version: 66.06
glider: 148
mission: 9
dive: 12
start: 11 10 110 10 23 26
data:
$ID,148
$MISSION,9
$DIVE,12
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,620
$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,166
$T_MISSION,330
$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,120
$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,450
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-857701.19
$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,1750
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3105
$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
$GPS1,101324,2143.861,-15809.894,38,1.1,38,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-67.8
$GPS2,102231,2143.834,-15809.874,13,1.1,15,9.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.055,0.228
$KALMAN_X,-4205.6,79.7,401.3,3695.1,-303.2
$KALMAN_Y,-3438.3,-206.5,372.5,10568.5,-647.5
$MHEAD_RNG_PITCHd_Wd,3.6,114528,-19.8,-10.040
$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,17,-1.38,-116.8,0.0,0.0,0,103,0.00,0.00,-83.35,0.000,2,0.000,0.000,417,1725,3407,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.0,-7.5,11,132,11.75,2.58,-3.03,0.000,4,0.176,0.041,2548,3327,3585,0,0,0,0,0,0
$GC,148,-0.42,-116.8,21.7,-40.0,16,157,0.95,2.47,0.00,0.000,6,0.090,0.022,2760,1760,3586,0,0,0,0,0,0
$GC,431,-0.92,-116.8,35.9,-5.2,49,436,0.38,2.50,0.00,0.000,4,0.033,0.030,2636,3333,3587,0,0,0,0,0,0
$GC,486,-1.07,-116.8,40.8,-10.4,53,490,0.00,2.45,0.00,0.000,6,0.000,0.025,2636,1762,3587,0,0,0,0,0,0
$GC,752,-1.19,-116.8,73.4,-13.6,77,757,0.15,2.53,0.00,0.000,4,0.060,0.035,2578,3335,3588,0,0,0,0,0,0
$GC,795,-1.19,-116.8,80.0,-15.7,80,800,0.10,2.42,0.00,0.000,6,0.125,0.023,2598,1761,3587,0,0,0,0,0,0
$GC,1057,-1.19,-116.8,116.3,-13.2,104,1061,0.00,2.45,0.00,0.000,4,0.000,0.031,2598,3326,3588,0,0,0,0,0,0
$GC,1078,-1.19,-116.8,119.2,-13.3,105,1083,0.00,2.40,0.00,0.000,6,0.000,0.022,2598,1768,3588,0,0,0,0,0,0
$GC,1340,-1.32,-116.8,148.2,-10.5,130,1345,0.12,2.55,0.00,0.000,4,0.070,0.041,2549,172,3589,0,0,0,0,0,0
$GC,1360,-1.40,-116.8,150.3,-11.3,131,1365,0.00,2.45,0.00,0.000,6,0.000,0.020,2549,1791,3589,0,0,0,0,0,0
$GC,1622,-1.40,-116.8,186.6,-13.2,155,1626,0.00,2.38,0.00,0.000,4,0.000,0.032,2549,3324,3590,0,0,0,0,0,0
$GC,1640,-1.40,-116.8,189.2,-12.6,156,1649,0.00,2.40,0.00,0.000,6,0.000,0.023,2550,1795,3590,0,0,0,0,0,0
$GC,1895,-1.40,-116.8,220.0,-11.9,169,1899,0.00,2.60,0.00,0.000,4,0.000,0.041,2549,172,3590,0,0,0,0,0,0
$GC,1951,-1.48,-116.8,227.3,-12.7,170,1955,0.00,2.47,0.00,0.000,6,0.000,0.022,2549,1788,3590,0,0,0,0,0,0
$GC,2225,-1.48,-116.8,258.4,-11.2,177,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1788,3590,0,0,0,0,0,0
$GC,2467,-1.48,-116.8,284.5,-10.9,183,2471,0.00,2.62,0.00,0.000,4,0.000,0.044,2549,173,3590,0,0,0,0,0,0
$GC,2556,-1.59,-116.8,295.0,-11.3,185,2561,0.15,2.50,0.00,0.000,6,0.062,0.023,2485,1798,3590,0,0,0,0,0,0
$GC,2845,-1.50,-116.8,333.0,-13.1,192,2847,0.22,0.00,0.00,0.000,6,0.107,0.000,2533,1798,3590,0,0,0,0,0,0
$GC,3087,-1.50,-116.8,358.7,-10.5,198,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1798,3589,0,0,0,0,0,0
$GC,3330,-1.50,-116.8,383.4,-10.1,204,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1798,3588,0,0,0,0,0,0
$GC,3575,-1.57,-116.8,406.3,-9.2,210,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1798,3586,0,0,0,0,0,0
$GC,3820,-1.63,-116.8,431.6,-10.6,216,3822,0.12,0.00,0.00,0.000,6,0.076,0.000,2490,1798,3584,0,0,0,0,0,0
$GC,4062,-1.63,-116.8,461.8,-12.2,222,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1799,3583,0,0,0,0,0,0
$GC,4305,-1.63,-116.8,489.7,-11.2,228,4310,0.00,2.75,0.00,0.000,4,0.000,0.064,2490,187,3581,0,0,0,0,0,0
$GC,4362,-1.63,-116.8,496.6,-12.3,229,4367,0.00,2.55,0.00,0.000,6,0.000,0.038,2490,1771,3581,0,0,0,0,0,0
$STATE,4389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4389,begin apogee
$GC,4395,-0.31,0.0,500.1,11.8,230,4492,1.38,0.00,93.60,0.872,6,0.093,0.000,2791,1632,3105,0,0,0,0,0,0
$STATE,4493,end apogee,CONTROL_FINISHED_OK
$STATE,4493,begin climb
$GC,4495,1.38,116.8,502.1,0.0,232,4604,1.50,2.80,96.20,0.856,4,0.031,0.055,3165,3226,2627,0,0,0,0,0,0
$GC,4637,1.14,185.3,503.5,6.1,235,4706,0.28,2.58,58.17,0.841,6,0.132,0.037,3113,1676,2348,0,0,0,0,0,0
$GC,4956,1.00,185.3,470.8,10.5,243,4962,0.17,2.62,0.00,0.000,4,0.132,0.074,3079,169,2341,0,0,0,0,0,0
$GC,5013,0.86,185.3,464.8,10.7,244,5018,0.15,2.38,0.00,0.000,6,0.139,0.030,3051,1654,2339,0,0,0,0,0,0
$GC,5288,0.93,244.1,445.0,6.6,251,5344,0.00,2.58,49.17,0.832,4,0.000,0.058,3051,167,2109,0,0,0,0,0,0
$GC,5374,0.95,258.6,438.7,9.2,253,5394,0.00,2.38,13.62,0.759,6,0.000,0.029,3051,1647,2050,0,0,0,0,0,0
$GC,5664,1.03,258.6,410.7,10.2,260,5669,0.15,2.67,0.00,0.000,4,0.068,0.054,3098,3234,2042,0,0,0,0,0,0
$GC,5692,1.03,258.6,406.7,12.9,260,5697,0.00,2.60,0.00,0.000,6,0.000,0.035,3098,1643,2041,0,0,0,0,0,0
$GC,5948,1.03,258.6,373.0,13.2,267,5952,0.00,2.53,0.00,0.000,4,0.000,0.067,3098,168,2040,0,0,0,0,0,0
$GC,6033,0.95,258.6,359.9,15.2,268,6039,0.15,2.35,0.00,0.000,6,0.124,0.028,3070,1642,2039,0,0,0,0,0,0
$GC,6282,0.95,258.6,331.4,10.9,275,6287,0.00,2.60,0.00,0.000,4,0.000,0.048,3069,3224,2037,0,0,0,0,0,0
$GC,6297,0.95,258.6,329.9,10.6,275,6302,0.00,2.58,0.00,0.000,6,0.000,0.032,3069,1638,2036,0,0,0,0,0,0
$GC,6565,0.95,258.6,301.4,10.6,282,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1638,2035,0,0,0,0,0,0
$GC,6809,0.95,258.6,273.8,11.1,288,6813,0.00,2.42,0.00,0.000,4,0.000,0.060,3069,176,2034,0,0,0,0,0,0
$GC,6823,0.95,258.6,272.2,10.7,288,6827,0.00,2.30,0.00,0.000,6,0.000,0.025,3069,1653,2034,0,0,0,0,0,0
$GC,7093,1.04,260.7,245.6,9.9,295,7097,0.00,2.47,0.00,0.000,4,0.000,0.052,3069,166,2034,0,0,0,0,0,0
$GC,7183,1.04,260.7,234.9,12.3,297,7187,0.00,2.28,0.00,0.000,6,0.000,0.025,3069,1633,2033,0,0,0,0,0,0
$GC,7471,1.14,268.8,207.7,9.6,304,7484,0.15,2.45,7.12,0.581,4,0.066,0.051,3125,172,2009,0,0,0,0,0,0
$GC,7550,1.03,268.8,197.2,14.7,305,7555,0.20,2.28,0.00,0.000,6,0.113,0.025,3084,1632,2008,0,0,0,0,0,0
$GC,7816,1.10,268.8,168.6,10.6,330,7821,0.00,2.58,0.00,0.000,4,0.000,0.038,3084,3228,2007,0,0,0,0,0,0
$GC,7855,1.23,276.8,164.9,9.6,333,7873,0.12,2.60,8.40,0.567,6,0.036,0.029,3140,1619,1975,0,0,0,0,0,0
$GC,8131,1.17,276.8,132.9,12.4,359,8137,0.12,0.00,0.00,0.000,6,0.123,0.000,3115,1619,1974,0,0,0,0,0,0
$GC,8393,1.17,276.8,104.6,10.3,384,8398,0.00,2.60,0.00,0.000,4,0.000,0.037,3115,3233,1974,0,0,0,0,0,0
$GC,8443,1.26,276.8,98.6,12.4,388,8452,0.00,2.60,0.00,0.000,6,0.000,0.029,3115,1619,1973,0,0,0,0,0,0
$GC,8708,1.29,297.6,73.8,8.8,413,8734,0.10,2.35,19.75,0.542,4,0.084,0.050,3158,176,1890,0,0,0,0,0,0
$GC,8828,1.21,297.6,56.8,14.3,423,8833,0.17,2.22,0.00,0.000,6,0.120,0.021,3124,1623,1888,0,0,0,0,0,0
$GC,9101,1.23,310.8,24.5,9.3,451,9117,0.00,0.00,12.20,0.475,6,0.000,0.000,3124,1627,1837,0,0,0,0,0,0
$STATE,9295,end climb,SURFACE_DEPTH_REACHED
$STATE,9295,begin surface coast
$FINISH,0.4,1.023520
$STATE,9346,end surface coast,CONTROL_FINISHED_OK
$STATE,9346,begin surface
$SM_CCo,9366,70.35,0.431,1,0,1269,450.13
$SM_GC,1.26,0.00,0.00,70.35,0.000,0.000,0.431,412,1826,1269,-11.26,2.15,450.13
$IRIDIUM_FIX,2134.17,-15808.47,040200,080805
$TT8_MAMPS,0.026845
$HUMID,39.64
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,23.7,4.336
$10V_AH,10.5,3.987
$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,29.525,105.250,358.250,70.350,0.000,27.703,31.921,313.146,0.250,0.000,16.778,998.096,5973.375,461.232,1888.027,675.490,33.330,1201.110,0.000,1885.808,0.000,0.538,0.000
$DEVICE_MAMPS,175.643,73.632,872.079,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.232,302.414,386.208,616.018,1089.607,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356064
$DATA_FILE_SIZE,38393,489
$CAP_FILE_SIZE,107749,0
$CFSIZE,260165632,171819008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101110,130204,2145.187,-15809.170,15,2.7,34,9.9