version: 66.06
glider: 148
mission: 11
dive: 185
start: 7 6 112 5 15 0
data:
$ID,148
$MISSION,11
$DIVE,185
$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,-922179.94
$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,86
$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
$GPS1,045206,2245.802,-15746.096,24,1.4,24,10.1
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.5
$GPS2,051403,2245.953,-15746.209,12,1.5,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.137,-0.221
$KALMAN_X,69360.8,7.6,-414.9,-45815.3,-275.9
$KALMAN_Y,-45426.1,440.7,-746.8,41927.7,1355.6
$MHEAD_RNG_PITCHd_Wd,138.2,19804,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-74.03,0.000,2,0.000,0.000,406,1553,3316,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.9,-6.9,10,119,13.93,2.25,-3.47,0.000,4,0.155,0.046,3057,161,3517,0,0,0,0,0,0
$GC,226,-0.91,-146.0,40.5,-22.4,26,231,0.38,2.08,0.00,0.000,6,0.099,0.018,3138,1527,3519,0,0,0,0,0,0
$GC,493,-0.91,-146.0,75.8,-12.3,50,497,0.00,2.47,0.00,0.000,4,0.000,0.025,3138,3096,3519,0,0,0,0,0,0
$GC,557,-1.03,-146.0,83.0,-10.2,55,562,0.10,2.53,0.00,0.000,6,0.072,0.028,3059,1536,3519,0,0,0,0,0,0
$GC,823,-0.74,-146.0,127.9,-16.6,79,828,0.57,2.20,0.00,0.000,4,0.088,0.038,3173,161,3520,0,0,0,0,0,0
$GC,882,-0.95,-146.0,135.2,-9.0,84,887,0.17,2.08,0.00,0.000,6,0.047,0.018,3091,1553,3520,0,0,0,0,0,0
$GC,1143,-0.86,-146.0,167.2,-12.1,108,1149,0.25,2.40,0.00,0.000,4,0.090,0.023,3149,3092,3520,0,0,0,0,0,0
$GC,1196,-1.07,-146.0,172.2,-8.2,112,1203,0.17,2.50,0.00,0.000,6,0.046,0.028,3046,1542,3520,0,0,0,0,0,0
$GC,1457,-0.87,-146.0,206.6,-14.0,134,1462,0.45,2.22,0.00,0.000,4,0.094,0.041,3147,164,3521,0,0,0,0,0,0
$GC,1493,-1.01,-146.0,210.5,-8.6,134,1498,0.12,2.08,0.00,0.000,6,0.061,0.018,3077,1542,3521,0,0,0,0,0,0
$GC,1743,-0.93,-146.0,237.5,-11.1,140,1748,0.25,2.47,0.00,0.000,4,0.087,0.024,3137,3105,3521,0,0,0,0,0,0
$GC,1758,-0.93,-146.0,239.3,-11.1,140,1762,0.00,2.53,0.00,0.000,6,0.000,0.027,3136,1538,3521,0,0,0,0,0,0
$GC,2029,-1.06,-146.0,261.8,-8.5,147,2034,0.12,2.47,0.00,0.000,4,0.062,0.027,3067,3095,3521,0,0,0,0,0,0
$GC,2044,-1.06,-146.0,263.6,-8.7,147,2049,0.17,2.50,0.00,0.000,6,0.090,0.033,3107,1543,3521,0,0,0,0,0,0
$GC,2313,-1.06,-146.0,288.4,-9.0,154,2317,0.00,2.47,0.00,0.000,4,0.000,0.028,3108,3101,3521,0,0,0,0,0,0
$GC,2339,-1.15,-146.0,290.7,-9.6,154,2343,0.00,2.53,0.00,0.000,6,0.000,0.031,3107,1551,3521,0,0,0,0,0,0
$GC,2599,-1.21,-146.0,315.2,-9.8,161,2604,0.15,2.33,0.00,0.000,4,0.056,0.051,3035,164,3519,0,0,0,0,0,0
$GC,2620,-1.15,-146.0,318.0,-13.6,161,2625,0.25,2.12,0.00,0.000,6,0.095,0.021,3090,1541,3519,0,0,0,0,0,0
$GC,2889,-1.15,-146.0,347.8,-10.6,168,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1543,3518,0,0,0,0,0,0
$GC,3133,-1.15,-146.0,371.4,-9.6,174,3137,0.00,2.53,0.00,0.000,4,0.000,0.033,3090,3105,3516,0,0,0,0,0,0
$GC,3151,-1.15,-146.0,373.4,-10.4,174,3156,0.00,2.53,0.00,0.000,6,0.000,0.034,3090,1553,3516,0,0,0,0,0,0
$GC,3417,-1.15,-146.0,398.6,-9.6,181,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1553,3514,0,0,0,0,0,0
$GC,3659,-1.15,-146.0,421.0,-9.1,187,3663,0.00,2.53,0.00,0.000,4,0.000,0.035,3090,3106,3513,0,0,0,0,0,0
$GC,3688,-1.21,-146.0,423.8,-9.8,187,3692,0.00,2.58,0.00,0.000,6,0.000,0.037,3090,1553,3513,0,0,0,0,0,0
$GC,3944,-1.21,-146.0,445.3,-8.4,194,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1553,3511,0,0,0,0,0,0
$GC,4187,-1.21,-146.0,465.9,-8.6,200,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1553,3509,0,0,0,0,0,0
$GC,4430,-1.21,-146.0,487.3,-8.7,206,4434,0.00,2.55,0.00,0.000,4,0.000,0.041,3090,3098,3508,0,0,0,0,0,0
$GC,4460,-1.30,-146.0,489.8,-8.0,206,4466,0.15,2.58,0.00,0.000,6,0.052,0.040,3028,1553,3508,0,0,0,0,0,0
$GC,4716,-1.17,-146.0,517.1,-10.8,213,4721,0.25,2.42,0.00,0.000,4,0.093,0.072,3086,161,3506,0,0,0,0,0,0
$GC,4756,-1.23,-146.0,520.7,-8.9,213,4762,0.00,2.22,0.00,0.000,6,0.000,0.035,3086,1529,3506,0,0,0,0,0,0
$GC,5007,-1.23,-146.0,539.4,-7.3,220,5011,0.00,2.65,0.00,0.000,4,0.000,0.045,3086,3131,3504,0,0,0,0,0,0
$GC,5045,-1.36,-146.0,541.9,-6.4,220,5051,0.17,2.62,0.00,0.000,6,0.048,0.042,3020,1554,3503,0,0,0,0,0,0
$GC,5296,-1.21,-146.0,567.0,-10.5,227,5301,0.25,2.42,0.00,0.000,4,0.095,0.074,3078,166,3502,0,0,0,0,0,0
$GC,5325,-1.21,-146.0,570.2,-9.1,227,5330,0.00,2.28,0.00,0.000,6,0.000,0.036,3078,1558,3501,0,0,0,0,0,0
$GC,5580,-1.21,-146.0,590.4,-8.0,234,5585,0.00,2.62,0.00,0.000,4,0.000,0.051,3078,3124,3500,0,0,0,0,0,0
$GC,5601,-1.21,-146.0,592.0,-8.2,234,5605,0.00,2.65,0.00,0.000,6,0.000,0.045,3078,1554,3500,0,0,0,0,0,0
$STATE,5700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5700,begin apogee
$GC,5706,-0.31,0.0,600.2,8.2,237,5826,0.85,0.00,116.70,0.933,6,0.086,0.000,3268,1377,2920,0,0,0,0,0,0
$STATE,5827,end apogee,CONTROL_FINISHED_OK
$STATE,5827,begin climb
$GC,5829,1.27,146.0,604.0,0.0,240,5963,1.48,2.20,123.72,0.913,4,0.048,0.080,3621,171,2323,0,0,0,0,0,0
$GC,6113,0.91,146.0,582.7,12.8,246,6118,0.32,2.00,0.00,0.000,6,0.084,0.030,3540,1381,2317,0,0,0,0,0,0
$GC,6387,0.95,175.3,559.3,8.6,253,6419,0.00,2.17,24.98,0.859,4,0.000,0.068,3540,171,2204,0,0,0,0,0,0
$GC,6508,0.87,175.3,545.4,12.2,255,6512,0.00,1.95,0.00,0.000,6,0.000,0.028,3540,1372,2202,0,0,0,0,0,0
$GC,6767,0.87,175.3,517.5,10.7,262,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1373,2197,0,0,0,0,0,0
$GC,7010,0.88,185.6,493.8,9.5,268,7026,0.00,2.10,9.32,0.753,4,0.000,0.062,3540,165,2162,0,0,0,0,0,0
$GC,7047,0.82,185.6,490.2,10.1,268,7051,0.10,1.92,0.00,0.000,6,0.127,0.025,3519,1377,2162,0,0,0,0,0,0
$GC,7302,0.93,227.3,468.8,8.1,275,7343,0.10,0.00,38.45,0.841,6,0.078,0.000,3562,1379,1993,0,0,0,0,0,0
$GC,7587,0.93,227.3,439.9,10.3,282,7591,0.00,2.10,0.00,0.000,4,0.000,0.061,3562,160,1986,0,0,0,0,0,0
$GC,7612,0.85,227.3,437.1,11.2,282,7616,0.10,1.95,0.00,0.000,6,0.081,0.025,3527,1366,1986,0,0,0,0,0,0
$GC,7876,0.99,271.3,415.2,8.0,289,7924,0.12,2.70,39.97,0.808,4,0.065,0.039,3582,2959,1813,0,0,0,0,0,0
$GC,7963,0.99,271.3,405.8,11.2,291,7971,0.12,2.72,0.00,0.000,6,0.102,0.043,3555,1361,1807,0,0,0,0,0,0
$GC,8253,0.99,271.3,373.1,11.7,298,8257,0.00,2.05,0.00,0.000,4,0.000,0.063,3554,167,1805,0,0,0,0,0,0
$GC,8272,0.99,271.3,370.6,12.4,298,8276,0.00,1.92,0.00,0.000,6,0.000,0.024,3555,1383,1806,0,0,0,0,0,0
$GC,8546,0.99,271.3,339.0,11.7,305,8550,0.00,2.10,0.00,0.000,4,0.000,0.059,3554,161,1803,0,0,0,0,0,0
$GC,8592,0.99,271.3,333.1,12.7,306,8595,0.00,1.90,0.00,0.000,6,0.000,0.024,3554,1366,1803,0,0,0,0,0,0
$GC,8879,0.99,271.3,303.0,10.1,313,8883,0.00,2.58,0.00,0.000,4,0.000,0.035,3554,2948,1802,0,0,0,0,0,0
$GC,8912,1.13,286.7,299.4,9.3,313,8933,0.12,2.67,12.70,0.682,6,0.064,0.041,3620,1355,1751,0,0,0,0,0,0
$GC,9213,1.02,286.7,259.3,13.5,321,9218,0.25,2.62,0.00,0.000,4,0.091,0.031,3561,2947,1748,0,0,0,0,0,0
$GC,9234,1.02,286.7,256.6,11.8,321,9239,0.00,2.62,0.00,0.000,6,0.000,0.038,3561,1364,1746,0,0,0,0,0,0
$GC,9499,1.11,304.2,231.5,9.2,328,9520,0.00,2.05,16.73,0.647,4,0.000,0.054,3561,169,1679,0,0,0,0,0,0
$GC,9585,1.18,304.2,223.0,11.1,329,9591,0.15,1.88,0.00,0.000,6,0.058,0.021,3628,1383,1678,0,0,0,0,0,0
$GC,9837,1.09,304.2,188.5,14.2,339,9841,0.22,2.05,0.00,0.000,4,0.096,0.050,3579,165,1676,0,0,0,0,0,0
$GC,9880,1.09,304.2,183.0,13.3,343,9884,0.00,1.83,0.00,0.000,6,0.000,0.021,3580,1359,1676,0,0,0,0,0,0
$GC,10149,1.09,304.2,151.4,11.5,368,10153,0.00,2.50,0.00,0.000,4,0.000,0.031,3580,2939,1676,0,0,0,0,0,0
$GC,10207,1.25,319.1,145.5,9.3,373,10229,0.15,2.62,14.32,0.561,6,0.054,0.041,3644,1342,1617,0,0,0,0,0,0
$GC,10485,1.14,319.1,106.5,14.6,399,10490,0.25,1.95,0.00,0.000,4,0.090,0.047,3584,165,1616,0,0,0,0,0,0
$GC,10513,1.14,319.1,102.2,14.0,401,10517,0.00,1.80,0.00,0.000,6,0.000,0.020,3584,1359,1615,0,0,0,0,0,0
$GC,10787,1.25,352.2,74.7,8.5,426,10825,0.10,2.58,29.48,0.518,4,0.076,0.027,3639,2931,1482,0,0,0,0,0,0
$GC,10853,1.25,352.2,67.7,12.2,431,10858,0.12,2.60,0.00,0.000,6,0.101,0.033,3610,1355,1479,0,0,0,0,0,0
$GC,11117,1.25,352.2,34.7,12.4,455,11121,0.00,2.50,0.00,0.000,4,0.000,0.026,3610,2927,1479,0,0,0,0,0,0
$GC,11147,1.32,352.2,31.3,10.8,457,11151,0.00,2.55,0.00,0.000,6,0.000,0.031,3610,1351,1478,0,0,0,0,0,0
$STATE,11378,end climb,SURFACE_DEPTH_REACHED
$STATE,11378,begin surface coast
$FINISH,0.6,1.023744
$STATE,11416,end surface coast,CONTROL_FINISHED_OK
$STATE,11417,begin surface
$SM_CCo,11440,17.58,0.433,0,0,1369,380.21
$SM_GC,1.62,0.00,0.00,17.58,0.000,0.000,0.433,411,1530,1369,-13.47,-0.28,380.21
$IRIDIUM_FIX,2234.68,-15752.82,300901,050550
$TT8_MAMPS,0.027612
$HUMID,63.34
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.80
$XPDR_PINGS,8
$24V_AH,23.5,25.419
$10V_AH,10.0,18.653
$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,35.500,145.125,426.375,17.575,0.000,103.398,177.808,682.114,2.000,0.000,14.764,1102.480,8007.184,478.832,1852.253,1337.547,33.364,1296.173,0.000,1850.821,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,79.768,932.672,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.390,277.945,345.296,509.189,894.088,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,38378,498
$CAP_FILE_SIZE,144062,0
$CFSIZE,260165632,167714816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060712,082805,2245.341,-15745.372,83,1.2,83,10.1