version: 66.06
glider: 148
mission: 12
dive: 401
start: 8 18 113 13 26 59
data:
$ID,148
$MISSION,12
$DIVE,401
$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,-1024070.7
$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,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,55
$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
$GPS1,131036,2302.826,-15737.729,45,1.6,45,10.1
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.0
$GPS2,132605,2302.744,-15737.743,40,1.6,40,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.194,-0.172
$KALMAN_X,-92006.0,203.0,69.4,129840.3,-509.4
$KALMAN_Y,62201.8,-59.7,-522.1,-28733.6,-314.5
$MHEAD_RNG_PITCHd_Wd,218.3,63472,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-66.95,0.000,2,0.000,0.000,417,1636,2953,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.5,-5.3,9,121,13.90,2.50,-8.00,0.000,4,0.143,0.057,3116,168,3397,0,0,0,0,0,0
$GC,189,-0.98,-146.0,31.7,-22.1,23,194,0.32,2.15,0.00,0.000,6,0.095,0.016,3186,1591,3398,0,0,0,0,0,0
$GC,457,-0.88,-146.0,71.6,-12.4,47,466,0.10,0.00,0.00,0.000,6,0.120,0.000,3208,1593,3399,0,0,0,0,0,0
$GC,720,-0.88,-146.0,99.3,-10.2,72,725,0.00,2.40,0.00,0.000,4,0.000,0.021,3208,3120,3399,0,0,0,0,0,0
$GC,742,-0.88,-146.0,101.7,-9.8,73,748,0.00,2.53,0.00,0.000,6,0.000,0.027,3208,1550,3399,0,0,0,0,0,0
$GC,1005,-0.88,-146.0,127.8,-10.6,98,1009,0.00,2.47,0.00,0.000,4,0.000,0.021,3208,3123,3399,0,0,0,0,0,0
$GC,1026,-0.88,-146.0,129.5,-10.4,99,1030,0.00,2.50,0.00,0.000,6,0.000,0.027,3208,1564,3399,0,0,0,0,0,0
$GC,1289,-0.88,-146.0,153.6,-8.4,123,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1563,3399,0,0,0,0,0,0
$GC,1543,-0.88,-146.0,176.7,-9.3,147,1548,0.00,2.45,0.00,0.000,4,0.000,0.021,3208,3123,3399,0,0,0,0,0,0
$GC,1579,-1.01,-146.0,179.9,-8.6,150,1584,0.12,2.50,0.00,0.000,6,0.059,0.028,3127,1568,3399,0,0,0,0,0,0
$GC,1860,-0.84,-146.0,217.0,-13.5,167,1862,0.45,0.00,0.00,0.000,6,0.077,0.000,3217,1568,3399,0,0,0,0,0,0
$GC,2100,-0.93,-146.0,235.2,-7.2,173,2105,0.00,2.47,0.00,0.000,4,0.000,0.022,3217,3122,3399,0,0,0,0,0,0
$GC,2120,-1.05,-146.0,236.8,-7.6,173,2125,0.20,2.50,0.00,0.000,6,0.041,0.028,3124,1570,3399,0,0,0,0,0,0
$GC,2387,-0.93,-146.0,270.8,-13.2,180,2392,0.30,2.30,0.00,0.000,4,0.080,0.044,3194,168,3399,0,0,0,0,0,0
$GC,2435,-0.99,-146.0,275.9,-9.9,181,2439,0.00,2.15,0.00,0.000,6,0.000,0.019,3194,1566,3399,0,0,0,0,0,0
$GC,2724,-1.05,-146.0,298.8,-7.6,188,2729,0.10,2.50,0.00,0.000,4,0.075,0.025,3133,3138,3398,0,0,0,0,0,0
$GC,2762,-1.05,-146.0,302.5,-9.8,188,2769,0.17,2.55,0.00,0.000,6,0.086,0.031,3174,1582,3398,0,0,0,0,0,0
$GC,3013,-1.05,-146.0,324.0,-8.6,195,3017,0.00,2.38,0.00,0.000,4,0.000,0.051,3174,166,3397,0,0,0,0,0,0
$GC,3052,-1.05,-146.0,327.7,-10.1,195,3061,0.00,2.22,0.00,0.000,6,0.000,0.021,3174,1581,3396,0,0,0,0,0,0
$GC,3302,-1.05,-146.0,349.0,-8.4,202,3306,0.00,2.50,0.00,0.000,4,0.000,0.031,3174,3140,3395,0,0,0,0,0,0
$GC,3335,-1.15,-146.0,351.8,-7.9,202,3340,0.10,2.55,0.00,0.000,6,0.074,0.034,3114,1588,3395,0,0,0,0,0,0
$GC,3587,-1.05,-146.0,379.6,-11.6,208,3589,0.25,0.00,0.00,0.000,6,0.083,0.000,3171,1588,3393,0,0,0,0,0,0
$GC,3829,-1.05,-146.0,401.4,-8.7,214,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1588,3392,0,0,0,0,0,0
$GC,4073,-1.10,-146.0,420.6,-7.7,220,4077,0.00,2.55,0.00,0.000,4,0.000,0.036,3171,3132,3390,0,0,0,0,0,0
$GC,4104,-1.18,-146.0,422.8,-6.8,220,4109,0.12,2.58,0.00,0.000,6,0.060,0.036,3108,1580,3390,0,0,0,0,0,0
$GC,4359,-1.09,-146.0,448.3,-10.3,227,4364,0.25,2.40,0.00,0.000,4,0.083,0.065,3169,173,3388,0,0,0,0,0,0
$GC,4381,-1.09,-146.0,450.4,-9.9,227,4385,0.00,2.22,0.00,0.000,6,0.000,0.024,3169,1583,3388,0,0,0,0,0,0
$GC,4647,-1.13,-146.0,471.3,-7.8,234,4651,0.00,2.58,0.00,0.000,4,0.000,0.039,3169,3143,3386,0,0,0,0,0,0
$GC,4666,-1.20,-146.0,472.9,-7.6,234,4672,0.12,2.58,0.00,0.000,6,0.064,0.036,3108,1591,3386,0,0,0,0,0,0
$GC,4938,-1.11,-146.0,500.5,-10.9,241,4940,0.22,0.00,0.00,0.000,6,0.086,0.000,3158,1591,3384,0,0,0,0,0,0
$GC,5175,-1.11,-146.0,523.6,-9.3,247,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1591,3383,0,0,0,0,0,0
$GC,5419,-1.11,-146.0,545.6,-8.7,253,5423,0.00,2.60,0.00,0.000,4,0.000,0.044,3158,3136,3381,0,0,0,0,0,0
$GC,5438,-1.11,-146.0,547.4,-9.1,253,5442,0.00,2.60,0.00,0.000,6,0.000,0.042,3158,1589,3381,0,0,0,0,0,0
$GC,5704,-1.11,-146.0,567.1,-7.3,260,5708,0.00,2.58,0.00,0.000,4,0.000,0.041,3158,3135,3379,0,0,0,0,0,0
$GC,5724,-1.16,-146.0,568.8,-8.1,260,5728,0.00,2.60,0.00,0.000,6,0.000,0.048,3158,1592,3379,0,0,0,0,0,0
$GC,5990,-1.16,-146.0,589.2,-7.7,267,5994,0.00,2.50,0.00,0.000,4,0.000,0.077,3158,163,3377,0,0,0,0,0,0
$GC,6013,-1.16,-146.0,591.3,-8.4,267,6018,0.00,2.30,0.00,0.000,6,0.000,0.031,3158,1581,3376,0,0,0,0,0,0
$GC,6273,-1.16,-146.0,608.4,-6.3,274,6277,0.00,2.65,0.00,0.000,4,0.000,0.049,3158,3157,3375,0,0,0,0,0,0
$GC,6321,-1.28,-146.0,611.7,-6.6,275,6326,0.15,2.62,0.00,0.000,6,0.054,0.046,3095,1603,3375,0,0,0,0,0,0
$GC,6606,-1.19,-146.0,637.6,-9.4,282,6612,0.20,2.53,0.00,0.000,4,0.090,0.077,3140,160,3373,0,0,0,0,0,0
$GC,6651,-1.19,-146.0,641.9,-9.1,283,6655,0.00,2.35,0.00,0.000,6,0.000,0.035,3140,1595,3372,0,0,0,0,0,0
$GC,6940,-1.19,-146.0,666.5,-8.7,290,6944,0.00,2.65,0.00,0.000,4,0.000,0.054,3140,3159,3371,0,0,0,0,0,0
$GC,6954,-1.19,-146.0,668.2,-8.8,290,6959,0.00,2.65,0.00,0.000,6,0.000,0.046,3140,1592,3371,0,0,0,0,0,0
$GC,7227,-1.19,-146.0,691.1,-8.4,297,7231,0.00,2.53,0.00,0.000,4,0.000,0.080,3140,162,3369,0,0,0,0,0,0
$GC,7246,-1.19,-146.0,692.9,-8.6,297,7251,0.00,2.35,0.00,0.000,6,0.000,0.034,3140,1600,3369,0,0,0,0,0,0
$GC,7510,-1.19,-146.0,712.1,-7.0,304,7515,0.00,2.62,0.00,0.000,4,0.000,0.055,3140,3153,3367,0,0,0,0,0,0
$GC,7531,-1.19,-146.0,713.5,-7.1,304,7536,0.00,2.65,0.00,0.000,6,0.000,0.048,3140,1592,3367,0,0,0,0,0,0
$GC,7798,-1.19,-146.0,732.0,-6.9,311,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1592,3366,0,0,0,0,0,0
$GC,8039,-1.19,-146.0,749.9,-7.4,317,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1592,3365,0,0,0,0,0,0
$GC,8283,-1.19,-146.0,767.9,-7.3,323,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1592,3364,0,0,0,0,0,0
$GC,8528,-1.19,-146.0,785.9,-7.4,329,8533,0.00,2.62,0.00,0.000,4,0.000,0.046,3140,3154,3363,0,0,0,0,0,0
$GC,8557,-1.25,-146.0,788.2,-7.1,329,8562,0.00,2.65,0.00,0.000,6,0.000,0.053,3140,1599,3363,0,0,0,0,0,0
$GC,8814,-1.25,-146.0,806.2,-7.1,336,8819,0.00,2.53,0.00,0.000,4,0.000,0.084,3140,166,3362,0,0,0,0,0,0
$GC,8846,-1.25,-146.0,808.7,-7.4,336,8851,0.00,2.35,0.00,0.000,6,0.000,0.036,3140,1599,3362,0,0,0,0,0,0
$GC,9101,-1.25,-146.0,827.4,-7.2,343,9106,0.00,2.62,0.00,0.000,4,0.000,0.056,3140,3156,3361,0,0,0,0,0,0
$GC,9130,-1.32,-146.0,829.7,-7.5,343,9135,0.12,2.65,0.00,0.000,6,0.062,0.049,3086,1604,3361,0,0,0,0,0,0
$GC,9388,-1.23,-146.0,855.0,-10.1,350,9393,0.20,2.53,0.00,0.000,4,0.093,0.079,3130,166,3359,0,0,0,0,0,0
$GC,9422,-1.23,-146.0,858.5,-9.4,350,9426,0.00,2.38,0.00,0.000,6,0.000,0.036,3131,1610,3359,0,0,0,0,0,0
$GC,9674,-1.23,-146.0,878.4,-7.8,356,9679,0.00,2.55,0.00,0.000,4,0.000,0.074,3131,165,3358,0,0,0,0,0,0
$GC,9695,-1.23,-146.0,880.4,-8.5,356,9699,0.00,2.38,0.00,0.000,6,0.000,0.037,3131,1603,3358,0,0,0,0,0,0
$STATE,9961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9961,begin apogee
$GC,9968,-0.31,0.0,900.1,7.1,363,10091,0.88,0.00,120.25,1.154,6,0.067,0.000,3333,1343,2800,0,0,0,0,0,0
$STATE,10092,end apogee,CONTROL_FINISHED_OK
$STATE,10092,begin climb
$GC,10096,1.27,146.0,903.2,0.0,366,10239,1.42,2.20,132.02,1.131,4,0.031,0.078,3682,174,2202,0,0,0,0,0,0
$GC,10366,1.01,146.0,878.7,16.0,372,10371,0.30,1.95,0.00,0.000,6,0.110,0.031,3621,1355,2197,0,0,0,0,0,0
$GC,10645,0.93,146.0,846.8,11.2,379,10649,0.00,2.12,0.00,0.000,4,0.000,0.074,3621,170,2192,0,0,0,0,0,0
$GC,10730,0.81,146.0,836.5,12.0,380,10739,0.17,1.95,0.00,0.000,6,0.091,0.032,3580,1336,2192,0,0,0,0,0,0
$GC,10980,0.83,167.0,813.4,9.0,387,11005,0.00,2.83,18.45,1.017,4,0.000,0.056,3580,2928,2118,0,0,0,0,0,0
$GC,11017,0.92,238.0,810.4,6.7,387,11093,0.00,2.75,68.03,1.066,6,0.000,0.050,3580,1353,1829,0,0,0,0,0,0
$GC,11355,0.98,238.0,774.7,10.8,396,11356,0.15,0.00,0.00,0.000,6,0.059,0.000,3630,1353,1820,0,0,0,0,0,0
$GC,11597,0.98,238.0,742.5,13.4,402,11602,0.00,2.70,0.00,0.000,4,0.000,0.046,3630,2934,1818,0,0,0,0,0,0
$GC,11616,0.98,238.0,739.5,12.6,402,11621,0.00,2.72,0.00,0.000,6,0.000,0.051,3631,1346,1817,0,0,0,0,0,0
$GC,11880,0.98,238.0,706.5,12.3,409,11885,0.00,2.70,0.00,0.000,4,0.000,0.048,3630,2931,1816,0,0,0,0,0,0
$GC,11901,0.98,238.0,704.1,11.5,409,11906,0.00,2.72,0.00,0.000,6,0.000,0.056,3630,1356,1814,0,0,0,0,0,0
$GC,12167,0.98,238.0,674.4,11.3,416,12168,0.00,0.00,0.00,0.000,6,0.000,0.000,3630,1356,1814,0,0,0,0,0,0
$GC,12409,0.98,238.0,646.5,11.6,422,12413,0.00,2.70,0.00,0.000,4,0.000,0.048,3630,2938,1814,0,0,0,0,0,0
$GC,12423,0.98,238.0,644.4,11.6,422,12428,0.00,2.70,0.00,0.000,6,0.000,0.050,3630,1359,1813,0,0,0,0,0,0
$GC,12693,0.98,238.0,611.1,12.6,429,12697,0.00,2.15,0.00,0.000,4,0.000,0.084,3631,161,1813,0,0,0,0,0,0
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$STATE,17992,end climb,SURFACE_DEPTH_REACHED
$STATE,17992,begin surface coast
$FINISH,0.9,1.009871
$STATE,18046,end surface coast,CONTROL_FINISHED_OK
$STATE,18046,begin surface
$SM_CCo,18070,40.10,0.428,0,0,1209,390.03
$SM_GC,1.83,0.00,0.00,40.10,0.000,0.000,0.428,412,1609,1209,-13.75,1.10,390.03
$IRIDIUM_FIX,2255.72,-15739.74,121102,131359
$TT8_MAMPS,0.027612
$HUMID,67.20
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.50
$XPDR_PINGS,12
$24V_AH,23.0,59.120
$10V_AH,9.8,56.882
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.475,202.325,412.300,40.100,0.000,91.798,112.917,396.013,3.000,0.000,43.915,1509.987,13329.896,540.465,2551.864,1101.194,33.383,1578.547,0.000,2532.167,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,474.724,374.769,476.566,997.954,1313.855,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,54164,697
$CAP_FILE_SIZE,180849,0
$CFSIZE,260165632,141799424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180813,183006,2300.519,-15739.293,33,1.7,33,10.1