version: 66.06
glider: 148
mission: 11
dive: 180
start: 7 5 112 11 12 38
data:
$ID,148
$MISSION,11
$DIVE,180
$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,-922039
$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,26
$R_STBD_OVSHOOT,72
$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
$GPS1,105829,2251.353,-15750.647,37,1.9,43,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-70.9
$GPS2,111143,2251.277,-15750.677,10,1.0,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.256,-0.041
$KALMAN_X,73002.6,147.4,458.4,-58096.6,-1105.5
$KALMAN_Y,-44620.5,101.8,452.6,50130.9,-1617.9
$MHEAD_RNG_PITCHd_Wd,89.0,32187,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.43,0.000,2,0.000,0.000,412,1543,3132,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.8,-7.3,9,123,13.75,2.53,-6.82,0.000,4,0.151,0.038,3057,3095,3518,0,0,0,0,0,0
$GC,133,-0.05,-146.0,18.3,-32.9,14,142,1.20,2.55,0.00,0.000,6,0.086,0.028,3325,1537,3519,0,0,0,0,0,0
$GC,426,-0.87,-146.0,41.4,-10.8,53,438,0.70,2.25,0.00,0.000,4,0.049,0.045,3149,164,3521,0,0,0,0,0,0
$GC,468,-1.09,-146.0,46.1,-8.4,56,477,0.15,2.10,0.00,0.000,6,0.025,0.018,3063,1583,3521,0,0,0,0,0,0
$GC,736,-0.80,-146.0,93.1,-17.1,81,741,0.43,2.30,0.00,0.000,4,0.091,0.021,3160,3058,3521,0,0,0,0,0,0
$GC,773,-0.90,-146.0,98.9,-10.4,84,777,0.00,2.45,0.00,0.000,6,0.000,0.028,3159,1529,3521,0,0,0,0,0,0
$GC,1038,-0.99,-146.0,120.9,-7.4,108,1043,0.15,2.40,0.00,0.000,4,0.054,0.024,3084,3053,3522,0,0,0,0,0,0
$GC,1077,-0.92,-146.0,124.7,-10.3,111,1082,0.25,2.45,0.00,0.000,6,0.084,0.038,3141,1529,3522,0,0,0,0,0,0
$GC,1345,-0.98,-146.0,148.2,-9.1,135,1350,0.00,2.40,0.00,0.000,4,0.000,0.023,3141,3051,3523,0,0,0,0,0,0
$GC,1374,-1.09,-146.0,151.4,-8.1,137,1380,0.17,2.42,0.00,0.000,6,0.048,0.028,3042,1540,3523,0,0,0,0,0,0
$GC,1638,-0.86,-146.0,189.0,-14.8,162,1643,0.47,2.20,0.00,0.000,4,0.095,0.040,3149,172,3523,0,0,0,0,0,0
$GC,1669,-0.93,-146.0,193.2,-10.4,164,1675,0.00,2.00,0.00,0.000,6,0.000,0.018,3149,1504,3523,0,0,0,0,0,0
$GC,1923,-1.05,-146.0,214.4,-8.4,177,1928,0.17,2.50,0.00,0.000,4,0.048,0.024,3065,3095,3523,0,0,0,0,0,0
$GC,1977,-1.05,-146.0,220.5,-12.3,178,1982,0.20,2.47,0.00,0.000,6,0.088,0.028,3110,1547,3523,0,0,0,0,0,0
$GC,2255,-1.05,-146.0,247.0,-8.8,185,2259,0.00,2.45,0.00,0.000,4,0.000,0.025,3110,3094,3524,0,0,0,0,0,0
$GC,2274,-1.05,-146.0,248.7,-8.7,185,2279,0.00,2.50,0.00,0.000,6,0.000,0.028,3110,1544,3523,0,0,0,0,0,0
$GC,2540,-1.05,-146.0,271.4,-8.8,192,2544,0.00,2.45,0.00,0.000,4,0.000,0.026,3110,3086,3524,0,0,0,0,0,0
$GC,2559,-1.12,-146.0,273.3,-8.8,192,2564,0.00,2.45,0.00,0.000,6,0.000,0.030,3110,1557,3523,0,0,0,0,0,0
$GC,2825,-1.12,-146.0,295.5,-8.5,199,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1557,3523,0,0,0,0,0,0
$GC,3067,-1.19,-146.0,316.8,-8.9,205,3069,0.12,0.00,0.00,0.000,6,0.062,0.000,3045,1557,3523,0,0,0,0,0,0
$GC,3311,-1.06,-146.0,344.8,-11.5,211,3313,0.28,0.00,0.00,0.000,6,0.091,0.000,3104,1557,3522,0,0,0,0,0,0
$GC,3555,-1.14,-146.0,364.2,-7.6,217,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1557,3520,0,0,0,0,0,0
$GC,3800,-1.21,-146.0,382.0,-7.2,223,3805,0.12,2.50,0.00,0.000,4,0.066,0.032,3043,3084,3519,0,0,0,0,0,0
$GC,3824,-1.21,-146.0,384.5,-10.6,223,3829,0.15,2.50,0.00,0.000,6,0.100,0.037,3077,1565,3519,0,0,0,0,0,0
$GC,4084,-1.21,-146.0,407.4,-8.7,230,4088,0.00,2.35,0.00,0.000,4,0.000,0.061,3077,174,3517,0,0,0,0,0,0
$GC,4123,-1.21,-146.0,410.9,-9.5,230,4127,0.00,2.12,0.00,0.000,6,0.000,0.026,3077,1525,3517,0,0,0,0,0,0
$GC,4377,-1.21,-146.0,432.2,-8.3,237,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1527,3515,0,0,0,0,0,0
$GC,4621,-1.21,-146.0,452.7,-8.6,243,4625,0.00,2.58,0.00,0.000,4,0.000,0.038,3077,3117,3514,0,0,0,0,0,0
$GC,4656,-1.28,-146.0,455.8,-8.7,243,4660,0.00,2.58,0.00,0.000,6,0.000,0.040,3077,1555,3514,0,0,0,0,0,0
$GC,4906,-1.28,-146.0,479.9,-9.7,249,4910,0.00,2.40,0.00,0.000,4,0.000,0.070,3077,161,3512,0,0,0,0,0,0
$GC,4924,-1.28,-146.0,482.1,-11.1,249,4929,0.00,2.22,0.00,0.000,6,0.000,0.031,3077,1546,3512,0,0,0,0,0,0
$GC,5190,-1.28,-146.0,508.6,-9.9,256,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1546,3510,0,0,0,0,0,0
$GC,5432,-1.28,-146.0,532.8,-9.8,262,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1546,3508,0,0,0,0,0,0
$GC,5676,-1.28,-146.0,555.0,-9.0,268,5680,0.00,2.40,0.00,0.000,4,0.000,0.071,3077,168,3506,0,0,0,0,0,0
$GC,5705,-1.28,-146.0,557.9,-9.9,268,5710,0.00,2.22,0.00,0.000,6,0.000,0.035,3077,1545,3506,0,0,0,0,0,0
$GC,5965,-1.28,-146.0,580.1,-8.3,275,5969,0.00,2.65,0.00,0.000,4,0.000,0.050,3077,3131,3504,0,0,0,0,0,0
$GC,6008,-1.40,-146.0,583.6,-7.9,276,6015,0.17,2.65,0.00,0.000,6,0.048,0.048,3027,1561,3504,0,0,0,0,0,0
$STATE,6174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6174,begin apogee
$GC,6181,-0.31,0.0,600.2,10.1,280,6303,1.10,0.00,117.45,0.936,6,0.094,0.000,3267,1368,2920,0,0,0,0,0,0
$STATE,6303,end apogee,CONTROL_FINISHED_OK
$STATE,6303,begin climb
$GC,6306,1.27,146.0,603.3,0.0,283,6438,1.48,2.17,123.80,0.916,4,0.048,0.081,3619,172,2324,0,0,0,0,0,0
$GC,6482,0.90,146.0,592.7,14.6,287,6487,0.40,2.00,0.00,0.000,6,0.099,0.031,3536,1386,2320,0,0,0,0,0,0
$GC,6762,0.92,163.3,566.0,9.2,294,6779,0.00,0.00,14.80,0.825,6,0.000,0.000,3536,1387,2254,0,0,0,0,0,0
$GC,7004,0.94,183.1,543.7,9.1,300,7029,0.00,2.20,18.30,0.838,4,0.000,0.068,3536,178,2173,0,0,0,0,0,0
$GC,7059,0.86,183.1,538.4,10.4,301,7063,0.00,2.00,0.00,0.000,6,0.000,0.030,3535,1398,2172,0,0,0,0,0,0
$GC,7342,0.90,215.4,513.8,8.5,308,7379,0.00,2.25,29.42,0.854,4,0.000,0.067,3536,167,2041,0,0,0,0,0,0
$GC,7439,0.91,218.1,504.6,9.9,310,7447,0.00,1.98,4.07,0.548,6,0.000,0.028,3536,1383,2029,0,0,0,0,0,0
$GC,7718,0.94,247.4,480.3,8.6,317,7751,0.00,2.70,27.50,0.836,4,0.000,0.042,3536,2959,1910,0,0,0,0,0,0
$GC,7765,0.98,275.3,475.9,8.7,318,7800,0.00,2.72,26.55,0.825,6,0.000,0.044,3535,1375,1795,0,0,0,0,0,0
$GC,8047,1.04,275.3,447.6,10.5,325,8052,0.12,2.65,0.00,0.000,4,0.064,0.042,3587,2955,1789,0,0,0,0,0,0
$GC,8066,1.04,275.3,444.8,11.5,325,8071,0.00,2.65,0.00,0.000,6,0.000,0.042,3587,1383,1788,0,0,0,0,0,0
$GC,8330,0.97,275.3,407.9,14.4,332,8332,0.17,0.00,0.00,0.000,6,0.101,0.000,3550,1383,1787,0,0,0,0,0,0
$GC,8575,0.97,275.3,376.8,12.5,338,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1383,1786,0,0,0,0,0,0
$GC,8817,0.97,275.3,348.0,11.8,344,8822,0.00,2.60,0.00,0.000,4,0.000,0.034,3550,2965,1784,0,0,0,0,0,0
$GC,8850,1.08,275.3,344.1,12.3,344,8856,0.10,2.67,0.00,0.000,6,0.076,0.041,3598,1377,1783,0,0,0,0,0,0
$GC,9102,1.00,275.3,309.7,14.1,350,9106,0.17,2.03,0.00,0.000,4,0.100,0.061,3560,167,1782,0,0,0,0,0,0
$GC,9130,1.00,275.3,305.4,13.2,350,9134,0.00,1.95,0.00,0.000,6,0.000,0.024,3560,1406,1782,0,0,0,0,0,0
$GC,9393,1.00,275.3,275.8,11.1,357,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1409,1782,0,0,0,0,0,0
$GC,9638,1.00,275.3,250.1,10.3,363,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1409,1781,0,0,0,0,0,0
$GC,9881,1.01,283.4,226.9,9.6,369,9893,0.00,2.53,5.55,0.533,4,0.000,0.035,3560,2945,1763,0,0,0,0,0,0
$GC,9917,1.12,283.4,223.4,10.7,369,9922,0.10,2.62,0.00,0.000,6,0.075,0.038,3616,1374,1762,0,0,0,0,0,0
$GC,10170,1.03,283.4,193.1,12.0,378,10175,0.25,2.03,0.00,0.000,4,0.091,0.055,3558,167,1762,0,0,0,0,0,0
$GC,10209,1.03,283.4,188.4,10.5,381,10218,0.00,1.92,0.00,0.000,6,0.000,0.021,3557,1403,1762,0,0,0,0,0,0
$GC,10478,1.14,296.2,164.0,9.4,406,10494,0.12,0.00,12.55,0.576,6,0.064,0.000,3612,1405,1711,0,0,0,0,0,0
$GC,10748,1.14,296.2,128.5,12.9,432,10750,0.12,0.00,0.00,0.000,6,0.107,0.000,3585,1405,1709,0,0,0,0,0,0
$GC,11007,1.14,296.2,100.4,10.4,456,11010,0.00,2.08,0.00,0.000,4,0.000,0.054,3584,165,1709,0,0,0,0,0,0
$GC,11045,1.14,296.2,96.2,11.2,459,11049,0.00,1.88,0.00,0.000,6,0.000,0.022,3584,1386,1709,0,0,0,0,0,0
$GC,11318,1.22,296.2,68.8,10.4,484,11322,0.00,2.42,0.00,0.000,4,0.000,0.025,3584,2933,1709,0,0,0,0,0,0
$GC,11349,1.39,323.5,65.6,8.7,486,11387,0.22,2.53,25.10,0.510,6,0.041,0.035,3658,1378,1600,0,0,0,0,0,0
$GC,11649,1.28,323.5,25.3,14.5,515,11658,0.17,2.05,0.00,0.000,4,0.097,0.049,3619,164,1598,0,0,0,0,0,0
$GC,11699,1.28,323.5,17.0,15.4,522,11707,0.00,1.88,0.00,0.000,6,0.000,0.018,3619,1384,1598,0,0,0,0,0,0
$STATE,11800,end climb,SURFACE_DEPTH_REACHED
$STATE,11800,begin surface coast
$FINISH,1.2,1.023717
$STATE,11837,end surface coast,CONTROL_FINISHED_OK
$STATE,11837,begin surface
$SM_CCo,11860,34.62,0.454,0,0,1370,380.21
$SM_GC,1.72,0.00,0.00,34.62,0.000,0.000,0.454,411,1545,1370,-13.47,0.14,380.21
$IRIDIUM_FIX,2241.69,-15744.57,290901,111117
$TT8_MAMPS,0.027612
$HUMID,64.53
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.20
$XPDR_PINGS,10
$24V_AH,23.5,24.734
$10V_AH,9.9,18.095
$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,36.050,127.050,405.100,34.625,0.000,76.455,118.201,330.838,2.500,0.000,11.602,1130.845,8311.838,482.172,1898.018,866.844,33.378,1287.900,0.000,1902.761,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,81.302,935.740,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.325,305.827,390.945,577.956,1015.423,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,41581,543
$CAP_FILE_SIZE,133349,0
$CFSIZE,260165632,168026112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050712,143226,2250.117,-15749.375,30,99.0,49,10.1