version: 66.06
glider: 148
mission: 12
dive: 118
start: 6 15 113 22 10 2
data:
$ID,148
$MISSION,12
$DIVE,118
$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,-1017552.5
$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,23
$R_STBD_OVSHOOT,98
$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
$GPS1,220130,2306.033,-15734.838,61,1.1,61,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-76.3
$GPS2,220909,2306.133,-15734.867,11,1.6,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.031,-0.173
$KALMAN_X,-129675.3,104.2,89.2,172501.4,-1490.0
$KALMAN_Y,44473.9,259.4,-93.4,-5488.0,1812.8
$MHEAD_RNG_PITCHd_Wd,159.8,1605,-26.9,-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,19,-1.76,-64.4,0.0,0.0,0,89,0.00,0.00,-67.05,0.000,2,0.000,0.000,415,1581,2978,0,0,0,0,0,0
$GC,92,-1.82,-113.5,3.3,-4.9,9,117,13.30,2.35,-5.32,0.000,4,0.147,0.052,2983,159,3263,0,0,0,0,0,0
$GC,245,-1.56,-113.5,51.7,-29.7,27,255,0.25,2.12,0.00,0.000,6,0.108,0.017,3037,1535,3264,0,0,0,0,0,0
$GC,508,-1.51,-113.5,104.5,-18.7,52,512,0.00,2.50,0.00,0.000,4,0.000,0.020,3037,3147,3265,0,0,0,0,0,0
$GC,529,-1.51,-113.5,108.0,-18.7,53,533,0.00,2.58,0.00,0.000,6,0.000,0.027,3037,1557,3265,0,0,0,0,0,0
$GC,793,-1.51,-113.5,159.1,-18.8,77,797,0.00,2.25,0.00,0.000,4,0.000,0.041,3037,173,3266,0,0,0,0,0,0
$GC,828,-1.51,-113.5,166.5,-20.1,80,832,0.00,2.10,0.00,0.000,6,0.000,0.017,3037,1579,3266,0,0,0,0,0,0
$GC,1108,-1.51,-113.5,215.7,-17.4,100,1112,0.00,2.28,0.00,0.000,4,0.000,0.040,3037,174,3266,0,0,0,0,0,0
$GC,1150,-1.51,-113.5,224.1,-20.1,101,1154,0.00,2.08,0.00,0.000,6,0.000,0.017,3037,1562,3266,0,0,0,0,0,0
$GC,1436,-1.51,-113.5,270.6,-15.8,108,1440,0.00,2.28,0.00,0.000,4,0.000,0.043,3037,171,3267,0,0,0,0,0,0
$GC,1485,-1.51,-113.5,278.5,-16.0,109,1489,0.00,2.10,0.00,0.000,6,0.000,0.018,3037,1557,3267,0,0,0,0,0,0
$GC,1776,-1.56,-113.5,321.1,-14.3,116,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1559,3267,0,0,0,0,0,0
$GC,2020,-1.63,-113.5,352.6,-12.7,122,2024,0.00,2.30,0.00,0.000,4,0.000,0.054,3037,178,3266,0,0,0,0,0,0
$GC,2049,-1.63,-113.5,356.4,-13.3,122,2054,0.00,2.10,0.00,0.000,6,0.000,0.020,3037,1550,3266,0,0,0,0,0,0
$GC,2304,-1.71,-113.5,387.0,-11.8,129,2309,0.10,2.33,0.00,0.000,4,0.078,0.057,2990,179,3265,0,0,0,0,0,0
$GC,2370,-1.64,-113.5,397.4,-16.1,130,2375,0.17,2.12,0.00,0.000,6,0.111,0.024,3026,1540,3265,0,0,0,0,0,0
$GC,2641,-1.71,-113.5,432.1,-12.5,137,2645,0.00,2.30,0.00,0.000,4,0.000,0.060,3026,180,3263,0,0,0,0,0,0
$GC,2668,-1.71,-113.5,436.2,-13.6,137,2673,0.00,2.15,0.00,0.000,6,0.000,0.025,3026,1543,3263,0,0,0,0,0,0
$GC,2924,-1.78,-113.5,468.4,-12.6,144,2929,0.12,2.38,0.00,0.000,4,0.067,0.064,2976,176,3261,0,0,0,0,0,0
$GC,2949,-1.72,-113.5,472.5,-15.8,144,2954,0.15,2.17,0.00,0.000,6,0.118,0.030,3006,1536,3261,0,0,0,0,0,0
$GC,3208,-1.72,-113.5,509.8,-14.1,151,3213,0.00,2.35,0.00,0.000,4,0.000,0.066,3006,178,3259,0,0,0,0,0,0
$GC,3270,-1.72,-113.5,518.5,-14.0,152,3274,0.00,2.17,0.00,0.000,6,0.000,0.031,3006,1530,3259,0,0,0,0,0,0
$GC,3540,-1.72,-113.5,554.3,-13.3,159,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1531,3257,0,0,0,0,0,0
$GC,3782,-1.77,-113.5,585.2,-12.5,165,3786,0.00,2.35,0.00,0.000,4,0.000,0.071,3005,173,3255,0,0,0,0,0,0
$GC,3877,-1.77,-113.5,598.3,-14.3,167,3881,0.00,2.20,0.00,0.000,6,0.000,0.033,3006,1535,3255,0,0,0,0,0,0
$GC,4169,-1.82,-113.5,635.0,-12.3,174,4173,0.00,2.38,0.00,0.000,4,0.000,0.072,3006,180,3253,0,0,0,0,0,0
$GC,4244,-1.82,-113.5,645.4,-13.8,175,4248,0.00,2.20,0.00,0.000,6,0.000,0.035,3006,1526,3252,0,0,0,0,0,0
$GC,4503,-1.87,-113.5,678.4,-12.4,182,4508,0.12,2.38,0.00,0.000,4,0.068,0.073,2960,183,3250,0,0,0,0,0,0
$GC,4527,-1.79,-113.5,682.1,-15.4,182,4532,0.15,2.17,0.00,0.000,6,0.122,0.034,2990,1526,3250,0,0,0,0,0,0
$GC,4789,-1.79,-113.5,717.2,-13.4,189,4793,0.00,2.35,0.00,0.000,4,0.000,0.073,2990,183,3249,0,0,0,0,0,0
$GC,4849,-1.79,-113.5,726.2,-14.1,190,4853,0.00,2.20,0.00,0.000,6,0.000,0.035,2990,1526,3248,0,0,0,0,0,0
$GC,5117,-1.79,-113.5,760.8,-12.8,197,5121,0.00,2.35,0.00,0.000,4,0.000,0.072,2990,182,3246,0,0,0,0,0,0
$GC,5161,-1.79,-113.5,766.8,-14.2,198,5165,0.00,2.17,0.00,0.000,6,0.000,0.034,2990,1526,3246,0,0,0,0,0,0
$GC,5447,-1.79,-113.5,802.3,-12.2,205,5451,0.00,2.35,0.00,0.000,4,0.000,0.073,2990,183,3244,0,0,0,0,0,0
$GC,5537,-1.79,-113.5,813.7,-13.6,206,5542,0.00,2.17,0.00,0.000,6,0.000,0.034,2990,1523,3244,0,0,0,0,0,0
$GC,5786,-1.79,-113.5,843.6,-12.1,213,5790,0.00,2.35,0.00,0.000,4,0.000,0.072,2990,183,3242,0,0,0,0,0,0
$GC,5805,-1.79,-113.5,846.0,-12.6,213,5809,0.00,2.17,0.00,0.000,6,0.000,0.034,2990,1524,3242,0,0,0,0,0,0
$GC,6068,-1.79,-113.5,877.9,-12.0,220,6072,0.00,2.35,0.00,0.000,4,0.000,0.073,2991,183,3241,0,0,0,0,0,0
$GC,6144,-1.79,-113.5,888.0,-13.6,221,6148,0.00,2.17,0.00,0.000,6,0.000,0.035,2990,1508,3240,0,0,0,0,0,0
$STATE,6237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6237,begin apogee
$GC,6244,-0.31,0.0,900.1,12.5,224,6340,1.48,0.00,92.32,1.147,6,0.091,0.000,3314,1347,2800,0,0,0,0,0,0
$STATE,6341,end apogee,CONTROL_FINISHED_OK
$STATE,6341,begin climb
$GC,6345,1.82,113.5,902.6,0.0,226,6451,1.67,0.00,101.60,1.126,6,0.039,0.000,3708,1347,2337,0,0,0,0,0,0
$GC,6686,1.78,113.5,871.9,12.4,235,6690,0.00,2.08,0.00,0.000,4,0.000,0.074,3708,171,2328,0,0,0,0,0,0
$GC,6782,1.65,113.5,858.5,14.2,237,6786,0.00,1.92,0.00,0.000,6,0.000,0.030,3709,1354,2326,0,0,0,0,0,0
$GC,7068,1.65,113.5,823.5,11.9,244,7072,0.00,2.10,0.00,0.000,4,0.000,0.070,3708,173,2325,0,0,0,0,0,0
$GC,7091,1.55,113.5,820.4,13.4,244,7095,0.00,1.90,0.00,0.000,6,0.000,0.031,3708,1345,2324,0,0,0,0,0,0
$GC,7356,1.55,113.5,788.3,11.9,251,7360,0.00,2.08,0.00,0.000,4,0.000,0.070,3709,169,2323,0,0,0,0,0,0
$GC,7518,1.43,113.5,764.8,14.7,254,7521,0.00,1.92,0.00,0.000,6,0.000,0.030,3708,1346,2322,0,0,0,0,0,0
$GC,7787,1.43,113.5,731.1,12.5,261,7791,0.00,2.05,0.00,0.000,4,0.000,0.068,3708,177,2321,0,0,0,0,0,0
$GC,7941,1.32,113.5,709.6,14.2,264,7946,0.17,1.90,0.00,0.000,6,0.134,0.029,3675,1345,2321,0,0,0,0,0,0
$GC,8217,1.36,113.5,680.2,10.5,271,8220,0.00,2.05,0.00,0.000,4,0.000,0.068,3675,175,2320,0,0,0,0,0,0
$GC,8481,1.36,113.5,648.6,11.5,276,8485,0.00,1.88,0.00,0.000,6,0.000,0.028,3675,1334,2319,0,0,0,0,0,0
$GC,8740,1.41,115.6,622.8,9.8,283,8744,0.00,2.03,0.00,0.000,4,0.000,0.067,3675,173,2318,0,0,0,0,0,0
$GC,9009,1.41,115.6,593.4,10.2,288,9013,0.00,1.83,0.00,0.000,6,0.000,0.027,3675,1312,2317,0,0,0,0,0,0
$GC,9264,1.49,136.1,573.1,7.9,295,9289,0.12,2.08,17.35,0.895,4,0.071,0.064,3717,176,2243,0,0,0,0,0,0
$GC,9517,1.39,136.1,543.0,11.7,300,9521,0.15,1.83,0.00,0.000,6,0.130,0.026,3690,1308,2242,0,0,0,0,0,0
$GC,9787,1.39,136.1,513.4,11.4,307,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,3690,1310,2240,0,0,0,0,0,0
$GC,10029,1.43,136.1,484.8,11.6,313,10033,0.00,1.95,0.00,0.000,4,0.000,0.061,3690,176,2239,0,0,0,0,0,0
$GC,10107,1.43,136.1,474.4,13.4,314,10111,0.00,1.80,0.00,0.000,6,0.000,0.024,3690,1312,2239,0,0,0,0,0,0
$GC,10367,1.48,136.1,445.4,11.1,321,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,3690,1315,2238,0,0,0,0,0,0
$GC,10610,1.53,136.1,420.4,10.3,327,10614,0.08,1.98,0.00,0.000,4,0.107,0.061,3721,171,2239,0,0,0,0,0,0
$GC,10833,1.45,136.1,392.2,12.1,331,10837,0.00,1.77,0.00,0.000,6,0.000,0.023,3722,1301,2239,0,0,0,0,0,0
$GC,11087,1.45,136.1,365.9,10.1,338,11091,0.00,1.92,0.00,0.000,4,0.000,0.058,3722,173,2238,0,0,0,0,0,0
$GC,11356,1.38,141.6,338.5,9.4,343,11367,0.17,1.75,5.35,0.583,6,0.123,0.022,3688,1302,2222,0,0,0,0,0,0
$GC,11610,1.49,160.7,318.9,8.0,350,11635,0.00,2.00,18.05,0.716,4,0.000,0.057,3688,176,2144,0,0,0,0,0,0
$GC,11705,1.49,160.7,308.3,11.6,352,11708,0.00,1.73,0.00,0.000,6,0.000,0.022,3688,1281,2143,0,0,0,0,0,0
$GC,11996,1.62,180.2,281.8,8.0,359,12021,0.08,2.72,17.88,0.683,4,0.102,0.031,3722,2902,2064,0,0,0,0,0,0
$GC,12033,1.72,209.6,279.1,6.9,359,12066,0.00,2.75,27.40,0.691,6,0.000,0.041,3722,1291,1945,0,0,0,0,0,0
$GC,12329,1.81,209.6,244.8,12.3,367,12330,0.00,0.00,0.00,0.000,6,0.000,0.000,3722,1291,1939,0,0,0,0,0,0
$GC,12570,1.89,209.6,211.9,14.0,373,12574,0.00,2.60,0.00,0.000,4,0.000,0.026,3722,2917,1938,0,0,0,0,0,0
$GC,12584,1.98,209.6,209.4,15.2,373,12589,0.00,2.70,0.00,0.000,6,0.000,0.036,3722,1280,1936,0,0,0,0,0,0
$GC,12858,2.07,209.6,172.5,12.7,394,12863,0.00,2.62,0.00,0.000,4,0.000,0.026,3722,2919,1937,0,0,0,0,0,0
$GC,12913,2.22,209.6,164.8,12.5,399,12918,0.00,2.70,0.00,0.000,6,0.000,0.035,3722,1283,1935,0,0,0,0,0,0
$GC,13181,2.31,209.6,131.0,13.4,423,13186,0.00,0.00,0.00,0.000,6,0.000,0.000,3722,1283,1935,0,0,0,0,0,0
$GC,13443,2.40,209.6,96.1,12.4,448,13446,0.00,1.83,0.00,0.000,4,0.000,0.049,3722,169,1934,0,0,0,0,0,0
$GC,13540,2.45,209.6,83.5,12.6,457,13544,0.00,1.70,0.00,0.000,6,0.000,0.019,3722,1309,1935,0,0,0,0,0,0
$GC,13812,2.57,209.6,53.3,10.1,482,13816,0.00,2.53,0.00,0.000,4,0.000,0.024,3722,2902,1934,0,0,0,0,0,0
$GC,13844,2.75,212.6,49.4,9.7,484,13853,0.00,2.67,0.00,0.000,6,0.000,0.033,3722,1287,1934,0,0,0,0,0,0
$GC,14121,2.91,215.8,24.7,9.7,513,14138,0.00,2.62,5.43,0.364,4,0.000,0.024,3722,2902,1919,0,0,0,0,0,0
$GC,14196,3.12,219.5,17.1,9.6,523,14214,0.00,2.67,5.32,0.354,6,0.000,0.035,3722,1282,1903,0,0,0,0,0,0
$STATE,14320,end climb,SURFACE_DEPTH_REACHED
$STATE,14320,begin surface coast
$FINISH,0.8,1.023430
$STATE,14363,end surface coast,CONTROL_FINISHED_OK
$STATE,14363,begin surface
$SM_CCo,14387,91.22,0.441,0,0,1249,380.21
$SM_GC,1.77,0.00,0.00,91.22,0.000,0.000,0.441,415,1571,1249,-13.66,0.03,380.21
$IRIDIUM_FIX,2300.41,-15735.79,090902,171752
$TT8_MAMPS,0.027612
$HUMID,61.22
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.10
$XPDR_PINGS,47
$24V_AH,23.3,17.027
$10V_AH,9.9,14.937
$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,31.725,154.625,290.700,91.225,0.000,27.405,36.509,249.965,11.750,0.000,12.918,1315.947,10034.291,473.894,2408.915,700.048,33.364,1519.279,0.000,2401.860,0.000,0.537,0.000
$DEVICE_MAMPS,147.264,73.632,1146.665,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.794,273.284,341.205,625.778,851.672,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,41568,548
$CAP_FILE_SIZE,152435,0
$CFSIZE,260165632,163557376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160613,021335,2305.166,-15734.407,91,1.1,91,10.1