version: 66.06
glider: 148
mission: 12
dive: 253
start: 7 16 113 10 40 18
data:
$ID,148
$MISSION,12
$DIVE,253
$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,-1021117.8
$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,72
$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
$GPS1,102753,2305.141,-15721.350,25,2.0,42,10.2
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-77.6
$GPS2,103924,2305.195,-15721.383,12,1.8,12,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.257,-0.034
$KALMAN_X,-215600.2,-26.0,-86.8,281766.9,686.0
$KALMAN_Y,161990.9,23.4,-290.9,-124297.3,689.8
$MHEAD_RNG_PITCHd_Wd,252.2,23914,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-73.55,0.000,2,0.000,0.000,411,1542,3136,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.0,-6.0,10,122,14.43,2.25,-4.32,0.000,4,0.163,0.048,3102,164,3397,0,0,0,0,0,0
$GC,267,-0.98,-146.0,50.9,-22.5,29,272,0.30,2.12,0.00,0.000,6,0.098,0.017,3167,1561,3398,0,0,0,0,0,0
$GC,534,-0.86,-146.0,92.8,-14.3,53,539,0.12,2.47,0.00,0.000,4,0.108,0.022,3196,3145,3398,0,0,0,0,0,0
$GC,566,-0.86,-146.0,97.5,-11.5,55,572,0.00,2.55,0.00,0.000,6,0.000,0.035,3196,1568,3398,0,0,0,0,0,0
$GC,829,-0.86,-146.0,126.5,-11.0,80,833,0.00,2.30,0.00,0.000,4,0.000,0.042,3195,163,3399,0,0,0,0,0,0
$GC,859,-0.86,-146.0,130.2,-11.3,82,868,0.00,2.17,0.00,0.000,6,0.000,0.017,3196,1596,3399,0,0,0,0,0,0
$GC,1124,-0.86,-146.0,156.2,-9.2,107,1128,0.00,2.35,0.00,0.000,4,0.000,0.021,3196,3114,3399,0,0,0,0,0,0
$GC,1160,-0.94,-146.0,159.7,-8.4,110,1164,0.00,2.50,0.00,0.000,6,0.000,0.028,3195,1567,3399,0,0,0,0,0,0
$GC,1425,-0.94,-146.0,183.1,-9.8,134,1429,0.00,2.42,0.00,0.000,4,0.000,0.021,3196,3116,3400,0,0,0,0,0,0
$GC,1454,-0.94,-146.0,185.8,-9.6,136,1458,0.00,2.47,0.00,0.000,6,0.000,0.028,3196,1579,3400,0,0,0,0,0,0
$GC,1731,-0.94,-146.0,211.9,-9.2,153,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1579,3400,0,0,0,0,0,0
$GC,1976,-0.94,-146.0,232.9,-8.4,159,1981,0.00,2.40,0.00,0.000,4,0.000,0.021,3196,3116,3400,0,0,0,0,0,0
$GC,2005,-1.06,-146.0,235.3,-7.5,159,2010,0.17,2.47,0.00,0.000,6,0.046,0.028,3108,1584,3400,0,0,0,0,0,0
$GC,2264,-0.92,-146.0,267.6,-13.3,166,2269,0.32,2.33,0.00,0.000,4,0.083,0.043,3183,170,3400,0,0,0,0,0,0
$GC,2305,-0.96,-146.0,272.4,-9.9,166,2311,0.00,2.15,0.00,0.000,6,0.000,0.018,3183,1580,3400,0,0,0,0,0,0
$GC,2556,-1.01,-146.0,293.1,-7.9,173,2560,0.00,2.45,0.00,0.000,4,0.000,0.025,3183,3128,3399,0,0,0,0,0,0
$GC,2601,-1.14,-146.0,296.3,-6.8,174,2606,0.20,2.50,0.00,0.000,6,0.043,0.030,3091,1592,3399,0,0,0,0,0,0
$GC,2893,-1.00,-146.0,331.7,-12.5,181,2898,0.30,2.35,0.00,0.000,4,0.084,0.048,3162,172,3399,0,0,0,0,0,0
$GC,2933,-1.04,-146.0,336.6,-9.5,181,2939,0.00,2.17,0.00,0.000,6,0.000,0.021,3163,1567,3399,0,0,0,0,0,0
$GC,3183,-1.04,-146.0,358.5,-8.5,188,3188,0.00,2.55,0.00,0.000,4,0.000,0.032,3163,3144,3398,0,0,0,0,0,0
$GC,3245,-1.14,-146.0,363.4,-7.7,189,3250,0.12,2.55,0.00,0.000,6,0.062,0.037,3096,1604,3398,0,0,0,0,0,0
$GC,3521,-1.03,-146.0,391.5,-10.3,196,3526,0.25,2.42,0.00,0.000,4,0.084,0.059,3158,168,3396,0,0,0,0,0,0
$GC,3555,-1.03,-146.0,395.3,-8.3,196,3559,0.00,2.25,0.00,0.000,6,0.000,0.024,3158,1598,3395,0,0,0,0,0,0
$GC,3805,-1.03,-146.0,414.9,-7.8,202,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1599,3394,0,0,0,0,0,0
$GC,4051,-1.03,-146.0,434.7,-8.1,208,4055,0.00,2.53,0.00,0.000,4,0.000,0.038,3158,3143,3392,0,0,0,0,0,0
$GC,4075,-1.10,-146.0,436.8,-8.4,208,4079,0.00,2.55,0.00,0.000,6,0.000,0.038,3158,1600,3392,0,0,0,0,0,0
$GC,4334,-1.15,-146.0,457.5,-8.1,215,4339,0.00,2.47,0.00,0.000,4,0.000,0.067,3158,164,3390,0,0,0,0,0,0
$GC,4360,-1.15,-146.0,459.7,-9.5,215,4365,0.10,2.25,0.00,0.000,6,0.074,0.026,3103,1595,3390,0,0,0,0,0,0
$GC,4620,-1.08,-146.0,487.9,-10.9,222,4625,0.20,2.55,0.00,0.000,4,0.087,0.042,3149,3145,3387,0,0,0,0,0,0
$GC,4651,-1.14,-146.0,490.8,-8.1,222,4656,0.00,2.58,0.00,0.000,6,0.000,0.039,3149,1601,3387,0,0,0,0,0,0
$GC,4906,-1.14,-146.0,511.0,-7.7,229,4911,0.00,2.50,0.00,0.000,4,0.000,0.072,3149,166,3386,0,0,0,0,0,0
$GC,4953,-1.20,-146.0,515.0,-8.8,230,4958,0.12,2.30,0.00,0.000,6,0.063,0.030,3091,1594,3385,0,0,0,0,0,0
$GC,5240,-1.11,-146.0,544.2,-10.5,237,5245,0.22,2.60,0.00,0.000,4,0.087,0.044,3142,3154,3383,0,0,0,0,0,0
$GC,5255,-1.11,-146.0,546.0,-10.1,237,5259,0.00,2.60,0.00,0.000,6,0.000,0.040,3142,1598,3383,0,0,0,0,0,0
$GC,5524,-1.11,-146.0,567.2,-7.9,244,5528,0.00,2.50,0.00,0.000,4,0.000,0.075,3142,167,3381,0,0,0,0,0,0
$GC,5549,-1.11,-146.0,569.3,-9.3,244,5553,0.00,2.30,0.00,0.000,6,0.000,0.030,3142,1600,3381,0,0,0,0,0,0
$GC,5811,-1.11,-146.0,588.7,-7.3,251,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1600,3379,0,0,0,0,0,0
$GC,6052,-1.11,-146.0,605.6,-7.0,257,6056,0.00,2.60,0.00,0.000,4,0.000,0.048,3142,3156,3378,0,0,0,0,0,0
$GC,6073,-1.11,-146.0,606.8,-6.5,257,6077,0.00,2.65,0.00,0.000,6,0.000,0.045,3141,1586,3378,0,0,0,0,0,0
$GC,6337,-1.11,-146.0,624.3,-6.5,264,6341,0.00,2.50,0.00,0.000,4,0.000,0.079,3142,164,3376,0,0,0,0,0,0
$GC,6370,-1.11,-146.0,627.0,-7.7,264,6374,0.00,2.30,0.00,0.000,6,0.000,0.031,3142,1595,3376,0,0,0,0,0,0
$GC,6621,-1.11,-146.0,643.7,-6.6,270,6626,0.00,2.50,0.00,0.000,4,0.000,0.073,3142,169,3374,0,0,0,0,0,0
$GC,6650,-1.11,-146.0,645.9,-7.5,270,6654,0.00,2.33,0.00,0.000,6,0.000,0.033,3142,1596,3374,0,0,0,0,0,0
$GC,6906,-1.11,-146.0,664.4,-7.3,277,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1596,3373,0,0,0,0,0,0
$GC,7151,-1.11,-146.0,683.4,-7.8,283,7156,0.00,2.65,0.00,0.000,4,0.000,0.054,3142,3157,3372,0,0,0,0,0,0
$GC,7176,-1.18,-146.0,685.3,-8.3,283,7180,0.00,2.67,0.00,0.000,6,0.000,0.048,3141,1587,3372,0,0,0,0,0,0
$GC,7436,-1.22,-146.0,704.9,-7.5,290,7440,0.00,2.50,0.00,0.000,4,0.000,0.081,3142,164,3370,0,0,0,0,0,0
$GC,7475,-1.27,-146.0,708.1,-7.9,290,7483,0.10,2.35,0.00,0.000,6,0.031,0.034,3089,1591,3370,0,0,0,0,0,0
$GC,7726,-1.20,-146.0,732.5,-9.8,297,7731,0.15,2.67,0.00,0.000,4,0.100,0.056,3122,3159,3369,0,0,0,0,0,0
$GC,7746,-1.20,-146.0,734.4,-9.7,297,7750,0.00,2.67,0.00,0.000,6,0.000,0.048,3122,1584,3368,0,0,0,0,0,0
$GC,8012,-1.20,-146.0,755.3,-7.9,304,8016,0.00,2.50,0.00,0.000,4,0.000,0.081,3122,170,3367,0,0,0,0,0,0
$GC,8040,-1.20,-146.0,758.1,-9.7,304,8044,0.00,2.33,0.00,0.000,6,0.000,0.034,3122,1595,3367,0,0,0,0,0,0
$GC,8297,-1.20,-146.0,778.2,-7.9,311,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1595,3366,0,0,0,0,0,0
$GC,8540,-1.20,-146.0,795.9,-7.1,317,8544,0.00,2.53,0.00,0.000,4,0.000,0.074,3122,161,3365,0,0,0,0,0,0
$GC,8587,-1.20,-146.0,800.0,-9.1,318,8591,0.00,2.30,0.00,0.000,6,0.000,0.034,3122,1584,3365,0,0,0,0,0,0
$GC,8869,-1.20,-146.0,821.4,-7.7,325,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1584,3364,0,0,0,0,0,0
$GC,9119,-1.20,-146.0,840.2,-7.8,331,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1584,3363,0,0,0,0,0,0
$GC,9356,-1.20,-146.0,859.2,-7.6,337,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1584,3362,0,0,0,0,0,0
$GC,9600,-1.20,-146.0,877.2,-7.5,343,9604,0.00,2.65,0.00,0.000,4,0.000,0.058,3122,3152,3362,0,0,0,0,0,0
$GC,9621,-1.20,-146.0,878.7,-7.8,343,9625,0.00,2.67,0.00,0.000,6,0.000,0.049,3122,1582,3362,0,0,0,0,0,0
$GC,9885,-1.20,-146.0,898.2,-7.4,350,9889,0.00,2.47,0.00,0.000,4,0.000,0.081,3122,170,3361,0,0,0,0,0,0
$STATE,9906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9906,begin apogee
$GC,9914,-0.31,0.0,900.0,8.3,350,10037,0.82,0.00,119.05,1.150,6,0.070,0.000,3316,1351,2800,0,0,0,0,0,0
$STATE,10037,end apogee,CONTROL_FINISHED_OK
$STATE,10038,begin climb
$GC,10042,1.27,146.0,903.3,0.0,353,10181,1.42,2.20,130.07,1.128,4,0.030,0.074,3670,173,2203,0,0,0,0,0,0
$GC,10243,1.00,146.0,889.6,15.0,357,10248,0.32,1.95,0.00,0.000,6,0.106,0.031,3603,1350,2200,0,0,0,0,0,0
$GC,10503,0.94,146.0,861.2,10.6,364,10507,0.00,2.10,0.00,0.000,4,0.000,0.073,3603,170,2194,0,0,0,0,0,0
$GC,10523,0.84,146.0,859.0,11.5,364,10528,0.17,1.95,0.00,0.000,6,0.113,0.031,3568,1352,2194,0,0,0,0,0,0
$GC,10790,0.88,175.9,835.2,8.6,371,10822,0.00,2.80,26.92,1.053,4,0.000,0.058,3568,2935,2081,0,0,0,0,0,0
$GC,10837,0.94,225.9,830.9,7.7,372,10891,0.00,2.72,47.78,1.067,6,0.000,0.049,3568,1358,1879,0,0,0,0,0,0
$GC,11160,1.00,236.9,799.9,9.5,380,11174,0.15,0.00,10.50,0.937,6,0.060,0.000,3621,1358,1834,0,0,0,0,0,0
$GC,11408,0.95,236.9,771.0,12.1,386,11413,0.12,2.17,0.00,0.000,4,0.114,0.087,3594,164,1830,0,0,0,0,0,0
$GC,11436,0.95,236.9,766.8,12.7,386,11440,0.00,1.92,0.00,0.000,6,0.000,0.030,3594,1356,1830,0,0,0,0,0,0
$GC,11695,0.95,236.9,738.8,10.8,393,11696,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1357,1829,0,0,0,0,0,0
$GC,11939,0.95,236.9,712.1,10.9,399,11943,0.00,2.67,0.00,0.000,4,0.000,0.051,3594,2934,1827,0,0,0,0,0,0
$GC,11964,0.97,252.5,709.4,9.3,399,11984,0.00,2.72,14.77,0.949,6,0.000,0.049,3594,1350,1769,0,0,0,0,0,0
$GC,12273,0.97,252.5,674.6,11.4,407,12277,0.00,2.15,0.00,0.000,4,0.000,0.086,3594,167,1767,0,0,0,0,0,0
$GC,12302,0.97,252.5,670.8,13.1,407,12306,0.00,1.92,0.00,0.000,6,0.000,0.028,3594,1352,1767,0,0,0,0,0,0
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$STATE,18253,end climb,SURFACE_DEPTH_REACHED
$STATE,18253,begin surface coast
$FINISH,0.9,1.021360
$STATE,18305,end surface coast,CONTROL_FINISHED_OK
$STATE,18306,begin surface
$SM_CCo,18331,60.28,0.426,0,0,1210,390.03
$SM_GC,2.00,0.00,0.00,60.28,0.000,0.000,0.426,413,1590,1210,-13.68,0.57,390.03
$IRIDIUM_FIX,2258.07,-15721.01,101002,101011
$TT8_MAMPS,0.027612
$HUMID,63.38
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.80
$XPDR_PINGS,19
$24V_AH,23.3,37.353
$10V_AH,9.9,34.783
$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,34.025,215.625,381.100,60.275,0.000,61.230,78.023,328.734,4.750,0.000,13.991,1545.016,13489.158,530.130,2560.919,946.362,33.378,1600.981,0.000,2566.637,0.000,0.539,0.000
$DEVICE_MAMPS,162.604,86.671,1149.733,426.452,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,474.079,374.052,472.379,967.196,1273.938,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,54164,695
$CAP_FILE_SIZE,186210,0
$CFSIZE,260165632,153079808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160713,154805,2305.229,-15723.265,33,1.1,33,10.2