version: 66.06
glider: 148
mission: 12
dive: 431
start: 8 25 113 7 13 19
data:
$ID,148
$MISSION,12
$DIVE,431
$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,-1024645
$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,109
$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
$GPS1,070523,2302.464,-15801.249,40,1.8,58,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-75.9
$GPS2,071225,2302.472,-15801.271,12,1.1,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.193
$KALMAN_X,-77914.2,76.6,-63.9,75822.8,869.8
$KALMAN_Y,5639.3,171.3,47.7,26524.9,-935.6
$MHEAD_RNG_PITCHd_Wd,127.9,59707,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-66.60,0.000,2,0.000,0.000,413,1585,2894,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.4,9,121,14.55,0.00,-9.23,0.000,6,0.161,0.000,3116,1585,3396,0,0,0,0,0,0
$GC,391,-1.01,-146.0,70.5,-16.6,43,396,0.25,2.35,0.00,0.000,4,0.097,0.019,3174,3090,3397,0,0,0,0,0,0
$GC,413,-0.81,-146.0,73.9,-16.6,44,418,0.22,2.47,0.00,0.000,6,0.081,0.027,3226,1562,3397,0,0,0,0,0,0
$GC,676,-0.81,-146.0,99.6,-9.4,68,680,0.00,2.30,0.00,0.000,4,0.000,0.044,3226,169,3398,0,0,0,0,0,0
$GC,697,-0.81,-146.0,101.0,-8.9,69,701,0.00,2.05,0.00,0.000,6,0.000,0.017,3226,1571,3398,0,0,0,0,0,0
$GC,964,-0.81,-146.0,125.2,-9.1,93,968,0.00,2.38,0.00,0.000,4,0.000,0.021,3226,3096,3399,0,0,0,0,0,0
$GC,993,-0.88,-146.0,128.2,-10.0,95,997,0.00,2.47,0.00,0.000,6,0.000,0.028,3226,1571,3399,0,0,0,0,0,0
$GC,1258,-0.88,-146.0,152.3,-9.6,119,1262,0.00,2.28,0.00,0.000,4,0.000,0.044,3226,172,3399,0,0,0,0,0,0
$GC,1293,-0.93,-146.0,156.2,-10.4,122,1298,0.12,2.05,0.00,0.000,6,0.061,0.017,3155,1557,3399,0,0,0,0,0,0
$GC,1555,-0.83,-146.0,191.9,-13.6,146,1560,0.25,2.45,0.00,0.000,4,0.081,0.021,3215,3114,3400,0,0,0,0,0,0
$GC,1571,-0.78,-146.0,193.9,-12.5,147,1575,0.00,2.50,0.00,0.000,6,0.000,0.026,3215,1565,3400,0,0,0,0,0,0
$GC,1855,-0.84,-146.0,216.6,-7.7,159,1860,0.00,2.30,0.00,0.000,4,0.000,0.044,3215,170,3400,0,0,0,0,0,0
$GC,1889,-0.93,-146.0,219.5,-8.3,159,1893,0.00,2.08,0.00,0.000,6,0.000,0.018,3216,1568,3400,0,0,0,0,0,0
$GC,2139,-1.00,-146.0,239.5,-8.1,165,2144,0.15,2.42,0.00,0.000,4,0.054,0.023,3142,3112,3400,0,0,0,0,0,0
$GC,2170,-1.00,-146.0,242.7,-11.2,165,2175,0.17,2.53,0.00,0.000,6,0.084,0.028,3182,1559,3400,0,0,0,0,0,0
$GC,2425,-1.00,-146.0,267.2,-9.3,172,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1558,3400,0,0,0,0,0,0
$GC,2669,-1.00,-146.0,288.0,-8.5,178,2673,0.00,2.45,0.00,0.000,4,0.000,0.024,3182,3107,3399,0,0,0,0,0,0
$GC,2691,-1.05,-146.0,289.6,-8.4,178,2695,0.00,2.53,0.00,0.000,6,0.000,0.030,3182,1560,3399,0,0,0,0,0,0
$GC,2955,-1.05,-146.0,310.9,-8.2,185,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1560,3399,0,0,0,0,0,0
$GC,3201,-1.05,-146.0,330.9,-8.3,191,3205,0.00,2.47,0.00,0.000,4,0.000,0.028,3182,3105,3397,0,0,0,0,0,0
$GC,3231,-1.12,-146.0,333.6,-8.6,191,3237,0.12,2.53,0.00,0.000,6,0.061,0.035,3116,1569,3397,0,0,0,0,0,0
$GC,3487,-1.02,-146.0,363.1,-11.7,198,3489,0.28,0.00,0.00,0.000,6,0.078,0.000,3178,1569,3396,0,0,0,0,0,0
$GC,3731,-1.06,-146.0,382.9,-7.9,204,3736,0.00,2.38,0.00,0.000,4,0.000,0.058,3178,170,3395,0,0,0,0,0,0
$GC,3752,-1.06,-146.0,384.5,-8.4,204,3756,0.00,2.12,0.00,0.000,6,0.000,0.021,3178,1530,3395,0,0,0,0,0,0
$GC,4020,-1.11,-146.0,405.2,-7.4,211,4025,0.00,2.62,0.00,0.000,4,0.000,0.035,3178,3148,3393,0,0,0,0,0,0
$GC,4055,-1.22,-146.0,407.8,-6.5,211,4061,0.20,2.62,0.00,0.000,6,0.044,0.036,3099,1568,3393,0,0,0,0,0,0
$GC,4307,-1.09,-146.0,434.8,-11.1,217,4312,0.25,2.38,0.00,0.000,4,0.083,0.061,3159,167,3391,0,0,0,0,0,0
$GC,4327,-1.02,-146.0,437.2,-10.7,217,4331,0.00,2.20,0.00,0.000,6,0.000,0.025,3160,1575,3391,0,0,0,0,0,0
$GC,4593,-1.02,-146.0,458.4,-7.9,224,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1575,3390,0,0,0,0,0,0
$GC,4835,-1.02,-146.0,476.2,-7.2,230,4839,0.00,2.58,0.00,0.000,4,0.000,0.041,3160,3145,3388,0,0,0,0,0,0
$GC,4849,-1.02,-146.0,477.4,-7.5,230,4854,0.00,2.60,0.00,0.000,6,0.000,0.035,3160,1575,3388,0,0,0,0,0,0
$GC,5118,-1.02,-146.0,496.9,-7.2,237,5122,0.00,2.42,0.00,0.000,4,0.000,0.069,3159,165,3386,0,0,0,0,0,0
$GC,5144,-1.02,-146.0,498.8,-9.0,237,5148,0.00,2.25,0.00,0.000,6,0.000,0.027,3159,1573,3386,0,0,0,0,0,0
$GC,5404,-1.02,-146.0,517.3,-7.0,244,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1573,3384,0,0,0,0,0,0
$GC,5647,-1.02,-146.0,534.9,-7.3,250,5652,0.00,2.62,0.00,0.000,4,0.000,0.044,3159,3149,3383,0,0,0,0,0,0
$GC,5664,-1.02,-146.0,536.1,-7.5,250,5668,0.00,2.65,0.00,0.000,6,0.000,0.040,3159,1572,3383,0,0,0,0,0,0
$GC,5933,-1.02,-146.0,555.9,-7.4,257,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1572,3380,0,0,0,0,0,0
$GC,6176,-1.02,-146.0,575.0,-7.7,263,6181,0.00,2.65,0.00,0.000,4,0.000,0.044,3159,3144,3379,0,0,0,0,0,0
$GC,6207,-1.10,-146.0,577.2,-8.0,263,6212,0.00,2.67,0.00,0.000,6,0.000,0.044,3159,1566,3379,0,0,0,0,0,0
$GC,6462,-1.10,-146.0,595.7,-7.3,270,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1566,3378,0,0,0,0,0,0
$GC,6710,-1.10,-146.0,614.4,-7.7,276,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1566,3376,0,0,0,0,0,0
$GC,6951,-1.10,-146.0,632.8,-7.6,282,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1566,3374,0,0,0,0,0,0
$GC,7194,-1.14,-146.0,652.0,-7.9,288,7198,0.00,2.67,0.00,0.000,4,0.000,0.048,3159,3144,3373,0,0,0,0,0,0
$GC,7210,-1.19,-146.0,653.5,-7.9,288,7215,0.00,2.67,0.00,0.000,6,0.000,0.047,3159,1567,3373,0,0,0,0,0,0
$GC,7482,-1.24,-146.0,674.3,-7.7,295,7487,0.12,2.67,0.00,0.000,4,0.064,0.044,3105,3144,3372,0,0,0,0,0,0
$GC,7502,-1.24,-146.0,676.3,-9.1,295,7507,0.12,2.67,0.00,0.000,6,0.099,0.048,3134,1580,3372,0,0,0,0,0,0
$GC,7767,-1.24,-146.0,698.8,-8.5,302,7771,0.00,2.53,0.00,0.000,4,0.000,0.084,3134,162,3370,0,0,0,0,0,0
$GC,7812,-1.24,-146.0,702.8,-9.3,303,7816,0.00,2.30,0.00,0.000,6,0.000,0.036,3134,1569,3370,0,0,0,0,0,0
$GC,8099,-1.24,-146.0,727.6,-8.7,310,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1569,3369,0,0,0,0,0,0
$GC,8350,-1.24,-146.0,748.2,-8.4,316,8351,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1569,3367,0,0,0,0,0,0
$GC,8589,-1.24,-146.0,766.9,-7.7,322,8593,0.00,2.67,0.00,0.000,4,0.000,0.054,3134,3158,3367,0,0,0,0,0,0
$GC,8613,-1.24,-146.0,768.9,-8.0,322,8617,0.00,2.70,0.00,0.000,6,0.000,0.049,3134,1576,3367,0,0,0,0,0,0
$GC,8872,-1.24,-146.0,788.9,-7.9,329,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1576,3366,0,0,0,0,0,0
$GC,9118,-1.24,-146.0,808.0,-7.8,335,9122,0.00,2.65,0.00,0.000,4,0.000,0.046,3134,3153,3365,0,0,0,0,0,0
$GC,9137,-1.24,-146.0,809.6,-7.2,335,9141,0.00,2.67,0.00,0.000,6,0.000,0.048,3134,1581,3365,0,0,0,0,0,0
$GC,9401,-1.24,-146.0,830.1,-7.8,342,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1581,3364,0,0,0,0,0,0
$GC,9645,-1.24,-146.0,849.0,-7.8,348,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1581,3363,0,0,0,0,0,0
$GC,9890,-1.24,-146.0,867.3,-7.5,354,9895,0.00,2.65,0.00,0.000,4,0.000,0.045,3134,3153,3362,0,0,0,0,0,0
$GC,9905,-1.24,-146.0,868.6,-7.1,354,9910,0.00,2.70,0.00,0.000,6,0.000,0.049,3134,1574,3362,0,0,0,0,0,0
$GC,10178,-1.24,-146.0,888.4,-7.4,361,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1574,3361,0,0,0,0,0,0
$STATE,10333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10333,begin apogee
$GC,10342,-0.31,0.0,900.2,7.3,365,10466,0.85,0.00,120.70,1.151,6,0.068,0.000,3329,1342,2800,0,0,0,0,0,0
$STATE,10467,end apogee,CONTROL_FINISHED_OK
$STATE,10467,begin climb
$GC,10469,1.27,146.0,903.6,0.0,368,10609,1.45,2.20,131.20,1.129,4,0.034,0.087,3683,165,2204,0,0,0,0,0,0
$GC,10649,1.00,146.0,893.3,14.5,372,10653,0.30,1.98,0.00,0.000,6,0.108,0.032,3622,1355,2201,0,0,0,0,0,0
$GC,10929,0.93,146.0,863.0,10.5,379,10933,0.00,2.12,0.00,0.000,4,0.000,0.074,3622,169,2194,0,0,0,0,0,0
$GC,10952,0.80,146.0,860.0,11.5,379,10957,0.22,1.95,0.00,0.000,6,0.104,0.031,3576,1353,2193,0,0,0,0,0,0
$GC,11215,0.84,176.9,837.6,8.6,386,11244,0.00,0.00,28.12,1.055,6,0.000,0.000,3575,1354,2078,0,0,0,0,0,0
$GC,11458,0.85,186.3,814.8,9.6,392,11469,0.00,0.00,9.38,0.927,6,0.000,0.000,3575,1354,2040,0,0,0,0,0,0
$GC,11700,0.91,194.6,791.3,9.6,398,11717,0.10,2.72,9.35,0.919,4,0.078,0.054,3616,2931,2005,0,0,0,0,0,0
$GC,11741,0.91,194.6,786.7,10.9,398,11746,0.00,2.75,0.00,0.000,6,0.000,0.049,3616,1353,2003,0,0,0,0,0,0
$GC,11992,0.91,194.6,758.8,11.2,405,11997,0.00,2.70,0.00,0.000,4,0.000,0.048,3616,2933,2002,0,0,0,0,0,0
$GC,12016,0.91,194.6,755.7,10.5,405,12021,0.00,2.75,0.00,0.000,6,0.000,0.051,3616,1347,2001,0,0,0,0,0,0
$GC,12275,0.91,194.6,726.6,11.3,412,12280,0.00,2.67,0.00,0.000,4,0.000,0.047,3616,2932,2001,0,0,0,0,0,0
$GC,12301,0.91,194.6,723.8,11.1,412,12306,0.00,2.70,0.00,0.000,6,0.000,0.052,3616,1362,2000,0,0,0,0,0,0
$GC,12560,0.91,194.6,693.4,11.8,419,12564,0.00,2.15,0.00,0.000,4,0.000,0.086,3616,165,2000,0,0,0,0,0,0
$GC,12623,0.84,194.6,685.5,12.9,420,12627,0.15,1.95,0.00,0.000,6,0.108,0.030,3585,1365,2000,0,0,0,0,0,0
$GC,12894,0.89,194.6,657.8,10.1,427,12898,0.00,2.67,0.00,0.000,4,0.000,0.053,3585,2934,1999,0,0,0,0,0,0
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$STATE,18334,end climb,SURFACE_DEPTH_REACHED
$STATE,18334,begin surface coast
$FINISH,1.1,1.023455
$STATE,18378,end surface coast,CONTROL_FINISHED_OK
$STATE,18378,begin surface
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$SM_GC,2.03,0.00,0.00,31.83,0.000,0.000,0.420,415,1580,1209,-13.74,0.28,390.03
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$TT8_MAMPS,0.027612
$HUMID,68.54
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.50
$XPDR_PINGS,7
$24V_AH,23.0,63.502
$10V_AH,9.8,61.332
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.050,204.750,425.350,31.825,0.000,27.786,38.101,194.362,1.750,0.000,13.493,1503.904,13610.096,561.401,2420.229,748.886,33.382,1566.685,0.000,2430.231,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,54308,686
$CAP_FILE_SIZE,175239,0
$CFSIZE,260165632,139517952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250813,122201,2300.623,-15758.423,38,1.4,45,10.1