version: 66.06
glider: 148
mission: 12
dive: 114
start: 6 15 113 1 22 13
data:
$ID,148
$MISSION,12
$DIVE,114
$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,-1017494.1
$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,122
$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
$GPS1,010630,2257.869,-15737.785,98,1.7,98,10.1
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-76.5
$GPS2,012119,2258.013,-15737.804,13,1.0,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.111,0.235
$KALMAN_X,-123436.2,-5.9,-115.9,161568.8,-937.8
$KALMAN_Y,39077.4,11.5,745.9,-15717.3,-614.8
$MHEAD_RNG_PITCHd_Wd,15.3,14324,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-67.35,0.000,2,0.000,0.000,409,1613,2997,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.3,-4.4,9,124,14.55,2.35,-6.95,0.000,4,0.164,0.036,3101,3075,3397,0,0,0,0,0,0
$GC,184,-1.11,-146.0,28.9,-18.9,22,194,0.15,2.47,0.00,0.000,6,0.082,0.031,3140,1574,3398,0,0,0,0,0,0
$GC,454,-1.00,-146.0,71.1,-12.5,47,458,0.12,2.33,0.00,0.000,4,0.115,0.042,3166,162,3398,0,0,0,0,0,0
$GC,534,-1.00,-146.0,81.5,-11.2,53,538,0.00,2.03,0.00,0.000,6,0.000,0.016,3166,1524,3398,0,0,0,0,0,0
$GC,802,-1.00,-146.0,110.2,-10.4,77,806,0.00,2.47,0.00,0.000,4,0.000,0.021,3166,3116,3399,0,0,0,0,0,0
$GC,872,-1.08,-146.0,117.3,-8.9,83,876,0.00,2.47,0.00,0.000,6,0.000,0.028,3166,1577,3399,0,0,0,0,0,0
$GC,1138,-1.08,-146.0,144.2,-10.3,107,1142,0.00,2.42,0.00,0.000,4,0.000,0.021,3166,3125,3399,0,0,0,0,0,0
$GC,1158,-1.08,-146.0,147.0,-10.8,108,1166,0.00,2.50,0.00,0.000,6,0.000,0.025,3166,1587,3399,0,0,0,0,0,0
$GC,1424,-1.08,-146.0,173.5,-9.7,133,1428,0.00,2.30,0.00,0.000,4,0.000,0.043,3166,165,3399,0,0,0,0,0,0
$GC,1464,-1.08,-146.0,178.2,-10.3,136,1470,0.00,2.12,0.00,0.000,6,0.000,0.017,3166,1583,3399,0,0,0,0,0,0
$GC,1723,-1.08,-146.0,204.7,-10.5,158,1728,0.00,2.42,0.00,0.000,4,0.000,0.021,3166,3130,3399,0,0,0,0,0,0
$GC,1761,-1.15,-146.0,208.7,-9.6,158,1767,0.15,2.50,0.00,0.000,6,0.053,0.028,3081,1583,3399,0,0,0,0,0,0
$GC,2013,-0.98,-146.0,246.2,-15.5,165,2018,0.38,2.30,0.00,0.000,4,0.091,0.042,3167,168,3399,0,0,0,0,0,0
$GC,2051,-0.98,-146.0,251.2,-11.1,165,2056,0.00,2.12,0.00,0.000,6,0.000,0.018,3167,1582,3399,0,0,0,0,0,0
$GC,2302,-0.98,-146.0,272.1,-7.8,172,2307,0.00,2.30,0.00,0.000,4,0.000,0.044,3167,172,3399,0,0,0,0,0,0
$GC,2346,-1.05,-146.0,275.5,-8.0,173,2350,0.00,2.12,0.00,0.000,6,0.000,0.018,3167,1576,3399,0,0,0,0,0,0
$GC,2633,-1.11,-146.0,296.2,-7.4,180,2638,0.10,2.45,0.00,0.000,4,0.075,0.026,3114,3130,3398,0,0,0,0,0,0
$GC,2673,-1.11,-146.0,300.1,-10.1,180,2679,0.12,2.53,0.00,0.000,6,0.098,0.032,3143,1574,3398,0,0,0,0,0,0
$GC,2923,-1.11,-146.0,323.3,-9.3,187,2926,0.00,2.33,0.00,0.000,4,0.000,0.051,3143,163,3397,0,0,0,0,0,0
$GC,2964,-1.11,-146.0,327.1,-8.7,187,2970,0.00,2.17,0.00,0.000,6,0.000,0.021,3143,1570,3397,0,0,0,0,0,0
$GC,3216,-1.11,-146.0,346.8,-7.6,194,3220,0.00,2.53,0.00,0.000,4,0.000,0.031,3143,3149,3396,0,0,0,0,0,0
$GC,3254,-1.20,-146.0,350.1,-7.8,194,3260,0.00,2.55,0.00,0.000,6,0.000,0.035,3143,1575,3396,0,0,0,0,0,0
$GC,3504,-1.20,-146.0,371.0,-8.7,201,3508,0.00,2.35,0.00,0.000,4,0.000,0.058,3143,172,3395,0,0,0,0,0,0
$GC,3557,-1.20,-146.0,376.0,-9.4,202,3561,0.00,2.17,0.00,0.000,6,0.000,0.023,3143,1566,3394,0,0,0,0,0,0
$GC,3839,-1.20,-146.0,398.3,-7.4,209,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1567,3392,0,0,0,0,0,0
$GC,4082,-1.20,-146.0,417.6,-8.3,215,4087,0.00,2.38,0.00,0.000,4,0.000,0.059,3143,172,3391,0,0,0,0,0,0
$GC,4136,-1.27,-146.0,422.2,-8.9,216,4141,0.15,2.20,0.00,0.000,6,0.055,0.025,3079,1572,3390,0,0,0,0,0,0
$GC,4414,-1.19,-146.0,452.1,-10.6,223,4419,0.20,2.60,0.00,0.000,4,0.095,0.038,3123,3151,3388,0,0,0,0,0,0
$GC,4450,-1.26,-146.0,455.3,-8.3,223,4454,0.00,2.60,0.00,0.000,6,0.000,0.038,3123,1577,3388,0,0,0,0,0,0
$GC,4700,-1.26,-146.0,475.1,-7.8,229,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1577,3386,0,0,0,0,0,0
$GC,4944,-1.26,-146.0,493.3,-7.5,235,4948,0.00,2.62,0.00,0.000,4,0.000,0.042,3123,3149,3385,0,0,0,0,0,0
$GC,4974,-1.30,-146.0,495.7,-7.9,235,4978,0.00,2.60,0.00,0.000,6,0.000,0.038,3123,1574,3385,0,0,0,0,0,0
$GC,5229,-1.30,-146.0,515.8,-8.0,242,5233,0.00,2.42,0.00,0.000,4,0.000,0.072,3123,165,3383,0,0,0,0,0,0
$GC,5252,-1.30,-146.0,517.8,-8.6,242,5257,0.00,2.25,0.00,0.000,6,0.000,0.029,3123,1576,3383,0,0,0,0,0,0
$GC,5513,-1.30,-146.0,538.9,-8.3,249,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1576,3381,0,0,0,0,0,0
$GC,5755,-1.30,-146.0,559.2,-8.4,255,5760,0.00,2.42,0.00,0.000,4,0.000,0.070,3123,172,3380,0,0,0,0,0,0
$GC,5784,-1.30,-146.0,561.8,-9.5,255,5788,0.00,2.28,0.00,0.000,6,0.000,0.031,3123,1574,3379,0,0,0,0,0,0
$GC,6040,-1.30,-146.0,583.7,-8.4,262,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1575,3378,0,0,0,0,0,0
$GC,6282,-1.30,-146.0,603.0,-7.8,268,6286,0.00,2.65,0.00,0.000,4,0.000,0.048,3123,3159,3376,0,0,0,0,0,0
$GC,6301,-1.30,-146.0,604.5,-7.5,268,6306,0.00,2.67,0.00,0.000,6,0.000,0.044,3123,1572,3376,0,0,0,0,0,0
$GC,6565,-1.30,-146.0,623.6,-7.2,275,6569,0.00,2.45,0.00,0.000,4,0.000,0.078,3123,167,3374,0,0,0,0,0,0
$GC,6599,-1.30,-146.0,626.2,-7.5,275,6603,0.00,2.30,0.00,0.000,6,0.000,0.032,3123,1583,3374,0,0,0,0,0,0
$GC,6858,-1.30,-146.0,643.6,-6.5,282,6863,0.00,2.62,0.00,0.000,4,0.000,0.050,3123,3152,3373,0,0,0,0,0,0
$GC,6875,-1.30,-146.0,644.8,-6.4,282,6879,0.00,2.62,0.00,0.000,6,0.000,0.045,3123,1579,3372,0,0,0,0,0,0
$GC,7145,-1.30,-146.0,662.6,-6.7,289,7149,0.00,2.47,0.00,0.000,4,0.000,0.078,3123,171,3372,0,0,0,0,0,0
$GC,7178,-1.30,-146.0,665.2,-7.9,289,7182,0.00,2.30,0.00,0.000,6,0.000,0.033,3123,1581,3371,0,0,0,0,0,0
$GC,7428,-1.30,-146.0,682.1,-6.8,295,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1582,3370,0,0,0,0,0,0
$GC,7673,-1.30,-146.0,698.3,-6.6,301,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1582,3369,0,0,0,0,0,0
$GC,7915,-1.30,-146.0,714.3,-6.6,307,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1581,3368,0,0,0,0,0,0
$GC,8159,-1.30,-146.0,731.4,-7.0,313,8163,0.00,2.47,0.00,0.000,4,0.000,0.074,3123,172,3367,0,0,0,0,0,0
$GC,8192,-1.30,-146.0,734.2,-8.9,313,8196,0.00,2.28,0.00,0.000,6,0.000,0.034,3123,1577,3366,0,0,0,0,0,0
$GC,8443,-1.30,-146.0,752.1,-7.0,319,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1577,3365,0,0,0,0,0,0
$GC,8685,-1.30,-146.0,769.7,-7.4,325,8690,0.00,2.47,0.00,0.000,4,0.000,0.075,3123,172,3365,0,0,0,0,0,0
$GC,8723,-1.30,-146.0,772.7,-8.2,325,8728,0.00,2.30,0.00,0.000,6,0.000,0.034,3124,1577,3364,0,0,0,0,0,0
$GC,8975,-1.35,-146.0,790.5,-7.0,332,8977,0.15,0.00,0.00,0.000,6,0.058,0.000,3062,1578,3363,0,0,0,0,0,0
$GC,9217,-1.27,-146.0,813.3,-9.4,338,9222,0.20,2.47,0.00,0.000,4,0.098,0.073,3107,172,3363,0,0,0,0,0,0
$GC,9241,-1.27,-146.0,815.7,-8.6,338,9245,0.00,2.28,0.00,0.000,6,0.000,0.034,3106,1575,3362,0,0,0,0,0,0
$GC,9507,-1.27,-146.0,833.8,-6.7,345,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1575,3362,0,0,0,0,0,0
$GC,9749,-1.27,-146.0,848.8,-6.1,351,9753,0.00,2.47,0.00,0.000,4,0.000,0.075,3106,171,3362,0,0,0,0,0,0
$GC,9768,-1.27,-146.0,850.1,-6.8,351,9772,0.00,2.28,0.00,0.000,6,0.000,0.034,3106,1566,3361,0,0,0,0,0,0
$GC,10038,-1.27,-146.0,866.1,-6.0,358,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1566,3361,0,0,0,0,0,0
$GC,10280,-1.27,-146.0,882.1,-6.7,364,10284,0.00,2.45,0.00,0.000,4,0.000,0.075,3106,172,3361,0,0,0,0,0,0
$GC,10303,-1.27,-146.0,883.8,-8.6,364,10307,0.00,2.28,0.00,0.000,6,0.000,0.035,3106,1562,3360,0,0,0,0,0,0
$STATE,10564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10564,begin apogee
$GC,10571,-0.31,0.0,902.9,7.3,371,10692,0.93,0.00,118.18,1.168,6,0.081,0.000,3314,1345,2800,0,0,0,0,0,0
$STATE,10693,end apogee,CONTROL_FINISHED_OK
$STATE,10693,begin climb
$GC,10696,1.27,146.0,906.6,0.0,374,10836,1.42,2.17,130.38,1.141,4,0.029,0.078,3668,180,2204,0,0,0,0,0,0
$GC,10901,0.99,146.0,891.4,16.2,378,10906,0.32,1.95,0.00,0.000,6,0.113,0.031,3603,1355,2199,0,0,0,0,0,0
$GC,11153,0.90,146.0,863.3,11.0,384,11157,0.10,2.10,0.00,0.000,4,0.136,0.072,3583,177,2193,0,0,0,0,0,0
$GC,11168,0.80,146.0,861.3,11.2,384,11172,0.12,1.95,0.00,0.000,6,0.127,0.031,3559,1359,2194,0,0,0,0,0,0
$GC,11436,0.81,154.0,835.6,9.6,391,11444,0.00,0.00,5.97,0.834,6,0.000,0.000,3559,1359,2172,0,0,0,0,0,0
$GC,11724,0.81,159.6,807.4,9.7,398,11736,0.00,2.17,6.93,0.872,4,0.000,0.073,3559,176,2149,0,0,0,0,0,0
$GC,11764,0.81,159.6,802.9,11.1,398,11770,0.00,1.95,0.00,0.000,6,0.000,0.031,3559,1352,2148,0,0,0,0,0,0
$GC,12014,0.84,182.1,780.0,9.0,405,12038,0.00,0.00,22.20,1.033,6,0.000,0.000,3559,1353,2057,0,0,0,0,0,0
$GC,12259,0.87,208.3,758.5,8.8,411,12292,0.00,2.20,25.42,1.027,4,0.000,0.072,3559,177,1949,0,0,0,0,0,0
$GC,12315,0.87,208.3,752.8,10.6,412,12319,0.00,1.95,0.00,0.000,6,0.000,0.031,3559,1350,1949,0,0,0,0,0,0
$GC,12595,0.92,213.0,725.5,9.8,419,12608,0.10,2.72,5.12,0.745,4,0.081,0.051,3600,2939,1931,0,0,0,0,0,0
$GC,12632,0.92,213.0,721.2,10.9,419,12637,0.00,2.72,0.00,0.000,6,0.000,0.046,3600,1357,1928,0,0,0,0,0,0
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$STATE,18472,end climb,SURFACE_DEPTH_REACHED
$STATE,18472,begin surface coast
$FINISH,0.9,1.009745
$STATE,18513,end surface coast,CONTROL_FINISHED_OK
$STATE,18513,begin surface
$SM_CCo,18538,40.28,0.436,0,0,1249,380.21
$SM_GC,1.72,0.00,0.00,40.28,0.000,0.000,0.436,417,1621,1249,-13.65,1.44,380.21
$IRIDIUM_FIX,2246.36,-15738.46,090902,010140
$TT8_MAMPS,0.027612
$HUMID,64.60
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.90
$XPDR_PINGS,11
$24V_AH,23.3,16.481
$10V_AH,9.9,14.440
$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
$DEVICE_SECS,34.050,217.825,405.325,40.275,0.000,56.123,71.721,539.542,2.750,0.000,14.540,1533.152,13853.618,546.970,2394.842,1128.634,33.365,1641.709,0.000,2387.685,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,470.783,326.440,412.118,718.009,984.142,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,54145,692
$CAP_FILE_SIZE,189904,0
$CFSIZE,260165632,163807232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,063350,2300.363,-15737.335,56,3.4,75,10.1