version: 66.06
glider: 148
mission: 11
dive: 209
start: 7 9 112 18 31 54
data:
$ID,148
$MISSION,11
$DIVE,209
$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,-922718.81
$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,76
$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
$GPS1,182402,2304.383,-15737.311,66,1.5,69,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.9
$GPS2,183100,2304.390,-15737.397,10,1.1,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.020,-0.259
$KALMAN_X,44575.8,347.3,387.3,-7132.2,-2105.9
$KALMAN_Y,-25378.9,-249.4,-538.5,56507.8,976.1
$MHEAD_RNG_PITCHd_Wd,174.4,65929,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.57,0.000,2,0.000,0.000,415,1546,3318,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.3,-7.9,10,120,13.68,2.25,-3.28,0.000,4,0.150,0.045,3056,156,3515,0,0,0,0,0,0
$GC,166,-0.92,-146.0,29.5,-21.5,20,174,0.35,2.12,0.00,0.000,6,0.085,0.020,3137,1512,3517,0,0,0,0,0,0
$GC,436,-0.80,-146.0,68.1,-14.5,45,441,0.12,2.58,0.00,0.000,4,0.116,0.027,3164,3116,3518,0,0,0,0,0,0
$GC,492,-0.98,-146.0,75.4,-8.9,49,501,0.12,2.58,0.00,0.000,6,0.025,0.030,3100,1547,3519,0,0,0,0,0,0
$GC,756,-0.87,-146.0,107.9,-12.1,74,761,0.22,2.50,0.00,0.000,4,0.094,0.023,3150,3115,3520,0,0,0,0,0,0
$GC,782,-0.87,-146.0,111.4,-10.6,76,787,0.00,2.50,0.00,0.000,6,0.000,0.027,3150,1552,3520,0,0,0,0,0,0
$GC,1047,-0.93,-146.0,136.8,-10.9,100,1051,0.00,2.47,0.00,0.000,4,0.000,0.025,3150,3121,3521,0,0,0,0,0,0
$GC,1086,-1.08,-146.0,140.9,-9.5,103,1091,0.20,2.50,0.00,0.000,6,0.042,0.028,3072,1560,3521,0,0,0,0,0,0
$GC,1351,-0.94,-146.0,178.4,-13.6,127,1356,0.25,2.25,0.00,0.000,4,0.092,0.040,3131,168,3522,0,0,0,0,0,0
$GC,1418,-1.03,-146.0,186.1,-10.5,133,1422,0.00,2.15,0.00,0.000,6,0.000,0.018,3131,1598,3522,0,0,0,0,0,0
$GC,1699,-1.03,-146.0,211.0,-8.9,150,1703,0.00,2.40,0.00,0.000,4,0.000,0.025,3131,3119,3523,0,0,0,0,0,0
$GC,1746,-1.21,-146.0,215.7,-9.2,151,1751,0.22,2.50,0.00,0.000,6,0.038,0.029,3037,1574,3523,0,0,0,0,0,0
$GC,2029,-1.03,-146.0,253.8,-13.8,158,2031,0.35,0.00,0.00,0.000,6,0.086,0.000,3114,1574,3523,0,0,0,0,0,0
$GC,2275,-1.11,-146.0,275.6,-8.5,164,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1574,3523,0,0,0,0,0,0
$GC,2517,-1.18,-146.0,294.8,-7.9,170,2522,0.15,2.33,0.00,0.000,4,0.056,0.048,3045,168,3523,0,0,0,0,0,0
$GC,2561,-1.02,-146.0,299.7,-13.0,171,2566,0.32,2.17,0.00,0.000,6,0.091,0.021,3117,1574,3523,0,0,0,0,0,0
$GC,2852,-1.12,-146.0,321.7,-7.5,178,2856,0.00,2.47,0.00,0.000,4,0.000,0.031,3117,3111,3523,0,0,0,0,0,0
$GC,2899,-1.30,-146.0,325.5,-6.6,179,2905,0.25,2.50,0.00,0.000,6,0.035,0.033,3019,1572,3523,0,0,0,0,0,0
$GC,3184,-1.11,-146.0,361.6,-13.2,186,3189,0.32,2.38,0.00,0.000,4,0.092,0.054,3095,164,3521,0,0,0,0,0,0
$GC,3255,-1.17,-146.0,369.8,-9.9,187,3260,0.00,2.22,0.00,0.000,6,0.000,0.024,3095,1569,3521,0,0,0,0,0,0
$GC,3516,-1.17,-146.0,394.0,-9.3,194,3521,0.00,2.53,0.00,0.000,4,0.000,0.036,3095,3120,3519,0,0,0,0,0,0
$GC,3563,-1.31,-146.0,398.2,-8.1,195,3569,0.17,2.53,0.00,0.000,6,0.046,0.038,3004,1585,3519,0,0,0,0,0,0
$GC,3848,-1.08,-146.0,433.3,-12.4,202,3851,0.47,0.00,0.00,0.000,6,0.090,0.000,3103,1585,3517,0,0,0,0,0,0
$GC,4091,-1.17,-146.0,452.0,-7.4,208,4095,0.00,2.42,0.00,0.000,4,0.000,0.068,3103,164,3516,0,0,0,0,0,0
$GC,4115,-1.24,-146.0,454.2,-9.4,208,4120,0.15,2.25,0.00,0.000,6,0.055,0.029,3041,1577,3516,0,0,0,0,0,0
$GC,4377,-1.15,-146.0,483.4,-11.6,215,4382,0.22,2.42,0.00,0.000,4,0.091,0.065,3091,164,3514,0,0,0,0,0,0
$GC,4396,-1.15,-146.0,485.9,-11.3,215,4400,0.00,2.25,0.00,0.000,6,0.000,0.031,3091,1568,3514,0,0,0,0,0,0
$GC,4660,-1.21,-146.0,509.0,-8.7,222,4665,0.00,2.42,0.00,0.000,4,0.000,0.068,3091,168,3512,0,0,0,0,0,0
$GC,4690,-1.21,-146.0,511.7,-9.6,222,4694,0.00,2.28,0.00,0.000,6,0.000,0.035,3091,1577,3512,0,0,0,0,0,0
$GC,4950,-1.28,-146.0,533.3,-8.2,229,4955,0.12,2.58,0.00,0.000,4,0.064,0.048,3034,3124,3510,0,0,0,0,0,0
$GC,4969,-1.28,-146.0,535.5,-10.1,229,4975,0.12,2.60,0.00,0.000,6,0.106,0.042,3061,1575,3510,0,0,0,0,0,0
$GC,5236,-1.28,-146.0,561.1,-9.6,236,5240,0.00,2.47,0.00,0.000,4,0.000,0.077,3061,163,3508,0,0,0,0,0,0
$GC,5250,-1.28,-146.0,562.7,-9.7,236,5254,0.00,2.28,0.00,0.000,6,0.000,0.035,3061,1573,3508,0,0,0,0,0,0
$GC,5519,-1.28,-146.0,589.0,-9.9,243,5523,0.00,2.58,0.00,0.000,4,0.000,0.052,3062,3118,3506,0,0,0,0,0,0
$GC,5544,-1.28,-146.0,591.4,-9.7,243,5548,0.00,2.58,0.00,0.000,6,0.000,0.045,3062,1574,3506,0,0,0,0,0,0
$STATE,5638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5638,begin apogee
$GC,5644,-0.31,0.0,601.2,10.1,246,5766,0.93,0.00,117.95,0.937,6,0.076,0.000,3272,1377,2920,0,0,0,0,0,0
$STATE,5767,end apogee,CONTROL_FINISHED_OK
$STATE,5767,begin climb
$GC,5769,1.27,146.0,606.2,0.0,249,5901,1.45,2.22,124.22,0.917,4,0.046,0.084,3616,173,2324,0,0,0,0,0,0
$GC,6041,0.92,146.0,586.9,13.1,255,6046,0.35,2.00,0.00,0.000,6,0.100,0.032,3543,1389,2317,0,0,0,0,0,0
$GC,6320,0.96,174.0,562.4,8.7,262,6348,0.00,2.22,23.83,0.861,4,0.000,0.072,3543,165,2210,0,0,0,0,0,0
$GC,6403,0.87,174.0,553.9,12.0,263,6409,0.00,2.00,0.00,0.000,6,0.000,0.031,3543,1387,2208,0,0,0,0,0,0
$GC,6653,0.88,184.3,529.4,9.5,270,6670,0.00,2.20,10.02,0.776,4,0.000,0.068,3543,171,2167,0,0,0,0,0,0
$GC,6700,0.80,184.3,524.7,10.7,271,6705,0.15,1.95,0.00,0.000,6,0.110,0.028,3512,1375,2166,0,0,0,0,0,0
$GC,6992,0.94,241.6,502.6,7.4,278,7051,0.15,2.15,52.20,0.867,4,0.057,0.064,3569,171,1934,0,0,0,0,0,0
$GC,7138,0.85,241.6,485.7,12.7,281,7142,0.20,1.95,0.00,0.000,6,0.097,0.028,3526,1373,1932,0,0,0,0,0,0
$GC,7412,0.95,257.7,460.7,9.3,288,7432,0.00,2.15,15.18,0.792,4,0.000,0.064,3526,175,1868,0,0,0,0,0,0
$GC,7480,0.95,257.7,453.4,12.2,289,7484,0.00,1.95,0.00,0.000,6,0.000,0.025,3526,1370,1867,0,0,0,0,0,0
$GC,7749,1.03,257.7,425.5,10.4,296,7754,0.15,2.65,0.00,0.000,4,0.055,0.039,3588,2962,1864,0,0,0,0,0,0
$GC,7796,1.03,257.7,419.6,12.9,297,7801,0.10,2.70,0.00,0.000,6,0.115,0.043,3564,1366,1861,0,0,0,0,0,0
$GC,8081,1.03,257.7,386.8,11.5,304,8085,0.00,2.62,0.00,0.000,4,0.000,0.036,3565,2953,1860,0,0,0,0,0,0
$GC,8104,1.03,257.7,383.8,10.2,304,8109,0.00,2.65,0.00,0.000,6,0.000,0.041,3564,1367,1860,0,0,0,0,0,0
$GC,8365,1.03,257.7,354.1,11.4,311,8368,0.00,2.05,0.00,0.000,4,0.000,0.063,3564,165,1859,0,0,0,0,0,0
$GC,8434,1.03,257.7,345.4,12.4,312,8437,0.00,1.88,0.00,0.000,6,0.000,0.024,3564,1371,1859,0,0,0,0,0,0
$GC,8701,1.03,257.7,317.5,10.3,319,8706,0.00,2.58,0.00,0.000,4,0.000,0.036,3564,2948,1858,0,0,0,0,0,0
$GC,8726,1.04,261.8,314.9,9.8,319,8731,0.00,2.67,0.00,0.000,6,0.000,0.041,3564,1353,1857,0,0,0,0,0,0
$GC,8986,1.04,261.8,286.7,11.1,326,8990,0.00,2.05,0.00,0.000,4,0.000,0.061,3565,161,1857,0,0,0,0,0,0
$GC,9055,1.04,261.8,278.5,11.2,327,9059,0.00,1.90,0.00,0.000,6,0.000,0.023,3564,1375,1857,0,0,0,0,0,0
$GC,9324,1.04,261.8,251.5,10.2,334,9328,0.00,2.55,0.00,0.000,4,0.000,0.031,3565,2954,1857,0,0,0,0,0,0
$GC,9390,1.16,268.3,245.3,9.7,335,9406,0.12,2.65,8.45,0.606,6,0.064,0.040,3620,1367,1825,0,0,0,0,0,0
$GC,9658,1.06,268.3,213.2,11.9,342,9663,0.22,2.03,0.00,0.000,4,0.092,0.054,3571,168,1823,0,0,0,0,0,0
$GC,9714,1.06,268.3,207.1,10.3,343,9718,0.00,1.85,0.00,0.000,6,0.000,0.021,3571,1389,1824,0,0,0,0,0,0
$GC,9979,1.06,269.5,181.1,9.9,360,9983,0.00,2.45,0.00,0.000,4,0.000,0.028,3571,2937,1823,0,0,0,0,0,0
$GC,9999,1.06,270.3,179.4,10.0,361,10004,0.00,2.58,0.00,0.000,6,0.000,0.035,3571,1373,1821,0,0,0,0,0,0
$GC,10266,1.14,270.3,153.6,10.9,385,10269,0.00,2.00,0.00,0.000,4,0.000,0.051,3571,167,1821,0,0,0,0,0,0
$GC,10321,1.14,270.3,146.8,12.0,390,10330,0.00,1.88,0.00,0.000,6,0.000,0.020,3571,1387,1821,0,0,0,0,0,0
$GC,10588,1.24,285.9,120.4,9.3,415,10610,0.15,2.47,16.17,0.538,4,0.060,0.026,3633,2928,1752,0,0,0,0,0,0
$GC,10626,1.17,285.9,115.5,11.8,418,10636,0.15,2.60,0.00,0.000,6,0.069,0.036,3594,1375,1751,0,0,0,0,0,0
$GC,10891,1.18,293.6,88.4,9.6,443,10900,0.00,0.00,7.70,0.456,6,0.000,0.000,3594,1375,1723,0,0,0,0,0,0
$GC,11164,1.18,296.2,62.6,9.9,468,11177,0.00,2.53,3.92,0.341,4,0.000,0.028,3594,2927,1711,0,0,0,0,0,0
$GC,11226,1.37,330.1,56.8,8.4,473,11266,0.17,2.55,31.65,0.491,6,0.048,0.034,3658,1374,1572,0,0,0,0,0,0
$GC,11534,1.25,330.1,12.6,16.0,509,11543,0.22,2.03,0.00,0.000,4,0.094,0.046,3609,167,1570,0,0,0,0,0,0
$GC,11577,1.25,330.1,6.7,12.0,515,11588,0.00,1.85,0.00,0.000,6,0.000,0.018,3609,1397,1570,0,0,0,0,0,0
$STATE,11601,end climb,SURFACE_DEPTH_REACHED
$STATE,11601,begin surface coast
$FINISH,0.7,1.011329
$STATE,11640,end surface coast,CONTROL_FINISHED_OK
$STATE,11640,begin surface
$SM_CCo,11664,29.00,0.437,0,0,1369,380.21
$SM_GC,1.49,0.00,0.00,29.00,0.000,0.000,0.437,413,1537,1369,-13.46,-0.11,380.21
$IRIDIUM_FIX,2258.07,-15733.62,031001,151508
$TT8_MAMPS,0.027612
$HUMID,62.71
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.20
$XPDR_PINGS,4
$24V_AH,23.5,28.692
$10V_AH,9.9,21.316
$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,35.250,154.050,411.300,29.000,0.000,31.229,41.594,204.536,1.000,0.000,16.607,1169.133,7790.908,475.821,2050.957,622.589,33.366,1384.031,0.000,2042.591,0.000,0.538,0.000
$DEVICE_MAMPS,149.565,83.603,937.274,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.580,297.362,374.938,538.630,946.429,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,41736,524
$CAP_FILE_SIZE,138360,0
$CFSIZE,260165632,166244352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090712,214805,2303.354,-15738.468,35,0.9,35,10.1