version: 66.06
glider: 148
mission: 12
dive: 392
start: 8 16 113 12 52 32
data:
$ID,148
$MISSION,12
$DIVE,392
$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,-1023843.6
$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,3400
$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,26
$R_STBD_OVSHOOT,75
$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
$GPS1,123323,2252.218,-15739.011,40,1.0,40,10.1
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-73.0
$GPS2,125136,2252.171,-15739.121,10,1.5,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.009,0.260
$KALMAN_X,-89216.3,-243.7,-503.1,125726.9,800.9
$KALMAN_Y,73746.4,-104.3,64.2,-60404.4,-942.3
$MHEAD_RNG_PITCHd_Wd,351.9,25353,-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,-67.65,0.000,2,0.000,0.000,407,1629,2971,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.4,-4.7,9,121,14.70,2.38,-7.55,0.000,4,0.166,0.031,3116,3130,3397,0,0,0,0,0,0
$GC,200,-1.08,-146.0,32.7,-18.3,24,206,0.22,2.55,0.00,0.000,6,0.099,0.032,3164,1558,3397,0,0,0,0,0,0
$GC,468,-0.94,-146.0,78.8,-14.6,48,473,0.12,2.47,0.00,0.000,4,0.108,0.021,3192,3120,3398,0,0,0,0,0,0
$GC,481,-0.81,-146.0,82.1,-15.2,48,490,0.10,2.50,0.00,0.000,6,0.071,0.031,3221,1577,3398,0,0,0,0,0,0
$GC,747,-0.81,-146.0,109.6,-9.6,73,751,0.00,2.30,0.00,0.000,4,0.000,0.043,3221,166,3398,0,0,0,0,0,0
$GC,776,-0.81,-146.0,112.7,-10.7,75,780,0.00,2.12,0.00,0.000,6,0.000,0.016,3221,1604,3398,0,0,0,0,0,0
$GC,1044,-0.81,-146.0,136.8,-8.6,99,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1607,3398,0,0,0,0,0,0
$GC,1309,-0.81,-146.0,160.5,-8.6,124,1313,0.00,2.35,0.00,0.000,4,0.000,0.042,3221,174,3398,0,0,0,0,0,0
$GC,1336,-0.81,-146.0,163.0,-8.8,126,1339,0.00,2.08,0.00,0.000,6,0.000,0.017,3221,1581,3399,0,0,0,0,0,0
$GC,1607,-0.86,-146.0,183.7,-7.8,151,1611,0.00,2.38,0.00,0.000,4,0.000,0.021,3220,3106,3398,0,0,0,0,0,0
$GC,1654,-1.02,-146.0,187.4,-6.9,155,1659,0.17,2.45,0.00,0.000,6,0.046,0.028,3134,1577,3398,0,0,0,0,0,0
$GC,1929,-0.88,-146.0,222.0,-13.2,169,1931,0.32,0.00,0.00,0.000,6,0.079,0.000,3207,1577,3399,0,0,0,0,0,0
$GC,2175,-0.95,-146.0,243.4,-8.6,175,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1577,3398,0,0,0,0,0,0
$GC,2421,-1.03,-146.0,262.2,-7.7,181,2426,0.12,2.42,0.00,0.000,4,0.062,0.023,3140,3102,3398,0,0,0,0,0,0
$GC,2441,-1.03,-146.0,264.4,-8.6,181,2446,0.15,2.47,0.00,0.000,6,0.090,0.028,3176,1574,3398,0,0,0,0,0,0
$GC,2708,-1.03,-146.0,287.2,-8.4,188,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1574,3397,0,0,0,0,0,0
$GC,2950,-1.03,-146.0,308.6,-9.0,194,2954,0.00,2.42,0.00,0.000,4,0.000,0.026,3176,3097,3396,0,0,0,0,0,0
$GC,2969,-1.03,-146.0,310.5,-9.7,194,2973,0.00,2.45,0.00,0.000,6,0.000,0.031,3176,1584,3396,0,0,0,0,0,0
$GC,3237,-1.03,-146.0,334.1,-8.8,201,3241,0.00,2.42,0.00,0.000,4,0.000,0.028,3176,3095,3394,0,0,0,0,0,0
$GC,3261,-1.09,-146.0,336.3,-8.6,201,3266,0.00,2.47,0.00,0.000,6,0.000,0.034,3176,1592,3394,0,0,0,0,0,0
$GC,3521,-1.09,-146.0,357.6,-8.3,208,3525,0.00,2.40,0.00,0.000,4,0.000,0.055,3176,169,3393,0,0,0,0,0,0
$GC,3575,-1.16,-146.0,362.3,-8.8,209,3579,0.12,2.10,0.00,0.000,6,0.061,0.020,3109,1545,3392,0,0,0,0,0,0
$GC,3856,-1.06,-146.0,392.7,-10.8,216,3861,0.25,2.58,0.00,0.000,4,0.082,0.034,3170,3128,3391,0,0,0,0,0,0
$GC,3905,-1.18,-146.0,397.1,-7.5,217,3911,0.12,2.58,0.00,0.000,6,0.061,0.037,3106,1580,3390,0,0,0,0,0,0
$GC,4189,-1.08,-146.0,426.4,-10.5,224,4194,0.25,2.40,0.00,0.000,4,0.083,0.061,3162,170,3389,0,0,0,0,0,0
$GC,4209,-1.08,-146.0,428.4,-9.4,224,4213,0.00,2.20,0.00,0.000,6,0.000,0.024,3162,1581,3388,0,0,0,0,0,0
$GC,4477,-1.08,-146.0,449.3,-7.9,231,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1581,3387,0,0,0,0,0,0
$GC,4717,-1.08,-146.0,469.1,-8.0,237,4721,0.00,2.58,0.00,0.000,4,0.000,0.041,3162,3137,3384,0,0,0,0,0,0
$GC,4755,-1.16,-146.0,472.3,-7.2,237,4760,0.00,2.55,0.00,0.000,6,0.000,0.038,3162,1594,3385,0,0,0,0,0,0
$GC,5007,-1.16,-146.0,491.7,-7.8,244,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1594,3383,0,0,0,0,0,0
$GC,5248,-1.16,-146.0,509.8,-7.3,250,5253,0.00,2.58,0.00,0.000,4,0.000,0.043,3162,3136,3381,0,0,0,0,0,0
$GC,5273,-1.23,-146.0,511.7,-8.2,250,5278,0.12,2.58,0.00,0.000,6,0.062,0.041,3100,1588,3381,0,0,0,0,0,0
$GC,5535,-1.13,-146.0,538.3,-10.5,257,5540,0.22,2.47,0.00,0.000,4,0.087,0.071,3152,170,3379,0,0,0,0,0,0
$GC,5555,-1.13,-146.0,540.6,-9.8,257,5559,0.00,2.28,0.00,0.000,6,0.000,0.029,3152,1588,3378,0,0,0,0,0,0
$GC,5819,-1.13,-146.0,562.0,-8.4,264,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1588,3377,0,0,0,0,0,0
$GC,6064,-1.13,-146.0,583.8,-8.9,270,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1588,3376,0,0,0,0,0,0
$GC,6309,-1.13,-146.0,603.9,-8.1,276,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1588,3374,0,0,0,0,0,0
$GC,6550,-1.13,-146.0,621.6,-7.1,282,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1588,3373,0,0,0,0,0,0
$GC,6794,-1.13,-146.0,637.8,-6.6,288,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1588,3371,0,0,0,0,0,0
$GC,7039,-1.13,-146.0,655.1,-7.2,294,7044,0.00,2.50,0.00,0.000,4,0.000,0.077,3151,171,3369,0,0,0,0,0,0
$GC,7058,-1.13,-146.0,656.8,-7.7,294,7062,0.00,2.30,0.00,0.000,6,0.000,0.033,3152,1587,3369,0,0,0,0,0,0
$GC,7330,-1.13,-146.0,675.2,-6.8,301,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1588,3368,0,0,0,0,0,0
$GC,7572,-1.13,-146.0,690.8,-6.3,307,7577,0.00,2.62,0.00,0.000,4,0.000,0.052,3152,3153,3367,0,0,0,0,0,0
$GC,7594,-1.19,-146.0,692.2,-6.3,307,7598,0.00,2.65,0.00,0.000,6,0.000,0.048,3152,1596,3367,0,0,0,0,0,0
$GC,7858,-1.23,-146.0,708.0,-5.9,314,7863,0.00,2.53,0.00,0.000,4,0.000,0.081,3152,159,3366,0,0,0,0,0,0
$GC,7884,-1.23,-146.0,709.7,-7.1,314,7888,0.00,2.35,0.00,0.000,6,0.000,0.035,3152,1593,3365,0,0,0,0,0,0
$GC,8146,-1.23,-146.0,725.6,-6.1,321,8150,0.00,2.62,0.00,0.000,4,0.000,0.053,3152,3154,3364,0,0,0,0,0,0
$GC,8181,-1.33,-146.0,727.9,-6.4,321,8190,0.17,2.67,0.00,0.000,6,0.051,0.049,3085,1591,3364,0,0,0,0,0,0
$GC,8437,-1.23,-146.0,750.1,-9.0,328,8442,0.20,2.53,0.00,0.000,4,0.091,0.080,3130,166,3363,0,0,0,0,0,0
$GC,8484,-1.23,-146.0,754.5,-8.0,329,8488,0.00,2.35,0.00,0.000,6,0.000,0.035,3130,1602,3362,0,0,0,0,0,0
$GC,8771,-1.23,-146.0,773.7,-6.9,336,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1602,3361,0,0,0,0,0,0
$GC,9010,-1.23,-146.0,791.5,-7.4,342,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1602,3361,0,0,0,0,0,0
$GC,9254,-1.23,-146.0,810.6,-7.9,348,9255,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1602,3360,0,0,0,0,0,0
$GC,9498,-1.23,-146.0,829.6,-7.8,354,9499,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1602,3359,0,0,0,0,0,0
$GC,9743,-1.23,-146.0,847.9,-7.5,360,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1602,3358,0,0,0,0,0,0
$GC,9988,-1.23,-146.0,866.5,-7.7,366,9992,0.00,2.53,0.00,0.000,4,0.000,0.075,3130,161,3358,0,0,0,0,0,0
$GC,10031,-1.23,-146.0,870.4,-9.3,367,10035,0.00,2.35,0.00,0.000,6,0.000,0.037,3130,1589,3357,0,0,0,0,0,0
$GC,10320,-1.23,-146.0,893.4,-8.0,374,10321,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1589,3357,0,0,0,0,0,0
$STATE,10437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10437,begin apogee
$GC,10443,-0.31,0.0,903.2,8.0,377,10566,0.88,0.00,119.53,1.152,6,0.069,0.000,3332,1342,2800,0,0,0,0,0,0
$STATE,10567,end apogee,CONTROL_FINISHED_OK
$STATE,10567,begin climb
$GC,10570,1.27,146.0,907.5,0.0,380,10711,1.42,2.15,131.55,1.134,4,0.031,0.077,3682,172,2202,0,0,0,0,0,0
$GC,10791,1.01,146.0,893.3,14.1,385,10795,0.30,1.98,0.00,0.000,6,0.106,0.032,3621,1359,2198,0,0,0,0,0,0
$GC,11076,0.95,160.7,866.1,9.3,392,11095,0.00,2.15,13.25,0.997,4,0.000,0.073,3621,170,2143,0,0,0,0,0,0
$GC,11165,0.83,160.7,856.5,11.4,393,11171,0.20,1.95,0.00,0.000,6,0.103,0.031,3579,1347,2143,0,0,0,0,0,0
$GC,11415,0.89,206.6,835.9,7.9,400,11466,0.00,2.75,43.75,1.075,4,0.000,0.051,3579,2931,1955,0,0,0,0,0,0
$GC,11478,0.92,231.7,830.7,8.8,401,11510,0.00,2.72,24.98,1.037,6,0.000,0.049,3579,1362,1855,0,0,0,0,0,0
$GC,11793,0.98,231.7,798.6,10.4,409,11798,0.15,2.70,0.00,0.000,4,0.059,0.045,3632,2935,1848,0,0,0,0,0,0
$GC,11813,0.98,231.7,796.2,10.7,409,11817,0.00,2.72,0.00,0.000,6,0.000,0.050,3632,1354,1846,0,0,0,0,0,0
$GC,12081,0.93,231.7,761.1,13.5,416,12088,0.15,2.70,0.00,0.000,4,0.108,0.046,3601,2937,1846,0,0,0,0,0,0
$GC,12098,0.93,231.7,758.2,13.5,416,12103,0.00,2.75,0.00,0.000,6,0.000,0.050,3601,1348,1844,0,0,0,0,0,0
$GC,12367,0.93,231.7,725.7,12.3,423,12371,0.00,2.70,0.00,0.000,4,0.000,0.047,3601,2936,1844,0,0,0,0,0,0
$GC,12388,0.93,231.7,723.2,12.5,423,12392,0.00,2.72,0.00,0.000,6,0.000,0.051,3601,1354,1842,0,0,0,0,0,0
$GC,12655,0.93,231.7,690.0,12.5,430,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1354,1842,0,0,0,0,0,0
$GC,12899,0.93,231.7,660.3,12.2,436,12904,0.00,2.67,0.00,0.000,4,0.000,0.045,3601,2930,1842,0,0,0,0,0,0
$GC,12920,0.93,231.7,657.4,12.0,436,12925,0.00,2.70,0.00,0.000,6,0.000,0.058,3601,1358,1840,0,0,0,0,0,0
$GC,13184,0.93,231.7,627.6,11.1,443,13185,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1358,1840,0,0,0,0,0,0
$GC,13428,0.93,231.7,601.6,10.5,449,13432,0.00,2.62,0.00,0.000,4,0.000,0.044,3601,2932,1840,0,0,0,0,0,0
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$STATE,18899,end climb,SURFACE_DEPTH_REACHED
$STATE,18899,begin surface coast
$FINISH,1.1,1.010261
$STATE,18939,end surface coast,CONTROL_FINISHED_OK
$STATE,18940,begin surface
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$HUMID,68.42
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$TCM_TEMP,22.30
$XPDR_PINGS,9
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$10V_AH,9.8,55.533
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.450,205.875,446.875,25.400,0.000,155.961,176.536,349.687,2.250,0.000,15.530,1543.560,14265.436,545.558,2536.569,1184.108,33.373,1632.242,0.000,2541.173,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,57344,715
$CAP_FILE_SIZE,185394,0
$CFSIZE,260165632,142462976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160813,181044,2254.111,-15738.898,38,2.7,57,10.1