version: 66.06
glider: 148
mission: 9
dive: 550
start: 1 19 111 9 26 21
data:
$ID,148
$MISSION,9
$DIVE,550
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,300
$T_MISSION,650
$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,-870181.94
$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,20
$R_STBD_OVSHOOT,58
$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
$GPS1,091855,2250.973,-15757.021,37,1.7,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-66.6
$GPS2,092526,2250.905,-15756.986,10,1.6,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.069,-0.159
$KALMAN_X,-120042.5,-284.2,96.4,142381.7,269.9
$KALMAN_Y,-175713.2,-620.8,-236.0,308082.8,-1012.0
$MHEAD_RNG_PITCHd_Wd,193.5,1676,-27.2,-10.000
$D_GRID,900
$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,-1.78,-63.0,0.0,0.0,0,95,0.00,0.00,-74.38,0.000,6,0.000,0.000,414,1808,3378,0,0,0,0,0,0
$GC,100,-1.83,-100.2,4.0,-6.0,10,125,10.80,2.70,-2.78,0.000,4,0.153,0.054,2455,193,3533,0,0,0,0,0,0
$GC,165,-1.73,-100.2,26.4,-24.9,19,174,0.08,2.53,0.00,0.000,6,0.110,0.020,2473,1779,3534,0,0,0,0,0,0
$GC,443,-1.73,-100.2,82.4,-21.1,45,448,0.00,2.53,0.00,0.000,4,0.000,0.031,2474,3364,3535,0,0,0,0,0,0
$GC,464,-1.66,-100.2,89.3,-22.9,46,473,0.08,2.55,0.00,0.000,6,0.100,0.022,2493,1777,3536,0,0,0,0,0,0
$GC,731,-1.81,-100.2,129.4,-14.0,71,736,0.12,2.55,0.00,0.000,4,0.068,0.028,2446,3366,3537,0,0,0,0,0,0
$GC,761,-1.81,-100.2,134.1,-15.4,73,765,0.00,2.47,0.00,0.000,6,0.000,0.024,2446,1807,3537,0,0,0,0,0,0
$GC,1026,-1.81,-100.2,178.5,-17.9,97,1031,0.10,2.58,0.00,0.000,4,0.133,0.039,2465,211,3538,0,0,0,0,0,0
$GC,1153,-1.90,-100.2,199.6,-15.2,109,1157,0.00,2.47,0.00,0.000,6,0.000,0.020,2465,1791,3538,0,0,0,0,0,0
$GC,1405,-2.01,-100.2,237.2,-15.2,115,1410,0.17,2.55,0.00,0.000,4,0.054,0.032,2405,3367,3540,0,0,0,0,0,0
$GC,1430,-2.01,-100.2,241.9,-18.4,115,1435,0.00,2.50,0.00,0.000,6,0.000,0.021,2405,1784,3539,0,0,0,0,0,0
$GC,1689,-2.01,-100.2,285.2,-16.5,122,1694,0.00,2.58,0.00,0.000,4,0.000,0.034,2405,3370,3540,0,0,0,0,0,0
$GC,1726,-2.01,-100.2,291.6,-16.6,122,1732,0.00,2.50,0.00,0.000,6,0.000,0.025,2405,1804,3539,0,0,0,0,0,0
$GC,1976,-2.01,-100.2,334.2,-17.3,129,1980,0.00,2.62,0.00,0.000,4,0.000,0.047,2405,208,3540,0,0,0,0,0,0
$GC,2028,-2.01,-100.2,343.7,-18.2,130,2033,0.00,2.53,0.00,0.000,6,0.000,0.022,2405,1796,3540,0,0,0,0,0,0
$GC,2306,-2.01,-100.2,389.9,-16.4,137,2310,0.00,2.67,0.00,0.000,4,0.000,0.051,2405,212,3540,0,0,0,0,0,0
$GC,2358,-2.01,-100.2,399.5,-19.2,138,2363,0.00,2.55,0.00,0.000,6,0.000,0.026,2405,1797,3540,0,0,0,0,0,0
$GC,2636,-2.01,-100.2,444.6,-16.6,145,2640,0.00,2.70,0.00,0.000,4,0.000,0.057,2405,210,3539,0,0,0,0,0,0
$GC,2682,-2.01,-100.2,453.1,-18.1,146,2686,0.00,2.58,0.00,0.000,6,0.000,0.031,2405,1792,3539,0,0,0,0,0,0
$GC,2966,-2.01,-100.2,499.0,-16.2,153,2970,0.00,2.72,0.00,0.000,4,0.000,0.062,2405,217,3537,0,0,0,0,0,0
$GC,3055,-2.01,-100.2,515.1,-17.9,155,3059,0.00,2.55,0.00,0.000,6,0.000,0.037,2405,1777,3537,0,0,0,0,0,0
$GC,3343,-2.01,-100.2,557.9,-14.6,162,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1776,3535,0,0,0,0,0,0
$GC,3585,-2.01,-100.2,593.0,-14.4,168,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1777,3534,0,0,0,0,0,0
$GC,3829,-2.01,-100.2,629.0,-14.9,174,3833,0.00,2.72,0.00,0.000,4,0.000,0.068,2405,211,3532,0,0,0,0,0,0
$GC,3912,-2.01,-100.2,642.1,-16.5,175,3918,0.00,2.62,0.00,0.000,6,0.000,0.045,2404,1778,3531,0,0,0,0,0,0
$GC,4163,-2.01,-100.2,678.1,-14.4,182,4168,0.00,2.75,0.00,0.000,4,0.000,0.068,2405,210,3530,0,0,0,0,0,0
$GC,4206,-2.01,-100.2,685.2,-15.6,183,4211,0.00,2.62,0.00,0.000,6,0.000,0.045,2406,1773,3530,0,0,0,0,0,0
$GC,4493,-2.01,-100.2,727.0,-14.6,190,4497,0.00,2.72,0.00,0.000,4,0.000,0.069,2405,219,3527,0,0,0,0,0,0
$GC,4573,-2.01,-100.2,740.1,-16.2,191,4578,0.00,2.60,0.00,0.000,6,0.000,0.045,2405,1772,3527,0,0,0,0,0,0
$GC,4823,-2.01,-100.2,776.2,-14.2,197,4827,0.00,2.72,0.00,0.000,4,0.000,0.069,2405,219,3525,0,0,0,0,0,0
$GC,4851,-2.01,-100.2,780.5,-14.3,197,4855,0.00,2.60,0.00,0.000,6,0.000,0.044,2405,1769,3524,0,0,0,0,0,0
$GC,5107,-2.08,-100.2,816.0,-13.7,204,5112,0.00,2.70,0.00,0.000,4,0.000,0.068,2405,216,3523,0,0,0,0,0,0
$GC,5154,-2.08,-100.2,823.2,-15.1,205,5158,0.00,2.60,0.00,0.000,6,0.000,0.045,2405,1756,3522,0,0,0,0,0,0
$GC,5438,-2.15,-100.2,861.6,-13.5,212,5443,0.00,2.70,0.00,0.000,4,0.000,0.068,2405,217,3520,0,0,0,0,0,0
$GC,5475,-2.15,-100.2,867.6,-15.5,212,5481,0.00,2.60,0.00,0.000,6,0.000,0.043,2405,1762,3520,0,0,0,0,0,0
$STATE,5723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5723,begin apogee
$GC,5728,-0.31,0.0,900.5,12.9,219,5820,1.77,0.00,87.45,1.167,6,0.091,0.000,2790,1669,3120,0,0,0,0,0,0
$STATE,5821,end apogee,CONTROL_FINISHED_OK
$STATE,5821,begin climb
$GC,5825,1.83,100.2,902.1,0.0,221,5927,1.92,2.88,91.30,1.145,4,0.026,0.058,3288,3281,2709,0,0,0,0,0,0
$GC,5943,1.56,143.8,903.2,5.4,223,5994,0.45,2.72,40.97,1.113,6,0.140,0.040,3204,1687,2533,0,0,0,0,0,0
$GC,6237,1.45,143.8,864.5,14.1,231,6244,0.15,2.72,0.00,0.000,4,0.155,0.081,3177,167,2525,0,0,0,0,0,0
$GC,6510,1.28,143.8,826.4,13.2,236,6516,0.20,2.53,0.00,0.000,6,0.142,0.037,3141,1676,2522,0,0,0,0,0,0
$GC,6759,1.28,143.8,799.9,10.2,243,6764,0.00,2.67,0.00,0.000,4,0.000,0.069,3141,167,2520,0,0,0,0,0,0
$GC,7029,1.21,143.8,768.2,12.3,248,7035,0.00,2.47,0.00,0.000,6,0.000,0.037,3141,1655,2519,0,0,0,0,0,0
$GC,7281,1.21,143.8,742.7,10.1,255,7285,0.00,2.62,0.00,0.000,4,0.000,0.069,3141,166,2517,0,0,0,0,0,0
$GC,7549,1.15,143.8,710.9,12.0,260,7555,0.15,2.47,0.00,0.000,6,0.150,0.036,3115,1656,2516,0,0,0,0,0,0
$GC,7801,1.29,158.0,689.5,8.5,267,7818,0.12,2.67,10.90,0.929,4,0.071,0.067,3158,169,2475,0,0,0,0,0,0
$GC,8085,1.20,158.0,656.7,12.3,273,8090,0.17,2.42,0.00,0.000,6,0.138,0.035,3126,1636,2472,0,0,0,0,0,0
$GC,8369,1.32,160.0,628.4,9.8,280,8374,0.10,2.60,0.00,0.000,4,0.084,0.067,3161,164,2471,0,0,0,0,0,0
$GC,8639,1.23,160.0,597.5,11.7,285,8645,0.17,2.40,0.00,0.000,6,0.140,0.033,3130,1629,2471,0,0,0,0,0,0
$GC,8891,1.36,169.3,574.8,9.0,292,8908,0.12,2.60,11.27,0.879,4,0.072,0.064,3172,168,2429,0,0,0,0,0,0
$GC,9114,1.26,169.3,547.3,13.4,296,9120,0.17,2.40,0.00,0.000,6,0.138,0.031,3139,1627,2426,0,0,0,0,0,0
$GC,9364,1.37,170.3,522.5,9.9,303,9365,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1627,2425,0,0,0,0,0,0
$GC,9608,1.48,179.5,500.2,9.0,309,9624,0.17,2.58,10.73,0.827,4,0.058,0.060,3193,167,2388,0,0,0,0,0,0
$GC,9748,1.35,179.5,482.8,13.4,312,9753,0.20,2.38,0.00,0.000,6,0.133,0.028,3157,1635,2386,0,0,0,0,0,0
$GC,10038,1.43,179.5,452.4,10.1,319,10042,0.00,2.55,0.00,0.000,4,0.000,0.060,3157,163,2384,0,0,0,0,0,0
$GC,10181,1.43,179.5,435.8,10.6,322,10185,0.00,2.35,0.00,0.000,6,0.000,0.026,3157,1621,2384,0,0,0,0,0,0
$GC,10461,1.53,184.9,410.2,9.4,329,10473,0.15,2.58,5.85,0.667,4,0.064,0.059,3206,166,2365,0,0,0,0,0,0
$GC,10603,1.39,184.9,391.5,12.7,332,10608,0.22,2.35,0.00,0.000,6,0.128,0.026,3164,1622,2364,0,0,0,0,0,0
$GC,10888,1.47,184.9,362.6,10.1,339,10893,0.00,2.50,0.00,0.000,4,0.000,0.058,3163,166,2363,0,0,0,0,0,0
$GC,10953,1.47,184.9,355.1,11.1,340,10957,0.00,2.33,0.00,0.000,6,0.000,0.025,3163,1616,2363,0,0,0,0,0,0
$GC,11219,1.57,191.1,330.7,9.3,347,11232,0.15,2.53,7.05,0.657,4,0.062,0.058,3213,166,2340,0,0,0,0,0,0
$GC,11474,1.44,191.1,298.9,12.8,352,11479,0.17,2.28,0.00,0.000,6,0.130,0.024,3179,1606,2339,0,0,0,0,0,0
$GC,11739,1.51,194.1,271.8,9.7,359,11748,0.00,2.50,4.10,0.494,4,0.000,0.055,3178,158,2328,0,0,0,0,0,0
$GC,11758,1.54,215.7,270.0,7.7,359,11786,0.00,2.33,20.75,0.710,6,0.000,0.023,3179,1620,2240,0,0,0,0,0,0
$GC,12071,1.64,215.7,239.3,10.2,367,12073,0.17,0.00,0.00,0.000,6,0.054,0.000,3236,1622,2237,0,0,0,0,0,0
$GC,12312,1.64,215.7,208.3,13.1,373,12313,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1622,2236,0,0,0,0,0,0
$GC,12568,1.64,215.7,178.0,11.0,391,12572,0.00,2.47,0.00,0.000,4,0.000,0.051,3235,157,2236,0,0,0,0,0,0
$GC,12682,1.53,215.7,162.9,13.5,402,12687,0.20,2.30,0.00,0.000,6,0.120,0.022,3196,1608,2236,0,0,0,0,0,0
$GC,12943,1.63,215.7,136.2,11.3,426,12947,0.00,2.42,0.00,0.000,4,0.000,0.048,3195,161,2236,0,0,0,0,0,0
$GC,12963,1.63,215.7,133.9,10.8,427,12969,0.00,2.30,0.00,0.000,6,0.000,0.022,3196,1628,2236,0,0,0,0,0,0
$GC,13228,1.75,218.0,108.1,9.8,452,13233,0.17,2.47,0.00,0.000,4,0.054,0.054,3257,162,2235,0,0,0,0,0,0
$GC,13377,1.61,226.3,91.3,9.1,466,13393,0.22,2.28,10.55,0.515,6,0.117,0.021,3212,1616,2195,0,0,0,0,0,0
$GC,13658,1.72,231.9,66.2,9.4,492,13672,0.10,2.72,6.62,0.436,4,0.080,0.034,3253,3275,2172,0,0,0,0,0,0
$GC,13698,1.72,231.9,62.4,10.3,495,13703,0.00,2.75,0.00,0.000,6,0.000,0.028,3253,1574,2172,0,0,0,0,0,0
$GC,13967,1.72,231.9,31.3,12.8,519,13971,0.00,2.33,0.00,0.000,4,0.000,0.044,3253,160,2172,0,0,0,0,0,0
$GC,14043,1.60,231.9,20.3,15.2,530,14051,0.17,2.30,0.00,0.000,6,0.097,0.020,3213,1616,2172,0,0,0,0,0,0
$STATE,14192,end climb,SURFACE_DEPTH_REACHED
$STATE,14192,begin surface coast
$FINISH,0.8,1.005992
$STATE,14237,end surface coast,CONTROL_FINISHED_OK
$STATE,14238,begin surface
$SM_CCo,14258,73.65,0.065,0,0,1570,380.21
$SM_GC,1.80,0.00,0.00,73.65,0.000,0.000,0.065,415,1841,1570,-11.24,1.44,380.21
$IRIDIUM_FIX,2239.35,-15754.99,140400,050511
$TT8_MAMPS,0.026845
$HUMID,48.81
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,21.30
$XPDR_PINGS,2
$24V_AH,22.9,71.067
$10V_AH,9.9,63.410
$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,30.400,173.600,307.550,73.650,0.000,26.351,50.152,171.684,0.500,0.000,12.388,1347.327,9709.303,485.648,2555.278,625.215,33.373,1584.573,0.000,2538.682,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,80.535,1167.374,65.195,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,381.276,296.220,361.160,507.535,894.509,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355296
$DATA_FILE_SIZE,44770,560
$CAP_FILE_SIZE,155911,0
$CFSIZE,260165632,140632064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190111,132636,2248.735,-15758.178,40,1.0,40,10.1