version: 66.06
glider: 148
mission: 12
dive: 197
start: 7 3 113 17 42 42
data:
$ID,148
$MISSION,12
$DIVE,197
$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,-1020100.4
$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,26
$R_STBD_OVSHOOT,96
$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
$GPS1,173418,2300.754,-15748.097,41,1.9,53,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-75.8
$GPS2,174149,2300.814,-15748.155,14,1.3,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE2
$TGT_LATLONG,2307.000,-15736.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.114
$KALMAN_X,-221850.6,-191.5,300.1,242076.2,-1541.1
$KALMAN_Y,119169.9,245.8,715.8,-90830.8,-581.7
$MHEAD_RNG_PITCHd_Wd,53.9,23662,-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,-67.15,0.000,2,0.000,0.000,415,1613,2982,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.7,-5.7,9,123,13.88,2.38,-7.20,0.000,4,0.147,0.034,3101,3099,3398,0,0,0,0,0,0
$GC,165,-1.08,-146.0,25.4,-18.8,19,174,0.17,2.55,0.00,0.000,6,0.083,0.035,3144,1565,3399,0,0,0,0,0,0
$GC,440,-0.94,-146.0,68.6,-14.0,45,449,0.15,0.00,0.00,0.000,6,0.112,0.000,3176,1565,3399,0,0,0,0,0,0
$GC,702,-0.90,-146.0,100.6,-11.5,70,706,0.00,2.28,0.00,0.000,4,0.000,0.044,3177,164,3400,0,0,0,0,0,0
$GC,723,-0.84,-146.0,102.3,-11.4,71,728,0.10,2.10,0.00,0.000,6,0.128,0.016,3198,1580,3400,0,0,0,0,0,0
$GC,989,-0.84,-146.0,127.9,-9.1,95,993,0.00,2.35,0.00,0.000,4,0.000,0.021,3198,3098,3401,0,0,0,0,0,0
$GC,1020,-0.91,-146.0,130.5,-9.0,97,1025,0.00,2.45,0.00,0.000,6,0.000,0.028,3198,1563,3401,0,0,0,0,0,0
$GC,1287,-0.91,-146.0,152.4,-8.0,121,1291,0.00,2.28,0.00,0.000,4,0.000,0.043,3199,162,3401,0,0,0,0,0,0
$GC,1332,-0.97,-146.0,156.6,-8.6,125,1336,0.10,2.08,0.00,0.000,6,0.074,0.016,3137,1560,3401,0,0,0,0,0,0
$GC,1592,-0.88,-146.0,187.4,-12.2,149,1597,0.25,2.45,0.00,0.000,4,0.085,0.021,3195,3117,3402,0,0,0,0,0,0
$GC,1623,-0.93,-146.0,189.9,-9.6,151,1628,0.00,2.47,0.00,0.000,6,0.000,0.027,3195,1567,3402,0,0,0,0,0,0
$GC,1914,-1.00,-146.0,214.5,-8.8,166,1919,0.12,2.45,0.00,0.000,4,0.063,0.022,3131,3119,3402,0,0,0,0,0,0
$GC,1952,-1.00,-146.0,219.1,-10.8,166,1958,0.15,2.50,0.00,0.000,6,0.096,0.028,3168,1571,3402,0,0,0,0,0,0
$GC,2205,-1.00,-146.0,242.4,-9.2,173,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1571,3402,0,0,0,0,0,0
$GC,2446,-1.00,-146.0,265.5,-9.5,179,2450,0.00,2.42,0.00,0.000,4,0.000,0.023,3168,3114,3402,0,0,0,0,0,0
$GC,2470,-1.06,-146.0,267.5,-9.0,179,2474,0.00,2.47,0.00,0.000,6,0.000,0.028,3168,1583,3402,0,0,0,0,0,0
$GC,2731,-1.06,-146.0,288.8,-8.2,186,2735,0.00,2.30,0.00,0.000,4,0.000,0.048,3168,171,3402,0,0,0,0,0,0
$GC,2783,-1.06,-146.0,294.1,-9.0,187,2787,0.00,2.12,0.00,0.000,6,0.000,0.019,3168,1557,3401,0,0,0,0,0,0
$GC,3061,-1.10,-146.0,316.4,-7.6,194,3066,0.10,2.50,0.00,0.000,4,0.074,0.028,3112,3132,3400,0,0,0,0,0,0
$GC,3096,-1.10,-146.0,319.5,-9.3,194,3101,0.15,2.55,0.00,0.000,6,0.097,0.031,3145,1568,3400,0,0,0,0,0,0
$GC,3346,-1.10,-146.0,338.6,-7.5,200,3351,0.00,2.53,0.00,0.000,4,0.000,0.029,3146,3130,3400,0,0,0,0,0,0
$GC,3375,-1.15,-146.0,340.8,-7.2,200,3380,0.00,2.55,0.00,0.000,6,0.000,0.035,3146,1571,3400,0,0,0,0,0,0
$GC,3632,-1.15,-146.0,360.9,-8.1,207,3636,0.00,2.33,0.00,0.000,4,0.000,0.056,3146,171,3398,0,0,0,0,0,0
$GC,3693,-1.15,-146.0,367.5,-9.7,208,3697,0.00,2.17,0.00,0.000,6,0.000,0.021,3145,1563,3398,0,0,0,0,0,0
$GC,3963,-1.15,-146.0,394.0,-9.7,215,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1566,3396,0,0,0,0,0,0
$GC,4205,-1.15,-146.0,415.2,-8.4,221,4209,0.00,2.58,0.00,0.000,4,0.000,0.034,3146,3143,3395,0,0,0,0,0,0
$GC,4224,-1.15,-146.0,416.7,-7.3,221,4228,0.00,2.60,0.00,0.000,6,0.000,0.036,3145,1573,3395,0,0,0,0,0,0
$GC,4490,-1.15,-146.0,434.2,-6.4,228,4494,0.00,2.38,0.00,0.000,4,0.000,0.064,3146,169,3393,0,0,0,0,0,0
$GC,4518,-1.15,-146.0,436.3,-7.2,228,4522,0.00,2.20,0.00,0.000,6,0.000,0.025,3146,1564,3393,0,0,0,0,0,0
$GC,4775,-1.15,-146.0,450.4,-5.6,235,4779,0.00,2.58,0.00,0.000,4,0.000,0.036,3145,3143,3391,0,0,0,0,0,0
$GC,4805,-1.23,-146.0,452.3,-5.8,235,4810,0.12,2.60,0.00,0.000,6,0.063,0.044,3080,1564,3391,0,0,0,0,0,0
$GC,5061,-1.12,-146.0,478.5,-11.1,242,5066,0.25,2.38,0.00,0.000,4,0.089,0.067,3140,172,3389,0,0,0,0,0,0
$GC,5118,-1.12,-146.0,484.6,-9.9,243,5122,0.00,2.22,0.00,0.000,6,0.000,0.028,3140,1561,3389,0,0,0,0,0,0
$GC,5395,-1.12,-146.0,509.0,-8.9,250,5399,0.00,2.62,0.00,0.000,4,0.000,0.041,3140,3153,3388,0,0,0,0,0,0
$GC,5419,-1.18,-146.0,511.5,-9.1,250,5424,0.00,2.62,0.00,0.000,6,0.000,0.040,3140,1569,3388,0,0,0,0,0,0
$GC,5679,-1.18,-146.0,532.0,-7.7,257,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1569,3386,0,0,0,0,0,0
$GC,5924,-1.18,-146.0,549.0,-6.8,263,5929,0.00,2.65,0.00,0.000,4,0.000,0.044,3140,3148,3385,0,0,0,0,0,0
$GC,5949,-1.24,-146.0,550.8,-8.2,263,5954,0.10,2.62,0.00,0.000,6,0.073,0.043,3081,1570,3385,0,0,0,0,0,0
$GC,6211,-1.15,-146.0,575.3,-9.6,270,6213,0.25,0.00,0.00,0.000,6,0.089,0.000,3137,1570,3382,0,0,0,0,0,0
$GC,6453,-1.15,-146.0,592.7,-7.0,276,6457,0.00,2.47,0.00,0.000,4,0.000,0.078,3137,168,3381,0,0,0,0,0,0
$GC,6481,-1.15,-146.0,594.9,-8.4,276,6485,0.00,2.25,0.00,0.000,6,0.000,0.031,3137,1570,3381,0,0,0,0,0,0
$GC,6738,-1.15,-146.0,612.4,-6.7,283,6743,0.00,2.67,0.00,0.000,4,0.000,0.048,3137,3157,3379,0,0,0,0,0,0
$GC,6754,-1.15,-146.0,613.7,-6.8,283,6759,0.00,2.65,0.00,0.000,6,0.000,0.044,3137,1570,3380,0,0,0,0,0,0
$GC,7025,-1.15,-146.0,631.4,-6.6,290,7029,0.00,2.65,0.00,0.000,4,0.000,0.044,3137,3155,3378,0,0,0,0,0,0
$GC,7060,-1.24,-146.0,633.6,-6.3,290,7065,0.10,2.67,0.00,0.000,6,0.074,0.048,3078,1575,3378,0,0,0,0,0,0
$GC,7311,-1.16,-146.0,658.6,-10.3,296,7317,0.25,2.50,0.00,0.000,4,0.090,0.080,3137,164,3377,0,0,0,0,0,0
$GC,7350,-1.16,-146.0,662.4,-8.6,296,7355,0.00,2.30,0.00,0.000,6,0.000,0.032,3137,1578,3376,0,0,0,0,0,0
$GC,7602,-1.16,-146.0,682.7,-8.3,303,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1578,3375,0,0,0,0,0,0
$GC,7844,-1.20,-146.0,702.7,-8.3,309,7848,0.00,2.65,0.00,0.000,4,0.000,0.052,3137,3153,3375,0,0,0,0,0,0
$GC,7864,-1.26,-146.0,704.3,-8.2,309,7869,0.12,2.67,0.00,0.000,6,0.061,0.048,3074,1572,3375,0,0,0,0,0,0
$GC,8134,-1.18,-146.0,732.7,-10.8,316,8139,0.25,2.45,0.00,0.000,4,0.091,0.079,3133,170,3373,0,0,0,0,0,0
$GC,8178,-1.23,-146.0,737.4,-8.8,317,8182,0.00,2.30,0.00,0.000,6,0.000,0.034,3133,1580,3372,0,0,0,0,0,0
$GC,8466,-1.28,-146.0,760.1,-7.9,324,8471,0.12,2.65,0.00,0.000,4,0.065,0.052,3081,3155,3371,0,0,0,0,0,0
$GC,8483,-1.28,-146.0,761.6,-8.0,324,8488,0.12,2.67,0.00,0.000,6,0.105,0.047,3109,1565,3372,0,0,0,0,0,0
$GC,8756,-1.28,-146.0,784.3,-8.2,331,8760,0.00,2.47,0.00,0.000,4,0.000,0.081,3109,164,3370,0,0,0,0,0,0
$GC,8775,-1.28,-146.0,786.3,-8.8,331,8779,0.00,2.28,0.00,0.000,6,0.000,0.035,3109,1574,3370,0,0,0,0,0,0
$GC,9040,-1.28,-146.0,806.5,-7.5,338,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1574,3369,0,0,0,0,0,0
$GC,9284,-1.28,-146.0,823.7,-6.9,344,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1574,3369,0,0,0,0,0,0
$GC,9526,-1.28,-146.0,839.7,-6.5,350,9530,0.00,2.47,0.00,0.000,4,0.000,0.074,3109,166,3368,0,0,0,0,0,0
$GC,9561,-1.28,-146.0,842.2,-7.1,350,9565,0.00,2.30,0.00,0.000,6,0.000,0.035,3109,1570,3368,0,0,0,0,0,0
$GC,9811,-1.28,-146.0,858.5,-6.3,356,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1570,3367,0,0,0,0,0,0
$GC,10054,-1.28,-146.0,874.6,-6.6,362,10056,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1570,3366,0,0,0,0,0,0
$GC,10301,-1.28,-146.0,890.8,-6.7,368,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1570,3365,0,0,0,0,0,0
$STATE,10458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10458,begin apogee
$GC,10464,-0.31,0.0,901.8,6.8,372,10587,0.90,0.00,119.45,1.157,6,0.074,0.000,3314,1338,2800,0,0,0,0,0,0
$STATE,10588,end apogee,CONTROL_FINISHED_OK
$STATE,10588,begin climb
$GC,10590,1.27,146.0,904.4,0.0,375,10730,1.42,2.17,129.45,1.135,4,0.029,0.076,3668,176,2203,0,0,0,0,0,0
$GC,10784,1.00,146.0,889.9,16.6,379,10789,0.32,1.95,0.00,0.000,6,0.107,0.031,3602,1351,2199,0,0,0,0,0,0
$GC,11055,0.91,146.0,859.0,11.2,386,11058,0.00,2.10,0.00,0.000,4,0.000,0.072,3602,174,2193,0,0,0,0,0,0
$GC,11078,0.78,146.0,856.0,10.7,386,11082,0.22,1.95,0.00,0.000,6,0.103,0.031,3555,1358,2193,0,0,0,0,0,0
$GC,11342,0.81,166.3,831.5,9.1,393,11362,0.00,0.00,17.90,1.031,6,0.000,0.000,3555,1359,2121,0,0,0,0,0,0
$GC,11587,0.83,185.7,809.4,9.1,399,11611,0.00,2.20,18.48,1.023,4,0.000,0.074,3555,178,2043,0,0,0,0,0,0
$GC,11649,0.83,185.7,802.8,10.5,400,11653,0.00,1.92,0.00,0.000,6,0.000,0.030,3555,1355,2042,0,0,0,0,0,0
$GC,11924,0.86,205.9,777.9,9.1,407,11949,0.00,2.75,19.65,1.014,4,0.000,0.052,3555,2938,1960,0,0,0,0,0,0
$GC,11959,0.98,265.2,774.4,7.3,407,12024,0.17,2.75,56.70,1.049,6,0.053,0.048,3614,1356,1716,0,0,0,0,0,0
$GC,12301,0.93,265.2,727.0,14.4,416,12303,0.12,0.00,0.00,0.000,6,0.114,0.000,3588,1356,1710,0,0,0,0,0,0
$GC,12544,0.93,265.2,695.1,12.9,422,12549,0.00,2.65,0.00,0.000,4,0.000,0.044,3588,2932,1708,0,0,0,0,0,0
$GC,12577,0.98,265.2,690.8,12.2,422,12582,0.00,2.72,0.00,0.000,6,0.000,0.051,3588,1357,1705,0,0,0,0,0,0
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$STATE,18159,end climb,SURFACE_DEPTH_REACHED
$STATE,18159,begin surface coast
$FINISH,0.9,1.000670
$STATE,18199,end surface coast,CONTROL_FINISHED_OK
$STATE,18199,begin surface
$SM_CCo,18223,42.53,0.436,0,0,1249,380.21
$SM_GC,1.81,0.00,0.00,42.53,0.000,0.000,0.436,407,1636,1249,-13.70,1.87,380.21
$IRIDIUM_FIX,2248.70,-15753.23,270902,121219
$TT8_MAMPS,0.027612
$HUMID,65.67
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.90
$XPDR_PINGS,10
$24V_AH,23.3,28.756
$10V_AH,9.9,25.606
$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,34.200,213.725,401.750,42.525,0.000,28.054,35.340,230.997,2.500,0.000,15.801,1528.202,13259.193,533.049,2625.250,759.307,33.367,1598.475,0.000,2633.984,0.000,0.535,0.000
$DEVICE_MAMPS,147.264,80.535,1157.403,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,470.624,329.892,417.964,1132.980,1444.663,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355764
$DATA_FILE_SIZE,54137,690
$CAP_FILE_SIZE,180129,0
$CFSIZE,260165632,157495296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030713,224924,2302.815,-15746.467,93,1.6,93,10.1