version: 66.06
glider: 148
mission: 11
dive: 161
start: 7 2 112 16 29 59
data:
$ID,148
$MISSION,11
$DIVE,161
$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,-921538.94
$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,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,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,101
$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
$GPS1,162235,2255.376,-15806.439,27,1.4,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.7
$GPS2,162906,2255.359,-15806.424,9,1.3,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.012,0.259
$KALMAN_X,78168.7,-64.0,-172.9,-89306.4,245.1
$KALMAN_Y,-33813.3,-255.7,281.0,47407.7,-1085.2
$MHEAD_RNG_PITCHd_Wd,352.6,17145,-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,-74.72,0.000,2,0.000,0.000,411,1561,3305,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-7.5,10,122,14.00,2.38,-3.58,0.000,4,0.158,0.034,3056,3071,3516,0,0,0,0,0,0
$GC,217,-1.02,-146.0,37.9,-18.6,25,226,0.22,2.53,0.00,0.000,6,0.081,0.031,3111,1535,3518,0,0,0,0,0,0
$GC,485,-0.86,-146.0,79.1,-13.5,50,494,0.17,0.00,0.00,0.000,6,0.106,0.000,3150,1534,3518,0,0,0,0,0,0
$GC,751,-0.86,-146.0,107.8,-10.6,75,755,0.00,2.40,0.00,0.000,4,0.000,0.024,3150,3067,3519,0,0,0,0,0,0
$GC,812,-1.03,-146.0,114.7,-10.2,80,822,0.12,2.47,0.00,0.000,6,0.024,0.029,3056,1547,3520,0,0,0,0,0,0
$GC,1075,-0.82,-146.0,155.5,-15.4,105,1080,0.43,2.25,0.00,0.000,4,0.092,0.041,3154,172,3520,0,0,0,0,0,0
$GC,1107,-0.90,-146.0,159.8,-11.4,107,1112,0.00,2.03,0.00,0.000,6,0.000,0.018,3154,1532,3521,0,0,0,0,0,0
$GC,1370,-1.02,-146.0,182.2,-7.8,132,1375,0.15,2.45,0.00,0.000,4,0.054,0.024,3083,3094,3522,0,0,0,0,0,0
$GC,1407,-1.02,-146.0,185.8,-10.0,135,1412,0.15,2.47,0.00,0.000,6,0.096,0.029,3118,1544,3522,0,0,0,0,0,0
$GC,1684,-1.02,-146.0,211.7,-9.0,152,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1544,3522,0,0,0,0,0,0
$GC,1928,-1.02,-146.0,234.4,-9.4,158,1932,0.00,2.22,0.00,0.000,4,0.000,0.044,3117,172,3522,0,0,0,0,0,0
$GC,1957,-1.02,-146.0,237.3,-9.8,158,1961,0.00,2.08,0.00,0.000,6,0.000,0.019,3118,1546,3522,0,0,0,0,0,0
$GC,2216,-1.02,-146.0,260.5,-8.8,165,2221,0.00,2.42,0.00,0.000,4,0.000,0.025,3118,3094,3522,0,0,0,0,0,0
$GC,2240,-1.11,-146.0,262.6,-8.7,165,2245,0.00,2.47,0.00,0.000,6,0.000,0.029,3118,1547,3522,0,0,0,0,0,0
$GC,2501,-1.17,-146.0,284.3,-8.3,172,2503,0.15,0.00,0.00,0.000,6,0.054,0.000,3040,1547,3522,0,0,0,0,0,0
$GC,2743,-1.02,-146.0,311.3,-11.3,178,2748,0.32,2.28,0.00,0.000,4,0.088,0.046,3116,172,3522,0,0,0,0,0,0
$GC,2779,-1.02,-146.0,314.6,-8.5,178,2783,0.00,2.10,0.00,0.000,6,0.000,0.021,3116,1535,3522,0,0,0,0,0,0
$GC,3030,-1.10,-146.0,335.0,-8.4,184,3035,0.00,2.53,0.00,0.000,4,0.000,0.031,3115,3118,3522,0,0,0,0,0,0
$GC,3059,-1.24,-146.0,337.7,-9.1,184,3065,0.20,2.55,0.00,0.000,6,0.043,0.033,3037,1548,3521,0,0,0,0,0,0
$GC,3315,-1.08,-146.0,370.3,-13.0,191,3320,0.25,2.33,0.00,0.000,4,0.093,0.053,3096,161,3520,0,0,0,0,0,0
$GC,3346,-1.08,-146.0,373.4,-9.4,191,3350,0.00,2.17,0.00,0.000,6,0.000,0.024,3097,1539,3520,0,0,0,0,0,0
$GC,3600,-1.08,-146.0,394.0,-7.9,198,3604,0.00,2.55,0.00,0.000,4,0.000,0.035,3097,3116,3518,0,0,0,0,0,0
$GC,3619,-1.08,-146.0,395.6,-8.3,198,3623,0.00,2.58,0.00,0.000,6,0.000,0.035,3097,1542,3518,0,0,0,0,0,0
$GC,3884,-1.08,-146.0,415.7,-7.6,205,3888,0.00,2.30,0.00,0.000,4,0.000,0.061,3096,174,3517,0,0,0,0,0,0
$GC,3903,-1.08,-146.0,417.5,-8.7,205,3907,0.00,2.15,0.00,0.000,6,0.000,0.025,3097,1552,3517,0,0,0,0,0,0
$GC,4167,-1.08,-146.0,438.5,-8.2,212,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1552,3516,0,0,0,0,0,0
$GC,4412,-1.08,-146.0,458.7,-8.4,218,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1552,3514,0,0,0,0,0,0
$GC,4655,-1.15,-146.0,478.8,-8.2,224,4659,0.00,2.55,0.00,0.000,4,0.000,0.041,3097,3114,3512,0,0,0,0,0,0
$GC,4683,-1.26,-146.0,481.4,-8.7,224,4689,0.12,2.62,0.00,0.000,6,0.061,0.038,3023,1539,3512,0,0,0,0,0,0
$GC,4941,-1.11,-146.0,511.0,-11.8,231,4943,0.35,0.00,0.00,0.000,6,0.094,0.000,3099,1538,3511,0,0,0,0,0,0
$GC,5183,-1.19,-146.0,529.3,-7.0,237,5188,0.00,2.60,0.00,0.000,4,0.000,0.044,3099,3110,3509,0,0,0,0,0,0
$GC,5212,-1.31,-146.0,531.4,-7.0,237,5219,0.20,2.62,0.00,0.000,6,0.041,0.043,3008,1547,3509,0,0,0,0,0,0
$GC,5471,-1.13,-146.0,560.9,-11.8,244,5476,0.35,2.40,0.00,0.000,4,0.091,0.073,3090,161,3507,0,0,0,0,0,0
$GC,5533,-1.23,-146.0,567.2,-9.3,245,5537,0.00,2.22,0.00,0.000,6,0.000,0.035,3090,1527,3507,0,0,0,0,0,0
$GC,5803,-1.29,-146.0,588.1,-7.8,252,5808,0.12,2.67,0.00,0.000,4,0.065,0.050,3038,3132,3505,0,0,0,0,0,0
$GC,5827,-1.29,-146.0,590.7,-10.5,252,5832,0.00,2.70,0.00,0.000,6,0.000,0.052,3037,1535,3505,0,0,0,0,0,0
$STATE,5922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5922,begin apogee
$GC,5929,-0.31,0.0,600.6,10.5,255,6051,1.05,0.00,117.57,0.933,6,0.084,0.000,3271,1383,2920,0,0,0,0,0,0
$STATE,6051,end apogee,CONTROL_FINISHED_OK
$STATE,6052,begin climb
$GC,6054,1.27,146.0,604.8,0.0,258,6188,1.45,2.20,123.53,0.913,4,0.046,0.078,3617,167,2323,0,0,0,0,0,0
$GC,6315,0.92,146.0,586.2,12.7,264,6320,0.38,2.03,0.00,0.000,6,0.100,0.030,3538,1406,2317,0,0,0,0,0,0
$GC,6604,0.95,177.0,561.1,8.6,271,6636,0.00,2.25,26.20,0.860,4,0.000,0.069,3538,174,2198,0,0,0,0,0,0
$GC,6715,0.88,177.0,549.7,11.1,273,6719,0.00,1.98,0.00,0.000,6,0.000,0.028,3538,1401,2196,0,0,0,0,0,0
$GC,6986,0.90,196.6,524.8,9.1,280,7010,0.00,2.22,18.20,0.829,4,0.000,0.066,3538,171,2118,0,0,0,0,0,0
$GC,7103,0.90,196.6,512.6,10.4,282,7107,0.00,2.00,0.00,0.000,6,0.000,0.027,3538,1406,2116,0,0,0,0,0,0
$GC,7367,0.92,214.9,488.6,9.2,289,7385,0.00,0.00,16.98,0.811,6,0.000,0.000,3538,1406,2044,0,0,0,0,0,0
$GC,7612,0.93,215.9,464.9,10.0,295,7616,0.00,2.60,0.00,0.000,4,0.000,0.041,3538,2985,2040,0,0,0,0,0,0
$GC,7641,0.99,218.9,462.0,9.9,295,7654,0.00,2.67,4.22,0.555,6,0.000,0.043,3538,1394,2027,0,0,0,0,0,0
$GC,7899,1.01,234.9,438.3,9.3,302,7921,0.10,2.12,16.42,0.788,4,0.077,0.062,3580,168,1961,0,0,0,0,0,0
$GC,7961,0.87,234.9,431.3,12.7,303,7965,0.25,1.98,0.00,0.000,6,0.092,0.025,3527,1401,1961,0,0,0,0,0,0
$GC,8231,0.98,264.1,407.5,8.7,310,8265,0.12,2.67,27.52,0.794,4,0.066,0.045,3578,2975,1842,0,0,0,0,0,0
$GC,8280,0.98,264.1,401.8,11.6,311,8285,0.12,2.67,0.00,0.000,6,0.105,0.041,3551,1393,1840,0,0,0,0,0,0
$GC,8558,0.98,264.1,369.9,11.7,318,8562,0.00,2.08,0.00,0.000,4,0.000,0.061,3551,165,1837,0,0,0,0,0,0
$GC,8587,0.98,264.1,366.4,11.4,318,8591,0.00,1.92,0.00,0.000,6,0.000,0.025,3551,1397,1838,0,0,0,0,0,0
$GC,8845,0.98,264.1,337.8,10.8,325,8849,0.00,2.08,0.00,0.000,4,0.000,0.058,3551,166,1835,0,0,0,0,0,0
$GC,8873,0.98,264.1,334.6,12.4,325,8876,0.00,1.92,0.00,0.000,6,0.000,0.024,3551,1384,1835,0,0,0,0,0,0
$GC,9137,0.98,264.1,306.4,10.6,332,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1387,1834,0,0,0,0,0,0
$GC,9380,1.04,264.1,281.1,10.4,338,9384,0.00,2.58,0.00,0.000,4,0.000,0.034,3551,2970,1834,0,0,0,0,0,0
$GC,9417,1.19,264.1,277.3,10.2,338,9424,0.20,2.67,0.00,0.000,6,0.045,0.040,3636,1370,1831,0,0,0,0,0,0
$GC,9669,1.02,264.1,243.0,14.0,345,9674,0.32,2.03,0.00,0.000,4,0.089,0.055,3562,162,1831,0,0,0,0,0,0
$GC,9712,1.02,264.1,237.7,11.3,346,9716,0.00,1.90,0.00,0.000,6,0.000,0.022,3562,1392,1831,0,0,0,0,0,0
$GC,10004,1.10,284.5,211.2,9.1,353,10027,0.00,2.12,17.10,0.631,4,0.000,0.051,3561,158,1759,0,0,0,0,0,0
$GC,10057,1.10,284.5,205.7,12.0,354,10061,0.00,1.90,0.00,0.000,6,0.000,0.021,3562,1381,1758,0,0,0,0,0,0
$GC,10329,1.18,286.8,178.1,9.9,374,10334,0.15,2.55,0.00,0.000,4,0.058,0.028,3633,2962,1756,0,0,0,0,0,0
$GC,10379,1.18,286.8,171.9,12.3,378,10389,0.12,2.65,0.00,0.000,6,0.074,0.036,3600,1374,1753,0,0,0,0,0,0
$GC,10644,1.18,286.8,142.5,11.7,403,10648,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1374,1753,0,0,0,0,0,0
$GC,10906,1.18,286.8,112.8,11.5,428,10907,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1374,1753,0,0,0,0,0,0
$GC,11160,1.18,286.8,84.5,10.8,452,11163,0.00,2.00,0.00,0.000,4,0.000,0.055,3600,161,1753,0,0,0,0,0,0
$GC,11206,1.18,286.8,78.8,12.2,456,11215,0.00,1.88,0.00,0.000,6,0.000,0.020,3600,1381,1753,0,0,0,0,0,0
$GC,11473,1.20,301.3,52.1,9.3,481,11498,0.00,2.55,15.68,0.479,4,0.000,0.028,3600,2949,1689,0,0,0,0,0,0
$GC,11516,1.28,315.7,48.2,9.3,484,11542,0.00,2.60,14.00,0.469,6,0.000,0.034,3600,1360,1631,0,0,0,0,0,0
$GC,11814,1.28,315.7,17.5,11.6,519,11822,0.00,2.00,0.00,0.000,4,0.000,0.048,3600,163,1630,0,0,0,0,0,0
$GC,11833,1.28,315.7,15.5,10.9,521,11842,0.00,1.85,0.00,0.000,6,0.000,0.019,3600,1381,1630,0,0,0,0,0,0
$STATE,11934,end climb,SURFACE_DEPTH_REACHED
$STATE,11934,begin surface coast
$FINISH,0.7,1.023734
$STATE,11982,end surface coast,CONTROL_FINISHED_OK
$STATE,11983,begin surface
$SM_CCo,12006,40.92,0.452,0,0,1370,380.21
$SM_GC,1.43,0.00,0.00,40.92,0.000,0.000,0.452,412,1587,1370,-13.47,1.33,380.21
$IRIDIUM_FIX,2246.36,-15805.83,260901,131351
$TT8_MAMPS,0.027612
$HUMID,62.28
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.10
$XPDR_PINGS,7
$24V_AH,23.5,22.375
$10V_AH,9.9,15.988
$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,34.425,139.200,397.425,40.925,0.000,29.527,34.954,180.317,1.750,0.000,16.254,1164.602,8194.254,494.122,1998.875,585.007,33.366,1358.636,0.000,1996.603,0.000,0.537,0.000
$DEVICE_MAMPS,158.002,78.234,932.672,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.983,310.088,390.380,565.120,993.145,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,41523,544
$CAP_FILE_SIZE,131768,0
$CFSIZE,260165632,169197568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020712,195208,2256.503,-15806.268,30,1.8,38,10.1