version: 66.06
glider: 148
mission: 12
dive: 212
start: 7 7 113 2 6 1
data:
$ID,148
$MISSION,12
$DIVE,212
$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,-1020329.6
$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,29
$R_STBD_OVSHOOT,109
$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
$GPS1,015029,2304.100,-15734.166,36,1.7,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-76.8
$GPS2,020507,2304.145,-15734.323,11,1.1,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOEmid
$TGT_LATLONG,2249.500,-15724.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.203,-0.162
$KALMAN_X,-237221.4,405.5,196.7,280571.7,-2268.3
$KALMAN_Y,143224.0,10.5,-29.2,-107726.9,771.5
$MHEAD_RNG_PITCHd_Wd,118.4,32344,-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,-67.43,0.000,2,0.000,0.000,416,1605,3020,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.4,-4.5,9,122,13.88,2.45,-6.80,0.000,4,0.146,0.056,3103,165,3398,0,0,0,0,0,0
$GC,184,-0.98,-146.0,29.7,-19.7,22,194,0.28,2.10,0.00,0.000,6,0.087,0.017,3167,1533,3398,0,0,0,0,0,0
$GC,453,-0.84,-146.0,71.0,-13.9,47,458,0.15,2.53,0.00,0.000,4,0.105,0.021,3200,3136,3399,0,0,0,0,0,0
$GC,475,-0.77,-146.0,74.2,-12.7,48,480,0.00,2.55,0.00,0.000,6,0.000,0.028,3200,1562,3399,0,0,0,0,0,0
$GC,738,-0.77,-146.0,100.2,-9.5,72,742,0.00,2.28,0.00,0.000,4,0.000,0.043,3200,164,3399,0,0,0,0,0,0
$GC,766,-0.77,-146.0,103.4,-11.5,74,771,0.00,2.12,0.00,0.000,6,0.000,0.016,3200,1594,3399,0,0,0,0,0,0
$GC,1037,-0.77,-146.0,132.0,-9.8,99,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1597,3399,0,0,0,0,0,0
$GC,1304,-0.77,-146.0,159.4,-8.9,124,1308,0.00,2.33,0.00,0.000,4,0.000,0.042,3200,171,3399,0,0,0,0,0,0
$GC,1332,-0.77,-146.0,162.8,-9.9,126,1341,0.00,2.12,0.00,0.000,6,0.000,0.017,3200,1578,3399,0,0,0,0,0,0
$GC,1600,-0.77,-146.0,184.6,-7.9,151,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1581,3400,0,0,0,0,0,0
$GC,1868,-0.81,-146.0,207.9,-8.8,171,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1581,3399,0,0,0,0,0,0
$GC,2112,-0.88,-146.0,229.0,-8.7,177,2116,0.00,2.40,0.00,0.000,4,0.000,0.021,3200,3110,3399,0,0,0,0,0,0
$GC,2133,-0.97,-146.0,230.8,-8.5,177,2138,0.12,2.47,0.00,0.000,6,0.059,0.027,3120,1562,3399,0,0,0,0,0,0
$GC,2402,-0.85,-146.0,263.3,-12.5,184,2407,0.32,2.28,0.00,0.000,4,0.081,0.043,3197,166,3398,0,0,0,0,0,0
$GC,2450,-0.94,-146.0,268.1,-8.2,185,2454,0.00,2.08,0.00,0.000,6,0.000,0.018,3197,1557,3398,0,0,0,0,0,0
$GC,2734,-1.03,-146.0,285.3,-5.9,192,2739,0.15,2.45,0.00,0.000,4,0.054,0.025,3120,3116,3398,0,0,0,0,0,0
$GC,2754,-1.03,-146.0,287.1,-8.0,192,2759,0.17,2.50,0.00,0.000,6,0.087,0.029,3161,1560,3398,0,0,0,0,0,0
$GC,3025,-1.03,-146.0,309.9,-8.7,199,3029,0.00,2.28,0.00,0.000,4,0.000,0.050,3161,175,3397,0,0,0,0,0,0
$GC,3052,-1.03,-146.0,313.1,-10.1,199,3056,0.00,2.10,0.00,0.000,6,0.000,0.019,3161,1539,3397,0,0,0,0,0,0
$GC,3307,-1.03,-146.0,335.1,-8.6,206,3311,0.00,2.53,0.00,0.000,4,0.000,0.028,3161,3132,3395,0,0,0,0,0,0
$GC,3337,-1.11,-146.0,337.6,-8.0,206,3342,0.00,2.55,0.00,0.000,6,0.000,0.033,3161,1564,3395,0,0,0,0,0,0
$GC,3592,-1.11,-146.0,357.0,-7.7,213,3596,0.00,2.33,0.00,0.000,4,0.000,0.056,3161,172,3394,0,0,0,0,0,0
$GC,3629,-1.11,-146.0,360.0,-8.0,213,3638,0.00,2.15,0.00,0.000,6,0.000,0.021,3161,1538,3393,0,0,0,0,0,0
$GC,3884,-1.11,-146.0,377.2,-6.8,220,3889,0.00,2.58,0.00,0.000,4,0.000,0.031,3161,3147,3392,0,0,0,0,0,0
$GC,3904,-1.18,-146.0,379.0,-7.0,220,3909,0.15,2.62,0.00,0.000,6,0.053,0.041,3087,1557,3392,0,0,0,0,0,0
$GC,4169,-1.05,-146.0,408.7,-11.6,227,4174,0.28,2.35,0.00,0.000,4,0.085,0.060,3153,166,3390,0,0,0,0,0,0
$GC,4191,-1.00,-146.0,411.0,-11.1,227,4195,0.00,2.15,0.00,0.000,6,0.000,0.023,3153,1554,3390,0,0,0,0,0,0
$GC,4455,-1.00,-146.0,433.2,-8.5,234,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1555,3387,0,0,0,0,0,0
$GC,4698,-1.00,-146.0,452.7,-7.9,240,4703,0.00,2.58,0.00,0.000,4,0.000,0.036,3153,3139,3385,0,0,0,0,0,0
$GC,4729,-1.07,-146.0,455.0,-7.2,240,4733,0.00,2.62,0.00,0.000,6,0.000,0.038,3153,1555,3386,0,0,0,0,0,0
$GC,4988,-1.07,-146.0,473.8,-7.4,247,4992,0.00,2.38,0.00,0.000,4,0.000,0.068,3153,164,3384,0,0,0,0,0,0
$GC,5035,-1.13,-146.0,477.8,-7.3,248,5039,0.00,2.20,0.00,0.000,6,0.000,0.027,3153,1546,3383,0,0,0,0,0,0
$GC,5319,-1.13,-146.0,497.5,-7.0,255,5324,0.00,2.60,0.00,0.000,4,0.000,0.039,3153,3145,3382,0,0,0,0,0,0
$GC,5353,-1.23,-146.0,500.0,-6.8,255,5358,0.15,2.65,0.00,0.000,6,0.054,0.045,3089,1556,3381,0,0,0,0,0,0
$GC,5605,-1.14,-146.0,523.9,-9.7,261,5610,0.20,2.42,0.00,0.000,4,0.092,0.071,3135,163,3379,0,0,0,0,0,0
$GC,5654,-1.14,-146.0,528.4,-8.2,262,5659,0.00,2.22,0.00,0.000,6,0.000,0.029,3135,1550,3379,0,0,0,0,0,0
$GC,5938,-1.14,-146.0,548.5,-7.1,269,5943,0.00,2.62,0.00,0.000,4,0.000,0.043,3135,3149,3378,0,0,0,0,0,0
$GC,5953,-1.14,-146.0,549.7,-7.0,269,5957,0.00,2.65,0.00,0.000,6,0.000,0.041,3135,1550,3377,0,0,0,0,0,0
$GC,6221,-1.14,-146.0,567.1,-6.4,276,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1550,3376,0,0,0,0,0,0
$GC,6465,-1.14,-146.0,581.9,-6.1,282,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1550,3374,0,0,0,0,0,0
$GC,6711,-1.14,-146.0,596.7,-6.2,288,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1550,3373,0,0,0,0,0,0
$GC,6953,-1.14,-146.0,612.6,-6.7,294,6957,0.00,2.67,0.00,0.000,4,0.000,0.044,3135,3146,3372,0,0,0,0,0,0
$GC,6972,-1.14,-146.0,614.1,-7.5,294,6976,0.00,2.70,0.00,0.000,6,0.000,0.046,3135,1548,3371,0,0,0,0,0,0
$GC,7243,-1.14,-146.0,633.3,-7.3,301,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1548,3369,0,0,0,0,0,0
$GC,7485,-1.14,-146.0,652.0,-7.7,307,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1548,3369,0,0,0,0,0,0
$GC,7728,-1.14,-146.0,671.1,-7.8,313,7733,0.00,2.45,0.00,0.000,4,0.000,0.082,3135,162,3367,0,0,0,0,0,0
$GC,7748,-1.14,-146.0,673.1,-8.7,313,7752,0.00,2.25,0.00,0.000,6,0.000,0.031,3135,1552,3367,0,0,0,0,0,0
$GC,8013,-1.14,-146.0,694.6,-8.0,320,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1552,3366,0,0,0,0,0,0
$GC,8255,-1.14,-146.0,712.4,-7.1,326,8260,0.00,2.70,0.00,0.000,4,0.000,0.051,3136,3151,3365,0,0,0,0,0,0
$GC,8276,-1.19,-146.0,713.8,-6.6,326,8281,0.00,2.70,0.00,0.000,6,0.000,0.048,3135,1550,3365,0,0,0,0,0,0
$GC,8542,-1.19,-146.0,730.2,-6.2,333,8547,0.00,2.42,0.00,0.000,4,0.000,0.081,3135,163,3363,0,0,0,0,0,0
$GC,8561,-1.19,-146.0,731.6,-6.6,333,8566,0.00,2.28,0.00,0.000,6,0.000,0.033,3135,1562,3363,0,0,0,0,0,0
$GC,8830,-1.19,-146.0,747.3,-5.9,340,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1562,3362,0,0,0,0,0,0
$GC,9075,-1.23,-146.0,762.5,-6.3,346,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1562,3361,0,0,0,0,0,0
$GC,9317,-1.28,-146.0,779.0,-6.8,352,9319,0.12,0.00,0.00,0.000,6,0.065,0.000,3082,1562,3361,0,0,0,0,0,0
$GC,9561,-1.21,-146.0,801.8,-9.4,358,9566,0.17,2.47,0.00,0.000,4,0.096,0.076,3121,167,3360,0,0,0,0,0,0
$GC,9583,-1.21,-146.0,804.1,-9.3,358,9587,0.00,2.28,0.00,0.000,6,0.000,0.034,3121,1561,3360,0,0,0,0,0,0
$GC,9846,-1.21,-146.0,824.3,-7.6,365,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1562,3359,0,0,0,0,0,0
$GC,10090,-1.21,-146.0,842.1,-7.2,371,10091,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1562,3358,0,0,0,0,0,0
$GC,10336,-1.21,-146.0,859.8,-7.3,377,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1562,3358,0,0,0,0,0,0
$GC,10578,-1.21,-146.0,877.8,-7.4,383,10582,0.00,2.45,0.00,0.000,4,0.000,0.076,3121,161,3357,0,0,0,0,0,0
$GC,10597,-1.21,-146.0,879.4,-7.8,383,10601,0.00,2.28,0.00,0.000,6,0.000,0.035,3121,1553,3357,0,0,0,0,0,0
$GC,10860,-1.21,-146.0,897.2,-6.5,390,10862,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1553,3356,0,0,0,0,0,0
$STATE,10939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10939,begin apogee
$GC,10947,-0.31,0.0,902.0,6.2,392,11068,0.85,0.00,117.95,1.157,6,0.069,0.000,3318,1338,2800,0,0,0,0,0,0
$STATE,11069,end apogee,CONTROL_FINISHED_OK
$STATE,11069,begin climb
$GC,11072,1.27,146.0,904.2,0.0,395,11211,1.40,2.12,129.68,1.136,4,0.029,0.077,3664,166,2202,0,0,0,0,0,0
$GC,11307,1.01,146.0,882.1,16.1,400,11312,0.30,1.98,0.00,0.000,6,0.109,0.031,3604,1363,2198,0,0,0,0,0,0
$GC,11582,0.92,146.0,849.6,11.5,407,11586,0.00,2.12,0.00,0.000,4,0.000,0.072,3603,172,2193,0,0,0,0,0,0
$GC,11624,0.79,146.0,844.1,12.6,407,11630,0.22,1.95,0.00,0.000,6,0.104,0.031,3558,1360,2192,0,0,0,0,0,0
$GC,11876,0.84,186.6,822.5,8.1,414,11917,0.00,0.00,36.08,1.069,6,0.000,0.000,3557,1360,2040,0,0,0,0,0,0
$GC,12162,0.87,215.3,798.0,8.7,421,12195,0.00,2.75,27.48,1.039,4,0.000,0.052,3557,2931,1922,0,0,0,0,0,0
$GC,12217,1.00,264.7,793.0,7.7,422,12270,0.20,2.75,46.83,1.049,6,0.049,0.052,3621,1351,1721,0,0,0,0,0,0
$GC,12542,0.94,264.7,749.2,13.8,430,12543,0.15,0.00,0.00,0.000,6,0.109,0.000,3590,1351,1714,0,0,0,0,0,0
$GC,12785,0.94,264.7,720.2,11.7,436,12789,0.00,2.70,0.00,0.000,4,0.000,0.045,3590,2938,1712,0,0,0,0,0,0
$GC,12825,0.98,264.7,715.4,10.4,436,12830,0.00,2.75,0.00,0.000,6,0.000,0.051,3590,1349,1708,0,0,0,0,0,0
$GC,13075,0.98,264.7,685.2,12.1,443,13079,0.00,2.70,0.00,0.000,4,0.000,0.047,3590,2937,1708,0,0,0,0,0,0
$GC,13103,0.98,264.7,681.6,11.8,443,13107,0.00,2.72,0.00,0.000,6,0.000,0.051,3590,1360,1707,0,0,0,0,0,0
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$STATE,18851,end climb,SURFACE_DEPTH_REACHED
$STATE,18851,begin surface coast
$FINISH,1.1,1.022870
$STATE,18866,end surface coast,CONTROL_FINISHED_OK
$STATE,18866,begin surface
$SM_CCo,18892,32.50,0.430,0,0,1249,380.21
$SM_GC,1.65,0.00,0.00,32.50,0.000,0.000,0.430,413,1625,1249,-13.67,1.55,380.21
$IRIDIUM_FIX,2253.38,-15732.35,011002,020247
$TT8_MAMPS,0.027612
$HUMID,64.56
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.20
$XPDR_PINGS,20
$24V_AH,23.3,30.942
$10V_AH,9.9,28.114
$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,34.225,196.050,415.825,32.500,0.000,52.258,67.682,529.328,5.000,0.000,13.418,1528.880,13854.515,533.978,2742.686,1132.813,33.381,1594.693,0.000,2758.739,0.000,0.536,0.000
$DEVICE_MAMPS,146.497,82.069,1157.403,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,482.434,576.060,725.525,1123.092,1588.258,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356080
$DATA_FILE_SIZE,57262,706
$CAP_FILE_SIZE,184518,0
$CFSIZE,260165632,156311552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070713,072242,2303.798,-15732.567,25,1.5,32,10.1