version: 66.06
glider: 148
mission: 12
dive: 17
start: 5 24 113 21 57 11
data:
$ID,148
$MISSION,12
$DIVE,17
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,440
$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,52665
$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,370
$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,-1015291.6
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3420
$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,1600
$C_ROLL_CLIMB,1420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,95
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3000
$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,0.0043645771
$SEABIRD_T_H,0.00062944926
$SEABIRD_T_I,2.4626779e-05
$SEABIRD_T_J,2.6951686e-06
$SEABIRD_C_G,-9.9698391
$SEABIRD_C_H,1.1487522
$SEABIRD_C_I,-0.0018401047
$SEABIRD_C_J,0.00022632178
$GPS1,215006,2247.489,-15759.763,68,1.8,68,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-78.5
$GPS2,215618,2247.482,-15759.771,10,1.3,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.118,-0.231
$KALMAN_X,-1759.4,-362.5,109.6,2502.5,-738.9
$KALMAN_Y,4777.0,-392.6,-5.3,241.6,147.3
$MHEAD_RNG_PITCHd_Wd,197.0,16748,-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,-146.0,0.0,0.0,0,78,0.00,0.00,-59.88,0.000,2,0.000,0.000,413,1627,3078,0,0,0,0,0,0
$GC,82,-1.27,-146.0,3.8,-6.6,8,114,14.35,2.45,-8.38,0.000,4,0.154,0.051,3139,161,3597,0,0,0,0,0,0
$GC,256,-1.14,-146.0,46.6,-15.7,28,261,0.15,2.17,0.00,0.000,6,0.107,0.019,3171,1566,3597,0,0,0,0,0,0
$GC,520,-1.01,-146.0,86.6,-15.2,52,525,0.12,2.58,0.00,0.000,4,0.110,0.027,3198,3176,3598,0,0,0,0,0,0
$GC,562,-1.11,-146.0,91.5,-10.9,55,567,0.00,2.58,0.00,0.000,6,0.000,0.029,3198,1575,3598,0,0,0,0,0,0
$GC,829,-1.11,-146.0,119.1,-10.0,79,833,0.00,2.30,0.00,0.000,4,0.000,0.046,3198,164,3598,0,0,0,0,0,0
$GC,847,-1.11,-146.0,121.6,-10.2,80,856,0.00,2.22,0.00,0.000,6,0.000,0.019,3198,1609,3598,0,0,0,0,0,0
$GC,1116,-1.18,-146.0,147.3,-9.7,105,1121,0.15,0.00,0.00,0.000,6,0.057,0.000,3137,1611,3599,0,0,0,0,0,0
$GC,1382,-1.07,-146.0,183.7,-13.9,130,1387,0.22,2.45,0.00,0.000,4,0.092,0.024,3186,3162,3599,0,0,0,0,0,0
$GC,1412,-1.18,-146.0,187.8,-9.8,132,1421,0.08,2.58,0.00,0.000,6,0.042,0.030,3125,1589,3599,0,0,0,0,0,0
$GC,1677,-1.07,-146.0,226.0,-15.2,146,1682,0.25,2.33,0.00,0.000,4,0.089,0.044,3185,165,3599,0,0,0,0,0,0
$GC,1696,-1.07,-146.0,229.0,-13.3,146,1700,0.00,2.17,0.00,0.000,6,0.000,0.020,3185,1585,3599,0,0,0,0,0,0
$GC,1962,-1.20,-146.0,252.4,-8.5,153,1967,0.12,2.53,0.00,0.000,4,0.064,0.028,3127,3169,3599,0,0,0,0,0,0
$GC,1990,-1.20,-146.0,255.7,-10.6,153,1996,0.12,2.55,0.00,0.000,6,0.097,0.031,3157,1589,3599,0,0,0,0,0,0
$GC,2246,-1.20,-146.0,279.2,-9.1,160,2250,0.00,2.35,0.00,0.000,4,0.000,0.051,3157,165,3599,0,0,0,0,0,0
$GC,2266,-1.20,-146.0,281.1,-9.9,160,2270,0.00,2.17,0.00,0.000,6,0.000,0.022,3157,1578,3599,0,0,0,0,0,0
$GC,2535,-1.27,-146.0,306.7,-9.4,167,2539,0.00,2.55,0.00,0.000,4,0.000,0.033,3157,3178,3599,0,0,0,0,0,0
$GC,2559,-1.41,-146.0,308.8,-8.6,167,2564,0.17,2.58,0.00,0.000,6,0.048,0.033,3075,1586,3599,0,0,0,0,0,0
$GC,2821,-1.23,-146.0,344.1,-14.0,174,2826,0.30,2.35,0.00,0.000,4,0.092,0.054,3145,173,3598,0,0,0,0,0,0
$GC,2841,-1.17,-146.0,347.0,-12.3,174,2845,0.00,2.22,0.00,0.000,6,0.000,0.024,3145,1589,3598,0,0,0,0,0,0
$GC,3106,-1.24,-146.0,372.1,-9.7,181,3111,0.00,2.58,0.00,0.000,4,0.000,0.039,3145,3178,3596,0,0,0,0,0,0
$GC,3141,-1.42,-146.0,375.6,-9.6,181,3147,0.15,2.60,0.00,0.000,6,0.054,0.036,3073,1596,3596,0,0,0,0,0,0
$GC,3391,-1.28,-146.0,409.3,-14.0,187,3396,0.28,2.42,0.00,0.000,4,0.089,0.064,3139,171,3595,0,0,0,0,0,0
$GC,3431,-1.39,-146.0,413.7,-10.5,187,3437,0.00,2.28,0.00,0.000,6,0.000,0.029,3139,1594,3594,0,0,0,0,0,0
$GC,3682,-1.46,-146.0,436.0,-8.7,194,3687,0.15,2.60,0.00,0.000,4,0.058,0.044,3078,3172,3593,0,0,0,0,0,0
$GC,3697,-1.46,-146.0,437.7,-8.7,194,3702,0.10,2.58,0.00,0.000,6,0.117,0.036,3101,1599,3593,0,0,0,0,0,0
$GC,3968,-1.46,-146.0,464.1,-9.7,201,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1599,3591,0,0,0,0,0,0
$GC,4210,-1.46,-146.0,489.1,-10.4,207,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1599,3589,0,0,0,0,0,0
$GC,4453,-1.46,-146.0,514.8,-10.5,213,4458,0.00,2.65,0.00,0.000,4,0.000,0.048,3101,3171,3587,0,0,0,0,0,0
$GC,4483,-1.46,-146.0,517.7,-9.6,213,4488,0.00,2.62,0.00,0.000,6,0.000,0.044,3101,1606,3587,0,0,0,0,0,0
$GC,4738,-1.46,-146.0,542.1,-9.5,220,4742,0.00,2.50,0.00,0.000,4,0.000,0.077,3101,167,3586,0,0,0,0,0,0
$GC,4766,-1.46,-146.0,545.0,-10.1,220,4770,0.00,2.35,0.00,0.000,6,0.000,0.037,3101,1604,3585,0,0,0,0,0,0
$GC,5022,-1.46,-146.0,569.8,-10.0,227,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1604,3583,0,0,0,0,0,0
$GC,5264,-1.46,-146.0,595.9,-10.9,233,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1604,3582,0,0,0,0,0,0
$STATE,5302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5302,begin apogee
$GC,5308,-0.31,0.0,600.2,10.8,234,5426,1.10,0.00,114.22,0.936,6,0.077,0.000,3350,1411,3000,0,0,0,0,0,0
$STATE,5427,end apogee,CONTROL_FINISHED_OK
$STATE,5427,begin climb
$GC,5430,1.27,146.0,606.9,0.0,237,5565,1.45,2.80,121.68,0.917,4,0.028,0.053,3712,3009,2403,0,0,0,0,0,0
$GC,5641,0.95,208.8,609.9,7.1,242,5702,0.40,2.75,53.95,0.900,6,0.110,0.049,3630,1423,2147,0,0,0,0,0,0
$GC,5975,0.77,208.8,572.8,11.9,250,5979,0.20,2.30,0.00,0.000,4,0.114,0.087,3589,166,2140,0,0,0,0,0,0
$GC,6060,0.63,208.8,562.5,11.3,251,6067,0.15,2.08,0.00,0.000,6,0.117,0.032,3560,1431,2140,0,0,0,0,0,0
$GC,6310,0.67,241.6,540.6,8.5,258,6344,0.00,2.28,28.42,0.868,4,0.000,0.074,3560,169,2013,0,0,0,0,0,0
$GC,6403,0.67,241.6,531.7,11.3,260,6407,0.00,2.03,0.00,0.000,6,0.000,0.031,3560,1402,2013,0,0,0,0,0,0
$GC,6690,0.71,271.8,506.2,8.6,267,6723,0.00,2.25,27.98,0.854,4,0.000,0.073,3560,165,1891,0,0,0,0,0,0
$GC,6742,0.71,274.0,501.2,9.9,268,6745,0.00,2.03,0.00,0.000,6,0.000,0.031,3560,1399,1891,0,0,0,0,0,0
$GC,7022,0.79,274.0,472.5,10.6,275,7027,0.12,2.70,0.00,0.000,4,0.073,0.048,3603,2992,1887,0,0,0,0,0,0
$GC,7050,0.79,274.0,468.9,11.8,275,7055,0.00,2.75,0.00,0.000,6,0.000,0.048,3603,1394,1885,0,0,0,0,0,0
$GC,7307,0.79,274.0,440.2,11.0,282,7310,0.00,2.15,0.00,0.000,4,0.000,0.071,3603,163,1884,0,0,0,0,0,0
$GC,7330,0.70,274.0,437.3,11.7,282,7334,0.15,2.00,0.00,0.000,6,0.116,0.028,3573,1413,1884,0,0,0,0,0,0
$GC,7594,0.74,307.1,414.4,8.5,289,7630,0.00,2.28,31.02,0.811,4,0.000,0.066,3573,161,1747,0,0,0,0,0,0
$GC,7660,0.74,307.1,408.1,11.3,290,7664,0.00,1.98,0.00,0.000,6,0.000,0.029,3572,1392,1747,0,0,0,0,0,0
$GC,7928,0.82,307.8,381.4,10.0,297,7934,0.10,2.70,0.00,0.000,4,0.083,0.044,3609,2992,1744,0,0,0,0,0,0
$GC,7974,0.88,307.8,376.5,11.0,298,7979,0.00,2.72,0.00,0.000,6,0.000,0.045,3609,1392,1741,0,0,0,0,0,0
$GC,8261,0.88,307.8,342.6,12.0,305,8265,0.00,2.12,0.00,0.000,4,0.000,0.068,3609,163,1741,0,0,0,0,0,0
$GC,8279,0.88,307.8,340.0,12.7,305,8283,0.00,1.98,0.00,0.000,6,0.000,0.027,3609,1412,1741,0,0,0,0,0,0
$GC,8553,0.88,307.8,309.4,11.2,312,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,3609,1415,1741,0,0,0,0,0,0
$GC,8795,0.88,307.8,283.6,10.5,318,8799,0.00,2.15,0.00,0.000,4,0.000,0.063,3610,160,1741,0,0,0,0,0,0
$GC,8818,0.88,307.8,280.9,11.0,318,8822,0.00,1.95,0.00,0.000,6,0.000,0.026,3609,1392,1741,0,0,0,0,0,0
$GC,9086,0.88,307.8,253.2,10.2,325,9090,0.00,2.60,0.00,0.000,4,0.000,0.031,3610,2997,1740,0,0,0,0,0,0
$GC,9116,0.95,307.8,250.2,10.7,325,9121,0.00,2.70,0.00,0.000,6,0.000,0.040,3609,1383,1738,0,0,0,0,0,0
$GC,9371,0.97,319.2,225.6,9.5,332,9384,0.00,0.00,11.05,0.611,6,0.000,0.000,3610,1383,1698,0,0,0,0,0,0
$GC,9614,0.98,329.0,202.2,9.5,338,9627,0.10,0.00,10.40,0.583,6,0.081,0.000,3646,1383,1658,0,0,0,0,0,0
$GC,9870,0.98,329.0,173.9,11.5,359,9875,0.00,2.60,0.00,0.000,4,0.000,0.029,3646,3003,1656,0,0,0,0,0,0
$GC,9915,0.98,329.0,168.6,10.4,363,9919,0.00,2.67,0.00,0.000,6,0.000,0.037,3646,1386,1653,0,0,0,0,0,0
$GC,10182,0.98,329.0,135.3,13.5,387,10186,0.00,2.03,0.00,0.000,4,0.000,0.052,3646,168,1654,0,0,0,0,0,0
$GC,10267,0.91,329.0,122.4,15.5,395,10271,0.15,1.90,0.00,0.000,6,0.114,0.021,3616,1412,1654,0,0,0,0,0,0
$GC,10533,0.98,329.0,91.8,10.6,420,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,1414,1654,0,0,0,0,0,0
$GC,10794,1.14,376.9,67.8,7.8,444,10841,0.20,0.00,42.22,0.509,6,0.054,0.000,3680,1414,1462,0,0,0,0,0,0
$GC,11098,1.14,376.9,27.4,13.1,473,11106,0.00,0.00,0.00,0.000,6,0.000,0.000,3680,1414,1459,0,0,0,0,0,0
$STATE,11283,end climb,SURFACE_DEPTH_REACHED
$STATE,11286,begin surface coast
$FINISH,0.4,1.009762
$STATE,11326,end surface coast,CONTROL_FINISHED_OK
$STATE,11326,begin surface
$SM_CCo,11410,0.00,0.000,0,0,1453,379.48
$SM_GC,1.63,13.23,0.00,0.00,0.025,0.000,0.000,414,1603,1453,-13.75,0.08,379.48
$IRIDIUM_FIX,2237.01,-15800.20,180802,191926
$TT8_MAMPS,0.027612
$HUMID,66.46
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,22.20
$XPDR_PINGS,9
$24V_AH,23.4,1.829
$10V_AH,9.9,1.761
$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,34.075,129.325,440.950,0.000,0.000,31.191,33.450,176.506,2.250,0.000,12.084,1085.303,7834.386,468.926,1842.213,548.155,33.340,1258.842,0.000,1843.119,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,86.671,935.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.997,276.001,358.528,677.585,924.075,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,38389,508
$CAP_FILE_SIZE,120701,0
$CFSIZE,260165632,171180032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250513,010836,2245.693,-15800.719,37,1.3,37,10.1