version: 66.06
glider: 148
mission: 9
dive: 179
start: 12 3 110 12 53 19
data:
$ID,148
$MISSION,9
$DIVE,179
$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,166
$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,450
$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,-861603.19
$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,29
$R_STBD_OVSHOOT,85
$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
$GPS1,124136,2249.684,-15759.397,34,1.7,34,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-61.8
$GPS2,125225,2249.673,-15759.474,15,1.6,32,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.260,-0.013
$KALMAN_X,-75707.3,45.4,-45.0,93579.0,-525.5
$KALMAN_Y,8339.9,-102.3,-507.7,121506.3,423.8
$MHEAD_RNG_PITCHd_Wd,82.8,4266,-17.6,-10.040
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-81.70,0.000,2,0.000,0.000,410,1845,3390,0,0,0,0,0,0
$GC,106,-1.28,-146.0,4.0,-6.9,11,130,11.45,2.67,-5.68,0.000,4,0.156,0.047,2574,205,3716,0,0,0,0,0,0
$GC,165,-1.07,-146.0,25.2,-26.1,19,175,0.20,2.42,0.00,0.000,6,0.079,0.020,2623,1746,3718,0,0,0,0,0,0
$GC,437,-1.07,-146.0,63.5,-12.9,45,442,0.00,2.58,0.00,0.000,4,0.000,0.032,2623,3367,3719,0,0,0,0,0,0
$GC,515,-1.07,-146.0,74.6,-11.7,51,524,0.00,2.53,0.00,0.000,6,0.000,0.025,2623,1797,3719,0,0,0,0,0,0
$GC,776,-1.07,-146.0,104.9,-10.3,76,780,0.00,2.50,0.00,0.000,4,0.000,0.031,2624,3370,3719,0,0,0,0,0,0
$GC,837,-1.20,-146.0,110.5,-8.8,81,842,0.10,2.47,0.00,0.000,6,0.072,0.022,2550,1800,3719,0,0,0,0,0,0
$GC,1103,-1.06,-146.0,146.9,-15.5,105,1112,0.35,2.53,0.00,0.000,4,0.086,0.035,2626,214,3720,0,0,0,0,0,0
$GC,1159,-1.30,-146.0,154.0,-9.5,110,1166,0.20,2.47,0.00,0.000,6,0.044,0.020,2528,1813,3721,0,0,0,0,0,0
$GC,1422,-1.13,-146.0,191.6,-15.2,135,1427,0.35,2.45,0.00,0.000,4,0.088,0.029,2609,3367,3720,0,0,0,0,0,0
$GC,1444,-1.13,-146.0,194.7,-12.8,136,1450,0.00,2.45,0.00,0.000,6,0.000,0.021,2608,1795,3721,0,0,0,0,0,0
$GC,1707,-1.23,-146.0,219.1,-9.4,147,1711,0.00,2.50,0.00,0.000,4,0.000,0.031,2608,3361,3721,0,0,0,0,0,0
$GC,1735,-1.32,-146.0,221.9,-9.5,147,1740,0.15,2.45,0.00,0.000,6,0.054,0.022,2523,1807,3721,0,0,0,0,0,0
$GC,1990,-1.15,-146.0,259.3,-15.0,154,1993,0.43,0.00,0.00,0.000,6,0.087,0.000,2607,1807,3721,0,0,0,0,0,0
$GC,2234,-1.27,-146.0,285.4,-10.4,160,2239,0.10,2.50,0.00,0.000,4,0.077,0.033,2554,3361,3721,0,0,0,0,0,0
$GC,2286,-1.27,-146.0,291.9,-11.8,161,2291,0.12,2.45,0.00,0.000,6,0.103,0.025,2582,1816,3721,0,0,0,0,0,0
$GC,2565,-1.27,-146.0,320.1,-9.5,168,2570,0.00,2.62,0.00,0.000,4,0.000,0.046,2582,211,3721,0,0,0,0,0,0
$GC,2580,-1.27,-146.0,321.7,-8.8,168,2584,0.00,2.50,0.00,0.000,6,0.000,0.021,2582,1819,3721,0,0,0,0,0,0
$GC,2850,-1.34,-146.0,344.3,-8.7,175,2854,0.00,2.47,0.00,0.000,4,0.000,0.037,2582,3367,3720,0,0,0,0,0,0
$GC,2868,-1.34,-146.0,346.2,-8.5,175,2873,0.00,2.45,0.00,0.000,6,0.000,0.025,2582,1826,3720,0,0,0,0,0,0
$GC,3133,-1.43,-146.0,369.6,-9.0,182,3138,0.15,2.55,0.00,0.000,4,0.058,0.041,2510,3366,3719,0,0,0,0,0,0
$GC,3172,-1.34,-146.0,374.5,-12.5,182,3179,0.25,2.45,0.00,0.000,6,0.088,0.028,2567,1828,3719,0,0,0,0,0,0
$GC,3422,-1.34,-146.0,402.3,-11.1,189,3426,0.00,2.53,0.00,0.000,4,0.000,0.047,2567,3358,3717,0,0,0,0,0,0
$GC,3444,-1.34,-146.0,405.1,-12.3,189,3449,0.00,2.42,0.00,0.000,6,0.000,0.028,2567,1838,3717,0,0,0,0,0,0
$GC,3705,-1.34,-146.0,431.4,-10.1,196,3709,0.00,2.55,0.00,0.000,4,0.000,0.048,2567,3362,3716,0,0,0,0,0,0
$GC,3719,-1.34,-146.0,433.0,-9.7,196,3723,0.00,2.42,0.00,0.000,6,0.000,0.027,2567,1841,3716,0,0,0,0,0,0
$GC,3987,-1.40,-146.0,457.4,-9.1,203,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1837,3714,0,0,0,0,0,0
$GC,4232,-1.47,-146.0,478.3,-8.6,209,4237,0.12,2.58,0.00,0.000,4,0.069,0.054,2512,3357,3712,0,0,0,0,0,0
$GC,4266,-1.40,-146.0,482.2,-11.8,209,4271,0.20,2.47,0.00,0.000,6,0.094,0.032,2556,1837,3712,0,0,0,0,0,0
$STATE,4472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4472,begin apogee
$GC,4479,-0.31,0.0,502.1,9.3,214,4600,1.05,0.00,116.90,0.872,6,0.079,0.000,2792,1668,3119,0,0,0,0,0,0
$STATE,4601,end apogee,CONTROL_FINISHED_OK
$STATE,4601,begin climb
$GC,4603,1.28,146.0,507.4,0.0,217,4733,1.40,2.67,120.07,0.854,4,0.023,0.068,3149,188,2523,0,0,0,0,0,0
$GC,4957,0.84,146.0,484.6,11.8,225,4964,0.50,2.40,0.00,0.000,6,0.109,0.030,3046,1668,2515,0,0,0,0,0,0
$GC,5248,0.93,218.1,464.6,6.7,232,5316,0.00,2.60,60.33,0.834,4,0.000,0.058,3046,184,2229,0,0,0,0,0,0
$GC,5364,0.86,218.1,453.6,11.4,234,5368,0.00,2.45,0.00,0.000,6,0.000,0.029,3046,1680,2225,0,0,0,0,0,0
$GC,5620,0.87,226.3,428.9,9.7,241,5632,0.00,2.65,6.88,0.663,4,0.000,0.059,3046,183,2197,0,0,0,0,0,0
$GC,5693,0.80,226.3,421.1,11.0,242,5697,0.00,2.42,0.00,0.000,6,0.000,0.027,3046,1674,2195,0,0,0,0,0,0
$GC,5953,0.83,249.6,397.8,9.0,249,5977,0.00,0.00,21.58,0.782,6,0.000,0.000,3046,1675,2102,0,0,0,0,0,0
$GC,6196,0.86,270.2,375.9,9.1,255,6216,0.00,0.00,18.67,0.761,6,0.000,0.000,3046,1675,2018,0,0,0,0,0,0
$GC,6439,0.86,275.8,352.1,9.8,261,6451,0.00,2.72,5.57,0.597,4,0.000,0.047,3046,3258,1994,0,0,0,0,0,0
$GC,6462,0.86,275.8,349.9,10.6,261,6467,0.00,2.62,0.00,0.000,6,0.000,0.032,3046,1681,1993,0,0,0,0,0,0
$GC,6726,0.86,275.8,323.5,10.3,268,6730,0.00,2.60,0.00,0.000,4,0.000,0.064,3046,166,1991,0,0,0,0,0,0
$GC,6781,0.86,275.8,317.0,11.6,269,6786,0.00,2.40,0.00,0.000,6,0.000,0.025,3046,1665,1991,0,0,0,0,0,0
$GC,7055,0.86,275.8,287.3,11.0,276,7056,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1666,1989,0,0,0,0,0,0
$GC,7298,0.87,285.2,263.1,9.6,282,7309,0.00,0.00,9.05,0.635,6,0.000,0.000,3046,1666,1957,0,0,0,0,0,0
$GC,7542,0.97,310.9,241.3,8.8,288,7569,0.10,0.00,24.17,0.681,6,0.078,0.000,3099,1667,1852,0,0,0,0,0,0
$GC,7787,0.90,310.9,212.5,11.9,294,7792,0.20,2.60,0.00,0.000,4,0.100,0.038,3057,3256,1847,0,0,0,0,0,0
$GC,7806,0.90,310.9,210.0,11.3,294,7811,0.00,2.62,0.00,0.000,6,0.000,0.029,3057,1648,1845,0,0,0,0,0,0
$GC,8068,0.91,316.4,184.1,9.8,312,8081,0.00,2.47,5.03,0.482,4,0.000,0.047,3057,181,1830,0,0,0,0,0,0
$GC,8116,0.91,316.4,179.5,10.7,316,8120,0.00,2.35,0.00,0.000,6,0.000,0.022,3057,1667,1829,0,0,0,0,0,0
$GC,8382,1.00,332.3,154.6,9.3,340,8403,0.00,2.62,15.20,0.586,4,0.000,0.033,3057,3250,1764,0,0,0,0,0,0
$GC,8416,1.10,344.9,151.0,9.5,343,8435,0.17,2.60,12.20,0.564,6,0.051,0.028,3134,1644,1713,0,0,0,0,0,0
$GC,8695,1.01,344.9,111.7,14.1,369,8700,0.25,2.40,0.00,0.000,4,0.097,0.051,3076,175,1710,0,0,0,0,0,0
$GC,8776,1.12,344.9,101.0,12.0,376,8786,0.08,2.33,0.00,0.000,6,0.039,0.021,3136,1643,1710,0,0,0,0,0,0
$GC,9044,1.06,344.9,66.5,13.0,401,9050,0.22,2.58,0.00,0.000,4,0.121,0.031,3089,3253,1709,0,0,0,0,0,0
$GC,9064,1.06,344.9,63.3,13.2,402,9068,0.00,2.58,0.00,0.000,6,0.000,0.027,3089,1640,1707,0,0,0,0,0,0
$GC,9331,1.06,344.9,32.6,12.3,426,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1640,1707,0,0,0,0,0,0
$STATE,9592,end climb,SURFACE_DEPTH_REACHED
$STATE,9593,begin surface coast
$FINISH,0.9,1.011356
$STATE,9627,end surface coast,CONTROL_FINISHED_OK
$STATE,9627,begin surface
$SM_CCo,9647,54.25,0.404,1,0,1284,450.13
$SM_GC,1.49,0.00,0.00,54.25,0.000,0.000,0.404,411,1848,1284,-11.27,1.64,450.13
$IRIDIUM_FIX,2241.69,-15801.49,270200,121228
$TT8_MAMPS,0.026845
$HUMID,43.50
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,23.6,26.774
$10V_AH,10.4,22.386
$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,28.850,116.175,415.650,54.250,0.000,54.201,79.295,284.229,0.500,0.000,33.751,986.034,6369.062,529.507,1769.921,704.164,33.364,1249.004,0.000,1757.755,0.000,0.538,0.000
$DEVICE_MAMPS,155.701,68.263,872.079,404.209,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.535,288.043,359.823,539.455,953.908,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355324
$DATA_FILE_SIZE,38364,472
$CAP_FILE_SIZE,111017,0
$CFSIZE,260165632,161980416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031210,153725,2249.487,-15758.261,79,99.0,98,10.1