version: 66.06
glider: 148
mission: 12
dive: 213
start: 7 7 113 7 31 43
data:
$ID,148
$MISSION,12
$DIVE,213
$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,-1020364.4
$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,62
$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
$GPS1,072242,2303.798,-15732.567,25,1.5,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-78.4
$GPS2,073051,2303.855,-15732.645,12,2.2,31,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOEmid
$TGT_LATLONG,2249.500,-15724.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.150,-0.212
$KALMAN_X,-237461.6,-44.8,65.9,284250.0,-912.2
$KALMAN_Y,145008.0,256.5,281.8,-110615.3,617.1
$MHEAD_RNG_PITCHd_Wd,134.7,30407,-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,-67.68,0.000,2,0.000,0.000,413,1626,3015,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.7,-5.0,9,123,13.90,2.45,-6.62,0.000,4,0.147,0.051,3102,161,3399,0,0,0,0,0,0
$GC,190,-0.98,-146.0,34.2,-22.8,22,198,0.28,2.17,0.00,0.000,6,0.085,0.018,3166,1564,3399,0,0,0,0,0,0
$GC,459,-0.84,-146.0,79.7,-16.4,47,468,0.15,0.00,0.00,0.000,6,0.107,0.000,3199,1567,3400,0,0,0,0,0,0
$GC,720,-0.84,-146.0,112.5,-11.8,72,721,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1567,3401,0,0,0,0,0,0
$GC,977,-0.84,-146.0,139.8,-10.8,96,978,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1567,3401,0,0,0,0,0,0
$GC,1230,-0.84,-146.0,164.7,-9.0,120,1235,0.00,2.45,0.00,0.000,4,0.000,0.021,3199,3143,3401,0,0,0,0,0,0
$GC,1252,-0.89,-146.0,165.9,-8.0,121,1257,0.00,2.53,0.00,0.000,6,0.000,0.026,3199,1561,3402,0,0,0,0,0,0
$GC,1519,-0.89,-146.0,185.8,-7.4,145,1523,0.00,2.28,0.00,0.000,4,0.000,0.044,3199,171,3402,0,0,0,0,0,0
$GC,1545,-0.89,-146.0,188.2,-8.2,147,1549,0.00,2.12,0.00,0.000,6,0.000,0.017,3199,1602,3402,0,0,0,0,0,0
$GC,1824,-0.93,-146.0,211.1,-8.8,164,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1606,3402,0,0,0,0,0,0
$GC,2066,-0.99,-146.0,233.4,-9.4,170,2068,0.12,0.00,0.00,0.000,6,0.062,0.000,3133,1606,3401,0,0,0,0,0,0
$GC,2311,-0.90,-146.0,265.8,-13.3,176,2316,0.25,2.38,0.00,0.000,4,0.082,0.043,3194,173,3402,0,0,0,0,0,0
$GC,2330,-0.90,-146.0,268.5,-12.0,176,2334,0.00,2.08,0.00,0.000,6,0.000,0.018,3194,1565,3402,0,0,0,0,0,0
$GC,2594,-0.99,-146.0,288.0,-6.9,183,2596,0.10,0.00,0.00,0.000,6,0.076,0.000,3138,1568,3402,0,0,0,0,0,0
$GC,2840,-0.94,-146.0,310.3,-9.1,189,2845,0.17,2.47,0.00,0.000,4,0.091,0.026,3180,3112,3401,0,0,0,0,0,0
$GC,2855,-0.94,-146.0,311.8,-8.9,189,2859,0.00,2.53,0.00,0.000,6,0.000,0.030,3180,1560,3401,0,0,0,0,0,0
$GC,3128,-1.01,-146.0,330.2,-7.1,196,3132,0.00,2.33,0.00,0.000,4,0.000,0.054,3180,172,3400,0,0,0,0,0,0
$GC,3158,-1.08,-146.0,332.9,-8.4,196,3162,0.12,2.10,0.00,0.000,6,0.061,0.020,3116,1542,3400,0,0,0,0,0,0
$GC,3418,-1.00,-146.0,361.8,-11.1,203,3423,0.22,2.55,0.00,0.000,4,0.085,0.030,3164,3133,3399,0,0,0,0,0,0
$GC,3433,-1.00,-146.0,363.5,-10.9,203,3437,0.00,2.58,0.00,0.000,6,0.000,0.034,3164,1559,3399,0,0,0,0,0,0
$GC,3703,-1.06,-146.0,383.9,-7.5,210,3708,0.00,2.55,0.00,0.000,4,0.000,0.034,3164,3132,3398,0,0,0,0,0,0
$GC,3718,-1.12,-146.0,385.3,-7.3,210,3723,0.10,2.58,0.00,0.000,6,0.074,0.035,3105,1572,3397,0,0,0,0,0,0
$GC,3994,-1.05,-146.0,412.7,-10.3,217,3999,0.22,2.38,0.00,0.000,4,0.087,0.061,3155,174,3396,0,0,0,0,0,0
$GC,4018,-1.05,-146.0,415.7,-9.2,217,4022,0.00,2.17,0.00,0.000,6,0.000,0.023,3155,1559,3395,0,0,0,0,0,0
$GC,4277,-1.05,-146.0,432.8,-6.4,224,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1560,3394,0,0,0,0,0,0
$GC,4523,-1.05,-146.0,448.7,-6.6,230,4527,0.00,2.60,0.00,0.000,4,0.000,0.039,3155,3140,3392,0,0,0,0,0,0
$GC,4547,-1.12,-146.0,450.5,-7.8,230,4551,0.00,2.62,0.00,0.000,6,0.000,0.038,3155,1560,3392,0,0,0,0,0,0
$GC,4807,-1.16,-146.0,468.8,-7.2,237,4812,0.10,2.40,0.00,0.000,4,0.076,0.068,3104,167,3390,0,0,0,0,0,0
$GC,4839,-1.07,-146.0,471.8,-11.6,237,4844,0.20,2.22,0.00,0.000,6,0.087,0.028,3150,1560,3389,0,0,0,0,0,0
$GC,5098,-1.07,-146.0,493.3,-8.2,244,5103,0.00,2.60,0.00,0.000,4,0.000,0.041,3150,3145,3388,0,0,0,0,0,0
$GC,5133,-1.18,-146.0,496.3,-8.4,244,5138,0.00,2.65,0.00,0.000,6,0.000,0.041,3150,1560,3388,0,0,0,0,0,0
$GC,5388,-1.18,-146.0,515.7,-7.7,250,5393,0.00,2.42,0.00,0.000,4,0.000,0.073,3150,165,3386,0,0,0,0,0,0
$GC,5426,-1.18,-146.0,519.3,-8.4,250,5431,0.00,2.22,0.00,0.000,6,0.000,0.030,3150,1566,3386,0,0,0,0,0,0
$GC,5676,-1.22,-146.0,537.9,-7.5,257,5678,0.12,0.00,0.00,0.000,6,0.064,0.000,3093,1566,3384,0,0,0,0,0,0
$GC,5921,-1.14,-146.0,563.4,-10.7,263,5926,0.20,2.45,0.00,0.000,4,0.090,0.069,3138,165,3382,0,0,0,0,0,0
$GC,5955,-1.14,-146.0,567.1,-10.0,263,5959,0.00,2.25,0.00,0.000,6,0.000,0.031,3139,1557,3382,0,0,0,0,0,0
$GC,6205,-1.14,-146.0,588.6,-8.7,269,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1558,3381,0,0,0,0,0,0
$GC,6450,-1.14,-146.0,610.0,-8.7,275,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1557,3380,0,0,0,0,0,0
$GC,6693,-1.14,-146.0,631.5,-8.8,281,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1557,3378,0,0,0,0,0,0
$GC,6936,-1.14,-146.0,652.3,-8.5,287,6941,0.00,2.67,0.00,0.000,4,0.000,0.053,3138,3150,3377,0,0,0,0,0,0
$GC,6952,-1.14,-146.0,653.7,-8.5,287,6957,0.00,2.67,0.00,0.000,6,0.000,0.046,3138,1559,3377,0,0,0,0,0,0
$GC,7221,-1.14,-146.0,674.9,-7.7,294,7226,0.00,2.45,0.00,0.000,4,0.000,0.082,3138,170,3376,0,0,0,0,0,0
$GC,7249,-1.14,-146.0,677.4,-8.3,294,7254,0.00,2.25,0.00,0.000,6,0.000,0.034,3138,1554,3375,0,0,0,0,0,0
$GC,7512,-1.14,-146.0,695.5,-7.0,301,7516,0.00,2.67,0.00,0.000,4,0.000,0.054,3138,3150,3374,0,0,0,0,0,0
$GC,7536,-1.21,-146.0,697.7,-7.9,301,7540,0.00,2.70,0.00,0.000,6,0.000,0.048,3138,1556,3374,0,0,0,0,0,0
$GC,7795,-1.21,-146.0,714.2,-6.4,308,7799,0.00,2.42,0.00,0.000,4,0.000,0.082,3138,168,3373,0,0,0,0,0,0
$GC,7825,-1.21,-146.0,716.2,-7.3,308,7829,0.00,2.28,0.00,0.000,6,0.000,0.035,3138,1561,3372,0,0,0,0,0,0
$GC,8085,-1.25,-146.0,733.8,-6.8,315,8086,0.12,0.00,0.00,0.000,6,0.063,0.000,3086,1561,3371,0,0,0,0,0,0
$GC,8328,-1.18,-146.0,756.9,-9.6,321,8330,0.17,0.00,0.00,0.000,6,0.095,0.000,3125,1562,3370,0,0,0,0,0,0
$GC,8573,-1.18,-146.0,776.8,-8.0,327,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1562,3369,0,0,0,0,0,0
$GC,8815,-1.18,-146.0,795.8,-7.7,333,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1562,3368,0,0,0,0,0,0
$GC,9059,-1.18,-146.0,813.4,-7.1,339,9063,0.00,2.47,0.00,0.000,4,0.000,0.077,3125,161,3367,0,0,0,0,0,0
$GC,9083,-1.18,-146.0,815.3,-7.6,339,9087,0.00,2.28,0.00,0.000,6,0.000,0.035,3125,1558,3367,0,0,0,0,0,0
$GC,9351,-1.18,-146.0,832.4,-6.3,346,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1557,3366,0,0,0,0,0,0
$GC,9594,-1.18,-146.0,848.3,-6.4,352,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1558,3366,0,0,0,0,0,0
$GC,9837,-1.18,-146.0,863.9,-6.4,358,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1557,3364,0,0,0,0,0,0
$GC,10083,-1.18,-146.0,879.4,-6.5,364,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1557,3364,0,0,0,0,0,0
$GC,10325,-1.18,-146.0,895.2,-6.4,370,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1557,3363,0,0,0,0,0,0
$STATE,10399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10400,begin apogee
$GC,10406,-0.31,0.0,900.1,6.3,372,10529,0.82,0.00,119.55,1.151,6,0.071,0.000,3316,1341,2800,0,0,0,0,0,0
$STATE,10530,end apogee,CONTROL_FINISHED_OK
$STATE,10530,begin climb
$GC,10532,1.27,146.0,903.4,0.0,375,10674,1.45,2.12,130.48,1.131,4,0.029,0.077,3669,178,2203,0,0,0,0,0,0
$GC,10695,1.00,146.0,895.2,13.1,379,10699,0.32,1.95,0.00,0.000,6,0.110,0.031,3603,1350,2201,0,0,0,0,0,0
$GC,10974,0.91,146.0,865.7,10.4,386,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1350,2193,0,0,0,0,0,0
$GC,11217,0.83,146.0,840.3,10.3,392,11221,0.17,2.08,0.00,0.000,4,0.106,0.072,3566,176,2192,0,0,0,0,0,0
$GC,11246,0.78,146.0,837.1,10.4,392,11249,0.00,1.92,0.00,0.000,6,0.000,0.031,3566,1349,2191,0,0,0,0,0,0
$GC,11510,0.80,161.5,812.7,9.3,399,11525,0.00,0.00,13.12,0.989,6,0.000,0.000,3566,1350,2141,0,0,0,0,0,0
$GC,11753,0.80,166.2,789.0,9.8,405,11765,0.00,2.17,5.57,0.792,4,0.000,0.073,3566,167,2122,0,0,0,0,0,0
$GC,11793,0.80,166.2,784.4,10.7,405,11802,0.00,1.98,0.00,0.000,6,0.000,0.030,3566,1350,2122,0,0,0,0,0,0
$GC,12048,0.83,185.1,760.9,9.1,412,12073,0.00,2.80,18.73,1.002,4,0.000,0.054,3566,2929,2044,0,0,0,0,0,0
$GC,12097,0.91,209.8,756.1,8.9,413,12129,0.00,2.72,24.25,1.008,6,0.000,0.049,3566,1361,1944,0,0,0,0,0,0
$GC,12383,0.91,209.8,727.8,10.3,420,12384,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1361,1939,0,0,0,0,0,0
$GC,12623,0.91,209.8,702.2,10.6,426,12627,0.00,2.65,0.00,0.000,4,0.000,0.047,3566,2932,1938,0,0,0,0,0,0
$GC,12661,1.02,224.8,698.1,9.3,426,12682,0.15,2.75,14.30,0.937,6,0.038,0.051,3618,1357,1883,0,0,0,0,0,0
$GC,12964,0.96,224.8,658.1,13.7,434,12965,0.12,0.00,0.00,0.000,6,0.115,0.000,3592,1356,1881,0,0,0,0,0,0
$GC,13203,0.96,224.8,629.0,11.5,440,13208,0.00,2.70,0.00,0.000,4,0.000,0.048,3592,2937,1879,0,0,0,0,0,0
$GC,13227,0.97,232.8,626.3,9.6,440,13245,0.00,2.70,8.50,0.829,6,0.000,0.051,3592,1356,1850,0,0,0,0,0,0
$GC,13490,0.97,232.8,598.9,10.4,447,13492,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1356,1849,0,0,0,0,0,0
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$STATE,18951,end climb,SURFACE_DEPTH_REACHED
$STATE,18951,begin surface coast
$FINISH,0.9,1.000294
$STATE,18997,end surface coast,CONTROL_FINISHED_OK
$STATE,18997,begin surface
$SM_CCo,19021,41.22,0.427,0,0,1249,380.21
$SM_GC,1.77,0.00,0.00,41.22,0.000,0.000,0.427,412,1621,1249,-13.68,1.41,380.21
$IRIDIUM_FIX,2253.38,-15734.52,011002,020217
$TT8_MAMPS,0.027612
$HUMID,63.42
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.60
$XPDR_PINGS,15
$24V_AH,23.3,31.081
$10V_AH,9.9,28.284
$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
$DEVICE_SECS,33.525,160.225,406.225,41.225,0.000,24.307,44.312,227.137,3.750,0.000,34.212,1529.696,13994.187,530.582,2700.670,782.865,33.384,1510.963,0.000,2713.264,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,500.295,607.463,754.288,1177.837,1650.693,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,60473,730
$CAP_FILE_SIZE,167750,0
$CFSIZE,260165632,156254208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070713,125056,2302.178,-15731.054,29,99.0,48,10.1