version: 66.06
glider: 148
mission: 11
dive: 423
start: 8 9 112 14 27 12
data:
$ID,148
$MISSION,11
$DIVE,423
$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,-927500.75
$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,27
$R_STBD_OVSHOOT,95
$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
$GPS1,140435,2252.623,-15750.881,35,1.1,35,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-74.9
$GPS2,142618,2252.594,-15751.154,11,1.5,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.156,-0.207
$KALMAN_X,-236173.7,93.7,-7.6,250780.9,-1217.9
$KALMAN_Y,96326.6,-131.5,482.1,-88173.2,-248.7
$MHEAD_RNG_PITCHd_Wd,207.0,33842,-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,-66.88,0.000,2,0.000,0.000,409,1592,3111,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.5,-5.7,9,120,14.30,2.38,-7.25,0.000,4,0.166,0.051,3056,168,3518,0,0,0,0,0,0
$GC,230,-0.95,-146.0,40.0,-20.7,27,235,0.35,2.12,0.00,0.000,6,0.094,0.018,3132,1555,3519,0,0,0,0,0,0
$GC,499,-0.79,-146.0,80.5,-14.3,51,504,0.15,2.53,0.00,0.000,4,0.105,0.024,3166,3145,3520,0,0,0,0,0,0
$GC,574,-0.94,-146.0,88.7,-8.6,57,580,0.15,2.53,0.00,0.000,6,0.050,0.027,3046,1581,3520,0,0,0,0,0,0
$GC,837,-0.58,-146.0,132.2,-17.9,82,849,0.70,2.28,0.00,0.000,4,0.085,0.038,3206,171,3521,0,0,0,0,0,0
$GC,896,-0.85,-146.0,138.6,-8.5,87,901,0.22,2.17,0.00,0.000,6,0.038,0.017,3105,1623,3522,0,0,0,0,0,0
$GC,1157,-0.68,-146.0,176.6,-14.5,111,1162,0.38,2.33,0.00,0.000,4,0.081,0.021,3190,3118,3521,0,0,0,0,0,0
$GC,1210,-0.94,-146.0,181.7,-7.4,115,1217,0.22,2.45,0.00,0.000,6,0.038,0.027,3066,1593,3522,0,0,0,0,0,0
$GC,1477,-0.68,-146.0,217.5,-13.7,132,1479,0.55,0.00,0.00,0.000,6,0.081,0.000,3189,1593,3521,0,0,0,0,0,0
$GC,1721,-0.87,-146.0,232.9,-5.9,138,1723,0.17,0.00,0.00,0.000,6,0.047,0.000,3101,1593,3522,0,0,0,0,0,0
$GC,1966,-0.79,-146.0,260.7,-11.8,144,1971,0.25,2.42,0.00,0.000,4,0.084,0.024,3161,3115,3522,0,0,0,0,0,0
$GC,1995,-0.95,-146.0,263.8,-8.9,144,2001,0.12,2.42,0.00,0.000,6,0.059,0.028,3076,1602,3522,0,0,0,0,0,0
$GC,2253,-0.80,-146.0,294.0,-12.1,151,2258,0.38,2.35,0.00,0.000,4,0.079,0.044,3161,164,3522,0,0,0,0,0,0
$GC,2301,-1.01,-146.0,298.4,-7.3,152,2306,0.17,2.15,0.00,0.000,6,0.046,0.020,3075,1562,3522,0,0,0,0,0,0
$GC,2584,-0.88,-146.0,329.6,-11.5,159,2586,0.32,0.00,0.00,0.000,6,0.081,0.000,3146,1564,3522,0,0,0,0,0,0
$GC,2830,-1.00,-146.0,347.4,-7.0,165,2835,0.10,2.58,0.00,0.000,4,0.074,0.031,3082,3153,3520,0,0,0,0,0,0
$GC,2859,-1.00,-146.0,350.1,-8.6,165,2864,0.17,2.55,0.00,0.000,6,0.086,0.032,3123,1594,3521,0,0,0,0,0,0
$GC,3116,-1.00,-146.0,372.4,-8.9,172,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1593,3519,0,0,0,0,0,0
$GC,3358,-1.00,-146.0,395.8,-9.6,178,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1593,3517,0,0,0,0,0,0
$GC,3602,-1.06,-146.0,417.9,-8.8,184,3607,0.00,2.55,0.00,0.000,4,0.000,0.034,3122,3149,3515,0,0,0,0,0,0
$GC,3627,-1.15,-146.0,419.9,-9.0,184,3632,0.15,2.55,0.00,0.000,6,0.054,0.035,3040,1593,3515,0,0,0,0,0,0
$GC,3889,-0.94,-146.0,451.5,-12.3,191,3894,0.40,2.42,0.00,0.000,4,0.082,0.064,3127,169,3513,0,0,0,0,0,0
$GC,3909,-0.87,-146.0,454.2,-12.0,191,3914,0.10,2.22,0.00,0.000,6,0.111,0.026,3151,1573,3513,0,0,0,0,0,0
$GC,4176,-1.04,-146.0,474.6,-7.8,198,4181,0.15,2.60,0.00,0.000,4,0.054,0.038,3082,3153,3511,0,0,0,0,0,0
$GC,4214,-1.04,-146.0,478.6,-9.9,198,4221,0.12,2.58,0.00,0.000,6,0.099,0.039,3112,1595,3511,0,0,0,0,0,0
$GC,4465,-1.04,-146.0,498.1,-7.3,205,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1595,3509,0,0,0,0,0,0
$GC,4710,-1.04,-146.0,514.2,-6.6,211,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1595,3507,0,0,0,0,0,0
$GC,4952,-1.11,-146.0,535.1,-9.0,217,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1595,3505,0,0,0,0,0,0
$GC,5196,-1.17,-146.0,558.9,-9.7,223,5198,0.12,0.00,0.00,0.000,6,0.064,0.000,3052,1595,3504,0,0,0,0,0,0
$GC,5441,-1.06,-146.0,586.7,-11.2,229,5443,0.25,0.00,0.00,0.000,6,0.086,0.000,3108,1595,3502,0,0,0,0,0,0
$STATE,5640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5640,begin apogee
$GC,5646,-0.31,0.0,602.8,7.6,234,5766,0.70,0.00,117.05,0.928,6,0.071,0.000,3270,1392,2920,0,0,0,0,0,0
$STATE,5767,end apogee,CONTROL_FINISHED_OK
$STATE,5767,begin climb
$GC,5770,1.27,146.0,606.1,0.0,237,5902,1.48,2.28,123.03,0.910,4,0.050,0.083,3617,168,2323,0,0,0,0,0,0
$GC,6117,0.99,146.0,579.0,11.8,244,6122,0.28,2.00,0.00,0.000,6,0.101,0.029,3558,1395,2316,0,0,0,0,0,0
$GC,6367,1.08,216.8,561.2,6.7,250,6435,0.00,2.20,60.80,0.884,4,0.000,0.069,3558,170,2036,0,0,0,0,0,0
$GC,6503,1.08,216.8,548.7,11.0,253,6507,0.00,2.00,0.00,0.000,6,0.000,0.029,3558,1395,2034,0,0,0,0,0,0
$GC,6790,1.10,232.0,521.9,9.3,260,6810,0.00,2.75,13.98,0.804,4,0.000,0.047,3557,2975,1973,0,0,0,0,0,0
$GC,6832,1.21,266.0,518.1,8.4,260,6873,0.17,2.70,32.85,0.844,6,0.050,0.043,3625,1396,1834,0,0,0,0,0,0
$GC,7125,1.08,266.0,480.8,13.0,268,7130,0.22,2.15,0.00,0.000,4,0.094,0.068,3576,168,1828,0,0,0,0,0,0
$GC,7147,1.01,266.0,477.8,13.4,268,7151,0.00,2.00,0.00,0.000,6,0.000,0.025,3577,1420,1828,0,0,0,0,0,0
$GC,7414,1.01,266.0,448.6,10.7,275,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1422,1826,0,0,0,0,0,0
$GC,7658,1.01,266.0,422.9,10.5,281,7662,0.00,2.15,0.00,0.000,4,0.000,0.061,3577,167,1824,0,0,0,0,0,0
$GC,7681,1.01,266.0,420.3,10.9,281,7685,0.00,1.98,0.00,0.000,6,0.000,0.024,3576,1401,1824,0,0,0,0,0,0
$GC,7948,1.01,266.3,393.4,10.0,288,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1404,1823,0,0,0,0,0,0
$GC,8190,1.02,277.7,370.3,9.5,294,8206,0.00,2.55,9.20,0.689,4,0.000,0.032,3576,2964,1788,0,0,0,0,0,0
$GC,8216,1.04,291.4,367.7,9.4,294,8237,0.00,2.62,13.95,0.725,6,0.000,0.038,3577,1391,1731,0,0,0,0,0,0
$GC,8529,1.04,291.4,334.1,11.6,302,8533,0.00,2.08,0.00,0.000,4,0.000,0.059,3577,169,1727,0,0,0,0,0,0
$GC,8580,1.04,291.4,326.5,13.1,303,8583,0.00,1.92,0.00,0.000,6,0.000,0.023,3577,1397,1728,0,0,0,0,0,0
$GC,8863,1.10,291.4,295.9,10.2,310,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1400,1727,0,0,0,0,0,0
$GC,9106,1.22,324.1,274.8,8.5,316,9139,0.12,0.00,30.67,0.696,6,0.065,0.000,3633,1400,1598,0,0,0,0,0,0
$GC,9348,1.22,324.1,240.5,14.8,322,9350,0.12,0.00,0.00,0.000,6,0.107,0.000,3606,1400,1595,0,0,0,0,0,0
$GC,9594,1.22,324.1,211.4,11.2,328,9598,0.00,2.12,0.00,0.000,4,0.000,0.054,3606,160,1594,0,0,0,0,0,0
$GC,9617,1.22,324.1,208.6,10.5,328,9620,0.00,1.90,0.00,0.000,6,0.000,0.021,3606,1415,1593,0,0,0,0,0,0
$GC,9880,1.22,324.1,181.9,10.7,346,9885,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,1417,1592,0,0,0,0,0,0
$GC,10143,1.22,324.1,151.8,10.9,371,10147,0.00,2.45,0.00,0.000,4,0.000,0.027,3606,2952,1592,0,0,0,0,0,0
$GC,10171,1.32,338.8,149.1,9.3,373,10193,0.00,2.55,13.00,0.550,6,0.000,0.034,3606,1386,1539,0,0,0,0,0,0
$GC,10447,1.32,338.8,121.2,10.4,399,10452,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,1386,1537,0,0,0,0,0,0
$GC,10711,1.38,338.8,89.8,13.0,424,10716,0.15,2.50,0.00,0.000,4,0.055,0.026,3680,2949,1536,0,0,0,0,0,0
$GC,10733,1.38,338.8,86.3,14.1,425,10740,0.17,2.55,0.00,0.000,6,0.095,0.032,3641,1393,1535,0,0,0,0,0,0
$GC,11001,1.38,338.8,52.4,11.6,450,11004,0.00,2.03,0.00,0.000,4,0.000,0.048,3641,163,1535,0,0,0,0,0,0
$GC,11082,1.38,338.8,42.8,11.2,457,11086,0.00,1.85,0.00,0.000,6,0.000,0.019,3641,1408,1535,0,0,0,0,0,0
$GC,11379,1.38,338.8,8.5,12.9,497,11388,0.00,2.45,0.00,0.000,4,0.000,0.026,3641,2941,1535,0,0,0,0,0,0
$GC,11405,1.38,338.8,5.4,12.8,500,11414,0.00,2.55,0.00,0.000,6,0.000,0.033,3641,1394,1535,0,0,0,0,0,0
$STATE,11421,end climb,SURFACE_DEPTH_REACHED
$STATE,11421,begin surface coast
$FINISH,0.8,1.001410
$STATE,11459,end surface coast,CONTROL_FINISHED_OK
$STATE,11459,begin surface
$SM_CCo,11483,21.10,0.430,0,0,1369,380.21
$SM_GC,2.01,0.00,0.00,21.10,0.000,0.000,0.430,412,1583,1369,-13.47,0.08,380.21
$IRIDIUM_FIX,2246.36,-15753.23,031101,141413
$TT8_MAMPS,0.027612
$HUMID,67.16
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,21.90
$XPDR_PINGS,13
$24V_AH,23.5,55.531
$10V_AH,9.9,44.473
$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,36.325,103.075,414.525,21.100,0.000,82.871,139.093,798.201,3.250,0.000,13.071,1065.540,8119.933,471.249,1784.370,1363.907,33.378,1228.954,0.000,1789.782,0.000,0.537,0.000
$DEVICE_MAMPS,166.439,82.836,928.070,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.674,285.060,357.562,517.111,908.505,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,38328,508
$CAP_FILE_SIZE,130513,0
$CFSIZE,260165632,153337856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090812,174005,2250.885,-15753.060,8,1.0,27,10.1