version: 66.06
glider: 148
mission: 9
dive: 581
start: 1 25 111 16 46 12
data:
$ID,148
$MISSION,9
$DIVE,581
$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,-870828.06
$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,18
$R_STBD_OVSHOOT,32
$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
$GPS1,162707,2247.304,-15802.262,41,1.5,41,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-66.5
$GPS2,164518,2246.981,-15802.204,11,1.5,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.052,0.254
$KALMAN_X,-111595.4,-46.5,224.3,124583.2,165.8
$KALMAN_Y,-217372.0,65.0,-162.3,341716.7,-1434.6
$MHEAD_RNG_PITCHd_Wd,338.4,5755,-17.5,-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,-1.27,-146.0,0.0,0.0,0,95,0.00,0.00,-74.85,0.000,2,0.000,0.000,411,1891,3443,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.0,-6.1,10,122,11.55,2.40,-4.95,0.000,4,0.156,0.038,2573,3383,3717,0,0,0,0,0,0
$GC,207,-1.27,-146.0,27.8,-12.9,26,216,0.00,2.62,0.00,0.000,6,0.000,0.025,2573,1775,3719,0,0,0,0,0,0
$GC,482,-1.14,-146.0,67.8,-14.8,52,487,0.17,2.62,0.00,0.000,4,0.100,0.031,2611,3387,3719,0,0,0,0,0,0
$GC,516,-1.14,-146.0,72.5,-13.6,54,521,0.00,2.53,0.00,0.000,6,0.000,0.023,2611,1794,3719,0,0,0,0,0,0
$GC,779,-1.21,-146.0,102.9,-10.3,78,783,0.00,2.55,0.00,0.000,4,0.000,0.029,2611,3386,3720,0,0,0,0,0,0
$GC,820,-1.33,-146.0,106.8,-10.6,81,825,0.17,2.53,0.00,0.000,6,0.045,0.023,2522,1809,3720,0,0,0,0,0,0
$GC,1088,-1.15,-146.0,146.9,-14.9,105,1097,0.38,2.58,0.00,0.000,4,0.087,0.036,2603,211,3721,0,0,0,0,0,0
$GC,1102,-1.04,-146.0,150.0,-14.6,106,1112,0.10,2.55,0.00,0.000,6,0.072,0.019,2631,1830,3721,0,0,0,0,0,0
$GC,1367,-1.21,-146.0,172.2,-8.1,131,1372,0.15,2.45,0.00,0.000,4,0.054,0.030,2549,3365,3721,0,0,0,0,0,0
$GC,1432,-1.21,-146.0,180.2,-11.9,137,1438,0.20,2.47,0.00,0.000,6,0.086,0.023,2595,1813,3721,0,0,0,0,0,0
$GC,1713,-1.28,-146.0,208.2,-9.7,157,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1813,3722,0,0,0,0,0,0
$GC,1955,-1.35,-146.0,232.0,-10.0,163,1960,0.12,2.50,0.00,0.000,4,0.064,0.031,2534,3363,3722,0,0,0,0,0,0
$GC,1985,-1.35,-146.0,235.3,-12.1,163,1990,0.15,2.45,0.00,0.000,6,0.097,0.025,2567,1821,3722,0,0,0,0,0,0
$GC,2240,-1.35,-146.0,264.1,-11.1,170,2244,0.00,2.65,0.00,0.000,4,0.000,0.043,2567,207,3722,0,0,0,0,0,0
$GC,2268,-1.35,-146.0,267.4,-11.2,170,2272,0.00,2.53,0.00,0.000,6,0.000,0.021,2567,1821,3722,0,0,0,0,0,0
$GC,2524,-1.35,-146.0,292.0,-9.3,177,2529,0.00,2.47,0.00,0.000,4,0.000,0.033,2567,3366,3722,0,0,0,0,0,0
$GC,2557,-1.35,-146.0,295.4,-8.9,177,2561,0.00,2.45,0.00,0.000,6,0.000,0.025,2567,1828,3721,0,0,0,0,0,0
$GC,2807,-1.35,-146.0,318.3,-9.2,183,2811,0.00,2.50,0.00,0.000,4,0.000,0.035,2567,3372,3721,0,0,0,0,0,0
$GC,2856,-1.43,-146.0,322.7,-9.5,184,2860,0.00,2.47,0.00,0.000,6,0.000,0.026,2567,1840,3721,0,0,0,0,0,0
$GC,3138,-1.43,-146.0,349.6,-9.7,191,3142,0.00,2.70,0.00,0.000,4,0.000,0.050,2567,209,3719,0,0,0,0,0,0
$GC,3181,-1.54,-146.0,354.4,-11.5,192,3187,0.17,2.58,0.00,0.000,6,0.050,0.023,2491,1840,3719,0,0,0,0,0,0
$GC,3471,-1.36,-146.0,394.7,-14.6,199,3478,0.30,2.72,0.00,0.000,4,0.090,0.048,2559,215,3717,0,0,0,0,0,0
$GC,3507,-1.42,-146.0,400.0,-12.5,199,3511,0.00,2.58,0.00,0.000,6,0.000,0.026,2559,1829,3717,0,0,0,0,0,0
$GC,3758,-1.42,-146.0,425.6,-10.0,205,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1829,3716,0,0,0,0,0,0
$GC,4000,-1.42,-146.0,447.8,-8.9,211,4005,0.00,2.55,0.00,0.000,4,0.000,0.044,2559,3369,3714,0,0,0,0,0,0
$GC,4035,-1.49,-146.0,450.6,-7.5,211,4040,0.10,2.53,0.00,0.000,6,0.078,0.031,2495,1823,3714,0,0,0,0,0,0
$GC,4287,-1.33,-146.0,479.1,-11.9,217,4289,0.38,0.00,0.00,0.000,6,0.086,0.000,2571,1822,3712,0,0,0,0,0,0
$GC,4529,-1.41,-146.0,499.1,-8.0,223,4533,0.00,2.60,0.00,0.000,4,0.000,0.048,2571,3370,3711,0,0,0,0,0,0
$GC,4567,-1.54,-146.0,502.3,-8.0,223,4573,0.20,2.55,0.00,0.000,6,0.041,0.032,2468,1819,3711,0,0,0,0,0,0
$GC,4819,-1.33,-146.0,536.3,-14.1,230,4821,0.47,0.00,0.00,0.000,6,0.087,0.000,2571,1819,3709,0,0,0,0,0,0
$GC,5061,-1.42,-146.0,557.1,-8.1,236,5065,0.00,2.60,0.00,0.000,4,0.000,0.048,2570,3366,3707,0,0,0,0,0,0
$GC,5080,-1.51,-146.0,558.8,-9.1,236,5085,0.17,2.53,0.00,0.000,6,0.049,0.032,2480,1828,3707,0,0,0,0,0,0
$GC,5348,-1.32,-146.0,594.0,-13.9,243,5355,0.43,2.83,0.00,0.000,4,0.087,0.068,2568,212,3706,0,0,0,0,0,0
$GC,5389,-1.48,-146.0,599.0,-9.8,243,5395,0.12,2.65,0.00,0.000,6,0.064,0.036,2509,1820,3706,0,0,0,0,0,0
$GC,5641,-1.40,-146.0,627.2,-11.4,250,5646,0.20,2.65,0.00,0.000,4,0.094,0.055,2552,3381,3704,0,0,0,0,0,0
$GC,5687,-1.50,-146.0,631.7,-9.0,251,5691,0.00,2.55,0.00,0.000,6,0.000,0.036,2552,1830,3704,0,0,0,0,0,0
$GC,5974,-1.50,-146.0,658.1,-9.2,258,5978,0.00,2.62,0.00,0.000,4,0.000,0.050,2552,3377,3702,0,0,0,0,0,0
$GC,5995,-1.50,-146.0,659.9,-8.9,258,5999,0.00,2.55,0.00,0.000,6,0.000,0.036,2552,1832,3702,0,0,0,0,0,0
$GC,6258,-1.50,-146.0,682.8,-8.5,265,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1832,3700,0,0,0,0,0,0
$GC,6502,-1.56,-146.0,703.6,-8.5,271,6508,0.15,2.62,0.00,0.000,4,0.058,0.050,2487,3374,3699,0,0,0,0,0,0
$GC,6543,-1.47,-146.0,707.8,-10.9,271,6549,0.22,2.55,0.00,0.000,6,0.090,0.038,2536,1843,3698,0,0,0,0,0,0
$GC,6792,-1.47,-146.0,731.0,-9.2,278,6797,0.00,2.60,0.00,0.000,4,0.000,0.050,2536,3376,3697,0,0,0,0,0,0
$GC,6816,-1.47,-146.0,733.1,-9.8,278,6820,0.00,2.55,0.00,0.000,6,0.000,0.037,2537,1842,3697,0,0,0,0,0,0
$GC,7081,-1.47,-146.0,756.1,-8.9,285,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1842,3696,0,0,0,0,0,0
$GC,7321,-1.47,-146.0,776.9,-8.6,291,7325,0.00,2.60,0.00,0.000,4,0.000,0.050,2536,3376,3694,0,0,0,0,0,0
$GC,7339,-1.47,-146.0,778.8,-9.8,291,7344,0.00,2.55,0.00,0.000,6,0.000,0.037,2536,1844,3694,0,0,0,0,0,0
$GC,7605,-1.47,-146.0,801.1,-8.6,298,7610,0.00,2.60,0.00,0.000,4,0.000,0.051,2536,3380,3693,0,0,0,0,0,0
$GC,7629,-1.47,-146.0,803.4,-9.3,298,7633,0.00,2.55,0.00,0.000,6,0.000,0.038,2536,1849,3693,0,0,0,0,0,0
$GC,7888,-1.47,-146.0,825.6,-8.8,305,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1849,3691,0,0,0,0,0,0
$GC,8133,-1.47,-146.0,846.1,-8.4,311,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1849,3690,0,0,0,0,0,0
$GC,8375,-1.47,-146.0,865.7,-8.0,317,8380,0.00,2.60,0.00,0.000,4,0.000,0.051,2536,3381,3689,0,0,0,0,0,0
$GC,8399,-1.47,-146.0,867.7,-9.0,317,8403,0.00,2.55,0.00,0.000,6,0.000,0.038,2536,1853,3689,0,0,0,0,0,0
$GC,8660,-1.47,-146.0,887.7,-7.8,324,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1853,3688,0,0,0,0,0,0
$STATE,8818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8818,begin apogee
$GC,8824,-0.31,0.0,900.5,7.9,328,8952,1.15,0.00,124.70,1.185,6,0.077,0.000,2794,1672,3120,0,0,0,0,0,0
$STATE,8953,end apogee,CONTROL_FINISHED_OK
$STATE,8953,begin climb
$GC,8955,1.27,146.0,904.4,0.0,331,9104,1.42,2.78,134.95,1.160,4,0.031,0.046,3155,3266,2521,0,0,0,0,0,0
$GC,9171,0.94,146.0,895.1,13.5,336,9178,0.43,2.70,0.00,0.000,6,0.107,0.040,3068,1687,2516,0,0,0,0,0,0
$GC,9465,0.79,151.6,866.5,9.7,343,9477,0.17,2.78,4.68,0.755,4,0.128,0.084,3034,168,2500,0,0,0,0,0,0
$GC,9670,0.65,162.7,846.4,9.5,347,9688,0.15,2.50,11.82,1.005,6,0.121,0.037,3004,1668,2456,0,0,0,0,0,0
$GC,9938,0.74,234.1,827.8,6.7,354,10015,0.00,2.72,68.75,1.111,4,0.000,0.070,3004,163,2164,0,0,0,0,0,0
$GC,10065,0.75,238.2,817.8,9.8,356,10077,0.00,2.55,4.93,0.755,6,0.000,0.039,3004,1670,2149,0,0,0,0,0,0
$GC,10361,0.87,287.2,794.9,7.7,364,10413,0.20,0.00,48.60,1.080,6,0.050,0.000,3072,1670,1949,0,0,0,0,0,0
$GC,10646,0.78,287.2,760.9,12.4,371,10648,0.20,0.00,0.00,0.000,6,0.098,0.000,3030,1671,1942,0,0,0,0,0,0
$GC,10887,0.78,287.2,735.2,10.4,377,10891,0.00,2.80,0.00,0.000,4,0.000,0.065,3030,3266,1939,0,0,0,0,0,0
$GC,10905,0.78,287.2,732.9,11.3,377,10910,0.00,2.72,0.00,0.000,6,0.000,0.039,3030,1660,1938,0,0,0,0,0,0
$GC,11171,0.78,287.2,703.5,11.3,384,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1660,1938,0,0,0,0,0,0
$GC,11413,0.78,287.2,674.3,12.0,390,11414,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1660,1937,0,0,0,0,0,0
$GC,11656,0.78,287.2,644.3,12.4,396,11661,0.00,2.78,0.00,0.000,4,0.000,0.053,3030,3267,1936,0,0,0,0,0,0
$GC,11675,0.78,287.2,641.8,11.6,396,11680,0.00,2.72,0.00,0.000,6,0.000,0.040,3030,1662,1935,0,0,0,0,0,0
$GC,11941,0.78,287.2,610.3,11.8,403,11945,0.00,2.78,0.00,0.000,4,0.000,0.053,3029,3267,1935,0,0,0,0,0,0
$GC,11964,0.85,287.2,607.2,11.3,403,11969,0.00,2.70,0.00,0.000,6,0.000,0.041,3030,1672,1934,0,0,0,0,0,0
$GC,12224,0.85,287.2,579.8,10.4,410,12228,0.00,2.75,0.00,0.000,4,0.000,0.056,3030,3266,1934,0,0,0,0,0,0
$GC,12250,0.94,305.6,577.4,9.2,410,12275,0.15,2.70,16.92,0.919,6,0.059,0.041,3086,1675,1874,0,0,0,0,0,0
$GC,12557,0.86,305.6,538.5,12.8,418,12563,0.17,2.67,0.00,0.000,4,0.104,0.073,3049,165,1870,0,0,0,0,0,0
$GC,12607,0.86,305.6,532.5,12.0,419,12611,0.00,2.50,0.00,0.000,6,0.000,0.032,3049,1683,1869,0,0,0,0,0,0
$GC,12889,0.86,305.6,501.6,10.8,426,12893,0.00,2.72,0.00,0.000,4,0.000,0.058,3049,3266,1868,0,0,0,0,0,0
$GC,12924,0.95,318.2,498.3,9.4,426,12944,0.00,2.70,12.85,0.842,6,0.000,0.036,3049,1659,1822,0,0,0,0,0,0
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$STATE,17092,end climb,SURFACE_DEPTH_REACHED
$STATE,17093,begin surface coast
$FINISH,1.0,1.013925
$STATE,17131,end surface coast,CONTROL_FINISHED_OK
$STATE,17131,begin surface
$SM_CCo,17214,0.00,0.000,0,0,1492,399.10
$SM_GC,1.70,10.85,0.00,0.00,0.021,0.000,0.000,415,1873,1492,-11.17,2.35,399.10
$IRIDIUM_FIX,2239.35,-15724.61,200400,161636
$TT8_MAMPS,0.026845
$HUMID,50.94
$INTERNAL_PRESSURE,9.71127
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,22.9,76.326
$10V_AH,9.8,67.308
$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,32.225,218.600,504.350,0.000,0.000,100.440,109.667,583.044,0.000,0.000,16.479,1448.314,12685.047,605.445,2307.411,1249.775,33.373,1670.592,0.000,2302.682,0.000,0.535,0.000
$DEVICE_MAMPS,155.701,83.603,1185.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,444.662,326.486,402.570,543.860,962.891,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,51068,653
$CAP_FILE_SIZE,185029,0
$CFSIZE,260165632,138289152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250111,213407,2248.756,-15802.454,24,1.5,24,10.1