version: 66.06
glider: 148
mission: 9
dive: 331
start: 12 21 110 15 15 35
data:
$ID,148
$MISSION,9
$DIVE,331
$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,-864998.81
$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,33
$R_STBD_OVSHOOT,48
$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
$GPS1,150809,2246.618,-15759.943,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.7
$GPS2,151440,2246.635,-15759.902,35,3.2,54,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.243,-0.059
$KALMAN_X,-46930.5,26.6,-192.5,64233.6,12.5
$KALMAN_Y,-3682.5,108.4,-478.5,127662.8,999.6
$MHEAD_RNG_PITCHd_Wd,246.2,5333,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.05,0.000,2,0.000,0.000,410,1854,3281,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.5,-4.8,10,131,11.98,2.72,-8.00,0.000,4,0.170,0.045,2596,206,3719,0,0,0,0,0,0
$GC,235,-1.17,-146.0,31.7,-13.3,29,240,0.00,2.45,0.00,0.000,6,0.000,0.019,2595,1791,3720,0,0,0,0,0,0
$GC,503,-0.95,-146.0,75.9,-16.9,53,508,0.25,2.53,0.00,0.000,4,0.098,0.031,2653,3370,3720,0,0,0,0,0,0
$GC,583,-1.07,-146.0,87.1,-9.8,60,588,0.12,2.50,0.00,0.000,6,0.059,0.021,2569,1791,3721,0,0,0,0,0,0
$GC,847,-0.82,-146.0,131.3,-15.5,84,857,0.52,0.00,0.00,0.000,6,0.084,0.000,2678,1786,3721,0,0,0,0,0,0
$GC,1116,-1.00,-146.0,150.5,-7.2,109,1121,0.15,2.53,0.00,0.000,4,0.054,0.029,2578,3363,3722,0,0,0,0,0,0
$GC,1184,-1.00,-146.0,158.8,-12.6,115,1190,0.28,2.47,0.00,0.000,6,0.080,0.022,2642,1796,3722,0,0,0,0,0,0
$GC,1449,-1.09,-146.0,182.4,-7.7,139,1454,0.00,2.50,0.00,0.000,4,0.000,0.030,2642,3362,3722,0,0,0,0,0,0
$GC,1491,-1.27,-146.0,185.9,-7.3,142,1497,0.25,2.45,0.00,0.000,6,0.035,0.022,2541,1812,3723,0,0,0,0,0,0
$GC,1778,-1.06,-146.0,222.7,-13.0,158,1783,0.35,2.47,0.00,0.000,4,0.084,0.029,2622,3368,3723,0,0,0,0,0,0
$GC,1806,-1.06,-146.0,226.3,-9.9,158,1811,0.00,2.42,0.00,0.000,6,0.000,0.021,2622,1829,3723,0,0,0,0,0,0
$GC,2063,-1.12,-146.0,245.9,-7.6,165,2067,0.00,2.45,0.00,0.000,4,0.000,0.030,2622,3363,3723,0,0,0,0,0,0
$GC,2100,-1.26,-146.0,248.9,-6.6,165,2107,0.15,2.42,0.00,0.000,6,0.052,0.024,2526,1833,3723,0,0,0,0,0,0
$GC,2352,-1.04,-146.0,281.1,-13.5,172,2354,0.47,0.00,0.00,0.000,6,0.084,0.000,2630,1833,3723,0,0,0,0,0,0
$GC,2594,-1.16,-146.0,298.2,-6.7,178,2599,0.10,2.45,0.00,0.000,4,0.075,0.033,2563,3361,3723,0,0,0,0,0,0
$GC,2641,-1.16,-146.0,302.7,-10.0,179,2646,0.17,2.40,0.00,0.000,6,0.086,0.025,2605,1851,3723,0,0,0,0,0,0
$GC,2926,-1.24,-146.0,325.1,-7.6,186,2930,0.00,2.42,0.00,0.000,4,0.000,0.035,2605,3361,3723,0,0,0,0,0,0
$GC,2964,-1.35,-146.0,328.3,-7.6,186,2970,0.17,2.40,0.00,0.000,6,0.047,0.027,2522,1862,3723,0,0,0,0,0,0
$GC,3214,-1.17,-146.0,359.2,-13.0,193,3221,0.35,2.72,0.00,0.000,4,0.083,0.050,2603,218,3722,0,0,0,0,0,0
$GC,3262,-1.34,-146.0,363.8,-9.0,194,3267,0.15,2.55,0.00,0.000,6,0.054,0.025,2525,1842,3722,0,0,0,0,0,0
$GC,3549,-1.19,-146.0,397.3,-11.3,201,3555,0.32,2.47,0.00,0.000,4,0.084,0.041,2596,3354,3720,0,0,0,0,0,0
$GC,3572,-1.19,-146.0,399.3,-9.3,201,3576,0.00,2.42,0.00,0.000,6,0.000,0.028,2596,1842,3720,0,0,0,0,0,0
$GC,3836,-1.25,-146.0,417.7,-7.1,208,3841,0.00,2.50,0.00,0.000,4,0.000,0.045,2596,3356,3718,0,0,0,0,0,0
$GC,3869,-1.34,-146.0,420.5,-8.0,208,3874,0.12,2.42,0.00,0.000,6,0.062,0.028,2525,1853,3718,0,0,0,0,0,0
$GC,4121,-1.18,-146.0,450.3,-12.5,214,4123,0.35,0.00,0.00,0.000,6,0.084,0.000,2600,1853,3717,0,0,0,0,0,0
$GC,4363,-1.27,-146.0,470.5,-8.1,220,4367,0.00,2.53,0.00,0.000,4,0.000,0.051,2600,3357,3714,0,0,0,0,0,0
$GC,4393,-1.37,-146.0,473.1,-8.6,220,4398,0.15,2.42,0.00,0.000,6,0.053,0.030,2522,1860,3714,0,0,0,0,0,0
$STATE,4646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4646,begin apogee
$GC,4652,-0.31,0.0,503.1,12.1,227,4774,1.20,0.00,118.32,0.861,6,0.082,0.000,2789,1677,3120,0,0,0,0,0,0
$STATE,4774,end apogee,CONTROL_FINISHED_OK
$STATE,4774,begin climb
$GC,4777,1.17,146.0,507.8,0.0,230,4911,1.38,2.65,121.35,0.844,4,0.030,0.072,3122,187,2523,0,0,0,0,0,0
$GC,5066,0.73,146.0,494.5,10.1,236,5075,0.50,2.40,0.00,0.000,6,0.104,0.029,3018,1665,2517,0,0,0,0,0,0
$GC,5319,0.84,238.5,480.6,5.2,243,5400,0.10,0.00,79.00,0.831,6,0.077,0.000,3071,1665,2146,0,0,0,0,0,0
$GC,5643,0.70,238.5,447.0,11.5,251,5648,0.25,2.53,0.00,0.000,4,0.092,0.055,3014,185,2138,0,0,0,0,0,0
$GC,5700,0.70,238.5,440.8,10.2,252,5705,0.00,2.45,0.00,0.000,6,0.000,0.027,3014,1696,2138,0,0,0,0,0,0
$GC,5973,0.71,242.3,416.7,8.8,259,5978,0.00,2.65,0.00,0.000,4,0.000,0.055,3014,3256,2134,0,0,0,0,0,0
$GC,6001,0.71,242.3,414.0,9.9,259,6005,0.00,2.60,0.00,0.000,6,0.000,0.035,3014,1695,2133,0,0,0,0,0,0
$GC,6257,0.72,252.6,391.9,8.6,266,6271,0.00,0.00,11.48,0.721,6,0.000,0.000,3014,1694,2090,0,0,0,0,0,0
$GC,6499,0.75,276.7,372.3,8.0,272,6524,0.00,0.00,22.77,0.760,6,0.000,0.000,3014,1694,1991,0,0,0,0,0,0
$GC,6743,0.78,297.3,352.5,8.2,278,6767,0.00,2.67,19.12,0.736,4,0.000,0.066,3013,168,1908,0,0,0,0,0,0
$GC,6791,0.78,298.7,348.5,9.0,279,6796,0.00,2.47,0.00,0.000,6,0.000,0.027,3014,1691,1906,0,0,0,0,0,0
$GC,7074,0.88,328.5,326.4,7.8,286,7110,0.15,2.65,28.48,0.736,4,0.057,0.056,3082,168,1781,0,0,0,0,0,0
$GC,7157,0.88,328.5,315.7,14.5,287,7163,0.15,2.47,0.00,0.000,6,0.105,0.028,3051,1687,1780,0,0,0,0,0,0
$GC,7406,0.88,328.5,287.9,11.1,294,7411,0.00,2.65,0.00,0.000,4,0.000,0.048,3051,3264,1774,0,0,0,0,0,0
$GC,7451,0.97,328.5,282.7,11.9,295,7456,0.00,2.62,0.00,0.000,6,0.000,0.033,3051,1679,1772,0,0,0,0,0,0
$GC,7739,0.97,328.5,249.2,11.6,302,7744,0.00,2.58,0.00,0.000,4,0.000,0.058,3051,163,1771,0,0,0,0,0,0
$GC,7776,0.97,328.5,244.4,11.9,302,7782,0.00,2.45,0.00,0.000,6,0.000,0.024,3051,1697,1771,0,0,0,0,0,0
$GC,8027,0.97,328.5,218.9,9.9,309,8032,0.00,2.55,0.00,0.000,4,0.000,0.038,3051,3254,1770,0,0,0,0,0,0
$GC,8055,0.97,328.5,216.0,9.4,309,8059,0.00,2.55,0.00,0.000,6,0.000,0.029,3051,1683,1769,0,0,0,0,0,0
$GC,8316,0.97,328.5,190.0,10.1,322,8321,0.00,2.58,0.00,0.000,4,0.000,0.035,3051,3266,1769,0,0,0,0,0,0
$GC,8344,0.97,328.5,186.9,9.7,324,8353,0.00,2.58,0.00,0.000,6,0.000,0.028,3051,1700,1768,0,0,0,0,0,0
$GC,8611,0.97,328.5,162.3,9.8,349,8616,0.00,2.53,0.00,0.000,4,0.000,0.048,3051,173,1768,0,0,0,0,0,0
$GC,8639,0.97,328.5,158.3,11.6,351,8648,0.00,2.45,0.00,0.000,6,0.000,0.022,3051,1710,1768,0,0,0,0,0,0
$GC,8902,0.99,351.6,133.4,8.0,376,8928,0.10,2.60,19.50,0.566,4,0.075,0.046,3122,173,1685,0,0,0,0,0,0
$GC,8944,0.85,351.6,129.1,12.5,379,8949,0.35,2.42,0.00,0.000,6,0.088,0.021,3046,1701,1685,0,0,0,0,0,0
$GC,9209,0.97,370.0,106.8,8.2,403,9233,0.10,2.60,17.67,0.535,4,0.074,0.035,3119,3262,1610,0,0,0,0,0,0
$GC,9284,0.97,370.0,97.9,11.4,410,9293,0.17,2.55,0.00,0.000,6,0.070,0.028,3074,1706,1606,0,0,0,0,0,0
$GC,9552,1.05,384.3,74.9,8.4,435,9578,0.00,2.60,13.62,0.495,4,0.000,0.045,3074,173,1552,0,0,0,0,0,0
$GC,9615,1.13,384.3,68.7,10.3,440,9620,0.12,2.42,0.00,0.000,6,0.061,0.020,3136,1713,1552,0,0,0,0,0,0
$GC,9879,1.02,384.3,32.9,13.6,464,9885,0.25,2.55,0.00,0.000,4,0.090,0.041,3077,171,1551,0,0,0,0,0,0
$GC,9910,1.02,384.3,28.9,12.3,466,9920,0.00,2.42,0.00,0.000,6,0.000,0.020,3077,1707,1551,0,0,0,0,0,0
$STATE,10171,end climb,SURFACE_DEPTH_REACHED
$STATE,10171,begin surface coast
$FINISH,0.7,1.023224
$STATE,10218,end surface coast,CONTROL_FINISHED_OK
$STATE,10218,begin surface
$SM_CCo,10238,17.90,0.062,0,0,1406,420.20
$SM_GC,1.53,0.00,0.00,17.90,0.000,0.000,0.062,413,1895,1406,-11.26,2.97,420.20
$IRIDIUM_FIX,2241.69,-15802.37,160300,121218
$TT8_MAMPS,0.028379
$HUMID,46.65
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,23.6,44.834
$10V_AH,10.3,38.312
$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,32.100,131.275,451.325,17.900,0.000,24.788,32.639,156.327,0.500,0.000,56.596,1069.716,6595.472,545.325,1926.365,513.746,33.377,1312.739,0.000,1894.840,0.000,0.538,0.000
$DEVICE_MAMPS,170.274,79.001,861.341,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.627,310.323,397.256,585.598,1035.728,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355320
$DATA_FILE_SIZE,41568,514
$CAP_FILE_SIZE,115331,0
$CFSIZE,260165632,153649152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211210,180757,2246.758,-15801.443,25,2.5,44,10.1