version: 66.06
glider: 148
mission: 12
dive: 422
start: 8 23 113 7 8 49
data:
$ID,148
$MISSION,12
$DIVE,422
$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,-1024489.1
$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,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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,070059,2250.454,-15807.163,37,1.7,43,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-78.6
$GPS2,070755,2250.488,-15807.147,13,1.2,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.011,0.259
$KALMAN_X,-79711.1,2.3,-34.9,67640.3,227.9
$KALMAN_Y,15537.5,277.1,177.4,-5807.6,-2206.2
$MHEAD_RNG_PITCHd_Wd,352.3,26240,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-68.35,0.000,2,0.000,0.000,410,1657,2967,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.3,-4.4,9,119,14.40,2.40,-7.50,0.000,4,0.158,0.033,3115,3171,3397,0,0,0,0,0,0
$GC,217,-1.12,-146.0,34.3,-16.0,27,222,0.17,2.62,0.00,0.000,6,0.098,0.031,3153,1567,3397,0,0,0,0,0,0
$GC,483,-0.92,-146.0,78.1,-13.9,51,488,0.20,2.28,0.00,0.000,4,0.099,0.040,3196,166,3398,0,0,0,0,0,0
$GC,507,-0.77,-146.0,81.0,-13.0,52,512,0.17,2.20,0.00,0.000,6,0.096,0.016,3235,1633,3398,0,0,0,0,0,0
$GC,769,-0.81,-146.0,102.2,-8.1,76,773,0.00,2.40,0.00,0.000,4,0.000,0.041,3235,168,3398,0,0,0,0,0,0
$GC,793,-0.86,-146.0,104.3,-8.2,77,798,0.00,2.17,0.00,0.000,6,0.000,0.016,3235,1631,3398,0,0,0,0,0,0
$GC,1056,-0.91,-146.0,125.7,-8.0,102,1061,0.15,2.42,0.00,0.000,4,0.052,0.022,3158,3181,3399,0,0,0,0,0,0
$GC,1079,-0.91,-146.0,127.5,-8.7,103,1084,0.17,2.62,0.00,0.000,6,0.083,0.027,3200,1556,3400,0,0,0,0,0,0
$GC,1344,-0.91,-146.0,153.1,-8.9,127,1348,0.00,2.25,0.00,0.000,4,0.000,0.042,3200,166,3400,0,0,0,0,0,0
$GC,1385,-0.91,-146.0,157.3,-9.2,130,1391,0.00,2.20,0.00,0.000,6,0.000,0.016,3200,1620,3400,0,0,0,0,0,0
$GC,1648,-0.91,-146.0,179.9,-8.9,155,1652,0.00,2.35,0.00,0.000,4,0.000,0.022,3200,3130,3400,0,0,0,0,0,0
$GC,1684,-0.98,-146.0,183.2,-8.4,158,1688,0.00,2.55,0.00,0.000,6,0.000,0.027,3200,1553,3400,0,0,0,0,0,0
$GC,1954,-0.98,-146.0,208.4,-9.8,177,1958,0.00,2.45,0.00,0.000,4,0.000,0.021,3200,3118,3400,0,0,0,0,0,0
$GC,1983,-1.05,-146.0,211.2,-9.2,177,1988,0.12,2.50,0.00,0.000,6,0.060,0.027,3127,1568,3400,0,0,0,0,0,0
$GC,2240,-0.91,-146.0,241.4,-11.9,184,2245,0.30,2.28,0.00,0.000,4,0.081,0.041,3197,167,3400,0,0,0,0,0,0
$GC,2274,-0.91,-146.0,245.1,-9.4,184,2278,0.00,2.10,0.00,0.000,6,0.000,0.017,3197,1571,3400,0,0,0,0,0,0
$GC,2525,-0.96,-146.0,264.1,-7.7,190,2529,0.00,2.42,0.00,0.000,4,0.000,0.023,3197,3120,3400,0,0,0,0,0,0
$GC,2560,-1.08,-146.0,266.9,-8.3,190,2565,0.15,2.53,0.00,0.000,6,0.055,0.028,3114,1565,3400,0,0,0,0,0,0
$GC,2813,-0.93,-146.0,297.1,-12.3,196,2818,0.32,2.30,0.00,0.000,4,0.079,0.044,3189,163,3400,0,0,0,0,0,0
$GC,2844,-0.93,-146.0,300.6,-9.2,196,2849,0.00,2.15,0.00,0.000,6,0.000,0.019,3190,1561,3400,0,0,0,0,0,0
$GC,3104,-0.99,-146.0,317.5,-6.3,203,3108,0.00,2.50,0.00,0.000,4,0.000,0.028,3190,3137,3399,0,0,0,0,0,0
$GC,3133,-1.08,-146.0,319.3,-5.3,203,3139,0.12,2.55,0.00,0.000,6,0.061,0.031,3125,1567,3399,0,0,0,0,0,0
$GC,3392,-0.99,-146.0,342.6,-9.4,210,3397,0.25,2.53,0.00,0.000,4,0.082,0.029,3185,3128,3398,0,0,0,0,0,0
$GC,3430,-1.10,-146.0,345.6,-6.1,210,3440,0.08,2.58,0.00,0.000,6,0.035,0.036,3120,1585,3398,0,0,0,0,0,0
$GC,3683,-1.00,-146.0,369.2,-10.0,217,3688,0.25,2.50,0.00,0.000,4,0.082,0.032,3181,3123,3396,0,0,0,0,0,0
$GC,3713,-1.08,-146.0,372.1,-7.6,217,3717,0.00,2.53,0.00,0.000,6,0.000,0.037,3181,1586,3396,0,0,0,0,0,0
$GC,3968,-1.12,-146.0,388.4,-6.3,224,3973,0.12,2.42,0.00,0.000,4,0.061,0.061,3120,168,3395,0,0,0,0,0,0
$GC,4014,-1.02,-146.0,392.5,-10.3,225,4019,0.25,2.20,0.00,0.000,6,0.081,0.025,3177,1572,3395,0,0,0,0,0,0
$GC,4304,-1.02,-146.0,411.1,-6.3,232,4308,0.00,2.55,0.00,0.000,4,0.000,0.035,3177,3143,3392,0,0,0,0,0,0
$GC,4340,-1.14,-146.0,413.2,-5.7,232,4345,0.10,2.58,0.00,0.000,6,0.074,0.043,3119,1580,3392,0,0,0,0,0,0
$GC,4590,-1.05,-146.0,435.0,-9.1,238,4595,0.22,2.42,0.00,0.000,4,0.084,0.063,3171,170,3391,0,0,0,0,0,0
$GC,4619,-1.05,-146.0,437.6,-8.5,238,4623,0.00,2.25,0.00,0.000,6,0.000,0.025,3171,1589,3391,0,0,0,0,0,0
$GC,4876,-1.05,-146.0,455.5,-7.4,245,4880,0.00,2.55,0.00,0.000,4,0.000,0.038,3170,3148,3389,0,0,0,0,0,0
$GC,4904,-1.13,-146.0,458.2,-8.3,245,4909,0.00,2.60,0.00,0.000,6,0.000,0.037,3170,1584,3389,0,0,0,0,0,0
$GC,5160,-1.18,-146.0,479.4,-8.5,252,5165,0.12,2.45,0.00,0.000,4,0.063,0.070,3112,169,3387,0,0,0,0,0,0
$GC,5187,-1.10,-146.0,482.3,-12.2,252,5192,0.20,2.25,0.00,0.000,6,0.087,0.028,3156,1585,3386,0,0,0,0,0,0
$GC,5447,-1.10,-146.0,504.8,-8.4,259,5451,0.00,2.58,0.00,0.000,4,0.000,0.041,3157,3150,3385,0,0,0,0,0,0
$GC,5480,-1.19,-146.0,507.5,-7.9,259,5485,0.00,2.58,0.00,0.000,6,0.000,0.040,3157,1595,3385,0,0,0,0,0,0
$GC,5732,-1.19,-146.0,526.0,-7.4,265,5737,0.00,2.47,0.00,0.000,4,0.000,0.074,3157,167,3383,0,0,0,0,0,0
$GC,5756,-1.19,-146.0,528.2,-8.7,265,5760,0.00,2.30,0.00,0.000,6,0.000,0.029,3157,1596,3383,0,0,0,0,0,0
$GC,6017,-1.19,-146.0,546.6,-7.1,272,6022,0.00,2.58,0.00,0.000,4,0.000,0.043,3157,3149,3381,0,0,0,0,0,0
$GC,6048,-1.26,-146.0,548.8,-7.1,272,6053,0.12,2.60,0.00,0.000,6,0.063,0.042,3098,1602,3381,0,0,0,0,0,0
$GC,6304,-1.16,-146.0,574.3,-10.4,279,6309,0.22,2.53,0.00,0.000,4,0.086,0.075,3149,166,3380,0,0,0,0,0,0
$GC,6352,-1.16,-146.0,578.7,-8.8,280,6356,0.00,2.33,0.00,0.000,6,0.000,0.031,3149,1600,3379,0,0,0,0,0,0
$GC,6639,-1.16,-146.0,602.8,-8.3,287,6643,0.00,2.60,0.00,0.000,4,0.000,0.047,3149,3157,3378,0,0,0,0,0,0
$GC,6658,-1.16,-146.0,604.6,-9.3,287,6663,0.00,2.60,0.00,0.000,6,0.000,0.044,3149,1600,3377,0,0,0,0,0,0
$GC,6924,-1.16,-146.0,626.6,-8.3,294,6929,0.00,2.53,0.00,0.000,4,0.000,0.080,3149,169,3376,0,0,0,0,0,0
$GC,6980,-1.16,-146.0,631.9,-9.7,295,6984,0.00,2.30,0.00,0.000,6,0.000,0.033,3149,1595,3376,0,0,0,0,0,0
$GC,7253,-1.16,-146.0,653.4,-7.7,302,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1595,3374,0,0,0,0,0,0
$GC,7499,-1.16,-146.0,671.1,-7.3,308,7503,0.00,2.62,0.00,0.000,4,0.000,0.053,3149,3160,3372,0,0,0,0,0,0
$GC,7528,-1.22,-146.0,673.4,-7.2,308,7532,0.00,2.62,0.00,0.000,6,0.000,0.047,3149,1599,3372,0,0,0,0,0,0
$GC,7784,-1.22,-146.0,690.9,-6.9,315,7789,0.00,2.53,0.00,0.000,4,0.000,0.082,3149,164,3372,0,0,0,0,0,0
$GC,7815,-1.22,-146.0,693.2,-7.9,315,7819,0.00,2.35,0.00,0.000,6,0.000,0.036,3149,1597,3371,0,0,0,0,0,0
$GC,8074,-1.22,-146.0,711.3,-6.8,322,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1597,3370,0,0,0,0,0,0
$GC,8318,-1.22,-146.0,727.1,-6.4,328,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1597,3369,0,0,0,0,0,0
$GC,8563,-1.22,-146.0,742.9,-6.4,334,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1597,3367,0,0,0,0,0,0
$GC,8805,-1.22,-146.0,758.7,-6.5,340,8809,0.00,2.53,0.00,0.000,4,0.000,0.077,3149,163,3367,0,0,0,0,0,0
$GC,8829,-1.22,-146.0,760.5,-8.3,340,8833,0.00,2.35,0.00,0.000,6,0.000,0.036,3149,1603,3366,0,0,0,0,0,0
$GC,9088,-1.22,-146.0,777.1,-6.5,347,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1603,3366,0,0,0,0,0,0
$GC,9332,-1.22,-146.0,793.0,-6.6,353,9333,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1603,3365,0,0,0,0,0,0
$GC,9576,-1.22,-146.0,809.2,-6.7,359,9580,0.00,2.55,0.00,0.000,4,0.000,0.077,3149,166,3364,0,0,0,0,0,0
$GC,9604,-1.22,-146.0,811.5,-7.8,359,9608,0.00,2.35,0.00,0.000,6,0.000,0.037,3149,1603,3364,0,0,0,0,0,0
$GC,9863,-1.27,-146.0,828.4,-6.7,366,9865,0.12,0.00,0.00,0.000,6,0.064,0.000,3094,1604,3364,0,0,0,0,0,0
$GC,10103,-1.19,-146.0,850.1,-9.0,372,10105,0.20,0.00,0.00,0.000,6,0.087,0.000,3140,1604,3362,0,0,0,0,0,0
$GC,10346,-1.19,-146.0,867.3,-6.9,378,10350,0.00,2.55,0.00,0.000,4,0.000,0.077,3140,167,3362,0,0,0,0,0,0
$GC,10386,-1.19,-146.0,870.2,-8.1,378,10391,0.00,2.33,0.00,0.000,6,0.000,0.037,3140,1592,3361,0,0,0,0,0,0
$GC,10636,-1.19,-146.0,885.8,-6.0,385,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1591,3361,0,0,0,0,0,0
$GC,10883,-1.19,-146.0,899.4,-5.5,391,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1592,3360,0,0,0,0,0,0
$STATE,10917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10917,begin apogee
$GC,10926,-0.31,0.0,901.7,5.5,392,11049,0.82,0.00,120.43,1.151,6,0.066,0.000,3332,1345,2800,0,0,0,0,0,0
$STATE,11050,end apogee,CONTROL_FINISHED_OK
$STATE,11050,begin climb
$GC,11053,1.27,146.0,903.8,0.0,395,11194,1.42,2.20,131.00,1.130,4,0.031,0.081,3680,173,2204,0,0,0,0,0,0
$GC,11231,0.99,146.0,891.8,17.0,399,11236,0.30,1.98,0.00,0.000,6,0.107,0.033,3619,1356,2201,0,0,0,0,0,0
$GC,11517,0.92,146.0,858.1,11.4,406,11521,0.00,2.12,0.00,0.000,4,0.000,0.074,3619,166,2194,0,0,0,0,0,0
$GC,11570,0.79,146.0,851.1,12.9,407,11575,0.22,1.95,0.00,0.000,6,0.102,0.031,3572,1344,2194,0,0,0,0,0,0
$GC,11849,0.81,162.9,824.7,9.2,414,11866,0.00,0.00,15.32,1.000,6,0.000,0.000,3572,1345,2135,0,0,0,0,0,0
$GC,12094,0.83,181.2,802.1,9.2,420,12114,0.00,0.00,17.88,1.011,6,0.000,0.000,3572,1345,2061,0,0,0,0,0,0
$GC,12339,0.90,201.5,780.0,9.1,426,12362,0.10,0.00,20.23,1.006,6,0.081,0.000,3610,1346,1978,0,0,0,0,0,0
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$STATE,18945,end climb,SURFACE_DEPTH_REACHED
$STATE,18945,begin surface coast
$FINISH,1.0,1.011337
$STATE,18992,end surface coast,CONTROL_FINISHED_OK
$STATE,18992,begin surface
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$SM_GC,1.82,0.00,0.00,38.53,0.000,0.000,0.426,416,1590,1209,-13.73,0.57,390.03
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$TT8_MAMPS,0.027612
$HUMID,67.28
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.60
$XPDR_PINGS,10
$24V_AH,23.0,62.210
$10V_AH,9.8,60.014
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,36.125,233.100,420.900,38.525,0.000,24.257,33.861,197.492,2.500,0.000,14.878,1621.516,13843.249,565.068,2662.877,768.085,33.373,1677.936,0.000,2669.601,0.000,0.537,0.000
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$SENSOR_SECS,492.652,367.057,490.484,913.173,1297.001,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,57490,723
$CAP_FILE_SIZE,197480,0
$CFSIZE,260165632,140177408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230813,122736,2252.212,-15806.762,27,1.2,27,10.1