version: 66.06
glider: 148
mission: 12
dive: 406
start: 8 19 113 16 40 37
data:
$ID,148
$MISSION,12
$DIVE,406
$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,-1024197.1
$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,27
$R_STBD_OVSHOOT,100
$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
$GPS1,163230,2251.662,-15747.807,39,1.7,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-76.5
$GPS2,163943,2251.630,-15747.791,12,0.9,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.246,-0.085
$KALMAN_X,-88663.1,161.1,-137.8,109585.8,803.6
$KALMAN_Y,52280.7,-160.3,-241.7,-39573.2,-875.2
$MHEAD_RNG_PITCHd_Wd,240.9,37325,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-74.12,0.000,2,0.000,0.000,412,1558,3153,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-7.0,10,122,14.00,2.28,-3.97,0.000,4,0.146,0.045,3116,159,3396,0,0,0,0,0,0
$GC,254,-0.98,-146.0,48.5,-21.6,28,259,0.30,2.10,0.00,0.000,6,0.098,0.017,3181,1539,3397,0,0,0,0,0,0
$GC,519,-0.89,-146.0,87.4,-11.6,52,524,0.10,2.55,0.00,0.000,4,0.119,0.023,3204,3139,3398,0,0,0,0,0,0
$GC,593,-1.00,-146.0,95.1,-8.8,58,602,0.00,2.55,0.00,0.000,6,0.000,0.029,3204,1584,3398,0,0,0,0,0,0
$GC,859,-1.00,-146.0,122.1,-10.2,83,864,0.10,2.35,0.00,0.000,4,0.075,0.044,3145,167,3399,0,0,0,0,0,0
$GC,879,-0.90,-146.0,125.3,-12.0,84,888,0.22,2.20,0.00,0.000,6,0.071,0.017,3200,1609,3399,0,0,0,0,0,0
$GC,1146,-0.90,-146.0,152.3,-10.1,109,1150,0.00,2.35,0.00,0.000,4,0.000,0.021,3201,3116,3400,0,0,0,0,0,0
$GC,1175,-0.94,-146.0,155.7,-9.0,111,1184,0.00,2.53,0.00,0.000,6,0.000,0.028,3201,1578,3400,0,0,0,0,0,0
$GC,1443,-0.94,-146.0,180.7,-9.6,136,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1578,3400,0,0,0,0,0,0
$GC,1722,-0.94,-146.0,207.9,-9.5,157,1726,0.00,2.42,0.00,0.000,4,0.000,0.022,3201,3117,3400,0,0,0,0,0,0
$GC,1755,-1.01,-146.0,211.1,-9.4,157,1760,0.00,2.50,0.00,0.000,6,0.000,0.028,3201,1578,3400,0,0,0,0,0,0
$GC,2008,-1.06,-146.0,232.6,-8.5,163,2012,0.12,2.35,0.00,0.000,4,0.062,0.045,3132,166,3400,0,0,0,0,0,0
$GC,2024,-1.06,-146.0,234.5,-8.6,163,2029,0.15,2.12,0.00,0.000,6,0.097,0.018,3168,1593,3400,0,0,0,0,0,0
$GC,2293,-1.06,-146.0,263.7,-11.1,170,2297,0.00,2.38,0.00,0.000,4,0.000,0.044,3168,165,3400,0,0,0,0,0,0
$GC,2318,-1.01,-146.0,266.5,-12.5,170,2323,0.00,2.15,0.00,0.000,6,0.000,0.018,3168,1560,3400,0,0,0,0,0,0
$GC,2578,-1.01,-146.0,290.6,-8.8,177,2582,0.00,2.50,0.00,0.000,4,0.000,0.025,3168,3142,3400,0,0,0,0,0,0
$GC,2631,-1.09,-146.0,294.8,-8.3,178,2636,0.00,2.53,0.00,0.000,6,0.000,0.031,3168,1598,3400,0,0,0,0,0,0
$GC,2909,-1.09,-146.0,318.5,-8.7,185,2914,0.00,2.40,0.00,0.000,4,0.000,0.058,3168,163,3399,0,0,0,0,0,0
$GC,2942,-1.09,-146.0,322.0,-10.2,185,2946,0.00,2.22,0.00,0.000,6,0.000,0.021,3168,1588,3399,0,0,0,0,0,0
$GC,3196,-1.09,-146.0,345.1,-9.2,191,3200,0.00,2.50,0.00,0.000,4,0.000,0.031,3168,3137,3398,0,0,0,0,0,0
$GC,3230,-1.16,-146.0,348.5,-8.6,191,3234,0.00,2.55,0.00,0.000,6,0.000,0.033,3168,1591,3398,0,0,0,0,0,0
$GC,3480,-1.16,-146.0,369.8,-8.4,197,3484,0.00,2.53,0.00,0.000,4,0.000,0.033,3168,3142,3396,0,0,0,0,0,0
$GC,3501,-1.16,-146.0,371.4,-8.0,197,3505,0.00,2.55,0.00,0.000,6,0.000,0.034,3168,1594,3397,0,0,0,0,0,0
$GC,3765,-1.16,-146.0,392.0,-7.7,204,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1594,3395,0,0,0,0,0,0
$GC,4009,-1.16,-146.0,413.0,-8.6,210,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1594,3394,0,0,0,0,0,0
$GC,4256,-1.16,-146.0,431.2,-7.0,216,4261,0.00,2.55,0.00,0.000,4,0.000,0.038,3168,3131,3392,0,0,0,0,0,0
$GC,4290,-1.25,-146.0,433.7,-6.6,216,4295,0.17,2.55,0.00,0.000,6,0.048,0.038,3095,1599,3391,0,0,0,0,0,0
$GC,4540,-1.13,-146.0,460.2,-11.3,222,4545,0.25,2.47,0.00,0.000,4,0.084,0.071,3156,170,3390,0,0,0,0,0,0
$GC,4589,-1.13,-146.0,465.1,-9.0,223,4593,0.00,2.25,0.00,0.000,6,0.000,0.027,3156,1586,3389,0,0,0,0,0,0
$GC,4876,-1.13,-146.0,490.2,-8.6,230,4881,0.00,2.60,0.00,0.000,4,0.000,0.044,3156,3148,3388,0,0,0,0,0,0
$GC,4922,-1.23,-146.0,493.7,-7.5,231,4928,0.10,2.58,0.00,0.000,6,0.074,0.039,3103,1604,3388,0,0,0,0,0,0
$GC,5212,-1.15,-146.0,522.2,-10.1,238,5217,0.20,2.50,0.00,0.000,4,0.088,0.071,3149,169,3386,0,0,0,0,0,0
$GC,5241,-1.15,-146.0,525.2,-8.3,238,5246,0.00,2.30,0.00,0.000,6,0.000,0.030,3149,1594,3386,0,0,0,0,0,0
$GC,5498,-1.15,-146.0,543.5,-7.0,245,5502,0.00,2.58,0.00,0.000,4,0.000,0.045,3148,3150,3384,0,0,0,0,0,0
$GC,5536,-1.23,-146.0,546.3,-6.7,245,5544,0.00,2.62,0.00,0.000,6,0.000,0.043,3149,1608,3384,0,0,0,0,0,0
$GC,5786,-1.23,-146.0,564.3,-7.4,252,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1608,3382,0,0,0,0,0,0
$GC,6032,-1.23,-146.0,583.3,-7.9,258,6036,0.00,2.53,0.00,0.000,4,0.000,0.075,3149,167,3381,0,0,0,0,0,0
$GC,6055,-1.23,-146.0,585.5,-8.6,258,6060,0.00,2.33,0.00,0.000,6,0.000,0.031,3149,1606,3381,0,0,0,0,0,0
$GC,6315,-1.23,-146.0,605.5,-7.6,265,6319,0.00,2.62,0.00,0.000,4,0.000,0.049,3149,3158,3379,0,0,0,0,0,0
$GC,6336,-1.23,-146.0,607.0,-7.9,265,6340,0.00,2.62,0.00,0.000,6,0.000,0.044,3149,1608,3379,0,0,0,0,0,0
$GC,6602,-1.23,-146.0,627.2,-7.8,272,6606,0.00,2.55,0.00,0.000,4,0.000,0.078,3149,163,3377,0,0,0,0,0,0
$GC,6645,-1.23,-146.0,631.1,-8.9,273,6649,0.00,2.35,0.00,0.000,6,0.000,0.034,3149,1605,3377,0,0,0,0,0,0
$GC,6934,-1.23,-146.0,651.7,-7.2,280,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1605,3376,0,0,0,0,0,0
$GC,7179,-1.23,-146.0,669.3,-7.1,286,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1604,3374,0,0,0,0,0,0
$GC,7420,-1.23,-146.0,686.3,-6.9,292,7424,0.00,2.62,0.00,0.000,4,0.000,0.055,3149,3150,3373,0,0,0,0,0,0
$GC,7452,-1.29,-146.0,688.3,-7.5,292,7457,0.12,2.62,0.00,0.000,6,0.064,0.048,3094,1608,3372,0,0,0,0,0,0
$GC,7708,-1.21,-146.0,712.3,-9.4,299,7713,0.17,2.58,0.00,0.000,4,0.094,0.081,3134,162,3372,0,0,0,0,0,0
$GC,7765,-1.21,-146.0,717.5,-9.1,300,7769,0.00,2.35,0.00,0.000,6,0.000,0.036,3134,1599,3372,0,0,0,0,0,0
$GC,8044,-1.21,-146.0,737.3,-7.1,307,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1599,3371,0,0,0,0,0,0
$GC,8286,-1.21,-146.0,755.2,-7.3,313,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1599,3369,0,0,0,0,0,0
$GC,8530,-1.21,-146.0,772.6,-7.2,319,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1599,3368,0,0,0,0,0,0
$GC,8776,-1.21,-146.0,790.4,-7.4,325,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1599,3367,0,0,0,0,0,0
$GC,9021,-1.21,-146.0,808.3,-7.3,331,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1599,3366,0,0,0,0,0,0
$GC,9261,-1.21,-146.0,826.0,-7.3,337,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1599,3365,0,0,0,0,0,0
$GC,9505,-1.21,-146.0,843.6,-7.2,343,9510,0.00,2.62,0.00,0.000,4,0.000,0.056,3134,3156,3365,0,0,0,0,0,0
$GC,9526,-1.21,-146.0,845.2,-7.7,343,9531,0.00,2.62,0.00,0.000,6,0.000,0.048,3134,1602,3365,0,0,0,0,0,0
$GC,9790,-1.21,-146.0,863.7,-7.0,350,9795,0.00,2.55,0.00,0.000,4,0.000,0.082,3134,163,3364,0,0,0,0,0,0
$GC,9836,-1.21,-146.0,867.0,-8.2,351,9840,0.00,2.38,0.00,0.000,6,0.000,0.038,3134,1605,3363,0,0,0,0,0,0
$GC,10125,-1.21,-146.0,887.5,-7.1,358,10130,0.00,2.62,0.00,0.000,4,0.000,0.056,3134,3157,3363,0,0,0,0,0,0
$GC,10163,-1.30,-146.0,890.5,-7.5,358,10169,0.00,2.65,0.00,0.000,6,0.000,0.049,3134,1603,3363,0,0,0,0,0,0
$STATE,10329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10329,begin apogee
$GC,10338,-0.31,0.0,902.9,7.5,363,10462,0.85,0.00,120.90,1.150,6,0.064,0.000,3332,1338,2800,0,0,0,0,0,0
$STATE,10463,end apogee,CONTROL_FINISHED_OK
$STATE,10463,begin climb
$GC,10465,1.27,146.0,907.4,0.0,366,10602,1.45,0.00,132.77,1.130,6,0.032,0.000,3682,1338,2204,0,0,0,0,0,0
$GC,10816,1.08,146.0,879.0,12.2,375,10821,0.22,2.10,0.00,0.000,4,0.111,0.081,3636,171,2195,0,0,0,0,0,0
$GC,10833,0.89,146.0,877.2,12.0,375,10838,0.20,1.95,0.00,0.000,6,0.110,0.031,3596,1357,2195,0,0,0,0,0,0
$GC,11102,0.93,172.9,853.1,8.8,382,11132,0.00,2.15,24.33,1.049,4,0.000,0.072,3596,168,2094,0,0,0,0,0,0
$GC,11168,0.87,172.9,846.8,10.7,383,11172,0.00,1.95,0.00,0.000,6,0.000,0.031,3596,1345,2093,0,0,0,0,0,0
$GC,11436,0.88,178.7,820.0,9.7,390,11449,0.00,2.78,5.97,0.815,4,0.000,0.054,3596,2929,2070,0,0,0,0,0,0
$GC,11459,0.91,205.7,817.9,8.8,390,11493,0.00,2.75,27.08,1.038,6,0.000,0.049,3596,1339,1960,0,0,0,0,0,0
$GC,11775,0.91,205.7,784.8,10.4,398,11779,0.00,2.70,0.00,0.000,4,0.000,0.045,3596,2928,1955,0,0,0,0,0,0
$GC,11799,0.93,224.5,782.4,9.1,398,11823,0.00,2.75,18.60,0.996,6,0.000,0.051,3596,1341,1883,0,0,0,0,0,0
$GC,12113,0.93,224.5,749.4,10.9,406,12118,0.00,2.72,0.00,0.000,4,0.000,0.049,3596,2935,1880,0,0,0,0,0,0
$GC,12127,0.93,224.5,746.9,11.2,406,12132,0.00,2.75,0.00,0.000,6,0.000,0.048,3596,1339,1878,0,0,0,0,0,0
$GC,12396,0.93,224.5,717.4,11.1,413,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,1339,1878,0,0,0,0,0,0
$GC,12642,0.93,224.5,690.8,10.9,419,12646,0.00,2.70,0.00,0.000,4,0.000,0.046,3596,2930,1878,0,0,0,0,0,0
$GC,12672,0.99,224.5,687.4,10.3,419,12677,0.00,2.75,0.00,0.000,6,0.000,0.053,3596,1348,1875,0,0,0,0,0,0
$GC,12929,0.99,224.5,660.0,10.9,426,12930,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,1348,1875,0,0,0,0,0,0
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$STATE,18323,end climb,SURFACE_DEPTH_REACHED
$STATE,18323,begin surface coast
$FINISH,1.0,1.011904
$STATE,18370,end surface coast,CONTROL_FINISHED_OK
$STATE,18370,begin surface
$SM_CCo,18395,38.58,0.431,0,0,1209,390.03
$SM_GC,2.12,0.00,0.00,38.58,0.000,0.000,0.431,410,1590,1209,-13.76,0.54,390.03
$IRIDIUM_FIX,2244.02,-15743.68,131102,111112
$TT8_MAMPS,0.027612
$HUMID,67.87
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.00
$XPDR_PINGS,10
$24V_AH,23.0,59.867
$10V_AH,9.8,57.628
$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,33.025,203.000,415.950,38.575,0.000,30.750,36.060,206.783,2.500,0.000,15.383,1494.952,13563.290,589.509,2442.017,767.158,33.370,1620.644,0.000,2454.377,0.000,0.536,0.000
$DEVICE_MAMPS,145.730,82.836,1149.733,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,465.478,359.562,457.854,937.279,1233.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,54096,684
$CAP_FILE_SIZE,173225,0
$CFSIZE,260165632,141430784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190813,214924,2249.574,-15749.656,31,1.9,50,10.1