version: 66.06
glider: 148
mission: 12
dive: 113
start: 6 14 113 19 38 25
data:
$ID,148
$MISSION,12
$DIVE,113
$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,-1017478.9
$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,27
$R_STBD_OVSHOOT,48
$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
$GPS1,192217,2254.471,-15738.309,60,1.7,71,10.1
$_CALLS,2
$_XMS_NAKs,29
$_XMS_TOUTs,7
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.7
$GPS2,193731,2254.595,-15738.437,13,1.4,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,0.215
$KALMAN_X,-121849.7,4.8,-167.8,158946.2,-1251.5
$KALMAN_Y,37615.3,136.0,-352.2,-19609.6,1515.8
$MHEAD_RNG_PITCHd_Wd,24.2,20714,-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,-146.0,0.0,0.0,0,115,0.00,0.00,-96.68,0.000,2,0.000,0.000,413,1637,2992,0,0,0,0,0,0
$GC,118,-1.27,-146.0,3.1,-3.7,13,151,14.07,2.42,-7.50,0.000,4,0.151,0.035,3103,3151,3399,0,0,0,0,0,0
$GC,164,-0.39,-146.0,17.2,-33.6,18,173,0.82,2.60,0.00,0.000,6,0.077,0.029,3291,1569,3399,0,0,0,0,0,0
$GC,451,-0.57,-146.0,40.0,-6.8,53,455,0.12,2.30,0.00,0.000,4,0.061,0.045,3217,168,3399,0,0,0,0,0,0
$GC,476,-0.63,-146.0,42.8,-9.2,54,485,0.10,2.17,0.00,0.000,6,0.074,0.016,3244,1618,3399,0,0,0,0,0,0
$GC,744,-0.75,-146.0,64.7,-7.4,79,748,0.10,2.33,0.00,0.000,4,0.075,0.021,3172,3111,3399,0,0,0,0,0,0
$GC,788,-0.81,-146.0,68.4,-8.4,82,793,0.17,2.47,0.00,0.000,6,0.087,0.029,3212,1559,3399,0,0,0,0,0,0
$GC,1051,-0.86,-146.0,90.8,-9.7,106,1055,0.00,2.25,0.00,0.000,4,0.000,0.042,3212,176,3399,0,0,0,0,0,0
$GC,1121,-1.00,-146.0,97.6,-8.9,112,1126,0.20,2.05,0.00,0.000,6,0.043,0.016,3119,1571,3399,0,0,0,0,0,0
$GC,1384,-0.85,-146.0,134.8,-13.9,136,1389,0.32,2.38,0.00,0.000,4,0.084,0.020,3192,3101,3398,0,0,0,0,0,0
$GC,1413,-0.85,-146.0,138.4,-10.2,138,1417,0.00,2.45,0.00,0.000,6,0.000,0.027,3192,1564,3399,0,0,0,0,0,0
$GC,1677,-0.90,-146.0,158.6,-7.3,162,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1563,3399,0,0,0,0,0,0
$GC,1931,-0.95,-146.0,176.6,-7.2,186,1935,0.00,2.40,0.00,0.000,4,0.000,0.021,3192,3102,3399,0,0,0,0,0,0
$GC,1951,-1.02,-146.0,177.9,-7.6,187,1956,0.12,2.45,0.00,0.000,6,0.065,0.027,3131,1560,3399,0,0,0,0,0,0
$GC,2233,-0.94,-146.0,209.8,-11.7,207,2238,0.22,2.25,0.00,0.000,4,0.088,0.041,3181,167,3398,0,0,0,0,0,0
$GC,2267,-0.94,-146.0,213.9,-9.9,207,2271,0.00,2.08,0.00,0.000,6,0.000,0.017,3181,1562,3398,0,0,0,0,0,0
$GC,2517,-0.94,-146.0,234.2,-7.9,213,2521,0.00,2.42,0.00,0.000,4,0.000,0.022,3181,3118,3398,0,0,0,0,0,0
$GC,2543,-1.02,-146.0,236.3,-8.6,213,2547,0.00,2.47,0.00,0.000,6,0.000,0.028,3181,1566,3398,0,0,0,0,0,0
$GC,2803,-1.07,-146.0,257.9,-8.7,220,2807,0.12,2.28,0.00,0.000,4,0.064,0.046,3123,170,3397,0,0,0,0,0,0
$GC,2913,-1.01,-146.0,271.6,-13.2,222,2918,0.17,2.10,0.00,0.000,6,0.092,0.018,3162,1545,3397,0,0,0,0,0,0
$GC,3182,-1.01,-146.0,295.0,-8.0,229,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1548,3397,0,0,0,0,0,0
$GC,3426,-1.06,-146.0,312.9,-7.1,235,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1548,3396,0,0,0,0,0,0
$GC,3672,-1.12,-146.0,329.8,-6.8,241,3676,0.00,2.53,0.00,0.000,4,0.000,0.029,3162,3133,3394,0,0,0,0,0,0
$GC,3691,-1.20,-146.0,331.4,-7.0,241,3696,0.17,2.55,0.00,0.000,6,0.048,0.033,3093,1566,3395,0,0,0,0,0,0
$GC,3956,-1.12,-146.0,358.0,-10.4,248,3961,0.22,2.55,0.00,0.000,4,0.090,0.032,3142,3122,3393,0,0,0,0,0,0
$GC,3982,-1.12,-146.0,360.2,-8.6,248,3987,0.00,2.58,0.00,0.000,6,0.000,0.037,3142,1567,3393,0,0,0,0,0,0
$GC,4242,-1.12,-146.0,378.6,-7.2,255,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1566,3391,0,0,0,0,0,0
$GC,4485,-1.12,-146.0,398.2,-8.2,261,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1566,3389,0,0,0,0,0,0
$GC,4731,-1.12,-146.0,418.8,-8.4,267,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1566,3387,0,0,0,0,0,0
$GC,4973,-1.12,-146.0,438.9,-8.4,273,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1566,3386,0,0,0,0,0,0
$GC,5217,-1.12,-146.0,457.8,-7.6,279,5221,0.00,2.38,0.00,0.000,4,0.000,0.067,3142,171,3384,0,0,0,0,0,0
$GC,5240,-1.12,-146.0,459.6,-8.0,279,5244,0.00,2.20,0.00,0.000,6,0.000,0.025,3142,1561,3384,0,0,0,0,0,0
$GC,5505,-1.17,-146.0,476.2,-6.0,286,5509,0.00,2.62,0.00,0.000,4,0.000,0.041,3142,3152,3382,0,0,0,0,0,0
$GC,5533,-1.25,-146.0,478.1,-6.0,286,5539,0.12,2.62,0.00,0.000,6,0.061,0.038,3080,1572,3382,0,0,0,0,0,0
$GC,5791,-1.17,-146.0,500.8,-9.1,293,5796,0.22,2.42,0.00,0.000,4,0.091,0.070,3130,170,3380,0,0,0,0,0,0
$GC,5829,-1.17,-146.0,504.2,-8.6,293,5835,0.00,2.22,0.00,0.000,6,0.000,0.029,3131,1568,3380,0,0,0,0,0,0
$GC,6079,-1.17,-146.0,521.6,-6.9,300,6084,0.00,2.62,0.00,0.000,4,0.000,0.043,3131,3152,3378,0,0,0,0,0,0
$GC,6114,-1.25,-146.0,524.0,-6.9,300,6119,0.00,2.62,0.00,0.000,6,0.000,0.041,3131,1577,3378,0,0,0,0,0,0
$GC,6365,-1.25,-146.0,542.5,-7.5,306,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1577,3376,0,0,0,0,0,0
$GC,6608,-1.25,-146.0,561.7,-7.9,312,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1577,3375,0,0,0,0,0,0
$GC,6852,-1.25,-146.0,581.2,-7.8,318,6856,0.00,2.47,0.00,0.000,4,0.000,0.077,3130,164,3373,0,0,0,0,0,0
$GC,6882,-1.25,-146.0,583.7,-8.5,318,6886,0.00,2.30,0.00,0.000,6,0.000,0.031,3130,1582,3372,0,0,0,0,0,0
$GC,7136,-1.25,-146.0,603.0,-7.2,325,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1582,3371,0,0,0,0,0,0
$GC,7380,-1.25,-146.0,618.1,-5.9,331,7384,0.00,2.45,0.00,0.000,4,0.000,0.071,3130,170,3369,0,0,0,0,0,0
$GC,7402,-1.25,-146.0,619.5,-6.7,331,7406,0.00,2.30,0.00,0.000,6,0.000,0.031,3130,1585,3369,0,0,0,0,0,0
$GC,7666,-1.30,-146.0,634.4,-5.7,338,7668,0.12,0.00,0.00,0.000,6,0.065,0.000,3077,1586,3368,0,0,0,0,0,0
$GC,7910,-1.23,-146.0,655.9,-9.3,344,7915,0.17,2.47,0.00,0.000,4,0.095,0.073,3116,171,3366,0,0,0,0,0,0
$GC,7940,-1.23,-146.0,658.7,-8.8,344,7945,0.00,2.28,0.00,0.000,6,0.000,0.034,3116,1577,3366,0,0,0,0,0,0
$GC,8195,-1.23,-146.0,678.0,-7.5,351,8199,0.00,2.65,0.00,0.000,4,0.000,0.051,3116,3155,3365,0,0,0,0,0,0
$GC,8214,-1.23,-146.0,679.7,-8.4,351,8218,0.00,2.65,0.00,0.000,6,0.000,0.046,3116,1574,3365,0,0,0,0,0,0
$GC,8480,-1.23,-146.0,698.9,-7.3,358,8484,0.00,2.47,0.00,0.000,4,0.000,0.079,3116,168,3364,0,0,0,0,0,0
$GC,8508,-1.23,-146.0,701.2,-7.9,358,8512,0.00,2.30,0.00,0.000,6,0.000,0.033,3116,1577,3364,0,0,0,0,0,0
$GC,8763,-1.23,-146.0,720.7,-7.7,365,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1577,3362,0,0,0,0,0,0
$GC,9008,-1.23,-146.0,740.5,-8.2,371,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1577,3362,0,0,0,0,0,0
$GC,9250,-1.23,-146.0,760.0,-7.9,377,9254,0.00,2.47,0.00,0.000,4,0.000,0.074,3116,169,3361,0,0,0,0,0,0
$GC,9273,-1.23,-146.0,762.0,-8.4,377,9278,0.00,2.30,0.00,0.000,6,0.000,0.033,3116,1579,3361,0,0,0,0,0,0
$GC,9534,-1.23,-146.0,781.1,-7.3,384,9538,0.00,2.47,0.00,0.000,4,0.000,0.074,3116,165,3360,0,0,0,0,0,0
$GC,9567,-1.23,-146.0,784.1,-8.8,384,9571,0.00,2.30,0.00,0.000,6,0.000,0.034,3116,1572,3360,0,0,0,0,0,0
$GC,9817,-1.23,-146.0,801.5,-6.8,390,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1572,3359,0,0,0,0,0,0
$GC,10062,-1.23,-146.0,817.8,-6.6,396,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1572,3358,0,0,0,0,0,0
$GC,10304,-1.23,-146.0,833.0,-6.2,402,10309,0.00,2.67,0.00,0.000,4,0.000,0.052,3116,3161,3358,0,0,0,0,0,0
$GC,10319,-1.23,-146.0,834.0,-5.9,402,10324,0.00,2.70,0.00,0.000,6,0.000,0.047,3116,1566,3358,0,0,0,0,0,0
$GC,10588,-1.23,-146.0,850.9,-6.4,409,10592,0.00,2.47,0.00,0.000,4,0.000,0.081,3116,164,3357,0,0,0,0,0,0
$GC,10623,-1.23,-146.0,853.4,-7.2,409,10627,0.00,2.30,0.00,0.000,6,0.000,0.034,3115,1573,3357,0,0,0,0,0,0
$GC,10873,-1.23,-146.0,869.8,-6.4,415,10877,0.00,2.65,0.00,0.000,4,0.000,0.053,3116,3152,3357,0,0,0,0,0,0
$GC,10887,-1.23,-146.0,870.7,-6.0,415,10892,0.00,2.70,0.00,0.000,6,0.000,0.048,3116,1557,3356,0,0,0,0,0,0
$GC,11157,-1.23,-146.0,888.0,-6.6,422,11162,0.00,2.42,0.00,0.000,4,0.000,0.081,3116,170,3355,0,0,0,0,0,0
$GC,11181,-1.23,-146.0,889.9,-7.8,422,11185,0.00,2.25,0.00,0.000,6,0.000,0.034,3116,1562,3355,0,0,0,0,0,0
$STATE,11361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11361,begin apogee
$GC,11369,-0.31,0.0,901.7,6.4,427,11489,0.88,0.00,117.22,1.164,6,0.076,0.000,3315,1344,2800,0,0,0,0,0,0
$STATE,11490,end apogee,CONTROL_FINISHED_OK
$STATE,11490,begin climb
$GC,11493,1.27,146.0,904.4,0.0,430,11632,1.42,2.15,130.95,1.137,4,0.032,0.076,3669,169,2203,0,0,0,0,0,0
$GC,11731,0.98,146.0,882.2,17.0,435,11735,0.32,1.98,0.00,0.000,6,0.108,0.032,3602,1373,2198,0,0,0,0,0,0
$GC,11997,0.90,146.0,851.8,11.2,442,12000,0.00,2.15,0.00,0.000,4,0.000,0.072,3601,169,2191,0,0,0,0,0,0
$GC,12034,0.76,146.0,847.1,12.4,442,12040,0.25,1.95,0.00,0.000,6,0.102,0.031,3550,1349,2191,0,0,0,0,0,0
$GC,12284,0.79,174.5,824.7,8.7,449,12316,0.00,2.12,25.10,1.055,4,0.000,0.071,3549,175,2087,0,0,0,0,0,0
$GC,12332,0.81,187.7,820.3,9.4,450,12352,0.00,1.92,13.23,0.983,6,0.000,0.031,3549,1345,2034,0,0,0,0,0,0
$GC,12618,0.86,190.6,792.4,9.9,457,12623,0.10,2.72,0.00,0.000,4,0.080,0.054,3587,2938,2028,0,0,0,0,0,0
$GC,12653,0.86,190.6,788.3,10.1,457,12658,0.00,2.72,0.00,0.000,6,0.000,0.048,3586,1353,2024,0,0,0,0,0,0
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$STATE,19460,end climb,SURFACE_DEPTH_REACHED
$STATE,19460,begin surface coast
$FINISH,0.9,1.023344
$STATE,19494,end surface coast,CONTROL_FINISHED_OK
$STATE,19494,begin surface
$SM_CCo,19519,24.60,0.433,0,0,1249,380.21
$SM_GC,1.61,0.00,0.00,24.60,0.000,0.000,0.433,410,1613,1249,-13.69,1.22,380.21
$IRIDIUM_FIX,2244.02,-15736.30,080902,131314
$TT8_MAMPS,0.027612
$HUMID,65.04
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.50
$XPDR_PINGS,20
$24V_AH,23.3,16.316
$10V_AH,9.9,14.306
$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,35.625,234.075,429.500,24.600,0.000,62.584,65.895,568.468,5.000,0.000,15.387,1633.577,14513.091,549.777,2563.812,1186.153,33.368,1709.031,0.000,2566.438,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,85.137,1163.539,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,503.504,356.781,451.418,821.212,1136.587,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,57372,740
$CAP_FILE_SIZE,202086,0
$CFSIZE,260165632,163872768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,010630,2257.869,-15737.785,98,1.7,98,10.1