version: 66.06
glider: 148
mission: 12
dive: 23
start: 5 25 113 17 47 51
data:
$ID,148
$MISSION,12
$DIVE,23
$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,-1015450.9
$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,3390
$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,1550
$C_ROLL_CLIMB,1325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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,2870
$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
$GPS1,173627,2241.634,-15806.276,9,99.0,28,10.0
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-77.7
$GPS2,174659,2241.710,-15806.249,56,1.0,56,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.097,0.241
$KALMAN_X,-4916.8,-174.7,77.5,-5554.4,-958.3
$KALMAN_Y,2528.0,-288.8,-153.8,-8150.3,-26.7
$MHEAD_RNG_PITCHd_Wd,11.8,42217,-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,-60.03,0.000,2,0.000,0.000,407,1586,2919,0,0,0,0,0,0
$GC,82,-1.27,-146.0,3.4,-6.0,8,114,14.23,2.42,-9.40,0.000,4,0.153,0.033,3108,3104,3466,0,0,0,0,0,0
$GC,204,-1.06,-146.0,35.4,-18.4,24,209,0.22,2.53,0.00,0.000,6,0.098,0.032,3156,1545,3466,0,0,0,0,0,0
$GC,468,-0.88,-146.0,82.9,-15.4,48,473,0.17,2.28,0.00,0.000,4,0.105,0.043,3195,165,3467,0,0,0,0,0,0
$GC,530,-0.95,-146.0,90.7,-11.3,53,534,0.00,2.08,0.00,0.000,6,0.000,0.018,3195,1550,3467,0,0,0,0,0,0
$GC,798,-0.95,-146.0,116.3,-9.1,77,803,0.00,2.42,0.00,0.000,4,0.000,0.024,3195,3111,3467,0,0,0,0,0,0
$GC,838,-1.09,-146.0,120.6,-8.5,80,847,0.15,2.55,0.00,0.000,6,0.021,0.030,3114,1551,3467,0,0,0,0,0,0
$GC,1101,-0.86,-146.0,157.5,-15.5,105,1112,0.40,0.00,0.00,0.000,6,0.089,0.000,3202,1551,3468,0,0,0,0,0,0
$GC,1368,-0.96,-146.0,179.4,-7.4,130,1372,0.00,2.45,0.00,0.000,4,0.000,0.024,3202,3106,3468,0,0,0,0,0,0
$GC,1409,-1.21,-146.0,182.5,-6.4,133,1415,0.32,2.47,0.00,0.000,6,0.031,0.029,3089,1558,3468,0,0,0,0,0,0
$GC,1677,-0.96,-146.0,219.5,-15.2,150,1682,0.38,2.25,0.00,0.000,4,0.093,0.042,3174,167,3468,0,0,0,0,0,0
$GC,1723,-1.04,-146.0,224.5,-9.2,151,1727,0.00,2.10,0.00,0.000,6,0.000,0.019,3175,1554,3468,0,0,0,0,0,0
$GC,2010,-1.11,-146.0,247.4,-7.9,158,2015,0.12,2.45,0.00,0.000,4,0.067,0.026,3120,3112,3468,0,0,0,0,0,0
$GC,2081,-1.11,-146.0,254.4,-9.6,159,2086,0.12,2.47,0.00,0.000,6,0.101,0.031,3149,1569,3468,0,0,0,0,0,0
$GC,2343,-1.11,-146.0,278.1,-9.1,166,2347,0.00,2.42,0.00,0.000,4,0.000,0.028,3149,3101,3468,0,0,0,0,0,0
$GC,2366,-1.17,-146.0,280.4,-8.8,166,2371,0.00,2.47,0.00,0.000,6,0.000,0.032,3149,1565,3468,0,0,0,0,0,0
$GC,2627,-1.17,-146.0,303.7,-9.1,173,2631,0.00,2.33,0.00,0.000,4,0.000,0.054,3149,166,3467,0,0,0,0,0,0
$GC,2655,-1.17,-146.0,306.6,-9.9,173,2659,0.00,2.12,0.00,0.000,6,0.000,0.022,3149,1547,3467,0,0,0,0,0,0
$GC,2909,-1.17,-146.0,328.1,-8.3,180,2914,0.00,2.55,0.00,0.000,4,0.000,0.035,3149,3128,3466,0,0,0,0,0,0
$GC,2944,-1.30,-146.0,330.8,-8.2,180,2949,0.17,2.53,0.00,0.000,6,0.052,0.035,3077,1572,3465,0,0,0,0,0,0
$GC,3194,-1.14,-146.0,362.2,-12.7,186,3196,0.30,0.00,0.00,0.000,6,0.094,0.000,3142,1572,3465,0,0,0,0,0,0
$GC,3438,-1.14,-146.0,383.5,-8.5,192,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1571,3463,0,0,0,0,0,0
$GC,3683,-1.20,-146.0,403.7,-8.1,198,3687,0.00,2.55,0.00,0.000,4,0.000,0.039,3142,3118,3462,0,0,0,0,0,0
$GC,3721,-1.37,-146.0,406.7,-7.1,198,3727,0.22,2.55,0.00,0.000,6,0.041,0.037,3061,1571,3462,0,0,0,0,0,0
$GC,3971,-1.19,-146.0,436.2,-12.1,205,3976,0.30,2.38,0.00,0.000,4,0.096,0.066,3130,176,3460,0,0,0,0,0,0
$GC,4007,-1.19,-146.0,439.6,-8.8,205,4011,0.00,2.22,0.00,0.000,6,0.000,0.030,3130,1567,3460,0,0,0,0,0,0
$GC,4257,-1.19,-146.0,459.9,-8.1,211,4261,0.00,2.55,0.00,0.000,4,0.000,0.042,3130,3126,3458,0,0,0,0,0,0
$GC,4301,-1.33,-146.0,463.4,-7.3,212,4306,0.12,2.55,0.00,0.000,6,0.061,0.040,3070,1578,3458,0,0,0,0,0,0
$GC,4590,-1.20,-146.0,496.8,-11.9,219,4592,0.28,0.00,0.00,0.000,6,0.094,0.000,3130,1578,3456,0,0,0,0,0,0
$GC,4832,-1.20,-146.0,516.9,-7.9,225,4837,0.00,2.60,0.00,0.000,4,0.000,0.048,3131,3127,3454,0,0,0,0,0,0
$GC,4872,-1.34,-146.0,519.8,-7.7,225,4878,0.12,2.58,0.00,0.000,6,0.062,0.046,3073,1580,3454,0,0,0,0,0,0
$GC,5122,-1.22,-146.0,545.3,-10.3,232,5127,0.22,2.47,0.00,0.000,4,0.097,0.077,3122,169,3452,0,0,0,0,0,0
$GC,5170,-1.22,-146.0,549.5,-7.9,233,5174,0.00,2.28,0.00,0.000,6,0.000,0.036,3122,1568,3452,0,0,0,0,0,0
$GC,5452,-1.22,-146.0,568.8,-6.8,240,5457,0.00,2.62,0.00,0.000,4,0.000,0.050,3122,3133,3450,0,0,0,0,0,0
$GC,5499,-1.35,-146.0,572.2,-7.2,241,5505,0.12,2.60,0.00,0.000,6,0.062,0.048,3065,1581,3450,0,0,0,0,0,0
$STATE,5780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5780,begin apogee
$GC,5788,-0.31,0.0,600.5,10.1,248,5906,1.15,0.00,114.68,0.934,6,0.087,0.000,3320,1315,2870,0,0,0,0,0,0
$STATE,5907,end apogee,CONTROL_FINISHED_OK
$STATE,5907,begin climb
$GC,5910,1.27,146.0,604.1,0.0,251,6045,1.48,2.15,123.57,0.913,4,0.035,0.086,3676,169,2274,0,0,0,0,0,0
$GC,6205,0.83,146.0,586.0,12.5,257,6211,0.52,1.90,0.00,0.000,6,0.114,0.032,3571,1332,2268,0,0,0,0,0,0
$GC,6455,0.92,221.2,568.4,6.5,264,6528,0.00,2.72,65.28,0.894,4,0.000,0.062,3571,2888,1967,0,0,0,0,0,0
$GC,6565,1.03,232.9,559.8,9.5,266,6582,0.17,2.70,11.52,0.788,6,0.057,0.052,3627,1333,1920,0,0,0,0,0,0
$GC,6830,0.91,232.9,527.6,12.4,272,6835,0.17,2.12,0.00,0.000,4,0.108,0.084,3589,160,1914,0,0,0,0,0,0
$GC,6914,0.83,232.9,516.7,12.6,273,6920,0.00,1.90,0.00,0.000,6,0.000,0.031,3590,1332,1914,0,0,0,0,0,0
$GC,7164,0.83,232.9,491.1,10.2,280,7169,0.00,2.60,0.00,0.000,4,0.000,0.045,3590,2893,1913,0,0,0,0,0,0
$GC,7195,0.83,232.9,488.1,10.1,280,7200,0.00,2.67,0.00,0.000,6,0.000,0.050,3590,1324,1910,0,0,0,0,0,0
$GC,7450,0.84,238.6,463.0,9.7,287,7462,0.00,2.62,5.03,0.619,4,0.000,0.040,3590,2892,1897,0,0,0,0,0,0
$GC,7476,0.86,251.7,460.3,9.4,287,7497,0.00,2.70,13.65,0.784,6,0.000,0.049,3590,1323,1843,0,0,0,0,0,0
$GC,7789,0.86,251.7,427.8,10.6,295,7793,0.00,2.60,0.00,0.000,4,0.000,0.039,3590,2892,1840,0,0,0,0,0,0
$GC,7828,0.94,251.7,423.3,10.6,295,7834,0.00,2.65,0.00,0.000,6,0.000,0.048,3590,1331,1838,0,0,0,0,0,0
$GC,8079,0.94,251.7,395.5,11.1,302,8083,0.00,2.00,0.00,0.000,4,0.000,0.070,3590,165,1838,0,0,0,0,0,0
$GC,8093,0.94,251.7,393.6,11.1,302,8097,0.00,1.88,0.00,0.000,6,0.000,0.027,3590,1345,1838,0,0,0,0,0,0
$GC,8370,0.94,251.7,363.9,10.5,309,8375,0.00,2.55,0.00,0.000,4,0.000,0.040,3590,2889,1838,0,0,0,0,0,0
$GC,8433,1.07,267.4,358.1,9.3,310,8453,0.15,2.60,14.38,0.731,6,0.061,0.046,3640,1340,1778,0,0,0,0,0,0
$GC,8704,0.98,267.4,324.7,12.4,317,8706,0.17,0.00,0.00,0.000,6,0.109,0.000,3604,1340,1776,0,0,0,0,0,0
$GC,8947,0.98,267.4,296.5,11.7,323,8951,0.00,2.03,0.00,0.000,4,0.000,0.066,3604,163,1775,0,0,0,0,0,0
$GC,8990,0.98,267.4,291.2,12.1,323,8996,0.00,1.85,0.00,0.000,6,0.000,0.025,3604,1339,1776,0,0,0,0,0,0
$GC,9240,0.98,267.4,263.8,10.9,330,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1342,1775,0,0,0,0,0,0
$GC,9484,0.98,269.4,239.4,9.9,336,9488,0.00,2.50,0.00,0.000,4,0.000,0.030,3604,2896,1775,0,0,0,0,0,0
$GC,9511,1.09,289.7,237.1,9.1,336,9539,0.10,2.65,20.23,0.658,6,0.078,0.041,3646,1316,1688,0,0,0,0,0,0
$GC,9817,1.09,289.7,200.8,12.1,344,9821,0.00,1.92,0.00,0.000,4,0.000,0.058,3646,164,1685,0,0,0,0,0,0
$GC,9835,1.00,289.7,198.3,12.4,344,9840,0.17,1.83,0.00,0.000,6,0.110,0.024,3610,1353,1685,0,0,0,0,0,0
$GC,10103,1.00,289.7,171.4,10.0,367,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,1356,1685,0,0,0,0,0,0
$GC,10367,1.08,289.7,143.8,10.2,392,10371,0.00,2.40,0.00,0.000,4,0.000,0.028,3610,2877,1685,0,0,0,0,0,0
$GC,10427,1.24,289.7,137.6,10.6,397,10433,0.20,2.58,0.00,0.000,6,0.046,0.038,3679,1321,1683,0,0,0,0,0,0
$GC,10694,1.13,289.7,102.0,13.3,421,10699,0.20,0.00,0.00,0.000,6,0.104,0.000,3637,1321,1684,0,0,0,0,0,0
$GC,10959,1.13,289.7,71.7,10.6,446,10963,0.00,1.90,0.00,0.000,4,0.000,0.052,3637,160,1684,0,0,0,0,0,0
$GC,11017,1.13,289.7,64.9,11.7,451,11021,0.00,1.75,0.00,0.000,6,0.000,0.021,3637,1338,1684,0,0,0,0,0,0
$GC,11291,1.27,338.9,42.4,7.7,476,11341,0.12,2.47,43.50,0.489,4,0.071,0.026,3688,2876,1486,0,0,0,0,0,0
$GC,11367,1.27,338.9,34.3,12.0,482,11372,0.00,2.55,0.00,0.000,6,0.000,0.036,3688,1330,1483,0,0,0,0,0,0
$STATE,11601,end climb,SURFACE_DEPTH_REACHED
$STATE,11602,begin surface coast
$FINISH,0.5,1.011878
$STATE,11636,end surface coast,CONTROL_FINISHED_OK
$STATE,11636,begin surface
$SM_CCo,11659,24.48,0.444,0,0,1360,370.16
$SM_GC,1.40,0.00,0.00,24.48,0.000,0.000,0.444,411,1553,1360,-13.70,0.08,370.16
$IRIDIUM_FIX,2234.68,-15803.24,190802,171719
$TT8_MAMPS,0.027612
$HUMID,65.23
$INTERNAL_PRESSURE,9.42806
$TCM_TEMP,22.30
$XPDR_PINGS,10
$24V_AH,23.4,2.548
$10V_AH,9.9,2.413
$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,35.875,138.375,411.825,24.475,0.000,57.940,69.481,254.958,2.500,0.000,58.068,1129.280,7974.498,497.446,1994.886,718.421,33.355,1315.536,0.000,1951.496,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,85.904,934.206,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.117,287.708,371.503,694.931,948.552,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41427,521
$CAP_FILE_SIZE,131806,0
$CFSIZE,260165632,170815488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250513,210400,2243.147,-15806.403,41,1.8,41,10.0