version: 66.06
glider: 148
mission: 10
dive: 227
start: 9 7 111 9 15 58
data:
$ID,148
$MISSION,10
$DIVE,227
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,0
$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,660
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52523
$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,400
$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,-881635.56
$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,2950
$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,1870
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3015
$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,-11.834597
$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,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,090745,2459.439,-15730.394,35,1.4,43,10.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.2
$GPS2,091502,2459.473,-15730.347,11,1.2,11,10.4
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.042,0.168
$KALMAN_X,-99914.2,-294.2,-89.4,167393.7,524.9
$KALMAN_Y,29431.1,83.0,37.2,337639.4,693.1
$MHEAD_RNG_PITCHd_Wd,3.5,1136,-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,19,-1.78,-63.0,0.0,0.0,0,94,0.00,0.00,-70.95,0.000,6,0.000,0.000,414,1949,3272,0,0,0,0,0,0
$GC,98,-1.80,-80.2,4.4,-8.2,10,123,11.73,2.75,-1.20,0.000,4,0.171,0.043,2550,282,3346,0,0,0,0,0,0
$GC,247,-1.49,-80.2,52.9,-26.8,27,257,0.32,2.50,0.00,0.000,6,0.107,0.019,2620,1872,3347,0,0,0,0,0,0
$GC,510,-1.49,-80.2,104.5,-17.0,52,515,0.00,2.58,0.00,0.000,4,0.000,0.034,2620,284,3348,0,0,0,0,0,0
$GC,639,-1.49,-80.2,127.6,-16.1,63,643,0.00,2.45,0.00,0.000,6,0.000,0.018,2620,1870,3348,0,0,0,0,0,0
$GC,902,-1.55,-80.2,164.5,-13.6,87,907,0.00,2.55,0.00,0.000,4,0.000,0.036,2620,285,3349,0,0,0,0,0,0
$GC,1086,-1.62,-80.2,191.5,-14.1,104,1092,0.10,2.40,0.00,0.000,6,0.079,0.018,2575,1845,3350,0,0,0,0,0,0
$GC,1348,-1.62,-80.2,232.6,-15.5,115,1353,0.10,2.55,0.00,0.000,4,0.127,0.038,2595,277,3350,0,0,0,0,0,0
$GC,1377,-1.62,-80.2,237.0,-13.9,115,1381,0.00,2.40,0.00,0.000,6,0.000,0.018,2595,1846,3350,0,0,0,0,0,0
$GC,1633,-1.68,-80.2,273.0,-14.1,122,1637,0.00,2.53,0.00,0.000,4,0.000,0.038,2595,287,3351,0,0,0,0,0,0
$GC,1679,-1.68,-80.2,280.6,-15.4,123,1683,0.00,2.40,0.00,0.000,6,0.000,0.018,2595,1849,3351,0,0,0,0,0,0
$GC,1962,-1.76,-80.2,319.2,-13.2,130,1968,0.12,2.62,0.00,0.000,4,0.067,0.043,2544,287,3351,0,0,0,0,0,0
$GC,1988,-1.70,-80.2,323.4,-16.0,130,1993,0.17,2.42,0.00,0.000,6,0.109,0.019,2580,1842,3350,0,0,0,0,0,0
$GC,2251,-1.70,-80.2,359.2,-13.4,137,2256,0.00,2.60,0.00,0.000,4,0.000,0.048,2580,287,3350,0,0,0,0,0,0
$GC,2423,-1.70,-80.2,384.1,-13.8,140,2427,0.00,2.40,0.00,0.000,6,0.000,0.024,2580,1821,3349,0,0,0,0,0,0
$GC,2673,-1.77,-80.2,417.7,-13.6,146,2678,0.00,2.62,0.00,0.000,4,0.000,0.054,2580,288,3348,0,0,0,0,0,0
$GC,2730,-1.77,-80.2,426.0,-13.9,147,2734,0.00,2.42,0.00,0.000,6,0.000,0.026,2580,1821,3348,0,0,0,0,0,0
$GC,3008,-1.85,-80.2,458.0,-11.1,154,3013,0.15,2.65,0.00,0.000,4,0.058,0.058,2524,286,3346,0,0,0,0,0,0
$GC,3124,-1.73,-80.2,474.5,-15.1,156,3130,0.22,2.45,0.00,0.000,6,0.107,0.031,2570,1810,3345,0,0,0,0,0,0
$GC,3389,-1.80,-80.2,506.1,-11.6,163,3395,0.00,2.62,0.00,0.000,4,0.000,0.061,2570,300,3343,0,0,0,0,0,0
$GC,3454,-1.80,-80.2,515.2,-14.1,164,3459,0.00,2.42,0.00,0.000,6,0.000,0.031,2570,1808,3343,0,0,0,0,0,0
$GC,3724,-1.86,-80.2,547.7,-11.9,171,3729,0.12,2.62,0.00,0.000,4,0.067,0.065,2522,296,3341,0,0,0,0,0,0
$GC,3850,-1.74,-80.2,567.2,-15.2,173,3855,0.22,2.42,0.00,0.000,6,0.110,0.035,2568,1793,3340,0,0,0,0,0,0
$GC,4101,-1.80,-80.2,597.4,-11.8,179,4106,0.00,2.62,0.00,0.000,4,0.000,0.065,2568,293,3338,0,0,0,0,0,0
$GC,4170,-1.80,-80.2,606.4,-13.4,180,4175,0.00,2.45,0.00,0.000,6,0.000,0.035,2568,1788,3337,0,0,0,0,0,0
$GC,4435,-1.88,-80.2,634.1,-10.3,187,4440,0.12,2.62,0.00,0.000,4,0.068,0.067,2522,290,3335,0,0,0,0,0,0
$GC,4560,-1.78,-80.2,651.0,-12.9,189,4565,0.17,2.45,0.00,0.000,6,0.117,0.035,2559,1782,3334,0,0,0,0,0,0
$GC,4813,-1.78,-80.2,678.2,-11.0,195,4817,0.00,2.58,0.00,0.000,4,0.000,0.067,2559,299,3332,0,0,0,0,0,0
$GC,4934,-1.78,-80.2,694.1,-13.3,197,4940,0.00,2.45,0.00,0.000,6,0.000,0.035,2559,1775,3332,0,0,0,0,0,0
$GC,5194,-1.78,-80.2,723.8,-11.1,204,5199,0.00,2.58,0.00,0.000,4,0.000,0.067,2559,294,3329,0,0,0,0,0,0
$GC,5310,-1.78,-80.2,738.4,-12.6,206,5314,0.00,2.40,0.00,0.000,6,0.000,0.035,2559,1767,3329,0,0,0,0,0,0
$GC,5569,-1.84,-80.2,767.1,-11.0,213,5574,0.00,2.58,0.00,0.000,4,0.000,0.067,2558,301,3327,0,0,0,0,0,0
$GC,5653,-1.84,-80.2,777.5,-12.6,214,5658,0.00,2.38,0.00,0.000,6,0.000,0.035,2559,1762,3327,0,0,0,0,0,0
$GC,5904,-1.91,-80.2,804.4,-10.6,220,5909,0.10,2.58,0.00,0.000,4,0.083,0.067,2519,294,3324,0,0,0,0,0,0
$GC,5990,-1.81,-80.2,815.8,-13.7,221,5996,0.17,2.40,0.00,0.000,6,0.116,0.035,2554,1753,3323,0,0,0,0,0,0
$GC,6241,-1.87,-80.2,843.0,-10.5,228,6245,0.00,2.55,0.00,0.000,4,0.000,0.067,2554,289,3322,0,0,0,0,0,0
$GC,6324,-1.87,-80.2,853.5,-12.9,229,6330,0.00,2.40,0.00,0.000,6,0.000,0.035,2554,1751,3322,0,0,0,0,0,0
$GC,6576,-1.94,-80.2,881.0,-10.9,236,6581,0.12,2.55,0.00,0.000,4,0.071,0.067,2509,296,3320,0,0,0,0,0,0
$GC,6637,-1.83,-80.2,889.6,-13.9,237,6642,0.20,2.40,0.00,0.000,6,0.115,0.035,2550,1753,3320,0,0,0,0,0,0
$STATE,6741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6741,begin apogee
$GC,6749,-0.31,0.0,901.8,11.1,240,6823,1.50,0.00,65.68,1.168,6,0.091,0.000,2878,1612,3014,0,0,0,0,0,0
$STATE,6824,end apogee,CONTROL_FINISHED_OK
$STATE,6824,begin climb
$GC,6827,1.80,80.2,904.0,0.0,242,6904,1.98,0.00,72.18,1.150,6,0.039,0.000,3355,1612,2688,0,0,0,0,0,0
$GC,7148,1.61,94.1,883.4,8.5,250,7169,0.25,2.78,12.98,1.026,4,0.125,0.052,3303,3205,2630,0,0,0,0,0,0
$GC,7184,1.55,119.5,880.4,7.3,250,7216,0.00,2.65,24.58,1.086,6,0.000,0.039,3303,1637,2527,0,0,0,0,0,0
$GC,7482,1.48,119.5,850.3,10.2,258,7487,0.15,2.65,0.00,0.000,4,0.134,0.082,3272,173,2520,0,0,0,0,0,0
$GC,7746,1.38,119.5,818.8,12.9,263,7751,0.12,2.35,0.00,0.000,6,0.137,0.032,3250,1613,2518,0,0,0,0,0,0
$GC,7997,1.44,119.5,793.1,10.1,269,8003,0.00,2.58,0.00,0.000,4,0.000,0.070,3250,171,2517,0,0,0,0,0,0
$GC,8099,1.44,119.5,780.8,11.9,271,8103,0.00,2.38,0.00,0.000,6,0.000,0.031,3250,1617,2517,0,0,0,0,0,0
$GC,8376,1.51,119.5,752.0,10.3,278,8378,0.12,0.00,0.00,0.000,6,0.072,0.000,3291,1618,2516,0,0,0,0,0,0
$GC,8620,1.51,119.5,727.0,10.1,284,8626,0.00,2.55,0.00,0.000,4,0.000,0.067,3291,177,2515,0,0,0,0,0,0
$GC,8815,1.38,119.5,706.4,10.4,288,8820,0.20,2.35,0.00,0.000,6,0.123,0.032,3251,1623,2514,0,0,0,0,0,0
$GC,9095,1.49,144.5,685.5,7.3,295,9124,0.10,2.65,21.30,1.003,4,0.084,0.067,3287,170,2424,0,0,0,0,0,0
$GC,9337,1.40,144.5,658.0,12.8,300,9342,0.15,2.35,0.00,0.000,6,0.130,0.032,3257,1609,2422,0,0,0,0,0,0
$GC,9611,1.49,144.5,630.4,10.0,307,9616,0.00,2.53,0.00,0.000,4,0.000,0.067,3257,170,2420,0,0,0,0,0,0
$GC,9749,1.49,144.5,615.4,12.1,310,9753,0.00,2.33,0.00,0.000,6,0.000,0.031,3257,1609,2420,0,0,0,0,0,0
$GC,10035,1.59,151.8,588.4,9.2,317,10048,0.15,2.55,7.00,0.801,4,0.065,0.064,3305,170,2396,0,0,0,0,0,0
$GC,10165,1.46,151.8,572.0,13.1,319,10170,0.17,2.35,0.00,0.000,6,0.128,0.029,3271,1612,2395,0,0,0,0,0,0
$GC,10417,1.54,157.5,547.5,9.4,325,10429,0.00,2.58,6.65,0.770,4,0.000,0.063,3270,171,2373,0,0,0,0,0,0
$GC,10609,1.54,157.5,526.6,10.5,329,10613,0.00,2.30,0.00,0.000,6,0.000,0.028,3270,1597,2371,0,0,0,0,0,0
$GC,10887,1.62,164.1,501.7,9.3,336,10897,0.12,0.00,7.47,0.769,6,0.074,0.000,3312,1597,2346,0,0,0,0,0,0
$GC,11130,1.62,164.1,474.0,11.5,342,11134,0.00,2.45,0.00,0.000,4,0.000,0.059,3312,164,2344,0,0,0,0,0,0
$GC,11226,1.52,164.1,460.9,13.2,344,11231,0.15,2.28,0.00,0.000,6,0.134,0.032,3283,1597,2343,0,0,0,0,0,0
$GC,11506,1.58,164.1,429.3,11.2,351,11507,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1598,2343,0,0,0,0,0,0
$GC,11749,1.65,164.1,401.7,11.4,357,11755,0.10,2.50,0.00,0.000,4,0.084,0.059,3319,167,2342,0,0,0,0,0,0
$GC,11898,1.53,164.1,382.4,12.3,360,11903,0.17,2.28,0.00,0.000,6,0.130,0.023,3285,1606,2342,0,0,0,0,0,0
$GC,12177,1.61,174.4,355.2,8.9,367,12193,0.00,2.45,10.27,0.726,4,0.000,0.055,3285,177,2303,0,0,0,0,0,0
$GC,12314,1.61,174.4,340.0,10.8,370,12318,0.00,2.22,0.00,0.000,6,0.000,0.021,3285,1598,2302,0,0,0,0,0,0
$GC,12600,1.72,184.5,314.1,8.9,377,12617,0.17,2.50,10.25,0.690,4,0.057,0.054,3346,172,2262,0,0,0,0,0,0
$GC,12637,1.60,184.5,310.1,11.4,377,12642,0.25,2.25,0.00,0.000,6,0.124,0.021,3297,1600,2261,0,0,0,0,0,0
$GC,12887,1.68,184.5,284.4,10.5,383,12893,0.00,2.45,0.00,0.000,4,0.000,0.052,3297,172,2259,0,0,0,0,0,0
$GC,12953,1.68,184.5,276.1,12.0,384,12958,0.00,2.25,0.00,0.000,6,0.000,0.020,3297,1603,2259,0,0,0,0,0,0
$GC,13221,1.77,184.5,246.4,10.8,391,13226,0.15,2.42,0.00,0.000,4,0.060,0.052,3353,169,2259,0,0,0,0,0,0
$GC,13365,1.61,184.5,226.8,12.0,394,13370,0.25,2.20,0.00,0.000,6,0.120,0.021,3303,1586,2258,0,0,0,0,0,0
$GC,13643,1.73,201.3,202.3,8.2,401,13662,0.10,0.00,15.73,0.625,6,0.080,0.000,3346,1588,2193,0,0,0,0,0,0
$GC,13898,1.73,201.3,173.7,12.1,422,13902,0.00,2.38,0.00,0.000,4,0.000,0.048,3346,158,2191,0,0,0,0,0,0
$GC,14040,1.64,201.3,154.6,13.4,435,14050,0.15,2.28,0.00,0.000,6,0.106,0.021,3311,1589,2191,0,0,0,0,0,0
$GC,14301,1.74,201.4,128.4,10.0,460,14306,0.00,2.38,0.00,0.000,4,0.000,0.045,3310,161,2191,0,0,0,0,0,0
$GC,14567,1.74,206.6,97.9,9.4,484,14578,0.00,2.22,6.45,0.456,6,0.000,0.020,3310,1583,2171,0,0,0,0,0,0
$GC,14836,1.92,221.4,75.0,8.4,509,14856,0.22,2.35,14.38,0.502,4,0.043,0.041,3398,165,2111,0,0,0,0,0,0
$GC,14959,1.76,221.4,62.5,10.9,519,14964,0.32,2.15,0.00,0.000,6,0.112,0.019,3333,1574,2111,0,0,0,0,0,0
$GC,15227,1.90,233.2,40.3,8.7,543,15245,0.12,2.40,11.45,0.459,4,0.072,0.044,3375,164,2064,0,0,0,0,0,0
$GC,15312,1.83,233.2,31.1,11.9,550,15317,0.12,2.20,0.00,0.000,6,0.128,0.018,3351,1586,2064,0,0,0,0,0,0
$STATE,15564,end climb,SURFACE_DEPTH_REACHED
$STATE,15564,begin surface coast
$FINISH,0.7,1.009538
$STATE,15619,end surface coast,CONTROL_FINISHED_OK
$STATE,15619,begin surface
$SM_CCo,15641,95.35,0.469,0,0,1383,400.08
$SM_GC,1.54,0.00,0.00,95.35,0.000,0.000,0.469,412,1919,1383,-11.68,1.36,400.08
$IRIDIUM_FIX,2446.56,-15731.76,011200,040451
$TT8_MAMPS,0.027612
$HUMID,55.67
$INTERNAL_PRESSURE,9.3597
$TCM_TEMP,23.10
$XPDR_PINGS,3
$24V_AH,23.3,23.714
$10V_AH,10.2,24.540
$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,33.450,182.500,286.350,95.350,0.000,29.610,40.613,206.250,0.750,0.000,13.366,1480.553,10410.013,484.294,2655.777,1138.926,33.373,1701.381,0.000,2928.658,0.000,0.538,0.000
$DEVICE_MAMPS,171.041,82.069,1168.141,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.708,439.393,520.805,500.900,934.039,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356024
$DATA_FILE_SIZE,47685,597
$CAP_FILE_SIZE,172489,0
$CFSIZE,260165632,119607296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070911,133936,2501.058,-15729.993,37,1.0,37,10.4