version: 66.06
glider: 148
mission: 11
dive: 485
start: 8 18 112 14 1 4
data:
$ID,148
$MISSION,11
$DIVE,485
$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,-928700.81
$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,1630
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,83
$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
$GPS1,134928,2250.306,-15755.294,36,1.3,40,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-74.1
$GPS2,140012,2250.276,-15755.418,10,1.3,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.247,-0.082
$KALMAN_X,-372455.2,-86.3,-228.5,380187.8,-1746.8
$KALMAN_Y,119638.6,33.4,-464.4,-114998.7,108.4
$MHEAD_RNG_PITCHd_Wd,98.2,37074,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-74.75,0.000,2,0.000,0.000,413,1641,3254,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.7,-5.7,10,123,13.55,2.47,-3.78,0.000,4,0.147,0.048,3036,157,3474,0,0,0,0,0,0
$GC,184,-0.89,-146.0,32.7,-20.7,22,193,0.38,2.25,0.00,0.000,6,0.085,0.018,3123,1600,3476,0,0,0,0,0,0
$GC,453,-0.70,-146.0,71.6,-14.5,47,458,0.20,2.55,0.00,0.000,4,0.096,0.024,3167,3205,3477,0,0,0,0,0,0
$GC,499,-0.78,-146.0,77.1,-8.6,50,503,0.00,2.55,0.00,0.000,6,0.000,0.028,3167,1627,3478,0,0,0,0,0,0
$GC,763,-0.78,-146.0,101.5,-9.4,74,767,0.00,2.35,0.00,0.000,4,0.000,0.042,3167,173,3478,0,0,0,0,0,0
$GC,802,-0.84,-146.0,105.6,-10.2,77,807,0.12,2.25,0.00,0.000,6,0.061,0.018,3112,1657,3478,0,0,0,0,0,0
$GC,1072,-0.65,-146.0,143.3,-14.9,102,1081,0.35,0.00,0.00,0.000,6,0.083,0.000,3176,1659,3479,0,0,0,0,0,0
$GC,1339,-0.74,-146.0,169.5,-9.6,127,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1660,3480,0,0,0,0,0,0
$GC,1604,-0.84,-146.0,193.4,-8.9,152,1609,0.17,2.45,0.00,0.000,4,0.048,0.043,3088,169,3480,0,0,0,0,0,0
$GC,1644,-0.68,-146.0,198.8,-13.7,155,1651,0.38,2.22,0.00,0.000,6,0.081,0.018,3173,1627,3480,0,0,0,0,0,0
$GC,1906,-0.80,-146.0,219.4,-7.6,163,1910,0.12,2.47,0.00,0.000,4,0.061,0.024,3090,3192,3480,0,0,0,0,0,0
$GC,1931,-0.80,-146.0,221.9,-10.2,163,1937,0.25,2.50,0.00,0.000,6,0.080,0.027,3148,1622,3480,0,0,0,0,0,0
$GC,2192,-0.80,-146.0,243.6,-8.0,170,2196,0.00,2.47,0.00,0.000,4,0.000,0.025,3148,3195,3480,0,0,0,0,0,0
$GC,2213,-0.88,-146.0,245.3,-8.3,170,2217,0.00,2.50,0.00,0.000,6,0.000,0.026,3148,1636,3480,0,0,0,0,0,0
$GC,2477,-0.95,-146.0,264.7,-7.1,177,2482,0.15,2.50,0.00,0.000,4,0.052,0.025,3062,3200,3480,0,0,0,0,0,0
$GC,2497,-0.95,-146.0,266.5,-8.6,177,2502,0.22,2.50,0.00,0.000,6,0.084,0.027,3114,1633,3480,0,0,0,0,0,0
$GC,2764,-0.95,-146.0,290.5,-9.3,184,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1633,3480,0,0,0,0,0,0
$GC,3006,-0.95,-146.0,314.6,-9.9,190,3010,0.00,2.38,0.00,0.000,4,0.000,0.046,3114,175,3480,0,0,0,0,0,0
$GC,3029,-0.95,-146.0,317.2,-11.0,190,3033,0.00,2.22,0.00,0.000,6,0.000,0.019,3114,1628,3480,0,0,0,0,0,0
$GC,3290,-0.95,-146.0,341.9,-9.7,197,3294,0.00,2.53,0.00,0.000,4,0.000,0.031,3114,3205,3479,0,0,0,0,0,0
$GC,3334,-1.02,-146.0,346.3,-9.4,198,3338,0.00,2.50,0.00,0.000,6,0.000,0.030,3113,1649,3479,0,0,0,0,0,0
$GC,3621,-1.02,-146.0,369.5,-7.8,205,3625,0.00,2.47,0.00,0.000,4,0.000,0.054,3114,164,3478,0,0,0,0,0,0
$GC,3679,-1.02,-146.0,375.1,-9.5,206,3683,0.00,2.30,0.00,0.000,6,0.000,0.021,3114,1632,3478,0,0,0,0,0,0
$GC,3957,-1.02,-146.0,400.3,-9.2,213,3961,0.00,2.53,0.00,0.000,4,0.000,0.033,3114,3208,3476,0,0,0,0,0,0
$GC,3982,-1.09,-146.0,402.3,-9.4,213,3988,0.12,2.58,0.00,0.000,6,0.062,0.035,3037,1640,3476,0,0,0,0,0,0
$GC,4243,-0.87,-146.0,437.7,-13.8,220,4250,0.40,2.50,0.00,0.000,4,0.083,0.063,3126,170,3474,0,0,0,0,0,0
$GC,4262,-0.78,-146.0,439.9,-12.1,220,4267,0.10,2.30,0.00,0.000,6,0.113,0.025,3149,1642,3475,0,0,0,0,0,0
$GC,4533,-0.93,-146.0,460.6,-7.5,227,4538,0.15,2.55,0.00,0.000,4,0.053,0.038,3075,3201,3472,0,0,0,0,0,0
$GC,4549,-1.01,-146.0,462.3,-7.8,227,4554,0.12,2.55,0.00,0.000,6,0.100,0.035,3104,1646,3472,0,0,0,0,0,0
$GC,4818,-1.01,-146.0,488.6,-10.1,234,4822,0.00,2.50,0.00,0.000,4,0.000,0.067,3104,174,3470,0,0,0,0,0,0
$GC,4848,-1.01,-146.0,491.6,-11.2,234,4852,0.00,2.33,0.00,0.000,6,0.000,0.030,3104,1635,3470,0,0,0,0,0,0
$GC,5102,-1.01,-146.0,514.4,-8.8,241,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1635,3469,0,0,0,0,0,0
$GC,5346,-1.01,-146.0,534.0,-7.9,247,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1635,3467,0,0,0,0,0,0
$GC,5591,-1.01,-146.0,552.7,-7.5,253,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1636,3465,0,0,0,0,0,0
$GC,5833,-1.01,-146.0,571.9,-8.0,259,5838,0.00,2.62,0.00,0.000,4,0.000,0.054,3104,3215,3464,0,0,0,0,0,0
$GC,5853,-1.01,-146.0,573.5,-8.0,259,5857,0.00,2.62,0.00,0.000,6,0.000,0.043,3104,1645,3464,0,0,0,0,0,0
$GC,6119,-1.01,-146.0,595.4,-8.4,266,6123,0.00,2.58,0.00,0.000,4,0.000,0.077,3104,170,3462,0,0,0,0,0,0
$GC,6152,-1.01,-146.0,598.9,-9.9,266,6156,0.00,2.38,0.00,0.000,6,0.000,0.033,3103,1635,3462,0,0,0,0,0,0
$STATE,6196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6196,begin apogee
$GC,6202,-0.31,0.0,602.9,9.1,267,6323,0.65,0.00,117.95,0.927,6,0.073,0.000,3253,1340,2880,0,0,0,0,0,0
$STATE,6324,end apogee,CONTROL_FINISHED_OK
$STATE,6324,begin climb
$GC,6328,1.27,146.0,607.8,0.0,270,6462,1.45,2.10,123.68,0.907,4,0.051,0.075,3597,178,2282,0,0,0,0,0,0
$GC,6584,1.06,146.0,591.8,10.3,275,6591,0.20,1.90,0.00,0.000,6,0.098,0.028,3553,1361,2277,0,0,0,0,0,0
$GC,6835,1.13,197.3,572.6,7.6,282,6884,0.00,2.12,44.67,0.877,4,0.000,0.068,3553,178,2074,0,0,0,0,0,0
$GC,6916,1.13,197.3,565.5,10.2,283,6922,0.00,1.90,0.00,0.000,6,0.000,0.028,3553,1348,2072,0,0,0,0,0,0
$GC,7166,1.14,203.1,541.2,9.7,290,7178,0.00,2.67,5.18,0.633,4,0.000,0.049,3553,2927,2052,0,0,0,0,0,0
$GC,7198,1.15,218.0,538.0,9.3,290,7219,0.00,2.65,15.32,0.812,6,0.000,0.046,3553,1361,1990,0,0,0,0,0,0
$GC,7506,1.15,218.0,505.8,11.0,298,7510,0.00,2.10,0.00,0.000,4,0.000,0.073,3553,157,1985,0,0,0,0,0,0
$GC,7562,1.15,218.0,498.6,12.6,299,7565,0.00,1.90,0.00,0.000,6,0.000,0.025,3553,1371,1985,0,0,0,0,0,0
$GC,7840,1.15,218.0,469.6,10.2,306,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1373,1983,0,0,0,0,0,0
$GC,8083,1.22,219.1,445.2,10.0,312,8088,0.12,2.08,0.00,0.000,4,0.064,0.061,3606,164,1983,0,0,0,0,0,0
$GC,8243,1.09,219.1,424.1,12.7,315,8247,0.22,1.85,0.00,0.000,6,0.093,0.025,3558,1341,1982,0,0,0,0,0,0
$GC,8513,1.14,258.6,400.5,8.2,322,8553,0.00,0.00,37.30,0.794,6,0.000,0.000,3558,1344,1825,0,0,0,0,0,0
$GC,8796,1.25,282.2,375.5,8.9,329,8820,0.15,0.00,21.55,0.752,6,0.056,0.000,3619,1344,1729,0,0,0,0,0,0
$GC,9041,1.18,282.2,345.0,12.8,335,9046,0.20,2.03,0.00,0.000,4,0.092,0.054,3575,160,1725,0,0,0,0,0,0
$GC,9115,1.18,282.2,336.2,11.5,336,9120,0.00,1.85,0.00,0.000,6,0.000,0.024,3575,1323,1726,0,0,0,0,0,0
$GC,9377,1.25,284.8,310.5,9.9,343,9381,0.00,2.58,0.00,0.000,4,0.000,0.032,3575,2923,1723,0,0,0,0,0,0
$GC,9410,1.41,295.9,306.9,9.5,343,9431,0.20,2.67,13.00,0.674,6,0.043,0.039,3641,1312,1673,0,0,0,0,0,0
$GC,9713,1.30,295.9,266.4,14.0,351,9718,0.17,1.95,0.00,0.000,4,0.098,0.058,3603,163,1670,0,0,0,0,0,0
$GC,9787,1.30,295.9,256.0,12.4,352,9791,0.00,1.80,0.00,0.000,6,0.000,0.021,3604,1334,1670,0,0,0,0,0,0
$GC,10051,1.30,295.9,227.5,10.7,359,10052,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1336,1669,0,0,0,0,0,0
$GC,10296,1.30,295.9,201.6,10.6,365,10300,0.00,2.50,0.00,0.000,4,0.000,0.027,3604,2906,1668,0,0,0,0,0,0
$GC,10320,1.36,295.9,199.1,10.2,365,10324,0.00,2.60,0.00,0.000,6,0.000,0.035,3604,1316,1666,0,0,0,0,0,0
$GC,10592,1.36,295.9,172.4,10.0,390,10595,0.00,1.90,0.00,0.000,4,0.000,0.051,3603,165,1666,0,0,0,0,0,0
$GC,10665,1.36,295.9,164.5,11.3,397,10669,0.00,1.75,0.00,0.000,6,0.000,0.021,3603,1342,1667,0,0,0,0,0,0
$GC,10932,1.36,295.9,135.6,11.1,422,10936,0.00,2.45,0.00,0.000,4,0.000,0.026,3604,2889,1666,0,0,0,0,0,0
$GC,10960,1.45,295.9,132.6,10.8,424,10965,0.12,2.58,0.00,0.000,6,0.061,0.035,3675,1309,1666,0,0,0,0,0,0
$GC,11222,1.29,295.9,94.3,15.3,448,11226,0.30,1.88,0.00,0.000,4,0.082,0.048,3605,165,1665,0,0,0,0,0,0
$GC,11293,1.29,295.9,85.1,13.1,454,11302,0.00,1.73,0.00,0.000,6,0.000,0.019,3605,1303,1665,0,0,0,0,0,0
$GC,11562,1.41,313.0,57.8,9.2,479,11581,0.00,0.00,15.88,0.472,6,0.000,0.000,3605,1305,1604,0,0,0,0,0,0
$GC,11842,1.54,327.2,30.5,9.3,505,11863,0.20,2.55,14.07,0.441,4,0.044,0.025,3688,2893,1544,0,0,0,0,0,0
$GC,11886,1.45,327.2,24.6,13.4,510,11895,0.20,2.62,0.00,0.000,6,0.066,0.035,3637,1321,1542,0,0,0,0,0,0
$STATE,12067,end climb,SURFACE_DEPTH_REACHED
$STATE,12067,begin surface coast
$FINISH,0.8,0.998360
$STATE,12106,end surface coast,CONTROL_FINISHED_OK
$STATE,12106,begin surface
$SM_CCo,12129,33.28,0.437,0,0,1329,380.21
$SM_GC,1.60,0.00,0.00,33.28,0.000,0.000,0.437,415,1645,1329,-13.37,0.42,380.21
$IRIDIUM_FIX,2241.69,-15754.11,121101,141428
$TT8_MAMPS,0.027612
$HUMID,67.09
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.10
$XPDR_PINGS,7
$24V_AH,23.4,63.106
$10V_AH,9.9,51.305
$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,33.850,136.100,408.600,33.275,0.000,57.151,78.841,292.466,1.750,0.000,17.990,1166.250,8342.400,496.627,1997.901,801.380,33.379,1340.322,0.000,1994.778,0.000,0.537,0.000
$DEVICE_MAMPS,147.264,77.467,927.303,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.229,307.398,387.103,562.616,988.691,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,41498,544
$CAP_FILE_SIZE,135455,0
$CFSIZE,260165632,149520384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180812,172506,2249.835,-15754.632,35,1.0,35,10.1