version: 66.06
glider: 148
mission: 12
dive: 200
start: 7 4 113 9 47 17
data:
$ID,148
$MISSION,12
$DIVE,200
$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,-1020149.5
$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,26
$R_STBD_OVSHOOT,107
$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
$GPS1,093826,2305.613,-15742.728,31,2.3,50,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-77.7
$GPS2,094624,2305.653,-15742.728,9,1.3,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE2
$TGT_LATLONG,2307.000,-15736.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.253,-0.058
$KALMAN_X,-226152.2,-114.3,303.2,255568.2,-2061.5
$KALMAN_Y,126772.5,122.9,111.7,-88743.8,1593.6
$MHEAD_RNG_PITCHd_Wd,92.9,11727,-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,17,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-73.40,0.000,2,0.000,0.000,413,1589,3167,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-5.9,10,122,14.52,2.33,-3.78,0.000,4,0.166,0.048,3101,162,3397,0,0,0,0,0,0
$GC,145,-0.51,-146.0,24.6,-41.7,16,155,0.75,2.10,0.00,0.000,6,0.093,0.018,3268,1519,3398,0,0,0,0,0,0
$GC,421,-0.58,-146.0,53.1,-8.1,42,425,0.00,2.45,0.00,0.000,4,0.000,0.022,3268,3089,3399,0,0,0,0,0,0
$GC,475,-0.79,-146.0,57.3,-6.5,46,480,0.22,2.45,0.00,0.000,6,0.048,0.028,3184,1561,3398,0,0,0,0,0,0
$GC,740,-0.74,-146.0,81.6,-9.1,70,745,0.17,2.30,0.00,0.000,4,0.091,0.044,3222,174,3399,0,0,0,0,0,0
$GC,788,-0.85,-146.0,85.4,-6.2,74,793,0.10,2.05,0.00,0.000,6,0.074,0.016,3160,1553,3399,0,0,0,0,0,0
$GC,1053,-0.77,-146.0,111.6,-11.0,98,1058,0.25,2.42,0.00,0.000,4,0.085,0.020,3220,3114,3400,0,0,0,0,0,0
$GC,1096,-0.94,-146.0,115.5,-7.0,101,1102,0.17,2.47,0.00,0.000,6,0.051,0.028,3147,1565,3400,0,0,0,0,0,0
$GC,1361,-0.83,-146.0,148.2,-13.0,126,1365,0.25,2.28,0.00,0.000,4,0.087,0.041,3206,167,3400,0,0,0,0,0,0
$GC,1392,-0.83,-146.0,152.5,-10.8,128,1398,0.00,2.10,0.00,0.000,6,0.000,0.017,3206,1572,3400,0,0,0,0,0,0
$GC,1657,-0.90,-146.0,175.9,-8.7,153,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1574,3401,0,0,0,0,0,0
$GC,1923,-0.96,-146.0,197.3,-7.9,178,1928,0.12,2.40,0.00,0.000,4,0.064,0.022,3138,3110,3401,0,0,0,0,0,0
$GC,1945,-0.96,-146.0,199.7,-9.2,179,1951,0.17,2.47,0.00,0.000,6,0.087,0.028,3178,1563,3401,0,0,0,0,0,0
$GC,2195,-0.96,-146.0,223.0,-9.3,186,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1562,3400,0,0,0,0,0,0
$GC,2438,-0.96,-146.0,244.6,-9.0,192,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1562,3401,0,0,0,0,0,0
$GC,2684,-1.02,-146.0,266.0,-8.9,198,2688,0.00,2.30,0.00,0.000,4,0.000,0.047,3178,164,3400,0,0,0,0,0,0
$GC,2733,-1.08,-146.0,271.3,-10.1,199,2737,0.12,2.10,0.00,0.000,6,0.063,0.019,3109,1551,3400,0,0,0,0,0,0
$GC,3016,-0.98,-146.0,306.4,-12.2,206,3021,0.25,2.50,0.00,0.000,4,0.087,0.025,3168,3133,3400,0,0,0,0,0,0
$GC,3032,-0.98,-146.0,308.1,-11.3,206,3037,0.00,2.55,0.00,0.000,6,0.000,0.031,3168,1555,3400,0,0,0,0,0,0
$GC,3302,-1.03,-146.0,328.6,-7.5,213,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1555,3399,0,0,0,0,0,0
$GC,3545,-1.08,-146.0,345.5,-6.9,219,3550,0.00,2.55,0.00,0.000,4,0.000,0.031,3168,3123,3398,0,0,0,0,0,0
$GC,3566,-1.16,-146.0,346.7,-5.8,219,3572,0.15,2.58,0.00,0.000,6,0.053,0.036,3093,1562,3398,0,0,0,0,0,0
$GC,3836,-1.05,-146.0,371.6,-9.3,226,3838,0.28,0.00,0.00,0.000,6,0.086,0.000,3153,1562,3396,0,0,0,0,0,0
$GC,4080,-1.05,-146.0,389.8,-7.6,232,4084,0.00,2.35,0.00,0.000,4,0.000,0.061,3153,164,3394,0,0,0,0,0,0
$GC,4112,-1.05,-146.0,392.8,-9.3,232,4116,0.00,2.17,0.00,0.000,6,0.000,0.022,3153,1560,3395,0,0,0,0,0,0
$GC,4366,-1.05,-146.0,414.3,-8.4,239,4371,0.00,2.35,0.00,0.000,4,0.000,0.060,3153,173,3393,0,0,0,0,0,0
$GC,4387,-1.05,-146.0,416.3,-9.8,239,4391,0.00,2.17,0.00,0.000,6,0.000,0.023,3153,1569,3393,0,0,0,0,0,0
$GC,4652,-1.05,-146.0,438.3,-8.1,246,4656,0.00,2.55,0.00,0.000,4,0.000,0.036,3153,3146,3391,0,0,0,0,0,0
$GC,4672,-1.11,-146.0,440.0,-7.9,246,4676,0.00,2.62,0.00,0.000,6,0.000,0.037,3153,1561,3390,0,0,0,0,0,0
$GC,4942,-1.16,-146.0,459.7,-7.5,253,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1561,3389,0,0,0,0,0,0
$GC,5184,-1.20,-146.0,478.8,-7.9,259,5186,0.12,0.00,0.00,0.000,6,0.064,0.000,3095,1561,3387,0,0,0,0,0,0
$GC,5428,-1.13,-146.0,505.6,-11.1,265,5433,0.20,2.65,0.00,0.000,4,0.088,0.045,3140,3139,3385,0,0,0,0,0,0
$GC,5443,-1.13,-146.0,507.8,-10.7,265,5447,0.00,2.58,0.00,0.000,6,0.000,0.037,3140,1572,3385,0,0,0,0,0,0
$GC,5713,-1.13,-146.0,530.8,-8.5,272,5717,0.00,2.45,0.00,0.000,4,0.000,0.073,3140,165,3384,0,0,0,0,0,0
$GC,5746,-1.13,-146.0,534.0,-8.8,272,5750,0.00,2.22,0.00,0.000,6,0.000,0.028,3140,1555,3383,0,0,0,0,0,0
$GC,5996,-1.13,-146.0,552.3,-7.3,278,6000,0.00,2.62,0.00,0.000,4,0.000,0.045,3140,3150,3382,0,0,0,0,0,0
$GC,6017,-1.13,-146.0,553.8,-7.3,278,6021,0.00,2.65,0.00,0.000,6,0.000,0.042,3141,1568,3382,0,0,0,0,0,0
$GC,6281,-1.13,-146.0,573.1,-7.3,285,6285,0.00,2.45,0.00,0.000,4,0.000,0.076,3140,165,3380,0,0,0,0,0,0
$GC,6295,-1.13,-146.0,574.4,-7.7,285,6299,0.00,2.28,0.00,0.000,6,0.000,0.030,3140,1579,3380,0,0,0,0,0,0
$GC,6569,-1.13,-146.0,594.4,-7.6,292,6573,0.00,2.60,0.00,0.000,4,0.000,0.048,3140,3150,3379,0,0,0,0,0,0
$GC,6593,-1.20,-146.0,596.7,-8.4,292,6597,0.00,2.65,0.00,0.000,6,0.000,0.051,3140,1564,3379,0,0,0,0,0,0
$GC,6852,-1.20,-146.0,616.2,-7.5,299,6857,0.00,2.42,0.00,0.000,4,0.000,0.077,3140,168,3377,0,0,0,0,0,0
$GC,6892,-1.24,-146.0,619.3,-7.9,299,6898,0.12,2.25,0.00,0.000,6,0.064,0.031,3086,1564,3377,0,0,0,0,0,0
$GC,7144,-1.17,-146.0,643.2,-9.6,306,7146,0.20,0.00,0.00,0.000,6,0.091,0.000,3131,1564,3376,0,0,0,0,0,0
$GC,7387,-1.17,-146.0,661.3,-7.2,312,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1564,3375,0,0,0,0,0,0
$GC,7629,-1.17,-146.0,679.0,-7.4,318,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1564,3374,0,0,0,0,0,0
$GC,7873,-1.17,-146.0,697.2,-7.6,324,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1564,3372,0,0,0,0,0,0
$GC,8117,-1.17,-146.0,715.6,-7.7,330,8121,0.00,2.65,0.00,0.000,4,0.000,0.053,3131,3149,3371,0,0,0,0,0,0
$GC,8138,-1.22,-146.0,717.2,-7.6,330,8143,0.00,2.70,0.00,0.000,6,0.000,0.048,3131,1559,3372,0,0,0,0,0,0
$GC,8407,-1.22,-146.0,737.0,-7.5,337,8411,0.00,2.45,0.00,0.000,4,0.000,0.081,3131,170,3370,0,0,0,0,0,0
$GC,8444,-1.22,-146.0,740.4,-8.6,337,8450,0.00,2.25,0.00,0.000,6,0.000,0.034,3131,1553,3370,0,0,0,0,0,0
$GC,8696,-1.22,-146.0,760.4,-8.3,344,8700,0.00,2.70,0.00,0.000,4,0.000,0.054,3131,3158,3369,0,0,0,0,0,0
$GC,8711,-1.27,-146.0,761.9,-8.3,344,8716,0.10,2.72,0.00,0.000,6,0.077,0.048,3082,1553,3369,0,0,0,0,0,0
$GC,8980,-1.20,-146.0,791.0,-11.2,351,8985,0.17,2.45,0.00,0.000,4,0.097,0.081,3121,164,3368,0,0,0,0,0,0
$GC,9001,-1.20,-146.0,793.3,-10.4,351,9005,0.00,2.28,0.00,0.000,6,0.000,0.035,3121,1558,3367,0,0,0,0,0,0
$GC,9273,-1.20,-146.0,818.4,-9.2,358,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1558,3367,0,0,0,0,0,0
$GC,9517,-1.20,-146.0,840.4,-8.9,364,9521,0.00,2.42,0.00,0.000,4,0.000,0.075,3121,170,3366,0,0,0,0,0,0
$GC,9533,-1.20,-146.0,842.1,-8.9,364,9537,0.00,2.28,0.00,0.000,6,0.000,0.034,3121,1562,3366,0,0,0,0,0,0
$GC,9801,-1.20,-146.0,865.0,-8.3,371,9806,0.00,2.70,0.00,0.000,4,0.000,0.057,3121,3154,3365,0,0,0,0,0,0
$GC,9816,-1.20,-146.0,866.4,-8.2,371,9820,0.00,2.72,0.00,0.000,6,0.000,0.048,3121,1547,3365,0,0,0,0,0,0
$GC,10086,-1.20,-146.0,887.8,-7.9,378,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1547,3364,0,0,0,0,0,0
$STATE,10248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10248,begin apogee
$GC,10254,-0.31,0.0,900.5,7.8,382,10377,0.85,0.00,119.07,1.154,6,0.074,0.000,3316,1342,2800,0,0,0,0,0,0
$STATE,10377,end apogee,CONTROL_FINISHED_OK
$STATE,10377,begin climb
$GC,10380,1.27,146.0,905.2,0.0,385,10519,1.42,2.15,129.45,1.134,4,0.033,0.082,3662,171,2204,0,0,0,0,0,0
$GC,10568,1.01,146.0,895.5,13.6,389,10573,0.22,1.98,0.00,0.000,6,0.098,0.032,3607,1346,2200,0,0,0,0,0,0
$GC,10848,0.93,157.8,868.2,9.5,396,10865,0.00,2.17,10.57,0.964,4,0.000,0.073,3606,165,2156,0,0,0,0,0,0
$GC,10898,0.78,157.8,863.4,11.3,397,10903,0.25,1.95,0.00,0.000,6,0.104,0.031,3555,1348,2155,0,0,0,0,0,0
$GC,11187,0.86,223.0,841.9,7.0,404,11256,0.00,2.78,61.05,1.090,4,0.000,0.056,3555,2932,1888,0,0,0,0,0,0
$GC,11278,1.01,287.4,835.6,7.0,406,11350,0.20,2.72,60.25,1.074,6,0.049,0.049,3620,1356,1627,0,0,0,0,0,0
$GC,11610,0.95,287.4,791.2,13.7,414,11612,0.12,0.00,0.00,0.000,6,0.116,0.000,3595,1356,1620,0,0,0,0,0,0
$GC,11854,0.95,287.4,760.7,12.4,420,11859,0.00,2.72,0.00,0.000,4,0.000,0.049,3594,2935,1618,0,0,0,0,0,0
$GC,11903,1.02,287.4,755.6,11.6,421,11908,0.00,2.75,0.00,0.000,6,0.000,0.052,3594,1355,1614,0,0,0,0,0,0
$GC,12190,1.02,287.4,721.6,11.6,428,12192,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1355,1614,0,0,0,0,0,0
$GC,12436,1.02,287.4,692.1,12.3,434,12440,0.00,2.67,0.00,0.000,4,0.000,0.049,3594,2929,1614,0,0,0,0,0,0
$GC,12492,1.09,287.4,685.1,11.5,435,12499,0.12,2.70,0.00,0.000,6,0.067,0.051,3643,1364,1613,0,0,0,0,0,0
$GC,12773,1.01,287.4,642.7,15.5,442,12778,0.17,2.67,0.00,0.000,4,0.110,0.050,3607,2929,1612,0,0,0,0,0,0
$GC,12798,1.01,287.4,638.4,13.9,442,12803,0.00,2.70,0.00,0.000,6,0.000,0.051,3607,1362,1611,0,0,0,0,0,0
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$GC,14023,1.15,287.4,471.6,12.2,472,14029,0.12,2.65,0.00,0.000,6,0.066,0.045,3656,1368,1609,0,0,0,0,0,0
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$STATE,17960,end climb,SURFACE_DEPTH_REACHED
$STATE,17960,begin surface coast
$FINISH,0.8,1.012871
$STATE,18008,end surface coast,CONTROL_FINISHED_OK
$STATE,18008,begin surface
$SM_CCo,18031,28.10,0.428,0,0,1248,380.21
$SM_GC,1.87,0.00,0.00,28.10,0.000,0.000,0.428,413,1637,1248,-13.67,1.89,380.21
$IRIDIUM_FIX,2255.72,-15741.91,280902,040413
$TT8_MAMPS,0.027612
$HUMID,64.64
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.30
$XPDR_PINGS,20
$24V_AH,23.3,29.202
$10V_AH,9.9,26.108
$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,35.800,211.225,425.275,28.100,0.000,31.148,34.711,245.239,5.000,0.000,16.955,1536.575,12835.478,521.619,2839.538,793.601,33.366,1626.326,0.000,2850.594,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,82.069,1154.335,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,480.088,579.236,723.409,1172.485,1646.190,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,57295,703
$CAP_FILE_SIZE,180380,0
$CFSIZE,260165632,157261824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040713,144935,2306.136,-15740.765,34,0.9,34,10.1