version: 66.06
glider: 148
mission: 12
dive: 321
start: 7 31 113 16 12 55
data:
$ID,148
$MISSION,12
$DIVE,321
$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,-1022483.1
$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,128
$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
$GPS1,160434,2315.785,-15745.742,38,1.8,48,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.6
$GPS2,161203,2315.748,-15745.773,14,3.1,33,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK6
$TGT_LATLONG,2317.500,-15740.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,0.132
$KALMAN_X,-154761.0,-99.3,49.0,179211.8,1402.5
$KALMAN_Y,153315.3,227.8,199.7,-96782.5,-587.7
$MHEAD_RNG_PITCHd_Wd,49.2,10343,-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,-67.45,0.000,2,0.000,0.000,415,1618,2957,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.4,-4.2,9,123,13.80,2.30,-7.97,0.000,4,0.144,0.032,3104,3075,3399,0,0,0,0,0,0
$GC,165,-1.04,-146.0,23.9,-19.3,19,174,0.20,2.50,0.00,0.000,6,0.082,0.038,3153,1566,3400,0,0,0,0,0,0
$GC,441,-0.84,-146.0,71.6,-14.8,46,450,0.22,0.00,0.00,0.000,6,0.092,0.000,3203,1566,3400,0,0,0,0,0,0
$GC,706,-0.84,-146.0,96.3,-8.8,71,710,0.00,2.35,0.00,0.000,4,0.000,0.021,3203,3072,3400,0,0,0,0,0,0
$GC,736,-0.84,-146.0,98.7,-8.7,73,741,0.00,2.40,0.00,0.000,6,0.000,0.028,3203,1570,3401,0,0,0,0,0,0
$GC,1003,-0.84,-146.0,120.7,-8.2,97,1007,0.00,2.30,0.00,0.000,4,0.000,0.044,3203,174,3401,0,0,0,0,0,0
$GC,1032,-0.84,-146.0,123.3,-9.9,99,1035,0.00,2.03,0.00,0.000,6,0.000,0.017,3203,1525,3401,0,0,0,0,0,0
$GC,1301,-0.84,-146.0,146.2,-9.3,124,1305,0.00,2.45,0.00,0.000,4,0.000,0.021,3203,3116,3402,0,0,0,0,0,0
$GC,1342,-0.95,-146.0,149.8,-8.5,127,1347,0.10,2.45,0.00,0.000,6,0.074,0.027,3139,1581,3402,0,0,0,0,0,0
$GC,1608,-0.81,-146.0,185.3,-14.3,151,1613,0.28,2.30,0.00,0.000,4,0.083,0.042,3206,170,3402,0,0,0,0,0,0
$GC,1646,-0.81,-146.0,190.5,-11.8,154,1650,0.00,2.12,0.00,0.000,6,0.000,0.018,3206,1582,3402,0,0,0,0,0,0
$GC,1907,-0.85,-146.0,214.6,-9.0,166,1911,0.00,2.38,0.00,0.000,4,0.000,0.021,3206,3116,3402,0,0,0,0,0,0
$GC,1931,-0.96,-146.0,217.0,-8.1,166,1936,0.12,2.47,0.00,0.000,6,0.059,0.027,3132,1584,3402,0,0,0,0,0,0
$GC,2191,-0.84,-146.0,246.3,-11.7,173,2196,0.28,2.30,0.00,0.000,4,0.079,0.043,3198,170,3401,0,0,0,0,0,0
$GC,2212,-0.84,-146.0,248.5,-10.4,173,2216,0.00,2.15,0.00,0.000,6,0.000,0.018,3198,1594,3402,0,0,0,0,0,0
$GC,2477,-0.91,-146.0,268.1,-7.3,180,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1597,3402,0,0,0,0,0,0
$GC,2723,-0.99,-146.0,285.8,-7.2,186,2724,0.12,0.00,0.00,0.000,6,0.063,0.000,3134,1597,3402,0,0,0,0,0,0
$GC,2965,-0.93,-146.0,313.5,-11.7,192,2967,0.22,0.00,0.00,0.000,6,0.080,0.000,3186,1597,3401,0,0,0,0,0,0
$GC,3208,-1.00,-146.0,335.0,-8.4,198,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1597,3400,0,0,0,0,0,0
$GC,3451,-1.07,-146.0,353.5,-7.5,204,3456,0.15,2.40,0.00,0.000,4,0.054,0.052,3116,171,3399,0,0,0,0,0,0
$GC,3491,-0.97,-146.0,357.5,-11.1,204,3498,0.25,2.15,0.00,0.000,6,0.081,0.021,3173,1557,3399,0,0,0,0,0,0
$GC,3746,-1.02,-146.0,376.9,-7.4,211,3751,0.00,2.53,0.00,0.000,4,0.000,0.029,3173,3145,3397,0,0,0,0,0,0
$GC,3780,-1.13,-146.0,379.4,-6.3,211,3785,0.15,2.55,0.00,0.000,6,0.053,0.035,3101,1594,3397,0,0,0,0,0,0
$GC,4032,-1.02,-146.0,404.8,-10.5,217,4037,0.25,2.42,0.00,0.000,4,0.084,0.060,3163,169,3396,0,0,0,0,0,0
$GC,4070,-1.07,-146.0,408.6,-8.7,217,4076,0.00,2.20,0.00,0.000,6,0.000,0.023,3163,1576,3395,0,0,0,0,0,0
$GC,4322,-1.07,-146.0,428.6,-8.0,224,4327,0.00,2.53,0.00,0.000,4,0.000,0.035,3162,3141,3393,0,0,0,0,0,0
$GC,4356,-1.18,-146.0,431.3,-7.9,224,4361,0.15,2.60,0.00,0.000,6,0.056,0.038,3098,1577,3393,0,0,0,0,0,0
$GC,4606,-1.08,-146.0,457.8,-10.7,230,4611,0.22,2.42,0.00,0.000,4,0.085,0.065,3150,163,3391,0,0,0,0,0,0
$GC,4636,-1.08,-146.0,460.8,-9.9,230,4641,0.00,2.22,0.00,0.000,6,0.000,0.026,3150,1575,3391,0,0,0,0,0,0
$GC,4891,-1.08,-146.0,483.1,-8.9,237,4896,0.00,2.55,0.00,0.000,4,0.000,0.039,3150,3147,3389,0,0,0,0,0,0
$GC,4920,-1.15,-146.0,485.8,-8.6,237,4925,0.00,2.60,0.00,0.000,6,0.000,0.040,3150,1586,3389,0,0,0,0,0,0
$GC,5177,-1.15,-146.0,507.5,-8.4,244,5181,0.00,2.42,0.00,0.000,4,0.000,0.071,3150,170,3387,0,0,0,0,0,0
$GC,5200,-1.15,-146.0,509.7,-9.8,244,5204,0.00,2.28,0.00,0.000,6,0.000,0.028,3150,1591,3387,0,0,0,0,0,0
$GC,5462,-1.15,-146.0,529.8,-7.6,251,5466,0.00,2.58,0.00,0.000,4,0.000,0.042,3150,3154,3385,0,0,0,0,0,0
$GC,5488,-1.20,-146.0,531.9,-8.6,251,5493,0.12,2.60,0.00,0.000,6,0.064,0.041,3090,1594,3385,0,0,0,0,0,0
$GC,5748,-1.10,-146.0,561.0,-11.7,258,5753,0.25,2.47,0.00,0.000,4,0.085,0.074,3151,167,3384,0,0,0,0,0,0
$GC,5772,-1.10,-146.0,563.6,-10.2,258,5777,0.00,2.30,0.00,0.000,6,0.000,0.030,3150,1594,3384,0,0,0,0,0,0
$GC,6033,-1.10,-146.0,584.9,-8.0,265,6038,0.00,2.58,0.00,0.000,4,0.000,0.044,3150,3153,3382,0,0,0,0,0,0
$GC,6048,-1.10,-146.0,586.2,-7.7,265,6052,0.00,2.62,0.00,0.000,6,0.000,0.043,3150,1588,3382,0,0,0,0,0,0
$GC,6318,-1.10,-146.0,605.6,-7.0,272,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1588,3380,0,0,0,0,0,0
$GC,6560,-1.10,-146.0,622.4,-6.9,278,6565,0.00,2.50,0.00,0.000,4,0.000,0.080,3151,169,3379,0,0,0,0,0,0
$GC,6579,-1.10,-146.0,623.9,-7.5,278,6584,0.00,2.30,0.00,0.000,6,0.000,0.031,3151,1602,3378,0,0,0,0,0,0
$GC,6843,-1.10,-146.0,642.8,-7.2,285,6848,0.00,2.58,0.00,0.000,4,0.000,0.047,3150,3152,3377,0,0,0,0,0,0
$GC,6860,-1.15,-146.0,644.0,-6.9,285,6864,0.00,2.62,0.00,0.000,6,0.000,0.045,3150,1595,3377,0,0,0,0,0,0
$GC,7129,-1.20,-146.0,662.1,-6.7,292,7131,0.12,0.00,0.00,0.000,6,0.065,0.000,3096,1595,3375,0,0,0,0,0,0
$GC,7373,-1.13,-146.0,683.9,-9.1,298,7378,0.17,2.55,0.00,0.000,4,0.091,0.082,3137,164,3375,0,0,0,0,0,0
$GC,7404,-1.13,-146.0,686.7,-9.7,298,7408,0.00,2.30,0.00,0.000,6,0.000,0.033,3137,1588,3374,0,0,0,0,0,0
$GC,7658,-1.13,-146.0,705.4,-7.4,305,7663,0.00,2.62,0.00,0.000,4,0.000,0.050,3137,3156,3373,0,0,0,0,0,0
$GC,7677,-1.13,-146.0,707.0,-7.8,305,7682,0.00,2.67,0.00,0.000,6,0.000,0.048,3137,1582,3373,0,0,0,0,0,0
$GC,7943,-1.13,-146.0,725.0,-6.7,312,7948,0.00,2.53,0.00,0.000,4,0.000,0.084,3137,162,3371,0,0,0,0,0,0
$GC,7972,-1.13,-146.0,727.2,-7.1,312,7976,0.00,2.33,0.00,0.000,6,0.000,0.034,3137,1586,3371,0,0,0,0,0,0
$GC,8226,-1.13,-146.0,745.7,-7.2,319,8230,0.00,2.50,0.00,0.000,4,0.000,0.076,3137,168,3370,0,0,0,0,0,0
$GC,8242,-1.13,-146.0,747.0,-7.5,319,8246,0.00,2.33,0.00,0.000,6,0.000,0.033,3137,1592,3370,0,0,0,0,0,0
$GC,8513,-1.13,-146.0,767.9,-7.8,326,8514,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1592,3369,0,0,0,0,0,0
$GC,8754,-1.13,-146.0,786.7,-7.6,332,8759,0.00,2.53,0.00,0.000,4,0.000,0.076,3137,164,3368,0,0,0,0,0,0
$GC,8784,-1.13,-146.0,789.2,-8.6,332,8789,0.00,2.33,0.00,0.000,6,0.000,0.035,3137,1587,3367,0,0,0,0,0,0
$GC,9039,-1.13,-146.0,808.3,-7.3,339,9043,0.00,2.62,0.00,0.000,4,0.000,0.051,3137,3158,3367,0,0,0,0,0,0
$GC,9059,-1.18,-146.0,809.7,-7.7,339,9063,0.00,2.67,0.00,0.000,6,0.000,0.049,3137,1587,3367,0,0,0,0,0,0
$GC,9329,-1.18,-146.0,827.3,-6.6,346,9333,0.00,2.50,0.00,0.000,4,0.000,0.084,3137,167,3366,0,0,0,0,0,0
$GC,9367,-1.18,-146.0,830.5,-7.8,346,9372,0.00,2.33,0.00,0.000,6,0.000,0.035,3137,1589,3365,0,0,0,0,0,0
$GC,9617,-1.18,-146.0,846.0,-6.1,353,9621,0.00,2.65,0.00,0.000,4,0.000,0.051,3137,3162,3365,0,0,0,0,0,0
$GC,9647,-1.26,-146.0,848.0,-6.4,353,9654,0.12,2.70,0.00,0.000,6,0.064,0.051,3082,1583,3365,0,0,0,0,0,0
$GC,9905,-1.18,-146.0,869.7,-8.7,360,9911,0.20,2.53,0.00,0.000,4,0.094,0.082,3127,167,3364,0,0,0,0,0,0
$GC,9955,-1.18,-146.0,873.4,-7.8,361,9959,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1588,3363,0,0,0,0,0,0
$GC,10242,-1.18,-146.0,892.8,-6.6,368,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1588,3363,0,0,0,0,0,0
$STATE,10363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10363,begin apogee
$GC,10370,-0.31,0.0,900.9,6.6,371,10493,0.82,0.00,120.25,1.152,6,0.072,0.000,3315,1342,2800,0,0,0,0,0,0
$STATE,10494,end apogee,CONTROL_FINISHED_OK
$STATE,10494,begin climb
$GC,10499,1.27,146.0,904.4,0.0,374,10638,1.42,2.12,130.98,1.131,4,0.032,0.077,3668,173,2203,0,0,0,0,0,0
$GC,10709,1.02,146.0,889.9,13.9,378,10715,0.30,1.95,0.00,0.000,6,0.107,0.031,3607,1355,2199,0,0,0,0,0,0
$GC,10959,0.98,164.5,866.1,9.1,385,10983,0.00,2.15,16.95,1.023,4,0.000,0.072,3607,177,2128,0,0,0,0,0,0
$GC,10995,0.93,193.1,862.8,8.7,385,11029,0.00,1.95,27.75,1.057,6,0.000,0.030,3607,1350,2011,0,0,0,0,0,0
$GC,11295,0.93,193.1,831.2,10.7,393,11300,0.00,2.70,0.00,0.000,4,0.000,0.052,3607,2928,2005,0,0,0,0,0,0
$GC,11319,0.93,193.1,828.3,10.1,393,11324,0.00,2.70,0.00,0.000,6,0.000,0.048,3607,1362,2002,0,0,0,0,0,0
$GC,11580,0.93,193.1,798.5,11.8,400,11584,0.00,2.15,0.00,0.000,4,0.000,0.086,3607,166,2001,0,0,0,0,0,0
$GC,11599,0.86,193.1,796.0,12.0,400,11604,0.15,1.92,0.00,0.000,6,0.109,0.031,3574,1356,2002,0,0,0,0,0,0
$GC,11863,0.86,193.1,768.3,10.4,407,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1356,2002,0,0,0,0,0,0
$GC,12109,0.86,193.1,743.4,10.1,413,12113,0.00,2.67,0.00,0.000,4,0.000,0.051,3574,2934,2000,0,0,0,0,0,0
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$STATE,18770,end climb,SURFACE_DEPTH_REACHED
$STATE,18770,begin surface coast
$FINISH,0.9,1.012672
$STATE,18814,end surface coast,CONTROL_FINISHED_OK
$STATE,18814,begin surface
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$HUMID,65.90
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.40
$XPDR_PINGS,7
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$10V_AH,9.8,44.920
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.575,226.550,397.250,52.975,0.000,22.699,39.993,199.380,1.750,0.000,36.298,1566.320,13870.481,553.341,2583.799,754.458,33.379,1643.943,0.000,2561.001,0.000,0.536,0.000
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$MEM,355920
$DATA_FILE_SIZE,57484,711
$CAP_FILE_SIZE,186757,0
$CFSIZE,260165632,147881984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310713,212925,2317.302,-15742.817,36,99.0,55,10.2