version: 66.06
glider: 148
mission: 12
dive: 258
start: 7 17 113 13 52 1
data:
$ID,148
$MISSION,12
$DIVE,258
$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,-1021198.3
$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,28
$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
$GPS1,133706,2305.769,-15731.575,76,1.3,76,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-77.0
$GPS2,135106,2305.881,-15731.562,9,0.8,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.257,-0.038
$KALMAN_X,-209794.1,-2.7,-178.4,258640.2,1419.0
$KALMAN_Y,162571.5,218.2,44.3,-124143.9,281.9
$MHEAD_RNG_PITCHd_Wd,251.4,6622,-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,-67.32,0.000,2,0.000,0.000,413,1577,2958,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.4,-4.7,9,123,14.05,2.42,-7.82,0.000,4,0.151,0.032,3104,3103,3399,0,0,0,0,0,0
$GC,246,-1.12,-146.0,38.0,-15.7,29,251,0.17,2.50,0.00,0.000,6,0.104,0.031,3141,1570,3399,0,0,0,0,0,0
$GC,516,-0.93,-146.0,82.3,-16.5,53,521,0.17,2.33,0.00,0.000,4,0.107,0.042,3180,163,3399,0,0,0,0,0,0
$GC,574,-0.93,-146.0,92.0,-12.4,58,578,0.00,2.05,0.00,0.000,6,0.000,0.016,3180,1546,3399,0,0,0,0,0,0
$GC,839,-0.86,-146.0,121.9,-11.3,82,843,0.00,2.45,0.00,0.000,4,0.000,0.021,3179,3116,3399,0,0,0,0,0,0
$GC,880,-0.86,-146.0,126.5,-11.1,85,885,0.00,2.53,0.00,0.000,6,0.000,0.028,3179,1555,3399,0,0,0,0,0,0
$GC,1148,-0.82,-146.0,156.1,-11.5,109,1153,0.12,2.28,0.00,0.000,4,0.107,0.043,3208,171,3400,0,0,0,0,0,0
$GC,1169,-0.82,-146.0,159.4,-11.4,110,1175,0.00,2.10,0.00,0.000,6,0.000,0.017,3209,1577,3400,0,0,0,0,0,0
$GC,1432,-0.82,-146.0,181.9,-8.4,135,1437,0.00,2.40,0.00,0.000,4,0.000,0.021,3208,3109,3400,0,0,0,0,0,0
$GC,1483,-0.97,-146.0,185.7,-7.3,139,1488,0.15,2.50,0.00,0.000,6,0.052,0.028,3125,1561,3400,0,0,0,0,0,0
$GC,1769,-0.83,-146.0,222.7,-13.3,154,1771,0.38,0.00,0.00,0.000,6,0.084,0.000,3206,1561,3400,0,0,0,0,0,0
$GC,2014,-0.90,-146.0,241.7,-7.1,160,2018,0.00,2.45,0.00,0.000,4,0.000,0.022,3206,3109,3400,0,0,0,0,0,0
$GC,2052,-1.06,-146.0,244.4,-7.0,160,2057,0.22,2.47,0.00,0.000,6,0.037,0.028,3106,1576,3400,0,0,0,0,0,0
$GC,2306,-0.91,-146.0,275.2,-13.2,166,2311,0.32,2.30,0.00,0.000,4,0.083,0.043,3181,166,3400,0,0,0,0,0,0
$GC,2384,-0.98,-146.0,283.9,-9.4,167,2388,0.00,2.10,0.00,0.000,6,0.000,0.019,3181,1541,3400,0,0,0,0,0,0
$GC,2639,-1.04,-146.0,303.5,-7.5,174,2644,0.10,2.53,0.00,0.000,4,0.075,0.026,3121,3140,3400,0,0,0,0,0,0
$GC,2679,-1.04,-146.0,307.3,-9.7,174,2685,0.17,2.58,0.00,0.000,6,0.088,0.031,3162,1562,3400,0,0,0,0,0,0
$GC,2933,-1.04,-146.0,329.2,-8.7,181,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1561,3399,0,0,0,0,0,0
$GC,3173,-1.04,-146.0,350.2,-8.7,187,3177,0.00,2.53,0.00,0.000,4,0.000,0.030,3162,3132,3398,0,0,0,0,0,0
$GC,3203,-1.12,-146.0,352.7,-8.8,187,3208,0.00,2.58,0.00,0.000,6,0.000,0.036,3162,1571,3398,0,0,0,0,0,0
$GC,3458,-1.12,-146.0,374.7,-8.5,194,3462,0.00,2.38,0.00,0.000,4,0.000,0.058,3162,164,3396,0,0,0,0,0,0
$GC,3501,-1.12,-146.0,378.4,-8.6,195,3505,0.00,2.17,0.00,0.000,6,0.000,0.022,3162,1559,3396,0,0,0,0,0,0
$GC,3790,-1.12,-146.0,399.0,-7.1,202,3794,0.00,2.58,0.00,0.000,4,0.000,0.035,3161,3143,3394,0,0,0,0,0,0
$GC,3819,-1.21,-146.0,401.3,-7.0,202,3824,0.17,2.60,0.00,0.000,6,0.048,0.038,3085,1575,3394,0,0,0,0,0,0
$GC,4075,-1.09,-146.0,430.1,-11.7,209,4080,0.25,2.42,0.00,0.000,4,0.086,0.064,3145,164,3392,0,0,0,0,0,0
$GC,4105,-1.09,-146.0,433.4,-10.2,209,4109,0.00,2.22,0.00,0.000,6,0.000,0.025,3145,1575,3392,0,0,0,0,0,0
$GC,4366,-1.09,-146.0,455.9,-8.5,216,4371,0.00,2.58,0.00,0.000,4,0.000,0.038,3145,3142,3390,0,0,0,0,0,0
$GC,4400,-1.16,-146.0,458.9,-8.0,216,4404,0.00,2.60,0.00,0.000,6,0.000,0.039,3145,1579,3390,0,0,0,0,0,0
$GC,4651,-1.16,-146.0,478.3,-7.6,222,4656,0.00,2.42,0.00,0.000,4,0.000,0.070,3145,172,3387,0,0,0,0,0,0
$GC,4689,-1.16,-146.0,481.6,-9.2,222,4695,0.00,2.22,0.00,0.000,6,0.000,0.035,3145,1578,3387,0,0,0,0,0,0
$GC,4941,-1.16,-146.0,500.9,-7.8,229,4945,0.00,2.45,0.00,0.000,4,0.000,0.066,3145,163,3386,0,0,0,0,0,0
$GC,4960,-1.16,-146.0,502.9,-8.9,229,4964,0.00,2.25,0.00,0.000,6,0.000,0.028,3145,1574,3385,0,0,0,0,0,0
$GC,5226,-1.16,-146.0,524.3,-8.2,236,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1574,3383,0,0,0,0,0,0
$GC,5467,-1.16,-146.0,544.1,-8.2,242,5472,0.00,2.62,0.00,0.000,4,0.000,0.045,3145,3152,3382,0,0,0,0,0,0
$GC,5488,-1.16,-146.0,545.7,-8.0,242,5493,0.00,2.65,0.00,0.000,6,0.000,0.042,3145,1571,3382,0,0,0,0,0,0
$GC,5752,-1.16,-146.0,566.5,-7.7,249,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1571,3380,0,0,0,0,0,0
$GC,5996,-1.16,-146.0,583.9,-7.0,255,6000,0.00,2.65,0.00,0.000,4,0.000,0.044,3145,3148,3379,0,0,0,0,0,0
$GC,6031,-1.26,-146.0,586.4,-7.2,255,6036,0.15,2.67,0.00,0.000,6,0.054,0.047,3080,1567,3379,0,0,0,0,0,0
$GC,6284,-1.16,-146.0,610.8,-10.1,261,6289,0.22,2.47,0.00,0.000,4,0.090,0.077,3132,162,3377,0,0,0,0,0,0
$GC,6314,-1.16,-146.0,613.9,-9.1,261,6319,0.00,2.25,0.00,0.000,6,0.000,0.031,3131,1574,3377,0,0,0,0,0,0
$GC,6571,-1.16,-146.0,633.6,-7.7,268,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1574,3376,0,0,0,0,0,0
$GC,6815,-1.16,-146.0,653.1,-8.0,274,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1574,3374,0,0,0,0,0,0
$GC,7056,-1.16,-146.0,671.6,-7.5,280,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1574,3372,0,0,0,0,0,0
$GC,7306,-1.16,-146.0,688.7,-6.9,286,7311,0.00,2.47,0.00,0.000,4,0.000,0.076,3131,167,3372,0,0,0,0,0,0
$GC,7330,-1.16,-146.0,690.9,-7.4,286,7334,0.00,2.28,0.00,0.000,6,0.000,0.034,3132,1567,3371,0,0,0,0,0,0
$GC,7589,-1.16,-146.0,709.4,-7.1,293,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1568,3370,0,0,0,0,0,0
$GC,7835,-1.16,-146.0,726.9,-7.2,299,7839,0.00,2.65,0.00,0.000,4,0.000,0.054,3131,3151,3368,0,0,0,0,0,0
$GC,7868,-1.22,-146.0,729.5,-7.6,299,7873,0.00,2.67,0.00,0.000,6,0.000,0.049,3131,1577,3368,0,0,0,0,0,0
$GC,8118,-1.22,-146.0,747.6,-7.4,305,8122,0.00,2.47,0.00,0.000,4,0.000,0.082,3131,165,3367,0,0,0,0,0,0
$GC,8153,-1.22,-146.0,750.4,-8.6,305,8157,0.00,2.28,0.00,0.000,6,0.000,0.035,3131,1568,3367,0,0,0,0,0,0
$GC,8412,-1.22,-146.0,770.4,-7.8,312,8416,0.00,2.65,0.00,0.000,4,0.000,0.054,3131,3150,3366,0,0,0,0,0,0
$GC,8445,-1.30,-146.0,773.1,-7.6,312,8451,0.12,2.70,0.00,0.000,6,0.064,0.050,3077,1565,3366,0,0,0,0,0,0
$GC,8697,-1.22,-146.0,798.5,-10.3,318,8702,0.20,2.47,0.00,0.000,4,0.093,0.081,3121,168,3365,0,0,0,0,0,0
$GC,8745,-1.22,-146.0,803.4,-9.4,319,8749,0.00,2.28,0.00,0.000,6,0.000,0.035,3121,1577,3364,0,0,0,0,0,0
$GC,9029,-1.22,-146.0,826.0,-8.0,326,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1577,3363,0,0,0,0,0,0
$GC,9273,-1.22,-146.0,844.8,-7.7,332,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1577,3363,0,0,0,0,0,0
$GC,9515,-1.22,-146.0,863.1,-7.5,338,9519,0.00,2.67,0.00,0.000,4,0.000,0.054,3121,3161,3362,0,0,0,0,0,0
$GC,9543,-1.27,-146.0,865.4,-7.4,338,9548,0.00,2.72,0.00,0.000,6,0.000,0.050,3121,1564,3362,0,0,0,0,0,0
$GC,9800,-1.27,-146.0,884.3,-7.4,345,9805,0.00,2.47,0.00,0.000,4,0.000,0.083,3121,166,3362,0,0,0,0,0,0
$GC,9847,-1.27,-146.0,887.7,-7.6,346,9851,0.00,2.28,0.00,0.000,6,0.000,0.035,3121,1563,3361,0,0,0,0,0,0
$STATE,10052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10052,begin apogee
$GC,10061,-0.31,0.0,902.7,7.0,351,10183,0.85,0.00,119.20,1.154,6,0.072,0.000,3316,1344,2799,0,0,0,0,0,0
$STATE,10184,end apogee,CONTROL_FINISHED_OK
$STATE,10184,begin climb
$GC,10187,1.27,146.0,906.2,0.0,354,10327,1.42,2.15,130.07,1.133,4,0.035,0.078,3664,172,2202,0,0,0,0,0,0
$GC,10462,1.02,146.0,881.1,15.8,360,10467,0.28,1.92,0.00,0.000,6,0.109,0.031,3609,1359,2197,0,0,0,0,0,0
$GC,10738,0.95,146.0,851.1,10.9,367,10742,0.00,2.12,0.00,0.000,4,0.000,0.073,3609,168,2192,0,0,0,0,0,0
$GC,10827,0.83,146.0,840.2,11.9,369,10832,0.20,1.92,0.00,0.000,6,0.107,0.031,3567,1344,2192,0,0,0,0,0,0
$GC,11121,0.85,167.1,813.9,9.0,376,11145,0.00,2.15,18.33,1.020,4,0.000,0.073,3566,181,2118,0,0,0,0,0,0
$GC,11169,0.85,167.1,808.5,11.0,377,11173,0.00,1.92,0.00,0.000,6,0.000,0.030,3566,1349,2117,0,0,0,0,0,0
$GC,11455,0.87,178.0,781.3,9.5,384,11468,0.00,0.00,11.00,0.946,6,0.000,0.000,3566,1350,2074,0,0,0,0,0,0
$GC,11701,0.89,194.6,758.8,9.2,390,11719,0.00,0.00,16.70,0.986,6,0.000,0.000,3566,1351,2006,0,0,0,0,0,0
$GC,11945,0.90,208.1,735.8,9.4,396,11966,0.00,2.17,13.88,0.953,4,0.000,0.072,3566,168,1950,0,0,0,0,0,0
$GC,11990,0.90,208.1,731.2,10.1,397,11994,0.00,1.92,0.00,0.000,6,0.000,0.030,3566,1340,1950,0,0,0,0,0,0
$GC,12283,0.96,211.5,703.4,9.8,404,12295,0.10,2.72,4.30,0.665,4,0.078,0.051,3608,2932,1937,0,0,0,0,0,0
$GC,12315,0.96,211.5,699.5,11.9,404,12319,0.00,2.72,0.00,0.000,6,0.000,0.049,3608,1351,1935,0,0,0,0,0,0
$GC,12573,0.96,211.5,668.8,12.2,411,12577,0.00,2.12,0.00,0.000,4,0.000,0.085,3608,164,1936,0,0,0,0,0,0
$GC,12620,0.89,211.5,662.2,13.6,412,12624,0.12,1.90,0.00,0.000,6,0.115,0.028,3582,1338,1935,0,0,0,0,0,0
$GC,12907,0.89,211.5,631.9,10.3,419,12908,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1340,1935,0,0,0,0,0,0
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$STATE,18553,end climb,SURFACE_DEPTH_REACHED
$STATE,18553,begin surface coast
$FINISH,0.9,1.011275
$STATE,18599,end surface coast,CONTROL_FINISHED_OK
$STATE,18599,begin surface
$SM_CCo,18623,40.58,0.425,0,0,1209,390.03
$SM_GC,2.08,0.00,0.00,40.58,0.000,0.000,0.425,409,1577,1209,-13.69,0.20,390.03
$IRIDIUM_FIX,2258.07,-15734.52,111002,131348
$TT8_MAMPS,0.027612
$HUMID,64.72
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.60
$XPDR_PINGS,19
$24V_AH,23.3,38.087
$10V_AH,9.9,35.528
$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
$DEVICE_SECS,34.325,215.225,411.275,40.575,0.000,70.618,115.951,352.706,4.750,0.000,15.357,1559.262,13722.646,543.915,2631.632,1039.665,33.380,1647.747,0.000,2629.529,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,466.870,349.647,453.873,932.053,1267.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,54183,684
$CAP_FILE_SIZE,192633,0
$CFSIZE,260165632,152682496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170713,190429,2305.323,-15732.599,37,2.0,40,10.1