version: 66.06
glider: 148
mission: 12
dive: 238
start: 7 13 113 0 17 22
data:
$ID,148
$MISSION,12
$DIVE,238
$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,390
$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,-1020843.1
$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,41
$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
$GPS1,000829,2248.481,-15701.059,65,1.2,65,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.5
$GPS2,001630,2248.476,-15701.062,32,1.0,37,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE_30
$TGT_LATLONG,2306.000,-15703.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.026,0.258
$KALMAN_X,-221953.4,-90.7,68.7,322738.3,114.4
$KALMAN_Y,164356.0,-131.7,270.5,-158040.1,-1118.7
$MHEAD_RNG_PITCHd_Wd,344.1,32623,-17.6,-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,-1.28,-145.2,0.0,0.0,0,95,0.00,0.00,-73.50,0.000,2,0.000,0.000,412,1645,3123,0,0,0,0,0,0
$GC,98,-1.28,-146.0,3.9,-6.2,10,122,14.00,2.40,-4.72,0.000,4,0.150,0.034,3101,3163,3396,0,0,0,0,0,0
$GC,171,-1.06,-146.0,26.0,-19.1,20,180,0.20,2.62,0.00,0.000,6,0.078,0.031,3151,1574,3397,0,0,0,0,0,0
$GC,446,-0.92,-146.0,70.9,-14.8,46,450,0.15,2.33,0.00,0.000,4,0.104,0.043,3183,167,3397,0,0,0,0,0,0
$GC,491,-0.87,-146.0,77.5,-12.9,49,495,0.00,2.15,0.00,0.000,6,0.000,0.016,3183,1611,3398,0,0,0,0,0,0
$GC,759,-0.83,-146.0,108.0,-12.2,73,764,0.10,2.40,0.00,0.000,4,0.118,0.042,3207,168,3398,0,0,0,0,0,0
$GC,810,-0.83,-146.0,113.9,-10.8,77,814,0.00,2.08,0.00,0.000,6,0.000,0.016,3207,1563,3399,0,0,0,0,0,0
$GC,1078,-0.83,-146.0,138.5,-8.8,101,1082,0.00,2.40,0.00,0.000,4,0.000,0.021,3206,3116,3399,0,0,0,0,0,0
$GC,1129,-0.95,-146.0,142.7,-7.8,105,1134,0.12,2.50,0.00,0.000,6,0.060,0.027,3131,1551,3399,0,0,0,0,0,0
$GC,1390,-0.82,-146.0,175.4,-12.5,129,1395,0.30,2.25,0.00,0.000,4,0.084,0.041,3200,164,3399,0,0,0,0,0,0
$GC,1426,-0.82,-146.0,179.4,-10.4,132,1430,0.00,2.10,0.00,0.000,6,0.000,0.017,3201,1574,3399,0,0,0,0,0,0
$GC,1708,-0.82,-146.0,204.4,-8.9,155,1712,0.00,2.40,0.00,0.000,4,0.000,0.021,3201,3122,3399,0,0,0,0,0,0
$GC,1741,-0.93,-146.0,207.4,-7.7,155,1746,0.00,2.47,0.00,0.000,6,0.000,0.028,3201,1574,3399,0,0,0,0,0,0
$GC,1994,-0.99,-146.0,228.8,-8.7,161,1999,0.12,2.33,0.00,0.000,4,0.062,0.044,3137,167,3399,0,0,0,0,0,0
$GC,2043,-0.91,-146.0,234.9,-12.9,162,2048,0.22,2.12,0.00,0.000,6,0.084,0.018,3188,1567,3400,0,0,0,0,0,0
$GC,2329,-0.96,-146.0,259.8,-7.8,169,2333,0.00,2.45,0.00,0.000,4,0.000,0.023,3188,3128,3400,0,0,0,0,0,0
$GC,2377,-1.12,-146.0,263.2,-6.5,170,2383,0.20,2.53,0.00,0.000,6,0.043,0.028,3100,1570,3399,0,0,0,0,0,0
$GC,2662,-1.00,-146.0,293.6,-11.2,177,2667,0.28,2.30,0.00,0.000,4,0.084,0.044,3166,172,3399,0,0,0,0,0,0
$GC,2717,-1.06,-146.0,299.0,-8.4,178,2721,0.00,2.12,0.00,0.000,6,0.000,0.020,3166,1569,3399,0,0,0,0,0,0
$GC,2994,-1.06,-146.0,321.3,-7.9,185,2999,0.00,2.47,0.00,0.000,4,0.000,0.028,3166,3134,3399,0,0,0,0,0,0
$GC,3040,-1.17,-146.0,324.9,-8.0,186,3046,0.15,2.53,0.00,0.000,6,0.054,0.035,3094,1582,3399,0,0,0,0,0,0
$GC,3331,-1.07,-146.0,357.8,-11.4,193,3336,0.25,2.40,0.00,0.000,4,0.084,0.054,3154,164,3397,0,0,0,0,0,0
$GC,3383,-1.07,-146.0,363.4,-9.3,194,3387,0.00,2.20,0.00,0.000,6,0.000,0.021,3154,1569,3397,0,0,0,0,0,0
$GC,3664,-1.07,-146.0,385.5,-8.1,201,3669,0.00,2.53,0.00,0.000,4,0.000,0.033,3154,3142,3395,0,0,0,0,0,0
$GC,3708,-1.17,-146.0,389.3,-7.8,202,3713,0.10,2.58,0.00,0.000,6,0.074,0.039,3097,1577,3395,0,0,0,0,0,0
$GC,3998,-1.08,-146.0,420.6,-10.9,209,4003,0.22,2.40,0.00,0.000,4,0.088,0.062,3148,173,3393,0,0,0,0,0,0
$GC,4031,-1.08,-146.0,424.2,-9.6,209,4036,0.00,2.22,0.00,0.000,6,0.000,0.024,3148,1582,3393,0,0,0,0,0,0
$GC,4282,-1.08,-146.0,445.1,-8.3,215,4286,0.00,2.55,0.00,0.000,4,0.000,0.038,3148,3142,3391,0,0,0,0,0,0
$GC,4312,-1.15,-146.0,447.6,-8.0,215,4316,0.00,2.58,0.00,0.000,6,0.000,0.038,3148,1578,3391,0,0,0,0,0,0
$GC,4567,-1.15,-146.0,468.1,-8.0,222,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1578,3389,0,0,0,0,0,0
$GC,4811,-1.15,-146.0,486.2,-7.3,228,4815,0.00,2.58,0.00,0.000,4,0.000,0.042,3148,3139,3387,0,0,0,0,0,0
$GC,4841,-1.23,-146.0,488.6,-8.1,228,4846,0.15,2.60,0.00,0.000,6,0.056,0.040,3086,1581,3387,0,0,0,0,0,0
$GC,5097,-1.14,-146.0,515.6,-10.9,235,5102,0.22,2.45,0.00,0.000,4,0.090,0.070,3136,161,3385,0,0,0,0,0,0
$GC,5168,-1.14,-146.0,522.4,-9.9,236,5172,0.00,2.25,0.00,0.000,6,0.000,0.030,3136,1568,3385,0,0,0,0,0,0
$GC,5434,-1.14,-146.0,543.2,-7.8,243,5438,0.00,2.60,0.00,0.000,4,0.000,0.044,3136,3150,3382,0,0,0,0,0,0
$GC,5467,-1.21,-146.0,546.1,-8.1,243,5471,0.00,2.65,0.00,0.000,6,0.000,0.043,3135,1572,3383,0,0,0,0,0,0
$GC,5717,-1.21,-146.0,565.8,-7.8,249,5721,0.00,2.45,0.00,0.000,4,0.000,0.074,3135,166,3381,0,0,0,0,0,0
$GC,5752,-1.21,-146.0,568.6,-8.9,249,5756,0.00,2.25,0.00,0.000,6,0.000,0.030,3136,1575,3380,0,0,0,0,0,0
$GC,6002,-1.21,-146.0,588.1,-7.8,255,6006,0.00,2.60,0.00,0.000,4,0.000,0.044,3136,3153,3379,0,0,0,0,0,0
$GC,6026,-1.26,-146.0,590.0,-8.2,255,6031,0.10,2.65,0.00,0.000,6,0.075,0.044,3086,1576,3379,0,0,0,0,0,0
$GC,6288,-1.18,-146.0,616.5,-10.4,262,6293,0.17,2.47,0.00,0.000,4,0.097,0.077,3126,172,3377,0,0,0,0,0,0
$GC,6321,-1.18,-146.0,620.1,-9.6,262,6326,0.00,2.28,0.00,0.000,6,0.000,0.031,3126,1576,3376,0,0,0,0,0,0
$GC,6573,-1.18,-146.0,641.1,-8.3,268,6578,0.00,2.62,0.00,0.000,4,0.000,0.048,3125,3149,3375,0,0,0,0,0,0
$GC,6602,-1.23,-146.0,643.7,-8.3,268,6606,0.00,2.67,0.00,0.000,6,0.000,0.047,3126,1570,3375,0,0,0,0,0,0
$GC,6859,-1.23,-146.0,664.1,-8.1,275,6862,0.00,2.47,0.00,0.000,4,0.000,0.080,3125,166,3374,0,0,0,0,0,0
$GC,6912,-1.23,-146.0,668.7,-9.3,276,6916,0.00,2.28,0.00,0.000,6,0.000,0.034,3126,1567,3373,0,0,0,0,0,0
$GC,7199,-1.23,-146.0,691.0,-7.7,283,7203,0.00,2.67,0.00,0.000,4,0.000,0.052,3126,3156,3372,0,0,0,0,0,0
$GC,7218,-1.23,-146.0,692.6,-8.0,283,7222,0.00,2.67,0.00,0.000,6,0.000,0.047,3125,1564,3372,0,0,0,0,0,0
$GC,7484,-1.23,-146.0,712.8,-7.7,290,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1564,3371,0,0,0,0,0,0
$GC,7728,-1.23,-146.0,731.3,-7.5,296,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1564,3369,0,0,0,0,0,0
$GC,7969,-1.23,-146.0,749.1,-7.3,302,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1564,3368,0,0,0,0,0,0
$GC,8213,-1.23,-146.0,767.0,-7.4,308,8217,0.00,2.47,0.00,0.000,4,0.000,0.081,3126,163,3367,0,0,0,0,0,0
$GC,8234,-1.23,-146.0,768.4,-7.3,308,8238,0.00,2.30,0.00,0.000,6,0.000,0.034,3126,1575,3367,0,0,0,0,0,0
$GC,8498,-1.23,-146.0,788.0,-7.4,315,8502,0.00,2.65,0.00,0.000,4,0.000,0.054,3125,3158,3366,0,0,0,0,0,0
$GC,8517,-1.23,-146.0,789.4,-7.5,315,8522,0.00,2.72,0.00,0.000,6,0.000,0.049,3126,1557,3365,0,0,0,0,0,0
$GC,8783,-1.23,-146.0,807.9,-6.9,322,8787,0.00,2.45,0.00,0.000,4,0.000,0.081,3126,167,3365,0,0,0,0,0,0
$GC,8816,-1.23,-146.0,810.4,-7.3,322,8820,0.00,2.28,0.00,0.000,6,0.000,0.035,3126,1560,3364,0,0,0,0,0,0
$GC,9066,-1.23,-146.0,826.5,-6.3,328,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1560,3363,0,0,0,0,0,0
$GC,9311,-1.23,-146.0,841.7,-6.3,334,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1560,3363,0,0,0,0,0,0
$GC,9553,-1.23,-146.0,857.3,-6.5,340,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1560,3362,0,0,0,0,0,0
$GC,9801,-1.23,-146.0,873.1,-6.5,346,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1560,3361,0,0,0,0,0,0
$GC,10041,-1.23,-146.0,889.2,-6.6,352,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1560,3361,0,0,0,0,0,0
$STATE,10241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10241,begin apogee
$GC,10249,-0.31,0.0,902.6,6.6,357,10372,0.82,0.00,119.07,1.154,6,0.073,0.000,3316,1343,2800,0,0,0,0,0,0
$STATE,10372,end apogee,CONTROL_FINISHED_OK
$STATE,10373,begin climb
$GC,10375,1.28,146.0,905.9,0.0,360,10515,1.42,2.17,130.35,1.133,4,0.032,0.077,3667,178,2204,0,0,0,0,0,0
$GC,10551,1.01,146.0,896.1,15.0,364,10556,0.30,1.95,0.00,0.000,6,0.111,0.031,3607,1351,2201,0,0,0,0,0,0
$GC,10843,0.94,146.0,865.0,10.4,371,10847,0.00,2.12,0.00,0.000,4,0.000,0.072,3607,166,2193,0,0,0,0,0,0
$GC,10889,0.81,146.0,859.1,12.0,372,10894,0.22,1.92,0.00,0.000,6,0.104,0.031,3560,1348,2194,0,0,0,0,0,0
$GC,11174,0.85,182.2,835.3,8.3,379,11211,0.00,0.00,32.78,1.066,6,0.000,0.000,3560,1349,2056,0,0,0,0,0,0
$GC,11458,0.86,185.2,808.1,9.9,386,11462,0.00,2.12,0.00,0.000,4,0.000,0.073,3560,167,2051,0,0,0,0,0,0
$GC,11473,0.86,185.2,806.2,10.1,386,11477,0.00,1.92,0.00,0.000,6,0.000,0.030,3560,1349,2051,0,0,0,0,0,0
$GC,11751,0.91,189.7,778.9,9.8,393,11760,0.10,0.00,7.18,0.862,6,0.079,0.000,3600,1350,2026,0,0,0,0,0,0
$GC,11995,0.91,189.7,751.3,11.3,399,12000,0.00,2.72,0.00,0.000,4,0.000,0.053,3600,2936,2024,0,0,0,0,0,0
$GC,12009,0.91,189.7,749.4,11.0,399,12014,0.00,2.70,0.00,0.000,6,0.000,0.048,3600,1347,2022,0,0,0,0,0,0
$GC,12282,0.91,189.7,720.6,10.7,406,12286,0.00,2.10,0.00,0.000,4,0.000,0.087,3600,165,2022,0,0,0,0,0,0
$GC,12307,0.84,189.7,717.4,11.2,406,12312,0.15,1.90,0.00,0.000,6,0.108,0.030,3569,1350,2022,0,0,0,0,0,0
$GC,12568,0.91,210.8,693.2,9.0,413,12596,0.00,2.72,21.02,0.976,4,0.000,0.051,3569,2929,1939,0,0,0,0,0,0
$GC,12604,1.01,249.1,689.7,8.2,413,12648,0.15,2.72,36.55,0.989,6,0.058,0.048,3621,1347,1784,0,0,0,0,0,0
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$STATE,18418,end climb,SURFACE_DEPTH_REACHED
$STATE,18418,begin surface coast
$FINISH,0.9,1.010817
$STATE,18452,end surface coast,CONTROL_FINISHED_OK
$STATE,18452,begin surface
$SM_CCo,18476,55.60,0.430,0,0,1210,390.03
$SM_GC,1.81,0.00,0.00,55.60,0.000,0.000,0.430,417,1605,1210,-13.66,0.99,390.03
$IRIDIUM_FIX,2237.01,-15659.44,061002,191934
$TT8_MAMPS,0.027612
$HUMID,64.09
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.30
$XPDR_PINGS,15
$24V_AH,23.3,34.951
$10V_AH,9.9,32.516
$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,34.750,208.475,390.625,55.600,0.000,23.725,43.501,225.515,3.750,0.000,38.694,1553.343,13509.223,545.330,2630.139,761.663,33.371,1626.841,0.000,2598.997,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,86.671,1154.335,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,471.331,361.124,461.659,962.528,1273.082,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,54056,691
$CAP_FILE_SIZE,183843,0
$CFSIZE,260165632,154238976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130713,052805,2250.760,-15701.471,65,1.4,69,10.1