version: 66.06
glider: 148
mission: 12
dive: 377
start: 8 13 113 3 0 25
data:
$ID,148
$MISSION,12
$DIVE,377
$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,-1023567.1
$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,3400
$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,71
$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
$GPS1,025135,2254.853,-15753.246,39,1.5,44,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.5
$GPS2,025933,2254.802,-15753.283,14,3.8,33,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.179,-0.188
$KALMAN_X,-90867.4,-40.2,589.4,101887.8,-92.4
$KALMAN_Y,101056.8,-217.9,-173.9,-82481.9,-182.5
$MHEAD_RNG_PITCHd_Wd,126.2,40016,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-66.20,0.000,2,0.000,0.000,411,1549,2880,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.7,9,121,14.73,2.30,-9.80,0.000,4,0.168,0.051,3118,163,3396,0,0,0,0,0,0
$GC,144,-0.82,-146.0,17.7,-23.5,16,154,0.43,2.17,0.00,0.000,6,0.084,0.017,3215,1566,3397,0,0,0,0,0,0
$GC,429,-0.72,-146.0,58.8,-13.6,47,434,0.12,2.47,0.00,0.000,4,0.112,0.022,3241,3135,3397,0,0,0,0,0,0
$GC,474,-0.78,-146.0,63.9,-9.8,50,478,0.00,2.55,0.00,0.000,6,0.000,0.028,3241,1566,3398,0,0,0,0,0,0
$GC,739,-0.85,-146.0,84.4,-6.7,74,744,0.12,2.50,0.00,0.000,4,0.060,0.022,3159,3144,3398,0,0,0,0,0,0
$GC,759,-0.85,-146.0,86.2,-7.9,75,765,0.25,2.55,0.00,0.000,6,0.076,0.027,3218,1570,3398,0,0,0,0,0,0
$GC,1028,-0.85,-146.0,108.4,-8.1,99,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1570,3399,0,0,0,0,0,0
$GC,1289,-0.85,-146.0,131.1,-8.8,124,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1570,3399,0,0,0,0,0,0
$GC,1549,-0.85,-146.0,155.2,-9.8,148,1553,0.00,2.50,0.00,0.000,4,0.000,0.022,3217,3133,3399,0,0,0,0,0,0
$GC,1578,-0.92,-146.0,158.6,-9.8,150,1587,0.00,2.55,0.00,0.000,6,0.000,0.028,3217,1576,3400,0,0,0,0,0,0
$GC,1846,-0.98,-146.0,182.7,-9.3,175,1851,0.12,2.50,0.00,0.000,4,0.062,0.022,3147,3141,3400,0,0,0,0,0,0
$GC,1863,-0.98,-146.0,185.0,-9.3,176,1868,0.17,2.53,0.00,0.000,6,0.087,0.026,3187,1576,3400,0,0,0,0,0,0
$GC,2133,-0.98,-146.0,212.1,-9.6,192,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1575,3400,0,0,0,0,0,0
$GC,2373,-0.98,-146.0,231.9,-7.7,198,2377,0.00,2.47,0.00,0.000,4,0.000,0.021,3187,3135,3400,0,0,0,0,0,0
$GC,2392,-0.98,-146.0,233.6,-8.8,198,2396,0.00,2.50,0.00,0.000,6,0.000,0.027,3187,1588,3400,0,0,0,0,0,0
$GC,2656,-0.98,-146.0,255.5,-8.5,205,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1589,3399,0,0,0,0,0,0
$GC,2906,-1.02,-146.0,277.2,-8.8,211,2910,0.00,2.33,0.00,0.000,4,0.000,0.047,3187,170,3400,0,0,0,0,0,0
$GC,2929,-1.02,-146.0,279.9,-9.4,211,2933,0.00,2.15,0.00,0.000,6,0.000,0.019,3187,1593,3399,0,0,0,0,0,0
$GC,3189,-1.07,-146.0,300.0,-7.6,218,3193,0.00,2.42,0.00,0.000,4,0.000,0.025,3187,3130,3399,0,0,0,0,0,0
$GC,3220,-1.16,-146.0,302.1,-6.8,218,3225,0.17,2.50,0.00,0.000,6,0.048,0.029,3106,1593,3399,0,0,0,0,0,0
$GC,3475,-1.04,-146.0,330.3,-11.3,225,3480,0.28,2.38,0.00,0.000,4,0.084,0.047,3172,166,3398,0,0,0,0,0,0
$GC,3506,-1.04,-146.0,333.6,-9.2,225,3510,0.00,2.17,0.00,0.000,6,0.000,0.020,3172,1585,3397,0,0,0,0,0,0
$GC,3761,-1.04,-146.0,356.3,-9.1,232,3765,0.00,2.47,0.00,0.000,4,0.000,0.030,3172,3133,3396,0,0,0,0,0,0
$GC,3780,-1.09,-146.0,358.1,-9.1,232,3785,0.00,2.53,0.00,0.000,6,0.000,0.032,3173,1587,3396,0,0,0,0,0,0
$GC,4046,-1.09,-146.0,380.0,-8.2,239,4050,0.00,2.38,0.00,0.000,4,0.000,0.058,3172,172,3395,0,0,0,0,0,0
$GC,4074,-1.09,-146.0,382.6,-8.5,239,4079,0.00,2.20,0.00,0.000,6,0.000,0.021,3172,1591,3394,0,0,0,0,0,0
$GC,4332,-1.14,-146.0,401.0,-7.1,246,4336,0.00,2.50,0.00,0.000,4,0.000,0.035,3172,3137,3393,0,0,0,0,0,0
$GC,4349,-1.20,-146.0,402.4,-7.0,246,4354,0.15,2.55,0.00,0.000,6,0.053,0.039,3103,1589,3393,0,0,0,0,0,0
$GC,4618,-1.10,-146.0,430.3,-10.6,253,4623,0.25,2.55,0.00,0.000,4,0.084,0.043,3164,3133,3390,0,0,0,0,0,0
$GC,4650,-1.17,-146.0,433.1,-7.9,253,4654,0.00,2.53,0.00,0.000,6,0.000,0.036,3164,1597,3390,0,0,0,0,0,0
$GC,4907,-1.17,-146.0,452.6,-7.8,260,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1597,3389,0,0,0,0,0,0
$GC,5151,-1.22,-146.0,472.9,-8.4,266,5156,0.12,2.45,0.00,0.000,4,0.064,0.068,3106,172,3387,0,0,0,0,0,0
$GC,5187,-1.12,-146.0,477.0,-12.3,266,5192,0.22,2.28,0.00,0.000,6,0.084,0.029,3157,1593,3387,0,0,0,0,0,0
$GC,5437,-1.12,-146.0,498.0,-8.1,272,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1593,3385,0,0,0,0,0,0
$GC,5681,-1.12,-146.0,517.6,-8.0,278,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1593,3384,0,0,0,0,0,0
$GC,5925,-1.12,-146.0,536.9,-8.0,284,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1593,3382,0,0,0,0,0,0
$GC,6170,-1.12,-146.0,554.8,-7.2,290,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1593,3381,0,0,0,0,0,0
$GC,6414,-1.12,-146.0,572.7,-7.4,296,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1594,3379,0,0,0,0,0,0
$GC,6656,-1.16,-146.0,589.9,-7.0,302,6661,0.00,2.60,0.00,0.000,4,0.000,0.048,3157,3144,3378,0,0,0,0,0,0
$GC,6678,-1.22,-146.0,591.5,-7.7,302,6682,0.00,2.60,0.00,0.000,6,0.000,0.044,3157,1604,3378,0,0,0,0,0,0
$GC,6942,-1.27,-146.0,611.1,-7.5,309,6944,0.15,0.00,0.00,0.000,6,0.056,0.000,3094,1604,3376,0,0,0,0,0,0
$GC,7188,-1.18,-146.0,636.7,-10.7,315,7193,0.20,2.62,0.00,0.000,4,0.087,0.044,3140,3152,3375,0,0,0,0,0,0
$GC,7205,-1.14,-146.0,638.7,-10.6,315,7209,0.00,2.62,0.00,0.000,6,0.000,0.046,3140,1600,3375,0,0,0,0,0,0
$GC,7476,-1.14,-146.0,660.4,-7.8,322,7480,0.00,2.53,0.00,0.000,4,0.000,0.083,3140,163,3373,0,0,0,0,0,0
$GC,7513,-1.14,-146.0,663.6,-8.8,322,7519,0.00,2.33,0.00,0.000,6,0.000,0.034,3140,1590,3373,0,0,0,0,0,0
$GC,7765,-1.14,-146.0,681.3,-7.0,329,7770,0.00,2.62,0.00,0.000,4,0.000,0.051,3140,3153,3372,0,0,0,0,0,0
$GC,7780,-1.14,-146.0,682.6,-6.9,329,7784,0.00,2.62,0.00,0.000,6,0.000,0.045,3140,1601,3371,0,0,0,0,0,0
$GC,8051,-1.14,-146.0,700.5,-6.8,336,8056,0.00,2.53,0.00,0.000,4,0.000,0.081,3140,169,3371,0,0,0,0,0,0
$GC,8068,-1.14,-146.0,701.7,-6.7,336,8072,0.00,2.33,0.00,0.000,6,0.000,0.032,3140,1609,3371,0,0,0,0,0,0
$GC,8336,-1.14,-146.0,721.2,-7.4,343,8340,0.00,2.55,0.00,0.000,4,0.000,0.075,3140,166,3369,0,0,0,0,0,0
$GC,8355,-1.14,-146.0,723.0,-8.9,343,8359,0.00,2.35,0.00,0.000,6,0.000,0.035,3140,1602,3369,0,0,0,0,0,0
$GC,8621,-1.14,-146.0,743.9,-8.0,350,8625,0.00,2.60,0.00,0.000,4,0.000,0.053,3140,3152,3368,0,0,0,0,0,0
$GC,8650,-1.19,-146.0,746.5,-8.1,350,8654,0.00,2.65,0.00,0.000,6,0.000,0.048,3140,1596,3368,0,0,0,0,0,0
$GC,8905,-1.19,-146.0,767.1,-8.1,357,8909,0.00,2.53,0.00,0.000,4,0.000,0.081,3140,169,3367,0,0,0,0,0,0
$GC,8931,-1.19,-146.0,769.1,-8.6,357,8935,0.00,2.35,0.00,0.000,6,0.000,0.035,3140,1604,3367,0,0,0,0,0,0
$GC,9190,-1.19,-146.0,788.1,-7.1,364,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1604,3366,0,0,0,0,0,0
$GC,9434,-1.19,-146.0,803.7,-6.3,370,9435,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1604,3365,0,0,0,0,0,0
$GC,9682,-1.19,-146.0,818.5,-6.1,376,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1604,3364,0,0,0,0,0,0
$GC,9923,-1.19,-146.0,833.8,-6.5,382,9927,0.00,2.53,0.00,0.000,4,0.000,0.076,3140,165,3363,0,0,0,0,0,0
$GC,9951,-1.19,-146.0,836.1,-7.4,382,9956,0.00,2.35,0.00,0.000,6,0.000,0.036,3140,1603,3363,0,0,0,0,0,0
$GC,10206,-1.19,-146.0,854.1,-7.1,389,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1604,3363,0,0,0,0,0,0
$GC,10452,-1.19,-146.0,871.8,-7.3,395,10457,0.00,2.62,0.00,0.000,4,0.000,0.056,3140,3156,3362,0,0,0,0,0,0
$GC,10472,-1.24,-146.0,873.5,-7.9,395,10476,0.00,2.65,0.00,0.000,6,0.000,0.049,3140,1604,3362,0,0,0,0,0,0
$GC,10736,-1.24,-146.0,892.6,-7.2,402,10741,0.00,2.55,0.00,0.000,4,0.000,0.082,3140,166,3361,0,0,0,0,0,0
$GC,10776,-1.24,-146.0,895.4,-7.4,402,10781,0.00,2.38,0.00,0.000,6,0.000,0.036,3140,1610,3361,0,0,0,0,0,0
$STATE,10860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10860,begin apogee
$GC,10867,-0.31,0.0,901.6,6.9,405,10990,0.82,0.00,119.93,1.149,6,0.072,0.000,3330,1338,2800,0,0,0,0,0,0
$STATE,10991,end apogee,CONTROL_FINISHED_OK
$STATE,10991,begin climb
$GC,10994,1.27,146.0,904.6,0.0,408,11133,1.42,2.15,131.00,1.128,4,0.031,0.081,3685,173,2204,0,0,0,0,0,0
$GC,11283,1.00,146.0,876.8,15.5,414,11288,0.32,1.98,0.00,0.000,6,0.107,0.031,3618,1354,2198,0,0,0,0,0,0
$GC,11553,0.94,146.0,848.1,10.5,421,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,1355,2193,0,0,0,0,0,0
$GC,11794,0.88,155.7,824.5,9.5,427,11808,0.12,2.12,8.30,0.906,4,0.119,0.073,3593,170,2164,0,0,0,0,0,0
$GC,11880,0.85,180.0,816.2,8.9,428,11909,0.00,1.92,23.92,1.034,6,0.000,0.031,3593,1340,2066,0,0,0,0,0,0
$GC,12181,0.90,214.4,791.3,8.4,436,12217,0.00,0.00,33.78,1.040,6,0.000,0.000,3593,1340,1925,0,0,0,0,0,0
$GC,12457,0.91,226.2,765.4,9.5,443,12476,0.00,2.80,12.02,0.940,4,0.000,0.057,3593,2931,1876,0,0,0,0,0,0
$GC,12502,1.00,244.0,761.1,9.2,444,12527,0.10,2.72,17.70,0.977,6,0.078,0.049,3632,1350,1804,0,0,0,0,0,0
$GC,12799,1.00,244.0,723.2,13.6,451,12804,0.00,2.72,0.00,0.000,4,0.000,0.047,3632,2933,1800,0,0,0,0,0,0
$GC,12827,1.00,244.0,718.0,14.5,451,12832,0.00,2.72,0.00,0.000,6,0.000,0.051,3632,1352,1798,0,0,0,0,0,0
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$STATE,19063,end climb,SURFACE_DEPTH_REACHED
$STATE,19063,begin surface coast
$FINISH,1.3,1.023265
$STATE,19099,end surface coast,CONTROL_FINISHED_OK
$STATE,19099,begin surface
$SM_CCo,19123,29.35,0.422,0,0,1209,390.03
$SM_GC,2.14,0.00,0.00,29.35,0.000,0.000,0.422,413,1573,1209,-13.74,0.08,390.03
$IRIDIUM_FIX,2251.04,-15800.62,061102,212111
$TT8_MAMPS,0.027612
$HUMID,66.89
$INTERNAL_PRESSURE,9.41829
$TCM_TEMP,22.50
$XPDR_PINGS,9
$24V_AH,23.1,55.585
$10V_AH,9.9,53.264
$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,35.125,199.600,443.900,29.350,0.000,25.133,36.320,227.742,2.250,0.000,35.743,1598.182,14017.733,551.449,2650.246,801.147,33.368,1640.462,0.000,2642.447,0.000,0.536,0.000
$DEVICE_MAMPS,167.973,85.137,1148.966,421.850,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,507.085,407.764,514.802,1055.908,1394.632,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,60491,746
$CAP_FILE_SIZE,184171,0
$CFSIZE,260165632,143618048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130813,082127,2252.062,-15750.374,46,3.7,65,10.1