version: 66.06
glider: 148
mission: 12
dive: 203
start: 7 5 113 1 52 19
data:
$ID,148
$MISSION,12
$DIVE,203
$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,-1020197.1
$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,45
$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
$GPS1,014354,2306.930,-15736.324,38,1.2,38,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.5
$GPS2,015125,2307.010,-15736.386,11,1.7,17,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE3
$TGT_LATLONG,2300.000,-15732.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.119,-0.231
$KALMAN_X,-228884.1,165.9,13.3,269132.8,-1141.2
$KALMAN_Y,133344.3,-67.0,-285.6,-92209.0,2433.5
$MHEAD_RNG_PITCHd_Wd,142.7,14980,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.03,0.000,2,0.000,0.000,417,1654,2954,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.5,-5.0,9,123,13.93,2.50,-8.15,0.000,4,0.148,0.055,3103,173,3398,0,0,0,0,0,0
$GC,152,-0.86,-146.0,22.4,-27.2,17,162,0.38,2.20,0.00,0.000,6,0.089,0.018,3189,1589,3398,0,0,0,0,0,0
$GC,429,-0.77,-146.0,63.2,-13.1,44,438,0.12,0.00,0.00,0.000,6,0.110,0.000,3216,1592,3399,0,0,0,0,0,0
$GC,694,-0.77,-146.0,91.7,-9.1,69,698,0.00,2.35,0.00,0.000,4,0.000,0.043,3216,171,3400,0,0,0,0,0,0
$GC,724,-0.77,-146.0,94.5,-10.9,71,729,0.00,2.12,0.00,0.000,6,0.000,0.016,3216,1604,3400,0,0,0,0,0,0
$GC,991,-0.82,-146.0,118.1,-8.7,95,996,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1606,3400,0,0,0,0,0,0
$GC,1256,-0.89,-146.0,138.0,-7.0,120,1261,0.12,2.35,0.00,0.000,4,0.063,0.021,3152,3112,3401,0,0,0,0,0,0
$GC,1277,-0.89,-146.0,139.6,-7.6,121,1282,0.17,2.50,0.00,0.000,6,0.087,0.028,3192,1566,3401,0,0,0,0,0,0
$GC,1542,-0.89,-146.0,163.4,-8.7,145,1546,0.00,2.28,0.00,0.000,4,0.000,0.044,3192,164,3401,0,0,0,0,0,0
$GC,1558,-0.89,-146.0,165.3,-9.1,146,1562,0.00,2.12,0.00,0.000,6,0.000,0.017,3192,1602,3401,0,0,0,0,0,0
$GC,1822,-0.89,-146.0,188.0,-8.8,170,1826,0.00,2.33,0.00,0.000,4,0.000,0.043,3192,171,3401,0,0,0,0,0,0
$GC,1841,-0.89,-146.0,190.1,-8.8,171,1850,0.00,2.10,0.00,0.000,6,0.000,0.017,3192,1578,3401,0,0,0,0,0,0
$GC,2131,-0.89,-146.0,214.4,-8.9,187,2136,0.00,2.35,0.00,0.000,4,0.000,0.021,3193,3097,3401,0,0,0,0,0,0
$GC,2162,-0.99,-146.0,217.4,-9.1,187,2166,0.00,2.45,0.00,0.000,6,0.000,0.028,3192,1574,3401,0,0,0,0,0,0
$GC,2417,-1.05,-146.0,240.8,-9.3,194,2422,0.15,2.30,0.00,0.000,4,0.055,0.045,3127,174,3401,0,0,0,0,0,0
$GC,2478,-0.97,-146.0,249.3,-14.1,195,2483,0.20,2.05,0.00,0.000,6,0.087,0.017,3173,1555,3401,0,0,0,0,0,0
$GC,2758,-0.97,-146.0,275.0,-9.0,202,2762,0.00,2.42,0.00,0.000,4,0.000,0.023,3173,3117,3401,0,0,0,0,0,0
$GC,2787,-1.05,-146.0,278.0,-8.8,202,2791,0.00,2.47,0.00,0.000,6,0.000,0.028,3172,1569,3401,0,0,0,0,0,0
$GC,3043,-1.05,-146.0,295.2,-6.5,209,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1569,3401,0,0,0,0,0,0
$GC,3286,-1.09,-146.0,312.3,-7.2,215,3287,0.10,0.00,0.00,0.000,6,0.075,0.000,3116,1569,3400,0,0,0,0,0,0
$GC,3529,-1.01,-146.0,340.9,-12.0,221,3534,0.20,2.47,0.00,0.000,4,0.088,0.026,3162,3112,3399,0,0,0,0,0,0
$GC,3560,-1.08,-146.0,344.2,-9.7,221,3565,0.00,2.50,0.00,0.000,6,0.000,0.032,3162,1582,3399,0,0,0,0,0,0
$GC,3815,-1.12,-146.0,366.2,-8.3,228,3820,0.00,2.35,0.00,0.000,4,0.000,0.056,3162,172,3398,0,0,0,0,0,0
$GC,3834,-1.12,-146.0,368.0,-8.7,228,3838,0.00,2.12,0.00,0.000,6,0.000,0.020,3162,1550,3398,0,0,0,0,0,0
$GC,4104,-1.17,-146.0,388.3,-7.7,235,4109,0.15,2.55,0.00,0.000,4,0.055,0.031,3097,3134,3396,0,0,0,0,0,0
$GC,4123,-1.17,-146.0,390.6,-8.6,235,4128,0.15,2.55,0.00,0.000,6,0.092,0.036,3132,1575,3396,0,0,0,0,0,0
$GC,4388,-1.17,-146.0,415.3,-9.5,242,4393,0.00,2.53,0.00,0.000,4,0.000,0.035,3132,3130,3394,0,0,0,0,0,0
$GC,4409,-1.17,-146.0,417.4,-10.3,242,4413,0.00,2.55,0.00,0.000,6,0.000,0.036,3132,1583,3394,0,0,0,0,0,0
$GC,4673,-1.17,-146.0,440.3,-8.5,249,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1583,3392,0,0,0,0,0,0
$GC,4916,-1.17,-146.0,460.0,-8.2,255,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1583,3391,0,0,0,0,0,0
$GC,5162,-1.17,-146.0,481.0,-8.8,261,5166,0.00,2.42,0.00,0.000,4,0.000,0.068,3132,169,3389,0,0,0,0,0,0
$GC,5209,-1.17,-146.0,485.3,-9.8,262,5213,0.00,2.20,0.00,0.000,6,0.000,0.028,3132,1556,3389,0,0,0,0,0,0
$GC,5497,-1.17,-146.0,510.8,-8.7,269,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1556,3387,0,0,0,0,0,0
$GC,5741,-1.17,-146.0,531.1,-8.1,275,5745,0.00,2.40,0.00,0.000,4,0.000,0.069,3132,167,3385,0,0,0,0,0,0
$GC,5755,-1.17,-146.0,532.6,-7.8,275,5759,0.00,2.25,0.00,0.000,6,0.000,0.028,3131,1575,3385,0,0,0,0,0,0
$GC,6028,-1.17,-146.0,552.8,-7.5,282,6032,0.00,2.45,0.00,0.000,4,0.000,0.070,3132,165,3384,0,0,0,0,0,0
$GC,6049,-1.17,-146.0,554.4,-8.1,282,6053,0.00,2.22,0.00,0.000,6,0.000,0.029,3132,1566,3383,0,0,0,0,0,0
$GC,6321,-1.17,-146.0,574.1,-7.3,289,6325,0.00,2.62,0.00,0.000,4,0.000,0.044,3132,3154,3382,0,0,0,0,0,0
$GC,6345,-1.17,-146.0,576.2,-7.8,289,6349,0.00,2.65,0.00,0.000,6,0.000,0.044,3132,1562,3382,0,0,0,0,0,0
$GC,6606,-1.17,-146.0,596.4,-8.0,296,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1562,3380,0,0,0,0,0,0
$GC,6848,-1.17,-146.0,616.9,-8.6,302,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1562,3379,0,0,0,0,0,0
$GC,7092,-1.17,-146.0,637.9,-8.7,308,7096,0.00,2.42,0.00,0.000,4,0.000,0.079,3132,172,3377,0,0,0,0,0,0
$GC,7115,-1.17,-146.0,640.2,-9.4,308,7119,0.00,2.22,0.00,0.000,6,0.000,0.031,3132,1562,3377,0,0,0,0,0,0
$GC,7382,-1.17,-146.0,663.0,-8.6,315,7387,0.00,2.67,0.00,0.000,4,0.000,0.051,3131,3156,3376,0,0,0,0,0,0
$GC,7402,-1.17,-146.0,664.8,-8.1,315,7406,0.00,2.67,0.00,0.000,6,0.000,0.047,3131,1561,3376,0,0,0,0,0,0
$GC,7669,-1.17,-146.0,685.2,-7.6,322,7673,0.00,2.45,0.00,0.000,4,0.000,0.080,3132,171,3375,0,0,0,0,0,0
$GC,7690,-1.17,-146.0,687.1,-8.0,322,7694,0.00,2.25,0.00,0.000,6,0.000,0.032,3132,1573,3375,0,0,0,0,0,0
$GC,7958,-1.17,-146.0,707.0,-7.3,329,7963,0.00,2.62,0.00,0.000,4,0.000,0.051,3132,3153,3373,0,0,0,0,0,0
$GC,7979,-1.22,-146.0,708.4,-6.7,329,7984,0.00,2.67,0.00,0.000,6,0.000,0.048,3132,1560,3373,0,0,0,0,0,0
$GC,8245,-1.22,-146.0,728.3,-7.7,336,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1560,3371,0,0,0,0,0,0
$GC,8487,-1.22,-146.0,748.1,-8.1,342,8491,0.00,2.45,0.00,0.000,4,0.000,0.081,3132,172,3370,0,0,0,0,0,0
$GC,8506,-1.22,-146.0,749.8,-8.2,342,8510,0.00,2.28,0.00,0.000,6,0.000,0.032,3132,1574,3370,0,0,0,0,0,0
$GC,8776,-1.22,-146.0,771.2,-8.2,349,8780,0.00,2.45,0.00,0.000,4,0.000,0.076,3132,170,3369,0,0,0,0,0,0
$GC,8790,-1.22,-146.0,773.0,-8.0,349,8794,0.00,2.25,0.00,0.000,6,0.000,0.032,3132,1568,3369,0,0,0,0,0,0
$GC,9059,-1.22,-146.0,792.6,-7.1,356,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1569,3368,0,0,0,0,0,0
$GC,9304,-1.22,-146.0,808.4,-6.4,362,9305,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1569,3368,0,0,0,0,0,0
$GC,9546,-1.22,-146.0,823.3,-6.1,368,9551,0.00,2.67,0.00,0.000,4,0.000,0.052,3132,3158,3366,0,0,0,0,0,0
$GC,9575,-1.30,-146.0,825.1,-6.1,368,9582,0.12,2.70,0.00,0.000,6,0.065,0.049,3078,1569,3366,0,0,0,0,0,0
$GC,9835,-1.23,-146.0,846.0,-8.3,375,9840,0.17,2.50,0.00,0.000,4,0.096,0.081,3117,165,3366,0,0,0,0,0,0
$GC,9873,-1.23,-146.0,849.3,-7.4,375,9882,0.00,2.30,0.00,0.000,6,0.000,0.034,3116,1558,3365,0,0,0,0,0,0
$GC,10127,-1.23,-146.0,865.0,-6.2,382,10128,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1558,3364,0,0,0,0,0,0
$GC,10372,-1.23,-146.0,879.8,-6.0,388,10373,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1558,3364,0,0,0,0,0,0
$GC,10614,-1.23,-146.0,894.5,-6.0,394,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1558,3363,0,0,0,0,0,0
$STATE,10734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10734,begin apogee
$GC,10740,-0.31,0.0,902.2,6.1,397,10863,0.88,0.00,118.85,1.155,6,0.072,0.000,3318,1342,2800,0,0,0,0,0,0
$STATE,10864,end apogee,CONTROL_FINISHED_OK
$STATE,10864,begin climb
$GC,10868,1.27,146.0,905.1,0.0,400,11007,1.40,2.17,129.50,1.131,4,0.029,0.078,3663,172,2203,0,0,0,0,0,0
$GC,11034,1.00,146.0,896.5,14.1,403,11039,0.30,1.95,0.00,0.000,6,0.110,0.031,3603,1364,2200,0,0,0,0,0,0
$GC,11289,0.92,146.0,870.1,10.1,409,11293,0.00,2.12,0.00,0.000,4,0.000,0.074,3602,171,2193,0,0,0,0,0,0
$GC,11359,0.78,146.0,861.8,11.8,410,11363,0.22,1.90,0.00,0.000,6,0.103,0.030,3557,1342,2193,0,0,0,0,0,0
$GC,11620,0.84,195.5,841.1,7.7,417,11666,0.00,0.00,44.72,1.079,6,0.000,0.000,3557,1342,2002,0,0,0,0,0,0
$GC,11906,0.85,203.4,814.7,9.6,424,11919,0.00,2.75,7.65,0.885,4,0.000,0.053,3556,2932,1969,0,0,0,0,0,0
$GC,11936,0.97,254.7,811.6,7.6,424,11994,0.17,2.72,49.20,1.060,6,0.054,0.048,3614,1353,1761,0,0,0,0,0,0
$GC,12287,0.91,254.7,764.8,13.8,433,12292,0.15,2.67,0.00,0.000,4,0.105,0.045,3584,2929,1755,0,0,0,0,0,0
$GC,12327,0.98,254.7,759.3,10.8,433,12333,0.00,2.75,0.00,0.000,6,0.000,0.051,3584,1341,1750,0,0,0,0,0,0
$GC,12577,0.98,254.7,729.8,11.7,440,12578,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1342,1750,0,0,0,0,0,0
$GC,12821,0.98,254.7,702.0,11.4,446,12825,0.00,2.67,0.00,0.000,4,0.000,0.046,3583,2928,1750,0,0,0,0,0,0
$GC,12860,1.06,254.7,697.9,10.5,446,12866,0.12,2.72,0.00,0.000,6,0.066,0.052,3632,1351,1747,0,0,0,0,0,0
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$STATE,18711,end climb,SURFACE_DEPTH_REACHED
$STATE,18711,begin surface coast
$FINISH,0.8,1.009908
$STATE,18739,end surface coast,CONTROL_FINISHED_OK
$STATE,18739,begin surface
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$TT8_MAMPS,0.027612
$HUMID,64.60
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.10
$XPDR_PINGS,29
$24V_AH,23.3,29.631
$10V_AH,9.9,26.611
$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
$DEVICE_SECS,33.900,220.850,429.800,25.825,0.000,24.506,36.060,223.085,7.250,0.000,18.619,1561.510,13526.699,535.850,2827.698,780.227,33.375,1663.405,0.000,2837.854,0.000,0.536,0.000
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$SENSOR_SECS,483.360,579.427,729.337,1119.017,1584.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,57402,708
$CAP_FILE_SIZE,185220,0
$CFSIZE,260165632,157016064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050713,070653,2305.618,-15735.174,23,1.6,40,10.1