version: 66.06
glider: 148
mission: 9
dive: 349
start: 12 23 110 21 24 53
data:
$ID,148
$MISSION,9
$DIVE,349
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,4
$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,185
$T_MISSION,350
$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,52499
$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,420
$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,-865440.5
$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,2860
$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,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$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,-11.449877
$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,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,211528,2249.575,-15801.055,10,3.9,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.6
$GPS2,212358,2249.560,-15801.007,14,2.9,33,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.205,0.144
$KALMAN_X,-45999.2,543.2,56.9,60636.5,249.6
$KALMAN_Y,-11957.4,401.2,495.5,140090.9,-1300.2
$MHEAD_RNG_PITCHd_Wd,44.9,6888,-15.9,-9.009
$D_GRID,500
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,96,0.00,0.00,-75.12,0.000,2,0.000,0.000,411,1856,3305,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.7,-5.0,10,123,11.55,2.70,-7.62,0.000,4,0.154,0.051,2595,201,3718,0,0,0,0,0,0
$GC,243,-1.17,-146.0,33.0,-12.9,31,248,0.00,2.47,0.00,0.000,6,0.000,0.019,2595,1793,3720,0,0,0,0,0,0
$GC,511,-0.96,-146.0,72.1,-14.9,55,516,0.25,2.50,0.00,0.000,4,0.095,0.028,2653,3370,3720,0,0,0,0,0,0
$GC,588,-1.04,-146.0,81.2,-9.1,61,594,0.00,2.50,0.00,0.000,6,0.000,0.022,2653,1782,3721,0,0,0,0,0,0
$GC,852,-1.12,-146.0,103.3,-7.7,86,861,0.15,0.00,0.00,0.000,6,0.054,0.000,2575,1781,3721,0,0,0,0,0,0
$GC,1120,-0.99,-146.0,135.0,-12.2,111,1125,0.28,2.55,0.00,0.000,4,0.084,0.027,2641,3372,3722,0,0,0,0,0,0
$GC,1190,-1.17,-146.0,141.8,-7.8,117,1196,0.15,2.47,0.00,0.000,6,0.052,0.022,2549,1795,3722,0,0,0,0,0,0
$GC,1453,-0.93,-146.0,176.2,-13.5,141,1465,0.52,2.55,0.00,0.000,4,0.083,0.037,2652,204,3723,0,0,0,0,0,0
$GC,1479,-0.93,-146.0,179.4,-9.5,143,1485,0.00,2.50,0.00,0.000,6,0.000,0.019,2652,1817,3723,0,0,0,0,0,0
$GC,1742,-1.09,-146.0,193.0,-5.0,168,1747,0.12,2.45,0.00,0.000,4,0.061,0.029,2575,3358,3723,0,0,0,0,0,0
$GC,1794,-1.09,-146.0,197.1,-8.3,172,1801,0.20,2.45,0.00,0.000,6,0.083,0.024,2622,1816,3723,0,0,0,0,0,0
$GC,2046,-1.15,-146.0,214.3,-6.7,182,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1816,3723,0,0,0,0,0,0
$GC,2292,-1.22,-146.0,230.2,-6.4,188,2297,0.12,2.47,0.00,0.000,4,0.063,0.029,2556,3365,3723,0,0,0,0,0,0
$GC,2344,-1.16,-146.0,235.3,-9.9,189,2349,0.22,2.47,0.00,0.000,6,0.084,0.024,2606,1810,3723,0,0,0,0,0,0
$GC,2622,-1.16,-146.0,257.6,-8.0,196,2626,0.00,2.45,0.00,0.000,4,0.000,0.031,2606,3356,3723,0,0,0,0,0,0
$GC,2657,-1.24,-146.0,260.4,-8.5,196,2661,0.00,2.42,0.00,0.000,6,0.000,0.024,2606,1821,3722,0,0,0,0,0,0
$GC,2906,-1.24,-146.0,280.5,-8.1,202,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1822,3722,0,0,0,0,0,0
$GC,3150,-1.24,-146.0,300.7,-8.4,208,3154,0.00,2.47,0.00,0.000,4,0.000,0.033,2606,3360,3721,0,0,0,0,0,0
$GC,3208,-1.36,-146.0,305.8,-8.8,209,3213,0.17,2.42,0.00,0.000,6,0.048,0.027,2516,1834,3721,0,0,0,0,0,0
$GC,3482,-1.13,-146.0,345.3,-14.9,216,3489,0.43,2.45,0.00,0.000,4,0.084,0.036,2610,3353,3719,0,0,0,0,0,0
$GC,3505,-1.05,-146.0,348.2,-12.8,216,3509,0.00,2.42,0.00,0.000,6,0.000,0.027,2610,1837,3719,0,0,0,0,0,0
$GC,3769,-1.14,-146.0,370.0,-7.9,223,3773,0.00,2.47,0.00,0.000,4,0.000,0.037,2610,3358,3718,0,0,0,0,0,0
$GC,3793,-1.24,-146.0,371.9,-7.8,223,3797,0.00,2.42,0.00,0.000,6,0.000,0.028,2609,1841,3719,0,0,0,0,0,0
$GC,4054,-1.34,-146.0,389.7,-6.8,230,4056,0.17,0.00,0.00,0.000,6,0.050,0.000,2533,1840,3717,0,0,0,0,0,0
$GC,4295,-1.21,-146.0,415.0,-10.6,236,4301,0.25,2.47,0.00,0.000,4,0.087,0.040,2593,3355,3715,0,0,0,0,0,0
$GC,4334,-1.31,-146.0,418.1,-7.5,236,4341,0.00,2.40,0.00,0.000,6,0.000,0.030,2592,1850,3715,0,0,0,0,0,0
$GC,4585,-1.31,-146.0,436.1,-7.5,243,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1850,3714,0,0,0,0,0,0
$GC,4827,-1.31,-146.0,455.9,-8.2,249,4832,0.00,2.50,0.00,0.000,4,0.000,0.046,2593,3352,3712,0,0,0,0,0,0
$GC,4851,-1.37,-146.0,458.2,-9.4,249,4856,0.12,2.42,0.00,0.000,6,0.063,0.029,2520,1837,3712,0,0,0,0,0,0
$GC,5112,-1.21,-146.0,489.0,-11.9,256,5119,0.30,2.78,0.00,0.000,4,0.084,0.064,2588,213,3710,0,0,0,0,0,0
$GC,5129,-1.21,-146.0,491.2,-11.0,256,5133,0.00,2.60,0.00,0.000,6,0.000,0.031,2588,1821,3710,0,0,0,0,0,0
$STATE,5273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5273,begin apogee
$GC,5280,-0.31,0.0,502.0,7.4,260,5401,0.90,0.00,117.45,0.867,6,0.074,0.000,2792,1671,3120,0,0,0,0,0,0
$STATE,5402,end apogee,CONTROL_FINISHED_OK
$STATE,5402,begin climb
$GC,5404,1.17,146.0,506.5,0.0,263,5535,1.33,2.80,121.03,0.851,4,0.031,0.051,3117,3257,2523,0,0,0,0,0,0
$GC,5557,0.90,184.1,506.5,7.4,266,5598,0.30,2.65,32.88,0.816,6,0.107,0.038,3056,1691,2368,0,0,0,0,0,0
$GC,5862,0.76,184.1,475.9,10.3,274,5869,0.15,2.70,0.00,0.000,4,0.109,0.074,3024,164,2361,0,0,0,0,0,0
$GC,6013,0.64,184.1,460.4,10.0,277,6018,0.12,2.42,0.00,0.000,6,0.113,0.027,2998,1670,2359,0,0,0,0,0,0
$GC,6287,0.72,244.5,441.7,6.5,284,6344,0.00,2.65,51.30,0.822,4,0.000,0.060,2998,161,2122,0,0,0,0,0,0
$GC,6377,0.73,257.5,435.2,8.5,286,6396,0.00,2.45,12.68,0.739,6,0.000,0.027,2998,1663,2070,0,0,0,0,0,0
$GC,6658,0.84,287.7,414.2,7.7,293,6688,0.17,0.00,27.42,0.787,6,0.050,0.000,3070,1663,1947,0,0,0,0,0,0
$GC,6900,0.73,287.7,385.4,12.1,299,6902,0.22,0.00,0.00,0.000,6,0.093,0.000,3021,1663,1941,0,0,0,0,0,0
$GC,7143,0.73,287.7,361.2,9.8,305,7147,0.00,2.58,0.00,0.000,4,0.000,0.057,3020,163,1939,0,0,0,0,0,0
$GC,7171,0.73,287.7,358.0,11.3,305,7175,0.00,2.40,0.00,0.000,6,0.000,0.026,3020,1665,1938,0,0,0,0,0,0
$GC,7428,0.73,287.7,332.2,10.0,312,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1665,1937,0,0,0,0,0,0
$GC,7670,0.73,287.7,309.5,9.2,318,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1665,1935,0,0,0,0,0,0
$GC,7914,0.76,310.0,289.3,8.1,324,7939,0.00,2.67,19.48,0.706,4,0.000,0.044,3021,3251,1855,0,0,0,0,0,0
$GC,7960,0.87,333.2,285.6,8.0,325,7989,0.12,2.67,21.92,0.700,6,0.064,0.032,3080,1645,1760,0,0,0,0,0,0
$GC,8245,0.79,333.2,251.9,12.3,332,8250,0.22,2.53,0.00,0.000,4,0.093,0.058,3031,173,1755,0,0,0,0,0,0
$GC,8263,0.79,333.2,249.8,12.4,332,8267,0.00,2.38,0.00,0.000,6,0.000,0.022,3031,1669,1755,0,0,0,0,0,0
$GC,8531,0.85,333.2,224.0,9.4,339,8536,0.00,2.58,0.00,0.000,4,0.000,0.038,3031,3246,1752,0,0,0,0,0,0
$GC,8550,0.93,333.2,222.1,9.5,339,8555,0.12,2.60,0.00,0.000,6,0.064,0.029,3089,1659,1751,0,0,0,0,0,0
$GC,8808,0.84,333.2,191.7,11.9,348,8813,0.20,2.47,0.00,0.000,4,0.096,0.051,3044,171,1751,0,0,0,0,0,0
$GC,8856,0.91,333.2,186.4,11.2,352,8861,0.00,2.35,0.00,0.000,6,0.000,0.023,3043,1659,1750,0,0,0,0,0,0
$GC,9124,0.92,345.6,162.7,8.5,376,9142,0.00,2.65,10.38,0.564,4,0.000,0.034,3044,3251,1710,0,0,0,0,0,0
$GC,9158,0.95,365.1,159.5,8.2,379,9188,0.10,2.65,19.38,0.598,6,0.075,0.028,3106,1632,1629,0,0,0,0,0,0
$GC,9439,0.86,365.1,126.4,11.6,406,9444,0.25,2.40,0.00,0.000,4,0.089,0.046,3047,174,1625,0,0,0,0,0,0
$GC,9458,0.86,365.1,124.6,11.7,407,9462,0.00,2.33,0.00,0.000,6,0.000,0.021,3047,1653,1625,0,0,0,0,0,0
$GC,9727,1.00,396.5,104.0,7.7,431,9768,0.12,2.62,28.00,0.558,4,0.064,0.033,3111,3246,1500,0,0,0,0,0,0
$GC,9813,1.00,396.5,93.8,12.1,439,9818,0.15,2.60,0.00,0.000,6,0.096,0.028,3077,1656,1497,0,0,0,0,0,0
$GC,10077,1.00,396.5,67.1,9.6,463,10081,0.00,2.45,0.00,0.000,4,0.000,0.051,3077,164,1495,0,0,0,0,0,0
$GC,10095,1.00,396.5,65.0,10.8,464,10100,0.00,2.35,0.00,0.000,6,0.000,0.020,3077,1670,1496,0,0,0,0,0,0
$GC,10364,1.00,396.5,37.9,10.1,488,10368,0.00,2.53,0.00,0.000,4,0.000,0.031,3077,3247,1495,0,0,0,0,0,0
$GC,10407,1.14,396.5,32.8,9.7,491,10416,0.08,2.60,0.00,0.000,6,0.036,0.026,3142,1654,1494,0,0,0,0,0,0
$STATE,10622,end climb,SURFACE_DEPTH_REACHED
$STATE,10622,begin surface coast
$FINISH,0.6,1.011438
$STATE,10655,end surface coast,CONTROL_FINISHED_OK
$STATE,10655,begin surface
$SM_CCo,10677,16.65,0.225,1,0,1406,420.20
$SM_GC,1.55,0.00,0.00,16.65,0.000,0.000,0.225,414,1864,1406,-11.25,2.09,420.20
$IRIDIUM_FIX,2241.69,-15801.49,180300,181841
$TT8_MAMPS,0.026845
$HUMID,47.87
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.30
$XPDR_PINGS,3
$24V_AH,23.6,46.907
$10V_AH,10.3,40.289
$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,30.525,131.300,461.900,16.650,0.000,25.480,37.566,287.319,0.750,0.000,35.654,1092.401,6989.793,531.851,1945.504,650.166,33.374,1316.568,0.000,1923.801,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,73.632,867.477,224.731,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.929,311.996,403.243,595.795,1053.079,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,41607,529
$CAP_FILE_SIZE,121497,0
$CFSIZE,260165632,152625152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241210,002430,2249.710,-15759.696,38,1.2,38,10.1