version: 66.06
glider: 148
mission: 12
dive: 355
start: 8 8 113 4 45 22
data:
$ID,148
$MISSION,12
$DIVE,355
$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,390
$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,-1023118
$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,3395
$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,27
$R_STBD_OVSHOOT,47
$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
$GPS1,043630,2246.993,-15755.013,40,1.7,40,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.2
$GPS2,044430,2246.988,-15754.999,16,1.9,33,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.239,-0.101
$KALMAN_X,-117655.8,192.1,-47.4,126151.1,876.4
$KALMAN_Y,121237.8,-127.8,-529.3,-116870.8,-365.6
$MHEAD_RNG_PITCHd_Wd,236.9,22311,-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,-67.18,0.000,2,0.000,0.000,412,1627,2924,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.3,-4.4,9,124,14.05,2.42,-8.65,0.000,4,0.149,0.055,3114,167,3396,0,0,0,0,0,0
$GC,268,-0.98,-146.0,45.2,-21.2,31,273,0.30,2.15,0.00,0.000,6,0.097,0.017,3178,1591,3396,0,0,0,0,0,0
$GC,535,-0.88,-146.0,85.0,-12.7,55,539,0.10,2.42,0.00,0.000,4,0.120,0.021,3201,3130,3397,0,0,0,0,0,0
$GC,589,-0.97,-146.0,91.4,-10.0,59,595,0.00,2.55,0.00,0.000,6,0.000,0.029,3201,1559,3397,0,0,0,0,0,0
$GC,850,-0.97,-146.0,119.3,-10.5,84,854,0.00,2.30,0.00,0.000,4,0.000,0.044,3201,164,3397,0,0,0,0,0,0
$GC,891,-0.97,-146.0,123.4,-12.0,87,895,0.00,2.15,0.00,0.000,6,0.000,0.017,3201,1590,3398,0,0,0,0,0,0
$GC,1159,-0.97,-146.0,150.0,-10.1,111,1163,0.00,2.38,0.00,0.000,4,0.000,0.021,3201,3119,3398,0,0,0,0,0,0
$GC,1190,-0.97,-146.0,153.6,-9.6,113,1196,0.00,2.50,0.00,0.000,6,0.000,0.028,3201,1572,3398,0,0,0,0,0,0
$GC,1455,-0.97,-146.0,177.2,-9.1,138,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1572,3398,0,0,0,0,0,0
$GC,1735,-0.97,-146.0,204.7,-10.1,162,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1572,3398,0,0,0,0,0,0
$GC,1979,-0.97,-146.0,228.6,-9.5,168,1983,0.00,2.42,0.00,0.000,4,0.000,0.021,3201,3121,3398,0,0,0,0,0,0
$GC,2014,-1.04,-146.0,231.8,-8.9,168,2019,0.15,2.50,0.00,0.000,6,0.051,0.027,3124,1575,3398,0,0,0,0,0,0
$GC,2264,-0.90,-146.0,263.6,-13.1,174,2269,0.30,2.30,0.00,0.000,4,0.082,0.042,3195,163,3398,0,0,0,0,0,0
$GC,2281,-0.81,-146.0,265.5,-12.1,174,2286,0.10,2.15,0.00,0.000,6,0.115,0.018,3218,1586,3398,0,0,0,0,0,0
$GC,2554,-0.92,-146.0,281.9,-5.6,181,2556,0.10,0.00,0.00,0.000,6,0.073,0.000,3150,1589,3398,0,0,0,0,0,0
$GC,2794,-0.92,-146.0,306.0,-10.2,187,2799,0.20,2.40,0.00,0.000,4,0.080,0.023,3195,3111,3398,0,0,0,0,0,0
$GC,2820,-0.99,-146.0,308.1,-8.4,187,2825,0.00,2.50,0.00,0.000,6,0.000,0.029,3195,1575,3398,0,0,0,0,0,0
$GC,3080,-1.07,-146.0,327.2,-7.5,194,3085,0.15,2.38,0.00,0.000,4,0.054,0.051,3125,164,3398,0,0,0,0,0,0
$GC,3105,-0.98,-146.0,329.9,-11.2,194,3109,0.25,2.15,0.00,0.000,6,0.084,0.020,3181,1557,3398,0,0,0,0,0,0
$GC,3373,-1.03,-146.0,352.3,-8.2,201,3378,0.00,2.53,0.00,0.000,4,0.000,0.030,3181,3135,3397,0,0,0,0,0,0
$GC,3417,-1.16,-146.0,355.9,-7.1,202,3422,0.17,2.55,0.00,0.000,6,0.047,0.035,3101,1579,3396,0,0,0,0,0,0
$GC,3707,-1.04,-146.0,388.5,-11.4,209,3712,0.28,2.40,0.00,0.000,4,0.084,0.056,3167,166,3395,0,0,0,0,0,0
$GC,3740,-1.04,-146.0,392.4,-10.3,209,3745,0.00,2.22,0.00,0.000,6,0.000,0.023,3168,1579,3395,0,0,0,0,0,0
$GC,3991,-1.04,-146.0,413.1,-8.1,215,3995,0.00,2.55,0.00,0.000,4,0.000,0.035,3168,3143,3393,0,0,0,0,0,0
$GC,4021,-1.12,-146.0,415.2,-7.3,215,4026,0.00,2.58,0.00,0.000,6,0.000,0.038,3167,1589,3393,0,0,0,0,0,0
$GC,4276,-1.12,-146.0,432.7,-6.8,222,4280,0.00,2.42,0.00,0.000,4,0.000,0.063,3167,173,3391,0,0,0,0,0,0
$GC,4325,-1.18,-146.0,436.2,-7.5,223,4330,0.12,2.25,0.00,0.000,6,0.063,0.025,3106,1590,3391,0,0,0,0,0,0
$GC,4608,-1.09,-146.0,466.3,-11.0,230,4613,0.22,2.45,0.00,0.000,4,0.083,0.062,3157,170,3389,0,0,0,0,0,0
$GC,4632,-1.09,-146.0,469.1,-11.2,230,4637,0.00,2.25,0.00,0.000,6,0.000,0.027,3157,1581,3388,0,0,0,0,0,0
$GC,4892,-1.09,-146.0,493.5,-9.3,237,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1582,3387,0,0,0,0,0,0
$GC,5135,-1.09,-146.0,512.4,-7.6,243,5140,0.00,2.60,0.00,0.000,4,0.000,0.043,3157,3144,3385,0,0,0,0,0,0
$GC,5173,-1.18,-146.0,515.0,-6.8,243,5179,0.00,2.62,0.00,0.000,6,0.000,0.041,3157,1583,3385,0,0,0,0,0,0
$GC,5425,-1.18,-146.0,531.8,-6.7,250,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1583,3383,0,0,0,0,0,0
$GC,5672,-1.18,-146.0,549.1,-7.1,256,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1583,3382,0,0,0,0,0,0
$GC,5911,-1.18,-146.0,566.1,-7.0,262,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1583,3380,0,0,0,0,0,0
$GC,6155,-1.18,-146.0,583.6,-7.2,268,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1583,3378,0,0,0,0,0,0
$GC,6400,-1.18,-146.0,600.6,-6.9,274,6404,0.00,2.50,0.00,0.000,4,0.000,0.079,3157,167,3377,0,0,0,0,0,0
$GC,6419,-1.18,-146.0,602.2,-7.4,274,6423,0.00,2.28,0.00,0.000,6,0.000,0.031,3157,1577,3376,0,0,0,0,0,0
$GC,6686,-1.22,-146.0,620.9,-6.8,281,6691,0.12,2.65,0.00,0.000,4,0.065,0.049,3099,3155,3375,0,0,0,0,0,0
$GC,6712,-1.22,-146.0,623.2,-9.1,281,6718,0.12,2.67,0.00,0.000,6,0.097,0.047,3129,1580,3375,0,0,0,0,0,0
$GC,6973,-1.22,-146.0,643.3,-7.9,288,6977,0.00,2.50,0.00,0.000,4,0.000,0.081,3129,167,3374,0,0,0,0,0,0
$GC,6996,-1.22,-146.0,645.4,-9.6,288,7001,0.00,2.33,0.00,0.000,6,0.000,0.033,3129,1592,3374,0,0,0,0,0,0
$GC,7258,-1.22,-146.0,667.2,-8.6,295,7262,0.00,2.62,0.00,0.000,4,0.000,0.053,3129,3155,3372,0,0,0,0,0,0
$GC,7278,-1.22,-146.0,669.3,-9.3,295,7283,0.00,2.67,0.00,0.000,6,0.000,0.047,3128,1580,3372,0,0,0,0,0,0
$GC,7543,-1.22,-146.0,692.0,-8.5,302,7547,0.00,2.50,0.00,0.000,4,0.000,0.082,3129,166,3371,0,0,0,0,0,0
$GC,7568,-1.22,-146.0,694.2,-10.2,302,7572,0.00,2.33,0.00,0.000,6,0.000,0.035,3129,1588,3370,0,0,0,0,0,0
$GC,7827,-1.22,-146.0,715.2,-8.0,309,7831,0.00,2.53,0.00,0.000,4,0.000,0.077,3129,164,3369,0,0,0,0,0,0
$GC,7855,-1.22,-146.0,717.6,-8.0,309,7859,0.00,2.33,0.00,0.000,6,0.000,0.036,3129,1589,3369,0,0,0,0,0,0
$GC,8123,-1.22,-146.0,738.0,-8.0,316,8128,0.00,2.65,0.00,0.000,4,0.000,0.055,3129,3155,3368,0,0,0,0,0,0
$GC,8142,-1.22,-146.0,740.4,-8.5,316,8147,0.00,2.67,0.00,0.000,6,0.000,0.048,3129,1583,3368,0,0,0,0,0,0
$GC,8406,-1.22,-146.0,761.1,-7.8,323,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1583,3366,0,0,0,0,0,0
$GC,8652,-1.22,-146.0,779.8,-7.8,329,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1584,3365,0,0,0,0,0,0
$GC,8894,-1.22,-146.0,797.0,-7.0,335,8898,0.00,2.53,0.00,0.000,4,0.000,0.084,3128,166,3365,0,0,0,0,0,0
$GC,8922,-1.22,-146.0,799.4,-8.9,335,8926,0.00,2.35,0.00,0.000,6,0.000,0.036,3129,1592,3364,0,0,0,0,0,0
$GC,9179,-1.22,-146.0,817.8,-7.1,342,9183,0.00,2.53,0.00,0.000,4,0.000,0.077,3129,170,3364,0,0,0,0,0,0
$GC,9207,-1.22,-146.0,820.4,-8.6,342,9211,0.00,2.33,0.00,0.000,6,0.000,0.036,3129,1586,3363,0,0,0,0,0,0
$GC,9462,-1.22,-146.0,840.3,-7.8,349,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1586,3363,0,0,0,0,0,0
$GC,9707,-1.22,-146.0,859.5,-7.8,355,9712,0.00,2.65,0.00,0.000,4,0.000,0.054,3129,3154,3362,0,0,0,0,0,0
$GC,9731,-1.22,-146.0,861.5,-8.9,355,9735,0.00,2.67,0.00,0.000,6,0.000,0.050,3129,1575,3362,0,0,0,0,0,0
$GC,9990,-1.22,-146.0,882.0,-7.8,362,9995,0.00,2.50,0.00,0.000,4,0.000,0.084,3129,166,3361,0,0,0,0,0,0
$GC,10014,-1.22,-146.0,883.9,-7.3,362,10018,0.00,2.33,0.00,0.000,6,0.000,0.035,3128,1582,3360,0,0,0,0,0,0
$STATE,10230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10230,begin apogee
$GC,10238,-0.31,0.0,900.7,7.6,368,10361,0.88,0.00,119.70,1.151,6,0.074,0.000,3328,1338,2800,0,0,0,0,0,0
$STATE,10362,end apogee,CONTROL_FINISHED_OK
$STATE,10362,begin climb
$GC,10365,1.27,146.0,904.1,0.0,371,10505,1.40,2.17,130.48,1.131,4,0.029,0.079,3675,175,2203,0,0,0,0,0,0
$GC,10584,1.02,146.0,889.1,13.9,376,10589,0.28,1.95,0.00,0.000,6,0.108,0.031,3619,1355,2199,0,0,0,0,0,0
$GC,10874,0.94,147.1,858.6,10.0,383,10878,0.00,2.10,0.00,0.000,4,0.000,0.074,3619,174,2193,0,0,0,0,0,0
$GC,10888,0.85,147.1,856.6,10.8,383,10893,0.17,1.95,0.00,0.000,6,0.112,0.030,3582,1361,2193,0,0,0,0,0,0
$GC,11163,0.88,175.0,832.0,8.7,390,11196,0.00,2.78,25.90,1.045,4,0.000,0.054,3582,2923,2085,0,0,0,0,0,0
$GC,11212,0.93,216.6,828.0,8.1,391,11258,0.00,2.72,40.08,1.057,6,0.000,0.049,3582,1357,1917,0,0,0,0,0,0
$GC,11541,0.93,216.6,794.1,10.3,399,11545,0.00,2.15,0.00,0.000,4,0.000,0.087,3582,168,1910,0,0,0,0,0,0
$GC,11573,0.93,216.6,790.1,12.6,399,11577,0.00,1.95,0.00,0.000,6,0.000,0.030,3581,1355,1910,0,0,0,0,0,0
$GC,11832,0.93,216.6,763.4,10.4,406,11836,0.00,2.67,0.00,0.000,4,0.000,0.054,3581,2927,1907,0,0,0,0,0,0
$GC,11858,1.01,228.1,760.4,9.5,406,11876,0.15,2.72,10.57,0.926,6,0.059,0.049,3633,1350,1870,0,0,0,0,0,0
$GC,12120,0.95,228.1,726.1,13.2,413,12122,0.15,0.00,0.00,0.000,6,0.107,0.000,3602,1350,1868,0,0,0,0,0,0
$GC,12363,0.95,228.1,699.1,10.9,419,12368,0.00,2.72,0.00,0.000,4,0.000,0.046,3602,2934,1867,0,0,0,0,0,0
$GC,12380,0.95,228.1,697.6,10.7,419,12384,0.00,2.72,0.00,0.000,6,0.000,0.049,3602,1355,1865,0,0,0,0,0,0
$GC,12651,0.95,228.1,668.6,10.8,426,12652,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,1355,1865,0,0,0,0,0,0
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$STATE,18590,end climb,SURFACE_DEPTH_REACHED
$STATE,18590,begin surface coast
$FINISH,0.9,1.010439
$STATE,18632,end surface coast,CONTROL_FINISHED_OK
$STATE,18632,begin surface
$SM_CCo,18656,32.78,0.426,0,0,1209,390.03
$SM_GC,2.02,0.00,0.00,32.78,0.000,0.000,0.426,413,1621,1209,-13.72,1.44,390.03
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$TT8_MAMPS,0.027612
$HUMID,67.12
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.40
$XPDR_PINGS,7
$24V_AH,23.1,52.295
$10V_AH,9.9,49.927
$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
$DEVICE_SECS,34.250,208.875,426.600,32.775,0.000,29.256,36.216,233.871,1.750,0.000,35.042,1532.808,13735.644,530.927,2576.519,779.218,33.372,1617.650,0.000,2552.921,0.000,0.536,0.000
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$SENSOR_SECS,479.001,366.632,470.510,971.787,1280.323,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,57382,703
$CAP_FILE_SIZE,180198,0
$CFSIZE,260165632,145321984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080813,095805,2244.879,-15756.467,31,0.9,31,10.1