version: 66.06
glider: 148
mission: 12
dive: 229
start: 7 10 113 23 56 26
data:
$ID,148
$MISSION,12
$DIVE,229
$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,-1020636.5
$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,23
$R_STBD_OVSHOOT,93
$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
$GPS1,232753,2243.866,-15703.805,63,1.6,80,10.1
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-76.8
$GPS2,235530,2243.854,-15703.847,10,1.3,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE_40
$TGT_LATLONG,2239.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.149,-0.212
$KALMAN_X,-227340.1,11.8,150.1,323175.0,1167.0
$KALMAN_Y,171428.7,-430.1,28.8,-173122.5,861.9
$MHEAD_RNG_PITCHd_Wd,134.8,14757,-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,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.93,0.000,2,0.000,0.000,410,1582,3016,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.4,-4.4,9,120,13.95,2.40,-6.80,0.000,4,0.148,0.053,3103,165,3397,0,0,0,0,0,0
$GC,169,-0.97,-146.0,27.1,-20.7,20,177,0.28,2.12,0.00,0.000,6,0.084,0.018,3168,1533,3397,0,0,0,0,0,0
$GC,447,-0.85,-146.0,68.3,-13.7,46,452,0.12,2.53,0.00,0.000,4,0.111,0.022,3197,3141,3397,0,0,0,0,0,0
$GC,481,-0.85,-146.0,73.0,-11.4,48,485,0.00,2.58,0.00,0.000,6,0.000,0.028,3197,1560,3397,0,0,0,0,0,0
$GC,743,-0.85,-146.0,99.6,-10.1,72,745,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1560,3397,0,0,0,0,0,0
$GC,998,-0.85,-146.0,126.9,-11.0,96,1002,0.00,2.47,0.00,0.000,4,0.000,0.021,3197,3140,3397,0,0,0,0,0,0
$GC,1040,-0.94,-146.0,131.6,-10.7,99,1046,0.00,2.55,0.00,0.000,6,0.000,0.028,3197,1570,3397,0,0,0,0,0,0
$GC,1308,-0.94,-146.0,156.8,-8.7,124,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1569,3398,0,0,0,0,0,0
$GC,1570,-0.94,-146.0,179.1,-8.6,149,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1570,3397,0,0,0,0,0,0
$GC,1858,-0.99,-146.0,204.1,-9.0,173,1863,0.12,2.50,0.00,0.000,4,0.063,0.023,3133,3149,3397,0,0,0,0,0,0
$GC,1892,-0.99,-146.0,208.2,-10.8,173,1897,0.15,2.55,0.00,0.000,6,0.093,0.028,3169,1580,3397,0,0,0,0,0,0
$GC,2142,-0.99,-146.0,233.2,-9.7,179,2146,0.00,2.33,0.00,0.000,4,0.000,0.044,3169,165,3397,0,0,0,0,0,0
$GC,2171,-0.99,-146.0,236.3,-10.9,179,2175,0.00,2.17,0.00,0.000,6,0.000,0.018,3169,1599,3396,0,0,0,0,0,0
$GC,2426,-0.99,-146.0,257.3,-7.9,186,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1603,3396,0,0,0,0,0,0
$GC,2670,-0.99,-146.0,276.8,-8.3,192,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1603,3395,0,0,0,0,0,0
$GC,2915,-0.99,-146.0,298.0,-8.5,198,2919,0.00,2.38,0.00,0.000,4,0.000,0.048,3169,166,3394,0,0,0,0,0,0
$GC,2948,-0.99,-146.0,301.1,-8.9,198,2952,0.00,2.15,0.00,0.000,6,0.000,0.020,3169,1556,3394,0,0,0,0,0,0
$GC,3198,-0.99,-146.0,321.9,-8.4,204,3202,0.00,2.50,0.00,0.000,4,0.000,0.028,3169,3135,3393,0,0,0,0,0,0
$GC,3228,-1.07,-146.0,324.5,-7.7,204,3233,0.00,2.55,0.00,0.000,6,0.000,0.033,3169,1577,3393,0,0,0,0,0,0
$GC,3488,-1.12,-146.0,344.9,-7.8,211,3493,0.12,2.38,0.00,0.000,4,0.064,0.054,3108,171,3391,0,0,0,0,0,0
$GC,3517,-1.01,-146.0,348.2,-10.2,211,3522,0.25,2.15,0.00,0.000,6,0.083,0.020,3164,1573,3391,0,0,0,0,0,0
$GC,3775,-1.06,-146.0,366.5,-6.9,218,3779,0.00,2.53,0.00,0.000,4,0.000,0.033,3164,3131,3390,0,0,0,0,0,0
$GC,3799,-1.13,-146.0,368.4,-7.6,218,3804,0.12,2.58,0.00,0.000,6,0.060,0.043,3098,1574,3389,0,0,0,0,0,0
$GC,4061,-1.03,-146.0,395.6,-10.9,225,4063,0.28,0.00,0.00,0.000,6,0.084,0.000,3159,1574,3388,0,0,0,0,0,0
$GC,4303,-1.07,-146.0,413.6,-7.1,231,4307,0.00,2.40,0.00,0.000,4,0.000,0.063,3159,170,3386,0,0,0,0,0,0
$GC,4322,-1.07,-146.0,415.3,-7.7,231,4326,0.00,2.17,0.00,0.000,6,0.000,0.023,3159,1569,3386,0,0,0,0,0,0
$GC,4591,-1.12,-146.0,434.2,-7.1,238,4596,0.00,2.40,0.00,0.000,4,0.000,0.061,3159,175,3383,0,0,0,0,0,0
$GC,4621,-1.12,-146.0,437.0,-8.6,238,4625,0.00,2.20,0.00,0.000,6,0.000,0.025,3159,1566,3384,0,0,0,0,0,0
$GC,4876,-1.17,-146.0,456.4,-7.6,245,4881,0.12,2.60,0.00,0.000,4,0.064,0.039,3101,3141,3382,0,0,0,0,0,0
$GC,4893,-1.17,-146.0,457.9,-8.1,245,4899,0.12,2.60,0.00,0.000,6,0.100,0.041,3130,1567,3382,0,0,0,0,0,0
$GC,5163,-1.17,-146.0,481.6,-8.5,252,5167,0.00,2.62,0.00,0.000,4,0.000,0.041,3130,3143,3380,0,0,0,0,0,0
$GC,5210,-1.24,-146.0,485.3,-7.9,253,5215,0.00,2.60,0.00,0.000,6,0.000,0.039,3130,1583,3380,0,0,0,0,0,0
$GC,5499,-1.24,-146.0,511.6,-9.2,260,5503,0.00,2.42,0.00,0.000,4,0.000,0.070,3130,168,3378,0,0,0,0,0,0
$GC,5550,-1.24,-146.0,517.3,-10.6,261,5554,0.00,2.25,0.00,0.000,6,0.000,0.028,3130,1570,3377,0,0,0,0,0,0
$GC,5838,-1.24,-146.0,543.5,-9.0,268,5843,0.00,2.65,0.00,0.000,4,0.000,0.047,3130,3153,3375,0,0,0,0,0,0
$GC,5857,-1.24,-146.0,545.8,-9.1,268,5862,0.00,2.65,0.00,0.000,6,0.000,0.041,3130,1573,3375,0,0,0,0,0,0
$GC,6122,-1.24,-146.0,567.6,-8.2,275,6126,0.00,2.45,0.00,0.000,4,0.000,0.074,3129,167,3372,0,0,0,0,0,0
$GC,6147,-1.24,-146.0,569.7,-9.3,275,6151,0.00,2.28,0.00,0.000,6,0.000,0.031,3130,1580,3373,0,0,0,0,0,0
$GC,6406,-1.24,-146.0,590.2,-7.9,282,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1580,3371,0,0,0,0,0,0
$GC,6650,-1.24,-146.0,609.2,-7.8,288,6654,0.00,2.45,0.00,0.000,4,0.000,0.070,3130,169,3370,0,0,0,0,0,0
$GC,6664,-1.24,-146.0,610.6,-8.1,288,6668,0.00,2.28,0.00,0.000,6,0.000,0.030,3130,1580,3370,0,0,0,0,0,0
$GC,6938,-1.24,-146.0,630.7,-7.4,295,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1579,3368,0,0,0,0,0,0
$GC,7180,-1.24,-146.0,649.4,-7.8,301,7184,0.00,2.62,0.00,0.000,4,0.000,0.052,3130,3148,3367,0,0,0,0,0,0
$GC,7201,-1.24,-146.0,651.4,-8.0,301,7205,0.00,2.67,0.00,0.000,6,0.000,0.046,3130,1566,3367,0,0,0,0,0,0
$GC,7465,-1.24,-146.0,671.9,-7.8,308,7469,0.00,2.45,0.00,0.000,4,0.000,0.078,3130,170,3365,0,0,0,0,0,0
$GC,7489,-1.24,-146.0,673.9,-8.8,308,7493,0.00,2.28,0.00,0.000,6,0.000,0.032,3130,1574,3365,0,0,0,0,0,0
$GC,7748,-1.24,-146.0,693.6,-7.7,315,7752,0.00,2.65,0.00,0.000,4,0.000,0.054,3130,3147,3364,0,0,0,0,0,0
$GC,7778,-1.30,-146.0,696.0,-8.1,315,7783,0.12,2.65,0.00,0.000,6,0.066,0.048,3075,1582,3363,0,0,0,0,0,0
$GC,8038,-1.20,-146.0,722.3,-10.5,322,8043,0.20,2.50,0.00,0.000,4,0.094,0.077,3120,165,3362,0,0,0,0,0,0
$GC,8084,-1.20,-146.0,726.9,-9.1,323,8088,0.00,2.30,0.00,0.000,6,0.000,0.034,3120,1578,3362,0,0,0,0,0,0
$GC,8371,-1.20,-146.0,751.5,-8.5,330,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1578,3361,0,0,0,0,0,0
$GC,8615,-1.20,-146.0,771.9,-8.4,336,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1578,3360,0,0,0,0,0,0
$GC,8859,-1.20,-146.0,790.8,-7.6,342,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1578,3359,0,0,0,0,0,0
$GC,9102,-1.20,-146.0,807.4,-6.6,348,9107,0.00,2.47,0.00,0.000,4,0.000,0.075,3120,170,3358,0,0,0,0,0,0
$GC,9122,-1.20,-146.0,808.8,-7.3,348,9126,0.00,2.28,0.00,0.000,6,0.000,0.033,3120,1578,3358,0,0,0,0,0,0
$GC,9390,-1.20,-146.0,825.1,-6.1,355,9394,0.00,2.67,0.00,0.000,4,0.000,0.054,3120,3160,3357,0,0,0,0,0,0
$GC,9411,-1.20,-146.0,826.5,-6.1,355,9415,0.00,2.70,0.00,0.000,6,0.000,0.048,3120,1575,3357,0,0,0,0,0,0
$GC,9675,-1.20,-146.0,844.0,-6.6,362,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1575,3356,0,0,0,0,0,0
$GC,9919,-1.20,-146.0,861.7,-7.4,368,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1575,3355,0,0,0,0,0,0
$GC,10164,-1.20,-146.0,880.8,-7.9,374,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1575,3354,0,0,0,0,0,0
$STATE,10403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10404,begin apogee
$GC,10410,-0.31,0.0,900.0,7.9,380,10531,0.85,0.00,117.50,1.158,6,0.069,0.000,3317,1342,2800,0,0,0,0,0,0
$STATE,10532,end apogee,CONTROL_FINISHED_OK
$STATE,10532,begin climb
$GC,10534,1.27,146.0,904.3,0.0,383,10674,1.42,2.15,129.38,1.137,4,0.029,0.082,3670,167,2202,0,0,0,0,0,0
$GC,10726,0.99,146.0,893.3,15.1,387,10730,0.32,1.95,0.00,0.000,6,0.110,0.031,3604,1350,2198,0,0,0,0,0,0
$GC,11001,0.94,164.0,867.7,9.2,394,11021,0.00,2.15,15.73,1.023,4,0.000,0.074,3604,164,2131,0,0,0,0,0,0
$GC,11064,0.83,164.0,860.3,12.1,395,11068,0.17,1.95,0.00,0.000,6,0.109,0.030,3567,1349,2130,0,0,0,0,0,0
$GC,11334,0.86,193.3,836.7,8.6,402,11368,0.00,2.78,27.80,1.061,4,0.000,0.054,3567,2935,2011,0,0,0,0,0,0
$GC,11395,0.96,216.4,831.3,8.9,403,11425,0.12,2.72,22.70,1.037,6,0.066,0.049,3614,1357,1917,0,0,0,0,0,0
$GC,11712,0.90,216.4,792.0,12.6,411,11714,0.15,0.00,0.00,0.000,6,0.107,0.000,3583,1357,1911,0,0,0,0,0,0
$GC,11956,0.90,216.4,763.8,11.5,417,11957,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1357,1910,0,0,0,0,0,0
$GC,12199,0.90,216.4,736.1,11.2,423,12204,0.00,2.67,0.00,0.000,4,0.000,0.044,3583,2930,1909,0,0,0,0,0,0
$GC,12218,0.90,216.4,734.1,10.1,423,12223,0.00,2.70,0.00,0.000,6,0.000,0.049,3583,1352,1907,0,0,0,0,0,0
$GC,12486,0.90,216.4,705.8,10.7,430,12491,0.00,2.67,0.00,0.000,4,0.000,0.045,3583,2929,1907,0,0,0,0,0,0
$GC,12505,0.90,216.4,703.0,10.8,430,12510,0.00,2.70,0.00,0.000,6,0.000,0.051,3583,1364,1905,0,0,0,0,0,0
$GC,12771,0.91,220.6,676.6,9.8,437,12775,0.00,2.12,0.00,0.000,4,0.000,0.087,3583,165,1905,0,0,0,0,0,0
$GC,12789,0.91,222.4,674.4,9.9,437,12801,0.00,1.95,4.97,0.720,6,0.000,0.028,3583,1372,1893,0,0,0,0,0,0
$GC,13061,0.91,222.5,647.4,10.0,444,13065,0.00,2.62,0.00,0.000,4,0.000,0.048,3583,2933,1892,0,0,0,0,0,0
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$STATE,18942,end climb,SURFACE_DEPTH_REACHED
$STATE,18942,begin surface coast
$FINISH,1.3,1.023311
$STATE,18958,end surface coast,CONTROL_FINISHED_OK
$STATE,18958,begin surface
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$TT8_MAMPS,0.027612
$HUMID,63.42
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.70
$XPDR_PINGS,71
$24V_AH,23.3,33.460
$10V_AH,9.9,31.080
$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
$DEVICE_SECS,33.550,204.725,396.225,41.550,0.000,113.562,148.999,1016.451,17.750,0.000,16.561,1580.848,13887.766,516.781,2891.876,1796.866,33.374,1605.021,0.000,2904.600,0.000,0.538,0.000
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$SENSOR_SECS,500.104,595.132,750.686,1181.063,1676.140,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356176
$DATA_FILE_SIZE,60688,731
$CAP_FILE_SIZE,199243,0
$CFSIZE,260165632,154927104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110713,051511,2241.685,-15701.396,50,1.8,55,10.1