version: 66.06
glider: 148
mission: 11
dive: 231
start: 7 12 112 22 20 37
data:
$ID,148
$MISSION,11
$DIVE,231
$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,-923167.69
$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,112
$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
$GPS1,215824,2243.079,-15803.235,40,1.3,40,10.0
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-75.4
$GPS2,221943,2243.316,-15803.300,11,1.5,11,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.066,-0.251
$KALMAN_X,32762.9,25.2,-115.8,-38713.0,-576.1
$KALMAN_Y,-6717.7,28.2,-281.5,-1714.2,1474.3
$MHEAD_RNG_PITCHd_Wd,184.6,6964,-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,17,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-73.40,0.000,2,0.000,0.000,414,1578,3279,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.6,-5.8,10,121,14.25,2.33,-4.12,0.000,4,0.166,0.048,3057,154,3516,0,0,0,0,0,0
$GC,229,-0.94,-146.0,39.1,-20.5,27,233,0.35,2.03,0.00,0.000,6,0.097,0.018,3132,1487,3518,0,0,0,0,0,0
$GC,497,-0.85,-146.0,78.5,-11.8,51,502,0.10,2.47,0.00,0.000,4,0.130,0.023,3153,3067,3518,0,0,0,0,0,0
$GC,549,-0.98,-146.0,84.2,-9.2,55,554,0.12,2.45,0.00,0.000,6,0.060,0.029,3074,1541,3518,0,0,0,0,0,0
$GC,815,-0.71,-146.0,124.7,-16.7,79,820,0.52,2.22,0.00,0.000,4,0.091,0.039,3181,160,3519,0,0,0,0,0,0
$GC,877,-0.97,-146.0,131.7,-8.1,84,886,0.17,2.03,0.00,0.000,6,0.020,0.017,3084,1507,3519,0,0,0,0,0,0
$GC,1144,-0.82,-146.0,167.1,-14.4,109,1149,0.30,2.47,0.00,0.000,4,0.087,0.022,3155,3081,3519,0,0,0,0,0,0
$GC,1195,-1.02,-146.0,173.0,-8.2,113,1201,0.17,2.45,0.00,0.000,6,0.046,0.028,3056,1543,3519,0,0,0,0,0,0
$GC,1486,-0.83,-146.0,211.8,-13.4,135,1491,0.43,2.42,0.00,0.000,4,0.085,0.021,3153,3090,3520,0,0,0,0,0,0
$GC,1507,-0.83,-146.0,214.2,-10.2,135,1511,0.00,2.45,0.00,0.000,6,0.000,0.027,3154,1550,3520,0,0,0,0,0,0
$GC,1772,-0.98,-146.0,233.4,-7.5,142,1776,0.12,2.28,0.00,0.000,4,0.061,0.047,3068,167,3520,0,0,0,0,0,0
$GC,1800,-0.88,-146.0,236.7,-12.0,142,1805,0.35,2.05,0.00,0.000,6,0.078,0.018,3148,1529,3519,0,0,0,0,0,0
$GC,2062,-1.03,-146.0,258.1,-7.9,149,2067,0.15,2.50,0.00,0.000,4,0.052,0.028,3058,3104,3519,0,0,0,0,0,0
$GC,2114,-1.03,-146.0,263.7,-10.9,150,2119,0.25,2.47,0.00,0.000,6,0.080,0.030,3115,1558,3520,0,0,0,0,0,0
$GC,2394,-1.10,-146.0,286.3,-8.0,157,2398,0.00,2.42,0.00,0.000,4,0.000,0.030,3116,3095,3519,0,0,0,0,0,0
$GC,2408,-1.17,-146.0,287.6,-7.9,157,2414,0.12,2.47,0.00,0.000,6,0.061,0.030,3037,1556,3519,0,0,0,0,0,0
$GC,2679,-1.00,-146.0,321.2,-12.7,164,2684,0.35,2.28,0.00,0.000,4,0.084,0.048,3118,171,3519,0,0,0,0,0,0
$GC,2714,-1.08,-146.0,325.1,-9.7,164,2718,0.00,2.12,0.00,0.000,6,0.000,0.021,3117,1548,3519,0,0,0,0,0,0
$GC,2964,-1.17,-146.0,344.2,-7.6,170,2969,0.15,2.53,0.00,0.000,4,0.055,0.031,3043,3113,3517,0,0,0,0,0,0
$GC,3018,-1.17,-146.0,349.5,-10.8,171,3023,0.17,2.53,0.00,0.000,6,0.089,0.035,3084,1563,3517,0,0,0,0,0,0
$GC,3296,-1.17,-146.0,379.0,-10.7,178,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1563,3515,0,0,0,0,0,0
$GC,3540,-1.17,-146.0,401.7,-8.8,184,3544,0.00,2.50,0.00,0.000,4,0.000,0.035,3083,3111,3514,0,0,0,0,0,0
$GC,3561,-1.17,-146.0,403.2,-8.1,184,3565,0.00,2.53,0.00,0.000,6,0.000,0.036,3084,1564,3513,0,0,0,0,0,0
$GC,3825,-1.17,-146.0,421.0,-7.0,191,3829,0.00,2.38,0.00,0.000,4,0.000,0.063,3084,170,3511,0,0,0,0,0,0
$GC,3857,-1.17,-146.0,423.7,-8.4,191,3862,0.00,2.20,0.00,0.000,6,0.000,0.026,3084,1574,3511,0,0,0,0,0,0
$GC,4109,-1.17,-146.0,443.5,-8.1,197,4113,0.00,2.50,0.00,0.000,4,0.000,0.035,3084,3113,3509,0,0,0,0,0,0
$GC,4142,-1.26,-146.0,446.6,-8.4,197,4147,0.00,2.58,0.00,0.000,6,0.000,0.039,3084,1563,3509,0,0,0,0,0,0
$GC,4392,-1.26,-146.0,468.7,-9.1,203,4396,0.00,2.38,0.00,0.000,4,0.000,0.069,3084,170,3508,0,0,0,0,0,0
$GC,4421,-1.26,-146.0,471.8,-10.8,203,4426,0.00,2.22,0.00,0.000,6,0.000,0.029,3084,1565,3507,0,0,0,0,0,0
$GC,4681,-1.26,-146.0,495.9,-9.2,210,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1565,3505,0,0,0,0,0,0
$GC,4924,-1.26,-146.0,518.0,-9.0,216,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1565,3503,0,0,0,0,0,0
$GC,5169,-1.26,-146.0,539.4,-8.6,222,5174,0.00,2.55,0.00,0.000,4,0.000,0.044,3084,3112,3502,0,0,0,0,0,0
$GC,5198,-1.33,-146.0,542.0,-8.7,222,5203,0.15,2.60,0.00,0.000,6,0.055,0.043,3008,1562,3502,0,0,0,0,0,0
$GC,5454,-1.16,-146.0,572.8,-12.5,229,5459,0.32,2.42,0.00,0.000,4,0.093,0.077,3082,168,3500,0,0,0,0,0,0
$GC,5503,-1.23,-146.0,577.8,-9.0,230,5508,0.00,2.25,0.00,0.000,6,0.000,0.035,3082,1552,3499,0,0,0,0,0,0
$GC,5786,-1.23,-146.0,599.7,-7.5,237,5790,0.00,2.08,0.00,0.000,3,0.000,0.046,3082,2817,3498,0,0,0,0,0,0
$STATE,5790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5791,begin apogee
$GC,5800,-0.31,0.0,600.1,7.3,237,5920,0.80,0.00,116.43,0.932,6,0.078,0.000,3268,1377,2920,0,0,0,0,0,0
$STATE,5921,end apogee,CONTROL_FINISHED_OK
$STATE,5921,begin climb
$GC,5924,1.27,146.0,603.8,0.0,240,6056,1.45,2.25,123.55,0.912,4,0.039,0.082,3619,167,2323,0,0,0,0,0,0
$GC,6252,0.91,146.0,574.1,13.6,247,6257,0.38,1.98,0.00,0.000,6,0.097,0.030,3539,1392,2316,0,0,0,0,0,0
$GC,6522,0.97,194.9,552.5,7.7,254,6571,0.00,2.22,42.38,0.874,4,0.000,0.070,3539,173,2124,0,0,0,0,0,0
$GC,6618,0.90,194.9,544.0,10.1,256,6621,0.00,2.00,0.00,0.000,6,0.000,0.030,3539,1384,2122,0,0,0,0,0,0
$GC,6901,0.93,219.1,518.9,8.9,263,6929,0.00,2.72,21.52,0.834,4,0.000,0.043,3539,2960,2025,0,0,0,0,0,0
$GC,6964,1.07,250.4,512.9,8.6,264,7002,0.15,2.67,30.05,0.842,6,0.056,0.045,3598,1387,1898,0,0,0,0,0,0
$GC,7280,0.95,250.4,470.4,13.9,272,7284,0.25,2.12,0.00,0.000,4,0.091,0.066,3539,156,1892,0,0,0,0,0,0
$GC,7299,0.88,250.4,467.8,12.6,272,7303,0.00,1.98,0.00,0.000,6,0.000,0.025,3540,1394,1892,0,0,0,0,0,0
$GC,7573,0.89,257.7,440.7,9.7,279,7586,0.00,2.17,6.40,0.662,4,0.000,0.062,3540,168,1869,0,0,0,0,0,0
$GC,7610,0.89,257.7,436.8,10.6,279,7613,0.00,1.92,0.00,0.000,6,0.000,0.026,3539,1370,1869,0,0,0,0,0,0
$GC,7864,0.92,281.3,414.0,8.9,286,7892,0.00,2.67,22.30,0.788,4,0.000,0.035,3539,2948,1772,0,0,0,0,0,0
$GC,7910,1.04,317.3,410.0,8.3,287,7953,0.10,2.65,34.38,0.792,6,0.074,0.041,3595,1374,1625,0,0,0,0,0,0
$GC,8198,0.97,317.3,371.7,13.6,294,8200,0.20,0.00,0.00,0.000,6,0.095,0.000,3551,1374,1619,0,0,0,0,0,0
$GC,8441,0.97,317.3,342.4,11.9,300,8445,0.00,2.60,0.00,0.000,4,0.000,0.034,3551,2951,1618,0,0,0,0,0,0
$GC,8492,1.12,317.3,336.4,10.7,301,8497,0.15,2.65,0.00,0.000,6,0.053,0.041,3609,1377,1615,0,0,0,0,0,0
$GC,8772,1.03,317.3,295.6,15.3,308,8777,0.20,2.05,0.00,0.000,4,0.093,0.058,3564,160,1615,0,0,0,0,0,0
$GC,8796,1.03,317.3,291.7,14.3,308,8800,0.00,1.92,0.00,0.000,6,0.000,0.023,3564,1404,1615,0,0,0,0,0,0
$GC,9059,1.03,317.3,260.5,11.5,315,9063,0.00,2.45,0.00,0.000,4,0.000,0.030,3564,2940,1614,0,0,0,0,0,0
$GC,9084,1.12,317.3,257.9,10.8,315,9089,0.00,2.60,0.00,0.000,6,0.000,0.038,3564,1378,1612,0,0,0,0,0,0
$GC,9346,1.18,317.3,228.7,11.3,322,9348,0.12,0.00,0.00,0.000,6,0.065,0.000,3616,1378,1612,0,0,0,0,0,0
$GC,9593,1.10,317.3,193.3,14.5,331,9597,0.17,2.03,0.00,0.000,4,0.097,0.054,3578,162,1613,0,0,0,0,0,0
$GC,9633,1.10,317.3,187.8,14.1,334,9637,0.00,1.88,0.00,0.000,6,0.000,0.021,3578,1393,1612,0,0,0,0,0,0
$GC,9901,1.10,317.3,155.2,12.2,359,9906,0.00,2.47,0.00,0.000,4,0.000,0.028,3578,2944,1612,0,0,0,0,0,0
$GC,9932,1.20,317.3,151.4,11.9,361,9938,0.10,2.58,0.00,0.000,6,0.074,0.035,3622,1378,1610,0,0,0,0,0,0
$GC,10192,1.14,317.3,116.3,12.6,386,10197,0.15,2.00,0.00,0.000,4,0.100,0.058,3588,168,1609,0,0,0,0,0,0
$GC,10247,1.14,317.3,110.0,13.3,391,10251,0.00,1.85,0.00,0.000,6,0.000,0.020,3588,1402,1610,0,0,0,0,0,0
$GC,10516,1.20,317.3,80.0,12.4,416,10519,0.00,2.05,0.00,0.000,4,0.000,0.048,3588,168,1609,0,0,0,0,0,0
$GC,10605,1.29,317.3,68.7,12.7,424,10609,0.12,1.83,0.00,0.000,6,0.064,0.019,3649,1387,1609,0,0,0,0,0,0
$GC,10873,1.19,317.3,33.3,13.7,449,10878,0.25,2.42,0.00,0.000,4,0.087,0.025,3594,2926,1610,0,0,0,0,0,0
$GC,10895,1.19,317.3,30.3,11.9,450,10904,0.00,2.55,0.00,0.000,6,0.000,0.033,3594,1374,1609,0,0,0,0,0,0
$STATE,11161,end climb,SURFACE_DEPTH_REACHED
$STATE,11161,begin surface coast
$FINISH,0.7,1.019723
$STATE,11206,end surface coast,CONTROL_FINISHED_OK
$STATE,11206,begin surface
$SM_CCo,11229,33.70,0.444,0,0,1369,380.21
$SM_GC,1.80,0.00,0.00,33.70,0.000,0.000,0.444,411,1566,1369,-13.47,0.74,380.21
$IRIDIUM_FIX,2232.34,-15846.18,061001,222212
$TT8_MAMPS,0.027612
$HUMID,63.97
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.90
$XPDR_PINGS,13
$24V_AH,23.5,31.390
$10V_AH,10.0,23.672
$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,36.000,144.075,397.000,33.700,0.000,147.919,190.233,547.495,3.250,0.000,13.266,1104.888,7828.503,456.637,1924.222,1227.262,33.376,1287.253,0.000,1916.856,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,82.069,931.905,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.425,273.878,352.320,526.655,925.256,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,38364,499
$CAP_FILE_SIZE,140149,0
$CFSIZE,260165632,164917248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130712,012936,2242.499,-15803.905,32,1.1,32,10.0