version: 66.06
glider: 148
mission: 12
dive: 88
start: 6 9 113 3 19 25
data:
$ID,148
$MISSION,12
$DIVE,88
$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,-1016906.8
$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,28
$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
$GPS1,030424,2304.245,-15804.630,63,1.2,63,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.5
$GPS2,031831,2304.251,-15804.754,11,1.2,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.168,-0.198
$KALMAN_X,-91431.3,-165.5,-373.1,83950.8,-156.6
$KALMAN_Y,17302.2,309.0,-168.1,18228.1,594.3
$MHEAD_RNG_PITCHd_Wd,129.5,66182,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-67.25,0.000,2,0.000,0.000,409,1662,2969,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.0,-3.8,9,122,14.05,2.53,-7.95,0.000,4,0.149,0.054,3101,165,3398,0,0,0,0,0,0
$GC,154,-0.91,-146.0,20.9,-24.4,17,162,0.35,2.22,0.00,0.000,6,0.084,0.018,3182,1584,3399,0,0,0,0,0,0
$GC,435,-0.85,-146.0,58.6,-11.7,46,439,0.00,2.45,0.00,0.000,4,0.000,0.023,3182,3143,3399,0,0,0,0,0,0
$GC,467,-0.85,-146.0,62.5,-11.4,48,472,0.00,2.55,0.00,0.000,6,0.000,0.027,3182,1568,3398,0,0,0,0,0,0
$GC,730,-0.85,-146.0,87.8,-9.5,72,734,0.00,2.25,0.00,0.000,4,0.000,0.042,3182,173,3399,0,0,0,0,0,0
$GC,759,-0.85,-146.0,90.5,-9.9,74,763,0.00,2.15,0.00,0.000,6,0.000,0.017,3182,1606,3399,0,0,0,0,0,0
$GC,1030,-0.85,-146.0,113.8,-9.5,99,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1609,3399,0,0,0,0,0,0
$GC,1292,-0.85,-146.0,139.8,-9.1,124,1296,0.00,2.35,0.00,0.000,4,0.000,0.021,3182,3124,3399,0,0,0,0,0,0
$GC,1312,-0.85,-146.0,141.5,-10.4,125,1316,0.00,2.50,0.00,0.000,6,0.000,0.026,3182,1570,3399,0,0,0,0,0,0
$GC,1575,-0.85,-146.0,166.8,-9.7,149,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1570,3399,0,0,0,0,0,0
$GC,1829,-0.85,-146.0,189.7,-8.0,173,1833,0.00,2.45,0.00,0.000,4,0.000,0.021,3182,3122,3400,0,0,0,0,0,0
$GC,1850,-0.92,-146.0,191.4,-7.9,174,1859,0.00,2.50,0.00,0.000,6,0.000,0.027,3182,1585,3399,0,0,0,0,0,0
$GC,2138,-0.97,-146.0,212.2,-7.2,190,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1585,3400,0,0,0,0,0,0
$GC,2380,-1.03,-146.0,228.7,-6.7,196,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1585,3400,0,0,0,0,0,0
$GC,2624,-1.10,-146.0,246.4,-7.4,202,2629,0.15,2.35,0.00,0.000,4,0.055,0.048,3116,162,3399,0,0,0,0,0,0
$GC,2650,-1.04,-146.0,248.9,-10.9,202,2654,0.17,2.15,0.00,0.000,6,0.094,0.018,3157,1569,3399,0,0,0,0,0,0
$GC,2910,-1.04,-146.0,272.1,-8.5,209,2914,0.00,2.30,0.00,0.000,4,0.000,0.047,3157,167,3399,0,0,0,0,0,0
$GC,2938,-1.04,-146.0,274.6,-8.6,209,2942,0.00,2.15,0.00,0.000,6,0.000,0.020,3157,1581,3398,0,0,0,0,0,0
$GC,3194,-1.04,-146.0,293.9,-7.1,216,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1583,3398,0,0,0,0,0,0
$GC,3436,-1.04,-146.0,312.2,-7.6,222,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1583,3397,0,0,0,0,0,0
$GC,3680,-1.08,-146.0,331.2,-8.0,228,3685,0.00,2.45,0.00,0.000,4,0.000,0.028,3157,3127,3395,0,0,0,0,0,0
$GC,3697,-1.14,-146.0,332.6,-8.2,228,3701,0.00,2.55,0.00,0.000,6,0.000,0.032,3156,1572,3395,0,0,0,0,0,0
$GC,3966,-1.19,-146.0,355.7,-8.6,235,3968,0.12,0.00,0.00,0.000,6,0.064,0.000,3100,1572,3394,0,0,0,0,0,0
$GC,4209,-1.12,-146.0,382.4,-11.1,241,4214,0.17,2.53,0.00,0.000,4,0.094,0.034,3140,3122,3393,0,0,0,0,0,0
$GC,4226,-1.12,-146.0,384.3,-11.5,241,4230,0.00,2.55,0.00,0.000,6,0.000,0.035,3140,1575,3393,0,0,0,0,0,0
$GC,4494,-1.12,-146.0,408.1,-8.8,248,4498,0.00,2.35,0.00,0.000,4,0.000,0.061,3140,174,3391,0,0,0,0,0,0
$GC,4513,-1.12,-146.0,409.9,-9.2,248,4517,0.00,2.15,0.00,0.000,6,0.000,0.022,3139,1559,3391,0,0,0,0,0,0
$GC,4778,-1.12,-146.0,432.5,-8.5,255,4782,0.00,2.35,0.00,0.000,4,0.000,0.059,3140,172,3389,0,0,0,0,0,0
$GC,4792,-1.12,-146.0,434.0,-8.3,255,4796,0.00,2.20,0.00,0.000,6,0.000,0.024,3140,1579,3389,0,0,0,0,0,0
$GC,5065,-1.12,-146.0,455.4,-7.5,262,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1580,3387,0,0,0,0,0,0
$GC,5311,-1.12,-146.0,472.6,-7.1,268,5315,0.00,2.55,0.00,0.000,4,0.000,0.039,3140,3145,3386,0,0,0,0,0,0
$GC,5344,-1.21,-146.0,475.2,-7.7,268,5349,0.00,2.60,0.00,0.000,6,0.000,0.038,3140,1580,3386,0,0,0,0,0,0
$GC,5594,-1.21,-146.0,493.3,-7.3,274,5598,0.00,2.42,0.00,0.000,4,0.000,0.068,3140,170,3384,0,0,0,0,0,0
$GC,5647,-1.26,-146.0,497.5,-7.8,275,5652,0.12,2.22,0.00,0.000,6,0.065,0.028,3086,1569,3384,0,0,0,0,0,0
$GC,5930,-1.18,-146.0,525.8,-10.1,282,5932,0.17,0.00,0.00,0.000,6,0.096,0.000,3125,1569,3382,0,0,0,0,0,0
$GC,6174,-1.18,-146.0,545.7,-8.2,288,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1569,3381,0,0,0,0,0,0
$GC,6419,-1.18,-146.0,565.5,-8.2,294,6424,0.00,2.62,0.00,0.000,4,0.000,0.047,3125,3150,3380,0,0,0,0,0,0
$GC,6443,-1.18,-146.0,567.7,-8.4,294,6448,0.00,2.62,0.00,0.000,6,0.000,0.043,3125,1576,3380,0,0,0,0,0,0
$GC,6703,-1.18,-146.0,588.3,-8.0,301,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1576,3378,0,0,0,0,0,0
$GC,6948,-1.18,-146.0,606.8,-7.5,307,6952,0.00,2.47,0.00,0.000,4,0.000,0.077,3125,162,3377,0,0,0,0,0,0
$GC,6967,-1.18,-146.0,608.4,-7.8,307,6971,0.00,2.30,0.00,0.000,6,0.000,0.031,3125,1581,3377,0,0,0,0,0,0
$GC,7231,-1.18,-146.0,627.1,-7.1,314,7235,0.00,2.47,0.00,0.000,4,0.000,0.072,3125,167,3375,0,0,0,0,0,0
$GC,7251,-1.18,-146.0,628.6,-7.6,314,7256,0.00,2.28,0.00,0.000,6,0.000,0.032,3125,1568,3375,0,0,0,0,0,0
$GC,7517,-1.18,-146.0,649.4,-8.0,321,7521,0.00,2.67,0.00,0.000,4,0.000,0.051,3125,3159,3373,0,0,0,0,0,0
$GC,7536,-1.23,-146.0,651.0,-8.2,321,7541,0.00,2.70,0.00,0.000,6,0.000,0.046,3125,1566,3373,0,0,0,0,0,0
$GC,7801,-1.23,-146.0,672.7,-8.3,328,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1566,3372,0,0,0,0,0,0
$GC,8044,-1.23,-146.0,691.0,-7.4,334,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1566,3371,0,0,0,0,0,0
$GC,8288,-1.23,-146.0,708.8,-7.4,340,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1566,3370,0,0,0,0,0,0
$GC,8532,-1.23,-146.0,727.5,-7.7,346,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1566,3369,0,0,0,0,0,0
$GC,8777,-1.28,-146.0,744.4,-6.7,352,8782,0.00,2.67,0.00,0.000,4,0.000,0.048,3125,3153,3368,0,0,0,0,0,0
$GC,8792,-1.32,-146.0,745.6,-6.3,352,8797,0.12,2.67,0.00,0.000,6,0.064,0.048,3068,1575,3368,0,0,0,0,0,0
$GC,9064,-1.25,-146.0,768.5,-8.6,359,9069,0.20,2.47,0.00,0.000,4,0.099,0.079,3112,172,3366,0,0,0,0,0,0
$GC,9102,-1.25,-146.0,771.8,-6.8,359,9108,0.00,2.28,0.00,0.000,6,0.000,0.034,3112,1577,3366,0,0,0,0,0,0
$GC,9352,-1.25,-146.0,788.3,-6.6,366,9356,0.00,2.47,0.00,0.000,4,0.000,0.074,3112,172,3365,0,0,0,0,0,0
$GC,9377,-1.25,-146.0,790.2,-7.9,366,9381,0.00,2.28,0.00,0.000,6,0.000,0.035,3112,1573,3365,0,0,0,0,0,0
$GC,9641,-1.25,-146.0,808.0,-6.7,373,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1574,3364,0,0,0,0,0,0
$GC,9885,-1.25,-146.0,825.6,-7.4,379,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1574,3363,0,0,0,0,0,0
$GC,10129,-1.25,-146.0,845.0,-8.0,385,10133,0.00,2.47,0.00,0.000,4,0.000,0.075,3112,170,3363,0,0,0,0,0,0
$GC,10154,-1.25,-146.0,847.1,-10.0,385,10158,0.00,2.28,0.00,0.000,6,0.000,0.035,3111,1571,3363,0,0,0,0,0,0
$GC,10418,-1.25,-146.0,868.5,-8.1,392,10422,0.00,2.47,0.00,0.000,4,0.000,0.075,3112,167,3362,0,0,0,0,0,0
$GC,10451,-1.25,-146.0,871.4,-9.1,392,10455,0.00,2.30,0.00,0.000,6,0.000,0.035,3112,1567,3361,0,0,0,0,0,0
$GC,10702,-1.25,-146.0,890.4,-7.5,398,10707,0.00,2.67,0.00,0.000,4,0.000,0.053,3112,3162,3361,0,0,0,0,0,0
$GC,10717,-1.25,-146.0,891.7,-7.3,398,10721,0.00,2.72,0.00,0.000,6,0.000,0.048,3112,1558,3361,0,0,0,0,0,0
$STATE,10861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10861,begin apogee
$GC,10867,-0.31,0.0,902.5,7.4,402,10989,0.90,0.00,118.20,1.169,6,0.077,0.000,3316,1350,2800,0,0,0,0,0,0
$STATE,10989,end apogee,CONTROL_FINISHED_OK
$STATE,10990,begin climb
$GC,10994,1.27,146.0,905.9,0.0,405,11133,1.45,2.20,130.25,1.144,4,0.030,0.084,3665,166,2203,0,0,0,0,0,0
$GC,11187,0.98,146.0,892.5,16.5,409,11193,0.32,1.98,0.00,0.000,6,0.111,0.031,3600,1360,2199,0,0,0,0,0,0
$GC,11437,0.89,146.0,863.4,11.3,416,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1361,2193,0,0,0,0,0,0
$GC,11680,0.80,146.0,835.4,11.6,422,11685,0.20,2.12,0.00,0.000,4,0.104,0.071,3558,168,2192,0,0,0,0,0,0
$GC,11772,0.75,146.0,824.7,11.1,423,11778,0.00,1.95,0.00,0.000,6,0.000,0.031,3559,1356,2191,0,0,0,0,0,0
$GC,12022,0.75,146.3,799.3,10.0,430,12023,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1356,2189,0,0,0,0,0,0
$GC,12266,0.76,151.3,775.3,9.8,436,12270,0.00,2.10,0.00,0.000,4,0.000,0.074,3558,172,2189,0,0,0,0,0,0
$GC,12304,0.71,151.3,771.1,11.0,436,12310,0.00,1.92,0.00,0.000,6,0.000,0.030,3558,1348,2188,0,0,0,0,0,0
$GC,12555,0.71,152.8,745.8,9.9,443,12561,0.00,0.00,4.47,0.708,6,0.000,0.000,3559,1348,2177,0,0,0,0,0,0
$GC,12798,0.72,160.4,721.8,9.6,449,12813,0.00,2.10,8.73,0.895,4,0.000,0.071,3559,170,2145,0,0,0,0,0,0
$GC,12885,0.72,160.4,713.0,11.0,450,12890,0.00,1.92,0.00,0.000,6,0.000,0.030,3559,1345,2146,0,0,0,0,0,0
$GC,13135,0.78,203.4,692.4,8.0,457,13178,0.00,0.00,40.92,1.016,6,0.000,0.000,3559,1346,1970,0,0,0,0,0,0
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$STATE,18804,end climb,SURFACE_DEPTH_REACHED
$STATE,18804,begin surface coast
$FINISH,0.7,1.011421
$STATE,18835,end surface coast,CONTROL_FINISHED_OK
$STATE,18835,begin surface
$SM_CCo,18859,32.60,0.438,0,0,1250,380.21
$SM_GC,2.04,0.00,0.00,32.60,0.000,0.000,0.438,416,1580,1250,-13.66,0.28,380.21
$IRIDIUM_FIX,2253.38,-15804.96,030902,030334
$TT8_MAMPS,0.027612
$HUMID,63.38
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.90
$XPDR_PINGS,13
$24V_AH,23.3,12.501
$10V_AH,9.9,10.966
$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
$DEVICE_SECS,32.650,197.275,416.600,32.600,0.000,87.753,114.087,358.531,3.250,0.000,13.284,1536.142,14276.265,575.053,2306.296,1036.624,33.368,1593.152,0.000,2315.157,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,487.264,346.330,436.474,753.003,1028.806,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,54179,716
$CAP_FILE_SIZE,182708,0
$CFSIZE,260165632,165797888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090613,083556,2302.880,-15802.521,36,2.7,55,10.1