version: 66.06
glider: 148
mission: 9
dive: 90
start: 11 23 110 0 14 15
data:
$ID,148
$MISSION,9
$DIVE,90
$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,-859338.75
$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,32
$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,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
$GPS1,000207,2257.520,-15743.698,36,1.0,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.9
$GPS2,001320,2257.479,-15743.727,12,1.5,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.260,-0.014
$KALMAN_X,-48787.4,222.3,153.9,93389.2,-534.8
$KALMAN_Y,17069.7,783.9,199.8,125627.1,-1755.9
$MHEAD_RNG_PITCHd_Wd,256.9,26554,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.88,0.000,2,0.000,0.000,413,1836,3316,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.2,-4.2,11,132,11.68,2.67,-6.53,0.000,4,0.156,0.048,2612,187,3667,0,0,0,0,0,0
$GC,254,-1.36,-146.0,31.3,-12.2,32,258,0.00,2.45,0.00,0.000,6,0.000,0.019,2612,1777,3669,0,0,0,0,0,0
$GC,522,-1.27,-146.0,69.1,-14.6,56,527,0.00,2.50,0.00,0.000,4,0.000,0.030,2612,3352,3669,0,0,0,0,0,0
$GC,587,-1.27,-146.0,78.6,-13.3,61,592,0.00,2.50,0.00,0.000,6,0.000,0.022,2612,1771,3670,0,0,0,0,0,0
$GC,855,-1.27,-146.0,114.1,-13.0,85,859,0.00,2.50,0.00,0.000,4,0.000,0.029,2612,3347,3669,0,0,0,0,0,0
$GC,893,-1.27,-146.0,119.6,-10.9,88,902,0.00,2.50,0.00,0.000,6,0.000,0.022,2612,1781,3669,0,0,0,0,0,0
$GC,1159,-1.27,-146.0,146.9,-10.3,113,1163,0.00,2.58,0.00,0.000,4,0.000,0.040,2612,190,3671,0,0,0,0,0,0
$GC,1205,-1.42,-146.0,152.1,-10.5,117,1209,0.00,2.42,0.00,0.000,6,0.000,0.019,2612,1770,3670,0,0,0,0,0,0
$GC,1468,-1.49,-146.0,175.3,-9.2,141,1473,0.15,2.53,0.00,0.000,4,0.056,0.031,2547,3353,3671,0,0,0,0,0,0
$GC,1548,-1.41,-146.0,185.2,-13.9,148,1553,0.20,2.50,0.00,0.000,6,0.091,0.023,2591,1771,3671,0,0,0,0,0,0
$GC,1803,-1.41,-146.0,213.8,-10.7,163,1807,0.00,2.50,0.00,0.000,4,0.000,0.029,2591,3352,3672,0,0,0,0,0,0
$GC,1822,-1.41,-146.0,215.8,-10.2,163,1827,0.00,2.50,0.00,0.000,6,0.000,0.022,2591,1768,3672,0,0,0,0,0,0
$GC,2086,-1.41,-146.0,239.9,-9.0,170,2090,0.00,2.50,0.00,0.000,4,0.000,0.030,2591,3350,3672,0,0,0,0,0,0
$GC,2104,-1.41,-146.0,241.9,-10.4,170,2109,0.00,2.45,0.00,0.000,6,0.000,0.023,2591,1785,3672,0,0,0,0,0,0
$GC,2369,-1.41,-146.0,267.7,-9.8,177,2374,0.00,2.50,0.00,0.000,4,0.000,0.031,2591,3347,3672,0,0,0,0,0,0
$GC,2393,-1.41,-146.0,270.3,-9.8,177,2397,0.00,2.47,0.00,0.000,6,0.000,0.024,2591,1786,3672,0,0,0,0,0,0
$GC,2652,-1.41,-146.0,292.9,-9.0,184,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1786,3671,0,0,0,0,0,0
$GC,2897,-1.50,-146.0,315.0,-9.2,190,2902,0.00,2.53,0.00,0.000,4,0.000,0.035,2591,3347,3671,0,0,0,0,0,0
$GC,2953,-1.63,-146.0,320.5,-9.0,191,2958,0.20,2.47,0.00,0.000,6,0.044,0.025,2490,1795,3672,0,0,0,0,0,0
$GC,3227,-1.41,-146.0,359.2,-14.5,198,3234,0.47,2.50,0.00,0.000,4,0.091,0.038,2589,3336,3671,0,0,0,0,0,0
$GC,3250,-1.41,-146.0,361.9,-11.0,198,3254,0.00,2.45,0.00,0.000,6,0.000,0.027,2589,1804,3671,0,0,0,0,0,0
$GC,3514,-1.51,-146.0,385.6,-8.8,205,3518,0.00,2.50,0.00,0.000,4,0.000,0.042,2589,3334,3669,0,0,0,0,0,0
$GC,3538,-1.62,-146.0,387.5,-7.5,205,3543,0.17,2.47,0.00,0.000,6,0.047,0.028,2498,1798,3669,0,0,0,0,0,0
$GC,3799,-1.43,-146.0,419.5,-12.6,212,3806,0.40,2.72,0.00,0.000,4,0.088,0.058,2583,187,3667,0,0,0,0,0,0
$GC,3825,-1.43,-146.0,422.4,-9.0,212,3830,0.00,2.55,0.00,0.000,6,0.000,0.028,2583,1795,3667,0,0,0,0,0,0
$GC,4087,-1.53,-146.0,442.7,-7.8,219,4091,0.00,2.55,0.00,0.000,4,0.000,0.048,2583,3347,3666,0,0,0,0,0,0
$GC,4120,-1.66,-146.0,445.4,-7.4,219,4125,0.17,2.50,0.00,0.000,6,0.050,0.031,2498,1800,3665,0,0,0,0,0,0
$GC,4369,-1.51,-146.0,475.9,-12.7,225,4376,0.30,2.72,0.00,0.000,4,0.092,0.063,2566,196,3664,0,0,0,0,0,0
$GC,4387,-1.51,-146.0,478.0,-11.7,225,4392,0.00,2.60,0.00,0.000,6,0.000,0.033,2566,1799,3663,0,0,0,0,0,0
$STATE,4654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4654,begin apogee
$GC,4659,-0.31,0.0,500.8,8.2,232,4781,1.17,0.00,117.57,0.867,6,0.077,0.000,2830,1638,3070,0,0,0,0,0,0
$STATE,4781,end apogee,CONTROL_FINISHED_OK
$STATE,4781,begin climb
$GC,4785,1.28,146.0,505.0,0.0,235,4916,1.42,2.78,121.85,0.851,4,0.025,0.054,3186,3229,2473,0,0,0,0,0,0
$GC,4959,0.88,146.0,499.3,12.2,239,4967,0.45,2.62,0.00,0.000,6,0.116,0.037,3094,1669,2468,0,0,0,0,0,0
$GC,5242,0.70,152.7,471.4,9.7,246,5254,0.20,2.70,5.62,0.625,4,0.114,0.074,3053,171,2447,0,0,0,0,0,0
$GC,5292,0.56,176.7,466.5,8.9,247,5321,0.15,2.38,22.62,0.802,6,0.122,0.026,3024,1651,2348,0,0,0,0,0,0
$GC,5579,0.63,229.0,444.5,7.6,254,5631,0.00,2.62,45.33,0.821,4,0.000,0.058,3024,160,2134,0,0,0,0,0,0
$GC,5661,0.63,233.5,437.4,9.8,255,5671,0.00,2.42,4.72,0.562,6,0.000,0.028,3024,1645,2118,0,0,0,0,0,0
$GC,5955,0.65,252.4,410.6,9.2,263,5979,0.00,2.75,16.95,0.771,4,0.000,0.051,3024,3237,2040,0,0,0,0,0,0
$GC,5993,0.73,253.2,406.7,10.0,263,6000,0.15,2.67,0.00,0.000,6,0.058,0.035,3085,1639,2037,0,0,0,0,0,0
$GC,6245,0.65,253.2,377.0,11.9,270,6247,0.20,0.00,0.00,0.000,6,0.107,0.000,3044,1639,2034,0,0,0,0,0,0
$GC,6486,0.65,253.2,351.6,10.6,276,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1639,2032,0,0,0,0,0,0
$GC,6730,0.66,268.9,328.1,9.3,282,6751,0.00,2.72,14.60,0.723,4,0.000,0.043,3044,3220,1972,0,0,0,0,0,0
$GC,6812,0.78,282.9,320.9,9.4,283,6833,0.10,2.60,13.80,0.706,6,0.079,0.034,3093,1649,1916,0,0,0,0,0,0
$GC,7118,0.71,282.9,281.5,13.2,291,7123,0.17,2.53,0.00,0.000,4,0.110,0.061,3056,166,1910,0,0,0,0,0,0
$GC,7143,0.71,282.9,278.0,13.0,291,7148,0.00,2.40,0.00,0.000,6,0.000,0.023,3056,1676,1910,0,0,0,0,0,0
$GC,7402,0.72,292.4,252.0,9.6,298,7413,0.00,0.00,9.05,0.628,6,0.000,0.000,3056,1678,1877,0,0,0,0,0,0
$GC,7646,0.72,292.4,227.9,10.1,304,7650,0.00,2.53,0.00,0.000,4,0.000,0.051,3056,161,1874,0,0,0,0,0,0
$GC,7665,0.72,292.4,225.8,10.9,304,7670,0.00,2.35,0.00,0.000,6,0.000,0.024,3056,1657,1872,0,0,0,0,0,0
$GC,7929,0.73,302.6,199.6,9.6,311,7950,0.00,2.58,9.77,0.596,4,0.000,0.037,3056,3238,1834,0,0,0,0,0,0
$GC,7971,0.82,302.6,195.3,10.2,315,7975,0.00,2.60,0.00,0.000,6,0.000,0.029,3057,1642,1832,0,0,0,0,0,0
$GC,8234,0.88,302.6,166.0,11.6,339,8243,0.15,0.00,0.00,0.000,6,0.059,0.000,3134,1642,1832,0,0,0,0,0,0
$GC,8498,0.74,302.6,128.7,13.5,364,8503,0.30,2.40,0.00,0.000,4,0.100,0.044,3066,174,1832,0,0,0,0,0,0
$GC,8558,0.74,302.6,121.4,12.0,369,8562,0.00,2.30,0.00,0.000,6,0.000,0.021,3066,1657,1831,0,0,0,0,0,0
$GC,8825,0.89,331.6,94.4,8.7,393,8859,0.12,2.62,25.10,0.560,4,0.067,0.035,3121,3223,1717,0,0,0,0,0,0
$GC,8928,0.89,331.6,83.1,10.5,403,8933,0.12,2.55,0.00,0.000,6,0.110,0.028,3094,1649,1713,0,0,0,0,0,0
$GC,9197,0.90,339.0,58.3,9.7,427,9211,0.00,2.58,7.85,0.463,4,0.000,0.032,3094,3225,1686,0,0,0,0,0,0
$GC,9250,1.01,341.5,52.8,9.9,431,9255,0.10,2.53,0.00,0.000,6,0.078,0.027,3154,1659,1684,0,0,0,0,0,0
$GC,9532,0.89,341.5,13.5,14.5,464,9541,0.25,2.45,0.00,0.000,4,0.103,0.041,3099,175,1684,0,0,0,0,0,0
$GC,9563,0.89,341.5,9.2,13.7,468,9571,0.00,2.33,0.00,0.000,6,0.000,0.020,3099,1656,1683,0,0,0,0,0,0
$STATE,9610,end climb,SURFACE_DEPTH_REACHED
$STATE,9610,begin surface coast
$FINISH,0.7,1.011856
$STATE,9655,end surface coast,CONTROL_FINISHED_OK
$STATE,9655,begin surface
$SM_CCo,9677,56.12,0.061,0,0,1235,450.13
$SM_GC,1.39,0.00,0.00,56.12,0.000,0.000,0.061,409,1824,1235,-11.46,1.53,450.13
$IRIDIUM_FIX,2248.70,-15740.63,160200,212142
$TT8_MAMPS,0.026845
$HUMID,41.29
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.6,15.756
$10V_AH,10.4,13.089
$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,29.675,132.050,414.850,56.125,0.000,27.863,31.366,485.038,0.250,0.000,14.432,1015.633,6263.910,524.390,1788.227,816.258,33.356,1267.546,0.000,1791.946,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,73.632,867.477,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.958,293.025,372.159,561.281,989.796,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38286,482
$CAP_FILE_SIZE,116853,0
$CFSIZE,260165632,166846464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231110,025734,2256.808,-15745.897,7,2.8,26,10.1