version: 66.06
glider: 148
mission: 9
dive: 652
start: 2 8 111 18 10 8
data:
$ID,148
$MISSION,9
$DIVE,652
$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,-872176.69
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,180106,2151.923,-15812.802,33,1.3,33,9.9
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-68.0
$GPS2,180914,2151.909,-15812.822,11,1.5,11,9.9
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.167,0.047
$KALMAN_X,-132846.2,587.6,35.3,127114.3,-1629.6
$KALMAN_Y,-232884.6,-0.2,-116.7,255259.5,-185.7
$MHEAD_RNG_PITCHd_Wd,275.8,2889,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.78,-63.0,0.0,0.0,0,90,0.00,0.00,-67.60,0.000,2,0.000,0.000,414,1897,3207,0,0,0,0,0,0
$GC,93,-1.82,-97.3,3.3,-3.4,9,118,10.88,2.42,-6.38,0.000,4,0.154,0.039,2454,3383,3517,0,0,0,0,0,0
$GC,217,-1.82,-97.3,32.7,-20.4,27,226,0.00,2.58,0.00,0.000,6,0.000,0.022,2454,1781,3519,0,0,0,0,0,0
$GC,481,-1.71,-97.3,87.8,-21.6,52,486,0.15,2.53,0.00,0.000,4,0.130,0.035,2484,211,3521,0,0,0,0,0,0
$GC,509,-1.71,-97.3,94.4,-20.3,54,514,0.00,2.50,0.00,0.000,6,0.000,0.019,2483,1817,3520,0,0,0,0,0,0
$GC,772,-1.77,-97.3,141.5,-17.1,78,777,0.00,2.62,0.00,0.000,4,0.000,0.037,2484,212,3521,0,0,0,0,0,0
$GC,852,-1.85,-97.3,156.2,-16.5,85,858,0.12,2.45,0.00,0.000,6,0.068,0.018,2437,1787,3521,0,0,0,0,0,0
$GC,1146,-1.85,-97.3,207.6,-16.8,110,1150,0.00,2.58,0.00,0.000,4,0.000,0.038,2437,212,3524,0,0,0,0,0,0
$GC,1225,-1.85,-97.3,222.7,-17.8,111,1229,0.00,2.40,0.00,0.000,6,0.000,0.018,2437,1762,3524,0,0,0,0,0,0
$GC,1474,-1.85,-97.3,263.1,-15.8,117,1479,0.00,2.55,0.00,0.000,4,0.000,0.038,2437,205,3524,0,0,0,0,0,0
$GC,1490,-1.85,-97.3,265.5,-15.2,117,1495,0.00,2.42,0.00,0.000,6,0.000,0.019,2436,1775,3525,0,0,0,0,0,0
$GC,1759,-1.91,-97.3,306.8,-14.1,124,1763,0.00,2.58,0.00,0.000,4,0.000,0.042,2437,214,3525,0,0,0,0,0,0
$GC,1797,-1.98,-97.3,313.0,-15.2,124,1803,0.00,2.42,0.00,0.000,6,0.000,0.021,2437,1751,3526,0,0,0,0,0,0
$GC,2049,-2.04,-97.3,347.3,-13.8,131,2053,0.00,2.58,0.00,0.000,4,0.000,0.049,2437,215,3525,0,0,0,0,0,0
$GC,2105,-2.12,-97.3,355.9,-14.7,132,2110,0.17,2.42,0.00,0.000,6,0.053,0.023,2376,1744,3526,0,0,0,0,0,0
$GC,2381,-2.04,-97.3,402.3,-17.7,139,2386,0.20,2.60,0.00,0.000,4,0.113,0.054,2417,219,3525,0,0,0,0,0,0
$GC,2512,-2.04,-97.3,427.2,-17.8,141,2517,0.00,2.45,0.00,0.000,6,0.000,0.030,2417,1738,3525,0,0,0,0,0,0
$GC,2763,-2.04,-97.3,465.9,-15.3,148,2768,0.00,2.60,0.00,0.000,4,0.000,0.059,2417,216,3524,0,0,0,0,0,0
$GC,2819,-2.04,-97.3,475.2,-16.1,149,2823,0.00,2.47,0.00,0.000,6,0.000,0.031,2417,1729,3523,0,0,0,0,0,0
$GC,3094,-2.04,-97.3,513.2,-13.5,156,3098,0.00,2.60,0.00,0.000,4,0.000,0.062,2417,221,3521,0,0,0,0,0,0
$GC,3235,-2.04,-97.3,533.7,-14.0,159,3239,0.00,2.45,0.00,0.000,6,0.000,0.035,2417,1718,3520,0,0,0,0,0,0
$GC,3521,-2.04,-97.3,573.8,-13.5,166,3526,0.00,2.60,0.00,0.000,4,0.000,0.065,2417,222,3518,0,0,0,0,0,0
$GC,3616,-2.04,-97.3,588.6,-15.1,168,3620,0.00,2.45,0.00,0.000,6,0.000,0.038,2417,1712,3517,0,0,0,0,0,0
$GC,3898,-2.10,-97.3,627.0,-13.4,175,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1712,3515,0,0,0,0,0,0
$GC,4142,-2.17,-97.3,661.2,-14.0,181,4149,0.12,2.83,0.00,0.000,4,0.071,0.058,2374,3362,3513,0,0,0,0,0,0
$GC,4156,-2.17,-97.3,663.1,-13.6,181,4161,0.00,2.72,0.00,0.000,6,0.000,0.037,2374,1724,3513,0,0,0,0,0,0
$GC,4429,-2.17,-97.3,707.3,-16.2,188,4434,0.00,2.65,0.00,0.000,4,0.000,0.074,2374,214,3511,0,0,0,0,0,0
$GC,4513,-2.09,-97.3,722.6,-18.3,189,4519,0.15,2.47,0.00,0.000,6,0.122,0.040,2403,1701,3510,0,0,0,0,0,0
$GC,4765,-2.09,-97.3,758.1,-13.8,196,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1701,3508,0,0,0,0,0,0
$GC,5006,-2.09,-97.3,788.8,-12.3,202,5011,0.00,2.85,0.00,0.000,4,0.000,0.060,2403,3360,3506,0,0,0,0,0,0
$GC,5050,-2.16,-97.3,794.4,-12.9,203,5055,0.00,2.72,0.00,0.000,6,0.000,0.041,2403,1734,3505,0,0,0,0,0,0
$GC,5339,-2.16,-97.3,827.8,-11.2,210,5343,0.00,2.65,0.00,0.000,4,0.000,0.075,2403,224,3504,0,0,0,0,0,0
$GC,5367,-2.16,-97.3,831.5,-11.8,210,5371,0.00,2.45,0.00,0.000,6,0.000,0.039,2403,1706,3503,0,0,0,0,0,0
$GC,5621,-2.23,-97.3,862.3,-12.3,217,5627,0.12,2.62,0.00,0.000,4,0.074,0.068,2362,219,3502,0,0,0,0,0,0
$GC,5671,-2.14,-97.3,869.6,-15.0,218,5676,0.15,2.47,0.00,0.000,6,0.122,0.041,2391,1696,3501,0,0,0,0,0,0
$STATE,5911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5911,begin apogee
$GC,5916,-0.31,0.0,901.8,13.2,224,6004,1.85,0.00,83.25,1.167,6,0.094,0.000,2791,1695,3120,0,0,0,0,0,0
$STATE,6005,end apogee,CONTROL_FINISHED_OK
$STATE,6005,begin climb
$GC,6009,1.82,97.3,904.3,0.0,226,6109,1.92,2.78,87.97,1.148,4,0.028,0.054,3260,3253,2722,0,0,0,0,0,0
$GC,6115,1.66,175.3,907.3,1.7,228,6200,0.20,2.65,72.65,1.133,6,0.143,0.037,3225,1692,2404,0,0,0,0,0,0
$GC,6469,1.52,175.3,855.6,16.4,237,6476,0.17,2.72,0.00,0.000,4,0.137,0.077,3191,163,2395,0,0,0,0,0,0
$GC,6742,1.35,175.3,808.6,18.0,242,6748,0.20,2.50,0.00,0.000,6,0.167,0.038,3155,1657,2393,0,0,0,0,0,0
$GC,6993,1.35,175.3,777.5,12.0,249,6998,0.00,2.62,0.00,0.000,4,0.000,0.067,3155,168,2391,0,0,0,0,0,0
$GC,7137,1.27,175.3,757.3,14.6,252,7141,0.00,2.50,0.00,0.000,6,0.000,0.037,3155,1663,2390,0,0,0,0,0,0
$GC,7416,1.27,175.3,721.2,13.1,259,7421,0.00,2.62,0.00,0.000,4,0.000,0.066,3155,170,2389,0,0,0,0,0,0
$GC,7498,1.20,175.3,708.7,15.5,260,7503,0.17,2.50,0.00,0.000,6,0.145,0.037,3124,1666,2388,0,0,0,0,0,0
$GC,7748,1.31,175.3,677.6,12.3,266,7752,0.00,2.62,0.00,0.000,4,0.000,0.067,3124,163,2388,0,0,0,0,0,0
$GC,7926,1.31,175.3,653.8,13.0,269,7931,0.00,2.45,0.00,0.000,6,0.000,0.035,3124,1649,2387,0,0,0,0,0,0
$GC,8176,1.43,175.3,626.8,10.6,276,8181,0.20,2.60,0.00,0.000,4,0.051,0.064,3190,168,2387,0,0,0,0,0,0
$GC,8313,1.29,175.3,607.5,13.8,279,8318,0.25,2.42,0.00,0.000,6,0.133,0.033,3143,1646,2386,0,0,0,0,0,0
$GC,8603,1.37,175.9,577.6,9.9,286,8608,0.00,2.58,0.00,0.000,4,0.000,0.064,3143,169,2385,0,0,0,0,0,0
$GC,8751,1.37,175.9,558.0,12.6,289,8756,0.00,2.42,0.00,0.000,6,0.000,0.031,3143,1645,2385,0,0,0,0,0,0
$GC,9026,1.47,175.9,526.3,11.8,296,9032,0.15,2.58,0.00,0.000,4,0.061,0.060,3197,163,2384,0,0,0,0,0,0
$GC,9298,1.33,175.9,486.9,14.4,301,9304,0.22,2.40,0.00,0.000,6,0.130,0.028,3154,1635,2383,0,0,0,0,0,0
$GC,9548,1.41,175.9,460.5,10.2,308,9552,0.00,2.53,0.00,0.000,4,0.000,0.058,3154,167,2383,0,0,0,0,0,0
$GC,9739,1.41,175.9,439.7,10.5,312,9744,0.00,2.38,0.00,0.000,6,0.000,0.026,3154,1637,2383,0,0,0,0,0,0
$GC,10018,1.53,198.4,417.3,7.6,319,10043,0.17,2.88,18.08,0.825,4,0.057,0.057,3212,3247,2310,0,0,0,0,0,0
$GC,10077,1.53,198.4,411.1,11.5,320,10082,0.00,2.75,0.00,0.000,6,0.000,0.037,3212,1627,2307,0,0,0,0,0,0
$GC,10351,1.53,198.4,375.6,13.3,327,10355,0.00,2.55,0.00,0.000,4,0.000,0.071,3212,167,2306,0,0,0,0,0,0
$GC,10621,1.39,198.4,334.1,14.0,332,10627,0.25,2.33,0.00,0.000,6,0.128,0.024,3165,1620,2306,0,0,0,0,0,0
$GC,10871,1.49,198.4,308.3,10.3,339,10876,0.00,2.50,0.00,0.000,4,0.000,0.057,3165,167,2305,0,0,0,0,0,0
$GC,11085,1.49,201.9,285.5,9.6,343,11089,0.00,2.33,0.00,0.000,6,0.000,0.024,3165,1626,2305,0,0,0,0,0,0
$GC,11345,1.64,222.6,265.1,7.8,350,11373,0.20,2.60,22.17,0.718,4,0.051,0.054,3230,164,2211,0,0,0,0,0,0
$GC,11381,1.64,222.6,261.5,10.5,350,11385,0.00,2.38,0.00,0.000,6,0.000,0.024,3230,1628,2211,0,0,0,0,0,0
$GC,11631,1.64,222.6,232.4,11.3,356,11635,0.00,2.72,0.00,0.000,4,0.000,0.044,3230,3253,2208,0,0,0,0,0,0
$GC,11688,1.64,222.6,226.5,10.4,357,11693,0.00,2.70,0.00,0.000,6,0.000,0.031,3230,1614,2206,0,0,0,0,0,0
$GC,11942,1.64,222.6,197.0,12.0,365,11946,0.00,2.45,0.00,0.000,4,0.000,0.055,3230,166,2206,0,0,0,0,0,0
$GC,12228,1.53,222.6,158.8,11.0,393,12237,0.15,2.33,0.00,0.000,6,0.109,0.021,3197,1622,2206,0,0,0,0,0,0
$GC,12490,1.66,239.7,135.3,8.2,418,12513,0.10,2.47,16.12,0.581,4,0.080,0.048,3237,164,2141,0,0,0,0,0,0
$GC,12680,1.66,239.7,111.8,12.6,436,12684,0.00,2.30,0.00,0.000,6,0.000,0.021,3237,1618,2140,0,0,0,0,0,0
$GC,12945,1.66,239.7,83.8,10.1,460,12949,0.00,2.42,0.00,0.000,4,0.000,0.046,3237,163,2140,0,0,0,0,0,0
$GC,13057,1.59,239.7,69.9,12.3,470,13066,0.10,2.30,0.00,0.000,6,0.112,0.021,3214,1613,2139,0,0,0,0,0,0
$GC,13327,1.70,240.3,43.8,9.9,495,13332,0.00,2.42,0.00,0.000,4,0.000,0.044,3214,156,2139,0,0,0,0,0,0
$GC,13434,1.70,240.3,31.6,10.8,504,13438,0.00,2.28,0.00,0.000,6,0.000,0.020,3214,1626,2139,0,0,0,0,0,0
$STATE,13704,end climb,SURFACE_DEPTH_REACHED
$STATE,13704,begin surface coast
$FINISH,1.0,1.011440
$STATE,13749,end surface coast,CONTROL_FINISHED_OK
$STATE,13749,begin surface
$SM_CCo,13770,73.50,0.422,1,0,1570,380.21
$SM_GC,1.98,0.00,0.00,73.50,0.000,0.000,0.422,408,1825,1570,-11.28,0.99,380.21
$IRIDIUM_FIX,2145.77,-15814.07,040500,131334
$TT8_MAMPS,0.026845
$HUMID,50.63
$INTERNAL_PRESSURE,9.72104
$TCM_TEMP,22.00
$XPDR_PINGS,3
$24V_AH,22.8,85.638
$10V_AH,9.7,75.966
$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,29.775,172.550,300.250,73.500,0.000,27.159,42.153,250.736,0.750,0.000,13.370,1321.943,9203.587,465.846,2614.041,723.510,33.369,1570.243,0.000,2587.249,0.000,0.535,0.000
$DEVICE_MAMPS,167.206,77.467,1166.607,421.850,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,375.849,283.119,358.220,524.725,928.182,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355820
$DATA_FILE_SIZE,41619,552
$CAP_FILE_SIZE,152604,0
$CFSIZE,260165632,133103616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080211,220206,2152.328,-15814.552,24,1.5,24,9.9