version: 66.06
glider: 148
mission: 11
dive: 126
start: 6 27 112 14 28 20
data:
$ID,148
$MISSION,11
$DIVE,126
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,200
$T_MISSION,450
$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,52645
$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,576.20972
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-920765.31
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3200
$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,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1640
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2860
$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,0.0043980083
$SEABIRD_T_H,0.00063964876
$SEABIRD_T_I,2.5234789e-05
$SEABIRD_T_J,2.6622849e-06
$SEABIRD_C_G,-10.107907
$SEABIRD_C_H,1.1475029
$SEABIRD_C_I,-0.0021076966
$SEABIRD_C_J,0.00024514741
$GPS1,140606,2247.018,-15756.322,45,1.1,56,10.1
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.4
$GPS2,142725,2246.960,-15756.086,11,1.4,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.251,0.065
$KALMAN_X,28955.8,-319.3,420.3,-22779.0,1918.3
$KALMAN_Y,-947.4,-88.3,468.3,-1361.2,-1375.2
$MHEAD_RNG_PITCHd_Wd,274.4,7607,-17.5,-10.000
$D_GRID,600
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-74.97,0.000,2,0.000,0.000,411,1726,3263,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.7,-6.5,10,123,13.20,2.60,-3.42,0.000,4,0.156,0.049,2918,164,3457,0,0,0,0,0,0
$GC,434,-0.52,-146.0,112.0,-29.6,45,443,0.80,2.33,0.00,0.000,6,0.113,0.019,3082,1661,3459,0,0,0,0,0,0
$GC,704,-0.36,-146.0,151.8,-13.4,70,709,0.17,2.50,0.00,0.000,4,0.109,0.045,3119,160,3460,0,0,0,0,0,0
$GC,789,-0.36,-146.0,162.7,-10.9,78,793,0.00,2.28,0.00,0.000,6,0.000,0.018,3119,1641,3460,0,0,0,0,0,0
$GC,1052,-0.36,-146.0,189.6,-9.8,102,1056,0.00,2.45,0.00,0.000,4,0.000,0.044,3119,158,3460,0,0,0,0,0,0
$GC,1088,-0.36,-146.0,193.5,-10.4,105,1092,0.00,2.25,0.00,0.000,6,0.000,0.019,3120,1627,3460,0,0,0,0,0,0
$GC,1363,-0.36,-146.0,218.6,-9.0,116,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1629,3460,0,0,0,0,0,0
$GC,1605,-0.36,-146.0,239.4,-8.4,122,1609,0.00,2.42,0.00,0.000,4,0.000,0.045,3119,162,3460,0,0,0,0,0,0
$GC,1662,-0.36,-146.0,244.7,-9.7,123,1666,0.00,2.22,0.00,0.000,6,0.000,0.020,3119,1622,3460,0,0,0,0,0,0
$GC,1940,-0.36,-146.0,268.6,-8.5,130,1944,0.00,2.50,0.00,0.000,4,0.000,0.028,3120,3215,3460,0,0,0,0,0,0
$GC,1968,-0.48,-146.0,270.9,-8.2,130,1974,0.10,2.58,0.00,0.000,6,0.074,0.030,3059,1612,3460,0,0,0,0,0,0
$GC,2226,-0.36,-146.0,298.2,-10.7,137,2231,0.25,2.38,0.00,0.000,4,0.097,0.048,3117,166,3460,0,0,0,0,0,0
$GC,2274,-0.45,-146.0,302.9,-8.4,138,2278,0.00,2.22,0.00,0.000,6,0.000,0.021,3117,1607,3460,0,0,0,0,0,0
$GC,2558,-0.53,-146.0,323.8,-7.4,145,2563,0.15,2.60,0.00,0.000,4,0.058,0.032,3047,3216,3460,0,0,0,0,0,0
$GC,2605,-0.53,-146.0,328.7,-10.3,146,2610,0.15,2.60,0.00,0.000,6,0.102,0.032,3081,1619,3460,0,0,0,0,0,0
$GC,2888,-0.53,-146.0,353.8,-8.9,153,2892,0.00,2.42,0.00,0.000,4,0.000,0.054,3081,174,3458,0,0,0,0,0,0
$GC,2955,-0.53,-146.0,360.4,-9.7,154,2959,0.00,2.25,0.00,0.000,6,0.000,0.024,3081,1622,3458,0,0,0,0,0,0
$GC,3219,-0.53,-146.0,386.7,-10.1,161,3223,0.00,2.45,0.00,0.000,4,0.000,0.058,3081,177,3456,0,0,0,0,0,0
$GC,3263,-0.53,-146.0,391.3,-10.7,162,3267,0.00,2.25,0.00,0.000,6,0.000,0.026,3081,1612,3456,0,0,0,0,0,0
$GC,3554,-0.53,-146.0,418.4,-9.0,169,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1612,3454,0,0,0,0,0,0
$GC,3798,-0.53,-146.0,440.2,-8.8,175,3802,0.00,2.47,0.00,0.000,4,0.000,0.065,3081,174,3453,0,0,0,0,0,0
$GC,3869,-0.53,-146.0,447.0,-9.2,176,3873,0.00,2.30,0.00,0.000,6,0.000,0.031,3081,1602,3452,0,0,0,0,0,0
$GC,4128,-0.53,-146.0,469.0,-8.4,183,4133,0.00,2.67,0.00,0.000,4,0.000,0.044,3081,3224,3451,0,0,0,0,0,0
$GC,4143,-0.53,-146.0,470.2,-8.6,183,4148,0.00,2.65,0.00,0.000,6,0.000,0.038,3081,1612,3451,0,0,0,0,0,0
$GC,4413,-0.53,-146.0,493.3,-8.6,190,4418,0.00,2.53,0.00,0.000,4,0.000,0.076,3081,164,3448,0,0,0,0,0,0
$GC,4488,-0.53,-146.0,500.7,-9.8,191,4492,0.00,2.30,0.00,0.000,6,0.000,0.034,3081,1597,3448,0,0,0,0,0,0
$GC,4742,-0.53,-146.0,522.3,-8.5,198,4747,0.00,2.47,0.00,0.000,4,0.000,0.071,3081,163,3447,0,0,0,0,0,0
$GC,4776,-0.53,-146.0,525.5,-9.1,198,4781,0.00,2.30,0.00,0.000,6,0.000,0.035,3081,1591,3446,0,0,0,0,0,0
$GC,5027,-0.53,-146.0,547.3,-8.7,204,5031,0.00,2.70,0.00,0.000,4,0.000,0.048,3081,3224,3445,0,0,0,0,0,0
$GC,5066,-0.65,-146.0,550.9,-9.0,204,5073,0.10,2.78,0.00,0.000,6,0.075,0.047,3018,1581,3444,0,0,0,0,0,0
$GC,5317,-0.49,-146.0,579.4,-11.8,211,5322,0.30,2.47,0.00,0.000,4,0.098,0.079,3088,163,3443,0,0,0,0,0,0
$GC,5388,-0.56,-146.0,586.4,-8.8,212,5392,0.00,2.33,0.00,0.000,6,0.000,0.037,3088,1585,3442,0,0,0,0,0,0
$STATE,5603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5604,begin apogee
$GC,5611,-0.31,0.0,602.4,7.3,218,5731,0.20,0.00,116.82,0.945,6,0.101,0.000,3132,1690,2860,0,0,0,0,0,0
$STATE,5732,end apogee,CONTROL_FINISHED_OK
$STATE,5732,begin climb
$GC,5734,1.27,146.0,607.8,0.0,221,5863,1.52,0.00,123.70,0.919,6,0.077,0.000,3471,1690,2264,0,0,0,0,0,0
$GC,6103,1.53,213.6,586.8,6.9,230,6172,0.25,2.80,59.15,0.898,4,0.041,0.077,3567,165,1988,0,0,0,0,0,0
$GC,6355,1.40,213.6,553.2,13.9,235,6361,0.30,2.47,0.00,0.000,6,0.089,0.035,3502,1651,1984,0,0,0,0,0,0
$GC,6617,1.55,239.2,529.2,8.8,242,6647,0.15,2.67,23.38,0.852,4,0.056,0.070,3565,170,1884,0,0,0,0,0,0
$GC,6735,1.45,239.2,513.2,14.4,244,6740,0.22,2.45,0.00,0.000,6,0.099,0.032,3518,1657,1884,0,0,0,0,0,0
$GC,6993,1.57,250.7,488.0,9.5,251,7010,0.10,2.65,11.45,0.780,4,0.074,0.067,3556,163,1836,0,0,0,0,0,0
$GC,7094,1.57,250.7,475.2,13.5,253,7098,0.00,2.42,0.00,0.000,6,0.000,0.031,3556,1644,1836,0,0,0,0,0,0
$GC,7373,1.57,250.7,443.0,11.7,260,7377,0.00,2.58,0.00,0.000,4,0.000,0.063,3556,162,1833,0,0,0,0,0,0
$GC,7465,1.57,250.7,430.5,13.8,262,7470,0.00,2.40,0.00,0.000,6,0.000,0.030,3556,1636,1833,0,0,0,0,0,0
$GC,7750,1.57,250.7,397.2,11.7,269,7755,0.00,2.53,0.00,0.000,4,0.000,0.061,3556,160,1830,0,0,0,0,0,0
$GC,7903,1.57,250.7,377.9,12.6,272,7907,0.00,2.38,0.00,0.000,6,0.000,0.028,3556,1626,1830,0,0,0,0,0,0
$GC,8172,1.57,250.7,349.6,10.5,279,8177,0.00,2.50,0.00,0.000,4,0.000,0.060,3556,163,1828,0,0,0,0,0,0
$GC,8309,1.57,250.7,333.0,12.6,282,8313,0.00,2.33,0.00,0.000,6,0.000,0.028,3556,1607,1828,0,0,0,0,0,0
$GC,8596,1.57,250.7,302.5,10.5,289,8600,0.00,2.45,0.00,0.000,4,0.000,0.057,3556,166,1827,0,0,0,0,0,0
$GC,8680,1.57,250.7,292.2,12.2,290,8686,0.00,2.28,0.00,0.000,6,0.000,0.026,3556,1595,1827,0,0,0,0,0,0
$GC,8930,1.57,252.6,266.6,9.9,297,8932,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1598,1827,0,0,0,0,0,0
$GC,9174,1.67,278.5,245.2,8.8,303,9203,0.00,2.47,23.25,0.676,4,0.000,0.054,3556,166,1724,0,0,0,0,0,0
$GC,9306,1.76,278.5,231.6,10.7,305,9312,0.10,2.30,0.00,0.000,6,0.074,0.024,3593,1609,1724,0,0,0,0,0,0
$GC,9555,1.76,278.5,203.6,11.5,312,9560,0.00,2.45,0.00,0.000,4,0.000,0.051,3594,157,1721,0,0,0,0,0,0
$GC,9632,1.76,278.5,194.6,12.1,316,9636,0.00,2.28,0.00,0.000,6,0.000,0.024,3594,1597,1721,0,0,0,0,0,0
$GC,9898,1.76,278.5,165.0,10.6,340,9902,0.00,2.38,0.00,0.000,4,0.000,0.050,3594,164,1720,0,0,0,0,0,0
$GC,10012,1.76,278.5,150.5,12.9,351,10016,0.00,2.20,0.00,0.000,6,0.000,0.022,3594,1575,1720,0,0,0,0,0,0
$GC,10278,1.76,278.5,121.6,11.2,375,10282,0.00,2.33,0.00,0.000,4,0.000,0.048,3594,163,1719,0,0,0,0,0,0
$GC,10417,1.76,278.5,103.5,12.8,388,10421,0.00,2.17,0.00,0.000,6,0.000,0.021,3594,1571,1720,0,0,0,0,0,0
$GC,10686,1.82,278.5,74.7,10.6,412,10691,0.00,2.35,0.00,0.000,4,0.000,0.053,3594,155,1720,0,0,0,0,0,0
$GC,10729,1.82,278.5,69.3,11.0,415,10737,0.00,2.20,0.00,0.000,6,0.000,0.021,3594,1566,1719,0,0,0,0,0,0
$GC,10997,1.90,291.5,45.1,9.4,440,11022,0.00,2.35,12.70,0.462,4,0.000,0.048,3594,161,1671,0,0,0,0,0,0
$GC,11103,1.90,291.5,33.2,11.1,449,11107,0.00,2.12,0.00,0.000,6,0.000,0.021,3594,1553,1671,0,0,0,0,0,0
$STATE,11392,end climb,SURFACE_DEPTH_REACHED
$STATE,11392,begin surface coast
$FINISH,0.6,1.023729
$STATE,11461,end surface coast,CONTROL_FINISHED_OK
$STATE,11464,begin surface
$SM_CCo,11487,187.20,0.451,2,0,510,576.21
$SM_GC,1.36,0.00,0.00,187.20,0.000,0.000,0.451,409,1723,510,-12.84,2.35,576.21
$IRIDIUM_FIX,2239.35,-15754.99,210901,141445
$TT8_MAMPS,0.027612
$HUMID,58.34
$INTERNAL_PRESSURE,9.47689
$TCM_TEMP,22.50
$XPDR_PINGS,7
$24V_AH,23.5,18.151
$10V_AH,9.9,12.199
$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,30.800,136.050,370.450,187.200,0.000,138.900,204.291,509.110,1.750,0.000,13.060,1136.202,7865.291,611.496,2138.532,1214.319,33.343,1513.054,0.000,2120.277,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,79.001,944.944,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.149,269.384,349.990,512.091,899.617,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356112
$DATA_FILE_SIZE,38294,504
$CAP_FILE_SIZE,143611,0
$CFSIZE,260165632,171335680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270612,174416,2246.604,-15756.490,9,99.0,28,10.1