version: 66.06
glider: 148
mission: 11
dive: 196
start: 7 7 112 20 30 59
data:
$ID,148
$MISSION,11
$DIVE,196
$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,-922393.69
$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,27
$R_STBD_OVSHOOT,92
$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
$GPS1,201654,2241.535,-15737.693,39,1.9,39,10.1
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.8
$GPS2,203007,2241.655,-15737.822,12,1.7,24,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.055,0.254
$KALMAN_X,59805.5,-83.6,-529.7,-21735.6,-204.9
$KALMAN_Y,-37409.2,-564.0,100.6,26113.9,1847.3
$MHEAD_RNG_PITCHd_Wd,2.1,44221,-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,-74.15,0.000,2,0.000,0.000,415,1573,3288,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.7,-5.9,10,121,13.73,2.38,-3.92,0.000,4,0.150,0.033,3059,3076,3517,0,0,0,0,0,0
$GC,137,-0.05,-146.0,20.5,-41.0,15,146,1.17,2.53,0.00,0.000,6,0.088,0.028,3321,1535,3518,0,0,0,0,0,0
$GC,428,-0.85,-146.0,40.1,-7.4,51,440,0.68,2.42,0.00,0.000,4,0.043,0.022,3146,3076,3520,0,0,0,0,0,0
$GC,458,-1.39,-146.0,42.6,-8.7,53,470,0.43,2.47,0.00,0.000,6,0.027,0.027,3001,1526,3520,0,0,0,0,0,0
$GC,725,-0.93,-146.0,101.6,-21.6,78,730,0.57,2.17,0.00,0.000,4,0.099,0.044,3128,168,3520,0,0,0,0,0,0
$GC,787,-0.93,-146.0,111.6,-11.6,83,793,0.00,2.03,0.00,0.000,6,0.000,0.018,3128,1527,3520,0,0,0,0,0,0
$GC,1050,-0.93,-146.0,140.9,-11.2,108,1054,0.00,2.47,0.00,0.000,4,0.000,0.024,3128,3099,3521,0,0,0,0,0,0
$GC,1117,-1.06,-146.0,147.4,-8.9,114,1121,0.00,2.50,0.00,0.000,6,0.000,0.028,3128,1547,3521,0,0,0,0,0,0
$GC,1381,-1.06,-146.0,171.5,-9.3,138,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1547,3522,0,0,0,0,0,0
$GC,1646,-1.06,-146.0,197.1,-9.9,163,1650,0.00,2.45,0.00,0.000,4,0.000,0.024,3128,3094,3523,0,0,0,0,0,0
$GC,1685,-1.17,-146.0,200.7,-9.0,166,1690,0.17,2.47,0.00,0.000,6,0.044,0.028,3032,1546,3523,0,0,0,0,0,0
$GC,1935,-0.92,-146.0,238.7,-15.4,172,1940,0.50,2.22,0.00,0.000,4,0.094,0.042,3136,170,3523,0,0,0,0,0,0
$GC,1964,-0.99,-146.0,242.2,-10.1,172,1969,0.00,2.08,0.00,0.000,6,0.000,0.019,3136,1542,3523,0,0,0,0,0,0
$GC,2221,-1.10,-146.0,262.5,-7.9,179,2226,0.15,2.47,0.00,0.000,4,0.054,0.026,3049,3107,3523,0,0,0,0,0,0
$GC,2259,-1.04,-146.0,266.9,-10.9,179,2265,0.28,2.53,0.00,0.000,6,0.082,0.031,3112,1549,3523,0,0,0,0,0,0
$GC,2509,-1.04,-146.0,288.7,-8.6,186,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1549,3523,0,0,0,0,0,0
$GC,2754,-1.04,-146.0,310.5,-9.1,192,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1549,3523,0,0,0,0,0,0
$GC,2997,-1.10,-146.0,331.9,-8.7,198,3001,0.00,2.50,0.00,0.000,4,0.000,0.028,3112,3105,3521,0,0,0,0,0,0
$GC,3035,-1.24,-146.0,335.2,-8.2,198,3041,0.17,2.50,0.00,0.000,6,0.047,0.033,3035,1563,3521,0,0,0,0,0,0
$GC,3287,-1.08,-146.0,365.0,-12.1,205,3292,0.28,2.33,0.00,0.000,4,0.094,0.054,3099,167,3520,0,0,0,0,0,0
$GC,3339,-1.16,-146.0,370.4,-9.3,206,3343,0.00,2.12,0.00,0.000,6,0.000,0.022,3099,1541,3520,0,0,0,0,0,0
$GC,3618,-1.16,-146.0,392.6,-7.9,213,3623,0.00,2.55,0.00,0.000,4,0.000,0.035,3099,3112,3518,0,0,0,0,0,0
$GC,3652,-1.28,-146.0,395.1,-7.2,213,3657,0.17,2.55,0.00,0.000,6,0.046,0.037,3018,1557,3518,0,0,0,0,0,0
$GC,3902,-1.09,-146.0,423.7,-11.8,219,3907,0.35,2.38,0.00,0.000,4,0.091,0.064,3098,161,3516,0,0,0,0,0,0
$GC,3927,-1.09,-146.0,426.4,-10.5,219,3931,0.00,2.17,0.00,0.000,6,0.000,0.026,3098,1550,3516,0,0,0,0,0,0
$GC,4187,-1.15,-146.0,447.9,-8.6,226,4191,0.00,2.53,0.00,0.000,4,0.000,0.037,3098,3110,3515,0,0,0,0,0,0
$GC,4216,-1.25,-146.0,450.6,-8.7,226,4221,0.12,2.58,0.00,0.000,6,0.061,0.038,3029,1546,3514,0,0,0,0,0,0
$GC,4473,-1.10,-146.0,478.9,-11.2,233,4478,0.30,2.40,0.00,0.000,4,0.094,0.070,3097,161,3513,0,0,0,0,0,0
$GC,4512,-1.20,-146.0,482.6,-7.7,233,4517,0.00,2.22,0.00,0.000,6,0.000,0.030,3098,1546,3513,0,0,0,0,0,0
$GC,4763,-1.27,-146.0,499.1,-6.6,240,4765,0.15,0.00,0.00,0.000,6,0.056,0.000,3031,1546,3511,0,0,0,0,0,0
$GC,5005,-1.15,-146.0,524.3,-10.8,246,5007,0.28,0.00,0.00,0.000,6,0.093,0.000,3090,1546,3509,0,0,0,0,0,0
$GC,5249,-1.15,-146.0,544.9,-8.4,252,5253,0.00,2.40,0.00,0.000,4,0.000,0.072,3090,166,3508,0,0,0,0,0,0
$GC,5300,-1.23,-146.0,549.3,-8.7,253,5304,0.00,2.22,0.00,0.000,6,0.000,0.036,3090,1544,3507,0,0,0,0,0,0
$GC,5588,-1.29,-146.0,574.1,-8.4,260,5593,0.15,2.62,0.00,0.000,4,0.054,0.051,3020,3123,3505,0,0,0,0,0,0
$GC,5635,-1.29,-146.0,579.3,-11.4,261,5642,0.17,2.65,0.00,0.000,6,0.098,0.048,3059,1554,3505,0,0,0,0,0,0
$STATE,5877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5877,begin apogee
$GC,5885,-0.31,0.0,602.8,9.5,267,6006,0.95,0.00,117.57,0.937,6,0.089,0.000,3269,1376,2920,0,0,0,0,0,0
$STATE,6007,end apogee,CONTROL_FINISHED_OK
$STATE,6007,begin climb
$GC,6009,1.27,146.0,606.9,0.0,270,6141,1.48,2.20,123.68,0.916,4,0.055,0.083,3615,171,2323,0,0,0,0,0,0
$GC,6170,0.89,146.0,600.3,13.0,273,6175,0.38,1.98,0.00,0.000,6,0.098,0.032,3536,1382,2321,0,0,0,0,0,0
$GC,6421,0.91,165.4,576.9,9.1,279,6443,0.00,2.17,16.52,0.839,4,0.000,0.071,3536,165,2245,0,0,0,0,0,0
$GC,6496,0.82,165.4,569.3,10.2,280,6500,0.00,1.98,0.00,0.000,6,0.000,0.030,3536,1371,2243,0,0,0,0,0,0
$GC,6756,0.84,182.1,544.8,9.2,287,6774,0.00,0.00,15.43,0.828,6,0.000,0.000,3536,1372,2177,0,0,0,0,0,0
$GC,6998,0.86,202.7,522.7,9.0,293,7023,0.00,2.17,19.40,0.839,4,0.000,0.067,3536,172,2093,0,0,0,0,0,0
$GC,7085,0.86,202.7,513.6,11.0,294,7091,0.00,1.92,0.00,0.000,6,0.000,0.028,3536,1374,2092,0,0,0,0,0,0
$GC,7337,0.88,213.6,489.6,9.5,301,7349,0.00,0.00,10.45,0.771,6,0.000,0.000,3536,1376,2049,0,0,0,0,0,0
$GC,7579,0.89,227.8,466.8,9.3,307,7599,0.00,2.17,13.82,0.794,4,0.000,0.062,3536,169,1991,0,0,0,0,0,0
$GC,7624,0.89,227.8,462.2,11.2,308,7628,0.00,1.92,0.00,0.000,6,0.000,0.027,3536,1375,1991,0,0,0,0,0,0
$GC,7917,0.91,238.2,434.3,9.5,315,7933,0.00,2.15,10.77,0.751,4,0.000,0.061,3536,168,1948,0,0,0,0,0,0
$GC,7952,0.91,238.2,430.3,10.8,315,7956,0.00,1.90,0.00,0.000,6,0.000,0.034,3536,1362,1947,0,0,0,0,0,0
$GC,8206,0.92,252.6,405.9,9.3,322,8226,0.00,2.70,14.43,0.763,4,0.000,0.038,3536,2950,1889,0,0,0,0,0,0
$GC,8261,1.08,274.0,400.9,9.0,323,8290,0.17,2.70,20.62,0.777,6,0.049,0.043,3606,1364,1801,0,0,0,0,0,0
$GC,8542,0.97,274.0,364.1,13.3,330,8544,0.25,0.00,0.00,0.000,6,0.091,0.000,3551,1364,1797,0,0,0,0,0,0
$GC,8786,0.98,279.4,339.8,9.8,336,8793,0.00,0.00,5.30,0.579,6,0.000,0.000,3551,1364,1780,0,0,0,0,0,0
$GC,9028,0.98,279.4,314.0,10.8,342,9032,0.00,2.62,0.00,0.000,4,0.000,0.034,3551,2961,1777,0,0,0,0,0,0
$GC,9061,1.09,279.4,310.0,11.3,342,9066,0.12,2.67,0.00,0.000,6,0.062,0.041,3607,1361,1774,0,0,0,0,0,0
$GC,9312,1.00,279.4,273.9,14.5,348,9314,0.22,0.00,0.00,0.000,6,0.094,0.000,3559,1361,1774,0,0,0,0,0,0
$GC,9554,1.00,279.4,247.1,10.7,354,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1361,1774,0,0,0,0,0,0
$GC,9798,1.09,285.7,222.7,9.7,360,9811,0.00,2.65,5.97,0.537,4,0.000,0.029,3559,2959,1755,0,0,0,0,0,0
$GC,9849,1.26,299.8,218.1,9.3,361,9870,0.22,2.62,14.40,0.629,6,0.041,0.037,3626,1367,1696,0,0,0,0,0,0
$GC,10133,1.16,299.8,181.1,14.1,376,10137,0.15,2.03,0.00,0.000,4,0.104,0.051,3592,161,1693,0,0,0,0,0,0
$GC,10188,1.16,299.8,173.0,13.7,381,10192,0.00,1.90,0.00,0.000,6,0.000,0.030,3592,1392,1693,0,0,0,0,0,0
$GC,10455,1.16,299.8,142.2,10.8,406,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1394,1692,0,0,0,0,0,0
$GC,10710,1.16,299.8,113.2,10.8,430,10711,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1394,1692,0,0,0,0,0,0
$GC,10963,1.16,299.8,84.4,11.7,454,10967,0.00,2.47,0.00,0.000,4,0.000,0.027,3592,2953,1692,0,0,0,0,0,0
$GC,11005,1.28,299.8,79.8,10.4,457,11012,0.10,2.60,0.00,0.000,6,0.074,0.039,3635,1353,1691,0,0,0,0,0,0
$GC,11270,1.28,299.8,48.2,10.4,482,11273,0.00,1.98,0.00,0.000,4,0.000,0.048,3636,167,1691,0,0,0,0,0,0
$GC,11308,1.19,299.8,44.0,12.4,485,11313,0.17,1.80,0.00,0.000,6,0.096,0.019,3598,1381,1691,0,0,0,0,0,0
$GC,11598,1.19,299.8,15.8,10.4,521,11607,0.00,2.45,0.00,0.000,4,0.000,0.028,3598,2917,1690,0,0,0,0,0,0
$GC,11637,1.31,299.8,12.2,10.5,526,11646,0.08,2.58,0.00,0.000,6,0.029,0.037,3638,1360,1690,0,0,0,0,0,0
$STATE,11708,end climb,SURFACE_DEPTH_REACHED
$STATE,11708,begin surface coast
$FINISH,1.2,1.023664
$STATE,11742,end surface coast,CONTROL_FINISHED_OK
$STATE,11742,begin surface
$SM_CCo,11765,45.25,0.451,0,0,1369,380.21
$SM_GC,1.53,0.00,0.00,45.25,0.000,0.000,0.451,410,1562,1369,-13.48,0.62,380.21
$IRIDIUM_FIX,2232.34,-15735.92,011001,202039
$TT8_MAMPS,0.027612
$HUMID,63.23
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.90
$XPDR_PINGS,7
$24V_AH,23.5,26.929
$10V_AH,10.0,19.866
$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,37.025,126.775,388.375,45.250,0.000,87.760,161.378,267.154,1.750,0.000,26.354,1140.054,8161.106,492.262,1958.236,850.350,33.358,1293.942,0.000,1952.057,0.000,0.535,0.000
$DEVICE_MAMPS,149.565,82.836,937.274,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.883,315.645,392.692,595.696,1046.604,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,41513,542
$CAP_FILE_SIZE,131431,0
$CFSIZE,260165632,167051264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070712,234943,2244.210,-15737.860,49,99.0,68,10.1