version: 66.06
glider: 148
mission: 9
dive: 191
start: 12 5 110 0 31 53
data:
$ID,148
$MISSION,9
$DIVE,191
$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,-861994.25
$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,32
$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
$GPS1,001307,2249.411,-15758.490,34,1.7,34,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-66.7
$GPS2,003057,2249.333,-15758.574,12,2.8,31,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.235,0.110
$KALMAN_X,-79732.5,92.7,7.0,99053.7,-327.5
$KALMAN_Y,7407.2,-88.0,-457.7,121747.4,-182.0
$MHEAD_RNG_PITCHd_Wd,54.8,2958,-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,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.25,0.000,2,0.000,0.000,415,1872,3391,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.8,-6.7,11,130,11.30,2.72,-5.75,0.000,4,0.152,0.051,2571,201,3717,0,0,0,0,0,0
$GC,147,-0.27,-146.0,19.2,-36.8,16,156,1.00,2.53,0.00,0.000,6,0.081,0.020,2797,1790,3718,0,0,0,0,0,0
$GC,444,-1.10,-146.0,41.7,-10.2,55,456,0.73,2.53,0.00,0.000,4,0.058,0.028,2623,3381,3720,0,0,0,0,0,0
$GC,476,-1.54,-146.0,45.2,-10.3,57,485,0.38,2.58,0.00,0.000,6,0.033,0.022,2515,1772,3720,0,0,0,0,0,0
$GC,738,-1.21,-146.0,99.1,-20.6,82,743,0.35,2.50,0.00,0.000,4,0.102,0.034,2593,212,3719,0,0,0,0,0,0
$GC,799,-1.33,-146.0,107.9,-11.7,87,803,0.00,2.42,0.00,0.000,6,0.000,0.018,2592,1793,3719,0,0,0,0,0,0
$GC,1064,-1.33,-146.0,138.8,-11.6,111,1068,0.00,2.50,0.00,0.000,4,0.000,0.030,2593,3369,3720,0,0,0,0,0,0
$GC,1134,-1.41,-146.0,146.6,-10.1,117,1139,0.17,2.53,0.00,0.000,6,0.048,0.023,2507,1774,3720,0,0,0,0,0,0
$GC,1397,-1.22,-146.0,187.6,-16.0,141,1409,0.35,2.53,0.00,0.000,4,0.094,0.029,2587,3359,3721,0,0,0,0,0,0
$GC,1420,-1.14,-146.0,191.0,-13.7,143,1425,0.10,2.45,0.00,0.000,6,0.123,0.021,2609,1791,3721,0,0,0,0,0,0
$GC,1686,-1.24,-146.0,215.5,-9.0,156,1690,0.00,2.55,0.00,0.000,4,0.000,0.031,2609,3366,3721,0,0,0,0,0,0
$GC,1705,-1.34,-146.0,217.5,-9.5,156,1710,0.17,2.47,0.00,0.000,6,0.046,0.022,2523,1789,3721,0,0,0,0,0,0
$GC,1971,-1.19,-146.0,252.9,-13.7,163,1976,0.32,2.55,0.00,0.000,4,0.092,0.038,2597,204,3721,0,0,0,0,0,0
$GC,1995,-1.19,-146.0,256.1,-11.4,163,1999,0.00,2.47,0.00,0.000,6,0.000,0.020,2597,1790,3721,0,0,0,0,0,0
$GC,2254,-1.29,-146.0,279.0,-8.4,170,2258,0.00,2.53,0.00,0.000,4,0.000,0.033,2596,3364,3721,0,0,0,0,0,0
$GC,2316,-1.43,-146.0,284.0,-7.6,171,2322,0.20,2.50,0.00,0.000,6,0.040,0.025,2530,1801,3721,0,0,0,0,0,0
$GC,2586,-1.35,-146.0,316.7,-12.4,178,2588,0.17,0.00,0.00,0.000,6,0.117,0.000,2564,1800,3720,0,0,0,0,0,0
$GC,2830,-1.35,-146.0,342.6,-10.4,184,2835,0.00,2.53,0.00,0.000,4,0.000,0.037,2564,3364,3719,0,0,0,0,0,0
$GC,2858,-1.35,-146.0,345.6,-9.9,184,2863,0.00,2.50,0.00,0.000,6,0.000,0.027,2564,1807,3719,0,0,0,0,0,0
$GC,3113,-1.35,-146.0,370.5,-9.8,191,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1808,3718,0,0,0,0,0,0
$GC,3356,-1.35,-146.0,393.6,-9.6,197,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1807,3716,0,0,0,0,0,0
$GC,3602,-1.35,-146.0,416.6,-9.5,203,3606,0.00,2.58,0.00,0.000,4,0.000,0.044,2564,3359,3715,0,0,0,0,0,0
$GC,3658,-1.44,-146.0,422.3,-9.8,204,3662,0.00,2.53,0.00,0.000,6,0.000,0.032,2564,1809,3714,0,0,0,0,0,0
$GC,3932,-1.44,-146.0,447.3,-9.1,211,3937,0.00,2.58,0.00,0.000,4,0.000,0.047,2564,3353,3712,0,0,0,0,0,0
$GC,3956,-1.44,-146.0,449.7,-9.8,211,3960,0.00,2.50,0.00,0.000,6,0.000,0.031,2564,1801,3712,0,0,0,0,0,0
$GC,4215,-1.50,-146.0,472.8,-9.1,218,4220,0.12,2.60,0.00,0.000,4,0.064,0.049,2517,3353,3710,0,0,0,0,0,0
$GC,4236,-1.50,-146.0,475.1,-10.7,218,4240,0.00,2.50,0.00,0.000,6,0.000,0.028,2516,1808,3709,0,0,0,0,0,0
$STATE,4456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4456,begin apogee
$GC,4462,-0.31,0.0,501.0,11.7,224,4582,1.27,0.00,116.40,0.871,6,0.097,0.000,2793,1667,3120,0,0,0,0,0,0
$STATE,4583,end apogee,CONTROL_FINISHED_OK
$STATE,4583,begin climb
$GC,4585,1.28,146.0,505.8,0.0,227,4718,1.42,2.78,120.80,0.854,4,0.034,0.052,3141,3231,2523,0,0,0,0,0,0
$GC,4797,1.00,153.5,501.5,9.7,231,4811,0.32,2.58,7.00,0.672,6,0.121,0.036,3078,1699,2494,0,0,0,0,0,0
$GC,5097,0.91,196.3,477.6,8.1,239,5139,0.00,2.72,36.97,0.827,4,0.000,0.070,3077,166,2319,0,0,0,0,0,0
$GC,5235,0.71,196.3,462.6,11.9,242,5240,0.30,2.40,0.00,0.000,6,0.107,0.026,3016,1657,2314,0,0,0,0,0,0
$GC,5524,0.81,229.7,437.5,8.5,249,5560,0.00,2.60,28.52,0.807,4,0.000,0.057,3015,167,2182,0,0,0,0,0,0
$GC,5580,0.81,229.7,432.3,10.4,250,5585,0.00,2.45,0.00,0.000,6,0.000,0.025,3015,1670,2181,0,0,0,0,0,0
$GC,5853,0.93,269.1,409.2,8.2,257,5896,0.20,2.72,34.58,0.799,4,0.047,0.051,3090,3254,2021,0,0,0,0,0,0
$GC,5907,0.82,269.1,403.4,11.5,258,5915,0.25,2.67,0.00,0.000,6,0.098,0.032,3038,1664,2019,0,0,0,0,0,0
$GC,6189,0.84,279.9,375.9,9.5,265,6201,0.00,0.00,9.93,0.703,6,0.000,0.000,3038,1664,1978,0,0,0,0,0,0
$GC,6431,0.85,293.0,352.8,9.4,271,6451,0.00,2.60,13.05,0.723,4,0.000,0.064,3038,170,1924,0,0,0,0,0,0
$GC,6472,0.85,293.0,348.9,10.5,271,6477,0.00,2.42,0.00,0.000,6,0.000,0.024,3038,1669,1923,0,0,0,0,0,0
$GC,6723,0.93,293.0,323.4,10.1,278,6728,0.10,2.67,0.00,0.000,4,0.077,0.045,3086,3263,1919,0,0,0,0,0,0
$GC,6784,0.93,293.0,315.8,12.0,279,6789,0.12,2.62,0.00,0.000,6,0.117,0.032,3061,1673,1917,0,0,0,0,0,0
$GC,7055,0.93,293.0,286.6,10.6,286,7059,0.00,2.62,0.00,0.000,4,0.000,0.041,3062,3262,1916,0,0,0,0,0,0
$GC,7070,0.93,293.0,284.6,10.6,286,7074,0.00,2.60,0.00,0.000,6,0.000,0.030,3061,1675,1916,0,0,0,0,0,0
$GC,7338,0.93,293.0,256.9,10.2,293,7342,0.00,2.55,0.00,0.000,4,0.000,0.058,3061,169,1915,0,0,0,0,0,0
$GC,7358,0.93,293.0,254.9,10.2,293,7362,0.00,2.40,0.00,0.000,6,0.000,0.022,3061,1686,1915,0,0,0,0,0,0
$GC,7621,0.94,304.4,229.3,9.5,300,7633,0.00,0.00,10.12,0.622,6,0.000,0.000,3061,1689,1878,0,0,0,0,0,0
$GC,7865,0.96,320.0,206.4,9.3,306,7885,0.00,2.62,14.57,0.628,4,0.000,0.050,3061,172,1814,0,0,0,0,0,0
$GC,7915,0.96,320.0,201.8,11.2,307,7919,0.00,2.38,0.00,0.000,6,0.000,0.023,3061,1672,1813,0,0,0,0,0,0
$GC,8187,0.97,328.6,176.4,9.6,330,8200,0.00,2.60,8.55,0.556,4,0.000,0.034,3061,3263,1778,0,0,0,0,0,0
$GC,8235,1.05,328.6,172.1,11.3,334,8240,0.12,2.62,0.00,0.000,6,0.064,0.028,3111,1655,1776,0,0,0,0,0,0
$GC,8496,0.99,328.6,135.7,14.2,358,8501,0.17,2.45,0.00,0.000,4,0.104,0.046,3074,170,1776,0,0,0,0,0,0
$GC,8547,0.99,328.6,129.3,12.4,362,8556,0.00,2.38,0.00,0.000,6,0.000,0.022,3074,1661,1776,0,0,0,0,0,0
$GC,8813,1.02,358.1,102.3,8.7,387,8846,0.00,2.65,26.23,0.558,4,0.000,0.033,3074,3248,1659,0,0,0,0,0,0
$GC,8869,1.16,363.7,96.6,9.8,392,8881,0.12,2.60,6.28,0.452,6,0.026,0.028,3144,1674,1637,0,0,0,0,0,0
$GC,9146,1.07,363.7,59.2,14.3,418,9151,0.25,2.47,0.00,0.000,4,0.098,0.042,3087,167,1634,0,0,0,0,0,0
$GC,9223,1.14,363.7,49.8,11.6,424,9227,0.00,2.35,0.00,0.000,6,0.000,0.020,3087,1682,1633,0,0,0,0,0,0
$GC,9500,1.14,363.7,20.4,11.6,455,9509,0.00,2.55,0.00,0.000,4,0.000,0.033,3087,3251,1632,0,0,0,0,0,0
$GC,9544,1.23,367.5,16.1,9.9,461,9555,0.12,2.58,4.20,0.338,6,0.025,0.028,3174,1671,1622,0,0,0,0,0,0
$STATE,9619,end climb,SURFACE_DEPTH_REACHED
$STATE,9619,begin surface coast
$FINISH,0.7,1.023200
$STATE,9642,end surface coast,CONTROL_FINISHED_OK
$STATE,9642,begin surface
$SM_CCo,9663,45.25,0.390,1,0,1283,450.13
$SM_GC,1.57,0.00,0.00,45.25,0.000,0.000,0.390,414,1873,1283,-11.25,2.35,450.13
$IRIDIUM_FIX,2239.35,-15757.16,290200,000057
$TT8_MAMPS,0.026845
$HUMID,43.89
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.6,28.418
$10V_AH,10.4,23.672
$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,31.425,132.700,437.200,45.250,0.000,107.540,148.357,444.927,0.500,0.000,33.881,1003.453,6404.813,533.465,1823.080,1023.991,33.364,1294.176,0.000,1810.405,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,69.797,870.545,390.403,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.012,289.704,362.288,556.954,985.385,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,38213,475
$CAP_FILE_SIZE,123831,0
$CFSIZE,260165632,161308672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051210,031506,2249.534,-15757.647,25,1.6,39,10.1