version: 66.06
glider: 148
mission: 11
dive: 361
start: 7 31 112 15 22 49
data:
$ID,148
$MISSION,11
$DIVE,361
$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,-926223.81
$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,69
$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
$GPS1,150708,2259.077,-15758.453,65,1.5,67,10.1
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-74.9
$GPS2,152157,2259.191,-15758.560,15,3.2,34,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.135,-0.222
$KALMAN_X,-132571.0,-209.2,-423.4,135258.5,-798.8
$KALMAN_Y,70236.3,-497.9,-50.5,-48970.5,1782.0
$MHEAD_RNG_PITCHd_Wd,138.6,52095,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-67.12,0.000,2,0.000,0.000,415,1542,3075,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-4.0,9,122,13.60,2.50,-8.32,0.000,4,0.146,0.035,3056,3095,3519,0,0,0,0,0,0
$GC,146,-0.70,-146.0,19.3,-25.3,16,155,0.55,2.58,0.00,0.000,6,0.082,0.030,3182,1534,3521,0,0,0,0,0,0
$GC,422,-0.70,-146.0,57.3,-13.5,46,426,0.00,2.47,0.00,0.000,4,0.000,0.024,3182,3098,3521,0,0,0,0,0,0
$GC,499,-0.83,-146.0,65.6,-10.4,52,505,0.10,2.50,0.00,0.000,6,0.073,0.029,3102,1552,3521,0,0,0,0,0,0
$GC,762,-0.56,-146.0,109.7,-16.4,76,768,0.60,2.25,0.00,0.000,4,0.087,0.038,3212,164,3522,0,0,0,0,0,0
$GC,785,-0.56,-146.0,113.1,-14.2,77,793,0.00,2.10,0.00,0.000,6,0.000,0.018,3212,1573,3522,0,0,0,0,0,0
$GC,1049,-0.76,-146.0,131.6,-6.9,102,1054,0.15,2.40,0.00,0.000,4,0.051,0.023,3116,3089,3523,0,0,0,0,0,0
$GC,1121,-0.76,-146.0,139.3,-10.6,108,1130,0.22,2.47,0.00,0.000,6,0.065,0.028,3173,1571,3523,0,0,0,0,0,0
$GC,1387,-0.85,-146.0,163.6,-9.8,133,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1571,3523,0,0,0,0,0,0
$GC,1650,-0.95,-146.0,190.5,-10.3,158,1655,0.17,2.40,0.00,0.000,4,0.048,0.024,3090,3091,3523,0,0,0,0,0,0
$GC,1690,-0.95,-146.0,195.6,-12.1,161,1696,0.20,2.45,0.00,0.000,6,0.087,0.028,3136,1569,3523,0,0,0,0,0,0
$GC,1943,-0.95,-146.0,220.0,-9.1,171,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1569,3523,0,0,0,0,0,0
$GC,2185,-0.95,-146.0,241.9,-9.4,177,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1569,3524,0,0,0,0,0,0
$GC,2429,-0.95,-146.0,265.2,-9.5,183,2433,0.00,2.40,0.00,0.000,4,0.000,0.025,3136,3089,3524,0,0,0,0,0,0
$GC,2487,-1.11,-146.0,270.3,-8.3,184,2492,0.15,2.42,0.00,0.000,6,0.054,0.028,3050,1576,3524,0,0,0,0,0,0
$GC,2761,-0.90,-146.0,308.8,-14.5,191,2766,0.40,2.30,0.00,0.000,4,0.086,0.044,3135,169,3524,0,0,0,0,0,0
$GC,2832,-1.01,-146.0,316.4,-9.4,192,2836,0.00,2.15,0.00,0.000,6,0.000,0.020,3135,1558,3524,0,0,0,0,0,0
$GC,3094,-1.09,-146.0,339.7,-9.2,199,3095,0.15,0.00,0.00,0.000,6,0.054,0.000,3065,1561,3523,0,0,0,0,0,0
$GC,3335,-0.96,-146.0,371.0,-13.2,205,3340,0.25,2.47,0.00,0.000,4,0.087,0.030,3127,3105,3522,0,0,0,0,0,0
$GC,3356,-0.96,-146.0,373.4,-11.6,205,3361,0.00,2.50,0.00,0.000,6,0.000,0.031,3127,1577,3522,0,0,0,0,0,0
$GC,3621,-1.04,-146.0,396.7,-8.6,212,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1577,3520,0,0,0,0,0,0
$GC,3865,-1.12,-146.0,417.4,-8.5,218,3870,0.12,2.50,0.00,0.000,4,0.062,0.035,3062,3102,3518,0,0,0,0,0,0
$GC,3886,-1.12,-146.0,419.6,-10.4,218,3891,0.15,2.53,0.00,0.000,6,0.097,0.041,3097,1571,3518,0,0,0,0,0,0
$GC,4150,-1.12,-146.0,447.1,-10.4,225,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1571,3516,0,0,0,0,0,0
$GC,4394,-1.12,-146.0,470.2,-9.3,231,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1571,3515,0,0,0,0,0,0
$GC,4638,-1.12,-146.0,492.7,-9.2,237,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1571,3513,0,0,0,0,0,0
$GC,4883,-1.12,-146.0,514.3,-8.9,243,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1571,3511,0,0,0,0,0,0
$GC,5125,-1.12,-146.0,535.2,-8.5,249,5130,0.00,2.53,0.00,0.000,4,0.000,0.042,3097,3099,3510,0,0,0,0,0,0
$GC,5159,-1.20,-146.0,538.1,-8.2,249,5163,0.00,2.53,0.00,0.000,6,0.000,0.043,3097,1581,3510,0,0,0,0,0,0
$GC,5410,-1.20,-146.0,560.4,-8.9,255,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1581,3508,0,0,0,0,0,0
$GC,5653,-1.20,-146.0,582.1,-8.9,261,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1581,3506,0,0,0,0,0,0
$STATE,5894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5894,begin apogee
$GC,5900,-0.31,0.0,603.4,8.6,267,6021,0.77,0.00,117.80,0.922,6,0.076,0.000,3274,1377,2920,0,0,0,0,0,0
$STATE,6022,end apogee,CONTROL_FINISHED_OK
$STATE,6022,begin climb
$GC,6026,1.27,146.0,606.8,0.0,270,6157,1.45,2.22,122.80,0.904,4,0.048,0.084,3618,171,2323,0,0,0,0,0,0
$GC,6303,0.97,146.0,584.5,13.5,276,6307,0.30,1.92,0.00,0.000,6,0.098,0.028,3554,1362,2317,0,0,0,0,0,0
$GC,6572,1.01,176.8,560.5,8.6,283,6600,0.00,0.00,26.23,0.853,6,0.000,0.000,3554,1363,2199,0,0,0,0,0,0
$GC,6817,1.04,200.2,538.9,8.9,289,6845,0.00,2.17,21.83,0.836,4,0.000,0.068,3554,171,2102,0,0,0,0,0,0
$GC,6864,1.04,200.2,534.1,10.1,290,6868,0.00,1.98,0.00,0.000,6,0.000,0.027,3554,1391,2101,0,0,0,0,0,0
$GC,7151,1.06,216.5,507.2,9.2,297,7171,0.00,2.67,14.82,0.799,4,0.000,0.045,3553,2951,2036,0,0,0,0,0,0
$GC,7183,1.09,243.7,504.3,8.7,297,7216,0.10,2.70,26.67,0.827,6,0.075,0.045,3603,1380,1925,0,0,0,0,0,0
$GC,7485,1.01,243.7,466.4,12.6,305,7490,0.20,2.65,0.00,0.000,4,0.094,0.039,3560,2955,1919,0,0,0,0,0,0
$GC,7501,1.01,243.7,464.4,12.2,305,7506,0.00,2.67,0.00,0.000,6,0.000,0.043,3560,1377,1917,0,0,0,0,0,0
$GC,7770,1.01,243.7,435.3,10.7,312,7774,0.00,2.08,0.00,0.000,4,0.000,0.067,3560,160,1916,0,0,0,0,0,0
$GC,7817,1.01,243.7,429.7,12.4,313,7821,0.00,1.95,0.00,0.000,6,0.000,0.025,3561,1390,1915,0,0,0,0,0,0
$GC,8105,1.01,243.7,397.4,11.5,320,8110,0.00,2.53,0.00,0.000,4,0.000,0.035,3560,2950,1914,0,0,0,0,0,0
$GC,8134,1.10,243.7,394.0,11.2,320,8138,0.00,2.65,0.00,0.000,6,0.000,0.041,3560,1374,1912,0,0,0,0,0,0
$GC,8390,1.16,243.7,366.9,10.2,327,8395,0.12,2.05,0.00,0.000,4,0.065,0.062,3617,164,1912,0,0,0,0,0,0
$GC,8428,0.98,243.7,361.9,13.6,327,8433,0.30,1.92,0.00,0.000,6,0.093,0.025,3553,1383,1912,0,0,0,0,0,0
$GC,8679,1.13,292.7,341.7,7.7,333,8728,0.12,2.65,42.60,0.752,4,0.064,0.036,3613,2942,1725,0,0,0,0,0,0
$GC,8748,1.13,292.7,334.0,11.7,334,8753,0.12,2.65,0.00,0.000,6,0.100,0.040,3586,1378,1721,0,0,0,0,0,0
$GC,9008,1.13,292.7,305.1,11.2,341,9011,0.00,2.08,0.00,0.000,4,0.000,0.061,3586,160,1719,0,0,0,0,0,0
$GC,9074,1.13,292.7,297.0,12.5,342,9077,0.00,1.95,0.00,0.000,6,0.000,0.023,3586,1401,1719,0,0,0,0,0,0
$GC,9341,1.13,292.7,267.8,10.6,349,9346,0.00,2.47,0.00,0.000,4,0.000,0.030,3586,2950,1717,0,0,0,0,0,0
$GC,9374,1.23,292.7,264.4,10.3,349,9379,0.00,2.60,0.00,0.000,6,0.000,0.038,3586,1387,1715,0,0,0,0,0,0
$GC,9626,1.23,292.7,237.4,10.9,355,9630,0.00,2.05,0.00,0.000,4,0.000,0.055,3585,157,1715,0,0,0,0,0,0
$GC,9658,1.23,292.7,233.4,11.5,355,9662,0.00,1.92,0.00,0.000,6,0.000,0.021,3586,1399,1715,0,0,0,0,0,0
$GC,9919,1.30,293.4,206.9,10.0,362,9924,0.15,2.45,0.00,0.000,4,0.055,0.027,3650,2942,1715,0,0,0,0,0,0
$GC,10000,1.30,293.4,197.7,11.6,363,10006,0.12,2.58,0.00,0.000,6,0.103,0.036,3622,1384,1713,0,0,0,0,0,0
$GC,10261,1.30,293.4,168.4,11.1,387,10265,0.00,2.03,0.00,0.000,4,0.000,0.051,3622,163,1713,0,0,0,0,0,0
$GC,10306,1.21,293.4,163.4,14.0,391,10310,0.00,1.90,0.00,0.000,6,0.000,0.020,3622,1408,1713,0,0,0,0,0,0
$GC,10573,1.21,293.4,130.7,11.9,416,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,3622,1411,1713,0,0,0,0,0,0
$GC,10828,1.21,293.4,99.5,11.8,440,10831,0.00,2.05,0.00,0.000,4,0.000,0.048,3622,168,1713,0,0,0,0,0,0
$GC,10848,1.21,293.4,96.8,11.9,442,10852,0.00,1.88,0.00,0.000,6,0.000,0.020,3622,1397,1713,0,0,0,0,0,0
$GC,11120,1.21,293.4,68.0,10.2,467,11124,0.00,2.03,0.00,0.000,4,0.000,0.048,3622,161,1713,0,0,0,0,0,0
$GC,11146,1.21,293.4,65.2,10.3,469,11150,0.00,1.83,0.00,0.000,6,0.000,0.019,3622,1383,1713,0,0,0,0,0,0
$GC,11418,1.21,296.0,38.1,9.9,494,11423,0.00,2.42,0.00,0.000,4,0.000,0.025,3622,2934,1713,0,0,0,0,0,0
$GC,11473,1.33,296.0,32.6,10.9,498,11478,0.00,2.55,0.00,0.000,6,0.000,0.035,3622,1374,1713,0,0,0,0,0,0
$STATE,11732,end climb,SURFACE_DEPTH_REACHED
$STATE,11732,begin surface coast
$FINISH,0.7,1.023604
$STATE,11770,end surface coast,CONTROL_FINISHED_OK
$STATE,11770,begin surface
$SM_CCo,11795,45.58,0.436,0,0,1369,380.21
$SM_GC,1.69,0.00,0.00,45.58,0.000,0.000,0.436,413,1531,1369,-13.46,-0.25,380.21
$IRIDIUM_FIX,2248.70,-15802.79,251001,151528
$TT8_MAMPS,0.027612
$HUMID,64.45
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.40
$XPDR_PINGS,10
$24V_AH,23.5,47.591
$10V_AH,10.0,37.708
$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,33.500,121.225,372.750,45.575,0.000,54.294,89.550,500.642,2.500,0.000,36.894,1135.915,8137.530,464.428,1983.901,1003.786,33.372,1251.798,0.000,1965.545,0.000,0.537,0.000
$DEVICE_MAMPS,146.497,84.370,921.934,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.149,321.663,397.304,590.628,1037.677,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,41447,543
$CAP_FILE_SIZE,129002,0
$CFSIZE,260165632,157081600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310712,184135,2258.577,-15758.034,39,1.1,44,10.1