version: 66.06
glider: 148
mission: 9
dive: 613
start: 1 31 111 23 46 31
data:
$ID,148
$MISSION,9
$DIVE,613
$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,100
$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,-871454.81
$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,21
$R_STBD_OVSHOOT,42
$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
$GPS1,233107,2250.153,-15801.024,37,1.1,37,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-68.9
$GPS2,234537,2250.149,-15801.104,10,1.5,15,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,0.029
$KALMAN_X,-116740.8,-2.7,-42.6,131849.3,-718.2
$KALMAN_Y,-241967.7,4.6,-155.7,372235.4,-649.1
$MHEAD_RNG_PITCHd_Wd,72.1,7011,-21.7,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-67.25,0.000,2,0.000,0.000,410,1847,3190,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.1,-2.7,9,116,11.12,0.00,-7.03,0.000,6,0.148,0.000,2529,1848,3518,0,0,0,0,0,0
$GC,389,-1.38,-97.3,57.1,-16.0,45,398,0.15,0.00,0.00,0.000,6,0.114,0.000,2560,1848,3521,0,0,0,0,0,0
$GC,651,-1.44,-97.3,94.1,-12.5,70,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1848,3521,0,0,0,0,0,0
$GC,907,-1.53,-97.3,123.6,-11.5,94,920,0.15,2.72,0.00,0.000,4,0.058,0.040,2499,188,3522,0,0,0,0,0,0
$GC,964,-1.46,-97.3,131.4,-15.5,99,969,0.20,2.53,0.00,0.000,6,0.100,0.019,2541,1803,3522,0,0,0,0,0,0
$GC,1225,-1.46,-97.3,163.8,-11.8,123,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1806,3523,0,0,0,0,0,0
$GC,1480,-1.54,-97.3,192.8,-11.2,147,1485,0.00,2.62,0.00,0.000,4,0.000,0.040,2541,195,3523,0,0,0,0,0,0
$GC,1530,-1.63,-97.3,197.9,-11.2,151,1535,0.15,2.47,0.00,0.000,6,0.058,0.019,2481,1796,3524,0,0,0,0,0,0
$GC,1791,-1.57,-97.3,233.7,-13.4,158,1796,0.17,2.65,0.00,0.000,4,0.102,0.040,2518,192,3524,0,0,0,0,0,0
$GC,1839,-1.57,-97.3,240.1,-12.4,159,1843,0.00,2.47,0.00,0.000,6,0.000,0.020,2518,1779,3524,0,0,0,0,0,0
$GC,2123,-1.57,-97.3,269.5,-10.0,166,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1782,3524,0,0,0,0,0,0
$GC,2364,-1.57,-97.3,296.2,-11.0,172,2369,0.00,2.55,0.00,0.000,4,0.000,0.033,2518,3362,3524,0,0,0,0,0,0
$GC,2407,-1.65,-97.3,300.8,-10.3,173,2412,0.00,2.55,0.00,0.000,6,0.000,0.025,2518,1777,3524,0,0,0,0,0,0
$GC,2696,-1.65,-97.3,331.4,-11.0,180,2701,0.00,2.60,0.00,0.000,4,0.000,0.049,2518,212,3523,0,0,0,0,0,0
$GC,2733,-1.65,-97.3,336.3,-12.6,180,2739,0.00,2.50,0.00,0.000,6,0.000,0.022,2518,1789,3523,0,0,0,0,0,0
$GC,2983,-1.71,-97.3,366.5,-12.2,187,2988,0.12,2.67,0.00,0.000,4,0.066,0.050,2466,212,3522,0,0,0,0,0,0
$GC,3029,-1.62,-97.3,373.4,-16.1,188,3035,0.17,2.50,0.00,0.000,6,0.106,0.025,2503,1777,3522,0,0,0,0,0,0
$GC,3317,-1.62,-97.3,412.0,-13.0,195,3321,0.00,2.65,0.00,0.000,4,0.000,0.054,2503,214,3521,0,0,0,0,0,0
$GC,3337,-1.62,-97.3,414.6,-13.5,195,3341,0.00,2.50,0.00,0.000,6,0.000,0.025,2503,1791,3520,0,0,0,0,0,0
$GC,3601,-1.62,-97.3,447.7,-12.3,202,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1792,3519,0,0,0,0,0,0
$GC,3844,-1.62,-97.3,474.6,-10.9,208,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1791,3518,0,0,0,0,0,0
$GC,4088,-1.62,-97.3,499.0,-10.1,214,4092,0.00,2.72,0.00,0.000,4,0.000,0.062,2503,216,3517,0,0,0,0,0,0
$GC,4113,-1.62,-97.3,501.6,-11.2,214,4118,0.00,2.53,0.00,0.000,6,0.000,0.032,2503,1772,3516,0,0,0,0,0,0
$GC,4373,-1.62,-97.3,526.7,-9.6,221,4377,0.00,2.70,0.00,0.000,4,0.000,0.062,2503,215,3515,0,0,0,0,0,0
$GC,4401,-1.62,-97.3,529.7,-10.4,221,4405,0.00,2.55,0.00,0.000,6,0.000,0.035,2503,1775,3515,0,0,0,0,0,0
$GC,4657,-1.68,-97.3,554.7,-10.1,228,4662,0.00,2.70,0.00,0.000,4,0.000,0.053,2503,3372,3513,0,0,0,0,0,0
$GC,4681,-1.68,-97.3,557.4,-10.6,228,4685,0.00,2.62,0.00,0.000,6,0.000,0.034,2503,1781,3513,0,0,0,0,0,0
$GC,4940,-1.75,-97.3,582.3,-9.6,235,4942,0.10,0.00,0.00,0.000,6,0.081,0.000,2458,1781,3512,0,0,0,0,0,0
$GC,5185,-1.75,-97.3,613.0,-12.9,241,5190,0.00,2.75,0.00,0.000,4,0.000,0.072,2457,208,3509,0,0,0,0,0,0
$GC,5214,-1.66,-97.3,617.5,-14.6,241,5219,0.17,2.60,0.00,0.000,6,0.107,0.038,2495,1776,3510,0,0,0,0,0,0
$GC,5469,-1.66,-97.3,647.2,-11.4,248,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1777,3508,0,0,0,0,0,0
$GC,5715,-1.66,-97.3,675.9,-11.7,254,5720,0.00,2.72,0.00,0.000,4,0.000,0.068,2495,212,3507,0,0,0,0,0,0
$GC,5743,-1.66,-97.3,679.5,-12.6,254,5748,0.00,2.60,0.00,0.000,6,0.000,0.038,2495,1774,3506,0,0,0,0,0,0
$GC,5998,-1.73,-97.3,707.6,-11.0,261,6002,0.00,2.75,0.00,0.000,4,0.000,0.069,2495,207,3505,0,0,0,0,0,0
$GC,6017,-1.73,-97.3,709.9,-11.8,261,6021,0.00,2.60,0.00,0.000,6,0.000,0.038,2495,1772,3504,0,0,0,0,0,0
$GC,6283,-1.79,-97.3,736.5,-9.9,268,6285,0.10,0.00,0.00,0.000,6,0.081,0.000,2452,1772,3503,0,0,0,0,0,0
$GC,6524,-1.79,-97.3,764.1,-11.5,274,6529,0.00,2.75,0.00,0.000,4,0.000,0.068,2452,205,3501,0,0,0,0,0,0
$GC,6571,-1.71,-97.3,770.3,-13.5,275,6577,0.15,2.62,0.00,0.000,6,0.111,0.041,2483,1774,3500,0,0,0,0,0,0
$GC,6856,-1.71,-97.3,800.4,-10.5,282,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1774,3499,0,0,0,0,0,0
$GC,7098,-1.71,-97.3,826.3,-10.7,288,7103,0.00,2.75,0.00,0.000,4,0.000,0.069,2484,210,3498,0,0,0,0,0,0
$GC,7131,-1.71,-97.3,830.4,-12.7,288,7135,0.00,2.60,0.00,0.000,6,0.000,0.041,2483,1762,3497,0,0,0,0,0,0
$GC,7382,-1.71,-97.3,856.2,-10.2,294,7387,0.00,2.72,0.00,0.000,4,0.000,0.070,2484,212,3497,0,0,0,0,0,0
$GC,7425,-1.71,-97.3,860.9,-11.4,295,7430,0.00,2.60,0.00,0.000,6,0.000,0.041,2484,1765,3496,0,0,0,0,0,0
$GC,7716,-1.71,-97.3,888.3,-9.3,302,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1765,3496,0,0,0,0,0,0
$STATE,7874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7874,begin apogee
$GC,7880,-0.31,0.0,903.1,9.2,306,7966,1.40,0.00,82.28,1.177,6,0.082,0.000,2793,1672,3120,0,0,0,0,0,0
$STATE,7967,end apogee,CONTROL_FINISHED_OK
$STATE,7967,begin climb
$GC,7969,1.48,97.3,904.7,0.0,308,8067,1.60,2.90,88.38,1.155,4,0.023,0.058,3188,3272,2722,0,0,0,0,0,0
$GC,8090,1.27,182.1,905.7,4.1,310,8177,0.25,2.70,78.45,1.141,6,0.127,0.037,3140,1684,2376,0,0,0,0,0,0
$GC,8430,1.12,182.1,864.3,13.5,319,8437,0.17,2.72,0.00,0.000,4,0.126,0.081,3106,166,2367,0,0,0,0,0,0
$GC,8531,0.96,182.1,850.2,14.4,321,8537,0.20,2.55,0.00,0.000,6,0.118,0.039,3067,1677,2365,0,0,0,0,0,0
$GC,8810,0.96,184.5,821.9,9.8,328,8814,0.00,2.67,0.00,0.000,4,0.000,0.070,3067,170,2363,0,0,0,0,0,0
$GC,8907,0.96,184.5,811.1,10.7,330,8912,0.00,2.53,0.00,0.000,6,0.000,0.039,3067,1671,2362,0,0,0,0,0,0
$GC,9185,0.97,196.9,785.7,9.1,337,9205,0.00,2.72,12.62,0.993,4,0.000,0.070,3067,171,2316,0,0,0,0,0,0
$GC,9282,0.97,196.9,775.5,11.1,339,9287,0.00,2.53,0.00,0.000,6,0.000,0.040,3067,1666,2313,0,0,0,0,0,0
$GC,9565,1.03,196.9,747.0,10.1,346,9569,0.00,2.65,0.00,0.000,4,0.000,0.069,3067,171,2311,0,0,0,0,0,0
$GC,9636,1.03,196.9,738.3,12.0,347,9641,0.00,2.50,0.00,0.000,6,0.000,0.038,3067,1660,2311,0,0,0,0,0,0
$GC,9896,1.10,196.9,709.8,11.0,354,9898,0.15,0.00,0.00,0.000,6,0.059,0.000,3125,1661,2310,0,0,0,0,0,0
$GC,10139,1.02,196.9,678.1,13.0,360,10145,0.20,2.65,0.00,0.000,4,0.111,0.067,3085,166,2310,0,0,0,0,0,0
$GC,10261,0.94,196.9,662.7,11.8,362,10266,0.00,2.47,0.00,0.000,6,0.000,0.036,3085,1659,2310,0,0,0,0,0,0
$GC,10516,0.94,196.9,636.4,10.3,369,10520,0.00,2.62,0.00,0.000,4,0.000,0.067,3085,170,2308,0,0,0,0,0,0
$GC,10569,0.94,196.9,630.5,11.1,370,10573,0.00,2.47,0.00,0.000,6,0.000,0.035,3085,1656,2308,0,0,0,0,0,0
$GC,10846,0.96,207.4,604.7,9.3,377,10863,0.00,2.70,9.75,0.876,4,0.000,0.067,3085,170,2273,0,0,0,0,0,0
$GC,10897,0.96,207.4,599.1,12.3,378,10901,0.00,2.47,0.00,0.000,6,0.000,0.035,3085,1651,2273,0,0,0,0,0,0
$GC,11179,0.96,208.1,570.8,10.0,385,11181,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1653,2271,0,0,0,0,0,0
$GC,11423,0.96,211.8,546.7,9.7,391,11435,0.00,2.60,5.32,0.710,4,0.000,0.062,3085,167,2255,0,0,0,0,0,0
$GC,11452,0.96,211.8,543.9,10.1,391,11456,0.00,2.47,0.00,0.000,6,0.000,0.031,3085,1664,2255,0,0,0,0,0,0
$GC,11711,0.98,223.1,519.5,9.2,398,11730,0.00,2.65,12.20,0.855,4,0.000,0.061,3085,164,2209,0,0,0,0,0,0
$GC,11755,0.98,223.1,514.9,11.3,399,11759,0.00,2.45,0.00,0.000,6,0.000,0.029,3085,1651,2208,0,0,0,0,0,0
$GC,12044,1.05,224.3,486.1,9.9,406,12049,0.00,2.58,0.00,0.000,4,0.000,0.061,3085,170,2206,0,0,0,0,0,0
$GC,12063,1.05,224.3,483.8,10.9,406,12067,0.00,2.42,0.00,0.000,6,0.000,0.026,3085,1661,2206,0,0,0,0,0,0
$GC,12329,1.13,224.6,457.4,10.0,413,12333,0.00,2.58,0.00,0.000,4,0.000,0.061,3085,168,2206,0,0,0,0,0,0
$GC,12384,1.13,224.6,450.9,11.3,414,12389,0.00,2.38,0.00,0.000,6,0.000,0.026,3085,1650,2205,0,0,0,0,0,0
$GC,12658,1.23,237.7,425.8,9.1,421,12679,0.17,2.80,14.57,0.812,4,0.055,0.058,3149,3252,2149,0,0,0,0,0,0
$GC,12695,1.16,237.7,421.6,12.2,421,12704,0.17,2.70,0.00,0.000,6,0.114,0.035,3115,1654,2147,0,0,0,0,0,0
$GC,12948,1.16,237.7,392.7,11.6,428,12953,0.00,2.72,0.00,0.000,4,0.000,0.044,3114,3261,2146,0,0,0,0,0,0
$GC,12962,1.16,237.7,391.0,10.7,428,12967,0.00,2.70,0.00,0.000,6,0.000,0.035,3115,1647,2146,0,0,0,0,0,0
$GC,13232,1.16,237.7,361.0,11.3,435,13233,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1647,2146,0,0,0,0,0,0
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$STATE,16624,end climb,SURFACE_DEPTH_REACHED
$STATE,16624,begin surface coast
$FINISH,1.1,1.012029
$STATE,16664,end surface coast,CONTROL_FINISHED_OK
$STATE,16664,begin surface
$SM_CCo,16687,45.97,0.066,0,0,1569,380.21
$SM_GC,2.13,0.00,0.00,45.97,0.000,0.000,0.066,406,1854,1569,-11.29,1.81,380.21
$IRIDIUM_FIX,2239.35,-15809.75,260400,232324
$TT8_MAMPS,0.027612
$HUMID,51.61
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,22.8,80.739
$10V_AH,9.7,71.271
$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,28.950,197.275,351.350,45.975,0.000,54.326,77.219,506.271,0.000,0.000,16.668,1431.928,12224.580,500.587,2368.304,1070.030,33.379,1537.639,0.000,2355.629,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,80.535,1176.578,65.962,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,449.256,325.594,410.956,572.585,1012.241,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,50999,658
$CAP_FILE_SIZE,169482,0
$CFSIZE,260165632,135958528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010211,042637,2250.098,-15759.071,32,1.2,32,10.1