version: 66.06
glider: 148
mission: 12
dive: 74
start: 6 6 113 1 2 55
data:
$ID,148
$MISSION,12
$DIVE,74
$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,-1016556.1
$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,1575
$C_ROLL_CLIMB,1360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,55
$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
$GPS1,005414,2242.272,-15802.484,42,99.0,61,10.0
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-77.1
$GPS2,010201,2242.249,-15802.501,11,1.8,11,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.203,-0.162
$KALMAN_X,-67473.5,-116.8,105.1,63316.9,-1158.7
$KALMAN_Y,22876.8,-70.9,-334.7,-27542.7,310.8
$MHEAD_RNG_PITCHd_Wd,221.4,6800,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-74.43,0.000,2,0.000,0.000,413,1648,3190,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.3,-8.0,10,122,14.07,2.42,-3.40,0.000,4,0.151,0.048,3102,168,3397,0,0,0,0,0,0
$GC,235,-1.01,-146.0,43.4,-19.5,26,240,0.28,2.17,0.00,0.000,6,0.099,0.018,3162,1580,3398,0,0,0,0,0,0
$GC,503,-0.92,-146.0,78.6,-12.3,50,508,0.10,2.47,0.00,0.000,4,0.120,0.021,3184,3145,3398,0,0,0,0,0,0
$GC,524,-0.86,-146.0,81.4,-11.8,51,529,0.00,2.55,0.00,0.000,6,0.000,0.027,3184,1569,3398,0,0,0,0,0,0
$GC,792,-0.86,-146.0,105.9,-7.8,75,796,0.00,2.47,0.00,0.000,4,0.000,0.022,3184,3145,3399,0,0,0,0,0,0
$GC,821,-0.86,-146.0,108.2,-8.4,77,825,0.00,2.53,0.00,0.000,6,0.000,0.028,3184,1586,3399,0,0,0,0,0,0
$GC,1089,-0.86,-146.0,130.9,-9.8,101,1093,0.00,2.30,0.00,0.000,4,0.000,0.044,3184,171,3399,0,0,0,0,0,0
$GC,1124,-0.86,-146.0,135.2,-10.3,104,1128,0.00,2.15,0.00,0.000,6,0.000,0.017,3184,1610,3399,0,0,0,0,0,0
$GC,1388,-0.86,-146.0,158.8,-8.9,128,1392,0.00,2.35,0.00,0.000,4,0.000,0.043,3184,174,3399,0,0,0,0,0,0
$GC,1407,-0.86,-146.0,161.1,-9.9,129,1416,0.00,2.15,0.00,0.000,6,0.000,0.018,3184,1597,3399,0,0,0,0,0,0
$GC,1675,-0.86,-146.0,186.0,-9.9,154,1680,0.00,2.38,0.00,0.000,4,0.000,0.021,3184,3114,3399,0,0,0,0,0,0
$GC,1714,-0.95,-146.0,190.0,-9.3,157,1718,0.00,2.45,0.00,0.000,6,0.000,0.028,3184,1585,3400,0,0,0,0,0,0
$GC,1989,-0.95,-146.0,213.7,-8.1,171,1993,0.00,2.30,0.00,0.000,4,0.000,0.044,3184,166,3400,0,0,0,0,0,0
$GC,2034,-0.99,-146.0,217.5,-8.2,172,2038,0.00,2.12,0.00,0.000,6,0.000,0.018,3184,1573,3400,0,0,0,0,0,0
$GC,2321,-1.05,-146.0,240.7,-8.2,179,2326,0.12,2.42,0.00,0.000,4,0.064,0.023,3125,3122,3400,0,0,0,0,0,0
$GC,2374,-1.05,-146.0,245.9,-9.9,180,2380,0.15,2.47,0.00,0.000,6,0.094,0.029,3159,1585,3400,0,0,0,0,0,0
$GC,2653,-1.05,-146.0,272.0,-9.5,187,2657,0.00,2.30,0.00,0.000,4,0.000,0.047,3159,172,3399,0,0,0,0,0,0
$GC,2696,-1.05,-146.0,276.0,-9.3,188,2700,0.00,2.12,0.00,0.000,6,0.000,0.019,3159,1559,3400,0,0,0,0,0,0
$GC,2984,-1.05,-146.0,301.1,-9.2,195,2989,0.00,2.50,0.00,0.000,4,0.000,0.025,3159,3143,3399,0,0,0,0,0,0
$GC,3013,-1.13,-146.0,304.3,-9.6,195,3018,0.00,2.55,0.00,0.000,6,0.000,0.031,3159,1580,3400,0,0,0,0,0,0
$GC,3270,-1.13,-146.0,325.6,-7.6,202,3274,0.00,2.33,0.00,0.000,4,0.000,0.052,3159,170,3399,0,0,0,0,0,0
$GC,3298,-1.13,-146.0,327.9,-7.7,202,3302,0.00,2.20,0.00,0.000,6,0.000,0.021,3159,1581,3399,0,0,0,0,0,0
$GC,3553,-1.18,-146.0,342.8,-5.8,209,3558,0.12,2.38,0.00,0.000,4,0.066,0.053,3102,169,3398,0,0,0,0,0,0
$GC,3598,-1.12,-146.0,346.9,-10.5,210,3603,0.17,2.20,0.00,0.000,6,0.094,0.022,3141,1570,3399,0,0,0,0,0,0
$GC,3886,-1.12,-146.0,371.1,-8.4,217,3890,0.00,2.55,0.00,0.000,4,0.000,0.032,3141,3156,3397,0,0,0,0,0,0
$GC,3930,-1.23,-146.0,374.8,-8.6,218,3935,0.10,2.62,0.00,0.000,6,0.073,0.038,3078,1566,3396,0,0,0,0,0,0
$GC,4219,-1.13,-146.0,408.2,-11.6,225,4224,0.25,2.35,0.00,0.000,4,0.090,0.061,3138,172,3394,0,0,0,0,0,0
$GC,4250,-1.13,-146.0,411.6,-10.0,225,4254,0.00,2.22,0.00,0.000,6,0.000,0.025,3139,1580,3394,0,0,0,0,0,0
$GC,4506,-1.13,-146.0,432.2,-7.8,232,4510,0.00,2.55,0.00,0.000,4,0.000,0.036,3139,3155,3393,0,0,0,0,0,0
$GC,4530,-1.18,-146.0,434.3,-8.4,232,4535,0.00,2.62,0.00,0.000,6,0.000,0.037,3138,1569,3392,0,0,0,0,0,0
$GC,4791,-1.18,-146.0,454.3,-7.7,239,4796,0.00,2.38,0.00,0.000,4,0.000,0.067,3138,172,3391,0,0,0,0,0,0
$GC,4830,-1.18,-146.0,457.6,-7.9,239,4836,0.00,2.22,0.00,0.000,6,0.000,0.026,3138,1568,3390,0,0,0,0,0,0
$GC,5080,-1.18,-146.0,477.0,-7.5,246,5085,0.00,2.60,0.00,0.000,4,0.000,0.038,3138,3153,3389,0,0,0,0,0,0
$GC,5100,-1.24,-146.0,478.5,-7.7,246,5105,0.10,2.62,0.00,0.000,6,0.076,0.037,3071,1570,3389,0,0,0,0,0,0
$GC,5366,-1.13,-146.0,505.6,-10.4,253,5371,0.28,2.42,0.00,0.000,4,0.090,0.071,3134,166,3387,0,0,0,0,0,0
$GC,5410,-1.13,-146.0,509.6,-7.9,254,5414,0.00,2.28,0.00,0.000,6,0.000,0.030,3134,1577,3386,0,0,0,0,0,0
$GC,5699,-1.13,-146.0,530.0,-6.9,261,5703,0.00,2.60,0.00,0.000,4,0.000,0.041,3134,3164,3384,0,0,0,0,0,0
$GC,5718,-1.19,-146.0,531.5,-6.9,261,5723,0.00,2.65,0.00,0.000,6,0.000,0.041,3135,1577,3384,0,0,0,0,0,0
$GC,5982,-1.19,-146.0,547.6,-5.9,268,5987,0.00,2.47,0.00,0.000,4,0.000,0.076,3134,162,3383,0,0,0,0,0,0
$GC,6007,-1.19,-146.0,549.1,-6.9,268,6011,0.00,2.28,0.00,0.000,6,0.000,0.031,3134,1581,3382,0,0,0,0,0,0
$GC,6271,-1.24,-146.0,565.4,-6.4,275,6276,0.00,2.62,0.00,0.000,4,0.000,0.044,3134,3159,3381,0,0,0,0,0,0
$GC,6291,-1.29,-146.0,566.8,-7.4,275,6296,0.12,2.67,0.00,0.000,6,0.062,0.043,3069,1567,3381,0,0,0,0,0,0
$GC,6558,-1.20,-146.0,594.6,-10.9,282,6563,0.25,2.45,0.00,0.000,4,0.093,0.076,3127,171,3379,0,0,0,0,0,0
$GC,6640,-1.20,-146.0,602.5,-9.1,283,6644,0.00,2.28,0.00,0.000,6,0.000,0.032,3128,1570,3379,0,0,0,0,0,0
$GC,6892,-1.20,-146.0,621.6,-7.6,289,6896,0.00,2.65,0.00,0.000,4,0.000,0.046,3128,3156,3377,0,0,0,0,0,0
$GC,6907,-1.20,-146.0,622.8,-7.3,289,6911,0.00,2.67,0.00,0.000,6,0.000,0.044,3127,1565,3377,0,0,0,0,0,0
$GC,7175,-1.20,-146.0,642.0,-7.2,296,7179,0.00,2.45,0.00,0.000,4,0.000,0.079,3128,163,3376,0,0,0,0,0,0
$GC,7194,-1.20,-146.0,643.5,-7.3,296,7198,0.00,2.25,0.00,0.000,6,0.000,0.031,3128,1563,3375,0,0,0,0,0,0
$GC,7464,-1.25,-146.0,662.5,-7.0,303,7469,0.00,2.67,0.00,0.000,4,0.000,0.048,3128,3161,3375,0,0,0,0,0,0
$GC,7498,-1.34,-146.0,664.9,-7.1,303,7507,0.15,2.70,0.00,0.000,6,0.054,0.048,3055,1570,3374,0,0,0,0,0,0
$GC,7753,-1.23,-146.0,689.1,-9.7,310,7758,0.28,2.45,0.00,0.000,4,0.092,0.078,3118,171,3372,0,0,0,0,0,0
$GC,7791,-1.23,-146.0,692.7,-8.6,310,7797,0.00,2.28,0.00,0.000,6,0.000,0.034,3118,1567,3372,0,0,0,0,0,0
$GC,8041,-1.23,-146.0,709.6,-6.7,317,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1567,3372,0,0,0,0,0,0
$GC,8286,-1.23,-146.0,727.2,-7.5,323,8291,0.00,2.47,0.00,0.000,4,0.000,0.076,3118,165,3370,0,0,0,0,0,0
$GC,8316,-1.23,-146.0,729.8,-8.8,323,8321,0.00,2.30,0.00,0.000,6,0.000,0.035,3118,1567,3370,0,0,0,0,0,0
$GC,8571,-1.23,-146.0,751.4,-8.5,330,8576,0.00,2.65,0.00,0.000,4,0.000,0.051,3118,3160,3369,0,0,0,0,0,0
$GC,8616,-1.33,-146.0,754.9,-8.6,331,8621,0.00,2.70,0.00,0.000,6,0.000,0.050,3118,1574,3369,0,0,0,0,0,0
$GC,8904,-1.33,-146.0,774.6,-6.4,338,8908,0.00,2.47,0.00,0.000,4,0.000,0.082,3118,166,3368,0,0,0,0,0,0
$GC,8946,-1.33,-146.0,777.7,-7.4,338,8951,0.00,2.30,0.00,0.000,6,0.000,0.035,3118,1573,3368,0,0,0,0,0,0
$GC,9197,-1.33,-146.0,792.9,-6.3,345,9202,0.00,2.65,0.00,0.000,4,0.000,0.052,3118,3160,3367,0,0,0,0,0,0
$GC,9217,-1.37,-146.0,794.4,-7.0,345,9224,0.15,2.70,0.00,0.000,6,0.054,0.049,3049,1571,3367,0,0,0,0,0,0
$GC,9484,-1.26,-146.0,820.5,-10.0,352,9489,0.25,2.47,0.00,0.000,4,0.095,0.081,3107,165,3366,0,0,0,0,0,0
$GC,9533,-1.26,-146.0,824.9,-8.7,353,9537,0.00,2.30,0.00,0.000,6,0.000,0.035,3107,1568,3365,0,0,0,0,0,0
$GC,9816,-1.26,-146.0,844.9,-6.8,360,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1568,3364,0,0,0,0,0,0
$GC,10061,-1.26,-146.0,860.6,-6.6,366,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1568,3364,0,0,0,0,0,0
$GC,10303,-1.26,-146.0,877.8,-7.2,372,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1568,3363,0,0,0,0,0,0
$GC,10547,-1.26,-146.0,896.6,-7.8,378,10551,0.00,2.47,0.00,0.000,4,0.000,0.076,3107,166,3363,0,0,0,0,0,0
$GC,10579,-1.26,-146.0,899.5,-9.2,378,10584,0.00,2.30,0.00,0.000,6,0.000,0.036,3107,1564,3362,0,0,0,0,0,0
$STATE,10587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10588,begin apogee
$GC,10595,-0.31,0.0,900.5,8.8,379,10718,0.93,0.00,118.95,1.170,6,0.077,0.000,3317,1345,2800,0,0,0,0,0,0
$STATE,10719,end apogee,CONTROL_FINISHED_OK
$STATE,10719,begin climb
$GC,10721,1.27,146.0,904.9,0.0,382,10861,1.42,2.20,129.52,1.147,4,0.033,0.078,3665,179,2203,0,0,0,0,0,0
$GC,10973,0.99,146.0,884.1,14.8,387,10978,0.32,1.98,0.00,0.000,6,0.115,0.031,3601,1371,2198,0,0,0,0,0,0
$GC,11224,0.90,146.0,856.4,11.0,393,11228,0.00,2.15,0.00,0.000,4,0.000,0.074,3600,169,2193,0,0,0,0,0,0
$GC,11267,0.75,146.0,851.0,12.8,394,11272,0.25,1.95,0.00,0.000,6,0.107,0.031,3549,1352,2193,0,0,0,0,0,0
$GC,11556,0.77,159.1,823.7,9.4,401,11569,0.00,0.00,11.10,0.974,6,0.000,0.000,3549,1352,2151,0,0,0,0,0,0
$GC,11799,0.77,165.6,800.1,9.7,407,11808,0.00,0.00,7.60,0.893,6,0.000,0.000,3549,1353,2124,0,0,0,0,0,0
$GC,12042,0.79,180.8,776.9,9.3,413,12059,0.00,0.00,15.15,1.000,6,0.000,0.000,3549,1354,2062,0,0,0,0,0,0
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$STATE,18804,end climb,SURFACE_DEPTH_REACHED
$STATE,18804,begin surface coast
$FINISH,0.8,1.023459
$STATE,18851,end surface coast,CONTROL_FINISHED_OK
$STATE,18851,begin surface
$SM_CCo,18874,48.58,0.443,0,0,1209,390.03
$SM_GC,1.74,0.00,0.00,48.58,0.000,0.000,0.443,417,1587,1209,-13.65,0.34,390.03
$IRIDIUM_FIX,2234.68,-15758.03,300802,191940
$TT8_MAMPS,0.026845
$HUMID,63.27
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.90
$XPDR_PINGS,11
$24V_AH,23.2,10.519
$10V_AH,9.9,9.114
$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,33.950,245.325,389.025,48.575,0.000,28.947,40.982,250.131,2.750,0.000,12.701,1619.373,13837.562,570.816,2568.776,785.925,33.367,1741.245,0.000,2558.287,0.000,0.535,0.000
$DEVICE_MAMPS,151.099,82.069,1169.675,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,483.980,331.988,426.199,733.458,999.845,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,54112,711
$CAP_FILE_SIZE,196857,0
$CFSIZE,260165632,166842368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060613,061956,2240.235,-15805.047,34,99.0,53,10.0