version: 66.06
glider: 148
mission: 9
dive: 370
start: 12 26 110 11 38 47
data:
$ID,148
$MISSION,9
$DIVE,370
$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,-865863.12
$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,32
$R_STBD_OVSHOOT,53
$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
$GPS1,112930,2247.420,-15759.013,36,1.2,38,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-66.6
$GPS2,113750,2247.396,-15758.872,12,1.2,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.225,0.111
$KALMAN_X,-37469.5,-271.2,-0.0,56653.1,1128.2
$KALMAN_Y,-30803.9,-267.4,699.4,155387.6,-1373.3
$MHEAD_RNG_PITCHd_Wd,286.2,7087,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-75.45,0.000,2,0.000,0.000,414,1848,3270,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.4,-4.1,10,131,11.55,2.72,-8.45,0.000,4,0.155,0.045,2596,208,3718,0,0,0,0,0,0
$GC,189,-1.17,-146.0,23.2,-13.3,23,198,0.00,2.50,0.00,0.000,6,0.000,0.019,2597,1794,3720,0,0,0,0,0,0
$GC,472,-0.95,-146.0,64.6,-15.9,52,477,0.25,2.47,0.00,0.000,4,0.097,0.028,2654,3360,3719,0,0,0,0,0,0
$GC,549,-1.04,-146.0,73.9,-9.1,58,554,0.00,2.47,0.00,0.000,6,0.000,0.023,2654,1789,3721,0,0,0,0,0,0
$GC,814,-1.04,-146.0,98.3,-8.9,82,818,0.00,2.53,0.00,0.000,4,0.000,0.029,2654,3366,3721,0,0,0,0,0,0
$GC,852,-1.16,-146.0,101.6,-8.3,85,858,0.20,2.47,0.00,0.000,6,0.040,0.022,2555,1796,3721,0,0,0,0,0,0
$GC,1117,-0.96,-146.0,135.9,-14.2,109,1126,0.43,2.53,0.00,0.000,4,0.084,0.028,2647,3368,3721,0,0,0,0,0,0
$GC,1140,-0.88,-146.0,139.0,-12.8,111,1144,0.00,2.47,0.00,0.000,6,0.000,0.021,2647,1801,3722,0,0,0,0,0,0
$GC,1404,-1.03,-146.0,159.7,-6.6,135,1409,0.00,2.47,0.00,0.000,4,0.000,0.028,2647,3368,3722,0,0,0,0,0,0
$GC,1434,-1.20,-146.0,161.8,-5.9,137,1440,0.20,2.47,0.00,0.000,6,0.041,0.022,2560,1806,3722,0,0,0,0,0,0
$GC,1699,-1.05,-146.0,191.4,-12.0,162,1704,0.28,2.47,0.00,0.000,4,0.084,0.028,2626,3363,3722,0,0,0,0,0,0
$GC,1739,-1.15,-146.0,195.8,-8.5,165,1747,0.00,2.47,0.00,0.000,6,0.000,0.023,2626,1818,3722,0,0,0,0,0,0
$GC,2003,-1.23,-146.0,215.4,-7.5,176,2008,0.15,2.45,0.00,0.000,4,0.053,0.029,2541,3361,3722,0,0,0,0,0,0
$GC,2060,-1.11,-146.0,221.7,-11.0,177,2065,0.32,2.42,0.00,0.000,6,0.077,0.023,2617,1830,3722,0,0,0,0,0,0
$GC,2334,-1.18,-146.0,243.5,-7.8,184,2338,0.00,2.42,0.00,0.000,4,0.000,0.030,2617,3359,3723,0,0,0,0,0,0
$GC,2355,-1.26,-146.0,245.1,-8.0,184,2360,0.12,2.42,0.00,0.000,6,0.061,0.023,2534,1833,3722,0,0,0,0,0,0
$GC,2620,-1.04,-146.0,282.0,-14.7,191,2627,0.47,2.45,0.00,0.000,4,0.081,0.031,2630,3363,3722,0,0,0,0,0,0
$GC,2662,-1.20,-146.0,286.3,-8.5,191,2668,0.12,2.42,0.00,0.000,6,0.060,0.025,2554,1844,3722,0,0,0,0,0,0
$GC,2912,-1.11,-146.0,313.8,-11.2,198,2917,0.25,2.47,0.00,0.000,4,0.082,0.035,2615,3363,3722,0,0,0,0,0,0
$GC,2936,-1.11,-146.0,316.1,-8.5,198,2940,0.00,2.42,0.00,0.000,6,0.000,0.027,2616,1855,3722,0,0,0,0,0,0
$GC,3197,-1.22,-146.0,334.0,-6.7,205,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1854,3721,0,0,0,0,0,0
$GC,3439,-1.33,-146.0,352.4,-7.6,211,3444,0.20,2.47,0.00,0.000,4,0.043,0.036,2520,3365,3719,0,0,0,0,0,0
$GC,3477,-1.21,-146.0,356.7,-12.1,211,3483,0.35,2.42,0.00,0.000,6,0.076,0.028,2599,1862,3719,0,0,0,0,0,0
$GC,3729,-1.27,-146.0,376.3,-7.3,218,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1863,3718,0,0,0,0,0,0
$GC,3971,-1.34,-146.0,392.5,-6.9,224,3976,0.12,2.47,0.00,0.000,4,0.063,0.041,2530,3360,3716,0,0,0,0,0,0
$GC,3986,-1.34,-146.0,394.1,-8.0,224,3991,0.17,2.40,0.00,0.000,6,0.091,0.027,2569,1867,3716,0,0,0,0,0,0
$GC,4256,-1.34,-146.0,420.7,-10.0,231,4260,0.00,2.45,0.00,0.000,4,0.000,0.042,2568,3356,3714,0,0,0,0,0,0
$GC,4311,-1.34,-146.0,426.7,-10.2,232,4316,0.00,2.38,0.00,0.000,6,0.000,0.035,2568,1875,3714,0,0,0,0,0,0
$GC,4586,-1.34,-146.0,451.8,-9.0,239,4590,0.00,2.42,0.00,0.000,4,0.000,0.046,2568,3350,3712,0,0,0,0,0,0
$GC,4618,-1.34,-146.0,454.8,-8.6,239,4623,0.00,2.38,0.00,0.000,6,0.000,0.029,2568,1879,3712,0,0,0,0,0,0
$GC,4868,-1.34,-146.0,475.1,-8.1,245,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1879,3710,0,0,0,0,0,0
$GC,5112,-1.34,-146.0,494.9,-8.0,251,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1879,3709,0,0,0,0,0,0
$STATE,5191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5191,begin apogee
$GC,5198,-0.31,0.0,501.9,8.4,253,5318,0.98,0.00,117.00,0.872,6,0.077,0.000,2790,1681,3120,0,0,0,0,0,0
$STATE,5319,end apogee,CONTROL_FINISHED_OK
$STATE,5319,begin climb
$GC,5321,1.17,146.0,506.6,0.0,256,5453,1.35,2.70,120.38,0.853,4,0.029,0.074,3128,184,2524,0,0,0,0,0,0
$GC,5482,0.73,176.8,507.2,7.7,260,5515,0.52,2.40,26.58,0.810,6,0.101,0.028,3020,1661,2399,0,0,0,0,0,0
$GC,5768,0.80,239.3,489.2,6.4,267,5829,0.00,2.65,53.60,0.832,4,0.000,0.061,3019,183,2144,0,0,0,0,0,0
$GC,5862,0.73,239.3,481.7,9.4,269,5866,0.00,2.45,0.00,0.000,6,0.000,0.028,3019,1676,2141,0,0,0,0,0,0
$GC,6141,0.73,245.2,458.0,8.8,276,6153,0.00,2.58,5.57,0.619,4,0.000,0.060,3020,187,2119,0,0,0,0,0,0
$GC,6210,0.73,245.2,451.2,10.6,277,6215,0.00,2.40,0.00,0.000,6,0.000,0.028,3019,1673,2118,0,0,0,0,0,0
$GC,6474,0.75,257.8,428.5,8.5,284,6491,0.00,2.72,12.02,0.746,4,0.000,0.051,3019,3255,2068,0,0,0,0,0,0
$GC,6531,0.84,269.6,423.6,8.5,285,6549,0.10,2.62,12.05,0.740,6,0.077,0.036,3077,1689,2020,0,0,0,0,0,0
$GC,6805,0.70,269.6,391.3,12.1,292,6807,0.30,0.00,0.00,0.000,6,0.093,0.000,3014,1689,2016,0,0,0,0,0,0
$GC,7049,0.70,269.6,368.7,9.2,298,7053,0.00,2.62,0.00,0.000,4,0.000,0.064,3014,169,2014,0,0,0,0,0,0
$GC,7086,0.70,269.6,364.6,10.7,298,7091,0.00,2.42,0.00,0.000,6,0.000,0.026,3014,1677,2014,0,0,0,0,0,0
$GC,7335,0.71,273.6,342.5,8.8,305,7340,0.00,2.60,0.00,0.000,4,0.000,0.059,3013,166,2012,0,0,0,0,0,0
$GC,7371,0.71,273.6,339.3,9.8,305,7375,0.00,2.40,0.00,0.000,6,0.000,0.025,3013,1674,2012,0,0,0,0,0,0
$GC,7621,0.79,292.5,318.5,8.2,311,7644,0.00,0.00,20.65,0.732,6,0.000,0.000,3014,1675,1927,0,0,0,0,0,0
$GC,7865,0.87,293.0,296.8,9.0,317,7870,0.15,2.65,0.00,0.000,4,0.056,0.048,3078,3254,1922,0,0,0,0,0,0
$GC,7885,0.87,293.0,294.7,10.0,317,7891,0.12,2.65,0.00,0.000,6,0.107,0.034,3050,1661,1921,0,0,0,0,0,0
$GC,8150,0.87,293.0,266.6,10.7,324,8154,0.00,2.55,0.00,0.000,4,0.000,0.064,3050,164,1920,0,0,0,0,0,0
$GC,8196,0.87,293.0,261.0,12.0,325,8200,0.00,2.38,0.00,0.000,6,0.000,0.023,3050,1674,1920,0,0,0,0,0,0
$GC,8479,0.87,293.0,233.6,9.4,332,8484,0.00,2.60,0.00,0.000,4,0.000,0.043,3050,3241,1920,0,0,0,0,0,0
$GC,8516,0.87,293.0,229.8,9.1,332,8522,0.00,2.60,0.00,0.000,6,0.000,0.032,3050,1664,1918,0,0,0,0,0,0
$GC,8766,0.87,293.0,207.0,9.3,339,8770,0.00,2.53,0.00,0.000,4,0.000,0.055,3050,167,1918,0,0,0,0,0,0
$GC,8827,0.87,293.0,200.5,10.5,340,8831,0.00,2.38,0.00,0.000,6,0.000,0.023,3050,1668,1918,0,0,0,0,0,0
$GC,9101,0.88,302.1,176.7,8.6,364,9118,0.00,2.60,8.82,0.563,4,0.000,0.034,3050,3250,1887,0,0,0,0,0,0
$GC,9142,0.88,302.1,172.9,9.1,368,9146,0.00,2.62,0.00,0.000,6,0.000,0.029,3050,1647,1885,0,0,0,0,0,0
$GC,9404,0.90,317.2,150.4,8.4,392,9425,0.00,2.70,14.93,0.586,4,0.000,0.035,3050,3250,1825,0,0,0,0,0,0
$GC,9443,0.93,344.9,147.3,7.9,396,9476,0.00,2.60,25.25,0.600,6,0.000,0.028,3050,1662,1712,0,0,0,0,0,0
$GC,9733,0.93,344.9,121.4,10.5,423,9738,0.00,2.47,0.00,0.000,4,0.000,0.054,3050,174,1708,0,0,0,0,0,0
$GC,9753,0.93,344.9,118.8,11.5,424,9762,0.00,2.38,0.00,0.000,6,0.000,0.021,3050,1667,1708,0,0,0,0,0,0
$GC,10021,1.07,367.6,96.4,8.1,449,10051,0.17,2.60,20.90,0.546,4,0.048,0.035,3135,3250,1619,0,0,0,0,0,0
$GC,10109,1.07,367.6,85.7,12.2,457,10114,0.20,2.60,0.00,0.000,6,0.091,0.028,3091,1658,1615,0,0,0,0,0,0
$GC,10373,1.07,367.6,59.2,9.3,481,10377,0.00,2.45,0.00,0.000,4,0.000,0.045,3091,173,1615,0,0,0,0,0,0
$GC,10438,1.07,367.6,52.8,10.8,486,10442,0.00,2.33,0.00,0.000,6,0.000,0.020,3090,1662,1614,0,0,0,0,0,0
$GC,10712,1.07,367.6,24.2,10.4,514,10720,0.00,2.58,0.00,0.000,4,0.000,0.033,3091,3243,1614,0,0,0,0,0,0
$GC,10762,1.15,367.6,19.1,10.6,521,10771,0.00,2.60,0.00,0.000,6,0.000,0.027,3091,1649,1614,0,0,0,0,0,0
$STATE,10913,end climb,SURFACE_DEPTH_REACHED
$STATE,10914,begin surface coast
$FINISH,0.7,1.023195
$STATE,10966,end surface coast,CONTROL_FINISHED_OK
$STATE,10967,begin surface
$SM_CCo,10987,31.98,0.349,1,0,1406,420.20
$SM_GC,1.74,0.00,0.00,31.98,0.000,0.000,0.349,406,1839,1406,-11.29,1.39,420.20
$IRIDIUM_FIX,2239.35,-15754.99,210300,080827
$TT8_MAMPS,0.026845
$HUMID,47.20
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.40
$XPDR_PINGS,5
$24V_AH,23.5,49.251
$10V_AH,10.2,42.588
$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,29.775,150.900,437.750,31.975,0.000,25.504,38.279,298.698,1.250,0.000,13.722,1146.510,7132.436,537.771,2030.065,681.889,33.379,1366.389,0.000,2035.328,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,74.399,872.079,348.985,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,373.050,345.607,428.121,641.393,1133.358,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,44832,553
$CAP_FILE_SIZE,127680,0
$CFSIZE,260165632,151437312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261210,144337,2247.480,-15800.160,23,1.6,23,10.1