6,0.000,0.017,3212,1553,3401,0,0,0,0,0,0
$GC,1088,-0.80,-146.0,132.5,-8.8,103,1092,0.00,2.40,0.00,0.000,4,0.000,0.021,3211,3105,3401,0,0,0,0,0,0
$GC,1116,-0.87,-146.0,135.3,-8.6,105,1121,0.00,2.47,0.00,0.000,6,0.000,0.028,3211,1564,3401,0,0,0,0,0,0
$GC,1381,-0.87,-146.0,158.0,-8.3,129,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1564,3402,0,0,0,0,0,0
$GC,1647,-0.93,-146.0,180.8,-8.4,154,1652,0.12,2.45,0.00,0.000,4,0.062,0.021,3149,3115,3402,0,0,0,0,0,0
$GC,1687,-0.93,-146.0,184.8,-11.4,157,1692,0.15,2.47,0.00,0.000,6,0.093,0.028,3183,1571,3402,0,0,0,0,0,0
$GC,1967,-0.93,-146.0,211.7,-9.2,174,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1571,3402,0,0,0,0,0,0
$GC,2207,-0.93,-146.0,234.1,-9.2,180,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1571,3402,0,0,0,0,0,0
$GC,2455,-0.93,-146.0,255.5,-8.5,186,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1571,3402,0,0,0,0,0,0
$GC,2695,-0.93,-146.0,276.1,-8.4,192,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1571,3402,0,0,0,0,0,0
$GC,2939,-0.98,-146.0,295.4,-7.7,198,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1571,3402,0,0,0,0,0,0
$GC,3183,-1.03,-146.0,314.5,-7.8,204,3184,0.10,0.00,0.00,0.000,6,0.076,0.000,3126,1571,3401,0,0,0,0,0,0
$GC,3428,-0.97,-146.0,340.0,-10.7,210,3433,0.20,2.45,0.00,0.000,4,0.085,0.026,3172,3095,3400,0,0,0,0,0,0
$GC,3448,-0.97,-146.0,342.1,-9.1,210,3452,0.00,2.47,0.00,0.000,6,0.000,0.033,3172,1575,3401,0,0,0,0,0,0
$GC,3712,-1.03,-146.0,361.4,-7.3,217,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1575,3400,0,0,0,0,0,0
$GC,3957,-1.08,-146.0,379.2,-7.4,223,3962,0.10,2.47,0.00,0.000,4,0.075,0.033,3117,3093,3398,0,0,0,0,0,0
$GC,4010,-1.08,-146.0,384.2,-9.1,224,4015,0.15,2.50,0.00,0.000,6,0.092,0.038,3152,1585,3398,0,0,0,0,0,0
$GC,4292,-1.08,-146.0,406.2,-7.9,231,4297,0.00,2.40,0.00,0.000,4,0.000,0.064,3152,170,3396,0,0,0,0,0,0
$GC,4362,-1.08,-146.0,412.3,-8.5,232,4366,0.00,2.12,0.00,0.000,6,0.000,0.023,3152,1536,3396,0,0,0,0,0,0
$GC,4621,-1.08,-146.0,430.6,-7.1,239,4626,0.00,2.60,0.00,0.000,4,0.000,0.037,3152,3142,3394,0,0,0,0,0,0
$GC,4667,-1.19,-146.0,433.7,-7.2,240,4672,0.12,2.60,0.00,0.000,6,0.064,0.040,3091,1583,3394,0,0,0,0,0,0
$GC,4955,-1.09,-146.0,466.5,-11.8,247,4960,0.25,2.45,0.00,0.000,4,0.086,0.066,3152,164,3392,0,0,0,0,0,0
$GC,5005,-1.14,-146.0,471.5,-9.8,248,5009,0.00,2.22,0.00,0.000,6,0.000,0.028,3151,1570,3391,0,0,0,0,0,0
$GC,5287,-1.14,-146.0,494.7,-8.0,255,5291,0.00,2.62,0.00,0.000,4,0.000,0.041,3151,3154,3389,0,0,0,0,0,0
$GC,5313,-1.21,-146.0,496.5,-7.7,255,5318,0.12,2.62,0.00,0.000,6,0.064,0.040,3093,1570,3389,0,0,0,0,0,0
$GC,5575,-1.12,-146.0,522.4,-10.1,262,5580,0.20,2.45,0.00,0.000,4,0.090,0.071,3139,165,3388,0,0,0,0,0,0
$GC,5636,-1.12,-146.0,528.0,-9.0,263,5641,0.00,2.25,0.00,0.000,6,0.000,0.029,3139,1576,3387,0,0,0,0,0,0
$GC,5907,-1.12,-146.0,548.7,-7.9,270,5911,0.00,2.60,0.00,0.000,4,0.000,0.044,3139,3152,3385,0,0,0,0,0,0
$GC,5954,-1.20,-146.0,552.3,-7.9,271,5958,0.00,2.65,0.00,0.000,6,0.000,0.044,3139,1577,3385,0,0,0,0,0,0
$GC,6241,-1.20,-146.0,575.9,-7.9,278,6246,0.00,2.47,0.00,0.000,4,0.000,0.076,3139,165,3383,0,0,0,0,0,0
$GC,6290,-1.20,-146.0,579.9,-8.2,279,6294,0.00,2.28,0.00,0.000,6,0.000,0.030,3139,1573,3382,0,0,0,0,0,0
$GC,6576,-1.20,-146.0,601.2,-7.3,286,6580,0.00,2.60,0.00,0.000,4,0.000,0.044,3139,3146,3381,0,0,0,0,0,0
$GC,6606,-1.27,-146.0,603.6,-8.1,286,6611,0.12,2.65,0.00,0.000,6,0.064,0.045,3082,1572,3381,0,0,0,0,0,0
$GC,6862,-1.17,-146.0,630.2,-11.0,293,6867,0.20,2.47,0.00,0.000,4,0.094,0.076,3127,165,3379,0,0,0,0,0,0
$GC,6895,-1.17,-146.0,633.7,-9.6,293,6900,0.00,2.28,0.00,0.000,6,0.000,0.031,3127,1574,3379,0,0,0,0,0,0
$GC,7147,-1.17,-146.0,655.2,-8.6,299,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1574,3378,0,0,0,0,0,0
$GC,7389,-1.17,-146.0,676.0,-8.5,305,7393,0.00,2.47,0.00,0.000,4,0.000,0.074,3127,165,3377,0,0,0,0,0,0
$GC,7412,-1.17,-146.0,678.3,-10.1,305,7417,0.00,2.30,0.00,0.000,6,0.000,0.032,3128,1577,3377,0,0,0,0,0,0
$GC,7675,-1.17,-146.0,699.9,-8.2,312,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1577,3375,0,0,0,0,0,0
$GC,7917,-1.17,-146.0,718.1,-7.3,318,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1577,3374,0,0,0,0,0,0
$GC,8161,-1.17,-146.0,735.0,-6.9,324,8165,0.00,2.62,0.00,0.000,4,0.000,0.050,3127,3151,3372,0,0,0,0,0,0
$GC,8194,-1.22,-146.0,737.5,-6.8,324,8199,0.00,2.67,0.00,0.000,6,0.000,0.049,3127,1579,3373,0,0,0,0,0,0
$GC,8446,-1.22,-146.0,755.5,-7.4,330,8450,0.00,2.50,0.00,0.000,4,0.000,0.081,3127,166,3371,0,0,0,0,0,0
$GC,8484,-1.22,-146.0,759.0,-9.0,330,8493,0.00,2.33,0.00,0.000,6,0.000,0.034,3127,1574,3371,0,0,0,0,0,0
$GC,8734,-1.22,-146.0,778.6,-7.8,337,8735,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1574,3370,0,0,0,0,0,0
$GC,8979,-1.22,-146.0,797.8,-7.8,343,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1574,3369,0,0,0,0,0,0
$GC,9221,-1.22,-146.0,815.9,-7.3,349,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1574,3368,0,0,0,0,0,0
$GC,9465,-1.22,-146.0,832.9,-6.9,355,9469,0.00,2.65,0.00,0.000,4,0.000,0.051,3127,3154,3367,0,0,0,0,0,0
$GC,9490,-1.22,-146.0,834.7,-7.4,355,9495,0.00,2.70,0.00,0.000,6,0.000,0.049,3127,1576,3367,0,0,0,0,0,0
$GC,9750,-1.22,-146.0,852.2,-6.8,362,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1575,3366,0,0,0,0,0,0
$GC,9993,-1.22,-146.0,868.8,-6.8,368,9994,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1576,3365,0,0,0,0,0,0
$GC,10237,-1.22,-146.0,884.4,-6.3,374,10238,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1575,3365,0,0,0,0,0,0
$GC,10483,-1.22,-146.0,898.9,-5.9,380,10487,0.00,2.65,0.00,0.000,4,0.000,0.044,3127,3156,3364,0,0,0,0,0,0
$STATE,10499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10499,begin apogee
$GC,10508,-0.31,0.0,900.2,6.9,380,10631,0.80,0.00,119.65,1.154,6,0.071,0.000,3315,1343,2800,0,0,0,0,0,0
$STATE,10632,end apogee,CONTROL_FINISHED_OK
$STATE,10632,begin climb
$GC,10637,1.27,146.0,902.6,0.0,383,10777,1.42,2.17,129.95,1.132,4,0.033,0.084,3664,161,2202,0,0,0,0,0,0
$GC,10804,1.00,146.0,893.3,14.8,386,10810,0.30,1.98,0.00,0.000,6,0.107,0.031,3604,1353,2200,0,0,0,0,0,0
$GC,11054,0.93,146.0,865.9,10.4,393,11055,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1353,2194,0,0,0,0,0,0
$GC,11298,0.88,154.2,842.4,9.6,399,11307,0.12,0.00,6.68,0.860,6,0.116,0.000,3578,1354,2171,0,0,0,0,0,0
$GC,11543,0.91,176.0,820.6,9.0,405,11571,0.00,2.22,21.52,1.039,4,0.000,0.074,3578,165,2082,0,0,0,0,0,0
$GC,11581,0.91,176.0,816.6,10.1,405,11590,0.00,1.98,0.00,0.000,6,0.000,0.030,3578,1344,2081,0,0,0,0,0,0
$GC,11831,0.91,176.0,790.5,10.8,412,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1346,2077,0,0,0,0,0,0
$GC,12076,0.91,176.0,763.4,11.0,418,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1346,2076,0,0,0,0,0,0
$GC,12318,0.91,176.0,737.6,10.5,424,12322,0.00,2.10,0.00,0.000,4,0.000,0.072,3578,161,2075,0,0,0,0,0,0
$GC,12342,0.91,176.0,735.1,10.3,424,12345,0.00,1.95,0.00,0.000,6,0.000,0.029,3578,1357,2076,0,0,0,0,0,0
$GC,12607,0.93,198.1,710.5,9.0,431,12635,0.00,2.70,20.58,0.987,4,0.000,0.048,3578,2927,1991,0,0,0,0,0,0
$GC,12647,0.97,223.7,706.8,8.8,431,12680,0.00,2.72,25.40,0.989,6,0.000,0.054,3578,1350,1888,0,0,0,0,0,0
$GC,12941,0.97,223.7,677.3,10.1,439,12942,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1350,1883,0,0,0,0,0,0
$GC,13184,0.97,223.7,650.5,11.4,445,13188,0.00,2.12,0.00,0.000,4,0.000,0.084,3578,164,1882,0,0,0,0,0,0
$GC,13221,0.97,223.7,645.5,14.1,445,13229,0.00,1.95,0.00,0.000,6,0.000,0.028,3578,1351,1882,0,0,0,0,0,0
$GC,13471,0.97,223.7,616.9,11.4,452,13475,0.00,2.62,0.00,0.000,4,0.000,0.045,3577,2932,1881,0,0,0,0,0,0
$GC,13487,1.01,223.7,615.3,11.0,452,13492,0.10,2.70,0.00,0.000,6,0.078,0.045,3622,1350,1879,0,0,0,0,0,0
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$STATE,19134,end climb,SURFACE_DEPTH_REACHED
$STATE,19134,begin surface coast
$FINISH,0.9,1.006158
$STATE,19168,end surface coast,CONTROL_FINISHED_OK
$STATE,19168,begin surface
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$HUMID,65.16
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$XPDR_PINGS,20
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$10V_AH,9.9,35.827
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355756
$DATA_FILE_SIZE,57493,722
$CAP_FILE_SIZE,180017,0
$CFSIZE,260165632,152539136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,061029,2308.687,-15734.247,111,1.6,116,10.1