version: 66.06
glider: 148
mission: 11
dive: 275
start: 7 19 112 8 3 44
data:
$ID,148
$MISSION,11
$DIVE,275
$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,-924219.88
$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,1540
$C_ROLL_CLIMB,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,80
$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
$GPS1,075551,2246.431,-15748.255,11,3.5,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-75.1
$GPS2,080250,2246.452,-15748.253,40,99.0,59,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.120
$KALMAN_X,-19288.9,-30.2,118.8,38850.8,-827.2
$KALMAN_Y,30092.7,377.0,552.1,-33892.8,-144.9
$MHEAD_RNG_PITCHd_Wd,107.4,23039,-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,-74.40,0.000,2,0.000,0.000,413,1559,3290,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.7,-5.8,10,120,14.35,2.28,-3.85,0.000,4,0.170,0.048,3057,157,3517,0,0,0,0,0,0
$GC,181,-0.92,-146.0,32.9,-21.0,22,190,0.35,2.10,0.00,0.000,6,0.092,0.019,3137,1511,3519,0,0,0,0,0,0
$GC,449,-0.79,-146.0,74.2,-14.3,47,454,0.12,2.58,0.00,0.000,4,0.117,0.025,3163,3124,3520,0,0,0,0,0,0
$GC,523,-0.94,-146.0,83.7,-10.6,53,529,0.12,2.53,0.00,0.000,6,0.058,0.033,3087,1553,3520,0,0,0,0,0,0
$GC,791,-0.73,-146.0,124.5,-14.9,77,796,0.40,2.22,0.00,0.000,4,0.093,0.041,3177,171,3521,0,0,0,0,0,0
$GC,822,-0.79,-146.0,129.3,-10.1,79,828,0.00,2.12,0.00,0.000,6,0.000,0.018,3177,1580,3521,0,0,0,0,0,0
$GC,1087,-0.89,-146.0,149.4,-7.3,104,1092,0.12,2.38,0.00,0.000,4,0.062,0.024,3111,3096,3522,0,0,0,0,0,0
$GC,1117,-0.89,-146.0,152.0,-10.3,106,1122,0.15,2.45,0.00,0.000,6,0.097,0.027,3145,1554,3522,0,0,0,0,0,0
$GC,1385,-0.89,-146.0,177.0,-9.9,130,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1554,3523,0,0,0,0,0,0
$GC,1654,-0.89,-146.0,205.3,-11.1,153,1659,0.00,2.40,0.00,0.000,4,0.000,0.023,3145,3092,3523,0,0,0,0,0,0
$GC,1701,-1.03,-146.0,210.3,-10.1,154,1706,0.12,2.45,0.00,0.000,6,0.061,0.028,3065,1556,3524,0,0,0,0,0,0
$GC,1986,-0.81,-146.0,254.2,-15.9,161,1988,0.47,0.00,0.00,0.000,6,0.083,0.000,3161,1555,3523,0,0,0,0,0,0
$GC,2229,-0.96,-146.0,271.8,-6.3,167,2233,0.12,2.42,0.00,0.000,4,0.062,0.025,3091,3092,3524,0,0,0,0,0,0
$GC,2253,-0.96,-146.0,273.8,-8.6,167,2258,0.17,2.47,0.00,0.000,6,0.086,0.028,3133,1557,3524,0,0,0,0,0,0
$GC,2515,-1.04,-146.0,293.0,-7.4,174,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1557,3524,0,0,0,0,0,0
$GC,2757,-1.13,-146.0,312.7,-8.2,180,2762,0.17,2.45,0.00,0.000,4,0.049,0.028,3056,3088,3524,0,0,0,0,0,0
$GC,2778,-1.13,-146.0,314.9,-10.4,180,2783,0.17,2.47,0.00,0.000,6,0.092,0.030,3096,1560,3524,0,0,0,0,0,0
$GC,3043,-1.13,-146.0,340.4,-9.4,187,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1560,3523,0,0,0,0,0,0
$GC,3287,-1.13,-146.0,361.6,-8.6,193,3291,0.00,2.30,0.00,0.000,4,0.000,0.056,3096,174,3522,0,0,0,0,0,0
$GC,3301,-1.13,-146.0,362.9,-8.7,193,3305,0.00,2.10,0.00,0.000,6,0.000,0.021,3096,1542,3522,0,0,0,0,0,0
$GC,3575,-1.13,-146.0,386.5,-8.9,200,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1542,3521,0,0,0,0,0,0
$GC,3818,-1.13,-146.0,408.1,-8.9,206,3822,0.00,2.30,0.00,0.000,4,0.000,0.059,3096,175,3520,0,0,0,0,0,0
$GC,3841,-1.13,-146.0,410.5,-10.0,206,3845,0.00,2.15,0.00,0.000,6,0.000,0.025,3096,1545,3519,0,0,0,0,0,0
$GC,4106,-1.13,-146.0,435.2,-9.4,213,4110,0.00,2.55,0.00,0.000,4,0.000,0.035,3095,3118,3518,0,0,0,0,0,0
$GC,4150,-1.22,-146.0,439.4,-9.4,214,4154,0.00,2.58,0.00,0.000,6,0.000,0.044,3095,1558,3517,0,0,0,0,0,0
$GC,4438,-1.22,-146.0,465.2,-8.9,221,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1558,3515,0,0,0,0,0,0
$GC,4681,-1.22,-146.0,486.2,-8.7,227,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1558,3513,0,0,0,0,0,0
$GC,4925,-1.22,-146.0,507.9,-8.9,233,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1558,3512,0,0,0,0,0,0
$GC,5168,-1.22,-146.0,530.2,-9.1,239,5172,0.00,2.58,0.00,0.000,4,0.000,0.042,3096,3109,3510,0,0,0,0,0,0
$GC,5184,-1.22,-146.0,531.6,-9.0,239,5189,0.00,2.60,0.00,0.000,6,0.000,0.044,3096,1549,3510,0,0,0,0,0,0
$GC,5453,-1.22,-146.0,555.9,-8.9,246,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1549,3508,0,0,0,0,0,0
$GC,5697,-1.22,-146.0,577.2,-8.6,252,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1549,3507,0,0,0,0,0,0
$GC,5942,-1.22,-146.0,596.9,-8.0,258,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1549,3505,0,0,0,0,0,0
$STATE,5978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5978,begin apogee
$GC,5985,-0.31,0.0,600.2,8.0,259,6106,0.77,0.00,118.00,0.932,6,0.079,0.000,3271,1374,2920,0,0,0,0,0,0
$STATE,6107,end apogee,CONTROL_FINISHED_OK
$STATE,6107,begin climb
$GC,6109,1.27,146.0,604.0,0.0,262,6241,1.45,2.25,123.10,0.911,4,0.049,0.084,3616,167,2323,0,0,0,0,0,0
$GC,6510,0.96,146.0,565.1,14.1,270,6516,0.32,1.95,0.00,0.000,6,0.100,0.028,3549,1371,2314,0,0,0,0,0,0
$GC,6760,0.98,165.6,540.7,9.1,277,6781,0.00,2.12,16.45,0.825,4,0.000,0.068,3548,171,2243,0,0,0,0,0,0
$GC,6895,0.93,186.8,528.4,9.0,280,6920,0.00,1.95,19.85,0.833,6,0.000,0.027,3549,1379,2157,0,0,0,0,0,0
$GC,7184,0.98,229.0,504.7,8.1,287,7229,0.00,2.20,38.20,0.852,4,0.000,0.070,3548,168,1985,0,0,0,0,0,0
$GC,7269,0.98,229.0,496.9,10.7,288,7275,0.00,1.95,0.00,0.000,6,0.000,0.026,3548,1380,1984,0,0,0,0,0,0
$GC,7519,1.00,244.5,473.3,9.3,295,7540,0.00,2.70,14.68,0.789,4,0.000,0.047,3549,2954,1922,0,0,0,0,0,0
$GC,7570,1.11,247.8,468.8,9.8,296,7583,0.12,2.70,4.28,0.556,6,0.064,0.044,3602,1368,1909,0,0,0,0,0,0
$GC,7860,1.01,247.8,435.6,11.7,303,7865,0.20,2.62,0.00,0.000,4,0.095,0.038,3559,2951,1906,0,0,0,0,0,0
$GC,7879,1.01,247.8,433.1,11.1,303,7884,0.00,2.65,0.00,0.000,6,0.000,0.042,3559,1379,1905,0,0,0,0,0,0
$GC,8145,1.02,253.9,407.3,9.7,310,8157,0.00,2.65,6.38,0.651,4,0.000,0.035,3559,2951,1885,0,0,0,0,0,0
$GC,8171,1.02,253.9,404.3,10.1,310,8176,0.00,2.65,0.00,0.000,6,0.000,0.041,3558,1380,1883,0,0,0,0,0,0
$GC,8431,1.02,253.9,377.6,10.4,317,8434,0.00,2.10,0.00,0.000,4,0.000,0.064,3559,163,1883,0,0,0,0,0,0
$GC,8501,1.02,253.9,369.1,12.6,318,8505,0.00,1.92,0.00,0.000,6,0.000,0.025,3559,1382,1882,0,0,0,0,0,0
$GC,8769,1.02,253.9,340.1,10.5,325,8773,0.00,2.55,0.00,0.000,4,0.000,0.033,3559,2954,1881,0,0,0,0,0,0
$GC,8822,1.15,253.9,334.8,10.1,326,8827,0.12,2.62,0.00,0.000,6,0.064,0.040,3617,1381,1878,0,0,0,0,0,0
$GC,9101,1.05,253.9,299.7,12.4,333,9105,0.22,2.08,0.00,0.000,4,0.092,0.061,3568,164,1879,0,0,0,0,0,0
$GC,9148,1.05,253.9,294.1,11.3,334,9151,0.00,1.90,0.00,0.000,6,0.000,0.022,3568,1398,1879,0,0,0,0,0,0
$GC,9436,1.05,260.4,266.0,9.7,341,9448,0.00,2.12,6.53,0.576,4,0.000,0.056,3568,173,1858,0,0,0,0,0,0
$GC,9476,1.05,260.4,261.4,11.3,341,9482,0.00,1.88,0.00,0.000,6,0.000,0.021,3568,1379,1858,0,0,0,0,0,0
$GC,9728,1.06,268.9,236.8,9.6,348,9739,0.00,0.00,9.35,0.602,6,0.000,0.000,3568,1381,1823,0,0,0,0,0,0
$GC,9970,1.16,283.3,213.7,9.3,354,9986,0.10,0.00,13.75,0.608,6,0.075,0.000,3616,1381,1764,0,0,0,0,0,0
$GC,10219,1.16,283.3,184.2,11.7,369,10221,0.10,0.00,0.00,0.000,6,0.122,0.000,3593,1381,1762,0,0,0,0,0,0
$GC,10477,1.16,285.3,158.0,9.9,393,10482,0.00,2.50,0.00,0.000,4,0.000,0.027,3593,2946,1761,0,0,0,0,0,0
$GC,10496,1.16,285.3,155.9,11.0,394,10500,0.00,2.62,0.00,0.000,6,0.000,0.034,3592,1346,1759,0,0,0,0,0,0
$GC,10760,1.17,294.8,128.5,9.6,418,10776,0.00,2.00,10.98,0.515,4,0.000,0.054,3592,172,1717,0,0,0,0,0,0
$GC,10795,1.18,298.4,125.1,9.8,421,10806,0.00,1.83,5.07,0.423,6,0.000,0.020,3592,1381,1703,0,0,0,0,0,0
$GC,11060,1.18,300.9,99.3,9.9,446,11065,0.00,2.42,0.00,0.000,4,0.000,0.026,3593,2925,1701,0,0,0,0,0,0
$GC,11091,1.30,302.6,96.5,9.9,448,11102,0.08,2.60,4.97,0.400,6,0.032,0.037,3655,1356,1686,0,0,0,0,0,0
$GC,11358,1.20,302.6,64.2,12.4,473,11363,0.25,2.50,0.00,0.000,4,0.086,0.025,3599,2925,1685,0,0,0,0,0,0
$GC,11379,1.20,302.6,61.8,11.5,474,11383,0.00,2.55,0.00,0.000,6,0.000,0.033,3599,1359,1684,0,0,0,0,0,0
$GC,11649,1.28,303.6,36.7,10.0,498,11657,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1359,1684,0,0,0,0,0,0
$STATE,11938,end climb,SURFACE_DEPTH_REACHED
$STATE,11939,begin surface coast
$FINISH,0.9,1.023651
$STATE,11977,end surface coast,CONTROL_FINISHED_OK
$STATE,11977,begin surface
$SM_CCo,12002,43.20,0.439,0,0,1369,380.21
$SM_GC,1.49,0.00,0.00,43.20,0.000,0.000,0.439,414,1561,1369,-13.46,0.59,380.21
$IRIDIUM_FIX,2239.35,-15747.62,131001,040452
$TT8_MAMPS,0.027612
$HUMID,62.60
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.30
$XPDR_PINGS,10
$24V_AH,23.5,36.933
$10V_AH,9.9,28.464
$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,33.425,117.575,391.575,43.200,0.000,28.422,34.439,168.997,2.500,0.000,62.234,1148.898,8241.588,476.816,2019.182,575.435,33.364,1289.522,0.000,1980.502,0.000,0.537,0.000
$DEVICE_MAMPS,169.507,84.370,931.905,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.179,320.025,398.898,567.723,996.130,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,41528,547
$CAP_FILE_SIZE,124207,0
$CFSIZE,260165632,162263040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190712,112536,2245.569,-15747.394,25,1.9,25,10.1