version: 66.06
glider: 148
mission: 11
dive: 356
start: 7 30 112 21 43 25
data:
$ID,148
$MISSION,11
$DIVE,356
$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,-926107.31
$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,29
$R_STBD_OVSHOOT,77
$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
$GPS1,212849,2301.142,-15800.571,48,1.7,62,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-77.5
$GPS2,214231,2301.287,-15800.664,12,1.4,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.161,-0.204
$KALMAN_X,-126134.6,-488.0,14.7,125068.5,-1075.2
$KALMAN_Y,62846.6,-79.5,-168.1,-37999.6,1523.8
$MHEAD_RNG_PITCHd_Wd,131.6,57387,-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,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.00,0.000,2,0.000,0.000,415,1557,3095,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.3,-5.3,9,120,13.62,2.33,-7.72,0.000,4,0.147,0.051,3057,163,3518,0,0,0,0,0,0
$GC,235,-0.92,-146.0,39.2,-21.7,28,240,0.38,2.08,0.00,0.000,6,0.094,0.018,3138,1530,3519,0,0,0,0,0,0
$GC,503,-0.80,-146.0,79.9,-13.6,52,507,0.12,2.47,0.00,0.000,4,0.115,0.023,3164,3106,3520,0,0,0,0,0,0
$GC,546,-0.87,-146.0,85.1,-10.5,55,550,0.00,2.50,0.00,0.000,6,0.000,0.028,3164,1547,3520,0,0,0,0,0,0
$GC,810,-0.87,-146.0,115.5,-11.6,79,814,0.00,2.47,0.00,0.000,4,0.000,0.023,3164,3106,3521,0,0,0,0,0,0
$GC,868,-1.03,-146.0,121.3,-8.4,84,873,0.20,2.50,0.00,0.000,6,0.039,0.028,3076,1555,3521,0,0,0,0,0,0
$GC,1130,-0.79,-146.0,159.3,-14.0,108,1134,0.38,2.22,0.00,0.000,4,0.089,0.039,3162,172,3522,0,0,0,0,0,0
$GC,1158,-0.79,-146.0,162.6,-11.8,110,1162,0.00,2.12,0.00,0.000,6,0.000,0.018,3162,1573,3522,0,0,0,0,0,0
$GC,1426,-0.87,-146.0,185.2,-8.4,135,1430,0.00,2.38,0.00,0.000,4,0.000,0.024,3162,3097,3522,0,0,0,0,0,0
$GC,1478,-1.04,-146.0,190.1,-8.7,139,1484,0.20,2.47,0.00,0.000,6,0.039,0.028,3064,1559,3522,0,0,0,0,0,0
$GC,1762,-0.82,-146.0,231.3,-14.9,152,1767,0.40,2.25,0.00,0.000,4,0.087,0.042,3157,170,3522,0,0,0,0,0,0
$GC,1797,-0.91,-146.0,235.3,-9.7,152,1802,0.00,2.10,0.00,0.000,6,0.000,0.018,3157,1556,3523,0,0,0,0,0,0
$GC,2048,-1.04,-146.0,254.2,-7.5,158,2053,0.17,2.42,0.00,0.000,4,0.048,0.024,3067,3099,3523,0,0,0,0,0,0
$GC,2100,-0.97,-146.0,259.6,-10.6,159,2106,0.28,2.47,0.00,0.000,6,0.082,0.028,3129,1564,3523,0,0,0,0,0,0
$GC,2381,-0.97,-146.0,284.0,-8.9,166,2385,0.00,2.42,0.00,0.000,4,0.000,0.026,3128,3095,3523,0,0,0,0,0,0
$GC,2410,-1.06,-146.0,286.8,-8.6,166,2414,0.00,2.47,0.00,0.000,6,0.000,0.030,3129,1569,3523,0,0,0,0,0,0
$GC,2665,-1.06,-146.0,310.1,-9.1,173,2669,0.00,2.45,0.00,0.000,4,0.000,0.028,3129,3095,3523,0,0,0,0,0,0
$GC,2690,-1.16,-146.0,312.2,-9.0,173,2695,0.17,2.47,0.00,0.000,6,0.048,0.031,3038,1573,3523,0,0,0,0,0,0
$GC,2950,-0.94,-146.0,346.1,-13.4,180,2956,0.40,2.33,0.00,0.000,4,0.087,0.052,3129,171,3522,0,0,0,0,0,0
$GC,3014,-1.07,-146.0,352.2,-8.0,181,3019,0.10,2.15,0.00,0.000,6,0.074,0.021,3067,1553,3522,0,0,0,0,0,0
$GC,3288,-0.96,-146.0,379.2,-10.3,188,3293,0.25,2.53,0.00,0.000,4,0.089,0.038,3126,3118,3520,0,0,0,0,0,0
$GC,3312,-0.96,-146.0,381.6,-9.0,188,3317,0.00,2.55,0.00,0.000,6,0.000,0.034,3126,1568,3520,0,0,0,0,0,0
$GC,3574,-1.05,-146.0,403.4,-8.7,195,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1567,3517,0,0,0,0,0,0
$GC,3816,-1.14,-146.0,426.3,-9.5,201,3821,0.15,2.53,0.00,0.000,4,0.054,0.035,3049,3107,3516,0,0,0,0,0,0
$GC,3842,-1.07,-146.0,429.3,-12.1,201,3848,0.25,2.55,0.00,0.000,6,0.083,0.037,3105,1567,3516,0,0,0,0,0,0
$GC,4103,-1.07,-146.0,454.5,-9.4,208,4107,0.00,2.40,0.00,0.000,4,0.000,0.068,3106,170,3514,0,0,0,0,0,0
$GC,4146,-1.07,-146.0,458.5,-8.7,209,4150,0.00,2.22,0.00,0.000,6,0.000,0.030,3106,1560,3514,0,0,0,0,0,0
$GC,4435,-1.07,-146.0,481.3,-7.8,216,4439,0.00,2.53,0.00,0.000,4,0.000,0.040,3106,3118,3512,0,0,0,0,0,0
$GC,4468,-1.17,-146.0,484.0,-7.0,216,4472,0.00,2.58,0.00,0.000,6,0.000,0.041,3106,1570,3511,0,0,0,0,0,0
$GC,4718,-1.17,-146.0,503.0,-7.8,222,4722,0.00,2.42,0.00,0.000,4,0.000,0.072,3106,171,3509,0,0,0,0,0,0
$GC,4753,-1.17,-146.0,505.7,-8.3,222,4757,0.00,2.25,0.00,0.000,6,0.000,0.031,3106,1573,3509,0,0,0,0,0,0
$GC,5012,-1.17,-146.0,526.8,-8.3,229,5016,0.00,2.55,0.00,0.000,4,0.000,0.042,3105,3121,3507,0,0,0,0,0,0
$GC,5031,-1.17,-146.0,528.7,-8.8,229,5036,0.00,2.58,0.00,0.000,6,0.000,0.041,3106,1578,3507,0,0,0,0,0,0
$GC,5297,-1.17,-146.0,551.5,-8.6,236,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1578,3506,0,0,0,0,0,0
$GC,5539,-1.17,-146.0,572.7,-8.7,242,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1578,3503,0,0,0,0,0,0
$GC,5783,-1.24,-146.0,593.8,-8.7,248,5789,0.15,2.60,0.00,0.000,4,0.055,0.048,3037,3126,3502,0,0,0,0,0,0
$GC,5801,-1.24,-146.0,595.6,-8.9,248,5806,0.15,2.60,0.00,0.000,6,0.099,0.046,3070,1586,3502,0,0,0,0,0,0
$STATE,5864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5864,begin apogee
$GC,5871,-0.31,0.0,602.7,10.4,250,5992,0.88,0.00,117.43,0.932,6,0.079,0.000,3269,1377,2920,0,0,0,0,0,0
$STATE,5992,end apogee,CONTROL_FINISHED_OK
$STATE,5993,begin climb
$GC,5995,1.27,146.0,607.4,0.0,253,6127,1.48,2.25,123.30,0.912,4,0.051,0.085,3621,168,2323,0,0,0,0,0,0
$GC,6232,0.97,156.5,595.2,9.5,258,6248,0.32,2.00,9.32,0.766,6,0.097,0.029,3553,1407,2281,0,0,0,0,0,0
$GC,6503,1.06,232.1,576.7,6.5,265,6577,0.00,2.25,67.40,0.890,4,0.000,0.072,3553,178,1972,0,0,0,0,0,0
$GC,6610,1.06,232.1,567.9,10.5,267,6613,0.00,1.95,0.00,0.000,6,0.000,0.029,3553,1370,1970,0,0,0,0,0,0
$GC,6882,1.06,232.1,540.6,10.2,274,6886,0.00,2.67,0.00,0.000,4,0.000,0.050,3553,2963,1964,0,0,0,0,0,0
$GC,6910,1.13,232.1,537.5,10.8,274,6918,0.12,2.72,0.00,0.000,6,0.064,0.047,3618,1373,1962,0,0,0,0,0,0
$GC,7170,0.98,232.1,501.9,14.0,281,7175,0.28,2.10,0.00,0.000,4,0.095,0.070,3556,160,1961,0,0,0,0,0,0
$GC,7207,0.98,232.1,496.8,12.0,281,7213,0.00,1.95,0.00,0.000,6,0.000,0.034,3556,1383,1961,0,0,0,0,0,0
$GC,7457,0.98,232.1,469.9,10.6,288,7462,0.00,2.58,0.00,0.000,4,0.000,0.041,3555,2954,1959,0,0,0,0,0,0
$GC,7506,1.10,232.1,464.9,10.2,289,7511,0.10,2.67,0.00,0.000,6,0.074,0.045,3607,1371,1957,0,0,0,0,0,0
$GC,7789,0.99,232.1,429.3,12.5,296,7794,0.22,2.08,0.00,0.000,4,0.096,0.066,3557,164,1958,0,0,0,0,0,0
$GC,7899,0.99,232.1,417.2,11.4,298,7903,0.00,1.92,0.00,0.000,6,0.000,0.025,3557,1368,1957,0,0,0,0,0,0
$GC,8172,1.02,256.7,392.4,8.9,305,8200,0.00,2.60,20.73,0.774,4,0.000,0.035,3558,2948,1873,0,0,0,0,0,0
$GC,8241,1.19,282.9,386.4,8.8,306,8274,0.17,2.65,24.70,0.769,6,0.048,0.043,3619,1378,1765,0,0,0,0,0,0
$GC,8553,1.10,282.9,344.5,13.8,314,8555,0.17,0.00,0.00,0.000,6,0.100,0.000,3581,1378,1761,0,0,0,0,0,0
$GC,8798,1.10,282.9,316.3,11.5,320,8802,0.00,2.08,0.00,0.000,4,0.000,0.062,3580,161,1759,0,0,0,0,0,0
$GC,8853,1.10,282.9,308.9,13.8,321,8857,0.00,1.92,0.00,0.000,6,0.000,0.024,3580,1391,1759,0,0,0,0,0,0
$GC,9130,1.10,282.9,277.1,11.2,328,9134,0.00,2.50,0.00,0.000,4,0.000,0.031,3580,2945,1758,0,0,0,0,0,0
$GC,9164,1.21,292.3,273.6,9.6,328,9179,0.10,2.60,8.25,0.615,6,0.074,0.040,3622,1374,1728,0,0,0,0,0,0
$GC,9465,1.14,292.3,238.3,11.7,336,9470,0.15,2.58,0.00,0.000,4,0.104,0.030,3590,2951,1726,0,0,0,0,0,0
$GC,9481,1.14,292.3,236.0,11.3,336,9486,0.00,2.60,0.00,0.000,6,0.000,0.035,3590,1378,1724,0,0,0,0,0,0
$GC,9750,1.14,292.3,209.4,10.2,343,9754,0.00,2.53,0.00,0.000,4,0.000,0.028,3590,2948,1724,0,0,0,0,0,0
$GC,9778,1.25,299.1,206.4,9.7,343,9792,0.00,2.58,7.15,0.546,6,0.000,0.036,3590,1389,1699,0,0,0,0,0,0
$GC,10047,1.25,299.1,177.7,11.2,362,10052,0.10,2.55,0.00,0.000,4,0.077,0.028,3633,2958,1698,0,0,0,0,0,0
$GC,10067,1.25,299.1,174.9,12.0,363,10076,0.08,2.60,0.00,0.000,6,0.078,0.035,3611,1395,1697,0,0,0,0,0,0
$GC,10327,1.25,299.1,144.5,12.1,388,10332,0.00,2.50,0.00,0.000,4,0.000,0.028,3611,2951,1697,0,0,0,0,0,0
$GC,10353,1.25,299.1,141.6,11.6,390,10358,0.00,2.53,0.00,0.000,6,0.000,0.035,3611,1403,1695,0,0,0,0,0,0
$GC,10617,1.25,299.1,112.2,11.7,414,10626,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,1403,1696,0,0,0,0,0,0
$GC,10882,1.25,299.1,82.6,11.1,439,10886,0.00,2.45,0.00,0.000,4,0.000,0.027,3611,2951,1696,0,0,0,0,0,0
$GC,10897,1.25,299.1,80.4,11.0,440,10902,0.00,2.53,0.00,0.000,6,0.000,0.031,3611,1394,1696,0,0,0,0,0,0
$GC,11167,1.31,299.1,53.5,10.6,464,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,1394,1697,0,0,0,0,0,0
$GC,11434,1.33,314.7,26.7,9.3,491,11458,0.00,2.55,15.52,0.446,4,0.000,0.025,3611,2955,1636,0,0,0,0,0,0
$GC,11501,1.49,314.7,20.3,10.0,500,11510,0.17,2.58,0.00,0.000,6,0.030,0.032,3664,1397,1633,0,0,0,0,0,0
$STATE,11629,end climb,SURFACE_DEPTH_REACHED
$STATE,11631,begin surface coast
$FINISH,0.7,1.022764
$STATE,11664,end surface coast,CONTROL_FINISHED_OK
$STATE,11664,begin surface
$SM_CCo,11689,38.45,0.439,0,0,1368,380.21
$SM_GC,1.65,0.00,0.00,38.45,0.000,0.000,0.439,417,1574,1368,-13.45,0.96,380.21
$IRIDIUM_FIX,2253.38,-15757.57,241001,212147
$TT8_MAMPS,0.027612
$HUMID,64.60
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.30
$XPDR_PINGS,5
$24V_AH,23.5,46.934
$10V_AH,9.9,37.151
$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,34.900,154.575,393.800,38.450,0.000,49.647,72.813,494.090,1.250,0.000,13.911,1151.042,7958.336,482.713,1984.357,970.590,33.377,1346.107,0.000,1982.241,0.000,0.538,0.000
$DEVICE_MAMPS,147.264,85.137,931.905,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.639,297.565,375.211,550.074,966.437,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,41531,525
$CAP_FILE_SIZE,140934,0
$CFSIZE,260165632,157368320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310712,010050,2300.817,-15800.322,55,2.2,74,10.1