version: 66.06
glider: 148
mission: 12
dive: 91
start: 6 9 113 19 32 44
data:
$ID,148
$MISSION,12
$DIVE,91
$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,-1016985.3
$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,26
$R_STBD_OVSHOOT,43
$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
$GPS1,191706,2300.571,-15758.759,39,1.2,39,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.0
$GPS2,193149,2300.604,-15758.859,14,1.3,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,-0.185
$KALMAN_X,-92923.0,39.6,1.9,94928.1,-750.0
$KALMAN_Y,19003.9,-265.7,188.8,9991.2,454.2
$MHEAD_RNG_PITCHd_Wd,125.3,54379,-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,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.55,0.000,2,0.000,0.000,413,1632,3005,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.3,-4.8,9,123,14.68,2.47,-6.88,0.000,4,0.169,0.054,3102,162,3399,0,0,0,0,0,0
$GC,134,-0.29,-146.0,18.8,-34.7,14,144,0.95,2.22,0.00,0.000,6,0.087,0.017,3315,1603,3399,0,0,0,0,0,0
$GC,437,-0.56,-146.0,34.6,-3.9,54,442,0.22,2.38,0.00,0.000,4,0.044,0.020,3228,3123,3399,0,0,0,0,0,0
$GC,471,-0.73,-146.0,36.7,-7.0,56,476,0.00,2.50,0.00,0.000,6,0.000,0.028,3227,1566,3399,0,0,0,0,0,0
$GC,741,-0.83,-146.0,56.0,-6.6,80,745,0.00,2.28,0.00,0.000,4,0.000,0.044,3227,165,3399,0,0,0,0,0,0
$GC,788,-0.98,-146.0,60.3,-7.5,83,797,0.20,2.15,0.00,0.000,6,0.020,0.017,3128,1589,3400,0,0,0,0,0,0
$GC,1052,-0.85,-146.0,95.2,-14.5,108,1061,0.32,0.00,0.00,0.000,6,0.085,0.000,3199,1589,3400,0,0,0,0,0,0
$GC,1319,-0.90,-146.0,121.0,-8.8,133,1323,0.00,2.30,0.00,0.000,4,0.000,0.042,3199,171,3401,0,0,0,0,0,0
$GC,1338,-0.90,-146.0,123.3,-9.1,134,1347,0.00,2.10,0.00,0.000,6,0.000,0.018,3200,1572,3400,0,0,0,0,0,0
$GC,1607,-0.96,-146.0,142.9,-7.5,159,1612,0.10,2.38,0.00,0.000,4,0.076,0.021,3146,3098,3400,0,0,0,0,0,0
$GC,1627,-0.96,-146.0,145.5,-8.8,160,1636,0.10,2.50,0.00,0.000,6,0.071,0.027,3174,1561,3401,0,0,0,0,0,0
$GC,1891,-0.96,-146.0,170.0,-9.3,185,1895,0.00,2.25,0.00,0.000,4,0.000,0.043,3174,165,3401,0,0,0,0,0,0
$GC,1920,-0.96,-146.0,172.8,-10.4,187,1924,0.00,2.05,0.00,0.000,6,0.000,0.018,3173,1555,3400,0,0,0,0,0,0
$GC,2188,-0.96,-146.0,197.8,-9.6,211,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1558,3400,0,0,0,0,0,0
$GC,2448,-0.96,-146.0,224.5,-10.1,219,2452,0.00,2.40,0.00,0.000,4,0.000,0.021,3174,3107,3400,0,0,0,0,0,0
$GC,2486,-1.09,-146.0,228.0,-8.8,219,2491,0.12,2.50,0.00,0.000,6,0.061,0.028,3104,1560,3400,0,0,0,0,0,0
$GC,2737,-0.98,-146.0,256.5,-11.4,225,2739,0.30,0.00,0.00,0.000,6,0.086,0.000,3170,1560,3400,0,0,0,0,0,0
$GC,2980,-1.04,-146.0,275.2,-7.6,231,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1560,3400,0,0,0,0,0,0
$GC,3224,-1.11,-146.0,295.7,-8.4,237,3229,0.12,2.47,0.00,0.000,4,0.064,0.025,3110,3101,3400,0,0,0,0,0,0
$GC,3240,-1.11,-146.0,297.5,-8.4,237,3246,0.15,2.47,0.00,0.000,6,0.094,0.031,3144,1564,3399,0,0,0,0,0,0
$GC,3510,-1.11,-146.0,320.9,-8.6,244,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1564,3399,0,0,0,0,0,0
$GC,3754,-1.11,-146.0,341.5,-8.1,250,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1564,3398,0,0,0,0,0,0
$GC,3999,-1.11,-146.0,360.9,-8.2,256,4003,0.00,2.47,0.00,0.000,4,0.000,0.031,3144,3099,3396,0,0,0,0,0,0
$GC,4013,-1.11,-146.0,362.3,-8.3,256,4017,0.00,2.53,0.00,0.000,6,0.000,0.033,3144,1562,3396,0,0,0,0,0,0
$GC,4286,-1.11,-146.0,384.2,-8.0,263,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1562,3395,0,0,0,0,0,0
$GC,4532,-1.11,-146.0,403.7,-8.2,269,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1562,3393,0,0,0,0,0,0
$GC,4774,-1.11,-146.0,424.9,-8.8,275,4778,0.00,2.35,0.00,0.000,4,0.000,0.063,3144,175,3391,0,0,0,0,0,0
$GC,4802,-1.11,-146.0,427.7,-9.8,275,4806,0.00,2.12,0.00,0.000,6,0.000,0.023,3144,1530,3391,0,0,0,0,0,0
$GC,5063,-1.11,-146.0,448.6,-7.9,282,5067,0.00,2.60,0.00,0.000,4,0.000,0.036,3144,3133,3390,0,0,0,0,0,0
$GC,5087,-1.18,-146.0,450.6,-8.5,282,5092,0.00,2.60,0.00,0.000,6,0.000,0.038,3144,1570,3390,0,0,0,0,0,0
$GC,5347,-1.22,-146.0,469.0,-7.1,289,5352,0.12,2.42,0.00,0.000,4,0.064,0.069,3084,168,3387,0,0,0,0,0,0
$GC,5382,-1.12,-146.0,472.6,-11.4,289,5387,0.25,2.22,0.00,0.000,6,0.089,0.028,3139,1565,3387,0,0,0,0,0,0
$GC,5633,-1.17,-146.0,492.7,-7.9,295,5637,0.00,2.60,0.00,0.000,4,0.000,0.040,3140,3143,3386,0,0,0,0,0,0
$GC,5662,-1.25,-146.0,495.3,-8.2,295,5667,0.12,2.65,0.00,0.000,6,0.066,0.040,3091,1560,3386,0,0,0,0,0,0
$GC,5919,-1.20,-146.0,521.2,-10.2,302,5924,0.15,2.42,0.00,0.000,4,0.101,0.072,3124,172,3384,0,0,0,0,0,0
$GC,5934,-1.20,-146.0,523.0,-9.9,302,5939,0.00,2.25,0.00,0.000,6,0.000,0.028,3123,1578,3384,0,0,0,0,0,0
$GC,6204,-1.20,-146.0,544.2,-7.7,309,6208,0.00,2.45,0.00,0.000,4,0.000,0.067,3123,165,3382,0,0,0,0,0,0
$GC,6223,-1.20,-146.0,546.0,-8.4,309,6227,0.00,2.28,0.00,0.000,6,0.000,0.029,3123,1577,3383,0,0,0,0,0,0
$GC,6491,-1.20,-146.0,565.6,-7.2,316,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1578,3381,0,0,0,0,0,0
$GC,6735,-1.20,-146.0,582.7,-7.0,322,6739,0.00,2.45,0.00,0.000,4,0.000,0.070,3123,173,3379,0,0,0,0,0,0
$GC,6765,-1.20,-146.0,585.0,-8.3,322,6769,0.00,2.28,0.00,0.000,6,0.000,0.031,3123,1576,3379,0,0,0,0,0,0
$GC,7020,-1.20,-146.0,601.5,-6.4,329,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1576,3378,0,0,0,0,0,0
$GC,7263,-1.20,-146.0,618.6,-7.2,335,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1576,3376,0,0,0,0,0,0
$GC,7508,-1.20,-146.0,637.8,-7.9,341,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1576,3375,0,0,0,0,0,0
$GC,7751,-1.20,-146.0,656.4,-7.5,347,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1576,3374,0,0,0,0,0,0
$GC,7994,-1.20,-146.0,674.2,-7.3,353,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1576,3373,0,0,0,0,0,0
$GC,8238,-1.20,-146.0,691.3,-7.1,359,8242,0.00,2.65,0.00,0.000,4,0.000,0.050,3123,3154,3372,0,0,0,0,0,0
$GC,8255,-1.20,-146.0,692.4,-7.0,359,8259,0.00,2.67,0.00,0.000,6,0.000,0.047,3123,1575,3372,0,0,0,0,0,0
$GC,8523,-1.20,-146.0,712.3,-7.4,366,8528,0.00,2.47,0.00,0.000,4,0.000,0.081,3124,171,3370,0,0,0,0,0,0
$GC,8542,-1.20,-146.0,714.0,-8.8,366,8546,0.00,2.28,0.00,0.000,6,0.000,0.032,3123,1570,3370,0,0,0,0,0,0
$GC,8813,-1.24,-146.0,735.7,-8.1,373,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1570,3369,0,0,0,0,0,0
$GC,9055,-1.29,-146.0,753.9,-7.3,379,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1570,3368,0,0,0,0,0,0
$GC,9299,-1.34,-146.0,770.7,-6.8,385,9304,0.12,2.67,0.00,0.000,4,0.064,0.051,3065,3155,3367,0,0,0,0,0,0
$GC,9329,-1.34,-146.0,773.3,-8.3,385,9334,0.12,2.70,0.00,0.000,6,0.108,0.050,3092,1570,3367,0,0,0,0,0,0
$GC,9585,-1.34,-146.0,792.7,-7.5,392,9589,0.00,2.50,0.00,0.000,4,0.000,0.081,3092,168,3366,0,0,0,0,0,0
$GC,9632,-1.34,-146.0,796.9,-9.1,393,9636,0.00,2.30,0.00,0.000,6,0.000,0.034,3092,1574,3366,0,0,0,0,0,0
$GC,9916,-1.34,-146.0,819.3,-7.9,400,9920,0.00,2.47,0.00,0.000,4,0.000,0.074,3092,169,3365,0,0,0,0,0,0
$GC,9948,-1.34,-146.0,822.4,-8.0,400,9952,0.00,2.30,0.00,0.000,6,0.000,0.035,3092,1570,3365,0,0,0,0,0,0
$GC,10200,-1.34,-146.0,843.4,-8.5,406,10204,0.00,2.47,0.00,0.000,4,0.000,0.075,3092,165,3364,0,0,0,0,0,0
$GC,10214,-1.34,-146.0,844.9,-8.5,406,10219,0.00,2.28,0.00,0.000,6,0.000,0.033,3092,1564,3364,0,0,0,0,0,0
$GC,10488,-1.34,-146.0,868.7,-8.7,413,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1564,3363,0,0,0,0,0,0
$GC,10731,-1.34,-146.0,888.9,-8.2,419,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1564,3362,0,0,0,0,0,0
$STATE,10891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10891,begin apogee
$GC,10899,-0.31,0.0,901.4,7.7,423,11021,1.00,0.00,118.78,1.170,6,0.080,0.000,3318,1345,2800,0,0,0,0,0,0
$STATE,11022,end apogee,CONTROL_FINISHED_OK
$STATE,11022,begin climb
$GC,11025,1.27,146.0,904.2,0.0,426,11164,1.42,2.20,129.60,1.144,4,0.033,0.078,3664,178,2202,0,0,0,0,0,0
$GC,11294,0.99,146.0,876.9,17.3,432,11299,0.30,1.95,0.00,0.000,6,0.115,0.031,3604,1360,2197,0,0,0,0,0,0
$GC,11574,0.90,146.0,843.7,11.8,439,11576,0.10,0.00,0.00,0.000,6,0.133,0.000,3583,1361,2192,0,0,0,0,0,0
$GC,11816,0.86,146.0,817.5,10.5,445,11820,0.00,2.10,0.00,0.000,4,0.000,0.073,3582,177,2190,0,0,0,0,0,0
$GC,11883,0.75,146.0,809.7,11.6,446,11888,0.15,1.92,0.00,0.000,6,0.114,0.031,3550,1352,2190,0,0,0,0,0,0
$GC,12152,0.80,181.6,786.2,8.4,453,12188,0.00,2.17,31.05,1.055,4,0.000,0.074,3550,181,2058,0,0,0,0,0,0
$GC,12245,0.81,188.1,777.9,9.7,455,12257,0.00,1.90,7.32,0.867,6,0.000,0.030,3550,1339,2033,0,0,0,0,0,0
$GC,12537,0.88,209.2,751.3,9.0,462,12566,0.10,2.78,20.42,1.009,4,0.081,0.049,3588,2934,1946,0,0,0,0,0,0
$GC,12617,0.88,209.2,742.7,10.5,463,12622,0.00,2.72,0.00,0.000,6,0.000,0.050,3588,1356,1942,0,0,0,0,0,0
$GC,12872,0.88,209.2,712.6,11.5,470,12876,0.00,2.12,0.00,0.000,4,0.000,0.082,3588,166,1941,0,0,0,0,0,0
$GC,12905,0.81,209.2,708.5,12.4,470,12909,0.12,1.92,0.00,0.000,6,0.114,0.031,3563,1345,1941,0,0,0,0,0,0
$GC,13160,0.81,209.2,681.8,10.4,477,13165,0.00,2.65,0.00,0.000,4,0.000,0.048,3563,2928,1939,0,0,0,0,0,0
$GC,13189,0.88,209.2,678.5,11.0,477,13193,0.00,2.70,0.00,0.000,6,0.000,0.047,3563,1343,1938,0,0,0,0,0,0
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$STATE,18906,end climb,SURFACE_DEPTH_REACHED
$STATE,18906,begin surface coast
$FINISH,0.8,1.010329
$STATE,18952,end surface coast,CONTROL_FINISHED_OK
$STATE,18952,begin surface
$SM_CCo,18977,36.67,0.441,0,0,1250,380.21
$SM_GC,1.92,0.00,0.00,36.67,0.000,0.000,0.441,413,1604,1250,-13.67,0.96,380.21
$IRIDIUM_FIX,2251.04,-15757.57,030902,191943
$TT8_MAMPS,0.027612
$HUMID,64.53
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.70
$XPDR_PINGS,26
$24V_AH,23.3,12.942
$10V_AH,9.9,11.371
$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
$DEVICE_SECS,35.850,208.825,408.075,36.675,0.000,92.215,139.575,366.062,6.500,0.000,15.541,1626.452,14060.600,522.330,2583.972,1096.953,33.366,1654.883,0.000,2591.622,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,507.634,374.772,468.416,862.899,1180.059,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,57103,745
$CAP_FILE_SIZE,195186,0
$CFSIZE,260165632,165564416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100613,005130,2258.702,-15757.213,70,1.6,70,10.1