version: 66.06
glider: 148
mission: 11
dive: 427
start: 8 10 112 4 14 19
data:
$ID,148
$MISSION,11
$DIVE,427
$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,-927580.94
$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,26
$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
$GPS1,040653,2247.011,-15757.998,25,1.1,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.7
$GPS2,041325,2247.048,-15758.063,14,1.5,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.145,-0.215
$KALMAN_X,-243136.4,-231.8,3.8,246266.9,-1497.8
$KALMAN_Y,97444.7,79.7,143.1,-99434.6,-312.5
$MHEAD_RNG_PITCHd_Wd,203.9,18194,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.28,0.000,2,0.000,0.000,413,1604,3145,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.2,-4.1,10,128,13.60,2.42,-6.65,0.000,4,0.146,0.050,3057,159,3518,0,0,0,0,0,0
$GC,218,-0.87,-146.0,36.2,-22.0,26,223,0.40,2.12,0.00,0.000,6,0.094,0.018,3145,1552,3519,0,0,0,0,0,0
$GC,488,-0.74,-146.0,73.9,-12.5,50,493,0.15,2.55,0.00,0.000,4,0.106,0.023,3177,3157,3521,0,0,0,0,0,0
$GC,520,-0.74,-146.0,78.5,-11.5,52,525,0.00,2.55,0.00,0.000,6,0.000,0.035,3178,1567,3521,0,0,0,0,0,0
$GC,785,-0.74,-146.0,106.4,-8.3,76,789,0.00,2.53,0.00,0.000,4,0.000,0.023,3177,3159,3522,0,0,0,0,0,0
$GC,827,-0.87,-146.0,109.5,-7.2,79,832,0.12,2.50,0.00,0.000,6,0.058,0.027,3104,1592,3522,0,0,0,0,0,0
$GC,1095,-0.68,-146.0,140.3,-12.3,103,1100,0.38,2.30,0.00,0.000,4,0.091,0.040,3189,166,3523,0,0,0,0,0,0
$GC,1127,-0.76,-146.0,144.4,-9.2,105,1132,0.00,2.17,0.00,0.000,6,0.000,0.018,3189,1603,3523,0,0,0,0,0,0
$GC,1395,-0.87,-146.0,164.4,-8.2,130,1400,0.17,2.40,0.00,0.000,4,0.045,0.022,3104,3137,3524,0,0,0,0,0,0
$GC,1424,-0.87,-146.0,168.4,-11.6,132,1434,0.15,2.53,0.00,0.000,6,0.069,0.028,3143,1586,3524,0,0,0,0,0,0
$GC,1690,-0.87,-146.0,196.1,-8.6,157,1694,0.00,2.42,0.00,0.000,4,0.000,0.024,3143,3130,3524,0,0,0,0,0,0
$GC,1720,-0.87,-146.0,198.8,-6.6,159,1730,0.00,2.50,0.00,0.000,6,0.000,0.028,3143,1596,3524,0,0,0,0,0,0
$GC,1992,-0.87,-146.0,221.0,-9.3,168,1996,0.00,2.33,0.00,0.000,4,0.000,0.043,3143,170,3524,0,0,0,0,0,0
$GC,2020,-0.87,-146.0,224.8,-13.5,168,2024,0.00,2.15,0.00,0.000,6,0.000,0.018,3143,1583,3524,0,0,0,0,0,0
$GC,2276,-0.87,-146.0,248.5,-8.3,175,2280,0.00,2.47,0.00,0.000,4,0.000,0.025,3143,3146,3524,0,0,0,0,0,0
$GC,2309,-1.02,-146.0,251.0,-6.3,175,2314,0.12,2.53,0.00,0.000,6,0.061,0.028,3065,1586,3524,0,0,0,0,0,0
$GC,2565,-0.81,-146.0,285.8,-14.1,182,2567,0.45,0.00,0.00,0.000,6,0.081,0.000,3160,1586,3524,0,0,0,0,0,0
$GC,2810,-0.96,-146.0,307.5,-8.6,188,2815,0.12,2.50,0.00,0.000,4,0.061,0.028,3092,3136,3524,0,0,0,0,0,0
$GC,2848,-0.96,-146.0,311.6,-10.0,188,2855,0.17,2.47,0.00,0.000,6,0.085,0.031,3134,1601,3524,0,0,0,0,0,0
$GC,3101,-1.02,-146.0,333.3,-8.8,195,3105,0.00,2.47,0.00,0.000,4,0.000,0.029,3133,3135,3524,0,0,0,0,0,0
$GC,3129,-1.15,-146.0,336.0,-9.3,195,3134,0.17,2.50,0.00,0.000,6,0.048,0.031,3043,1602,3524,0,0,0,0,0,0
$GC,3385,-0.92,-146.0,368.9,-12.9,202,3387,0.45,0.00,0.00,0.000,6,0.081,0.000,3139,1602,3524,0,0,0,0,0,0
$GC,3631,-1.02,-146.0,387.5,-7.6,208,3636,0.10,2.45,0.00,0.000,4,0.075,0.060,3080,167,3522,0,0,0,0,0,0
$GC,3646,-1.02,-146.0,389.4,-8.5,208,3651,0.15,2.22,0.00,0.000,6,0.099,0.022,3115,1588,3522,0,0,0,0,0,0
$GC,3915,-1.02,-146.0,416.5,-9.9,215,3919,0.00,2.55,0.00,0.000,4,0.000,0.035,3115,3151,3521,0,0,0,0,0,0
$GC,3931,-1.02,-146.0,418.2,-10.0,215,3936,0.00,2.53,0.00,0.000,6,0.000,0.039,3115,1612,3521,0,0,0,0,0,0
$GC,4200,-1.02,-146.0,440.3,-7.6,222,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1612,3518,0,0,0,0,0,0
$GC,4444,-1.02,-146.0,454.7,-5.6,228,4448,0.00,2.47,0.00,0.000,4,0.000,0.067,3115,173,3517,0,0,0,0,0,0
$GC,4473,-1.02,-146.0,456.4,-6.7,228,4478,0.00,2.30,0.00,0.000,6,0.000,0.028,3115,1614,3517,0,0,0,0,0,0
$GC,4733,-1.02,-146.0,478.1,-9.1,235,4737,0.00,2.53,0.00,0.000,4,0.000,0.040,3116,3163,3515,0,0,0,0,0,0
$GC,4757,-1.11,-146.0,480.5,-10.0,235,4761,0.00,2.55,0.00,0.000,6,0.000,0.038,3116,1611,3516,0,0,0,0,0,0
$GC,5017,-1.18,-146.0,501.6,-7.6,242,5019,0.12,0.00,0.00,0.000,6,0.063,0.000,3054,1611,3514,0,0,0,0,0,0
$GC,5260,-1.06,-146.0,527.7,-11.0,248,5265,0.25,2.50,0.00,0.000,4,0.086,0.081,3115,167,3512,0,0,0,0,0,0
$GC,5314,-1.16,-146.0,533.0,-9.1,249,5320,0.12,2.35,0.00,0.000,6,0.062,0.034,3056,1618,3512,0,0,0,0,0,0
$GC,5593,-1.05,-146.0,564.9,-11.7,256,5595,0.25,0.00,0.00,0.000,6,0.087,0.000,3111,1619,3509,0,0,0,0,0,0
$GC,5837,-1.12,-146.0,586.4,-8.6,262,5842,0.00,2.53,0.00,0.000,4,0.000,0.073,3111,164,3508,0,0,0,0,0,0
$GC,5862,-1.12,-146.0,588.9,-10.6,262,5866,0.00,2.38,0.00,0.000,6,0.000,0.035,3112,1619,3508,0,0,0,0,0,0
$STATE,5997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5997,begin apogee
$GC,6003,-0.31,0.0,600.8,8.7,266,6125,0.70,0.00,118.30,0.928,6,0.069,0.000,3274,1381,2919,0,0,0,0,0,0
$STATE,6126,end apogee,CONTROL_FINISHED_OK
$STATE,6126,begin climb
$GC,6128,1.27,146.0,605.9,0.0,269,6261,1.45,2.20,123.50,0.910,4,0.045,0.075,3624,183,2323,0,0,0,0,0,0
$GC,6529,0.97,146.0,572.1,13.7,277,6536,0.35,2.00,0.00,0.000,6,0.094,0.029,3550,1409,2315,0,0,0,0,0,0
$GC,6780,1.02,187.6,550.0,8.1,284,6822,0.00,2.22,35.17,0.865,4,0.000,0.069,3549,175,2154,0,0,0,0,0,0
$GC,6904,1.02,187.6,538.4,10.4,286,6908,0.00,2.00,0.00,0.000,6,0.000,0.028,3550,1403,2153,0,0,0,0,0,0
$GC,7163,1.07,226.4,516.8,8.2,293,7206,0.10,2.20,35.17,0.851,4,0.077,0.065,3593,172,1995,0,0,0,0,0,0
$GC,7244,0.94,226.4,507.6,13.2,294,7249,0.22,2.00,0.00,0.000,6,0.092,0.026,3545,1410,1994,0,0,0,0,0,0
$GC,7495,1.03,245.9,484.0,9.1,300,7520,0.00,2.22,18.45,0.808,4,0.000,0.064,3545,175,1916,0,0,0,0,0,0
$GC,7536,1.09,295.5,480.7,7.7,300,7590,0.15,1.98,45.92,0.834,6,0.060,0.025,3601,1405,1714,0,0,0,0,0,0
$GC,7872,1.09,295.5,442.5,12.0,309,7877,0.10,2.62,0.00,0.000,4,0.116,0.044,3578,2965,1707,0,0,0,0,0,0
$GC,7888,1.09,295.5,440.6,12.5,309,7893,0.00,2.65,0.00,0.000,6,0.000,0.040,3578,1395,1705,0,0,0,0,0,0
$GC,8157,1.09,295.5,407.9,12.5,316,8161,0.00,2.60,0.00,0.000,4,0.000,0.040,3578,2964,1704,0,0,0,0,0,0
$GC,8176,1.09,295.5,405.5,11.7,316,8180,0.00,2.65,0.00,0.000,6,0.000,0.041,3578,1391,1702,0,0,0,0,0,0
$GC,8440,1.09,295.5,371.6,13.0,323,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1391,1702,0,0,0,0,0,0
$GC,8683,1.09,295.5,344.0,10.7,329,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1391,1701,0,0,0,0,0,0
$GC,8927,1.09,295.5,316.2,11.7,335,8931,0.00,2.58,0.00,0.000,4,0.000,0.033,3578,2967,1701,0,0,0,0,0,0
$GC,8980,1.23,295.5,310.3,10.5,336,8985,0.12,2.65,0.00,0.000,6,0.062,0.040,3634,1387,1698,0,0,0,0,0,0
$GC,9259,1.13,295.5,271.2,13.7,343,9264,0.22,2.08,0.00,0.000,4,0.092,0.055,3586,163,1698,0,0,0,0,0,0
$GC,9278,1.13,295.5,268.4,13.5,343,9282,0.00,1.95,0.00,0.000,6,0.000,0.022,3586,1426,1698,0,0,0,0,0,0
$GC,9547,1.13,295.5,237.8,10.9,350,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1429,1698,0,0,0,0,0,0
$GC,9790,1.23,324.9,216.6,8.6,356,9821,0.00,2.17,24.85,0.642,4,0.000,0.051,3586,167,1593,0,0,0,0,0,0
$GC,9866,1.30,324.9,207.1,13.9,357,9870,0.15,1.90,0.00,0.000,6,0.056,0.021,3638,1393,1593,0,0,0,0,0,0
$GC,10142,1.23,324.9,168.7,12.7,379,10147,0.15,2.53,0.00,0.000,4,0.106,0.029,3609,2952,1592,0,0,0,0,0,0
$GC,10197,1.36,324.9,161.6,11.3,384,10202,0.12,2.58,0.00,0.000,6,0.063,0.035,3672,1394,1588,0,0,0,0,0,0
$GC,10458,1.22,324.9,123.2,15.8,408,10462,0.28,2.03,0.00,0.000,4,0.085,0.048,3607,165,1588,0,0,0,0,0,0
$GC,10509,1.22,324.9,116.2,12.8,412,10518,0.00,1.90,0.00,0.000,6,0.000,0.020,3607,1393,1588,0,0,0,0,0,0
$GC,10775,1.22,324.9,84.8,12.1,437,10780,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1395,1588,0,0,0,0,0,0
$GC,11041,1.30,324.9,57.8,10.6,462,11049,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1395,1588,0,0,0,0,0,0
$GC,11308,1.44,362.4,34.0,8.3,487,11347,0.17,0.00,33.28,0.472,6,0.049,0.000,3688,1395,1440,0,0,0,0,0,0
$STATE,11525,end climb,SURFACE_DEPTH_REACHED
$STATE,11525,begin surface coast
$FINISH,0.9,1.013843
$STATE,11557,end surface coast,CONTROL_FINISHED_OK
$STATE,11557,begin surface
$SM_CCo,11581,14.48,0.421,0,0,1369,380.21
$SM_GC,2.12,0.00,0.00,14.48,0.000,0.000,0.421,416,1582,1369,-13.45,0.06,380.21
$IRIDIUM_FIX,2241.69,-15754.11,041101,000034
$TT8_MAMPS,0.027612
$HUMID,67.72
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.80
$XPDR_PINGS,9
$24V_AH,23.5,56.026
$10V_AH,9.9,44.902
$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,35.000,128.100,434.650,14.475,0.000,30.299,42.720,175.012,2.250,0.000,16.440,1113.531,7863.341,476.665,1941.465,590.220,33.374,1315.287,0.000,1940.258,0.000,0.535,0.000
$DEVICE_MAMPS,146.497,80.535,928.070,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.840,295.791,376.253,552.607,970.885,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,41498,524
$CAP_FILE_SIZE,126125,0
$CFSIZE,260165632,153100288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100812,072900,2245.679,-15800.117,44,1.8,44,10.1