version: 66.06
glider: 148
mission: 9
dive: 378
start: 12 27 110 12 28 31
data:
$ID,148
$MISSION,9
$DIVE,378
$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,-866095.38
$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,19
$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
$GPS1,121956,2249.737,-15802.863,40,1.5,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.3
$GPS2,122734,2249.685,-15802.810,16,1.8,16,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.201,0.150
$KALMAN_X,-32004.8,-222.3,75.0,44281.2,858.1
$KALMAN_Y,-38004.7,-562.4,574.8,167253.5,-1482.7
$MHEAD_RNG_PITCHd_Wd,43.2,9934,-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,-75.32,0.000,2,0.000,0.000,411,1882,3260,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.2,-3.4,10,126,11.45,2.42,-8.52,0.000,4,0.150,0.040,2597,3367,3719,0,0,0,0,0,0
$GC,247,-1.09,-146.0,32.0,-12.1,31,253,0.10,2.55,0.00,0.000,6,0.114,0.024,2621,1774,3720,0,0,0,0,0,0
$GC,516,-1.01,-146.0,66.0,-12.7,55,521,0.00,2.55,0.00,0.000,4,0.000,0.029,2621,3361,3721,0,0,0,0,0,0
$GC,571,-1.01,-146.0,74.4,-12.9,59,580,0.00,2.50,0.00,0.000,6,0.000,0.023,2621,1806,3721,0,0,0,0,0,0
$GC,834,-1.01,-146.0,105.0,-11.2,84,838,0.00,2.47,0.00,0.000,4,0.000,0.029,2621,3364,3722,0,0,0,0,0,0
$GC,872,-1.01,-146.0,109.6,-12.2,87,876,0.00,2.47,0.00,0.000,6,0.000,0.021,2621,1798,3722,0,0,0,0,0,0
$GC,1139,-1.01,-146.0,137.9,-9.5,111,1143,0.00,2.47,0.00,0.000,4,0.000,0.028,2621,3364,3722,0,0,0,0,0,0
$GC,1187,-1.13,-146.0,142.3,-9.2,115,1191,0.00,2.42,0.00,0.000,6,0.000,0.022,2621,1818,3723,0,0,0,0,0,0
$GC,1455,-1.13,-146.0,164.4,-8.4,140,1459,0.00,2.47,0.00,0.000,4,0.000,0.029,2621,3368,3723,0,0,0,0,0,0
$GC,1485,-1.20,-146.0,167.0,-8.2,142,1491,0.00,2.42,0.00,0.000,6,0.000,0.022,2621,1822,3723,0,0,0,0,0,0
$GC,1748,-1.20,-146.0,187.8,-7.9,167,1752,0.00,2.47,0.00,0.000,4,0.000,0.029,2621,3368,3723,0,0,0,0,0,0
$GC,1785,-1.30,-146.0,190.3,-7.3,170,1790,0.17,2.40,0.00,0.000,6,0.047,0.023,2529,1836,3724,0,0,0,0,0,0
$GC,2038,-1.05,-146.0,221.3,-12.8,182,2044,0.45,2.42,0.00,0.000,4,0.083,0.029,2626,3360,3724,0,0,0,0,0,0
$GC,2064,-1.05,-146.0,223.9,-8.8,182,2069,0.00,2.38,0.00,0.000,6,0.000,0.021,2626,1842,3724,0,0,0,0,0,0
$GC,2324,-1.15,-146.0,240.2,-6.4,189,2328,0.00,2.42,0.00,0.000,4,0.000,0.029,2626,3359,3724,0,0,0,0,0,0
$GC,2352,-1.27,-146.0,242.2,-6.8,189,2357,0.17,2.40,0.00,0.000,6,0.045,0.023,2527,1850,3724,0,0,0,0,0,0
$GC,2609,-1.03,-146.0,275.8,-14.0,196,2612,0.55,0.00,0.00,0.000,6,0.078,0.000,2635,1847,3723,0,0,0,0,0,0
$GC,2852,-1.19,-146.0,293.0,-6.5,202,2857,0.15,2.42,0.00,0.000,4,0.054,0.032,2549,3358,3723,0,0,0,0,0,0
$GC,2890,-1.11,-146.0,296.7,-10.3,202,2896,0.30,2.42,0.00,0.000,6,0.081,0.025,2615,1840,3723,0,0,0,0,0,0
$GC,3142,-1.21,-146.0,316.6,-8.0,209,3146,0.00,2.45,0.00,0.000,4,0.000,0.034,2615,3357,3722,0,0,0,0,0,0
$GC,3170,-1.34,-146.0,319.3,-8.6,209,3175,0.20,2.40,0.00,0.000,6,0.041,0.027,2526,1850,3722,0,0,0,0,0,0
$GC,3427,-1.17,-146.0,354.0,-14.2,216,3432,0.32,2.47,0.00,0.000,4,0.083,0.037,2602,3360,3720,0,0,0,0,0,0
$GC,3446,-1.17,-146.0,356.8,-12.4,216,3451,0.00,2.42,0.00,0.000,6,0.000,0.028,2602,1853,3721,0,0,0,0,0,0
$GC,3710,-1.25,-146.0,381.3,-9.3,223,3714,0.00,2.45,0.00,0.000,4,0.000,0.039,2602,3353,3719,0,0,0,0,0,0
$GC,3749,-1.37,-146.0,384.6,-8.7,223,3755,0.17,2.40,0.00,0.000,6,0.048,0.028,2513,1867,3719,0,0,0,0,0,0
$GC,3999,-1.19,-146.0,416.0,-12.8,230,4006,0.35,2.78,0.00,0.000,4,0.083,0.055,2596,218,3718,0,0,0,0,0,0
$GC,4030,-1.30,-146.0,419.5,-9.5,230,4034,0.00,2.60,0.00,0.000,6,0.000,0.027,2596,1854,3718,0,0,0,0,0,0
$GC,4285,-1.36,-146.0,439.4,-7.8,237,4290,0.15,2.45,0.00,0.000,4,0.055,0.043,2533,3353,3715,0,0,0,0,0,0
$GC,4328,-1.36,-146.0,443.7,-10.5,238,4333,0.12,2.38,0.00,0.000,6,0.102,0.030,2562,1871,3715,0,0,0,0,0,0
$GC,4618,-1.36,-146.0,468.7,-8.6,245,4622,0.00,2.80,0.00,0.000,4,0.000,0.064,2562,220,3713,0,0,0,0,0,0
$GC,4669,-1.43,-146.0,473.4,-8.6,246,4674,0.00,2.62,0.00,0.000,6,0.000,0.030,2562,1842,3713,0,0,0,0,0,0
$GC,4947,-1.43,-146.0,495.3,-8.2,253,4951,0.00,2.47,0.00,0.000,4,0.000,0.048,2562,3349,3711,0,0,0,0,0,0
$GC,4992,-1.43,-146.0,498.8,-7.8,254,4996,0.00,2.38,0.00,0.000,6,0.000,0.031,2562,1871,3711,0,0,0,0,0,0
$STATE,5003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5003,begin apogee
$GC,5009,-0.31,0.0,500.2,7.6,254,5130,0.98,0.00,117.65,0.864,6,0.075,0.000,2786,1679,3120,0,0,0,0,0,0
$STATE,5131,end apogee,CONTROL_FINISHED_OK
$STATE,5131,begin climb
$GC,5133,1.17,146.0,504.1,0.0,257,5266,1.35,2.72,120.57,0.848,4,0.027,0.070,3135,175,2523,0,0,0,0,0,0
$GC,5313,0.68,146.0,503.9,9.9,261,5320,0.60,2.40,0.00,0.000,6,0.103,0.028,3010,1658,2519,0,0,0,0,0,0
$GC,5595,0.80,242.7,488.8,5.0,268,5686,0.10,2.65,81.78,0.837,4,0.079,0.061,3058,181,2129,0,0,0,0,0,0
$GC,5758,0.65,242.7,473.9,12.2,271,5763,0.25,2.45,0.00,0.000,6,0.094,0.029,3004,1675,2126,0,0,0,0,0,0
$GC,6013,0.68,269.0,453.2,7.9,278,6041,0.00,2.67,22.70,0.788,4,0.000,0.061,3004,182,2023,0,0,0,0,0,0
$GC,6060,0.68,269.0,448.9,9.4,279,6064,0.00,2.45,0.00,0.000,6,0.000,0.027,3004,1683,2021,0,0,0,0,0,0
$GC,6344,0.75,269.4,424.1,9.0,286,6349,0.00,2.58,0.00,0.000,4,0.000,0.058,3003,180,2016,0,0,0,0,0,0
$GC,6377,0.75,269.4,420.8,9.6,286,6381,0.00,2.40,0.00,0.000,6,0.000,0.026,3004,1666,2017,0,0,0,0,0,0
$GC,6628,0.83,278.5,398.9,8.6,292,6645,0.15,2.70,8.75,0.693,4,0.056,0.051,3067,3250,1983,0,0,0,0,0,0
$GC,6687,0.83,278.5,392.3,11.5,293,6692,0.12,2.62,0.00,0.000,6,0.107,0.035,3041,1685,1981,0,0,0,0,0,0
$GC,6962,0.83,278.5,364.3,10.3,300,6967,0.00,2.60,0.00,0.000,4,0.000,0.066,3040,166,1980,0,0,0,0,0,0
$GC,6999,0.75,278.5,360.0,11.3,300,7005,0.00,2.42,0.00,0.000,6,0.000,0.026,3041,1675,1979,0,0,0,0,0,0
$GC,7249,0.75,278.5,335.2,9.9,307,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1676,1978,0,0,0,0,0,0
$GC,7492,0.75,278.5,312.7,9.2,313,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1675,1977,0,0,0,0,0,0
$GC,7737,0.76,288.5,291.2,8.6,319,7748,0.00,0.00,9.52,0.654,6,0.000,0.000,3041,1675,1943,0,0,0,0,0,0
$GC,7980,0.79,310.6,271.2,8.1,325,8009,0.00,2.62,21.20,0.696,4,0.000,0.055,3041,162,1852,0,0,0,0,0,0
$GC,8080,0.79,310.6,262.0,10.0,327,8084,0.00,2.42,0.00,0.000,6,0.000,0.024,3041,1677,1851,0,0,0,0,0,0
$GC,8359,0.79,310.6,235.8,9.6,334,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1681,1848,0,0,0,0,0,0
$GC,8600,0.79,310.6,212.4,9.5,340,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1681,1847,0,0,0,0,0,0
$GC,8852,0.79,313.6,189.5,8.9,352,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1681,1847,0,0,0,0,0,0
$GC,9114,0.79,313.7,166.4,9.0,377,9119,0.00,2.55,0.00,0.000,4,0.000,0.034,3041,3252,1846,0,0,0,0,0,0
$GC,9150,0.90,317.4,163.3,8.9,380,9162,0.00,2.62,6.47,0.506,6,0.000,0.029,3041,1641,1824,0,0,0,0,0,0
$GC,9424,1.00,349.6,141.1,7.7,406,9461,0.15,2.53,29.08,0.592,4,0.056,0.051,3098,170,1693,0,0,0,0,0,0
$GC,9503,0.91,349.6,131.9,13.0,413,9510,0.20,2.35,0.00,0.000,6,0.093,0.022,3056,1662,1693,0,0,0,0,0,0
$GC,9768,0.98,354.9,107.4,8.8,438,9780,0.00,2.50,5.68,0.442,4,0.000,0.046,3056,170,1672,0,0,0,0,0,0
$GC,9791,0.98,354.9,104.9,9.1,440,9795,0.00,2.33,0.00,0.000,6,0.000,0.021,3055,1663,1672,0,0,0,0,0,0
$GC,10055,1.08,359.9,82.1,8.8,464,10068,0.15,2.58,6.05,0.439,4,0.055,0.033,3141,3252,1652,0,0,0,0,0,0
$GC,10083,0.99,359.9,78.4,12.5,466,10093,0.25,2.62,0.00,0.000,6,0.069,0.029,3080,1657,1650,0,0,0,0,0,0
$GC,10346,0.99,359.9,53.8,9.2,491,10350,0.00,2.45,0.00,0.000,4,0.000,0.045,3079,165,1650,0,0,0,0,0,0
$GC,10398,0.99,359.9,48.6,10.5,495,10403,0.00,2.30,0.00,0.000,6,0.000,0.020,3079,1657,1650,0,0,0,0,0,0
$GC,10676,0.99,359.9,21.9,10.2,525,10684,0.00,2.58,0.00,0.000,4,0.000,0.032,3079,3243,1650,0,0,0,0,0,0
$GC,10718,1.11,359.9,17.6,9.4,531,10727,0.00,2.58,0.00,0.000,6,0.000,0.028,3079,1662,1649,0,0,0,0,0,0
$STATE,10879,end climb,SURFACE_DEPTH_REACHED
$STATE,10879,begin surface coast
$FINISH,0.8,1.023516
$STATE,10936,end surface coast,CONTROL_FINISHED_OK
$STATE,10936,begin surface
$SM_CCo,10957,35.20,0.358,1,0,1406,420.20
$SM_GC,1.72,0.00,0.00,35.20,0.000,0.000,0.358,407,1833,1406,-11.28,1.22,420.20
$IRIDIUM_FIX,2244.02,-15806.70,220300,090943
$TT8_MAMPS,0.026845
$HUMID,47.04
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.5,50.231
$10V_AH,10.3,43.491
$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,29.675,145.375,429.450,35.200,0.000,24.980,33.772,257.640,0.500,0.000,18.367,1159.910,7043.486,513.613,2105.079,636.196,33.364,1351.616,0.000,2108.930,0.000,0.537,0.000
$DEVICE_MAMPS,150.332,69.797,864.409,358.189,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,381.589,348.231,444.600,665.454,1176.951,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,44714,565
$CAP_FILE_SIZE,126288,0
$CFSIZE,260165632,150970368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271210,153322,2249.428,-15801.247,34,3.0,53,10.1