version: 66.06
glider: 148
mission: 9
dive: 371
start: 12 26 110 14 53 40
data:
$ID,148
$MISSION,9
$DIVE,371
$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,-865899.88
$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,31
$R_STBD_OVSHOOT,93
$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
$GPS1,144337,2247.480,-15800.160,23,1.6,23,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.6
$GPS2,145243,2247.401,-15800.002,27,1.3,34,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.236,0.083
$KALMAN_X,-36871.9,-633.1,306.3,54168.0,434.3
$KALMAN_Y,-31600.0,0.2,5.3,156618.2,-1234.2
$MHEAD_RNG_PITCHd_Wd,279.2,5173,-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,-75.53,0.000,2,0.000,0.000,406,1839,3309,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.7,-5.4,10,123,11.60,2.65,-7.60,0.000,4,0.154,0.049,2599,206,3718,0,0,0,0,0,0
$GC,183,-1.17,-146.0,23.9,-15.1,22,192,0.00,2.42,0.00,0.000,6,0.000,0.018,2598,1743,3720,0,0,0,0,0,0
$GC,463,-0.97,-146.0,66.8,-16.5,50,468,0.22,2.60,0.00,0.000,4,0.095,0.030,2647,3364,3720,0,0,0,0,0,0
$GC,564,-1.07,-146.0,78.3,-8.2,58,568,0.00,2.50,0.00,0.000,6,0.000,0.021,2647,1791,3721,0,0,0,0,0,0
$GC,826,-1.07,-146.0,102.2,-9.3,82,830,0.00,2.50,0.00,0.000,4,0.000,0.028,2648,3367,3721,0,0,0,0,0,0
$GC,868,-1.20,-146.0,106.1,-9.1,85,874,0.20,2.45,0.00,0.000,6,0.042,0.021,2565,1810,3721,0,0,0,0,0,0
$GC,1130,-1.03,-146.0,138.6,-12.7,110,1135,0.28,2.47,0.00,0.000,4,0.086,0.028,2630,3365,3722,0,0,0,0,0,0
$GC,1160,-1.03,-146.0,142.5,-10.7,112,1169,0.00,2.47,0.00,0.000,6,0.000,0.021,2630,1815,3722,0,0,0,0,0,0
$GC,1425,-1.11,-146.0,163.6,-8.1,137,1429,0.00,2.45,0.00,0.000,4,0.000,0.028,2630,3367,3722,0,0,0,0,0,0
$GC,1464,-1.26,-146.0,167.1,-8.5,140,1470,0.20,2.45,0.00,0.000,6,0.041,0.023,2544,1818,3722,0,0,0,0,0,0
$GC,1758,-1.08,-146.0,205.8,-13.4,165,1763,0.32,2.47,0.00,0.000,4,0.083,0.029,2620,3370,3722,0,0,0,0,0,0
$GC,1820,-1.22,-146.0,212.2,-8.1,166,1825,0.12,2.40,0.00,0.000,6,0.059,0.023,2536,1840,3723,0,0,0,0,0,0
$GC,2091,-1.02,-146.0,245.6,-12.6,173,2093,0.47,0.00,0.00,0.000,6,0.079,0.000,2636,1837,3723,0,0,0,0,0,0
$GC,2333,-1.17,-146.0,264.9,-7.7,179,2338,0.12,2.45,0.00,0.000,4,0.062,0.031,2555,3367,3723,0,0,0,0,0,0
$GC,2386,-1.17,-146.0,270.6,-10.9,180,2391,0.22,2.42,0.00,0.000,6,0.079,0.024,2607,1843,3723,0,0,0,0,0,0
$GC,2665,-1.23,-146.0,292.8,-7.6,187,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1843,3723,0,0,0,0,0,0
$GC,2909,-1.31,-146.0,312.0,-8.0,193,2914,0.15,2.50,0.00,0.000,4,0.055,0.035,2534,3371,3722,0,0,0,0,0,0
$GC,2939,-1.18,-146.0,315.2,-11.3,193,2944,0.30,2.42,0.00,0.000,6,0.078,0.025,2602,1841,3722,0,0,0,0,0,0
$GC,3194,-1.18,-146.0,337.7,-8.8,200,3199,0.00,2.47,0.00,0.000,4,0.000,0.036,2601,3361,3721,0,0,0,0,0,0
$GC,3213,-1.25,-146.0,339.4,-8.9,200,3218,0.00,2.42,0.00,0.000,6,0.000,0.027,2602,1840,3721,0,0,0,0,0,0
$GC,3479,-1.32,-146.0,362.5,-8.8,207,3484,0.12,2.50,0.00,0.000,4,0.064,0.038,2535,3360,3719,0,0,0,0,0,0
$GC,3517,-1.22,-146.0,367.3,-12.6,207,3523,0.28,2.42,0.00,0.000,6,0.079,0.027,2596,1851,3719,0,0,0,0,0,0
$GC,3769,-1.22,-146.0,388.4,-8.0,214,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1851,3718,0,0,0,0,0,0
$GC,4011,-1.22,-146.0,408.0,-8.2,220,4015,0.00,2.47,0.00,0.000,4,0.000,0.041,2597,3357,3716,0,0,0,0,0,0
$GC,4044,-1.31,-146.0,410.8,-8.7,220,4049,0.10,2.40,0.00,0.000,6,0.074,0.029,2524,1860,3716,0,0,0,0,0,0
$GC,4295,-1.13,-146.0,440.3,-12.1,226,4302,0.40,2.47,0.00,0.000,4,0.081,0.044,2610,3356,3714,0,0,0,0,0,0
$GC,4341,-1.28,-146.0,444.3,-7.1,227,4346,0.12,2.40,0.00,0.000,6,0.061,0.030,2542,1862,3714,0,0,0,0,0,0
$GC,4631,-1.18,-146.0,473.7,-10.5,234,4636,0.25,2.50,0.00,0.000,4,0.084,0.048,2601,3354,3712,0,0,0,0,0,0
$GC,4660,-1.27,-146.0,476.4,-8.3,234,4664,0.00,2.38,0.00,0.000,6,0.000,0.030,2601,1873,3712,0,0,0,0,0,0
$GC,4915,-1.37,-146.0,493.1,-6.4,241,4922,0.17,2.88,0.00,0.000,4,0.050,0.067,2522,216,3710,0,0,0,0,0,0
$GC,4934,-1.37,-146.0,494.6,-8.4,241,4941,0.17,2.67,0.00,0.000,6,0.094,0.032,2561,1860,3710,0,0,0,0,0,0
$STATE,4999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4999,begin apogee
$GC,5005,-0.31,0.0,501.0,9.1,243,5126,1.00,0.00,117.80,0.867,6,0.071,0.000,2790,1668,3120,0,0,0,0,0,0
$STATE,5127,end apogee,CONTROL_FINISHED_OK
$STATE,5127,begin climb
$GC,5129,1.17,146.0,505.4,0.0,246,5260,1.33,2.62,120.50,0.850,4,0.028,0.067,3125,187,2523,0,0,0,0,0,0
$GC,5364,0.72,146.0,498.6,10.0,251,5372,0.50,2.40,0.00,0.000,6,0.100,0.029,3020,1662,2517,0,0,0,0,0,0
$GC,5636,0.84,242.8,484.1,5.0,258,5729,0.10,2.65,81.55,0.835,4,0.080,0.061,3065,190,2129,0,0,0,0,0,0
$GC,5838,0.67,242.8,466.0,11.1,262,5843,0.28,2.42,0.00,0.000,6,0.094,0.029,3007,1672,2125,0,0,0,0,0,0
$GC,6102,0.75,304.5,448.4,6.4,269,6163,0.00,2.80,54.22,0.814,4,0.000,0.052,3007,3262,1877,0,0,0,0,0,0
$GC,6192,0.89,328.9,441.9,8.0,271,6221,0.20,2.62,22.62,0.775,6,0.046,0.036,3088,1694,1778,0,0,0,0,0,0
$GC,6478,0.75,328.9,405.7,13.0,278,6485,0.28,2.67,0.00,0.000,4,0.094,0.065,3025,163,1771,0,0,0,0,0,0
$GC,6517,0.75,328.9,400.9,10.5,278,6523,0.00,2.45,0.00,0.000,6,0.000,0.028,3025,1672,1771,0,0,0,0,0,0
$GC,6767,0.75,329.8,378.2,9.0,285,6771,0.00,2.67,0.00,0.000,4,0.000,0.049,3023,3253,1768,0,0,0,0,0,0
$GC,6803,0.83,329.8,375.1,9.8,285,6808,0.00,2.65,0.00,0.000,6,0.000,0.035,3025,1669,1766,0,0,0,0,0,0
$GC,7053,0.83,330.6,352.6,9.0,291,7057,0.00,2.60,0.00,0.000,4,0.000,0.064,3025,163,1765,0,0,0,0,0,0
$GC,7090,0.83,330.6,348.9,10.2,291,7096,0.00,2.42,0.00,0.000,6,0.000,0.026,3024,1673,1765,0,0,0,0,0,0
$GC,7342,0.89,330.6,324.9,9.8,298,7347,0.12,2.65,0.00,0.000,4,0.065,0.047,3084,3255,1764,0,0,0,0,0,0
$GC,7385,0.89,330.6,319.4,12.8,299,7390,0.15,2.62,0.00,0.000,6,0.101,0.035,3051,1672,1763,0,0,0,0,0,0
$GC,7672,0.89,330.6,289.4,10.2,306,7677,0.00,2.60,0.00,0.000,4,0.000,0.064,3051,160,1763,0,0,0,0,0,0
$GC,7725,0.89,330.6,283.6,11.8,307,7729,0.00,2.42,0.00,0.000,6,0.000,0.025,3051,1676,1762,0,0,0,0,0,0
$GC,8002,0.89,330.6,253.5,10.6,314,8007,0.00,2.62,0.00,0.000,4,0.000,0.043,3051,3257,1762,0,0,0,0,0,0
$GC,8047,0.96,330.6,249.4,9.4,315,8052,0.00,2.62,0.00,0.000,6,0.000,0.033,3051,1665,1760,0,0,0,0,0,0
$GC,8334,0.97,333.6,223.1,8.9,322,8338,0.00,2.53,0.00,0.000,4,0.000,0.056,3051,167,1760,0,0,0,0,0,0
$GC,8362,0.97,333.6,220.5,10.2,322,8366,0.00,2.40,0.00,0.000,6,0.000,0.022,3051,1684,1760,0,0,0,0,0,0
$GC,8617,0.97,333.6,196.8,9.3,329,8622,0.00,2.55,0.00,0.000,4,0.000,0.035,3051,3249,1760,0,0,0,0,0,0
$GC,8656,1.05,333.6,193.0,9.5,332,8663,0.15,2.58,0.00,0.000,6,0.055,0.029,3135,1671,1759,0,0,0,0,0,0
$GC,8920,0.86,333.6,156.8,14.3,357,8926,0.38,2.50,0.00,0.000,4,0.087,0.047,3048,167,1759,0,0,0,0,0,0
$GC,8989,0.86,333.6,148.6,11.4,363,8994,0.00,2.35,0.00,0.000,6,0.000,0.021,3048,1677,1759,0,0,0,0,0,0
$GC,9257,0.93,340.5,124.7,8.7,387,9270,0.00,2.55,7.97,0.503,4,0.000,0.033,3048,3256,1731,0,0,0,0,0,0
$GC,9287,1.02,354.7,122.0,8.4,389,9309,0.15,2.58,14.35,0.546,6,0.054,0.027,3126,1674,1674,0,0,0,0,0,0
$GC,9566,0.92,354.7,90.5,12.0,415,9572,0.28,0.00,0.00,0.000,6,0.088,0.000,3063,1674,1671,0,0,0,0,0,0
$GC,9832,1.07,398.4,68.8,7.2,440,9881,0.12,2.55,39.47,0.526,4,0.063,0.044,3136,172,1493,0,0,0,0,0,0
$GC,9954,0.99,398.4,52.9,13.7,450,9963,0.25,2.38,0.00,0.000,6,0.077,0.021,3077,1665,1493,0,0,0,0,0,0
$GC,10225,1.05,398.4,25.5,10.8,478,10234,0.00,2.58,0.00,0.000,4,0.000,0.031,3077,3251,1491,0,0,0,0,0,0
$GC,10276,1.21,409.8,21.2,8.5,485,10294,0.15,2.58,10.57,0.438,6,0.021,0.028,3173,1678,1448,0,0,0,0,0,0
$STATE,10407,end climb,SURFACE_DEPTH_REACHED
$STATE,10407,begin surface coast
$FINISH,0.7,1.013201
$STATE,10435,end surface coast,CONTROL_FINISHED_OK
$STATE,10435,begin surface
$SM_CCo,10458,13.18,0.156,1,0,1406,420.20
$SM_GC,1.99,0.00,0.00,13.18,0.000,0.000,0.156,412,1838,1406,-11.27,1.36,420.20
$IRIDIUM_FIX,2234.68,-16125.04,210300,111128
$TT8_MAMPS,0.026845
$HUMID,47.12
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.5,49.379
$10V_AH,10.3,42.698
$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,32.500,146.750,469.075,13.175,0.000,28.187,34.333,315.528,0.250,0.000,36.125,1091.177,6702.000,503.342,2011.823,715.457,33.372,1363.200,0.000,1996.545,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,67.496,866.710,156.468,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.551,306.775,392.953,583.055,1030.755,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,41461,509
$CAP_FILE_SIZE,128692,0
$CFSIZE,260165632,151375872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261210,174928,2247.502,-15801.280,12,99.0,31,10.1