version: 66.06
glider: 148
mission: 9
dive: 540
start: 1 17 111 15 6 19
data:
$ID,148
$MISSION,9
$DIVE,540
$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,208
$T_MISSION,450
$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,380
$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,-869976.19
$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,30
$R_STBD_OVSHOOT,48
$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
$GPS1,145428,2247.515,-15802.958,8,4.7,27,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.4
$GPS2,150524,2247.374,-15802.973,32,1.6,42,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.016,0.241
$KALMAN_X,-120112.5,-487.7,-69.1,132522.8,-221.8
$KALMAN_Y,-161579.0,760.1,215.9,285573.2,-1063.5
$MHEAD_RNG_PITCHd_Wd,353.7,4864,-14.0,-8.013
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.05,-146.0,0.0,0.0,0,96,0.00,0.00,-75.18,0.000,2,0.000,0.000,407,1797,3471,0,0,0,0,0,0
$GC,99,-1.05,-146.0,4.4,-5.3,10,124,11.65,2.67,-4.40,0.000,4,0.151,0.050,2622,201,3718,0,0,0,0,0,0
$GC,148,0.09,-146.0,19.7,-30.9,16,158,1.10,2.53,0.00,0.000,6,0.066,0.018,2877,1802,3719,0,0,0,0,0,0
$GC,440,-0.63,-146.0,39.7,-9.3,54,452,0.62,2.47,0.00,0.000,4,0.044,0.027,2721,3359,3721,0,0,0,0,0,0
$GC,767,-1.24,-146.0,71.8,-7.9,83,776,0.55,2.42,0.00,0.000,6,0.066,0.024,2587,1848,3720,0,0,0,0,0,0
$GC,1029,-1.01,-146.0,103.2,-13.1,108,1034,0.25,2.42,0.00,0.000,4,0.093,0.028,2644,3366,3721,0,0,0,0,0,0
$GC,1111,-1.09,-146.0,110.9,-8.2,115,1115,0.00,2.40,0.00,0.000,6,0.000,0.022,2644,1851,3721,0,0,0,0,0,0
$GC,1376,-1.09,-146.0,131.5,-7.0,139,1380,0.00,2.42,0.00,0.000,4,0.000,0.029,2645,3367,3721,0,0,0,0,0,0
$GC,1425,-1.19,-146.0,134.9,-6.3,143,1430,0.20,2.35,0.00,0.000,6,0.039,0.021,2565,1864,3722,0,0,0,0,0,0
$GC,1686,-1.01,-146.0,163.4,-11.4,167,1695,0.30,2.67,0.00,0.000,4,0.083,0.038,2636,204,3722,0,0,0,0,0,0
$GC,1726,-1.13,-146.0,166.8,-7.5,171,1731,0.00,2.58,0.00,0.000,6,0.000,0.018,2636,1881,3722,0,0,0,0,0,0
$GC,1991,-1.13,-146.0,186.5,-7.7,195,1995,0.00,2.33,0.00,0.000,4,0.000,0.029,2636,3360,3723,0,0,0,0,0,0
$GC,2050,-1.25,-146.0,191.4,-7.2,200,2056,0.20,2.33,0.00,0.000,6,0.040,0.021,2546,1876,3723,0,0,0,0,0,0
$GC,2335,-1.03,-146.0,226.3,-13.0,213,2343,0.38,2.70,0.00,0.000,4,0.079,0.038,2633,207,3723,0,0,0,0,0,0
$GC,2381,-1.20,-146.0,230.9,-8.3,214,2387,0.15,2.62,0.00,0.000,6,0.052,0.020,2554,1891,3723,0,0,0,0,0,0
$GC,2671,-1.01,-146.0,261.4,-11.0,221,2676,0.35,2.33,0.00,0.000,4,0.080,0.031,2634,3356,3723,0,0,0,0,0,0
$GC,2700,-1.01,-146.0,264.3,-7.2,221,2704,0.00,2.33,0.00,0.000,6,0.000,0.023,2634,1878,3723,0,0,0,0,0,0
$GC,2956,-1.08,-146.0,279.7,-6.0,228,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1878,3723,0,0,0,0,0,0
$GC,3198,-1.16,-146.0,292.5,-5.1,234,3203,0.12,2.38,0.00,0.000,4,0.062,0.033,2557,3354,3723,0,0,0,0,0,0
$GC,3217,-1.16,-146.0,294.1,-7.4,234,3222,0.22,2.33,0.00,0.000,6,0.081,0.023,2609,1879,3723,0,0,0,0,0,0
$GC,3484,-1.16,-146.0,314.1,-7.7,241,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1878,3722,0,0,0,0,0,0
$GC,3726,-1.16,-146.0,331.0,-6.8,247,3729,0.00,2.38,0.00,0.000,4,0.000,0.035,2609,3356,3721,0,0,0,0,0,0
$GC,3758,-1.23,-146.0,333.2,-6.6,247,3762,0.00,2.33,0.00,0.000,6,0.000,0.026,2609,1891,3721,0,0,0,0,0,0
$GC,4012,-1.23,-146.0,350.9,-7.3,254,4017,0.00,2.80,0.00,0.000,4,0.000,0.051,2609,200,3720,0,0,0,0,0,0
$GC,4033,-1.23,-146.0,352.6,-8.6,254,4037,0.00,2.65,0.00,0.000,6,0.000,0.024,2609,1885,3719,0,0,0,0,0,0
$GC,4297,-1.23,-146.0,372.5,-7.3,261,4301,0.00,2.35,0.00,0.000,4,0.000,0.037,2609,3352,3717,0,0,0,0,0,0
$GC,4334,-1.33,-146.0,375.3,-7.6,261,4340,0.15,2.35,0.00,0.000,6,0.054,0.027,2523,1890,3718,0,0,0,0,0,0
$GC,4586,-1.11,-146.0,403.0,-11.6,268,4593,0.40,2.83,0.00,0.000,4,0.078,0.053,2617,213,3716,0,0,0,0,0,0
$GC,4633,-1.26,-146.0,407.2,-7.2,269,4638,0.15,2.67,0.00,0.000,6,0.053,0.025,2539,1888,3716,0,0,0,0,0,0
$GC,4921,-1.10,-146.0,437.5,-10.6,276,4926,0.32,2.40,0.00,0.000,4,0.080,0.044,2614,3347,3714,0,0,0,0,0,0
$GC,4950,-1.16,-146.0,440.2,-7.4,276,4954,0.00,2.33,0.00,0.000,6,0.000,0.028,2615,1896,3714,0,0,0,0,0,0
$GC,5206,-1.23,-146.0,456.8,-6.6,283,5208,0.10,0.00,0.00,0.000,6,0.075,0.000,2558,1896,3713,0,0,0,0,0,0
$GC,5448,-1.13,-146.0,478.8,-9.2,289,5453,0.25,2.42,0.00,0.000,4,0.081,0.049,2618,3346,3711,0,0,0,0,0,0
$GC,5477,-1.21,-146.0,481.0,-6.6,289,5482,0.10,2.33,0.00,0.000,6,0.074,0.030,2570,1903,3711,0,0,0,0,0,0
$STATE,5734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5734,begin apogee
$GC,5742,-0.31,0.0,503.2,8.7,296,5865,1.05,0.00,119.07,0.870,6,0.074,0.000,2792,1677,3120,0,0,0,0,0,0
$STATE,5865,end apogee,CONTROL_FINISHED_OK
$STATE,5865,begin climb
$GC,5868,1.05,146.0,508.1,0.0,299,5999,1.23,2.75,122.00,0.854,4,0.029,0.076,3102,183,2523,0,0,0,0,0,0
$GC,6194,0.59,146.0,494.2,9.7,306,6202,0.52,2.40,0.00,0.000,6,0.096,0.030,2992,1659,2515,0,0,0,0,0,0
$GC,6467,0.68,216.1,479.3,5.4,313,6532,0.00,2.80,59.85,0.838,4,0.000,0.055,2992,3259,2239,0,0,0,0,0,0
$GC,6542,0.73,255.7,474.6,6.6,314,6586,0.08,2.62,36.38,0.814,6,0.039,0.036,3044,1689,2077,0,0,0,0,0,0
$GC,6836,0.61,255.7,446.1,9.8,322,6838,0.25,0.00,0.00,0.000,6,0.088,0.000,2990,1689,2068,0,0,0,0,0,0
$GC,7080,0.66,297.1,429.5,6.5,328,7119,0.00,0.00,37.67,0.808,6,0.000,0.000,2990,1689,1908,0,0,0,0,0,0
$GC,7363,0.70,331.0,410.6,6.8,335,7401,0.10,2.75,31.15,0.793,4,0.077,0.048,3045,3259,1769,0,0,0,0,0,0
$GC,7427,0.70,331.0,404.6,10.7,335,7433,0.15,2.65,0.00,0.000,6,0.097,0.036,3013,1677,1765,0,0,0,0,0,0
$GC,7694,0.70,331.0,379.5,9.3,342,7698,0.00,2.70,0.00,0.000,4,0.000,0.045,3013,3265,1762,0,0,0,0,0,0
$GC,7714,0.70,331.0,377.7,8.8,342,7719,0.00,2.62,0.00,0.000,6,0.000,0.033,3014,1686,1760,0,0,0,0,0,0
$GC,7978,0.70,331.0,355.2,8.3,349,7982,0.00,2.65,0.00,0.000,4,0.000,0.044,3013,3258,1760,0,0,0,0,0,0
$GC,8001,0.70,331.0,353.0,8.9,349,8005,0.00,2.60,0.00,0.000,6,0.000,0.033,3013,1696,1759,0,0,0,0,0,0
$GC,8262,0.70,331.0,328.6,9.9,356,8266,0.00,2.65,0.00,0.000,4,0.000,0.044,3013,3268,1759,0,0,0,0,0,0
$GC,8290,0.76,331.0,325.5,10.2,356,8295,0.00,2.60,0.00,0.000,6,0.000,0.034,3013,1704,1756,0,0,0,0,0,0
$GC,8544,0.76,331.0,302.3,8.8,363,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1704,1757,0,0,0,0,0,0
$GC,8790,0.76,331.0,281.0,8.7,369,8794,0.00,2.60,0.00,0.000,4,0.000,0.040,3014,3260,1756,0,0,0,0,0,0
$GC,8827,0.87,331.0,277.3,8.9,369,8833,0.15,2.55,0.00,0.000,6,0.056,0.031,3073,1711,1755,0,0,0,0,0,0
$GC,9077,0.75,331.0,248.1,11.7,376,9079,0.22,0.00,0.00,0.000,6,0.091,0.000,3025,1711,1755,0,0,0,0,0,0
$GC,9322,0.75,331.0,227.7,8.0,382,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1711,1755,0,0,0,0,0,0
$GC,9564,0.76,336.2,208.3,7.8,388,9568,0.00,2.55,0.00,0.000,4,0.000,0.035,3025,3274,1754,0,0,0,0,0,0
$GC,9592,0.84,336.2,205.9,8.2,388,9597,0.00,2.53,0.00,0.000,6,0.000,0.029,3024,1717,1753,0,0,0,0,0,0
$GC,9856,0.84,336.2,183.3,8.5,407,9860,0.00,2.60,0.00,0.000,4,0.000,0.051,3024,163,1753,0,0,0,0,0,0
$GC,9885,0.84,336.2,180.8,9.5,409,9889,0.00,2.50,0.00,0.000,6,0.000,0.023,3024,1741,1753,0,0,0,0,0,0
$GC,10153,0.84,336.2,160.0,8.2,433,10157,0.00,2.45,0.00,0.000,4,0.000,0.034,3024,3269,1753,0,0,0,0,0,0
$GC,10194,0.96,336.2,156.1,8.2,436,10200,0.17,2.53,0.00,0.000,6,0.048,0.028,3083,1718,1752,0,0,0,0,0,0
$GC,10459,0.86,336.2,129.0,9.3,461,10464,0.17,2.58,0.00,0.000,4,0.097,0.054,3046,174,1752,0,0,0,0,0,0
$GC,10500,0.86,336.2,124.7,9.1,464,10509,0.00,2.47,0.00,0.000,6,0.000,0.023,3045,1721,1752,0,0,0,0,0,0
$GC,10766,0.94,350.0,102.7,7.5,489,10787,0.00,2.50,15.62,0.537,4,0.000,0.031,3045,3258,1692,0,0,0,0,0,0
$GC,10858,1.08,368.4,95.5,7.3,497,10884,0.20,2.50,18.25,0.535,6,0.044,0.027,3106,1708,1616,0,0,0,0,0,0
$GC,11144,0.97,368.4,64.6,11.1,524,11149,0.17,2.55,0.00,0.000,4,0.097,0.045,3068,174,1613,0,0,0,0,0,0
$GC,11174,0.97,368.4,61.1,10.9,526,11178,0.00,2.45,0.00,0.000,6,0.000,0.021,3068,1721,1613,0,0,0,0,0,0
$GC,11441,0.97,368.4,38.7,8.3,550,11445,0.00,2.45,0.00,0.000,4,0.000,0.030,3068,3262,1613,0,0,0,0,0,0
$GC,11496,1.03,368.4,33.6,9.5,554,11501,0.00,2.47,0.00,0.000,6,0.000,0.027,3068,1717,1612,0,0,0,0,0,0
$GC,11799,1.03,368.4,8.4,9.8,598,11808,0.00,2.58,0.00,0.000,4,0.000,0.049,3068,170,1611,0,0,0,0,0,0
$GC,11836,1.03,368.4,4.7,9.5,603,11844,0.00,2.45,0.00,0.000,6,0.000,0.020,3068,1720,1611,0,0,0,0,0,0
$STATE,11851,end climb,SURFACE_DEPTH_REACHED
$STATE,11852,begin surface coast
$FINISH,0.6,1.013033
$STATE,11903,end surface coast,CONTROL_FINISHED_OK
$STATE,11903,begin surface
$SM_CCo,11924,11.02,0.086,1,0,1569,380.21
$SM_GC,1.77,0.00,0.00,11.02,0.000,0.000,0.086,406,1825,1569,-11.29,0.99,380.21
$IRIDIUM_FIX,2237.01,-15805.41,120400,121221
$TT8_MAMPS,0.026845
$HUMID,50.51
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.00
$XPDR_PINGS,2
$24V_AH,23.4,69.746
$10V_AH,9.9,62.225
$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,32.850,151.625,440.000,11.025,0.000,23.109,38.133,421.209,0.500,0.000,44.270,1252.722,7660.224,520.266,2326.368,836.928,33.382,1400.089,0.000,2307.532,0.000,0.538,0.000
$DEVICE_MAMPS,151.099,94.341,869.778,85.904,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,415.413,384.501,484.633,750.701,1326.016,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355356
$DATA_FILE_SIZE,47795,613
$CAP_FILE_SIZE,135783,0
$CFSIZE,260165632,141348864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170111,182707,2248.784,-15802.607,65,2.0,65,10.1