version: 66.06
glider: 148
mission: 9
dive: 559
start: 1 21 111 2 58 1
data:
$ID,148
$MISSION,9
$DIVE,559
$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,-870328.88
$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,35
$R_STBD_OVSHOOT,23
$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
$GPS1,024625,2249.013,-15803.036,44,1.9,44,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-66.5
$GPS2,025707,2248.958,-15803.067,10,1.2,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.007,-0.173
$KALMAN_X,-118153.0,276.3,78.9,129484.4,218.0
$KALMAN_Y,-188749.4,456.8,-268.2,316453.3,-1041.6
$MHEAD_RNG_PITCHd_Wd,172.1,3627,-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,17,-1.78,-63.0,0.0,0.0,0,88,0.00,0.00,-68.28,0.000,2,0.000,0.000,407,1881,3227,0,0,0,0,0,0
$GC,93,-1.85,-118.6,3.3,-4.1,9,117,10.93,2.75,-7.55,0.000,4,0.156,0.046,2448,210,3607,0,0,0,0,0,0
$GC,244,-1.85,-118.6,42.4,-22.7,29,253,0.00,2.55,0.00,0.000,6,0.000,0.021,2448,1812,3609,0,0,0,0,0,0
$GC,509,-1.73,-118.6,102.9,-22.9,54,514,0.15,2.60,0.00,0.000,4,0.133,0.034,2478,209,3610,0,0,0,0,0,0
$GC,521,-1.65,-118.6,106.8,-23.3,54,530,0.08,2.50,0.00,0.000,6,0.105,0.019,2497,1793,3610,0,0,0,0,0,0
$GC,788,-1.81,-118.6,150.1,-15.0,79,793,0.12,2.53,0.00,0.000,4,0.067,0.030,2449,3365,3611,0,0,0,0,0,0
$GC,863,-1.88,-118.6,163.4,-16.0,86,868,0.00,2.50,0.00,0.000,6,0.000,0.023,2449,1788,3611,0,0,0,0,0,0
$GC,1122,-1.88,-118.6,207.3,-16.5,107,1126,0.00,2.55,0.00,0.000,4,0.000,0.036,2449,211,3612,0,0,0,0,0,0
$GC,1152,-1.88,-118.6,212.2,-17.2,107,1156,0.00,2.45,0.00,0.000,6,0.000,0.019,2448,1788,3612,0,0,0,0,0,0
$GC,1409,-1.94,-118.6,256.0,-17.4,114,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1789,3613,0,0,0,0,0,0
$GC,1650,-2.03,-118.6,296.2,-15.9,120,1655,0.12,2.62,0.00,0.000,4,0.067,0.041,2398,207,3613,0,0,0,0,0,0
$GC,1704,-2.03,-118.6,306.5,-20.1,121,1708,0.00,2.45,0.00,0.000,6,0.000,0.023,2398,1766,3613,0,0,0,0,0,0
$GC,1981,-2.03,-118.6,359.4,-19.0,128,1985,0.00,2.60,0.00,0.000,4,0.000,0.046,2398,210,3613,0,0,0,0,0,0
$GC,2075,-2.03,-118.6,377.9,-18.9,130,2080,0.00,2.47,0.00,0.000,6,0.000,0.025,2398,1769,3613,0,0,0,0,0,0
$GC,2357,-2.03,-118.6,426.5,-17.1,137,2362,0.00,2.65,0.00,0.000,4,0.000,0.054,2398,212,3613,0,0,0,0,0,0
$GC,2400,-2.03,-118.6,434.1,-18.6,138,2404,0.00,2.53,0.00,0.000,6,0.000,0.030,2398,1770,3613,0,0,0,0,0,0
$GC,2688,-2.03,-118.6,483.1,-17.0,145,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1770,3612,0,0,0,0,0,0
$GC,2930,-2.03,-118.6,524.3,-16.8,151,2935,0.00,2.70,0.00,0.000,4,0.000,0.051,2398,3373,3610,0,0,0,0,0,0
$GC,2939,-2.03,-118.6,526.0,-16.4,151,2944,0.00,2.58,0.00,0.000,6,0.000,0.028,2398,1777,3610,0,0,0,0,0,0
$GC,3212,-2.03,-118.6,570.2,-16.0,158,3217,0.00,2.72,0.00,0.000,4,0.000,0.068,2398,206,3608,0,0,0,0,0,0
$GC,3291,-2.03,-118.6,583.9,-17.7,159,3295,0.00,2.58,0.00,0.000,6,0.000,0.041,2397,1762,3608,0,0,0,0,0,0
$GC,3540,-2.03,-118.6,621.5,-15.1,165,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1762,3606,0,0,0,0,0,0
$GC,3786,-2.03,-118.6,659.1,-15.4,171,3790,0.00,2.72,0.00,0.000,4,0.000,0.068,2398,208,3604,0,0,0,0,0,0
$GC,3823,-2.03,-118.6,665.5,-16.3,171,3829,0.00,2.62,0.00,0.000,6,0.000,0.044,2398,1768,3604,0,0,0,0,0,0
$GC,4073,-2.03,-118.6,702.0,-14.5,178,4078,0.10,2.75,0.00,0.000,4,0.135,0.068,2417,211,3601,0,0,0,0,0,0
$GC,4099,-2.09,-118.6,705.9,-16.1,178,4103,0.00,2.60,0.00,0.000,6,0.000,0.044,2417,1768,3601,0,0,0,0,0,0
$GC,4358,-2.17,-118.6,744.1,-14.5,185,4360,0.12,0.00,0.00,0.000,6,0.071,0.000,2373,1768,3599,0,0,0,0,0,0
$GC,4601,-2.17,-118.6,784.8,-16.9,191,4606,0.00,2.72,0.00,0.000,4,0.000,0.067,2373,213,3598,0,0,0,0,0,0
$GC,4615,-2.17,-118.6,787.6,-17.4,191,4620,0.00,2.60,0.00,0.000,6,0.000,0.040,2373,1765,3597,0,0,0,0,0,0
$GC,4885,-2.17,-118.6,832.5,-16.7,198,4890,0.00,2.70,0.00,0.000,4,0.000,0.067,2373,212,3595,0,0,0,0,0,0
$GC,4987,-2.17,-118.6,851.0,-17.8,200,4992,0.00,2.60,0.00,0.000,6,0.000,0.044,2373,1755,3594,0,0,0,0,0,0
$GC,5262,-2.17,-118.6,892.2,-15.0,207,5266,0.00,2.70,0.00,0.000,4,0.000,0.067,2373,212,3592,0,0,0,0,0,0
$STATE,5306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5306,begin apogee
$GC,5314,-0.31,0.0,900.3,16.6,208,5421,1.90,0.00,102.57,1.164,6,0.100,0.000,2787,1680,3120,0,0,0,0,0,0
$STATE,5422,end apogee,CONTROL_FINISHED_OK
$STATE,5422,begin climb
$GC,5426,1.85,118.6,903.2,0.0,210,5544,1.95,2.78,107.68,1.144,4,0.028,0.072,3274,181,2635,0,0,0,0,0,0
$GC,5556,1.50,137.4,904.0,8.0,214,5581,0.43,2.55,18.73,1.058,6,0.130,0.037,3192,1686,2558,0,0,0,0,0,0
$GC,5849,1.42,137.4,867.6,12.7,221,5854,0.10,2.67,0.00,0.000,4,0.153,0.067,3172,174,2551,0,0,0,0,0,0
$GC,6118,1.25,137.4,830.9,13.0,226,6124,0.20,2.50,0.00,0.000,6,0.145,0.037,3137,1666,2547,0,0,0,0,0,0
$GC,6368,1.25,138.6,805.5,9.9,233,6372,0.00,2.65,0.00,0.000,4,0.000,0.068,3137,171,2546,0,0,0,0,0,0
$GC,6577,1.25,138.6,781.4,11.3,237,6582,0.00,2.50,0.00,0.000,6,0.000,0.037,3137,1667,2544,0,0,0,0,0,0
$GC,6839,1.32,142.8,756.6,9.6,244,6843,0.00,2.62,0.00,0.000,4,0.000,0.068,3137,178,2543,0,0,0,0,0,0
$GC,7048,1.32,142.8,733.5,10.4,248,7052,0.00,2.45,0.00,0.000,6,0.000,0.036,3137,1659,2542,0,0,0,0,0,0
$GC,7309,1.41,158.1,711.2,8.4,255,7334,0.12,2.67,16.95,0.991,4,0.072,0.067,3178,178,2473,0,0,0,0,0,0
$GC,7345,1.32,159.7,707.5,9.8,255,7350,0.15,2.47,0.00,0.000,6,0.145,0.037,3153,1660,2472,0,0,0,0,0,0
$GC,7594,1.32,159.7,681.3,10.7,261,7598,0.00,2.62,0.00,0.000,4,0.000,0.067,3152,171,2470,0,0,0,0,0,0
$GC,7809,1.25,159.7,654.3,12.8,265,7813,0.00,2.45,0.00,0.000,6,0.000,0.035,3152,1643,2470,0,0,0,0,0,0
$GC,8065,1.25,159.7,626.5,10.6,272,8069,0.00,2.58,0.00,0.000,4,0.000,0.066,3152,174,2469,0,0,0,0,0,0
$GC,8301,1.19,159.7,599.0,11.1,277,8306,0.17,2.42,0.00,0.000,6,0.149,0.034,3121,1638,2468,0,0,0,0,0,0
$GC,8580,1.35,175.2,574.9,8.3,284,8604,0.12,2.62,16.40,0.915,4,0.071,0.062,3166,170,2404,0,0,0,0,0,0
$GC,8663,1.27,175.2,565.5,12.8,285,8668,0.15,2.42,0.00,0.000,6,0.143,0.032,3140,1630,2401,0,0,0,0,0,0
$GC,8915,1.38,175.2,538.2,11.0,291,8919,0.00,2.53,0.00,0.000,4,0.000,0.061,3140,177,2399,0,0,0,0,0,0
$GC,9129,1.38,175.2,511.3,12.4,295,9133,0.00,2.35,0.00,0.000,6,0.000,0.028,3140,1627,2399,0,0,0,0,0,0
$GC,9388,1.51,184.2,487.0,9.0,302,9406,0.20,2.53,9.05,0.792,4,0.052,0.058,3204,175,2367,0,0,0,0,0,0
$GC,9443,1.36,184.2,480.3,13.5,303,9448,0.22,2.35,0.00,0.000,6,0.133,0.027,3162,1625,2366,0,0,0,0,0,0
$GC,9724,1.44,184.2,451.4,10.3,310,9728,0.00,2.50,0.00,0.000,4,0.000,0.058,3161,176,2365,0,0,0,0,0,0
$GC,9816,1.44,184.2,440.0,12.5,312,9820,0.00,2.35,0.00,0.000,6,0.000,0.027,3161,1621,2365,0,0,0,0,0,0
$GC,10100,1.53,187.9,412.2,9.6,319,10110,0.12,2.50,4.20,0.570,4,0.071,0.056,3209,171,2353,0,0,0,0,0,0
$GC,10298,1.39,187.9,386.3,13.0,323,10303,0.22,2.33,0.00,0.000,6,0.132,0.025,3166,1614,2353,0,0,0,0,0,0
$GC,10572,1.48,188.3,358.4,9.9,330,10577,0.00,2.45,0.00,0.000,4,0.000,0.056,3166,172,2352,0,0,0,0,0,0
$GC,10604,1.48,188.3,354.4,12.2,330,10609,0.00,2.33,0.00,0.000,6,0.000,0.025,3166,1620,2352,0,0,0,0,0,0
$GC,10857,1.58,191.7,329.9,9.6,336,10869,0.15,2.53,5.40,0.599,4,0.061,0.057,3220,180,2336,0,0,0,0,0,0
$GC,11140,1.42,191.7,294.0,13.9,342,11144,0.25,2.28,0.00,0.000,6,0.129,0.023,3173,1610,2335,0,0,0,0,0,0
$GC,11427,1.54,206.0,268.1,8.5,349,11449,0.10,2.53,13.88,0.683,4,0.081,0.055,3219,180,2279,0,0,0,0,0,0
$GC,11664,1.43,206.0,238.4,12.9,354,11668,0.22,2.28,0.00,0.000,6,0.128,0.022,3176,1611,2277,0,0,0,0,0,0
$GC,11949,1.55,209.6,210.5,9.6,361,11960,0.00,2.80,4.45,0.476,4,0.000,0.044,3177,3273,2264,0,0,0,0,0,0
$GC,11989,1.72,214.0,206.1,9.5,361,12001,0.20,2.78,5.70,0.525,6,0.025,0.031,3258,1585,2247,0,0,0,0,0,0
$GC,12263,1.64,214.0,171.6,12.7,384,12268,0.20,2.38,0.00,0.000,4,0.117,0.052,3218,167,2245,0,0,0,0,0,0
$GC,12433,1.57,214.0,149.5,11.0,400,12439,0.00,2.25,0.00,0.000,6,0.000,0.021,3218,1614,2245,0,0,0,0,0,0
$GC,12699,1.59,228.8,126.6,8.4,425,12722,0.00,0.00,14.57,0.562,6,0.000,0.000,3218,1617,2186,0,0,0,0,0,0
$GC,12982,1.67,235.2,100.3,9.3,451,12995,0.00,2.72,7.05,0.476,4,0.000,0.033,3218,3284,2160,0,0,0,0,0,0
$GC,13192,1.80,236.3,79.2,9.9,471,13205,0.12,2.75,0.00,0.000,6,0.067,0.028,3271,1576,2159,0,0,0,0,0,0
$GC,13459,1.80,236.3,44.8,13.1,496,13463,0.00,2.30,0.00,0.000,4,0.000,0.044,3271,169,2159,0,0,0,0,0,0
$GC,13599,1.62,236.3,23.7,15.2,511,13610,0.25,2.25,0.00,0.000,6,0.100,0.020,3216,1596,2159,0,0,0,0,0,0
$STATE,13760,end climb,SURFACE_DEPTH_REACHED
$STATE,13760,begin surface coast
$FINISH,0.9,1.013024
$STATE,13799,end surface coast,CONTROL_FINISHED_OK
$STATE,13799,begin surface
$SM_CCo,13822,74.93,0.065,0,0,1569,380.21
$SM_GC,1.99,0.00,0.00,74.93,0.000,0.000,0.065,414,1869,1569,-11.25,2.23,380.21
$IRIDIUM_FIX,2239.35,-15809.75,150400,222253
$TT8_MAMPS,0.026845
$HUMID,48.62
$INTERNAL_PRESSURE,9.71127
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.0,72.369
$10V_AH,9.9,64.488
$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,30.675,168.175,326.625,74.925,0.000,25.191,40.201,414.842,0.250,0.000,17.127,1315.894,9345.100,477.214,2530.154,862.464,33.371,1588.292,0.000,2508.703,0.000,0.535,0.000
$DEVICE_MAMPS,156.468,72.098,1163.539,65.195,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.822,282.132,350.741,481.279,849.644,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,41556,542
$CAP_FILE_SIZE,157656,0
$CFSIZE,260165632,139972608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210111,065102,2246.924,-15802.832,41,2.0,42,10.1