version: 66.06
glider: 148
mission: 9
dive: 196
start: 12 5 110 13 53 52
data:
$ID,148
$MISSION,9
$DIVE,196
$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,-862116.56
$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,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,24
$R_STBD_OVSHOOT,54
$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
$GPS1,134535,2246.911,-15757.445,47,1.3,57,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.1
$GPS2,135255,2246.940,-15757.480,12,1.4,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.255,-0.050
$KALMAN_X,-80904.3,-34.8,-57.6,102297.9,-86.6
$KALMAN_Y,7267.2,406.3,-431.1,116925.6,525.3
$MHEAD_RNG_PITCHd_Wd,248.9,9426,-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,-82.88,0.000,2,0.000,0.000,411,1846,3383,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.8,-5.8,11,132,11.82,2.65,-5.70,0.000,4,0.169,0.041,2575,198,3717,0,0,0,0,0,0
$GC,216,-1.28,-146.0,34.3,-19.0,26,224,0.00,2.50,0.00,0.000,6,0.000,0.020,2575,1780,3719,0,0,0,0,0,0
$GC,483,-1.08,-146.0,76.4,-16.6,51,491,0.22,0.00,0.00,0.000,6,0.109,0.000,2622,1780,3720,0,0,0,0,0,0
$GC,743,-1.08,-146.0,111.8,-12.4,76,747,0.00,2.53,0.00,0.000,4,0.000,0.029,2621,3369,3720,0,0,0,0,0,0
$GC,806,-1.24,-146.0,117.9,-9.6,81,811,0.15,2.53,0.00,0.000,6,0.051,0.023,2530,1766,3720,0,0,0,0,0,0
$GC,1068,-1.06,-146.0,158.5,-15.3,105,1070,0.47,0.00,0.00,0.000,6,0.089,0.000,2626,1765,3721,0,0,0,0,0,0
$GC,1325,-1.20,-146.0,180.0,-7.8,129,1330,0.12,2.60,0.00,0.000,4,0.063,0.029,2558,3377,3722,0,0,0,0,0,0
$GC,1373,-1.20,-146.0,184.6,-10.1,133,1378,0.17,2.53,0.00,0.000,6,0.092,0.024,2598,1788,3723,0,0,0,0,0,0
$GC,1663,-1.20,-146.0,212.8,-9.9,151,1667,0.00,2.55,0.00,0.000,4,0.000,0.030,2599,3375,3723,0,0,0,0,0,0
$GC,1681,-1.20,-146.0,215.3,-10.9,151,1686,0.00,2.53,0.00,0.000,6,0.000,0.022,2599,1780,3723,0,0,0,0,0,0
$GC,1946,-1.26,-146.0,242.1,-10.0,158,1950,0.00,2.55,0.00,0.000,4,0.000,0.031,2598,3374,3723,0,0,0,0,0,0
$GC,1970,-1.33,-146.0,244.6,-10.4,158,1976,0.12,2.50,0.00,0.000,6,0.064,0.023,2519,1799,3723,0,0,0,0,0,0
$GC,2230,-1.15,-146.0,283.5,-15.5,165,2238,0.43,2.55,0.00,0.000,4,0.088,0.038,2604,212,3723,0,0,0,0,0,0
$GC,2252,-1.15,-146.0,286.6,-13.3,165,2256,0.00,2.50,0.00,0.000,6,0.000,0.022,2604,1806,3723,0,0,0,0,0,0
$GC,2517,-1.27,-146.0,309.5,-8.4,172,2522,0.00,2.50,0.00,0.000,4,0.000,0.034,2604,3368,3723,0,0,0,0,0,0
$GC,2550,-1.44,-146.0,312.4,-8.3,172,2556,0.25,2.53,0.00,0.000,6,0.034,0.026,2489,1795,3723,0,0,0,0,0,0
$GC,2802,-1.23,-146.0,344.7,-13.4,178,2809,0.43,2.60,0.00,0.000,4,0.090,0.046,2583,207,3723,0,0,0,0,0,0
$GC,2842,-1.37,-146.0,349.5,-9.2,178,2848,0.00,2.50,0.00,0.000,6,0.000,0.024,2584,1789,3723,0,0,0,0,0,0
$GC,3092,-1.46,-146.0,373.5,-9.9,185,3098,0.17,2.60,0.00,0.000,4,0.051,0.041,2515,3374,3722,0,0,0,0,0,0
$GC,3151,-1.39,-146.0,380.9,-13.7,186,3156,0.20,2.53,0.00,0.000,6,0.094,0.028,2558,1801,3721,0,0,0,0,0,0
$GC,3425,-1.39,-146.0,409.6,-9.9,193,3429,0.00,2.60,0.00,0.000,4,0.000,0.044,2559,3373,3720,0,0,0,0,0,0
$GC,3459,-1.39,-146.0,412.8,-8.6,193,3463,0.00,2.53,0.00,0.000,6,0.000,0.030,2558,1816,3720,0,0,0,0,0,0
$GC,3708,-1.39,-146.0,435.6,-9.1,199,3713,0.00,2.58,0.00,0.000,4,0.000,0.045,2559,3366,3718,0,0,0,0,0,0
$GC,3731,-1.39,-146.0,438.1,-10.6,199,3736,0.00,2.50,0.00,0.000,6,0.000,0.029,2558,1817,3718,0,0,0,0,0,0
$GC,3992,-1.39,-146.0,461.9,-9.2,206,3996,0.00,2.58,0.00,0.000,4,0.000,0.048,2558,3360,3716,0,0,0,0,0,0
$GC,4015,-1.39,-146.0,464.4,-10.5,206,4020,0.00,2.50,0.00,0.000,6,0.000,0.028,2559,1815,3716,0,0,0,0,0,0
$GC,4274,-1.39,-146.0,487.3,-8.9,213,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1815,3714,0,0,0,0,0,0
$STATE,4434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4434,begin apogee
$GC,4440,-0.31,0.0,502.4,9.3,217,4560,1.02,0.00,116.82,0.878,6,0.076,0.000,2791,1671,3120,0,0,0,0,0,0
$STATE,4561,end apogee,CONTROL_FINISHED_OK
$STATE,4561,begin climb
$GC,4565,1.28,146.0,507.7,0.0,220,4695,1.42,2.67,120.32,0.859,4,0.026,0.071,3146,194,2523,0,0,0,0,0,0
$GC,4951,0.84,146.0,483.0,11.1,228,4958,0.50,2.40,0.00,0.000,6,0.145,0.028,3045,1679,2515,0,0,0,0,0,0
$GC,5210,0.91,202.9,463.3,7.4,235,5263,0.00,2.65,47.53,0.831,4,0.000,0.059,3044,177,2291,0,0,0,0,0,0
$GC,5354,0.83,206.3,450.6,9.9,238,5358,0.00,2.45,0.00,0.000,6,0.000,0.026,3044,1683,2287,0,0,0,0,0,0
$GC,5626,0.86,227.8,425.9,9.0,245,5655,0.00,2.62,21.08,0.788,4,0.000,0.057,3044,177,2190,0,0,0,0,0,0
$GC,5674,0.79,227.8,420.9,10.9,246,5678,0.00,2.45,0.00,0.000,6,0.000,0.026,3044,1680,2189,0,0,0,0,0,0
$GC,5957,0.79,227.8,391.7,10.0,253,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1680,2184,0,0,0,0,0,0
$GC,6199,0.84,267.1,371.1,8.2,259,6236,0.00,0.00,34.15,0.785,6,0.000,0.000,3044,1680,2030,0,0,0,0,0,0
$GC,6481,0.84,267.1,343.8,10.2,265,6485,0.00,2.60,0.00,0.000,4,0.000,0.056,3044,177,2023,0,0,0,0,0,0
$GC,6510,0.84,267.1,340.7,11.2,265,6514,0.00,2.42,0.00,0.000,6,0.000,0.025,3044,1689,2023,0,0,0,0,0,0
$GC,6764,0.84,267.1,314.7,10.3,272,6768,0.00,2.55,0.00,0.000,4,0.000,0.054,3044,185,2021,0,0,0,0,0,0
$GC,6815,0.84,267.1,308.7,12.3,273,6819,0.00,2.40,0.00,0.000,6,0.000,0.025,3045,1683,2021,0,0,0,0,0,0
$GC,7094,0.88,299.4,282.9,8.5,280,7130,0.00,2.67,28.27,0.720,4,0.000,0.043,3044,3256,1897,0,0,0,0,0,0
$GC,7149,1.02,339.9,278.1,8.2,281,7191,0.15,2.60,35.83,0.713,6,0.055,0.031,3117,1688,1734,0,0,0,0,0,0
$GC,7466,0.90,339.9,237.3,13.6,289,7472,0.25,2.55,0.00,0.000,4,0.098,0.052,3060,171,1726,0,0,0,0,0,0
$GC,7510,0.90,339.9,231.7,12.5,290,7514,0.00,2.40,0.00,0.000,6,0.000,0.022,3060,1683,1726,0,0,0,0,0,0
$GC,7798,0.90,339.9,199.5,11.5,297,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1687,1724,0,0,0,0,0,0
$GC,8051,0.90,340.4,172.7,10.0,321,8056,0.00,2.55,0.00,0.000,4,0.000,0.035,3060,3254,1723,0,0,0,0,0,0
$GC,8092,1.02,341.1,168.7,10.0,324,8102,0.05,2.60,0.00,0.000,6,0.045,0.029,3114,1672,1720,0,0,0,0,0,0
$GC,8357,0.96,341.1,135.7,12.4,349,8362,0.20,2.47,0.00,0.000,4,0.100,0.044,3070,172,1720,0,0,0,0,0,0
$GC,8387,0.96,341.1,132.2,10.5,351,8391,0.00,2.38,0.00,0.000,6,0.000,0.022,3070,1681,1719,0,0,0,0,0,0
$GC,8653,1.11,379.8,108.1,8.2,375,8692,0.12,0.00,33.83,0.568,6,0.064,0.000,3143,1685,1571,0,0,0,0,0,0
$GC,8947,1.03,379.8,67.3,15.1,403,8953,0.25,2.50,0.00,0.000,4,0.094,0.043,3085,171,1567,0,0,0,0,0,0
$GC,9023,1.14,379.8,57.5,12.2,409,9028,0.10,2.38,0.00,0.000,6,0.077,0.020,3141,1688,1567,0,0,0,0,0,0
$GC,9299,1.07,379.8,21.3,15.0,437,9308,0.22,2.53,0.00,0.000,4,0.099,0.028,3094,3254,1567,0,0,0,0,0,0
$GC,9317,1.07,379.8,18.8,14.0,439,9326,0.00,2.55,0.00,0.000,6,0.000,0.024,3094,1675,1566,0,0,0,0,0,0
$STATE,9437,end climb,SURFACE_DEPTH_REACHED
$STATE,9437,begin surface coast
$FINISH,0.6,1.012600
$STATE,9479,end surface coast,CONTROL_FINISHED_OK
$STATE,9479,begin surface
$SM_CCo,9499,39.92,0.377,1,0,1283,450.13
$SM_GC,1.64,0.00,0.00,39.92,0.000,0.000,0.377,411,1875,1283,-11.27,2.37,450.13
$IRIDIUM_FIX,2239.35,-15832.75,290200,111114
$TT8_MAMPS,0.027612
$HUMID,43.85
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.6,28.977
$10V_AH,10.4,24.165
$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,29.775,116.800,437.825,39.925,0.000,30.811,36.047,247.649,0.500,0.000,14.072,979.093,6151.341,501.221,1784.844,573.016,33.359,1270.285,0.000,1784.900,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,71.331,878.215,376.597,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.264,278.785,353.958,514.673,910.186,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,35276,464
$CAP_FILE_SIZE,109423,0
$CFSIZE,260165632,161058816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051210,163408,2246.856,-15758.778,32,1.4,32,10.1