version: 66.06
glider: 148
mission: 9
dive: 209
start: 12 7 110 1 41 28
data:
$ID,148
$MISSION,9
$DIVE,209
$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,-862377
$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,21
$R_STBD_OVSHOOT,47
$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
$GPS1,013452,2246.518,-15757.871,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.3
$GPS2,014034,2246.514,-15757.878,9,99.0,28,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.255,0.051
$KALMAN_X,-78766.2,178.9,57.3,99149.4,-247.9
$KALMAN_Y,7358.8,-50.6,-291.7,116364.1,-226.7
$MHEAD_RNG_PITCHd_Wd,271.3,8793,-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,19,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-81.53,0.000,2,0.000,0.000,414,1843,3297,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.3,-4.9,11,131,11.38,2.42,-8.00,0.000,4,0.155,0.042,2572,3365,3716,0,0,0,0,0,0
$GC,264,-1.13,-146.0,37.2,-16.0,32,273,0.15,2.55,0.00,0.000,6,0.082,0.024,2609,1775,3718,0,0,0,0,0,0
$GC,532,-1.04,-146.0,74.3,-14.2,57,537,0.10,2.58,0.00,0.000,4,0.124,0.031,2631,3366,3719,0,0,0,0,0,0
$GC,576,-1.04,-146.0,81.6,-12.1,60,585,0.00,2.53,0.00,0.000,6,0.000,0.023,2631,1790,3719,0,0,0,0,0,0
$GC,844,-1.14,-146.0,109.9,-9.7,85,848,0.00,2.53,0.00,0.000,4,0.000,0.028,2631,3372,3720,0,0,0,0,0,0
$GC,873,-1.27,-146.0,112.7,-8.7,87,879,0.20,2.50,0.00,0.000,6,0.042,0.021,2531,1791,3720,0,0,0,0,0,0
$GC,1134,-1.07,-146.0,152.0,-15.7,111,1147,0.43,2.53,0.00,0.000,4,0.086,0.035,2625,210,3721,0,0,0,0,0,0
$GC,1185,-1.26,-146.0,156.5,-9.6,115,1190,0.17,2.45,0.00,0.000,6,0.048,0.019,2539,1809,3721,0,0,0,0,0,0
$GC,1449,-1.10,-146.0,191.7,-13.8,139,1455,0.35,2.47,0.00,0.000,4,0.087,0.029,2617,3365,3721,0,0,0,0,0,0
$GC,1521,-1.25,-146.0,199.5,-9.1,145,1527,0.12,2.47,0.00,0.000,6,0.060,0.022,2524,1799,3722,0,0,0,0,0,0
$GC,1770,-1.09,-146.0,235.7,-14.7,152,1773,0.45,0.00,0.00,0.000,6,0.084,0.000,2621,1799,3722,0,0,0,0,0,0
$GC,2016,-1.23,-146.0,258.0,-8.9,158,2021,0.12,2.53,0.00,0.000,4,0.064,0.031,2552,3360,3722,0,0,0,0,0,0
$GC,2044,-1.23,-146.0,261.6,-12.5,158,2049,0.17,2.45,0.00,0.000,6,0.091,0.023,2591,1807,3722,0,0,0,0,0,0
$GC,2300,-1.31,-146.0,285.7,-9.6,165,2304,0.00,2.50,0.00,0.000,4,0.000,0.031,2591,3361,3722,0,0,0,0,0,0
$GC,2330,-1.42,-146.0,288.5,-9.5,165,2335,0.17,2.45,0.00,0.000,6,0.047,0.025,2517,1810,3722,0,0,0,0,0,0
$GC,2585,-1.29,-146.0,323.4,-13.9,172,2590,0.25,2.53,0.00,0.000,4,0.091,0.035,2576,3363,3722,0,0,0,0,0,0
$GC,2604,-1.29,-146.0,325.9,-12.0,172,2609,0.00,2.45,0.00,0.000,6,0.000,0.025,2576,1815,3721,0,0,0,0,0,0
$GC,2869,-1.29,-146.0,351.6,-9.5,179,2874,0.00,2.50,0.00,0.000,4,0.000,0.038,2577,3351,3722,0,0,0,0,0,0
$GC,2883,-1.29,-146.0,353.2,-9.4,179,2888,0.00,2.45,0.00,0.000,6,0.000,0.026,2576,1813,3722,0,0,0,0,0,0
$GC,3154,-1.35,-146.0,375.9,-8.3,186,3158,0.00,2.53,0.00,0.000,4,0.000,0.040,2576,3354,3720,0,0,0,0,0,0
$GC,3182,-1.42,-146.0,378.4,-7.9,186,3187,0.12,2.47,0.00,0.000,6,0.064,0.029,2507,1819,3720,0,0,0,0,0,0
$GC,3437,-1.29,-146.0,409.5,-12.7,193,3445,0.28,2.67,0.00,0.000,4,0.091,0.054,2572,214,3719,0,0,0,0,0,0
$GC,3475,-1.41,-146.0,413.6,-9.0,193,3479,0.00,2.53,0.00,0.000,6,0.000,0.027,2572,1806,3719,0,0,0,0,0,0
$GC,3725,-1.47,-146.0,436.7,-9.2,199,3730,0.15,2.58,0.00,0.000,4,0.058,0.044,2505,3367,3717,0,0,0,0,0,0
$GC,3786,-1.37,-146.0,444.2,-13.4,200,3791,0.25,2.50,0.00,0.000,6,0.090,0.030,2561,1821,3717,0,0,0,0,0,0
$GC,4057,-1.37,-146.0,469.2,-9.0,207,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1816,3715,0,0,0,0,0,0
$GC,4299,-1.37,-146.0,489.2,-8.1,213,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1815,3713,0,0,0,0,0,0
$STATE,4459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4459,begin apogee
$GC,4466,-0.31,0.0,503.0,8.5,217,4588,1.02,0.00,117.65,0.876,6,0.079,0.000,2790,1668,3120,0,0,0,0,0,0
$STATE,4588,end apogee,CONTROL_FINISHED_OK
$STATE,4588,begin climb
$GC,4590,1.28,146.0,508.1,0.0,220,4721,1.42,2.70,120.88,0.858,4,0.028,0.073,3140,187,2523,0,0,0,0,0,0
$GC,4988,0.85,146.0,483.1,11.1,228,4994,0.45,2.42,0.00,0.000,6,0.114,0.028,3049,1677,2515,0,0,0,0,0,0
$GC,5240,0.88,223.4,466.4,6.5,235,5312,0.00,2.62,64.80,0.840,4,0.000,0.058,3049,177,2208,0,0,0,0,0,0
$GC,5465,0.78,223.4,444.6,10.3,240,5469,0.00,2.40,0.00,0.000,6,0.000,0.027,3049,1667,2202,0,0,0,0,0,0
$GC,5756,0.83,262.7,419.6,8.2,247,5795,0.00,0.00,33.75,0.808,6,0.000,0.000,3049,1667,2049,0,0,0,0,0,0
$GC,6041,0.85,274.6,393.1,9.5,254,6054,0.00,0.00,11.40,0.730,6,0.000,0.000,3049,1667,2000,0,0,0,0,0,0
$GC,6283,0.85,274.6,367.5,10.5,260,6287,0.00,2.55,0.00,0.000,4,0.000,0.056,3049,180,1994,0,0,0,0,0,0
$GC,6325,0.85,274.6,362.8,11.9,261,6329,0.00,2.40,0.00,0.000,6,0.000,0.025,3049,1671,1994,0,0,0,0,0,0
$GC,6613,0.86,282.9,334.2,9.7,268,6626,0.00,2.67,7.75,0.660,4,0.000,0.044,3049,3254,1966,0,0,0,0,0,0
$GC,6640,0.91,329.8,331.7,7.9,268,6690,0.00,2.62,42.78,0.763,6,0.000,0.031,3049,1673,1775,0,0,0,0,0,0
$GC,6941,0.91,329.8,301.2,10.9,276,6945,0.00,2.65,0.00,0.000,4,0.000,0.040,3049,3256,1768,0,0,0,0,0,0
$GC,6987,1.04,329.8,295.6,11.8,277,6993,0.15,2.62,0.00,0.000,6,0.057,0.033,3113,1672,1765,0,0,0,0,0,0
$GC,7271,0.92,329.8,255.3,14.4,284,7276,0.25,2.55,0.00,0.000,4,0.101,0.057,3056,163,1764,0,0,0,0,0,0
$GC,7328,0.92,329.8,248.1,11.9,285,7332,0.00,2.40,0.00,0.000,6,0.000,0.023,3056,1678,1764,0,0,0,0,0,0
$GC,7607,0.92,329.8,217.4,11.3,292,7611,0.00,2.58,0.00,0.000,4,0.000,0.036,3056,3258,1762,0,0,0,0,0,0
$GC,7630,0.99,329.8,214.6,12.0,292,7635,0.00,2.60,0.00,0.000,6,0.000,0.029,3056,1662,1761,0,0,0,0,0,0
$GC,7896,0.99,329.8,185.5,10.6,308,7900,0.00,2.60,0.00,0.000,4,0.000,0.033,3056,3257,1761,0,0,0,0,0,0
$GC,7944,1.11,329.8,180.4,10.4,312,7954,0.15,2.60,0.00,0.000,6,0.026,0.030,3133,1676,1760,0,0,0,0,0,0
$GC,8212,0.97,329.8,145.1,13.1,337,8218,0.25,2.50,0.00,0.000,4,0.107,0.045,3077,166,1760,0,0,0,0,0,0
$GC,8261,0.97,329.8,138.5,10.9,341,8265,0.00,2.35,0.00,0.000,6,0.000,0.022,3076,1669,1759,0,0,0,0,0,0
$GC,8529,0.98,336.3,112.2,9.7,366,8542,0.00,2.58,4.43,0.409,4,0.000,0.030,3076,3251,1748,0,0,0,0,0,0
$GC,8577,1.16,354.6,107.4,9.2,370,8607,0.12,2.60,17.95,0.552,6,0.026,0.029,3163,1668,1672,0,0,0,0,0,0
$GC,8861,1.01,354.6,69.0,14.8,397,8866,0.35,2.47,0.00,0.000,4,0.104,0.044,3086,167,1671,0,0,0,0,0,0
$GC,8914,1.01,354.6,62.3,11.5,401,8919,0.00,2.35,0.00,0.000,6,0.000,0.020,3086,1676,1671,0,0,0,0,0,0
$GC,9183,1.01,354.6,34.8,10.5,425,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1677,1670,0,0,0,0,0,0
$STATE,9464,end climb,SURFACE_DEPTH_REACHED
$STATE,9464,begin surface coast
$FINISH,0.8,1.023161
$STATE,9517,end surface coast,CONTROL_FINISHED_OK
$STATE,9517,begin surface
$SM_CCo,9539,51.75,0.400,1,0,1284,450.13
$SM_GC,1.39,0.00,0.00,51.75,0.000,0.000,0.400,413,1855,1284,-11.26,1.84,450.13
$IRIDIUM_FIX,2241.69,-15831.89,010300,232330
$TT8_MAMPS,0.026845
$HUMID,43.54
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,23.6,30.431
$10V_AH,10.4,25.492
$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,29.850,116.375,421.375,51.750,0.000,23.402,38.552,138.662,0.500,0.000,31.245,1008.772,6061.503,518.542,1886.934,465.436,33.361,1287.382,0.000,1870.501,0.000,0.538,0.000
$DEVICE_MAMPS,154.934,72.865,875.914,400.374,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.101,293.108,365.110,567.683,1004.317,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,38213,476
$CAP_FILE_SIZE,108984,0
$CFSIZE,260165632,160358400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071210,042236,2246.509,-15759.444,32,1.0,32,10.1