version: 66.06
glider: 148
mission: 11
dive: 585
start: 9 5 112 15 7 47
data:
$ID,148
$MISSION,11
$DIVE,585
$D_SURF,4
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,550
$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,130
$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,350
$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,-930859.38
$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,1660
$C_ROLL_CLIMB,1310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,91
$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
$GPS1,145825,2250.307,-15803.405,97,2.1,116,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-77.4
$GPS2,150651,2250.291,-15803.512,13,2.3,32,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,-0.073
$KALMAN_X,-599949.0,-132.7,126.9,593553.4,-2924.6
$KALMAN_Y,64733.8,-222.6,-401.3,-59873.2,533.8
$MHEAD_RNG_PITCHd_Wd,97.4,8551,-18.9,-10.000
$D_GRID,750
$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,-1.34,-126.5,0.0,0.0,0,78,0.00,0.00,-60.33,0.000,2,0.000,0.000,415,1708,2975,0,0,0,0,0,0
$GC,82,-1.34,-126.5,3.1,-4.6,8,114,13.55,2.58,-8.32,0.000,4,0.149,0.050,3024,166,3399,0,0,0,0,0,0
$GC,142,-0.81,-126.5,20.4,-26.9,16,150,0.50,2.28,0.00,0.000,6,0.092,0.018,3136,1626,3400,0,0,0,0,0,0
$GC,480,-0.71,-126.5,70.1,-13.2,51,485,0.12,2.55,0.00,0.000,4,0.110,0.025,3163,3231,3402,0,0,0,0,0,0
$GC,559,-0.87,-126.5,78.8,-10.6,57,564,0.15,2.50,0.00,0.000,6,0.051,0.027,3074,1671,3403,0,0,0,0,0,0
$GC,888,-0.64,-126.5,130.3,-14.5,87,897,0.52,2.45,0.00,0.000,4,0.083,0.040,3175,161,3403,0,0,0,0,0,0
$GC,955,-0.82,-126.5,137.6,-8.9,93,962,0.15,2.33,0.00,0.000,6,0.051,0.018,3094,1692,3403,0,0,0,0,0,0
$GC,1284,-0.73,-126.5,173.4,-10.6,124,1289,0.25,2.38,0.00,0.000,4,0.085,0.021,3155,3216,3404,0,0,0,0,0,0
$GC,1312,-0.82,-126.5,176.0,-8.4,126,1316,0.00,2.47,0.00,0.000,6,0.000,0.026,3155,1670,3404,0,0,0,0,0,0
$GC,1661,-0.93,-126.5,209.0,-10.8,153,1663,0.15,0.00,0.00,0.000,6,0.054,0.000,3074,1670,3404,0,0,0,0,0,0
$GC,1986,-0.81,-126.5,249.1,-11.2,161,1988,0.30,0.00,0.00,0.000,6,0.081,0.000,3140,1670,3405,0,0,0,0,0,0
$GC,2309,-0.92,-126.5,272.7,-7.2,169,2314,0.00,2.45,0.00,0.000,4,0.000,0.045,3141,167,3405,0,0,0,0,0,0
$GC,2344,-1.03,-126.5,275.5,-7.8,169,2349,0.20,2.28,0.00,0.000,6,0.043,0.019,3056,1664,3405,0,0,0,0,0,0
$GC,2678,-0.91,-126.5,311.9,-11.6,177,2683,0.25,2.47,0.00,0.000,4,0.086,0.026,3116,3222,3405,0,0,0,0,0,0
$GC,2712,-1.07,-126.5,316.0,-9.4,177,2717,0.12,2.50,0.00,0.000,6,0.060,0.029,3037,1680,3405,0,0,0,0,0,0
$GC,3045,-0.89,-126.5,359.7,-13.1,185,3052,0.40,2.50,0.00,0.000,4,0.081,0.050,3124,172,3405,0,0,0,0,0,0
$GC,3092,-1.03,-126.5,364.7,-9.0,186,3097,0.12,2.33,0.00,0.000,6,0.061,0.021,3059,1666,3405,0,0,0,0,0,0
$GC,3424,-0.94,-126.5,397.0,-9.9,194,3430,0.25,2.53,0.00,0.000,4,0.086,0.036,3120,3226,3403,0,0,0,0,0,0
$GC,3451,-1.03,-126.5,399.7,-7.9,194,3456,0.10,2.53,0.00,0.000,6,0.072,0.033,3048,1674,3403,0,0,0,0,0,0
$GC,3793,-0.91,-126.5,437.1,-11.5,203,3795,0.35,0.00,0.00,0.000,6,0.082,0.000,3121,1674,3402,0,0,0,0,0,0
$GC,4120,-1.03,-126.5,461.2,-7.1,211,4125,0.10,2.58,0.00,0.000,4,0.075,0.041,3064,3227,3399,0,0,0,0,0,0
$GC,4135,-1.03,-126.5,462.6,-6.8,211,4141,0.15,2.55,0.00,0.000,6,0.094,0.035,3098,1670,3399,0,0,0,0,0,0
$GC,4488,-1.03,-126.5,489.5,-7.9,220,4493,0.00,2.58,0.00,0.000,4,0.000,0.069,3098,166,3397,0,0,0,0,0,0
$GC,4512,-1.03,-126.5,491.8,-8.9,220,4516,0.00,2.40,0.00,0.000,6,0.000,0.031,3098,1658,3396,0,0,0,0,0,0
$GC,4853,-1.09,-126.5,518.8,-8.0,229,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1658,3394,0,0,0,0,0,0
$GC,5180,-1.15,-126.5,544.9,-8.1,237,5185,0.12,2.65,0.00,0.000,4,0.063,0.046,3039,3236,3391,0,0,0,0,0,0
$GC,5195,-1.15,-126.5,546.5,-8.3,237,5200,0.12,2.62,0.00,0.000,6,0.104,0.041,3067,1668,3391,0,0,0,0,0,0
$GC,5546,-1.15,-126.5,579.0,-9.4,246,5550,0.00,2.62,0.00,0.000,4,0.000,0.075,3068,166,3389,0,0,0,0,0,0
$GC,5585,-1.15,-126.5,583.1,-10.7,246,5591,0.00,2.45,0.00,0.000,6,0.000,0.036,3068,1662,3388,0,0,0,0,0,0
$GC,5917,-1.15,-126.5,614.4,-9.3,255,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1663,3387,0,0,0,0,0,0
$GC,6242,-1.15,-126.5,642.0,-8.3,263,6246,0.00,2.67,0.00,0.000,4,0.000,0.056,3068,3243,3385,0,0,0,0,0,0
$GC,6258,-1.15,-126.5,643.3,-7.9,263,6262,0.00,2.65,0.00,0.000,6,0.000,0.044,3068,1666,3385,0,0,0,0,0,0
$GC,6608,-1.15,-126.5,671.2,-7.8,272,6613,0.00,2.62,0.00,0.000,4,0.000,0.080,3067,164,3383,0,0,0,0,0,0
$GC,6638,-1.15,-126.5,673.8,-9.3,272,6643,0.00,2.47,0.00,0.000,6,0.000,0.039,3068,1666,3382,0,0,0,0,0,0
$GC,6976,-1.15,-126.5,700.0,-7.5,281,6981,0.00,2.62,0.00,0.000,4,0.000,0.073,3067,168,3380,0,0,0,0,0,0
$GC,7005,-1.15,-126.5,702.6,-8.8,281,7009,0.00,2.47,0.00,0.000,6,0.000,0.040,3067,1664,3380,0,0,0,0,0,0
$GC,7341,-1.15,-126.5,726.8,-7.3,290,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1664,3379,0,0,0,0,0,0
$STATE,7663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7663,begin apogee
$GC,7672,-0.31,0.0,752.1,8.0,298,7780,0.80,0.00,104.78,1.046,6,0.076,0.000,3250,1302,2880,0,0,0,0,0,0
$STATE,7780,end apogee,CONTROL_FINISHED_OK
$STATE,7781,begin climb
$GC,7783,1.34,126.5,754.7,0.0,300,7904,1.55,2.10,112.12,1.023,4,0.054,0.083,3610,178,2364,0,0,0,0,0,0
$GC,7990,1.10,126.5,742.0,11.2,305,7994,0.22,1.85,0.00,0.000,6,0.098,0.031,3562,1317,2358,0,0,0,0,0,0
$GC,8333,1.18,189.0,717.5,6.7,314,8394,0.00,2.10,56.10,0.996,4,0.000,0.073,3561,167,2109,0,0,0,0,0,0
$GC,8460,1.19,201.4,706.9,9.3,317,8477,0.00,1.85,12.20,0.895,6,0.000,0.032,3562,1303,2059,0,0,0,0,0,0
$GC,8788,1.22,224.7,678.3,8.8,325,8817,0.10,2.08,22.48,0.946,4,0.077,0.071,3604,178,1962,0,0,0,0,0,0
$GC,8854,1.11,224.7,670.1,14.2,326,8859,0.20,1.83,0.00,0.000,6,0.094,0.032,3561,1298,1961,0,0,0,0,0,0
$GC,9170,1.18,224.7,634.6,11.3,334,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1299,1957,0,0,0,0,0,0
$GC,9493,1.26,224.7,597.8,11.2,342,9500,0.12,2.72,0.00,0.000,4,0.067,0.053,3618,2896,1955,0,0,0,0,0,0
$GC,9524,1.26,224.7,593.7,13.7,342,9531,0.12,2.72,0.00,0.000,6,0.104,0.048,3590,1311,1954,0,0,0,0,0,0
$GC,9864,1.26,224.7,554.4,11.2,351,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1311,1953,0,0,0,0,0,0
$GC,10188,1.26,228.3,521.4,9.8,359,10191,0.00,2.00,0.00,0.000,4,0.000,0.073,3591,162,1953,0,0,0,0,0,0
$GC,10215,1.26,228.3,518.3,10.9,359,10219,0.00,1.85,0.00,0.000,6,0.000,0.028,3591,1319,1953,0,0,0,0,0,0
$GC,10562,1.26,228.3,484.0,10.0,368,10565,0.00,2.00,0.00,0.000,4,0.000,0.064,3591,161,1952,0,0,0,0,0,0
$GC,10609,1.26,228.3,478.4,12.2,369,10612,0.00,1.80,0.00,0.000,6,0.000,0.026,3591,1311,1952,0,0,0,0,0,0
$GC,10940,1.26,228.3,442.5,10.8,377,10945,0.00,2.58,0.00,0.000,4,0.000,0.039,3591,2879,1951,0,0,0,0,0,0
$GC,10961,1.26,228.3,440.4,10.4,377,10965,0.00,2.67,0.00,0.000,6,0.000,0.044,3590,1295,1949,0,0,0,0,0,0
$GC,11306,1.26,228.3,403.2,10.6,386,11307,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1295,1949,0,0,0,0,0,0
$GC,11631,1.30,258.1,373.7,8.4,394,11668,0.00,2.70,29.62,0.782,4,0.000,0.033,3591,2873,1826,0,0,0,0,0,0
$GC,11685,1.43,306.1,369.5,7.4,395,11738,0.17,2.70,44.97,0.778,6,0.050,0.042,3666,1292,1632,0,0,0,0,0,0
$GC,12049,1.34,306.1,320.3,14.3,404,12054,0.25,1.95,0.00,0.000,4,0.089,0.060,3607,158,1625,0,0,0,0,0,0
$GC,12077,1.34,306.1,315.7,14.2,404,12081,0.00,1.80,0.00,0.000,6,0.000,0.023,3607,1309,1625,0,0,0,0,0,0
$GC,12422,1.42,306.1,276.3,11.1,413,12427,0.10,2.55,0.00,0.000,4,0.076,0.030,3652,2879,1623,0,0,0,0,0,0
$GC,12508,1.42,306.1,266.0,12.2,414,12515,0.10,2.67,0.00,0.000,6,0.112,0.041,3629,1291,1620,0,0,0,0,0,0
$GC,12840,1.42,306.1,225.8,12.1,423,12844,0.00,2.55,0.00,0.000,4,0.000,0.028,3629,2873,1620,0,0,0,0,0,0
$GC,12854,1.42,306.1,223.8,12.4,423,12859,0.00,2.60,0.00,0.000,6,0.000,0.036,3629,1298,1619,0,0,0,0,0,0
$GC,13180,1.42,306.1,186.4,10.9,438,13184,0.00,2.55,0.00,0.000,4,0.000,0.028,3629,2876,1619,0,0,0,0,0,0
$GC,13216,1.58,316.4,182.6,9.5,441,13230,0.15,2.58,8.43,0.543,6,0.054,0.038,3694,1314,1590,0,0,0,0,0,0
$GC,13544,1.47,316.4,136.6,14.4,472,13549,0.25,1.92,0.00,0.000,4,0.088,0.049,3634,162,1589,0,0,0,0,0,0
$GC,13650,1.47,316.4,122.6,12.8,481,13655,0.00,1.77,0.00,0.000,6,0.000,0.021,3634,1337,1589,0,0,0,0,0,0
$GC,13975,1.57,316.4,85.5,10.5,512,13980,0.12,2.42,0.00,0.000,4,0.063,0.027,3696,2854,1589,0,0,0,0,0,0
$GC,14014,1.57,316.4,81.8,11.3,515,14019,0.15,2.55,0.00,0.000,6,0.096,0.036,3662,1306,1588,0,0,0,0,0,0
$GC,14342,1.58,321.2,49.3,9.7,545,14355,0.00,2.50,5.95,0.400,4,0.000,0.024,3662,2850,1568,0,0,0,0,0,0
$GC,14406,1.72,334.8,42.8,9.3,550,14428,0.10,2.55,13.38,0.456,6,0.033,0.038,3716,1321,1513,0,0,0,0,0,0
$STATE,14702,end climb,SURFACE_DEPTH_REACHED
$STATE,14702,begin surface coast
$FINISH,1.0,1.001077
$STATE,14740,end surface coast,CONTROL_FINISHED_OK
$STATE,14740,begin surface
$SM_CCo,14766,11.88,0.415,0,0,1453,350.04
$SM_GC,1.68,0.00,0.00,11.88,0.000,0.000,0.415,414,1689,1453,-13.37,0.82,350.04
$IRIDIUM_FIX,2241.69,-15802.37,301101,101041
$TT8_MAMPS,0.027612
$HUMID,69.45
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.90
$XPDR_PINGS,12
$24V_AH,23.1,76.697
$10V_AH,9.8,63.245
$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,35.900,144.700,410.025,11.875,0.000,27.377,54.124,246.598,3.000,0.000,35.261,1247.688,10814.025,453.263,2055.665,709.672,33.380,1330.227,0.000,2035.331,0.000,0.838,0.000
$DEVICE_MAMPS,148.798,82.836,1046.188,414.947,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,405.124,309.552,384.913,547.126,960.869,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356036
$DATA_FILE_SIZE,44691,597
$CAP_FILE_SIZE,137410,0
$CFSIZE,260165632,142925824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050912,191629,2250.137,-15802.911,100,1.5,100,10.1