version: 66.06
glider: 148
mission: 12
dive: 398
start: 8 17 113 21 59 10
data:
$ID,148
$MISSION,12
$DIVE,398
$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,-1023991.3
$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,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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,215006,2302.202,-15736.274,36,1.9,41,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-76.0
$GPS2,215813,2302.151,-15736.330,12,1.2,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.110,0.235
$KALMAN_X,-91725.9,-96.9,397.5,131957.2,-1066.6
$KALMAN_Y,65995.7,-178.7,-219.7,-33809.8,-631.9
$MHEAD_RNG_PITCHd_Wd,15.1,6268,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-66.78,0.000,2,0.000,0.000,414,1555,2904,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-3.5,9,120,13.98,2.60,-9.30,0.000,4,0.146,0.031,3117,3168,3396,0,0,0,0,0,0
$GC,182,-1.09,-146.0,24.9,-17.9,22,192,0.17,2.62,0.00,0.000,6,0.087,0.032,3159,1585,3396,0,0,0,0,0,0
$GC,463,-0.91,-146.0,72.9,-14.5,49,468,0.20,2.33,0.00,0.000,4,0.097,0.050,3203,167,3397,0,0,0,0,0,0
$GC,508,-0.91,-146.0,79.3,-12.0,52,512,0.00,2.20,0.00,0.000,6,0.000,0.016,3202,1622,3397,0,0,0,0,0,0
$GC,771,-0.91,-146.0,106.3,-11.4,76,775,0.00,2.42,0.00,0.000,4,0.000,0.021,3203,3179,3398,0,0,0,0,0,0
$GC,792,-0.91,-146.0,109.0,-11.4,77,800,0.00,2.60,0.00,0.000,6,0.000,0.028,3203,1560,3398,0,0,0,0,0,0
$GC,1057,-0.91,-146.0,136.4,-10.0,102,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1560,3399,0,0,0,0,0,0
$GC,1322,-0.91,-146.0,161.6,-9.3,127,1326,0.00,2.53,0.00,0.000,4,0.000,0.021,3203,3168,3399,0,0,0,0,0,0
$GC,1363,-0.98,-146.0,165.0,-8.6,130,1368,0.00,2.58,0.00,0.000,6,0.000,0.028,3203,1565,3399,0,0,0,0,0,0
$GC,1632,-0.98,-146.0,188.9,-9.1,154,1636,0.00,2.28,0.00,0.000,4,0.000,0.044,3203,167,3399,0,0,0,0,0,0
$GC,1656,-0.98,-146.0,191.8,-9.1,156,1660,0.00,2.17,0.00,0.000,6,0.000,0.017,3203,1628,3399,0,0,0,0,0,0
$GC,1912,-0.98,-146.0,214.5,-8.7,168,1916,0.00,2.40,0.00,0.000,4,0.000,0.043,3203,170,3399,0,0,0,0,0,0
$GC,1931,-0.98,-146.0,216.6,-9.5,168,1935,0.00,2.17,0.00,0.000,6,0.000,0.018,3203,1622,3399,0,0,0,0,0,0
$GC,2197,-1.04,-146.0,239.0,-8.3,175,2202,0.12,2.45,0.00,0.000,4,0.064,0.023,3126,3178,3399,0,0,0,0,0,0
$GC,2235,-1.04,-146.0,243.2,-10.4,175,2243,0.15,2.65,0.00,0.000,6,0.071,0.029,3166,1565,3399,0,0,0,0,0,0
$GC,2485,-1.04,-146.0,265.4,-8.7,182,2489,0.00,2.55,0.00,0.000,4,0.000,0.023,3166,3168,3399,0,0,0,0,0,0
$GC,2520,-1.09,-146.0,268.1,-8.0,182,2525,0.00,2.62,0.00,0.000,6,0.000,0.029,3166,1556,3399,0,0,0,0,0,0
$GC,2770,-1.09,-146.0,287.9,-8.0,188,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1556,3398,0,0,0,0,0,0
$GC,3014,-1.09,-146.0,309.6,-9.0,194,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1556,3397,0,0,0,0,0,0
$GC,3258,-1.09,-146.0,331.4,-8.8,200,3262,0.00,2.58,0.00,0.000,4,0.000,0.028,3166,3161,3396,0,0,0,0,0,0
$GC,3288,-1.15,-146.0,333.9,-7.7,200,3293,0.00,2.62,0.00,0.000,6,0.000,0.034,3166,1573,3396,0,0,0,0,0,0
$GC,3543,-1.15,-146.0,353.6,-7.5,207,3547,0.00,2.35,0.00,0.000,4,0.000,0.055,3166,170,3394,0,0,0,0,0,0
$GC,3568,-1.15,-146.0,355.7,-8.3,207,3573,0.00,2.22,0.00,0.000,6,0.000,0.021,3167,1609,3394,0,0,0,0,0,0
$GC,3829,-1.15,-146.0,375.0,-7.5,214,3834,0.00,2.47,0.00,0.000,4,0.000,0.032,3166,3147,3393,0,0,0,0,0,0
$GC,3854,-1.19,-146.0,377.0,-8.3,214,3859,0.12,2.58,0.00,0.000,6,0.061,0.035,3118,1578,3393,0,0,0,0,0,0
$GC,4118,-1.11,-146.0,403.7,-10.6,221,4120,0.17,0.00,0.00,0.000,6,0.096,0.000,3157,1578,3391,0,0,0,0,0,0
$GC,4357,-1.11,-146.0,424.9,-8.6,227,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1578,3389,0,0,0,0,0,0
$GC,4603,-1.11,-146.0,446.0,-8.6,233,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1578,3388,0,0,0,0,0,0
$GC,4845,-1.11,-146.0,466.7,-8.5,239,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1578,3386,0,0,0,0,0,0
$GC,5090,-1.11,-146.0,486.0,-7.9,245,5095,0.00,2.62,0.00,0.000,4,0.000,0.041,3157,3136,3385,0,0,0,0,0,0
$GC,5128,-1.20,-146.0,489.2,-7.7,245,5136,0.00,2.62,0.00,0.000,6,0.000,0.039,3157,1584,3385,0,0,0,0,0,0
$GC,5378,-1.20,-146.0,508.2,-7.6,252,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1585,3383,0,0,0,0,0,0
$GC,5624,-1.20,-146.0,526.7,-7.5,258,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1585,3381,0,0,0,0,0,0
$GC,5866,-1.20,-146.0,544.6,-7.4,264,5870,0.00,2.60,0.00,0.000,4,0.000,0.042,3157,3130,3380,0,0,0,0,0,0
$GC,5890,-1.25,-146.0,546.5,-8.4,264,5895,0.12,2.60,0.00,0.000,6,0.063,0.043,3107,1577,3380,0,0,0,0,0,0
$GC,6156,-1.18,-146.0,571.7,-10.0,271,6161,0.15,2.47,0.00,0.000,4,0.106,0.075,3141,170,3378,0,0,0,0,0,0
$GC,6182,-1.18,-146.0,574.9,-10.1,271,6186,0.00,2.25,0.00,0.000,6,0.000,0.029,3141,1566,3377,0,0,0,0,0,0
$GC,6441,-1.18,-146.0,596.2,-8.2,278,6445,0.00,2.62,0.00,0.000,4,0.000,0.045,3141,3158,3376,0,0,0,0,0,0
$GC,6471,-1.18,-146.0,598.6,-8.2,278,6476,0.00,2.65,0.00,0.000,6,0.000,0.045,3141,1591,3376,0,0,0,0,0,0
$GC,6726,-1.18,-146.0,618.4,-7.7,285,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1591,3374,0,0,0,0,0,0
$GC,6972,-1.18,-146.0,637.7,-8.0,291,6976,0.00,2.50,0.00,0.000,4,0.000,0.079,3141,163,3373,0,0,0,0,0,0
$GC,7002,-1.18,-146.0,640.5,-9.7,291,7006,0.00,2.30,0.00,0.000,6,0.000,0.032,3141,1591,3373,0,0,0,0,0,0
$GC,7257,-1.18,-146.0,662.4,-8.6,298,7261,0.00,2.62,0.00,0.000,4,0.000,0.052,3141,3151,3371,0,0,0,0,0,0
$GC,7278,-1.18,-146.0,664.5,-9.2,298,7282,0.00,2.65,0.00,0.000,6,0.000,0.048,3141,1580,3371,0,0,0,0,0,0
$GC,7544,-1.18,-146.0,687.4,-8.7,305,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1580,3370,0,0,0,0,0,0
$GC,7788,-1.18,-146.0,706.3,-7.6,311,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1580,3369,0,0,0,0,0,0
$GC,8029,-1.18,-146.0,723.1,-6.8,317,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1580,3367,0,0,0,0,0,0
$GC,8273,-1.18,-146.0,738.9,-6.3,323,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1579,3367,0,0,0,0,0,0
$GC,8519,-1.18,-146.0,754.5,-6.4,329,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1579,3366,0,0,0,0,0,0
$GC,8761,-1.18,-146.0,771.1,-6.8,335,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1579,3365,0,0,0,0,0,0
$GC,9007,-1.18,-146.0,788.1,-7.1,341,9011,0.00,2.65,0.00,0.000,4,0.000,0.045,3141,3154,3364,0,0,0,0,0,0
$GC,9026,-1.18,-146.0,789.8,-7.9,341,9030,0.00,2.65,0.00,0.000,6,0.000,0.049,3141,1588,3364,0,0,0,0,0,0
$GC,9292,-1.18,-146.0,809.1,-7.4,348,9296,0.00,2.50,0.00,0.000,4,0.000,0.083,3141,167,3363,0,0,0,0,0,0
$GC,9320,-1.18,-146.0,811.6,-8.3,348,9325,0.00,2.33,0.00,0.000,6,0.000,0.035,3141,1590,3362,0,0,0,0,0,0
$GC,9575,-1.18,-146.0,829.8,-7.1,355,9579,0.00,2.62,0.00,0.000,4,0.000,0.054,3141,3153,3362,0,0,0,0,0,0
$GC,9610,-1.26,-146.0,832.3,-7.2,355,9615,0.00,2.65,0.00,0.000,6,0.000,0.050,3141,1592,3362,0,0,0,0,0,0
$GC,9865,-1.26,-146.0,849.5,-6.9,361,9869,0.00,2.50,0.00,0.000,4,0.000,0.081,3141,166,3360,0,0,0,0,0,0
$GC,9898,-1.26,-146.0,852.3,-8.2,361,9902,0.00,2.35,0.00,0.000,6,0.000,0.035,3141,1598,3360,0,0,0,0,0,0
$GC,10149,-1.26,-146.0,868.8,-6.4,367,10154,0.00,2.65,0.00,0.000,4,0.000,0.054,3141,3162,3360,0,0,0,0,0,0
$GC,10169,-1.30,-146.0,870.3,-7.2,367,10175,0.12,2.65,0.00,0.000,6,0.064,0.049,3096,1596,3360,0,0,0,0,0,0
$GC,10435,-1.24,-146.0,892.5,-8.5,374,10440,0.15,2.53,0.00,0.000,4,0.105,0.081,3129,165,3359,0,0,0,0,0,0
$GC,10481,-1.24,-146.0,896.2,-8.6,375,10485,0.00,2.35,0.00,0.000,6,0.000,0.035,3129,1598,3359,0,0,0,0,0,0
$STATE,10562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10562,begin apogee
$GC,10568,-0.31,0.0,902.2,6.8,377,10692,0.88,0.00,120.47,1.155,6,0.067,0.000,3331,1339,2800,0,0,0,0,0,0
$STATE,10693,end apogee,CONTROL_FINISHED_OK
$STATE,10693,begin climb
$GC,10697,1.27,146.0,905.2,0.0,380,10838,1.45,2.17,132.15,1.133,4,0.035,0.080,3681,177,2203,0,0,0,0,0,0
$GC,10937,1.02,146.0,885.8,14.5,385,10942,0.22,1.98,0.00,0.000,6,0.100,0.031,3623,1354,2199,0,0,0,0,0,0
$GC,11206,0.94,146.0,857.3,10.2,392,11210,0.00,2.12,0.00,0.000,4,0.000,0.074,3623,168,2193,0,0,0,0,0,0
$GC,11251,0.81,146.0,852.4,11.5,393,11256,0.22,1.92,0.00,0.000,6,0.105,0.030,3577,1352,2193,0,0,0,0,0,0
$GC,11539,0.85,180.8,827.9,8.4,400,11572,0.00,0.00,31.77,1.060,6,0.000,0.000,3577,1354,2062,0,0,0,0,0,0
$GC,11786,0.87,194.1,805.3,9.4,406,11807,0.00,2.75,13.38,0.976,4,0.000,0.054,3577,2928,2006,0,0,0,0,0,0
$GC,11828,0.99,230.8,800.8,8.3,406,11875,0.15,2.75,36.22,1.044,6,0.058,0.051,3630,1361,1858,0,0,0,0,0,0
$GC,12120,0.94,230.8,763.3,13.2,414,12122,0.12,0.00,0.00,0.000,6,0.114,0.000,3604,1360,1853,0,0,0,0,0,0
$GC,12361,0.94,230.8,735.2,11.3,420,12362,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1360,1851,0,0,0,0,0,0
$GC,12607,0.94,230.8,709.3,10.4,426,12612,0.00,2.67,0.00,0.000,4,0.000,0.044,3604,2930,1851,0,0,0,0,0,0
$GC,12627,0.94,235.1,707.2,9.8,426,12632,0.00,2.75,0.00,0.000,6,0.000,0.051,3604,1346,1848,0,0,0,0,0,0
$GC,12891,0.94,235.1,679.5,10.4,433,12896,0.00,2.67,0.00,0.000,4,0.000,0.046,3604,2930,1848,0,0,0,0,0,0
$GC,12910,0.94,235.1,677.5,10.7,433,12914,0.00,2.70,0.00,0.000,6,0.000,0.050,3604,1356,1847,0,0,0,0,0,0
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$STATE,18989,end climb,SURFACE_DEPTH_REACHED
$STATE,18989,begin surface coast
$FINISH,1.0,1.015286
$STATE,19029,end surface coast,CONTROL_FINISHED_OK
$STATE,19030,begin surface
$SM_CCo,19055,41.78,0.430,0,0,1210,390.03
$SM_GC,1.80,0.00,0.00,41.78,0.000,0.000,0.430,412,1573,1210,-13.74,0.08,390.03
$IRIDIUM_FIX,2253.38,-15737.57,111102,161600
$TT8_MAMPS,0.027612
$HUMID,68.31
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.20
$XPDR_PINGS,9
$24V_AH,23.0,58.685
$10V_AH,9.8,56.444
$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
$DEVICE_SECS,33.100,192.350,416.050,41.775,0.000,27.790,34.967,261.057,2.250,0.000,14.266,1528.595,14222.521,553.300,2470.089,801.132,33.371,1580.122,0.000,2480.462,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,484.749,378.254,473.152,984.824,1297.320,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,57258,711
$CAP_FILE_SIZE,174973,0
$CFSIZE,260165632,142016512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180813,031920,2304.005,-15735.709,50,2.1,69,10.1