version: 66.06
glider: 148
mission: 11
dive: 417
start: 8 8 112 17 50 55
data:
$ID,148
$MISSION,11
$DIVE,417
$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,-927391.94
$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,1580
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,111
$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
$GPS1,174325,2259.653,-15742.563,22,2.1,41,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-74.7
$GPS2,175001,2259.698,-15742.649,12,1.4,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.059,-0.253
$KALMAN_X,-226250.8,115.7,310.3,255034.6,-2381.9
$KALMAN_Y,92201.3,-213.9,-87.9,-70242.3,277.3
$MHEAD_RNG_PITCHd_Wd,183.1,53445,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-67.10,0.000,2,0.000,0.000,411,1614,3065,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.4,-5.2,9,121,13.80,2.42,-8.32,0.000,4,0.152,0.054,3057,170,3518,0,0,0,0,0,0
$GC,211,-0.90,-146.0,35.4,-20.9,25,216,0.40,2.05,0.00,0.000,6,0.095,0.018,3143,1534,3520,0,0,0,0,0,0
$GC,480,-0.77,-146.0,74.1,-12.6,49,485,0.12,2.55,0.00,0.000,4,0.114,0.024,3170,3142,3521,0,0,0,0,0,0
$GC,537,-0.90,-146.0,81.6,-9.6,53,543,0.12,2.53,0.00,0.000,6,0.058,0.030,3096,1574,3521,0,0,0,0,0,0
$GC,802,-0.70,-146.0,119.6,-14.3,78,811,0.35,0.00,0.00,0.000,6,0.085,0.000,3177,1573,3523,0,0,0,0,0,0
$GC,1068,-0.78,-146.0,146.0,-10.3,103,1073,0.00,2.45,0.00,0.000,4,0.000,0.023,3177,3142,3523,0,0,0,0,0,0
$GC,1098,-0.91,-146.0,149.1,-10.6,105,1103,0.15,2.47,0.00,0.000,6,0.051,0.027,3089,1587,3523,0,0,0,0,0,0
$GC,1359,-0.72,-146.0,188.3,-14.7,129,1364,0.40,2.30,0.00,0.000,4,0.086,0.040,3178,162,3524,0,0,0,0,0,0
$GC,1381,-0.63,-146.0,190.5,-14.5,130,1385,0.10,2.17,0.00,0.000,6,0.112,0.018,3203,1605,3524,0,0,0,0,0,0
$GC,1644,-0.85,-146.0,206.9,-5.5,146,1649,0.20,2.40,0.00,0.000,4,0.042,0.021,3104,3132,3525,0,0,0,0,0,0
$GC,1668,-0.85,-146.0,209.0,-8.7,146,1673,0.22,2.47,0.00,0.000,6,0.080,0.028,3156,1584,3524,0,0,0,0,0,0
$GC,1930,-0.94,-146.0,228.6,-7.4,153,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1583,3525,0,0,0,0,0,0
$GC,2172,-1.04,-146.0,249.3,-8.9,159,2177,0.17,2.47,0.00,0.000,4,0.048,0.026,3076,3139,3525,0,0,0,0,0,0
$GC,2193,-1.04,-146.0,251.8,-11.3,159,2198,0.17,2.47,0.00,0.000,6,0.089,0.028,3116,1593,3525,0,0,0,0,0,0
$GC,2458,-1.04,-146.0,282.3,-11.3,166,2462,0.00,2.45,0.00,0.000,4,0.000,0.026,3115,3129,3525,0,0,0,0,0,0
$GC,2476,-1.04,-146.0,284.8,-12.5,166,2481,0.00,2.45,0.00,0.000,6,0.000,0.028,3116,1596,3525,0,0,0,0,0,0
$GC,2742,-1.04,-146.0,313.3,-10.6,173,2746,0.00,2.45,0.00,0.000,4,0.000,0.027,3116,3136,3525,0,0,0,0,0,0
$GC,2760,-1.04,-146.0,315.5,-10.2,173,2765,0.00,2.50,0.00,0.000,6,0.000,0.029,3116,1599,3525,0,0,0,0,0,0
$GC,3024,-1.04,-146.0,342.0,-10.2,180,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1598,3525,0,0,0,0,0,0
$GC,3268,-1.04,-146.0,364.7,-9.0,186,3273,0.00,2.45,0.00,0.000,4,0.000,0.030,3116,3125,3523,0,0,0,0,0,0
$GC,3293,-1.04,-146.0,366.7,-8.4,186,3298,0.00,2.47,0.00,0.000,6,0.000,0.034,3116,1614,3523,0,0,0,0,0,0
$GC,3553,-1.04,-146.0,385.5,-6.8,193,3557,0.00,2.42,0.00,0.000,4,0.000,0.032,3116,3122,3521,0,0,0,0,0,0
$GC,3572,-1.04,-146.0,386.9,-7.0,193,3576,0.00,2.45,0.00,0.000,6,0.000,0.034,3116,1615,3521,0,0,0,0,0,0
$GC,3838,-1.04,-146.0,408.6,-8.7,200,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1615,3520,0,0,0,0,0,0
$GC,4080,-1.04,-146.0,430.9,-9.1,206,4084,0.00,2.45,0.00,0.000,4,0.000,0.068,3116,173,3519,0,0,0,0,0,0
$GC,4103,-1.04,-146.0,433.2,-10.1,206,4107,0.00,2.22,0.00,0.000,6,0.000,0.025,3116,1598,3519,0,0,0,0,0,0
$GC,4368,-1.04,-146.0,454.6,-7.8,213,4373,0.00,2.53,0.00,0.000,4,0.000,0.037,3116,3152,3517,0,0,0,0,0,0
$GC,4402,-1.16,-146.0,457.3,-7.5,213,4407,0.12,2.50,0.00,0.000,6,0.060,0.038,3032,1630,3518,0,0,0,0,0,0
$GC,4652,-0.96,-146.0,485.6,-11.7,219,4659,0.43,2.50,0.00,0.000,4,0.085,0.069,3126,171,3515,0,0,0,0,0,0
$GC,4704,-1.12,-146.0,489.7,-7.0,220,4709,0.12,2.30,0.00,0.000,6,0.060,0.037,3062,1619,3515,0,0,0,0,0,0
$GC,4987,-1.04,-146.0,516.8,-10.1,227,4992,0.22,2.50,0.00,0.000,4,0.087,0.067,3114,170,3513,0,0,0,0,0,0
$GC,5023,-1.11,-146.0,520.4,-10.0,227,5027,0.00,2.33,0.00,0.000,6,0.000,0.040,3114,1622,3513,0,0,0,0,0,0
$GC,5273,-1.19,-146.0,542.1,-8.7,233,5275,0.15,0.00,0.00,0.000,6,0.057,0.000,3049,1622,3511,0,0,0,0,0,0
$GC,5517,-1.08,-146.0,568.8,-10.9,239,5522,0.25,2.55,0.00,0.000,4,0.088,0.069,3110,163,3509,0,0,0,0,0,0
$GC,5563,-1.18,-146.0,573.0,-9.3,240,5568,0.12,2.35,0.00,0.000,6,0.064,0.035,3051,1607,3509,0,0,0,0,0,0
$STATE,5848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5848,begin apogee
$GC,5855,-0.31,0.0,603.0,10.3,247,5977,0.98,0.00,118.75,0.927,6,0.077,0.000,3272,1385,2920,0,0,0,0,0,0
$STATE,5978,end apogee,CONTROL_FINISHED_OK
$STATE,5978,begin climb
$GC,5982,1.27,146.0,606.4,0.0,250,6116,1.45,2.20,123.72,0.908,4,0.048,0.077,3620,174,2322,0,0,0,0,0,0
$GC,6270,0.97,146.0,584.3,12.9,256,6275,0.32,2.03,0.00,0.000,6,0.094,0.030,3551,1413,2316,0,0,0,0,0,0
$GC,6535,1.04,200.5,563.2,7.5,263,6587,0.00,2.25,46.80,0.877,4,0.000,0.071,3551,185,2102,0,0,0,0,0,0
$GC,6622,1.05,205.9,555.9,9.8,265,6634,0.00,1.98,6.35,0.681,6,0.000,0.029,3551,1405,2080,0,0,0,0,0,0
$GC,6914,1.10,251.4,532.3,7.9,272,6963,0.12,2.25,41.58,0.862,4,0.066,0.067,3600,178,1895,0,0,0,0,0,0
$GC,7018,0.98,251.4,519.6,14.5,274,7023,0.22,1.98,0.00,0.000,6,0.092,0.028,3553,1405,1894,0,0,0,0,0,0
$GC,7294,1.05,251.4,488.4,11.4,281,7298,0.00,2.15,0.00,0.000,4,0.000,0.065,3553,171,1889,0,0,0,0,0,0
$GC,7354,1.05,251.4,480.6,12.4,282,7357,0.00,1.95,0.00,0.000,6,0.000,0.026,3552,1400,1888,0,0,0,0,0,0
$GC,7626,1.12,251.4,452.3,10.1,289,7631,0.12,2.08,0.00,0.000,4,0.064,0.061,3610,177,1886,0,0,0,0,0,0
$GC,7652,1.02,251.4,449.0,13.4,289,7657,0.22,1.90,0.00,0.000,6,0.094,0.030,3562,1381,1886,0,0,0,0,0,0
$GC,7912,1.02,251.4,420.5,10.8,296,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1383,1884,0,0,0,0,0,0
$GC,8155,1.02,251.4,395.5,10.2,302,8159,0.00,2.60,0.00,0.000,4,0.000,0.036,3562,2968,1883,0,0,0,0,0,0
$GC,8190,1.15,251.4,392.1,10.1,302,8195,0.12,2.67,0.00,0.000,6,0.064,0.041,3605,1378,1881,0,0,0,0,0,0
$GC,8440,1.09,251.4,360.8,12.8,308,8445,0.15,2.05,0.00,0.000,4,0.104,0.061,3573,160,1881,0,0,0,0,0,0
$GC,8470,1.09,251.4,357.2,12.1,308,8474,0.00,1.92,0.00,0.000,6,0.000,0.025,3573,1385,1881,0,0,0,0,0,0
$GC,8728,1.11,270.4,332.4,9.1,315,8746,0.00,0.00,16.10,0.718,6,0.000,0.000,3573,1387,1817,0,0,0,0,0,0
$GC,8973,1.19,283.5,309.7,9.4,321,8993,0.12,2.60,12.48,0.679,4,0.065,0.035,3621,2961,1764,0,0,0,0,0,0
$GC,9020,1.19,283.5,304.5,12.3,322,9024,0.00,2.67,0.00,0.000,6,0.000,0.040,3622,1377,1761,0,0,0,0,0,0
$GC,9307,1.19,283.5,268.4,12.4,329,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,3621,1377,1760,0,0,0,0,0,0
$GC,9550,1.19,283.5,238.4,12.6,335,9554,0.00,2.03,0.00,0.000,4,0.000,0.056,3621,161,1759,0,0,0,0,0,0
$GC,9589,1.12,283.5,233.2,14.3,335,9594,0.10,1.92,0.00,0.000,6,0.081,0.021,3584,1396,1759,0,0,0,0,0,0
$GC,9845,1.21,288.1,206.8,9.8,342,9856,0.00,2.50,4.80,0.472,4,0.000,0.031,3584,2960,1743,0,0,0,0,0,0
$GC,9876,1.36,311.2,203.9,8.9,342,9905,0.22,2.62,22.62,0.620,6,0.044,0.035,3645,1376,1650,0,0,0,0,0,0
$GC,10169,1.27,311.2,165.5,13.5,366,10173,0.12,2.03,0.00,0.000,4,0.105,0.051,3617,168,1646,0,0,0,0,0,0
$GC,10230,1.27,311.2,157.3,14.0,371,10235,0.00,1.88,0.00,0.000,6,0.000,0.021,3617,1395,1647,0,0,0,0,0,0
$GC,10492,1.27,311.2,125.8,11.9,396,10497,0.00,2.47,0.00,0.000,4,0.000,0.028,3617,2948,1646,0,0,0,0,0,0
$GC,10531,1.35,311.2,121.9,10.5,399,10536,0.00,2.60,0.00,0.000,6,0.000,0.037,3617,1364,1644,0,0,0,0,0,0
$GC,10799,1.35,311.2,94.2,10.6,423,10803,0.00,1.98,0.00,0.000,4,0.000,0.049,3617,169,1644,0,0,0,0,0,0
$GC,10842,1.35,311.2,89.2,11.1,427,10846,0.00,1.85,0.00,0.000,6,0.000,0.020,3617,1383,1644,0,0,0,0,0,0
$GC,11115,1.38,334.9,64.5,8.9,452,11144,0.10,2.55,21.77,0.486,4,0.076,0.026,3657,2939,1553,0,0,0,0,0,0
$GC,11200,1.38,334.9,54.0,12.4,459,11209,0.00,2.62,0.00,0.000,6,0.000,0.034,3657,1364,1549,0,0,0,0,0,0
$GC,11480,1.31,334.9,18.7,12.2,491,11489,0.15,2.03,0.00,0.000,4,0.097,0.049,3624,167,1549,0,0,0,0,0,0
$GC,11517,1.31,334.9,13.9,12.2,496,11525,0.00,1.83,0.00,0.000,6,0.000,0.019,3624,1390,1549,0,0,0,0,0,0
$STATE,11606,end climb,SURFACE_DEPTH_REACHED
$STATE,11606,begin surface coast
$FINISH,0.6,1.023660
$STATE,11658,end surface coast,CONTROL_FINISHED_OK
$STATE,11658,begin surface
$SM_CCo,11681,22.88,0.425,0,0,1369,380.21
$SM_GC,1.41,0.00,0.00,22.88,0.000,0.000,0.425,412,1555,1369,-13.47,-0.71,380.21
$IRIDIUM_FIX,2253.38,-15734.52,021101,141445
$TT8_MAMPS,0.027612
$HUMID,65.75
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.30
$XPDR_PINGS,9
$24V_AH,23.5,54.722
$10V_AH,9.9,43.834
$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,35.150,139.375,414.975,22.875,0.000,25.745,33.949,190.383,2.250,0.000,14.455,1127.793,7968.747,476.427,1935.173,590.448,33.378,1310.865,0.000,1928.748,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,76.700,927.303,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.497,287.361,364.651,539.929,948.612,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,41533,517
$CAP_FILE_SIZE,130563,0
$CFSIZE,260165632,153690112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080812,210750,2258.388,-15744.295,48,99.0,67,10.1