version: 66.06
glider: 148
mission: 12
dive: 383
start: 8 14 113 11 40 30
data:
$ID,148
$MISSION,12
$DIVE,383
$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,-1023664.8
$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,3400
$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,79
$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
$GPS1,113206,2238.530,-15738.583,27,1.3,27,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-75.1
$GPS2,113936,2238.495,-15738.665,11,1.5,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.021,0.259
$KALMAN_X,-84325.0,-8.4,-73.5,120949.4,687.8
$KALMAN_Y,89415.3,-92.2,195.4,-101539.2,-1868.7
$MHEAD_RNG_PITCHd_Wd,345.3,50188,-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,17,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.18,0.000,2,0.000,0.000,408,1561,2874,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-2.8,9,120,14.62,2.47,-9.73,0.000,4,0.163,0.031,3116,3121,3396,0,0,0,0,0,0
$GC,207,-1.08,-146.0,30.7,-18.6,26,216,0.17,2.55,0.00,0.000,6,0.085,0.029,3159,1574,3397,0,0,0,0,0,0
$GC,476,-0.93,-146.0,75.7,-13.0,51,481,0.17,2.33,0.00,0.000,4,0.098,0.042,3197,167,3397,0,0,0,0,0,0
$GC,510,-0.85,-146.0,81.0,-13.9,53,514,0.00,2.10,0.00,0.000,6,0.000,0.017,3197,1565,3397,0,0,0,0,0,0
$GC,778,-0.85,-146.0,110.6,-11.2,77,783,0.00,2.45,0.00,0.000,4,0.000,0.022,3197,3135,3398,0,0,0,0,0,0
$GC,813,-0.85,-146.0,115.5,-11.1,80,818,0.00,2.58,0.00,0.000,6,0.000,0.029,3197,1551,3398,0,0,0,0,0,0
$GC,1078,-0.85,-146.0,143.6,-10.4,104,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1551,3399,0,0,0,0,0,0
$GC,1339,-0.85,-146.0,168.9,-9.1,129,1344,0.00,2.50,0.00,0.000,4,0.000,0.021,3197,3126,3400,0,0,0,0,0,0
$GC,1377,-0.95,-146.0,172.3,-8.4,132,1381,0.00,2.50,0.00,0.000,6,0.000,0.028,3197,1568,3400,0,0,0,0,0,0
$GC,1639,-0.95,-146.0,197.0,-10.3,156,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1568,3400,0,0,0,0,0,0
$GC,1913,-0.95,-146.0,223.8,-9.3,165,1918,0.00,2.47,0.00,0.000,4,0.000,0.022,3197,3133,3400,0,0,0,0,0,0
$GC,1949,-1.06,-146.0,226.5,-7.6,165,1954,0.12,2.55,0.00,0.000,6,0.061,0.028,3131,1562,3400,0,0,0,0,0,0
$GC,2201,-0.95,-146.0,253.5,-10.6,171,2206,0.25,2.28,0.00,0.000,4,0.082,0.044,3191,170,3400,0,0,0,0,0,0
$GC,2249,-1.02,-146.0,258.1,-8.4,172,2253,0.00,2.12,0.00,0.000,6,0.000,0.018,3190,1574,3400,0,0,0,0,0,0
$GC,2534,-1.08,-146.0,278.2,-7.1,179,2539,0.12,2.47,0.00,0.000,4,0.063,0.025,3127,3139,3400,0,0,0,0,0,0
$GC,2558,-1.08,-146.0,280.7,-10.0,179,2563,0.17,2.55,0.00,0.000,6,0.085,0.029,3168,1569,3400,0,0,0,0,0,0
$GC,2823,-1.08,-146.0,304.5,-9.1,186,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1569,3399,0,0,0,0,0,0
$GC,3062,-1.08,-146.0,326.4,-9.0,192,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1569,3398,0,0,0,0,0,0
$GC,3306,-1.08,-146.0,346.4,-7.9,198,3310,0.00,2.50,0.00,0.000,4,0.000,0.028,3168,3129,3397,0,0,0,0,0,0
$GC,3364,-1.17,-146.0,350.8,-7.5,199,3369,0.10,2.53,0.00,0.000,6,0.075,0.033,3110,1579,3397,0,0,0,0,0,0
$GC,3640,-1.07,-146.0,379.8,-10.8,206,3645,0.25,2.38,0.00,0.000,4,0.081,0.053,3173,167,3395,0,0,0,0,0,0
$GC,3695,-1.15,-146.0,384.9,-7.9,207,3700,0.10,2.17,0.00,0.000,6,0.074,0.021,3115,1556,3395,0,0,0,0,0,0
$GC,3973,-1.07,-146.0,413.2,-10.3,214,3979,0.22,2.60,0.00,0.000,4,0.082,0.035,3166,3143,3393,0,0,0,0,0,0
$GC,4031,-1.18,-146.0,417.9,-7.0,215,4036,0.10,2.60,0.00,0.000,6,0.075,0.036,3108,1575,3393,0,0,0,0,0,0
$GC,4308,-1.10,-146.0,445.7,-10.4,222,4313,0.22,2.42,0.00,0.000,4,0.083,0.063,3160,165,3391,0,0,0,0,0,0
$GC,4339,-1.10,-146.0,448.8,-8.9,222,4343,0.00,2.22,0.00,0.000,6,0.000,0.025,3160,1578,3391,0,0,0,0,0,0
$GC,4596,-1.10,-146.0,467.6,-7.2,229,4600,0.00,2.58,0.00,0.000,4,0.000,0.040,3160,3151,3389,0,0,0,0,0,0
$GC,4634,-1.19,-146.0,470.5,-7.0,229,4640,0.00,2.60,0.00,0.000,6,0.000,0.038,3160,1587,3389,0,0,0,0,0,0
$GC,4886,-1.19,-146.0,487.0,-6.7,236,4891,0.00,2.45,0.00,0.000,4,0.000,0.069,3160,161,3387,0,0,0,0,0,0
$GC,4907,-1.19,-146.0,488.7,-7.1,236,4911,0.00,2.25,0.00,0.000,6,0.000,0.028,3159,1579,3387,0,0,0,0,0,0
$GC,5171,-1.19,-146.0,507.4,-7.2,243,5175,0.00,2.60,0.00,0.000,4,0.000,0.050,3159,3145,3386,0,0,0,0,0,0
$GC,5195,-1.26,-146.0,509.3,-8.3,243,5200,0.15,2.62,0.00,0.000,6,0.055,0.040,3094,1577,3385,0,0,0,0,0,0
$GC,5457,-1.17,-146.0,536.3,-10.5,250,5459,0.22,0.00,0.00,0.000,6,0.087,0.000,3144,1577,3383,0,0,0,0,0,0
$GC,5704,-1.17,-146.0,554.9,-7.5,256,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1577,3382,0,0,0,0,0,0
$GC,5943,-1.17,-146.0,572.3,-7.0,262,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1577,3380,0,0,0,0,0,0
$GC,6187,-1.17,-146.0,588.5,-6.7,268,6191,0.00,2.65,0.00,0.000,4,0.000,0.048,3144,3144,3379,0,0,0,0,0,0
$GC,6232,-1.25,-146.0,591.6,-6.8,269,6237,0.00,2.65,0.00,0.000,6,0.000,0.046,3144,1583,3379,0,0,0,0,0,0
$GC,6522,-1.25,-146.0,611.1,-6.6,276,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1582,3377,0,0,0,0,0,0
$GC,6765,-1.25,-146.0,626.5,-6.1,282,6770,0.00,2.50,0.00,0.000,4,0.000,0.078,3144,164,3376,0,0,0,0,0,0
$GC,6794,-1.25,-146.0,628.6,-7.4,282,6798,0.00,2.33,0.00,0.000,6,0.000,0.039,3144,1587,3375,0,0,0,0,0,0
$GC,7049,-1.25,-146.0,646.2,-6.9,289,7053,0.00,2.62,0.00,0.000,4,0.000,0.053,3144,3156,3374,0,0,0,0,0,0
$GC,7080,-1.30,-146.0,648.3,-7.1,289,7085,0.12,2.67,0.00,0.000,6,0.063,0.047,3087,1580,3374,0,0,0,0,0,0
$GC,7338,-1.21,-146.0,673.6,-10.2,296,7343,0.22,2.50,0.00,0.000,4,0.090,0.079,3137,167,3373,0,0,0,0,0,0
$GC,7364,-1.21,-146.0,676.5,-9.1,296,7368,0.00,2.33,0.00,0.000,6,0.000,0.035,3137,1592,3373,0,0,0,0,0,0
$GC,7625,-1.21,-146.0,697.6,-8.1,303,7626,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1593,3371,0,0,0,0,0,0
$GC,7867,-1.21,-146.0,716.6,-7.6,309,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1593,3371,0,0,0,0,0,0
$GC,8111,-1.21,-146.0,736.2,-8.2,315,8115,0.00,2.65,0.00,0.000,4,0.000,0.057,3137,3161,3370,0,0,0,0,0,0
$GC,8125,-1.21,-146.0,737.5,-8.3,315,8130,0.00,2.65,0.00,0.000,6,0.000,0.048,3137,1599,3369,0,0,0,0,0,0
$GC,8396,-1.21,-146.0,759.1,-8.2,322,8400,0.00,2.55,0.00,0.000,4,0.000,0.081,3137,161,3368,0,0,0,0,0,0
$GC,8429,-1.21,-146.0,762.3,-9.6,322,8433,0.00,2.38,0.00,0.000,6,0.000,0.035,3137,1607,3368,0,0,0,0,0,0
$GC,8679,-1.21,-146.0,782.1,-7.8,328,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1607,3367,0,0,0,0,0,0
$GC,8925,-1.21,-146.0,800.8,-7.6,334,8929,0.00,2.55,0.00,0.000,4,0.000,0.077,3137,166,3366,0,0,0,0,0,0
$GC,8948,-1.21,-146.0,803.0,-8.6,334,8953,0.00,2.35,0.00,0.000,6,0.000,0.036,3137,1595,3366,0,0,0,0,0,0
$GC,9210,-1.21,-146.0,821.8,-7.2,341,9215,0.00,2.65,0.00,0.000,4,0.000,0.057,3137,3163,3365,0,0,0,0,0,0
$GC,9241,-1.27,-146.0,824.2,-7.6,341,9245,0.00,2.67,0.00,0.000,6,0.000,0.050,3137,1595,3365,0,0,0,0,0,0
$GC,9496,-1.27,-146.0,842.2,-7.0,348,9500,0.00,2.53,0.00,0.000,4,0.000,0.081,3137,167,3365,0,0,0,0,0,0
$GC,9533,-1.27,-146.0,845.1,-8.6,348,9539,0.00,2.35,0.00,0.000,6,0.000,0.035,3137,1599,3364,0,0,0,0,0,0
$GC,9784,-1.27,-146.0,861.7,-6.7,355,9788,0.00,2.65,0.00,0.000,4,0.000,0.058,3137,3154,3364,0,0,0,0,0,0
$GC,9808,-1.33,-146.0,863.3,-7.5,355,9813,0.12,2.65,0.00,0.000,6,0.062,0.049,3079,1599,3364,0,0,0,0,0,0
$GC,10071,-1.24,-146.0,886.7,-9.1,362,10076,0.22,2.55,0.00,0.000,4,0.090,0.079,3130,162,3363,0,0,0,0,0,0
$GC,10115,-1.24,-146.0,890.5,-7.8,363,10119,0.00,2.35,0.00,0.000,6,0.000,0.036,3130,1604,3363,0,0,0,0,0,0
$STATE,10277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10277,begin apogee
$GC,10284,-0.31,0.0,902.3,7.2,367,10408,0.88,0.00,121.03,1.147,6,0.068,0.000,3332,1344,2800,0,0,0,0,0,0
$STATE,10409,end apogee,CONTROL_FINISHED_OK
$STATE,10409,begin climb
$GC,10413,1.27,146.0,905.9,0.0,370,10554,1.42,2.17,131.52,1.125,4,0.031,0.079,3683,181,2203,0,0,0,0,0,0
$GC,10662,1.01,146.0,885.9,14.4,375,10667,0.30,1.95,0.00,0.000,6,0.107,0.031,3622,1360,2199,0,0,0,0,0,0
$GC,10918,0.94,149.9,860.0,9.8,382,10922,0.00,2.10,0.00,0.000,4,0.000,0.074,3622,176,2194,0,0,0,0,0,0
$GC,10954,0.80,149.9,856.3,11.7,382,10958,0.22,1.92,0.00,0.000,6,0.103,0.031,3576,1355,2194,0,0,0,0,0,0
$GC,11204,0.86,199.8,836.2,7.7,388,11260,0.00,2.17,49.10,1.073,4,0.000,0.075,3575,167,1985,0,0,0,0,0,0
$GC,11285,0.86,199.8,829.1,10.3,389,11290,0.00,1.92,0.00,0.000,6,0.000,0.031,3575,1343,1984,0,0,0,0,0,0
$GC,11538,0.93,217.2,806.1,9.2,396,11562,0.12,2.78,17.35,1.002,4,0.067,0.055,3621,2928,1913,0,0,0,0,0,0
$GC,11572,0.93,217.2,801.9,10.5,396,11577,0.00,2.75,0.00,0.000,6,0.000,0.049,3621,1354,1911,0,0,0,0,0,0
$GC,11824,0.93,217.2,771.8,11.9,402,11828,0.00,2.15,0.00,0.000,4,0.000,0.087,3621,166,1909,0,0,0,0,0,0
$GC,11838,0.87,217.2,769.7,12.0,402,11843,0.15,1.98,0.00,0.000,6,0.110,0.030,3591,1355,1909,0,0,0,0,0,0
$GC,12111,0.87,217.2,740.9,10.4,409,12115,0.00,2.12,0.00,0.000,4,0.000,0.074,3590,163,1907,0,0,0,0,0,0
$GC,12127,0.87,217.2,739.4,10.1,409,12130,0.00,1.95,0.00,0.000,6,0.000,0.029,3590,1355,1907,0,0,0,0,0,0
$GC,12401,0.87,217.2,710.2,10.6,416,12402,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1357,1907,0,0,0,0,0,0
$GC,12643,0.87,217.2,685.2,10.2,422,12644,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1357,1906,0,0,0,0,0,0
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$STATE,18678,end climb,SURFACE_DEPTH_REACHED
$STATE,18678,begin surface coast
$FINISH,1.0,1.020700
$STATE,18724,end surface coast,CONTROL_FINISHED_OK
$STATE,18724,begin surface
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$SM_GC,1.79,0.00,0.00,39.40,0.000,0.000,0.426,416,1601,1209,-13.73,0.90,390.03
$IRIDIUM_FIX,2232.34,-15740.24,081102,060645
$TT8_MAMPS,0.027612
$HUMID,66.81
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.60
$XPDR_PINGS,11
$24V_AH,23.0,56.458
$10V_AH,9.9,54.174
$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
$DEVICE_SECS,35.025,203.650,420.650,39.400,0.000,29.708,37.562,216.443,2.750,0.000,12.957,1545.976,13825.328,536.525,2539.646,781.391,33.375,1610.476,0.000,2551.596,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,481.686,378.687,476.073,982.352,1294.865,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,57290,708
$CAP_FILE_SIZE,180232,0
$CFSIZE,260165632,143151104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140813,165520,2239.577,-15739.311,37,2.5,56,10.1