version: 66.06
glider: 148
mission: 12
dive: 176
start: 6 28 113 23 14 49
data:
$ID,148
$MISSION,12
$DIVE,176
$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,380
$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,-1019692.7
$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,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,29
$R_STBD_OVSHOOT,103
$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
$GPS1,230105,2258.989,-15738.036,35,0.9,40,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-77.0
$GPS2,231355,2259.201,-15738.114,12,1.4,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.163,0.202
$KALMAN_X,-197607.4,-182.5,-310.3,235581.2,-1086.2
$KALMAN_Y,92704.4,-5.0,576.8,-66959.4,1000.6
$MHEAD_RNG_PITCHd_Wd,28.8,12417,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,90,0.00,0.00,-67.62,0.000,2,0.000,0.000,410,1606,2993,0,0,0,0,0,0
$GC,93,-1.27,-146.0,3.4,-4.8,9,125,14.62,2.40,-7.22,0.000,4,0.167,0.035,3104,3094,3398,0,0,0,0,0,0
$GC,137,-0.29,-146.0,18.3,-34.5,14,146,0.93,2.50,0.00,0.000,6,0.079,0.030,3315,1573,3399,0,0,0,0,0,0
$GC,427,-0.57,-146.0,35.4,-4.3,52,436,0.22,0.00,0.00,0.000,6,0.037,0.000,3240,1573,3400,0,0,0,0,0,0
$GC,697,-0.67,-146.0,54.5,-7.3,77,701,0.00,2.33,0.00,0.000,4,0.000,0.045,3240,162,3400,0,0,0,0,0,0
$GC,740,-0.81,-146.0,58.0,-7.5,80,745,0.12,2.08,0.00,0.000,6,0.061,0.017,3165,1577,3400,0,0,0,0,0,0
$GC,1005,-0.71,-146.0,89.6,-12.9,104,1010,0.28,2.38,0.00,0.000,4,0.084,0.020,3227,3103,3401,0,0,0,0,0,0
$GC,1054,-0.89,-146.0,94.4,-7.2,108,1059,0.15,2.45,0.00,0.000,6,0.062,0.028,3144,1570,3401,0,0,0,0,0,0
$GC,1317,-0.77,-146.0,128.1,-13.6,132,1322,0.32,2.42,0.00,0.000,4,0.081,0.021,3216,3100,3401,0,0,0,0,0,0
$GC,1349,-0.86,-146.0,131.7,-9.3,134,1358,0.00,2.47,0.00,0.000,6,0.000,0.028,3216,1581,3401,0,0,0,0,0,0
$GC,1613,-0.94,-146.0,153.0,-8.9,159,1618,0.15,2.30,0.00,0.000,4,0.053,0.044,3148,172,3401,0,0,0,0,0,0
$GC,1634,-0.94,-146.0,155.0,-9.6,160,1639,0.15,2.08,0.00,0.000,6,0.097,0.017,3181,1588,3401,0,0,0,0,0,0
$GC,1899,-0.94,-146.0,186.0,-11.5,184,1903,0.00,2.35,0.00,0.000,4,0.000,0.021,3181,3106,3400,0,0,0,0,0,0
$GC,1954,-1.07,-146.0,192.1,-10.4,189,1959,0.12,2.42,0.00,0.000,6,0.061,0.028,3105,1587,3401,0,0,0,0,0,0
$GC,2217,-0.92,-146.0,227.6,-13.3,199,2222,0.32,2.30,0.00,0.000,4,0.085,0.041,3181,168,3401,0,0,0,0,0,0
$GC,2247,-0.92,-146.0,231.4,-10.3,199,2252,0.00,2.12,0.00,0.000,6,0.000,0.018,3181,1576,3401,0,0,0,0,0,0
$GC,2507,-0.96,-146.0,252.5,-8.3,206,2511,0.00,2.40,0.00,0.000,4,0.000,0.022,3181,3119,3401,0,0,0,0,0,0
$GC,2551,-1.11,-146.0,256.0,-8.1,207,2556,0.17,2.42,0.00,0.000,6,0.046,0.028,3096,1605,3401,0,0,0,0,0,0
$GC,2840,-0.99,-146.0,293.2,-13.3,214,2845,0.30,2.35,0.00,0.000,4,0.084,0.045,3168,172,3401,0,0,0,0,0,0
$GC,2897,-1.08,-146.0,299.6,-8.9,215,2902,0.00,2.15,0.00,0.000,6,0.000,0.019,3168,1581,3400,0,0,0,0,0,0
$GC,3177,-1.14,-146.0,319.6,-7.1,222,3182,0.12,2.47,0.00,0.000,4,0.064,0.027,3107,3138,3400,0,0,0,0,0,0
$GC,3211,-1.14,-146.0,322.8,-9.0,222,3216,0.12,2.53,0.00,0.000,6,0.095,0.034,3138,1598,3400,0,0,0,0,0,0
$GC,3461,-1.14,-146.0,343.4,-8.5,228,3465,0.00,2.40,0.00,0.000,4,0.000,0.054,3138,161,3399,0,0,0,0,0,0
$GC,3578,-1.14,-146.0,355.6,-10.1,230,3582,0.00,2.20,0.00,0.000,6,0.000,0.021,3138,1567,3398,0,0,0,0,0,0
$GC,3837,-1.14,-146.0,379.9,-9.3,237,3842,0.00,2.53,0.00,0.000,4,0.000,0.033,3138,3141,3397,0,0,0,0,0,0
$GC,3868,-1.19,-146.0,382.4,-9.0,237,3872,0.00,2.58,0.00,0.000,6,0.000,0.038,3138,1574,3397,0,0,0,0,0,0
$GC,4123,-1.19,-146.0,402.1,-7.5,244,4127,0.00,2.38,0.00,0.000,4,0.000,0.063,3138,171,3395,0,0,0,0,0,0
$GC,4165,-1.19,-146.0,405.5,-8.3,244,4170,0.00,2.17,0.00,0.000,6,0.000,0.023,3138,1567,3395,0,0,0,0,0,0
$GC,4416,-1.19,-146.0,425.5,-8.2,251,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1568,3393,0,0,0,0,0,0
$GC,4658,-1.19,-146.0,446.8,-8.8,257,4663,0.00,2.38,0.00,0.000,4,0.000,0.061,3138,167,3391,0,0,0,0,0,0
$GC,4677,-1.19,-146.0,448.6,-9.2,257,4681,0.00,2.22,0.00,0.000,6,0.000,0.024,3138,1574,3391,0,0,0,0,0,0
$GC,4943,-1.19,-146.0,469.1,-7.6,264,4947,0.00,2.58,0.00,0.000,4,0.000,0.037,3138,3151,3389,0,0,0,0,0,0
$GC,4971,-1.25,-146.0,471.3,-6.7,264,4976,0.12,2.60,0.00,0.000,6,0.064,0.037,3087,1569,3389,0,0,0,0,0,0
$GC,5227,-1.17,-146.0,493.9,-8.9,271,5232,0.20,2.40,0.00,0.000,4,0.091,0.066,3131,164,3387,0,0,0,0,0,0
$GC,5249,-1.17,-146.0,495.7,-8.6,271,5253,0.00,2.22,0.00,0.000,6,0.000,0.026,3131,1564,3387,0,0,0,0,0,0
$GC,5513,-1.17,-146.0,514.9,-7.4,278,5517,0.00,2.62,0.00,0.000,4,0.000,0.043,3131,3152,3386,0,0,0,0,0,0
$GC,5527,-1.17,-146.0,516.2,-7.7,278,5532,0.00,2.60,0.00,0.000,6,0.000,0.037,3131,1567,3386,0,0,0,0,0,0
$GC,5798,-1.17,-146.0,536.0,-7.3,285,5802,0.00,2.62,0.00,0.000,4,0.000,0.041,3131,3144,3384,0,0,0,0,0,0
$GC,5822,-1.22,-146.0,537.8,-7.8,285,5827,0.00,2.62,0.00,0.000,6,0.000,0.041,3131,1563,3384,0,0,0,0,0,0
$GC,6082,-1.22,-146.0,557.2,-7.5,292,6086,0.00,2.42,0.00,0.000,4,0.000,0.075,3131,163,3383,0,0,0,0,0,0
$GC,6116,-1.22,-146.0,560.0,-8.4,292,6120,0.00,2.25,0.00,0.000,6,0.000,0.030,3131,1563,3383,0,0,0,0,0,0
$GC,6371,-1.22,-146.0,579.4,-7.6,299,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1563,3382,0,0,0,0,0,0
$GC,6615,-1.22,-146.0,596.6,-6.9,305,6619,0.00,2.65,0.00,0.000,4,0.000,0.048,3131,3150,3380,0,0,0,0,0,0
$GC,6668,-1.32,-146.0,600.3,-7.1,306,6673,0.15,2.65,0.00,0.000,6,0.057,0.048,3063,1569,3380,0,0,0,0,0,0
$GC,6949,-1.20,-146.0,628.4,-10.2,313,6954,0.25,2.45,0.00,0.000,4,0.094,0.077,3122,167,3378,0,0,0,0,0,0
$GC,6989,-1.20,-146.0,631.9,-8.4,313,6994,0.00,2.25,0.00,0.000,6,0.000,0.034,3122,1564,3377,0,0,0,0,0,0
$GC,7239,-1.20,-146.0,648.3,-6.2,320,7243,0.00,2.45,0.00,0.000,4,0.000,0.074,3122,168,3376,0,0,0,0,0,0
$GC,7262,-1.20,-146.0,650.1,-7.5,320,7266,0.00,2.28,0.00,0.000,6,0.000,0.034,3122,1565,3376,0,0,0,0,0,0
$GC,7523,-1.20,-146.0,666.4,-6.4,327,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1565,3374,0,0,0,0,0,0
$GC,7765,-1.20,-146.0,683.4,-7.1,333,7769,0.00,2.67,0.00,0.000,4,0.000,0.054,3122,3158,3373,0,0,0,0,0,0
$GC,7789,-1.26,-146.0,685.2,-8.4,333,7794,0.00,2.67,0.00,0.000,6,0.000,0.048,3122,1565,3373,0,0,0,0,0,0
$GC,8049,-1.26,-146.0,705.9,-8.3,340,8053,0.00,2.45,0.00,0.000,4,0.000,0.081,3122,165,3372,0,0,0,0,0,0
$GC,8069,-1.26,-146.0,707.7,-9.1,340,8073,0.00,2.28,0.00,0.000,6,0.000,0.034,3122,1570,3372,0,0,0,0,0,0
$GC,8338,-1.26,-146.0,729.2,-7.9,347,8342,0.00,2.70,0.00,0.000,4,0.000,0.055,3122,3154,3371,0,0,0,0,0,0
$GC,8357,-1.26,-146.0,730.8,-8.2,347,8361,0.00,2.70,0.00,0.000,6,0.000,0.048,3122,1563,3371,0,0,0,0,0,0
$GC,8623,-1.26,-146.0,750.9,-7.7,354,8627,0.00,2.45,0.00,0.000,4,0.000,0.080,3122,170,3369,0,0,0,0,0,0
$GC,8660,-1.26,-146.0,754.1,-7.5,354,8666,0.00,2.28,0.00,0.000,6,0.000,0.034,3122,1566,3369,0,0,0,0,0,0
$GC,8910,-1.26,-146.0,771.2,-6.8,361,8915,0.00,2.70,0.00,0.000,4,0.000,0.057,3122,3157,3368,0,0,0,0,0,0
$GC,8931,-1.26,-146.0,772.7,-7.5,361,8935,0.00,2.70,0.00,0.000,6,0.000,0.049,3122,1556,3368,0,0,0,0,0,0
$GC,9195,-1.26,-146.0,788.4,-5.8,368,9199,0.00,2.42,0.00,0.000,4,0.000,0.081,3122,169,3367,0,0,0,0,0,0
$GC,9219,-1.26,-146.0,789.9,-7.8,368,9223,0.00,2.28,0.00,0.000,6,0.000,0.034,3122,1568,3367,0,0,0,0,0,0
$GC,9484,-1.26,-146.0,805.5,-5.9,375,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1568,3366,0,0,0,0,0,0
$GC,9726,-1.26,-146.0,821.3,-6.6,381,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1568,3365,0,0,0,0,0,0
$GC,9970,-1.26,-146.0,838.4,-7.0,387,9971,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1568,3364,0,0,0,0,0,0
$GC,10213,-1.26,-146.0,855.5,-7.0,393,10218,0.00,2.45,0.00,0.000,4,0.000,0.075,3122,162,3364,0,0,0,0,0,0
$GC,10243,-1.26,-146.0,857.7,-7.7,393,10247,0.00,2.30,0.00,0.000,6,0.000,0.036,3122,1564,3363,0,0,0,0,0,0
$GC,10498,-1.26,-146.0,874.7,-6.5,400,10502,0.00,2.70,0.00,0.000,4,0.000,0.058,3122,3155,3362,0,0,0,0,0,0
$GC,10528,-1.34,-146.0,876.5,-6.4,400,10535,0.12,2.70,0.00,0.000,6,0.064,0.050,3061,1567,3363,0,0,0,0,0,0
$GC,10786,-1.26,-146.0,899.6,-9.2,407,10791,0.22,1.83,0.00,0.000,3,0.096,0.074,3111,509,3362,0,0,0,0,0,0
$STATE,10792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10792,begin apogee
$GC,10799,-0.31,0.0,900.0,9.2,407,10922,0.88,0.00,118.75,1.155,6,0.077,0.000,3314,1370,2800,0,0,0,0,0,0
$STATE,10923,end apogee,CONTROL_FINISHED_OK
$STATE,10923,begin climb
$GC,10927,1.27,146.0,903.7,0.0,410,11062,1.48,0.00,131.02,1.133,6,0.030,0.000,3675,1370,2204,0,0,0,0,0,0
$GC,11282,1.04,146.0,869.3,13.6,419,11287,0.28,2.15,0.00,0.000,4,0.110,0.072,3615,171,2194,0,0,0,0,0,0
$GC,11345,0.88,146.0,861.3,13.5,420,11349,0.17,1.90,0.00,0.000,6,0.110,0.030,3578,1342,2193,0,0,0,0,0,0
$GC,11614,0.89,158.9,836.0,9.4,427,11630,0.00,2.15,10.88,0.964,4,0.000,0.073,3578,176,2152,0,0,0,0,0,0
$GC,11662,0.81,158.9,831.2,10.4,428,11665,0.00,1.90,0.00,0.000,6,0.000,0.029,3578,1342,2152,0,0,0,0,0,0
$GC,11952,0.81,158.9,801.5,10.0,435,11954,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1343,2148,0,0,0,0,0,0
$GC,12196,0.83,171.8,778.1,9.4,441,12216,0.00,2.12,13.38,0.973,4,0.000,0.071,3578,169,2097,0,0,0,0,0,0
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$STATE,18412,end climb,SURFACE_DEPTH_REACHED
$STATE,18412,begin surface coast
$FINISH,0.9,1.018754
$STATE,18446,end surface coast,CONTROL_FINISHED_OK
$STATE,18446,begin surface
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$TT8_MAMPS,0.027612
$HUMID,65.71
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.40
$XPDR_PINGS,31
$24V_AH,23.3,25.640
$10V_AH,9.9,22.599
$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
$DEVICE_SECS,36.500,229.925,413.700,34.275,0.000,56.888,84.664,408.191,7.750,0.000,13.740,1571.536,13587.286,581.346,2490.933,1035.122,33.371,1679.402,0.000,2496.376,0.000,0.535,0.000
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$SENSOR_SECS,480.327,350.673,431.587,809.464,1104.432,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,54122,706
$CAP_FILE_SIZE,191479,0
$CFSIZE,260165632,159109120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290613,042436,2302.375,-15736.945,38,1.3,38,10.1