version: 66.06
glider: 148
mission: 12
dive: 34
start: 5 28 113 1 1 42
data:
$ID,148
$MISSION,12
$DIVE,34
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1015680.5
$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,3380
$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,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1560
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,76
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2855
$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
$GPS1,005019,2303.680,-15802.132,42,99.0,61,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-76.4
$GPS2,010048,2303.791,-15802.003,8,1.0,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.180,-0.187
$KALMAN_X,-10899.0,-64.5,553.1,7078.4,-651.0
$KALMAN_Y,5601.4,67.8,222.3,28921.8,457.6
$MHEAD_RNG_PITCHd_Wd,126.1,62360,-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,-66.95,0.000,2,0.000,0.000,416,1589,3115,0,0,0,0,0,0
$GC,89,-1.27,-146.0,4.4,-8.0,9,114,14.00,2.33,-5.38,0.000,4,0.150,0.049,3096,165,3451,0,0,0,0,0,0
$GC,132,0.16,-146.0,23.3,-44.1,14,140,1.42,2.15,0.00,0.000,6,0.094,0.019,3406,1536,3452,0,0,0,0,0,0
$GC,415,-0.56,-146.0,46.3,-8.6,45,427,0.62,2.53,0.00,0.000,4,0.060,0.023,3251,3137,3452,0,0,0,0,0,0
$GC,466,-1.20,-146.0,50.7,-8.4,49,479,0.55,2.55,0.00,0.000,6,0.048,0.028,3112,1545,3452,0,0,0,0,0,0
$GC,734,-0.95,-146.0,89.0,-16.6,74,739,0.25,2.53,0.00,0.000,4,0.093,0.024,3170,3129,3453,0,0,0,0,0,0
$GC,754,-0.77,-146.0,92.0,-16.6,75,759,0.17,2.53,0.00,0.000,6,0.090,0.032,3211,1568,3453,0,0,0,0,0,0
$GC,1023,-0.87,-146.0,115.7,-7.8,99,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1568,3453,0,0,0,0,0,0
$GC,1286,-0.97,-146.0,138.0,-8.4,124,1291,0.17,2.47,0.00,0.000,4,0.051,0.024,3142,3131,3454,0,0,0,0,0,0
$GC,1317,-0.97,-146.0,141.7,-11.8,126,1327,0.08,2.55,0.00,0.000,6,0.081,0.031,3164,1578,3454,0,0,0,0,0,0
$GC,1583,-0.97,-146.0,171.1,-11.3,151,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1578,3454,0,0,0,0,0,0
$GC,1845,-0.97,-146.0,199.2,-9.9,176,1850,0.00,2.45,0.00,0.000,4,0.000,0.024,3164,3138,3454,0,0,0,0,0,0
$GC,1889,-1.10,-146.0,203.2,-8.2,178,1894,0.10,2.50,0.00,0.000,6,0.076,0.028,3106,1579,3454,0,0,0,0,0,0
$GC,2177,-0.93,-146.0,240.7,-13.7,185,2182,0.28,2.30,0.00,0.000,4,0.088,0.042,3171,162,3454,0,0,0,0,0,0
$GC,2207,-0.93,-146.0,244.2,-10.7,185,2211,0.00,2.20,0.00,0.000,6,0.000,0.020,3171,1585,3454,0,0,0,0,0,0
$GC,2462,-1.01,-146.0,264.9,-8.0,192,2466,0.00,2.42,0.00,0.000,4,0.000,0.027,3171,3129,3454,0,0,0,0,0,0
$GC,2509,-1.19,-146.0,268.7,-7.2,193,2514,0.20,2.53,0.00,0.000,6,0.043,0.031,3075,1574,3454,0,0,0,0,0,0
$GC,2793,-0.99,-146.0,305.3,-13.5,200,2796,0.40,0.00,0.00,0.000,6,0.084,0.000,3164,1574,3454,0,0,0,0,0,0
$GC,3036,-1.08,-146.0,325.3,-7.8,206,3040,0.00,2.50,0.00,0.000,4,0.000,0.031,3164,3121,3454,0,0,0,0,0,0
$GC,3062,-1.22,-146.0,327.3,-8.2,206,3067,0.20,2.53,0.00,0.000,6,0.042,0.034,3070,1581,3454,0,0,0,0,0,0
$GC,3322,-1.03,-146.0,360.9,-13.2,213,3327,0.35,2.35,0.00,0.000,4,0.085,0.055,3153,173,3453,0,0,0,0,0,0
$GC,3342,-0.97,-146.0,363.4,-11.7,213,3346,0.00,2.17,0.00,0.000,6,0.000,0.024,3153,1568,3453,0,0,0,0,0,0
$GC,3608,-1.06,-146.0,382.4,-7.1,220,3612,0.00,2.53,0.00,0.000,4,0.000,0.038,3152,3131,3451,0,0,0,0,0,0
$GC,3636,-1.20,-146.0,384.4,-6.6,220,3642,0.15,2.55,0.00,0.000,6,0.053,0.036,3080,1587,3451,0,0,0,0,0,0
$GC,3893,-1.06,-146.0,411.2,-11.2,227,3898,0.28,2.40,0.00,0.000,4,0.089,0.062,3146,169,3449,0,0,0,0,0,0
$GC,3918,-1.06,-146.0,413.8,-9.4,227,3922,0.00,2.25,0.00,0.000,6,0.000,0.027,3146,1592,3449,0,0,0,0,0,0
$GC,4182,-1.13,-146.0,435.3,-8.2,234,4186,0.00,2.53,0.00,0.000,4,0.000,0.042,3146,3132,3447,0,0,0,0,0,0
$GC,4203,-1.23,-146.0,437.0,-8.6,234,4208,0.15,2.58,0.00,0.000,6,0.054,0.036,3072,1576,3447,0,0,0,0,0,0
$GC,4468,-1.08,-146.0,468.5,-12.2,241,4473,0.28,2.42,0.00,0.000,4,0.091,0.070,3137,167,3446,0,0,0,0,0,0
$GC,4497,-1.08,-146.0,471.6,-9.0,241,4501,0.00,2.28,0.00,0.000,6,0.000,0.031,3137,1577,3445,0,0,0,0,0,0
$GC,4754,-1.15,-146.0,490.6,-7.3,248,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1577,3443,0,0,0,0,0,0
$GC,4996,-1.22,-146.0,508.3,-7.4,254,5001,0.10,2.62,0.00,0.000,4,0.077,0.050,3090,3143,3441,0,0,0,0,0,0
$GC,5011,-1.22,-146.0,510.0,-7.6,254,5016,0.10,2.62,0.00,0.000,6,0.117,0.041,3113,1574,3442,0,0,0,0,0,0
$GC,5282,-1.22,-146.0,534.2,-9.2,261,5287,0.00,2.62,0.00,0.000,4,0.000,0.048,3112,3135,3440,0,0,0,0,0,0
$GC,5301,-1.22,-146.0,536.2,-9.6,261,5306,0.00,2.62,0.00,0.000,6,0.000,0.044,3112,1576,3440,0,0,0,0,0,0
$GC,5565,-1.22,-146.0,560.6,-9.2,268,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1575,3438,0,0,0,0,0,0
$GC,5810,-1.22,-146.0,582.4,-8.9,274,5815,0.00,2.62,0.00,0.000,4,0.000,0.049,3112,3135,3437,0,0,0,0,0,0
$GC,5830,-1.22,-146.0,584.3,-9.2,274,5834,0.00,2.62,0.00,0.000,6,0.000,0.047,3112,1584,3436,0,0,0,0,0,0
$GC,6094,-1.22,-146.0,607.1,-8.7,281,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1584,3434,0,0,0,0,0,0
$GC,6339,-1.22,-146.0,627.9,-8.5,287,6343,0.00,2.60,0.00,0.000,4,0.000,0.050,3113,3135,3433,0,0,0,0,0,0
$GC,6368,-1.29,-146.0,630.6,-8.2,287,6372,0.00,2.62,0.00,0.000,6,0.000,0.050,3113,1590,3432,0,0,0,0,0,0
$GC,6623,-1.29,-146.0,651.2,-8.1,294,6627,0.00,2.53,0.00,0.000,4,0.000,0.084,3112,168,3431,0,0,0,0,0,0
$GC,6643,-1.29,-146.0,652.9,-8.5,294,6647,0.00,2.33,0.00,0.000,6,0.000,0.038,3112,1587,3431,0,0,0,0,0,0
$GC,6912,-1.29,-146.0,674.8,-8.2,301,6916,0.00,2.62,0.00,0.000,4,0.000,0.054,3112,3142,3430,0,0,0,0,0,0
$GC,6932,-1.29,-146.0,676.6,-8.7,301,6937,0.00,2.65,0.00,0.000,6,0.000,0.050,3112,1588,3430,0,0,0,0,0,0
$GC,7198,-1.29,-146.0,696.9,-7.5,308,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1588,3428,0,0,0,0,0,0
$GC,7440,-1.29,-146.0,714.2,-7.1,314,7444,0.00,2.60,0.00,0.000,4,0.000,0.049,3112,3144,3426,0,0,0,0,0,0
$GC,7459,-1.29,-146.0,715.8,-7.3,314,7464,0.00,2.65,0.00,0.000,6,0.000,0.051,3112,1591,3426,0,0,0,0,0,0
$GC,7725,-1.29,-146.0,735.0,-7.4,321,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1591,3425,0,0,0,0,0,0
$GC,7967,-1.29,-146.0,752.5,-7.1,327,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1591,3424,0,0,0,0,0,0
$GC,8211,-1.29,-146.0,769.2,-6.8,333,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1591,3423,0,0,0,0,0,0
$GC,8454,-1.29,-146.0,785.3,-6.6,339,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1591,3421,0,0,0,0,0,0
$GC,8699,-1.29,-146.0,801.7,-6.7,345,8704,0.00,2.62,0.00,0.000,4,0.000,0.050,3113,3143,3421,0,0,0,0,0,0
$GC,8721,-1.36,-146.0,803.2,-7.6,345,8726,0.12,2.65,0.00,0.000,6,0.064,0.051,3056,1594,3420,0,0,0,0,0,0
$GC,8986,-1.24,-146.0,828.0,-9.6,352,8988,0.25,0.00,0.00,0.000,6,0.097,0.000,3110,1594,3420,0,0,0,0,0,0
$GC,9231,-1.24,-146.0,845.4,-7.1,358,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1594,3419,0,0,0,0,0,0
$GC,9473,-1.24,-146.0,863.2,-7.4,364,9477,0.00,2.62,0.00,0.000,4,0.000,0.051,3110,3143,3418,0,0,0,0,0,0
$GC,9502,-1.33,-146.0,865.5,-8.1,364,9506,0.00,2.65,0.00,0.000,6,0.000,0.052,3110,1597,3418,0,0,0,0,0,0
$GC,9758,-1.33,-146.0,884.6,-7.6,371,9759,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1597,3417,0,0,0,0,0,0
$STATE,9957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9957,begin apogee
$GC,9963,-0.31,0.0,900.5,7.9,376,10085,0.88,0.00,117.78,1.178,6,0.077,0.000,3309,1294,2854,0,0,0,0,0,0
$STATE,10085,end apogee,CONTROL_FINISHED_OK
$STATE,10085,begin climb
$GC,10088,1.27,146.0,904.8,0.0,379,10228,1.45,2.10,129.43,1.155,4,0.032,0.088,3665,172,2258,0,0,0,0,0,0
$GC,10267,0.83,146.0,897.8,13.9,383,10272,0.50,1.90,0.00,0.000,6,0.113,0.034,3564,1311,2255,0,0,0,0,0,0
$GC,10547,0.86,166.2,871.9,9.1,390,10567,0.00,0.00,18.02,1.058,6,0.000,0.000,3565,1311,2177,0,0,0,0,0,0
$GC,10790,0.86,167.9,848.2,9.9,396,10791,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1312,2172,0,0,0,0,0,0
$GC,11033,0.88,181.3,825.0,9.4,402,11053,0.00,2.15,14.85,1.027,4,0.000,0.080,3565,169,2115,0,0,0,0,0,0
$GC,11074,0.80,183.8,821.0,9.9,402,11083,0.00,1.90,3.88,0.653,6,0.000,0.035,3564,1310,2105,0,0,0,0,0,0
$GC,11370,0.83,206.2,793.4,9.0,410,11399,0.00,2.78,21.50,1.046,4,0.000,0.055,3564,2869,2013,0,0,0,0,0,0
$GC,11416,0.88,250.8,789.3,7.9,411,11465,0.00,2.75,42.97,1.072,6,0.000,0.054,3564,1305,1831,0,0,0,0,0,0
$GC,11747,0.88,250.8,755.1,10.6,419,11752,0.00,2.70,0.00,0.000,4,0.000,0.048,3564,2883,1825,0,0,0,0,0,0
$GC,11777,0.96,252.6,752.1,9.9,419,11785,0.10,2.78,0.00,0.000,6,0.082,0.055,3602,1299,1822,0,0,0,0,0,0
$GC,12035,0.89,252.6,719.4,12.8,426,12040,0.15,2.10,0.00,0.000,4,0.112,0.091,3572,161,1822,0,0,0,0,0,0
$GC,12074,0.89,252.6,714.5,12.7,426,12080,0.00,1.90,0.00,0.000,6,0.000,0.041,3572,1307,1822,0,0,0,0,0,0
$GC,12324,0.89,252.6,686.1,11.3,433,12328,0.00,2.70,0.00,0.000,4,0.000,0.055,3572,2881,1821,0,0,0,0,0,0
$GC,12371,0.99,252.6,681.0,10.4,434,12378,0.10,2.72,0.00,0.000,6,0.081,0.054,3611,1311,1818,0,0,0,0,0,0
$GC,12657,0.91,252.6,643.7,13.0,441,12659,0.15,0.00,0.00,0.000,6,0.112,0.000,3579,1311,1818,0,0,0,0,0,0
$GC,12900,0.91,252.6,615.4,11.6,447,12904,0.00,2.67,0.00,0.000,4,0.000,0.048,3579,2883,1818,0,0,0,0,0,0
$GC,12918,0.91,252.6,613.1,12.1,447,12923,0.00,2.70,0.00,0.000,6,0.000,0.052,3579,1307,1817,0,0,0,0,0,0
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$STATE,18284,end climb,SURFACE_DEPTH_REACHED
$STATE,18284,begin surface coast
$FINISH,0.7,1.023186
$STATE,18330,end surface coast,CONTROL_FINISHED_OK
$STATE,18330,begin surface
$SM_CCo,18355,44.62,0.453,0,0,1304,380.21
$SM_GC,1.96,0.00,0.00,44.62,0.000,0.000,0.453,415,1635,1304,-13.64,2.12,380.21
$IRIDIUM_FIX,2253.38,-15757.57,220802,010122
$TT8_MAMPS,0.027612
$HUMID,62.24
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.20
$XPDR_PINGS,15
$24V_AH,23.2,4.304
$10V_AH,9.9,3.855
$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,38.375,202.950,401.275,44.625,0.000,48.468,80.489,282.323,3.750,0.000,15.078,1542.053,13696.690,554.873,2383.452,842.601,33.378,1602.732,0.000,2374.874,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,90.506,1178.112,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,487.236,343.270,437.965,791.535,1079.715,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,54057,716
$CAP_FILE_SIZE,183326,0
$CFSIZE,260165632,169914368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280513,060936,2302.250,-15800.012,31,1.3,31,10.1