version: 66.06
glider: 148
mission: 12
dive: 112
start: 6 14 113 13 49 35
data:
$ID,148
$MISSION,12
$DIVE,112
$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,561.4917
$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,-1017462.9
$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,53
$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
$GPS1,132236,2251.901,-15738.394,61,1.9,61,10.1
$_CALLS,5
$_XMS_NAKs,27
$_XMS_TOUTs,2
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.9
$GPS2,134843,2252.011,-15738.450,31,1.9,31,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.113,0.234
$KALMAN_X,-119911.5,-119.8,12.1,156933.1,-1155.9
$KALMAN_Y,36269.5,193.6,374.7,-23831.5,-30.0
$MHEAD_RNG_PITCHd_Wd,15.6,25383,-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,-67.45,0.000,2,0.000,0.000,413,1635,3034,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.2,-3.4,9,121,13.98,2.40,-6.68,0.000,4,0.148,0.035,3103,3142,3398,0,0,0,0,0,0
$GC,182,-1.11,-146.0,28.1,-18.6,22,191,0.15,2.60,0.00,0.000,6,0.081,0.037,3140,1568,3399,0,0,0,0,0,0
$GC,461,-0.98,-146.0,69.1,-11.4,48,466,0.12,2.30,0.00,0.000,4,0.114,0.043,3168,168,3399,0,0,0,0,0,0
$GC,518,-0.98,-146.0,76.6,-11.2,52,522,0.00,2.15,0.00,0.000,6,0.000,0.016,3168,1593,3399,0,0,0,0,0,0
$GC,781,-0.98,-146.0,104.1,-10.7,76,785,0.00,2.38,0.00,0.000,4,0.000,0.021,3168,3133,3399,0,0,0,0,0,0
$GC,801,-0.98,-146.0,105.8,-10.2,77,806,0.00,2.53,0.00,0.000,6,0.000,0.026,3168,1559,3399,0,0,0,0,0,0
$GC,1068,-0.98,-146.0,132.4,-9.8,101,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1559,3399,0,0,0,0,0,0
$GC,1330,-0.98,-146.0,159.4,-10.4,126,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1559,3399,0,0,0,0,0,0
$GC,1584,-0.98,-146.0,188.0,-11.9,150,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1559,3399,0,0,0,0,0,0
$GC,1866,-0.98,-146.0,217.2,-9.9,165,1871,0.00,2.42,0.00,0.000,4,0.000,0.021,3168,3121,3398,0,0,0,0,0,0
$GC,1900,-1.06,-146.0,220.3,-8.2,165,1904,0.00,2.47,0.00,0.000,6,0.000,0.028,3168,1569,3398,0,0,0,0,0,0
$GC,2150,-1.06,-146.0,237.5,-6.9,171,2154,0.00,2.28,0.00,0.000,4,0.000,0.044,3168,176,3398,0,0,0,0,0,0
$GC,2221,-1.11,-146.0,243.2,-8.2,172,2226,0.12,2.08,0.00,0.000,6,0.062,0.018,3105,1540,3398,0,0,0,0,0,0
$GC,2486,-1.01,-146.0,273.3,-11.9,179,2491,0.25,2.50,0.00,0.000,4,0.088,0.022,3162,3142,3398,0,0,0,0,0,0
$GC,2520,-1.12,-146.0,276.7,-8.5,179,2525,0.00,2.55,0.00,0.000,6,0.000,0.030,3162,1554,3398,0,0,0,0,0,0
$GC,2772,-1.17,-146.0,297.6,-8.1,185,2774,0.12,0.00,0.00,0.000,6,0.064,0.000,3104,1555,3397,0,0,0,0,0,0
$GC,3014,-1.09,-146.0,319.8,-9.3,191,3019,0.17,2.30,0.00,0.000,4,0.093,0.051,3145,171,3396,0,0,0,0,0,0
$GC,3040,-1.09,-146.0,322.2,-9.0,191,3044,0.00,2.15,0.00,0.000,6,0.000,0.021,3146,1562,3396,0,0,0,0,0,0
$GC,3304,-1.09,-146.0,343.9,-8.4,198,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1564,3395,0,0,0,0,0,0
$GC,3547,-1.09,-146.0,365.1,-8.8,204,3551,0.00,2.33,0.00,0.000,4,0.000,0.054,3145,172,3393,0,0,0,0,0,0
$GC,3566,-1.09,-146.0,366.9,-8.7,204,3570,0.00,2.15,0.00,0.000,6,0.000,0.021,3145,1570,3393,0,0,0,0,0,0
$GC,3836,-1.09,-146.0,387.2,-7.3,211,3840,0.00,2.53,0.00,0.000,4,0.000,0.031,3145,3132,3391,0,0,0,0,0,0
$GC,3864,-1.17,-146.0,389.3,-6.5,211,3869,0.00,2.60,0.00,0.000,6,0.000,0.038,3145,1565,3391,0,0,0,0,0,0
$GC,4121,-1.17,-146.0,405.9,-6.6,218,4125,0.00,2.35,0.00,0.000,4,0.000,0.061,3146,166,3389,0,0,0,0,0,0
$GC,4149,-1.17,-146.0,408.2,-7.1,218,4153,0.00,2.15,0.00,0.000,6,0.000,0.023,3145,1553,3389,0,0,0,0,0,0
$GC,4404,-1.21,-146.0,423.3,-5.8,225,4409,0.12,2.58,0.00,0.000,4,0.065,0.035,3091,3141,3387,0,0,0,0,0,0
$GC,4430,-1.21,-146.0,425.3,-8.0,225,4435,0.12,2.60,0.00,0.000,6,0.104,0.039,3118,1557,3386,0,0,0,0,0,0
$GC,4690,-1.21,-146.0,445.3,-7.8,232,4694,0.00,2.35,0.00,0.000,4,0.000,0.065,3118,171,3385,0,0,0,0,0,0
$GC,4746,-1.21,-146.0,450.6,-9.2,233,4750,0.00,2.17,0.00,0.000,6,0.000,0.026,3118,1553,3385,0,0,0,0,0,0
$GC,5021,-1.21,-146.0,474.3,-8.7,240,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1554,3383,0,0,0,0,0,0
$GC,5263,-1.21,-146.0,495.7,-8.8,246,5267,0.00,2.38,0.00,0.000,4,0.000,0.067,3118,171,3381,0,0,0,0,0,0
$GC,5291,-1.21,-146.0,498.5,-9.9,246,5295,0.00,2.20,0.00,0.000,6,0.000,0.029,3118,1552,3381,0,0,0,0,0,0
$GC,5552,-1.21,-146.0,521.0,-8.5,253,5556,0.00,2.65,0.00,0.000,4,0.000,0.049,3118,3153,3380,0,0,0,0,0,0
$GC,5572,-1.21,-146.0,522.7,-8.2,253,5577,0.00,2.65,0.00,0.000,6,0.000,0.047,3118,1553,3379,0,0,0,0,0,0
$GC,5837,-1.21,-146.0,542.6,-7.4,260,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1553,3377,0,0,0,0,0,0
$GC,6082,-1.21,-146.0,559.1,-6.7,266,6086,0.00,2.65,0.00,0.000,4,0.000,0.042,3118,3149,3376,0,0,0,0,0,0
$GC,6101,-1.21,-146.0,560.6,-7.2,266,6105,0.00,2.65,0.00,0.000,6,0.000,0.043,3118,1557,3375,0,0,0,0,0,0
$GC,6365,-1.21,-146.0,578.6,-6.8,273,6369,0.00,2.40,0.00,0.000,4,0.000,0.077,3118,171,3374,0,0,0,0,0,0
$GC,6395,-1.21,-146.0,580.7,-8.0,273,6399,0.00,2.25,0.00,0.000,6,0.000,0.031,3118,1560,3374,0,0,0,0,0,0
$GC,6649,-1.21,-146.0,599.1,-7.4,280,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1560,3372,0,0,0,0,0,0
$GC,6893,-1.21,-146.0,619.5,-8.4,286,6897,0.00,2.65,0.00,0.000,4,0.000,0.046,3118,3153,3371,0,0,0,0,0,0
$GC,6922,-1.27,-146.0,621.9,-8.0,286,6926,0.00,2.70,0.00,0.000,6,0.000,0.048,3118,1558,3371,0,0,0,0,0,0
$GC,7178,-1.27,-146.0,643.0,-8.2,293,7183,0.00,2.65,0.00,0.000,4,0.000,0.044,3119,3151,3369,0,0,0,0,0,0
$GC,7199,-1.27,-146.0,644.9,-8.4,293,7203,0.00,2.67,0.00,0.000,6,0.000,0.047,3118,1560,3369,0,0,0,0,0,0
$GC,7463,-1.27,-146.0,663.3,-6.8,300,7467,0.00,2.45,0.00,0.000,4,0.000,0.081,3118,170,3368,0,0,0,0,0,0
$GC,7493,-1.27,-146.0,665.3,-7.3,300,7497,0.00,2.25,0.00,0.000,6,0.000,0.032,3118,1566,3367,0,0,0,0,0,0
$GC,7747,-1.27,-146.0,679.9,-5.4,307,7752,0.00,2.65,0.00,0.000,4,0.000,0.049,3118,3154,3366,0,0,0,0,0,0
$GC,7771,-1.32,-146.0,681.2,-5.7,307,7776,0.00,2.70,0.00,0.000,6,0.000,0.048,3118,1560,3366,0,0,0,0,0,0
$GC,8033,-1.32,-146.0,696.0,-5.9,314,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1561,3364,0,0,0,0,0,0
$GC,8275,-1.32,-146.0,711.7,-6.6,320,8279,0.00,2.67,0.00,0.000,4,0.000,0.044,3118,3155,3363,0,0,0,0,0,0
$GC,8294,-1.32,-146.0,713.0,-7.0,320,8298,0.00,2.67,0.00,0.000,6,0.000,0.048,3118,1573,3364,0,0,0,0,0,0
$GC,8560,-1.32,-146.0,730.0,-6.5,327,8564,0.00,2.45,0.00,0.000,4,0.000,0.082,3118,169,3363,0,0,0,0,0,0
$GC,8588,-1.32,-146.0,732.4,-8.1,327,8592,0.00,2.28,0.00,0.000,6,0.000,0.032,3118,1571,3362,0,0,0,0,0,0
$GC,8843,-1.32,-146.0,749.8,-6.7,334,8847,0.00,2.65,0.00,0.000,4,0.000,0.049,3119,3155,3361,0,0,0,0,0,0
$GC,8864,-1.36,-146.0,751.2,-7.7,334,8871,0.12,2.70,0.00,0.000,6,0.064,0.048,3054,1560,3361,0,0,0,0,0,0
$GC,9131,-1.27,-146.0,776.5,-9.6,341,9136,0.25,2.45,0.00,0.000,4,0.098,0.080,3113,163,3360,0,0,0,0,0,0
$GC,9176,-1.27,-146.0,780.2,-7.5,342,9181,0.00,2.30,0.00,0.000,6,0.000,0.033,3113,1576,3360,0,0,0,0,0,0
$GC,9463,-1.27,-146.0,798.6,-6.3,349,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1577,3359,0,0,0,0,0,0
$GC,9707,-1.27,-146.0,814.1,-6.4,355,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1577,3359,0,0,0,0,0,0
$GC,9951,-1.27,-146.0,830.3,-6.8,361,9955,0.00,2.62,0.00,0.000,4,0.000,0.051,3113,3152,3358,0,0,0,0,0,0
$GC,9973,-1.27,-146.0,831.8,-7.6,361,9977,0.00,2.67,0.00,0.000,6,0.000,0.048,3113,1562,3358,0,0,0,0,0,0
$GC,10237,-1.27,-146.0,849.4,-6.6,368,10241,0.00,2.45,0.00,0.000,4,0.000,0.082,3113,171,3357,0,0,0,0,0,0
$GC,10261,-1.27,-146.0,851.1,-7.4,368,10265,0.00,2.25,0.00,0.000,6,0.000,0.033,3112,1567,3357,0,0,0,0,0,0
$GC,10522,-1.27,-146.0,866.7,-5.9,375,10526,0.00,2.67,0.00,0.000,4,0.000,0.052,3113,3158,3357,0,0,0,0,0,0
$GC,10541,-1.31,-146.0,868.0,-6.3,375,10546,0.00,2.70,0.00,0.000,6,0.000,0.048,3113,1565,3357,0,0,0,0,0,0
$GC,10807,-1.31,-146.0,883.1,-5.6,382,10811,0.00,2.45,0.00,0.000,4,0.000,0.082,3113,166,3356,0,0,0,0,0,0
$GC,10831,-1.31,-146.0,884.8,-6.9,382,10835,0.00,2.30,0.00,0.000,6,0.000,0.034,3113,1576,3356,0,0,0,0,0,0
$GC,11094,-1.31,-146.0,899.8,-5.7,389,11096,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1576,3355,0,0,0,0,0,0
$STATE,11134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11134,begin apogee
$GC,11140,-0.31,0.0,902.1,5.6,390,11261,0.90,0.00,117.55,1.167,6,0.077,0.000,3318,1344,2800,0,0,0,0,0,0
$STATE,11262,end apogee,CONTROL_FINISHED_OK
$STATE,11262,begin climb
$GC,11266,1.27,146.0,904.7,0.0,393,11404,1.42,2.17,129.25,1.142,4,0.030,0.077,3666,177,2203,0,0,0,0,0,0
$GC,11527,0.99,146.0,879.6,16.3,399,11532,0.32,1.92,0.00,0.000,6,0.111,0.031,3601,1353,2199,0,0,0,0,0,0
$GC,11816,0.90,146.0,847.4,10.8,406,11820,0.00,2.10,0.00,0.000,4,0.000,0.072,3600,176,2193,0,0,0,0,0,0
$GC,11878,0.76,146.0,839.9,11.6,407,11883,0.25,1.92,0.00,0.000,6,0.103,0.031,3549,1345,2193,0,0,0,0,0,0
$GC,12147,0.80,179.2,816.6,8.5,414,12183,0.00,2.15,29.12,1.065,4,0.000,0.072,3548,169,2068,0,0,0,0,0,0
$GC,12199,0.81,186.7,811.8,9.7,415,12212,0.00,1.95,8.60,0.910,6,0.000,0.030,3548,1343,2038,0,0,0,0,0,0
$GC,12477,0.87,198.3,785.4,9.5,422,12494,0.10,2.75,11.30,0.957,4,0.080,0.051,3586,2935,1990,0,0,0,0,0,0
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$STATE,19594,end climb,SURFACE_DEPTH_REACHED
$STATE,19594,begin surface coast
$FINISH,0.9,1.023421
$STATE,19642,end surface coast,CONTROL_FINISHED_OK
$STATE,19642,begin surface
$SM_CCo,19667,166.40,0.432,3,0,511,561.49
$SM_GC,1.54,0.00,0.00,166.40,0.000,0.000,0.432,414,1636,511,-13.67,1.87,561.49
$IRIDIUM_FIX,2244.02,-15741.52,080902,131344
$TT8_MAMPS,0.027612
$HUMID,60.31
$INTERNAL_PRESSURE,9.32063
$TCM_TEMP,22.20
$XPDR_PINGS,37
$24V_AH,23.3,16.152
$10V_AH,9.9,14.161
$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
$DEVICE_SECS,32.075,229.825,417.975,166.400,0.000,151.613,170.527,794.557,9.250,0.000,33.035,1612.108,14976.287,711.382,2481.011,1624.778,33.370,1831.687,0.000,2460.841,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,498.830,341.360,430.824,741.050,1015.295,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,57401,732
$CAP_FILE_SIZE,208511,0
$CFSIZE,260165632,163942400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,140613,192217,2254.471,-15738.309,60,1.7,71,10.1