version: 66.06
glider: 148
mission: 12
dive: 51
start: 5 31 113 19 18 36
data:
$ID,148
$MISSION,12
$DIVE,51
$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,-1015986
$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,1590
$C_ROLL_CLIMB,1340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2820
$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
$GPS1,191100,2238.532,-15738.386,63,1.2,63,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-76.0
$GPS2,191742,2238.511,-15738.462,10,1.0,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.098,0.241
$KALMAN_X,-19726.5,-118.4,-290.9,57027.8,-1218.3
$KALMAN_Y,15237.7,178.2,-395.9,-27013.6,881.6
$MHEAD_RNG_PITCHd_Wd,12.0,50122,-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,-67.03,0.000,2,0.000,0.000,413,1581,2936,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.2,-4.6,9,121,14.12,2.55,-8.65,0.000,4,0.153,0.032,3102,3167,3416,0,0,0,0,0,0
$GC,187,-1.10,-146.0,28.1,-18.3,23,197,0.15,2.62,0.00,0.000,6,0.084,0.031,3139,1587,3417,0,0,0,0,0,0
$GC,466,-0.94,-146.0,72.7,-16.8,49,475,0.17,0.00,0.00,0.000,6,0.105,0.000,3178,1587,3417,0,0,0,0,0,0
$GC,727,-0.94,-146.0,104.2,-10.6,74,731,0.00,2.33,0.00,0.000,4,0.000,0.051,3178,165,3418,0,0,0,0,0,0
$GC,755,-0.94,-146.0,107.0,-10.3,76,759,0.00,2.17,0.00,0.000,6,0.000,0.018,3178,1607,3418,0,0,0,0,0,0
$GC,1026,-0.94,-146.0,130.5,-8.4,101,1030,0.00,2.38,0.00,0.000,4,0.000,0.044,3178,160,3419,0,0,0,0,0,0
$GC,1055,-0.94,-146.0,133.1,-9.5,103,1059,0.00,2.12,0.00,0.000,6,0.000,0.018,3178,1573,3419,0,0,0,0,0,0
$GC,1323,-0.94,-146.0,157.1,-9.5,127,1327,0.00,2.45,0.00,0.000,4,0.000,0.023,3178,3146,3419,0,0,0,0,0,0
$GC,1361,-1.03,-146.0,160.9,-9.1,130,1365,0.00,2.53,0.00,0.000,6,0.000,0.029,3178,1578,3419,0,0,0,0,0,0
$GC,1628,-1.03,-146.0,184.9,-8.9,154,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1578,3419,0,0,0,0,0,0
$GC,1886,-1.03,-146.0,207.9,-9.4,173,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1578,3419,0,0,0,0,0,0
$GC,2131,-1.08,-146.0,232.5,-10.2,179,2133,0.12,0.00,0.00,0.000,6,0.064,0.000,3123,1578,3419,0,0,0,0,0,0
$GC,2373,-1.02,-146.0,263.3,-12.5,185,2378,0.17,2.50,0.00,0.000,4,0.096,0.027,3161,3143,3419,0,0,0,0,0,0
$GC,2393,-1.02,-146.0,265.4,-10.7,185,2398,0.00,2.53,0.00,0.000,6,0.000,0.030,3161,1580,3419,0,0,0,0,0,0
$GC,2659,-1.07,-146.0,287.2,-8.1,192,2663,0.00,2.50,0.00,0.000,4,0.000,0.028,3161,3139,3419,0,0,0,0,0,0
$GC,2683,-1.15,-146.0,289.0,-7.8,192,2688,0.12,2.50,0.00,0.000,6,0.061,0.032,3091,1595,3419,0,0,0,0,0,0
$GC,2943,-1.04,-146.0,316.8,-10.8,199,2945,0.30,0.00,0.00,0.000,6,0.087,0.000,3157,1595,3419,0,0,0,0,0,0
$GC,3189,-1.09,-146.0,333.9,-7.0,205,3193,0.00,2.40,0.00,0.000,4,0.000,0.056,3158,167,3417,0,0,0,0,0,0
$GC,3236,-1.18,-146.0,337.5,-7.0,206,3241,0.12,2.17,0.00,0.000,6,0.064,0.024,3099,1561,3417,0,0,0,0,0,0
$GC,3521,-1.11,-146.0,365.1,-10.0,213,3526,0.20,2.60,0.00,0.000,4,0.094,0.034,3143,3168,3416,0,0,0,0,0,0
$GC,3551,-1.18,-146.0,367.7,-7.2,213,3555,0.00,2.60,0.00,0.000,6,0.000,0.038,3143,1587,3416,0,0,0,0,0,0
$GC,3806,-1.18,-146.0,383.6,-6.2,220,3810,0.00,2.42,0.00,0.000,4,0.000,0.062,3143,162,3414,0,0,0,0,0,0
$GC,3835,-1.18,-146.0,385.5,-6.9,220,3839,0.00,2.25,0.00,0.000,6,0.000,0.025,3143,1587,3414,0,0,0,0,0,0
$GC,4094,-1.18,-146.0,400.5,-5.8,227,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1589,3412,0,0,0,0,0,0
$GC,4338,-1.18,-146.0,415.6,-6.3,233,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1589,3411,0,0,0,0,0,0
$GC,4582,-1.22,-146.0,433.8,-7.8,239,4584,0.10,0.00,0.00,0.000,6,0.078,0.000,3097,1589,3409,0,0,0,0,0,0
$GC,4827,-1.17,-146.0,459.7,-10.9,245,4832,0.15,2.60,0.00,0.000,4,0.100,0.041,3130,3165,3408,0,0,0,0,0,0
$GC,4846,-1.17,-146.0,462.1,-10.6,245,4851,0.00,2.62,0.00,0.000,6,0.000,0.036,3130,1582,3407,0,0,0,0,0,0
$GC,5110,-1.17,-146.0,488.0,-10.2,252,5114,0.00,2.45,0.00,0.000,4,0.000,0.072,3130,172,3406,0,0,0,0,0,0
$GC,5139,-1.17,-146.0,491.1,-11.3,252,5143,0.00,2.28,0.00,0.000,6,0.000,0.031,3130,1580,3405,0,0,0,0,0,0
$GC,5393,-1.17,-146.0,518.5,-10.9,259,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1581,3404,0,0,0,0,0,0
$GC,5637,-1.17,-146.0,544.9,-10.7,265,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1581,3403,0,0,0,0,0,0
$GC,5882,-1.17,-146.0,568.2,-9.1,271,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1581,3402,0,0,0,0,0,0
$GC,6125,-1.17,-146.0,584.7,-6.3,277,6129,0.00,2.65,0.00,0.000,4,0.000,0.048,3130,3171,3401,0,0,0,0,0,0
$GC,6144,-1.22,-146.0,585.8,-5.7,277,6149,0.00,2.67,0.00,0.000,6,0.000,0.045,3131,1575,3401,0,0,0,0,0,0
$GC,6408,-1.22,-146.0,598.3,-4.7,284,6413,0.00,2.47,0.00,0.000,4,0.000,0.080,3130,169,3399,0,0,0,0,0,0
$GC,6454,-1.27,-146.0,600.7,-6.1,285,6458,0.00,2.30,0.00,0.000,6,0.000,0.035,3130,1577,3399,0,0,0,0,0,0
$GC,6741,-1.27,-146.0,616.4,-5.7,292,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1577,3398,0,0,0,0,0,0
$GC,6986,-1.32,-146.0,631.8,-6.4,298,6991,0.15,2.70,0.00,0.000,4,0.058,0.050,3073,3175,3397,0,0,0,0,0,0
$GC,7006,-1.32,-146.0,633.7,-8.2,298,7011,0.10,2.70,0.00,0.000,6,0.119,0.048,3096,1575,3396,0,0,0,0,0,0
$GC,7271,-1.32,-146.0,655.8,-8.5,305,7275,0.00,2.70,0.00,0.000,4,0.000,0.049,3096,3172,3395,0,0,0,0,0,0
$GC,7292,-1.32,-146.0,657.5,-8.1,305,7296,0.00,2.67,0.00,0.000,6,0.000,0.049,3096,1587,3395,0,0,0,0,0,0
$GC,7556,-1.32,-146.0,680.2,-8.6,312,7560,0.00,2.53,0.00,0.000,4,0.000,0.084,3096,165,3394,0,0,0,0,0,0
$GC,7608,-1.32,-146.0,685.5,-11.2,313,7613,0.00,2.35,0.00,0.000,6,0.000,0.039,3096,1588,3393,0,0,0,0,0,0
$GC,7887,-1.32,-146.0,711.1,-9.3,320,7892,0.00,2.67,0.00,0.000,4,0.000,0.054,3096,3174,3392,0,0,0,0,0,0
$GC,7906,-1.32,-146.0,713.2,-10.3,320,7911,0.00,2.70,0.00,0.000,6,0.000,0.049,3096,1583,3392,0,0,0,0,0,0
$GC,8170,-1.32,-146.0,738.8,-9.8,327,8175,0.00,2.47,0.00,0.000,4,0.000,0.083,3096,169,3391,0,0,0,0,0,0
$GC,8209,-1.32,-146.0,742.8,-10.8,327,8214,0.00,2.33,0.00,0.000,6,0.000,0.038,3096,1581,3391,0,0,0,0,0,0
$GC,8459,-1.32,-146.0,766.6,-9.8,334,8463,0.00,2.70,0.00,0.000,4,0.000,0.054,3096,3174,3390,0,0,0,0,0,0
$GC,8478,-1.32,-146.0,768.7,-9.9,334,8483,0.00,2.70,0.00,0.000,6,0.000,0.050,3096,1576,3390,0,0,0,0,0,0
$GC,8744,-1.32,-146.0,791.7,-8.4,341,8748,0.00,2.50,0.00,0.000,4,0.000,0.084,3096,167,3389,0,0,0,0,0,0
$GC,8795,-1.32,-146.0,796.5,-8.9,342,8799,0.00,2.30,0.00,0.000,6,0.000,0.038,3096,1577,3389,0,0,0,0,0,0
$GC,9073,-1.32,-146.0,819.1,-8.3,349,9077,0.00,2.70,0.00,0.000,4,0.000,0.057,3096,3178,3388,0,0,0,0,0,0
$GC,9093,-1.32,-146.0,820.9,-8.6,349,9098,0.00,2.75,0.00,0.000,6,0.000,0.051,3096,1568,3388,0,0,0,0,0,0
$GC,9357,-1.32,-146.0,844.1,-9.0,356,9362,0.00,2.50,0.00,0.000,4,0.000,0.084,3096,162,3387,0,0,0,0,0,0
$GC,9376,-1.32,-146.0,845.9,-9.5,356,9380,0.00,2.33,0.00,0.000,6,0.000,0.037,3096,1581,3387,0,0,0,0,0,0
$GC,9646,-1.32,-146.0,869.9,-8.8,363,9650,0.00,2.47,0.00,0.000,4,0.000,0.077,3096,170,3386,0,0,0,0,0,0
$GC,9665,-1.32,-146.0,871.9,-9.6,363,9669,0.00,2.28,0.00,0.000,6,0.000,0.038,3096,1570,3386,0,0,0,0,0,0
$GC,9929,-1.32,-146.0,895.4,-9.0,370,9933,0.00,2.47,0.00,0.000,4,0.000,0.078,3096,163,3385,0,0,0,0,0,0
$GC,9963,-1.32,-146.0,898.5,-8.3,370,9967,0.00,2.30,0.00,0.000,6,0.000,0.038,3096,1565,3385,0,0,0,0,0,0
$STATE,10011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10011,begin apogee
$GC,10018,-0.31,0.0,903.1,8.9,372,10140,0.98,0.00,119.18,1.168,6,0.078,0.000,3316,1335,2820,0,0,0,0,0,0
$STATE,10141,end apogee,CONTROL_FINISHED_OK
$STATE,10141,begin climb
$GC,10144,1.27,146.0,907.0,0.0,375,10284,1.42,2.17,129.65,1.144,4,0.030,0.081,3666,172,2223,0,0,0,0,0,0
$GC,10416,0.97,146.0,881.2,16.9,381,10421,0.35,1.92,0.00,0.000,6,0.116,0.032,3597,1350,2218,0,0,0,0,0,0
$GC,10694,0.88,146.0,846.1,12.5,388,10698,0.00,2.12,0.00,0.000,4,0.000,0.076,3596,165,2212,0,0,0,0,0,0
$GC,10770,0.74,146.0,835.7,14.5,389,10774,0.25,1.92,0.00,0.000,6,0.104,0.034,3545,1342,2212,0,0,0,0,0,0
$GC,11025,0.74,146.0,807.3,10.9,396,11029,0.00,2.67,0.00,0.000,4,0.000,0.052,3545,2919,2210,0,0,0,0,0,0
$GC,11053,0.79,146.0,804.0,10.5,396,11058,0.00,2.72,0.00,0.000,6,0.000,0.051,3545,1347,2208,0,0,0,0,0,0
$GC,11309,0.79,146.0,777.6,10.1,403,11311,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1347,2208,0,0,0,0,0,0
$GC,11552,0.82,173.3,755.7,8.7,409,11580,0.00,2.20,23.33,1.031,4,0.000,0.088,3544,167,2113,0,0,0,0,0,0
$GC,11609,0.84,189.1,750.6,9.3,410,11630,0.10,1.92,16.00,0.986,6,0.083,0.032,3578,1346,2048,0,0,0,0,0,0
$GC,11883,0.84,189.1,722.2,10.7,417,11888,0.00,2.67,0.00,0.000,4,0.000,0.052,3578,2924,2043,0,0,0,0,0,0
$GC,11898,0.84,189.1,720.2,10.8,417,11902,0.00,2.72,0.00,0.000,6,0.000,0.048,3578,1342,2041,0,0,0,0,0,0
$GC,12166,0.84,189.1,691.5,10.6,424,12170,0.00,2.12,0.00,0.000,4,0.000,0.087,3578,163,2041,0,0,0,0,0,0
$GC,12205,0.78,189.1,687.1,11.5,424,12210,0.08,1.95,0.00,0.000,6,0.097,0.033,3559,1338,2041,0,0,0,0,0,0
$GC,12460,0.79,193.0,662.0,9.8,431,12464,0.00,2.08,0.00,0.000,4,0.000,0.074,3559,166,2040,0,0,0,0,0,0
$GC,12478,0.79,193.0,659.8,11.1,431,12482,0.00,1.92,0.00,0.000,6,0.000,0.032,3559,1344,2040,0,0,0,0,0,0
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$STATE,18552,end climb,SURFACE_DEPTH_REACHED
$STATE,18552,begin surface coast
$FINISH,0.8,1.023323
$STATE,18592,end surface coast,CONTROL_FINISHED_OK
$STATE,18592,begin surface
$SM_CCo,18617,46.42,0.447,0,0,1229,390.03
$SM_GC,1.45,0.00,0.00,46.42,0.000,0.000,0.447,412,1651,1229,-13.68,1.70,390.03
$IRIDIUM_FIX,2232.34,-15738.08,250802,151535
$TT8_MAMPS,0.027612
$HUMID,62.20
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.20
$XPDR_PINGS,24
$24V_AH,23.2,6.864
$10V_AH,9.9,6.072
$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
$DEVICE_SECS,33.200,217.225,397.150,46.425,0.000,27.698,38.188,186.863,6.000,0.000,17.301,1568.512,13791.204,540.922,2461.254,698.205,33.362,1640.846,0.000,2449.918,0.000,0.537,0.000
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$SENSOR_SECS,489.074,341.122,436.928,764.049,1039.869,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,54215,718
$CAP_FILE_SIZE,181922,0
$CFSIZE,260165632,168628224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010613,003124,2241.388,-15738.915,62,1.2,62,10.1