version: 66.06
glider: 148
mission: 9
dive: 533
start: 1 16 111 15 16 28
data:
$ID,148
$MISSION,9
$DIVE,533
$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,208
$T_MISSION,450
$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,380
$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,-869798.06
$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,30
$R_STBD_OVSHOOT,44
$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
$GPS1,150254,2248.837,-15756.939,36,1.0,36,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-66.1
$GPS2,151532,2248.810,-15757.076,13,1.1,13,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.074,-0.217
$KALMAN_X,-116658.2,251.3,47.6,138355.9,-321.3
$KALMAN_Y,-153287.5,672.6,248.6,279993.7,-631.7
$MHEAD_RNG_PITCHd_Wd,188.6,3574,-15.0,-8.013
$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,-1.10,-131.4,0.0,0.0,0,103,0.00,0.00,-82.18,0.000,2,0.000,0.000,411,1848,3417,0,0,0,0,0,0
$GC,106,-1.12,-146.0,3.8,-3.9,11,131,11.52,2.72,-5.45,0.000,4,0.150,0.052,2610,209,3715,0,0,0,0,0,0
$GC,185,-1.12,-146.0,22.6,-13.2,22,194,0.00,2.50,0.00,0.000,6,0.000,0.019,2609,1790,3718,0,0,0,0,0,0
$GC,462,-0.99,-146.0,56.0,-11.9,51,467,0.15,2.53,0.00,0.000,4,0.100,0.030,2643,3361,3717,0,0,0,0,0,0
$GC,552,-1.06,-146.0,64.9,-8.8,58,556,0.00,2.47,0.00,0.000,6,0.000,0.022,2643,1798,3718,0,0,0,0,0,0
$GC,814,-1.06,-146.0,90.9,-9.6,82,818,0.00,2.50,0.00,0.000,4,0.000,0.030,2642,3365,3718,0,0,0,0,0,0
$GC,843,-1.06,-146.0,93.9,-9.5,84,852,0.00,2.50,0.00,0.000,6,0.000,0.023,2643,1811,3717,0,0,0,0,0,0
$GC,1111,-1.06,-146.0,114.4,-6.6,109,1115,0.00,2.58,0.00,0.000,4,0.000,0.044,2643,214,3718,0,0,0,0,0,0
$GC,1147,-1.21,-146.0,117.1,-6.8,112,1152,0.20,2.50,0.00,0.000,6,0.042,0.018,2547,1825,3718,0,0,0,0,0,0
$GC,1408,-1.01,-146.0,146.8,-11.6,136,1413,0.40,2.45,0.00,0.000,4,0.081,0.028,2636,3360,3719,0,0,0,0,0,0
$GC,1455,-1.16,-146.0,150.4,-6.2,140,1460,0.12,2.42,0.00,0.000,6,0.059,0.022,2569,1812,3719,0,0,0,0,0,0
$GC,1716,-1.04,-146.0,178.1,-11.8,164,1721,0.25,2.58,0.00,0.000,4,0.082,0.038,2628,215,3719,0,0,0,0,0,0
$GC,1737,-1.04,-146.0,180.4,-10.6,165,1746,0.00,2.50,0.00,0.000,6,0.000,0.019,2628,1814,3720,0,0,0,0,0,0
$GC,2010,-1.10,-146.0,203.4,-8.2,188,2015,0.00,2.45,0.00,0.000,4,0.000,0.030,2628,3364,3719,0,0,0,0,0,0
$GC,2048,-1.22,-146.0,206.7,-7.7,188,2054,0.15,2.45,0.00,0.000,6,0.052,0.022,2535,1812,3720,0,0,0,0,0,0
$GC,2300,-1.02,-146.0,236.4,-12.2,195,2302,0.45,0.00,0.00,0.000,6,0.077,0.000,2636,1812,3719,0,0,0,0,0,0
$GC,2542,-1.13,-146.0,255.1,-7.2,201,2547,0.10,2.53,0.00,0.000,4,0.075,0.031,2563,3363,3720,0,0,0,0,0,0
$GC,2576,-1.13,-146.0,258.2,-9.4,201,2582,0.22,2.45,0.00,0.000,6,0.077,0.023,2615,1815,3719,0,0,0,0,0,0
$GC,2829,-1.20,-146.0,277.8,-7.7,207,2833,0.00,2.47,0.00,0.000,4,0.000,0.032,2615,3360,3719,0,0,0,0,0,0
$GC,2862,-1.32,-146.0,280.7,-7.6,207,2867,0.17,2.42,0.00,0.000,6,0.046,0.025,2527,1833,3719,0,0,0,0,0,0
$GC,3111,-1.13,-146.0,311.1,-12.5,213,3118,0.35,2.67,0.00,0.000,4,0.079,0.044,2608,208,3718,0,0,0,0,0,0
$GC,3149,-1.23,-146.0,314.7,-8.7,213,3153,0.00,2.55,0.00,0.000,6,0.000,0.023,2609,1833,3718,0,0,0,0,0,0
$GC,3399,-1.23,-146.0,333.9,-7.5,219,3403,0.00,2.47,0.00,0.000,4,0.000,0.037,2608,3363,3717,0,0,0,0,0,0
$GC,3442,-1.35,-146.0,337.2,-7.5,220,3447,0.17,2.42,0.00,0.000,6,0.047,0.026,2513,1838,3716,0,0,0,0,0,0
$GC,3731,-1.14,-146.0,371.4,-12.2,227,3734,0.45,0.00,0.00,0.000,6,0.081,0.000,2611,1838,3715,0,0,0,0,0,0
$GC,3973,-1.21,-146.0,388.9,-6.9,233,3978,0.00,2.53,0.00,0.000,4,0.000,0.041,2611,3367,3714,0,0,0,0,0,0
$GC,4004,-1.31,-146.0,391.0,-6.9,233,4009,0.15,2.45,0.00,0.000,6,0.052,0.027,2521,1838,3714,0,0,0,0,0,0
$GC,4259,-1.11,-146.0,418.8,-11.1,240,4266,0.45,2.53,0.00,0.000,4,0.080,0.044,2615,3360,3712,0,0,0,0,0,0
$GC,4281,-1.11,-146.0,420.8,-7.7,240,4285,0.00,2.45,0.00,0.000,6,0.000,0.028,2615,1848,3712,0,0,0,0,0,0
$GC,4547,-1.21,-146.0,436.5,-6.0,247,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1848,3710,0,0,0,0,0,0
$GC,4789,-1.31,-146.0,452.5,-6.7,253,4794,0.17,2.55,0.00,0.000,4,0.049,0.049,2538,3356,3709,0,0,0,0,0,0
$GC,4857,-1.25,-146.0,459.4,-11.1,254,4862,0.22,2.45,0.00,0.000,6,0.079,0.031,2589,1854,3708,0,0,0,0,0,0
$GC,5121,-1.25,-146.0,482.9,-8.8,261,5125,0.00,2.55,0.00,0.000,4,0.000,0.053,2589,3361,3707,0,0,0,0,0,0
$GC,5144,-1.25,-146.0,484.8,-8.3,261,5148,0.00,2.42,0.00,0.000,6,0.000,0.030,2589,1857,3707,0,0,0,0,0,0
$STATE,5360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5360,begin apogee
$GC,5367,-0.31,0.0,501.9,7.7,267,5489,0.88,0.00,118.20,0.867,6,0.071,0.000,2790,1674,3120,0,0,0,0,0,0
$STATE,5490,end apogee,CONTROL_FINISHED_OK
$STATE,5490,begin climb
$GC,5492,1.12,146.0,507.0,0.0,270,5623,1.27,2.70,122.43,0.853,4,0.028,0.074,3120,185,2524,0,0,0,0,0,0
$GC,5786,0.66,146.0,496.1,9.7,276,5798,0.55,2.42,0.00,0.000,6,0.099,0.030,3005,1663,2516,0,0,0,0,0,0
$GC,6041,0.73,202.4,481.4,5.7,283,6092,0.00,0.00,48.95,0.834,6,0.000,0.000,3005,1663,2294,0,0,0,0,0,0
$GC,6323,0.73,202.4,458.0,8.7,290,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1663,2287,0,0,0,0,0,0
$GC,6567,0.75,223.4,439.8,7.1,296,6591,0.00,2.83,18.02,0.784,4,0.000,0.057,3005,3256,2208,0,0,0,0,0,0
$GC,6621,0.84,244.1,436.2,7.2,297,6647,0.15,2.62,19.80,0.784,6,0.054,0.035,3076,1698,2125,0,0,0,0,0,0
$GC,6899,0.68,244.1,408.9,9.8,304,6906,0.28,2.67,0.00,0.000,4,0.092,0.067,3012,163,2120,0,0,0,0,0,0
$GC,6946,0.68,244.1,404.7,8.6,305,6951,0.00,2.47,0.00,0.000,6,0.000,0.027,3012,1689,2119,0,0,0,0,0,0
$GC,7235,0.70,257.7,382.9,7.5,312,7255,0.00,2.72,12.55,0.731,4,0.000,0.053,3012,3258,2068,0,0,0,0,0,0
$GC,7319,0.80,257.7,376.5,8.2,313,7324,0.10,2.65,0.00,0.000,6,0.079,0.035,3062,1678,2064,0,0,0,0,0,0
$GC,7569,0.71,257.7,350.6,10.6,319,7576,0.22,2.67,0.00,0.000,4,0.094,0.046,3014,3262,2063,0,0,0,0,0,0
$GC,7623,0.79,257.7,345.6,8.6,320,7628,0.00,2.62,0.00,0.000,6,0.000,0.034,3014,1686,2062,0,0,0,0,0,0
$GC,7903,0.81,269.7,324.0,7.5,327,7919,0.00,2.65,11.20,0.690,4,0.000,0.065,3013,166,2019,0,0,0,0,0,0
$GC,7938,0.81,275.4,321.2,7.8,327,7952,0.10,2.47,6.97,0.621,6,0.077,0.025,3064,1698,1996,0,0,0,0,0,0
$GC,8239,0.73,275.4,296.0,8.6,335,8244,0.20,2.60,0.00,0.000,4,0.094,0.048,3021,3250,1992,0,0,0,0,0,0
$GC,8259,0.74,280.5,294.0,7.8,335,8271,0.00,2.55,5.47,0.565,6,0.000,0.031,3021,1694,1975,0,0,0,0,0,0
$GC,8528,0.76,297.4,274.7,7.3,342,8547,0.00,0.00,17.38,0.688,6,0.000,0.000,3021,1694,1907,0,0,0,0,0,0
$GC,8770,0.85,319.8,257.5,7.1,348,8799,0.10,2.62,21.58,0.683,4,0.078,0.040,3071,3247,1814,0,0,0,0,0,0
$GC,8847,0.85,319.8,250.0,10.8,349,8852,0.12,2.58,0.00,0.000,6,0.102,0.032,3044,1700,1810,0,0,0,0,0,0
$GC,9103,0.85,319.8,226.4,9.2,356,9108,0.00,2.58,0.00,0.000,4,0.000,0.038,3044,3257,1808,0,0,0,0,0,0
$GC,9126,0.85,319.8,224.1,9.1,356,9131,0.00,2.55,0.00,0.000,6,0.000,0.030,3044,1708,1807,0,0,0,0,0,0
$GC,9385,0.85,319.8,200.7,9.0,363,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1708,1807,0,0,0,0,0,0
$GC,9640,0.85,319.8,178.6,8.7,384,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1708,1807,0,0,0,0,0,0
$GC,9893,0.85,319.8,157.6,8.4,408,9898,0.00,2.53,0.00,0.000,4,0.000,0.035,3044,3262,1807,0,0,0,0,0,0
$GC,9925,0.91,319.8,155.1,8.3,410,9930,0.00,2.53,0.00,0.000,6,0.000,0.028,3044,1702,1805,0,0,0,0,0,0
$GC,10191,0.99,325.0,134.9,7.8,435,10202,0.12,2.58,4.38,0.417,4,0.064,0.047,3124,167,1794,0,0,0,0,0,0
$GC,10238,0.82,325.0,129.7,12.9,439,10247,0.40,2.45,0.00,0.000,6,0.085,0.024,3036,1705,1794,0,0,0,0,0,0
$GC,10503,0.94,334.4,107.8,7.6,464,10520,0.12,2.62,10.23,0.515,4,0.064,0.047,3101,179,1755,0,0,0,0,0,0
$GC,10548,0.83,334.4,103.0,13.3,468,10554,0.28,2.40,0.00,0.000,6,0.089,0.021,3042,1704,1755,0,0,0,0,0,0
$GC,10810,0.98,366.0,83.9,6.7,492,10846,0.12,2.65,29.52,0.540,4,0.061,0.045,3132,174,1627,0,0,0,0,0,0
$GC,10880,0.80,366.0,77.0,13.4,498,10893,0.45,2.42,0.00,0.000,6,0.086,0.021,3035,1700,1626,0,0,0,0,0,0
$GC,11150,0.96,393.1,57.2,6.9,523,11183,0.15,2.65,24.75,0.507,4,0.051,0.044,3132,173,1516,0,0,0,0,0,0
$GC,11192,0.83,393.1,52.4,11.4,527,11205,0.43,2.42,0.00,0.000,6,0.084,0.021,3039,1698,1516,0,0,0,0,0,0
$GC,11465,0.95,393.1,28.1,9.1,553,11474,0.12,2.55,0.00,0.000,4,0.060,0.032,3129,3254,1513,0,0,0,0,0,0
$GC,11514,0.95,393.1,22.2,12.0,560,11523,0.25,2.53,0.00,0.000,6,0.068,0.025,3067,1706,1511,0,0,0,0,0,0
$STATE,11698,end climb,SURFACE_DEPTH_REACHED
$STATE,11698,begin surface coast
$FINISH,0.7,1.009187
$STATE,11746,end surface coast,CONTROL_FINISHED_OK
$STATE,11746,begin surface
$SM_CCo,11828,0.00,0.000,0,0,1506,395.67
$SM_GC,1.69,10.73,0.00,0.00,0.022,0.000,0.000,417,1842,1506,-11.17,1.47,395.67
$IRIDIUM_FIX,2241.69,-15757.16,110400,151505
$TT8_MAMPS,0.026845
$HUMID,49.52
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.00
$XPDR_PINGS,2
$24V_AH,23.4,68.882
$10V_AH,10.0,61.345
$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,32.875,152.800,471.425,0.000,0.000,58.411,69.117,407.589,0.500,0.000,15.402,1234.274,7704.037,524.740,2212.750,904.214,33.377,1424.786,0.000,2220.656,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,73.632,867.477,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,405.908,366.220,467.865,704.903,1246.433,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,47963,596
$CAP_FILE_SIZE,141335,0
$CFSIZE,260165632,141787136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160111,183501,2247.150,-15757.311,39,1.7,46,10.1