version: 66.06
glider: 148
mission: 12
dive: 63
start: 6 3 113 13 18 7
data:
$ID,148
$MISSION,12
$DIVE,63
$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,-1016317.9
$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,1360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,32
$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
$GPS1,131001,2305.485,-15735.578,75,1.4,83,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-77.5
$GPS2,131713,2305.519,-15735.649,14,1.8,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.102,-0.239
$KALMAN_X,-53201.2,-80.3,-248.8,95215.0,-1043.4
$KALMAN_Y,26832.2,88.5,-319.7,11415.2,1733.0
$MHEAD_RNG_PITCHd_Wd,192.9,69548,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-74.18,0.000,2,0.000,0.000,412,1671,3159,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.9,-6.0,10,121,14.00,2.47,-3.97,0.000,4,0.148,0.048,3104,162,3396,0,0,0,0,0,0
$GC,255,-1.07,-146.0,44.7,-18.3,29,260,0.22,2.25,0.00,0.000,6,0.097,0.019,3153,1612,3397,0,0,0,0,0,0
$GC,524,-0.99,-146.0,75.9,-9.6,53,533,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1615,3398,0,0,0,0,0,0
$GC,787,-0.92,-146.0,103.1,-11.0,78,792,0.15,2.40,0.00,0.000,4,0.107,0.044,3185,165,3398,0,0,0,0,0,0
$GC,809,-0.87,-146.0,105.1,-11.6,79,813,0.00,2.20,0.00,0.000,6,0.000,0.018,3185,1608,3398,0,0,0,0,0,0
$GC,1075,-0.87,-146.0,132.1,-9.8,103,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1610,3398,0,0,0,0,0,0
$GC,1338,-0.87,-146.0,159.3,-10.0,128,1342,0.00,2.40,0.00,0.000,4,0.000,0.023,3185,3146,3399,0,0,0,0,0,0
$GC,1377,-1.00,-146.0,162.9,-8.2,131,1383,0.00,2.53,0.00,0.000,6,0.000,0.029,3185,1581,3399,0,0,0,0,0,0
$GC,1640,-1.00,-146.0,181.6,-6.1,156,1644,0.00,2.30,0.00,0.000,4,0.000,0.044,3185,167,3399,0,0,0,0,0,0
$GC,1689,-1.04,-146.0,184.7,-6.8,160,1693,0.12,2.17,0.00,0.000,6,0.064,0.018,3124,1599,3399,0,0,0,0,0,0
$GC,1979,-0.95,-146.0,213.9,-11.0,178,1984,0.25,2.35,0.00,0.000,4,0.091,0.042,3182,168,3399,0,0,0,0,0,0
$GC,2004,-0.95,-146.0,216.8,-9.8,178,2008,0.00,2.12,0.00,0.000,6,0.000,0.018,3182,1580,3399,0,0,0,0,0,0
$GC,2263,-1.01,-146.0,236.4,-7.4,185,2267,0.00,2.45,0.00,0.000,4,0.000,0.023,3182,3150,3399,0,0,0,0,0,0
$GC,2298,-1.13,-146.0,238.7,-6.5,185,2303,0.20,2.53,0.00,0.000,6,0.041,0.029,3098,1584,3399,0,0,0,0,0,0
$GC,2548,-1.02,-146.0,266.4,-11.6,191,2550,0.30,0.00,0.00,0.000,6,0.089,0.000,3163,1583,3399,0,0,0,0,0,0
$GC,2791,-1.02,-146.0,286.7,-8.2,197,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1583,3399,0,0,0,0,0,0
$GC,3037,-1.07,-146.0,306.1,-7.8,203,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1583,3399,0,0,0,0,0,0
$GC,3279,-1.13,-146.0,323.7,-7.3,209,3281,0.10,0.00,0.00,0.000,6,0.078,0.000,3114,1583,3398,0,0,0,0,0,0
$GC,3523,-1.08,-146.0,350.2,-11.4,215,3528,0.15,2.35,0.00,0.000,4,0.098,0.053,3148,172,3397,0,0,0,0,0,0
$GC,3553,-1.08,-146.0,353.8,-11.6,215,3557,0.00,2.17,0.00,0.000,6,0.000,0.022,3148,1567,3397,0,0,0,0,0,0
$GC,3812,-1.08,-146.0,374.3,-6.9,222,3816,0.00,2.58,0.00,0.000,4,0.000,0.033,3148,3168,3395,0,0,0,0,0,0
$GC,3841,-1.16,-146.0,375.6,-4.0,222,3845,0.00,2.58,0.00,0.000,6,0.000,0.036,3148,1593,3395,0,0,0,0,0,0
$GC,4097,-1.16,-146.0,385.4,-4.0,229,4101,0.00,2.40,0.00,0.000,4,0.000,0.059,3148,163,3394,0,0,0,0,0,0
$GC,4149,-1.22,-146.0,388.8,-6.4,230,4154,0.12,2.22,0.00,0.000,6,0.064,0.024,3091,1584,3393,0,0,0,0,0,0
$GC,4429,-1.14,-146.0,420.1,-12.0,237,4435,0.20,2.58,0.00,0.000,4,0.094,0.035,3135,3168,3392,0,0,0,0,0,0
$GC,4440,-1.08,-146.0,421.7,-12.2,237,4445,0.00,2.60,0.00,0.000,6,0.000,0.031,3135,1577,3392,0,0,0,0,0,0
$GC,4714,-1.08,-146.0,445.2,-8.2,244,4718,0.00,2.38,0.00,0.000,4,0.000,0.063,3135,172,3390,0,0,0,0,0,0
$GC,4748,-1.08,-146.0,448.2,-8.5,244,4752,0.00,2.25,0.00,0.000,6,0.000,0.025,3135,1585,3390,0,0,0,0,0,0
$GC,4998,-1.08,-146.0,468.7,-8.3,250,5002,0.00,2.58,0.00,0.000,4,0.000,0.039,3135,3163,3389,0,0,0,0,0,0
$GC,5031,-1.17,-146.0,471.8,-8.8,250,5036,0.00,2.60,0.00,0.000,6,0.000,0.039,3135,1591,3388,0,0,0,0,0,0
$GC,5283,-1.17,-146.0,494.5,-9.2,256,5287,0.00,2.47,0.00,0.000,4,0.000,0.071,3135,164,3386,0,0,0,0,0,0
$GC,5302,-1.17,-146.0,496.3,-9.1,256,5306,0.00,2.28,0.00,0.000,6,0.000,0.029,3135,1578,3387,0,0,0,0,0,0
$GC,5570,-1.17,-146.0,514.9,-6.4,263,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1578,3385,0,0,0,0,0,0
$GC,5815,-1.17,-146.0,529.3,-5.8,269,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1579,3384,0,0,0,0,0,0
$GC,6058,-1.17,-146.0,546.7,-7.5,275,6062,0.00,2.62,0.00,0.000,4,0.000,0.044,3135,3166,3382,0,0,0,0,0,0
$GC,6077,-1.23,-146.0,548.5,-9.1,275,6082,0.00,2.62,0.00,0.000,6,0.000,0.041,3135,1590,3382,0,0,0,0,0,0
$GC,6342,-1.27,-146.0,573.1,-9.5,282,6347,0.12,2.50,0.00,0.000,4,0.064,0.077,3080,162,3381,0,0,0,0,0,0
$GC,6371,-1.18,-146.0,576.5,-12.5,282,6376,0.20,2.33,0.00,0.000,6,0.096,0.033,3126,1588,3380,0,0,0,0,0,0
$GC,6626,-1.18,-146.0,596.5,-7.1,289,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1588,3379,0,0,0,0,0,0
$GC,6872,-1.18,-146.0,608.3,-4.6,295,6876,0.00,2.47,0.00,0.000,4,0.000,0.073,3126,168,3378,0,0,0,0,0,0
$GC,6895,-1.18,-146.0,609.6,-5.8,295,6899,0.00,2.30,0.00,0.000,6,0.000,0.034,3126,1580,3378,0,0,0,0,0,0
$GC,7154,-1.18,-146.0,622.6,-5.3,302,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1580,3376,0,0,0,0,0,0
$GC,7400,-1.18,-146.0,638.7,-7.0,308,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1580,3375,0,0,0,0,0,0
$GC,7642,-1.18,-146.0,658.9,-8.5,314,7646,0.00,2.50,0.00,0.000,4,0.000,0.076,3126,166,3374,0,0,0,0,0,0
$GC,7675,-1.18,-146.0,662.1,-10.0,314,7679,0.00,2.33,0.00,0.000,6,0.000,0.035,3126,1582,3374,0,0,0,0,0,0
$GC,7925,-1.23,-146.0,684.1,-8.7,320,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1582,3373,0,0,0,0,0,0
$GC,8170,-1.27,-146.0,704.8,-8.5,326,8174,0.00,2.47,0.00,0.000,4,0.000,0.076,3126,169,3371,0,0,0,0,0,0
$GC,8208,-1.32,-146.0,708.4,-9.2,326,8214,0.12,2.33,0.00,0.000,6,0.066,0.035,3076,1586,3371,0,0,0,0,0,0
$GC,8460,-1.26,-146.0,734.0,-10.2,333,8462,0.15,0.00,0.00,0.000,6,0.105,0.000,3109,1586,3370,0,0,0,0,0,0
$GC,8702,-1.26,-146.0,752.7,-7.5,339,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1587,3369,0,0,0,0,0,0
$GC,8946,-1.26,-146.0,770.3,-7.4,345,8950,0.00,2.50,0.00,0.000,4,0.000,0.076,3109,171,3369,0,0,0,0,0,0
$GC,8974,-1.26,-146.0,772.7,-8.1,345,8978,0.00,2.30,0.00,0.000,6,0.000,0.035,3109,1576,3368,0,0,0,0,0,0
$GC,9230,-1.26,-146.0,793.4,-8.2,352,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1576,3367,0,0,0,0,0,0
$GC,9472,-1.26,-146.0,813.5,-8.2,358,9477,0.00,2.47,0.00,0.000,4,0.000,0.076,3109,165,3367,0,0,0,0,0,0
$GC,9491,-1.26,-146.0,815.3,-8.7,358,9495,0.00,2.30,0.00,0.000,6,0.000,0.035,3109,1577,3366,0,0,0,0,0,0
$GC,9757,-1.26,-146.0,834.6,-7.2,365,9761,0.00,2.70,0.00,0.000,4,0.000,0.051,3109,3178,3366,0,0,0,0,0,0
$GC,9781,-1.30,-146.0,836.4,-7.2,365,9785,0.00,2.72,0.00,0.000,6,0.000,0.050,3109,1570,3365,0,0,0,0,0,0
$GC,10040,-1.30,-146.0,851.2,-5.4,372,10045,0.00,2.47,0.00,0.000,4,0.000,0.083,3109,170,3365,0,0,0,0,0,0
$GC,10061,-1.30,-146.0,852.4,-6.5,372,10065,0.00,2.30,0.00,0.000,6,0.000,0.035,3109,1580,3364,0,0,0,0,0,0
$GC,10329,-1.30,-146.0,864.4,-4.2,379,10330,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1581,3364,0,0,0,0,0,0
$GC,10573,-1.30,-146.0,873.1,-3.4,385,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1581,3363,0,0,0,0,0,0
$GC,10818,-1.30,-146.0,883.9,-4.8,391,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1581,3362,0,0,0,0,0,0
$GC,11060,-1.30,-146.0,899.6,-6.6,397,11065,0.00,2.42,0.00,0.000,3,0.000,0.076,3109,197,3362,0,0,0,0,0,0
$STATE,11065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11065,begin apogee
$GC,11073,-0.31,0.0,900.1,6.6,397,11196,0.88,0.00,118.75,1.172,6,0.077,0.000,3312,1370,2800,0,0,0,0,0,0
$STATE,11197,end apogee,CONTROL_FINISHED_OK
$STATE,11197,begin climb
$GC,11201,1.27,146.0,904.0,0.0,400,11342,1.48,2.22,132.18,1.146,4,0.033,0.074,3666,165,2204,0,0,0,0,0,0
$GC,11355,1.01,146.0,898.0,12.3,404,11360,0.30,2.00,0.00,0.000,6,0.119,0.032,3607,1359,2202,0,0,0,0,0,0
$GC,11646,0.90,146.0,868.1,10.0,411,11651,0.12,2.15,0.00,0.000,4,0.125,0.075,3583,170,2193,0,0,0,0,0,0
$GC,11738,0.80,149.4,858.8,9.8,413,11742,0.10,1.95,0.00,0.000,6,0.134,0.032,3562,1363,2193,0,0,0,0,0,0
$GC,12027,0.87,205.3,836.5,7.4,420,12083,0.00,0.00,53.53,1.100,6,0.000,0.000,3562,1364,1962,0,0,0,0,0,0
$GC,12313,0.87,205.3,807.1,10.9,427,12314,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1364,1956,0,0,0,0,0,0
$GC,12556,0.87,205.3,778.8,11.6,433,12561,0.00,2.70,0.00,0.000,4,0.000,0.051,3562,2944,1955,0,0,0,0,0,0
$GC,12605,0.95,205.3,773.5,10.5,434,12612,0.12,2.72,0.00,0.000,6,0.068,0.049,3607,1354,1952,0,0,0,0,0,0
$GC,12890,0.88,205.3,736.1,12.9,441,12895,0.15,2.15,0.00,0.000,4,0.111,0.084,3576,160,1952,0,0,0,0,0,0
$GC,12939,0.88,205.3,729.9,12.9,442,12942,0.00,1.92,0.00,0.000,6,0.000,0.032,3576,1348,1952,0,0,0,0,0,0
$GC,13225,0.89,210.0,700.9,9.8,449,13229,0.00,2.70,0.00,0.000,4,0.000,0.050,3576,2940,1951,0,0,0,0,0,0
$GC,13239,0.89,210.0,699.4,10.1,449,13244,0.00,2.75,0.00,0.000,6,0.000,0.048,3576,1342,1950,0,0,0,0,0,0
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$STATE,19206,end climb,SURFACE_DEPTH_REACHED
$STATE,19208,begin surface coast
$FINISH,0.7,1.023566
$STATE,19242,end surface coast,CONTROL_FINISHED_OK
$STATE,19242,begin surface
$SM_CCo,19266,35.40,0.446,0,0,1209,390.03
$SM_GC,1.72,0.00,0.00,35.40,0.000,0.000,0.446,410,1580,1209,-13.69,-0.28,390.03
$IRIDIUM_FIX,2255.72,-15738.85,280802,070710
$TT8_MAMPS,0.027612
$HUMID,63.19
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.90
$XPDR_PINGS,8
$24V_AH,23.2,8.821
$10V_AH,9.8,7.691
$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
$DEVICE_SECS,33.800,199.825,425.425,35.400,0.000,27.647,37.113,210.103,2.000,0.000,16.460,1558.059,14535.248,577.273,2345.155,709.920,33.363,1630.392,0.000,2332.918,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,488.391,327.352,423.907,724.103,986.409,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,53989,718
$CAP_FILE_SIZE,181245,0
$CFSIZE,260165632,167698432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030613,184200,2303.265,-15737.168,88,1.9,88,10.1