version: 66.06
glider: 148
mission: 9
dive: 338
start: 12 22 110 12 20 0
data:
$ID,148
$MISSION,9
$DIVE,338
$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,-865192.19
$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,30
$R_STBD_OVSHOOT,56
$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
$GPS1,121001,2249.647,-15759.820,37,1.7,37,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.8
$GPS2,121902,2249.640,-15759.776,15,1.5,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.242,0.065
$KALMAN_X,-46578.3,-86.7,23.4,63994.5,-120.8
$KALMAN_Y,-5914.8,-594.8,-248.3,135933.4,-360.2
$MHEAD_RNG_PITCHd_Wd,65.0,4786,-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,-75.22,0.000,2,0.000,0.000,407,1852,3300,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.7,-5.2,10,123,11.62,2.40,-7.70,0.000,4,0.156,0.039,2596,3358,3718,0,0,0,0,0,0
$GC,139,0.06,-146.0,17.4,-32.1,15,148,1.17,2.53,0.00,0.000,6,0.079,0.021,2861,1782,3719,0,0,0,0,0,0
$GC,433,-0.71,-146.0,42.5,-10.1,53,445,0.65,2.58,0.00,0.000,4,0.066,0.042,2710,209,3721,0,0,0,0,0,0
$GC,454,-1.36,-146.0,44.9,-10.4,54,464,0.57,2.47,0.00,0.000,6,0.029,0.018,2546,1816,3721,0,0,0,0,0,0
$GC,721,-1.06,-146.0,90.5,-20.9,79,726,0.35,2.42,0.00,0.000,4,0.092,0.028,2625,3340,3721,0,0,0,0,0,0
$GC,874,-1.14,-146.0,108.4,-10.1,93,878,0.00,2.42,0.00,0.000,6,0.000,0.022,2625,1808,3721,0,0,0,0,0,0
$GC,1139,-1.14,-146.0,133.6,-9.6,117,1144,0.00,2.45,0.00,0.000,4,0.000,0.029,2625,3340,3722,0,0,0,0,0,0
$GC,1201,-1.26,-146.0,140.1,-8.8,122,1210,0.12,2.42,0.00,0.000,6,0.023,0.024,2540,1821,3722,0,0,0,0,0,0
$GC,1462,-1.05,-146.0,175.4,-13.5,147,1474,0.38,2.58,0.00,0.000,4,0.087,0.037,2627,214,3722,0,0,0,0,0,0
$GC,1517,-1.26,-146.0,180.7,-8.2,152,1522,0.17,2.45,0.00,0.000,6,0.048,0.019,2541,1814,3722,0,0,0,0,0,0
$GC,1806,-1.07,-146.0,216.2,-13.0,170,1811,0.38,2.45,0.00,0.000,4,0.084,0.030,2624,3361,3722,0,0,0,0,0,0
$GC,1856,-1.20,-146.0,221.2,-8.5,171,1860,0.12,2.42,0.00,0.000,6,0.060,0.023,2542,1819,3723,0,0,0,0,0,0
$GC,2139,-1.04,-146.0,259.3,-14.2,178,2146,0.40,2.60,0.00,0.000,4,0.081,0.041,2629,214,3723,0,0,0,0,0,0
$GC,2155,-1.04,-146.0,261.4,-11.7,178,2159,0.00,2.50,0.00,0.000,6,0.000,0.021,2628,1819,3723,0,0,0,0,0,0
$GC,2426,-1.18,-146.0,283.6,-8.2,185,2431,0.12,2.47,0.00,0.000,4,0.064,0.033,2561,3370,3723,0,0,0,0,0,0
$GC,2477,-1.18,-146.0,289.1,-10.2,186,2482,0.17,2.47,0.00,0.000,6,0.085,0.025,2602,1817,3723,0,0,0,0,0,0
$GC,2758,-1.25,-146.0,313.3,-8.7,193,2762,0.00,2.50,0.00,0.000,4,0.000,0.035,2602,3365,3722,0,0,0,0,0,0
$GC,2781,-1.34,-146.0,315.7,-9.5,193,2786,0.15,2.45,0.00,0.000,6,0.054,0.027,2515,1838,3722,0,0,0,0,0,0
$GC,3041,-1.14,-146.0,349.3,-13.4,200,3048,0.43,2.70,0.00,0.000,4,0.083,0.050,2607,206,3721,0,0,0,0,0,0
$GC,3074,-1.28,-146.0,352.3,-8.0,200,3079,0.12,2.55,0.00,0.000,6,0.061,0.025,2535,1826,3721,0,0,0,0,0,0
$GC,3329,-1.17,-146.0,378.6,-10.3,207,3335,0.30,2.53,0.00,0.000,4,0.084,0.041,2602,3368,3719,0,0,0,0,0,0
$GC,3393,-1.31,-146.0,383.7,-7.5,208,3398,0.12,2.47,0.00,0.000,6,0.062,0.029,2521,1836,3719,0,0,0,0,0,0
$GC,3662,-1.13,-146.0,416.8,-13.0,215,3664,0.45,0.00,0.00,0.000,6,0.083,0.000,2612,1835,3718,0,0,0,0,0,0
$GC,3906,-1.26,-146.0,434.0,-6.7,221,3911,0.12,2.58,0.00,0.000,4,0.065,0.046,2554,3369,3716,0,0,0,0,0,0
$GC,3955,-1.26,-146.0,438.6,-9.4,222,3960,0.15,2.47,0.00,0.000,6,0.093,0.029,2588,1840,3715,0,0,0,0,0,0
$GC,4237,-1.26,-146.0,463.6,-8.8,229,4242,0.00,2.55,0.00,0.000,4,0.000,0.048,2588,3363,3713,0,0,0,0,0,0
$GC,4257,-1.26,-146.0,465.6,-10.0,229,4262,0.00,2.45,0.00,0.000,6,0.000,0.028,2589,1846,3713,0,0,0,0,0,0
$GC,4521,-1.32,-146.0,489.0,-8.8,236,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1846,3711,0,0,0,0,0,0
$STATE,4681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4681,begin apogee
$GC,4687,-0.31,0.0,502.7,8.4,240,4808,0.90,0.00,117.55,0.871,6,0.072,0.000,2794,1675,3120,0,0,0,0,0,0
$STATE,4808,end apogee,CONTROL_FINISHED_OK
$STATE,4809,begin climb
$GC,4812,1.17,146.0,507.9,0.0,243,4942,1.33,2.75,121.65,0.853,4,0.028,0.051,3127,3251,2523,0,0,0,0,0,0
$GC,4967,0.89,184.7,510.0,7.4,246,5008,0.35,2.60,33.33,0.819,6,0.104,0.038,3055,1698,2366,0,0,0,0,0,0
$GC,5268,0.78,200.5,484.6,8.3,254,5289,0.12,2.78,13.85,0.763,4,0.120,0.074,3029,168,2301,0,0,0,0,0,0
$GC,5388,0.67,205.4,474.6,8.8,256,5401,0.10,2.42,5.38,0.608,6,0.130,0.028,3008,1665,2282,0,0,0,0,0,0
$GC,5651,0.75,263.4,457.1,6.6,263,5708,0.00,2.62,51.20,0.824,4,0.000,0.060,3008,167,2045,0,0,0,0,0,0
$GC,5737,0.75,265.4,450.5,8.9,265,5742,0.00,2.45,0.00,0.000,6,0.000,0.027,3008,1669,2044,0,0,0,0,0,0
$GC,6024,0.76,276.2,426.4,8.6,272,6041,0.00,2.72,11.62,0.736,4,0.000,0.054,3008,3254,1993,0,0,0,0,0,0
$GC,6076,0.87,276.2,422.2,9.0,273,6083,0.17,2.67,0.00,0.000,6,0.051,0.036,3076,1663,1990,0,0,0,0,0,0
$GC,6356,0.77,276.2,391.1,11.3,280,6358,0.22,0.00,0.00,0.000,6,0.098,0.000,3028,1663,1988,0,0,0,0,0,0
$GC,6600,0.77,281.7,369.2,8.8,286,6612,0.00,2.67,5.43,0.594,4,0.000,0.044,3029,3256,1970,0,0,0,0,0,0
$GC,6637,0.79,292.7,366.1,8.6,286,6654,0.00,2.62,11.73,0.716,6,0.000,0.034,3028,1669,1926,0,0,0,0,0,0
$GC,6933,0.80,304.3,340.9,8.5,294,6950,0.00,2.65,11.52,0.700,4,0.000,0.066,3028,164,1879,0,0,0,0,0,0
$GC,6993,0.80,304.3,335.3,10.0,295,6998,0.00,2.45,0.00,0.000,6,0.000,0.026,3028,1679,1878,0,0,0,0,0,0
$GC,7263,0.81,315.3,311.7,8.5,302,7280,0.00,2.67,11.23,0.680,4,0.000,0.048,3028,3252,1834,0,0,0,0,0,0
$GC,7304,0.89,315.3,307.9,9.7,302,7310,0.10,2.62,0.00,0.000,6,0.077,0.033,3079,1667,1830,0,0,0,0,0,0
$GC,7555,0.81,315.3,280.8,10.9,309,7560,0.20,2.58,0.00,0.000,4,0.097,0.062,3035,170,1829,0,0,0,0,0,0
$GC,7574,0.81,315.3,278.3,11.2,309,7579,0.00,2.42,0.00,0.000,6,0.000,0.024,3035,1685,1829,0,0,0,0,0,0
$GC,7838,0.81,315.3,253.6,9.6,316,7842,0.00,2.60,0.00,0.000,4,0.000,0.055,3035,163,1828,0,0,0,0,0,0
$GC,7872,0.81,315.3,249.9,11.0,316,7876,0.00,2.40,0.00,0.000,6,0.000,0.024,3035,1673,1827,0,0,0,0,0,0
$GC,8122,0.88,320.9,227.1,8.8,322,8134,0.00,2.58,5.53,0.531,4,0.000,0.038,3035,3241,1810,0,0,0,0,0,0
$GC,8158,1.00,339.0,224.1,8.3,322,8183,0.17,2.60,17.35,0.648,6,0.049,0.031,3112,1661,1737,0,0,0,0,0,0
$GC,8442,0.87,339.0,190.7,11.2,334,8447,0.25,2.50,0.00,0.000,4,0.092,0.049,3053,168,1733,0,0,0,0,0,0
$GC,8511,0.87,339.0,183.6,9.8,340,8515,0.00,2.35,0.00,0.000,6,0.000,0.022,3053,1677,1732,0,0,0,0,0,0
$GC,8776,0.87,339.0,159.1,9.1,364,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1680,1731,0,0,0,0,0,0
$GC,9043,0.98,371.4,137.4,7.7,389,9074,0.00,0.00,29.25,0.584,6,0.000,0.000,3053,1680,1606,0,0,0,0,0,0
$GC,9326,1.12,418.3,115.5,7.1,416,9370,0.20,0.00,41.50,0.567,6,0.045,0.000,3142,1680,1414,0,0,0,0,0,0
$GC,9634,1.02,418.3,74.0,14.1,445,9640,0.25,2.53,0.00,0.000,4,0.091,0.041,3083,163,1409,0,0,0,0,0,0
$GC,9655,1.02,418.3,70.5,14.4,446,9664,0.00,2.38,0.00,0.000,6,0.000,0.020,3083,1664,1408,0,0,0,0,0,0
$GC,9923,1.08,418.3,40.8,11.2,471,9927,0.00,2.55,0.00,0.000,4,0.000,0.031,3083,3255,1407,0,0,0,0,0,0
$GC,9976,1.21,418.3,34.3,10.3,475,9985,0.12,2.60,0.00,0.000,6,0.025,0.028,3159,1667,1405,0,0,0,0,0,0
$STATE,10184,end climb,SURFACE_DEPTH_REACHED
$STATE,10184,begin surface coast
$FINISH,0.6,1.014374
$STATE,10214,end surface coast,CONTROL_FINISHED_OK
$STATE,10214,begin surface
$SM_CCo,10295,0.00,0.000,0,0,1402,421.18
$SM_GC,1.40,11.02,0.00,0.00,0.019,0.000,0.000,408,1862,1402,-11.19,2.04,421.18
$IRIDIUM_FIX,2239.35,-15802.37,170300,090918
$TT8_MAMPS,0.026845
$HUMID,46.77
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.6,45.623
$10V_AH,10.3,39.089
$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,33.625,132.125,488.100,0.000,0.000,26.033,37.137,330.037,0.000,0.000,16.466,1070.676,6590.732,521.302,1951.049,702.841,33.397,1338.437,0.000,1953.006,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,74.399,870.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.099,312.178,392.161,585.142,1035.365,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,41597,510
$CAP_FILE_SIZE,121789,0
$CFSIZE,260165632,153243648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221210,151239,2249.578,-15758.584,7,2.3,26,10.1