version: 66.06
glider: 148
mission: 9
dive: 308
start: 12 18 110 16 31 3
data:
$ID,148
$MISSION,9
$DIVE,308
$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,185
$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,420
$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,-864475.25
$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,41
$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
$GPS1,162207,2247.370,-15802.889,38,1.2,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.7
$GPS2,163008,2247.428,-15802.836,13,1.2,13,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.039,0.248
$KALMAN_X,-50395.6,244.8,48.3,62186.4,278.0
$KALMAN_Y,-856.2,405.8,693.1,124826.9,-183.6
$MHEAD_RNG_PITCHd_Wd,341.0,4771,-15.9,-9.009
$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,-1.17,-146.0,0.0,0.0,0,96,0.00,0.00,-75.40,0.000,2,0.000,0.000,412,1878,3279,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.3,-4.0,10,125,11.45,2.38,-8.30,0.000,4,0.151,0.038,2596,3361,3718,0,0,0,0,0,0
$GC,215,-1.03,-146.0,28.3,-14.7,27,225,0.12,2.53,0.00,0.000,6,0.077,0.023,2629,1793,3720,0,0,0,0,0,0
$GC,494,-0.92,-146.0,67.6,-14.2,53,499,0.12,2.55,0.00,0.000,4,0.114,0.030,2656,3367,3720,0,0,0,0,0,0
$GC,549,-0.92,-146.0,75.0,-11.2,57,553,0.00,2.50,0.00,0.000,6,0.000,0.022,2656,1792,3720,0,0,0,0,0,0
$GC,818,-0.92,-146.0,106.5,-11.7,81,822,0.00,2.50,0.00,0.000,4,0.000,0.028,2656,3368,3721,0,0,0,0,0,0
$GC,853,-1.02,-146.0,110.6,-9.1,84,857,0.00,2.47,0.00,0.000,6,0.000,0.022,2656,1800,3721,0,0,0,0,0,0
$GC,1117,-1.12,-146.0,129.4,-6.4,108,1122,0.17,2.50,0.00,0.000,4,0.048,0.030,2564,3368,3721,0,0,0,0,0,0
$GC,1197,-0.99,-146.0,137.2,-10.7,115,1206,0.35,2.47,0.00,0.000,6,0.078,0.022,2643,1803,3722,0,0,0,0,0,0
$GC,1461,-1.08,-146.0,158.6,-9.2,140,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1803,3723,0,0,0,0,0,0
$GC,1718,-1.20,-146.0,182.0,-8.1,164,1723,0.20,2.47,0.00,0.000,4,0.043,0.028,2539,3363,3723,0,0,0,0,0,0
$GC,1768,-1.11,-146.0,188.3,-13.5,168,1777,0.32,2.47,0.00,0.000,6,0.067,0.024,2618,1818,3723,0,0,0,0,0,0
$GC,2053,-1.11,-146.0,215.5,-9.0,184,2057,0.00,2.47,0.00,0.000,4,0.000,0.030,2619,3366,3723,0,0,0,0,0,0
$GC,2087,-1.17,-146.0,218.6,-9.0,184,2092,0.00,2.42,0.00,0.000,6,0.000,0.022,2619,1829,3723,0,0,0,0,0,0
$GC,2337,-1.17,-146.0,239.4,-8.1,190,2341,0.00,2.42,0.00,0.000,4,0.000,0.030,2618,3359,3723,0,0,0,0,0,0
$GC,2366,-1.24,-146.0,241.7,-7.7,190,2371,0.12,2.42,0.00,0.000,6,0.061,0.024,2540,1830,3723,0,0,0,0,0,0
$GC,2623,-1.07,-146.0,271.6,-12.0,197,2625,0.43,0.00,0.00,0.000,6,0.077,0.000,2628,1830,3723,0,0,0,0,0,0
$GC,2865,-1.19,-146.0,288.8,-6.8,203,2870,0.12,2.47,0.00,0.000,4,0.063,0.032,2550,3356,3723,0,0,0,0,0,0
$GC,2921,-1.19,-146.0,294.7,-11.4,204,2926,0.22,2.42,0.00,0.000,6,0.082,0.025,2601,1834,3723,0,0,0,0,0,0
$GC,3196,-1.19,-146.0,319.4,-9.0,211,3200,0.00,2.45,0.00,0.000,4,0.000,0.035,2601,3360,3723,0,0,0,0,0,0
$GC,3219,-1.25,-146.0,321.8,-9.0,211,3224,0.00,2.40,0.00,0.000,6,0.000,0.027,2601,1847,3722,0,0,0,0,0,0
$GC,3481,-1.31,-146.0,341.6,-7.3,218,3485,0.12,2.45,0.00,0.000,4,0.064,0.037,2531,3354,3721,0,0,0,0,0,0
$GC,3518,-1.20,-146.0,345.3,-10.1,218,3525,0.30,2.40,0.00,0.000,6,0.078,0.027,2599,1857,3721,0,0,0,0,0,0
$GC,3769,-1.27,-146.0,365.1,-8.0,225,3773,0.00,2.45,0.00,0.000,4,0.000,0.038,2599,3358,3720,0,0,0,0,0,0
$GC,3789,-1.33,-146.0,366.8,-7.7,225,3794,0.12,2.40,0.00,0.000,6,0.063,0.028,2525,1865,3720,0,0,0,0,0,0
$GC,4054,-1.17,-146.0,395.8,-10.9,232,4056,0.38,0.00,0.00,0.000,6,0.081,0.000,2604,1866,3718,0,0,0,0,0,0
$GC,4300,-1.26,-146.0,415.0,-8.0,238,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1865,3717,0,0,0,0,0,0
$GC,4543,-1.34,-146.0,434.6,-7.9,244,4548,0.15,2.45,0.00,0.000,4,0.056,0.044,2535,3349,3715,0,0,0,0,0,0
$GC,4591,-1.26,-146.0,440.1,-11.7,245,4596,0.22,2.40,0.00,0.000,6,0.085,0.029,2586,1862,3714,0,0,0,0,0,0
$GC,4875,-1.26,-146.0,463.0,-7.9,252,4880,0.00,2.80,0.00,0.000,4,0.000,0.062,2586,220,3713,0,0,0,0,0,0
$GC,4899,-1.26,-146.0,465.1,-8.5,252,4903,0.00,2.62,0.00,0.000,6,0.000,0.030,2586,1847,3713,0,0,0,0,0,0
$GC,5158,-1.26,-146.0,483.9,-7.2,259,5162,0.00,2.47,0.00,0.000,4,0.000,0.048,2586,3350,3711,0,0,0,0,0,0
$GC,5193,-1.34,-146.0,486.3,-7.2,259,5197,0.00,2.40,0.00,0.000,6,0.000,0.037,2586,1868,3710,0,0,0,0,0,0
$STATE,5399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5399,begin apogee
$GC,5405,-0.31,0.0,501.0,7.1,264,5526,0.90,0.00,117.43,0.868,6,0.073,0.000,2790,1671,3120,0,0,0,0,0,0
$STATE,5526,end apogee,CONTROL_FINISHED_OK
$STATE,5527,begin climb
$GC,5529,1.17,146.0,504.9,0.0,267,5661,1.35,2.67,120.88,0.851,4,0.027,0.071,3137,181,2523,0,0,0,0,0,0
$GC,5927,0.70,146.0,476.5,11.4,276,5934,0.60,2.40,0.00,0.000,6,0.104,0.028,3012,1664,2515,0,0,0,0,0,0
$GC,6212,0.79,217.8,458.7,6.0,283,6280,0.00,2.58,60.17,0.828,4,0.000,0.056,3012,183,2230,0,0,0,0,0,0
$GC,6325,0.79,217.8,449.6,10.1,285,6329,0.00,2.42,0.00,0.000,6,0.000,0.026,3012,1682,2228,0,0,0,0,0,0
$GC,6584,0.79,224.1,426.7,8.7,292,6596,0.10,2.65,5.40,0.606,4,0.078,0.057,3059,180,2206,0,0,0,0,0,0
$GC,6640,0.62,224.1,420.6,11.8,293,6646,0.30,2.42,0.00,0.000,6,0.094,0.026,2996,1675,2205,0,0,0,0,0,0
$GC,6919,0.73,266.3,399.3,7.3,300,6960,0.10,0.00,38.17,0.795,6,0.077,0.000,3045,1676,2034,0,0,0,0,0,0
$GC,7204,0.73,266.3,369.9,10.8,307,7209,0.12,2.55,0.00,0.000,4,0.108,0.054,3019,182,2027,0,0,0,0,0,0
$GC,7251,0.73,266.3,364.5,11.0,308,7255,0.00,2.40,0.00,0.000,6,0.000,0.027,3019,1664,2027,0,0,0,0,0,0
$GC,7534,0.77,297.2,341.4,7.7,315,7568,0.00,2.75,27.60,0.752,4,0.000,0.049,3019,3256,1907,0,0,0,0,0,0
$GC,7595,0.87,321.6,336.9,8.0,316,7624,0.12,2.65,22.98,0.733,6,0.065,0.033,3085,1671,1809,0,0,0,0,0,0
$GC,7913,0.77,321.6,296.6,13.3,324,7920,0.25,2.67,0.00,0.000,4,0.096,0.044,3028,3256,1801,0,0,0,0,0,0
$GC,7938,0.77,321.6,293.1,10.7,324,7943,0.00,2.62,0.00,0.000,6,0.000,0.031,3028,1658,1799,0,0,0,0,0,0
$GC,8197,0.77,321.6,268.5,9.4,331,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1658,1799,0,0,0,0,0,0
$GC,8441,0.83,321.6,245.0,9.5,337,8446,0.00,2.65,0.00,0.000,4,0.000,0.037,3028,3258,1798,0,0,0,0,0,0
$GC,8476,0.95,321.6,241.9,9.0,337,8485,0.17,2.62,0.00,0.000,6,0.048,0.031,3096,1651,1795,0,0,0,0,0,0
$GC,8729,0.84,321.6,212.9,11.6,344,8734,0.25,2.50,0.00,0.000,4,0.097,0.051,3038,166,1795,0,0,0,0,0,0
$GC,8763,0.84,321.6,209.1,10.4,344,8768,0.00,2.40,0.00,0.000,6,0.000,0.023,3038,1682,1795,0,0,0,0,0,0
$GC,9021,0.84,321.6,184.9,9.8,359,9025,0.00,2.53,0.00,0.000,4,0.000,0.048,3038,163,1794,0,0,0,0,0,0
$GC,9039,0.84,321.6,182.7,10.8,360,9048,0.00,2.38,0.00,0.000,6,0.000,0.022,3038,1655,1794,0,0,0,0,0,0
$GC,9307,0.84,321.6,155.7,9.8,385,9311,0.00,2.60,0.00,0.000,4,0.000,0.034,3038,3260,1794,0,0,0,0,0,0
$GC,9352,0.95,321.6,150.9,9.5,389,9357,0.12,2.60,0.00,0.000,6,0.064,0.028,3087,1655,1793,0,0,0,0,0,0
$GC,9615,0.95,321.6,123.8,10.1,413,9619,0.00,2.42,0.00,0.000,4,0.000,0.048,3088,168,1793,0,0,0,0,0,0
$GC,9710,0.95,321.6,112.5,11.1,422,9719,0.00,2.38,0.00,0.000,6,0.000,0.021,3087,1669,1793,0,0,0,0,0,0
$GC,9978,0.96,327.5,87.9,8.8,447,9982,0.00,2.47,0.00,0.000,4,0.000,0.044,3088,173,1793,0,0,0,0,0,0
$GC,10037,0.96,327.5,81.5,9.5,452,10046,0.05,2.35,0.00,0.000,6,0.099,0.021,3072,1665,1793,0,0,0,0,0,0
$GC,10302,0.97,334.8,59.4,8.7,477,10320,0.00,0.00,10.18,0.473,6,0.000,0.000,3072,1665,1755,0,0,0,0,0,0
$GC,10579,0.97,334.8,35.1,9.0,503,10587,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1664,1754,0,0,0,0,0,0
$GC,10880,1.06,354.2,7.7,8.2,547,10905,0.00,2.47,18.85,0.460,4,0.000,0.042,3072,171,1673,0,0,0,0,0,0
$GC,10915,1.14,367.9,4.7,8.4,551,10924,0.10,2.35,3.78,0.308,2,0.029,0.019,3163,1659,1664,0,0,0,0,0,0
$STATE,10925,end climb,SURFACE_DEPTH_REACHED
$STATE,10925,begin surface coast
$FINISH,0.5,1.022931
$STATE,10989,end surface coast,CONTROL_FINISHED_OK
$STATE,10989,begin surface
$SM_CCo,11011,36.62,0.363,1,0,1407,420.20
$SM_GC,1.42,0.00,0.00,36.62,0.000,0.000,0.363,411,1866,1407,-11.27,2.18,420.20
$IRIDIUM_FIX,2239.35,-15804.53,130300,131348
$TT8_MAMPS,0.026845
$HUMID,44.72
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,23.00
$XPDR_PINGS,2
$24V_AH,23.6,41.975
$10V_AH,10.3,35.697
$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,30.650,135.200,425.425,36.625,0.000,29.346,32.461,281.015,0.500,0.000,15.345,1164.805,7059.447,522.758,2124.581,664.799,33.374,1368.486,0.000,2139.195,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,71.331,868.244,362.791,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.314,357.460,445.075,673.843,1191.524,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,44722,562
$CAP_FILE_SIZE,125373,0
$CFSIZE,260165632,154963968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181210,193623,2248.797,-15802.584,8,99.0,27,10.1