version: 66.06
glider: 148
mission: 9
dive: 260
start: 12 12 110 21 12 8
data:
$ID,148
$MISSION,9
$DIVE,260
$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,-863453.06
$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,29
$R_STBD_OVSHOOT,54
$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
$GPS1,210431,2248.564,-15803.090,65,1.2,65,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-66.3
$GPS2,211113,2248.562,-15803.086,10,1.0,15,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.025,0.185
$KALMAN_X,-60009.7,-83.3,-97.2,71846.7,394.3
$KALMAN_Y,2502.1,264.5,-356.1,124763.9,817.3
$MHEAD_RNG_PITCHd_Wd,342.3,2668,-25.3,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.67,-73.0,0.0,0.0,0,103,0.00,0.00,-82.75,0.000,2,0.000,0.000,411,1805,3349,0,0,0,0,0,0
$GC,107,-1.74,-130.4,3.4,-4.7,11,131,10.93,2.47,-5.57,0.000,4,0.156,0.033,2472,3376,3653,0,0,0,0,0,0
$GC,165,-1.54,-130.4,23.3,-27.2,19,174,0.20,2.55,0.00,0.000,6,0.095,0.021,2519,1783,3654,0,0,0,0,0,0
$GC,445,-1.54,-130.4,81.7,-20.1,46,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1783,3654,0,0,0,0,0,0
$GC,710,-1.54,-130.4,132.9,-18.1,71,714,0.00,2.53,0.00,0.000,4,0.000,0.030,2519,3358,3655,0,0,0,0,0,0
$GC,745,-1.61,-130.4,139.7,-18.2,74,749,0.00,2.50,0.00,0.000,6,0.000,0.024,2519,1785,3655,0,0,0,0,0,0
$GC,1009,-1.73,-130.4,180.6,-15.2,98,1014,0.15,2.55,0.00,0.000,4,0.058,0.038,2465,211,3656,0,0,0,0,0,0
$GC,1028,-1.73,-130.4,184.3,-15.5,99,1037,0.00,2.45,0.00,0.000,6,0.000,0.018,2465,1781,3657,0,0,0,0,0,0
$GC,1283,-1.73,-130.4,230.1,-18.2,112,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1784,3657,0,0,0,0,0,0
$GC,1525,-1.73,-130.4,270.9,-16.9,118,1529,0.00,2.50,0.00,0.000,4,0.000,0.032,2465,3362,3658,0,0,0,0,0,0
$GC,1548,-1.73,-130.4,275.1,-16.9,118,1552,0.00,2.50,0.00,0.000,6,0.000,0.023,2465,1785,3658,0,0,0,0,0,0
$GC,1808,-1.73,-130.4,315.9,-15.7,125,1813,0.00,2.58,0.00,0.000,4,0.000,0.046,2465,208,3658,0,0,0,0,0,0
$GC,1827,-1.73,-130.4,319.8,-18.3,125,1831,0.00,2.42,0.00,0.000,6,0.000,0.022,2465,1767,3658,0,0,0,0,0,0
$GC,2090,-1.73,-130.4,363.3,-16.4,132,2094,0.00,2.60,0.00,0.000,4,0.000,0.050,2465,211,3658,0,0,0,0,0,0
$GC,2122,-1.73,-130.4,369.5,-19.0,132,2127,0.00,2.50,0.00,0.000,6,0.000,0.026,2465,1778,3658,0,0,0,0,0,0
$GC,2374,-1.79,-130.4,410.8,-16.0,138,2378,0.00,2.65,0.00,0.000,4,0.000,0.055,2465,211,3657,0,0,0,0,0,0
$GC,2420,-1.87,-130.4,418.6,-16.3,139,2425,0.00,2.53,0.00,0.000,6,0.000,0.030,2465,1774,3657,0,0,0,0,0,0
$GC,2704,-1.97,-130.4,461.8,-15.6,146,2710,0.15,2.65,0.00,0.000,4,0.061,0.047,2412,3376,3655,0,0,0,0,0,0
$GC,2728,-1.97,-130.4,466.5,-18.6,146,2733,0.00,2.60,0.00,0.000,6,0.000,0.032,2412,1785,3655,0,0,0,0,0,0
$STATE,2944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2944,begin apogee
$GC,2950,-0.31,0.0,503.7,17.0,152,3061,1.73,0.00,106.40,0.845,6,0.090,0.000,2790,1661,3120,0,0,0,0,0,0
$STATE,3061,end apogee,CONTROL_FINISHED_OK
$STATE,3062,begin climb
$GC,3065,1.74,130.4,506.2,0.0,154,3183,1.83,2.75,107.28,0.833,4,0.022,0.051,3253,3256,2587,0,0,0,0,0,0
$GC,3270,1.49,130.4,497.2,13.4,158,3278,0.35,2.60,0.00,0.000,6,0.133,0.037,3187,1694,2582,0,0,0,0,0,0
$GC,3528,1.36,130.4,467.8,11.0,165,3535,0.15,2.67,0.00,0.000,4,0.140,0.074,3158,166,2578,0,0,0,0,0,0
$GC,3730,1.19,130.4,445.0,10.5,169,3735,0.20,2.40,0.00,0.000,6,0.134,0.027,3121,1663,2575,0,0,0,0,0,0
$GC,3999,1.23,159.6,424.2,7.3,176,4028,0.00,2.65,23.58,0.783,4,0.000,0.058,3120,161,2468,0,0,0,0,0,0
$GC,4111,1.23,162.3,413.8,9.8,178,4116,0.00,2.40,0.00,0.000,6,0.000,0.026,3120,1656,2465,0,0,0,0,0,0
$GC,4371,1.33,182.4,392.5,8.2,185,4399,0.12,2.62,20.05,0.761,4,0.070,0.058,3169,161,2375,0,0,0,0,0,0
$GC,4584,1.19,182.4,365.2,12.6,189,4590,0.25,2.40,0.00,0.000,6,0.124,0.025,3121,1652,2370,0,0,0,0,0,0
$GC,4841,1.29,182.4,338.6,10.1,196,4846,0.00,2.55,0.00,0.000,4,0.000,0.056,3120,166,2367,0,0,0,0,0,0
$GC,4948,1.29,182.4,326.2,11.0,198,4952,0.00,2.38,0.00,0.000,6,0.000,0.024,3120,1653,2366,0,0,0,0,0,0
$GC,5218,1.41,189.1,301.0,9.4,205,5231,0.17,2.58,5.35,0.561,4,0.054,0.055,3185,172,2349,0,0,0,0,0,0
$GC,5421,1.25,189.1,274.2,13.2,209,5426,0.25,2.33,0.00,0.000,6,0.123,0.024,3137,1645,2346,0,0,0,0,0,0
$GC,5691,1.36,195.9,248.1,9.4,216,5700,0.00,0.00,7.07,0.586,6,0.000,0.000,3137,1645,2320,0,0,0,0,0,0
$GC,5934,1.48,207.5,226.0,9.0,222,5948,0.20,0.00,11.25,0.622,6,0.051,0.000,3207,1645,2274,0,0,0,0,0,0
$GC,6179,1.42,207.5,198.0,11.8,228,6184,0.17,2.53,0.00,0.000,4,0.119,0.049,3171,157,2270,0,0,0,0,0,0
$GC,6239,1.34,207.5,190.3,12.4,233,6245,0.10,2.33,0.00,0.000,6,0.153,0.022,3155,1642,2269,0,0,0,0,0,0
$GC,6503,1.42,208.1,163.1,10.0,258,6507,0.00,2.47,0.00,0.000,4,0.000,0.053,3155,160,2268,0,0,0,0,0,0
$GC,6794,1.43,217.4,129.3,9.2,286,6811,0.00,2.33,9.25,0.529,6,0.000,0.021,3155,1631,2232,0,0,0,0,0,0
$GC,7067,1.59,233.5,104.7,8.6,312,7089,0.20,2.47,14.77,0.541,4,0.048,0.045,3230,156,2167,0,0,0,0,0,0
$GC,7291,1.43,233.5,74.2,15.4,333,7300,0.25,2.33,0.00,0.000,6,0.102,0.020,3174,1628,2165,0,0,0,0,0,0
$GC,7559,1.52,233.5,45.8,10.4,358,7563,0.00,2.42,0.00,0.000,4,0.000,0.043,3174,157,2165,0,0,0,0,0,0
$GC,7773,1.52,233.5,18.6,13.6,383,7781,0.00,2.28,0.00,0.000,6,0.000,0.020,3174,1605,2164,0,0,0,0,0,0
$STATE,7917,end climb,SURFACE_DEPTH_REACHED
$STATE,7918,begin surface coast
$FINISH,0.6,1.010479
$STATE,7959,end surface coast,CONTROL_FINISHED_OK
$STATE,7959,begin surface
$SM_CCo,7980,101.12,0.061,0,0,1285,450.13
$SM_GC,1.65,0.00,0.00,101.12,0.000,0.000,0.061,412,1844,1285,-11.26,1.53,450.13
$IRIDIUM_FIX,2239.35,-15804.53,070300,181843
$TT8_MAMPS,0.026845
$HUMID,43.85
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.6,36.129
$10V_AH,10.3,30.627
$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,28.650,90.475,305.000,101.125,0.000,29.414,38.370,195.636,0.500,0.000,16.692,889.198,4885.090,459.480,1745.528,506.745,33.373,1158.157,0.000,1741.655,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,73.632,845.234,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,277.720,262.979,324.910,500.837,886.610,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355388
$DATA_FILE_SIZE,32105,412
$CAP_FILE_SIZE,93827,0
$CFSIZE,260165632,157638656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121210,232758,2249.812,-15803.052,7,3.0,26,10.1