version: 66.06
glider: 148
mission: 11
dive: 176
start: 7 4 112 21 21 24
data:
$ID,148
$MISSION,11
$DIVE,176
$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,380
$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,-921943.12
$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,3340
$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,1540
$C_ROLL_CLIMB,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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,2920
$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
$GPS1,211329,2256.222,-15755.035,61,1.5,61,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-75.2
$GPS2,212030,2256.241,-15755.038,13,1.4,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.194,-0.173
$KALMAN_X,74474.0,-317.5,368.7,-66465.9,56.8
$KALMAN_Y,-44259.4,-199.4,591.0,59118.4,-571.6
$MHEAD_RNG_PITCHd_Wd,121.6,44000,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-74.10,0.000,2,0.000,0.000,408,1560,3297,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.1,-7.8,10,122,13.93,2.28,-3.75,0.000,4,0.155,0.045,3057,155,3516,0,0,0,0,0,0
$GC,193,-1.00,-146.0,32.8,-20.0,23,198,0.28,2.08,0.00,0.000,6,0.100,0.018,3117,1516,3518,0,0,0,0,0,0
$GC,463,-0.87,-146.0,74.3,-15.1,47,468,0.15,2.50,0.00,0.000,4,0.110,0.025,3150,3107,3519,0,0,0,0,0,0
$GC,539,-1.03,-146.0,83.0,-9.9,53,544,0.15,2.55,0.00,0.000,6,0.051,0.029,3064,1538,3519,0,0,0,0,0,0
$GC,805,-0.76,-146.0,126.4,-16.5,77,810,0.50,2.22,0.00,0.000,4,0.090,0.040,3168,161,3520,0,0,0,0,0,0
$GC,856,-0.94,-146.0,132.4,-9.2,81,861,0.15,2.10,0.00,0.000,6,0.053,0.018,3088,1564,3521,0,0,0,0,0,0
$GC,1117,-0.82,-146.0,167.2,-13.5,105,1122,0.30,2.38,0.00,0.000,4,0.089,0.022,3157,3091,3521,0,0,0,0,0,0
$GC,1156,-0.98,-146.0,170.9,-8.8,108,1161,0.12,2.50,0.00,0.000,6,0.061,0.028,3095,1540,3522,0,0,0,0,0,0
$GC,1417,-0.98,-146.0,199.1,-10.3,132,1418,0.15,0.00,0.00,0.000,6,0.100,0.000,3128,1539,3522,0,0,0,0,0,0
$GC,1672,-1.05,-146.0,221.5,-8.7,139,1676,0.00,2.45,0.00,0.000,4,0.000,0.024,3128,3097,3523,0,0,0,0,0,0
$GC,1702,-1.15,-146.0,224.0,-8.2,139,1707,0.17,2.50,0.00,0.000,6,0.046,0.028,3035,1538,3523,0,0,0,0,0,0
$GC,1957,-0.96,-146.0,257.1,-13.3,146,1960,0.45,0.00,0.00,0.000,6,0.087,0.000,3131,1537,3523,0,0,0,0,0,0
$GC,2203,-1.07,-146.0,276.1,-7.3,152,2207,0.10,2.25,0.00,0.000,4,0.076,0.048,3073,172,3523,0,0,0,0,0,0
$GC,2236,-1.07,-146.0,279.9,-11.5,152,2241,0.15,2.10,0.00,0.000,6,0.100,0.019,3108,1538,3523,0,0,0,0,0,0
$GC,2486,-1.07,-146.0,301.8,-8.6,158,2490,0.00,2.50,0.00,0.000,4,0.000,0.029,3108,3097,3523,0,0,0,0,0,0
$GC,2506,-1.14,-146.0,303.4,-8.5,158,2511,0.00,2.53,0.00,0.000,6,0.000,0.031,3108,1546,3523,0,0,0,0,0,0
$GC,2775,-1.20,-146.0,325.3,-8.1,165,2777,0.12,0.00,0.00,0.000,6,0.064,0.000,3040,1546,3523,0,0,0,0,0,0
$GC,3019,-1.05,-146.0,354.4,-12.2,171,3024,0.28,2.53,0.00,0.000,4,0.092,0.032,3104,3102,3522,0,0,0,0,0,0
$GC,3045,-1.05,-146.0,356.9,-9.1,171,3049,0.00,2.55,0.00,0.000,6,0.000,0.035,3104,1551,3522,0,0,0,0,0,0
$GC,3305,-1.12,-146.0,377.7,-8.3,178,3309,0.00,2.50,0.00,0.000,4,0.000,0.033,3104,3095,3520,0,0,0,0,0,0
$GC,3324,-1.20,-146.0,379.4,-8.5,178,3329,0.12,2.55,0.00,0.000,6,0.062,0.036,3039,1551,3520,0,0,0,0,0,0
$GC,3591,-1.07,-146.0,410.4,-11.9,185,3596,0.28,2.35,0.00,0.000,4,0.091,0.061,3103,161,3519,0,0,0,0,0,0
$GC,3620,-1.07,-146.0,413.6,-9.9,185,3624,0.00,2.17,0.00,0.000,6,0.000,0.026,3103,1537,3518,0,0,0,0,0,0
$GC,3876,-1.15,-146.0,435.3,-8.6,192,3880,0.00,2.58,0.00,0.000,4,0.000,0.038,3103,3109,3517,0,0,0,0,0,0
$GC,3910,-1.29,-146.0,438.3,-8.3,192,3915,0.17,2.58,0.00,0.000,6,0.047,0.046,3035,1559,3517,0,0,0,0,0,0
$GC,4160,-1.16,-146.0,466.2,-11.2,198,4165,0.22,2.40,0.00,0.000,4,0.095,0.067,3084,171,3515,0,0,0,0,0,0
$GC,4218,-1.16,-146.0,471.6,-8.7,199,4223,0.00,2.20,0.00,0.000,6,0.000,0.030,3083,1543,3514,0,0,0,0,0,0
$GC,4496,-1.16,-146.0,492.4,-7.2,206,4500,0.00,2.60,0.00,0.000,4,0.000,0.044,3084,3116,3513,0,0,0,0,0,0
$GC,4520,-1.23,-146.0,494.3,-8.0,206,4525,0.00,2.60,0.00,0.000,6,0.000,0.041,3084,1549,3513,0,0,0,0,0,0
$GC,4781,-1.23,-146.0,512.9,-7.1,213,4785,0.00,2.40,0.00,0.000,4,0.000,0.074,3084,167,3511,0,0,0,0,0,0
$GC,4800,-1.23,-146.0,514.5,-7.3,213,4805,0.00,2.22,0.00,0.000,6,0.000,0.034,3084,1556,3511,0,0,0,0,0,0
$GC,5064,-1.23,-146.0,533.7,-7.3,220,5069,0.00,2.62,0.00,0.000,4,0.000,0.047,3083,3129,3509,0,0,0,0,0,0
$GC,5095,-1.31,-146.0,535.9,-7.5,220,5100,0.12,2.62,0.00,0.000,6,0.062,0.043,3032,1552,3509,0,0,0,0,0,0
$GC,5350,-1.20,-146.0,561.8,-10.2,227,5355,0.20,2.42,0.00,0.000,4,0.104,0.075,3075,164,3508,0,0,0,0,0,0
$GC,5390,-1.20,-146.0,565.8,-9.6,227,5396,0.00,2.28,0.00,0.000,6,0.000,0.037,3075,1558,3507,0,0,0,0,0,0
$GC,5640,-1.20,-146.0,586.3,-8.2,234,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1558,3506,0,0,0,0,0,0
$STATE,5840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5840,begin apogee
$GC,5847,-0.31,0.0,603.2,8.3,239,5968,0.88,0.00,117.82,0.939,6,0.087,0.000,3269,1363,2920,0,0,0,0,0,0
$STATE,5969,end apogee,CONTROL_FINISHED_OK
$STATE,5969,begin climb
$GC,5971,1.27,146.0,606.6,0.0,242,6106,1.48,2.20,124.38,0.917,4,0.048,0.074,3616,174,2323,0,0,0,0,0,0
$GC,6320,0.91,146.0,572.9,15.4,249,6326,0.38,1.98,0.00,0.000,6,0.101,0.030,3538,1386,2316,0,0,0,0,0,0
$GC,6570,0.94,167.7,549.5,9.0,256,6594,0.00,2.20,18.08,0.838,4,0.000,0.067,3538,177,2235,0,0,0,0,0,0
$GC,6643,0.84,167.7,542.4,10.3,257,6647,0.00,1.98,0.00,0.000,6,0.000,0.028,3538,1373,2234,0,0,0,0,0,0
$GC,6906,0.88,199.8,519.1,8.5,264,6938,0.00,0.00,29.73,0.857,6,0.000,0.000,3538,1374,2105,0,0,0,0,0,0
$GC,7151,0.90,209.3,496.3,9.6,270,7162,0.00,0.00,9.25,0.749,6,0.000,0.000,3538,1374,2066,0,0,0,0,0,0
$GC,7393,0.90,209.3,470.9,10.5,276,7397,0.00,2.08,0.00,0.000,4,0.000,0.062,3538,174,2062,0,0,0,0,0,0
$GC,7443,0.90,209.3,464.8,12.1,277,7447,0.00,1.95,0.00,0.000,6,0.000,0.027,3538,1383,2062,0,0,0,0,0,0
$GC,7725,0.90,209.3,433.3,11.2,284,7729,0.00,2.08,0.00,0.000,4,0.000,0.061,3538,178,2061,0,0,0,0,0,0
$GC,7757,0.90,209.3,429.2,12.7,284,7761,0.00,1.90,0.00,0.000,6,0.000,0.026,3538,1369,2061,0,0,0,0,0,0
$GC,8011,0.91,217.2,403.8,9.6,291,8021,0.00,0.00,7.40,0.683,6,0.000,0.000,3538,1371,2034,0,0,0,0,0,0
$GC,8256,0.95,251.0,382.8,8.4,297,8294,0.00,2.08,32.28,0.790,4,0.000,0.059,3538,178,1896,0,0,0,0,0,0
$GC,8343,0.95,251.0,374.7,10.0,298,8347,0.00,1.92,0.00,0.000,6,0.000,0.025,3538,1360,1894,0,0,0,0,0,0
$GC,8636,1.04,274.9,348.6,8.9,305,8665,0.12,2.72,21.80,0.748,4,0.064,0.041,3586,2957,1798,0,0,0,0,0,0
$GC,8723,1.04,274.9,338.5,11.6,306,8729,0.00,2.67,0.00,0.000,6,0.000,0.041,3586,1378,1793,0,0,0,0,0,0
$GC,8973,1.04,274.9,306.7,12.8,313,8977,0.00,2.08,0.00,0.000,4,0.000,0.061,3586,161,1792,0,0,0,0,0,0
$GC,9018,0.98,274.9,300.6,14.5,314,9022,0.15,1.92,0.00,0.000,6,0.103,0.024,3554,1375,1792,0,0,0,0,0,0
$GC,9305,0.98,274.9,269.4,10.3,321,9309,0.00,2.55,0.00,0.000,4,0.000,0.031,3554,2954,1790,0,0,0,0,0,0
$GC,9330,1.09,289.9,267.1,9.3,321,9349,0.10,2.67,13.15,0.662,6,0.077,0.040,3605,1357,1737,0,0,0,0,0,0
$GC,9592,1.02,289.9,233.1,13.1,328,9597,0.20,2.00,0.00,0.000,4,0.096,0.055,3562,165,1734,0,0,0,0,0,0
$GC,9657,1.02,289.9,224.9,11.5,329,9661,0.00,1.90,0.00,0.000,6,0.000,0.024,3562,1386,1734,0,0,0,0,0,0
$GC,9927,1.09,289.9,196.7,10.4,336,9931,0.00,2.50,0.00,0.000,4,0.000,0.031,3562,2938,1733,0,0,0,0,0,0
$GC,9948,1.15,289.9,194.2,11.2,337,9954,0.12,2.60,0.00,0.000,6,0.064,0.033,3623,1359,1732,0,0,0,0,0,0
$GC,10210,1.06,289.9,158.5,13.9,362,10212,0.22,0.00,0.00,0.000,6,0.094,0.000,3573,1359,1732,0,0,0,0,0,0
$GC,10466,1.14,289.9,130.6,10.8,386,10471,0.00,2.55,0.00,0.000,4,0.000,0.028,3573,2944,1732,0,0,0,0,0,0
$GC,10494,1.26,289.9,127.5,10.7,388,10499,0.17,2.58,0.00,0.000,6,0.048,0.035,3648,1365,1729,0,0,0,0,0,0
$GC,10756,1.13,289.9,89.2,13.5,412,10760,0.25,1.95,0.00,0.000,4,0.088,0.048,3589,168,1730,0,0,0,0,0,0
$GC,10844,1.13,289.9,79.1,10.2,420,10848,0.00,1.83,0.00,0.000,6,0.000,0.019,3589,1378,1730,0,0,0,0,0,0
$GC,11116,1.22,301.6,54.3,9.5,445,11132,0.00,2.47,10.90,0.467,4,0.000,0.027,3589,2936,1690,0,0,0,0,0,0
$GC,11178,1.41,322.3,48.5,9.0,450,11204,0.22,2.55,19.62,0.486,6,0.038,0.034,3686,1366,1605,0,0,0,0,0,0
$STATE,11440,end climb,SURFACE_DEPTH_REACHED
$STATE,11441,begin surface coast
$FINISH,0.6,1.023678
$STATE,11467,end surface coast,CONTROL_FINISHED_OK
$STATE,11467,begin surface
$SM_CCo,11492,35.08,0.454,0,0,1369,380.21
$SM_GC,1.83,0.00,0.00,35.08,0.000,0.000,0.454,408,1554,1369,-13.49,0.40,380.21
$IRIDIUM_FIX,2248.70,-15755.40,280901,171708
$TT8_MAMPS,0.027612
$HUMID,63.78
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.30
$XPDR_PINGS,7
$24V_AH,23.5,24.248
$10V_AH,10.0,17.663
$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,35.600,135.550,404.400,35.075,0.000,22.726,33.500,223.344,1.750,0.000,15.048,1090.903,7954.159,481.497,1814.562,605.547,33.363,1273.604,0.000,1813.277,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,75.166,938.808,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.761,262.745,335.008,481.489,846.168,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,38420,488
$CAP_FILE_SIZE,129331,0
$CFSIZE,260165632,168271872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050712,003454,2254.747,-15753.753,40,1.4,40,10.1