version: 66.06
glider: 148
mission: 12
dive: 257
start: 7 17 113 8 29 43
data:
$ID,148
$MISSION,12
$DIVE,257
$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,-1021182.3
$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,24
$R_STBD_OVSHOOT,87
$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
$GPS1,082120,2305.689,-15729.339,65,9.0,84,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-75.3
$GPS2,082849,2305.743,-15729.345,12,1.7,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.258,-0.030
$KALMAN_X,-211129.6,-14.2,334.5,263264.9,30.5
$KALMAN_Y,162213.8,-58.9,-102.2,-123614.9,282.8
$MHEAD_RNG_PITCHd_Wd,253.3,10363,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.93,0.000,2,0.000,0.000,407,1624,2903,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.6,9,121,14.43,2.45,-9.00,0.000,4,0.162,0.051,3104,167,3397,0,0,0,0,0,0
$GC,275,-0.96,-146.0,47.8,-18.2,32,280,0.32,2.10,0.00,0.000,6,0.097,0.017,3174,1554,3397,0,0,0,0,0,0
$GC,539,-0.86,-146.0,85.3,-11.7,56,544,0.10,2.47,0.00,0.000,4,0.120,0.021,3195,3137,3398,0,0,0,0,0,0
$GC,583,-0.93,-146.0,90.3,-9.9,59,589,0.00,2.55,0.00,0.000,6,0.000,0.028,3195,1560,3399,0,0,0,0,0,0
$GC,848,-0.93,-146.0,118.3,-9.7,84,852,0.00,2.25,0.00,0.000,4,0.000,0.042,3195,169,3399,0,0,0,0,0,0
$GC,915,-0.98,-146.0,126.0,-10.4,90,920,0.10,2.15,0.00,0.000,6,0.074,0.016,3134,1599,3399,0,0,0,0,0,0
$GC,1176,-0.83,-146.0,163.8,-15.0,114,1181,0.28,2.38,0.00,0.000,4,0.086,0.021,3200,3123,3400,0,0,0,0,0,0
$GC,1218,-0.92,-146.0,168.7,-10.3,117,1227,0.00,2.53,0.00,0.000,6,0.000,0.027,3200,1574,3400,0,0,0,0,0,0
$GC,1486,-0.92,-146.0,192.0,-8.3,142,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1574,3400,0,0,0,0,0,0
$GC,1739,-0.92,-146.0,213.2,-8.1,155,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1574,3400,0,0,0,0,0,0
$GC,1988,-0.98,-146.0,231.3,-7.3,161,1992,0.12,2.45,0.00,0.000,4,0.063,0.022,3134,3120,3400,0,0,0,0,0,0
$GC,2007,-0.98,-146.0,233.4,-8.9,161,2013,0.17,2.50,0.00,0.000,6,0.087,0.027,3175,1571,3400,0,0,0,0,0,0
$GC,2272,-0.98,-146.0,257.0,-8.9,168,2276,0.00,2.30,0.00,0.000,4,0.000,0.045,3175,170,3400,0,0,0,0,0,0
$GC,2302,-0.98,-146.0,259.7,-10.0,168,2306,0.00,2.12,0.00,0.000,6,0.000,0.018,3175,1566,3400,0,0,0,0,0,0
$GC,2556,-0.98,-146.0,281.9,-8.6,175,2560,0.00,2.45,0.00,0.000,4,0.000,0.025,3175,3125,3400,0,0,0,0,0,0
$GC,2594,-1.09,-146.0,285.1,-8.6,175,2603,0.10,2.53,0.00,0.000,6,0.028,0.030,3104,1587,3400,0,0,0,0,0,0
$GC,2846,-0.98,-146.0,314.4,-11.7,182,2851,0.25,2.33,0.00,0.000,4,0.085,0.046,3165,167,3400,0,0,0,0,0,0
$GC,2866,-0.92,-146.0,316.8,-10.8,182,2870,0.00,2.17,0.00,0.000,6,0.000,0.021,3165,1575,3400,0,0,0,0,0,0
$GC,3130,-0.92,-146.0,337.6,-7.7,189,3134,0.00,2.38,0.00,0.000,4,0.000,0.051,3165,164,3399,0,0,0,0,0,0
$GC,3151,-0.92,-146.0,339.3,-8.4,189,3155,0.00,2.20,0.00,0.000,6,0.000,0.021,3165,1576,3399,0,0,0,0,0,0
$GC,3418,-0.97,-146.0,360.8,-8.1,196,3423,0.00,2.50,0.00,0.000,4,0.000,0.031,3165,3136,3397,0,0,0,0,0,0
$GC,3467,-1.10,-146.0,365.1,-8.0,197,3472,0.00,2.58,0.00,0.000,6,0.000,0.037,3165,1583,3397,0,0,0,0,0,0
$GC,3750,-1.15,-146.0,389.1,-8.7,204,3755,0.12,2.40,0.00,0.000,4,0.064,0.061,3106,170,3395,0,0,0,0,0,0
$GC,3794,-1.06,-146.0,394.0,-12.1,205,3799,0.20,2.22,0.00,0.000,6,0.088,0.024,3153,1582,3395,0,0,0,0,0,0
$GC,4084,-1.06,-146.0,418.8,-8.2,212,4088,0.00,2.53,0.00,0.000,4,0.000,0.035,3152,3142,3393,0,0,0,0,0,0
$GC,4108,-1.12,-146.0,421.0,-8.6,212,4112,0.00,2.60,0.00,0.000,6,0.000,0.039,3152,1576,3393,0,0,0,0,0,0
$GC,4369,-1.12,-146.0,442.0,-8.1,219,4373,0.00,2.42,0.00,0.000,4,0.000,0.067,3153,164,3391,0,0,0,0,0,0
$GC,4402,-1.12,-146.0,445.0,-8.4,219,4406,0.00,2.25,0.00,0.000,6,0.000,0.025,3153,1583,3391,0,0,0,0,0,0
$GC,4652,-1.12,-146.0,463.0,-7.2,225,4656,0.00,2.55,0.00,0.000,4,0.000,0.039,3152,3149,3389,0,0,0,0,0,0
$GC,4701,-1.22,-146.0,466.3,-7.7,226,4706,0.15,2.58,0.00,0.000,6,0.055,0.039,3086,1587,3388,0,0,0,0,0,0
$GC,4989,-1.12,-146.0,497.5,-10.8,233,4994,0.25,2.47,0.00,0.000,4,0.087,0.070,3147,164,3387,0,0,0,0,0,0
$GC,5037,-1.12,-146.0,502.2,-9.2,234,5041,0.00,2.28,0.00,0.000,6,0.000,0.028,3147,1580,3386,0,0,0,0,0,0
$GC,5324,-1.12,-146.0,524.4,-7.7,241,5329,0.00,2.58,0.00,0.000,4,0.000,0.042,3147,3149,3385,0,0,0,0,0,0
$GC,5355,-1.20,-146.0,527.1,-8.1,241,5360,0.10,2.62,0.00,0.000,6,0.074,0.041,3093,1586,3385,0,0,0,0,0,0
$GC,5612,-1.11,-146.0,552.7,-10.1,248,5617,0.22,2.47,0.00,0.000,4,0.088,0.072,3144,167,3382,0,0,0,0,0,0
$GC,5651,-1.17,-146.0,556.6,-9.5,248,5657,0.00,2.30,0.00,0.000,6,0.000,0.031,3144,1593,3382,0,0,0,0,0,0
$GC,5901,-1.17,-146.0,576.1,-7.7,255,5905,0.00,2.58,0.00,0.000,4,0.000,0.045,3144,3155,3380,0,0,0,0,0,0
$GC,5922,-1.21,-146.0,577.6,-7.8,255,5927,0.10,2.65,0.00,0.000,6,0.078,0.044,3098,1582,3380,0,0,0,0,0,0
$GC,6188,-1.15,-146.0,601.0,-8.7,262,6192,0.15,2.50,0.00,0.000,4,0.100,0.077,3132,168,3378,0,0,0,0,0,0
$GC,6218,-1.15,-146.0,603.6,-8.2,262,6222,0.00,2.30,0.00,0.000,6,0.000,0.031,3132,1590,3378,0,0,0,0,0,0
$GC,6473,-1.15,-146.0,622.5,-7.5,269,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1590,3377,0,0,0,0,0,0
$GC,6716,-1.15,-146.0,641.9,-8.0,275,6721,0.00,2.50,0.00,0.000,4,0.000,0.074,3132,168,3376,0,0,0,0,0,0
$GC,6745,-1.15,-146.0,644.5,-9.3,275,6749,0.00,2.28,0.00,0.000,6,0.000,0.032,3132,1580,3376,0,0,0,0,0,0
$GC,7002,-1.15,-146.0,665.8,-8.3,282,7007,0.00,2.65,0.00,0.000,4,0.000,0.052,3132,3150,3374,0,0,0,0,0,0
$GC,7031,-1.21,-146.0,668.7,-9.1,282,7036,0.00,2.67,0.00,0.000,6,0.000,0.048,3132,1576,3374,0,0,0,0,0,0
$GC,7286,-1.21,-146.0,689.9,-8.4,289,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1576,3372,0,0,0,0,0,0
$GC,7531,-1.21,-146.0,710.1,-8.2,295,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1576,3371,0,0,0,0,0,0
$GC,7778,-1.21,-146.0,729.3,-7.7,301,7782,0.00,2.65,0.00,0.000,4,0.000,0.047,3132,3156,3370,0,0,0,0,0,0
$GC,7807,-1.27,-146.0,732.0,-8.0,301,7812,0.10,2.67,0.00,0.000,6,0.076,0.049,3083,1586,3370,0,0,0,0,0,0
$GC,8064,-1.19,-146.0,757.1,-10.1,308,8069,0.20,2.53,0.00,0.000,4,0.094,0.081,3127,164,3369,0,0,0,0,0,0
$GC,8093,-1.19,-146.0,760.0,-8.9,308,8097,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1588,3368,0,0,0,0,0,0
$GC,8350,-1.19,-146.0,778.9,-7.4,315,8351,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1588,3367,0,0,0,0,0,0
$GC,8595,-1.19,-146.0,795.6,-6.8,321,8600,0.00,2.65,0.00,0.000,4,0.000,0.053,3127,3159,3367,0,0,0,0,0,0
$GC,8619,-1.24,-146.0,797.6,-7.4,321,8624,0.00,2.67,0.00,0.000,6,0.000,0.048,3127,1584,3367,0,0,0,0,0,0
$GC,8879,-1.24,-146.0,813.7,-6.3,328,8883,0.00,2.47,0.00,0.000,4,0.000,0.081,3127,169,3365,0,0,0,0,0,0
$GC,8918,-1.24,-146.0,816.2,-6.7,328,8923,0.00,2.28,0.00,0.000,6,0.000,0.034,3127,1582,3365,0,0,0,0,0,0
$GC,9168,-1.24,-146.0,832.0,-6.4,335,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1582,3364,0,0,0,0,0,0
$GC,9414,-1.24,-146.0,848.1,-6.7,341,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1582,3363,0,0,0,0,0,0
$GC,9657,-1.24,-146.0,866.0,-7.4,347,9661,0.00,2.50,0.00,0.000,4,0.000,0.076,3127,163,3363,0,0,0,0,0,0
$GC,9681,-1.24,-146.0,868.2,-9.0,347,9685,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1583,3363,0,0,0,0,0,0
$GC,9940,-1.24,-146.0,888.6,-7.9,354,9944,0.00,2.65,0.00,0.000,4,0.000,0.055,3127,3155,3362,0,0,0,0,0,0
$GC,9961,-1.28,-146.0,890.1,-7.8,354,9966,0.00,2.70,0.00,0.000,6,0.000,0.049,3127,1572,3362,0,0,0,0,0,0
$STATE,10100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10101,begin apogee
$GC,10107,-0.31,0.0,901.2,7.7,358,10230,0.82,0.00,119.60,1.154,6,0.069,0.000,3318,1339,2800,0,0,0,0,0,0
$STATE,10231,end apogee,CONTROL_FINISHED_OK
$STATE,10231,begin climb
$GC,10233,1.27,146.0,905.3,0.0,361,10373,1.42,2.20,130.07,1.132,4,0.033,0.084,3668,172,2204,0,0,0,0,0,0
$GC,10395,1.00,146.0,898.5,13.6,364,10399,0.30,1.95,0.00,0.000,6,0.110,0.031,3605,1354,2201,0,0,0,0,0,0
$GC,10647,0.94,150.9,873.4,9.8,370,10656,0.00,2.12,4.15,0.683,4,0.000,0.072,3605,162,2184,0,0,0,0,0,0
$GC,10694,0.81,150.9,867.9,10.9,371,10699,0.20,1.95,0.00,0.000,6,0.105,0.031,3563,1352,2184,0,0,0,0,0,0
$GC,10978,0.84,179.6,843.2,8.7,378,11011,0.00,2.17,27.80,1.064,4,0.000,0.074,3562,165,2066,0,0,0,0,0,0
$GC,11044,0.84,179.6,836.6,10.9,379,11048,0.00,1.95,0.00,0.000,6,0.000,0.031,3563,1351,2066,0,0,0,0,0,0
$GC,11310,0.85,188.6,811.4,9.6,386,11325,0.00,2.12,8.80,0.920,4,0.000,0.073,3562,165,2031,0,0,0,0,0,0
$GC,11346,0.85,188.6,807.5,10.1,386,11349,0.00,1.95,0.00,0.000,6,0.000,0.030,3563,1350,2031,0,0,0,0,0,0
$GC,11600,0.87,203.7,783.4,9.3,393,11617,0.00,0.00,15.88,0.997,6,0.000,0.000,3563,1352,1969,0,0,0,0,0,0
$GC,11844,0.94,218.2,760.4,9.3,399,11865,0.12,2.75,14.75,0.976,4,0.068,0.054,3610,2927,1910,0,0,0,0,0,0
$GC,11876,0.95,226.8,757.0,9.6,399,11893,0.00,2.75,10.02,0.913,6,0.000,0.048,3610,1342,1874,0,0,0,0,0,0
$GC,12182,0.95,226.8,719.9,12.0,407,12186,0.00,2.70,0.00,0.000,4,0.000,0.045,3610,2933,1871,0,0,0,0,0,0
$GC,12204,0.95,226.8,717.3,11.3,407,12209,0.00,2.72,0.00,0.000,6,0.000,0.049,3610,1339,1868,0,0,0,0,0,0
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$STATE,18229,end climb,SURFACE_DEPTH_REACHED
$STATE,18230,begin surface coast
$FINISH,1.0,1.009888
$STATE,18270,end surface coast,CONTROL_FINISHED_OK
$STATE,18270,begin surface
$SM_CCo,18294,28.12,0.423,0,0,1209,390.03
$SM_GC,1.90,0.00,0.00,28.12,0.000,0.000,0.423,413,1575,1209,-13.67,0.14,390.03
$IRIDIUM_FIX,2255.72,-15726.23,111002,030347
$TT8_MAMPS,0.027612
$HUMID,65.94
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.10
$XPDR_PINGS,17
$24V_AH,23.3,37.935
$10V_AH,9.9,35.377
$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,35.150,233.675,430.875,28.125,0.000,29.970,41.903,213.942,4.250,0.000,14.226,1527.923,13410.007,551.049,2495.025,778.953,33.375,1645.970,0.000,2496.628,0.000,0.535,0.000
$DEVICE_MAMPS,161.837,85.137,1153.568,423.384,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,456.187,345.724,439.176,895.826,1180.729,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,54063,669
$CAP_FILE_SIZE,189059,0
$CFSIZE,260165632,152764416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170713,133706,2305.769,-15731.575,76,1.3,76,10.1