version: 66.06
glider: 148
mission: 12
dive: 348
start: 8 6 113 14 39 25
data:
$ID,148
$MISSION,12
$DIVE,348
$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,-1022958.4
$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,25
$R_STBD_OVSHOOT,58
$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
$GPS1,142435,2300.141,-15741.694,65,1.1,65,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.9
$GPS2,143831,2300.018,-15741.720,12,1.2,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.195,-0.171
$KALMAN_X,-125702.2,227.1,247.0,156546.7,-79.7
$KALMAN_Y,135347.0,-278.8,-567.1,-106655.9,-46.8
$MHEAD_RNG_PITCHd_Wd,218.6,55030,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-67.05,0.000,2,0.000,0.000,416,1663,2928,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.6,9,122,13.80,2.55,-8.43,0.000,4,0.144,0.055,3101,162,3398,0,0,0,0,0,0
$GC,243,-0.97,-146.0,45.7,-22.3,27,247,0.32,2.17,0.00,0.000,6,0.093,0.017,3171,1577,3398,0,0,0,0,0,0
$GC,511,-0.85,-146.0,86.6,-13.2,51,516,0.12,0.00,0.00,0.000,6,0.110,0.000,3198,1580,3398,0,0,0,0,0,0
$GC,772,-0.85,-146.0,117.6,-10.2,76,776,0.00,2.45,0.00,0.000,4,0.000,0.021,3198,3152,3399,0,0,0,0,0,0
$GC,815,-0.85,-146.0,121.3,-9.8,79,820,0.00,2.58,0.00,0.000,6,0.000,0.028,3198,1566,3399,0,0,0,0,0,0
$GC,1081,-0.85,-146.0,147.2,-10.2,103,1085,0.00,2.28,0.00,0.000,4,0.000,0.048,3198,167,3399,0,0,0,0,0,0
$GC,1113,-0.85,-146.0,151.3,-11.2,105,1122,0.00,2.17,0.00,0.000,6,0.000,0.017,3198,1590,3399,0,0,0,0,0,0
$GC,1380,-0.85,-146.0,177.5,-10.0,130,1384,0.00,2.40,0.00,0.000,4,0.000,0.021,3199,3122,3399,0,0,0,0,0,0
$GC,1419,-0.92,-146.0,181.4,-9.0,133,1424,0.00,2.47,0.00,0.000,6,0.000,0.027,3198,1576,3399,0,0,0,0,0,0
$GC,1700,-0.92,-146.0,208.2,-9.2,153,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1576,3399,0,0,0,0,0,0
$GC,1942,-0.92,-146.0,230.6,-9.4,159,1946,0.00,2.42,0.00,0.000,4,0.000,0.021,3198,3121,3400,0,0,0,0,0,0
$GC,1982,-1.04,-146.0,234.0,-8.8,159,1988,0.17,2.50,0.00,0.000,6,0.044,0.028,3110,1580,3399,0,0,0,0,0,0
$GC,2236,-0.90,-146.0,266.9,-13.4,166,2241,0.30,2.30,0.00,0.000,4,0.082,0.042,3182,167,3399,0,0,0,0,0,0
$GC,2274,-0.90,-146.0,271.9,-10.1,166,2280,0.00,2.15,0.00,0.000,6,0.000,0.018,3183,1573,3399,0,0,0,0,0,0
$GC,2526,-0.90,-146.0,292.3,-8.2,173,2530,0.00,2.47,0.00,0.000,4,0.000,0.025,3182,3134,3399,0,0,0,0,0,0
$GC,2559,-0.98,-146.0,295.1,-8.1,173,2564,0.00,2.53,0.00,0.000,6,0.000,0.029,3183,1584,3398,0,0,0,0,0,0
$GC,2810,-1.02,-146.0,312.6,-6.9,179,2814,0.00,2.35,0.00,0.000,4,0.000,0.051,3183,169,3398,0,0,0,0,0,0
$GC,2831,-1.02,-146.0,314.2,-8.2,179,2835,0.00,2.17,0.00,0.000,6,0.000,0.021,3183,1575,3397,0,0,0,0,0,0
$GC,3097,-1.06,-146.0,333.0,-6.8,186,3102,0.12,2.50,0.00,0.000,4,0.062,0.028,3119,3140,3396,0,0,0,0,0,0
$GC,3122,-1.06,-146.0,335.4,-9.4,186,3127,0.15,2.55,0.00,0.000,6,0.091,0.032,3154,1583,3396,0,0,0,0,0,0
$GC,3384,-1.06,-146.0,357.5,-8.4,193,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1583,3394,0,0,0,0,0,0
$GC,3626,-1.06,-146.0,378.8,-8.8,199,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1583,3393,0,0,0,0,0,0
$GC,3870,-1.06,-146.0,399.2,-8.2,205,3874,0.00,2.55,0.00,0.000,4,0.000,0.034,3154,3133,3392,0,0,0,0,0,0
$GC,3886,-1.06,-146.0,400.4,-8.0,205,3890,0.00,2.58,0.00,0.000,6,0.000,0.035,3154,1578,3392,0,0,0,0,0,0
$GC,4155,-1.06,-146.0,423.5,-8.7,212,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1578,3390,0,0,0,0,0,0
$GC,4398,-1.06,-146.0,443.1,-8.0,218,4403,0.00,2.58,0.00,0.000,4,0.000,0.037,3154,3129,3388,0,0,0,0,0,0
$GC,4419,-1.06,-146.0,444.7,-8.1,218,4424,0.00,2.58,0.00,0.000,6,0.000,0.038,3154,1580,3387,0,0,0,0,0,0
$GC,4683,-1.06,-146.0,466.8,-8.5,225,4688,0.00,2.42,0.00,0.000,4,0.000,0.069,3153,164,3386,0,0,0,0,0,0
$GC,4730,-1.06,-146.0,470.7,-9.1,226,4734,0.00,2.22,0.00,0.000,6,0.000,0.028,3154,1558,3386,0,0,0,0,0,0
$GC,5019,-1.06,-146.0,492.9,-7.5,233,5024,0.00,2.62,0.00,0.000,4,0.000,0.040,3154,3151,3383,0,0,0,0,0,0
$GC,5057,-1.14,-146.0,495.9,-6.3,233,5063,0.00,2.62,0.00,0.000,6,0.000,0.040,3154,1583,3383,0,0,0,0,0,0
$GC,5308,-1.14,-146.0,514.2,-7.3,240,5312,0.00,2.45,0.00,0.000,4,0.000,0.072,3154,164,3381,0,0,0,0,0,0
$GC,5347,-1.14,-146.0,517.3,-8.2,240,5357,0.00,2.30,0.00,0.000,6,0.000,0.029,3154,1578,3381,0,0,0,0,0,0
$GC,5597,-1.14,-146.0,535.2,-7.0,247,5601,0.00,2.60,0.00,0.000,4,0.000,0.041,3154,3155,3379,0,0,0,0,0,0
$GC,5635,-1.24,-146.0,537.9,-6.6,247,5641,0.17,2.65,0.00,0.000,6,0.050,0.043,3080,1582,3379,0,0,0,0,0,0
$GC,5887,-1.11,-146.0,564.6,-11.2,254,5889,0.28,0.00,0.00,0.000,6,0.083,0.000,3142,1582,3378,0,0,0,0,0,0
$GC,6129,-1.11,-146.0,585.7,-8.5,260,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1582,3376,0,0,0,0,0,0
$GC,6375,-1.11,-146.0,605.7,-8.1,266,6379,0.00,2.65,0.00,0.000,4,0.000,0.045,3142,3152,3375,0,0,0,0,0,0
$GC,6406,-1.16,-146.0,608.4,-8.4,266,6410,0.00,2.67,0.00,0.000,6,0.000,0.053,3143,1583,3375,0,0,0,0,0,0
$GC,6663,-1.16,-146.0,627.5,-7.4,273,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1583,3374,0,0,0,0,0,0
$GC,6904,-1.16,-146.0,646.5,-7.9,279,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1583,3372,0,0,0,0,0,0
$GC,7150,-1.16,-146.0,665.4,-7.7,285,7154,0.00,2.65,0.00,0.000,4,0.000,0.044,3143,3156,3370,0,0,0,0,0,0
$GC,7179,-1.21,-146.0,667.8,-7.6,285,7183,0.00,2.67,0.00,0.000,6,0.000,0.049,3142,1587,3370,0,0,0,0,0,0
$GC,7436,-1.21,-146.0,686.3,-7.3,292,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1587,3369,0,0,0,0,0,0
$GC,7681,-1.21,-146.0,703.5,-7.0,298,7685,0.00,2.60,0.00,0.000,4,0.000,0.044,3142,3149,3368,0,0,0,0,0,0
$GC,7705,-1.21,-146.0,705.2,-7.6,298,7709,0.00,2.65,0.00,0.000,6,0.000,0.050,3142,1598,3367,0,0,0,0,0,0
$GC,7964,-1.21,-146.0,723.7,-7.2,305,7968,0.00,2.55,0.00,0.000,4,0.000,0.087,3143,168,3366,0,0,0,0,0,0
$GC,7990,-1.21,-146.0,725.6,-8.6,305,7994,0.00,2.33,0.00,0.000,6,0.000,0.035,3143,1591,3366,0,0,0,0,0,0
$GC,8249,-1.21,-146.0,743.6,-6.8,312,8253,0.00,2.53,0.00,0.000,4,0.000,0.077,3142,167,3365,0,0,0,0,0,0
$GC,8270,-1.21,-146.0,745.1,-6.9,312,8274,0.00,2.35,0.00,0.000,6,0.000,0.035,3143,1599,3364,0,0,0,0,0,0
$GC,8535,-1.21,-146.0,763.4,-6.9,319,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1598,3364,0,0,0,0,0,0
$GC,8778,-1.21,-146.0,780.7,-7.0,325,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1598,3363,0,0,0,0,0,0
$GC,9025,-1.21,-146.0,797.8,-7.0,331,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1598,3362,0,0,0,0,0,0
$GC,9265,-1.21,-146.0,814.6,-6.8,337,9269,0.00,2.60,0.00,0.000,4,0.000,0.052,3143,3157,3361,0,0,0,0,0,0
$GC,9281,-1.21,-146.0,815.8,-7.1,337,9286,0.00,2.67,0.00,0.000,6,0.000,0.048,3142,1587,3361,0,0,0,0,0,0
$GC,9550,-1.21,-146.0,833.7,-6.7,344,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1587,3360,0,0,0,0,0,0
$GC,9794,-1.21,-146.0,850.4,-7.0,350,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1587,3359,0,0,0,0,0,0
$GC,10040,-1.21,-146.0,867.1,-6.8,356,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1587,3359,0,0,0,0,0,0
$GC,10283,-1.26,-146.0,883.3,-6.6,362,10289,0.12,2.65,0.00,0.000,4,0.066,0.044,3090,3159,3358,0,0,0,0,0,0
$GC,10299,-1.26,-146.0,884.8,-6.9,362,10304,0.10,2.67,0.00,0.000,6,0.113,0.049,3112,1592,3358,0,0,0,0,0,0
$STATE,10525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10525,begin apogee
$GC,10533,-0.31,0.0,903.0,7.9,368,10656,0.88,0.00,119.38,1.158,6,0.071,0.000,3315,1343,2800,0,0,0,0,0,0
$STATE,10657,end apogee,CONTROL_FINISHED_OK
$STATE,10657,begin climb
$GC,10660,1.27,146.0,906.4,0.0,371,10799,1.45,2.17,130.95,1.134,4,0.035,0.085,3671,164,2203,0,0,0,0,0,0
$GC,10899,1.03,146.0,887.2,14.7,376,10904,0.30,1.98,0.00,0.000,6,0.107,0.031,3610,1360,2199,0,0,0,0,0,0
$GC,11161,0.98,146.0,860.0,10.3,383,11165,0.00,2.12,0.00,0.000,4,0.000,0.074,3609,168,2193,0,0,0,0,0,0
$GC,11217,0.87,146.0,853.2,11.7,384,11222,0.17,1.95,0.00,0.000,6,0.107,0.030,3573,1354,2193,0,0,0,0,0,0
$GC,11499,0.91,174.4,828.7,8.7,391,11527,0.00,0.00,25.60,1.051,6,0.000,0.000,3573,1355,2089,0,0,0,0,0,0
$GC,11741,0.92,181.5,805.3,9.7,397,11750,0.00,0.00,7.22,0.871,6,0.000,0.000,3573,1355,2060,0,0,0,0,0,0
$GC,11983,0.98,193.9,782.2,9.4,403,12004,0.10,2.70,13.32,0.976,4,0.079,0.047,3613,2932,2007,0,0,0,0,0,0
$GC,12016,0.98,198.6,778.8,9.8,403,12030,0.00,2.75,5.62,0.785,6,0.000,0.048,3613,1350,1990,0,0,0,0,0,0
$GC,12274,0.98,198.6,750.6,10.7,410,12278,0.00,2.15,0.00,0.000,4,0.000,0.085,3613,160,1987,0,0,0,0,0,0
$GC,12306,0.90,198.6,746.8,11.5,410,12311,0.15,1.95,0.00,0.000,6,0.107,0.029,3582,1354,1987,0,0,0,0,0,0
$GC,12563,0.94,226.5,724.3,8.7,417,12596,0.00,2.17,27.88,1.008,4,0.000,0.074,3582,166,1876,0,0,0,0,0,0
$GC,12620,0.95,234.2,718.7,9.6,418,12636,0.00,1.95,8.90,0.873,6,0.000,0.029,3582,1346,1844,0,0,0,0,0,0
$GC,12893,1.03,250.8,693.6,9.2,425,12917,0.12,2.75,16.12,0.947,4,0.067,0.049,3630,2932,1775,0,0,0,0,0,0
$GC,12941,1.03,250.8,688.5,11.4,426,12945,0.00,2.75,0.00,0.000,6,0.000,0.048,3630,1346,1772,0,0,0,0,0,0
$GC,13228,1.03,250.8,653.3,12.2,433,13232,0.00,2.65,0.00,0.000,4,0.000,0.043,3630,2928,1771,0,0,0,0,0,0
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$STATE,18927,end climb,SURFACE_DEPTH_REACHED
$STATE,18927,begin surface coast
$FINISH,1.1,1.023244
$STATE,18974,end surface coast,CONTROL_FINISHED_OK
$STATE,18974,begin surface
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$TCM_TEMP,22.40
$XPDR_PINGS,13
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$10V_AH,9.8,48.893
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355448
$DATA_FILE_SIZE,57343,705
$CAP_FILE_SIZE,181056,0
$CFSIZE,260165632,145850368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060813,195814,2257.711,-15742.949,42,3.4,61,10.1