version: 66.06
glider: 148
mission: 12
dive: 393
start: 8 16 113 18 19 31
data:
$ID,148
$MISSION,12
$DIVE,393
$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,-1023879.3
$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,27
$R_STBD_OVSHOOT,104
$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
$GPS1,181044,2254.111,-15738.898,38,2.7,57,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-76.1
$GPS2,181839,2254.046,-15738.961,13,2.1,32,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.110,0.235
$KALMAN_X,-90135.2,-63.3,364.2,125871.3,-1165.7
$KALMAN_Y,72489.6,-66.8,92.8,-55737.7,-1399.6
$MHEAD_RNG_PITCHd_Wd,14.9,21929,-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,-67.62,0.000,2,0.000,0.000,410,1596,2948,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.5,-4.8,9,123,13.98,2.40,-7.90,0.000,4,0.144,0.034,3118,3092,3398,0,0,0,0,0,0
$GC,202,-1.07,-146.0,32.2,-17.8,24,207,0.22,2.47,0.00,0.000,6,0.094,0.031,3167,1568,3398,0,0,0,0,0,0
$GC,471,-0.93,-146.0,72.9,-12.6,48,480,0.12,0.00,0.00,0.000,6,0.111,0.000,3194,1568,3400,0,0,0,0,0,0
$GC,738,-0.88,-146.0,101.7,-10.9,73,743,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1568,3400,0,0,0,0,0,0
$GC,1001,-0.88,-146.0,131.7,-11.6,98,1005,0.00,2.40,0.00,0.000,4,0.000,0.020,3194,3102,3401,0,0,0,0,0,0
$GC,1032,-0.88,-146.0,135.5,-11.0,100,1041,0.00,2.50,0.00,0.000,6,0.000,0.028,3194,1576,3401,0,0,0,0,0,0
$GC,1296,-0.88,-146.0,165.5,-11.4,125,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1576,3401,0,0,0,0,0,0
$GC,1557,-0.88,-146.0,194.3,-10.4,150,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1576,3401,0,0,0,0,0,0
$GC,1828,-0.88,-146.0,220.1,-9.5,161,1832,0.00,2.40,0.00,0.000,4,0.000,0.021,3194,3103,3401,0,0,0,0,0,0
$GC,1853,-0.88,-146.0,222.7,-9.9,161,1858,0.00,2.47,0.00,0.000,6,0.000,0.028,3194,1568,3401,0,0,0,0,0,0
$GC,2113,-0.88,-146.0,244.5,-8.3,168,2117,0.00,2.40,0.00,0.000,4,0.000,0.021,3194,3095,3401,0,0,0,0,0,0
$GC,2141,-0.96,-146.0,247.0,-8.2,168,2146,0.00,2.45,0.00,0.000,6,0.000,0.028,3194,1577,3401,0,0,0,0,0,0
$GC,2398,-1.00,-146.0,266.8,-8.0,175,2402,0.00,2.33,0.00,0.000,4,0.000,0.048,3194,172,3401,0,0,0,0,0,0
$GC,2431,-1.05,-146.0,270.0,-8.9,175,2436,0.10,2.10,0.00,0.000,6,0.074,0.018,3131,1551,3401,0,0,0,0,0,0
$GC,2687,-0.96,-146.0,300.3,-12.0,182,2692,0.25,2.50,0.00,0.000,4,0.084,0.025,3191,3122,3400,0,0,0,0,0,0
$GC,2741,-1.09,-146.0,304.9,-7.3,183,2747,0.12,2.50,0.00,0.000,6,0.061,0.031,3122,1580,3400,0,0,0,0,0,0
$GC,3020,-0.99,-146.0,334.8,-11.0,190,3022,0.28,0.00,0.00,0.000,6,0.080,0.000,3184,1580,3399,0,0,0,0,0,0
$GC,3271,-1.03,-146.0,352.5,-7.0,196,3275,0.00,2.38,0.00,0.000,4,0.000,0.054,3184,162,3398,0,0,0,0,0,0
$GC,3294,-1.03,-146.0,355.0,-8.9,196,3298,0.00,2.17,0.00,0.000,6,0.000,0.020,3184,1578,3398,0,0,0,0,0,0
$GC,3554,-1.09,-146.0,373.9,-7.3,203,3559,0.10,2.50,0.00,0.000,4,0.075,0.031,3126,3131,3396,0,0,0,0,0,0
$GC,3575,-1.09,-146.0,375.7,-8.7,203,3581,0.15,2.53,0.00,0.000,6,0.088,0.034,3162,1587,3396,0,0,0,0,0,0
$GC,3840,-1.09,-146.0,398.4,-8.3,210,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1587,3395,0,0,0,0,0,0
$GC,4086,-1.09,-146.0,417.5,-7.8,216,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1587,3393,0,0,0,0,0,0
$GC,4329,-1.09,-146.0,436.9,-7.9,222,4334,0.00,2.55,0.00,0.000,4,0.000,0.036,3162,3130,3391,0,0,0,0,0,0
$GC,4363,-1.18,-146.0,439.6,-7.7,222,4367,0.00,2.58,0.00,0.000,6,0.000,0.038,3162,1584,3392,0,0,0,0,0,0
$GC,4613,-1.18,-146.0,459.2,-7.9,228,4617,0.00,2.45,0.00,0.000,4,0.000,0.067,3162,169,3390,0,0,0,0,0,0
$GC,4652,-1.18,-146.0,462.7,-8.4,228,4658,0.00,2.25,0.00,0.000,6,0.000,0.027,3162,1580,3390,0,0,0,0,0,0
$GC,4902,-1.18,-146.0,481.3,-7.4,235,4907,0.00,2.55,0.00,0.000,4,0.000,0.039,3162,3143,3388,0,0,0,0,0,0
$GC,4940,-1.29,-146.0,484.2,-7.0,235,4949,0.15,2.60,0.00,0.000,6,0.028,0.039,3097,1603,3388,0,0,0,0,0,0
$GC,5192,-1.18,-146.0,509.1,-10.2,242,5197,0.20,2.47,0.00,0.000,4,0.090,0.069,3142,167,3386,0,0,0,0,0,0
$GC,5226,-1.18,-146.0,512.6,-9.1,242,5230,0.00,2.28,0.00,0.000,6,0.000,0.030,3142,1595,3386,0,0,0,0,0,0
$GC,5478,-1.18,-146.0,531.8,-7.6,248,5482,0.00,2.55,0.00,0.000,4,0.000,0.042,3142,3150,3384,0,0,0,0,0,0
$GC,5502,-1.18,-146.0,533.7,-7.7,248,5506,0.00,2.60,0.00,0.000,6,0.000,0.041,3142,1588,3384,0,0,0,0,0,0
$GC,5761,-1.18,-146.0,553.2,-7.7,255,5766,0.00,2.47,0.00,0.000,4,0.000,0.074,3142,168,3382,0,0,0,0,0,0
$GC,5790,-1.18,-146.0,555.7,-8.5,255,5794,0.00,2.28,0.00,0.000,6,0.000,0.031,3142,1595,3382,0,0,0,0,0,0
$GC,6046,-1.18,-146.0,575.3,-7.8,262,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1595,3381,0,0,0,0,0,0
$GC,6288,-1.18,-146.0,595.0,-8.1,268,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1595,3379,0,0,0,0,0,0
$GC,6532,-1.18,-146.0,616.1,-8.8,274,6536,0.00,2.60,0.00,0.000,4,0.000,0.046,3142,3157,3377,0,0,0,0,0,0
$GC,6557,-1.18,-146.0,618.2,-9.4,274,6562,0.00,2.65,0.00,0.000,6,0.000,0.047,3142,1594,3378,0,0,0,0,0,0
$GC,6819,-1.18,-146.0,641.1,-8.9,281,6823,0.00,2.50,0.00,0.000,4,0.000,0.081,3142,169,3376,0,0,0,0,0,0
$GC,6838,-1.18,-146.0,643.3,-10.4,281,6842,0.00,2.30,0.00,0.000,6,0.000,0.032,3142,1594,3376,0,0,0,0,0,0
$GC,7103,-1.18,-146.0,666.3,-8.6,288,7108,0.00,2.50,0.00,0.000,4,0.000,0.074,3142,165,3375,0,0,0,0,0,0
$GC,7136,-1.18,-146.0,669.5,-10.0,288,7140,0.00,2.33,0.00,0.000,6,0.000,0.035,3142,1595,3374,0,0,0,0,0,0
$GC,7386,-1.18,-146.0,689.3,-7.9,294,7391,0.00,2.62,0.00,0.000,4,0.000,0.051,3142,3157,3373,0,0,0,0,0,0
$GC,7407,-1.18,-146.0,690.9,-7.6,294,7411,0.00,2.67,0.00,0.000,6,0.000,0.048,3142,1586,3373,0,0,0,0,0,0
$GC,7676,-1.18,-146.0,711.1,-7.7,301,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1586,3372,0,0,0,0,0,0
$GC,7915,-1.18,-146.0,728.2,-6.9,307,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1586,3370,0,0,0,0,0,0
$GC,8161,-1.18,-146.0,744.9,-6.8,313,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1586,3369,0,0,0,0,0,0
$GC,8404,-1.18,-146.0,762.0,-7.1,319,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1586,3368,0,0,0,0,0,0
$GC,8646,-1.18,-146.0,779.0,-6.9,325,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1586,3367,0,0,0,0,0,0
$GC,8894,-1.18,-146.0,795.6,-6.8,331,8899,0.00,2.65,0.00,0.000,4,0.000,0.044,3142,3160,3366,0,0,0,0,0,0
$GC,8913,-1.18,-146.0,797.2,-6.6,331,8918,0.00,2.67,0.00,0.000,6,0.000,0.050,3141,1597,3366,0,0,0,0,0,0
$GC,9179,-1.18,-146.0,814.8,-6.7,338,9184,0.00,2.53,0.00,0.000,4,0.000,0.084,3142,167,3365,0,0,0,0,0,0
$GC,9203,-1.18,-146.0,816.7,-8.2,338,9207,0.00,2.33,0.00,0.000,6,0.000,0.035,3142,1597,3365,0,0,0,0,0,0
$GC,9462,-1.18,-146.0,833.3,-6.4,345,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1597,3365,0,0,0,0,0,0
$GC,9710,-1.18,-146.0,848.9,-6.4,351,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1597,3364,0,0,0,0,0,0
$GC,9950,-1.18,-146.0,864.7,-6.5,357,9954,0.00,2.55,0.00,0.000,4,0.000,0.077,3142,160,3363,0,0,0,0,0,0
$GC,9978,-1.18,-146.0,866.8,-8.0,357,9982,0.00,2.38,0.00,0.000,6,0.000,0.036,3142,1599,3363,0,0,0,0,0,0
$GC,10234,-1.18,-146.0,884.3,-6.8,364,10239,0.00,2.62,0.00,0.000,4,0.000,0.053,3142,3155,3362,0,0,0,0,0,0
$GC,10254,-1.23,-146.0,885.8,-7.3,364,10258,0.00,2.67,0.00,0.000,6,0.000,0.049,3142,1590,3362,0,0,0,0,0,0
$STATE,10475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10475,begin apogee
$GC,10481,-0.31,0.0,901.4,7.0,370,10605,0.82,0.00,120.78,1.155,6,0.070,0.000,3332,1342,2800,0,0,0,0,0,0
$STATE,10606,end apogee,CONTROL_FINISHED_OK
$STATE,10606,begin climb
$GC,10610,1.27,146.0,904.6,0.0,373,10752,1.45,2.20,132.90,1.132,4,0.032,0.083,3685,176,2203,0,0,0,0,0,0
$GC,10765,1.03,146.0,897.8,12.9,377,10770,0.30,1.98,0.00,0.000,6,0.110,0.031,3625,1359,2201,0,0,0,0,0,0
$GC,11055,0.94,146.0,864.2,11.5,384,11058,0.00,2.12,0.00,0.000,4,0.000,0.072,3625,173,2194,0,0,0,0,0,0
$GC,11129,0.81,146.0,854.3,13.5,385,11133,0.17,1.98,0.00,0.000,6,0.084,0.031,3575,1353,2193,0,0,0,0,0,0
$GC,11390,0.81,146.0,828.4,10.0,392,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1354,2192,0,0,0,0,0,0
$GC,11632,0.82,154.4,804.9,9.6,398,11645,0.00,2.17,6.50,0.844,4,0.000,0.073,3575,171,2170,0,0,0,0,0,0
$GC,11687,0.83,166.1,799.0,9.5,399,11707,0.00,1.95,13.30,0.979,6,0.000,0.031,3575,1352,2122,0,0,0,0,0,0
$GC,11973,0.84,175.8,772.1,9.6,406,11985,0.00,0.00,9.88,0.923,6,0.000,0.000,3575,1352,2083,0,0,0,0,0,0
$GC,12210,0.86,188.5,749.0,9.4,412,12231,0.00,2.75,13.20,0.955,4,0.000,0.048,3575,2939,2030,0,0,0,0,0,0
$GC,12243,0.94,214.9,746.1,8.8,412,12276,0.12,2.78,26.30,1.006,6,0.067,0.049,3621,1348,1923,0,0,0,0,0,0
$GC,12545,0.94,214.9,710.4,11.8,420,12549,0.00,2.67,0.00,0.000,4,0.000,0.044,3621,2935,1919,0,0,0,0,0,0
$GC,12570,0.94,214.9,707.5,10.7,420,12575,0.00,2.75,0.00,0.000,6,0.000,0.052,3621,1340,1917,0,0,0,0,0,0
$GC,12831,0.94,214.9,678.3,11.1,427,12836,0.00,2.70,0.00,0.000,4,0.000,0.046,3621,2936,1916,0,0,0,0,0,0
$GC,12850,0.94,214.9,675.8,11.2,427,12855,0.00,2.78,0.00,0.000,6,0.000,0.054,3621,1341,1915,0,0,0,0,0,0
$GC,13114,0.94,214.9,647.9,10.6,434,13115,0.00,0.00,0.00,0.000,6,0.000,0.000,3621,1341,1915,0,0,0,0,0,0
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$STATE,18798,end climb,SURFACE_DEPTH_REACHED
$STATE,18799,begin surface coast
$FINISH,1.1,1.023276
$STATE,18839,end surface coast,CONTROL_FINISHED_OK
$STATE,18839,begin surface
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$HUMID,68.42
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.20
$XPDR_PINGS,12
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$10V_AH,9.8,55.679
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,479.144,366.251,465.912,965.003,1270.082,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,57286,704
$CAP_FILE_SIZE,174036,0
$CFSIZE,260165632,142397440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160813,233620,2255.385,-15738.120,45,3.6,64,10.1