version: 66.06
glider: 148
mission: 12
dive: 132
start: 6 19 113 0 36 25
data:
$ID,148
$MISSION,12
$DIVE,132
$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,-1018748.5
$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,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,50
$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
$GPS1,001755,2246.711,-15759.124,52,99.0,71,10.1
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-75.9
$GPS2,003533,2246.837,-15759.263,9,3.1,28,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.153,-0.210
$KALMAN_X,-140278.6,-302.0,-255.5,142201.4,-128.4
$KALMAN_Y,52387.8,22.9,-180.9,-48802.5,837.7
$MHEAD_RNG_PITCHd_Wd,206.0,16440,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,89,0.00,0.00,-67.22,0.000,2,0.000,0.000,409,1646,2999,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.4,-4.5,9,124,14.00,2.47,-7.18,0.000,4,0.148,0.052,3103,172,3398,0,0,0,0,0,0
$GC,269,-1.01,-146.0,46.7,-21.6,30,274,0.28,2.17,0.00,0.000,6,0.096,0.017,3161,1592,3399,0,0,0,0,0,0
$GC,532,-0.94,-146.0,82.0,-10.7,54,533,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1596,3399,0,0,0,0,0,0
$GC,788,-0.88,-146.0,108.6,-9.8,78,790,0.15,0.00,0.00,0.000,6,0.100,0.000,3195,1596,3400,0,0,0,0,0,0
$GC,1041,-0.88,-146.0,131.4,-9.9,102,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1595,3400,0,0,0,0,0,0
$GC,1297,-0.88,-146.0,156.0,-9.2,126,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1595,3400,0,0,0,0,0,0
$GC,1550,-0.88,-146.0,178.4,-9.0,150,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1595,3400,0,0,0,0,0,0
$GC,1809,-0.93,-146.0,198.4,-7.2,174,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1595,3400,0,0,0,0,0,0
$GC,2080,-1.00,-146.0,220.1,-8.3,183,2085,0.12,2.38,0.00,0.000,4,0.063,0.044,3129,162,3400,0,0,0,0,0,0
$GC,2111,-0.89,-146.0,223.5,-12.6,183,2116,0.28,2.17,0.00,0.000,6,0.083,0.017,3190,1602,3400,0,0,0,0,0,0
$GC,2367,-0.95,-146.0,244.7,-7.9,190,2371,0.00,2.35,0.00,0.000,4,0.000,0.044,3190,168,3400,0,0,0,0,0,0
$GC,2396,-1.01,-146.0,247.2,-8.9,190,2400,0.10,2.12,0.00,0.000,6,0.074,0.018,3128,1572,3400,0,0,0,0,0,0
$GC,2652,-0.95,-146.0,274.8,-10.7,197,2657,0.22,2.42,0.00,0.000,4,0.084,0.022,3179,3121,3400,0,0,0,0,0,0
$GC,2677,-1.01,-146.0,277.3,-8.9,197,2682,0.00,2.50,0.00,0.000,6,0.000,0.028,3179,1570,3400,0,0,0,0,0,0
$GC,2939,-1.08,-146.0,296.9,-7.6,204,2941,0.12,0.00,0.00,0.000,6,0.063,0.000,3118,1570,3399,0,0,0,0,0,0
$GC,3180,-1.02,-146.0,323.8,-11.1,210,3185,0.20,2.33,0.00,0.000,4,0.086,0.048,3164,174,3398,0,0,0,0,0,0
$GC,3205,-1.02,-146.0,326.2,-9.2,210,3209,0.00,2.15,0.00,0.000,6,0.000,0.020,3164,1565,3398,0,0,0,0,0,0
$GC,3466,-1.08,-146.0,341.5,-5.5,217,3470,0.00,2.50,0.00,0.000,4,0.000,0.031,3164,3134,3397,0,0,0,0,0,0
$GC,3518,-1.22,-146.0,344.9,-6.3,218,3523,0.17,2.55,0.00,0.000,6,0.047,0.035,3088,1588,3397,0,0,0,0,0,0
$GC,3798,-1.12,-146.0,373.6,-10.4,225,3803,0.22,2.42,0.00,0.000,4,0.087,0.057,3139,162,3395,0,0,0,0,0,0
$GC,3860,-1.12,-146.0,379.1,-7.9,226,3864,0.00,2.20,0.00,0.000,6,0.000,0.023,3139,1577,3395,0,0,0,0,0,0
$GC,4128,-1.12,-146.0,398.2,-7.2,233,4133,0.00,2.53,0.00,0.000,4,0.000,0.035,3139,3145,3393,0,0,0,0,0,0
$GC,4144,-1.12,-146.0,399.3,-7.7,233,4149,0.00,2.58,0.00,0.000,6,0.000,0.036,3139,1585,3393,0,0,0,0,0,0
$GC,4415,-1.12,-146.0,422.3,-8.7,240,4419,0.00,2.40,0.00,0.000,4,0.000,0.063,3139,167,3391,0,0,0,0,0,0
$GC,4447,-1.12,-146.0,425.6,-9.4,240,4451,0.00,2.25,0.00,0.000,6,0.000,0.024,3139,1595,3391,0,0,0,0,0,0
$GC,4699,-1.12,-146.0,445.8,-8.0,246,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1597,3389,0,0,0,0,0,0
$GC,4941,-1.12,-146.0,463.1,-7.0,252,4946,0.00,2.42,0.00,0.000,4,0.000,0.063,3139,172,3387,0,0,0,0,0,0
$GC,4985,-1.17,-146.0,466.2,-7.2,253,4989,0.00,2.22,0.00,0.000,6,0.000,0.028,3139,1564,3387,0,0,0,0,0,0
$GC,5274,-1.17,-146.0,485.4,-6.6,260,5278,0.00,2.60,0.00,0.000,4,0.000,0.042,3139,3150,3385,0,0,0,0,0,0
$GC,5317,-1.29,-146.0,488.3,-6.3,261,5323,0.15,2.60,0.00,0.000,6,0.054,0.041,3072,1583,3385,0,0,0,0,0,0
$GC,5609,-1.19,-146.0,515.5,-9.5,268,5614,0.22,2.45,0.00,0.000,4,0.091,0.071,3123,166,3382,0,0,0,0,0,0
$GC,5675,-1.19,-146.0,521.3,-7.9,269,5680,0.00,2.28,0.00,0.000,6,0.000,0.031,3123,1572,3382,0,0,0,0,0,0
$GC,5939,-1.19,-146.0,542.7,-8.6,276,5944,0.00,2.62,0.00,0.000,4,0.000,0.047,3123,3156,3380,0,0,0,0,0,0
$GC,5960,-1.19,-146.0,544.5,-9.0,276,5964,0.00,2.67,0.00,0.000,6,0.000,0.047,3123,1563,3380,0,0,0,0,0,0
$GC,6226,-1.19,-146.0,565.8,-7.9,283,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1563,3379,0,0,0,0,0,0
$GC,6468,-1.19,-146.0,585.0,-7.9,289,6472,0.00,2.67,0.00,0.000,4,0.000,0.046,3123,3155,3377,0,0,0,0,0,0
$GC,6484,-1.19,-146.0,586.4,-8.3,289,6488,0.00,2.65,0.00,0.000,6,0.000,0.049,3124,1575,3377,0,0,0,0,0,0
$GC,6753,-1.19,-146.0,608.9,-8.4,296,6757,0.00,2.45,0.00,0.000,4,0.000,0.077,3124,167,3375,0,0,0,0,0,0
$GC,6804,-1.19,-146.0,613.7,-9.7,297,6808,0.00,2.25,0.00,0.000,6,0.000,0.032,3123,1572,3375,0,0,0,0,0,0
$GC,7088,-1.19,-146.0,635.3,-7.4,304,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1572,3373,0,0,0,0,0,0
$GC,7330,-1.19,-146.0,654.4,-8.0,310,7334,0.00,2.67,0.00,0.000,4,0.000,0.052,3123,3156,3372,0,0,0,0,0,0
$GC,7349,-1.19,-146.0,656.2,-8.8,310,7354,0.00,2.67,0.00,0.000,6,0.000,0.046,3123,1565,3372,0,0,0,0,0,0
$GC,7615,-1.19,-146.0,675.9,-7.4,317,7619,0.00,2.45,0.00,0.000,4,0.000,0.079,3123,161,3371,0,0,0,0,0,0
$GC,7640,-1.19,-146.0,678.1,-8.5,317,7644,0.00,2.30,0.00,0.000,6,0.000,0.035,3123,1574,3371,0,0,0,0,0,0
$GC,7899,-1.19,-146.0,694.4,-6.0,324,7904,0.00,2.65,0.00,0.000,4,0.000,0.054,3124,3152,3369,0,0,0,0,0,0
$GC,7920,-1.24,-146.0,695.7,-6.3,324,7925,0.00,2.67,0.00,0.000,6,0.000,0.048,3123,1562,3369,0,0,0,0,0,0
$GC,8184,-1.24,-146.0,712.3,-6.4,331,8189,0.00,2.45,0.00,0.000,4,0.000,0.081,3124,162,3368,0,0,0,0,0,0
$GC,8203,-1.24,-146.0,713.7,-7.1,331,8208,0.00,2.30,0.00,0.000,6,0.000,0.033,3123,1577,3367,0,0,0,0,0,0
$GC,8469,-1.24,-146.0,732.2,-7.0,338,8473,0.00,2.47,0.00,0.000,4,0.000,0.074,3124,170,3367,0,0,0,0,0,0
$GC,8519,-1.24,-146.0,736.1,-7.5,339,8523,0.00,2.28,0.00,0.000,6,0.000,0.035,3123,1557,3366,0,0,0,0,0,0
$GC,8802,-1.24,-146.0,754.1,-6.2,346,8806,0.00,2.72,0.00,0.000,4,0.000,0.055,3123,3164,3365,0,0,0,0,0,0
$GC,8837,-1.33,-146.0,756.2,-5.9,346,8846,0.12,2.72,0.00,0.000,6,0.064,0.050,3069,1553,3365,0,0,0,0,0,0
$GC,9090,-1.26,-146.0,777.2,-8.2,353,9092,0.17,0.00,0.00,0.000,6,0.098,0.000,3108,1553,3364,0,0,0,0,0,0
$GC,9335,-1.26,-146.0,792.0,-5.8,359,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1553,3363,0,0,0,0,0,0
$GC,9577,-1.26,-146.0,806.1,-5.9,365,9582,0.00,2.70,0.00,0.000,4,0.000,0.050,3108,3156,3362,0,0,0,0,0,0
$GC,9592,-1.26,-146.0,807.1,-6.0,365,9596,0.00,2.70,0.00,0.000,6,0.000,0.048,3108,1565,3363,0,0,0,0,0,0
$GC,9861,-1.26,-146.0,824.2,-6.4,372,9865,0.00,2.45,0.00,0.000,4,0.000,0.082,3108,169,3362,0,0,0,0,0,0
$GC,9900,-1.26,-146.0,827.1,-7.7,372,9905,0.00,2.28,0.00,0.000,6,0.000,0.035,3108,1563,3361,0,0,0,0,0,0
$GC,10150,-1.26,-146.0,844.3,-6.7,379,10154,0.00,2.70,0.00,0.000,4,0.000,0.056,3108,3159,3361,0,0,0,0,0,0
$GC,10169,-1.26,-146.0,845.8,-7.6,379,10173,0.00,2.70,0.00,0.000,6,0.000,0.048,3108,1557,3361,0,0,0,0,0,0
$GC,10435,-1.26,-146.0,863.5,-6.7,386,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1557,3361,0,0,0,0,0,0
$GC,10677,-1.26,-146.0,879.7,-6.6,392,10681,0.00,2.42,0.00,0.000,4,0.000,0.081,3108,171,3360,0,0,0,0,0,0
$GC,10696,-1.26,-146.0,881.1,-8.0,392,10700,0.00,2.28,0.00,0.000,6,0.000,0.034,3108,1561,3360,0,0,0,0,0,0
$GC,10961,-1.26,-146.0,897.6,-6.2,399,10966,0.00,2.70,0.00,0.000,4,0.000,0.057,3108,3155,3359,0,0,0,0,0,0
$STATE,10997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10997,begin apogee
$GC,11006,-0.31,0.0,900.2,6.9,399,11131,0.88,0.00,118.47,1.164,6,0.074,0.000,3311,1352,2799,0,0,0,0,0,0
$STATE,11132,end apogee,CONTROL_FINISHED_OK
$STATE,11132,begin climb
$GC,11136,1.27,146.0,903.2,0.0,403,11277,1.48,2.22,131.10,1.141,4,0.031,0.084,3669,166,2203,0,0,0,0,0,0
$GC,11287,1.01,146.0,895.3,14.4,406,11292,0.30,1.98,0.00,0.000,6,0.113,0.031,3607,1354,2202,0,0,0,0,0,0
$GC,11539,0.91,146.0,866.1,11.5,412,11544,0.12,2.70,0.00,0.000,4,0.117,0.052,3582,2932,2193,0,0,0,0,0,0
$GC,11563,0.91,146.0,863.1,11.6,412,11567,0.00,2.72,0.00,0.000,6,0.000,0.048,3582,1354,2191,0,0,0,0,0,0
$GC,11822,0.86,146.0,836.9,10.1,419,11826,0.00,2.15,0.00,0.000,4,0.000,0.084,3582,164,2190,0,0,0,0,0,0
$GC,11852,0.76,146.0,833.8,10.4,419,11857,0.10,1.98,0.00,0.000,6,0.094,0.031,3546,1352,2190,0,0,0,0,0,0
$GC,12112,0.82,191.2,812.3,7.9,426,12154,0.00,0.00,40.42,1.076,6,0.000,0.000,3546,1353,2020,0,0,0,0,0,0
$GC,12396,0.91,223.6,788.4,8.5,433,12430,0.15,0.00,31.60,1.051,6,0.061,0.000,3597,1353,1888,0,0,0,0,0,0
$GC,12641,0.91,223.6,759.2,12.3,439,12646,0.00,2.70,0.00,0.000,4,0.000,0.052,3597,2928,1882,0,0,0,0,0,0
$GC,12671,0.91,223.6,755.2,12.3,439,12676,0.00,2.72,0.00,0.000,6,0.000,0.048,3597,1351,1880,0,0,0,0,0,0
$GC,12926,0.91,223.6,723.3,12.5,446,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1351,1879,0,0,0,0,0,0
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$STATE,19238,end climb,SURFACE_DEPTH_REACHED
$STATE,19238,begin surface coast
$FINISH,0.9,1.022956
$STATE,19285,end surface coast,CONTROL_FINISHED_OK
$STATE,19285,begin surface
$SM_CCo,19308,32.42,0.427,0,0,1248,380.21
$SM_GC,1.94,0.00,0.00,32.42,0.000,0.000,0.427,413,1633,1248,-13.67,1.78,380.21
$IRIDIUM_FIX,2237.01,-15735.03,130902,000045
$TT8_MAMPS,0.027612
$HUMID,64.53
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.10
$XPDR_PINGS,21
$24V_AH,23.3,19.128
$10V_AH,9.9,16.802
$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
$DEVICE_SECS,33.800,214.200,408.500,32.425,0.000,87.674,118.918,546.351,5.250,0.000,30.419,1597.637,14545.625,577.717,2431.678,1238.413,33.372,1642.358,0.000,2419.240,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,498.189,342.120,438.980,737.752,1004.708,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,57255,731
$CAP_FILE_SIZE,193627,0
$CFSIZE,260165632,162443264
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190613,060024,2244.601,-15801.541,54,1.1,54,10.1