version: 66.06
glider: 148
mission: 9
dive: 112
start: 11 25 110 14 27 39
data:
$ID,148
$MISSION,9
$DIVE,112
$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,-859858.38
$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,60
$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
$GPS1,141801,2250.170,-15758.925,56,1.1,56,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.7
$GPS2,142644,2250.110,-15758.959,11,1.5,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.241,0.098
$KALMAN_X,-53936.3,-42.6,-14.7,72756.9,-14.1
$KALMAN_Y,19642.9,-127.4,264.0,110261.2,-1121.9
$MHEAD_RNG_PITCHd_Wd,57.7,3350,-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,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.40,0.000,2,0.000,0.000,406,1808,3410,0,0,0,0,0,0
$GC,107,-1.28,-146.0,4.1,-7.9,11,132,11.48,2.50,-5.12,0.000,4,0.156,0.040,2574,3356,3718,0,0,0,0,0,0
$GC,142,0.07,-146.0,20.1,-40.9,15,151,1.33,2.50,0.00,0.000,6,0.084,0.021,2870,1783,3719,0,0,0,0,0,0
$GC,433,-0.77,-146.0,44.1,-9.3,51,445,0.73,2.55,0.00,0.000,4,0.051,0.041,2692,211,3720,0,0,0,0,0,0
$GC,495,-1.29,-146.0,49.0,-7.5,56,508,0.47,2.40,0.00,0.000,6,0.031,0.017,2547,1806,3720,0,0,0,0,0,0
$GC,768,-1.06,-146.0,99.2,-18.9,81,773,0.32,2.42,0.00,0.000,4,0.094,0.031,2621,3336,3720,0,0,0,0,0,0
$GC,837,-1.18,-146.0,109.7,-9.5,87,842,0.00,2.42,0.00,0.000,6,0.000,0.023,2621,1785,3720,0,0,0,0,0,0
$GC,1105,-1.28,-146.0,134.1,-8.4,111,1110,0.17,2.47,0.00,0.000,4,0.051,0.030,2549,3342,3721,0,0,0,0,0,0
$GC,1121,-1.28,-146.0,136.4,-9.3,112,1126,0.15,2.42,0.00,0.000,6,0.104,0.021,2581,1780,3721,0,0,0,0,0,0
$GC,1385,-1.28,-146.0,163.5,-10.4,136,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1779,3722,0,0,0,0,0,0
$GC,1646,-1.28,-146.0,192.9,-11.3,161,1650,0.00,2.47,0.00,0.000,4,0.000,0.030,2581,3344,3722,0,0,0,0,0,0
$GC,1680,-1.28,-146.0,196.9,-11.5,164,1685,0.00,2.42,0.00,0.000,6,0.000,0.023,2581,1795,3722,0,0,0,0,0,0
$GC,1963,-1.28,-146.0,226.9,-10.4,173,1967,0.00,2.45,0.00,0.000,4,0.000,0.031,2581,3340,3722,0,0,0,0,0,0
$GC,1986,-1.28,-146.0,229.5,-10.4,173,1990,0.00,2.40,0.00,0.000,6,0.000,0.022,2582,1807,3722,0,0,0,0,0,0
$GC,2249,-1.28,-146.0,257.3,-10.7,180,2253,0.00,2.42,0.00,0.000,4,0.000,0.031,2581,3334,3722,0,0,0,0,0,0
$GC,2273,-1.28,-146.0,259.9,-11.8,180,2277,0.00,2.40,0.00,0.000,6,0.000,0.023,2581,1808,3722,0,0,0,0,0,0
$GC,2537,-1.35,-146.0,287.8,-10.6,187,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1808,3722,0,0,0,0,0,0
$GC,2780,-1.42,-146.0,312.8,-10.3,193,2785,0.12,2.47,0.00,0.000,4,0.066,0.035,2522,3341,3722,0,0,0,0,0,0
$GC,2806,-1.35,-146.0,315.8,-12.7,193,2811,0.20,2.40,0.00,0.000,6,0.096,0.025,2565,1816,3722,0,0,0,0,0,0
$GC,3065,-1.35,-146.0,343.4,-10.7,200,3070,0.00,2.60,0.00,0.000,4,0.000,0.047,2565,218,3722,0,0,0,0,0,0
$GC,3084,-1.35,-146.0,345.7,-11.8,200,3088,0.00,2.45,0.00,0.000,6,0.000,0.022,2565,1791,3722,0,0,0,0,0,0
$GC,3349,-1.35,-146.0,373.4,-10.3,207,3353,0.00,2.55,0.00,0.000,4,0.000,0.042,2565,3367,3720,0,0,0,0,0,0
$GC,3386,-1.43,-146.0,377.6,-9.9,207,3392,0.00,2.47,0.00,0.000,6,0.000,0.028,2565,1822,3720,0,0,0,0,0,0
$GC,3636,-1.49,-146.0,402.4,-9.9,214,3638,0.12,0.00,0.00,0.000,6,0.067,0.000,2508,1822,3719,0,0,0,0,0,0
$GC,3881,-1.40,-146.0,431.7,-12.1,220,3883,0.20,0.00,0.00,0.000,6,0.103,0.000,2551,1822,3717,0,0,0,0,0,0
$GC,4123,-1.40,-146.0,456.1,-9.9,226,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1822,3716,0,0,0,0,0,0
$GC,4367,-1.40,-146.0,480.0,-9.7,232,4371,0.00,2.58,0.00,0.000,4,0.000,0.053,2551,3364,3714,0,0,0,0,0,0
$GC,4412,-1.48,-146.0,484.0,-8.7,233,4416,0.00,2.47,0.00,0.000,6,0.000,0.031,2550,1836,3713,0,0,0,0,0,0
$STATE,4615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4615,begin apogee
$GC,4621,-0.31,0.0,503.4,9.4,238,4742,1.08,0.00,118.22,0.872,6,0.081,0.000,2790,1670,3120,0,0,0,0,0,0
$STATE,4743,end apogee,CONTROL_FINISHED_OK
$STATE,4743,begin climb
$GC,4745,1.28,146.0,508.2,0.0,241,4877,1.42,2.67,122.05,0.856,4,0.031,0.069,3141,187,2523,0,0,0,0,0,0
$GC,5055,0.86,146.0,492.2,11.9,248,5062,0.45,2.42,0.00,0.000,6,0.117,0.029,3050,1670,2516,0,0,0,0,0,0
$GC,5346,0.89,221.1,472.3,6.6,255,5415,0.00,2.62,63.45,0.838,4,0.000,0.059,3050,184,2218,0,0,0,0,0,0
$GC,5431,0.83,243.5,465.7,9.0,257,5459,0.00,2.45,20.85,0.787,6,0.000,0.028,3050,1677,2127,0,0,0,0,0,0
$GC,5714,0.83,243.5,437.4,10.1,264,5718,0.00,2.58,0.00,0.000,4,0.000,0.058,3050,184,2118,0,0,0,0,0,0
$GC,5743,0.83,243.5,434.1,11.3,264,5747,0.00,2.42,0.00,0.000,6,0.000,0.027,3050,1677,2118,0,0,0,0,0,0
$GC,5997,0.84,251.9,408.9,9.7,271,6010,0.00,2.62,6.68,0.656,4,0.000,0.058,3050,183,2093,0,0,0,0,0,0
$GC,6051,0.84,251.9,403.1,11.6,272,6056,0.00,2.40,0.00,0.000,6,0.000,0.026,3050,1666,2092,0,0,0,0,0,0
$GC,6330,0.87,271.1,377.3,9.1,279,6350,0.00,0.00,18.23,0.762,6,0.000,0.000,3050,1667,2014,0,0,0,0,0,0
$GC,6572,0.87,276.9,353.5,9.8,285,6584,0.00,2.70,5.82,0.611,4,0.000,0.043,3050,3254,1990,0,0,0,0,0,0
$GC,6608,0.87,276.9,349.8,10.2,285,6612,0.00,2.65,0.00,0.000,6,0.000,0.034,3050,1658,1988,0,0,0,0,0,0
$GC,6859,0.89,291.1,325.8,9.4,291,6879,0.00,2.62,14.07,0.719,4,0.000,0.062,3050,171,1932,0,0,0,0,0,0
$GC,6907,0.89,291.1,321.0,10.7,292,6911,0.00,2.38,0.00,0.000,6,0.000,0.023,3050,1659,1931,0,0,0,0,0,0
$GC,7190,0.92,318.6,297.0,8.8,299,7218,0.00,0.00,25.45,0.727,6,0.000,0.000,3050,1662,1821,0,0,0,0,0,0
$GC,7433,0.99,321.0,272.9,9.9,305,7438,0.10,2.65,0.00,0.000,4,0.077,0.040,3104,3256,1814,0,0,0,0,0,0
$GC,7452,0.99,321.0,270.6,11.2,305,7457,0.12,2.65,0.00,0.000,6,0.113,0.029,3078,1639,1814,0,0,0,0,0,0
$GC,7718,0.99,321.0,240.5,11.3,312,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1640,1813,0,0,0,0,0,0
$GC,7960,0.99,321.0,213.5,11.0,318,7964,0.00,2.62,0.00,0.000,4,0.000,0.033,3078,3255,1812,0,0,0,0,0,0
$GC,7988,0.99,321.0,210.3,11.4,318,7992,0.00,2.62,0.00,0.000,6,0.000,0.029,3078,1640,1811,0,0,0,0,0,0
$GC,8253,0.99,321.0,182.0,10.1,334,8257,0.00,2.62,0.00,0.000,4,0.000,0.035,3078,3264,1811,0,0,0,0,0,0
$GC,8271,0.99,321.0,179.4,11.0,335,8277,0.00,2.60,0.00,0.000,6,0.000,0.027,3078,1647,1810,0,0,0,0,0,0
$GC,8533,0.99,321.0,150.2,11.2,360,8537,0.00,2.60,0.00,0.000,4,0.000,0.033,3078,3267,1810,0,0,0,0,0,0
$GC,8552,0.99,321.0,148.3,11.9,361,8557,0.00,2.58,0.00,0.000,6,0.000,0.027,3078,1662,1810,0,0,0,0,0,0
$GC,8818,0.99,321.0,119.0,10.4,385,8822,0.00,2.45,0.00,0.000,4,0.000,0.048,3078,170,1810,0,0,0,0,0,0
$GC,8908,1.05,321.0,108.7,11.4,393,8912,0.00,2.35,0.00,0.000,6,0.000,0.021,3078,1679,1811,0,0,0,0,0,0
$GC,9173,1.20,360.4,84.6,8.2,417,9216,0.17,2.58,35.78,0.551,4,0.050,0.032,3144,3258,1649,0,0,0,0,0,0
$GC,9228,1.13,360.4,78.1,12.9,422,9233,0.17,2.55,0.00,0.000,6,0.101,0.026,3107,1665,1647,0,0,0,0,0,0
$GC,9495,1.13,360.4,49.2,10.7,446,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1665,1646,0,0,0,0,0,0
$GC,9780,1.13,360.4,15.1,12.0,480,9788,0.00,2.58,0.00,0.000,4,0.000,0.030,3107,3254,1646,0,0,0,0,0,0
$GC,9810,1.13,360.4,11.2,11.0,484,9818,0.00,2.55,0.00,0.000,6,0.000,0.025,3107,1674,1645,0,0,0,0,0,0
$STATE,9881,end climb,SURFACE_DEPTH_REACHED
$STATE,9881,begin surface coast
$FINISH,0.8,1.023481
$STATE,9913,end surface coast,CONTROL_FINISHED_OK
$STATE,9914,begin surface
$SM_CCo,9935,43.92,0.061,0,0,1284,450.13
$SM_GC,1.54,0.00,0.00,43.92,0.000,0.000,0.061,412,1813,1284,-11.26,0.65,450.13
$IRIDIUM_FIX,2244.02,-15534.72,190200,141453
$TT8_MAMPS,0.026845
$HUMID,41.37
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.6,18.481
$10V_AH,10.4,15.382
$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,29.850,121.250,430.600,43.925,0.000,46.696,128.282,158.573,0.250,0.000,12.994,1020.338,6518.977,523.308,1839.211,604.825,33.363,1271.831,0.000,1844.370,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,69.030,872.079,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.482,300.952,385.748,590.677,1044.691,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,38382,500
$CAP_FILE_SIZE,108197,0
$CFSIZE,260165632,165650432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251110,171506,2250.357,-15757.564,12,1.4,28,10.1