version: 66.06
glider: 148
mission: 12
dive: 386
start: 8 15 113 4 6 0
data:
$ID,148
$MISSION,12
$DIVE,386
$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,-1023729.7
$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,30
$R_STBD_OVSHOOT,111
$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
$GPS1,035720,2242.717,-15739.957,38,4.7,57,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-77.6
$GPS2,040506,2242.665,-15739.978,9,1.6,9,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.023,0.259
$KALMAN_X,-85754.9,-93.6,-36.9,120186.8,135.8
$KALMAN_Y,83360.2,33.7,-101.9,-87587.1,-1655.5
$MHEAD_RNG_PITCHd_Wd,355.0,42870,-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,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.28,0.000,2,0.000,0.000,413,1584,2937,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.6,-5.2,9,122,13.95,2.42,-8.07,0.000,4,0.144,0.034,3117,3093,3397,0,0,0,0,0,0
$GC,202,-1.08,-146.0,31.9,-18.1,25,207,0.20,2.47,0.00,0.000,6,0.102,0.030,3162,1569,3398,0,0,0,0,0,0
$GC,472,-0.92,-146.0,74.6,-13.0,49,481,0.17,0.00,0.00,0.000,6,0.100,0.000,3199,1568,3399,0,0,0,0,0,0
$GC,735,-0.92,-146.0,102.6,-9.8,74,739,0.00,2.38,0.00,0.000,4,0.000,0.021,3199,3088,3399,0,0,0,0,0,0
$GC,778,-0.92,-146.0,106.3,-9.2,77,783,0.00,2.42,0.00,0.000,6,0.000,0.028,3199,1579,3399,0,0,0,0,0,0
$GC,1043,-0.92,-146.0,131.2,-10.4,101,1047,0.00,2.33,0.00,0.000,4,0.000,0.043,3199,169,3400,0,0,0,0,0,0
$GC,1093,-0.92,-146.0,136.3,-10.9,105,1097,0.00,2.08,0.00,0.000,6,0.000,0.017,3199,1560,3400,0,0,0,0,0,0
$GC,1358,-0.92,-146.0,162.3,-9.3,129,1362,0.00,2.40,0.00,0.000,4,0.000,0.021,3199,3107,3401,0,0,0,0,0,0
$GC,1397,-1.01,-146.0,166.2,-8.9,132,1407,0.00,2.50,0.00,0.000,6,0.000,0.028,3199,1584,3401,0,0,0,0,0,0
$GC,1665,-1.01,-146.0,189.4,-8.9,157,1669,0.00,2.33,0.00,0.000,4,0.000,0.044,3199,167,3400,0,0,0,0,0,0
$GC,1690,-1.01,-146.0,192.1,-9.3,159,1694,0.00,2.10,0.00,0.000,6,0.000,0.018,3199,1583,3401,0,0,0,0,0,0
$GC,1947,-1.01,-146.0,214.2,-8.7,171,1951,0.00,2.38,0.00,0.000,4,0.000,0.021,3199,3105,3401,0,0,0,0,0,0
$GC,1971,-1.07,-146.0,216.7,-9.2,171,1976,0.15,2.47,0.00,0.000,6,0.051,0.028,3117,1580,3401,0,0,0,0,0,0
$GC,2236,-0.92,-146.0,252.1,-13.7,178,2238,0.38,0.00,0.00,0.000,6,0.078,0.000,3199,1579,3401,0,0,0,0,0,0
$GC,2482,-0.99,-146.0,271.9,-7.7,184,2486,0.00,2.42,0.00,0.000,4,0.000,0.023,3200,3113,3401,0,0,0,0,0,0
$GC,2525,-1.14,-146.0,275.3,-7.3,185,2530,0.20,2.45,0.00,0.000,6,0.042,0.029,3107,1592,3400,0,0,0,0,0,0
$GC,2817,-1.00,-146.0,310.2,-12.5,192,2819,0.32,0.00,0.00,0.000,6,0.084,0.000,3179,1592,3400,0,0,0,0,0,0
$GC,3057,-1.00,-146.0,329.1,-7.3,198,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1592,3399,0,0,0,0,0,0
$GC,3301,-1.04,-146.0,346.4,-7.1,204,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1592,3398,0,0,0,0,0,0
$GC,3547,-1.09,-146.0,361.3,-6.2,210,3551,0.00,2.38,0.00,0.000,4,0.000,0.053,3179,175,3397,0,0,0,0,0,0
$GC,3565,-1.09,-146.0,362.8,-6.8,210,3569,0.00,2.15,0.00,0.000,6,0.000,0.021,3179,1568,3397,0,0,0,0,0,0
$GC,3834,-1.14,-146.0,381.2,-7.1,217,3839,0.12,2.55,0.00,0.000,4,0.062,0.031,3114,3139,3395,0,0,0,0,0,0
$GC,3856,-1.14,-146.0,383.2,-9.3,217,3861,0.15,2.53,0.00,0.000,6,0.091,0.034,3150,1596,3395,0,0,0,0,0,0
$GC,4121,-1.14,-146.0,408.2,-9.4,224,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1597,3393,0,0,0,0,0,0
$GC,4365,-1.14,-146.0,430.2,-9.0,230,4369,0.00,2.45,0.00,0.000,4,0.000,0.064,3150,170,3391,0,0,0,0,0,0
$GC,4388,-1.14,-146.0,432.6,-10.9,230,4392,0.00,2.22,0.00,0.000,6,0.000,0.024,3150,1592,3392,0,0,0,0,0,0
$GC,4649,-1.14,-146.0,457.2,-9.7,237,4653,0.00,2.55,0.00,0.000,4,0.000,0.038,3150,3150,3389,0,0,0,0,0,0
$GC,4672,-1.14,-146.0,459.8,-10.1,237,4677,0.00,2.58,0.00,0.000,6,0.000,0.036,3150,1600,3389,0,0,0,0,0,0
$GC,4932,-1.14,-146.0,483.7,-9.2,244,4936,0.00,2.55,0.00,0.000,4,0.000,0.041,3150,3140,3387,0,0,0,0,0,0
$GC,4953,-1.14,-146.0,485.6,-9.8,244,4957,0.00,2.58,0.00,0.000,6,0.000,0.038,3150,1595,3387,0,0,0,0,0,0
$GC,5219,-1.14,-146.0,508.3,-8.5,251,5224,0.00,2.47,0.00,0.000,4,0.000,0.072,3150,170,3385,0,0,0,0,0,0
$GC,5248,-1.14,-146.0,511.2,-9.5,251,5252,0.00,2.28,0.00,0.000,6,0.000,0.029,3150,1601,3385,0,0,0,0,0,0
$GC,5504,-1.14,-146.0,531.2,-7.7,258,5508,0.00,2.55,0.00,0.000,4,0.000,0.043,3150,3151,3384,0,0,0,0,0,0
$GC,5518,-1.14,-146.0,532.5,-7.9,258,5523,0.00,2.60,0.00,0.000,6,0.000,0.039,3150,1598,3384,0,0,0,0,0,0
$GC,5787,-1.14,-146.0,551.5,-6.9,265,5792,0.00,2.50,0.00,0.000,4,0.000,0.073,3150,166,3382,0,0,0,0,0,0
$GC,5822,-1.14,-146.0,553.9,-7.4,265,5826,0.00,2.33,0.00,0.000,6,0.000,0.030,3150,1603,3382,0,0,0,0,0,0
$GC,6077,-1.14,-146.0,571.1,-6.9,271,6081,0.00,2.58,0.00,0.000,4,0.000,0.046,3150,3150,3380,0,0,0,0,0,0
$GC,6126,-1.23,-146.0,574.9,-7.8,272,6130,0.00,2.62,0.00,0.000,6,0.000,0.045,3150,1596,3380,0,0,0,0,0,0
$GC,6408,-1.23,-146.0,595.7,-7.4,279,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1596,3378,0,0,0,0,0,0
$GC,6652,-1.23,-146.0,615.2,-8.0,285,6656,0.00,2.62,0.00,0.000,4,0.000,0.046,3150,3153,3377,0,0,0,0,0,0
$GC,6678,-1.28,-146.0,617.2,-9.2,285,6683,0.12,2.62,0.00,0.000,6,0.064,0.046,3094,1605,3377,0,0,0,0,0,0
$GC,6939,-1.19,-146.0,645.4,-11.1,292,6944,0.20,2.55,0.00,0.000,4,0.090,0.079,3139,166,3376,0,0,0,0,0,0
$GC,6982,-1.19,-146.0,650.1,-10.5,293,6987,0.00,2.33,0.00,0.000,6,0.000,0.034,3139,1601,3375,0,0,0,0,0,0
$GC,7273,-1.19,-146.0,676.6,-9.3,300,7277,0.00,2.53,0.00,0.000,4,0.000,0.074,3139,167,3374,0,0,0,0,0,0
$GC,7301,-1.19,-146.0,679.9,-11.1,300,7305,0.00,2.35,0.00,0.000,6,0.000,0.035,3139,1602,3374,0,0,0,0,0,0
$GC,7556,-1.19,-146.0,703.4,-9.2,307,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1601,3373,0,0,0,0,0,0
$GC,7801,-1.19,-146.0,724.7,-8.6,313,7806,0.00,2.65,0.00,0.000,4,0.000,0.058,3139,3159,3372,0,0,0,0,0,0
$GC,7825,-1.19,-146.0,727.0,-8.7,313,7830,0.00,2.67,0.00,0.000,6,0.000,0.048,3139,1591,3371,0,0,0,0,0,0
$GC,8085,-1.19,-146.0,747.7,-7.9,320,8089,0.00,2.53,0.00,0.000,4,0.000,0.082,3139,165,3370,0,0,0,0,0,0
$GC,8124,-1.19,-146.0,750.8,-8.7,320,8131,0.00,2.38,0.00,0.000,6,0.000,0.036,3139,1596,3369,0,0,0,0,0,0
$GC,8374,-1.19,-146.0,769.3,-7.4,327,8379,0.00,2.62,0.00,0.000,4,0.000,0.055,3139,3159,3368,0,0,0,0,0,0
$GC,8398,-1.19,-146.0,771.2,-7.8,327,8402,0.00,2.65,0.00,0.000,6,0.000,0.049,3139,1590,3368,0,0,0,0,0,0
$GC,8659,-1.19,-146.0,790.4,-7.6,334,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1590,3367,0,0,0,0,0,0
$GC,8901,-1.19,-146.0,809.0,-7.7,340,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1590,3367,0,0,0,0,0,0
$GC,9149,-1.19,-146.0,827.6,-7.6,346,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1590,3366,0,0,0,0,0,0
$GC,9389,-1.19,-146.0,845.5,-7.3,352,9393,0.00,2.67,0.00,0.000,4,0.000,0.048,3139,3160,3365,0,0,0,0,0,0
$GC,9419,-1.26,-146.0,847.7,-7.3,352,9424,0.00,2.67,0.00,0.000,6,0.000,0.051,3138,1602,3365,0,0,0,0,0,0
$GC,9674,-1.26,-146.0,865.2,-6.7,359,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1602,3364,0,0,0,0,0,0
$GC,9918,-1.26,-146.0,881.4,-6.9,365,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1602,3364,0,0,0,0,0,0
$GC,10166,-1.26,-146.0,899.4,-7.6,371,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1602,3363,0,0,0,0,0,0
$STATE,10199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10200,begin apogee
$GC,10206,-0.31,0.0,902.5,7.6,372,10331,0.82,0.00,121.18,1.151,6,0.070,0.000,3330,1339,2800,0,0,0,0,0,0
$STATE,10331,end apogee,CONTROL_FINISHED_OK
$STATE,10331,begin climb
$GC,10334,1.27,146.0,907.2,0.0,375,10474,1.42,2.20,131.07,1.131,4,0.034,0.086,3677,174,2203,0,0,0,0,0,0
$GC,10535,1.02,146.0,896.5,13.5,379,10540,0.28,1.95,0.00,0.000,6,0.108,0.031,3622,1353,2200,0,0,0,0,0,0
$GC,10799,0.97,167.0,872.7,9.0,386,10824,0.00,2.20,19.15,1.038,4,0.000,0.074,3621,170,2119,0,0,0,0,0,0
$GC,10862,0.86,167.0,865.6,10.8,387,10867,0.17,1.95,0.00,0.000,6,0.110,0.031,3586,1349,2118,0,0,0,0,0,0
$GC,11133,0.89,194.7,842.0,8.7,394,11161,0.00,0.00,26.70,1.049,6,0.000,0.000,3586,1349,2006,0,0,0,0,0,0
$GC,11375,0.90,205.6,819.0,9.5,400,11391,0.00,2.75,11.38,0.956,4,0.000,0.055,3586,2933,1960,0,0,0,0,0,0
$GC,11402,0.94,232.9,816.4,8.7,400,11437,0.00,2.72,27.67,1.035,6,0.000,0.047,3586,1351,1850,0,0,0,0,0,0
$GC,11709,0.94,232.9,785.1,10.3,408,11713,0.00,2.67,0.00,0.000,4,0.000,0.044,3586,2935,1845,0,0,0,0,0,0
$GC,11733,1.00,232.9,782.2,10.3,408,11740,0.12,2.72,0.00,0.000,6,0.065,0.050,3633,1351,1842,0,0,0,0,0,0
$GC,11997,0.95,232.9,749.8,12.5,415,11999,0.12,0.00,0.00,0.000,6,0.114,0.000,3607,1350,1841,0,0,0,0,0,0
$GC,12243,0.95,232.9,722.2,11.4,421,12244,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1350,1841,0,0,0,0,0,0
$GC,12482,0.95,232.9,693.3,11.9,427,12487,0.00,2.70,0.00,0.000,4,0.000,0.048,3607,2936,1841,0,0,0,0,0,0
$GC,12511,0.99,232.9,689.8,12.0,427,12515,0.00,2.72,0.00,0.000,6,0.000,0.051,3607,1348,1839,0,0,0,0,0,0
$GC,12765,0.99,232.9,659.7,11.9,434,12769,0.00,2.12,0.00,0.000,4,0.000,0.086,3607,161,1839,0,0,0,0,0,0
$GC,12779,0.99,232.9,657.8,11.9,434,12783,0.00,1.92,0.00,0.000,6,0.000,0.028,3607,1364,1839,0,0,0,0,0,0
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$STATE,18541,end climb,SURFACE_DEPTH_REACHED
$STATE,18541,begin surface coast
$FINISH,1.0,1.016472
$STATE,18587,end surface coast,CONTROL_FINISHED_OK
$STATE,18587,begin surface
$SM_CCo,18611,45.88,0.430,0,0,1209,390.03
$SM_GC,1.74,0.00,0.00,45.88,0.000,0.000,0.430,412,1580,1209,-13.74,0.28,390.03
$IRIDIUM_FIX,2232.34,-15741.13,081102,222221
$TT8_MAMPS,0.027612
$HUMID,66.57
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.50
$XPDR_PINGS,9
$24V_AH,23.0,56.900
$10V_AH,9.9,54.628
$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
$DEVICE_SECS,33.100,202.575,409.600,45.875,0.000,29.306,45.772,230.455,2.250,0.000,10.919,1548.519,13677.604,540.188,2550.299,797.040,33.370,1605.759,0.000,2563.428,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.527,386.513,486.793,1004.553,1324.595,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,57382,712
$CAP_FILE_SIZE,176136,0
$CFSIZE,260165632,142925824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150813,091826,2243.973,-15740.314,24,2.1,43,10.1