version: 66.06
glider: 148
mission: 9
dive: 435
start: 1 3 111 18 14 55
data:
$ID,148
$MISSION,9
$DIVE,435
$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,-867428.31
$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,31
$R_STBD_OVSHOOT,50
$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
$GPS1,180027,2249.727,-15801.188,41,1.9,41,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-66.4
$GPS2,181358,2249.777,-15801.207,14,3.2,33,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.243,0.060
$KALMAN_X,-48599.6,-84.1,-401.3,63981.9,19.3
$KALMAN_Y,-85526.0,539.1,369.2,214044.1,-505.5
$MHEAD_RNG_PITCHd_Wd,66.2,7192,-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,15,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.45,0.000,2,0.000,0.000,408,1867,3328,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.6,-4.7,10,123,11.48,0.00,-7.15,0.000,6,0.151,0.000,2596,1868,3718,0,0,0,0,0,0
$GC,393,-1.01,-146.0,58.2,-14.9,44,398,0.20,2.38,0.00,0.000,4,0.098,0.029,2639,3363,3719,0,0,0,0,0,0
$GC,479,-1.08,-146.0,68.8,-10.6,51,483,0.00,2.50,0.00,0.000,6,0.000,0.023,2639,1780,3719,0,0,0,0,0,0
$GC,747,-1.08,-146.0,97.5,-10.1,75,751,0.00,2.53,0.00,0.000,4,0.000,0.028,2639,3371,3720,0,0,0,0,0,0
$GC,799,-1.22,-146.0,102.4,-8.3,79,804,0.17,2.50,0.00,0.000,6,0.046,0.022,2543,1796,3720,0,0,0,0,0,0
$GC,1067,-0.97,-146.0,139.8,-14.3,103,1076,0.50,2.50,0.00,0.000,4,0.081,0.028,2644,3367,3720,0,0,0,0,0,0
$GC,1111,-1.13,-146.0,144.6,-7.8,107,1116,0.12,2.45,0.00,0.000,6,0.059,0.022,2560,1806,3721,0,0,0,0,0,0
$GC,1375,-0.97,-146.0,176.2,-11.9,131,1381,0.45,0.00,0.00,0.000,6,0.078,0.000,2649,1806,3721,0,0,0,0,0,0
$GC,1638,-1.13,-146.0,195.2,-7.5,156,1643,0.15,2.53,0.00,0.000,4,0.054,0.030,2565,3369,3721,0,0,0,0,0,0
$GC,1699,-1.13,-146.0,201.8,-11.0,160,1705,0.22,2.47,0.00,0.000,6,0.082,0.022,2616,1809,3721,0,0,0,0,0,0
$GC,1973,-1.13,-146.0,224.7,-8.0,167,1977,0.00,2.50,0.00,0.000,4,0.000,0.029,2616,3370,3721,0,0,0,0,0,0
$GC,2045,-1.27,-146.0,229.9,-7.3,168,2050,0.15,2.45,0.00,0.000,6,0.053,0.024,2525,1826,3721,0,0,0,0,0,0
$GC,2305,-1.04,-146.0,264.1,-13.5,175,2312,0.50,2.60,0.00,0.000,4,0.081,0.039,2629,214,3721,0,0,0,0,0,0
$GC,2326,-1.04,-146.0,266.7,-11.4,175,2330,0.00,2.50,0.00,0.000,6,0.000,0.021,2629,1829,3721,0,0,0,0,0,0
$GC,2592,-1.17,-146.0,283.8,-6.4,182,2597,0.10,2.45,0.00,0.000,4,0.076,0.032,2562,3361,3721,0,0,0,0,0,0
$GC,2644,-1.17,-146.0,288.6,-8.9,183,2649,0.20,2.42,0.00,0.000,6,0.081,0.024,2608,1840,3720,0,0,0,0,0,0
$GC,2925,-1.26,-146.0,309.8,-7.8,190,2929,0.00,2.47,0.00,0.000,4,0.000,0.034,2608,3368,3719,0,0,0,0,0,0
$GC,2968,-1.41,-146.0,313.5,-7.2,191,2973,0.22,2.40,0.00,0.000,6,0.038,0.026,2514,1855,3719,0,0,0,0,0,0
$GC,3256,-1.22,-146.0,349.1,-12.6,198,3263,0.32,2.70,0.00,0.000,4,0.084,0.048,2590,218,3718,0,0,0,0,0,0
$GC,3283,-1.22,-146.0,351.9,-9.7,198,3288,0.00,2.58,0.00,0.000,6,0.000,0.024,2590,1843,3718,0,0,0,0,0,0
$GC,3542,-1.22,-146.0,372.3,-7.9,205,3547,0.00,2.45,0.00,0.000,4,0.000,0.038,2590,3357,3717,0,0,0,0,0,0
$GC,3575,-1.29,-146.0,375.2,-8.4,205,3579,0.00,2.40,0.00,0.000,6,0.000,0.027,2590,1860,3717,0,0,0,0,0,0
$GC,3826,-1.29,-146.0,397.6,-9.2,211,3831,0.00,2.45,0.00,0.000,4,0.000,0.040,2590,3361,3715,0,0,0,0,0,0
$GC,3854,-1.36,-146.0,400.5,-9.1,211,3859,0.10,2.40,0.00,0.000,6,0.076,0.028,2517,1861,3715,0,0,0,0,0,0
$GC,4110,-1.18,-146.0,432.8,-13.1,218,4115,0.38,2.45,0.00,0.000,4,0.082,0.041,2599,3353,3713,0,0,0,0,0,0
$GC,4131,-1.18,-146.0,435.2,-11.3,218,4135,0.00,2.40,0.00,0.000,6,0.000,0.027,2599,1865,3713,0,0,0,0,0,0
$GC,4395,-1.26,-146.0,455.9,-7.7,225,4399,0.00,2.45,0.00,0.000,4,0.000,0.044,2598,3354,3711,0,0,0,0,0,0
$GC,4418,-1.35,-146.0,457.8,-8.8,225,4423,0.15,2.38,0.00,0.000,6,0.052,0.028,2517,1881,3711,0,0,0,0,0,0
$GC,4680,-1.20,-146.0,488.2,-11.9,232,4685,0.35,2.45,0.00,0.000,4,0.083,0.045,2597,3360,3710,0,0,0,0,0,0
$GC,4719,-1.32,-146.0,492.1,-8.4,232,4725,0.10,2.38,0.00,0.000,6,0.074,0.029,2523,1893,3709,0,0,0,0,0,0
$STATE,4803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4803,begin apogee
$GC,4811,-0.31,0.0,500.9,10.2,235,4932,1.20,0.00,117.45,0.864,6,0.074,0.000,2793,1680,3120,0,0,0,0,0,0
$STATE,4933,end apogee,CONTROL_FINISHED_OK
$STATE,4933,begin climb
$GC,4935,1.17,146.0,505.3,0.0,238,5070,1.35,2.70,121.12,0.846,4,0.029,0.071,3137,177,2523,0,0,0,0,0,0
$GC,5320,0.71,146.0,480.8,9.6,246,5326,0.57,2.42,0.00,0.000,6,0.102,0.028,3017,1665,2516,0,0,0,0,0,0
$GC,5571,0.79,217.8,465.1,6.0,253,5634,0.00,0.00,60.45,0.825,6,0.000,0.000,3017,1665,2232,0,0,0,0,0,0
$GC,5857,0.80,225.4,441.8,8.7,260,5869,0.00,2.60,7.00,0.660,4,0.000,0.057,3017,177,2201,0,0,0,0,0,0
$GC,5908,0.80,225.4,437.2,9.4,261,5913,0.00,2.45,0.00,0.000,6,0.000,0.025,3017,1687,2200,0,0,0,0,0,0
$GC,6190,0.85,263.0,415.3,7.4,268,6233,0.12,2.75,34.12,0.792,4,0.065,0.053,3084,3251,2045,0,0,0,0,0,0
$GC,6242,0.70,263.0,410.6,10.5,269,6249,0.32,2.60,0.00,0.000,6,0.086,0.034,3014,1697,2044,0,0,0,0,0,0
$GC,6527,0.74,296.8,387.6,7.6,276,6563,0.00,2.75,30.48,0.775,4,0.000,0.067,3014,168,1909,0,0,0,0,0,0
$GC,6608,0.82,304.3,381.2,8.7,277,6622,0.10,2.45,8.32,0.662,6,0.077,0.026,3070,1687,1879,0,0,0,0,0,0
$GC,6906,0.74,304.3,347.8,11.6,285,6911,0.22,2.62,0.00,0.000,4,0.092,0.057,3022,167,1873,0,0,0,0,0,0
$GC,6968,0.74,304.3,341.3,9.9,286,6973,0.00,2.42,0.00,0.000,6,0.000,0.025,3022,1674,1873,0,0,0,0,0,0
$GC,7239,0.81,307.6,317.5,8.9,293,7243,0.00,2.65,0.00,0.000,4,0.000,0.046,3021,3253,1871,0,0,0,0,0,0
$GC,7267,0.90,307.6,314.9,9.4,293,7273,0.15,2.62,0.00,0.000,6,0.056,0.032,3085,1669,1869,0,0,0,0,0,0
$GC,7525,0.79,307.6,283.5,12.6,300,7530,0.25,2.60,0.00,0.000,4,0.093,0.062,3027,163,1869,0,0,0,0,0,0
$GC,7576,0.79,307.6,277.4,11.0,301,7581,0.00,2.40,0.00,0.000,6,0.000,0.024,3027,1677,1868,0,0,0,0,0,0
$GC,7856,0.89,327.4,253.9,8.2,308,7884,0.12,2.62,20.23,0.680,4,0.065,0.057,3088,163,1784,0,0,0,0,0,0
$GC,7946,0.82,327.4,242.8,13.4,310,7951,0.22,2.40,0.00,0.000,6,0.092,0.024,3039,1660,1783,0,0,0,0,0,0
$GC,8235,0.88,327.4,215.1,9.4,317,8240,0.00,2.62,0.00,0.000,4,0.000,0.038,3039,3253,1779,0,0,0,0,0,0
$GC,8263,0.96,327.4,212.0,9.9,317,8269,0.12,2.65,0.00,0.000,6,0.063,0.030,3097,1642,1777,0,0,0,0,0,0
$GC,8526,0.86,327.4,178.1,13.4,333,8531,0.22,2.47,0.00,0.000,4,0.094,0.051,3049,171,1777,0,0,0,0,0,0
$GC,8576,0.86,327.4,171.8,12.8,337,8580,0.00,2.35,0.00,0.000,6,0.000,0.022,3049,1661,1777,0,0,0,0,0,0
$GC,8842,0.87,331.3,144.6,8.8,361,8846,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1665,1776,0,0,0,0,0,0
$GC,9105,1.01,391.8,123.3,6.5,386,9170,0.12,2.70,56.62,0.594,4,0.064,0.035,3116,3255,1520,0,0,0,0,0,0
$GC,9204,1.01,391.8,112.3,12.2,395,9210,0.17,2.65,0.00,0.000,6,0.094,0.028,3078,1641,1516,0,0,0,0,0,0
$GC,9466,1.07,391.8,85.5,9.9,420,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1641,1514,0,0,0,0,0,0
$GC,9725,1.07,391.8,60.0,10.1,444,9729,0.00,2.62,0.00,0.000,4,0.000,0.032,3078,3253,1514,0,0,0,0,0,0
$GC,9743,1.07,391.8,57.9,10.2,445,9747,0.00,2.58,0.00,0.000,6,0.000,0.025,3078,1645,1511,0,0,0,0,0,0
$GC,10010,1.07,391.8,31.0,10.0,469,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1645,1511,0,0,0,0,0,0
$STATE,10264,end climb,SURFACE_DEPTH_REACHED
$STATE,10264,begin surface coast
$FINISH,0.9,1.023810
$STATE,10302,end surface coast,CONTROL_FINISHED_OK
$STATE,10303,begin surface
$SM_CCo,10322,18.50,0.252,1,0,1406,420.20
$SM_GC,1.62,0.00,0.00,18.50,0.000,0.000,0.252,414,1831,1406,-11.26,1.16,420.20
$IRIDIUM_FIX,2241.69,-15802.37,290300,181819
$TT8_MAMPS,0.027612
$HUMID,49.13
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.5,56.974
$10V_AH,10.1,49.965
$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,31.825,131.375,455.800,18.500,0.000,52.724,75.518,455.431,0.250,0.000,35.559,1093.416,6589.144,514.349,2069.488,894.759,33.381,1343.940,0.000,2044.330,0.000,0.538,0.000
$DEVICE_MAMPS,151.099,71.331,863.642,252.343,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.152,312.436,396.761,603.358,1067.085,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,41383,515
$CAP_FILE_SIZE,127248,0
$CFSIZE,260165632,147664896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030111,210834,2249.937,-15759.952,11,99.0,30,10.1