version: 66.06
glider: 148
mission: 12
dive: 445
start: 8 28 113 11 25 43
data:
$ID,148
$MISSION,12
$DIVE,445
$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,660
$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,-1024953.4
$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,119
$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
$GPS1,111359,2244.640,-15739.396,36,1.0,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-78.1
$GPS2,112449,2244.592,-15739.429,14,1.1,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.013,0.259
$KALMAN_X,-78460.7,-79.2,-425.9,114203.9,374.9
$KALMAN_Y,-9093.3,-56.5,193.8,8221.4,-1224.6
$MHEAD_RNG_PITCHd_Wd,352.8,39192,-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,-67.65,0.000,2,0.000,0.000,412,1604,2955,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.4,-4.6,9,123,14.65,2.38,-7.62,0.000,4,0.163,0.034,3119,3084,3399,0,0,0,0,0,0
$GC,214,-1.08,-146.0,35.9,-17.2,25,223,0.17,2.53,0.00,0.000,6,0.080,0.033,3161,1563,3399,0,0,0,0,0,0
$GC,483,-0.92,-146.0,76.2,-13.2,50,492,0.17,0.00,0.00,0.000,6,0.099,0.000,3199,1563,3400,0,0,0,0,0,0
$GC,748,-0.92,-146.0,105.5,-11.8,75,752,0.00,2.38,0.00,0.000,4,0.000,0.021,3200,3077,3400,0,0,0,0,0,0
$GC,780,-0.92,-146.0,109.7,-12.0,77,788,0.00,2.42,0.00,0.000,6,0.000,0.030,3199,1559,3400,0,0,0,0,0,0
$GC,1041,-0.92,-146.0,140.2,-11.7,102,1045,0.00,2.28,0.00,0.000,4,0.000,0.044,3200,164,3401,0,0,0,0,0,0
$GC,1068,-0.92,-146.0,143.6,-13.2,104,1072,0.00,2.03,0.00,0.000,6,0.000,0.017,3200,1530,3401,0,0,0,0,0,0
$GC,1337,-0.92,-146.0,171.0,-9.4,129,1342,0.00,2.47,0.00,0.000,4,0.000,0.021,3200,3117,3402,0,0,0,0,0,0
$GC,1367,-0.98,-146.0,173.9,-8.1,131,1373,0.00,2.53,0.00,0.000,6,0.000,0.028,3200,1562,3401,0,0,0,0,0,0
$GC,1631,-0.98,-146.0,195.5,-8.5,156,1635,0.00,2.30,0.00,0.000,4,0.000,0.044,3200,164,3402,0,0,0,0,0,0
$GC,1666,-0.98,-146.0,198.9,-9.3,159,1670,0.00,2.10,0.00,0.000,6,0.000,0.018,3200,1575,3402,0,0,0,0,0,0
$GC,1930,-0.98,-146.0,219.1,-7.4,166,1934,0.00,2.35,0.00,0.000,4,0.000,0.044,3200,164,3402,0,0,0,0,0,0
$GC,1956,-0.98,-146.0,221.2,-7.5,166,1960,0.00,2.08,0.00,0.000,6,0.000,0.018,3200,1554,3402,0,0,0,0,0,0
$GC,2220,-1.04,-146.0,239.1,-6.8,173,2225,0.12,2.47,0.00,0.000,4,0.063,0.023,3135,3122,3402,0,0,0,0,0,0
$GC,2288,-1.04,-146.0,245.2,-9.5,174,2293,0.17,2.55,0.00,0.000,6,0.087,0.029,3175,1560,3401,0,0,0,0,0,0
$GC,2558,-1.04,-146.0,267.9,-8.8,181,2562,0.00,2.30,0.00,0.000,4,0.000,0.048,3175,169,3401,0,0,0,0,0,0
$GC,2597,-1.04,-146.0,271.8,-9.2,181,2602,0.00,2.10,0.00,0.000,6,0.000,0.019,3175,1554,3400,0,0,0,0,0,0
$GC,2849,-1.04,-146.0,292.4,-8.2,188,2853,0.00,2.50,0.00,0.000,4,0.000,0.025,3175,3136,3400,0,0,0,0,0,0
$GC,2901,-1.13,-146.0,296.9,-8.3,189,2905,0.00,2.55,0.00,0.000,6,0.000,0.031,3175,1567,3400,0,0,0,0,0,0
$GC,3182,-1.13,-146.0,322.1,-9.3,196,3186,0.00,2.33,0.00,0.000,4,0.000,0.051,3175,165,3398,0,0,0,0,0,0
$GC,3218,-1.13,-146.0,325.8,-10.1,196,3222,0.00,2.15,0.00,0.000,6,0.000,0.021,3175,1556,3398,0,0,0,0,0,0
$GC,3468,-1.13,-146.0,348.5,-8.8,202,3472,0.00,2.55,0.00,0.000,4,0.000,0.030,3175,3141,3397,0,0,0,0,0,0
$GC,3520,-1.24,-146.0,352.9,-7.7,203,3525,0.17,2.60,0.00,0.000,6,0.048,0.036,3097,1560,3397,0,0,0,0,0,0
$GC,3801,-1.10,-146.0,385.8,-11.9,210,3806,0.25,2.38,0.00,0.000,4,0.085,0.056,3157,161,3395,0,0,0,0,0,0
$GC,3855,-1.10,-146.0,391.4,-8.8,211,3859,0.00,2.17,0.00,0.000,6,0.000,0.022,3157,1557,3395,0,0,0,0,0,0
$GC,4134,-1.10,-146.0,413.6,-7.9,218,4139,0.00,2.60,0.00,0.000,4,0.000,0.036,3156,3144,3393,0,0,0,0,0,0
$GC,4172,-1.17,-146.0,416.7,-7.8,218,4178,0.00,2.62,0.00,0.000,6,0.000,0.038,3157,1568,3393,0,0,0,0,0,0
$GC,4422,-1.17,-146.0,437.5,-8.5,225,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1568,3391,0,0,0,0,0,0
$GC,4670,-1.17,-146.0,459.4,-9.1,231,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1568,3390,0,0,0,0,0,0
$GC,4910,-1.17,-146.0,480.4,-8.6,237,4914,0.00,2.62,0.00,0.000,4,0.000,0.043,3157,3146,3388,0,0,0,0,0,0
$GC,4929,-1.17,-146.0,482.0,-8.2,237,4934,0.00,2.62,0.00,0.000,6,0.000,0.038,3157,1563,3388,0,0,0,0,0,0
$GC,5195,-1.17,-146.0,500.5,-7.0,244,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1563,3387,0,0,0,0,0,0
$GC,5437,-1.17,-146.0,518.0,-7.2,250,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1563,3385,0,0,0,0,0,0
$GC,5684,-1.17,-146.0,537.2,-8.1,256,5689,0.00,2.65,0.00,0.000,4,0.000,0.044,3156,3137,3383,0,0,0,0,0,0
$GC,5709,-1.21,-146.0,539.4,-8.7,256,5713,0.00,2.65,0.00,0.000,6,0.000,0.048,3157,1566,3383,0,0,0,0,0,0
$GC,5970,-1.21,-146.0,559.5,-7.7,263,5974,0.00,2.62,0.00,0.000,4,0.000,0.042,3156,3140,3382,0,0,0,0,0,0
$GC,5999,-1.28,-146.0,562.0,-7.8,263,6004,0.15,2.65,0.00,0.000,6,0.054,0.044,3090,1577,3382,0,0,0,0,0,0
$GC,6257,-1.16,-146.0,588.9,-10.8,270,6262,0.25,2.50,0.00,0.000,4,0.090,0.075,3149,162,3380,0,0,0,0,0,0
$GC,6281,-1.16,-146.0,591.8,-10.5,270,6285,0.00,2.28,0.00,0.000,6,0.000,0.031,3148,1578,3380,0,0,0,0,0,0
$GC,6540,-1.16,-146.0,613.1,-8.4,277,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1578,3378,0,0,0,0,0,0
$GC,6786,-1.16,-146.0,633.6,-8.3,283,6790,0.00,2.67,0.00,0.000,4,0.000,0.051,3148,3158,3377,0,0,0,0,0,0
$GC,6819,-1.23,-146.0,636.5,-8.1,283,6824,0.00,2.67,0.00,0.000,6,0.000,0.048,3148,1578,3377,0,0,0,0,0,0
$GC,7070,-1.23,-146.0,655.9,-7.7,289,7074,0.00,2.50,0.00,0.000,4,0.000,0.081,3148,165,3375,0,0,0,0,0,0
$GC,7111,-1.23,-146.0,659.5,-9.0,289,7116,0.00,2.33,0.00,0.000,6,0.000,0.035,3148,1586,3375,0,0,0,0,0,0
$GC,7363,-1.23,-146.0,678.7,-7.5,296,7368,0.00,2.65,0.00,0.000,4,0.000,0.054,3148,3150,3373,0,0,0,0,0,0
$GC,7392,-1.30,-146.0,681.1,-8.4,296,7397,0.12,2.67,0.00,0.000,6,0.064,0.048,3090,1578,3373,0,0,0,0,0,0
$GC,7650,-1.20,-146.0,706.5,-10.1,303,7655,0.22,2.50,0.00,0.000,4,0.091,0.079,3138,169,3372,0,0,0,0,0,0
$GC,7684,-1.20,-146.0,709.9,-8.9,303,7688,0.00,2.30,0.00,0.000,6,0.000,0.035,3139,1574,3372,0,0,0,0,0,0
$GC,7934,-1.20,-146.0,728.7,-7.4,309,7938,0.00,2.67,0.00,0.000,4,0.000,0.056,3139,3153,3371,0,0,0,0,0,0
$GC,7955,-1.20,-146.0,730.4,-8.2,309,7959,0.00,2.67,0.00,0.000,6,0.000,0.048,3139,1574,3371,0,0,0,0,0,0
$GC,8224,-1.20,-146.0,750.1,-7.4,316,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1574,3369,0,0,0,0,0,0
$GC,8463,-1.20,-146.0,766.5,-6.6,322,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1574,3368,0,0,0,0,0,0
$GC,8707,-1.20,-146.0,779.9,-5.3,328,8711,0.00,2.47,0.00,0.000,4,0.000,0.082,3139,167,3367,0,0,0,0,0,0
$GC,8737,-1.20,-146.0,781.7,-7.0,328,8741,0.00,2.33,0.00,0.000,6,0.000,0.035,3139,1585,3367,0,0,0,0,0,0
$GC,8991,-1.20,-146.0,794.6,-5.1,335,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1585,3366,0,0,0,0,0,0
$GC,9237,-1.20,-146.0,808.6,-5.8,341,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1585,3365,0,0,0,0,0,0
$GC,9481,-1.20,-146.0,825.2,-7.0,347,9485,0.00,2.65,0.00,0.000,4,0.000,0.056,3139,3153,3364,0,0,0,0,0,0
$GC,9504,-1.20,-146.0,827.3,-8.5,347,9509,0.00,2.67,0.00,0.000,6,0.000,0.049,3139,1575,3364,0,0,0,0,0,0
$GC,9764,-1.20,-146.0,848.2,-8.3,354,9769,0.00,2.65,0.00,0.000,4,0.000,0.048,3139,3157,3363,0,0,0,0,0,0
$GC,9790,-1.24,-146.0,850.3,-9.3,354,9795,0.00,2.67,0.00,0.000,6,0.000,0.050,3138,1588,3363,0,0,0,0,0,0
$GC,10054,-1.24,-146.0,873.2,-8.9,361,10059,0.00,2.53,0.00,0.000,4,0.000,0.084,3139,166,3362,0,0,0,0,0,0
$GC,10091,-1.24,-146.0,877.5,-10.1,361,10097,0.00,2.33,0.00,0.000,6,0.000,0.037,3139,1582,3362,0,0,0,0,0,0
$GC,10343,-1.24,-146.0,899.8,-8.9,368,10347,0.00,2.03,0.00,0.000,3,0.000,0.054,3138,2808,3361,0,0,0,0,0,0
$STATE,10348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10348,begin apogee
$GC,10357,-0.31,0.0,900.3,8.8,368,10481,0.80,0.00,120.55,1.153,6,0.070,0.000,3327,1343,2800,0,0,0,0,0,0
$STATE,10482,end apogee,CONTROL_FINISHED_OK
$STATE,10482,begin climb
$GC,10485,1.27,146.0,906.1,0.0,371,10625,1.45,2.20,131.10,1.134,4,0.035,0.083,3678,173,2203,0,0,0,0,0,0
$GC,10665,1.01,146.0,898.4,14.7,375,10670,0.28,1.98,0.00,0.000,6,0.110,0.032,3624,1364,2200,0,0,0,0,0,0
$GC,10945,0.93,146.0,870.0,10.1,382,10949,0.00,2.15,0.00,0.000,4,0.000,0.074,3624,167,2193,0,0,0,0,0,0
$GC,11006,0.79,146.0,862.6,12.2,383,11010,0.25,1.95,0.00,0.000,6,0.099,0.031,3571,1350,2193,0,0,0,0,0,0
$GC,11276,0.83,176.1,839.2,8.6,390,11309,0.00,2.78,27.00,1.056,4,0.000,0.058,3572,2932,2081,0,0,0,0,0,0
$GC,11341,0.94,197.9,833.2,9.0,391,11371,0.15,2.75,21.35,1.032,6,0.058,0.049,3624,1351,1993,0,0,0,0,0,0
$GC,11658,0.89,197.9,793.6,12.7,399,11660,0.15,0.00,0.00,0.000,6,0.107,0.000,3593,1351,1987,0,0,0,0,0,0
$GC,11902,0.89,197.9,766.4,11.2,405,11906,0.00,2.12,0.00,0.000,4,0.000,0.086,3593,161,1986,0,0,0,0,0,0
$GC,11936,0.89,197.9,762.4,12.4,405,11939,0.00,1.98,0.00,0.000,6,0.000,0.033,3593,1358,1986,0,0,0,0,0,0
$GC,12190,0.89,197.9,734.6,10.8,412,12191,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1358,1984,0,0,0,0,0,0
$GC,12434,0.89,198.8,709.8,10.0,418,12438,0.00,2.70,0.00,0.000,4,0.000,0.057,3593,2929,1984,0,0,0,0,0,0
$GC,12448,0.90,203.8,708.2,9.8,418,12460,0.00,2.70,5.35,0.754,6,0.000,0.048,3592,1355,1968,0,0,0,0,0,0
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$STATE,18404,end climb,SURFACE_DEPTH_REACHED
$STATE,18404,begin surface coast
$FINISH,1.0,1.000924
$STATE,18439,end surface coast,CONTROL_FINISHED_OK
$STATE,18439,begin surface
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$TT8_MAMPS,0.027612
$HUMID,70.43
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.90
$XPDR_PINGS,11
$24V_AH,23.0,65.619
$10V_AH,9.8,63.450
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,33.850,217.275,480.725,2.250,0.000,51.980,75.544,291.461,2.750,0.000,17.228,1500.853,13602.203,547.297,2535.003,918.701,33.376,1669.251,0.000,2528.782,0.000,0.537,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,54226,684
$CAP_FILE_SIZE,183013,0
$CFSIZE,260165632,138432512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280813,163436,2246.204,-15739.712,25,1.7,25,10.1