version: 66.06
glider: 148
mission: 12
dive: 410
start: 8 20 113 14 11 19
data:
$ID,148
$MISSION,12
$DIVE,410
$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,-1024276.6
$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,69
$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
$GPS1,140336,2244.421,-15756.957,41,1.1,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.0
$GPS2,141025,2244.379,-15757.014,10,1.7,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.258,-0.031
$KALMAN_X,-86231.5,-69.4,-27.9,91531.0,666.0
$KALMAN_Y,42885.1,-88.1,-393.7,-43524.6,-1305.2
$MHEAD_RNG_PITCHd_Wd,253.1,16955,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.20,0.000,2,0.000,0.000,416,1624,2899,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.0,-3.3,9,122,13.90,2.47,-9.25,0.000,4,0.143,0.052,3118,162,3396,0,0,0,0,0,0
$GC,196,-0.97,-146.0,30.4,-22.0,24,206,0.28,2.17,0.00,0.000,6,0.086,0.017,3182,1571,3397,0,0,0,0,0,0
$GC,465,-0.83,-146.0,75.7,-14.5,49,470,0.15,2.45,0.00,0.000,4,0.104,0.021,3215,3134,3398,0,0,0,0,0,0
$GC,521,-0.95,-146.0,83.0,-9.6,53,526,0.00,2.55,0.00,0.000,6,0.000,0.033,3215,1564,3398,0,0,0,0,0,0
$GC,789,-0.95,-146.0,111.1,-10.7,77,794,0.00,2.47,0.00,0.000,4,0.000,0.021,3216,3142,3398,0,0,0,0,0,0
$GC,822,-1.01,-146.0,115.3,-10.5,79,828,0.15,2.53,0.00,0.000,6,0.051,0.028,3130,1581,3398,0,0,0,0,0,0
$GC,1087,-0.82,-146.0,154.7,-16.1,104,1092,0.38,2.33,0.00,0.000,4,0.081,0.040,3218,165,3399,0,0,0,0,0,0
$GC,1116,-0.76,-146.0,158.9,-13.6,106,1120,0.00,2.17,0.00,0.000,6,0.000,0.016,3218,1609,3399,0,0,0,0,0,0
$GC,1384,-0.76,-146.0,182.0,-8.2,130,1388,0.00,2.35,0.00,0.000,4,0.000,0.021,3218,3116,3399,0,0,0,0,0,0
$GC,1422,-0.88,-146.0,185.4,-7.7,133,1426,0.00,2.47,0.00,0.000,6,0.000,0.028,3218,1582,3399,0,0,0,0,0,0
$GC,1686,-0.94,-146.0,207.8,-8.6,151,1690,0.00,2.33,0.00,0.000,4,0.000,0.044,3218,167,3400,0,0,0,0,0,0
$GC,1711,-0.98,-146.0,210.3,-8.7,151,1716,0.12,2.15,0.00,0.000,6,0.061,0.018,3150,1602,3399,0,0,0,0,0,0
$GC,1976,-0.88,-146.0,240.6,-11.9,158,1981,0.25,2.35,0.00,0.000,4,0.081,0.020,3209,3112,3399,0,0,0,0,0,0
$GC,2022,-1.05,-146.0,244.7,-7.4,159,2027,0.15,2.45,0.00,0.000,6,0.051,0.028,3130,1595,3399,0,0,0,0,0,0
$GC,2314,-0.94,-146.0,279.1,-12.3,166,2319,0.25,2.33,0.00,0.000,4,0.082,0.044,3189,172,3399,0,0,0,0,0,0
$GC,2367,-1.01,-146.0,285.0,-9.2,167,2371,0.00,2.15,0.00,0.000,6,0.000,0.018,3189,1580,3400,0,0,0,0,0,0
$GC,2647,-1.06,-146.0,306.3,-7.4,174,2651,0.00,2.42,0.00,0.000,4,0.000,0.024,3189,3126,3399,0,0,0,0,0,0
$GC,2682,-1.17,-146.0,308.9,-6.9,174,2687,0.17,2.50,0.00,0.000,6,0.046,0.031,3101,1592,3399,0,0,0,0,0,0
$GC,2934,-1.02,-146.0,341.1,-13.3,180,2939,0.30,2.35,0.00,0.000,4,0.083,0.049,3174,171,3398,0,0,0,0,0,0
$GC,2997,-1.08,-146.0,347.5,-8.2,181,3002,0.00,2.15,0.00,0.000,6,0.000,0.019,3173,1579,3398,0,0,0,0,0,0
$GC,3268,-1.08,-146.0,367.3,-7.3,188,3272,0.00,2.50,0.00,0.000,4,0.000,0.030,3174,3132,3397,0,0,0,0,0,0
$GC,3315,-1.20,-146.0,371.2,-7.7,189,3320,0.15,2.53,0.00,0.000,6,0.055,0.035,3109,1593,3397,0,0,0,0,0,0
$GC,3603,-1.10,-146.0,401.8,-11.2,196,3605,0.22,0.00,0.00,0.000,6,0.086,0.000,3159,1592,3395,0,0,0,0,0,0
$GC,3844,-1.10,-146.0,422.9,-8.4,202,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1592,3393,0,0,0,0,0,0
$GC,4086,-1.10,-146.0,443.5,-8.5,208,4090,0.00,2.53,0.00,0.000,4,0.000,0.037,3159,3130,3391,0,0,0,0,0,0
$GC,4105,-1.10,-146.0,445.3,-9.2,208,4109,0.00,2.55,0.00,0.000,6,0.000,0.035,3160,1591,3391,0,0,0,0,0,0
$GC,4371,-1.10,-146.0,464.9,-7.3,215,4375,0.00,2.45,0.00,0.000,4,0.000,0.067,3159,172,3390,0,0,0,0,0,0
$GC,4395,-1.10,-146.0,466.9,-8.3,215,4399,0.00,2.22,0.00,0.000,6,0.000,0.025,3160,1587,3390,0,0,0,0,0,0
$GC,4654,-1.10,-146.0,485.7,-7.3,222,4658,0.00,2.58,0.00,0.000,4,0.000,0.039,3160,3147,3388,0,0,0,0,0,0
$GC,4670,-1.10,-146.0,486.9,-7.5,222,4675,0.00,2.58,0.00,0.000,6,0.000,0.035,3160,1592,3388,0,0,0,0,0,0
$GC,4939,-1.10,-146.0,507.8,-7.9,229,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1593,3386,0,0,0,0,0,0
$GC,5185,-1.10,-146.0,526.9,-7.9,235,5189,0.00,2.58,0.00,0.000,4,0.000,0.039,3159,3150,3384,0,0,0,0,0,0
$GC,5220,-1.19,-146.0,529.7,-7.4,235,5225,0.00,2.60,0.00,0.000,6,0.000,0.041,3159,1602,3384,0,0,0,0,0,0
$GC,5474,-1.19,-146.0,550.2,-8.3,241,5478,0.00,2.53,0.00,0.000,4,0.000,0.075,3159,161,3383,0,0,0,0,0,0
$GC,5512,-1.25,-146.0,554.1,-9.5,241,5518,0.15,2.30,0.00,0.000,6,0.055,0.029,3096,1591,3382,0,0,0,0,0,0
$GC,5764,-1.15,-146.0,582.1,-11.3,248,5769,0.22,2.50,0.00,0.000,4,0.085,0.070,3148,167,3381,0,0,0,0,0,0
$GC,5780,-1.09,-146.0,584.2,-11.3,248,5784,0.00,2.28,0.00,0.000,6,0.000,0.030,3148,1591,3380,0,0,0,0,0,0
$GC,6048,-1.09,-146.0,606.7,-8.3,255,6053,0.00,2.60,0.00,0.000,4,0.000,0.046,3147,3154,3379,0,0,0,0,0,0
$GC,6083,-1.16,-146.0,609.4,-8.9,255,6088,0.00,2.65,0.00,0.000,6,0.000,0.046,3148,1588,3379,0,0,0,0,0,0
$GC,6336,-1.16,-146.0,628.9,-7.8,261,6340,0.00,2.50,0.00,0.000,4,0.000,0.080,3148,168,3378,0,0,0,0,0,0
$GC,6392,-1.16,-146.0,633.9,-8.4,262,6396,0.00,2.30,0.00,0.000,6,0.000,0.033,3147,1588,3377,0,0,0,0,0,0
$GC,6672,-1.16,-146.0,655.0,-7.6,269,6676,0.00,2.60,0.00,0.000,4,0.000,0.048,3147,3154,3375,0,0,0,0,0,0
$GC,6710,-1.24,-146.0,658.1,-7.9,269,6715,0.00,2.65,0.00,0.000,6,0.000,0.047,3147,1591,3375,0,0,0,0,0,0
$GC,6964,-1.24,-146.0,676.1,-7.3,276,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1591,3373,0,0,0,0,0,0
$GC,7204,-1.24,-146.0,692.7,-6.8,282,7208,0.00,2.53,0.00,0.000,4,0.000,0.081,3147,166,3372,0,0,0,0,0,0
$GC,7228,-1.24,-146.0,694.5,-7.8,282,7232,0.00,2.35,0.00,0.000,6,0.000,0.035,3147,1602,3372,0,0,0,0,0,0
$GC,7487,-1.24,-146.0,712.1,-6.6,289,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1602,3371,0,0,0,0,0,0
$GC,7733,-1.24,-146.0,727.3,-6.2,295,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1602,3370,0,0,0,0,0,0
$GC,7978,-1.24,-146.0,743.1,-6.6,301,7982,0.00,2.60,0.00,0.000,4,0.000,0.050,3147,3162,3369,0,0,0,0,0,0
$GC,7998,-1.29,-146.0,744.7,-6.9,301,8003,0.12,2.67,0.00,0.000,6,0.064,0.049,3092,1588,3369,0,0,0,0,0,0
$GC,8265,-1.21,-146.0,770.2,-10.0,308,8267,0.20,0.00,0.00,0.000,6,0.088,0.000,3138,1589,3368,0,0,0,0,0,0
$GC,8506,-1.21,-146.0,789.8,-7.9,314,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1589,3367,0,0,0,0,0,0
$GC,8750,-1.21,-146.0,809.6,-8.2,320,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1588,3366,0,0,0,0,0,0
$GC,8998,-1.21,-146.0,828.6,-7.7,326,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1588,3366,0,0,0,0,0,0
$GC,9237,-1.21,-146.0,847.2,-7.6,332,9242,0.00,2.65,0.00,0.000,4,0.000,0.044,3138,3162,3365,0,0,0,0,0,0
$GC,9257,-1.21,-146.0,848.9,-8.9,332,9261,0.00,2.67,0.00,0.000,6,0.000,0.049,3138,1584,3365,0,0,0,0,0,0
$GC,9523,-1.21,-146.0,868.3,-7.5,339,9527,0.00,2.53,0.00,0.000,4,0.000,0.085,3138,169,3364,0,0,0,0,0,0
$GC,9556,-1.21,-146.0,871.2,-8.8,339,9560,0.00,2.33,0.00,0.000,6,0.000,0.037,3138,1586,3363,0,0,0,0,0,0
$GC,9806,-1.21,-146.0,889.5,-7.2,345,9810,0.00,2.62,0.00,0.000,4,0.000,0.052,3138,3156,3363,0,0,0,0,0,0
$GC,9841,-1.29,-146.0,891.9,-7.1,345,9846,0.00,2.67,0.00,0.000,6,0.000,0.049,3138,1591,3363,0,0,0,0,0,0
$STATE,9966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9966,begin apogee
$GC,9973,-0.31,0.0,900.5,6.8,348,10097,0.82,0.00,120.57,1.146,6,0.065,0.000,3330,1343,2800,0,0,0,0,0,0
$STATE,10098,end apogee,CONTROL_FINISHED_OK
$STATE,10098,begin climb
$GC,10100,1.27,146.0,903.4,0.0,351,10241,1.42,2.22,130.98,1.126,4,0.032,0.085,3681,165,2203,0,0,0,0,0,0
$GC,10277,1.00,146.0,893.2,15.4,355,10281,0.30,1.98,0.00,0.000,6,0.107,0.033,3620,1360,2201,0,0,0,0,0,0
$GC,10562,0.93,147.1,863.8,9.9,362,10563,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1360,2193,0,0,0,0,0,0
$GC,10804,0.88,159.3,840.8,9.4,368,10821,0.12,2.17,11.62,0.969,4,0.120,0.075,3594,168,2150,0,0,0,0,0,0
$GC,10901,0.83,159.3,831.2,10.0,370,10905,0.00,1.95,0.00,0.000,6,0.000,0.031,3594,1349,2149,0,0,0,0,0,0
$GC,11183,0.89,208.4,808.4,7.7,377,11233,0.00,0.00,47.28,1.061,6,0.000,0.000,3593,1350,1950,0,0,0,0,0,0
$GC,11467,0.93,237.8,784.1,8.6,384,11497,0.00,0.00,28.70,1.024,6,0.000,0.000,3593,1350,1829,0,0,0,0,0,0
$GC,11713,0.96,261.2,762.4,8.9,390,11741,0.00,2.78,22.35,0.996,4,0.000,0.049,3594,2925,1733,0,0,0,0,0,0
$GC,11767,1.05,279.2,757.0,9.2,391,11792,0.15,2.75,18.42,0.971,6,0.058,0.051,3649,1353,1660,0,0,0,0,0,0
$GC,12053,0.98,279.2,718.6,14.1,398,12058,0.15,2.17,0.00,0.000,4,0.110,0.087,3616,161,1656,0,0,0,0,0,0
$GC,12081,0.98,279.2,713.4,15.5,398,12085,0.00,1.98,0.00,0.000,6,0.000,0.031,3617,1343,1656,0,0,0,0,0,0
$GC,12342,0.98,279.2,678.8,13.3,405,12346,0.00,2.70,0.00,0.000,4,0.000,0.050,3617,2932,1655,0,0,0,0,0,0
$GC,12375,1.03,279.2,674.2,11.8,405,12380,0.00,2.75,0.00,0.000,6,0.000,0.057,3617,1344,1652,0,0,0,0,0,0
$GC,12627,1.03,279.2,640.9,13.4,411,12632,0.00,2.70,0.00,0.000,4,0.000,0.044,3617,2930,1652,0,0,0,0,0,0
$GC,12646,1.03,279.2,637.8,14.4,411,12651,0.00,2.72,0.00,0.000,6,0.000,0.050,3617,1351,1651,0,0,0,0,0,0
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$STATE,18155,end climb,SURFACE_DEPTH_REACHED
$STATE,18155,begin surface coast
$FINISH,1.0,1.003494
$STATE,18201,end surface coast,CONTROL_FINISHED_OK
$STATE,18202,begin surface
$SM_CCo,18227,41.62,0.426,0,0,1209,390.03
$SM_GC,1.93,0.00,0.00,41.62,0.000,0.000,0.426,412,1624,1209,-13.74,1.53,390.03
$IRIDIUM_FIX,2234.68,-15752.82,141102,080826
$TT8_MAMPS,0.027612
$HUMID,66.69
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.60
$XPDR_PINGS,12
$24V_AH,23.0,60.435
$10V_AH,9.8,58.217
$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,34.175,208.875,422.500,41.625,0.000,22.660,33.989,192.833,3.000,0.000,11.905,1526.034,13333.612,569.021,2500.800,737.322,33.371,1604.760,0.000,2513.267,0.000,0.537,0.000
$DEVICE_MAMPS,143.429,87.438,1145.898,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,473.116,377.010,473.819,981.531,1295.142,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,54339,695
$CAP_FILE_SIZE,178431,0
$CFSIZE,260165632,141127680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200813,191705,2243.030,-15759.263,34,0.9,34,10.1