version: 66.06
glider: 148
mission: 12
dive: 404
start: 8 19 113 5 41 27
data:
$ID,148
$MISSION,12
$DIVE,404
$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,-1024141.4
$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,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,27
$R_STBD_OVSHOOT,107
$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
$GPS1,053056,2255.853,-15743.545,37,2.5,56,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-75.6
$GPS2,054030,2255.843,-15743.560,10,1.9,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.248,-0.077
$KALMAN_X,-89911.2,-50.0,-255.8,118391.2,1046.5
$KALMAN_Y,56571.4,-58.1,67.2,-36471.7,-1145.8
$MHEAD_RNG_PITCHd_Wd,242.6,47727,-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,14,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.00,0.000,2,0.000,0.000,415,1605,2913,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-4.3,9,121,13.93,2.42,-9.02,0.000,4,0.144,0.056,3118,167,3396,0,0,0,0,0,0
$GC,265,-0.98,-146.0,45.3,-21.8,31,270,0.30,2.08,0.00,0.000,6,0.097,0.017,3182,1527,3397,0,0,0,0,0,0
$GC,532,-0.89,-146.0,85.7,-12.9,55,537,0.10,2.55,0.00,0.000,4,0.121,0.021,3204,3134,3398,0,0,0,0,0,0
$GC,566,-0.89,-146.0,90.1,-10.3,57,572,0.00,2.55,0.00,0.000,6,0.000,0.028,3205,1563,3398,0,0,0,0,0,0
$GC,827,-0.89,-146.0,116.0,-10.1,82,828,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1563,3399,0,0,0,0,0,0
$GC,1084,-0.89,-146.0,143.8,-11.1,106,1088,0.00,2.47,0.00,0.000,4,0.000,0.021,3205,3139,3399,0,0,0,0,0,0
$GC,1111,-0.89,-146.0,146.8,-10.9,108,1115,0.00,2.55,0.00,0.000,6,0.000,0.028,3205,1558,3399,0,0,0,0,0,0
$GC,1374,-0.89,-146.0,171.9,-9.4,132,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1558,3399,0,0,0,0,0,0
$GC,1629,-0.89,-146.0,194.0,-8.4,156,1633,0.00,2.47,0.00,0.000,4,0.000,0.021,3205,3136,3399,0,0,0,0,0,0
$GC,1652,-0.89,-146.0,196.1,-8.4,157,1657,0.00,2.53,0.00,0.000,6,0.000,0.028,3205,1577,3399,0,0,0,0,0,0
$GC,1916,-0.89,-146.0,217.2,-8.2,168,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1577,3399,0,0,0,0,0,0
$GC,2158,-0.89,-146.0,237.8,-8.2,174,2162,0.00,2.47,0.00,0.000,4,0.000,0.021,3205,3138,3399,0,0,0,0,0,0
$GC,2202,-1.03,-146.0,240.9,-6.7,175,2207,0.12,2.53,0.00,0.000,6,0.061,0.028,3131,1582,3399,0,0,0,0,0,0
$GC,2492,-0.92,-146.0,269.9,-10.2,182,2496,0.28,2.30,0.00,0.000,4,0.081,0.044,3195,172,3399,0,0,0,0,0,0
$GC,2549,-1.03,-146.0,275.0,-7.2,183,2553,0.00,2.15,0.00,0.000,6,0.000,0.018,3195,1596,3399,0,0,0,0,0,0
$GC,2824,-1.10,-146.0,294.4,-7.2,190,2829,0.15,2.45,0.00,0.000,4,0.054,0.025,3124,3129,3398,0,0,0,0,0,0
$GC,2881,-1.10,-146.0,300.4,-10.6,191,2887,0.15,2.53,0.00,0.000,6,0.089,0.031,3159,1588,3398,0,0,0,0,0,0
$GC,3156,-1.10,-146.0,325.8,-9.3,198,3160,0.00,2.38,0.00,0.000,4,0.000,0.051,3160,169,3397,0,0,0,0,0,0
$GC,3176,-1.10,-146.0,327.7,-9.8,198,3180,0.00,2.17,0.00,0.000,6,0.000,0.021,3159,1575,3397,0,0,0,0,0,0
$GC,3445,-1.10,-146.0,352.0,-8.8,205,3449,0.00,2.53,0.00,0.000,4,0.000,0.031,3159,3133,3395,0,0,0,0,0,0
$GC,3499,-1.18,-146.0,356.9,-8.6,206,3503,0.00,2.55,0.00,0.000,6,0.000,0.036,3159,1589,3396,0,0,0,0,0,0
$GC,3777,-1.18,-146.0,382.1,-9.1,213,3781,0.00,2.53,0.00,0.000,4,0.000,0.033,3159,3129,3394,0,0,0,0,0,0
$GC,3796,-1.18,-146.0,384.0,-9.1,213,3801,0.00,2.53,0.00,0.000,6,0.000,0.034,3159,1598,3394,0,0,0,0,0,0
$GC,4062,-1.18,-146.0,407.3,-8.5,220,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1598,3392,0,0,0,0,0,0
$GC,4308,-1.18,-146.0,428.2,-8.6,226,4313,0.00,2.53,0.00,0.000,4,0.000,0.036,3160,3127,3390,0,0,0,0,0,0
$GC,4337,-1.23,-146.0,430.9,-8.3,226,4342,0.12,2.53,0.00,0.000,6,0.061,0.037,3096,1605,3390,0,0,0,0,0,0
$GC,4595,-1.10,-146.0,457.9,-10.8,233,4600,0.25,2.47,0.00,0.000,4,0.088,0.066,3156,172,3388,0,0,0,0,0,0
$GC,4619,-1.10,-146.0,460.5,-9.1,233,4623,0.00,2.22,0.00,0.000,6,0.000,0.025,3156,1594,3388,0,0,0,0,0,0
$GC,4879,-1.10,-146.0,480.4,-7.8,240,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1594,3387,0,0,0,0,0,0
$GC,5127,-1.10,-146.0,501.4,-8.7,246,5131,0.00,2.55,0.00,0.000,4,0.000,0.042,3156,3140,3385,0,0,0,0,0,0
$GC,5160,-1.18,-146.0,504.6,-8.4,246,5165,0.00,2.58,0.00,0.000,6,0.000,0.041,3156,1603,3385,0,0,0,0,0,0
$GC,5410,-1.18,-146.0,525.7,-8.4,252,5415,0.00,2.50,0.00,0.000,4,0.000,0.072,3156,167,3383,0,0,0,0,0,0
$GC,5440,-1.18,-146.0,528.2,-8.7,252,5445,0.00,2.33,0.00,0.000,6,0.000,0.030,3156,1608,3383,0,0,0,0,0,0
$GC,5695,-1.18,-146.0,547.3,-7.2,259,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1609,3381,0,0,0,0,0,0
$GC,5939,-1.18,-146.0,562.9,-6.3,265,5943,0.00,2.53,0.00,0.000,4,0.000,0.070,3156,162,3380,0,0,0,0,0,0
$GC,5974,-1.18,-146.0,565.2,-7.4,265,5978,0.00,2.35,0.00,0.000,6,0.000,0.031,3156,1609,3379,0,0,0,0,0,0
$GC,6228,-1.18,-146.0,583.0,-7.2,271,6232,0.00,2.58,0.00,0.000,4,0.000,0.045,3156,3156,3378,0,0,0,0,0,0
$GC,6257,-1.25,-146.0,585.7,-7.6,271,6262,0.12,2.60,0.00,0.000,6,0.062,0.044,3094,1614,3378,0,0,0,0,0,0
$GC,6513,-1.15,-146.0,613.7,-11.3,278,6518,0.25,2.55,0.00,0.000,4,0.087,0.077,3155,167,3376,0,0,0,0,0,0
$GC,6542,-1.15,-146.0,616.7,-9.2,278,6546,0.00,2.35,0.00,0.000,6,0.000,0.032,3154,1614,3376,0,0,0,0,0,0
$GC,6797,-1.15,-146.0,635.5,-7.1,285,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1615,3375,0,0,0,0,0,0
$GC,7045,-1.15,-146.0,650.0,-5.7,291,7049,0.00,2.60,0.00,0.000,4,0.000,0.050,3154,3163,3373,0,0,0,0,0,0
$GC,7074,-1.23,-146.0,651.8,-5.2,291,7078,0.00,2.65,0.00,0.000,6,0.000,0.047,3155,1603,3373,0,0,0,0,0,0
$GC,7330,-1.23,-146.0,665.4,-5.4,298,7335,0.00,2.53,0.00,0.000,4,0.000,0.081,3154,164,3371,0,0,0,0,0,0
$GC,7361,-1.23,-146.0,667.2,-6.6,298,7365,0.00,2.38,0.00,0.000,6,0.000,0.034,3155,1618,3371,0,0,0,0,0,0
$GC,7615,-1.23,-146.0,682.7,-6.2,305,7620,0.00,2.58,0.00,0.000,4,0.000,0.050,3154,3156,3370,0,0,0,0,0,0
$GC,7635,-1.28,-146.0,684.1,-6.8,305,7640,0.15,2.62,0.00,0.000,6,0.056,0.048,3090,1610,3370,0,0,0,0,0,0
$GC,7902,-1.19,-146.0,709.4,-9.9,312,7907,0.22,2.55,0.00,0.000,4,0.091,0.079,3140,170,3369,0,0,0,0,0,0
$GC,7941,-1.19,-146.0,713.1,-8.9,312,7946,0.00,2.35,0.00,0.000,6,0.000,0.035,3140,1607,3368,0,0,0,0,0,0
$GC,8191,-1.19,-146.0,730.2,-6.8,319,8195,0.00,2.55,0.00,0.000,4,0.000,0.076,3140,166,3367,0,0,0,0,0,0
$GC,8216,-1.19,-146.0,731.9,-7.9,319,8220,0.00,2.35,0.00,0.000,6,0.000,0.035,3140,1601,3367,0,0,0,0,0,0
$GC,8478,-1.19,-146.0,748.2,-6.2,326,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1601,3366,0,0,0,0,0,0
$GC,8719,-1.19,-146.0,765.2,-7.1,332,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1601,3365,0,0,0,0,0,0
$GC,8965,-1.19,-146.0,783.2,-7.5,338,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1601,3364,0,0,0,0,0,0
$GC,9207,-1.19,-146.0,801.8,-7.7,344,9211,0.00,2.55,0.00,0.000,4,0.000,0.077,3140,163,3363,0,0,0,0,0,0
$GC,9230,-1.19,-146.0,803.8,-9.2,344,9235,0.00,2.35,0.00,0.000,6,0.000,0.035,3140,1605,3363,0,0,0,0,0,0
$GC,9494,-1.19,-146.0,823.3,-7.5,351,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1605,3362,0,0,0,0,0,0
$GC,9736,-1.19,-146.0,840.6,-6.9,357,9740,0.00,2.55,0.00,0.000,4,0.000,0.077,3140,166,3361,0,0,0,0,0,0
$GC,9761,-1.19,-146.0,842.5,-7.8,357,9765,0.00,2.35,0.00,0.000,6,0.000,0.036,3140,1605,3361,0,0,0,0,0,0
$GC,10020,-1.19,-146.0,860.2,-6.7,364,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1606,3360,0,0,0,0,0,0
$GC,10266,-1.19,-146.0,877.7,-7.2,370,10270,0.00,2.53,0.00,0.000,4,0.000,0.077,3140,167,3360,0,0,0,0,0,0
$GC,10285,-1.19,-146.0,879.5,-8.3,370,10289,0.00,2.35,0.00,0.000,6,0.000,0.035,3140,1598,3359,0,0,0,0,0,0
$GC,10549,-1.19,-146.0,899.4,-7.6,377,10553,0.00,2.62,0.00,0.000,4,0.000,0.060,3140,3158,3359,0,0,0,0,0,0
$STATE,10556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10556,begin apogee
$GC,10567,-0.31,0.0,900.3,7.5,377,10691,0.80,0.00,120.18,1.154,6,0.069,0.000,3328,1353,2800,0,0,0,0,0,0
$STATE,10692,end apogee,CONTROL_FINISHED_OK
$STATE,10692,begin climb
$GC,10695,1.27,146.0,904.7,0.0,380,10837,1.45,2.25,131.95,1.134,4,0.034,0.085,3681,166,2202,0,0,0,0,0,0
$GC,10881,1.01,146.0,895.0,13.4,384,10886,0.30,1.98,0.00,0.000,6,0.110,0.031,3621,1360,2199,0,0,0,0,0,0
$GC,11162,0.94,146.0,865.7,10.7,391,11166,0.00,2.15,0.00,0.000,4,0.000,0.073,3621,160,2193,0,0,0,0,0,0
$GC,11180,0.83,146.0,862.7,11.4,391,11185,0.20,1.95,0.00,0.000,6,0.107,0.031,3580,1351,2193,0,0,0,0,0,0
$GC,11445,0.83,152.9,836.9,9.7,398,11452,0.00,0.00,5.25,0.782,6,0.000,0.000,3579,1352,2176,0,0,0,0,0,0
$GC,11690,0.85,161.6,813.3,9.6,404,11706,0.00,2.20,9.68,0.940,4,0.000,0.073,3580,166,2141,0,0,0,0,0,0
$GC,11736,0.85,161.6,808.3,10.8,405,11739,0.00,1.95,0.00,0.000,6,0.000,0.031,3580,1353,2141,0,0,0,0,0,0
$GC,12029,0.86,175.5,780.6,9.4,412,12045,0.00,0.00,14.57,0.986,6,0.000,0.000,3580,1354,2084,0,0,0,0,0,0
$GC,12270,0.88,189.2,757.6,9.4,418,12291,0.00,2.75,13.85,0.967,4,0.000,0.049,3580,2923,2027,0,0,0,0,0,0
$GC,12310,0.98,220.0,753.8,8.6,418,12348,0.15,2.75,30.85,1.017,6,0.058,0.051,3632,1345,1902,0,0,0,0,0,0
$GC,12605,0.93,220.0,717.2,12.8,426,12607,0.15,0.00,0.00,0.000,6,0.107,0.000,3601,1345,1897,0,0,0,0,0,0
$GC,12847,0.93,220.0,690.8,10.6,432,12851,0.00,2.67,0.00,0.000,4,0.000,0.043,3602,2929,1895,0,0,0,0,0,0
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$STATE,19268,end climb,SURFACE_DEPTH_REACHED
$STATE,19268,begin surface coast
$FINISH,0.9,1.009762
$STATE,19316,end surface coast,CONTROL_FINISHED_OK
$STATE,19316,begin surface
$SM_CCo,19340,49.70,0.430,0,0,1210,390.03
$SM_GC,1.84,0.00,0.00,49.70,0.000,0.000,0.430,414,1564,1210,-13.74,-0.17,390.03
$IRIDIUM_FIX,2246.36,-15740.63,131102,000055
$TT8_MAMPS,0.027612
$HUMID,66.06
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.60
$XPDR_PINGS,15
$24V_AH,23.0,59.572
$10V_AH,9.8,57.335
$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
$DEVICE_SECS,33.675,220.550,413.750,49.700,0.000,28.544,38.823,345.533,3.750,0.000,17.086,1605.129,14222.920,554.587,2656.521,920.172,33.386,1661.112,0.000,2655.255,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,501.700,389.945,497.757,1027.584,1351.780,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,57313,737
$CAP_FILE_SIZE,188592,0
$CFSIZE,260165632,141565952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190813,110600,2253.765,-15745.607,38,1.5,38,10.1