version: 66.06
glider: 148
mission: 11
dive: 486
start: 8 18 112 17 32 16
data:
$ID,148
$MISSION,11
$DIVE,486
$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,-928722.62
$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,25
$R_STBD_OVSHOOT,87
$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
$GPS1,172506,2249.835,-15754.632,35,1.0,35,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-75.1
$GPS2,173124,2249.818,-15754.696,7,1.0,18,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,-0.118
$KALMAN_X,-374219.1,-68.5,-213.4,383146.2,-1103.8
$KALMAN_Y,119469.9,-151.1,20.3,-115978.9,210.2
$MHEAD_RNG_PITCHd_Wd,106.9,35578,-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,-74.80,0.000,2,0.000,0.000,414,1645,3269,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.1,-7.4,10,122,13.50,2.47,-3.50,0.000,4,0.146,0.048,3036,159,3477,0,0,0,0,0,0
$GC,171,-0.82,-146.0,31.5,-24.6,20,180,0.43,2.25,0.00,0.000,6,0.085,0.019,3134,1595,3479,0,0,0,0,0,0
$GC,440,-0.68,-146.0,69.9,-13.3,45,445,0.17,2.55,0.00,0.000,4,0.100,0.026,3173,3206,3480,0,0,0,0,0,0
$GC,486,-0.79,-146.0,75.8,-8.7,48,495,0.08,2.55,0.00,0.000,6,0.032,0.028,3065,1639,3480,0,0,0,0,0,0
$GC,755,-0.50,-146.0,114.7,-15.4,73,764,0.62,2.38,0.00,0.000,4,0.085,0.039,3207,168,3481,0,0,0,0,0,0
$GC,810,-0.78,-146.0,121.2,-7.3,78,820,0.20,2.28,0.00,0.000,6,0.017,0.018,3100,1660,3481,0,0,0,0,0,0
$GC,1078,-0.61,-146.0,153.5,-13.1,103,1083,0.32,0.00,0.00,0.000,6,0.083,0.000,3177,1663,3482,0,0,0,0,0,0
$GC,1342,-0.71,-146.0,177.2,-8.2,128,1346,0.00,2.35,0.00,0.000,4,0.000,0.023,3177,3180,3482,0,0,0,0,0,0
$GC,1372,-0.83,-146.0,179.4,-8.3,130,1377,0.17,2.50,0.00,0.000,6,0.044,0.026,3077,1614,3483,0,0,0,0,0,0
$GC,1650,-0.58,-146.0,218.0,-14.5,147,1653,0.57,0.00,0.00,0.000,6,0.083,0.000,3190,1614,3483,0,0,0,0,0,0
$GC,1893,-0.77,-146.0,233.8,-5.9,153,1895,0.17,0.00,0.00,0.000,6,0.047,0.000,3103,1614,3484,0,0,0,0,0,0
$GC,2136,-0.70,-146.0,259.6,-11.0,159,2141,0.25,2.47,0.00,0.000,4,0.082,0.024,3165,3177,3483,0,0,0,0,0,0
$GC,2189,-0.94,-146.0,264.1,-7.0,160,2194,0.20,2.47,0.00,0.000,6,0.040,0.028,3063,1628,3484,0,0,0,0,0,0
$GC,2469,-0.75,-146.0,297.9,-12.6,167,2475,0.40,2.38,0.00,0.000,4,0.084,0.043,3153,167,3483,0,0,0,0,0,0
$GC,2485,-0.65,-146.0,299.9,-12.0,167,2490,0.10,2.22,0.00,0.000,6,0.114,0.019,3176,1622,3484,0,0,0,0,0,0
$GC,2755,-0.86,-146.0,314.2,-5.1,174,2760,0.17,2.50,0.00,0.000,4,0.047,0.028,3089,3188,3484,0,0,0,0,0,0
$GC,2777,-0.93,-146.0,315.9,-8.1,174,2782,0.12,2.50,0.00,0.000,6,0.097,0.029,3119,1629,3484,0,0,0,0,0,0
$GC,3042,-0.93,-146.0,340.3,-9.2,181,3046,0.00,2.50,0.00,0.000,4,0.000,0.031,3119,3187,3483,0,0,0,0,0,0
$GC,3087,-1.03,-146.0,344.5,-9.1,182,3092,0.10,2.50,0.00,0.000,6,0.072,0.031,3043,1644,3484,0,0,0,0,0,0
$GC,3375,-0.82,-146.0,381.1,-12.7,189,3382,0.43,2.45,0.00,0.000,4,0.081,0.054,3139,176,3482,0,0,0,0,0,0
$GC,3392,-0.73,-146.0,383.4,-12.8,189,3397,0.00,2.28,0.00,0.000,6,0.000,0.021,3139,1633,3482,0,0,0,0,0,0
$GC,3663,-0.85,-146.0,403.4,-7.2,196,3667,0.00,2.55,0.00,0.000,4,0.000,0.034,3139,3210,3481,0,0,0,0,0,0
$GC,3715,-1.06,-146.0,407.3,-7.2,197,3720,0.20,2.55,0.00,0.000,6,0.040,0.035,3037,1650,3481,0,0,0,0,0,0
$GC,3996,-0.84,-146.0,443.2,-13.6,204,3998,0.50,0.00,0.00,0.000,6,0.083,0.000,3138,1650,3479,0,0,0,0,0,0
$GC,4238,-0.96,-146.0,463.7,-8.3,210,4243,0.10,2.58,0.00,0.000,4,0.074,0.041,3077,3196,3478,0,0,0,0,0,0
$GC,4276,-0.96,-146.0,467.6,-10.6,210,4283,0.15,2.53,0.00,0.000,6,0.092,0.037,3112,1653,3477,0,0,0,0,0,0
$GC,4528,-0.96,-146.0,489.8,-8.8,217,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1653,3476,0,0,0,0,0,0
$GC,4770,-0.96,-146.0,509.3,-7.9,223,4775,0.00,2.55,0.00,0.000,4,0.000,0.042,3112,3199,3474,0,0,0,0,0,0
$GC,4809,-1.10,-146.0,512.2,-6.5,223,4815,0.12,2.58,0.00,0.000,6,0.061,0.041,3026,1653,3474,0,0,0,0,0,0
$GC,5060,-0.90,-146.0,539.0,-11.1,230,5063,0.43,0.00,0.00,0.000,6,0.081,0.000,3122,1653,3472,0,0,0,0,0,0
$GC,5303,-1.00,-146.0,555.2,-6.4,236,5307,0.00,2.58,0.00,0.000,4,0.000,0.044,3122,3196,3471,0,0,0,0,0,0
$GC,5327,-1.13,-146.0,556.9,-7.0,236,5332,0.20,2.58,0.00,0.000,6,0.041,0.043,3026,1657,3471,0,0,0,0,0,0
$GC,5588,-0.93,-146.0,586.1,-11.8,243,5590,0.43,0.00,0.00,0.000,6,0.087,0.000,3116,1657,3469,0,0,0,0,0,0
$STATE,5788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5788,begin apogee
$GC,5794,-0.31,0.0,601.0,7.0,248,5916,0.57,0.00,119.03,0.920,6,0.071,0.000,3250,1350,2880,0,0,0,0,0,0
$STATE,5917,end apogee,CONTROL_FINISHED_OK
$STATE,5917,begin climb
$GC,5921,1.27,146.0,604.5,0.0,251,6055,1.48,2.15,123.18,0.900,4,0.052,0.083,3598,165,2283,0,0,0,0,0,0
$GC,6294,1.05,146.0,574.4,10.4,259,6299,0.22,1.88,0.00,0.000,6,0.096,0.027,3549,1346,2276,0,0,0,0,0,0
$GC,6565,1.11,198.8,553.8,7.6,266,6617,0.00,2.15,45.65,0.870,4,0.000,0.067,3549,168,2068,0,0,0,0,0,0
$GC,6659,1.11,198.8,545.1,10.4,268,6662,0.00,1.90,0.00,0.000,6,0.000,0.027,3549,1344,2067,0,0,0,0,0,0
$GC,6942,1.12,204.4,517.8,9.7,275,6954,0.00,2.08,5.47,0.644,4,0.000,0.065,3549,162,2045,0,0,0,0,0,0
$GC,7019,1.12,204.4,509.4,10.1,276,7023,0.00,1.90,0.00,0.000,6,0.000,0.025,3549,1351,2045,0,0,0,0,0,0
$GC,7279,1.22,235.2,486.8,8.6,283,7315,0.15,2.08,29.30,0.832,4,0.057,0.061,3611,167,1920,0,0,0,0,0,0
$GC,7391,1.08,235.2,472.3,14.3,285,7395,0.25,1.85,0.00,0.000,6,0.091,0.025,3557,1339,1919,0,0,0,0,0,0
$GC,7657,1.16,247.3,446.7,9.4,292,7671,0.00,0.00,11.93,0.752,6,0.000,0.000,3557,1341,1871,0,0,0,0,0,0
$GC,7903,1.25,266.4,424.0,9.1,298,7924,0.15,0.00,18.48,0.773,6,0.058,0.000,3614,1341,1793,0,0,0,0,0,0
$GC,8144,1.18,266.4,395.9,11.7,304,8149,0.17,2.03,0.00,0.000,4,0.098,0.059,3577,166,1788,0,0,0,0,0,0
$GC,8174,1.18,266.4,392.6,11.1,304,8178,0.00,1.88,0.00,0.000,6,0.000,0.025,3577,1338,1788,0,0,0,0,0,0
$GC,8433,1.19,267.9,367.2,9.9,311,8437,0.00,2.55,0.00,0.000,4,0.000,0.034,3576,2913,1787,0,0,0,0,0,0
$GC,8448,1.19,267.9,365.6,10.2,311,8452,0.00,2.65,0.00,0.000,6,0.000,0.038,3576,1331,1785,0,0,0,0,0,0
$GC,8716,1.19,267.9,336.2,11.3,318,8720,0.00,1.98,0.00,0.000,4,0.000,0.061,3576,166,1785,0,0,0,0,0,0
$GC,8741,1.19,267.9,333.4,12.2,318,8744,0.00,1.85,0.00,0.000,6,0.000,0.024,3577,1354,1785,0,0,0,0,0,0
$GC,9008,1.19,267.9,303.9,11.0,325,9012,0.00,2.03,0.00,0.000,4,0.000,0.058,3577,165,1784,0,0,0,0,0,0
$GC,9040,1.19,267.9,299.9,12.2,325,9044,0.00,1.83,0.00,0.000,6,0.000,0.022,3576,1345,1784,0,0,0,0,0,0
$GC,9301,1.28,285.6,275.2,9.2,332,9320,0.10,0.00,16.98,0.668,6,0.075,0.000,3619,1348,1715,0,0,0,0,0,0
$GC,9543,1.28,285.6,250.0,10.4,338,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,1348,1711,0,0,0,0,0,0
$GC,9786,1.28,285.6,222.1,11.5,344,9790,0.00,2.00,0.00,0.000,4,0.000,0.053,3620,158,1710,0,0,0,0,0,0
$GC,9820,1.28,285.6,218.0,13.2,344,9823,0.00,1.80,0.00,0.000,6,0.000,0.021,3620,1335,1710,0,0,0,0,0,0
$GC,10082,1.28,285.6,186.5,11.6,357,10086,0.00,2.50,0.00,0.000,4,0.000,0.028,3620,2903,1709,0,0,0,0,0,0
$GC,10111,1.28,285.6,183.1,11.2,359,10117,0.00,2.62,0.00,0.000,6,0.000,0.036,3620,1311,1708,0,0,0,0,0,0
$GC,10376,1.28,285.6,154.5,10.7,384,10384,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1311,1708,0,0,0,0,0,0
$GC,10640,1.28,285.6,125.8,11.3,409,10645,0.00,2.53,0.00,0.000,4,0.000,0.028,3620,2902,1708,0,0,0,0,0,0
$GC,10670,1.28,285.6,122.6,10.8,411,10674,0.00,2.58,0.00,0.000,6,0.000,0.041,3620,1317,1707,0,0,0,0,0,0
$GC,10937,1.28,285.6,92.3,11.0,435,10941,0.00,1.88,0.00,0.000,4,0.000,0.049,3620,167,1707,0,0,0,0,0,0
$GC,11022,1.28,285.6,81.9,11.9,443,11026,0.00,1.73,0.00,0.000,6,0.000,0.020,3620,1323,1707,0,0,0,0,0,0
$GC,11294,1.31,302.6,55.0,9.2,468,11313,0.00,0.00,15.95,0.471,6,0.000,0.000,3620,1325,1645,0,0,0,0,0,0
$GC,11575,1.32,315.0,28.4,9.4,495,11591,0.00,0.00,12.52,0.435,6,0.000,0.000,3620,1324,1594,0,0,0,0,0,0
$STATE,11816,end climb,SURFACE_DEPTH_REACHED
$STATE,11816,begin surface coast
$FINISH,0.7,1.010054
$STATE,11861,end surface coast,CONTROL_FINISHED_OK
$STATE,11861,begin surface
$SM_CCo,11886,39.55,0.439,0,0,1329,380.21
$SM_GC,1.81,0.00,0.00,39.55,0.000,0.000,0.439,413,1627,1329,-13.37,-0.08,380.21
$IRIDIUM_FIX,2239.35,-15754.99,121101,141401
$TT8_MAMPS,0.027612
$HUMID,66.49
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.30
$XPDR_PINGS,11
$24V_AH,23.4,63.219
$10V_AH,9.9,51.413
$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,36.100,115.375,398.475,39.550,0.000,25.216,33.770,168.741,2.750,0.000,21.196,1142.370,8137.218,485.870,1972.319,561.721,33.380,1301.208,0.000,1967.247,0.000,0.539,0.000
$DEVICE_MAMPS,146.497,82.836,919.633,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.608,311.219,384.919,575.405,1010.941,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,41517,540
$CAP_FILE_SIZE,124701,0
$CFSIZE,260165632,149475328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180812,205223,2249.303,-15753.755,39,1.8,39,10.1