version: 66.06
glider: 148
mission: 11
dive: 332
start: 7 27 112 10 12 18
data:
$ID,148
$MISSION,11
$DIVE,332
$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,-925570.19
$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,78
$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
$GPS1,095805,2243.477,-15800.812,32,1.2,32,10.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.7
$GPS2,101124,2243.593,-15800.820,11,1.4,16,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.168,-0.198
$KALMAN_X,-103869.4,77.2,-76.0,102052.9,-96.0
$KALMAN_Y,43903.4,2.2,-271.3,-51801.1,1013.1
$MHEAD_RNG_PITCHd_Wd,210.2,10544,-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,-73.40,0.000,2,0.000,0.000,416,1603,3289,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.9,-6.1,10,121,13.73,2.35,-3.83,0.000,4,0.151,0.034,3057,3090,3514,0,0,0,0,0,0
$GC,249,-0.98,-146.0,45.4,-19.4,28,254,0.30,2.50,0.00,0.000,6,0.094,0.029,3123,1535,3516,0,0,0,0,0,0
$GC,512,-0.83,-146.0,84.1,-12.2,52,517,0.17,2.47,0.00,0.000,4,0.109,0.023,3160,3088,3517,0,0,0,0,0,0
$GC,542,-0.83,-146.0,87.1,-8.8,54,546,0.00,2.47,0.00,0.000,6,0.000,0.027,3160,1539,3517,0,0,0,0,0,0
$GC,805,-0.83,-146.0,115.0,-11.4,78,809,0.00,2.45,0.00,0.000,4,0.000,0.023,3160,3088,3517,0,0,0,0,0,0
$GC,826,-0.83,-146.0,117.9,-12.6,79,832,0.00,2.42,0.00,0.000,6,0.000,0.025,3160,1552,3517,0,0,0,0,0,0
$GC,1089,-0.83,-146.0,143.6,-8.7,104,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1552,3518,0,0,0,0,0,0
$GC,1344,-0.83,-146.0,167.9,-11.0,128,1348,0.00,2.42,0.00,0.000,4,0.000,0.023,3160,3088,3518,0,0,0,0,0,0
$GC,1402,-1.02,-146.0,173.8,-9.4,133,1407,0.17,2.42,0.00,0.000,6,0.045,0.028,3064,1566,3518,0,0,0,0,0,0
$GC,1663,-0.75,-146.0,214.2,-15.4,151,1670,0.52,2.42,0.00,0.000,4,0.088,0.023,3174,3093,3519,0,0,0,0,0,0
$GC,1684,-0.75,-146.0,217.7,-12.3,151,1688,0.00,2.45,0.00,0.000,6,0.000,0.026,3174,1563,3519,0,0,0,0,0,0
$GC,1948,-0.89,-146.0,239.5,-8.6,158,1953,0.12,2.28,0.00,0.000,4,0.061,0.046,3094,173,3519,0,0,0,0,0,0
$GC,2002,-0.79,-146.0,246.2,-13.9,159,2007,0.32,2.12,0.00,0.000,6,0.085,0.018,3166,1568,3519,0,0,0,0,0,0
$GC,2281,-0.94,-146.0,265.9,-6.3,166,2286,0.15,2.42,0.00,0.000,4,0.053,0.025,3083,3098,3519,0,0,0,0,0,0
$GC,2301,-0.94,-146.0,267.8,-8.8,166,2306,0.22,2.42,0.00,0.000,6,0.082,0.028,3134,1576,3519,0,0,0,0,0,0
$GC,2568,-1.01,-146.0,288.1,-7.6,173,2572,0.00,2.40,0.00,0.000,4,0.000,0.032,3135,3096,3519,0,0,0,0,0,0
$GC,2620,-1.18,-146.0,292.4,-7.8,174,2625,0.22,2.42,0.00,0.000,6,0.038,0.030,3042,1587,3519,0,0,0,0,0,0
$GC,2900,-0.97,-146.0,330.0,-14.2,181,2905,0.35,2.35,0.00,0.000,4,0.087,0.050,3124,163,3519,0,0,0,0,0,0
$GC,2958,-1.08,-146.0,336.1,-8.6,182,2962,0.00,2.17,0.00,0.000,6,0.000,0.021,3125,1565,3518,0,0,0,0,0,0
$GC,3237,-1.16,-146.0,359.0,-8.3,189,3242,0.15,2.50,0.00,0.000,4,0.054,0.032,3053,3116,3517,0,0,0,0,0,0
$GC,3271,-1.08,-146.0,362.7,-10.5,189,3276,0.22,2.50,0.00,0.000,6,0.084,0.032,3105,1584,3517,0,0,0,0,0,0
$GC,3521,-1.08,-146.0,383.9,-8.2,195,3525,0.00,2.38,0.00,0.000,4,0.000,0.058,3105,173,3515,0,0,0,0,0,0
$GC,3546,-1.08,-146.0,386.1,-9.3,195,3551,0.00,2.20,0.00,0.000,6,0.000,0.031,3105,1579,3515,0,0,0,0,0,0
$GC,3810,-1.08,-146.0,409.9,-9.5,202,3814,0.00,2.50,0.00,0.000,4,0.000,0.035,3105,3114,3514,0,0,0,0,0,0
$GC,3833,-1.08,-146.0,412.4,-11.1,202,3838,0.00,2.50,0.00,0.000,6,0.000,0.035,3105,1582,3513,0,0,0,0,0,0
$GC,4095,-1.08,-146.0,437.9,-9.8,209,4099,0.00,2.42,0.00,0.000,4,0.000,0.064,3105,164,3511,0,0,0,0,0,0
$GC,4118,-1.08,-146.0,440.6,-10.5,209,4122,0.00,2.25,0.00,0.000,6,0.000,0.028,3105,1576,3511,0,0,0,0,0,0
$GC,4377,-1.08,-146.0,462.7,-8.3,216,4381,0.00,2.50,0.00,0.000,4,0.000,0.038,3105,3116,3510,0,0,0,0,0,0
$GC,4393,-1.08,-146.0,464.1,-8.2,216,4397,0.00,2.53,0.00,0.000,6,0.000,0.036,3105,1578,3510,0,0,0,0,0,0
$GC,4662,-1.08,-146.0,484.5,-7.5,223,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1578,3508,0,0,0,0,0,0
$GC,4905,-1.08,-146.0,502.4,-7.4,229,4910,0.00,2.55,0.00,0.000,4,0.000,0.041,3105,3121,3506,0,0,0,0,0,0
$GC,4945,-1.20,-146.0,505.5,-7.6,229,4952,0.12,2.58,0.00,0.000,6,0.061,0.041,3028,1586,3506,0,0,0,0,0,0
$GC,5196,-1.02,-146.0,537.3,-13.2,236,5201,0.38,2.45,0.00,0.000,4,0.090,0.073,3114,169,3504,0,0,0,0,0,0
$GC,5264,-1.14,-146.0,544.4,-9.2,237,5268,0.00,2.28,0.00,0.000,6,0.000,0.031,3114,1576,3504,0,0,0,0,0,0
$GC,5529,-1.22,-146.0,565.8,-7.8,244,5534,0.17,2.58,0.00,0.000,4,0.050,0.047,3045,3124,3501,0,0,0,0,0,0
$GC,5590,-1.22,-146.0,572.0,-9.9,245,5595,0.12,2.58,0.00,0.000,6,0.105,0.045,3073,1583,3501,0,0,0,0,0,0
$GC,5861,-1.22,-146.0,596.8,-9.3,252,5865,0.00,2.45,0.00,0.000,4,0.000,0.077,3073,169,3499,0,0,0,0,0,0
$STATE,5891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5892,begin apogee
$GC,5899,-0.31,0.0,600.4,10.0,252,6019,0.85,0.00,116.50,0.930,6,0.086,0.000,3265,1383,2920,0,0,0,0,0,0
$STATE,6020,end apogee,CONTROL_FINISHED_OK
$STATE,6020,begin climb
$GC,6024,1.27,146.0,603.9,0.0,255,6156,1.48,2.20,123.10,0.910,4,0.047,0.073,3617,170,2323,0,0,0,0,0,0
$GC,6426,0.97,146.0,572.4,11.9,264,6430,0.32,1.98,0.00,0.000,6,0.099,0.028,3550,1384,2314,0,0,0,0,0,0
$GC,6715,1.07,227.2,552.2,6.3,271,6794,0.10,2.75,70.68,0.882,4,0.077,0.049,3592,2955,1991,0,0,0,0,0,0
$GC,6808,1.00,238.9,544.4,9.5,273,6825,0.17,2.70,11.32,0.779,6,0.094,0.045,3554,1388,1946,0,0,0,0,0,0
$GC,7088,1.00,240.0,517.4,9.9,280,7092,0.00,2.15,0.00,0.000,4,0.000,0.074,3555,166,1940,0,0,0,0,0,0
$GC,7144,1.00,240.0,510.5,12.2,281,7148,0.00,1.98,0.00,0.000,6,0.000,0.027,3555,1393,1940,0,0,0,0,0,0
$GC,7423,1.00,240.0,481.2,10.5,288,7427,0.00,2.60,0.00,0.000,4,0.000,0.040,3554,2958,1936,0,0,0,0,0,0
$GC,7451,1.07,241.3,478.0,9.9,288,7456,0.00,2.67,0.00,0.000,6,0.000,0.045,3555,1384,1935,0,0,0,0,0,0
$GC,7706,1.07,241.3,451.6,10.3,295,7710,0.00,2.10,0.00,0.000,4,0.000,0.064,3555,161,1934,0,0,0,0,0,0
$GC,7724,1.07,241.3,449.5,10.9,295,7728,0.00,1.98,0.00,0.000,6,0.000,0.025,3555,1404,1934,0,0,0,0,0,0
$GC,7993,1.07,241.3,422.0,10.1,302,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1405,1933,0,0,0,0,0,0
$GC,8236,1.09,257.4,399.4,9.3,308,8260,0.10,2.58,16.08,0.765,4,0.077,0.036,3600,2952,1869,0,0,0,0,0,0
$GC,8280,1.09,257.4,394.4,10.8,309,8286,0.10,2.67,0.00,0.000,6,0.114,0.042,3578,1375,1867,0,0,0,0,0,0
$GC,8570,1.09,257.4,364.0,10.4,316,8573,0.00,2.08,0.00,0.000,4,0.000,0.063,3578,161,1866,0,0,0,0,0,0
$GC,8592,1.09,257.4,361.1,11.6,316,8596,0.00,1.92,0.00,0.000,6,0.000,0.025,3578,1394,1866,0,0,0,0,0,0
$GC,8857,1.09,257.4,332.3,11.2,323,8861,0.00,2.53,0.00,0.000,4,0.000,0.035,3578,2944,1865,0,0,0,0,0,0
$GC,8885,1.09,257.4,328.9,11.6,323,8889,0.00,2.62,0.00,0.000,6,0.000,0.041,3578,1378,1863,0,0,0,0,0,0
$GC,9139,1.09,257.4,302.1,10.2,330,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1378,1863,0,0,0,0,0,0
$GC,9383,1.09,257.4,276.4,10.7,336,9387,0.00,2.55,0.00,0.000,4,0.000,0.031,3578,2945,1862,0,0,0,0,0,0
$GC,9432,1.18,257.4,271.3,10.5,337,9436,0.00,2.58,0.00,0.000,6,0.000,0.039,3578,1398,1860,0,0,0,0,0,0
$GC,9714,1.21,279.2,243.7,9.0,344,9738,0.10,0.00,19.62,0.664,6,0.077,0.000,3631,1398,1780,0,0,0,0,0,0
$GC,10004,1.12,279.2,204.1,14.1,351,10009,0.22,2.08,0.00,0.000,4,0.094,0.052,3582,170,1776,0,0,0,0,0,0
$GC,10062,1.12,279.2,197.1,11.2,353,10068,0.00,1.95,0.00,0.000,6,0.000,0.027,3582,1439,1776,0,0,0,0,0,0
$GC,10327,1.19,282.9,172.9,9.8,378,10340,0.00,2.45,3.75,0.399,4,0.000,0.028,3582,2944,1766,0,0,0,0,0,0
$GC,10352,1.28,290.0,170.2,9.7,380,10366,0.15,2.53,7.97,0.532,6,0.053,0.034,3652,1408,1737,0,0,0,0,0,0
$GC,10625,1.16,290.0,134.4,13.9,405,10630,0.25,2.08,0.00,0.000,4,0.090,0.048,3593,163,1735,0,0,0,0,0,0
$GC,10684,1.16,290.0,125.9,13.1,410,10693,0.00,1.98,0.00,0.000,6,0.000,0.020,3593,1437,1735,0,0,0,0,0,0
$GC,10952,1.18,307.4,97.7,9.2,435,10974,0.00,2.45,16.58,0.516,4,0.000,0.026,3593,2959,1666,0,0,0,0,0,0
$GC,10999,1.30,332.9,93.3,8.8,439,11029,0.12,2.55,24.35,0.522,6,0.061,0.032,3658,1410,1562,0,0,0,0,0,0
$GC,11286,1.22,332.9,54.3,14.6,466,11291,0.25,2.05,0.00,0.000,4,0.085,0.046,3599,165,1559,0,0,0,0,0,0
$GC,11325,1.28,332.9,48.6,12.9,469,11334,0.00,1.95,0.00,0.000,6,0.000,0.019,3599,1435,1558,0,0,0,0,0,0
$GC,11603,1.47,383.8,22.5,7.7,500,11658,0.25,2.17,44.22,0.466,4,0.038,0.046,3679,174,1353,0,0,0,0,0,0
$GC,11688,1.25,383.8,11.8,15.8,511,11699,0.28,1.92,0.00,0.000,6,0.075,0.019,3613,1412,1352,0,0,0,0,0,0
$STATE,11737,end climb,SURFACE_DEPTH_REACHED
$STATE,11737,begin surface coast
$FINISH,0.7,1.023627
$STATE,11779,end surface coast,CONTROL_FINISHED_OK
$STATE,11779,begin surface
$SM_CCo,11862,0.00,0.000,0,0,1342,386.84
$SM_GC,1.61,13.00,0.00,0.00,0.026,0.000,0.000,416,1555,1342,-13.39,0.45,386.84
$IRIDIUM_FIX,2232.34,-15801.07,211001,101006
$TT8_MAMPS,0.027612
$HUMID,65.94
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.70
$XPDR_PINGS,8
$24V_AH,23.5,43.904
$10V_AH,9.9,34.537
$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,35.225,155.625,454.175,0.000,0.000,59.227,73.458,449.875,2.000,0.000,17.610,1147.531,8069.181,480.825,2007.038,951.068,33.377,1382.905,0.000,2001.531,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,76.700,930.371,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.424,296.040,373.352,529.773,930.696,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,41493,524
$CAP_FILE_SIZE,142252,0
$CFSIZE,260165632,158838784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270712,133125,2242.539,-15802.256,25,2.1,44,10.0