version: 66.06
glider: 148
mission: 9
dive: 54
start: 11 18 110 13 39 48
data:
$ID,148
$MISSION,9
$DIVE,54
$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,166
$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,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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-858567.56
$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,2900
$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,1770
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3070
$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
$GPS1,132058,2254.725,-15745.214,8,99.0,27,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.7
$GPS2,133852,2254.792,-15745.345,17,99.0,36,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.105,-0.238
$KALMAN_X,-34733.0,-50.9,-73.5,77051.5,-946.5
$KALMAN_Y,17763.2,-166.9,-318.5,121436.5,1195.8
$MHEAD_RNG_PITCHd_Wd,193.7,19175,-17.6,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,110,0.00,0.00,-90.03,0.000,2,0.000,0.000,411,1835,3565,0,0,0,0,0,0
$GC,113,-1.28,-146.0,4.5,-9.0,12,138,11.65,2.70,-1.67,0.000,4,0.157,0.047,2607,190,3669,0,0,0,0,0,0
$GC,198,-1.28,-146.0,31.9,-18.2,24,203,0.00,2.47,0.00,0.000,6,0.000,0.021,2607,1769,3671,0,0,0,0,0,0
$GC,465,-1.15,-146.0,72.5,-15.9,48,470,0.17,2.55,0.00,0.000,4,0.108,0.032,2645,3354,3671,0,0,0,0,0,0
$GC,522,-1.23,-146.0,80.7,-13.0,52,526,0.00,2.50,0.00,0.000,6,0.000,0.023,2645,1774,3671,0,0,0,0,0,0
$GC,784,-1.35,-146.0,107.2,-9.5,76,789,0.17,2.53,0.00,0.000,4,0.050,0.031,2568,3353,3671,0,0,0,0,0,0
$GC,804,-1.35,-146.0,109.0,-9.9,77,809,0.17,2.47,0.00,0.000,6,0.097,0.022,2606,1772,3671,0,0,0,0,0,0
$GC,1070,-1.35,-146.0,137.5,-10.4,101,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1772,3672,0,0,0,0,0,0
$GC,1334,-1.42,-146.0,162.5,-8.6,126,1339,0.00,2.55,0.00,0.000,4,0.000,0.042,2606,189,3672,0,0,0,0,0,0
$GC,1353,-1.48,-146.0,164.1,-8.5,127,1358,0.12,2.50,0.00,0.000,6,0.067,0.019,2551,1818,3672,0,0,0,0,0,0
$GC,1618,-1.37,-146.0,196.2,-13.6,151,1623,0.22,2.42,0.00,0.000,4,0.095,0.031,2599,3339,3672,0,0,0,0,0,0
$GC,1660,-1.37,-146.0,200.7,-11.3,154,1664,0.00,2.42,0.00,0.000,6,0.000,0.022,2600,1782,3672,0,0,0,0,0,0
$GC,1909,-1.37,-146.0,227.3,-10.4,160,1913,0.00,2.47,0.00,0.000,4,0.000,0.031,2600,3333,3672,0,0,0,0,0,0
$GC,1962,-1.49,-146.0,231.9,-8.5,161,1967,0.10,2.40,0.00,0.000,6,0.077,0.025,2533,1806,3671,0,0,0,0,0,0
$GC,2240,-1.35,-146.0,263.8,-11.6,168,2247,0.32,2.60,0.00,0.000,4,0.090,0.048,2603,195,3671,0,0,0,0,0,0
$GC,2267,-1.41,-146.0,266.3,-8.7,168,2271,0.00,2.47,0.00,0.000,6,0.000,0.021,2602,1793,3671,0,0,0,0,0,0
$GC,2528,-1.52,-146.0,284.9,-7.4,175,2533,0.15,2.50,0.00,0.000,4,0.058,0.035,2540,3352,3671,0,0,0,0,0,0
$GC,2571,-1.52,-146.0,290.0,-11.2,176,2576,0.12,2.45,0.00,0.000,6,0.107,0.025,2568,1808,3671,0,0,0,0,0,0
$GC,2860,-1.52,-146.0,319.9,-10.0,183,2865,0.00,2.65,0.00,0.000,4,0.000,0.048,2568,185,3670,0,0,0,0,0,0
$GC,2878,-1.52,-146.0,322.0,-10.2,183,2883,0.00,2.58,0.00,0.000,6,0.000,0.023,2568,1822,3670,0,0,0,0,0,0
$GC,3142,-1.52,-146.0,347.7,-10.3,190,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1824,3669,0,0,0,0,0,0
$GC,3386,-1.52,-146.0,373.8,-10.6,196,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1824,3667,0,0,0,0,0,0
$GC,3631,-1.52,-146.0,396.0,-8.6,202,3635,0.00,2.47,0.00,0.000,4,0.000,0.042,2568,3342,3666,0,0,0,0,0,0
$GC,3649,-1.52,-146.0,397.6,-7.9,202,3654,0.00,2.42,0.00,0.000,6,0.000,0.028,2568,1817,3666,0,0,0,0,0,0
$GC,3918,-1.52,-146.0,419.7,-8.6,209,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1818,3664,0,0,0,0,0,0
$GC,4163,-1.52,-146.0,440.9,-8.5,215,4167,0.00,2.53,0.00,0.000,4,0.000,0.048,2568,3336,3662,0,0,0,0,0,0
$GC,4181,-1.52,-146.0,442.7,-8.4,215,4186,0.00,2.42,0.00,0.000,6,0.000,0.029,2568,1830,3663,0,0,0,0,0,0
$GC,4445,-1.58,-146.0,466.6,-9.5,222,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1830,3661,0,0,0,0,0,0
$GC,4690,-1.65,-146.0,490.7,-9.6,228,4695,0.12,2.55,0.00,0.000,4,0.069,0.053,2513,3335,3658,0,0,0,0,0,0
$GC,4721,-1.56,-146.0,494.0,-11.6,228,4726,0.20,2.42,0.00,0.000,6,0.099,0.034,2557,1834,3658,0,0,0,0,0,0
$STATE,4811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4811,begin apogee
$GC,4817,-0.31,0.0,503.3,9.9,231,4937,1.20,0.00,117.15,0.879,6,0.076,0.000,2831,1640,3070,0,0,0,0,0,0
$STATE,4938,end apogee,CONTROL_FINISHED_OK
$STATE,4938,begin climb
$GC,4942,1.28,146.0,508.1,0.0,234,5073,1.40,2.75,121.72,0.864,4,0.026,0.054,3180,3213,2473,0,0,0,0,0,0
$GC,5108,0.90,146.0,504.1,12.3,237,5116,0.40,2.55,0.00,0.000,6,0.127,0.038,3099,1675,2469,0,0,0,0,0,0
$GC,5358,0.71,157.1,479.3,9.5,244,5370,0.22,0.00,9.60,0.734,6,0.127,0.000,3056,1675,2429,0,0,0,0,0,0
$GC,5601,0.67,190.7,458.8,8.5,250,5638,0.00,2.72,29.67,0.822,4,0.000,0.073,3056,169,2291,0,0,0,0,0,0
$GC,5673,0.55,190.7,451.6,12.1,251,5678,0.17,2.38,0.00,0.000,6,0.121,0.027,3021,1640,2289,0,0,0,0,0,0
$GC,5933,0.60,231.2,429.2,8.2,258,5973,0.00,0.00,35.70,0.820,6,0.000,0.000,3021,1641,2126,0,0,0,0,0,0
$GC,6218,0.66,284.0,406.9,7.6,265,6267,0.10,0.00,46.45,0.811,6,0.081,0.000,3065,1642,1912,0,0,0,0,0,0
$GC,6500,0.66,284.0,375.4,11.3,272,6505,0.00,2.72,0.00,0.000,4,0.000,0.054,3066,3234,1904,0,0,0,0,0,0
$GC,6523,0.66,284.0,372.8,11.2,272,6528,0.00,2.62,0.00,0.000,6,0.000,0.035,3066,1646,1903,0,0,0,0,0,0
$GC,6784,0.66,284.0,344.9,10.8,279,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1646,1901,0,0,0,0,0,0
$GC,7026,0.66,284.0,319.7,10.5,285,7030,0.00,2.67,0.00,0.000,4,0.000,0.044,3065,3236,1900,0,0,0,0,0,0
$GC,7058,0.66,284.0,315.9,11.0,285,7063,0.10,2.60,0.00,0.000,6,0.124,0.033,3045,1661,1898,0,0,0,0,0,0
$GC,7307,0.66,284.0,289.8,10.6,291,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1661,1898,0,0,0,0,0,0
$GC,7553,0.74,294.3,265.7,9.6,297,7566,0.00,2.62,7.75,0.622,4,0.000,0.039,3045,3229,1870,0,0,0,0,0,0
$GC,7576,0.75,306.3,263.2,9.5,297,7594,0.00,2.58,12.27,0.666,6,0.000,0.030,3045,1663,1821,0,0,0,0,0,0
$GC,7839,0.83,310.4,236.9,9.9,304,7846,0.15,0.00,4.47,0.495,6,0.060,0.000,3094,1662,1804,0,0,0,0,0,0
$GC,8081,0.83,310.4,206.1,12.6,310,8085,0.00,2.58,0.00,0.000,4,0.000,0.037,3095,3241,1803,0,0,0,0,0,0
$GC,8108,0.83,310.4,202.6,12.1,310,8113,0.00,2.58,0.00,0.000,6,0.000,0.029,3095,1662,1801,0,0,0,0,0,0
$GC,8375,0.83,310.4,170.7,11.5,332,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1661,1801,0,0,0,0,0,0
$GC,8628,0.83,310.4,136.6,14.5,356,8632,0.00,2.42,0.00,0.000,4,0.000,0.046,3095,173,1801,0,0,0,0,0,0
$GC,8646,0.83,310.4,134.2,14.6,357,8650,0.00,2.38,0.00,0.000,6,0.000,0.023,3095,1683,1801,0,0,0,0,0,0
$GC,8914,0.83,312.0,101.0,10.0,381,8919,0.00,2.50,0.00,0.000,4,0.000,0.045,3095,173,1800,0,0,0,0,0,0
$GC,9003,0.83,312.0,91.1,11.1,389,9007,0.00,2.35,0.00,0.000,6,0.000,0.022,3095,1672,1801,0,0,0,0,0,0
$GC,9271,0.83,312.0,64.1,10.1,413,9275,0.00,2.50,0.00,0.000,4,0.000,0.035,3095,3226,1801,0,0,0,0,0,0
$GC,9335,0.93,312.0,56.4,11.4,418,9344,0.00,2.53,0.00,0.000,6,0.000,0.028,3095,1669,1800,0,0,0,0,0,0
$GC,9602,0.99,359.3,31.7,7.8,443,9650,0.00,0.00,42.60,0.521,6,0.000,0.000,3095,1669,1604,0,0,0,0,0,0
$STATE,9875,end climb,SURFACE_DEPTH_REACHED
$STATE,9875,begin surface coast
$FINISH,0.6,1.020979
$STATE,9920,end surface coast,CONTROL_FINISHED_OK
$STATE,9920,begin surface
$SM_CCo,9942,49.15,0.406,1,0,1234,450.13
$SM_GC,1.42,0.00,0.00,49.15,0.000,0.000,0.406,412,1847,1234,-11.44,2.18,450.13
$IRIDIUM_FIX,2244.02,-15743.68,120200,131302
$TT8_MAMPS,0.026845
$HUMID,40.47
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,23.00
$XPDR_PINGS,2
$24V_AH,23.6,10.893
$10V_AH,10.5,9.139
$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,28.100,106.575,427.400,49.150,0.000,77.685,109.695,595.530,0.500,0.000,38.516,992.212,6747.661,538.909,1723.958,1070.325,33.364,1205.959,0.000,1717.847,0.000,0.538,0.000
$DEVICE_MAMPS,157.235,72.865,878.982,405.743,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.996,296.124,377.647,575.534,1017.798,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38465,491
$CAP_FILE_SIZE,113510,0
$CFSIZE,260165632,168873984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181110,162736,2254.029,-15746.328,32,1.3,32,10.1