version: 66.06
glider: 148
mission: 11
dive: 466
start: 8 15 112 19 50 37
data:
$ID,148
$MISSION,11
$DIVE,466
$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,-928374
$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,3320
$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,1620
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,84
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2880
$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
$GPS1,194305,2300.156,-15804.702,36,1.0,36,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.8
$GPS2,194943,2300.179,-15804.826,14,1.0,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.245,-0.087
$KALMAN_X,-334435.5,89.2,116.0,325581.7,-2391.6
$KALMAN_Y,117729.6,-488.0,226.9,-94919.4,569.1
$MHEAD_RNG_PITCHd_Wd,99.4,61086,-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,-74.70,0.000,2,0.000,0.000,409,1631,3259,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.9,-6.6,10,120,14.18,0.00,-3.70,0.000,6,0.166,0.000,3037,1631,3477,0,0,0,0,0,0
$GC,385,-0.80,-146.0,78.1,-22.4,41,394,0.50,0.00,0.00,0.000,6,0.095,0.000,3145,1631,3480,0,0,0,0,0,0
$GC,649,-0.80,-146.0,111.0,-9.8,66,653,0.00,2.42,0.00,0.000,4,0.000,0.041,3146,157,3481,0,0,0,0,0,0
$GC,680,-0.72,-146.0,114.7,-11.3,68,689,0.00,2.22,0.00,0.000,6,0.000,0.018,3145,1609,3481,0,0,0,0,0,0
$GC,950,-0.72,-146.0,140.6,-9.8,93,954,0.00,2.47,0.00,0.000,4,0.000,0.023,3145,3185,3482,0,0,0,0,0,0
$GC,998,-0.81,-146.0,145.6,-8.6,97,1003,0.00,2.53,0.00,0.000,6,0.000,0.028,3145,1618,3482,0,0,0,0,0,0
$GC,1266,-0.81,-146.0,171.6,-10.1,121,1270,0.00,2.35,0.00,0.000,4,0.000,0.041,3145,163,3482,0,0,0,0,0,0
$GC,1281,-0.81,-146.0,174.0,-10.5,122,1285,0.00,2.22,0.00,0.000,6,0.000,0.018,3145,1645,3483,0,0,0,0,0,0
$GC,1578,-0.81,-146.0,204.2,-10.1,147,1582,0.00,2.38,0.00,0.000,4,0.000,0.023,3145,3166,3483,0,0,0,0,0,0
$GC,1613,-0.88,-146.0,207.8,-9.8,147,1617,0.00,2.45,0.00,0.000,6,0.000,0.027,3145,1631,3483,0,0,0,0,0,0
$GC,1863,-0.88,-146.0,231.9,-9.5,153,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1631,3483,0,0,0,0,0,0
$GC,2107,-0.88,-146.0,250.5,-7.3,159,2111,0.00,2.40,0.00,0.000,4,0.000,0.024,3145,3166,3484,0,0,0,0,0,0
$GC,2137,-0.98,-146.0,252.6,-6.9,159,2142,0.15,2.47,0.00,0.000,6,0.051,0.028,3051,1625,3484,0,0,0,0,0,0
$GC,2393,-0.69,-146.0,287.9,-14.8,166,2400,0.57,2.35,0.00,0.000,4,0.084,0.041,3162,174,3484,0,0,0,0,0,0
$GC,2406,-0.51,-146.0,289.7,-15.3,166,2411,0.20,2.17,0.00,0.000,6,0.091,0.018,3207,1626,3484,0,0,0,0,0,0
$GC,2682,-0.80,-146.0,308.5,-6.8,173,2687,0.25,2.45,0.00,0.000,4,0.034,0.025,3089,3176,3484,0,0,0,0,0,0
$GC,2706,-0.80,-146.0,311.1,-11.0,173,2711,0.25,2.47,0.00,0.000,6,0.076,0.028,3148,1631,3484,0,0,0,0,0,0
$GC,2969,-0.91,-146.0,331.3,-7.5,180,2970,0.10,0.00,0.00,0.000,6,0.074,0.000,3083,1631,3484,0,0,0,0,0,0
$GC,3211,-0.82,-146.0,354.8,-9.8,186,3216,0.25,2.47,0.00,0.000,4,0.081,0.028,3144,3164,3484,0,0,0,0,0,0
$GC,3236,-0.91,-146.0,356.8,-7.0,186,3241,0.10,2.47,0.00,0.000,6,0.072,0.031,3072,1643,3484,0,0,0,0,0,0
$GC,3498,-0.79,-146.0,382.5,-10.2,193,3500,0.38,0.00,0.00,0.000,6,0.077,0.000,3149,1643,3483,0,0,0,0,0,0
$GC,3740,-0.93,-146.0,398.7,-6.5,199,3745,0.15,2.50,0.00,0.000,4,0.054,0.033,3076,3169,3482,0,0,0,0,0,0
$GC,3765,-0.93,-146.0,401.0,-9.6,199,3770,0.17,2.50,0.00,0.000,6,0.085,0.035,3116,1634,3482,0,0,0,0,0,0
$GC,4027,-0.93,-146.0,423.7,-8.8,206,4031,0.00,2.50,0.00,0.000,4,0.000,0.064,3116,169,3480,0,0,0,0,0,0
$GC,4050,-0.93,-146.0,426.1,-10.0,206,4055,0.00,2.28,0.00,0.000,6,0.000,0.024,3116,1614,3480,0,0,0,0,0,0
$GC,4311,-0.93,-146.0,447.9,-8.4,213,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1614,3478,0,0,0,0,0,0
$GC,4554,-1.00,-146.0,467.0,-7.7,219,4558,0.00,2.55,0.00,0.000,4,0.000,0.038,3116,3188,3476,0,0,0,0,0,0
$GC,4592,-1.15,-146.0,469.7,-7.1,219,4598,0.20,2.55,0.00,0.000,6,0.043,0.043,3022,1646,3476,0,0,0,0,0,0
$GC,4844,-0.95,-146.0,496.9,-10.9,226,4851,0.38,2.53,0.00,0.000,4,0.083,0.067,3111,171,3475,0,0,0,0,0,0
$GC,4866,-0.95,-146.0,499.2,-9.2,226,4870,0.00,2.35,0.00,0.000,6,0.000,0.029,3111,1635,3474,0,0,0,0,0,0
$GC,5130,-1.02,-146.0,515.2,-6.0,233,5135,0.00,2.58,0.00,0.000,4,0.000,0.043,3111,3197,3473,0,0,0,0,0,0
$GC,5156,-1.11,-146.0,516.7,-6.7,233,5161,0.15,2.58,0.00,0.000,6,0.054,0.041,3034,1639,3472,0,0,0,0,0,0
$GC,5419,-0.95,-146.0,543.9,-11.2,240,5426,0.32,2.53,0.00,0.000,4,0.084,0.071,3111,173,3471,0,0,0,0,0,0
$GC,5459,-1.06,-146.0,548.3,-9.3,240,5465,0.00,2.38,0.00,0.000,6,0.000,0.032,3111,1642,3470,0,0,0,0,0,0
$GC,5712,-1.13,-146.0,569.3,-8.7,247,5717,0.17,2.60,0.00,0.000,4,0.051,0.047,3040,3197,3469,0,0,0,0,0,0
$GC,5731,-1.13,-146.0,571.8,-10.8,247,5737,0.15,2.60,0.00,0.000,6,0.097,0.043,3074,1639,3469,0,0,0,0,0,0
$STATE,5994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5994,begin apogee
$GC,6002,-0.31,0.0,600.6,10.9,254,6124,0.77,0.00,118.65,0.926,6,0.073,0.000,3252,1397,2880,0,0,0,0,0,0
$STATE,6125,end apogee,CONTROL_FINISHED_OK
$STATE,6125,begin climb
$GC,6127,1.27,146.0,605.9,0.0,257,6259,1.45,2.28,122.78,0.906,4,0.049,0.082,3595,174,2283,0,0,0,0,0,0
$GC,6427,1.06,146.0,584.8,11.2,263,6431,0.20,1.98,0.00,0.000,6,0.098,0.028,3552,1402,2278,0,0,0,0,0,0
$GC,6679,1.12,198.8,566.0,7.6,269,6731,0.00,2.25,46.00,0.878,4,0.000,0.069,3551,172,2069,0,0,0,0,0,0
$GC,6768,1.12,198.8,557.7,10.5,271,6772,0.00,2.00,0.00,0.000,6,0.000,0.028,3552,1397,2068,0,0,0,0,0,0
$GC,7054,1.15,224.9,532.6,8.8,278,7083,0.00,2.20,24.27,0.841,4,0.000,0.066,3551,167,1961,0,0,0,0,0,0
$GC,7167,1.15,224.9,521.5,10.1,280,7170,0.00,2.00,0.00,0.000,6,0.000,0.028,3551,1404,1959,0,0,0,0,0,0
$GC,7432,1.25,255.0,498.6,8.6,287,7466,0.17,2.17,27.90,0.836,4,0.052,0.062,3618,167,1840,0,0,0,0,0,0
$GC,7550,1.09,255.0,483.5,13.8,289,7555,0.28,1.95,0.00,0.000,6,0.091,0.026,3559,1385,1838,0,0,0,0,0,0
$GC,7807,1.12,278.3,460.3,8.9,296,7835,0.00,2.15,21.23,0.805,4,0.000,0.060,3559,167,1743,0,0,0,0,0,0
$GC,7850,1.12,278.3,455.8,10.4,297,7854,0.00,1.95,0.00,0.000,6,0.000,0.025,3559,1381,1743,0,0,0,0,0,0
$GC,8141,1.19,278.3,425.7,10.5,304,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1383,1739,0,0,0,0,0,0
$GC,8387,1.27,278.3,399.5,10.7,310,8391,0.15,2.08,0.00,0.000,4,0.058,0.058,3618,167,1738,0,0,0,0,0,0
$GC,8462,1.15,278.3,388.4,15.7,311,8466,0.22,1.90,0.00,0.000,6,0.093,0.025,3569,1379,1737,0,0,0,0,0,0
$GC,8723,1.15,278.3,359.3,11.1,318,8727,0.00,2.08,0.00,0.000,4,0.000,0.057,3569,163,1736,0,0,0,0,0,0
$GC,8760,1.15,278.3,354.6,12.5,318,8765,0.00,1.90,0.00,0.000,6,0.000,0.025,3569,1370,1736,0,0,0,0,0,0
$GC,9009,1.15,278.3,327.2,11.0,325,9013,0.00,2.08,0.00,0.000,4,0.000,0.057,3569,140,1734,0,0,0,0,0,0
$GC,9032,1.15,278.3,324.3,11.9,325,9036,0.00,1.92,0.00,0.000,6,0.000,0.023,3569,1378,1734,0,0,0,0,0,0
$GC,9303,1.25,289.3,297.4,9.5,332,9315,0.10,0.00,9.65,0.645,6,0.077,0.000,3616,1381,1700,0,0,0,0,0,0
$GC,9544,1.25,289.3,270.2,11.0,338,9548,0.12,2.08,0.00,0.000,4,0.107,0.055,3589,168,1698,0,0,0,0,0,0
$GC,9597,1.25,289.3,264.4,11.1,339,9600,0.00,1.88,0.00,0.000,6,0.000,0.022,3589,1373,1698,0,0,0,0,0,0
$GC,9878,1.25,289.3,235.8,10.3,346,9883,0.00,2.55,0.00,0.000,4,0.000,0.028,3589,2965,1697,0,0,0,0,0,0
$GC,9911,1.37,289.3,232.4,10.2,346,9916,0.12,2.65,0.00,0.000,6,0.063,0.035,3650,1367,1694,0,0,0,0,0,0
$GC,10163,1.28,289.3,200.2,13.0,352,10165,0.22,0.00,0.00,0.000,6,0.091,0.000,3599,1366,1695,0,0,0,0,0,0
$GC,10418,1.28,293.7,175.0,9.8,373,10425,0.00,0.00,4.68,0.442,6,0.000,0.000,3599,1366,1682,0,0,0,0,0,0
$GC,10682,1.28,293.7,146.9,10.5,398,10691,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1366,1681,0,0,0,0,0,0
$GC,10947,1.28,293.7,119.5,10.1,423,10952,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1366,1681,0,0,0,0,0,0
$GC,11210,1.36,293.7,92.0,10.9,448,11214,0.00,1.95,0.00,0.000,4,0.000,0.050,3598,166,1681,0,0,0,0,0,0
$GC,11231,1.42,293.7,89.6,10.6,450,11236,0.10,1.88,0.00,0.000,6,0.032,0.020,3659,1399,1681,0,0,0,0,0,0
$GC,11502,1.35,293.7,56.9,11.9,475,11507,0.20,2.05,0.00,0.000,4,0.087,0.046,3614,164,1681,0,0,0,0,0,0
$GC,11562,1.35,293.7,49.8,11.4,480,11565,0.00,1.80,0.00,0.000,6,0.000,0.019,3614,1369,1681,0,0,0,0,0,0
$GC,11846,1.45,311.4,21.8,9.2,512,11872,0.10,2.55,17.62,0.444,4,0.077,0.025,3667,2942,1610,0,0,0,0,0,0
$GC,11931,1.45,311.4,12.0,11.2,524,11940,0.12,2.60,0.00,0.000,6,0.069,0.035,3632,1377,1606,0,0,0,0,0,0
$STATE,12002,end climb,SURFACE_DEPTH_REACHED
$STATE,12003,begin surface coast
$FINISH,0.7,1.019836
$STATE,12046,end surface coast,CONTROL_FINISHED_OK
$STATE,12046,begin surface
$SM_CCo,12070,39.35,0.437,0,0,1329,380.21
$SM_GC,1.49,0.00,0.00,39.35,0.000,0.000,0.437,406,1605,1329,-13.40,-0.42,380.21
$IRIDIUM_FIX,2251.04,-15802.79,091101,161608
$TT8_MAMPS,0.027612
$HUMID,66.02
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.50
$XPDR_PINGS,6
$24V_AH,23.5,60.842
$10V_AH,9.9,49.211
$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,35.950,128.875,392.775,39.350,0.000,25.376,34.620,193.448,1.500,0.000,15.619,1153.120,8328.655,485.189,1937.256,600.120,33.379,1314.875,0.000,1938.153,0.000,0.537,0.000
$DEVICE_MAMPS,166.439,82.069,925.769,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.824,309.109,385.739,545.004,957.533,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,41494,541
$CAP_FILE_SIZE,129508,0
$CFSIZE,260165632,150691840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150812,231335,2259.555,-15804.465,26,1.2,26,10.1