version: 66.06
glider: 148
mission: 11
dive: 530
start: 8 26 112 6 9 25
data:
$ID,148
$MISSION,11
$DIVE,530
$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,-929539.94
$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,26
$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
$GPS1,055836,2305.385,-15735.835,27,1.6,27,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.9
$GPS2,060830,2305.426,-15735.849,9,1.8,9,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.159,-0.184
$KALMAN_X,-457294.3,23.2,38.9,498059.0,-2153.2
$KALMAN_Y,93564.8,164.8,245.1,-61711.1,-1302.9
$MHEAD_RNG_PITCHd_Wd,210.7,69180,-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,-126.5,0.0,0.0,0,86,0.00,0.00,-67.35,0.000,2,0.000,0.000,412,1683,3213,0,0,0,0,0,0
$GC,91,-1.34,-126.5,4.0,-6.6,9,115,13.52,2.47,-3.12,0.000,4,0.147,0.047,3023,162,3397,0,0,0,0,0,0
$GC,220,-0.91,-126.5,41.1,-23.2,25,225,0.45,2.28,0.00,0.000,6,0.100,0.017,3119,1645,3399,0,0,0,0,0,0
$GC,549,-0.79,-126.5,87.6,-13.3,55,555,0.12,0.00,0.00,0.000,6,0.114,0.000,3146,1647,3401,0,0,0,0,0,0
$GC,876,-0.79,-126.5,125.1,-10.7,86,880,0.00,2.50,0.00,0.000,4,0.000,0.023,3145,3230,3402,0,0,0,0,0,0
$GC,904,-0.79,-126.5,127.8,-9.7,88,908,0.00,2.55,0.00,0.000,6,0.000,0.025,3146,1644,3402,0,0,0,0,0,0
$GC,1232,-0.79,-126.5,157.3,-9.1,118,1236,0.00,2.50,0.00,0.000,4,0.000,0.023,3146,3234,3403,0,0,0,0,0,0
$GC,1249,-0.79,-126.5,158.9,-8.5,119,1254,0.00,2.55,0.00,0.000,6,0.000,0.025,3145,1649,3403,0,0,0,0,0,0
$GC,1575,-0.86,-126.5,185.5,-9.0,149,1579,0.00,2.42,0.00,0.000,4,0.000,0.042,3146,167,3404,0,0,0,0,0,0
$GC,1635,-1.00,-126.5,190.9,-9.3,154,1640,0.17,2.28,0.00,0.000,6,0.046,0.018,3062,1666,3404,0,0,0,0,0,0
$GC,1949,-0.86,-126.5,232.3,-13.2,166,1954,0.28,2.42,0.00,0.000,4,0.086,0.022,3128,3218,3404,0,0,0,0,0,0
$GC,1980,-0.98,-126.5,235.8,-10.5,166,1984,0.00,2.50,0.00,0.000,6,0.000,0.027,3128,1656,3404,0,0,0,0,0,0
$GC,2317,-1.05,-126.5,264.2,-7.5,175,2319,0.15,0.00,0.00,0.000,6,0.054,0.000,3051,1656,3404,0,0,0,0,0,0
$GC,2641,-0.92,-126.5,301.1,-11.6,183,2646,0.25,2.42,0.00,0.000,4,0.087,0.044,3112,173,3404,0,0,0,0,0,0
$GC,2672,-0.92,-126.5,304.4,-9.8,183,2676,0.00,2.28,0.00,0.000,6,0.000,0.020,3113,1644,3404,0,0,0,0,0,0
$GC,3013,-0.99,-126.5,334.4,-8.6,192,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1646,3403,0,0,0,0,0,0
$GC,3338,-1.06,-126.5,361.0,-8.5,200,3340,0.10,0.00,0.00,0.000,6,0.075,0.000,3055,1645,3402,0,0,0,0,0,0
$GC,3664,-0.97,-126.5,398.0,-11.4,208,3669,0.22,2.53,0.00,0.000,4,0.088,0.055,3107,167,3400,0,0,0,0,0,0
$GC,3737,-1.03,-126.5,405.4,-9.3,209,3741,0.00,2.35,0.00,0.000,6,0.000,0.023,3107,1660,3399,0,0,0,0,0,0
$GC,4080,-1.10,-126.5,434.3,-8.3,218,4085,0.12,2.58,0.00,0.000,4,0.064,0.035,3046,3233,3397,0,0,0,0,0,0
$GC,4100,-1.10,-126.5,436.4,-8.9,218,4105,0.15,2.58,0.00,0.000,6,0.096,0.041,3080,1658,3397,0,0,0,0,0,0
$GC,4446,-1.10,-126.5,466.4,-8.9,227,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1658,3395,0,0,0,0,0,0
$GC,4773,-1.10,-126.5,496.6,-9.1,235,4777,0.00,2.55,0.00,0.000,4,0.000,0.069,3080,171,3393,0,0,0,0,0,0
$GC,4820,-1.10,-126.5,501.3,-9.8,236,4824,0.00,2.38,0.00,0.000,6,0.000,0.031,3080,1643,3393,0,0,0,0,0,0
$GC,5143,-1.10,-126.5,529.0,-8.6,244,5147,0.00,2.55,0.00,0.000,4,0.000,0.067,3080,167,3390,0,0,0,0,0,0
$GC,5164,-1.10,-126.5,530.8,-8.7,244,5168,0.00,2.42,0.00,0.000,6,0.000,0.032,3080,1663,3390,0,0,0,0,0,0
$GC,5509,-1.10,-126.5,559.8,-8.6,253,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1663,3388,0,0,0,0,0,0
$GC,5834,-1.10,-126.5,586.4,-8.1,261,5838,0.00,2.60,0.00,0.000,4,0.000,0.071,3080,173,3386,0,0,0,0,0,0
$GC,5850,-1.10,-126.5,587.7,-8.1,261,5854,0.00,2.42,0.00,0.000,6,0.000,0.034,3080,1658,3385,0,0,0,0,0,0
$GC,6200,-1.10,-126.5,618.6,-9.1,270,6204,0.00,2.60,0.00,0.000,4,0.000,0.072,3080,174,3384,0,0,0,0,0,0
$GC,6251,-1.10,-126.5,623.9,-10.4,271,6256,0.00,2.42,0.00,0.000,6,0.000,0.035,3080,1652,3383,0,0,0,0,0,0
$GC,6572,-1.10,-126.5,653.6,-9.5,279,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1652,3381,0,0,0,0,0,0
$GC,6895,-1.10,-126.5,682.1,-8.6,287,6899,0.00,2.60,0.00,0.000,4,0.000,0.074,3080,173,3380,0,0,0,0,0,0
$GC,6914,-1.10,-126.5,684.0,-9.1,287,6918,0.00,2.42,0.00,0.000,6,0.000,0.036,3080,1650,3379,0,0,0,0,0,0
$GC,7261,-1.10,-126.5,713.4,-8.3,296,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1650,3377,0,0,0,0,0,0
$GC,7584,-1.10,-126.5,741.5,-8.7,304,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1650,3375,0,0,0,0,0,0
$STATE,7703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7704,begin apogee
$GC,7712,-0.31,0.0,751.6,8.5,307,7819,0.75,0.00,103.97,1.047,6,0.077,0.000,3250,1304,2880,0,0,0,0,0,0
$STATE,7820,end apogee,CONTROL_FINISHED_OK
$STATE,7820,begin climb
$GC,7822,1.34,126.5,754.3,0.0,309,7943,1.55,2.12,112.12,1.022,4,0.052,0.082,3614,175,2363,0,0,0,0,0,0
$GC,8015,1.08,126.5,741.5,12.1,314,8019,0.28,1.88,0.00,0.000,6,0.096,0.031,3557,1313,2357,0,0,0,0,0,0
$GC,8365,1.11,153.2,711.5,8.6,323,8393,0.00,2.10,23.17,0.958,4,0.000,0.074,3557,177,2255,0,0,0,0,0,0
$GC,8445,1.11,153.2,703.4,11.0,324,8449,0.00,1.88,0.00,0.000,6,0.000,0.031,3557,1299,2252,0,0,0,0,0,0
$GC,8782,1.11,153.2,670.5,10.0,333,8786,0.00,2.70,0.00,0.000,4,0.000,0.048,3557,2895,2248,0,0,0,0,0,0
$GC,8801,1.13,162.8,668.4,9.5,333,8818,0.00,2.72,9.05,0.841,6,0.000,0.048,3557,1316,2216,0,0,0,0,0,0
$GC,9153,1.14,172.6,634.6,9.5,342,9169,0.00,2.12,10.27,0.852,4,0.000,0.084,3557,167,2175,0,0,0,0,0,0
$GC,9198,1.14,172.6,629.6,11.4,343,9202,0.00,1.88,0.00,0.000,6,0.000,0.031,3557,1311,2175,0,0,0,0,0,0
$GC,9530,1.14,175.3,596.7,9.9,351,9534,0.00,2.05,0.00,0.000,4,0.000,0.071,3557,148,2173,0,0,0,0,0,0
$GC,9560,1.14,175.3,593.7,11.7,351,9563,0.00,1.88,0.00,0.000,6,0.000,0.029,3557,1304,2173,0,0,0,0,0,0
$GC,9904,1.17,197.3,562.3,8.8,360,9933,0.00,2.75,23.48,0.894,4,0.000,0.045,3557,2896,2075,0,0,0,0,0,0
$GC,9955,1.30,219.6,557.7,8.8,361,9984,0.20,2.75,22.35,0.879,6,0.045,0.045,3628,1302,1983,0,0,0,0,0,0
$GC,10317,1.20,219.6,511.0,12.9,370,10322,0.22,2.00,0.00,0.000,4,0.092,0.070,3579,164,1977,0,0,0,0,0,0
$GC,10337,1.14,219.6,508.2,12.0,370,10340,0.00,1.85,0.00,0.000,6,0.000,0.026,3579,1318,1977,0,0,0,0,0,0
$GC,10687,1.14,219.6,472.1,10.1,379,10692,0.00,2.58,0.00,0.000,4,0.000,0.039,3579,2883,1975,0,0,0,0,0,0
$GC,10702,1.14,220.5,470.5,10.0,379,10707,0.00,2.67,0.00,0.000,6,0.000,0.043,3579,1302,1974,0,0,0,0,0,0
$GC,11052,1.14,226.7,435.8,9.7,388,11060,0.00,0.00,6.12,0.668,6,0.000,0.000,3579,1302,1956,0,0,0,0,0,0
$GC,11379,1.14,226.7,403.7,10.3,396,11383,0.00,2.60,0.00,0.000,4,0.000,0.033,3579,2884,1955,0,0,0,0,0,0
$GC,11412,1.27,226.7,399.8,10.6,396,11416,0.00,2.67,0.00,0.000,6,0.000,0.042,3579,1303,1952,0,0,0,0,0,0
$GC,11745,1.34,226.7,363.2,10.4,404,11749,0.12,1.98,0.00,0.000,4,0.066,0.062,3630,158,1952,0,0,0,0,0,0
$GC,11773,1.19,226.7,359.6,13.1,404,11778,0.25,1.83,0.00,0.000,6,0.093,0.024,3576,1317,1952,0,0,0,0,0,0
$GC,12115,1.29,240.2,328.7,9.3,413,12131,0.10,0.00,14.20,0.713,6,0.077,0.000,3623,1320,1899,0,0,0,0,0,0
$GC,12441,1.29,240.2,291.5,11.1,421,12445,0.00,2.53,0.00,0.000,4,0.000,0.032,3622,2876,1896,0,0,0,0,0,0
$GC,12460,1.29,240.2,289.3,10.0,421,12464,0.00,2.65,0.00,0.000,6,0.000,0.041,3622,1299,1894,0,0,0,0,0,0
$GC,12805,1.29,240.2,250.7,11.5,430,12809,0.00,2.58,0.00,0.000,4,0.000,0.028,3623,2887,1895,0,0,0,0,0,0
$GC,12826,1.29,240.2,248.3,11.1,430,12830,0.00,2.65,0.00,0.000,6,0.000,0.040,3622,1305,1894,0,0,0,0,0,0
$GC,13171,1.29,240.2,209.5,10.7,439,13174,0.00,1.92,0.00,0.000,4,0.000,0.056,3622,159,1894,0,0,0,0,0,0
$GC,13184,1.29,240.2,208.0,10.2,439,13188,0.00,1.80,0.00,0.000,6,0.000,0.021,3623,1343,1894,0,0,0,0,0,0
$GC,13511,1.35,285.5,180.2,7.6,462,13560,0.00,2.05,40.35,0.617,4,0.000,0.051,3622,160,1715,0,0,0,0,0,0
$GC,13606,1.35,285.5,170.9,12.2,471,13615,0.00,1.77,0.00,0.000,6,0.000,0.020,3622,1304,1715,0,0,0,0,0,0
$GC,13931,1.35,285.5,131.5,11.5,502,13935,0.00,2.47,0.00,0.000,4,0.000,0.026,3622,2866,1712,0,0,0,0,0,0
$GC,13969,1.48,285.5,127.8,10.1,505,13974,0.00,2.58,0.00,0.000,6,0.000,0.035,3622,1304,1709,0,0,0,0,0,0
$GC,14298,1.51,311.6,95.8,8.6,535,14325,0.10,0.00,24.33,0.520,6,0.071,0.000,3681,1304,1609,0,0,0,0,0,0
$GC,14648,1.51,311.6,51.5,13.0,568,14652,0.15,1.88,0.00,0.000,4,0.100,0.049,3647,168,1606,0,0,0,0,0,0
$GC,14664,1.51,311.6,48.6,12.5,569,14673,0.00,1.75,0.00,0.000,6,0.000,0.020,3647,1324,1606,0,0,0,0,0,0
$GC,15020,1.57,311.6,11.0,10.2,614,15029,0.00,2.42,0.00,0.000,4,0.000,0.025,3647,2845,1606,0,0,0,0,0,0
$GC,15039,1.64,311.6,8.6,11.8,616,15048,0.08,2.53,0.00,0.000,6,0.035,0.033,3715,1315,1605,0,0,0,0,0,0
$STATE,15079,end climb,SURFACE_DEPTH_REACHED
$STATE,15080,begin surface coast
$FINISH,0.8,1.011128
$STATE,15128,end surface coast,CONTROL_FINISHED_OK
$STATE,15128,begin surface
$SM_CCo,15152,26.85,0.437,0,0,1452,350.04
$SM_GC,1.98,0.00,0.00,26.85,0.000,0.000,0.437,416,1680,1452,-13.36,0.57,350.04
$IRIDIUM_FIX,2255.72,-15736.68,201101,060642
$TT8_MAMPS,0.027612
$HUMID,67.01
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.00
$XPDR_PINGS,9
$24V_AH,23.2,68.785
$10V_AH,9.7,56.537
$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,32.750,141.800,389.425,26.850,0.000,47.034,83.684,245.674,2.250,0.000,12.954,1281.624,11209.958,491.439,2023.721,762.806,33.375,1328.264,0.000,2033.686,0.000,0.536,0.000
$DEVICE_MAMPS,147.264,84.370,1046.955,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,426.342,325.876,414.908,566.755,996.521,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,47775,629
$CAP_FILE_SIZE,137078,0
$CFSIZE,260165632,146599936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260812,102336,2302.843,-15738.288,29,1.0,29,10.1