version: 66.06
glider: 148
mission: 11
dive: 145
start: 6 30 112 9 21 38
data:
$ID,148
$MISSION,11
$DIVE,145
$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,590.92767
$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,-921255.56
$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,1420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,63
$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
$GPS1,090121,2240.209,-15805.455,59,99.0,78,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.2
$GPS2,092046,2240.177,-15805.209,11,3.7,30,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.114,0.234
$KALMAN_X,70164.8,105.3,54.6,-79629.1,1416.5
$KALMAN_Y,-14210.9,329.7,-409.5,-200.1,-791.2
$MHEAD_RNG_PITCHd_Wd,324.1,44969,-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,-74.90,0.000,2,0.000,0.000,411,1599,3346,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.0,-7.2,10,121,14.00,2.38,-2.85,0.000,4,0.159,0.034,3058,3111,3518,0,0,0,0,0,0
$GC,193,-1.07,-146.0,33.3,-16.2,23,198,0.20,2.58,0.00,0.000,6,0.101,0.031,3102,1528,3519,0,0,0,0,0,0
$GC,462,-0.88,-146.0,78.0,-15.8,47,467,0.20,2.22,0.00,0.000,4,0.104,0.044,3145,170,3520,0,0,0,0,0,0
$GC,511,-0.88,-146.0,86.1,-13.5,51,515,0.00,2.08,0.00,0.000,6,0.000,0.018,3145,1545,3520,0,0,0,0,0,0
$GC,778,-0.88,-146.0,116.9,-11.4,76,782,0.00,2.40,0.00,0.000,4,0.000,0.023,3145,3092,3520,0,0,0,0,0,0
$GC,807,-0.88,-146.0,120.6,-11.2,78,817,0.00,2.53,0.00,0.000,6,0.000,0.029,3145,1535,3519,0,0,0,0,0,0
$GC,1074,-0.88,-146.0,148.8,-10.5,103,1078,0.00,2.22,0.00,0.000,4,0.000,0.043,3145,168,3520,0,0,0,0,0,0
$GC,1102,-0.88,-146.0,152.6,-11.7,105,1111,0.00,2.08,0.00,0.000,6,0.000,0.018,3145,1534,3520,0,0,0,0,0,0
$GC,1368,-0.88,-146.0,177.4,-9.6,130,1372,0.00,2.42,0.00,0.000,4,0.000,0.024,3145,3095,3520,0,0,0,0,0,0
$GC,1409,-1.01,-146.0,181.6,-9.1,133,1415,0.12,2.53,0.00,0.000,6,0.061,0.028,3053,1528,3520,0,0,0,0,0,0
$GC,1665,-0.80,-146.0,219.1,-15.1,149,1670,0.47,2.20,0.00,0.000,4,0.094,0.040,3160,164,3521,0,0,0,0,0,0
$GC,1719,-1.02,-146.0,224.0,-7.5,150,1724,0.17,2.03,0.00,0.000,6,0.048,0.018,3083,1539,3521,0,0,0,0,0,0
$GC,1997,-1.02,-146.0,251.6,-10.0,157,2002,0.15,2.28,0.00,0.000,4,0.101,0.044,3117,168,3521,0,0,0,0,0,0
$GC,2026,-1.02,-146.0,254.4,-9.6,157,2030,0.00,2.05,0.00,0.000,6,0.000,0.019,3117,1527,3521,0,0,0,0,0,0
$GC,2282,-1.02,-146.0,276.2,-8.8,164,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1529,3521,0,0,0,0,0,0
$GC,2524,-1.10,-146.0,298.0,-9.1,170,2529,0.00,2.45,0.00,0.000,4,0.000,0.028,3117,3084,3521,0,0,0,0,0,0
$GC,2568,-1.26,-146.0,301.6,-7.7,171,2573,0.20,2.53,0.00,0.000,6,0.041,0.032,3032,1532,3521,0,0,0,0,0,0
$GC,2858,-1.09,-146.0,337.8,-12.6,178,2863,0.28,2.25,0.00,0.000,4,0.097,0.050,3095,171,3520,0,0,0,0,0,0
$GC,2929,-1.16,-146.0,345.4,-9.1,179,2933,0.00,2.05,0.00,0.000,6,0.000,0.021,3095,1506,3520,0,0,0,0,0,0
$GC,3189,-1.16,-146.0,368.0,-8.7,186,3193,0.00,2.58,0.00,0.000,4,0.000,0.035,3095,3107,3518,0,0,0,0,0,0
$GC,3213,-1.23,-146.0,370.5,-9.6,186,3218,0.10,2.58,0.00,0.000,6,0.075,0.035,3029,1525,3519,0,0,0,0,0,0
$GC,3475,-1.07,-146.0,403.3,-13.1,193,3480,0.32,2.30,0.00,0.000,4,0.091,0.059,3103,169,3517,0,0,0,0,0,0
$GC,3519,-1.17,-146.0,408.2,-9.5,194,3523,0.00,2.10,0.00,0.000,6,0.000,0.025,3103,1522,3517,0,0,0,0,0,0
$GC,3806,-1.25,-146.0,431.9,-8.0,201,3808,0.15,0.00,0.00,0.000,6,0.057,0.000,3043,1524,3515,0,0,0,0,0,0
$GC,4051,-1.15,-146.0,456.7,-10.1,207,4053,0.20,0.00,0.00,0.000,6,0.096,0.000,3087,1524,3513,0,0,0,0,0,0
$GC,4293,-1.15,-146.0,476.6,-8.1,213,4298,0.00,2.58,0.00,0.000,4,0.000,0.041,3088,3104,3511,0,0,0,0,0,0
$GC,4331,-1.28,-146.0,479.6,-7.5,213,4338,0.12,2.62,0.00,0.000,6,0.063,0.042,3013,1524,3511,0,0,0,0,0,0
$GC,4583,-1.11,-146.0,508.8,-12.3,220,4588,0.35,2.35,0.00,0.000,4,0.091,0.072,3094,163,3509,0,0,0,0,0,0
$GC,4636,-1.21,-146.0,514.4,-9.0,221,4640,0.00,2.15,0.00,0.000,6,0.000,0.033,3094,1509,3509,0,0,0,0,0,0
$GC,4915,-1.29,-146.0,537.0,-8.2,228,4920,0.15,2.67,0.00,0.000,4,0.058,0.046,3037,3125,3507,0,0,0,0,0,0
$GC,4954,-1.29,-146.0,541.0,-9.7,228,4960,0.10,2.72,0.00,0.000,6,0.116,0.046,3059,1511,3507,0,0,0,0,0,0
$GC,5204,-1.29,-146.0,564.3,-9.3,235,5208,0.00,2.35,0.00,0.000,4,0.000,0.077,3059,166,3505,0,0,0,0,0,0
$GC,5228,-1.29,-146.0,566.8,-10.0,235,5232,0.00,2.20,0.00,0.000,6,0.000,0.035,3059,1522,3505,0,0,0,0,0,0
$GC,5492,-1.29,-146.0,591.4,-9.2,242,5496,0.00,2.67,0.00,0.000,4,0.000,0.051,3059,3125,3503,0,0,0,0,0,0
$GC,5520,-1.29,-146.0,594.4,-9.8,242,5525,0.00,2.70,0.00,0.000,6,0.000,0.048,3059,1523,3503,0,0,0,0,0,0
$STATE,5610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5610,begin apogee
$GC,5618,-0.31,0.0,602.8,9.3,245,5738,0.95,0.00,117.07,0.936,6,0.084,0.000,3271,1413,2920,0,0,0,0,0,0
$STATE,5739,end apogee,CONTROL_FINISHED_OK
$STATE,5739,begin climb
$GC,5742,1.27,146.0,606.9,0.0,248,5874,1.45,2.28,123.90,0.914,4,0.045,0.082,3617,177,2323,0,0,0,0,0,0
$GC,5962,0.91,146.0,592.2,14.3,253,5967,0.38,2.05,0.00,0.000,6,0.100,0.031,3538,1428,2318,0,0,0,0,0,0
$GC,6242,0.93,168.9,566.5,8.9,260,6266,0.00,2.28,19.33,0.848,4,0.000,0.072,3538,172,2231,0,0,0,0,0,0
$GC,6277,0.90,189.2,563.1,9.1,260,6302,0.00,2.05,19.95,0.841,6,0.000,0.030,3538,1418,2147,0,0,0,0,0,0
$GC,6578,0.90,189.2,532.5,10.3,268,6582,0.00,2.17,0.00,0.000,4,0.000,0.068,3538,170,2141,0,0,0,0,0,0
$GC,6661,0.83,189.2,523.0,10.8,269,6665,0.00,2.03,0.00,0.000,6,0.000,0.028,3538,1423,2140,0,0,0,0,0,0
$GC,6917,0.84,198.3,498.1,9.6,276,6930,0.00,2.22,8.02,0.732,4,0.000,0.067,3538,167,2110,0,0,0,0,0,0
$GC,6950,0.84,198.3,494.9,10.0,276,6954,0.00,2.03,0.00,0.000,6,0.000,0.027,3538,1418,2110,0,0,0,0,0,0
$GC,7204,0.87,223.5,472.0,8.8,283,7233,0.00,2.20,23.48,0.828,4,0.000,0.064,3539,170,2007,0,0,0,0,0,0
$GC,7262,0.87,223.5,466.8,10.3,284,7266,0.00,2.00,0.00,0.000,6,0.000,0.026,3538,1406,2006,0,0,0,0,0,0
$GC,7540,0.88,233.8,440.3,9.5,291,7552,0.00,0.00,10.27,0.742,6,0.000,0.000,3538,1408,1966,0,0,0,0,0,0
$GC,7783,0.89,243.9,416.8,9.5,297,7796,0.00,0.00,10.68,0.735,6,0.000,0.000,3539,1408,1925,0,0,0,0,0,0
$GC,8028,0.91,259.5,394.0,9.3,303,8049,0.00,2.20,15.07,0.754,4,0.000,0.061,3538,174,1861,0,0,0,0,0,0
$GC,8091,0.91,259.5,387.3,10.4,304,8095,0.00,1.98,0.00,0.000,6,0.000,0.025,3538,1404,1861,0,0,0,0,0,0
$GC,8364,1.01,284.5,362.8,8.8,311,8393,0.10,2.17,23.25,0.758,4,0.077,0.067,3586,165,1758,0,0,0,0,0,0
$GC,8425,0.91,284.5,355.9,13.5,312,8429,0.22,1.98,0.00,0.000,6,0.094,0.025,3538,1396,1758,0,0,0,0,0,0
$GC,8699,1.02,297.0,329.0,9.4,319,8717,0.10,2.65,11.95,0.690,4,0.077,0.038,3590,2994,1708,0,0,0,0,0,0
$GC,8743,1.02,297.0,323.9,13.0,320,8748,0.12,2.70,0.00,0.000,6,0.101,0.041,3562,1394,1705,0,0,0,0,0,0
$GC,9031,1.02,297.0,291.0,11.1,327,9035,0.00,2.10,0.00,0.000,4,0.000,0.060,3562,156,1704,0,0,0,0,0,0
$GC,9081,1.02,297.0,285.4,12.3,328,9085,0.00,1.98,0.00,0.000,6,0.000,0.025,3562,1407,1703,0,0,0,0,0,0
$GC,9372,1.02,297.0,254.8,10.4,335,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1410,1703,0,0,0,0,0,0
$GC,9616,1.02,297.0,228.7,10.7,341,9619,0.00,2.08,0.00,0.000,4,0.000,0.053,3562,165,1702,0,0,0,0,0,0
$GC,9714,1.08,297.0,217.4,12.1,343,9718,0.00,1.92,0.00,0.000,6,0.000,0.022,3562,1408,1702,0,0,0,0,0,0
$GC,9979,1.17,299.0,190.6,9.9,354,9981,0.12,0.00,0.00,0.000,6,0.063,0.000,3620,1410,1702,0,0,0,0,0,0
$GC,10237,1.11,299.0,157.1,14.0,378,10241,0.17,2.10,0.00,0.000,4,0.098,0.059,3582,164,1701,0,0,0,0,0,0
$GC,10356,1.11,299.0,141.8,12.0,389,10360,0.00,1.88,0.00,0.000,6,0.000,0.021,3583,1395,1701,0,0,0,0,0,0
$GC,10625,1.17,299.0,111.6,11.0,414,10629,0.00,2.47,0.00,0.000,4,0.000,0.027,3582,2972,1701,0,0,0,0,0,0
$GC,10655,1.29,299.0,107.9,10.8,416,10664,0.12,2.65,0.00,0.000,6,0.026,0.041,3650,1374,1699,0,0,0,0,0,0
$GC,10919,1.17,299.0,71.7,14.3,441,10923,0.25,1.98,0.00,0.000,4,0.090,0.047,3590,167,1699,0,0,0,0,0,0
$GC,11011,1.17,299.0,60.1,13.0,449,11014,0.00,1.83,0.00,0.000,6,0.000,0.020,3590,1387,1699,0,0,0,0,0,0
$GC,11285,1.31,353.8,33.9,7.5,474,11339,0.15,0.00,49.03,0.487,6,0.057,0.000,3655,1390,1477,0,0,0,0,0,0
$STATE,11495,end climb,SURFACE_DEPTH_REACHED
$STATE,11495,begin surface coast
$FINISH,0.6,1.023709
$STATE,11527,end surface coast,CONTROL_FINISHED_OK
$STATE,11527,begin surface
$SM_CCo,11552,167.35,0.449,3,0,510,590.93
$SM_GC,1.35,0.00,0.00,167.35,0.000,0.000,0.449,416,1578,510,-13.45,1.07,590.93
$IRIDIUM_FIX,2232.34,-15808.45,240901,090950
$TT8_MAMPS,0.027612
$HUMID,59.25
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,21.80
$XPDR_PINGS,6
$24V_AH,23.5,20.485
$10V_AH,9.9,14.274
$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,34.450,132.100,432.000,167.350,0.000,128.360,220.625,387.333,1.500,0.000,32.956,1122.910,8095.254,630.116,1949.500,1096.401,33.361,1483.998,0.000,1930.622,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,82.836,935.740,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.021,286.256,360.272,508.672,894.089,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38547,510
$CAP_FILE_SIZE,142554,0
$CFSIZE,260165632,170156032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,300612,123836,2241.150,-15805.479,36,1.4,41,10.0