version: 66.06
glider: 148
mission: 12
dive: 179
start: 6 29 113 15 28 37
data:
$ID,148
$MISSION,12
$DIVE,179
$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,-1019740.7
$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,85
$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
$GPS1,151936,2303.783,-15736.922,32,1.1,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-79.1
$GPS2,152743,2303.824,-15736.918,13,1.1,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.130,-0.225
$KALMAN_X,-201746.1,445.1,480.6,240338.4,-2155.6
$KALMAN_Y,99270.1,-145.0,505.0,-64742.8,138.5
$MHEAD_RNG_PITCHd_Wd,199.9,65847,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,96,0.00,0.00,-74.32,0.000,2,0.000,0.000,410,1599,3197,0,0,0,0,0,0
$GC,99,-1.27,-146.0,4.3,-7.1,10,124,14.00,2.38,-3.33,0.000,4,0.150,0.048,3103,168,3397,0,0,0,0,0,0
$GC,238,-1.04,-146.0,42.5,-17.5,26,243,0.25,2.10,0.00,0.000,6,0.100,0.018,3156,1542,3398,0,0,0,0,0,0
$GC,508,-0.95,-146.0,80.6,-11.2,50,513,0.10,2.53,0.00,0.000,4,0.122,0.022,3177,3147,3399,0,0,0,0,0,0
$GC,537,-0.95,-146.0,84.4,-9.6,52,541,0.00,2.53,0.00,0.000,6,0.000,0.028,3177,1569,3399,0,0,0,0,0,0
$GC,801,-0.95,-146.0,109.3,-9.6,76,805,0.00,2.25,0.00,0.000,4,0.000,0.041,3177,172,3400,0,0,0,0,0,0
$GC,821,-0.95,-146.0,111.1,-9.9,77,825,0.00,2.17,0.00,0.000,6,0.000,0.016,3177,1622,3400,0,0,0,0,0,0
$GC,1089,-0.95,-146.0,136.4,-9.7,101,1093,0.00,2.35,0.00,0.000,4,0.000,0.022,3177,3144,3400,0,0,0,0,0,0
$GC,1107,-0.95,-146.0,139.1,-10.5,102,1116,0.00,2.53,0.00,0.000,6,0.000,0.026,3177,1586,3400,0,0,0,0,0,0
$GC,1375,-0.95,-146.0,163.6,-9.4,127,1380,0.00,2.47,0.00,0.000,4,0.000,0.022,3177,3151,3400,0,0,0,0,0,0
$GC,1391,-0.95,-146.0,165.5,-8.6,128,1395,0.00,2.47,0.00,0.000,6,0.000,0.025,3177,1586,3400,0,0,0,0,0,0
$GC,1653,-0.95,-146.0,188.6,-10.0,152,1658,0.00,2.45,0.00,0.000,4,0.000,0.022,3177,3152,3400,0,0,0,0,0,0
$GC,1691,-1.02,-146.0,192.4,-9.9,155,1696,0.00,2.47,0.00,0.000,6,0.000,0.027,3177,1597,3400,0,0,0,0,0,0
$GC,1975,-1.02,-146.0,220.4,-9.2,167,1979,0.00,2.30,0.00,0.000,4,0.000,0.043,3177,171,3400,0,0,0,0,0,0
$GC,2019,-1.02,-146.0,224.1,-8.2,168,2023,0.00,2.20,0.00,0.000,6,0.000,0.017,3177,1626,3401,0,0,0,0,0,0
$GC,2306,-1.02,-146.0,245.4,-7.9,175,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1629,3400,0,0,0,0,0,0
$GC,2550,-1.06,-146.0,265.9,-8.1,181,2555,0.10,2.42,0.00,0.000,4,0.076,0.046,3122,167,3400,0,0,0,0,0,0
$GC,2576,-1.01,-146.0,268.5,-11.3,181,2581,0.17,2.20,0.00,0.000,6,0.091,0.018,3163,1605,3400,0,0,0,0,0,0
$GC,2836,-1.01,-146.0,290.9,-8.9,188,2841,0.00,2.42,0.00,0.000,4,0.000,0.025,3163,3140,3400,0,0,0,0,0,0
$GC,2870,-1.11,-146.0,293.9,-9.1,188,2874,0.00,2.47,0.00,0.000,6,0.000,0.030,3163,1599,3400,0,0,0,0,0,0
$GC,3122,-1.16,-146.0,316.2,-9.0,194,3127,0.12,2.38,0.00,0.000,4,0.062,0.051,3101,165,3400,0,0,0,0,0,0
$GC,3146,-1.08,-146.0,319.0,-10.9,194,3151,0.20,2.22,0.00,0.000,6,0.088,0.021,3148,1597,3399,0,0,0,0,0,0
$GC,3408,-1.08,-146.0,343.8,-9.5,201,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1600,3399,0,0,0,0,0,0
$GC,3650,-1.08,-146.0,365.1,-8.4,207,3654,0.00,2.40,0.00,0.000,4,0.000,0.054,3148,164,3399,0,0,0,0,0,0
$GC,3669,-1.08,-146.0,366.6,-7.5,207,3673,0.00,2.28,0.00,0.000,6,0.000,0.022,3148,1612,3398,0,0,0,0,0,0
$GC,3933,-1.08,-146.0,387.0,-7.7,214,3937,0.00,2.47,0.00,0.000,4,0.000,0.034,3148,3148,3396,0,0,0,0,0,0
$GC,3949,-1.12,-146.0,388.2,-8.1,214,3954,0.00,2.50,0.00,0.000,6,0.000,0.035,3149,1613,3396,0,0,0,0,0,0
$GC,4218,-1.17,-146.0,410.1,-8.0,221,4223,0.00,2.42,0.00,0.000,4,0.000,0.061,3148,171,3394,0,0,0,0,0,0
$GC,4242,-1.17,-146.0,412.2,-8.5,221,4246,0.00,2.25,0.00,0.000,6,0.000,0.023,3148,1609,3394,0,0,0,0,0,0
$GC,4503,-1.22,-146.0,431.8,-7.5,228,4508,0.12,2.53,0.00,0.000,4,0.064,0.035,3091,3156,3392,0,0,0,0,0,0
$GC,4519,-1.22,-146.0,433.4,-8.0,228,4524,0.12,2.53,0.00,0.000,6,0.104,0.035,3119,1606,3392,0,0,0,0,0,0
$GC,4790,-1.22,-146.0,459.4,-9.8,235,4794,0.00,2.42,0.00,0.000,4,0.000,0.064,3119,170,3391,0,0,0,0,0,0
$GC,4822,-1.22,-146.0,463.0,-11.0,235,4826,0.00,2.28,0.00,0.000,6,0.000,0.025,3119,1603,3390,0,0,0,0,0,0
$GC,5074,-1.22,-146.0,484.3,-8.2,241,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1603,3389,0,0,0,0,0,0
$GC,5317,-1.22,-146.0,502.3,-7.3,247,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1603,3388,0,0,0,0,0,0
$GC,5560,-1.22,-146.0,519.4,-7.0,253,5564,0.00,2.45,0.00,0.000,4,0.000,0.065,3119,168,3387,0,0,0,0,0,0
$GC,5598,-1.22,-146.0,522.3,-7.2,253,5603,0.00,2.30,0.00,0.000,6,0.000,0.028,3119,1602,3386,0,0,0,0,0,0
$GC,5848,-1.22,-146.0,542.1,-8.2,260,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1602,3385,0,0,0,0,0,0
$GC,6093,-1.22,-146.0,564.7,-9.2,266,6097,0.00,2.50,0.00,0.000,4,0.000,0.070,3119,165,3384,0,0,0,0,0,0
$GC,6125,-1.22,-146.0,567.9,-10.3,266,6130,0.00,2.33,0.00,0.000,6,0.000,0.030,3119,1602,3384,0,0,0,0,0,0
$GC,6375,-1.22,-146.0,588.7,-8.2,272,6380,0.00,2.60,0.00,0.000,4,0.000,0.047,3119,3161,3383,0,0,0,0,0,0
$GC,6396,-1.22,-146.0,590.5,-8.8,272,6401,0.00,2.60,0.00,0.000,6,0.000,0.044,3119,1611,3383,0,0,0,0,0,0
$GC,6660,-1.22,-146.0,609.3,-6.9,279,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1612,3382,0,0,0,0,0,0
$GC,6904,-1.22,-146.0,626.8,-7.3,285,6908,0.00,2.53,0.00,0.000,4,0.000,0.078,3119,165,3380,0,0,0,0,0,0
$GC,6940,-1.22,-146.0,629.7,-8.6,285,6944,0.00,2.35,0.00,0.000,6,0.000,0.034,3119,1606,3380,0,0,0,0,0,0
$GC,7190,-1.22,-146.0,650.7,-8.4,291,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1607,3379,0,0,0,0,0,0
$GC,7434,-1.22,-146.0,669.1,-7.2,297,7438,0.00,2.50,0.00,0.000,4,0.000,0.074,3119,170,3377,0,0,0,0,0,0
$GC,7453,-1.22,-146.0,670.6,-7.4,297,7457,0.00,2.35,0.00,0.000,6,0.000,0.033,3119,1614,3377,0,0,0,0,0,0
$GC,7718,-1.22,-146.0,685.6,-5.4,304,7723,0.00,2.53,0.00,0.000,4,0.000,0.074,3119,169,3376,0,0,0,0,0,0
$GC,7742,-1.22,-146.0,687.3,-6.8,304,7746,0.00,2.35,0.00,0.000,6,0.000,0.034,3119,1607,3376,0,0,0,0,0,0
$GC,8003,-1.22,-146.0,703.2,-6.3,311,8007,0.00,2.53,0.00,0.000,4,0.000,0.075,3119,172,3375,0,0,0,0,0,0
$GC,8026,-1.22,-146.0,705.1,-7.6,311,8031,0.00,2.35,0.00,0.000,6,0.000,0.035,3119,1607,3374,0,0,0,0,0,0
$GC,8286,-1.22,-146.0,724.1,-7.4,318,8290,0.00,2.53,0.00,0.000,4,0.000,0.075,3119,172,3373,0,0,0,0,0,0
$GC,8304,-1.22,-146.0,725.7,-8.7,318,8308,0.00,2.33,0.00,0.000,6,0.000,0.034,3119,1596,3373,0,0,0,0,0,0
$GC,8574,-1.22,-146.0,746.6,-7.9,325,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1596,3371,0,0,0,0,0,0
$GC,8816,-1.22,-146.0,765.0,-7.5,331,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1596,3371,0,0,0,0,0,0
$GC,9060,-1.22,-146.0,783.1,-7.5,337,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1596,3370,0,0,0,0,0,0
$GC,9305,-1.22,-146.0,802.0,-7.9,343,9307,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1596,3369,0,0,0,0,0,0
$GC,9548,-1.22,-146.0,821.8,-8.0,349,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1596,3368,0,0,0,0,0,0
$GC,9791,-1.22,-146.0,840.5,-7.7,355,9795,0.00,2.53,0.00,0.000,4,0.000,0.077,3119,166,3367,0,0,0,0,0,0
$GC,9815,-1.22,-146.0,842.5,-8.2,355,9819,0.00,2.33,0.00,0.000,6,0.000,0.035,3119,1593,3367,0,0,0,0,0,0
$GC,10080,-1.22,-146.0,861.0,-6.8,362,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1593,3366,0,0,0,0,0,0
$GC,10322,-1.22,-146.0,877.4,-6.8,368,10327,0.00,2.47,0.00,0.000,4,0.000,0.074,3119,172,3365,0,0,0,0,0,0
$GC,10341,-1.22,-146.0,878.9,-7.8,368,10345,0.00,2.33,0.00,0.000,6,0.000,0.035,3119,1593,3365,0,0,0,0,0,0
$GC,10607,-1.22,-146.0,895.5,-6.0,375,10611,0.00,2.65,0.00,0.000,4,0.000,0.054,3119,3163,3364,0,0,0,0,0,0
$GC,10621,-1.22,-146.0,896.5,-5.9,375,10626,0.00,2.62,0.00,0.000,6,0.000,0.047,3119,1596,3365,0,0,0,0,0,0
$STATE,10684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10684,begin apogee
$GC,10691,-0.31,0.0,900.5,6.0,377,10814,0.85,0.00,119.82,1.152,6,0.072,0.000,3316,1347,2800,0,0,0,0,0,0
$STATE,10815,end apogee,CONTROL_FINISHED_OK
$STATE,10815,begin climb
$GC,10819,1.27,146.0,902.7,0.0,380,10960,1.45,2.20,130.85,1.131,4,0.030,0.084,3668,176,2203,0,0,0,0,0,0
$GC,11032,0.99,146.0,885.1,16.4,385,11037,0.32,1.92,0.00,0.000,6,0.108,0.030,3601,1357,2199,0,0,0,0,0,0
$GC,11306,0.91,146.0,854.2,10.8,392,11310,0.00,2.12,0.00,0.000,4,0.000,0.073,3601,169,2193,0,0,0,0,0,0
$GC,11343,0.76,146.0,849.9,11.8,392,11349,0.22,1.92,0.00,0.000,6,0.104,0.029,3553,1346,2193,0,0,0,0,0,0
$GC,11595,0.81,187.0,829.0,8.1,399,11633,0.00,0.00,36.88,1.069,6,0.000,0.000,3553,1346,2037,0,0,0,0,0,0
$GC,11877,0.87,199.6,803.0,9.4,406,11892,0.10,0.00,12.48,0.970,6,0.079,0.000,3590,1347,1986,0,0,0,0,0,0
$GC,12122,0.87,199.6,774.9,11.7,412,12126,0.00,2.67,0.00,0.000,4,0.000,0.049,3590,2936,1982,0,0,0,0,0,0
$GC,12152,0.87,199.6,771.1,12.0,412,12156,0.00,2.72,0.00,0.000,6,0.000,0.048,3590,1352,1980,0,0,0,0,0,0
$GC,12406,0.87,199.6,741.5,11.5,419,12407,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1352,1980,0,0,0,0,0,0
$GC,12650,0.87,199.6,714.2,10.9,425,12654,0.00,2.12,0.00,0.000,4,0.000,0.084,3590,165,1979,0,0,0,0,0,0
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$STATE,18770,end climb,SURFACE_DEPTH_REACHED
$STATE,18770,begin surface coast
$FINISH,0.9,1.023424
$STATE,18811,end surface coast,CONTROL_FINISHED_OK
$STATE,18811,begin surface
$SM_CCo,18834,49.53,0.433,0,0,1250,380.21
$SM_GC,1.69,0.00,0.00,49.53,0.000,0.000,0.433,410,1604,1250,-13.69,0.96,380.21
$IRIDIUM_FIX,2255.72,-15734.52,230902,101051
$TT8_MAMPS,0.027612
$HUMID,64.33
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,21.90
$XPDR_PINGS,8
$24V_AH,23.3,26.080
$10V_AH,9.9,22.993
$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,32.925,210.400,389.525,49.525,0.000,27.232,41.253,266.849,2.000,0.000,14.547,1556.487,14107.387,574.985,2323.367,802.170,33.368,1602.282,0.000,2324.041,0.000,0.536,0.000
$DEVICE_MAMPS,150.332,84.370,1152.034,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,483.188,338.597,428.075,721.286,983.059,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,54299,709
$CAP_FILE_SIZE,180591,0
$CFSIZE,260165632,158883840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290613,204435,2301.784,-15738.820,30,1.0,30,10.1