version: 66.06
glider: 148
mission: 9
dive: 395
start: 12 29 110 16 59 12
data:
$ID,148
$MISSION,9
$DIVE,395
$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,185
$T_MISSION,350
$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,420
$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,-866412.06
$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,23
$R_STBD_OVSHOOT,81
$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
$GPS1,165000,2249.823,-15758.896,35,1.2,41,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-68.0
$GPS2,165814,2249.673,-15758.861,11,1.3,11,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.161,0.192
$KALMAN_X,-35602.6,228.5,245.0,54054.2,101.9
$KALMAN_Y,-59988.7,22.1,173.2,189032.0,-1772.6
$MHEAD_RNG_PITCHd_Wd,30.0,3234,-15.9,-9.009
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.15,0.000,2,0.000,0.000,415,1830,3334,0,0,0,0,0,0
$GC,98,-1.17,-146.0,4.0,-5.9,10,122,11.43,2.40,-6.80,0.000,4,0.150,0.038,2597,3335,3718,0,0,0,0,0,0
$GC,169,-0.95,-146.0,24.2,-17.3,20,178,0.20,2.53,0.00,0.000,6,0.068,0.025,2647,1776,3720,0,0,0,0,0,0
$GC,443,-0.95,-146.0,52.4,-11.0,49,447,0.00,2.50,0.00,0.000,4,0.000,0.029,2647,3335,3720,0,0,0,0,0,0
$GC,486,-0.95,-146.0,56.6,-9.9,52,491,0.00,2.45,0.00,0.000,6,0.000,0.022,2647,1791,3720,0,0,0,0,0,0
$GC,750,-0.95,-146.0,85.4,-11.1,76,754,0.00,2.47,0.00,0.000,4,0.000,0.030,2647,3333,3721,0,0,0,0,0,0
$GC,818,-1.07,-146.0,93.3,-10.4,82,822,0.00,2.38,0.00,0.000,6,0.000,0.022,2647,1817,3721,0,0,0,0,0,0
$GC,1082,-1.15,-146.0,119.0,-9.6,106,1087,0.17,2.45,0.00,0.000,4,0.047,0.030,2529,3340,3722,0,0,0,0,0,0
$GC,1144,-0.96,-146.0,128.7,-15.7,111,1150,0.55,2.35,0.00,0.000,6,0.077,0.022,2651,1837,3722,0,0,0,0,0,0
$GC,1409,-1.09,-146.0,149.5,-8.0,136,1414,0.12,2.40,0.00,0.000,4,0.061,0.031,2564,3338,3722,0,0,0,0,0,0
$GC,1437,-0.99,-146.0,153.0,-11.4,138,1446,0.32,2.40,0.00,0.000,6,0.066,0.022,2642,1834,3722,0,0,0,0,0,0
$GC,1705,-1.11,-146.0,172.3,-6.7,163,1710,0.10,2.42,0.00,0.000,4,0.074,0.030,2561,3342,3723,0,0,0,0,0,0
$GC,1754,-1.05,-146.0,177.7,-10.5,167,1760,0.30,2.33,0.00,0.000,6,0.079,0.022,2630,1853,3723,0,0,0,0,0,0
$GC,2018,-1.13,-146.0,199.4,-8.8,192,2023,0.00,2.38,0.00,0.000,4,0.000,0.031,2630,3336,3723,0,0,0,0,0,0
$GC,2056,-1.25,-146.0,203.1,-8.6,192,2062,0.17,2.33,0.00,0.000,6,0.048,0.023,2542,1852,3723,0,0,0,0,0,0
$GC,2307,-1.08,-146.0,235.4,-13.2,199,2313,0.32,2.38,0.00,0.000,4,0.081,0.029,2620,3340,3723,0,0,0,0,0,0
$GC,2322,-0.98,-146.0,237.5,-12.7,199,2327,0.12,2.33,0.00,0.000,6,0.097,0.021,2649,1851,3722,0,0,0,0,0,0
$GC,2592,-1.15,-146.0,253.6,-5.6,206,2597,0.17,2.38,0.00,0.000,4,0.048,0.031,2564,3336,3723,0,0,0,0,0,0
$GC,2640,-1.15,-146.0,257.9,-9.1,207,2645,0.20,2.30,0.00,0.000,6,0.084,0.023,2609,1871,3722,0,0,0,0,0,0
$GC,2923,-1.22,-146.0,279.7,-7.8,214,2928,0.00,2.33,0.00,0.000,4,0.000,0.032,2609,3332,3723,0,0,0,0,0,0
$GC,2949,-1.31,-146.0,281.6,-8.2,214,2954,0.15,2.30,0.00,0.000,6,0.054,0.025,2545,1869,3722,0,0,0,0,0,0
$GC,3208,-1.20,-146.0,310.7,-11.6,221,3210,0.25,0.00,0.00,0.000,6,0.081,0.000,2601,1870,3722,0,0,0,0,0,0
$GC,3453,-1.27,-146.0,331.7,-8.6,227,3457,0.00,2.38,0.00,0.000,4,0.000,0.037,2601,3330,3721,0,0,0,0,0,0
$GC,3501,-1.38,-146.0,335.6,-7.7,228,3506,0.17,2.30,0.00,0.000,6,0.047,0.028,2523,1882,3720,0,0,0,0,0,0
$GC,3784,-1.23,-146.0,369.0,-12.2,235,3791,0.28,2.78,0.00,0.000,4,0.084,0.052,2588,214,3719,0,0,0,0,0,0
$GC,3810,-1.23,-146.0,371.8,-9.5,235,3814,0.00,2.58,0.00,0.000,6,0.000,0.025,2588,1844,3719,0,0,0,0,0,0
$GC,4070,-1.23,-146.0,393.5,-8.4,242,4075,0.00,2.40,0.00,0.000,4,0.000,0.041,2588,3332,3718,0,0,0,0,0,0
$GC,4136,-1.32,-146.0,399.3,-8.7,243,4140,0.00,2.30,0.00,0.000,6,0.000,0.028,2588,1894,3717,0,0,0,0,0,0
$GC,4401,-1.32,-146.0,422.9,-9.3,250,4405,0.00,2.83,0.00,0.000,4,0.000,0.059,2588,215,3715,0,0,0,0,0,0
$GC,4429,-1.41,-146.0,426.0,-10.0,250,4434,0.15,2.62,0.00,0.000,6,0.054,0.028,2510,1849,3715,0,0,0,0,0,0
$GC,4684,-1.22,-146.0,460.0,-13.6,257,4689,0.35,2.42,0.00,0.000,4,0.082,0.046,2588,3320,3713,0,0,0,0,0,0
$GC,4738,-1.32,-146.0,465.7,-8.7,258,4742,0.00,2.28,0.00,0.000,6,0.000,0.028,2589,1898,3712,0,0,0,0,0,0
$GC,5015,-1.32,-146.0,491.3,-9.1,265,5019,0.00,2.40,0.00,0.000,4,0.000,0.050,2587,3328,3710,0,0,0,0,0,0
$GC,5033,-1.32,-146.0,493.1,-9.4,265,5037,0.00,2.30,0.00,0.000,6,0.000,0.028,2588,1899,3710,0,0,0,0,0,0
$STATE,5136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5136,begin apogee
$GC,5144,-0.31,0.0,502.4,8.9,268,5264,0.88,0.00,117.47,0.868,6,0.069,0.000,2790,1683,3120,0,0,0,0,0,0
$STATE,5265,end apogee,CONTROL_FINISHED_OK
$STATE,5265,begin climb
$GC,5267,1.17,146.0,507.4,0.0,271,5401,1.35,2.67,120.93,0.848,4,0.025,0.069,3138,184,2522,0,0,0,0,0,0
$GC,5420,0.68,156.0,507.0,8.6,274,5438,0.62,2.35,9.30,0.713,6,0.103,0.028,3009,1629,2483,0,0,0,0,0,0
$GC,5717,0.70,172.8,482.8,8.3,282,5733,0.00,0.00,14.93,0.775,6,0.000,0.000,3009,1628,2415,0,0,0,0,0,0
$GC,5961,0.72,189.6,462.5,8.3,288,5978,0.00,0.00,15.62,0.776,6,0.000,0.000,3009,1628,2347,0,0,0,0,0,0
$GC,6203,0.77,229.8,443.9,7.3,294,6242,0.00,0.00,35.78,0.812,6,0.000,0.000,3008,1628,2183,0,0,0,0,0,0
$GC,6487,0.84,284.7,424.1,6.7,301,6544,0.15,2.72,48.58,0.807,4,0.058,0.054,3070,3205,1957,0,0,0,0,0,0
$GC,6576,0.84,284.7,415.6,10.7,303,6581,0.12,2.53,0.00,0.000,6,0.107,0.035,3044,1700,1953,0,0,0,0,0,0
$GC,6863,0.84,284.7,388.1,9.6,310,6868,0.00,2.65,0.00,0.000,4,0.000,0.066,3044,168,1950,0,0,0,0,0,0
$GC,6880,0.84,284.7,386.4,9.8,310,6885,0.00,2.38,0.00,0.000,6,0.000,0.025,3044,1646,1949,0,0,0,0,0,0
$GC,7148,0.84,284.7,359.4,10.0,317,7153,0.00,2.72,0.00,0.000,4,0.000,0.053,3044,3250,1947,0,0,0,0,0,0
$GC,7162,0.84,284.7,358.0,9.6,317,7167,0.00,2.58,0.00,0.000,6,0.000,0.032,3044,1686,1946,0,0,0,0,0,0
$GC,7432,0.84,284.7,332.9,9.3,324,7436,0.00,2.60,0.00,0.000,4,0.000,0.065,3044,166,1945,0,0,0,0,0,0
$GC,7494,0.84,284.7,326.6,10.4,325,7498,0.00,2.42,0.00,0.000,6,0.000,0.026,3044,1687,1945,0,0,0,0,0,0
$GC,7762,0.85,296.4,303.2,8.5,332,7778,0.00,2.67,9.55,0.660,4,0.000,0.058,3044,173,1910,0,0,0,0,0,0
$GC,7799,0.85,296.4,299.8,9.6,332,7803,0.00,2.42,0.00,0.000,6,0.000,0.024,3044,1692,1910,0,0,0,0,0,0
$GC,8048,0.86,298.5,277.0,8.9,338,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1693,1908,0,0,0,0,0,0
$GC,8292,0.87,310.5,256.1,8.5,344,8307,0.00,0.00,13.77,0.664,6,0.000,0.000,3043,1696,1854,0,0,0,0,0,0
$GC,8537,0.88,314.7,234.6,8.8,350,8549,0.00,2.60,5.10,0.514,4,0.000,0.053,3044,166,1836,0,0,0,0,0,0
$GC,8568,0.88,314.7,231.4,9.8,350,8572,0.00,2.42,0.00,0.000,6,0.000,0.023,3044,1686,1835,0,0,0,0,0,0
$GC,8822,0.88,314.7,207.6,9.2,357,8826,0.00,2.55,0.00,0.000,4,0.000,0.052,3044,170,1834,0,0,0,0,0,0
$GC,8840,0.88,314.7,205.8,9.7,357,8845,0.00,2.40,0.00,0.000,6,0.000,0.022,3044,1683,1834,0,0,0,0,0,0
$GC,9102,0.89,327.9,182.9,8.5,375,9120,0.00,0.00,13.02,0.602,6,0.000,0.000,3044,1686,1782,0,0,0,0,0,0
$GC,9379,0.90,335.1,159.2,8.7,401,9388,0.00,0.00,7.05,0.521,6,0.000,0.000,3044,1686,1754,0,0,0,0,0,0
$GC,9642,0.99,347.3,136.9,8.5,426,9664,0.12,2.55,12.32,0.555,4,0.063,0.046,3117,167,1702,0,0,0,0,0,0
$GC,9732,0.85,347.3,125.6,13.5,434,9741,0.30,2.42,0.00,0.000,6,0.077,0.021,3046,1681,1702,0,0,0,0,0,0
$GC,9999,0.97,351.0,101.8,8.9,459,10010,0.10,2.55,4.25,0.393,4,0.075,0.033,3110,3258,1689,0,0,0,0,0,0
$GC,10068,0.97,351.0,93.7,12.2,465,10074,0.17,2.58,0.00,0.000,6,0.091,0.028,3070,1678,1687,0,0,0,0,0,0
$GC,10332,0.98,352.9,70.0,8.9,490,10336,0.00,2.45,0.00,0.000,4,0.000,0.051,3071,171,1687,0,0,0,0,0,0
$GC,10365,0.98,352.9,66.7,9.3,492,10374,0.00,2.42,0.00,0.000,6,0.000,0.021,3071,1702,1687,0,0,0,0,0,0
$GC,10630,0.98,358.2,44.2,8.8,517,10644,0.00,2.50,8.48,0.443,4,0.000,0.031,3070,3255,1658,0,0,0,0,0,0
$GC,10672,1.06,358.6,40.6,9.0,520,10677,0.00,2.50,0.00,0.000,6,0.000,0.026,3070,1693,1656,0,0,0,0,0,0
$GC,10962,1.17,380.1,15.1,8.1,558,10995,0.17,2.58,20.92,0.470,4,0.048,0.044,3147,170,1569,0,0,0,0,0,0
$STATE,11045,end climb,SURFACE_DEPTH_REACHED
$STATE,11045,begin surface coast
$FINISH,0.8,1.022700
$STATE,11093,end surface coast,CONTROL_FINISHED_OK
$STATE,11093,begin surface
$SM_CCo,11116,25.45,0.313,1,0,1407,420.20
$SM_GC,1.71,0.00,0.00,25.45,0.000,0.000,0.313,412,1818,1407,-11.27,0.79,420.20
$IRIDIUM_FIX,2241.69,-15759.32,240300,131357
$TT8_MAMPS,0.026845
$HUMID,47.75
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.5,52.266
$10V_AH,10.2,45.419
$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,30.675,143.500,457.075,25.450,0.000,36.584,34.261,277.452,0.250,0.000,12.690,1176.493,7139.596,566.588,2083.515,675.536,33.378,1374.802,0.000,2095.067,0.000,0.538,0.000
$DEVICE_MAMPS,150.332,69.030,868.244,312.936,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.921,361.611,454.618,686.570,1213.582,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,44591,577
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