version: 66.06
glider: 148
mission: 12
dive: 403
start: 8 19 113 0 15 15
data:
$ID,148
$MISSION,12
$DIVE,403
$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,-1024123.7
$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,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,24
$R_STBD_OVSHOOT,81
$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
$GPS1,000005,2258.175,-15741.385,29,1.3,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-77.2
$GPS2,001418,2258.115,-15741.470,12,1.5,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.199,-0.167
$KALMAN_X,-90637.6,139.2,273.5,121970.2,-615.8
$KALMAN_Y,58552.8,-330.6,-439.9,-33462.6,-273.6
$MHEAD_RNG_PITCHd_Wd,220.0,53118,-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,-67.47,0.000,2,0.000,0.000,413,1600,2939,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.4,9,121,14.07,2.40,-8.60,0.000,4,0.147,0.049,3118,166,3398,0,0,0,0,0,0
$GC,243,-0.98,-146.0,39.7,-20.7,29,248,0.30,2.12,0.00,0.000,6,0.094,0.017,3183,1556,3398,0,0,0,0,0,0
$GC,511,-0.88,-146.0,78.8,-12.2,53,516,0.12,2.50,0.00,0.000,4,0.107,0.022,3211,3143,3398,0,0,0,0,0,0
$GC,567,-0.96,-146.0,84.4,-8.7,57,571,0.00,2.53,0.00,0.000,6,0.000,0.028,3211,1573,3398,0,0,0,0,0,0
$GC,833,-0.96,-146.0,109.7,-9.4,81,837,0.00,2.30,0.00,0.000,4,0.000,0.042,3211,172,3399,0,0,0,0,0,0
$GC,863,-0.96,-146.0,112.6,-10.5,83,867,0.00,2.15,0.00,0.000,6,0.000,0.016,3211,1598,3399,0,0,0,0,0,0
$GC,1130,-0.96,-146.0,138.1,-10.3,107,1134,0.00,2.38,0.00,0.000,4,0.000,0.021,3211,3123,3399,0,0,0,0,0,0
$GC,1167,-1.07,-146.0,141.9,-8.3,110,1172,0.20,2.47,0.00,0.000,6,0.041,0.027,3119,1586,3399,0,0,0,0,0,0
$GC,1428,-0.90,-146.0,179.7,-13.9,134,1433,0.35,2.33,0.00,0.000,4,0.081,0.041,3202,160,3399,0,0,0,0,0,0
$GC,1464,-0.90,-146.0,183.9,-10.5,137,1468,0.00,2.15,0.00,0.000,6,0.000,0.016,3202,1584,3399,0,0,0,0,0,0
$GC,1745,-0.90,-146.0,207.8,-8.9,157,1749,0.00,2.42,0.00,0.000,4,0.000,0.021,3202,3123,3400,0,0,0,0,0,0
$GC,1769,-0.95,-146.0,210.2,-9.5,157,1773,0.00,2.50,0.00,0.000,6,0.000,0.026,3202,1576,3400,0,0,0,0,0,0
$GC,2031,-1.00,-146.0,231.7,-7.9,164,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1576,3399,0,0,0,0,0,0
$GC,2273,-1.06,-146.0,249.7,-7.7,170,2277,0.12,2.33,0.00,0.000,4,0.061,0.045,3134,166,3399,0,0,0,0,0,0
$GC,2319,-0.95,-146.0,254.8,-12.9,171,2324,0.25,2.12,0.00,0.000,6,0.079,0.018,3192,1575,3399,0,0,0,0,0,0
$GC,2611,-1.01,-146.0,278.0,-7.6,178,2615,0.00,2.45,0.00,0.000,4,0.000,0.023,3192,3126,3398,0,0,0,0,0,0
$GC,2658,-1.14,-146.0,281.9,-7.6,179,2663,0.17,2.50,0.00,0.000,6,0.046,0.028,3108,1579,3398,0,0,0,0,0,0
$GC,2946,-1.01,-146.0,315.2,-12.2,186,2951,0.28,2.33,0.00,0.000,4,0.083,0.046,3174,170,3397,0,0,0,0,0,0
$GC,2990,-1.01,-146.0,320.2,-9.3,187,2994,0.00,2.15,0.00,0.000,6,0.000,0.020,3174,1576,3396,0,0,0,0,0,0
$GC,3279,-1.01,-146.0,342.8,-7.5,194,3283,0.00,2.50,0.00,0.000,4,0.000,0.028,3174,3134,3395,0,0,0,0,0,0
$GC,3307,-1.09,-146.0,345.1,-7.2,194,3312,0.00,2.53,0.00,0.000,6,0.000,0.039,3174,1587,3395,0,0,0,0,0,0
$GC,3564,-1.09,-146.0,365.9,-8.5,201,3568,0.00,2.40,0.00,0.000,4,0.000,0.055,3174,163,3393,0,0,0,0,0,0
$GC,3585,-1.09,-146.0,368.0,-9.2,201,3589,0.00,2.22,0.00,0.000,6,0.000,0.021,3174,1587,3393,0,0,0,0,0,0
$GC,3854,-1.09,-146.0,389.6,-7.6,208,3858,0.00,2.53,0.00,0.000,4,0.000,0.033,3174,3142,3391,0,0,0,0,0,0
$GC,3873,-1.14,-146.0,391.2,-7.6,208,3878,0.10,2.58,0.00,0.000,6,0.074,0.039,3115,1584,3391,0,0,0,0,0,0
$GC,4140,-1.06,-146.0,417.5,-10.2,215,4142,0.22,0.00,0.00,0.000,6,0.085,0.000,3167,1584,3389,0,0,0,0,0,0
$GC,4384,-1.06,-146.0,436.3,-7.6,221,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1584,3388,0,0,0,0,0,0
$GC,4625,-1.06,-146.0,454.0,-7.2,227,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1584,3386,0,0,0,0,0,0
$GC,4871,-1.06,-146.0,471.3,-7.2,233,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1584,3384,0,0,0,0,0,0
$GC,5113,-1.06,-146.0,488.6,-7.2,239,5117,0.00,2.60,0.00,0.000,4,0.000,0.041,3167,3134,3383,0,0,0,0,0,0
$GC,5146,-1.16,-146.0,491.2,-8.0,239,5151,0.00,2.58,0.00,0.000,6,0.000,0.039,3167,1593,3383,0,0,0,0,0,0
$GC,5399,-1.20,-146.0,509.3,-7.2,245,5404,0.12,2.50,0.00,0.000,4,0.063,0.073,3108,170,3381,0,0,0,0,0,0
$GC,5433,-1.09,-146.0,512.8,-10.5,245,5438,0.25,2.25,0.00,0.000,6,0.084,0.035,3165,1574,3381,0,0,0,0,0,0
$GC,5685,-1.13,-146.0,530.7,-7.0,251,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1574,3379,0,0,0,0,0,0
$GC,5928,-1.13,-146.0,548.4,-7.4,257,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1574,3378,0,0,0,0,0,0
$GC,6170,-1.18,-146.0,567.6,-7.9,263,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1574,3376,0,0,0,0,0,0
$GC,6414,-1.23,-146.0,585.9,-7.4,269,6419,0.15,2.65,0.00,0.000,4,0.055,0.046,3097,3150,3375,0,0,0,0,0,0
$GC,6441,-1.23,-146.0,588.2,-9.8,269,6446,0.15,2.67,0.00,0.000,6,0.090,0.046,3133,1575,3374,0,0,0,0,0,0
$GC,6704,-1.23,-146.0,610.2,-8.3,276,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1575,3373,0,0,0,0,0,0
$GC,6945,-1.23,-146.0,630.3,-8.3,282,6949,0.00,2.47,0.00,0.000,4,0.000,0.079,3133,169,3372,0,0,0,0,0,0
$GC,6973,-1.23,-146.0,633.0,-9.5,282,6978,0.00,2.30,0.00,0.000,6,0.000,0.041,3133,1581,3371,0,0,0,0,0,0
$GC,7230,-1.23,-146.0,653.5,-8.0,289,7234,0.00,2.65,0.00,0.000,4,0.000,0.052,3133,3153,3370,0,0,0,0,0,0
$GC,7244,-1.23,-146.0,655.0,-7.8,289,7249,0.00,2.65,0.00,0.000,6,0.000,0.045,3133,1581,3370,0,0,0,0,0,0
$GC,7517,-1.23,-146.0,677.7,-8.6,296,7522,0.00,2.50,0.00,0.000,4,0.000,0.081,3133,166,3369,0,0,0,0,0,0
$GC,7543,-1.23,-146.0,680.1,-10.2,296,7547,0.00,2.33,0.00,0.000,6,0.000,0.035,3133,1589,3369,0,0,0,0,0,0
$GC,7802,-1.23,-146.0,702.9,-8.7,303,7806,0.00,2.65,0.00,0.000,4,0.000,0.054,3133,3154,3368,0,0,0,0,0,0
$GC,7821,-1.23,-146.0,704.7,-9.2,303,7826,0.00,2.67,0.00,0.000,6,0.000,0.048,3133,1582,3368,0,0,0,0,0,0
$GC,8087,-1.23,-146.0,726.8,-8.3,310,8091,0.00,2.50,0.00,0.000,4,0.000,0.081,3133,169,3366,0,0,0,0,0,0
$GC,8124,-1.23,-146.0,730.4,-9.3,310,8129,0.00,2.33,0.00,0.000,6,0.000,0.035,3132,1591,3365,0,0,0,0,0,0
$GC,8381,-1.23,-146.0,750.7,-7.8,317,8385,0.00,2.65,0.00,0.000,4,0.000,0.054,3132,3153,3364,0,0,0,0,0,0
$GC,8397,-1.23,-146.0,752.1,-7.6,317,8402,0.00,2.67,0.00,0.000,6,0.000,0.048,3133,1581,3365,0,0,0,0,0,0
$GC,8666,-1.23,-146.0,772.6,-7.6,324,8670,0.00,2.50,0.00,0.000,4,0.000,0.082,3133,166,3363,0,0,0,0,0,0
$GC,8681,-1.23,-146.0,773.9,-7.5,324,8685,0.00,2.30,0.00,0.000,6,0.000,0.032,3133,1582,3364,0,0,0,0,0,0
$GC,8956,-1.23,-146.0,794.7,-7.8,331,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1582,3362,0,0,0,0,0,0
$GC,9193,-1.23,-146.0,814.0,-8.0,337,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1582,3362,0,0,0,0,0,0
$GC,9437,-1.23,-146.0,832.9,-7.7,343,9441,0.00,2.65,0.00,0.000,4,0.000,0.053,3133,3150,3361,0,0,0,0,0,0
$GC,9458,-1.23,-146.0,834.5,-8.2,343,9462,0.00,2.67,0.00,0.000,6,0.000,0.048,3132,1578,3361,0,0,0,0,0,0
$GC,9722,-1.23,-146.0,855.0,-7.8,350,9726,0.00,2.50,0.00,0.000,4,0.000,0.082,3132,167,3360,0,0,0,0,0,0
$GC,9755,-1.23,-146.0,858.0,-9.9,350,9759,0.00,2.30,0.00,0.000,6,0.000,0.035,3133,1574,3359,0,0,0,0,0,0
$GC,10010,-1.23,-146.0,876.6,-7.3,356,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1574,3358,0,0,0,0,0,0
$GC,10249,-1.23,-146.0,893.0,-6.6,362,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1575,3358,0,0,0,0,0,0
$STATE,10368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10368,begin apogee
$GC,10374,-0.31,0.0,900.7,6.3,365,10498,0.85,0.00,119.90,1.154,6,0.066,0.000,3330,1343,2800,0,0,0,0,0,0
$STATE,10499,end apogee,CONTROL_FINISHED_OK
$STATE,10499,begin climb
$GC,10503,1.27,146.0,902.7,0.0,368,10644,1.42,2.17,131.45,1.131,4,0.031,0.078,3680,180,2202,0,0,0,0,0,0
$GC,10685,1.01,146.0,890.8,14.6,372,10690,0.30,1.95,0.00,0.000,6,0.108,0.031,3621,1355,2200,0,0,0,0,0,0
$GC,10964,0.93,146.0,859.8,10.4,379,10968,0.00,2.12,0.00,0.000,4,0.000,0.074,3620,172,2193,0,0,0,0,0,0
$GC,11011,0.81,146.0,854.3,11.7,380,11015,0.20,1.95,0.00,0.000,6,0.105,0.031,3579,1356,2193,0,0,0,0,0,0
$GC,11297,0.87,195.4,832.1,7.7,387,11344,0.00,0.00,45.00,1.074,6,0.000,0.000,3579,1356,2003,0,0,0,0,0,0
$GC,11577,0.88,202.3,806.0,9.7,394,11589,0.00,2.75,7.05,0.860,4,0.000,0.054,3579,2927,1975,0,0,0,0,0,0
$GC,11616,0.97,213.1,802.2,9.5,394,11634,0.12,2.75,11.93,0.957,6,0.067,0.051,3623,1352,1931,0,0,0,0,0,0
$GC,11916,0.92,213.1,764.7,12.8,402,11918,0.10,0.00,0.00,0.000,6,0.123,0.000,3602,1352,1927,0,0,0,0,0,0
$GC,12157,0.92,213.1,737.9,10.7,408,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,1352,1925,0,0,0,0,0,0
$GC,12399,0.92,213.1,711.5,10.9,414,12404,0.00,2.67,0.00,0.000,4,0.000,0.044,3602,2929,1925,0,0,0,0,0,0
$GC,12432,0.98,213.1,707.8,10.8,414,12437,0.00,2.72,0.00,0.000,6,0.000,0.051,3601,1354,1923,0,0,0,0,0,0
$GC,12682,0.98,213.1,679.8,11.3,420,12687,0.00,2.67,0.00,0.000,4,0.000,0.045,3601,2929,1923,0,0,0,0,0,0
$GC,12707,0.98,213.1,676.9,11.0,420,12712,0.00,2.72,0.00,0.000,6,0.000,0.052,3602,1354,1921,0,0,0,0,0,0
$GC,12967,0.98,213.1,649.9,10.1,427,12968,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1355,1921,0,0,0,0,0,0
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$STATE,18733,end climb,SURFACE_DEPTH_REACHED
$STATE,18735,begin surface coast
$FINISH,1.0,1.011805
$STATE,18782,end surface coast,CONTROL_FINISHED_OK
$STATE,18783,begin surface
$SM_CCo,18808,32.17,0.426,0,0,1209,390.03
$SM_GC,1.73,0.00,0.00,32.17,0.000,0.000,0.426,416,1605,1209,-13.73,0.99,390.03
$IRIDIUM_FIX,2248.70,-15740.63,131102,000022
$TT8_MAMPS,0.027612
$HUMID,68.15
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.00
$XPDR_PINGS,13
$24V_AH,23.0,59.424
$10V_AH,9.8,57.180
$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,33.950,194.325,429.225,32.175,0.000,55.756,73.725,495.799,3.250,0.000,14.010,1524.350,14029.999,551.524,2460.287,1118.731,33.381,1582.952,0.000,2465.198,0.000,0.537,0.000
$DEVICE_MAMPS,147.264,82.069,1154.335,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,476.736,363.150,463.787,951.890,1254.130,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,54350,700
$CAP_FILE_SIZE,181453,0
$CFSIZE,260165632,141647872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190813,053056,2255.853,-15743.545,37,2.5,56,10.1