version: 66.06
glider: 148
mission: 12
dive: 86
start: 6 8 113 16 22 18
data:
$ID,148
$MISSION,12
$DIVE,86
$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,380
$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,-1016874.4
$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,3385
$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,54
$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
$GPS1,161343,2259.544,-15806.071,38,2.0,51,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.2
$GPS2,162125,2259.540,-15806.131,15,1.8,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.149,0.213
$KALMAN_X,-88792.8,93.7,-131.6,78461.8,-1623.4
$KALMAN_Y,16423.6,-172.2,73.8,10626.0,-311.5
$MHEAD_RNG_PITCHd_Wd,24.9,9496,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,95,0.00,0.00,-74.43,0.000,2,0.000,0.000,413,1641,3205,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.1,-7.1,10,123,14.85,2.38,-3.12,0.000,4,0.174,0.032,3102,3157,3397,0,0,0,0,0,0
$GC,184,-1.12,-146.0,31.4,-16.6,22,189,0.17,2.60,0.00,0.000,6,0.097,0.032,3140,1561,3398,0,0,0,0,0,0
$GC,453,-1.00,-146.0,70.3,-13.4,46,458,0.12,2.28,0.00,0.000,4,0.114,0.044,3167,170,3398,0,0,0,0,0,0
$GC,489,-0.93,-146.0,76.3,-12.6,48,497,0.00,2.17,0.00,0.000,6,0.000,0.018,3167,1593,3398,0,0,0,0,0,0
$GC,755,-0.93,-146.0,105.4,-11.3,73,759,0.00,2.40,0.00,0.000,4,0.000,0.021,3167,3123,3399,0,0,0,0,0,0
$GC,791,-0.93,-146.0,110.1,-10.8,76,795,0.00,2.53,0.00,0.000,6,0.000,0.028,3167,1566,3399,0,0,0,0,0,0
$GC,1055,-0.93,-146.0,140.0,-11.3,100,1059,0.00,2.25,0.00,0.000,4,0.000,0.043,3167,172,3399,0,0,0,0,0,0
$GC,1076,-0.88,-146.0,143.0,-12.0,101,1083,0.12,2.10,0.00,0.000,6,0.109,0.018,3194,1581,3399,0,0,0,0,0,0
$GC,1341,-0.88,-146.0,165.2,-7.9,126,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1584,3399,0,0,0,0,0,0
$GC,1606,-0.94,-146.0,186.5,-8.1,151,1610,0.00,2.30,0.00,0.000,4,0.000,0.044,3194,170,3400,0,0,0,0,0,0
$GC,1635,-0.99,-146.0,189.3,-8.9,153,1644,0.08,2.12,0.00,0.000,6,0.036,0.018,3140,1564,3400,0,0,0,0,0,0
$GC,1911,-0.94,-146.0,217.9,-10.3,168,1916,0.17,2.42,0.00,0.000,4,0.094,0.023,3179,3115,3400,0,0,0,0,0,0
$GC,1958,-1.06,-146.0,222.1,-7.8,169,1964,0.12,2.50,0.00,0.000,6,0.064,0.028,3106,1558,3400,0,0,0,0,0,0
$GC,2243,-0.96,-146.0,254.3,-11.7,176,2248,0.28,2.25,0.00,0.000,4,0.089,0.044,3170,173,3400,0,0,0,0,0,0
$GC,2291,-1.02,-146.0,259.4,-9.1,177,2295,0.00,2.10,0.00,0.000,6,0.000,0.018,3170,1559,3400,0,0,0,0,0,0
$GC,2575,-1.08,-146.0,282.3,-8.3,184,2580,0.00,2.47,0.00,0.000,4,0.000,0.025,3170,3141,3400,0,0,0,0,0,0
$GC,2599,-1.18,-146.0,284.4,-8.0,184,2605,0.17,2.55,0.00,0.000,6,0.050,0.030,3079,1561,3400,0,0,0,0,0,0
$GC,2860,-1.05,-146.0,317.0,-12.6,191,2862,0.35,0.00,0.00,0.000,6,0.085,0.000,3154,1561,3400,0,0,0,0,0,0
$GC,3105,-1.05,-146.0,336.3,-7.5,197,3109,0.00,2.53,0.00,0.000,4,0.000,0.030,3154,3125,3399,0,0,0,0,0,0
$GC,3129,-1.12,-146.0,338.3,-8.2,197,3134,0.00,2.55,0.00,0.000,6,0.000,0.035,3155,1576,3399,0,0,0,0,0,0
$GC,3389,-1.16,-146.0,358.3,-7.9,204,3391,0.10,0.00,0.00,0.000,6,0.078,0.000,3105,1576,3398,0,0,0,0,0,0
$GC,3634,-1.11,-146.0,384.0,-10.6,210,3639,0.17,2.38,0.00,0.000,4,0.092,0.059,3144,166,3396,0,0,0,0,0,0
$GC,3654,-1.11,-146.0,386.3,-9.7,210,3658,0.00,2.17,0.00,0.000,6,0.000,0.022,3144,1561,3396,0,0,0,0,0,0
$GC,3922,-1.11,-146.0,406.9,-7.4,217,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1562,3395,0,0,0,0,0,0
$GC,4167,-1.11,-146.0,424.7,-7.2,223,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1562,3393,0,0,0,0,0,0
$GC,4410,-1.15,-146.0,441.1,-6.7,229,4414,0.00,2.58,0.00,0.000,4,0.000,0.037,3144,3148,3392,0,0,0,0,0,0
$GC,4429,-1.21,-146.0,442.6,-7.4,229,4434,0.00,2.60,0.00,0.000,6,0.000,0.036,3144,1567,3392,0,0,0,0,0,0
$GC,4696,-1.25,-146.0,460.6,-7.1,236,4697,0.15,0.00,0.00,0.000,6,0.058,0.000,3080,1567,3389,0,0,0,0,0,0
$GC,4937,-1.17,-146.0,486.5,-11.1,242,4942,0.22,2.40,0.00,0.000,4,0.090,0.067,3130,168,3388,0,0,0,0,0,0
$GC,4985,-1.17,-146.0,491.5,-9.4,243,4989,0.00,2.22,0.00,0.000,6,0.000,0.028,3130,1566,3388,0,0,0,0,0,0
$GC,5269,-1.17,-146.0,514.8,-8.1,250,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1566,3386,0,0,0,0,0,0
$GC,5511,-1.17,-146.0,532.5,-7.1,256,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1566,3385,0,0,0,0,0,0
$GC,5755,-1.17,-146.0,550.4,-7.4,262,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1566,3383,0,0,0,0,0,0
$GC,6000,-1.17,-146.0,569.8,-7.9,268,6004,0.00,2.42,0.00,0.000,4,0.000,0.071,3131,175,3382,0,0,0,0,0,0
$GC,6024,-1.17,-146.0,572.0,-9.1,268,6028,0.00,2.28,0.00,0.000,6,0.000,0.031,3131,1577,3382,0,0,0,0,0,0
$GC,6287,-1.17,-146.0,592.7,-7.8,275,6292,0.00,2.62,0.00,0.000,4,0.000,0.047,3130,3150,3380,0,0,0,0,0,0
$GC,6313,-1.23,-146.0,594.7,-8.4,275,6318,0.00,2.65,0.00,0.000,6,0.000,0.045,3131,1566,3380,0,0,0,0,0,0
$GC,6573,-1.23,-146.0,614.1,-7.3,282,6577,0.00,2.45,0.00,0.000,4,0.000,0.077,3130,170,3379,0,0,0,0,0,0
$GC,6606,-1.23,-146.0,616.7,-8.0,282,6610,0.00,2.25,0.00,0.000,6,0.000,0.032,3130,1572,3379,0,0,0,0,0,0
$GC,6857,-1.23,-146.0,634.6,-7.2,288,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1573,3377,0,0,0,0,0,0
$GC,7100,-1.28,-146.0,652.4,-7.4,294,7105,0.10,2.47,0.00,0.000,4,0.077,0.075,3081,172,3376,0,0,0,0,0,0
$GC,7115,-1.28,-146.0,654.0,-7.7,294,7120,0.12,2.28,0.00,0.000,6,0.111,0.033,3108,1570,3376,0,0,0,0,0,0
$GC,7386,-1.28,-146.0,678.5,-9.3,301,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1570,3375,0,0,0,0,0,0
$GC,7628,-1.28,-146.0,700.4,-8.8,307,7632,0.00,2.45,0.00,0.000,4,0.000,0.075,3108,169,3374,0,0,0,0,0,0
$GC,7651,-1.28,-146.0,702.7,-9.6,307,7656,0.00,2.30,0.00,0.000,6,0.000,0.034,3108,1576,3374,0,0,0,0,0,0
$GC,7912,-1.28,-146.0,723.4,-7.8,314,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1576,3372,0,0,0,0,0,0
$GC,8154,-1.28,-146.0,740.4,-6.9,320,8155,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1576,3372,0,0,0,0,0,0
$GC,8398,-1.28,-146.0,757.1,-6.9,326,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1576,3371,0,0,0,0,0,0
$GC,8642,-1.28,-146.0,774.8,-7.4,332,8646,0.00,2.47,0.00,0.000,4,0.000,0.075,3108,172,3369,0,0,0,0,0,0
$GC,8667,-1.28,-146.0,776.7,-7.7,332,8671,0.00,2.30,0.00,0.000,6,0.000,0.035,3108,1576,3369,0,0,0,0,0,0
$GC,8926,-1.28,-146.0,796.8,-7.9,339,8930,0.00,2.45,0.00,0.000,4,0.000,0.074,3108,172,3369,0,0,0,0,0,0
$GC,8959,-1.28,-146.0,799.7,-8.2,339,8963,0.00,2.30,0.00,0.000,6,0.000,0.036,3108,1571,3368,0,0,0,0,0,0
$GC,9211,-1.28,-146.0,821.4,-8.6,345,9215,0.00,2.67,0.00,0.000,4,0.000,0.051,3108,3160,3368,0,0,0,0,0,0
$GC,9225,-1.28,-146.0,822.9,-8.8,345,9230,0.00,2.67,0.00,0.000,6,0.000,0.048,3108,1571,3368,0,0,0,0,0,0
$GC,9494,-1.28,-146.0,845.8,-8.6,352,9499,0.00,2.47,0.00,0.000,4,0.000,0.081,3108,169,3367,0,0,0,0,0,0
$GC,9551,-1.28,-146.0,851.2,-10.1,353,9555,0.00,2.30,0.00,0.000,6,0.000,0.035,3108,1573,3366,0,0,0,0,0,0
$GC,9824,-1.28,-146.0,874.3,-8.3,360,9829,0.00,2.67,0.00,0.000,4,0.000,0.052,3108,3161,3365,0,0,0,0,0,0
$GC,9849,-1.32,-146.0,876.2,-8.9,360,9853,0.00,2.72,0.00,0.000,6,0.000,0.049,3108,1559,3365,0,0,0,0,0,0
$GC,10110,-1.32,-146.0,895.6,-7.3,367,10114,0.00,2.42,0.00,0.000,4,0.000,0.081,3108,169,3365,0,0,0,0,0,0
$STATE,10163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10163,begin apogee
$GC,10171,-0.31,0.0,900.2,7.7,368,10294,0.90,0.00,118.62,1.170,6,0.084,0.000,3312,1363,2800,0,0,0,0,0,0
$STATE,10294,end apogee,CONTROL_FINISHED_OK
$STATE,10295,begin climb
$GC,10298,1.27,146.0,903.5,0.0,371,10437,1.45,2.22,129.65,1.141,4,0.031,0.075,3667,176,2203,0,0,0,0,0,0
$GC,10517,0.98,146.0,886.1,15.0,376,10521,0.32,1.92,0.00,0.000,6,0.114,0.031,3602,1352,2199,0,0,0,0,0,0
$GC,10800,0.89,146.0,854.1,11.0,383,10804,0.10,2.12,0.00,0.000,4,0.133,0.073,3581,165,2193,0,0,0,0,0,0
$GC,10825,0.78,146.0,851.3,10.9,383,10830,0.12,1.95,0.00,0.000,6,0.124,0.031,3557,1350,2193,0,0,0,0,0,0
$GC,11085,0.82,178.3,828.7,8.5,390,11118,0.00,2.15,28.27,1.069,4,0.000,0.073,3557,167,2073,0,0,0,0,0,0
$GC,11159,0.82,178.3,821.8,10.4,391,11163,0.00,1.98,0.00,0.000,6,0.000,0.031,3557,1370,2072,0,0,0,0,0,0
$GC,11418,0.83,185.5,796.5,9.7,398,11430,0.00,2.20,7.43,0.880,4,0.000,0.074,3557,170,2043,0,0,0,0,0,0
$GC,11454,0.83,185.5,792.3,12.0,398,11458,0.00,1.92,0.00,0.000,6,0.000,0.030,3557,1349,2043,0,0,0,0,0,0
$GC,11709,0.83,185.5,766.2,10.2,405,11710,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1350,2040,0,0,0,0,0,0
$GC,11952,0.83,187.7,741.9,9.9,411,11957,0.00,2.70,0.00,0.000,4,0.000,0.051,3557,2939,2040,0,0,0,0,0,0
$GC,11986,0.92,199.7,738.7,9.4,411,12007,0.12,2.72,14.30,0.974,6,0.068,0.048,3604,1350,1984,0,0,0,0,0,0
$GC,12288,0.86,199.7,703.2,11.9,419,12290,0.15,0.00,0.00,0.000,6,0.110,0.000,3573,1350,1982,0,0,0,0,0,0
$GC,12529,0.87,203.7,678.7,9.8,425,12535,0.00,0.00,4.47,0.684,6,0.000,0.000,3573,1350,1969,0,0,0,0,0,0
$GC,12772,0.87,210.7,655.3,9.7,431,12785,0.00,2.12,8.32,0.854,4,0.000,0.081,3572,165,1940,0,0,0,0,0,0
$GC,12801,0.87,210.7,652.4,10.0,431,12805,0.00,1.92,0.00,0.000,6,0.000,0.029,3573,1354,1940,0,0,0,0,0,0
$GC,13060,0.88,212.5,626.7,9.9,438,13065,0.00,2.65,0.00,0.000,4,0.000,0.045,3572,2937,1939,0,0,0,0,0,0
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$STATE,18596,end climb,SURFACE_DEPTH_REACHED
$STATE,18596,begin surface coast
$FINISH,1.0,1.023809
$STATE,18643,end surface coast,CONTROL_FINISHED_OK
$STATE,18643,begin surface
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$IRIDIUM_FIX,2248.70,-15808.00,020902,111124
$TT8_MAMPS,0.027612
$HUMID,62.20
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,22.00
$XPDR_PINGS,12
$24V_AH,23.3,12.197
$10V_AH,9.9,10.697
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,35.000,213.325,391.475,47.250,0.000,30.386,35.674,246.009,3.000,0.000,17.227,1556.741,13911.327,517.770,2410.758,773.101,33.361,1629.543,0.000,2412.489,0.000,0.537,0.000
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$SENSOR_SECS,478.505,335.305,423.479,724.586,990.823,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,54224,702
$CAP_FILE_SIZE,185769,0
$CFSIZE,260165632,165949440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080613,213556,2302.010,-15805.137,40,99.0,59,10.1