version: 66.06
glider: 148
mission: 11
dive: 274
start: 7 19 112 4 42 13
data:
$ID,148
$MISSION,11
$DIVE,274
$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,-924157
$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,73
$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
$GPS1,042952,2247.110,-15748.707,44,1.6,60,10.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.2
$GPS2,044119,2247.210,-15748.730,11,1.0,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.127,-0.227
$KALMAN_X,-17756.6,-358.8,-394.6,37342.0,-191.5
$KALMAN_Y,29751.4,208.3,-261.1,-31166.5,1582.2
$MHEAD_RNG_PITCHd_Wd,140.7,24566,-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,17,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-73.57,0.000,2,0.000,0.000,413,1544,3319,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.2,-6.7,10,120,13.88,2.22,-3.33,0.000,4,0.154,0.047,3057,166,3518,0,0,0,0,0,0
$GC,179,-0.89,-146.0,32.8,-25.2,21,184,0.40,2.08,0.00,0.000,6,0.092,0.019,3143,1524,3520,0,0,0,0,0,0
$GC,448,-0.79,-146.0,71.4,-12.8,45,453,0.10,2.53,0.00,0.000,4,0.131,0.025,3165,3116,3520,0,0,0,0,0,0
$GC,515,-0.89,-146.0,78.8,-8.6,50,524,0.00,2.58,0.00,0.000,6,0.000,0.028,3165,1536,3521,0,0,0,0,0,0
$GC,784,-0.89,-146.0,103.5,-9.7,75,789,0.00,2.47,0.00,0.000,4,0.000,0.025,3165,3113,3521,0,0,0,0,0,0
$GC,822,-0.98,-146.0,108.1,-9.7,78,827,0.17,2.50,0.00,0.000,6,0.045,0.028,3093,1550,3521,0,0,0,0,0,0
$GC,1086,-0.79,-146.0,146.4,-15.0,102,1096,0.32,0.00,0.00,0.000,6,0.087,0.000,3165,1549,3522,0,0,0,0,0,0
$GC,1354,-0.86,-146.0,173.0,-10.2,127,1358,0.00,2.47,0.00,0.000,4,0.000,0.024,3165,3115,3522,0,0,0,0,0,0
$GC,1375,-0.96,-146.0,175.4,-9.6,128,1381,0.15,2.50,0.00,0.000,6,0.051,0.026,3053,1554,3522,0,0,0,0,0,0
$GC,1664,-0.72,-146.0,221.8,-16.7,147,1666,0.57,0.00,0.00,0.000,6,0.082,0.000,3182,1554,3522,0,0,0,0,0,0
$GC,1908,-0.91,-146.0,241.2,-7.1,153,1913,0.17,2.47,0.00,0.000,4,0.047,0.024,3089,3123,3523,0,0,0,0,0,0
$GC,1946,-0.91,-146.0,245.2,-10.4,153,1954,0.20,2.47,0.00,0.000,6,0.067,0.028,3140,1571,3523,0,0,0,0,0,0
$GC,2196,-0.99,-146.0,263.6,-6.8,160,2201,0.00,2.42,0.00,0.000,4,0.000,0.025,3140,3114,3523,0,0,0,0,0,0
$GC,2237,-1.17,-146.0,266.4,-6.6,160,2243,0.22,2.50,0.00,0.000,6,0.039,0.030,3026,1565,3523,0,0,0,0,0,0
$GC,2487,-0.92,-146.0,299.7,-14.1,167,2493,0.47,2.30,0.00,0.000,4,0.085,0.045,3137,166,3523,0,0,0,0,0,0
$GC,2552,-1.08,-146.0,305.9,-8.6,168,2557,0.12,2.15,0.00,0.000,6,0.061,0.020,3069,1573,3523,0,0,0,0,0,0
$GC,2822,-0.98,-146.0,339.0,-13.0,175,2827,0.25,2.45,0.00,0.000,4,0.088,0.029,3129,3105,3523,0,0,0,0,0,0
$GC,2846,-1.04,-146.0,342.2,-12.0,175,2851,0.00,2.50,0.00,0.000,6,0.000,0.032,3128,1557,3523,0,0,0,0,0,0
$GC,3108,-1.14,-146.0,365.5,-8.7,182,3110,0.15,0.00,0.00,0.000,6,0.054,0.000,3059,1557,3522,0,0,0,0,0,0
$GC,3350,-1.03,-146.0,390.8,-10.3,188,3355,0.25,2.35,0.00,0.000,4,0.087,0.059,3120,168,3520,0,0,0,0,0,0
$GC,3385,-1.12,-146.0,393.8,-8.3,188,3390,0.10,2.15,0.00,0.000,6,0.076,0.024,3065,1553,3520,0,0,0,0,0,0
$GC,3636,-1.04,-146.0,418.0,-10.0,194,3638,0.20,0.00,0.00,0.000,6,0.093,0.000,3110,1554,3519,0,0,0,0,0,0
$GC,3879,-1.04,-146.0,437.7,-8.1,200,3883,0.00,2.53,0.00,0.000,4,0.000,0.036,3110,3115,3517,0,0,0,0,0,0
$GC,3909,-1.14,-146.0,440.2,-8.0,200,3913,0.00,2.58,0.00,0.000,6,0.000,0.037,3110,1557,3517,0,0,0,0,0,0
$GC,4164,-1.20,-146.0,460.3,-8.0,207,4169,0.12,2.58,0.00,0.000,4,0.063,0.038,3045,3113,3515,0,0,0,0,0,0
$GC,4184,-1.20,-146.0,462.3,-9.0,207,4189,0.15,2.53,0.00,0.000,6,0.096,0.041,3079,1568,3515,0,0,0,0,0,0
$GC,4451,-1.20,-146.0,487.2,-9.4,214,4455,0.00,2.53,0.00,0.000,4,0.000,0.038,3079,3112,3512,0,0,0,0,0,0
$GC,4475,-1.20,-146.0,489.5,-9.7,214,4479,0.00,2.53,0.00,0.000,6,0.000,0.040,3079,1573,3513,0,0,0,0,0,0
$GC,4734,-1.20,-146.0,513.5,-9.3,221,4738,0.00,2.42,0.00,0.000,4,0.000,0.074,3079,160,3511,0,0,0,0,0,0
$GC,4759,-1.20,-146.0,516.0,-10.4,221,4763,0.00,2.25,0.00,0.000,6,0.000,0.031,3079,1558,3511,0,0,0,0,0,0
$GC,5018,-1.20,-146.0,540.6,-9.4,228,5023,0.00,2.58,0.00,0.000,4,0.000,0.045,3079,3128,3509,0,0,0,0,0,0
$GC,5037,-1.20,-146.0,542.7,-10.4,228,5041,0.00,2.60,0.00,0.000,6,0.000,0.041,3079,1563,3509,0,0,0,0,0,0
$GC,5302,-1.20,-146.0,565.5,-8.6,235,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1563,3507,0,0,0,0,0,0
$GC,5545,-1.20,-146.0,584.4,-7.6,241,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1563,3506,0,0,0,0,0,0
$STATE,5786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5786,begin apogee
$GC,5792,-0.31,0.0,601.8,7.1,247,5913,0.85,0.00,117.55,0.928,6,0.081,0.000,3271,1371,2920,0,0,0,0,0,0
$STATE,5914,end apogee,CONTROL_FINISHED_OK
$STATE,5914,begin climb
$GC,5918,1.27,146.0,603.6,0.0,250,6049,1.45,2.20,122.78,0.909,4,0.051,0.083,3618,168,2323,0,0,0,0,0,0
$GC,6227,0.96,146.0,575.0,14.5,257,6231,0.32,1.98,0.00,0.000,6,0.097,0.031,3549,1381,2316,0,0,0,0,0,0
$GC,6510,1.01,185.2,550.5,8.2,264,6552,0.00,2.22,33.45,0.864,4,0.000,0.070,3549,172,2164,0,0,0,0,0,0
$GC,6651,1.01,185.2,536.7,10.7,267,6655,0.00,1.98,0.00,0.000,6,0.000,0.028,3549,1375,2161,0,0,0,0,0,0
$GC,6939,1.04,211.5,511.1,8.8,274,6968,0.00,2.17,23.60,0.838,4,0.000,0.067,3549,163,2057,0,0,0,0,0,0
$GC,6987,1.04,211.5,506.3,10.3,275,6990,0.00,1.95,0.00,0.000,6,0.000,0.027,3549,1375,2056,0,0,0,0,0,0
$GC,7273,1.05,212.8,478.6,9.9,282,7277,0.00,2.08,0.00,0.000,4,0.000,0.062,3549,170,2050,0,0,0,0,0,0
$GC,7294,1.05,212.8,476.1,11.4,282,7298,0.00,1.92,0.00,0.000,6,0.000,0.026,3549,1376,2051,0,0,0,0,0,0
$GC,7562,1.05,212.8,448.5,10.3,289,7566,0.00,2.60,0.00,0.000,4,0.000,0.041,3549,2949,2048,0,0,0,0,0,0
$GC,7600,1.14,212.8,444.6,10.7,289,7606,0.15,2.65,0.00,0.000,6,0.055,0.044,3610,1369,2046,0,0,0,0,0,0
$GC,7852,1.01,212.8,414.1,12.2,296,7857,0.22,2.08,0.00,0.000,4,0.094,0.064,3561,163,2046,0,0,0,0,0,0
$GC,7895,1.01,212.8,409.1,10.6,297,7899,0.00,1.90,0.00,0.000,6,0.000,0.025,3561,1371,2046,0,0,0,0,0,0
$GC,8188,1.05,244.6,383.5,8.5,304,8224,0.00,2.10,29.35,0.784,4,0.000,0.058,3561,167,1920,0,0,0,0,0,0
$GC,8248,1.05,244.6,377.4,10.3,305,8251,0.00,1.90,0.00,0.000,6,0.000,0.025,3561,1365,1920,0,0,0,0,0,0
$GC,8520,1.06,252.5,350.6,9.6,312,8533,0.00,2.08,8.05,0.659,4,0.000,0.058,3561,167,1890,0,0,0,0,0,0
$GC,8554,1.06,252.5,347.4,10.2,312,8557,0.00,1.88,0.00,0.000,6,0.000,0.024,3561,1359,1889,0,0,0,0,0,0
$GC,8808,1.07,262.2,322.9,9.6,319,8824,0.00,2.65,9.93,0.668,4,0.000,0.033,3561,2944,1850,0,0,0,0,0,0
$GC,8839,1.15,268.3,319.7,9.7,319,8855,0.12,2.65,6.95,0.611,6,0.063,0.040,3615,1354,1826,0,0,0,0,0,0
$GC,9099,1.06,268.3,286.6,12.9,326,9103,0.20,2.05,0.00,0.000,4,0.094,0.061,3570,160,1823,0,0,0,0,0,0
$GC,9122,1.06,268.3,283.5,11.7,326,9126,0.00,1.90,0.00,0.000,6,0.000,0.022,3570,1368,1823,0,0,0,0,0,0
$GC,9387,1.10,301.3,260.3,8.5,333,9424,0.00,2.60,29.80,0.682,4,0.000,0.028,3570,2935,1690,0,0,0,0,0,0
$GC,9455,1.28,341.0,254.6,8.2,334,9500,0.20,2.67,36.97,0.674,6,0.042,0.038,3640,1339,1528,0,0,0,0,0,0
$GC,9764,1.18,341.0,209.4,15.5,342,9769,0.20,2.60,0.00,0.000,4,0.095,0.027,3597,2937,1523,0,0,0,0,0,0
$GC,9821,1.30,341.0,202.6,10.4,343,9827,0.12,2.62,0.00,0.000,6,0.062,0.035,3651,1351,1519,0,0,0,0,0,0
$GC,10085,1.17,341.0,163.4,15.4,366,10087,0.25,0.00,0.00,0.000,6,0.091,0.000,3598,1351,1519,0,0,0,0,0,0
$GC,10341,1.17,341.0,133.5,11.1,390,10345,0.00,2.55,0.00,0.000,4,0.000,0.027,3597,2939,1518,0,0,0,0,0,0
$GC,10363,1.24,341.0,130.9,11.7,391,10369,0.00,2.60,0.00,0.000,6,0.000,0.036,3597,1357,1517,0,0,0,0,0,0
$GC,10626,1.24,341.0,101.3,11.2,416,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1357,1517,0,0,0,0,0,0
$GC,10884,1.31,341.0,74.5,10.2,440,10889,0.12,2.55,0.00,0.000,4,0.064,0.026,3658,2948,1517,0,0,0,0,0,0
$GC,10915,1.31,341.0,70.7,11.9,442,10920,0.15,2.60,0.00,0.000,6,0.098,0.040,3625,1358,1517,0,0,0,0,0,0
$GC,11179,1.31,341.0,38.3,12.1,466,11183,0.00,2.53,0.00,0.000,4,0.000,0.025,3625,2952,1517,0,0,0,0,0,0
$GC,11209,1.39,341.0,35.0,10.7,468,11213,0.00,2.58,0.00,0.000,6,0.000,0.035,3625,1363,1517,0,0,0,0,0,0
$STATE,11451,end climb,SURFACE_DEPTH_REACHED
$STATE,11452,begin surface coast
$FINISH,0.9,1.023629
$STATE,11496,end surface coast,CONTROL_FINISHED_OK
$STATE,11496,begin surface
$SM_CCo,11521,23.30,0.432,0,0,1370,380.21
$SM_GC,1.47,0.00,0.00,23.30,0.000,0.000,0.432,414,1558,1370,-13.46,0.51,380.21
$IRIDIUM_FIX,2241.69,-15749.78,131001,040452
$TT8_MAMPS,0.027612
$HUMID,64.53
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.10
$XPDR_PINGS,11
$24V_AH,23.5,36.821
$10V_AH,10.0,28.355
$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,35.400,137.600,418.425,23.300,0.000,51.847,78.867,347.054,2.750,0.000,13.158,1114.905,7899.659,475.750,1910.095,829.245,33.361,1304.305,0.000,1912.021,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,82.836,928.070,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.978,292.651,363.253,524.244,920.933,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,38371,510
$CAP_FILE_SIZE,134072,0
$CFSIZE,260165632,162320384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190712,075551,2246.431,-15748.255,11,3.5,30,10.1